+ python -m lidar_slam --no-model /working/035f4c62-adef-46b1-830d-305987fb65a8 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/035f4c62-adef-46b1-830d-305987fb65a8 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 0.016875 Adjusted end_distance from 9.223372036854776e+18 to 565.876875 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.016875 meters 0.16288847575233611 Centerline is valid? [0, False] SLAMing on 0.046875 meters 0.16288847575233611 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 4.27622107e-17 1.48429240e-16 2.90267159e-13] [-1.09059708e-16 1.00000000e+00 -1.53947118e-16 -4.48252546e-15] [ 5.14895820e-17 1.65581185e-16 1.00000000e+00 -1.17017344e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.076875 meters 0.18938496046167239 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 0.99997453 -0.00513284 0.00495919 0.01166167] [ 0.00514634 0.99998308 -0.0027118 -0.00817193] [-0.00494519 0.00273725 0.99998403 0.00194426] [ 0. 0. 0. 1. ]] SLAMing on 0.106875 meters 0.196084091473011 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 0.99996319 -0.00658712 0.00549722 0.00932148] [ 0.00660903 0.99997025 -0.00397675 -0.01017254] [-0.00547086 0.00401293 0.99997698 0.00404571] [ 0. 0. 0. 1. ]] SLAMing on 0.136875 meters 0.19804248650553063 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 0.99999809 -0.00122105 0.00152612 0.00264551] [ 0.00123482 0.9999582 -0.00905977 -0.0057592 ] [-0.001515 0.00906164 0.99995779 0.00446808] [ 0. 0. 0. 1. ]] SLAMing on 0.166875 meters 0.17786528350977876 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.01 [[ 0.99998795 -0.00286462 -0.00398693 -0.00805927] [ 0.00278407 0.9997948 -0.02006499 -0.00526492] [ 0.00404359 0.02005365 0.99979073 0.00878127] [ 0. 0. 0. 1. ]] SLAMing on 0.196875 meters 0.20922738688412035 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.01 [[ 0.99998309 0.00254781 -0.00522855 0.0011889 ] [-0.00259337 0.99995857 -0.00872515 0.0010314 ] [ 0.00520611 0.00873856 0.99994827 0.00829364] [ 0. 0. 0. 1. ]] SLAMing on 0.226875 meters 0.20689588419980284 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:0.01 [[ 0.99999584 0.00208407 -0.00199373 0.0180775 ] [-0.00210665 0.9999329 -0.01139069 0.00478318] [ 0.00196985 0.01139484 0.99993314 0.00770241] [ 0. 0. 0. 1. ]] SLAMing on 0.25687499999999996 meters 0.20176454186070716 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:0.01 [[ 0.99997117 -0.00751671 0.00107908 0.06382463] [ 0.00751341 0.99996718 0.00303178 0.01312426] [-0.00110183 -0.00302358 0.99999482 0.00598954] [ 0. 0. 0. 1. ]] SLAMing on 0.286875 meters 0.23621500201338017 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:0.01 [[ 0.99983776 -0.0159424 0.00838376 0.06458812] [ 0.01586549 0.99983216 0.00916148 0.0156375 ] [-0.00852841 -0.00902698 0.99992289 0.00607104] [ 0. 0. 0. 1. ]] SLAMing on 0.316875 meters 0.23919464641228616 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:0.01 [[ 0.99981952 -0.01878679 0.0028254 0.09037548] [ 0.01873859 0.99969293 0.01621481 0.01412454] [-0.00312916 -0.01615894 0.99986454 0.01480104] [ 0. 0. 0. 1. ]] SLAMing on 0.34687499999999993 meters 0.23785694004661742 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:0.01 [[ 9.99928725e-01 -1.19343584e-02 -3.41238480e-04 1.13560404e-01] [ 1.19361481e-02 9.99911711e-01 5.83937373e-03 1.46814254e-02] [ 2.71519173e-04 -5.84303060e-03 9.99982892e-01 1.33739084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37687499999999996 meters 0.25605283377147037 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.02 [[ 0.99979573 -0.01999407 -0.00295669 0.16018221] [ 0.02001103 0.9997828 0.00582277 0.0147505 ] [ 0.00283962 -0.00588074 0.99997868 0.01746624] [ 0. 0. 0. 1. ]] SLAMing on 0.406875 meters 0.2566157865224006 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.03 [[ 0.99954154 -0.0287841 -0.00939025 0.2089883 ] [ 0.02889836 0.99950707 0.01226792 0.01493353] [ 0.0090325 -0.01253366 0.99988065 0.02571419] [ 0. 0. 0. 1. ]] SLAMing on 0.436875 meters 0.2663651940265956 Centerline is valid? [False, False] Translation: X:0.23, Y:0.01, Z:0.02 [[ 0.99933553 -0.03202917 -0.0173964 0.23248656] [ 0.03218321 0.99944457 0.00864831 0.00869967] [ 0.01710974 -0.00920243 0.99981127 0.02498068] [ 0. 0. 0. 1. ]] SLAMing on 0.46687499999999993 meters 0.2761060821344621 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.03 [[ 0.99921293 -0.03459941 -0.01940123 0.30554671] [ 0.03469331 0.99938777 0.00452428 0.00868575] [ 0.01923282 -0.00519381 0.99980154 0.03117034] [ 0. 0. 0. 1. ]] SLAMing on 0.49687499999999996 meters 0.2765241326053833 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.03 [[ 0.99958042 -0.02395433 -0.01628389 0.31492592] [ 0.02401499 0.99970533 0.00353975 0.01302152] [ 0.0161943 -0.00392932 0.99986114 0.03079772] [ 0. 0. 0. 1. ]] SLAMing on 0.526875 meters 0.27059616018018334 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:0.03 [[ 9.99975150e-01 -1.07302056e-04 -7.04902721e-03 3.44878837e-01] [ 1.06986577e-04 9.99999993e-01 -4.51320409e-05 3.05831269e-02] [ 7.04903200e-03 4.43767680e-05 9.99975154e-01 3.10696104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.556875 meters 0.2584753836248428 Centerline is valid? [False, False] Translation: X:0.33, Y:0.07, Z:0.03 [[ 0.99838535 0.05674631 -0.0025591 0.3349697 ] [-0.05672724 0.99836521 0.00699445 0.06728431] [ 0.00295182 -0.00683799 0.99997226 0.03030382] [ 0. 0. 0. 1. ]] SLAMing on 0.5868749999999999 meters 0.2678670517507022 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.03 [[ 0.99584755 0.09084467 0.00590804 0.33595216] [-0.09093724 0.9956948 0.01795224 0.09881047] [-0.00425174 -0.01841496 0.99982139 0.02569781] [ 0. 0. 0. 1. ]] SLAMing on 0.616875 meters 0.22639895768781657 Centerline is valid? [False, False] Translation: X:0.32, Y:0.13, Z:0.02 [[ 0.99370477 0.11064558 0.01756092 0.32305078] [-0.11103422 0.99355136 0.02295839 0.12622041] [-0.01490743 -0.02476372 0.99958218 0.0215443 ] [ 0. 0. 0. 1. ]] SLAMing on 0.646875 meters 0.19854816962546304 Centerline is valid? [False, False] Translation: X:0.31, Y:0.15, Z:0.02 [[ 0.9934086 0.1110932 0.02824282 0.30655044] [-0.11161133 0.99359821 0.0174787 0.15068038] [-0.02612025 -0.02051571 0.99944827 0.02417087] [ 0. 0. 0. 1. ]] SLAMing on 0.6768749999999999 meters 0.1854588947250986 Centerline is valid? [False, False] Translation: X:0.31, Y:0.15, Z:0.02 [[ 0.99607269 0.07754815 0.04272564 0.31329799] [-0.07868011 0.99657426 0.02547918 0.15200488] [-0.04060341 -0.02874078 0.9987619 0.0241956 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7068749999999999 meters 0.16113926836040735 Centerline is valid? [False, False] Translation: X:0.33, Y:0.15, Z:0.03 [[ 0.99923174 0.01950425 0.03399287 0.33405893] [-0.02037319 0.99946958 0.02540641 0.14718036] [-0.03347931 -0.02607943 0.99909909 0.02915075] [ 0. 0. 0. 1. ]] SLAMing on 0.736875 meters 0.12883078634860734 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:0.03 [[ 0.99811368 -0.06045449 0.01069312 0.37022241] [ 0.06020523 0.99793754 0.02227112 0.12582783] [-0.01201745 -0.02158532 0.99969478 0.03147994] [ 0. 0. 0. 1. ]] SLAMing on 0.766875 meters 0.11795234628982179 Centerline is valid? [False, False] Translation: X:0.38, Y:0.10, Z:0.04 [[ 0.99593568 -0.09001053 0.00319913 0.38186611] [ 0.08995587 0.99584193 0.01438031 0.10257804] [-0.00448021 -0.01403408 0.99989148 0.03738019] [ 0. 0. 0. 1. ]] SLAMing on 0.796875 meters 0.0987095749886737 Centerline is valid? [False, True] Translation: X:0.36, Y:0.06, Z:0.06 [[ 0.99237223 -0.12327252 0.00111306 0.36456237] [ 0.12323964 0.99225053 0.01583934 0.06281119] [-0.00305699 -0.01558135 0.99987393 0.05695613] [ 0. 0. 0. 1. ]] SLAMing on 0.8268749999999999 meters 0.0987095749886737 Centerline is valid? [True, True] Translation: X:0.39, Y:0.07, Z:0.05 [[ 9.92398689e-01 -1.23050731e-01 1.83288113e-03 3.91936108e-01] [ 1.23050801e-01 9.92400370e-01 7.50359663e-05 6.72246762e-02] [-1.82818515e-03 1.51071897e-04 9.99998317e-01 5.47638603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8568749999999999 meters 0.06829821994113788 Centerline is valid? [True, True] Translation: X:0.42, Y:0.04, Z:0.06 [[ 9.90146619e-01 -1.39831548e-01 -7.53737282e-03 4.23201637e-01] [ 1.39832939e-01 9.90175050e-01 -3.44728313e-04 4.28634466e-02] [ 7.51152241e-03 -7.12641418e-04 9.99971534e-01 5.90342920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.886875 meters 0.091050674184799 Centerline is valid? [True, True] Translation: X:0.45, Y:0.02, Z:0.05 [[ 0.99059767 -0.1347171 -0.02382353 0.45285796] [ 0.13472962 0.9908818 -0.00108622 0.02488427] [ 0.02375264 -0.00213373 0.99971559 0.05416843] [ 0. 0. 0. 1. ]] SLAMing on 0.9168749999999999 meters 0.06707179546001564 Centerline is valid? [True, True] Translation: X:0.48, Y:0.09, Z:0.07 [[ 9.95256004e-01 -9.58181497e-02 -1.68632059e-02 4.80096296e-01] [ 9.58188159e-02 9.95398494e-01 -7.70318318e-04 8.55086672e-02] [ 1.68594202e-02 -8.49148489e-04 9.99857509e-01 7.00678373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9468749999999999 meters 0.055451652358844146 Centerline is valid? [True, True] Translation: X:0.51, Y:0.16, Z:0.06 [[ 9.99232402e-01 -3.00698390e-02 -2.51079998e-02 5.05434566e-01] [ 3.00504939e-02 9.99547723e-01 -1.14751775e-03 1.62661228e-01] [ 2.51311497e-02 3.92129121e-04 9.99684086e-01 5.65958715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9768749999999999 meters 0.0532138276038303 Centerline is valid? [True, True] Translation: X:0.53, Y:0.19, Z:0.05 [[ 0.99949664 -0.01151872 -0.02955977 0.53361872] [ 0.01148381 0.99993315 -0.00135044 0.19365708] [ 0.02957335 0.0010103 0.9995621 0.04676544] [ 0. 0. 0. 1. ]] SLAMing on 1.006875 meters 0.054839396842770005 Centerline is valid? [True, True] Translation: X:0.56, Y:0.15, Z:0.04 [[ 9.98877700e-01 -4.34369302e-02 -1.88831442e-02 5.64811665e-01] [ 4.34283846e-02 9.99056170e-01 -8.62581824e-04 1.54240979e-01] [ 1.89027896e-02 4.15493016e-05 9.99821325e-01 3.94029640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.036875 meters 0.05717760612339873 Centerline is valid? [True, True] Translation: X:0.60, Y:0.10, Z:0.08 [[ 9.96754677e-01 -8.03209461e-02 -5.35343754e-03 5.95838322e-01] [ 8.03207728e-02 9.96769036e-01 -2.47706955e-04 1.01308070e-01] [ 5.35603684e-03 -1.83089175e-04 9.99985640e-01 7.55568001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.066875 meters 0.07054021776933547 Centerline is valid? [True, True] Translation: X:0.63, Y:0.02, Z:0.07 [[ 9.92529076e-01 -1.21544607e-01 -1.06274266e-02 6.29673876e-01] [ 1.21546325e-01 9.92585641e-01 -4.86410683e-04 2.08264733e-02] [ 1.06077516e-02 -8.08947909e-04 9.99943409e-01 6.63213731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.096875 meters 0.06277818724815441 Centerline is valid? [True, True] Translation: X:0.66, Y:0.01, Z:0.07 [[ 9.93796152e-01 -1.11012624e-01 -6.73842886e-03 6.60026683e-01] [ 1.11013071e-01 9.93818898e-01 -3.08861677e-04 9.17350865e-03] [ 6.73106549e-03 -4.41108134e-04 9.99977249e-01 7.02102910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1268749999999998 meters 0.051700335735981096 Centerline is valid? [True, True] Translation: X:0.69, Y:0.02, Z:0.07 [[ 9.95703254e-01 -9.24948569e-02 -4.44196530e-03 6.89971750e-01] [ 9.24948670e-02 9.95713140e-01 -2.03609367e-04 1.59894213e-02] [ 4.44175604e-03 -2.08124480e-04 9.99990114e-01 7.16965339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1568749999999999 meters 0.03180581673129499 Centerline is valid? [True, True] Translation: X:0.72, Y:0.03, Z:0.08 [[ 9.97891943e-01 -6.48948508e-02 5.73774811e-04 7.19863621e-01] [ 6.48948465e-02 9.97892108e-01 2.60990967e-05 3.19563507e-02] [-5.74259052e-04 1.11909500e-05 9.99999835e-01 7.76576088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.186875 meters 0.03557592278849557 Centerline is valid? [True, True] Translation: X:0.75, Y:0.05, Z:0.07 [[ 9.99113979e-01 -4.18775864e-02 -4.18631480e-03 7.47273325e-01] [ 4.18771214e-02 9.99122749e-01 -1.98724472e-04 4.71907216e-02] [ 4.19096445e-03 2.32375845e-05 9.99991218e-01 6.89997933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.216875 meters 0.038558986174791435 Centerline is valid? [True, True] Translation: X:0.78, Y:0.06, Z:0.06 [[ 9.99786256e-01 -1.88188892e-02 -8.56100833e-03 7.76154165e-01] [ 1.88162033e-02 9.99822882e-01 -3.94177081e-04 6.39816539e-02] [ 8.56691000e-03 2.33007155e-04 9.99963276e-01 6.19544095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.246875 meters 0.05129536166569515 Centerline is valid? [True, True] Translation: X:0.80, Y:0.08, Z:0.06 [[ 9.99986242e-01 4.14302001e-03 -3.21734153e-03 8.04933586e-01] [-4.14351900e-03 9.99991405e-01 -1.48443778e-04 8.35541867e-02] [ 3.21669887e-03 1.61772852e-04 9.99994813e-01 6.30664173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.276875 meters 0.045761118936129955 Centerline is valid? [True, True] Translation: X:0.84, Y:0.07, Z:0.07 [[ 9.99978626e-01 2.19244938e-03 6.15963277e-03 8.36668512e-01] [-2.19423764e-03 9.99997552e-01 2.83576703e-04 7.26522559e-02] [-6.15899596e-03 -2.97086340e-04 9.99980989e-01 7.49046839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.306875 meters 0.03356268088319529 Centerline is valid? [True, True] Translation: X:0.87, Y:0.04, Z:0.09 [[ 9.99770417e-01 -1.66956975e-02 1.34300744e-02 8.67520643e-01] [ 1.66889059e-02 9.99860540e-01 6.17616151e-04 4.25471027e-02] [-1.34385130e-02 -3.93341108e-04 9.99909622e-01 8.57951851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3368749999999998 meters 0.02660423164636466 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.00, Z:0.10 [[ 9.98724065e-01 -4.45905174e-02 2.37049997e-02 9.00209729e-01] [ 4.45771843e-02 9.99005348e-01 1.09085350e-03 -4.08081674e-03] [-2.37300632e-02 -3.27595028e-05 9.99718402e-01 1.01219889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3668749999999998 meters 0.03108199524735214 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.04, Z:0.10 [[ 9.97526337e-01 -6.33555374e-02 3.04513289e-02 9.30000784e-01] [ 6.33422622e-02 9.97990879e-01 1.40137134e-03 -4.00639407e-02] [-3.04789331e-02 5.30951243e-04 9.99535268e-01 1.03003860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3968749999999999 meters 0.028223860527514077 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.04, Z:0.10 [[ 9.97401216e-01 -6.73183474e-02 2.56720462e-02 9.59194137e-01] [ 6.73101853e-02 9.97731397e-01 1.18292242e-03 -3.95076430e-02] [-2.56934389e-02 5.48141932e-04 9.99669719e-01 9.69812058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.426875 meters 0.02459553984775593 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.04, Z:0.09 [[ 9.98502930e-01 -4.97672812e-02 2.26961795e-02 9.88121591e-01] [ 4.97563294e-02 9.98760838e-01 1.04734806e-03 -3.66199543e-02] [-2.27201789e-02 8.34984740e-05 9.99741860e-01 9.29763972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.456875 meters 0.026118301205721745 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.02, Z:0.08 [[ 9.99177692e-01 -3.60178895e-02 1.86185561e-02 1.01589650e+00] [ 3.60081318e-02 9.99351128e-01 8.59165267e-04 -2.15824934e-02] [-1.86374204e-02 -1.88039345e-04 9.99826291e-01 8.26668316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.486875 meters 0.03248109455234041 Centerline is valid? [True, True] Translation: X:1.04, Y:0.00, Z:0.08 [[ 9.99710746e-01 -1.74980755e-02 1.64997597e-02 1.04451053e+00] [ 1.74878633e-02 9.99846784e-01 7.63025113e-04 3.83734006e-03] [-1.65105832e-02 -4.74258863e-04 9.99863579e-01 7.96884755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.516875 meters 0.037482901044357295 Centerline is valid? [True, True] Translation: X:1.07, Y:0.03, Z:0.08 [[ 9.99707535e-01 -1.24546263e-02 2.07298503e-02 1.07312428e+00] [ 1.24374139e-02 9.99922192e-01 9.59045673e-04 3.02383743e-02] [-2.07401819e-02 -7.00939459e-04 9.99784654e-01 8.06344788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.546875 meters 0.030116471273933753 Centerline is valid? [True, True] Translation: X:1.10, Y:0.02, Z:0.09 [[ 9.99554873e-01 -1.71711330e-02 2.43968834e-02 1.10440767e+00] [ 1.71486762e-02 9.99852313e-01 1.12941628e-03 2.14651648e-02] [-2.44126736e-02 -7.10539298e-04 9.99701714e-01 8.59129600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.576875 meters 0.03322616573309073 Centerline is valid? [True, True] Translation: X:1.13, Y:0.04, Z:0.08 [[ 9.99630259e-01 -1.64612545e-02 2.16418957e-02 1.13414067e+00] [ 1.64434242e-02 9.99864296e-01 1.00158714e-03 3.67628891e-02] [-2.16554462e-02 -6.45349938e-04 9.99765285e-01 8.02786806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6068749999999998 meters 0.03656870300473294 Centerline is valid? [True, True] Translation: X:1.16, Y:0.04, Z:0.09 [[ 9.99492887e-01 -1.57274220e-02 2.76878338e-02 1.16442157e+00] [ 1.56979708e-02 9.99875959e-01 1.28074457e-03 3.99323255e-02] [-2.77045422e-02 -8.45452282e-04 9.99615798e-01 8.57281623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6368749999999999 meters 0.037538218119484504 Centerline is valid? [True, True] Translation: X:1.19, Y:0.04, Z:0.07 [[ 9.99728994e-01 -1.22125315e-02 1.98189845e-02 1.19422301e+00] [ 1.21967529e-02 9.99925197e-01 9.16816269e-04 3.66616753e-02] [-1.98286986e-02 -6.74840549e-04 9.99803164e-01 7.09172697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6668749999999999 meters 0.039195820239583366 Centerline is valid? [True, True] Translation: X:1.22, Y:0.03, Z:0.06 [[ 9.99877540e-01 -9.96362174e-03 1.20677691e-02 1.22496303e+00] [ 9.95760934e-03 9.99950266e-01 5.58204093e-04 2.80184899e-02] [-1.20727306e-02 -4.37969606e-04 9.99927026e-01 5.81578552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.696875 meters 0.030725335477241555 Centerline is valid? [True, True] Translation: X:1.26, Y:0.01, Z:0.06 [[ 9.99972240e-01 -3.26802188e-03 6.69626413e-03 1.25643241e+00] [ 3.26602362e-03 9.99994619e-01 3.09327915e-04 5.86060914e-03] [-6.69723898e-03 -2.87449172e-04 9.99977532e-01 6.22693472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.726875 meters 0.032762762660207424 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.00, Z:0.06 [[ 9.99944544e-01 4.98045719e-03 9.27923045e-03 1.28738489e+00] [-4.98465490e-03 9.99987484e-01 4.29303931e-04 -4.47196899e-03] [-9.27697618e-03 -4.75533885e-04 9.99956855e-01 6.24263067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.756875 meters 0.030567148408466 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.04, Z:0.07 [[ 9.99811889e-01 -6.28239620e-03 1.83498717e-02 1.31908986e+00] [ 6.26787241e-03 9.99979996e-01 8.48898471e-04 -4.28270201e-02] [-1.83548378e-02 -7.33724129e-04 9.99831267e-01 6.92528575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.786875 meters 0.03073406508081909 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.05, Z:0.07 [[ 9.99820213e-01 -8.83541588e-03 1.67772754e-02 1.35047546e+00] [ 8.82357652e-03 9.99960768e-01 7.79571734e-04 -4.52097919e-02] [-1.67835050e-02 -6.31396004e-04 9.99858948e-01 6.52048977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8168749999999998 meters 0.03073406508081909 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.04, Z:0.06 [[ 9.99820210e-01 -8.83519026e-03 1.67776018e-02 1.38045254e+00] [ 8.82346969e-03 9.99960774e-01 7.72481082e-04 -4.38284823e-02] [-1.67837687e-02 -6.24305536e-04 9.99858948e-01 6.42480713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8468749999999998 meters 0.02957972418766708 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.05, Z:0.06 [[ 9.99800516e-01 -1.05956244e-02 1.69310675e-02 1.41068144e+00] [ 1.05839405e-02 9.99943685e-01 7.79547007e-04 -4.66282678e-02] [-1.69383738e-02 -6.00194089e-04 9.99856355e-01 6.14698107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8768749999999998 meters 0.030674653156420633 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.04, Z:0.06 [[ 9.99805747e-01 -9.99015733e-03 1.69901394e-02 1.43998500e+00] [ 9.97830542e-03 9.99949910e-01 7.82207041e-04 -4.42422246e-02] [-1.69971028e-02 -6.12522295e-04 9.99855351e-01 5.77200593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9068749999999999 meters 0.029853428264967636 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.05, Z:0.06 [[ 9.99793043e-01 -9.35982401e-03 1.80627785e-02 1.47035572e+00] [ 9.34632295e-03 9.99955976e-01 8.31726737e-04 -4.76323523e-02] [-1.80697681e-02 -6.62734045e-04 9.99836509e-01 5.78016807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.936875 meters 0.029853428264967636 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.05, Z:0.06 [[ 9.99793043e-01 -9.35982401e-03 1.80627785e-02 1.50033176e+00] [ 9.34632295e-03 9.99955976e-01 8.31726737e-04 -4.62520621e-02] [-1.80697681e-02 -6.62734045e-04 9.99836509e-01 5.68465825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.966875 meters 0.03328356920326534 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.05, Z:0.07 [[ 9.99659897e-01 -2.75573539e-03 2.59325250e-02 1.53021608e+00] [ 2.72568932e-03 9.99995573e-01 1.19390144e-03 -5.21572706e-02] [-2.59357003e-02 -1.12281138e-03 9.99662983e-01 7.01558682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.996875 meters 0.03397730942650811 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.05, Z:0.07 [[ 9.99527808e-01 -1.30127905e-03 3.06996231e-02 1.56237592e+00] [ 1.25843938e-03 9.99998207e-01 1.41472637e-03 -5.28779649e-02] [-3.07014090e-02 -1.37542473e-03 9.99527654e-01 7.37468127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.026875 meters 0.03436591114189152 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.06, Z:0.08 [[ 0.99928062 -0.00322748 0.03778651 1.59402015] [ 0.00316409 0.99999348 0.00173741 -0.05846172] [-0.03779187 -0.0016166 0.99928432 0.07726539] [ 0. 0. 0. 1. ]] SLAMing on 2.0568750000000002 meters 0.03597221229533564 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.06, Z:0.06 [[ 9.99433101e-01 -1.32637288e-03 3.36410080e-02 1.62424234e+00] [ 1.27526356e-03 9.99998000e-01 1.54066793e-03 -5.91354668e-02] [-3.36429842e-02 -1.49689337e-03 9.99432794e-01 6.35382140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.086875 meters 0.036347365603978866 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.07, Z:0.05 [[ 9.99754251e-01 -1.10338284e-03 2.21409293e-02 1.65478059e+00] [ 1.08120480e-03 9.99998902e-01 1.01362208e-03 -6.64269085e-02] [-2.21420234e-02 -9.89434106e-04 9.99754346e-01 4.74166270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1168750000000003 meters 0.042004069124064077 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.21, Z:0.05 [[ 9.99259594e-01 2.25174456e-02 3.11966247e-02 1.69233766e+00] [-2.25729078e-02 9.99744181e-01 1.42674059e-03 -2.06490530e-01] [-3.11565175e-02 -2.12988276e-03 9.99512249e-01 5.30291556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.146875 meters 0.039676092398800385 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.03, Z:0.05 [[ 9.99304345e-01 1.18531745e-03 3.72749301e-02 1.71385045e+00] [-1.24971833e-03 9.99997766e-01 1.70447436e-03 -2.69851154e-02] [-3.72728265e-02 -1.74987180e-03 9.99303595e-01 4.89647159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1768750000000003 meters 0.041216245430234257 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.14, Z:0.06 [[ 0.99869621 0.01952433 0.0471665 1.74992251] [-0.01964784 0.99980464 0.00215647 -0.14433173] [-0.04711518 -0.00308038 0.99888471 0.06099161] [ 0. 0. 0. 1. ]] SLAMing on 2.206875 meters 0.02540460109798207 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.10, Z:0.05 [[ 9.98947404e-01 -1.71914200e-02 4.25269181e-02 1.77827959e+00] [ 1.71242105e-02 9.99851480e-01 1.94420702e-03 -1.02143984e-01] [-4.25540257e-02 -1.21392065e-03 9.99093430e-01 5.43299438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.236875 meters 0.035877995226714615 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.14, Z:0.05 [[ 9.99183659e-01 1.51376558e-02 3.74548679e-02 1.80869013e+00] [-1.52124207e-02 9.99882819e-01 1.71193234e-03 -1.35711516e-01] [-3.74245642e-02 -2.28031402e-03 9.99296854e-01 4.57479290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.266875 meters 0.03354501187751529 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.13, Z:0.04 [[ 9.99305267e-01 1.03222430e-02 3.58111004e-02 1.83791130e+00] [-1.03874703e-02 9.99944711e-01 1.63584545e-03 -1.32585958e-01] [-3.57922348e-02 -2.00669572e-03 9.99357238e-01 4.28404429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.296875 meters 0.026925990588012757 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.14, Z:0.04 [[ 9.99434999e-01 6.54262866e-03 3.29678022e-02 1.86902699e+00] [-6.59586903e-03 9.99977112e-01 1.50642274e-03 -1.36735759e-01] [-3.29571916e-02 -1.72302292e-03 9.99455279e-01 3.89089475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3268750000000002 meters 0.02784150096870145 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.13, Z:0.04 [[ 9.99480712e-01 4.39376996e-03 3.19218053e-02 1.89978183e+00] [-4.44257331e-03 9.99989069e-01 1.45807529e-03 -1.33318087e-01] [-3.19150499e-02 -1.59913309e-03 9.99489306e-01 3.67785873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.356875 meters 0.02510462634357901 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.13, Z:0.04 [[ 9.99493288e-01 1.04476142e-03 3.18131365e-02 1.93055360e+00] [-1.09150503e-03 9.99998350e-01 1.45198669e-03 -1.34641674e-01] [-3.18115670e-02 -1.48597515e-03 9.99492779e-01 3.66475861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3868750000000003 meters 0.025970642102276998 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.13, Z:0.04 [[ 9.99432049e-01 8.69180030e-05 3.36982588e-02 1.96305839e+00] [-1.38799781e-04 9.99998809e-01 1.53726192e-03 -1.30579014e-01] [-3.36980850e-02 -1.54106614e-03 9.99430870e-01 3.63674234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.416875 meters 0.027729652280827057 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.13, Z:0.04 [[ 9.99443207e-01 -9.11185266e-04 3.33533447e-02 1.99446884e+00] [ 8.61020427e-04 9.99998477e-01 1.51837430e-03 -1.28508887e-01] [-3.33546774e-02 -1.48881097e-03 9.99442469e-01 3.74090397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.446875 meters 0.028565087235631486 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.13, Z:0.04 [[ 9.99399395e-01 -2.21798145e-03 3.45822156e-02 2.02610631e+00] [ 2.16511472e-03 9.99996430e-01 1.56609950e-03 -1.26188904e-01] [-3.45855657e-02 -1.49028443e-03 9.99400629e-01 3.86665189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.476875 meters 0.023488949683626487 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.13, Z:0.04 [[ 9.99210664e-01 -7.08152273e-03 3.90883810e-02 2.05736049e+00] [ 7.01802965e-03 9.99973822e-01 1.76132370e-03 -1.33319481e-01] [-3.90998306e-02 -1.48561001e-03 9.99234205e-01 4.13910066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.506875 meters 0.025351824581294032 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.14, Z:0.04 [[ 9.98905815e-01 -1.28445195e-02 4.49687711e-02 2.08822986e+00] [ 1.27663458e-02 9.99916456e-01 2.02516905e-03 -1.35236642e-01] [-4.49910265e-02 -1.44886626e-03 9.98986340e-01 4.38480404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.536875 meters 0.023180941425688717 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.14, Z:0.05 [[ 9.98580692e-01 -1.71873212e-02 5.04102859e-02 2.12050078e+00] [ 1.70946993e-02 9.99851303e-01 2.26796737e-03 -1.39687156e-01] [-5.04417703e-02 -1.40299975e-03 9.98726018e-01 4.87202590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.566875 meters 0.0223573553567718 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.14, Z:0.05 [[ 9.98362951e-01 -1.99743548e-02 5.35951823e-02 2.15123244e+00] [ 1.98737506e-02 9.99799594e-01 2.40946192e-03 -1.43560183e-01] [-5.36325689e-02 -1.34038022e-03 9.98559838e-01 5.15065450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5968750000000003 meters 0.022503343275179288 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.14, Z:0.05 [[ 9.98324575e-01 -1.98049718e-02 5.43673237e-02 2.18077339e+00] [ 1.97011496e-02 9.99802924e-01 2.44497752e-03 -1.44327290e-01] [-5.44050320e-02 -1.36978236e-03 9.98518010e-01 4.85881007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.626875 meters 0.02280214342306935 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.14, Z:0.04 [[ 9.98428860e-01 -1.84534749e-02 5.29082381e-02 2.21004520e+00] [ 1.83531843e-02 9.99828731e-01 2.38083145e-03 -1.43552492e-01] [-5.29431112e-02 -1.40605619e-03 9.98596540e-01 4.36839989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.656875 meters 0.023786334147281478 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.14, Z:0.04 [[ 9.98648404e-01 -1.45996224e-02 4.98820320e-02 2.24037499e+00] [ 1.45056611e-02 9.99892267e-01 2.24518275e-03 -1.40032319e-01] [-4.99094368e-02 -1.51857632e-03 9.98752593e-01 3.72783744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.686875 meters 0.024820043796822285 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.14, Z:0.03 [[ 9.98870806e-01 -1.23063506e-02 4.58875412e-02 2.27222418e+00] [ 1.22244784e-02 9.99923147e-01 2.06439978e-03 -1.37260205e-01] [-4.59094198e-02 -1.50111741e-03 9.98944479e-01 3.09273694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.716875 meters 0.024820043796822285 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.14, Z:0.03 [[ 9.98871659e-01 -1.22363513e-02 4.58876857e-02 2.30384389e+00] [ 1.21545529e-02 9.99924006e-01 2.06118354e-03 -1.35900514e-01] [-4.59094198e-02 -1.50111352e-03 9.98944479e-01 2.99192090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.746875 meters 0.024407267619660156 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.14, Z:0.03 [[ 9.98985835e-01 -1.38150742e-02 4.28537729e-02 2.33380356e+00] [ 1.37452915e-02 9.99903681e-01 1.92263239e-03 -1.35298658e-01] [-4.28762066e-02 -1.33164492e-03 9.99079505e-01 2.64495273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.776875 meters 0.022654362976415446 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.14, Z:0.02 [[ 9.98942553e-01 -2.04169701e-02 4.11937176e-02 2.36494964e+00] [ 2.03581277e-02 9.99791045e-01 1.84745940e-03 -1.38932050e-01] [-4.12228295e-02 -1.00687885e-03 9.99149471e-01 2.30403673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8068750000000002 meters 0.020363343240329745 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.15, Z:0.02 [[ 9.98695801e-01 -3.10834016e-02 4.05033306e-02 2.39565433e+00] [ 3.10352949e-02 9.99516639e-01 1.81610603e-03 -1.45171233e-01] [-4.05402036e-02 -5.56704655e-04 9.99177753e-01 2.17636810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.836875 meters 0.01766175314424788 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.15, Z:0.02 [[ 9.98188078e-01 -4.38243883e-02 4.12308727e-02 2.42419825e+00] [ 4.37853437e-02 9.99039249e-01 1.84997234e-03 -1.50941555e-01] [-4.12723341e-02 -4.13124008e-05 9.99147933e-01 2.09904425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8668750000000003 meters 0.018825522362794063 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.16, Z:0.02 [[ 9.97709000e-01 -5.41778489e-02 4.05155748e-02 2.45198945e+00] [ 5.41485558e-02 9.98531231e-01 1.82084704e-03 -1.55147994e-01] [-4.05547163e-02 3.77184379e-04 9.99177248e-01 2.07951832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.896875 meters 0.02022825155707295 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.15, Z:0.02 [[ 9.97410696e-01 -5.93419472e-02 4.06255721e-02 2.48071061e+00] [ 5.93165727e-02 9.98237543e-01 1.83075783e-03 -1.53468396e-01] [-4.06626120e-02 5.83752257e-04 9.99172763e-01 2.17266752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.926875 meters 0.018273207409889095 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.14, Z:0.03 [[ 9.97461211e-01 -5.47594015e-02 4.55251592e-02 2.50792843e+00] [ 5.47222451e-02 9.98499484e-01 2.06297547e-03 -1.44534711e-01] [-4.55698153e-02 4.33500907e-04 9.98961062e-01 2.94867506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.956875 meters 0.017002885665367774 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.13, Z:0.03 [[ 9.98031954e-01 -4.29786020e-02 4.56624306e-02 2.53662567e+00] [ 4.29284693e-02 9.99075986e-01 2.07840508e-03 -1.27549102e-01] [-4.57095649e-02 -1.14096428e-04 9.98954765e-01 2.97851230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.986875 meters 0.01818349686463704 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.12, Z:0.03 [[ 9.98305799e-01 -3.64768747e-02 4.53317631e-02 2.56509921e+00] [ 3.64202944e-02 9.99334409e-01 2.07371079e-03 -1.18170797e-01] [-4.53772332e-02 -4.19201354e-04 9.98969835e-01 2.84419519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.016875 meters 0.02633882378442023 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.09, Z:0.03 [[ 9.98894113e-01 -1.52306733e-02 4.44812132e-02 2.59385014e+00] [ 1.51547964e-02 9.99883073e-01 2.04255847e-03 -9.22401501e-02] [-4.45071217e-02 -1.36619590e-03 9.99008133e-01 2.64056831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.046875 meters 0.026492183484354212 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.08, Z:0.03 [[ 9.98930065e-01 -9.94126568e-03 4.51652133e-02 2.62475351e+00] [ 9.85762914e-03 9.99949261e-01 2.07414401e-03 -8.46126306e-02] [-4.51835413e-02 -1.62670289e-03 9.98977378e-01 2.57274928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0768750000000002 meters 0.027546306546529183 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.07, Z:0.02 [[ 9.98936611e-01 -3.45557093e-03 4.59750666e-02 2.65347197e+00] [ 3.36208827e-03 9.99992121e-01 2.11050579e-03 -7.19599996e-02] [-4.59819974e-02 -1.95368927e-03 9.98940358e-01 2.46239930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.106875 meters 0.02696110744685245 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.07, Z:0.02 [[ 9.99105967e-01 -1.34762315e-03 4.22545817e-02 2.68523658e+00] [ 1.26684455e-03 9.99997319e-01 1.93843082e-03 -7.14814548e-02] [-4.22570807e-02 -1.88316781e-03 9.99104996e-01 1.77173513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1368750000000003 meters 0.02598518400655094 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.07, Z:0.01 [[ 9.99297051e-01 -1.03855564e-03 3.74743323e-02 2.71630737e+00] [ 9.74902659e-04 9.99998051e-01 1.71680893e-03 -7.25587182e-02] [-3.74760422e-02 -1.67906827e-03 9.99296116e-01 1.21666695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.166875 meters 0.024170707748512044 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.08, Z:0.01 [[ 9.99387436e-01 -3.06729582e-03 3.48617960e-02 2.74750990e+00] [ 3.01350446e-03 9.99994187e-01 1.59542817e-03 -7.76559986e-02] [-3.48664870e-02 -1.48939469e-03 9.99390869e-01 7.72409749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.196875 meters 0.024181885048798202 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.08, Z:0.01 [[ 9.99376854e-01 -8.17259177e-03 3.43382079e-02 2.77755792e+00] [ 8.12345153e-03 9.99965771e-01 1.57033828e-03 -8.46885040e-02] [-3.43498663e-02 -1.29041496e-03 9.99409036e-01 5.17775576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.226875 meters 0.02076586057314507 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.10, Z:0.01 [[ 9.99348191e-01 -1.27478082e-02 3.37740364e-02 2.80851016e+00] [ 1.27028790e-02 9.99918122e-01 1.54453786e-03 -9.57669857e-02] [-3.37909605e-02 -1.11450362e-03 9.99428301e-01 5.92270674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.256875 meters 0.02098297415332148 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.10, Z:0.01 [[ 9.99319126e-01 -1.48409905e-02 3.37791282e-02 2.83937187e+00] [ 1.47972432e-02 9.99889322e-01 1.54473592e-03 -9.97364242e-02] [-3.37983150e-02 -1.04384617e-03 9.99428129e-01 6.47318728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.286875 meters 0.019772072461687374 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.11, Z:0.01 [[ 9.99221353e-01 -1.87116320e-02 3.47356117e-02 2.87011639e+00] [ 1.86677264e-02 9.99824482e-01 1.58790778e-03 -1.09845851e-01] [-3.47592273e-02 -9.38236466e-04 9.99395275e-01 6.55711265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.316875 meters 0.019457805955143674 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.11, Z:0.00 [[ 9.99194519e-01 -1.99101236e-02 3.48410709e-02 2.89961482e+00] [ 1.98666529e-02 9.99801369e-01 1.59346623e-03 -1.14997237e-01] [-3.48658765e-02 -9.00007264e-04 9.99391595e-01 4.04165937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3468750000000003 meters 0.02063386915526228 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.12, Z:0.00 [[ 9.99295443e-01 -1.77922589e-02 3.30462150e-02 2.92766835e+00] [ 1.77517531e-02 9.99841272e-01 1.51874514e-03 -1.17812729e-01] [-3.30679915e-02 -9.31046850e-04 9.99452671e-01 1.48073502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.376875 meters 0.022726038341803374 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.12, Z:0.00 [[ 9.99399212e-01 -1.05465787e-02 3.30149055e-02 2.95805113e+00] [ 1.05021104e-02 9.99943696e-01 1.52004209e-03 -1.18488803e-01] [-3.30290779e-02 -1.17240268e-03 9.99453704e-01 2.22496456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.406875 meters 0.024959569711252114 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.12, Z:0.00 [[ 9.99383638e-01 -3.43390305e-03 3.49364044e-02 2.98817678e+00] [ 3.37973588e-03 9.99992994e-01 1.60938866e-03 -1.16974214e-01] [-3.49416861e-02 -1.49032088e-03 9.99388242e-01 3.46704448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.436875 meters 0.026005721151447326 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.12, Z:0.00 [[ 9.99339098e-01 1.11800028e-03 3.63334149e-02 3.01957261e+00] [-1.17960194e-03 9.99997903e-01 1.67406259e-03 -1.17038382e-01] [-3.63314671e-02 -1.71581517e-03 9.99338321e-01 3.52867704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.466875 meters 0.026293699907350893 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.12, Z:0.00 [[ 9.99247659e-01 1.31169019e-03 3.87607366e-02 3.05114207e+00] [-1.38184128e-03 9.99997456e-01 1.78311407e-03 -1.18640883e-01] [-3.87582991e-02 -1.83533375e-03 9.99246929e-01 4.53042715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.496875 meters 0.027842471675992363 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.12, Z:0.01 [[ 9.99130799e-01 -2.77816867e-03 4.15924129e-02 3.08093521e+00] [ 2.70123545e-03 9.99994536e-01 1.90577909e-03 -1.20147574e-01] [-4.15974802e-02 -1.79177168e-03 9.99132844e-01 7.65852667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.526875 meters 0.02322213646389227 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.13, Z:0.00 [[ 9.99123798e-01 -9.70743359e-03 4.07112019e-02 3.11149994e+00] [ 9.63944746e-03 9.99951799e-01 1.86593161e-03 -1.29691341e-01] [-4.07273529e-02 -1.47186319e-03 9.99169213e-01 3.81320999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5568750000000002 meters 0.020753894322857538 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.14, Z:-0.00 [[ 9.99129545e-01 -1.54994033e-02 3.87288205e-02 3.14292938e+00] [ 1.54422322e-02 9.99879186e-01 1.77491338e-03 -1.36098502e-01] [-3.87516517e-02 -1.17530896e-03 9.99248181e-01 -9.23878506e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.586875 meters 0.019891309135279638 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.14, Z:-0.00 [[ 9.99121473e-01 -1.74565052e-02 3.80992410e-02 3.17256769e+00] [ 1.74026125e-02 9.99847039e-01 1.74573558e-03 -1.39407331e-01] [-3.81238877e-02 -1.08117558e-03 9.99272435e-01 -7.02841837e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.616875 meters 0.020003666068157937 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.14, Z:-0.00 [[ 9.99138909e-01 -1.64493631e-02 3.80901308e-02 3.20165772e+00] [ 1.63946631e-02 9.99864071e-01 1.74799421e-03 -1.39870018e-01] [-3.81137067e-02 -1.12201417e-03 9.99272779e-01 -1.92742841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.646875 meters 0.021671717071734056 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.14, Z:-0.01 [[ 9.99190023e-01 -1.32873977e-02 3.79834612e-02 3.22994593e+00] [ 1.32304109e-02 9.99910941e-01 1.75128240e-03 -1.37006398e-01] [-3.80033484e-02 -1.24732710e-03 9.99276833e-01 -5.05826911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.676875 meters 0.02255094662331251 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.14, Z:-0.01 [[ 9.99344135e-01 -9.65108011e-03 3.49021091e-02 3.26082476e+00] [ 9.60070294e-03 9.99952615e-01 1.61069414e-03 -1.38077644e-01] [-3.49160002e-02 -1.27455296e-03 9.99389438e-01 -8.33179971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.706875 meters 0.024390799433231608 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.14, Z:-0.01 [[ 9.99469680e-01 -6.58552718e-03 3.18902880e-02 3.29132702e+00] [ 6.54193176e-03 9.99977519e-01 1.47119067e-03 -1.37306975e-01] [-3.18992597e-02 -1.26178638e-03 9.99490293e-01 -1.16859308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.736875 meters 0.02589464656072889 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.14, Z:-0.01 [[ 9.99530440e-01 -4.18596704e-03 3.03541906e-02 3.32161512e+00] [ 4.14538296e-03 9.99990428e-01 1.39982383e-03 -1.35906200e-01] [-3.03597597e-02 -1.27333679e-03 9.99538225e-01 -1.45514857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.766875 meters 0.02708985462576026 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.14, Z:-0.02 [[ 9.99542486e-01 1.02038137e-04 3.02458108e-02 3.35311132e+00] [-1.44276908e-04 9.99999018e-01 1.39433729e-03 -1.35403881e-01] [-3.02456389e-02 -1.39806314e-03 9.99541518e-01 -1.55833077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.796875 meters 0.028816053540319297 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.13, Z:-0.01 [[ 9.99517331e-01 6.74070153e-03 3.03260348e-02 3.38353083e+00] [-6.78617915e-03 9.99975998e-01 1.39694920e-03 -1.33867884e-01] [-3.03158905e-02 -1.60207284e-03 9.99539084e-01 -1.41422474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8268750000000002 meters 0.029370181439792056 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.13, Z:-0.01 [[ 9.99428862e-01 1.37197373e-02 3.08823313e-02 3.41419454e+00] [-1.37702178e-02 9.99904174e-01 1.42251119e-03 -1.32068667e-01] [-3.08598555e-02 -1.84695516e-03 9.99522015e-01 -1.40627132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.856875 meters 0.02986608803942741 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.13, Z:-0.02 [[ 9.99351810e-01 1.58772378e-02 3.23090262e-02 3.44517906e+00] [-1.59335737e-02 9.99871947e-01 1.48692443e-03 -1.29869660e-01] [-3.22812807e-02 -2.00075888e-03 9.99476821e-01 -1.60631489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.886875 meters 0.03240047048194321 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.13, Z:-0.01 [[ 9.99270401e-01 1.31920456e-02 3.58418040e-02 3.47557953e+00] [-1.32596126e-02 9.99910729e-01 1.64808658e-03 -1.25630368e-01] [-3.58168627e-02 -2.12213258e-03 9.99356117e-01 -1.49786470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.916875 meters 0.028795693946888818 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.13, Z:-0.01 [[ 9.99271292e-01 6.41715722e-03 3.76258586e-02 3.50632057e+00] [-6.48679177e-03 9.99977466e-01 1.72892210e-03 -1.32004530e-01] [-3.76139160e-02 -1.97173333e-03 9.99290401e-01 -1.26342274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.946875 meters 0.026316569082215475 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.14, Z:-0.01 [[ 9.99269599e-01 -3.44355271e-03 3.80580003e-02 3.53595791e+00] [ 3.37943492e-03 9.99992760e-01 1.74894110e-03 -1.37223421e-01] [-3.80637474e-02 -1.61904914e-03 9.99274001e-01 -1.11318445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.976875 meters 0.022547759126127206 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.14, Z:-0.01 [[ 9.99188098e-01 -1.31079010e-02 3.80963016e-02 3.56643660e+00] [ 1.30506416e-02 9.99913303e-01 1.75132141e-03 -1.43961663e-01] [-3.81159549e-02 -1.25271833e-03 9.99272538e-01 -1.25383597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.006875 meters 0.01909851318088568 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.15, Z:-0.02 [[ 9.99036632e-01 -2.11766863e-02 3.84363927e-02 3.59773309e+00] [ 2.11243621e-02 9.99775294e-01 1.76697656e-03 -1.51802923e-01] [-3.84651745e-02 -9.53330031e-04 9.99259487e-01 -1.59204018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.036874999999999 meters 0.018337541202085687 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.16, Z:-0.02 [[ 9.99056680e-01 -2.51323551e-02 3.54134858e-02 3.62546835e+00] [ 2.50904106e-02 9.99683860e-01 1.62840329e-03 -1.56645810e-01] [-3.54432158e-02 -7.38328285e-04 9.99371419e-01 -2.05206807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.066875 meters 0.01908121578815603 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.16, Z:-0.02 [[ 9.99263545e-01 -2.22767841e-02 3.12427838e-02 3.65311039e+00] [ 2.22426369e-02 9.99751565e-01 1.44012614e-03 -1.57799867e-01] [-3.12671034e-02 -7.44143661e-04 9.99510788e-01 -2.49578193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.096875 meters 0.021620239126254968 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.15, Z:-0.03 [[ 9.99504204e-01 -1.41522499e-02 2.81258028e-02 3.68317118e+00] [ 1.41212979e-02 9.99899446e-01 1.29881739e-03 -1.53029671e-01] [-2.81413558e-02 -9.01000602e-04 9.99603548e-01 -2.91075260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.126874999999999 meters 0.02684992866812867 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.14, Z:-0.03 [[ 9.99624693e-01 -1.31428286e-03 2.73632168e-02 3.71292652e+00] [ 1.28017256e-03 9.99998382e-01 1.26405576e-03 -1.42803496e-01] [-2.73648338e-02 -1.22855172e-03 9.99624758e-01 -3.03668683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.156874999999999 meters 0.029789796507704903 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.14, Z:-0.03 [[ 9.99612897e-01 4.75400256e-03 2.74126887e-02 3.74293843e+00] [-4.79051990e-03 9.99987723e-01 1.26661335e-03 -1.36598868e-01] [-2.74063307e-02 -1.39744407e-03 9.99623399e-01 -3.06904465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.186875 meters 0.03622306967965554 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.12, Z:-0.03 [[ 9.99418104e-01 2.07946473e-02 2.70376749e-02 3.77321068e+00] [-2.08360161e-02 9.99782126e-01 1.24918649e-03 -1.24965685e-01] [-2.70058077e-02 -1.81181702e-03 9.99633635e-01 -3.17201317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.216875 meters 0.04155467773093912 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.12, Z:-0.03 [[ 9.99291810e-01 2.42404059e-02 2.87798624e-02 3.80257249e+00] [-2.42887044e-02 9.99704102e-01 1.32975656e-03 -1.16310857e-01] [-2.87391127e-02 -2.02784041e-03 9.99584889e-01 -3.25628249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.246874999999999 meters 0.038995061283822435 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.12, Z:-0.03 [[ 9.99276018e-01 2.36224623e-02 2.98231460e-02 3.83542946e+00] [-2.36740289e-02 9.99718782e-01 1.37712130e-03 -1.18957823e-01] [-2.97822282e-02 -2.08215831e-03 9.99554242e-01 -3.30267445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2768749999999995 meters 0.03636996954667747 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.13, Z:-0.03 [[ 9.99377857e-01 1.47657860e-02 3.20292137e-02 3.86541840e+00] [-1.48206461e-02 9.99889079e-01 1.47607001e-03 -1.28032763e-01] [-3.20038656e-02 -1.94984533e-03 9.99485843e-01 -3.15986121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.306875 meters 0.029787296635075625 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.14, Z:-0.03 [[ 9.99472834e-01 6.05624794e-03 3.18963392e-02 3.89700263e+00] [-6.10625107e-03 9.99980275e-01 1.47050044e-03 -1.42587553e-01] [-3.18868043e-02 -1.66449230e-03 9.99490101e-01 -3.17752195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.336875 meters 0.026540913436260655 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.15, Z:-0.03 [[ 9.99479724e-01 -5.65202005e-04 3.22484548e-02 3.92798904e+00] [ 5.17537608e-04 9.99998761e-01 1.48636456e-03 -1.52862867e-01] [-3.22492550e-02 -1.46890145e-03 9.99478778e-01 -3.36086883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.366874999999999 meters 0.02521587673280672 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.16, Z:-0.03 [[ 9.99448489e-01 -2.93798491e-03 3.30769686e-02 3.96020906e+00] [ 2.88913693e-03 9.99994664e-01 1.52449551e-03 -1.56914612e-01] [-3.30812711e-02 -1.42809084e-03 9.99451645e-01 -3.34499479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.396875 meters 0.02513074539862788 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.16, Z:-0.03 [[ 9.99385195e-01 -5.12133945e-03 3.46843400e-02 3.99082912e+00] [ 5.06899999e-03 9.99985878e-01 1.59678916e-03 -1.62906097e-01] [-3.46920279e-02 -1.41999253e-03 9.99397042e-01 -3.15064801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.426875 meters 0.02613118450931714 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.17, Z:-0.03 [[ 9.99408878e-01 -4.29251092e-03 3.41096515e-02 4.02347801e+00] [ 4.24143581e-03 9.99989773e-01 1.56959737e-03 -1.66116115e-01] [-3.41160402e-02 -1.42399565e-03 9.99416864e-01 -3.19315970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.456874999999999 meters 0.02997146467891969 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.16, Z:-0.04 [[ 9.99459099e-01 3.45502492e-03 3.27043287e-02 4.05414730e+00] [-3.50602850e-03 9.99992725e-01 1.50231783e-03 -1.64255411e-01] [-3.26989002e-02 -1.61616753e-03 9.99463941e-01 -3.54578921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4868749999999995 meters 0.03141360922306241 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.16, Z:-0.04 [[ 9.99433524e-01 8.71913322e-03 3.25055159e-02 4.08480289e+00] [-8.77224986e-03 9.99960410e-01 1.49182560e-03 -1.63470758e-01] [-3.24912216e-02 -1.77612703e-03 9.99470443e-01 -3.74617848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.516875 meters 0.032739263421721815 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.16, Z:-0.04 [[ 9.99422585e-01 1.07561904e-02 3.22304436e-02 4.11674379e+00] [-1.08094626e-02 9.99940482e-01 1.47906052e-03 -1.61405207e-01] [-3.22126163e-02 -1.82660026e-03 9.99479370e-01 -3.85459944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.546875 meters 0.031448765486526004 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.17, Z:-0.04 [[ 9.99482922e-01 6.34339500e-03 3.15222231e-02 4.14633849e+00] [-6.39209456e-03 9.99978527e-01 1.44439551e-03 -1.67264002e-01] [-3.15123839e-02 -1.64514168e-03 9.99502008e-01 -4.21018982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.576874999999999 meters 0.026745693127913778 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.18, Z:-0.04 [[ 9.99522403e-01 -8.81644181e-04 3.08899533e-02 4.17777172e+00] [ 8.38314205e-04 9.99998647e-01 1.41564342e-03 -1.78020632e-01] [-3.08911596e-02 -1.38907182e-03 9.99521789e-01 -4.21143748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.606875 meters 0.025044633406106645 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.18, Z:-0.04 [[ 9.99496036e-01 -5.83027516e-03 3.12038732e-02 4.20741262e+00] [ 5.78848329e-03 9.99982225e-01 1.42948366e-03 -1.81957530e-01] [-3.12116529e-02 -1.24814015e-03 9.99512018e-01 -4.22151004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.636875 meters 0.025044633406106645 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.18, Z:-0.04 [[ 9.99496436e-01 -5.76149150e-03 3.12038464e-02 4.23902810e+00] [ 5.71964789e-03 9.99982620e-01 1.43007011e-03 -1.80576672e-01] [-3.12115434e-02 -1.25087496e-03 9.99512018e-01 -4.32220485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.666874999999999 meters 0.019768385503678466 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.19, Z:-0.04 [[ 9.99151327e-01 -1.84763885e-02 3.68137177e-02 4.27032666e+00] [ 1.84268476e-02 9.99828792e-01 1.68459098e-03 -1.94102586e-01] [-3.68385401e-02 -1.00480055e-03 9.99320725e-01 -3.61743622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6968749999999995 meters 0.01897019294160132 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.20, Z:-0.03 [[ 9.99050381e-01 -2.03828287e-02 3.85081438e-02 4.29989757e+00] [ 2.03299729e-02 9.99791769e-01 1.76371016e-03 -1.95665331e-01] [-3.85360746e-02 -9.79165792e-04 9.99256730e-01 -3.46404147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.726875 meters 0.019495894544388558 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.19, Z:-0.03 [[ 9.99045278e-01 -1.96152814e-02 3.90355358e-02 4.32917871e+00] [ 1.95600272e-02 9.99807070e-01 1.79693367e-03 -1.94718199e-01] [-3.90632521e-02 -1.03168195e-03 9.99236207e-01 -3.35193397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.756875 meters 0.02225033513291704 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.19, Z:-0.04 [[ 9.99185654e-01 -1.27744809e-02 3.82732551e-02 4.35928379e+00] [ 1.27160627e-02 9.99917582e-01 1.76939843e-03 -1.86399435e-01] [-3.82927039e-02 -1.28127242e-03 9.99265744e-01 -3.63338750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.786874999999999 meters 0.029021980283860566 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.17, Z:-0.04 [[ 9.99296069e-01 -5.11003698e-03 3.71652135e-02 4.38831464e+00] [ 5.04966256e-03 9.99985774e-01 1.71817512e-03 -1.71629203e-01] [-3.71734648e-02 -1.52929386e-03 9.99307658e-01 -3.95336872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.816875 meters 0.028684395086873836 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.17, Z:-0.04 [[ 9.99417444e-01 1.44678483e-03 3.40980732e-02 4.41845948e+00] [-1.50140771e-03 9.99997630e-01 1.57638404e-03 -1.68559044e-01] [-3.40957117e-02 -1.62666082e-03 9.99417248e-01 -4.44558708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.846875 meters 0.031043401246563025 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.16, Z:-0.05 [[ 9.99526775e-01 5.87834341e-03 3.01939004e-02 4.44931022e+00] [-5.92318326e-03 9.99981484e-01 1.39583465e-03 -1.61206669e-01] [-3.01851361e-02 -1.57401811e-03 9.99543086e-01 -4.85280943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.876874999999999 meters 0.03201979135434005 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.16, Z:-0.05 [[ 9.99566836e-01 7.50398446e-03 2.84575385e-02 4.48054610e+00] [-7.54447688e-03 9.99970674e-01 1.31580181e-03 -1.55906833e-01] [-2.84468302e-02 -1.52992910e-03 9.99594136e-01 -5.08726978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.906874999999999 meters 0.03136244070590077 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.15, Z:-0.05 [[ 9.99646498e-01 5.58562721e-03 2.59938527e-02 4.51146243e+00] [-5.61859861e-03 9.99983501e-01 1.19556614e-03 -1.52994256e-01] [-2.59867459e-02 -1.34119253e-03 9.99661388e-01 -5.41878298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.936875 meters 0.030564557251202558 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.15, Z:-0.06 [[ 9.99713787e-01 3.58026107e-03 2.36542903e-02 4.54264423e+00] [-3.60698591e-03 9.99992904e-01 1.08723985e-03 -1.50650760e-01] [-2.36502298e-02 -1.17224936e-03 9.99719607e-01 -5.78663876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.966875 meters 0.030099097574295273 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.15, Z:-0.06 [[ 9.99725493e-01 1.41847928e-03 2.33864717e-02 4.57313435e+00] [-1.44399361e-03 9.99998381e-01 1.07413552e-03 -1.47281173e-01] [-2.33849102e-02 -1.10761058e-03 9.99725922e-01 -5.87809145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.996874999999999 meters 0.02844436264472739 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.15, Z:-0.06 [[ 9.99714927e-01 3.90762406e-04 2.38728384e-02 4.60574867e+00] [-4.17046736e-04 9.99999312e-01 1.09604519e-03 -1.45663520e-01] [-2.38723937e-02 -1.10568883e-03 9.99714402e-01 -5.99480696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0268749999999995 meters 0.02941248297949863 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.14, Z:-0.06 [[ 9.99676206e-01 5.97401761e-04 2.54386696e-02 4.63681036e+00] [-6.27263106e-04 9.99999124e-01 1.16589290e-03 -1.40843812e-01] [-2.54379508e-02 -1.18147213e-03 9.99675705e-01 -5.97408623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.056875 meters 0.02863035660890121 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.14, Z:-0.06 [[ 9.99630289e-01 1.26595816e-03 2.71603316e-02 4.66860527e+00] [-1.30013120e-03 9.99998385e-01 1.24057443e-03 -1.38918788e-01] [-2.71587173e-02 -1.27542777e-03 9.99630320e-01 -5.76400695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.086874999999999 meters 0.027957460781506918 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.14, Z:-0.06 [[ 9.99625298e-01 8.97413843e-04 2.73579690e-02 4.70049210e+00] [-9.31917657e-04 9.99998786e-01 1.24847395e-03 -1.37423457e-01] [-2.73568154e-02 -1.27350152e-03 9.99624921e-01 -5.73848644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.116874999999999 meters 0.027289343106728644 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.14, Z:-0.06 [[ 9.99635741e-01 -1.00870801e-03 2.69697600e-02 4.73140605e+00] [ 9.76067242e-04 9.99998775e-01 1.22340987e-03 -1.35642239e-01] [-2.69709611e-02 -1.19663994e-03 9.99635501e-01 -5.86161553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.146875 meters 0.02539343763861546 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.14, Z:-0.06 [[ 9.99628170e-01 -3.45854730e-03 2.70473729e-02 4.76327925e+00] [ 3.42663612e-03 9.99993377e-01 1.22608570e-03 -1.36023387e-01] [-2.70514343e-02 -1.13294829e-03 9.99633401e-01 -6.05284042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.176875 meters 0.02421550055491585 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.14, Z:-0.06 [[ 9.99634969e-01 -7.48059612e-03 2.59609118e-02 4.79343019e+00] [ 7.45259289e-03 9.99971538e-01 1.17525689e-03 -1.36656110e-01] [-2.59689645e-02 -9.81351775e-04 9.99662268e-01 -6.36044025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.206874999999999 meters 0.02286905514802259 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.14, Z:-0.06 [[ 9.99627576e-01 -1.04580063e-02 2.52059291e-02 4.82458489e+00] [ 1.04325510e-02 9.99944928e-01 1.14118912e-03 -1.37399161e-01] [-2.52164755e-02 -8.77801970e-04 9.99681629e-01 -6.35217347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2368749999999995 meters 0.02269983165307736 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.14, Z:-0.06 [[ 9.99589097e-01 -1.02835336e-02 2.67560642e-02 4.85407221e+00] [ 1.02548073e-02 9.99946685e-01 1.21063318e-03 -1.35141845e-01] [-2.67670873e-02 -9.35757445e-04 9.99641259e-01 -6.20170833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.266875 meters 0.02364829279628272 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.13, Z:-0.06 [[ 9.99596520e-01 -8.61845955e-03 2.70651023e-02 4.88357852e+00] [ 8.58843088e-03 9.99962368e-01 1.22554891e-03 -1.29628231e-01] [-2.70746462e-02 -9.92607664e-04 9.99632922e-01 -6.41443279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.296874999999999 meters 0.024137008053137638 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.13, Z:-0.07 [[ 9.99623034e-01 -7.80795130e-03 2.63215987e-02 4.91422756e+00] [ 7.77924216e-03 9.99969030e-01 1.19293064e-03 -1.26932631e-01] [-2.63300979e-02 -9.87718854e-04 9.99652815e-01 -6.58963499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.326874999999999 meters 0.024615104982905096 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.12, Z:-0.07 [[ 9.99638523e-01 -5.96855318e-03 2.62144924e-02 4.94546224e+00] [ 5.93944091e-03 9.99981655e-01 1.18826429e-03 -1.21846761e-01] [-2.62211037e-02 -1.03213533e-03 9.99655635e-01 -6.78373613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.356875 meters 0.026968908633159896 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.12, Z:-0.07 [[ 9.99648428e-01 -5.03184863e-03 2.60326884e-02 4.97637735e+00] [ 5.00284202e-03 9.99986790e-01 1.17924805e-03 -1.15552952e-01] [-2.60382783e-02 -1.04859603e-03 9.99660397e-01 -7.00425709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.386875 meters 0.027045630140297223 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.11, Z:-0.07 [[ 9.99717172e-01 -2.76510444e-03 2.36205275e-02 5.00693440e+00] [ 2.74062528e-03 9.99995673e-01 1.06866010e-03 -1.11949199e-01] [-2.36233803e-02 -1.00362283e-03 9.99720425e-01 -7.32137217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.416874999999999 meters 0.0282309845807092 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.11, Z:-0.08 [[ 9.99792356e-01 2.52899602e-04 2.03759692e-02 5.03741440e+00] [-2.71734440e-04 9.99999538e-01 9.21601886e-04 -1.09010057e-01] [-2.03757268e-02 -9.26947374e-04 9.99791964e-01 -7.50670307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4468749999999995 meters 0.029541337419298014 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.11, Z:-0.08 [[ 9.99810326e-01 2.11443148e-03 1.93608172e-02 5.06930707e+00] [-2.13179464e-03 9.99997344e-01 8.76224803e-04 -1.05736791e-01] [-1.93589131e-02 -9.17331893e-04 9.99812178e-01 -7.68817228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.476875 meters 0.029016648868711727 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.10, Z:-0.08 [[ 9.99788826e-01 2.97153554e-03 2.03340577e-02 5.10178226e+00] [-2.99082441e-03 9.99995106e-01 9.18253893e-04 -1.04399146e-01] [-2.03312296e-02 -9.78875577e-04 9.99792820e-01 -7.84495806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.506875 meters 0.027887545914165462 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.11, Z:-0.08 [[ 9.99714151e-01 9.86528249e-04 2.38881174e-02 5.13359921e+00] [-1.01253920e-03 9.99998908e-01 1.07679477e-03 -1.06037685e-01] [-2.38870291e-02 -1.10067463e-03 9.99714058e-01 -7.68872107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.536874999999999 meters 0.02716402305662831 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.11, Z:-0.08 [[ 9.99705705e-01 -1.61235475e-03 2.42054504e-02 5.16552131e+00] [ 1.58645699e-03 9.99998149e-01 1.08907931e-03 -1.07258865e-01] [-2.42071616e-02 -1.05035789e-03 9.99706412e-01 -7.62651388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.566875 meters 0.026837850175198193 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.11, Z:-0.08 [[ 9.99701431e-01 -2.42822550e-03 2.43136270e-02 5.19723597e+00] [ 2.40233311e-03 9.99996516e-01 1.09408583e-03 -1.06485445e-01] [-2.43161989e-02 -1.03534974e-03 9.99703781e-01 -7.63768396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.596875 meters 0.02644343728857284 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.11, Z:-0.08 [[ 9.99702067e-01 -1.74535775e-03 2.43460560e-02 5.22935074e+00] [ 1.71936265e-03 9.99997929e-01 1.08862545e-03 -1.05682163e-01] [-2.43479056e-02 -1.04644141e-03 9.99702998e-01 -7.68591467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.626874999999999 meters 0.028631498353715173 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.10, Z:-0.08 [[ 9.99700473e-01 1.50675892e-03 2.44273031e-02 5.25907063e+00] [-1.53385805e-03 9.99998229e-01 1.09067976e-03 -1.00810742e-01] [-2.44256164e-02 -1.12782109e-03 9.99701014e-01 -7.81189211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.656874999999999 meters 0.030828986819770775 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.09, Z:-0.08 [[ 9.99720588e-01 5.58282606e-03 2.29690597e-02 5.28986301e+00] [-5.60780803e-03 9.99983752e-01 1.02336745e-03 -9.46927349e-02] [-2.29629732e-02 -1.15188759e-03 9.99735653e-01 -8.17309503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.686875 meters 0.03382607147061533 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.09, Z:-0.09 [[ 9.99748992e-01 8.97286168e-03 2.05290389e-02 5.31960511e+00] [-8.99351984e-03 9.99959140e-01 9.14185258e-04 -8.77094531e-02] [-2.05199972e-02 -1.09858411e-03 9.99788839e-01 -8.66205506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.716875 meters 0.03201331007050327 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.09, Z:-0.09 [[ 9.99756758e-01 1.03969161e-02 1.94506576e-02 5.35216835e+00] [-1.04157457e-02 9.99945379e-01 8.67009768e-04 -9.01475105e-02] [-1.94405809e-02 -1.06939198e-03 9.99810442e-01 -8.69368618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.746874999999999 meters 0.03257511966912244 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.09, Z:-0.09 [[ 9.99744172e-01 9.36632558e-03 2.05879322e-02 5.38347924e+00] [-9.38720743e-03 9.99955518e-01 9.17866634e-04 -8.94928009e-02] [-2.05784194e-02 -1.11089501e-03 9.99787625e-01 -8.51778010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7768749999999995 meters 0.03098230001509491 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.09, Z:-0.08 [[ 9.99747037e-01 6.21634452e-03 2.16152285e-02 5.41473954e+00] [-6.23847362e-03 9.99980083e-01 9.56492946e-04 -9.24531657e-02] [-2.16088521e-02 -1.09109702e-03 9.99765906e-01 -8.43449861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.806875 meters 0.02736080555314956 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.10, Z:-0.08 [[ 9.99702740e-01 1.81552573e-03 2.43132978e-02 5.44591330e+00] [-1.84221308e-03 9.99997725e-01 1.07529064e-03 -9.94509019e-02] [-2.43112903e-02 -1.11976127e-03 9.99703810e-01 -8.17160090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.836874999999999 meters 0.024287421994034795 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.11, Z:-0.08 [[ 9.99629915e-01 -2.71216253e-03 2.70680106e-02 5.47754388e+00] [ 2.68074959e-03 9.99995691e-01 1.19673947e-03 -1.06594036e-01] [-2.70711397e-02 -1.12373401e-03 9.99632878e-01 -7.91562427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.866874999999999 meters 0.024762894253191267 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.11, Z:-0.08 [[ 9.99568737e-01 -8.87224792e-03 2.79932858e-02 5.50720958e+00] [ 8.84107812e-03 9.99960152e-01 1.23704986e-03 -1.07918363e-01] [-2.80031457e-02 -9.89025536e-04 9.99607346e-01 -8.02692142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.896875 meters 0.021389142320304963 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.12, Z:-0.08 [[ 9.99479221e-01 -1.43595777e-02 2.88979167e-02 5.53820428e+00] [ 1.43286456e-02 9.99896524e-01 1.27719630e-03 -1.16376007e-01] [-2.89132665e-02 -8.62463155e-04 9.99581552e-01 -8.04137173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.926875 meters 0.019797349074635567 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.12, Z:-0.08 [[ 9.99390173e-01 -1.81885121e-02 2.98070362e-02 5.56712783e+00] [ 1.81573075e-02 9.99834275e-01 1.31724225e-03 -1.22116362e-01] [-2.98260551e-02 -7.75223435e-04 9.99554804e-01 -7.97149858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.956874999999999 meters 0.019843653373263492 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.12, Z:-0.08 [[ 9.99374368e-01 -1.93012170e-02 2.96367214e-02 5.59526498e+00] [ 1.92707986e-02 9.99813441e-01 1.31168295e-03 -1.23412186e-01] [-2.96565095e-02 -7.39739033e-04 9.99559875e-01 -7.95657587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9868749999999995 meters 0.020593844398650498 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.12, Z:-0.08 [[ 9.99483709e-01 -1.62418482e-02 2.77221454e-02 5.62428581e+00] [ 1.62139943e-02 9.99867789e-01 1.22925851e-03 -1.19812320e-01] [-2.77384457e-02 -7.79137148e-04 9.99614912e-01 -8.21297736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.016875 meters 0.023079740810929585 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.11, Z:-0.09 [[ 9.99634554e-01 -1.02838583e-02 2.50000061e-02 5.65436601e+00] [ 1.02593096e-02 9.99946756e-01 1.11001052e-03 -1.12316536e-01] [-2.50100901e-02 -8.53122066e-04 9.99686835e-01 -8.76427421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.046874999999999 meters 0.026471456615714425 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.10, Z:-0.09 [[ 9.99723354e-01 -3.92498571e-03 2.31907120e-02 5.68325350e+00] [ 3.90215855e-03 9.99991857e-01 1.02949476e-03 -1.03593199e-01] [-2.31945639e-02 -9.38716122e-04 9.99730529e-01 -9.12444439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.076874999999999 meters 0.02845600013754459 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.10, Z:-0.09 [[ 9.99727777e-01 9.27597383e-05 2.33315924e-02 5.71414203e+00] [-1.16978972e-04 9.99999456e-01 1.03668193e-03 -9.73533754e-02] [-2.33314835e-02 -1.03912902e-03 9.99727244e-01 -9.12407442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.106875 meters 0.030307883223587583 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.09, Z:-0.09 [[ 9.99686760e-01 2.60982468e-03 2.48911713e-02 5.74543763e+00] [-2.63815868e-03 9.99995909e-01 1.10554469e-03 -9.17310708e-02] [-2.48881842e-02 -1.17086525e-03 9.99689555e-01 -8.96129278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.136875 meters 0.029564251151165354 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.09, Z:-0.09 [[ 9.99623295e-01 3.15515004e-03 2.72637814e-02 5.77823205e+00] [-3.18930002e-03 9.99994183e-01 1.20918334e-03 -8.96720433e-02] [-2.72598076e-02 -1.29568021e-03 9.99627543e-01 -8.77963850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.166874999999999 meters 0.02954724007143229 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.09, Z:-0.09 [[ 9.99625155e-01 4.92568009e-05 2.73778612e-02 5.80887912e+00] [-8.22979158e-05 9.99999270e-01 1.20572976e-03 -8.65177248e-02] [-2.73777818e-02 -1.20753094e-03 9.99624429e-01 -8.83974760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1968749999999995 meters 0.02684121016116196 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.09, Z:-0.09 [[ 9.99573793e-01 -6.13529229e-03 2.85410411e-02 5.83843807e+00] [ 6.10193247e-03 9.99980595e-01 1.25578643e-03 -8.86882551e-02] [-2.85481918e-02 -1.08109570e-03 9.99591833e-01 -8.83022478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.226875 meters 0.023164965228415973 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.09, Z:-0.09 [[ 9.99534308e-01 -1.03619100e-02 2.87018922e-02 5.86928054e+00] [ 1.03298995e-02 9.99945847e-01 1.26332840e-03 -9.29153355e-02] [-2.87134284e-02 -9.66252417e-04 9.99587217e-01 -8.87278393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.256875 meters 0.0222398157519442 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.09, Z:-0.09 [[ 9.99522661e-01 -1.39063995e-02 2.75873567e-02 5.89854203e+00] [ 1.38781798e-02 9.99902956e-01 1.21413285e-03 -9.16099773e-02] [-2.76015637e-02 -8.30691003e-04 9.99618659e-01 -9.02403837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.286874999999999 meters 0.022621080316931965 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.08, Z:-0.09 [[ 9.99595588e-01 -1.31920993e-02 2.51918313e-02 5.92701531e+00] [ 1.31683566e-02 9.99912679e-01 1.10814205e-03 -8.49036884e-02] [-2.52042502e-02 -7.75958889e-04 9.99682021e-01 -9.32241979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.316875 meters 0.023880007934167457 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.08, Z:-0.10 [[ 9.99709679e-01 -7.88251012e-03 2.27689045e-02 5.95715533e+00] [ 7.86158932e-03 9.99968589e-01 1.00819882e-03 -7.57674791e-02] [-2.27761365e-02 -8.28906347e-04 9.99740247e-01 -9.72691033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.346875 meters 0.027037290551749808 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.06, Z:-0.10 [[ 9.99780507e-01 -1.60527365e-03 2.08892681e-02 5.98646441e+00] [ 1.58630066e-03 9.99998314e-01 9.24803222e-04 -6.27698736e-02] [-2.08907174e-02 -8.91463574e-04 9.99781368e-01 -9.97179607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.376874999999999 meters 0.028569324001030395 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.05, Z:-0.10 [[ 9.99776314e-01 4.43450052e-03 2.06798748e-02 6.01684918e+00] [-4.45439471e-03 9.99989660e-01 9.16043396e-04 -5.31454161e-02] [-2.06755988e-02 -1.00795481e-03 9.99785729e-01 -9.95958268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.406874999999999 meters 0.02940524369851293 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.05, Z:-0.10 [[ 9.99791166e-01 7.80637110e-03 1.88860835e-02 6.04702900e+00] [-7.82356577e-03 9.99969045e-01 8.36726722e-04 -4.54306232e-02] [-1.88789671e-02 -9.84308502e-04 9.99821292e-01 -1.01277447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.436875 meters 0.03118122747573533 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.04, Z:-0.10 [[ 9.99763950e-01 8.51665032e-03 1.99877556e-02 6.07811214e+00] [-8.53610064e-03 9.99963173e-01 8.87995051e-04 -3.73592132e-02] [-1.99794567e-02 -1.05840293e-03 9.99799831e-01 -1.03369155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.466875 meters 0.029638062298887907 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.04, Z:-0.10 [[ 9.99704601e-01 5.62517506e-03 2.36446377e-02 6.10918961e+00] [-5.65136428e-03 9.99983489e-01 1.04094139e-03 -3.57350361e-02] [-2.36383919e-02 -1.17425835e-03 9.99719885e-01 -1.01493149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.496874999999999 meters 0.028544469139253854 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.04, Z:-0.10 [[ 9.99662062e-01 4.00772650e-03 2.56846231e-02 6.14045346e+00] [-4.03808506e-03 9.99991208e-01 1.13021590e-03 -3.59056181e-02] [-2.56798677e-02 -1.23355065e-03 9.99669457e-01 -1.00342125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5268749999999995 meters 0.028544469139253854 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.03, Z:-0.10 [[ 9.99660933e-01 4.28015001e-03 2.56845980e-02 6.17284505e+00] [-4.31061301e-03 9.99990070e-01 1.13079089e-03 -3.45761769e-02] [-2.56795030e-02 -1.24112384e-03 9.99669457e-01 -1.01374442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.556875 meters 0.027916600085103275 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.03, Z:-0.10 [[ 9.99624858e-01 1.69337959e-03 2.73363575e-02 6.20322451e+00] [-1.72667270e-03 9.99997796e-01 1.19434694e-03 -3.34440565e-02] [-2.73342747e-02 -1.24109984e-03 9.99625578e-01 -9.94187864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.586874999999999 meters 0.027736494395120867 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.03, Z:-0.10 [[ 9.99625750e-01 2.78670758e-03 2.72138503e-02 6.23567181e+00] [-2.82010082e-03 9.99995317e-01 1.18876482e-03 -3.20063678e-02] [-2.72104101e-02 -1.26506573e-03 9.99628928e-01 -1.00514348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.616874999999999 meters 0.027737280369490826 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.03, Z:-0.10 [[ 9.99618947e-01 3.82396430e-03 2.73374817e-02 6.26763085e+00] [-3.85799728e-03 9.99991847e-01 1.19228425e-03 -3.03194997e-02] [-2.73326996e-02 -1.29729786e-03 9.99625550e-01 -1.01626821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.646875 meters 0.029575001957084016 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.02, Z:-0.11 [[ 9.99610015e-01 8.49530741e-03 2.66016556e-02 6.29786921e+00] [-8.52912584e-03 9.99962956e-01 1.15808214e-03 -2.36529818e-02] [-2.65908319e-02 -1.38451937e-03 9.99645443e-01 -1.06616859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.676875 meters 0.03143207264873148 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.02, Z:-0.11 [[ 9.99608601e-01 1.08923000e-02 2.57682484e-02 6.32815962e+00] [-1.09248252e-02 9.99939693e-01 1.12177116e-03 -2.00738810e-02] [-2.57544757e-02 -1.40284571e-03 9.99667314e-01 -1.07936955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.706874999999999 meters 0.03199238290080082 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.02, Z:-0.11 [[ 9.99620559e-01 1.15670667e-02 2.49988042e-02 6.36006009e+00] [-1.15979151e-02 9.99932149e-01 1.08935376e-03 -1.78850848e-02] [-2.49845074e-02 -1.37887442e-03 9.99686888e-01 -1.09010412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7368749999999995 meters 0.03735861234385868 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.01, Z:-0.11 [[ 9.99615989e-01 1.52560055e-02 2.31328559e-02 6.38906820e+00] [-1.52832406e-02 9.99882703e-01 1.00098682e-03 -7.19531251e-03] [-2.31148714e-02 -1.35414743e-03 9.99731899e-01 -1.13266594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.766875 meters 0.034958325003963966 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.01, Z:-0.11 [[ 9.99602413e-01 1.67985524e-02 2.26456129e-02 6.42158647e+00] [-1.68250688e-02 9.99857967e-01 9.80894559e-04 -9.04522697e-03] [-2.26259188e-02 -1.36151856e-03 9.99743074e-01 -1.14086819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.796874999999999 meters 0.034240968886209665 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.01, Z:-0.11 [[ 9.99571980e-01 1.82757077e-02 2.28441480e-02 6.45334324e+00] [-1.83030500e-02 9.99831997e-01 9.88373190e-04 -8.20620727e-03] [-2.28222469e-02 -1.40606773e-03 9.99738550e-01 -1.14698155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.826874999999999 meters 0.034950833012571944 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.01, Z:-0.12 [[ 9.99541178e-01 1.89536974e-02 2.36260761e-02 6.48482917e+00] [-1.89830850e-02 9.99819285e-01 1.02018595e-03 -5.95589015e-03] [-2.36024702e-02 -1.46821368e-03 9.99720345e-01 -1.15427880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.856875 meters 0.034585871624836916 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.01, Z:-0.12 [[ 9.99542930e-01 1.79999500e-02 2.42885534e-02 6.51674110e+00] [-1.80305967e-02 9.99836891e-01 1.04334676e-03 -6.25928154e-03] [-2.42658116e-02 -1.48080698e-03 9.99704445e-01 -1.16077776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.886875 meters 0.030906729384077958 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.01, Z:-0.12 [[ 9.99548628e-01 1.60070502e-02 2.54227216e-02 6.54823928e+00] [-1.60397897e-02 9.99870766e-01 1.08439521e-03 -1.31590310e-02] [-2.54020782e-02 -1.49168086e-03 9.99676202e-01 -1.15606116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.916874999999999 meters 0.03325644733003037 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.01, Z:-0.12 [[ 9.99589301e-01 1.38568096e-02 2.50842312e-02 6.57879184e+00] [-1.38879861e-02 9.99902986e-01 1.06908076e-03 -1.11849483e-02] [-2.50669836e-02 -1.41701114e-03 9.99684770e-01 -1.16312971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9468749999999995 meters 0.03122923771338357 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.02, Z:-0.12 [[ 9.99587873e-01 1.09586795e-02 2.65328546e-02 6.60940493e+00] [-1.09925134e-02 9.99938942e-01 1.12964219e-03 -1.54680471e-02] [-2.65188551e-02 -1.42083939e-03 9.99647304e-01 -1.16528633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.976875 meters 0.02935533202095639 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.02, Z:-0.12 [[ 9.99578491e-01 6.50488888e-03 2.82935788e-02 6.64078688e+00] [-6.54158587e-03 9.99977878e-01 1.20463930e-03 -1.98796194e-02] [-2.82851168e-02 -1.38921641e-03 9.99598931e-01 -1.16460272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.006874999999999 meters 0.028165182702146366 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.02, Z:-0.12 [[ 9.99582419e-01 3.38569243e-03 2.86971331e-02 6.67251518e+00] [-3.42215952e-03 9.99993398e-01 1.22173913e-03 -2.21942974e-02] [-2.86928072e-02 -1.31943512e-03 9.99587406e-01 -1.19519718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.036874999999999 meters 0.026378745562048764 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.03, Z:-0.12 [[ 9.99603101e-01 -1.64207658e-04 2.81711294e-02 6.70331225e+00] [ 1.30538213e-04 9.99999275e-01 1.19701048e-03 -2.87588734e-02] [-2.81713055e-02 -1.19285798e-03 9.99602398e-01 -1.19356775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.066875 meters 0.023885472183150524 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.04, Z:-0.12 [[ 9.99595068e-01 -4.59136060e-03 2.80823588e-02 6.73482047e+00] [ 4.55964521e-03 9.99988893e-01 1.19330210e-03 -3.85491489e-02] [-2.80875258e-02 -1.06477330e-03 9.99604901e-01 -1.17975797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.096875 meters 0.02335801011249972 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.04, Z:-0.12 [[ 9.99537570e-01 -7.83885676e-03 2.93802456e-02 6.76546065e+00] [ 7.80555707e-03 9.99968757e-01 1.24792380e-03 -4.28254301e-02] [-2.93891100e-02 -1.01801754e-03 9.99567528e-01 -1.21225397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.126874999999999 meters 0.023207518639568873 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.05, Z:-0.13 [[ 9.99530865e-01 -7.92534480e-03 2.95844305e-02 6.79681182e+00] [ 7.89163251e-03 9.99968072e-01 1.25611655e-03 -4.64321252e-02] [-2.95934411e-02 -1.02205781e-03 9.99561496e-01 -1.25189461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.156874999999999 meters 0.02388436788132698 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.05, Z:-0.12 [[ 9.99551503e-01 -6.13157601e-03 2.93120537e-02 6.82806580e+00] [ 6.09774155e-03 9.99980635e-01 1.24353437e-03 -5.16752716e-02] [-2.93191109e-02 -1.06423932e-03 9.99569536e-01 -1.23439072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.186875 meters 0.025584132413256286 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.06, Z:-0.12 [[ 9.99626025e-01 -3.13043801e-03 2.71663610e-02 6.85914489e+00] [ 3.10028014e-03 9.99994530e-01 1.15216665e-03 -5.51747395e-02] [-2.71698192e-02 -1.06751244e-03 9.99630262e-01 -1.22722367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.216874999999999 meters 0.026993581461652996 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.06, Z:-0.12 [[ 9.99629694e-01 3.95626871e-04 2.72088061e-02 6.89013830e+00] [-4.27155856e-04 9.99999244e-01 1.15297617e-03 -5.69936290e-02] [-2.72083294e-02 -1.16417162e-03 9.99629107e-01 -1.24561799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.246874999999999 meters 0.029429990629074438 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.06, Z:-0.13 [[ 9.99587500e-01 4.64403044e-03 2.83418978e-02 6.92153484e+00] [-4.67993241e-03 9.99988328e-01 1.20054432e-03 -5.65369170e-02] [-2.83359916e-02 -1.33268726e-03 9.99597567e-01 -1.26854644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2768749999999995 meters 0.031336672814099714 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.06, Z:-0.13 [[ 9.99548583e-01 9.11900053e-03 2.86264508e-02 6.95271218e+00] [-9.15742940e-03 9.99957336e-01 1.21161035e-03 -5.79366694e-02] [-2.86141808e-02 -1.47320811e-03 9.99589445e-01 -1.27388064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.306875 meters 0.033508925364501625 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.06, Z:-0.13 [[ 9.99564437e-01 1.32155742e-02 2.63872191e-02 6.98393819e+00] [-1.32496252e-02 9.99911597e-01 1.11600558e-03 -5.75545112e-02] [-2.63701377e-02 -1.46514026e-03 9.99651174e-01 -1.29360321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.336874999999999 meters 0.029687571308415633 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.06, Z:-0.13 [[ 9.99682075e-01 9.04878249e-03 2.35344076e-02 7.01500592e+00] [-9.07470044e-03 9.99958329e-01 9.94711432e-04 -6.40161564e-02] [-2.35244260e-02 -1.20796289e-03 9.99722533e-01 -1.34634442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.366874999999999 meters 0.027460053288557933 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.07, Z:-0.14 [[ 9.99742921e-01 3.03792716e-03 2.24691362e-02 7.04446077e+00] [-3.06002130e-03 9.99994868e-01 9.48993770e-04 -6.91620669e-02] [-2.24661379e-02 -1.01750584e-03 9.99747087e-01 -1.36871188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.396875 meters 0.02573040492875533 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.07, Z:-0.14 [[ 9.99799034e-01 -1.84852667e-03 1.99618209e-02 7.07477521e+00] [ 1.83205232e-03 9.99997966e-01 8.43548928e-04 -7.37081354e-02] [-1.99633396e-02 -8.06808303e-04 9.99800387e-01 -1.40747820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.426875 meters 0.02449886790937912 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.08, Z:-0.14 [[ 9.99805288e-01 -4.56853966e-03 1.91967131e-02 7.10646841e+00] [ 4.55379216e-03 9.99989302e-01 8.11873116e-04 -7.54712060e-02] [-1.92002168e-02 -7.24297193e-04 9.99815396e-01 -1.42812426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.456874999999999 meters 0.02586327564130512 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.07, Z:-0.14 [[ 9.99765191e-01 -3.76859059e-03 2.13391637e-02 7.13708359e+00] [ 3.75022042e-03 9.99992562e-01 9.00819109e-04 -7.33723410e-02] [-2.13423998e-02 -8.20581021e-04 9.99771888e-01 -1.40134947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4868749999999995 meters 0.02609349481290735 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.07, Z:-0.14 [[ 9.99675798e-01 -3.86739196e-03 2.51662974e-02 7.16901768e+00] [ 3.84187978e-03 9.99992056e-01 1.06201556e-03 -7.19017794e-02] [-2.51702047e-02 -9.64985361e-04 9.99682714e-01 -1.36239066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.516875 meters 0.026276817155512708 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.07, Z:-0.13 [[ 9.99621738e-01 -2.82025580e-03 2.73574080e-02 7.20093496e+00] [ 2.78974616e-03 9.99995444e-01 1.15332712e-03 -6.99588553e-02] [-2.73605360e-02 -1.07657064e-03 9.99625051e-01 -1.33554527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.546874999999999 meters 0.02649443867642581 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.07, Z:-0.13 [[ 9.99567346e-01 -1.30919034e-03 2.93837800e-02 7.23271946e+00] [ 1.27340365e-03 9.99998425e-01 1.23658605e-03 -6.73070609e-02] [-2.93853526e-02 -1.19863362e-03 9.99567439e-01 -1.32621251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.576874999999999 meters 0.02867604459352859 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.06, Z:-0.13 [[ 9.99499489e-01 2.67417298e-04 3.16338321e-02 7.26367599e+00] [-3.09611042e-04 9.99999069e-01 1.32892622e-03 -6.05098202e-02] [-3.16334473e-02 -1.33805526e-03 9.99498642e-01 -1.33163828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.606875 meters 0.028677703251059367 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.06, Z:-0.13 [[ 9.99471456e-01 6.48025044e-04 3.25021188e-02 7.29621983e+00] [-6.92712885e-04 9.99998830e-01 1.36367940e-03 -5.87716971e-02] [-3.25011971e-02 -1.38547328e-03 9.99470736e-01 -1.33871085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.636875 meters 0.025433010734184688 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.06, Z:-0.13 [[ 9.99488174e-01 -1.73917284e-03 3.19431470e-02 7.32817172e+00] [ 1.69729451e-03 9.99997664e-01 1.33809567e-03 -6.29622995e-02] [-3.19453996e-02 -1.28319387e-03 9.99488792e-01 -1.34883980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.666874999999999 meters 0.025212608190433305 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.06, Z:-0.14 [[ 9.99522373e-01 -2.27746183e-03 3.08194668e-02 7.36014462e+00] [ 2.23880037e-03 9.99996663e-01 1.28889866e-03 -6.13039618e-02] [-3.08222994e-02 -1.21928441e-03 9.99524136e-01 -1.37743097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6968749999999995 meters 0.025482103595549477 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.06, Z:-0.14 [[ 9.99589179e-01 -2.74403943e-03 2.85297062e-02 7.39149033e+00] [ 2.71115533e-03 9.99995615e-01 1.19124493e-03 -5.89090920e-02] [-2.85328499e-02 -1.11340708e-03 9.99592235e-01 -1.42437015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.726875 meters 0.025796760514226167 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.06, Z:-0.14 [[ 9.99642824e-01 -2.84554169e-03 2.65730475e-02 7.42382951e+00] [ 2.81708001e-03 9.99995418e-01 1.10844744e-03 -5.66582365e-02] [-2.65760799e-02 -1.03319313e-03 9.99646260e-01 -1.43646092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.756874999999999 meters 0.02570066099932313 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.05, Z:-0.15 [[ 9.99685846e-01 -2.60754948e-03 2.49280859e-02 7.45608368e+00] [ 2.58248231e-03 9.99996127e-01 1.03771977e-03 -5.48797201e-02] [-2.49306953e-02 -9.73017426e-04 9.99688708e-01 -1.47789436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.786874999999999 meters 0.025490942902577807 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.05, Z:-0.15 [[ 9.99643267e-01 -3.38214236e-03 2.64934060e-02 7.48820523e+00] [ 3.35415080e-03 9.99993769e-01 1.10091636e-03 -5.34180475e-02] [-2.64969644e-02 -1.01166075e-03 9.99648382e-01 -1.48707894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.816875 meters 0.025535760244418063 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.05, Z:-0.15 [[ 9.99634640e-01 -4.22385661e-03 2.66972919e-02 7.51944070e+00] [ 4.19578401e-03 9.99990584e-01 1.10744563e-03 -5.30851063e-02] [-2.67017182e-02 -9.95024942e-04 9.99642950e-01 -1.47834907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.846875 meters 0.023780254885969986 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.06, Z:-0.15 [[ 9.99582653e-01 -5.98782806e-03 2.82606628e-02 7.55192981e+00] [ 5.95709841e-03 9.99981570e-01 1.17143261e-03 -5.73373460e-02] [-2.82671563e-02 -1.00259217e-03 9.99599901e-01 -1.46109914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.876874999999999 meters 0.02310086024153666 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.06, Z:-0.15 [[ 9.99540707e-01 -6.95080182e-03 2.94968131e-02 7.58345232e+00] [ 6.91797787e-03 9.99975333e-01 1.21470299e-03 -5.82118203e-02] [-2.95045286e-02 -1.01008679e-03 9.99564136e-01 -1.45914634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.906874999999999 meters 0.023722335647204162 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.06, Z:-0.15 [[ 9.99551271e-01 -7.21805168e-03 2.90715858e-02 7.61412583e+00] [ 7.18631097e-03 9.99973463e-01 1.19614614e-03 -5.75349139e-02] [-2.90794482e-02 -9.86691941e-04 9.99576616e-01 -1.48283950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.936875 meters 0.024084002214727125 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.06, Z:-0.15 [[ 9.99598490e-01 -5.57257388e-03 2.77813652e-02 7.64495146e+00] [ 5.54296704e-03 9.99983985e-01 1.14260578e-03 -5.68068295e-02] [-2.77872875e-02 -9.88155818e-04 9.99613370e-01 -1.52068365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.966874999999999 meters 0.02370135187237952 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.06, Z:-0.15 [[ 9.99617399e-01 -6.00542698e-03 2.69998177e-02 7.67674612e+00] [ 5.97762617e-03 9.99981517e-01 1.11026137e-03 -5.75440787e-02] [-2.70059862e-02 -9.48441767e-04 9.99634822e-01 -1.52499475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.996874999999999 meters 0.02297240117942394 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.06, Z:-0.15 [[ 9.99604080e-01 -6.60684189e-03 2.73502059e-02 7.70804879e+00] [ 6.57859658e-03 9.99977731e-01 1.12257962e-03 -5.96772777e-02] [-2.73570135e-02 -9.42209192e-04 9.99625283e-01 -1.51631589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.026875 meters 0.023141785094012678 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.06, Z:-0.15 [[ 9.99615335e-01 -6.78039931e-03 2.68925141e-02 7.73857636e+00] [ 6.75318185e-03 9.99976589e-01 1.10277633e-03 -5.91015719e-02] [-2.68993618e-02 -9.20742096e-04 9.99637723e-01 -1.53442855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.056875 meters 0.023979531901647314 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.06, Z:-0.16 [[ 9.99608574e-01 -6.36273574e-03 2.72436228e-02 7.76913482e+00] [ 6.33466107e-03 9.99979312e-01 1.11668667e-03 -5.64566731e-02] [-2.72501644e-02 -9.43670452e-04 9.99628200e-01 -1.56367756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.086875000000001 meters 0.023800831331779335 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.06, Z:-0.16 [[ 9.99636381e-01 -5.80405199e-03 2.63328332e-02 7.80087237e+00] [ 5.77763913e-03 9.99982727e-01 1.07901287e-03 -5.67936283e-02] [-2.63386410e-02 -9.26478912e-04 9.99652648e-01 -1.57170144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.116875 meters 0.023841028138211415 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.06, Z:-0.16 [[ 9.99651897e-01 -4.76766554e-03 2.59490638e-02 7.83256335e+00] [ 4.74169155e-03 9.99988194e-01 1.06240055e-03 -5.55175423e-02] [-2.59538226e-02 -9.38988273e-04 9.99662702e-01 -1.58829897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.146875 meters 0.023882966674671047 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.05, Z:-0.16 [[ 9.99610378e-01 -6.35606217e-03 2.71789139e-02 7.86415850e+00] [ 6.32817612e-03 9.99979359e-01 1.11190773e-03 -5.43802312e-02] [-2.71854202e-02 -9.39481554e-04 9.99629967e-01 -1.58922239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.176875 meters 0.02075420510380568 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.06, Z:-0.16 [[ 9.99493434e-01 -1.30613696e-02 2.90220024e-02 7.89478877e+00] [ 1.30324639e-02 9.99914372e-01 1.18492878e-03 -5.83988945e-02] [-2.90349941e-02 -8.06100335e-04 9.99578071e-01 -1.57483199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.206875 meters 0.019975698078442853 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.06, Z:-0.16 [[ 9.99442173e-01 -1.52825014e-02 2.96949099e-02 7.92350518e+00] [ 1.52532339e-02 9.99882928e-01 1.21188893e-03 -5.85557902e-02] [-2.97099541e-02 -7.58269502e-04 9.99558274e-01 -1.58114220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.236875 meters 0.020180289934355826 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.05, Z:-0.16 [[ 9.99444174e-01 -1.73954308e-02 2.84383918e-02 7.95140667e+00] [ 1.73692387e-02 9.99848461e-01 1.16779851e-03 -5.41144917e-02] [-2.84543967e-02 -6.73196199e-04 9.99594865e-01 -1.60102781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.266875 meters 0.020265397792152556 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.05, Z:-0.16 [[ 9.99458583e-01 -1.62333026e-02 2.86185240e-02 7.98008427e+00] [ 1.62062439e-02 9.99867977e-01 1.17720368e-03 -5.00791335e-02] [-2.86338556e-02 -7.12767540e-04 9.99589713e-01 -1.60775357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.296875 meters 0.020415427259587296 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.05, Z:-0.16 [[ 9.99466578e-01 -1.49317421e-02 2.90448378e-02 8.00898083e+00] [ 1.49031146e-02 9.99888220e-01 1.20186935e-03 -4.73991259e-02] [-2.90595372e-02 -7.68369699e-04 9.99577387e-01 -1.60199069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.326875000000001 meters 0.02240365758615676 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.04, Z:-0.16 [[ 9.99471836e-01 -1.08951932e-02 3.06160793e-02 8.03698598e+00] [ 1.08612432e-02 9.99940202e-01 1.27498293e-03 -3.99947050e-02] [-3.06281397e-02 -9.41780849e-04 9.99530405e-01 -1.58588038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.356875 meters 0.022230051406140067 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.04, Z:-0.16 [[ 9.99417164e-01 -8.79462285e-03 3.29846528e-02 8.06633391e+00] [ 8.75399187e-03 9.99960736e-01 1.37602823e-03 -3.52139934e-02] [-3.29954594e-02 -1.08647885e-03 9.99454911e-01 -1.60085032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.386875 meters 0.022804977035839353 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.03, Z:-0.16 [[ 9.99308348e-01 -9.59038286e-03 3.59283984e-02 8.09663824e+00] [ 9.54264338e-03 9.99953343e-01 1.49998905e-03 -2.99254705e-02] [-3.59411075e-02 -1.15609968e-03 9.99353241e-01 -1.60368730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.416875000000001 meters 0.022759216291295504 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.03, Z:-0.16 [[ 9.99186428e-01 -1.09434805e-02 3.88165198e-02 8.12661567e+00] [ 1.08887994e-02 9.99939403e-01 1.61984577e-03 -2.87238731e-02] [-3.88318943e-02 -1.19586261e-03 9.99245042e-01 -1.56990889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.446875 meters 0.022759216291295504 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.03, Z:-0.16 [[ 9.99186427e-01 -1.09434632e-02 3.88165424e-02 8.15658935e+00] [ 1.08888032e-02 9.99939404e-01 1.61930396e-03 -2.74733785e-02] [-3.88319110e-02 -1.19532085e-03 9.99245042e-01 -1.57946012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.476875 meters 0.020828839905071284 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.03, Z:-0.16 [[ 9.99200772e-01 -1.23951022e-02 3.80023474e-02 8.18739291e+00] [ 1.23437612e-02 9.99922556e-01 1.58533831e-03 -2.91119659e-02] [-3.80190548e-02 -1.11497937e-03 9.99276392e-01 -1.58017282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.506875 meters 0.021399541965708823 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.02, Z:-0.16 [[ 9.99320456e-01 -1.02561184e-02 3.54039232e-02 8.21697986e+00] [ 1.02102169e-02 9.99946783e-01 1.47706781e-03 -2.47630804e-02] [-3.54171881e-02 -1.11458234e-03 9.99371993e-01 -1.64676863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.536875 meters 0.023279712616851918 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.02, Z:-0.17 [[ 9.99393674e-01 -8.93900217e-03 3.36508227e-02 8.24653327e+00] [ 8.89675475e-03 9.99959436e-01 1.40499246e-03 -1.88394708e-02] [-3.36620169e-02 -1.10475746e-03 9.99432663e-01 -1.68057185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.566875 meters 0.02349185698651742 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.02, Z:-0.17 [[ 9.99505608e-01 -6.34986947e-03 3.07931470e-02 8.27720942e+00] [ 6.31326757e-03 9.99979245e-01 1.28571896e-03 -1.69546531e-02] [-3.08006720e-02 -1.09067794e-03 9.99524952e-01 -1.72667626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.596875 meters 0.023661882000113165 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.02, Z:-0.17 [[ 9.99560882e-01 -4.58953933e-03 2.92741940e-02 8.30942139e+00] [ 4.55573794e-03 9.99988877e-01 1.22124090e-03 -1.51614453e-02] [-2.92794734e-02 -1.08733907e-03 9.99570673e-01 -1.74340377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.626875 meters 0.023574396757298617 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.01, Z:-0.18 [[ 9.99614952e-01 -3.21007895e-03 2.75616414e-02 8.34161589e+00] [ 3.17964437e-03 9.99994286e-01 1.14799239e-03 -1.19995013e-02] [-2.75651691e-02 -1.05991414e-03 9.99619447e-01 -1.76724311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.656875000000001 meters 0.026731269623936554 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.00, Z:-0.18 [[ 9.99644252e-01 -4.47513082e-04 2.66677619e-02 8.37085615e+00] [ 4.18086591e-04 9.99999298e-01 1.10901359e-03 -3.31987677e-03] [-2.66682394e-02 -1.09746963e-03 9.99643737e-01 -1.78692889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.686875 meters 0.026107389232880158 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.00, Z:-0.18 [[ 9.99663892e-01 7.63120327e-04 2.59137267e-02 8.40245924e+00] [-7.91249129e-04 9.99999109e-01 1.07524236e-03 -1.17248401e-03] [-2.59128831e-02 -1.09538517e-03 9.99663605e-01 -1.79457406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.716875 meters 0.02849568518951182 Centerline is valid? [True, True] Translation: X:8.43, Y:0.01, Z:-0.18 [[ 9.99655945e-01 1.14387986e-03 2.62046360e-02 8.43303664e+00] [-1.17273798e-03 9.99998723e-01 1.08591822e-03 5.27107233e-03] [-2.62033604e-02 -1.11627578e-03 9.99656010e-01 -1.81154631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.746875000000001 meters 0.026474392535459385 Centerline is valid? [True, True] Translation: X:8.47, Y:0.00, Z:-0.18 [[ 9.99631697e-01 1.40774433e-03 2.71014397e-02 8.46583149e+00] [-1.43867582e-03 9.99998336e-01 1.12185805e-03 4.70073096e-03] [-2.70998153e-02 -1.16043506e-03 9.99632059e-01 -1.82054421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.776875 meters 0.026440829790367326 Centerline is valid? [True, True] Translation: X:8.50, Y:0.01, Z:-0.18 [[ 9.99571342e-01 2.71277304e-03 2.91508818e-02 8.49782735e+00] [-2.74901624e-03 9.99995497e-01 1.20329209e-03 7.78641211e-03] [-2.91474863e-02 -1.28291253e-03 9.99574298e-01 -1.81021732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.806875 meters 0.02689207253506395 Centerline is valid? [True, True] Translation: X:8.53, Y:0.01, Z:-0.18 [[ 9.99541753e-01 3.89194562e-03 3.00189481e-02 8.52934747e+00] [-3.93084844e-03 9.99991509e-01 1.23703736e-03 1.07739676e-02] [-3.00138787e-02 -1.35447042e-03 9.99548564e-01 -1.80415156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.836875000000001 meters 0.02850973772102569 Centerline is valid? [True, True] Translation: X:8.56, Y:0.02, Z:-0.18 [[ 9.99449667e-01 5.75194472e-03 3.26692335e-02 8.56032513e+00] [-5.79886641e-03 9.99982286e-01 1.34169891e-03 1.70742290e-02] [-3.26609375e-02 -1.53040505e-03 9.99465318e-01 -1.78085566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.866875 meters 0.026974242386129457 Centerline is valid? [True, True] Translation: X:8.59, Y:0.02, Z:-0.18 [[ 9.99377357e-01 7.24875307e-03 3.45304655e-02 8.59218053e+00] [-7.30198331e-03 9.99972338e-01 1.41568398e-03 1.82578853e-02] [-3.45192484e-02 -1.66694340e-03 9.99402643e-01 -1.79031179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.896875 meters 0.02672978001218698 Centerline is valid? [True, True] Translation: X:8.62, Y:0.02, Z:-0.18 [[ 9.99425093e-01 5.21440475e-03 3.35006473e-02 8.62262135e+00] [-5.26310396e-03 9.99985217e-01 1.36566009e-03 1.89679619e-02] [-3.34930310e-02 -1.54119235e-03 9.99437763e-01 -1.82093795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.926875 meters 0.024521500009160143 Centerline is valid? [True, True] Translation: X:8.65, Y:0.01, Z:-0.18 [[ 9.99471597e-01 -1.05086116e-03 3.24872687e-02 8.65229836e+00] [ 1.00838563e-03 9.99998615e-01 1.32380800e-03 1.49277504e-02] [-3.24886149e-02 -1.29034880e-03 9.99471273e-01 -1.83156281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.956875 meters 0.02107540432963946 Centerline is valid? [True, True] Translation: X:8.68, Y:0.01, Z:-0.18 [[ 9.99295106e-01 -1.10394148e-02 3.58806771e-02 8.68329472e+00] [ 1.09940060e-02 9.99938494e-01 1.46260962e-03 7.30187507e-03] [-3.58946165e-02 -1.06710626e-03 9.99355011e-01 -1.82822682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.986875 meters 0.01812497044374083 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.00, Z:-0.18 [[ 9.99017304e-01 -2.11998152e-02 3.89229209e-02 8.71407044e+00] [ 2.11540780e-02 9.99774969e-01 1.58658861e-03 -1.67214072e-03] [-3.89477974e-02 -7.61650977e-04 9.99240956e-01 -1.80953950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.016875 meters 0.01715904661338683 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.01, Z:-0.18 [[ 9.98905511e-01 -2.62084616e-02 3.87413967e-02 8.74195902e+00] [ 2.61669009e-02 9.99656340e-01 1.57953094e-03 -5.37320088e-03] [-3.87694799e-02 -5.64059870e-04 9.99248022e-01 -1.81292708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.046875 meters 0.01762599506572013 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.00, Z:-0.18 [[ 9.98967342e-01 -2.49664749e-02 3.79595197e-02 8.76955850e+00] [ 2.49255594e-02 9.99688107e-01 1.55081729e-03 -1.95129889e-03] [-3.79863988e-02 -6.03053560e-04 9.99278074e-01 -1.83233395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.076875000000001 meters 0.019267408749886115 Centerline is valid? [True, True] Translation: X:8.80, Y:0.01, Z:-0.19 [[ 9.99218883e-01 -1.80392594e-02 3.51597575e-02 8.79883297e+00] [ 1.79997824e-02 9.99836955e-01 1.43902117e-03 6.85350701e-03] [-3.51799837e-02 -8.05029140e-04 9.99380669e-01 -1.87670885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.106875 meters 0.022640577727380175 Centerline is valid? [True, True] Translation: X:8.83, Y:0.02, Z:-0.19 [[ 9.99459223e-01 -9.13461470e-03 3.15882819e-02 8.82732260e+00] [ 9.09828011e-03 9.99957773e-01 1.29380236e-03 1.87737727e-02] [-3.15987664e-02 -1.00570367e-03 9.99500128e-01 -1.92623232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.136875 meters 0.023337928743636847 Centerline is valid? [True, True] Translation: X:8.86, Y:0.03, Z:-0.20 [[ 9.99604962e-01 -9.71827456e-04 2.80886954e-02 8.85733105e+00] [ 9.39863276e-04 9.99998896e-01 1.15115306e-03 2.61592559e-02] [-2.80897831e-02 -1.12429878e-03 9.99604772e-01 -1.97219178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.166875000000001 meters 0.02858801064253979 Centerline is valid? [True, True] Translation: X:8.89, Y:0.04, Z:-0.20 [[ 9.99678209e-01 5.21263642e-03 2.48255274e-02 8.88653813e+00] [-5.23950180e-03 9.99985756e-01 1.01724310e-03 4.20075997e-02] [-2.48198712e-02 -1.14698916e-03 9.99691282e-01 -2.04245128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.196875 meters 0.031419875982889645 Centerline is valid? [True, True] Translation: X:8.92, Y:0.05, Z:-0.21 [[ 9.99663360e-01 9.06987344e-03 2.43085167e-02 8.91600575e+00] [-9.09679140e-03 9.99958126e-01 9.96992051e-04 5.20838341e-02] [-2.42984562e-02 -1.21778593e-03 9.99704007e-01 -2.07238866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.226875 meters 0.03166945001841216 Centerline is valid? [True, True] Translation: X:8.95, Y:0.06, Z:-0.21 [[ 9.99658227e-01 1.05267183e-02 2.39294417e-02 8.94820716e+00] [-1.05531834e-02 9.99943833e-01 9.79947275e-04 5.51456185e-02] [-2.39177821e-02 -1.23214414e-03 9.99713170e-01 -2.06023537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.256875 meters 0.029531249852309302 Centerline is valid? [True, True] Translation: X:8.98, Y:0.05, Z:-0.20 [[ 9.99649211e-01 6.99795160e-03 2.55437495e-02 8.97940375e+00] [-7.02690426e-03 9.99974766e-01 1.04386740e-03 5.38265821e-02] [-2.55358000e-02 -1.22299470e-03 9.99673160e-01 -2.03908072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.286875 meters 0.023486444142475284 Centerline is valid? [True, True] Translation: X:9.01, Y:0.05, Z:-0.20 [[ 9.99559880e-01 1.70046955e-04 2.96651018e-02 9.01004627e+00] [-2.06081736e-04 9.99999245e-01 1.21166645e-03 4.51254367e-02] [-2.96648734e-02 -1.21724661e-03 9.99559160e-01 -2.00614180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.316875 meters 0.021424633945793775 Centerline is valid? [True, True] Translation: X:9.04, Y:0.04, Z:-0.20 [[ 9.99482839e-01 -4.88642754e-03 3.17832897e-02 9.04089644e+00] [ 4.84761209e-03 9.99987408e-01 1.29819510e-03 4.05794562e-02] [-3.17892330e-02 -1.14345067e-03 9.99493941e-01 -1.98806318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.346875 meters 0.02181059251533296 Centerline is valid? [True, True] Translation: X:9.07, Y:0.04, Z:-0.20 [[ 9.99440908e-01 -5.87620829e-03 3.29141507e-02 9.07168615e+00] [ 5.83511798e-03 9.99982072e-01 1.34432518e-03 4.20430020e-02] [-3.29214602e-02 -1.15151562e-03 9.99457278e-01 -1.98971972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.376875 meters 0.024790219881832363 Centerline is valid? [True, True] Translation: X:9.10, Y:0.05, Z:-0.20 [[ 9.99494797e-01 -2.49453084e-03 3.16848272e-02 9.10122102e+00] [ 2.45480902e-03 9.99996152e-01 1.29249246e-03 4.88189270e-02] [-3.16879294e-02 -1.21405929e-03 9.99497074e-01 -2.01317656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.406875 meters 0.025563560472438282 Centerline is valid? [True, True] Translation: X:9.13, Y:0.05, Z:-0.20 [[ 9.99537206e-01 2.47286171e-03 3.03192683e-02 9.13208071e+00] [-2.51143310e-03 9.99996085e-01 1.23415908e-03 5.24866704e-02] [-3.03160976e-02 -1.30973273e-03 9.99539503e-01 -2.04289136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.436875 meters 0.02815204005029351 Centerline is valid? [True, True] Translation: X:9.16, Y:0.06, Z:-0.21 [[ 9.99545899e-01 6.79637736e-03 2.93565330e-02 9.16130322e+00] [-6.83438181e-03 9.99975932e-01 1.19443667e-03 5.95312481e-02] [-2.93477086e-02 -1.39452803e-03 9.99568290e-01 -2.08914586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.466875 meters 0.02755195580828937 Centerline is valid? [True, True] Translation: X:9.19, Y:0.06, Z:-0.21 [[ 9.99592337e-01 9.07719274e-03 2.70696169e-02 9.19372623e+00] [-9.11034765e-03 9.99957893e-01 1.10172138e-03 5.86940013e-02] [-2.70584766e-02 -1.34788587e-03 9.99632944e-01 -2.11464456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.496875000000001 meters 0.027182485599155235 Centerline is valid? [True, True] Translation: X:9.23, Y:0.06, Z:-0.21 [[ 9.99629703e-01 8.04746158e-03 2.59941522e-02 9.22581430e+00] [-8.07766758e-03 9.99966816e-01 1.05723385e-03 5.66302040e-02] [-2.59847815e-02 -1.26681448e-03 9.99661536e-01 -2.11390702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.526875 meters 0.027296098304873465 Centerline is valid? [True, True] Translation: X:9.26, Y:0.06, Z:-0.21 [[ 9.99619772e-01 5.20870330e-03 2.70773129e-02 9.25617969e+00] [-5.24022060e-03 9.99985672e-01 1.09314573e-03 5.56957629e-02] [-2.70712311e-02 -1.23462118e-03 9.99632745e-01 -2.11589859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.556875 meters 0.025083063894775888 Centerline is valid? [True, True] Translation: X:9.29, Y:0.05, Z:-0.21 [[ 9.99620830e-01 1.47045084e-03 2.74960672e-02 9.28764468e+00] [-1.50152586e-03 9.99998257e-01 1.10954940e-03 5.02583521e-02] [-2.74943877e-02 -1.15041475e-03 9.99621296e-01 -2.12036321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.586875000000001 meters 0.02384316525810106 Centerline is valid? [True, True] Translation: X:9.32, Y:0.05, Z:-0.21 [[ 9.99597018e-01 -1.34665391e-03 2.83546800e-02 9.31954858e+00] [ 1.31474943e-03 9.99998482e-01 1.14380631e-03 4.59158024e-02] [-2.83561773e-02 -1.10606608e-03 9.99597271e-01 -2.12117478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.616875 meters 0.022741716311741003 Centerline is valid? [True, True] Translation: X:9.35, Y:0.04, Z:-0.21 [[ 9.99509183e-01 -1.93667819e-03 3.12672601e-02 9.35179416e+00] [ 1.89822150e-03 9.99997405e-01 1.25957124e-03 4.21713620e-02] [-3.12696183e-02 -1.19960083e-03 9.99510266e-01 -2.08904597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.646875 meters 0.02411939923431942 Centerline is valid? [True, True] Translation: X:9.38, Y:0.04, Z:-0.21 [[ 9.99412813e-01 -1.37328631e-03 3.42365902e-02 9.38245904e+00] [ 1.32714534e-03 9.99998180e-01 1.37039811e-03 4.38922112e-02] [-3.42384099e-02 -1.32415650e-03 9.99412817e-01 -2.06783574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.676875 meters 0.02371178964643302 Centerline is valid? [True, True] Translation: X:9.41, Y:0.04, Z:-0.21 [[ 9.99420057e-01 9.66287573e-04 3.40384581e-02 9.41459519e+00] [-1.01320621e-03 9.99998560e-01 1.36117874e-03 4.36009619e-02] [-3.40370938e-02 -1.39487731e-03 9.99419597e-01 -2.09690426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.706875 meters 0.027798137820535085 Centerline is valid? [True, True] Translation: X:9.44, Y:0.05, Z:-0.21 [[ 9.99478516e-01 4.33284191e-03 3.19987781e-02 9.44386923e+00] [-4.37595523e-03 9.99989610e-01 1.27743465e-03 5.05418679e-02] [-3.19929107e-02 -1.41679371e-03 9.99487092e-01 -2.13739272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.736875 meters 0.029046746983273693 Centerline is valid? [True, True] Translation: X:9.47, Y:0.05, Z:-0.22 [[ 9.99533483e-01 7.53812822e-03 2.95971660e-02 9.47452564e+00] [-7.57633660e-03 9.99970604e-01 1.17901420e-03 5.19864344e-02] [-2.95874084e-02 -1.40270226e-03 9.99561213e-01 -2.16488011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.766875 meters 0.027709860568213573 Centerline is valid? [True, True] Translation: X:9.51, Y:0.05, Z:-0.22 [[ 9.99553467e-01 8.02691314e-03 2.87825428e-02 9.50653254e+00] [-8.06325462e-03 9.99966834e-01 1.14677814e-03 5.06900598e-02] [-2.87723831e-02 -1.37834703e-03 9.99585039e-01 -2.18107121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.796875 meters 0.02882723909211457 Centerline is valid? [True, True] Translation: X:9.54, Y:0.05, Z:-0.22 [[ 9.99569429e-01 7.87601461e-03 2.82652480e-02 9.53751953e+00] [-7.91080432e-03 9.99968083e-01 1.11921639e-03 5.06213852e-02] [-2.82555309e-02 -1.34233533e-03 9.99599831e-01 -2.20199172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.826875000000001 meters 0.028518736220588967 Centerline is valid? [True, True] Translation: X:9.57, Y:0.05, Z:-0.22 [[ 9.99588767e-01 6.36680264e-03 2.79599872e-02 9.56907670e+00] [-6.40007979e-03 9.99978913e-01 1.10084015e-03 4.73911814e-02] [-2.79523887e-02 -1.27933360e-03 9.99608437e-01 -2.20548299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.856875 meters 0.027441940876903013 Centerline is valid? [True, True] Translation: X:9.60, Y:0.04, Z:-0.22 [[ 9.99602051e-01 4.28784044e-03 2.78810711e-02 9.60043714e+00] [-4.31991389e-03 9.99990075e-01 1.09023426e-03 4.49867551e-02] [-2.78761196e-02 -1.21024423e-03 9.99610653e-01 -2.22933700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.886875 meters 0.023943551582027368 Centerline is valid? [True, True] Translation: X:9.63, Y:0.03, Z:-0.22 [[ 9.99540669e-01 -2.49113252e-03 3.02033891e-02 9.63153337e+00] [ 2.45661600e-03 9.99996286e-01 1.17985679e-03 3.35339668e-02] [-3.02062161e-02 -1.10511672e-03 9.99543077e-01 -2.22164332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.916875000000001 meters 0.022467475035816708 Centerline is valid? [True, True] Translation: X:9.66, Y:0.03, Z:-0.22 [[ 9.99452565e-01 -3.17508994e-03 3.29315785e-02 9.66389503e+00] [ 3.13442843e-03 9.99994260e-01 1.28627833e-03 2.70501664e-02] [-3.29354736e-02 -1.18235250e-03 9.99456781e-01 -2.18340054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.946875 meters 0.024335821684966966 Centerline is valid? [True, True] Translation: X:9.69, Y:0.03, Z:-0.22 [[ 9.99492286e-01 -6.82808422e-04 3.18544122e-02 9.69484586e+00] [ 6.43572014e-04 9.99999022e-01 1.24197836e-03 2.81706840e-02] [-3.18552291e-02 -1.22084718e-03 9.99491748e-01 -2.19493532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.976875 meters 0.02662007535247035 Centerline is valid? [True, True] Translation: X:9.73, Y:0.03, Z:-0.22 [[ 9.99529544e-01 1.30095877e-03 3.06430652e-02 9.72582069e+00] [-1.33814813e-03 9.99998393e-01 1.19315441e-03 3.25175954e-02] [-3.06414637e-02 -1.23359804e-03 9.99529679e-01 -2.22821394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.006875 meters 0.02474852005398789 Centerline is valid? [True, True] Translation: X:9.76, Y:0.03, Z:-0.23 [[ 9.99577765e-01 1.46133934e-03 2.90199319e-02 9.75888329e+00] [-1.49473551e-03 9.99998245e-01 1.12914151e-03 2.95950674e-02] [-2.90182309e-02 -1.17204187e-03 9.99578195e-01 -2.26203881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.036875 meters 0.02563759910275093 Centerline is valid? [True, True] Translation: X:9.79, Y:0.03, Z:-0.23 [[ 9.99627766e-01 1.44566893e-03 2.72440709e-02 9.79017235e+00] [-1.47489663e-03 9.99998358e-01 1.05274497e-03 3.11497112e-02] [-2.72425043e-02 -1.09253529e-03 9.99628257e-01 -2.30254938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.066875 meters 0.02577351662445358 Centerline is valid? [True, True] Translation: X:9.82, Y:0.03, Z:-0.24 [[ 9.99738287e-01 1.74064109e-03 2.28106982e-02 9.82211460e+00] [-1.76109433e-03 9.99998065e-01 8.76593193e-04 3.15897202e-02] [-2.28091282e-02 -9.16535568e-04 9.99739418e-01 -2.36868923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.096875 meters 0.024904491809956016 Centerline is valid? [True, True] Translation: X:9.85, Y:0.03, Z:-0.24 [[ 9.99801413e-01 -2.58671536e-04 1.99265725e-02 9.85413555e+00] [ 2.43538304e-04 9.99999680e-01 7.61872751e-04 3.05635952e-02] [-1.99267632e-02 -7.56868570e-04 9.99801156e-01 -2.40970415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.126875 meters 0.02241411052464611 Centerline is valid? [True, True] Translation: X:9.89, Y:0.03, Z:-0.24 [[ 9.99758731e-01 -5.68617246e-03 2.12166688e-02 9.88523900e+00] [ 5.67040691e-03 9.99983601e-01 8.03161053e-04 2.66835126e-02] [-2.12208877e-02 -6.82660130e-04 9.99774579e-01 -2.38880148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.156875 meters 0.020947523183081556 Centerline is valid? [True, True] Translation: X:9.92, Y:0.03, Z:-0.23 [[ 9.99630227e-01 -9.14501421e-03 2.56081447e-02 9.91582417e+00] [ 9.12319528e-03 9.99957914e-01 9.68736896e-04 2.53502237e-02] [-2.56159260e-02 -7.34750579e-04 9.99671588e-01 -2.34141566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.186875 meters 0.02053877161832268 Centerline is valid? [True, True] Translation: X:9.95, Y:0.03, Z:-0.23 [[ 9.99554370e-01 -9.62945669e-03 2.82548157e-02 9.94504204e+00] [ 9.60308967e-03 9.99953318e-01 1.06873533e-03 2.72104243e-02] [-2.82637881e-02 -7.96925537e-04 9.99600182e-01 -2.33220216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.216875 meters 0.021073449620245592 Centerline is valid? [True, True] Translation: X:9.98, Y:0.03, Z:-0.23 [[ 9.99542239e-01 -7.53941874e-03 2.92996363e-02 9.97544002e+00] [ 7.51013418e-03 9.99971183e-01 1.10940414e-03 3.16421588e-02] [-2.93071563e-02 -8.88852094e-04 9.99570058e-01 -2.33751660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.246875000000001 meters 0.02178099577765132 Centerline is valid? [True, True] Translation: X:10.01, Y:0.04, Z:-0.23 [[ 9.99493172e-01 -5.96572796e-03 3.12699397e-02 1.00056430e+01] [ 5.93160046e-03 9.99981707e-01 1.18403405e-03 3.67739329e-02] [-3.12764313e-02 -9.97953164e-04 9.99510275e-01 -2.32204237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.276875 meters 0.022592908726946193 Centerline is valid? [True, True] Translation: X:10.04, Y:0.04, Z:-0.23 [[ 9.99450325e-01 -3.21907715e-03 3.29952319e-02 1.00369693e+01] [ 3.17964030e-03 9.99994167e-01 1.24762988e-03 4.18948024e-02] [-3.29990556e-02 -1.14203112e-03 9.99454730e-01 -2.29605632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.306875 meters 0.024317580673722704 Centerline is valid? [True, True] Translation: X:10.07, Y:0.05, Z:-0.23 [[ 9.99478921e-01 2.99974377e-04 3.22768574e-02 1.00665138e+01] [-3.39508674e-04 9.99999199e-01 1.21937602e-03 4.97392146e-02] [-3.22764658e-02 -1.22969890e-03 9.99478223e-01 -2.31637070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.336875000000001 meters 0.026021441944927507 Centerline is valid? [True, True] Translation: X:10.10, Y:0.06, Z:-0.24 [[ 9.99563718e-01 4.70692911e-03 2.91584933e-02 1.00974439e+01] [-4.74106455e-03 9.99988154e-01 1.10166061e-03 5.73443106e-02] [-2.91529625e-02 -1.23942228e-03 9.99574194e-01 -2.37645281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.366875 meters 0.026021441944927507 Centerline is valid? [True, True] Translation: X:10.13, Y:0.06, Z:-0.24 [[ 9.99562352e-01 4.98858139e-03 2.91585074e-02 1.01298124e+01] [-5.02282565e-03 9.99986779e-01 1.10129015e-03 5.84600749e-02] [-2.91526280e-02 -1.24726627e-03 9.99574194e-01 -2.38676689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.396875 meters 0.027429704209826333 Centerline is valid? [True, True] Translation: X:10.16, Y:0.06, Z:-0.24 [[ 9.99633169e-01 6.91411929e-03 2.61862869e-02 1.01602593e+01] [-6.94220198e-03 9.99975421e-01 9.81659426e-04 6.32121421e-02] [-2.61788560e-02 -1.16308982e-03 9.99656598e-01 -2.44244089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.426875 meters 0.025124071065352777 Centerline is valid? [True, True] Translation: X:10.19, Y:0.06, Z:-0.24 [[ 9.99604295e-01 6.32956989e-03 2.74078312e-02 1.01925616e+01] [-6.36003412e-03 9.99979250e-01 1.02448353e-03 6.06748464e-02] [-2.74007779e-02 -1.19839288e-03 9.99623810e-01 -2.43944115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.456875 meters 0.026640068713804227 Centerline is valid? [True, True] Translation: X:10.22, Y:0.06, Z:-0.24 [[ 9.99561687e-01 7.45436140e-03 2.86507751e-02 1.02232090e+01] [-7.48789334e-03 9.99971400e-01 1.06325537e-03 6.33420121e-02] [-2.86420298e-02 -1.27732328e-03 9.99588917e-01 -2.42280447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.486875 meters 0.02820967357419203 Centerline is valid? [True, True] Translation: X:10.25, Y:0.07, Z:-0.25 [[ 9.99599478e-01 1.02114174e-02 2.63933905e-02 1.02543558e+01] [-1.02406560e-02 9.99947090e-01 9.72867529e-04 6.65915230e-02] [-2.63820597e-02 -1.24276351e-03 9.99651160e-01 -2.45560141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.516875 meters 0.0271114618783406 Centerline is valid? [True, True] Translation: X:10.29, Y:0.07, Z:-0.25 [[ 9.99637826e-01 1.02191504e-02 2.48954990e-02 1.02867015e+01] [-1.02451889e-02 9.99947095e-01 9.18583056e-04 6.59938200e-02] [-2.48847947e-02 -1.17330946e-03 9.99689637e-01 -2.49249309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.546875 meters 0.027061522844288095 Centerline is valid? [True, True] Translation: X:10.32, Y:0.07, Z:-0.25 [[ 9.99622041e-01 8.43314351e-03 2.61659387e-02 1.03173652e+01] [-8.46104883e-03 9.99963748e-01 9.55942036e-04 6.69706784e-02] [-2.61569286e-02 -1.17697201e-03 9.99657156e-01 -2.48141294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.576875 meters 0.02663320484580523 Centerline is valid? [True, True] Translation: X:10.35, Y:0.07, Z:-0.25 [[ 9.99599794e-01 9.00160540e-03 2.68183458e-02 1.03503842e+01] [-9.03114667e-03 9.99958738e-01 9.80611661e-04 6.76827786e-02] [-2.68084121e-02 -1.22241963e-03 9.99639843e-01 -2.48613287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.606875 meters 0.02764687762404793 Centerline is valid? [True, True] Translation: X:10.38, Y:0.07, Z:-0.25 [[ 9.99615941e-01 1.01040612e-02 2.58046071e-02 1.03809405e+01] [-1.01315714e-02 9.99948237e-01 9.35570427e-04 7.18893275e-02] [-2.57938183e-02 -1.19665233e-03 9.99666568e-01 -2.51493164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.636875 meters 0.026899311120079265 Centerline is valid? [True, True] Translation: X:10.41, Y:0.07, Z:-0.25 [[ 9.99596000e-01 1.06482954e-02 2.63524181e-02 1.04139521e+01] [-1.06771044e-02 9.99942544e-01 9.52750265e-04 7.34303298e-02] [-2.63407588e-02 -1.23373287e-03 9.99652261e-01 -2.53422158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.666875000000001 meters 0.027494119753246893 Centerline is valid? [True, True] Translation: X:10.45, Y:0.08, Z:-0.25 [[ 9.99567592e-01 1.08917421e-02 2.73129738e-02 1.04456706e+01] [-1.09225451e-02 9.99939868e-01 9.78836543e-04 7.56641825e-02] [-2.73006702e-02 -1.27674047e-03 9.99626452e-01 -2.52453200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.696875 meters 0.027125140893091374 Centerline is valid? [True, True] Translation: X:10.48, Y:0.08, Z:-0.25 [[ 9.99585269e-01 9.79517813e-03 2.70803517e-02 1.04782779e+01] [-9.82491691e-03 9.99951268e-01 9.65327505e-04 7.64125958e-02] [-2.70695765e-02 -1.23098936e-03 9.99632794e-01 -2.54488409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.726875 meters 0.025611776475343673 Centerline is valid? [True, True] Translation: X:10.51, Y:0.08, Z:-0.26 [[ 9.99598780e-01 7.06796242e-03 2.74285082e-02 1.05101017e+01] [-7.09737507e-03 9.99974338e-01 9.75131996e-04 7.53237979e-02] [-2.74209121e-02 -1.16941116e-03 9.99623292e-01 -2.55941832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.756875 meters 0.02439396565277822 Centerline is valid? [True, True] Translation: X:10.54, Y:0.07, Z:-0.26 [[ 9.99605451e-01 1.96608268e-03 2.80192308e-02 1.05401405e+01] [-1.99472745e-03 9.99997516e-01 9.94411021e-04 7.36187894e-02] [-2.80172061e-02 -1.04990941e-03 9.99606890e-01 -2.56749654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.786875 meters 0.021686996944937906 Centerline is valid? [True, True] Translation: X:10.57, Y:0.07, Z:-0.25 [[ 9.99569402e-01 -3.69977915e-03 2.91087843e-02 1.05712052e+01] [ 3.67125962e-03 9.99992727e-01 1.03314026e-03 6.73064503e-02] [-2.91123950e-02 -9.25829483e-04 9.99575716e-01 -2.54309476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.816875 meters 0.019788835915904187 Centerline is valid? [True, True] Translation: X:10.60, Y:0.06, Z:-0.26 [[ 9.99552399e-01 -8.81674797e-03 2.85878806e-02 1.06031752e+01] [ 8.79134641e-03 9.99960841e-01 1.01411229e-03 6.28601945e-02] [-2.85957023e-02 -7.62332412e-04 9.99590769e-01 -2.55453513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.846875 meters 0.018747610006674364 Centerline is valid? [True, True] Translation: X:10.63, Y:0.06, Z:-0.26 [[ 9.99494944e-01 -1.25465789e-02 2.91965728e-02 1.06341188e+01] [ 1.25217214e-02 9.99921065e-01 1.03406794e-03 6.07094315e-02] [-2.92072422e-02 -6.67954328e-04 9.99573154e-01 -2.56536903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.876875 meters 0.01843445865161552 Centerline is valid? [True, True] Translation: X:10.66, Y:0.06, Z:-0.25 [[ 9.99394882e-01 -1.41283219e-02 3.17845975e-02 1.06627713e+01] [ 1.40996784e-02 9.99899962e-01 1.12513775e-03 5.91353845e-02] [-3.17973142e-02 -6.76304303e-04 9.99494109e-01 -2.54840861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.906875 meters 0.018514488905857746 Centerline is valid? [True, True] Translation: X:10.69, Y:0.06, Z:-0.25 [[ 9.99392919e-01 -1.31629369e-02 3.22572620e-02 1.06914723e+01] [ 1.31326794e-02 9.99913102e-01 1.14970432e-03 5.97685826e-02] [-3.22695924e-02 -7.25382074e-04 9.99478938e-01 -2.54506862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.936875 meters 0.019824415597205002 Centerline is valid? [True, True] Translation: X:10.72, Y:0.07, Z:-0.26 [[ 9.99435351e-01 -9.94215628e-03 3.20956881e-02 1.07199592e+01] [ 9.91029454e-03 9.99950229e-01 1.15164204e-03 6.54552834e-02] [-3.21055405e-02 -8.32914039e-04 9.99484137e-01 -2.57513364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.966875 meters 0.021154012541782844 Centerline is valid? [True, True] Translation: X:10.75, Y:0.07, Z:-0.26 [[ 9.99490177e-01 -4.97196205e-03 3.15383209e-02 1.07507737e+01] [ 4.93867474e-03 9.99987163e-01 1.13326678e-03 7.12607128e-02] [-3.15435506e-02 -9.76931504e-04 9.99501901e-01 -2.59876549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.996875000000001 meters 0.023327763356650856 Centerline is valid? [True, True] Translation: X:10.78, Y:0.08, Z:-0.26 [[ 9.99580432e-01 1.00316301e-03 2.89474156e-02 1.07811470e+01] [-1.03367679e-03 9.99998926e-01 1.03916556e-03 7.76176315e-02] [-2.89463420e-02 -1.06865183e-03 9.99580396e-01 -2.62409841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.026875 meters 0.025150928697931455 Centerline is valid? [True, True] Translation: X:10.81, Y:0.08, Z:-0.27 [[ 9.99694341e-01 5.71940344e-03 2.40522852e-02 1.08117692e+01] [-5.74182188e-03 9.99983143e-01 8.63111760e-04 8.29821018e-02] [-2.40469433e-02 -1.00095188e-03 9.99710329e-01 -2.67858154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.056875 meters 0.026993234000410263 Centerline is valid? [True, True] Translation: X:10.84, Y:0.09, Z:-0.27 [[ 9.99737987e-01 8.32260331e-03 2.13235124e-02 1.08424682e+01] [-8.34080666e-03 9.99964922e-01 7.64878123e-04 8.77435167e-02] [-2.13163986e-02 -9.42533009e-04 9.99772335e-01 -2.72935072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.086875000000001 meters 0.0266724506651564 Centerline is valid? [True, True] Translation: X:10.87, Y:0.09, Z:-0.28 [[ 9.99760558e-01 1.76197305e-03 2.18110700e-02 1.08715462e+01] [-1.77944444e-03 9.99998111e-01 7.81650741e-04 8.79881803e-02] [-2.18096516e-02 -8.20275168e-04 9.99761805e-01 -2.75381207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.116875 meters 0.020986148553993833 Centerline is valid? [True, True] Translation: X:10.90, Y:0.08, Z:-0.27 [[ 9.99675868e-01 -6.07975276e-03 2.47223692e-02 1.09027448e+01] [ 6.05968578e-03 9.99981247e-01 8.86529513e-04 7.68496604e-02] [-2.47272954e-02 -7.36432371e-04 9.99693962e-01 -2.71221780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.146875 meters 0.019245502337767416 Centerline is valid? [True, True] Translation: X:10.93, Y:0.07, Z:-0.27 [[ 9.99549095e-01 -1.16627196e-02 2.76692669e-02 1.09340637e+01] [ 1.16397176e-02 9.99931764e-01 9.92242066e-04 7.23105462e-02] [-2.76789511e-02 -6.69732207e-04 9.99616640e-01 -2.68181810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.176875 meters 0.018824569116247275 Centerline is valid? [True, True] Translation: X:10.96, Y:0.07, Z:-0.26 [[ 9.99467029e-01 -1.37393645e-02 2.96123081e-02 1.09626851e+01] [ 1.37139603e-02 9.99905396e-01 1.06082712e-03 7.10419230e-02] [-2.96240817e-02 -6.54159709e-04 9.99560897e-01 -2.64282902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.206875 meters 0.019183074424377822 Centerline is valid? [True, True] Translation: X:10.99, Y:0.07, Z:-0.26 [[ 9.99405685e-01 -1.24551570e-02 3.21425955e-02 1.09921183e+01] [ 1.24242957e-02 9.99922143e-01 1.15969220e-03 7.27436737e-02] [-3.21545371e-02 -7.59653862e-04 9.99482620e-01 -2.61618483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.236875 meters 0.01928524612251856 Centerline is valid? [True, True] Translation: X:11.02, Y:0.08, Z:-0.27 [[ 9.99404760e-01 -1.28682761e-02 3.20083262e-02 1.10201845e+01] [ 1.28376423e-02 9.99916918e-01 1.16239000e-03 7.66901632e-02] [-3.20206248e-02 -7.50786657e-04 9.99486926e-01 -2.66402238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.266875 meters 0.019211202018423277 Centerline is valid? [True, True] Translation: X:11.05, Y:0.08, Z:-0.27 [[ 9.99440863e-01 -1.01818688e-02 3.18479482e-02 1.10496764e+01] [ 1.01501277e-02 9.99947815e-01 1.15816374e-03 7.94945307e-02] [-3.18580785e-02 -8.34255431e-04 9.99492054e-01 -2.68329475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.296875 meters 0.019856991119833887 Centerline is valid? [True, True] Translation: X:11.08, Y:0.08, Z:-0.27 [[ 9.99516686e-01 -9.01190087e-03 2.97519873e-02 1.10798814e+01] [ 8.98364986e-03 9.99959060e-01 1.08308683e-03 8.28632465e-02] [-2.97605299e-02 -8.15281922e-04 9.99556725e-01 -2.71450799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.326875 meters 0.020695179356170143 Centerline is valid? [True, True] Translation: X:11.11, Y:0.09, Z:-0.27 [[ 9.99666116e-01 -6.66345113e-03 2.49650579e-02 1.11107013e+01] [ 6.64286202e-03 9.99977524e-01 9.07560119e-04 8.71120974e-02] [-2.49705442e-02 -7.41417664e-04 9.99687912e-01 -2.74014829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.356875 meters 0.020768705821735685 Centerline is valid? [True, True] Translation: X:11.14, Y:0.09, Z:-0.28 [[ 9.99663022e-01 -5.61009779e-03 2.53450241e-02 1.11414516e+01] [ 5.58854718e-03 9.99983960e-01 9.21042263e-04 9.08490864e-02] [-2.53497847e-02 -7.79090029e-04 9.99678339e-01 -2.76721141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.386875 meters 0.021366131272533073 Centerline is valid? [True, True] Translation: X:11.17, Y:0.09, Z:-0.28 [[ 9.99655575e-01 -5.58682801e-03 2.56421294e-02 1.11729024e+01] [ 5.56477157e-03 9.99984083e-01 9.31442420e-04 9.36431116e-02] [-2.56469251e-02 -7.88429016e-04 9.99670753e-01 -2.78707444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.416875000000001 meters 0.020220240964620488 Centerline is valid? [True, True] Translation: X:11.20, Y:0.09, Z:-0.28 [[ 9.99622548e-01 -7.90968492e-03 2.63096613e-02 1.12043882e+01] [ 7.88736460e-03 9.99968441e-01 9.52038298e-04 9.04497428e-02] [-2.63163613e-02 -7.44165059e-04 9.99653388e-01 -2.77759653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.446875 meters 0.020034030432585077 Centerline is valid? [True, True] Translation: X:11.23, Y:0.09, Z:-0.28 [[ 9.99549603e-01 -1.01458952e-02 2.82427321e-02 1.12349805e+01] [ 1.01210968e-02 9.99948259e-01 1.02086119e-03 8.92825486e-02] [-2.82516284e-02 -7.34553972e-04 9.99600573e-01 -2.75748846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.476875 meters 0.019381465432409425 Centerline is valid? [True, True] Translation: X:11.26, Y:0.09, Z:-0.28 [[ 9.99484070e-01 -1.10980573e-02 3.01401177e-02 1.12647125e+01] [ 1.10702654e-02 9.99938130e-01 1.08880600e-03 8.87142691e-02] [-3.01503365e-02 -7.54585149e-04 9.99545090e-01 -2.75720657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.506875 meters 0.018242192376533347 Centerline is valid? [True, True] Translation: X:11.29, Y:0.09, Z:-0.28 [[ 9.99438512e-01 -1.09177194e-02 3.16774965e-02 1.12945023e+01] [ 1.08868920e-02 9.99940080e-01 1.14548519e-03 8.69952115e-02] [-3.16881045e-02 -7.99972531e-04 9.99497486e-01 -2.76317224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.536875 meters 0.020245291563811055 Centerline is valid? [True, True] Translation: X:11.32, Y:0.09, Z:-0.28 [[ 9.99504547e-01 -7.70518944e-03 3.05170412e-02 1.13242888e+01] [ 7.67505040e-03 9.99969936e-01 1.10462930e-03 9.04345193e-02] [-3.05246352e-02 -8.69862174e-04 9.99533636e-01 -2.78165551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.566875 meters 0.022137892409285535 Centerline is valid? [True, True] Translation: X:11.36, Y:0.09, Z:-0.28 [[ 9.99581342e-01 -2.69976416e-03 2.88071672e-02 1.13551359e+01] [ 2.67082996e-03 9.99995890e-01 1.04284018e-03 9.41079905e-02] [-2.88098642e-02 -9.65464539e-04 9.99584443e-01 -2.79482040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.596875 meters 0.02375801006206162 Centerline is valid? [True, True] Translation: X:11.39, Y:0.10, Z:-0.28 [[ 9.99571793e-01 1.39622516e-03 2.92280923e-02 1.13860068e+01] [-1.42772855e-03 9.99998422e-01 1.05700482e-03 9.97091935e-02] [-2.92265704e-02 -1.09828199e-03 9.99572209e-01 -2.82275832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.626875 meters 0.025675010452226362 Centerline is valid? [True, True] Translation: X:11.42, Y:0.10, Z:-0.28 [[ 9.99537722e-01 4.19878983e-03 3.01116806e-02 1.14164950e+01] [-4.23348170e-03 9.99990446e-01 1.08844610e-03 1.04198643e-01] [-3.01068228e-02 -1.21542019e-03 9.99545948e-01 -2.82955280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.656875 meters 0.026550728644218854 Centerline is valid? [True, True] Translation: X:11.45, Y:0.11, Z:-0.28 [[ 9.99557099e-01 6.37676968e-03 2.90678844e-02 1.14479792e+01] [-6.40999437e-03 9.99978905e-01 1.04996354e-03 1.06895545e-01] [-2.90605758e-02 -1.23582349e-03 9.99576888e-01 -2.83792254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.686875 meters 0.027063267930324427 Centerline is valid? [True, True] Translation: X:11.48, Y:0.11, Z:-0.29 [[ 9.99621194e-01 6.86649407e-03 2.66518277e-02 1.14792642e+01] [-6.89452378e-03 9.99975772e-01 9.59948687e-04 1.08949797e-01] [-2.66445905e-02 -1.14333671e-03 9.99644316e-01 -2.87497763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.716875 meters 0.025556385189295233 Centerline is valid? [True, True] Translation: X:11.51, Y:0.11, Z:-0.29 [[ 9.99642880e-01 7.56012438e-03 2.56311759e-02 1.15110786e+01] [-7.58621206e-03 9.99970800e-01 9.20724394e-04 1.07076840e-01] [-2.56234667e-02 -1.11483912e-03 9.99671043e-01 -2.88967636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.746875000000001 meters 0.02486875545172994 Centerline is valid? [True, True] Translation: X:11.54, Y:0.11, Z:-0.29 [[ 9.99675616e-01 8.60303784e-03 2.39718730e-02 1.15425757e+01] [-8.62600289e-03 9.99962430e-01 8.54756960e-04 1.06760703e-01] [-2.39636188e-02 -1.06126114e-03 9.99712268e-01 -2.91619144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.776875 meters 0.02548716889538966 Centerline is valid? [True, True] Translation: X:11.57, Y:0.11, Z:-0.29 [[ 9.99708772e-01 9.36309764e-03 2.22419199e-02 1.15747711e+01] [-9.38302003e-03 9.99955665e-01 7.91518721e-04 1.08535302e-01] [-2.22335227e-02 -9.99984589e-04 9.99752305e-01 -2.94642182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.806875 meters 0.028149043415914243 Centerline is valid? [True, True] Translation: X:11.61, Y:0.11, Z:-0.30 [[ 9.99731845e-01 9.42325686e-03 2.11527906e-02 1.16064346e+01] [-9.44118856e-03 9.99955151e-01 7.48015671e-04 1.12022929e-01] [-2.11447932e-02 -9.47522572e-04 9.99775975e-01 -2.97594533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.836875000000001 meters 0.025745571656510664 Centerline is valid? [True, True] Translation: X:11.64, Y:0.11, Z:-0.30 [[ 9.99717360e-01 7.67085034e-03 2.25024209e-02 1.16386135e+01] [-7.69050784e-03 9.99970118e-01 7.87162874e-04 1.07879931e-01] [-2.24957103e-02 -9.59995434e-04 9.99746479e-01 -2.95675338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.866875 meters 0.025111150972892987 Centerline is valid? [True, True] Translation: X:11.67, Y:0.11, Z:-0.29 [[ 9.99617139e-01 5.29588884e-03 2.71574906e-02 1.16707125e+01] [-5.32360063e-03 9.99985380e-01 9.48210305e-04 1.06885422e-01] [-2.71520719e-02 -1.09242291e-03 9.99630718e-01 -2.92033869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.896875 meters 0.0235963737800703 Centerline is valid? [True, True] Translation: X:11.70, Y:0.10, Z:-0.29 [[ 9.99566335e-01 3.92881970e-03 2.91839937e-02 1.17029175e+01] [-3.96020830e-03 9.99991640e-01 1.01781964e-03 1.03411976e-01] [-2.91797509e-02 -1.13295295e-03 9.99573538e-01 -2.89242598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.926875 meters 0.02570663417774955 Centerline is valid? [True, True] Translation: X:11.73, Y:0.11, Z:-0.29 [[ 9.99573703e-01 4.35298897e-03 2.88697812e-02 1.17340530e+01] [-4.38366481e-03 9.99989892e-01 9.99352722e-04 1.07082900e-01] [-2.88651392e-02 -1.12548214e-03 9.99582681e-01 -2.90311638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.956875 meters 0.02487612502057905 Centerline is valid? [True, True] Translation: X:11.77, Y:0.11, Z:-0.29 [[ 9.99621565e-01 5.87121248e-03 2.68748138e-02 1.17660024e+01] [-5.89824134e-03 9.99982176e-01 9.26570275e-04 1.06983666e-01] [-2.68688947e-02 -1.08473377e-03 9.99638378e-01 -2.94668275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.986875 meters 0.025737141911429947 Centerline is valid? [True, True] Translation: X:11.80, Y:0.11, Z:-0.30 [[ 9.99647346e-01 6.36607212e-03 2.57809340e-02 1.17966016e+01] [-6.39108885e-03 9.99979182e-01 8.88075427e-04 1.08865450e-01] [-2.57747438e-02 -1.05253048e-03 9.99667222e-01 -2.99077186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.016875 meters 0.02461904410435011 Centerline is valid? [True, True] Translation: X:11.83, Y:0.11, Z:-0.30 [[ 9.99670676e-01 4.84850869e-03 2.51998480e-02 1.18283886e+01] [-4.87178978e-03 9.99987761e-01 8.62546411e-04 1.06771789e-01] [-2.51953575e-02 -9.85030716e-04 9.99682061e-01 -3.00916367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.046875 meters 0.02366387216265272 Centerline is valid? [True, True] Translation: X:11.86, Y:0.10, Z:-0.30 [[ 9.99710539e-01 2.26758637e-03 2.39519375e-02 1.18596775e+01] [-2.28770832e-03 9.99997053e-01 8.12729074e-04 1.04023091e-01] [-2.39500240e-02 -8.67288868e-04 9.99712781e-01 -3.01920442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.076875 meters 0.021480621972641306 Centerline is valid? [True, True] Translation: X:11.89, Y:0.10, Z:-0.30 [[ 9.99725938e-01 -8.85589222e-04 2.33936956e-02 1.18916304e+01] [ 8.67271574e-04 9.99999309e-01 7.93150556e-04 9.92144161e-02] [-2.33943818e-02 -7.72644497e-04 9.99726015e-01 -3.01794831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.106875 meters 0.020649373194461158 Centerline is valid? [True, True] Translation: X:11.92, Y:0.10, Z:-0.30 [[ 9.99705857e-01 -4.24909872e-03 2.38777215e-02 1.19227400e+01] [ 4.23100821e-03 9.99990723e-01 8.08101229e-04 9.63521102e-02] [-2.38809337e-02 -7.06836696e-04 9.99714560e-01 -3.01820646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.136875 meters 0.019167008623381335 Centerline is valid? [True, True] Translation: X:11.95, Y:0.09, Z:-0.30 [[ 9.99670410e-01 -7.11881428e-03 2.46656267e-02 1.19548536e+01] [ 7.10040197e-03 9.99974444e-01 8.33978284e-04 9.23706350e-02] [-2.46709332e-02 -6.58567549e-04 9.99695409e-01 -3.01204164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.166875000000001 meters 0.01891868438151471 Centerline is valid? [True, True] Translation: X:11.99, Y:0.09, Z:-0.30 [[ 9.99599922e-01 -1.01802636e-02 2.63885958e-02 1.19851711e+01] [ 1.01602997e-02 9.99947986e-01 8.90510553e-04 9.12669563e-02] [-2.63962888e-02 -6.22038239e-04 9.99651364e-01 -3.01235224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.196875 meters 0.0182061142622306 Centerline is valid? [True, True] Translation: X:12.02, Y:0.09, Z:-0.30 [[ 9.99560644e-01 -1.11731878e-02 2.74532110e-02 1.20154078e+01] [ 1.11519722e-02 9.99937386e-01 9.25782589e-04 8.99581780e-02] [-2.74618360e-02 -6.19218395e-04 9.99622661e-01 -3.01756106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.226875 meters 0.018755890971646278 Centerline is valid? [True, True] Translation: X:12.04, Y:0.09, Z:-0.30 [[ 9.99591380e-01 -9.24132664e-03 2.70494104e-02 1.20449776e+01] [ 9.22001363e-03 9.99957078e-01 9.12546142e-04 9.09659358e-02] [-2.70566826e-02 -6.62777325e-04 9.99633681e-01 -3.01474321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.256875 meters 0.021071800340582907 Centerline is valid? [True, True] Translation: X:12.07, Y:0.10, Z:-0.30 [[ 9.99655994e-01 -3.97770365e-03 2.59243537e-02 1.20738325e+01] [ 3.95633647e-03 9.99991790e-01 8.75452134e-04 9.74649297e-02] [-2.59276231e-02 -7.72585507e-04 9.99663524e-01 -3.03600286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.286875 meters 0.021071800340582907 Centerline is valid? [True, True] Translation: X:12.11, Y:0.10, Z:-0.30 [[ 9.99656269e-01 -3.90826246e-03 2.59243026e-02 1.21054491e+01] [ 3.88683278e-03 9.99992062e-01 8.76964113e-04 9.84647095e-02] [-2.59275242e-02 -7.75899244e-04 9.99663524e-01 -3.04606495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.316875 meters 0.02119433902755897 Centerline is valid? [True, True] Translation: X:12.14, Y:0.10, Z:-0.31 [[ 9.99701427e-01 -1.90668972e-03 2.43602497e-02 1.21375288e+01] [ 1.88721283e-03 9.99997881e-01 8.22500610e-04 1.01091250e-01] [-2.43617663e-02 -7.76282057e-04 9.99702907e-01 -3.07353931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.346875 meters 0.01866307616746487 Centerline is valid? [True, True] Translation: X:12.17, Y:0.10, Z:-0.31 [[ 9.99650148e-01 -9.59460371e-03 2.46480309e-02 1.21680870e+01] [ 9.57705445e-03 9.99953795e-01 8.29944283e-04 9.96257907e-02] [-2.46548550e-02 -5.93598391e-04 9.99695847e-01 -3.06217670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.376875 meters 0.018225903265350788 Centerline is valid? [True, True] Translation: X:12.20, Y:0.10, Z:-0.31 [[ 9.99649198e-01 -1.07748749e-02 2.41947067e-02 1.21975377e+01] [ 1.07583173e-02 9.99941796e-01 8.14415355e-04 1.00801685e-01] [-2.42020737e-02 -5.53835324e-04 9.99706934e-01 -3.06692104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.406875 meters 0.01806148572001874 Centerline is valid? [True, True] Translation: X:12.23, Y:0.11, Z:-0.32 [[ 9.99722589e-01 -1.22388855e-02 2.01234962e-02 1.22259677e+01] [ 1.22277222e-02 9.99925009e-01 6.77692083e-04 1.06123665e-01] [-2.01302813e-02 -4.31439562e-04 9.99797272e-01 -3.15265364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.436875 meters 0.01647389538318118 Centerline is valid? [True, True] Translation: X:12.25, Y:0.11, Z:-0.32 [[ 9.99667345e-01 -1.91061331e-02 1.73249793e-02 1.22548102e+01] [ 1.90988825e-02 9.99817429e-01 5.83876878e-04 1.09673442e-01] [-1.73329719e-02 -2.52794904e-04 9.99849741e-01 -3.21515348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.466875 meters 0.016612359919356223 Centerline is valid? [True, True] Translation: X:12.28, Y:0.11, Z:-0.32 [[ 9.99664687e-01 -1.85940965e-02 1.80214890e-02 1.22831445e+01] [ 1.85861947e-02 9.99827078e-01 6.05871841e-04 1.12445362e-01] [-1.80296383e-02 -2.70717782e-04 9.99837416e-01 -3.20765693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.496875000000001 meters 0.017244298116535346 Centerline is valid? [True, True] Translation: X:12.31, Y:0.12, Z:-0.32 [[ 9.99684452e-01 -1.61405638e-02 1.92478372e-02 1.23118145e+01] [ 1.61309745e-02 9.99869674e-01 6.53363486e-04 1.18798006e-01] [-1.92558744e-02 -3.42670947e-04 9.99814530e-01 -3.17508847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.526875 meters 0.018289950870626133 Centerline is valid? [True, True] Translation: X:12.34, Y:0.13, Z:-0.32 [[ 9.99741382e-01 -1.11121782e-02 1.98415682e-02 1.23411553e+01] [ 1.11008536e-02 9.99938152e-01 6.80805027e-04 1.26920078e-01] [-1.98479063e-02 -4.60370614e-04 9.99802905e-01 -3.17651362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.556875 meters 0.020673624386428502 Centerline is valid? [True, True] Translation: X:12.37, Y:0.14, Z:-0.32 [[ 9.99758051e-01 -2.83733908e-03 2.18125668e-02 1.23713870e+01] [ 2.82165830e-03 9.99995738e-01 7.49631392e-04 1.37920814e-01] [-2.18146008e-02 -6.87902410e-04 9.99761797e-01 -3.17715851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.586875000000001 meters 0.024084463439905595 Centerline is valid? [True, True] Translation: X:12.40, Y:0.15, Z:-0.32 [[ 9.99702629e-01 5.60635575e-03 2.37323130e-02 1.24005275e+01] [-5.62729196e-03 9.99983834e-01 8.15489397e-04 1.49768589e-01] [-2.37273574e-02 -9.48795548e-04 9.99718016e-01 -3.16621231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.616875 meters 0.02625377295327862 Centerline is valid? [True, True] Translation: X:12.43, Y:0.16, Z:-0.31 [[ 9.99619606e-01 1.11629010e-02 2.52196875e-02 1.24311244e+01] [-1.11883239e-02 9.99937033e-01 8.67171962e-04 1.58744134e-01] [-2.52084193e-02 -1.14900813e-03 9.99681557e-01 -3.14880949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.646875 meters 0.027481722113256044 Centerline is valid? [True, True] Translation: X:12.46, Y:0.17, Z:-0.32 [[ 9.99535868e-01 1.44544472e-02 2.68163545e-02 1.24617512e+01] [-1.44843693e-02 9.99894671e-01 9.21897669e-04 1.67572511e-01] [-2.68002045e-02 -1.30988777e-03 9.99639952e-01 -3.16330862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.676875 meters 0.02737090650437749 Centerline is valid? [True, True] Translation: X:12.49, Y:0.17, Z:-0.32 [[ 9.99510064e-01 1.65437242e-02 2.65694712e-02 1.24935380e+01] [-1.65738045e-02 9.99862229e-01 9.12305646e-04 1.73592140e-01] [-2.65507177e-02 -1.35221590e-03 9.99646553e-01 -3.18621739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.706875 meters 0.02621201315465575 Centerline is valid? [True, True] Translation: X:12.53, Y:0.18, Z:-0.32 [[ 9.99575657e-01 1.70546345e-02 2.36145341e-02 1.25255614e+01] [-1.70785376e-02 9.99853822e-01 8.10899587e-04 1.77108633e-01] [-2.35972526e-02 -1.21385720e-03 9.99720809e-01 -3.22573246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.736875 meters 0.024868022105525116 Centerline is valid? [True, True] Translation: X:12.56, Y:0.18, Z:-0.33 [[ 9.99673629e-01 1.38404766e-02 2.14727002e-02 1.25569936e+01] [-1.38593530e-02 9.99903688e-01 7.30514156e-04 1.79356496e-01] [-2.14605214e-02 -1.02787347e-03 9.99769168e-01 -3.27049277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.766875 meters 0.023441627217977774 Centerline is valid? [True, True] Translation: X:12.59, Y:0.18, Z:-0.33 [[ 9.99702592e-01 7.63147827e-03 2.31622068e-02 1.25863309e+01] [-7.65173321e-03 9.99970416e-01 7.85979752e-04 1.78447442e-01] [-2.31555234e-02 -9.62977022e-04 9.99731411e-01 -3.25463244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.796875 meters 0.020149974420287146 Centerline is valid? [True, True] Translation: X:12.62, Y:0.17, Z:-0.32 [[ 9.99610403e-01 -2.80240621e-04 2.79099138e-02 1.26171888e+01] [ 2.53888647e-04 9.99999519e-01 9.47718914e-04 1.74738136e-01] [-2.79101660e-02 -9.40263675e-04 9.99609993e-01 -3.20785734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.826875 meters 0.016953725171700736 Centerline is valid? [True, True] Translation: X:12.65, Y:0.17, Z:-0.32 [[ 9.99452676e-01 -1.03755884e-02 3.14117219e-02 1.26479303e+01] [ 1.03471853e-02 9.99945898e-01 1.06664205e-03 1.69783016e-01] [-3.14210894e-02 -7.41035351e-04 9.99505961e-01 -3.20111584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.856875 meters 0.01592974663233408 Centerline is valid? [True, True] Translation: X:12.68, Y:0.17, Z:-0.32 [[ 9.99114326e-01 -2.13446172e-02 3.62625179e-02 1.26783430e+01] [ 2.13139795e-02 9.99772073e-01 1.23129818e-03 1.66740611e-01] [-3.62805343e-02 -4.57309092e-04 9.99341540e-01 -3.16970136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.886875 meters 0.014750955429863861 Centerline is valid? [True, True] Translation: X:12.71, Y:0.16, Z:-0.32 [[ 9.98663327e-01 -3.29960662e-02 3.97846521e-02 1.27076823e+01] [ 3.29684005e-02 9.99455481e-01 1.35144094e-03 1.59281404e-01] [-3.98075808e-02 -3.79981638e-05 9.99207363e-01 -3.15114953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.916875000000001 meters 0.014976339279971836 Centerline is valid? [True, True] Translation: X:12.74, Y:0.16, Z:-0.32 [[ 9.98360046e-01 -4.00502855e-02 4.09046805e-02 1.27366216e+01] [ 4.00267721e-02 9.99197635e-01 1.39398564e-03 1.57657321e-01] [-4.09276896e-02 2.45582753e-04 9.99162081e-01 -3.16036955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.946875 meters 0.014894293966794963 Centerline is valid? [True, True] Translation: X:12.77, Y:0.16, Z:-0.32 [[ 9.98411808e-01 -4.08419975e-02 3.88045563e-02 1.27657792e+01] [ 4.08210773e-02 9.99165585e-01 1.33161670e-03 1.61185763e-01] [-3.88265631e-02 2.54541955e-04 9.99245932e-01 -3.19737698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.976875 meters 0.014676315031209721 Centerline is valid? [True, True] Translation: X:12.79, Y:0.17, Z:-0.32 [[ 9.98698398e-01 -3.83227827e-02 3.36582015e-02 1.27934696e+01] [ 3.83053786e-02 9.99265404e-01 1.16199631e-03 1.65283226e-01] [-3.36780073e-02 1.28806301e-04 9.99432727e-01 -3.23837355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.006875 meters 0.014657239481886686 Centerline is valid? [True, True] Translation: X:12.82, Y:0.17, Z:-0.33 [[ 9.98884971e-01 -3.59190377e-02 3.06371973e-02 1.28216366e+01] [ 3.59034194e-02 9.99354702e-01 1.05992706e-03 1.71944143e-01] [-3.06554988e-02 4.12349379e-05 9.99530009e-01 -3.28312807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.036875 meters 0.014790700045940594 Centerline is valid? [True, True] Translation: X:12.85, Y:0.18, Z:-0.33 [[ 9.99082162e-01 -3.33894506e-02 2.68323934e-02 1.28499285e+01] [ 3.33763900e-02 9.99442416e-01 9.34589798e-04 1.79159202e-01] [-2.68486375e-02 -3.81635713e-05 9.99639510e-01 -3.34617948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.066875 meters 0.0148157167317669 Centerline is valid? [True, True] Translation: X:12.88, Y:0.18, Z:-0.34 [[ 9.99232931e-01 -3.20734736e-02 2.24687029e-02 1.28780064e+01] [ 3.20638590e-02 9.99485512e-01 7.88133676e-04 1.84432392e-01] [-2.24824212e-02 -6.70958006e-05 9.99747236e-01 -3.40408943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.096875 meters 0.014926622164771662 Centerline is valid? [True, True] Translation: X:12.91, Y:0.19, Z:-0.34 [[ 9.99298167e-01 -3.11973029e-02 2.07340758e-02 1.29071169e+01] [ 3.11889297e-02 9.99513242e-01 7.27163965e-04 1.87767336e-01] [-2.07466688e-02 -7.99799859e-05 9.99784762e-01 -3.41353637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.126875 meters 0.014992442138314034 Centerline is valid? [True, True] Translation: X:12.93, Y:0.19, Z:-0.34 [[ 9.99327305e-01 -2.85137069e-02 2.30630809e-02 1.29348612e+01] [ 2.85024947e-02 9.99593389e-01 8.14799432e-04 1.92342593e-01] [-2.30769362e-02 -1.56895979e-04 9.99733680e-01 -3.37712603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.156875 meters 0.015783862813171 Centerline is valid? [True, True] Translation: X:12.96, Y:0.20, Z:-0.34 [[ 9.99447996e-01 -2.10244246e-02 2.57230639e-02 1.29636163e+01] [ 2.10077856e-02 9.99778892e-01 9.16946579e-04 2.01678803e-01] [-2.57366546e-02 -3.76055811e-04 9.99668687e-01 -3.36487766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.186875 meters 0.01828389669725636 Centerline is valid? [True, True] Translation: X:12.99, Y:0.21, Z:-0.34 [[ 9.99558374e-01 -1.13975437e-02 2.74436257e-02 1.29926777e+01] [ 1.13747475e-02 9.99934819e-01 9.86629474e-04 2.13968787e-01] [-2.74530821e-02 -6.74029439e-04 9.99622866e-01 -3.38235020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.216875 meters 0.01987758816587274 Centerline is valid? [True, True] Translation: X:13.02, Y:0.22, Z:-0.34 [[ 9.99544581e-01 -3.50510766e-03 2.99723939e-02 1.30228816e+01] [ 3.47435286e-03 9.99993383e-01 1.07812193e-03 2.20506793e-01] [-2.99759745e-02 -9.73496263e-04 9.99550145e-01 -3.36273059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.246875 meters 0.02093395276638423 Centerline is valid? [True, True] Translation: X:13.05, Y:0.22, Z:-0.34 [[ 9.99593020e-01 3.42771889e-04 2.85250238e-02 1.30540366e+01] [-3.72210176e-04 9.99999404e-01 1.02671289e-03 2.24745890e-01] [-2.85246548e-02 -1.03691234e-03 9.99592551e-01 -3.37193401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.276875 meters 0.020393443089237035 Centerline is valid? [True, True] Translation: X:13.09, Y:0.23, Z:-0.34 [[ 9.99621751e-01 4.70465015e-04 2.74978958e-02 1.30865718e+01] [-4.97851733e-04 9.99999387e-01 9.89119119e-04 2.26344010e-01] [-2.74974136e-02 -1.00243486e-03 9.99621372e-01 -3.39101895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.306875 meters 0.020880200522781372 Centerline is valid? [True, True] Translation: X:13.12, Y:0.23, Z:-0.34 [[ 9.99588391e-01 -2.53325996e-06 2.86888066e-02 1.31175658e+01] [-2.70006547e-05 9.99999470e-01 1.02907033e-03 2.30347358e-01] [-2.86887940e-02 -1.02942137e-03 9.99587862e-01 -3.40501023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.336875000000001 meters 0.019758531909408565 Centerline is valid? [True, True] Translation: X:13.15, Y:0.23, Z:-0.34 [[ 9.99553099e-01 -3.64939492e-03 2.96695856e-02 1.31495759e+01] [ 3.61963429e-03 9.99992891e-01 1.05671528e-03 2.27948993e-01] [-2.96732311e-02 -9.48849986e-04 9.99559202e-01 -3.38804228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.366875 meters 0.019264784469591185 Centerline is valid? [True, True] Translation: X:13.18, Y:0.23, Z:-0.34 [[ 9.99529587e-01 -6.37127367e-03 3.00001987e-02 1.31813926e+01] [ 6.34211906e-03 9.99979319e-01 1.06686843e-03 2.27213565e-01] [-3.00063756e-02 -8.76101730e-04 9.99549323e-01 -3.40143068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.396875 meters 0.017324473524532164 Centerline is valid? [True, True] Translation: X:13.21, Y:0.22, Z:-0.34 [[ 9.99407237e-01 -1.27198185e-02 3.19903227e-02 1.32126640e+01] [ 1.26899723e-02 9.99918834e-01 1.13584076e-03 2.23772488e-01] [-3.20021739e-02 -7.29211166e-04 9.99487533e-01 -3.41377887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.426875 meters 0.01602773060646294 Centerline is valid? [True, True] Translation: X:13.24, Y:0.22, Z:-0.34 [[ 9.99188815e-01 -2.15740664e-02 3.40039993e-02 1.32429312e+01] [ 2.15454862e-02 9.99767141e-01 1.20673403e-03 2.19469056e-01] [-3.40221153e-02 -4.73122445e-04 9.99420968e-01 -3.41067318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.456875 meters 0.014896819489177416 Centerline is valid? [True, True] Translation: X:13.27, Y:0.21, Z:-0.34 [[ 9.98813597e-01 -3.12145175e-02 3.73771703e-02 1.32722718e+01] [ 3.11867130e-02 9.99512695e-01 1.32684279e-03 2.12114659e-01] [-3.74003730e-02 -1.59597537e-04 9.99300349e-01 -3.38288742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.486875 meters 0.01492993203789013 Centerline is valid? [True, True] Translation: X:13.30, Y:0.20, Z:-0.33 [[ 9.98349602e-01 -4.01456734e-02 4.10657766e-02 1.33009560e+01] [ 4.01195031e-02 9.99193820e-01 1.46152923e-03 2.04778738e-01] [-4.10913443e-02 1.88421429e-04 9.99155376e-01 -3.33418119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.516875 meters 0.015371192967197992 Centerline is valid? [True, True] Translation: X:13.33, Y:0.20, Z:-0.33 [[ 9.98009701e-01 -4.47157147e-02 4.44650609e-02 1.33296370e+01] [ 4.46893109e-02 9.98999671e-01 1.58817708e-03 2.02156673e-01] [-4.44915977e-02 4.02096798e-04 9.99009678e-01 -3.30914318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.546875 meters 0.015327378448178912 Centerline is valid? [True, True] Translation: X:13.36, Y:0.21, Z:-0.34 [[ 9.98143632e-01 -4.38594465e-02 4.22568113e-02 1.33582557e+01] [ 4.38346176e-02 9.99037653e-01 1.51441028e-03 2.06448486e-01] [-4.22825668e-02 3.40712186e-04 9.99105634e-01 -3.37890350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.576875 meters 0.014907816938359356 Centerline is valid? [True, True] Translation: X:13.39, Y:0.21, Z:-0.35 [[ 9.98602788e-01 -3.84717218e-02 3.62270434e-02 1.33864958e+01] [ 3.84496529e-02 9.99259685e-01 1.30593201e-03 2.13454021e-01] [-3.62504655e-02 8.88099022e-05 9.99342732e-01 -3.46483363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.606875 meters 0.014968388965695594 Centerline is valid? [True, True] Translation: X:13.41, Y:0.22, Z:-0.35 [[ 9.99001876e-01 -3.13914293e-02 3.17778120e-02 1.34132176e+01] [ 3.13706517e-02 9.99507156e-01 1.15232121e-03 2.21568355e-01] [-3.17983235e-02 -1.54280381e-04 9.99494294e-01 -3.51755402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.636875 meters 0.015165334972294928 Centerline is valid? [True, True] Translation: X:13.44, Y:0.23, Z:-0.36 [[ 9.99219635e-01 -2.67223194e-02 2.90867541e-02 1.34412779e+01] [ 2.67028383e-02 9.99642856e-01 1.05805305e-03 2.28722058e-01] [-2.91046395e-02 -2.80528496e-04 9.99576331e-01 -3.55424413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.666875000000001 meters 0.015708146316684227 Centerline is valid? [True, True] Translation: X:13.47, Y:0.23, Z:-0.36 [[ 9.99313308e-01 -2.43630740e-02 2.79169085e-02 1.34698880e+01] [ 2.43441615e-02 9.99703120e-01 1.01717992e-03 2.34851782e-01] [-2.79334021e-02 -3.36867699e-04 9.99609730e-01 -3.57444935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.696875 meters 0.015361635509330642 Centerline is valid? [True, True] Translation: X:13.50, Y:0.24, Z:-0.36 [[ 9.99253458e-01 -2.56917337e-02 2.88524133e-02 1.34985651e+01] [ 2.56718760e-02 9.99669863e-01 1.05852636e-03 2.38603470e-01] [-2.88700834e-02 -3.17040543e-04 9.99583122e-01 -3.58021306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.726875 meters 0.014861884441025694 Centerline is valid? [True, True] Translation: X:13.53, Y:0.24, Z:-0.36 [[ 9.99039135e-01 -3.12701061e-02 3.07080926e-02 1.35274810e+01] [ 3.12499947e-02 9.99510956e-01 1.13474680e-03 2.39032442e-01] [-3.07285587e-02 -1.74028725e-04 9.99527751e-01 -3.57359760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.756875 meters 0.014791552242718959 Centerline is valid? [True, True] Translation: X:13.56, Y:0.24, Z:-0.36 [[ 9.98702821e-01 -3.78137235e-02 3.40998332e-02 1.35554747e+01] [ 3.77924283e-02 9.99284805e-01 1.26905726e-03 2.38538477e-01] [-3.41234330e-02 2.13044368e-05 9.99417626e-01 -3.55442101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.786875 meters 0.014740986137423634 Centerline is valid? [True, True] Translation: X:13.58, Y:0.24, Z:-0.35 [[ 9.98460792e-01 -4.05689984e-02 3.78180239e-02 1.35832999e+01] [ 4.05446427e-02 9.99176732e-01 1.41105170e-03 2.40460416e-01] [-3.78441345e-02 1.24438470e-04 9.99283646e-01 -3.52055398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.816875 meters 0.014882351430106362 Centerline is valid? [True, True] Translation: X:13.61, Y:0.25, Z:-0.35 [[ 9.98562523e-01 -3.67427238e-02 3.90238331e-02 1.36113488e+01] [ 3.67136764e-02 9.99324758e-01 1.46096002e-03 2.47055728e-01] [-3.90511622e-02 -2.61515431e-05 9.99237212e-01 -3.51129410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.846875 meters 0.015404058623207331 Centerline is valid? [True, True] Translation: X:13.64, Y:0.26, Z:-0.35 [[ 9.98879638e-01 -2.79945522e-02 3.81545942e-02 1.36390061e+01] [ 2.79600403e-02 9.99608007e-01 1.43792780e-03 2.58186892e-01] [-3.81798920e-02 -3.69512811e-04 9.99270814e-01 -3.52305083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.876875 meters 0.01601072756806934 Centerline is valid? [True, True] Translation: X:13.67, Y:0.27, Z:-0.35 [[ 9.98997223e-01 -2.29315505e-02 3.84537762e-02 1.36659917e+01] [ 2.28925961e-02 9.99736874e-01 1.45308862e-03 2.66392701e-01] [-3.84769796e-02 -5.71324730e-04 9.99259324e-01 -3.54506684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.906875 meters 0.01755076586824901 Centerline is valid? [True, True] Translation: X:13.70, Y:0.28, Z:-0.36 [[ 9.99207336e-01 -1.24186025e-02 3.78216660e-02 1.36958777e+01] [ 1.23732097e-02 9.99922421e-01 1.43402325e-03 2.79707394e-01] [-3.78365404e-02 -9.64911145e-04 9.99283476e-01 -3.59634459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.936875 meters 0.020273179053393535 Centerline is valid? [True, True] Translation: X:13.72, Y:0.29, Z:-0.36 [[ 9.99435783e-01 -3.29051991e-03 3.34258608e-02 1.37244944e+01] [ 3.24997240e-03 9.99993916e-01 1.26731747e-03 2.92003186e-01] [-3.34298276e-02 -1.15796931e-03 9.99440396e-01 -3.63333626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.966875 meters 0.022470554268974905 Centerline is valid? [True, True] Translation: X:13.75, Y:0.30, Z:-0.37 [[ 9.99509578e-01 3.53063009e-03 3.11149248e-02 1.37544204e+01] [-3.56904097e-03 9.99992936e-01 1.17903166e-03 3.02038717e-01] [-3.11105423e-02 -1.28950388e-03 9.99515118e-01 -3.66593998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.996875 meters 0.022605531333068966 Centerline is valid? [True, True] Translation: X:13.79, Y:0.31, Z:-0.37 [[ 9.99513546e-01 6.24719297e-03 3.05555796e-02 1.37863922e+01] [-6.28550048e-03 9.99979576e-01 1.15780816e-03 3.06437046e-01] [-3.05477225e-02 -1.34930205e-03 9.99532399e-01 -3.68195749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.026875 meters 0.022333593728055153 Centerline is valid? [True, True] Translation: X:13.82, Y:0.31, Z:-0.37 [[ 9.99496309e-01 4.17641764e-03 3.14592587e-02 1.38163482e+01] [-4.21592869e-03 9.99990405e-01 1.18971639e-03 3.07453266e-01] [-3.14539881e-02 -1.32174713e-03 9.99504327e-01 -3.70177837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.056875 meters 0.02097705572413792 Centerline is valid? [True, True] Translation: X:13.85, Y:0.31, Z:-0.37 [[ 9.99500231e-01 -4.56870691e-05 3.16114722e-02 1.38470697e+01] [ 8.00750388e-06 9.99999289e-01 1.19208414e-03 3.05405828e-01] [-3.16115042e-02 -1.19123525e-03 9.99499522e-01 -3.73161046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.086875000000001 meters 0.01981376652402866 Centerline is valid? [True, True] Translation: X:13.88, Y:0.30, Z:-0.38 [[ 9.99532700e-01 -4.26306827e-03 3.02689151e-02 1.38787344e+01] [ 4.23046963e-03 9.99990401e-01 1.14092677e-03 3.00890668e-01] [-3.02734884e-02 -1.01234189e-03 9.99541140e-01 -3.76135858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.116875 meters 0.019216699322630943 Centerline is valid? [True, True] Translation: X:13.91, Y:0.30, Z:-0.38 [[ 9.99513668e-01 -6.20417553e-03 3.05603654e-02 1.39113906e+01] [ 6.17190099e-03 9.99980292e-01 1.15030891e-03 2.96820529e-01] [-3.05668998e-02 -9.61133930e-04 9.99532261e-01 -3.77309962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.146875 meters 0.019216699322630943 Centerline is valid? [True, True] Translation: X:13.94, Y:0.30, Z:-0.38 [[ 9.99514105e-01 -6.13287928e-03 3.05604684e-02 1.39430122e+01] [ 6.10065525e-03 9.99980732e-01 1.14756564e-03 2.97948482e-01] [-3.05669175e-02 -9.60569158e-04 9.99532261e-01 -3.78318210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.176875 meters 0.018956250663768662 Centerline is valid? [True, True] Translation: X:13.98, Y:0.29, Z:-0.38 [[ 9.99438618e-01 -6.12679114e-03 3.29380064e-02 1.39751378e+01] [ 6.08943549e-03 9.99980697e-01 1.23431532e-03 2.94052107e-01] [-3.29449330e-02 -1.03304853e-03 9.99456634e-01 -3.76776546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.206875 meters 0.019923073272215878 Centerline is valid? [True, True] Translation: X:14.01, Y:0.29, Z:-0.37 [[ 9.99405352e-01 -5.48831712e-03 3.40414693e-02 1.40064828e+01] [ 5.44813010e-03 9.99984348e-01 1.27317778e-03 2.89882191e-01] [-3.40479241e-02 -1.08695833e-03 9.99419610e-01 -3.73457917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.236875 meters 0.019719730865914994 Centerline is valid? [True, True] Translation: X:14.04, Y:0.28, Z:-0.37 [[ 9.99386342e-01 -5.29476161e-03 3.46251988e-02 1.40391765e+01] [ 5.25313491e-03 9.99985366e-01 1.29307109e-03 2.83564054e-01] [-3.46315386e-02 -1.11038675e-03 9.99399532e-01 -3.73676778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.266875 meters 0.018817160302446626 Centerline is valid? [True, True] Translation: X:14.07, Y:0.28, Z:-0.38 [[ 9.99324049e-01 -8.36779565e-03 3.57969957e-02 1.40709357e+01] [ 8.32536049e-03 9.99964453e-01 1.33433680e-03 2.75411942e-01] [-3.58068887e-02 -1.03541196e-03 9.99358191e-01 -3.76630110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.296875 meters 0.01804021451399454 Centerline is valid? [True, True] Translation: X:14.10, Y:0.27, Z:-0.38 [[ 9.99275948e-01 -1.29896000e-02 3.57610054e-02 1.41014282e+01] [ 1.29502502e-02 9.99915255e-01 1.33177682e-03 2.66248806e-01] [-3.57752741e-02 -8.67698582e-04 9.99359483e-01 -3.79357061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.326875 meters 0.017206612991929607 Centerline is valid? [True, True] Translation: X:14.13, Y:0.26, Z:-0.38 [[ 9.99281588e-01 -1.55262268e-02 3.45722962e-02 1.41327779e+01] [ 1.54909903e-02 9.99879179e-01 1.28685464e-03 2.61662480e-01] [-3.45880991e-02 -7.50371047e-04 9.99401371e-01 -3.82038283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.356875 meters 0.016087032810721536 Centerline is valid? [True, True] Translation: X:14.16, Y:0.25, Z:-0.38 [[ 9.99226635e-01 -2.15273951e-02 3.29044539e-02 1.41627355e+01] [ 2.14987636e-02 9.99768126e-01 1.22373153e-03 2.48761056e-01] [-3.29231680e-02 -5.15380061e-04 9.99457753e-01 -3.81873779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.386875 meters 0.015650352454596242 Centerline is valid? [True, True] Translation: X:14.19, Y:0.24, Z:-0.38 [[ 9.99149603e-01 -2.52772013e-02 3.25750644e-02 1.41920548e+01] [ 2.52510894e-02 9.99680405e-01 1.21279690e-03 2.42350901e-01] [-3.25953097e-02 -3.89209682e-04 9.99468556e-01 -3.81239521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.416875 meters 0.015098503655175096 Centerline is valid? [True, True] Translation: X:14.22, Y:0.24, Z:-0.38 [[ 9.99056483e-01 -3.00087507e-02 3.13945656e-02 1.42202997e+01] [ 2.99865931e-02 9.99549609e-01 1.17647065e-03 2.37864970e-01] [-3.14157301e-02 -2.33944567e-04 9.99506377e-01 -3.83881741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.446875 meters 0.014733676822137293 Centerline is valid? [True, True] Translation: X:14.25, Y:0.23, Z:-0.39 [[ 9.98908129e-01 -3.59214003e-02 2.98697570e-02 1.42492310e+01] [ 3.59039198e-02 9.99354617e-01 1.12153403e-03 2.30880023e-01] [-2.98907667e-02 -4.78681043e-05 9.99553170e-01 -3.86841759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.476875 meters 0.014817212325818258 Centerline is valid? [True, True] Translation: X:14.28, Y:0.22, Z:-0.39 [[ 9.98816957e-01 -4.04674194e-02 2.69643274e-02 1.42772330e+01] [ 4.04546540e-02 9.99180856e-01 1.01898827e-03 2.24509559e-01] [-2.69834755e-02 7.30497756e-05 9.99635877e-01 -3.90734926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.506875 meters 0.014903808325599507 Centerline is valid? [True, True] Translation: X:14.31, Y:0.22, Z:-0.39 [[ 9.98786784e-01 -4.15412040e-02 2.64440798e-02 1.43051686e+01] [ 4.15292714e-02 9.99136787e-01 1.00051701e-03 2.24056118e-01] [-2.64628156e-02 9.89002017e-05 9.99649793e-01 -3.93586961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.536875 meters 0.01482366723072529 Centerline is valid? [True, True] Translation: X:14.33, Y:0.23, Z:-0.39 [[ 9.98854536e-01 -4.00131628e-02 2.62404939e-02 1.43322447e+01] [ 4.00006730e-02 9.99199151e-01 1.00091905e-03 2.25609257e-01] [-2.62595292e-02 4.98648875e-05 9.99655158e-01 -3.94847979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.566875 meters 0.015772735326080554 Centerline is valid? [True, True] Translation: X:14.36, Y:0.23, Z:-0.39 [[ 9.99277829e-01 -2.68008603e-02 2.69357546e-02 1.43604037e+01] [ 2.67828041e-02 9.99640745e-01 1.03096007e-03 2.31456346e-01] [-2.69537084e-02 -3.08800500e-04 9.99636635e-01 -3.89947254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.596875 meters 0.01725307697748528 Centerline is valid? [True, True] Translation: X:14.39, Y:0.24, Z:-0.39 [[ 9.99460362e-01 -1.59580777e-02 2.87110679e-02 1.43905472e+01] [ 1.59330076e-02 9.99872455e-01 1.10176205e-03 2.39100760e-01] [-2.87249879e-02 -6.43713831e-04 9.99587145e-01 -3.89844017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.626875 meters 0.01950365705575005 Centerline is valid? [True, True] Translation: X:14.42, Y:0.25, Z:-0.39 [[ 9.99486005e-01 -1.15914572e-02 2.98891903e-02 1.44188918e+01] [ 1.15623386e-02 9.99932496e-01 1.14687093e-03 2.46436316e-01] [-2.99004666e-02 -8.00692505e-04 9.99552560e-01 -3.91899760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.656875 meters 0.02065518891231875 Centerline is valid? [True, True] Translation: X:14.45, Y:0.25, Z:-0.39 [[ 9.99502556e-01 -4.86567843e-03 3.11603111e-02 1.44488085e+01] [ 4.83071020e-03 9.99987615e-01 1.19738779e-03 2.51036513e-01] [-3.11657512e-02 -1.04626572e-03 9.99513682e-01 -3.92773961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.686875 meters 0.02312773332972663 Centerline is valid? [True, True] Translation: X:14.48, Y:0.26, Z:-0.39 [[ 9.99552281e-01 -2.40488841e-04 2.99195512e-02 1.44784729e+01] [ 2.06161985e-04 9.99999317e-01 1.15038471e-03 2.55655370e-01] [-2.99198074e-02 -1.14370139e-03 9.99551648e-01 -3.94963415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.716875 meters 0.024186268294400008 Centerline is valid? [True, True] Translation: X:14.51, Y:0.26, Z:-0.40 [[ 9.99592315e-01 2.86339022e-03 2.84078337e-02 1.45096855e+01] [-2.89552414e-03 9.99995214e-01 1.09009260e-03 2.57210072e-01] [-2.84045763e-02 -1.17190376e-03 9.99595822e-01 -3.96414247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.746875 meters 0.027197409589088162 Centerline is valid? [True, True] Translation: X:14.54, Y:0.26, Z:-0.40 [[ 9.99663251e-01 5.26507596e-03 2.54099212e-02 1.45392049e+01] [-5.29153264e-03 9.99985525e-01 9.74067356e-04 2.61404336e-01] [-2.54044249e-02 -1.10819677e-03 9.99676641e-01 -4.01039445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.776875 meters 0.026653769621854936 Centerline is valid? [True, True] Translation: X:14.57, Y:0.26, Z:-0.41 [[ 9.99716474e-01 6.59908446e-03 2.28784654e-02 1.45714001e+01] [-6.62092812e-03 9.99977695e-01 8.79152096e-04 2.57766125e-01] [-2.28721535e-02 -1.03037951e-03 9.99737867e-01 -4.06021483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.806875 meters 0.026596812625748294 Centerline is valid? [True, True] Translation: X:14.60, Y:0.25, Z:-0.41 [[ 9.99763569e-01 5.76864988e-03 2.09649542e-02 1.46033684e+01] [-5.78671734e-03 9.99982936e-01 8.01229224e-04 2.53545498e-01] [-2.09599744e-02 -9.22358053e-04 9.99779890e-01 -4.10657559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.836875000000001 meters 0.024728459989968265 Centerline is valid? [True, True] Translation: X:14.64, Y:0.25, Z:-0.41 [[ 9.99827516e-01 4.40959145e-03 1.80414574e-02 1.46358487e+01] [-4.42269345e-03 9.99989984e-01 6.86381142e-04 2.45344901e-01] [-1.80382501e-02 -7.66054587e-04 9.99837004e-01 -4.14400688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.866875 meters 0.02620181850977305 Centerline is valid? [True, True] Translation: X:14.67, Y:0.24, Z:-0.42 [[ 9.99855941e-01 4.29064927e-03 1.64221375e-02 1.46680270e+01] [-4.30143855e-03 9.99990555e-01 6.21730273e-04 2.41199681e-01] [-1.64193147e-02 -6.92279522e-04 9.99864954e-01 -4.15859397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.896875 meters 0.02719980155648943 Centerline is valid? [True, True] Translation: X:14.70, Y:0.24, Z:-0.41 [[ 9.99817770e-01 5.86623880e-03 1.81662713e-02 1.47001274e+01] [-5.87955200e-03 9.99982484e-01 6.79529705e-04 2.37354507e-01] [-1.81619668e-02 -7.86215411e-04 9.99834749e-01 -4.12974357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.926875 meters 0.0259381406923378 Centerline is valid? [True, True] Translation: X:14.73, Y:0.23, Z:-0.41 [[ 9.99752444e-01 6.59005623e-03 2.12514098e-02 1.47323935e+01] [-6.60844086e-03 9.99977848e-01 7.94989821e-04 2.32186746e-01] [-2.12457001e-02 -9.35231702e-04 9.99773847e-01 -4.10297899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.956875 meters 0.02346454518179809 Centerline is valid? [True, True] Translation: X:14.76, Y:0.23, Z:-0.41 [[ 9.99721644e-01 2.79445704e-03 2.34270301e-02 1.47630221e+01] [-2.81555745e-03 9.99995660e-01 8.67750477e-04 2.25424230e-01] [-2.34245035e-02 -9.33469083e-04 9.99725173e-01 -4.08341493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.986875 meters 0.022933595180533953 Centerline is valid? [True, True] Translation: X:14.80, Y:0.22, Z:-0.41 [[ 9.99678155e-01 1.23644500e-04 2.53686992e-02 1.47951665e+01] [-1.47538878e-04 9.99999547e-01 9.40014641e-04 2.22397330e-01] [-2.53685715e-02 -9.43454971e-04 9.99677721e-01 -4.06693887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.016875 meters 0.022631501783053027 Centerline is valid? [True, True] Translation: X:14.83, Y:0.22, Z:-0.41 [[ 9.99671327e-01 -1.87246805e-04 2.56359706e-02 1.48274454e+01] [ 1.62953117e-04 9.99999536e-01 9.49726423e-04 2.21991082e-01] [-2.56361365e-02 -9.45236812e-04 9.99670893e-01 -4.07428174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.046875 meters 0.02391318185182532 Centerline is valid? [True, True] Translation: X:14.86, Y:0.22, Z:-0.41 [[ 9.99686153e-01 -2.71476716e-04 2.50503846e-02 1.48590035e+01] [ 2.48485255e-04 9.99999545e-01 9.20916970e-04 2.24847207e-01] [-2.50506232e-02 -9.14403292e-04 9.99685766e-01 -4.10554599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.076875 meters 0.02484678242268169 Centerline is valid? [True, True] Translation: X:14.89, Y:0.23, Z:-0.41 [[ 9.99720926e-01 3.05839260e-04 2.36215271e-02 1.48896937e+01] [-3.26390198e-04 9.99999572e-01 8.66158310e-04 2.26358386e-01] [-2.36212520e-02 -8.73626422e-04 9.99720598e-01 -4.14114147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.106875 meters 0.02365290153824923 Centerline is valid? [True, True] Translation: X:14.92, Y:0.22, Z:-0.42 [[ 9.99759712e-01 6.37283919e-04 2.19114573e-02 1.49222692e+01] [-6.55027870e-04 9.99999463e-01 8.02634765e-04 2.24637552e-01] [-2.19109341e-02 -8.16794517e-04 9.99759593e-01 -4.15561358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.136875 meters 0.024523836428685435 Centerline is valid? [True, True] Translation: X:14.95, Y:0.23, Z:-0.42 [[ 9.99781778e-01 2.09483425e-03 2.07848135e-02 1.49539152e+01] [-2.11108276e-03 9.99997483e-01 7.59838500e-04 2.26161026e-01] [-2.07831694e-02 -8.03551148e-04 9.99783684e-01 -4.17247848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.166875 meters 0.024917848985038633 Centerline is valid? [True, True] Translation: X:14.99, Y:0.23, Z:-0.42 [[ 9.99787138e-01 3.95644263e-03 2.02490572e-02 1.49857042e+01] [-3.97222885e-03 9.99991837e-01 7.39440625e-04 2.28662757e-01] [-2.02459663e-02 -8.19717115e-04 9.99794693e-01 -4.18431986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.196875 meters 0.025559644341254618 Centerline is valid? [True, True] Translation: X:15.02, Y:0.23, Z:-0.42 [[ 9.99705827e-01 6.47804967e-03 2.33729251e-02 1.50176396e+01] [-6.49972524e-03 9.99978514e-01 8.51528720e-04 2.32253089e-01] [-2.33669066e-02 -1.00319582e-03 9.99726453e-01 -4.17186942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.226875 meters 0.02771309990075063 Centerline is valid? [True, True] Translation: X:15.05, Y:0.24, Z:-0.42 [[ 9.99670323e-01 8.01708786e-03 2.43920389e-02 1.50481258e+01] [-8.04110162e-03 9.99967277e-01 8.86565529e-04 2.37473962e-01] [-2.43841331e-02 -1.08241211e-03 9.99702077e-01 -4.18088326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.256875 meters 0.030153490278379522 Centerline is valid? [True, True] Translation: X:15.08, Y:0.25, Z:-0.42 [[ 9.99635776e-01 1.23735856e-02 2.39835418e-02 1.50788934e+01] [-1.23980293e-02 9.99922762e-01 8.70753767e-04 2.45782038e-01] [-2.39709150e-02 -1.16778527e-03 9.99711974e-01 -4.20008483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.286875 meters 0.027352158045538526 Centerline is valid? [True, True] Translation: X:15.11, Y:0.24, Z:-0.42 [[ 9.99609209e-01 1.40009724e-02 2.41950862e-02 1.51110177e+01] [-1.40263587e-02 9.99901239e-01 8.79834430e-04 2.44087327e-01] [-2.41803781e-02 -1.21885956e-03 9.99706869e-01 -4.20037278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.316875 meters 0.029820561522081138 Centerline is valid? [True, True] Translation: X:15.14, Y:0.25, Z:-0.42 [[ 9.99576069e-01 1.60553538e-02 2.42880082e-02 1.51419127e+01] [-1.60813842e-02 9.99870302e-01 8.76785428e-04 2.50843669e-01] [-2.42707809e-02 -1.26699852e-03 9.99704618e-01 -4.19660257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.346875 meters 0.03061719788403717 Centerline is valid? [True, True] Translation: X:15.17, Y:0.26, Z:-0.42 [[ 9.99611512e-01 1.25418048e-02 2.48903057e-02 1.51714829e+01] [-1.25678642e-02 9.99920624e-01 8.90808381e-04 2.55279904e-01] [-2.48771577e-02 -1.20328029e-03 9.99689791e-01 -4.20460889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.376875 meters 0.025373841547442336 Centerline is valid? [True, True] Translation: X:15.20, Y:0.25, Z:-0.42 [[ 9.99676332e-01 7.64446907e-03 2.42650560e-02 1.52026935e+01] [-7.66779906e-03 9.99970225e-01 8.68565398e-04 2.48841271e-01] [-2.42576938e-02 -1.05434384e-03 9.99705183e-01 -4.21151069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.406875 meters 0.02302348979426743 Centerline is valid? [True, True] Translation: X:15.23, Y:0.25, Z:-0.42 [[ 9.99702730e-01 3.59321276e-03 2.41151675e-02 1.52335227e+01] [-3.61506854e-03 9.99993093e-01 8.62774089e-04 2.45378024e-01] [-2.41119009e-02 -9.49695595e-04 9.99708815e-01 -4.21812807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.436875 meters 0.02302526913290474 Centerline is valid? [True, True] Translation: X:15.26, Y:0.25, Z:-0.42 [[ 9.99705069e-01 2.06720708e-03 2.41971330e-02 1.52641904e+01] [-2.08879401e-03 9.99997443e-01 8.66886236e-04 2.46052599e-01] [-2.41952791e-02 -9.17173391e-04 9.99706831e-01 -4.22303203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.466875 meters 0.02202929732024095 Centerline is valid? [True, True] Translation: X:15.30, Y:0.24, Z:-0.42 [[ 9.99695272e-01 -4.07666883e-04 2.46819224e-02 1.52958679e+01] [ 3.86137739e-04 9.99999541e-01 8.77023388e-04 2.44069843e-01] [-2.46822686e-02 -8.67225513e-04 9.99694970e-01 -4.22871889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.496875 meters 0.023171678378694507 Centerline is valid? [True, True] Translation: X:15.33, Y:0.25, Z:-0.43 [[ 9.99742024e-01 1.84957269e-03 2.26376806e-02 1.53275678e+01] [-1.86824782e-03 9.99997932e-01 8.03836254e-04 2.46512001e-01] [-2.26361471e-02 -8.45921681e-04 9.99743412e-01 -4.25714693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.526875 meters 0.024072171786446647 Centerline is valid? [True, True] Translation: X:15.36, Y:0.25, Z:-0.43 [[ 9.99754505e-01 4.08115593e-03 2.17778456e-02 1.53592790e+01] [-4.09894397e-03 9.99991301e-01 7.72218980e-04 2.48664223e-01] [-2.17745047e-02 -8.61295573e-04 9.99762536e-01 -4.27535939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.556875 meters 0.029359145087196486 Centerline is valid? [True, True] Translation: X:15.39, Y:0.26, Z:-0.43 [[ 9.99727378e-01 9.33476488e-03 2.14016865e-02 1.53893582e+01] [-9.35311325e-03 9.99955972e-01 7.57393477e-04 2.57249012e-01] [-2.13936741e-02 -9.57359392e-04 9.99770671e-01 -4.30299699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.586875000000001 meters 0.03096894280516812 Centerline is valid? [True, True] Translation: X:15.42, Y:0.26, Z:-0.43 [[ 9.99679004e-01 1.57957623e-02 1.98086532e-02 1.54199101e+01] [-1.58127365e-02 9.99874725e-01 7.00556889e-04 2.60859451e-01] [-1.97951059e-02 -1.01356103e-03 9.99803544e-01 -4.32541821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.616875 meters 0.029418583912508983 Centerline is valid? [True, True] Translation: X:15.45, Y:0.26, Z:-0.44 [[ 9.99759469e-01 1.27238936e-02 1.78635784e-02 1.54515365e+01] [-1.27372197e-02 9.99918678e-01 6.32410063e-04 2.60660636e-01] [-1.78540790e-02 -8.59790271e-04 9.99840234e-01 -4.36273814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.646875 meters 0.027908862648346435 Centerline is valid? [True, True] Translation: X:15.48, Y:0.26, Z:-0.43 [[ 9.99793573e-01 9.57690100e-03 1.79191200e-02 1.54834289e+01] [-9.58979456e-03 9.99953816e-01 6.33751190e-04 2.58294665e-01] [-1.79122230e-02 -8.05461046e-04 9.99839239e-01 -4.34366115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.676875 meters 0.024912664257428007 Centerline is valid? [True, True] Translation: X:15.51, Y:0.26, Z:-0.44 [[ 9.99862946e-01 3.32845756e-03 1.62176085e-02 1.55138154e+01] [-3.33816160e-03 9.99994265e-01 5.71330373e-04 2.56081319e-01] [-1.62156139e-02 -6.25389068e-04 9.99868323e-01 -4.36012282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.706875 meters 0.021624351106431124 Centerline is valid? [True, True] Translation: X:15.55, Y:0.25, Z:-0.44 [[ 9.99857447e-01 8.23768806e-05 1.68843041e-02 1.55450292e+01] [-9.24439166e-05 9.99999818e-01 5.95456742e-04 2.54332927e-01] [-1.68842520e-02 -5.96932709e-04 9.99857273e-01 -4.36528577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.736875 meters 0.021798183975818005 Centerline is valid? [True, True] Translation: X:15.58, Y:0.25, Z:-0.43 [[ 9.99819375e-01 -4.84656284e-04 1.89995212e-02 1.55764321e+01] [ 4.71979105e-04 9.99999663e-01 6.71715186e-04 2.54556479e-01] [-1.89998404e-02 -6.62626481e-04 9.99819267e-01 -4.33678624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.766875 meters 0.0219414972806485 Centerline is valid? [True, True] Translation: X:15.61, Y:0.25, Z:-0.43 [[ 9.99763828e-01 -1.59732856e-03 2.16733981e-02 1.56077235e+01] [ 1.58124322e-03 9.99998462e-01 7.59286785e-04 2.54736863e-01] [-2.16745776e-02 -7.24836549e-04 9.99764816e-01 -4.30716585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.796875 meters 0.0222456717817744 Centerline is valid? [True, True] Translation: X:15.64, Y:0.26, Z:-0.43 [[ 9.99750181e-01 -6.63597908e-04 2.23413562e-02 1.56401597e+01] [ 6.46360042e-04 9.99999488e-01 7.78779946e-04 2.55276178e-01] [-2.23418615e-02 -7.64144832e-04 9.99750097e-01 -4.30502897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.826875 meters 0.022865087302850057 Centerline is valid? [True, True] Translation: X:15.67, Y:0.26, Z:-0.43 [[ 9.99716484e-01 -9.62930634e-05 2.38105599e-02 1.56713534e+01] [ 7.65984405e-05 9.99999654e-01 8.28048839e-04 2.56133134e-01] [-2.38106314e-02 -8.25990222e-04 9.99716146e-01 -4.31220016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.856875 meters 0.022433321923876957 Centerline is valid? [True, True] Translation: X:15.70, Y:0.26, Z:-0.43 [[ 9.99735811e-01 -5.94273099e-05 2.29848675e-02 1.57038077e+01] [ 4.10811318e-05 9.99999680e-01 7.98656429e-04 2.55559847e-01] [-2.29849077e-02 -7.97501189e-04 9.99735494e-01 -4.34133538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.886875 meters 0.02253387579972505 Centerline is valid? [True, True] Translation: X:15.74, Y:0.26, Z:-0.44 [[ 9.99803197e-01 7.01124808e-04 1.98261153e-02 1.57353708e+01] [-7.14878863e-04 9.99999509e-01 6.86655417e-04 2.55698279e-01] [-1.98256241e-02 -7.00693552e-04 9.99803207e-01 -4.38120343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.916875 meters 0.023328816762861963 Centerline is valid? [True, True] Translation: X:15.77, Y:0.26, Z:-0.44 [[ 9.99849551e-01 2.53102847e-03 1.71601070e-02 1.57676775e+01] [-2.54159358e-03 9.99996594e-01 5.93897686e-04 2.57345719e-01] [-1.71585454e-02 -6.37422353e-04 9.99852578e-01 -4.41728709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.946875 meters 0.024295016977393436 Centerline is valid? [True, True] Translation: X:15.80, Y:0.26, Z:-0.44 [[ 9.99875626e-01 3.31645284e-03 1.54186241e-02 1.57988419e+01] [-3.32505772e-03 9.99994330e-01 5.32481556e-04 2.58900474e-01] [-1.54167707e-02 -5.83683144e-04 9.99880984e-01 -4.44402470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.976875 meters 0.024347108834988793 Centerline is valid? [True, True] Translation: X:15.83, Y:0.26, Z:-0.45 [[ 9.99885299e-01 4.19598333e-03 1.45527345e-02 1.58307773e+01] [-4.20378038e-03 9.99991036e-01 5.05229999e-04 2.59481590e-01] [-1.45504841e-02 -5.66348548e-04 9.99893976e-01 -4.46068316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.006875 meters 0.025124557951292356 Centerline is valid? [True, True] Translation: X:15.86, Y:0.26, Z:-0.45 [[ 9.99870207e-01 5.42542727e-03 1.51701956e-02 1.58620364e+01] [-5.43397526e-03 9.99985099e-01 5.22309392e-04 2.61634472e-01] [-1.51671358e-02 -6.04676067e-04 9.99884790e-01 -4.47329694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.036875 meters 0.023676117800664923 Centerline is valid? [True, True] Translation: X:15.89, Y:0.26, Z:-0.45 [[ 9.99846402e-01 1.88912154e-03 1.74242523e-02 1.58933403e+01] [-1.89972311e-03 9.99998020e-01 5.91905828e-04 2.60523756e-01] [-1.74230996e-02 -6.24916167e-04 9.99848011e-01 -4.46375011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.066875 meters 0.023676117800664923 Centerline is valid? [True, True] Translation: X:15.93, Y:0.26, Z:-0.45 [[ 9.99845848e-01 2.16337932e-03 1.74241376e-02 1.59257110e+01] [-2.17408158e-03 9.99997459e-01 5.95301715e-04 2.61514151e-01] [-1.74228055e-02 -6.33091445e-04 9.99848011e-01 -4.47406070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.096874999999997 meters 0.021492154458160762 Centerline is valid? [True, True] Translation: X:15.96, Y:0.26, Z:-0.44 [[ 9.99762058e-01 9.51306115e-04 2.17927194e-02 1.59571186e+01] [-9.67531223e-04 9.99999263e-01 7.33987949e-04 2.57242208e-01] [-2.17920051e-02 -7.54898439e-04 9.99762241e-01 -4.39648919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.126875 meters 0.02210425827275935 Centerline is valid? [True, True] Translation: X:15.99, Y:0.26, Z:-0.44 [[ 9.99758350e-01 2.44722754e-03 2.18461363e-02 1.59894309e+01] [-2.46387939e-03 9.99996694e-01 7.35349274e-04 2.60872776e-01] [-2.18442645e-02 -7.88997822e-04 9.99761074e-01 -4.40887193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.156875 meters 0.02380695718105654 Centerline is valid? [True, True] Translation: X:16.02, Y:0.27, Z:-0.44 [[ 9.99759799e-01 6.27633296e-03 2.09988606e-02 1.60203838e+01] [-6.29252354e-03 9.99979953e-01 7.05035066e-04 2.67086088e-01] [-2.09940146e-02 -8.37001541e-04 9.99779251e-01 -4.43978995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.186874999999997 meters 0.026833337537402458 Centerline is valid? [True, True] Translation: X:16.05, Y:0.27, Z:-0.45 [[ 9.99732250e-01 1.12649170e-02 2.02121352e-02 1.60504964e+01] [-1.12809205e-02 9.99936139e-01 6.77929957e-04 2.74630995e-01] [-2.02032076e-02 -9.05759933e-04 9.99795484e-01 -4.45812823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.216874999999998 meters 0.026895050258062225 Centerline is valid? [True, True] Translation: X:16.08, Y:0.28, Z:-0.45 [[ 9.99695966e-01 1.41376681e-02 2.02015531e-02 1.60819059e+01] [-1.41542265e-02 9.99899595e-01 6.76905969e-04 2.77292506e-01] [-2.01899548e-02 -9.62637523e-04 9.99795699e-01 -4.46488524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.246875 meters 0.027183374863770263 Centerline is valid? [True, True] Translation: X:16.11, Y:0.28, Z:-0.45 [[ 9.99686722e-01 1.52707783e-02 1.98308364e-02 1.61138319e+01] [-1.52869943e-02 9.99882925e-01 6.66375235e-04 2.79590523e-01] [-1.98183386e-02 -9.69320357e-04 9.99803128e-01 -4.48540577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.276874999999997 meters 0.029767586726033187 Centerline is valid? [True, True] Translation: X:16.14, Y:0.28, Z:-0.45 [[ 9.99674337e-01 1.49772344e-02 2.06616290e-02 1.61445087e+01] [-1.49946363e-02 9.99887338e-01 6.87556106e-04 2.84992392e-01] [-2.06490035e-02 -9.97145807e-04 9.99786289e-01 -4.49983817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.306874999999998 meters 0.028477644923850298 Centerline is valid? [True, True] Translation: X:16.18, Y:0.28, Z:-0.45 [[ 9.99693242e-01 1.52895721e-02 1.94846284e-02 1.61763429e+01] [-1.53050818e-02 9.99882661e-01 6.47117545e-04 2.83508663e-01] [-1.94724480e-02 -9.45132870e-04 9.99809947e-01 -4.50555885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.336875 meters 0.02835759395978836 Centerline is valid? [True, True] Translation: X:16.21, Y:0.28, Z:-0.45 [[ 9.99707454e-01 1.64965021e-02 1.76881912e-02 1.62080541e+01] [-1.65094086e-02 9.99863540e-01 5.83885789e-04 2.83809519e-01] [-1.76761454e-02 -8.75736552e-04 9.99843381e-01 -4.52284513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.366874999999997 meters 0.030189834494651194 Centerline is valid? [True, True] Translation: X:16.24, Y:0.29, Z:-0.45 [[ 9.99645411e-01 1.74925734e-02 2.00764309e-02 1.62397217e+01] [-1.75092845e-02 9.99846485e-01 6.56886578e-04 2.87673325e-01] [-2.00618582e-02 -1.00817759e-03 9.99798232e-01 -4.52221868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.396874999999998 meters 0.02695295223517287 Centerline is valid? [True, True] Translation: X:16.27, Y:0.28, Z:-0.45 [[ 9.99562309e-01 1.73143570e-02 2.39875666e-02 1.62722307e+01] [-1.73379704e-02 9.99849384e-01 7.76757769e-04 2.83536400e-01] [-2.39705047e-02 -1.19231351e-03 9.99711955e-01 -4.48734243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.426875 meters 0.028234535196155014 Centerline is valid? [True, True] Translation: X:16.30, Y:0.29, Z:-0.45 [[ 9.99523654e-01 1.72099297e-02 2.56180268e-02 1.63028208e+01] [-1.72366443e-02 9.99851100e-01 8.22333574e-04 2.86607517e-01] [-2.56000600e-02 -1.26351068e-03 9.99671466e-01 -4.48405728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.456874999999997 meters 0.027646522564999068 Centerline is valid? [True, True] Translation: X:16.33, Y:0.29, Z:-0.45 [[ 9.99523768e-01 1.58646373e-02 2.64679247e-02 1.63345616e+01] [-1.58925134e-02 9.99873351e-01 8.43162706e-04 2.86696828e-01] [-2.64511961e-02 -1.26340301e-03 9.99649308e-01 -4.48756251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.486874999999998 meters 0.028867108578974496 Centerline is valid? [True, True] Translation: X:16.37, Y:0.29, Z:-0.45 [[ 9.99540274e-01 1.45046255e-02 2.66243730e-02 1.63654424e+01] [-1.45321718e-02 9.99894048e-01 8.41420785e-04 2.89103742e-01] [-2.66093476e-02 -1.22794392e-03 9.99645154e-01 -4.49472289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.516875 meters 0.026279095332946926 Centerline is valid? [True, True] Translation: X:16.40, Y:0.29, Z:-0.45 [[ 9.99604361e-01 1.25719839e-02 2.51608234e-02 1.63981738e+01] [-1.25958152e-02 9.99920358e-01 7.88889614e-04 2.85669441e-01] [-2.51489017e-02 -1.10549858e-03 9.99683105e-01 -4.50950080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.546875 meters 0.024907055017232612 Centerline is valid? [True, True] Translation: X:16.43, Y:0.28, Z:-0.45 [[ 9.99685114e-01 1.08897036e-02 2.26072512e-02 1.64299185e+01] [-1.09085076e-02 9.99940249e-01 7.08609269e-04 2.83024688e-01] [-2.25981839e-02 -9.54997509e-04 9.99744172e-01 -4.54457641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.576874999999998 meters 0.0250636093306695 Centerline is valid? [True, True] Translation: X:16.46, Y:0.28, Z:-0.46 [[ 9.99740531e-01 9.15537043e-03 2.08578284e-02 1.64608104e+01] [-9.17087974e-03 9.99957737e-01 6.48039563e-04 2.82645868e-01] [-2.08510138e-02 -8.39156053e-04 9.99782242e-01 -4.58479921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.606875 meters 0.024236316609576758 Centerline is valid? [True, True] Translation: X:16.49, Y:0.28, Z:-0.46 [[ 9.99756753e-01 8.62661519e-03 2.02981864e-02 1.64928627e+01] [-8.64116323e-03 9.99962467e-01 6.29114805e-04 2.80927595e-01] [-2.02919974e-02 -8.04361717e-04 9.99793773e-01 -4.59975238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.636875 meters 0.024328661277190355 Centerline is valid? [True, True] Translation: X:16.52, Y:0.28, Z:-0.46 [[ 9.99738048e-01 8.64742027e-03 2.11909823e-02 1.65249758e+01] [-8.66316355e-03 9.99962262e-01 6.51233604e-04 2.80428312e-01] [-2.11845511e-02 -8.34643958e-04 9.99775234e-01 -4.59375772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.666874999999997 meters 0.023371810401352482 Centerline is valid? [True, True] Translation: X:16.56, Y:0.28, Z:-0.46 [[ 9.99714619e-01 8.98961017e-03 2.21329365e-02 1.65583833e+01] [-9.00674922e-03 9.99959211e-01 6.74803299e-04 2.79631668e-01] [-2.21259675e-02 -8.73956532e-04 9.99754809e-01 -4.59362554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.696875 meters 0.023036941330046773 Centerline is valid? [True, True] Translation: X:16.59, Y:0.28, Z:-0.46 [[ 9.99692417e-01 1.02127501e-02 2.26002257e-02 1.65902336e+01] [-1.02307746e-02 9.99947432e-01 6.82053592e-04 2.79559369e-01] [-2.25920720e-02 -9.13061621e-04 9.99744350e-01 -4.59327944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.726875 meters 0.02481119316866629 Centerline is valid? [True, True] Translation: X:16.62, Y:0.28, Z:-0.46 [[ 9.99681810e-01 1.14266122e-02 2.24880407e-02 1.66209366e+01] [-1.14446326e-02 9.99934282e-01 6.72793338e-04 2.83665462e-01] [-2.24788750e-02 -9.29946626e-04 9.99746886e-01 -4.60473236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.756874999999997 meters 0.02716083424981938 Centerline is valid? [True, True] Translation: X:16.65, Y:0.29, Z:-0.47 [[ 9.99676580e-01 1.25411975e-02 2.21236234e-02 1.66517740e+01] [-1.25587976e-02 9.99920920e-01 6.56767282e-04 2.89931630e-01] [-2.21136372e-02 -9.34400979e-04 9.99755027e-01 -4.65116776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.786875 meters 0.02561901777530742 Centerline is valid? [True, True] Translation: X:16.68, Y:0.29, Z:-0.47 [[ 9.99719603e-01 1.25577117e-02 2.00753152e-02 1.66847694e+01] [-1.25721412e-02 9.99920792e-01 5.92718090e-04 2.87653191e-01] [-2.00662819e-02 -8.44941590e-04 9.99798295e-01 -4.67138673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.816875 meters 0.02435937503840526 Centerline is valid? [True, True] Translation: X:16.72, Y:0.29, Z:-0.47 [[ 9.99787177e-01 1.05063310e-02 1.77543490e-02 1.67168060e+01] [-1.05172147e-02 9.99944557e-01 5.19754543e-04 2.85154867e-01] [-1.77479039e-02 -7.06370227e-04 9.99842244e-01 -4.69677705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.846874999999997 meters 0.023309700027791164 Centerline is valid? [True, True] Translation: X:16.75, Y:0.28, Z:-0.47 [[ 9.99780102e-01 9.77592407e-03 1.85520734e-02 1.67487594e+01] [-9.78759161e-03 9.99951956e-01 5.38211704e-04 2.84089114e-01] [-1.85459206e-02 -7.19673470e-04 9.99827751e-01 -4.70879231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.876875 meters 0.022879248785264643 Centerline is valid? [True, True] Translation: X:16.78, Y:0.28, Z:-0.47 [[ 9.99799183e-01 9.30151801e-03 1.77503638e-02 1.67812236e+01] [-9.31205183e-03 9.99956511e-01 5.10879859e-04 2.82610229e-01] [-1.77448399e-02 -6.76069573e-04 9.99842319e-01 -4.71763703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.906875 meters 0.022607539391902402 Centerline is valid? [True, True] Translation: X:16.81, Y:0.28, Z:-0.47 [[ 9.99804853e-01 9.02223585e-03 1.75742785e-02 1.68128790e+01] [-9.03244289e-03 9.99959081e-01 5.01503761e-04 2.81917561e-01] [-1.75690347e-02 -6.60144561e-04 9.99845435e-01 -4.73053338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.936874999999997 meters 0.022642381926272045 Centerline is valid? [True, True] Translation: X:16.84, Y:0.28, Z:-0.48 [[ 9.99816169e-01 7.89611591e-03 1.74722576e-02 1.68440278e+01] [-7.90595297e-03 9.99968625e-01 4.94008254e-04 2.80581844e-01] [-1.74678087e-02 -6.32052287e-04 9.99847226e-01 -4.75213347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.966874999999998 meters 0.02145021754861212 Centerline is valid? [True, True] Translation: X:16.88, Y:0.27, Z:-0.47 [[ 9.99794362e-01 4.86259211e-03 1.96872785e-02 1.68760225e+01] [-4.87434600e-03 9.99987970e-01 5.49087349e-04 2.74434044e-01] [-1.96843717e-02 -6.44937043e-04 9.99806036e-01 -4.72599692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.996875 meters 0.021055514232822037 Centerline is valid? [True, True] Translation: X:16.91, Y:0.27, Z:-0.47 [[ 9.99776847e-01 3.85185916e-03 2.07706243e-02 1.69078642e+01] [-3.86474411e-03 9.99992364e-01 5.80239629e-04 2.72914397e-01] [-2.07682306e-02 -6.60383294e-04 9.99784099e-01 -4.72145624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.026874999999997 meters 0.018955647217787447 Centerline is valid? [True, True] Translation: X:16.94, Y:0.27, Z:-0.47 [[ 9.99719389e-01 -1.74956216e-03 2.36237545e-02 1.69390901e+01] [ 1.73466237e-03 9.99998283e-01 6.51189768e-04 2.65125561e-01] [-2.36248532e-02 -6.10027799e-04 9.99720708e-01 -4.70633335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.056874999999998 meters 0.01822644665291374 Centerline is valid? [True, True] Translation: X:16.97, Y:0.26, Z:-0.47 [[ 9.99685098e-01 -4.01855136e-03 2.47700542e-02 1.69716579e+01] [ 4.00286539e-03 9.99991755e-01 6.82813983e-04 2.63413288e-01] [-2.47725939e-02 -5.83447771e-04 9.99692942e-01 -4.71053010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.086875 meters 0.01648325472352623 Centerline is valid? [True, True] Translation: X:17.00, Y:0.26, Z:-0.47 [[ 9.99650066e-01 -1.02515613e-02 2.43854770e-02 1.70032445e+01] [ 1.02382725e-02 9.99947363e-01 6.69739739e-04 2.56277794e-01] [-2.43910594e-02 -4.19840216e-04 9.99702406e-01 -4.72593887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.116874999999997 meters 0.015604884806703016 Centerline is valid? [True, True] Translation: X:17.03, Y:0.25, Z:-0.47 [[ 9.99590177e-01 -1.35367930e-02 2.52236695e-02 1.70328262e+01] [ 1.35236867e-02 9.99908313e-01 6.90126354e-04 2.52914771e-01] [-2.52306989e-02 -3.48726522e-04 9.99681594e-01 -4.71006341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.146874999999998 meters 0.01538260060100997 Centerline is valid? [True, True] Translation: X:17.06, Y:0.25, Z:-0.47 [[ 9.99555002e-01 -1.60641295e-02 2.51344925e-02 1.70612918e+01] [ 1.60517751e-02 9.99870922e-01 6.93226399e-04 2.51555360e-01] [-2.51423843e-02 -2.89464693e-04 9.99683838e-01 -4.72278335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.176875 meters 0.015578833223722355 Centerline is valid? [True, True] Translation: X:17.09, Y:0.25, Z:-0.47 [[ 9.99588484e-01 -1.58574910e-02 2.39040399e-02 1.70906199e+01] [ 1.58461288e-02 9.99874221e-01 6.64684508e-04 2.52094972e-01] [-2.39115735e-02 -2.85624485e-04 9.99714037e-01 -4.74969378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.206874999999997 meters 0.01554782386209841 Centerline is valid? [True, True] Translation: X:17.12, Y:0.25, Z:-0.48 [[ 9.99621198e-01 -1.45349666e-02 2.33708414e-02 1.71198754e+01] [ 1.45236227e-02 9.99894312e-01 6.55062286e-04 2.52775926e-01] [-2.33778927e-02 -3.15384865e-04 9.99726650e-01 -4.75347701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.236874999999998 meters 0.015679448837601247 Centerline is valid? [True, True] Translation: X:17.15, Y:0.25, Z:-0.48 [[ 9.99659075e-01 -1.45086118e-02 2.17079137e-02 1.71491735e+01] [ 1.44987170e-02 9.99894700e-01 6.13143908e-04 2.54835381e-01] [-2.17145238e-02 -2.98197974e-04 9.99764167e-01 -4.77612145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.266875 meters 0.01613687826105536 Centerline is valid? [True, True] Translation: X:17.18, Y:0.26, Z:-0.48 [[ 9.99709825e-01 -1.33328562e-02 2.00624387e-02 1.71774533e+01] [ 1.33240472e-02 9.99911067e-01 5.72689943e-04 2.57587234e-01] [-2.00682901e-02 -3.05210882e-04 9.99798565e-01 -4.79413394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.296875 meters 0.017528438723656014 Centerline is valid? [True, True] Translation: X:17.20, Y:0.26, Z:-0.48 [[ 9.99778278e-01 -1.10487889e-02 1.79253605e-02 1.72044935e+01] [ 1.10413718e-02 9.99938911e-01 5.12694497e-04 2.63308682e-01] [-1.79299301e-02 -3.14660251e-04 9.99839196e-01 -4.83270471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.326874999999998 meters 0.01757489909974457 Centerline is valid? [True, True] Translation: X:17.23, Y:0.27, Z:-0.49 [[ 9.99811478e-01 -9.32386006e-03 1.70315794e-02 1.72337079e+01] [ 9.31692154e-03 9.99956478e-01 4.86694406e-04 2.66818895e-01] [-1.70353760e-02 -3.27920765e-04 9.99854834e-01 -4.85097838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.356875 meters 0.01781399193691714 Centerline is valid? [True, True] Translation: X:17.26, Y:0.27, Z:-0.49 [[ 9.99791233e-01 -8.55928248e-03 1.85534173e-02 1.72620912e+01] [ 8.55082179e-03 9.99963298e-01 5.35301892e-04 2.71263384e-01] [-1.85573182e-02 -3.76543174e-04 9.99827727e-01 -4.85090961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.386875 meters 0.016921709673251514 Centerline is valid? [True, True] Translation: X:17.29, Y:0.27, Z:-0.48 [[ 9.99744585e-01 -1.09983795e-02 1.97433611e-02 1.72918241e+01] [ 1.09891228e-02 9.99939451e-01 5.77283457e-04 2.72776157e-01] [-1.97485148e-02 -3.60173790e-04 9.99804914e-01 -4.83047967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.416874999999997 meters 0.017046980152159424 Centerline is valid? [True, True] Translation: X:17.32, Y:0.28, Z:-0.48 [[ 9.99739746e-01 -1.10527184e-02 1.99568721e-02 1.73210194e+01] [ 1.10433053e-02 9.99938852e-01 5.81821267e-04 2.75107150e-01] [-1.99620824e-02 -3.61280014e-04 9.99800673e-01 -4.82371039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.446875 meters 0.018174519442881048 Centerline is valid? [True, True] Translation: X:17.35, Y:0.28, Z:-0.48 [[ 9.99782273e-01 -7.19055847e-03 1.95883177e-02 1.73501526e+01] [ 7.18061611e-03 9.99974052e-01 5.77854392e-04 2.82226795e-01] [-1.95919645e-02 -4.37072388e-04 9.99807964e-01 -4.82443462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.476875 meters 0.019435916248835672 Centerline is valid? [True, True] Translation: X:17.38, Y:0.29, Z:-0.49 [[ 9.99795255e-01 -4.33682827e-03 1.97646015e-02 1.73805100e+01] [ 4.32611653e-03 9.99990471e-01 5.84690092e-04 2.91073359e-01] [-1.97669489e-02 -4.99066411e-04 9.99804490e-01 -4.86072827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.506874999999997 meters 0.019956554514648346 Centerline is valid? [True, True] Translation: X:17.41, Y:0.30, Z:-0.49 [[ 9.99782186e-01 -1.15154990e-03 2.08387954e-02 1.74113040e+01] [ 1.13894664e-03 9.99999161e-01 6.16656479e-04 2.96916895e-01] [-2.08394880e-02 -5.92787887e-04 9.99782659e-01 -4.85939582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.536875 meters 0.02262873742674774 Centerline is valid? [True, True] Translation: X:17.44, Y:0.31, Z:-0.49 [[ 9.99762388e-01 1.11107986e-03 2.17699993e-02 1.74418602e+01] [-1.12536961e-03 9.99999159e-01 6.44156330e-04 3.05316045e-01] [-2.17692653e-02 -6.68502566e-04 9.99762798e-01 -4.87233905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.566875 meters 0.021058805793891064 Centerline is valid? [True, True] Translation: X:17.47, Y:0.30, Z:-0.48 [[ 9.99687270e-01 1.44466108e-03 2.49654760e-02 1.74741835e+01] [-1.46352386e-03 9.99998657e-01 7.37299456e-04 3.04188526e-01] [-2.49643773e-02 -7.73606450e-04 9.99688042e-01 -4.82516179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.596874999999997 meters 0.019523307300441356 Centerline is valid? [True, True] Translation: X:17.51, Y:0.30, Z:-0.48 [[ 9.99600969e-01 -1.43015392e-04 2.82468237e-02 1.75066047e+01] [ 1.19544381e-04 9.99999646e-01 8.32612638e-04 3.03150265e-01] [-2.82469327e-02 -8.28903651e-04 9.99600632e-01 -4.78448603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.626875 meters 0.0182705323280206 Centerline is valid? [True, True] Translation: X:17.54, Y:0.30, Z:-0.48 [[ 9.99508855e-01 -4.37219900e-03 3.10311479e-02 1.75382486e+01] [ 4.34617399e-03 9.99990145e-01 9.06074045e-04 3.01976005e-01] [-3.10348036e-02 -7.70762263e-04 9.99518007e-01 -4.77302718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.656875 meters 0.017172173344522028 Centerline is valid? [True, True] Translation: X:17.57, Y:0.30, Z:-0.48 [[ 9.99476793e-01 -8.29055131e-03 3.12635112e-02 1.75687746e+01] [ 8.26608573e-03 9.99965420e-01 9.11726367e-04 2.99329936e-01] [-3.12699888e-02 -6.52822481e-04 9.99510761e-01 -4.78055884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.686874999999997 meters 0.016350568069264288 Centerline is valid? [True, True] Translation: X:17.60, Y:0.30, Z:-0.48 [[ 9.99443255e-01 -1.15231405e-02 3.13113018e-02 1.76001693e+01] [ 1.15002023e-02 9.99933454e-01 9.12578104e-04 2.96646056e-01] [-3.13197339e-02 -5.51983724e-04 9.99509264e-01 -4.78386056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.716874999999998 meters 0.016428668185029666 Centerline is valid? [True, True] Translation: X:17.63, Y:0.30, Z:-0.48 [[ 9.99444208e-01 -1.23414487e-02 3.09671391e-02 1.76300653e+01] [ 1.23194391e-02 9.99923707e-01 9.01440898e-04 2.97458332e-01] [-3.09759016e-02 -5.19442100e-04 9.99519997e-01 -4.80262567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.746875 meters 0.017052271414072263 Centerline is valid? [True, True] Translation: X:17.66, Y:0.30, Z:-0.49 [[ 9.99492804e-01 -1.50479078e-02 2.80658990e-02 1.76596002e+01] [ 1.50309024e-02 9.99886696e-01 8.16790832e-04 2.96585070e-01] [-2.80750101e-02 -3.94520770e-04 9.99605741e-01 -4.86466258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.776874999999997 meters 0.015902075503162576 Centerline is valid? [True, True] Translation: X:17.69, Y:0.30, Z:-0.49 [[ 9.99535464e-01 -1.55915882e-02 2.61870040e-02 1.76878250e+01] [ 1.55769842e-02 9.99878381e-01 7.61594262e-04 2.97024169e-01] [-2.61956936e-02 -3.53325927e-04 9.99656771e-01 -4.87307503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.806874999999998 meters 0.01602713366693805 Centerline is valid? [True, True] Translation: X:17.72, Y:0.30, Z:-0.49 [[ 9.99572174e-01 -1.58254640e-02 2.45972377e-02 1.77166939e+01] [ 1.58124925e-02 9.99874714e-01 7.21782991e-04 2.98341205e-01] [-2.46055786e-02 -3.32530557e-04 9.99697182e-01 -4.92532275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.836875 meters 0.01621886765039769 Centerline is valid? [True, True] Translation: X:17.74, Y:0.30, Z:-0.50 [[ 9.99616710e-01 -1.53367682e-02 2.30481176e-02 1.77448436e+01] [ 1.53251032e-02 9.99882331e-01 6.82671281e-04 2.99682239e-01] [-2.30558756e-02 -3.29194839e-04 9.99734124e-01 -4.95240105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.866874999999997 meters 0.01653863735827749 Centerline is valid? [True, True] Translation: X:17.77, Y:0.30, Z:-0.50 [[ 9.99666048e-01 -1.43337877e-02 2.15019650e-02 1.77735355e+01] [ 1.43234020e-02 9.99897212e-01 6.36948774e-04 3.00894807e-01] [-2.15088847e-02 -3.28754775e-04 9.99768603e-01 -4.96640365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.896874999999998 meters 0.016789100446812415 Centerline is valid? [True, True] Translation: X:17.80, Y:0.30, Z:-0.50 [[ 9.99666610e-01 -1.43310181e-02 2.14777025e-02 1.78013938e+01] [ 1.43205555e-02 9.99897250e-01 6.40869690e-04 3.01480125e-01] [-2.14846800e-02 -3.33083400e-04 9.99769122e-01 -4.96873795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.926875 meters 0.016740732724700617 Centerline is valid? [True, True] Translation: X:17.83, Y:0.30, Z:-0.49 [[ 9.99589204e-01 -1.36749037e-02 2.51877119e-02 1.78297795e+01] [ 1.36600674e-02 9.99906407e-01 7.61001493e-04 3.03545167e-01] [-2.51957611e-02 -4.16623034e-04 9.99682450e-01 -4.93667822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.956874999999997 meters 0.016740732724700617 Centerline is valid? [True, True] Translation: X:17.86, Y:0.30, Z:-0.49 [[ 9.99585457e-01 -1.39462248e-02 2.51876491e-02 1.78573806e+01] [ 1.39314224e-02 9.99902662e-01 7.63075204e-04 3.04481644e-01] [-2.51958394e-02 -4.11859098e-04 9.99682450e-01 -4.94544780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.986874999999998 meters 0.016544145794485172 Centerline is valid? [True, True] Translation: X:17.89, Y:0.31, Z:-0.49 [[ 9.99557276e-01 -1.39664697e-02 2.62714506e-02 1.78856933e+01] [ 1.39501760e-02 9.99902369e-01 8.03390051e-04 3.05403936e-01] [-2.62801062e-02 -4.36543013e-04 9.99654523e-01 -4.93509305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.016875 meters 0.0165391793122259 Centerline is valid? [True, True] Translation: X:17.91, Y:0.31, Z:-0.49 [[ 9.99486603e-01 -1.39591143e-02 2.88387425e-02 1.79138734e+01] [ 1.39392206e-02 9.99902448e-01 8.90755854e-04 3.07678468e-01] [-2.88483634e-02 -4.88308948e-04 9.99583680e-01 -4.93789199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.046874999999996 meters 0.017369146213693763 Centerline is valid? [True, True] Translation: X:17.94, Y:0.31, Z:-0.49 [[ 9.99459547e-01 -1.41940600e-02 2.96503405e-02 1.79412390e+01] [ 1.41728794e-02 9.99899132e-01 9.24395961e-04 3.11190978e-01] [-2.96604707e-02 -5.03665669e-04 9.99559905e-01 -4.94498907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.076874999999998 meters 0.01671038348878586 Centerline is valid? [True, True] Translation: X:17.97, Y:0.31, Z:-0.49 [[ 9.99361436e-01 -1.55994008e-02 3.21462221e-02 1.79701387e+01] [ 1.55749618e-02 9.99878192e-01 1.01052301e-03 3.10970135e-01] [-3.21580700e-02 -5.09201549e-04 9.99482666e-01 -4.92507238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.106875 meters 0.016413265862546204 Centerline is valid? [True, True] Translation: X:18.00, Y:0.31, Z:-0.49 [[ 9.99315586e-01 -1.65861422e-02 3.30644738e-02 1.79992077e+01] [ 1.65605620e-02 9.99862316e-01 1.04737238e-03 3.11819741e-01] [-3.30772932e-02 -4.99089272e-04 9.99452672e-01 -4.92015453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.136875 meters 0.016062718728732224 Centerline is valid? [True, True] Translation: X:18.03, Y:0.31, Z:-0.49 [[ 9.99299156e-01 -1.79858408e-02 3.28284339e-02 1.80280078e+01] [ 1.79611267e-02 9.99838137e-01 1.04759135e-03 3.13037531e-01] [-3.28419620e-02 -4.57221489e-04 9.99460453e-01 -4.94217392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.166874999999997 meters 0.016128417605070205 Centerline is valid? [True, True] Translation: X:18.06, Y:0.32, Z:-0.50 [[ 9.99316529e-01 -1.81755943e-02 3.21888615e-02 1.80556579e+01] [ 1.81516882e-02 9.99834709e-01 1.03476922e-03 3.15626502e-01] [-3.22023486e-02 -4.49779810e-04 9.99481269e-01 -4.96906718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.196875 meters 0.017144654153670315 Centerline is valid? [True, True] Translation: X:18.08, Y:0.32, Z:-0.50 [[ 9.99424041e-01 -1.59946705e-02 2.99291957e-02 1.80829915e+01] [ 1.59727935e-02 9.99871956e-01 9.69910742e-04 3.21515529e-01] [-2.99408768e-02 -4.91299251e-04 9.99551551e-01 -5.01650576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.226875 meters 0.018808347887774034 Centerline is valid? [True, True] Translation: X:18.11, Y:0.32, Z:-0.51 [[ 9.99525560e-01 -1.42961006e-02 2.72814322e-02 1.81118500e+01] [ 1.42772200e-02 9.99897682e-01 8.86738164e-04 3.24079034e-01] [-2.72913177e-02 -4.96814450e-04 9.99627399e-01 -5.07271159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.256874999999997 meters 0.01795274464596 Centerline is valid? [True, True] Translation: X:18.14, Y:0.33, Z:-0.51 [[ 9.99550965e-01 -1.23945778e-02 2.72808207e-02 1.81410788e+01] [ 1.23748145e-02 9.99923030e-01 8.93156678e-04 3.27087410e-01] [-2.72897912e-02 -5.55160524e-04 9.99627410e-01 -5.05598052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.286875 meters 0.018305371598122597 Centerline is valid? [True, True] Translation: X:18.17, Y:0.33, Z:-0.51 [[ 9.99549706e-01 -1.05210285e-02 2.81014946e-02 1.81702088e+01] [ 1.04991089e-02 9.99944453e-01 9.27454805e-04 3.29898630e-01] [-2.81096915e-02 -6.31996525e-04 9.99604645e-01 -5.05630463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.316875 meters 0.019310876601942875 Centerline is valid? [True, True] Translation: X:18.20, Y:0.34, Z:-0.51 [[ 9.99531630e-01 -6.04709332e-03 2.99992188e-02 1.82001364e+01] [ 6.02003053e-03 9.99981387e-01 9.92353989e-04 3.35350647e-01] [-3.00046613e-02 -8.11292987e-04 9.99549430e-01 -5.05713624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.346874999999997 meters 0.02004281451130873 Centerline is valid? [True, True] Translation: X:18.23, Y:0.34, Z:-0.51 [[ 9.99542428e-01 -3.25714632e-03 3.00719930e-02 1.82312408e+01] [ 3.22867208e-03 9.99994292e-01 9.95377670e-04 3.38355338e-01] [-3.00750634e-02 -8.97829609e-04 9.99547240e-01 -5.06468536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.376875 meters 0.021798023737611805 Centerline is valid? [True, True] Translation: X:18.26, Y:0.34, Z:-0.51 [[ 9.99578898e-01 1.15478979e-03 2.89946967e-02 1.82622775e+01] [-1.18308503e-03 9.99998841e-01 9.58740164e-04 3.43926539e-01] [-2.89935559e-02 -9.92639628e-04 9.99579106e-01 -5.08158764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.406875 meters 0.021695744710964585 Centerline is valid? [True, True] Translation: X:18.29, Y:0.35, Z:-0.51 [[ 9.99580392e-01 2.23628947e-03 2.88797248e-02 1.82944843e+01] [-2.26478552e-03 9.99996980e-01 9.54042372e-04 3.45411010e-01] [-2.88775041e-02 -1.01904843e-03 9.99582438e-01 -5.09792474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.436874999999997 meters 0.0222547084855916 Centerline is valid? [True, True] Translation: X:18.33, Y:0.35, Z:-0.51 [[ 9.99560566e-01 4.52497558e-03 2.92950488e-02 1.83261771e+01] [-4.55521526e-03 9.99989159e-01 9.65590487e-04 3.47819576e-01] [-2.92903620e-02 -1.09861143e-03 9.99570342e-01 -5.11282095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.466874999999998 meters 0.02261904447883462 Centerline is valid? [True, True] Translation: X:18.36, Y:0.35, Z:-0.51 [[ 9.99547906e-01 5.23791913e-03 2.96065478e-02 1.83579489e+01] [-5.26908256e-03 9.99985643e-01 9.74666390e-04 3.49850530e-01] [-2.96010175e-02 -1.13022509e-03 9.99561155e-01 -5.12957525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.496875 meters 0.02400894214652272 Centerline is valid? [True, True] Translation: X:18.39, Y:0.35, Z:-0.52 [[ 9.99544837e-01 6.88379068e-03 2.93723013e-02 1.83885812e+01] [-6.91495522e-03 9.99975631e-01 9.59572625e-04 3.52993703e-01] [-2.93649801e-02 -1.16224401e-03 9.99568080e-01 -5.15757691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.526874999999997 meters 0.023127537831071243 Centerline is valid? [True, True] Translation: X:18.42, Y:0.35, Z:-0.52 [[ 9.99543566e-01 7.27149573e-03 2.93221055e-02 1.84212155e+01] [-7.30252458e-03 9.99972884e-01 9.51258680e-04 3.52419667e-01] [-2.93143933e-02 -1.16494989e-03 9.99569562e-01 -5.17501173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.556874999999998 meters 0.025559388133749205 Centerline is valid? [True, True] Translation: X:18.45, Y:0.36, Z:-0.52 [[ 9.99570497e-01 7.82645011e-03 2.82412581e-02 1.84525767e+01] [-7.85521956e-03 9.99968735e-01 9.07902180e-04 3.56313970e-01] [-2.82332694e-02 -1.12935352e-03 9.99600724e-01 -5.20061735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.586875 meters 0.025857603212477386 Centerline is valid? [True, True] Translation: X:18.49, Y:0.36, Z:-0.52 [[ 9.99570013e-01 8.45658526e-03 2.80762410e-02 1.84850476e+01] [-8.48517174e-03 9.99963596e-01 8.99188170e-04 3.57685392e-01] [-2.80676148e-02 -1.13703326e-03 9.99605380e-01 -5.21283938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.616874999999997 meters 0.025756883591197113 Centerline is valid? [True, True] Translation: X:18.52, Y:0.36, Z:-0.52 [[ 9.99547551e-01 1.12283250e-02 2.79037273e-02 1.85172335e+01] [-1.12574366e-02 9.99936240e-01 8.86410226e-04 3.57350820e-01] [-2.78919952e-02 -1.20013361e-03 9.99610222e-01 -5.20513820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.646874999999998 meters 0.026429218700321628 Centerline is valid? [True, True] Translation: X:18.55, Y:0.36, Z:-0.52 [[ 9.99521259e-01 1.25892950e-02 2.82623724e-02 1.85494482e+01] [-1.26196642e-02 9.99919967e-01 8.96429191e-04 3.58941239e-01] [-2.82488251e-02 -1.25266168e-03 9.99600137e-01 -5.20694241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.676875 meters 0.027265368439344028 Centerline is valid? [True, True] Translation: X:18.58, Y:0.36, Z:-0.52 [[ 9.99505322e-01 1.44580363e-02 2.79298619e-02 1.85817602e+01] [-1.44882324e-02 9.99894654e-01 8.79065847e-04 3.60920462e-01] [-2.79142100e-02 -1.28328532e-03 9.99609499e-01 -5.22012529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.706874999999997 meters 0.027526701235118353 Centerline is valid? [True, True] Translation: X:18.61, Y:0.36, Z:-0.52 [[ 9.99490562e-01 1.53255202e-02 2.79954383e-02 1.86134910e+01] [-1.53560102e-02 9.99881707e-01 8.74425235e-04 3.62471202e-01] [-2.79787256e-02 -1.30387801e-03 9.99607668e-01 -5.23564179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.736874999999998 meters 0.02789629981495306 Centerline is valid? [True, True] Translation: X:18.64, Y:0.36, Z:-0.53 [[ 9.99458945e-01 1.53219030e-02 2.91042252e-02 1.86441808e+01] [-1.53546381e-02 9.99881704e-01 9.01583785e-04 3.64352938e-01] [-2.90869683e-02 -1.34798082e-03 9.99575976e-01 -5.25384081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.766875 meters 0.02788835699954643 Centerline is valid? [True, True] Translation: X:18.68, Y:0.36, Z:-0.52 [[ 9.99411939e-01 1.45125725e-02 3.10670629e-02 1.86766490e+01] [-1.45492529e-02 9.99893698e-01 9.54945168e-04 3.63437642e-01] [-3.10499017e-02 -1.40638616e-03 9.99516846e-01 -5.22675287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.796874999999996 meters 0.02469801666620879 Centerline is valid? [True, True] Translation: X:18.71, Y:0.36, Z:-0.52 [[ 9.99421073e-01 1.37554500e-02 3.11176132e-02 1.87089560e+01] [-1.37916518e-02 9.99904440e-01 9.49040281e-04 3.58971745e-01] [-3.11015851e-02 -1.37765414e-03 9.99515279e-01 -5.22147771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.826874999999998 meters 0.024324128696811026 Centerline is valid? [True, True] Translation: X:18.74, Y:0.36, Z:-0.52 [[ 9.99422990e-01 1.31572552e-02 3.13141175e-02 1.87407636e+01] [-1.31933732e-02 9.99912515e-01 9.47061979e-04 3.59013352e-01] [-3.12989172e-02 -1.35965435e-03 9.99509144e-01 -5.22821997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.856875 meters 0.022940775891643048 Centerline is valid? [True, True] Translation: X:18.77, Y:0.36, Z:-0.53 [[ 9.99437823e-01 1.10711703e-02 3.16459813e-02 1.87725549e+01] [-1.11067566e-02 9.99937868e-01 9.48942304e-04 3.58443735e-01] [-3.16335092e-02 -1.29989304e-03 9.99498690e-01 -5.25104457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.886875 meters 0.022778424448200434 Centerline is valid? [True, True] Translation: X:18.80, Y:0.36, Z:-0.53 [[ 9.99445150e-01 1.04524039e-02 3.16249660e-02 1.88047768e+01] [-1.04875587e-02 9.99944557e-01 9.45939222e-04 3.59176458e-01] [-3.16133253e-02 -1.27708306e-03 9.99499358e-01 -5.26829535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.916874999999997 meters 0.021950508693533856 Centerline is valid? [True, True] Translation: X:18.84, Y:0.36, Z:-0.53 [[ 9.99485587e-01 8.07992704e-03 3.10366930e-02 1.88363009e+01] [-8.11239853e-03 9.99966670e-01 9.20448122e-04 3.57763243e-01] [-3.10282214e-02 -1.17175665e-03 9.99517822e-01 -5.29407706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.946875 meters 0.022217449707086088 Centerline is valid? [True, True] Translation: X:18.87, Y:0.36, Z:-0.53 [[ 9.99523703e-01 6.77513982e-03 3.01075490e-02 1.88673540e+01] [-6.80508237e-03 9.99976447e-01 8.92164335e-04 3.58200029e-01] [-3.01007953e-02 -1.09662375e-03 9.99546267e-01 -5.29641727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.976875 meters 0.02171722700729033 Centerline is valid? [True, True] Translation: X:18.90, Y:0.36, Z:-0.53 [[ 9.99552476e-01 4.66442888e-03 2.95481036e-02 1.88982636e+01] [-4.69214832e-03 9.99988614e-01 8.68844102e-04 3.56586854e-01] [-2.95437146e-02 -1.00709936e-03 9.99562982e-01 -5.29015214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.006874999999997 meters 0.0214638758964338 Centerline is valid? [True, True] Translation: X:18.93, Y:0.36, Z:-0.53 [[ 9.99551631e-01 3.86117734e-03 2.96922137e-02 1.89307171e+01] [-3.88861428e-03 9.99992064e-01 8.66356811e-04 3.56440424e-01] [-2.96886329e-02 -9.81429930e-04 9.99558714e-01 -5.29186089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.036875 meters 0.018927235605502624 Centerline is valid? [True, True] Translation: X:18.96, Y:0.35, Z:-0.53 [[ 9.99531489e-01 2.01302131e-03 3.05409491e-02 1.89627364e+01] [-2.04095544e-03 9.99997527e-01 8.83499023e-04 3.52181297e-01] [-3.05390950e-02 -9.45417810e-04 9.99533126e-01 -5.30203932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.066875 meters 0.018461799756250542 Centerline is valid? [True, True] Translation: X:18.99, Y:0.35, Z:-0.53 [[ 9.99502403e-01 1.47664780e-03 3.15081958e-02 1.89949849e+01] [-1.50585274e-03 9.99998458e-01 9.03190769e-04 3.51846100e-01] [-3.15068136e-02 -9.50188047e-04 9.99503085e-01 -5.31863967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.096874999999997 meters 0.019431630780614308 Centerline is valid? [True, True] Translation: X:19.03, Y:0.35, Z:-0.53 [[ 9.99496981e-01 -3.79766427e-05 3.17140899e-02 1.90256224e+01] [ 9.40844494e-06 9.99999594e-01 9.00953331e-04 3.53503663e-01] [-3.17141112e-02 -9.00201755e-04 9.99496576e-01 -5.33142170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.126875 meters 0.018925268714781025 Centerline is valid? [True, True] Translation: X:19.06, Y:0.35, Z:-0.53 [[ 9.99514908e-01 -1.95558170e-04 3.11433824e-02 1.90574320e+01] [ 1.68221768e-04 9.99999598e-01 8.80377290e-04 3.52612869e-01] [-3.11435420e-02 -8.74711231e-04 9.99514539e-01 -5.34389325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.156875 meters 0.01858352589986666 Centerline is valid? [True, True] Translation: X:19.09, Y:0.35, Z:-0.54 [[ 9.99555200e-01 -2.09334010e-03 2.97493008e-02 1.90889964e+01] [ 2.06944320e-03 9.99997511e-01 8.34042398e-04 3.52280093e-01] [-2.97509727e-02 -7.72106927e-04 9.99557044e-01 -5.36352787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.186874999999997 meters 0.017722515425675482 Centerline is valid? [True, True] Translation: X:19.12, Y:0.35, Z:-0.54 [[ 9.99548170e-01 -2.89353334e-03 2.99179570e-02 1.91211036e+01] [ 2.86995180e-03 9.99995536e-01 8.31118049e-04 3.51217994e-01] [-2.99202283e-02 -7.44879430e-04 9.99552012e-01 -5.37087570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.216874999999998 meters 0.017469960601955235 Centerline is valid? [True, True] Translation: X:19.15, Y:0.35, Z:-0.54 [[ 9.99550033e-01 -3.59509665e-03 2.97793082e-02 1.91529571e+01] [ 3.57210620e-03 9.99993280e-01 8.25191247e-04 3.51615237e-01] [-2.97820747e-02 -7.18445087e-04 9.99556157e-01 -5.37890019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.246875 meters 0.017492390137937526 Centerline is valid? [True, True] Translation: X:19.18, Y:0.35, Z:-0.54 [[ 9.99572065e-01 -4.06481307e-03 2.89683459e-02 1.91836684e+01] [ 4.04331335e-03 9.99991505e-01 8.00717635e-04 3.52761328e-01] [-2.89713546e-02 -6.83246880e-04 9.99580009e-01 -5.40131511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.276874999999997 meters 0.01653082194796421 Centerline is valid? [True, True] Translation: X:19.22, Y:0.35, Z:-0.54 [[ 9.99611257e-01 -5.31951233e-03 2.73685703e-02 1.92159662e+01] [ 5.30082642e-03 9.99985665e-01 7.55257407e-04 3.52742534e-01] [-2.73721956e-02 -6.09887765e-04 9.99625125e-01 -5.43611466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.306874999999998 meters 0.01692338985082049 Centerline is valid? [True, True] Translation: X:19.25, Y:0.35, Z:-0.55 [[ 9.99614108e-01 -5.60675738e-03 2.72066183e-02 1.92473483e+01] [ 5.58845270e-03 9.99984104e-01 7.48792016e-04 3.54692935e-01] [-2.72103841e-02 -5.96460163e-04 9.99629551e-01 -5.45052986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.336875 meters 0.01698386913310764 Centerline is valid? [True, True] Translation: X:19.28, Y:0.36, Z:-0.55 [[ 9.99609212e-01 -5.96675531e-03 2.73097254e-02 1.92792702e+01] [ 5.94848374e-03 9.99982026e-01 7.50242540e-04 3.55622935e-01] [-2.73137111e-02 -5.87497897e-04 9.99626738e-01 -5.46328597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.366874999999997 meters 0.016477229795724635 Centerline is valid? [True, True] Translation: X:19.31, Y:0.36, Z:-0.55 [[ 9.99599928e-01 -6.36348709e-03 2.75588288e-02 1.93115651e+01] [ 6.34508329e-03 9.99979585e-01 7.55197852e-04 3.55042076e-01] [-2.75630719e-02 -5.80032655e-04 9.99619898e-01 -5.45614850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.396874999999998 meters 0.0159011138288927 Centerline is valid? [True, True] Translation: X:19.34, Y:0.35, Z:-0.54 [[ 9.99575428e-01 -5.84486765e-03 2.85447331e-02 1.93437458e+01] [ 5.82497013e-03 9.99982730e-01 7.80168589e-04 3.54573532e-01] [-2.85488001e-02 -6.13565133e-04 9.99592212e-01 -5.44691501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.426875 meters 0.016826201040901004 Centerline is valid? [True, True] Translation: X:19.37, Y:0.36, Z:-0.54 [[ 9.99541452e-01 -4.06446139e-03 3.00061102e-02 1.93744673e+01] [ 4.04174052e-03 9.99991498e-01 8.17821808e-04 3.57866714e-01] [-3.00091791e-02 -6.96169886e-04 9.99549381e-01 -5.43703578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.456874999999997 meters 0.017593951508427772 Centerline is valid? [True, True] Translation: X:19.41, Y:0.36, Z:-0.54 [[ 9.99537048e-01 -3.15354293e-03 3.02612686e-02 1.94052987e+01] [ 3.13006578e-03 9.99994763e-01 8.23154619e-04 3.60660552e-01] [-3.02637059e-02 -7.28053777e-04 9.99541684e-01 -5.44956449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.486874999999998 meters 0.017745101366521934 Centerline is valid? [True, True] Translation: X:19.44, Y:0.36, Z:-0.55 [[ 9.99545234e-01 -9.57595804e-04 3.01398226e-02 1.94376726e+01] [ 9.33355619e-04 9.99999230e-01 8.18316240e-04 3.62055122e-01] [-3.01405830e-02 -7.89812924e-04 9.99545357e-01 -5.46360992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.516875 meters 0.01980602278603404 Centerline is valid? [True, True] Translation: X:19.47, Y:0.37, Z:-0.55 [[ 9.99539888e-01 3.47924463e-03 3.01314914e-02 1.94672305e+01] [-3.50541824e-03 9.99993523e-01 8.15865828e-04 3.67679604e-01] [-3.01284577e-02 -9.21113918e-04 9.99545611e-01 -5.48260481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.546874999999996 meters 0.019744061111861888 Centerline is valid? [True, True] Translation: X:19.50, Y:0.37, Z:-0.55 [[ 9.99550374e-01 5.58321666e-03 2.94597529e-02 1.94991944e+01] [-5.60915333e-03 9.99983950e-01 7.97843076e-04 3.68597127e-01] [-2.94548255e-02 -9.62728616e-04 9.99565649e-01 -5.49392355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.576874999999998 meters 0.022990256394468448 Centerline is valid? [True, True] Translation: X:19.53, Y:0.38, Z:-0.55 [[ 9.99571127e-01 1.09853583e-02 2.71456142e-02 1.95293077e+01] [-1.10093137e-02 9.99939127e-01 7.33176634e-04 3.75666118e-01] [-2.71359076e-02 -1.03171678e-03 9.99631221e-01 -5.52490487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.606875 meters 0.023440315724441548 Centerline is valid? [True, True] Translation: X:19.56, Y:0.38, Z:-0.56 [[ 9.99571847e-01 1.40288464e-02 2.56771322e-02 1.95601936e+01] [-1.40512708e-02 9.99901036e-01 6.93092954e-04 3.78231156e-01] [-2.56648678e-02 -1.05359254e-03 9.99670048e-01 -5.55346324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.636875 meters 0.024273191287624157 Centerline is valid? [True, True] Translation: X:19.59, Y:0.38, Z:-0.56 [[ 9.99565984e-01 1.68596592e-02 2.41577143e-02 1.95913616e+01] [-1.68803263e-02 9.99857305e-01 6.51823338e-04 3.81422116e-01] [-2.41432776e-02 -1.05933054e-03 9.99707947e-01 -5.58554137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.666874999999997 meters 0.02794837273265545 Centerline is valid? [True, True] Translation: X:19.62, Y:0.39, Z:-0.56 [[ 9.99464890e-01 2.27036703e-02 2.35473168e-02 1.96204059e+01] [-2.27248948e-02 9.99741555e-01 6.34120314e-04 3.90053122e-01] [-2.35268343e-02 -1.16889129e-03 9.99722522e-01 -5.61254320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.696875 meters 0.029533360387444075 Centerline is valid? [True, True] Translation: X:19.65, Y:0.39, Z:-0.56 [[ 9.99425971e-01 2.45677639e-02 2.33270863e-02 1.96512081e+01] [-2.45891552e-02 9.99697442e-01 6.30580107e-04 3.93992627e-01] [-2.33045365e-02 -1.20381148e-03 9.99727688e-01 -5.63304546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.726875 meters 0.027760599047917004 Centerline is valid? [True, True] Translation: X:19.68, Y:0.39, Z:-0.56 [[ 9.99515261e-01 2.07511644e-02 2.32084328e-02 1.96818270e+01] [-2.07711492e-02 9.99784064e-01 6.20342050e-04 3.93430679e-01] [-2.31905484e-02 -1.10210717e-03 9.99730456e-01 -5.64341049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.756874999999997 meters 0.026700432330746003 Centerline is valid? [True, True] Translation: X:19.71, Y:0.39, Z:-0.56 [[ 9.99495807e-01 1.95783006e-02 2.49964365e-02 1.97137210e+01] [-1.96011451e-02 9.99807655e-01 6.69196160e-04 3.92592972e-01] [-2.49785269e-02 -1.15881753e-03 9.99687316e-01 -5.62955899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.786875 meters 0.024885002877387187 Centerline is valid? [True, True] Translation: X:19.75, Y:0.39, Z:-0.56 [[ 9.99514898e-01 1.66984408e-02 2.62893757e-02 1.97450798e+01] [-1.67225102e-02 9.99859927e-01 6.95955724e-04 3.91489437e-01] [-2.62740719e-02 -1.13524247e-03 9.99654132e-01 -5.62196226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.816875 meters 0.023657325362594454 Centerline is valid? [True, True] Translation: X:19.78, Y:0.39, Z:-0.56 [[ 9.99543619e-01 1.47679729e-02 2.63526279e-02 1.97768720e+01] [-1.47914542e-02 9.99890358e-01 6.96321381e-04 3.90964902e-01] [-2.63394553e-02 -1.08579728e-03 9.99652467e-01 -5.63764555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.846874999999997 meters 0.02314603178047167 Centerline is valid? [True, True] Translation: X:19.81, Y:0.39, Z:-0.57 [[ 9.99565734e-01 1.36092620e-02 2.61367746e-02 1.98089470e+01] [-1.36319422e-02 9.99906843e-01 6.89759087e-04 3.91336269e-01] [-2.61249526e-02 -1.04575455e-03 9.99658138e-01 -5.65418562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.876875 meters 0.02314603178047167 Centerline is valid? [True, True] Translation: X:19.84, Y:0.39, Z:-0.57 [[ 9.99561896e-01 1.38880354e-02 2.61369357e-02 1.98413287e+01] [-1.39106496e-02 9.99903009e-01 6.83591516e-04 3.92084481e-01] [-2.61249069e-02 -1.04687379e-03 9.99658138e-01 -5.66453313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.906875 meters 0.019965404229932267 Centerline is valid? [True, True] Translation: X:19.87, Y:0.39, Z:-0.57 [[ 9.99560091e-01 1.08249900e-02 2.76123804e-02 1.98726943e+01] [-1.08488091e-02 9.99940896e-01 7.12959617e-04 3.87812251e-01] [-2.76030306e-02 -1.01220742e-03 9.99618451e-01 -5.65388291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.936874999999997 meters 0.01937481862082275 Centerline is valid? [True, True] Translation: X:19.90, Y:0.39, Z:-0.56 [[ 9.99539131e-01 9.11453930e-03 2.89560294e-02 1.99047821e+01] [-9.14000306e-03 9.99957950e-01 7.47156243e-04 3.87066682e-01] [-2.89480018e-02 -1.01147010e-03 9.99580407e-01 -5.64122514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.966874999999998 meters 0.018261454971062976 Centerline is valid? [True, True] Translation: X:19.93, Y:0.39, Z:-0.56 [[ 9.99525556e-01 5.11695444e-03 3.03723436e-02 1.99349768e+01] [-5.14287202e-03 9.99986475e-01 7.75270555e-04 3.86351466e-01] [-3.03679658e-02 -9.31103808e-04 9.99538353e-01 -5.63394577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.996875 meters 0.017570679023830433 Centerline is valid? [True, True] Translation: X:19.97, Y:0.39, Z:-0.56 [[ 9.99514592e-01 3.61923443e-03 3.09432020e-02 1.99672174e+01] [-3.64540731e-03 9.99993044e-01 7.89464051e-04 3.86585084e-01] [-3.09401295e-02 -9.01881414e-04 9.99520833e-01 -5.64633078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.026874999999997 meters 0.017098351692944925 Centerline is valid? [True, True] Translation: X:20.00, Y:0.39, Z:-0.57 [[ 9.99514830e-01 1.39229910e-03 3.11153549e-02 1.99984756e+01] [-1.41744331e-03 9.99998686e-01 7.86053801e-04 3.87904259e-01] [-3.11142196e-02 -8.29776683e-04 9.99515491e-01 -5.66656502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.056874999999998 meters 0.01582774440961222 Centerline is valid? [True, True] Translation: X:20.03, Y:0.39, Z:-0.57 [[ 9.99446998e-01 -2.24770295e-03 3.31759727e-02 2.00302883e+01] [ 2.22137912e-03 9.99997188e-01 8.30297564e-04 3.86330163e-01] [-3.31777457e-02 -7.56141995e-04 9.99449181e-01 -5.65735325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.086875 meters 0.015749960926917706 Centerline is valid? [True, True] Translation: X:20.06, Y:0.39, Z:-0.56 [[ 9.99416933e-01 -3.59582618e-03 3.39538453e-02 2.00612172e+01] [ 3.56910651e-03 9.99993272e-01 8.47518494e-04 3.87008796e-01] [-3.39566644e-02 -7.25839443e-04 9.99423043e-01 -5.64700643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.116874999999997 meters 0.015608365661797073 Centerline is valid? [True, True] Translation: X:20.09, Y:0.39, Z:-0.57 [[ 9.99408386e-01 -4.89397068e-03 3.40430157e-02 2.00934054e+01] [ 4.86813264e-03 9.99987796e-01 8.41828140e-04 3.87521866e-01] [-3.40467201e-02 -6.75604187e-04 9.99420014e-01 -5.65412925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.146874999999998 meters 0.014916208300333317 Centerline is valid? [True, True] Translation: X:20.13, Y:0.39, Z:-0.57 [[ 9.99449499e-01 -7.03229666e-03 3.24229311e-02 2.01251583e+01] [ 7.01022811e-03 9.99975113e-01 7.94273616e-04 3.88752698e-01] [-3.24277098e-02 -5.66544224e-04 9.99473923e-01 -5.68046679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.176875 meters 0.014513455454403674 Centerline is valid? [True, True] Translation: X:20.16, Y:0.39, Z:-0.57 [[ 9.99456416e-01 -9.37223667e-03 3.16074849e-02 2.01564753e+01] [ 9.35267117e-03 9.99955969e-01 7.66805342e-04 3.89887128e-01] [-3.16132799e-02 -4.70774106e-04 9.99500064e-01 -5.71278029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.206874999999997 meters 0.014085812725077406 Centerline is valid? [True, True] Translation: X:20.19, Y:0.39, Z:-0.57 [[ 9.99432581e-01 -1.07658174e-02 3.19157070e-02 2.01874254e+01] [ 1.07466314e-02 9.99941955e-01 7.72626511e-04 3.90381337e-01] [-3.19221724e-02 -4.29201769e-04 9.99490265e-01 -5.72798385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.236874999999998 meters 0.01394620591349321 Centerline is valid? [True, True] Translation: X:20.22, Y:0.39, Z:-0.57 [[ 9.99417194e-01 -1.17638263e-02 3.20450447e-02 2.02179237e+01] [ 1.17450326e-02 9.99930725e-01 7.74653408e-04 3.91917098e-01] [-3.20519376e-02 -3.97831841e-04 9.99486125e-01 -5.74236271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.266875 meters 0.013926481612060587 Centerline is valid? [True, True] Translation: X:20.25, Y:0.39, Z:-0.58 [[ 9.99443446e-01 -1.20824226e-02 3.10936284e-02 2.02475891e+01] [ 1.20648996e-02 9.99926934e-01 7.51115862e-04 3.93698033e-01] [-3.11004318e-02 -3.75556320e-04 9.99516194e-01 -5.75970007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.296874999999996 meters 0.013955272584121782 Centerline is valid? [True, True] Translation: X:20.28, Y:0.40, Z:-0.58 [[ 9.99465235e-01 -1.22184010e-02 3.03307603e-02 2.02777064e+01] [ 1.22017751e-02 9.99925287e-01 7.33186916e-04 3.95978818e-01] [-3.03374526e-02 -3.62705716e-04 9.99539648e-01 -5.76803746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.326874999999998 meters 0.013777130705459934 Centerline is valid? [True, True] Translation: X:20.31, Y:0.40, Z:-0.58 [[ 9.99478311e-01 -1.18952287e-02 3.00268275e-02 2.03072830e+01] [ 1.18787746e-02 9.99929181e-01 7.26309824e-04 3.96838716e-01] [-3.00333406e-02 -3.69249002e-04 9.99548829e-01 -5.77370017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.356875 meters 0.014313303625423943 Centerline is valid? [True, True] Translation: X:20.34, Y:0.40, Z:-0.58 [[ 9.99567980e-01 -8.95929675e-03 2.79925909e-02 2.03364310e+01] [ 8.94381894e-03 9.99959773e-01 6.78083784e-04 4.02205477e-01] [-2.79975400e-02 -4.27430173e-04 9.99607901e-01 -5.79808678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.386875 meters 0.01505136509191392 Centerline is valid? [True, True] Translation: X:20.37, Y:0.41, Z:-0.58 [[ 9.99608995e-01 -6.31379950e-03 2.72395651e-02 2.03670461e+01] [ 6.29814479e-03 9.99979948e-01 6.60462821e-04 4.06643826e-01] [-2.72431889e-02 -4.88645852e-04 9.99628716e-01 -5.83013808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.416874999999997 meters 0.015745630219790245 Centerline is valid? [True, True] Translation: X:20.40, Y:0.41, Z:-0.59 [[ 9.99652295e-01 -2.89284741e-03 2.62091631e-02 2.03981834e+01] [ 2.87718876e-03 9.99995659e-01 6.35140797e-04 4.11008028e-01] [-2.62108867e-02 -5.59511246e-04 9.99656279e-01 -5.85073945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.446875 meters 0.018415323213736554 Centerline is valid? [True, True] Translation: X:20.43, Y:0.42, Z:-0.59 [[ 9.99668810e-01 4.79173578e-03 2.52845629e-02 2.04275688e+01] [-4.80873781e-03 9.99988251e-01 6.11666749e-04 4.19614893e-01] [-2.52813349e-02 -7.33051005e-04 9.99680107e-01 -5.87025921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.476875 meters 0.020543618004009077 Centerline is valid? [True, True] Translation: X:20.46, Y:0.43, Z:-0.59 [[ 9.99658404e-01 8.51155493e-03 2.47108985e-02 2.04587291e+01] [-8.52894856e-03 9.99963449e-01 5.98573472e-04 4.25410250e-01] [-2.47049005e-02 -8.09126984e-04 9.99694460e-01 -5.88927723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.506874999999997 meters 0.020738296435113688 Centerline is valid? [True, True] Translation: X:20.49, Y:0.43, Z:-0.59 [[ 9.99631582e-01 1.20876581e-02 2.43020123e-02 2.04897437e+01] [-1.21054608e-02 9.99926555e-01 5.85574736e-04 4.27746102e-01] [-2.42931492e-02 -8.79546058e-04 9.99704491e-01 -5.89942653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.536875 meters 0.021247105149050597 Centerline is valid? [True, True] Translation: X:20.52, Y:0.43, Z:-0.59 [[ 9.99554387e-01 1.69803109e-02 2.45498669e-02 2.05206073e+01] [-1.69999167e-02 9.99855317e-01 5.90110653e-04 4.31381443e-01] [-2.45362946e-02 -1.00719338e-03 9.99698432e-01 -5.88934338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.566875 meters 0.021654350566770376 Centerline is valid? [True, True] Translation: X:20.55, Y:0.43, Z:-0.59 [[ 9.99519939e-01 1.84982106e-02 2.48537120e-02 2.05530447e+01] [-1.85188022e-02 9.99828333e-01 5.98579478e-04 4.33529910e-01] [-2.48383728e-02 -1.05855310e-03 9.99690920e-01 -5.88175744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.596874999999997 meters 0.021448443841197207 Centerline is valid? [True, True] Translation: X:20.59, Y:0.44, Z:-0.59 [[ 9.99378711e-01 1.96426078e-02 2.92636170e-02 2.05854469e+01] [-1.96713930e-02 9.99806257e-01 6.96060983e-04 4.35604995e-01] [-2.92442749e-02 -1.27128464e-03 9.99571486e-01 -5.85240058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.626875 meters 0.021944225854142876 Centerline is valid? [True, True] Translation: X:20.62, Y:0.44, Z:-0.59 [[ 9.99321654e-01 1.92292260e-02 3.14081067e-02 2.06166941e+01] [-1.92619142e-02 9.99814199e-01 7.38494524e-04 4.38203417e-01] [-3.13880704e-02 -1.34297383e-03 9.99506371e-01 -5.85811177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.656875 meters 0.022674987591456416 Centerline is valid? [True, True] Translation: X:20.65, Y:0.44, Z:-0.59 [[ 9.99307271e-01 1.83990084e-02 3.23489662e-02 2.06481854e+01] [-1.84330000e-02 9.99829814e-01 7.52846009e-04 4.40642835e-01] [-3.23296093e-02 -1.34861299e-03 9.99476352e-01 -5.86775989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.686874999999997 meters 0.02134994570432205 Centerline is valid? [True, True] Translation: X:20.68, Y:0.44, Z:-0.59 [[ 9.99329015e-01 1.72505005e-02 3.23100603e-02 2.06798531e+01] [-1.72835533e-02 9.99850351e-01 7.43955360e-04 4.39641701e-01] [-3.22923916e-02 -1.30188883e-03 9.99477617e-01 -5.88773527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.716874999999998 meters 0.02064389877141095 Centerline is valid? [True, True] Translation: X:20.71, Y:0.44, Z:-0.59 [[ 9.99383978e-01 1.48713929e-02 3.17884664e-02 2.07115046e+01] [-1.49019370e-02 9.99888698e-01 7.24143512e-04 4.40134338e-01] [-3.17741593e-02 -1.19740715e-03 9.99494357e-01 -5.90465765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.746875 meters 0.01980392060223492 Centerline is valid? [True, True] Translation: X:20.74, Y:0.44, Z:-0.59 [[ 9.99463051e-01 1.34918864e-02 2.98593111e-02 2.07438187e+01] [-1.35181860e-02 9.99908395e-01 6.79083595e-04 4.40468558e-01] [-2.98474137e-02 -1.08236268e-03 9.99553881e-01 -5.93468066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.776874999999997 meters 0.020267330906592256 Centerline is valid? [True, True] Translation: X:20.77, Y:0.44, Z:-0.60 [[ 9.99511734e-01 1.38591675e-02 2.80038868e-02 2.07747151e+01] [-1.38822486e-02 9.99903439e-01 6.29951628e-04 4.42163273e-01] [-2.79924521e-02 -1.01840096e-03 9.99607616e-01 -5.95940904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.806874999999998 meters 0.02062606584211721 Centerline is valid? [True, True] Translation: X:20.81, Y:0.44, Z:-0.60 [[ 9.99551122e-01 1.46769517e-02 2.61178269e-02 2.08068507e+01] [-1.46972364e-02 9.99891819e-01 5.84856125e-04 4.43918582e-01] [-2.61064175e-02 -9.68453471e-04 9.99658700e-01 -5.98743259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.836875 meters 0.022602028456351092 Centerline is valid? [True, True] Translation: X:20.84, Y:0.45, Z:-0.60 [[ 9.99586808e-01 1.55582227e-02 2.41693181e-02 2.08374663e+01] [-1.55757173e-02 9.99878548e-01 5.35736978e-04 4.48579749e-01] [-2.41580475e-02 -9.11970081e-04 9.99707736e-01 -6.02308026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.866874999999997 meters 0.021827730648693398 Centerline is valid? [True, True] Translation: X:20.87, Y:0.45, Z:-0.61 [[ 9.99603355e-01 1.74539223e-02 2.21018754e-02 2.08694110e+01] [-1.74688835e-02 9.99847290e-01 4.84015458e-04 4.48241581e-01] [-2.20900522e-02 -8.69918563e-04 9.99755607e-01 -6.06305798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.896874999999998 meters 0.02220152296308191 Centerline is valid? [True, True] Translation: X:20.90, Y:0.45, Z:-0.61 [[ 9.99619201e-01 1.79548845e-02 2.09541370e-02 2.09008070e+01] [-1.79684488e-02 9.99838449e-01 4.59217302e-04 4.49144284e-01] [-2.09425066e-02 -8.35555770e-04 9.99780333e-01 -6.08411389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.926875 meters 0.022108871913416456 Centerline is valid? [True, True] Translation: X:20.93, Y:0.45, Z:-0.61 [[ 9.99639753e-01 1.80021807e-02 1.99069172e-02 2.09335588e+01] [-1.80143624e-02 9.99837635e-01 4.32768954e-04 4.49234654e-01] [-1.98958942e-02 -7.91223472e-04 9.99801744e-01 -6.10550889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.956874999999997 meters 0.02134054077395697 Centerline is valid? [True, True] Translation: X:20.97, Y:0.45, Z:-0.61 [[ 9.99649309e-01 1.70956204e-02 2.02237113e-02 2.09657267e+01] [-1.71078837e-02 9.99853555e-01 4.33512777e-04 4.47902556e-01] [-2.02133385e-02 -7.79345648e-04 9.99795386e-01 -6.12033053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.986874999999998 meters 0.02124465176096851 Centerline is valid? [True, True] Translation: X:21.00, Y:0.45, Z:-0.61 [[ 9.99648422e-01 1.63673140e-02 2.08600921e-02 2.09980461e+01] [-1.63800910e-02 9.99865740e-01 4.41781472e-04 4.47214198e-01] [-2.08500607e-02 -7.83316359e-04 9.99782307e-01 -6.11498210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.016875 meters 0.019374246584626276 Centerline is valid? [True, True] Translation: X:21.03, Y:0.44, Z:-0.61 [[ 9.99609896e-01 1.44905334e-02 2.38763735e-02 2.10297824e+01] [-1.45065352e-02 9.99894651e-01 4.97112351e-04 4.42465023e-01] [-2.38666547e-02 -8.43281876e-04 9.99714795e-01 -6.07714110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.046874999999996 meters 0.02024116645884222 Centerline is valid? [True, True] Translation: X:21.06, Y:0.44, Z:-0.61 [[ 9.99558219e-01 1.54196154e-02 2.54087147e-02 2.10607722e+01] [-1.54380439e-02 9.99880686e-01 5.29268461e-04 4.44149396e-01] [-2.53975220e-02 -9.21295492e-04 9.99677006e-01 -6.07098245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.076874999999998 meters 0.02053026143374992 Centerline is valid? [True, True] Translation: X:21.09, Y:0.45, Z:-0.61 [[ 9.99470633e-01 1.73364368e-02 2.75300193e-02 2.10926390e+01] [-1.73586093e-02 9.99849167e-01 5.66591744e-04 4.45793430e-01] [-2.75160442e-02 -1.04417466e-03 9.99620817e-01 -6.06543278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.106875 meters 0.0228730926827111 Centerline is valid? [True, True] Translation: X:21.12, Y:0.45, Z:-0.61 [[ 9.99350815e-01 2.23352643e-02 2.82680715e-02 2.11221492e+01] [-2.23604154e-02 9.99749810e-01 5.73901797e-04 4.51248263e-01] [-2.82481809e-02 -1.20561505e-03 9.99600213e-01 -6.08638706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.136874999999996 meters 0.02260690699216233 Centerline is valid? [True, True] Translation: X:21.15, Y:0.45, Z:-0.61 [[ 9.99293419e-01 2.46055714e-02 2.84117814e-02 2.11542220e+01] [-2.46318397e-02 9.99696425e-01 5.74885785e-04 4.51358118e-01] [-2.83890109e-02 -1.27431403e-03 9.99596139e-01 -6.09592155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.166874999999997 meters 0.024316075382585456 Centerline is valid? [True, True] Translation: X:21.18, Y:0.45, Z:-0.61 [[ 9.99255961e-01 2.66377507e-02 2.78918205e-02 2.11847592e+01] [-2.66637968e-02 9.99644300e-01 5.62252957e-04 4.53919227e-01] [-2.78669222e-02 -1.30553645e-03 9.99610789e-01 -6.10731666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.196875 meters 0.026440113731516654 Centerline is valid? [True, True] Translation: X:21.22, Y:0.46, Z:-0.61 [[ 9.99230144e-01 2.88429298e-02 2.65933165e-02 2.12155419e+01] [-2.88673724e-02 9.99583107e-01 5.35595380e-04 4.56934750e-01] [-2.65667818e-02 -1.30286222e-03 9.99646192e-01 -6.13795122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.226875 meters 0.026746587004062534 Centerline is valid? [True, True] Translation: X:21.25, Y:0.46, Z:-0.62 [[ 9.99202134e-01 2.95314012e-02 2.68884977e-02 2.12478863e+01] [-2.95565689e-02 9.99562964e-01 5.38961029e-04 4.58051855e-01] [-2.68608301e-02 -1.33326274e-03 9.99638294e-01 -6.15367595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.256874999999997 meters 0.02516423639308775 Centerline is valid? [True, True] Translation: X:21.28, Y:0.46, Z:-0.62 [[ 9.99202544e-01 2.96656629e-02 2.67249742e-02 2.12811458e+01] [-2.96904060e-02 9.99559003e-01 5.29418704e-04 4.55658245e-01] [-2.66974830e-02 -1.32247185e-03 9.99642684e-01 -6.15263326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.286875 meters 0.02565776073449681 Centerline is valid? [True, True] Translation: X:21.31, Y:0.46, Z:-0.62 [[ 9.99207494e-01 2.91636846e-02 2.70899173e-02 2.13126931e+01] [-2.91887066e-02 9.99573779e-01 5.28607929e-04 4.56022864e-01] [-2.70629548e-02 -1.31890865e-03 9.99632861e-01 -6.15061492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.316875 meters 0.024295736785125845 Centerline is valid? [True, True] Translation: X:21.35, Y:0.45, Z:-0.61 [[ 9.99231852e-01 2.81960556e-02 2.72155889e-02 2.13450716e+01] [-2.82207681e-02 9.99601577e-01 5.24286247e-04 4.53371611e-01] [-2.71899628e-02 -1.29192834e-03 9.99629450e-01 -6.14222266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.346874999999997 meters 0.022468185550779868 Centerline is valid? [True, True] Translation: X:21.38, Y:0.45, Z:-0.62 [[ 9.99321568e-01 2.54269284e-02 2.66434814e-02 2.13763761e+01] [-2.54494284e-02 9.99675983e-01 5.05676888e-04 4.48720435e-01] [-2.66219907e-02 -1.18339519e-03 9.99644872e-01 -6.15218862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.376875 meters 0.02353663656090343 Centerline is valid? [True, True] Translation: X:21.41, Y:0.45, Z:-0.62 [[ 9.99357898e-01 2.42044785e-02 2.64184680e-02 2.14075180e+01] [-2.42261765e-02 9.99706377e-01 5.01516637e-04 4.49861157e-01] [-2.63985719e-02 -1.14121308e-03 9.99650846e-01 -6.17528619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.406875 meters 0.023561286552296352 Centerline is valid? [True, True] Translation: X:21.44, Y:0.45, Z:-0.62 [[ 9.99367467e-01 2.27157446e-02 2.73616702e-02 2.14383539e+01] [-2.27382810e-02 9.99741320e-01 5.12754611e-04 4.49500489e-01] [-2.73429447e-02 -1.13458762e-03 9.99625468e-01 -6.19142212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.436874999999997 meters 0.02317996378976704 Centerline is valid? [True, True] Translation: X:21.47, Y:0.45, Z:-0.62 [[ 9.99389081e-01 2.11462749e-02 2.78262316e-02 2.14709462e+01] [-2.11687812e-02 9.99775784e-01 5.14452394e-04 4.47987978e-01] [-2.78091137e-02 -1.10318551e-03 9.99612643e-01 -6.20168552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.466874999999998 meters 0.021973474526312462 Centerline is valid? [True, True] Translation: X:21.50, Y:0.44, Z:-0.62 [[ 9.99437336e-01 1.92363815e-02 2.74767616e-02 2.15028089e+01] [-1.92575596e-02 9.99814428e-01 5.06329501e-04 4.43061939e-01] [-2.74619227e-02 -1.03517998e-03 9.99622314e-01 -6.21192790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.496875 meters 0.021240751608767258 Centerline is valid? [True, True] Translation: X:21.54, Y:0.44, Z:-0.62 [[ 9.99451859e-01 1.94123816e-02 2.68167910e-02 2.15357352e+01] [-1.94324529e-02 9.99811053e-01 4.88032097e-04 4.40084072e-01] [-2.68022501e-02 -1.00888061e-03 9.99640246e-01 -6.21771342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.526874999999997 meters 0.021400939341448738 Centerline is valid? [True, True] Translation: X:21.57, Y:0.44, Z:-0.62 [[ 9.99432006e-01 2.03002399e-02 2.68991781e-02 2.15682114e+01] [-2.03205437e-02 9.99793400e-01 4.81648578e-04 4.39251121e-01] [-2.68838431e-02 -1.02798093e-03 9.99638036e-01 -6.21210470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.556874999999998 meters 0.02177616499581456 Centerline is valid? [True, True] Translation: X:21.60, Y:0.44, Z:-0.62 [[ 9.99351631e-01 2.23313345e-02 2.82423378e-02 2.16005334e+01] [-2.23543160e-02 9.99749987e-01 4.98214659e-04 4.38756484e-01] [-2.82241510e-02 -1.12922978e-03 9.99600981e-01 -6.22203200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.586875 meters 0.022170603368993808 Centerline is valid? [True, True] Translation: X:21.63, Y:0.44, Z:-0.62 [[ 9.99297915e-01 2.38826522e-02 2.88668528e-02 2.16320793e+01] [-2.39070907e-02 9.99714059e-01 5.01707874e-04 4.39632458e-01] [-2.88466164e-02 -1.19147810e-03 9.99583140e-01 -6.23499121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.616874999999997 meters 0.025824992430031023 Centerline is valid? [True, True] Translation: X:21.66, Y:0.44, Z:-0.63 [[ 9.99209377e-01 2.69655399e-02 2.92143955e-02 2.16624685e+01] [-2.69916679e-02 9.99635533e-01 5.00292900e-04 4.44376003e-01] [-2.91902571e-02 -1.28844262e-03 9.99573043e-01 -6.25438129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.646874999999998 meters 0.025609566853528776 Centerline is valid? [True, True] Translation: X:21.69, Y:0.44, Z:-0.63 [[ 9.99176260e-01 2.90281784e-02 2.83578357e-02 2.16948573e+01] [-2.90536004e-02 9.99577738e-01 4.84765019e-04 4.43369227e-01] [-2.83317894e-02 -1.30826292e-03 9.99597718e-01 -6.26601491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.676875 meters 0.026916291344110128 Centerline is valid? [True, True] Translation: X:21.73, Y:0.45, Z:-0.63 [[ 9.99125927e-01 3.16482249e-02 2.73088307e-02 2.17254864e+01] [-3.16727187e-02 9.99498186e-01 4.64723435e-04 4.45033925e-01] [-2.72804191e-02 -1.32926215e-03 9.99626936e-01 -6.28265700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.706874999999997 meters 0.02924104494966989 Centerline is valid? [True, True] Translation: X:21.76, Y:0.45, Z:-0.63 [[ 9.99092737e-01 3.40733954e-02 2.55481042e-02 2.17557380e+01] [-3.40956114e-02 9.99418481e-01 4.34343286e-04 4.49051923e-01] [-2.55184479e-02 -1.30502745e-03 9.99673500e-01 -6.31133866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.736874999999998 meters 0.029877739345882677 Centerline is valid? [True, True] Translation: X:21.79, Y:0.45, Z:-0.64 [[ 9.98962640e-01 3.87103886e-02 2.39822683e-02 2.17859228e+01] [-3.87312844e-02 9.99249579e-01 4.07242152e-04 4.50536227e-01] [-2.39485070e-02 -1.33568375e-03 9.99712301e-01 -6.35246222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.766875 meters 0.029877739345882677 Centerline is valid? [True, True] Translation: X:21.82, Y:0.45, Z:-0.64 [[ 9.98951424e-01 3.89987857e-02 2.39822333e-02 2.18183357e+01] [-3.90198141e-02 9.99238353e-01 4.09320769e-04 4.50990448e-01] [-2.39480043e-02 -1.34467385e-03 9.99712301e-01 -6.36278048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.796874999999996 meters 0.03312094187849472 Centerline is valid? [True, True] Translation: X:21.85, Y:0.46, Z:-0.64 [[ 9.98885461e-01 4.11360117e-02 2.31444174e-02 2.18480717e+01] [-4.11559806e-02 9.99152659e-01 3.86925452e-04 4.55763890e-01] [-2.31088897e-02 -1.33902540e-03 9.99732057e-01 -6.38536806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.826874999999998 meters 0.03759494636964865 Centerline is valid? [True, True] Translation: X:21.88, Y:0.46, Z:-0.64 [[ 9.98726259e-01 4.46445870e-02 2.35099968e-02 2.18783223e+01] [-4.46660959e-02 9.99001896e-01 3.90292176e-04 4.60456246e-01] [-2.34691069e-02 -1.43989481e-03 9.99723526e-01 -6.38689083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.856875 meters 0.03350751372096497 Centerline is valid? [True, True] Translation: X:21.91, Y:0.45, Z:-0.64 [[ 9.98679575e-01 4.55008553e-02 2.38490823e-02 2.19102364e+01] [-4.55232672e-02 9.98963200e-01 3.97377360e-04 4.54090730e-01] [-2.38062746e-02 -1.48254080e-03 9.99715491e-01 -6.38068406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.886874999999996 meters 0.03349172609875566 Centerline is valid? [True, True] Translation: X:21.94, Y:0.45, Z:-0.64 [[ 9.98668303e-01 4.55734435e-02 2.41801854e-02 2.19424674e+01] [-4.55963524e-02 9.98959867e-01 3.96640565e-04 4.53659931e-01] [-2.41369585e-02 -1.49864062e-03 9.99707538e-01 -6.38727843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.916874999999997 meters 0.036189709640758565 Centerline is valid? [True, True] Translation: X:21.97, Y:0.46, Z:-0.64 [[ 9.98656104e-01 4.54644574e-02 2.48790694e-02 2.19738926e+01] [-4.54885112e-02 9.98964781e-01 4.01448604e-04 4.57525630e-01] [-2.48350624e-02 -1.53262092e-03 9.99690387e-01 -6.39577345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.946875 meters 0.03408312267171323 Centerline is valid? [True, True] Translation: X:22.01, Y:0.45, Z:-0.64 [[ 9.98723754e-01 4.35381039e-02 2.55987534e-02 2.20051241e+01] [-4.35627516e-02 9.99050610e-01 4.05706954e-04 4.52583768e-01] [-2.55567865e-02 -1.52034131e-03 9.99672216e-01 -6.38934196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.976875 meters 0.03437955670843648 Centerline is valid? [True, True] Translation: X:22.04, Y:0.45, Z:-0.64 [[ 9.98801934e-01 4.16920004e-02 2.56217426e-02 2.20357575e+01] [-4.17160638e-02 9.99129424e-01 4.05159559e-04 4.51426547e-01] [-2.55825450e-02 -1.47351240e-03 9.99671627e-01 -6.39470423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.006874999999997 meters 0.03115213545633313 Centerline is valid? [True, True] Translation: X:22.07, Y:0.44, Z:-0.64 [[ 9.98927250e-01 3.82870291e-02 2.60471168e-02 2.20667439e+01] [-3.83107174e-02 9.99265791e-01 4.10839838e-04 4.43017252e-01] [-2.60122630e-02 -1.40828284e-03 9.99660632e-01 -6.38040129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.036875 meters 0.029770583068842654 Centerline is valid? [True, True] Translation: X:22.10, Y:0.44, Z:-0.64 [[ 9.98989517e-01 3.59788519e-02 2.69345157e-02 2.20983670e+01] [-3.60033375e-02 9.99351580e-01 4.24518092e-04 4.40490947e-01] [-2.69017772e-02 -1.39382158e-03 9.99637110e-01 -6.38511079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.066875 meters 0.03153446336884996 Centerline is valid? [True, True] Translation: X:22.13, Y:0.44, Z:-0.64 [[ 9.99029974e-01 3.44440176e-02 2.74357507e-02 2.21284497e+01] [-3.44688113e-02 9.99405681e-01 4.31145184e-04 4.42632979e-01] [-2.74045947e-02 -1.37640467e-03 9.99623476e-01 -6.39991930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.096874999999997 meters 0.027988956264439886 Centerline is valid? [True, True] Translation: X:22.16, Y:0.44, Z:-0.64 [[ 9.99067076e-01 3.32307228e-02 2.75807310e-02 2.21612275e+01] [-3.32552377e-02 9.99446799e-01 4.30500839e-04 4.36576035e-01] [-2.75511675e-02 -1.34730298e-03 9.99619487e-01 -6.40704911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.126875 meters 0.02898414758291517 Centerline is valid? [True, True] Translation: X:22.19, Y:0.44, Z:-0.64 [[ 9.99202022e-01 3.02349483e-02 2.60991776e-02 2.21914207e+01] [-3.02558120e-02 9.99542106e-01 4.04784675e-04 4.35604562e-01] [-2.60749883e-02 -1.19411347e-03 9.99659276e-01 -6.43689645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.156875 meters 0.026325837343906117 Centerline is valid? [True, True] Translation: X:22.22, Y:0.43, Z:-0.64 [[ 9.99245358e-01 2.89100866e-02 2.59407324e-02 2.22231744e+01] [-2.89302748e-02 9.99581351e-01 4.03203865e-04 4.30193322e-01] [-2.59182157e-02 -1.15337211e-03 9.99663401e-01 -6.44800858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.186874999999997 meters 0.024741291939253764 Centerline is valid? [True, True] Translation: X:22.25, Y:0.43, Z:-0.64 [[ 9.99296946e-01 2.66207755e-02 2.63997833e-02 2.22548722e+01] [-2.66406850e-02 9.99644993e-01 4.02661989e-04 4.26597476e-01] [-2.63796920e-02 -1.10568721e-03 9.99651384e-01 -6.44882955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.216874999999998 meters 0.021852173508435768 Centerline is valid? [True, True] Translation: X:22.29, Y:0.42, Z:-0.65 [[ 9.99454482e-01 1.93662952e-02 2.67523019e-02 2.22857626e+01] [-1.93840997e-02 9.99812028e-01 4.06338562e-04 4.21771943e-01] [-2.67394040e-02 -9.24686186e-04 9.99642011e-01 -6.47317863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.246875 meters 0.02167573965619891 Centerline is valid? [True, True] Translation: X:22.32, Y:0.42, Z:-0.65 [[ 9.99482234e-01 1.68561734e-02 2.74068228e-02 2.23161283e+01] [-1.68739149e-02 9.99857539e-01 4.16178878e-04 4.20942798e-01] [-2.73959032e-02 -8.78423791e-04 9.99624276e-01 -6.46820422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.276874999999997 meters 0.020795822752998048 Centerline is valid? [True, True] Translation: X:22.35, Y:0.42, Z:-0.65 [[ 9.99484571e-01 1.56546634e-02 2.80272108e-02 2.23481745e+01] [-1.56727555e-02 9.99877084e-01 4.25947379e-04 4.18737788e-01] [-2.80170978e-02 -8.64991457e-04 9.99607070e-01 -6.46219013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.306874999999998 meters 0.021050665976652675 Centerline is valid? [True, True] Translation: X:22.38, Y:0.42, Z:-0.65 [[ 9.99511113e-01 1.50038961e-02 2.74302522e-02 2.23790618e+01] [-1.50208011e-02 9.99887097e-01 4.10330673e-04 4.18947297e-01] [-2.74209987e-02 -8.22154430e-04 9.99623636e-01 -6.47508110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.336875 meters 0.02027952691176546 Centerline is valid? [True, True] Translation: X:22.41, Y:0.42, Z:-0.65 [[ 9.99565431e-01 1.51016458e-02 2.53157848e-02 2.24120417e+01] [-1.51159560e-02 9.99885677e-01 3.73983988e-04 4.17945104e-01] [-2.53072429e-02 -7.56493755e-04 9.99679434e-01 -6.51805429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.366874999999997 meters 0.019957613961075104 Centerline is valid? [True, True] Translation: X:22.44, Y:0.42, Z:-0.65 [[ 9.99577727e-01 1.58243290e-02 2.43712738e-02 2.24436142e+01] [-1.58376429e-02 9.99874514e-01 3.53359027e-04 4.18119514e-01] [-2.43626239e-02 -7.39193344e-04 9.99702914e-01 -6.54662008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.396874999999998 meters 0.020145142719554202 Centerline is valid? [True, True] Translation: X:22.48, Y:0.42, Z:-0.66 [[ 9.99568601e-01 1.76009973e-02 2.35120639e-02 2.24755954e+01] [-1.76137497e-02 9.99844810e-01 3.35375935e-04 4.18613439e-01] [-2.35025121e-02 -7.49366863e-04 9.99723497e-01 -6.56994068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.426875 meters 0.02305965367091131 Centerline is valid? [True, True] Translation: X:22.51, Y:0.42, Z:-0.66 [[ 9.99478130e-01 2.15731414e-02 2.40430114e-02 2.25060639e+01] [-2.15874298e-02 9.99766908e-01 3.34860736e-04 4.24465632e-01] [-2.40301832e-02 -8.53712803e-04 9.99710869e-01 -6.59336409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.456874999999997 meters 0.02233312808295473 Centerline is valid? [True, True] Translation: X:22.54, Y:0.42, Z:-0.66 [[ 9.99428905e-01 2.38921795e-02 2.38961762e-02 2.25379504e+01] [-2.39069558e-02 9.99714132e-01 3.32824077e-04 4.23690889e-01] [-2.38813932e-02 -9.03918832e-04 9.99714390e-01 -6.59255071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.486874999999998 meters 0.02247586314834089 Centerline is valid? [True, True] Translation: X:22.57, Y:0.42, Z:-0.66 [[ 9.99468455e-01 2.27066568e-02 2.33926251e-02 2.25694523e+01] [-2.27204892e-02 9.99741803e-01 3.25666744e-04 4.24153207e-01] [-2.33791904e-02 -8.56985522e-04 9.99726302e-01 -6.60100865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.516875 meters 0.02167311415030836 Centerline is valid? [True, True] Translation: X:22.60, Y:0.42, Z:-0.66 [[ 9.99524071e-01 2.08895147e-02 2.26993485e-02 2.26014382e+01] [-2.09019464e-02 9.99781482e-01 3.10519534e-04 4.23196824e-01] [-2.26879017e-02 -7.84832315e-04 9.99742288e-01 -6.60371951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.546874999999996 meters 0.021425258537329305 Centerline is valid? [True, True] Translation: X:22.63, Y:0.42, Z:-0.66 [[ 9.99545879e-01 2.01567884e-02 2.23995479e-02 2.26331460e+01] [-2.01685874e-02 9.99796548e-01 3.00942555e-04 4.23492066e-01] [-2.23889247e-02 -7.52573130e-04 9.99749053e-01 -6.60317108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.576874999999998 meters 0.021659759495067706 Centerline is valid? [True, True] Translation: X:22.66, Y:0.43, Z:-0.66 [[ 9.99509508e-01 1.97018526e-02 2.43429706e-02 2.26643688e+01] [-1.97154720e-02 9.99805580e-01 3.19578949e-04 4.26244310e-01] [-2.43319416e-02 -7.99355352e-04 9.99703615e-01 -6.59666660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.606875 meters 0.021998517610918908 Centerline is valid? [True, True] Translation: X:22.70, Y:0.43, Z:-0.66 [[ 9.99485682e-01 1.99151170e-02 2.51348407e-02 2.26972920e+01] [-1.99296351e-02 9.99801332e-01 3.27212037e-04 4.28488221e-01] [-2.51233308e-02 -8.27971950e-04 9.99684016e-01 -6.60809475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.636874999999996 meters 0.021214747290737374 Centerline is valid? [True, True] Translation: X:22.73, Y:0.43, Z:-0.66 [[ 9.99459592e-01 2.05012008e-02 2.56948360e-02 2.27305792e+01] [-2.05163814e-02 9.99789463e-01 3.27292112e-04 4.28759875e-01] [-2.56827164e-02 -8.54280297e-04 9.99669780e-01 -6.60981201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.666874999999997 meters 0.021225928901662205 Centerline is valid? [True, True] Translation: X:22.76, Y:0.43, Z:-0.66 [[ 9.99410912e-01 2.12763316e-02 2.69285495e-02 2.27633589e+01] [-2.12930712e-02 9.99773221e-01 3.35002861e-04 4.30635061e-01] [-2.69153151e-02 -9.08197036e-04 9.99637305e-01 -6.61362426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.696875 meters 0.022241297973380692 Centerline is valid? [True, True] Translation: X:22.79, Y:0.44, Z:-0.66 [[ 9.99358498e-01 2.21433471e-02 2.81471822e-02 2.27947182e+01] [-2.21617295e-02 9.99754340e-01 3.41252784e-04 4.35819784e-01] [-2.81327111e-02 -9.64824106e-04 9.99603731e-01 -6.61762444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.726875 meters 0.02156746552633141 Centerline is valid? [True, True] Translation: X:22.83, Y:0.44, Z:-0.66 [[ 9.99332168e-01 2.27069654e-02 2.86288502e-02 2.28274953e+01] [-2.27261147e-02 9.99741669e-01 3.43638558e-04 4.36035384e-01] [-2.86136515e-02 -9.94031598e-04 9.99590051e-01 -6.61590769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.756874999999997 meters 0.02211923247395917 Centerline is valid? [True, True] Translation: X:22.86, Y:0.44, Z:-0.66 [[ 9.99326653e-01 2.33446041e-02 2.83067175e-02 2.28586990e+01] [-2.33633512e-02 9.99726985e-01 3.31684073e-04 4.38384167e-01] [-2.82912463e-02 -9.92800516e-04 9.99599230e-01 -6.62382213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.786875 meters 0.02200304304140434 Centerline is valid? [True, True] Translation: X:22.89, Y:0.44, Z:-0.66 [[ 9.99309002e-01 2.42555674e-02 2.81635665e-02 2.28904764e+01] [-2.42743089e-02 9.99705283e-01 3.23700907e-04 4.39822418e-01] [-2.81474147e-02 -1.00712834e-03 9.99603276e-01 -6.63568898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.816875 meters 0.02261063601351024 Centerline is valid? [True, True] Translation: X:22.92, Y:0.44, Z:-0.67 [[ 9.99250377e-01 2.67631922e-02 2.79716941e-02 2.29224865e+01] [-2.67824505e-02 9.99641237e-01 3.14001968e-04 4.44219066e-01] [-2.79532552e-02 -1.06291710e-03 9.99608666e-01 -6.65755525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.846874999999997 meters 0.022855117757872474 Centerline is valid? [True, True] Translation: X:22.95, Y:0.45, Z:-0.67 [[ 9.99220792e-01 2.87771467e-02 2.70126941e-02 2.29541418e+01] [-2.87958147e-02 9.99585269e-01 3.02259643e-04 4.46511474e-01] [-2.69927929e-02 -1.07987665e-03 9.99635045e-01 -6.68217198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.876875 meters 0.025555505477262017 Centerline is valid? [True, True] Translation: X:22.98, Y:0.45, Z:-0.67 [[ 9.99188909e-01 3.06548764e-02 2.61113419e-02 2.29846562e+01] [-3.06727783e-02 9.99529439e-01 2.85257338e-04 4.52559377e-01] [-2.60903104e-02 -1.08593337e-03 9.99659000e-01 -6.71807846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.906875 meters 0.02614010077245408 Centerline is valid? [True, True] Translation: X:23.02, Y:0.46, Z:-0.68 [[ 9.99091998e-01 3.45873397e-02 2.48775923e-02 2.30157338e+01] [-3.46047193e-02 9.99401041e-01 2.68308042e-04 4.55892277e-01] [-2.48534116e-02 -1.12894652e-03 9.99690469e-01 -6.75038502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.936874999999997 meters 0.028198057398666564 Centerline is valid? [True, True] Translation: X:23.05, Y:0.46, Z:-0.68 [[ 9.99051239e-01 3.59963363e-02 2.45129507e-02 2.30471203e+01] [-3.60136412e-02 9.99351263e-01 2.64702052e-04 4.60223505e-01] [-2.44875200e-02 -1.14725152e-03 9.99699477e-01 -6.77208295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.966874999999998 meters 0.02641943463158004 Centerline is valid? [True, True] Translation: X:23.08, Y:0.46, Z:-0.68 [[ 9.99019662e-01 3.73819943e-02 2.37128788e-02 2.30791208e+01] [-3.73984596e-02 9.99300401e-01 2.51114030e-04 4.57726265e-01] [-2.36869022e-02 -1.13769299e-03 9.99718779e-01 -6.78416629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.996875 meters 0.02581912660717335 Centerline is valid? [True, True] Translation: X:23.11, Y:0.46, Z:-0.68 [[ 9.98988220e-01 3.81072817e-02 2.38824317e-02 2.31114714e+01] [-3.81240465e-02 9.99272984e-01 2.46889517e-04 4.57890438e-01] [-2.38556605e-02 -1.15713466e-03 9.99714744e-01 -6.78713157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.026874999999997 meters 0.02915626393332885 Centerline is valid? [True, True] Translation: X:23.14, Y:0.46, Z:-0.68 [[ 9.98972624e-01 3.82850250e-02 2.42477655e-02 2.31435689e+01] [-3.83022098e-02 9.99266171e-01 2.44502828e-04 4.63799657e-01] [-2.42206110e-02 -1.17299463e-03 9.99705950e-01 -6.80357383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.056874999999998 meters 0.027804141451415076 Centerline is valid? [True, True] Translation: X:23.18, Y:0.46, Z:-0.68 [[ 9.98969865e-01 3.79641803e-02 2.48581955e-02 2.31760676e+01] [-3.79819655e-02 9.99278395e-01 2.43533161e-04 4.62190117e-01] [-2.48310121e-02 -1.18744541e-03 9.99690958e-01 -6.81385882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.086875 meters 0.02614102438087777 Centerline is valid? [True, True] Translation: X:23.21, Y:0.46, Z:-0.68 [[ 9.98968442e-01 3.76299350e-02 2.54173324e-02 2.32077205e+01] [-3.76482611e-02 9.99291023e-01 2.42688220e-04 4.60041709e-01] [-2.53901798e-02 -1.19935624e-03 9.99676898e-01 -6.81903196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.116874999999997 meters 0.026063682703821166 Centerline is valid? [True, True] Translation: X:23.24, Y:0.46, Z:-0.68 [[ 9.99026269e-01 3.58766187e-02 2.56784455e-02 2.32380366e+01] [-3.58945556e-02 9.99355555e-01 2.37778396e-04 4.60555310e-01] [-2.56533665e-02 -1.15926325e-03 9.99670226e-01 -6.84369610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.146874999999998 meters 0.0254114667701291 Centerline is valid? [True, True] Translation: X:23.27, Y:0.46, Z:-0.69 [[ 9.99067681e-01 3.49457739e-02 2.53488116e-02 2.32703366e+01] [-3.49629117e-02 9.99388583e-01 2.33051293e-04 4.60021448e-01] [-2.53251688e-02 -1.11910228e-03 9.99678640e-01 -6.86585188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.176875 meters 0.025173662361194 Centerline is valid? [True, True] Translation: X:23.30, Y:0.46, Z:-0.69 [[ 9.99088535e-01 3.39052148e-02 2.59333034e-02 2.33021665e+01] [-3.39226313e-02 9.99424435e-01 2.31821248e-04 4.59541331e-01] [-2.59105171e-02 -1.11133584e-03 9.99663648e-01 -6.87824864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.206874999999997 meters 0.02417488593541454 Centerline is valid? [True, True] Translation: X:23.33, Y:0.46, Z:-0.69 [[ 9.99187733e-01 2.98222063e-02 2.71018334e-02 2.33318857e+01] [-2.98395084e-02 9.99554675e-01 2.34119240e-04 4.56058904e-01] [-2.70827823e-02 -1.04263446e-03 9.99632650e-01 -6.85832344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.236874999999998 meters 0.02310884984735074 Centerline is valid? [True, True] Translation: X:23.36, Y:0.45, Z:-0.68 [[ 9.99242582e-01 2.75255027e-02 2.75065334e-02 2.33634108e+01] [-2.75424761e-02 9.99620606e-01 2.38317292e-04 4.53361680e-01] [-2.74895377e-02 -9.95734825e-04 9.99621595e-01 -6.84690969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.266875 meters 0.02211265672970787 Centerline is valid? [True, True] Translation: X:23.40, Y:0.45, Z:-0.68 [[ 9.99277555e-01 2.47622880e-02 2.88305048e-02 2.33950788e+01] [-2.47797586e-02 9.99692904e-01 2.48797551e-04 4.50971421e-01] [-2.88154902e-02 -9.63030756e-04 9.99584284e-01 -6.84103596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.296874999999996 meters 0.020589635833421317 Centerline is valid? [True, True] Translation: X:23.42, Y:0.45, Z:-0.68 [[ 9.99335987e-01 1.93699731e-02 3.08608167e-02 2.34244824e+01] [-1.93873701e-02 9.99812012e-01 2.64570676e-04 4.47099253e-01] [-3.08498906e-02 -8.62705074e-04 9.99523657e-01 -6.83451206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.326874999999998 meters 0.017921363647766024 Centerline is valid? [True, True] Translation: X:23.46, Y:0.44, Z:-0.68 [[ 9.99378057e-01 1.71012921e-02 3.08390064e-02 2.34566464e+01] [-1.71176093e-02 9.99853448e-01 2.65159204e-04 4.40656067e-01] [-3.08299523e-02 -7.92884354e-04 9.99524330e-01 -6.84052327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.356875 meters 0.018103646358320995 Centerline is valid? [True, True] Translation: X:23.49, Y:0.44, Z:-0.68 [[ 9.99413842e-01 1.51271839e-02 3.07105879e-02 2.34878326e+01] [-1.51421978e-02 9.99885317e-01 2.56359947e-04 4.40167223e-01] [-3.07031879e-02 -7.21235476e-04 9.99528286e-01 -6.84928680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.386874999999996 meters 0.017318716071271195 Centerline is valid? [True, True] Translation: X:23.52, Y:0.44, Z:-0.69 [[ 9.99478283e-01 1.13890673e-02 3.02233535e-02 2.35193182e+01] [-1.14016941e-02 9.99934968e-01 2.45471606e-04 4.36392360e-01] [-3.02185923e-02 -5.89940969e-04 9.99543140e-01 -6.86655339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.416874999999997 meters 0.01683228815774371 Centerline is valid? [True, True] Translation: X:23.55, Y:0.43, Z:-0.69 [[ 9.99499466e-01 9.86702699e-03 3.00575960e-02 2.35515645e+01] [-9.87861290e-03 9.99951177e-01 2.36980499e-04 4.34780433e-01] [-3.00537903e-02 -5.33789238e-04 9.99548140e-01 -6.88493850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.446875 meters 0.01645513266043539 Centerline is valid? [True, True] Translation: X:23.58, Y:0.43, Z:-0.69 [[ 9.99511528e-01 8.37492225e-03 3.01092201e-02 2.35835914e+01] [-8.38565673e-03 9.99964813e-01 2.30262008e-04 4.33564931e-01] [-3.01062322e-02 -4.82635116e-04 9.99546588e-01 -6.90259085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.476875 meters 0.01644588966789463 Centerline is valid? [True, True] Translation: X:23.61, Y:0.43, Z:-0.69 [[ 9.99546947e-01 7.23458970e-03 2.92157637e-02 2.36144432e+01] [-7.24401255e-03 9.99973738e-01 2.16695229e-04 4.31419067e-01] [-2.92134288e-02 -4.28236413e-04 9.99573105e-01 -6.91333302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.506874999999997 meters 0.01628420027474687 Centerline is valid? [True, True] Translation: X:23.65, Y:0.43, Z:-0.69 [[ 9.99567497e-01 8.06329166e-03 2.82807845e-02 2.36468865e+01] [-8.07228928e-03 9.99967398e-01 2.03997398e-04 4.29622316e-01] [-2.82782176e-02 -4.32199843e-04 9.99599998e-01 -6.91671958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.536875 meters 0.016705770314528547 Centerline is valid? [True, True] Translation: X:23.68, Y:0.43, Z:-0.69 [[ 9.99604283e-01 9.44136148e-03 2.64978706e-02 2.36783191e+01] [-9.44955785e-03 9.99955335e-01 1.84117485e-04 4.30651291e-01] [-2.64949487e-02 -4.34437788e-04 9.99648853e-01 -6.93447205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.566875 meters 0.017335532163978814 Centerline is valid? [True, True] Translation: X:23.71, Y:0.43, Z:-0.70 [[ 9.99596530e-01 1.20085171e-02 2.57404789e-02 2.37102766e+01] [-1.20169629e-02 9.99927779e-01 1.73445921e-04 4.33240164e-01] [-2.57365370e-02 -4.82698320e-04 9.99668644e-01 -6.95338592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.596874999999997 meters 0.01888414497610002 Centerline is valid? [True, True] Translation: X:23.74, Y:0.44, Z:-0.70 [[ 9.99575747e-01 1.84351646e-02 2.25492899e-02 2.37407472e+01] [-1.84431344e-02 9.99829900e-01 1.45506630e-04 4.40196186e-01] [-2.25427718e-02 -5.61324481e-04 9.99745722e-01 -7.00535328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.626875 meters 0.019969500403426006 Centerline is valid? [True, True] Translation: X:23.77, Y:0.44, Z:-0.70 [[ 9.99506344e-01 2.21094524e-02 2.23213030e-02 2.37727841e+01] [-2.21181835e-02 9.99755353e-01 1.44320387e-04 4.43601081e-01] [-2.23126513e-02 -6.37955819e-04 9.99750838e-01 -7.02110981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.656875 meters 0.021509513580002693 Centerline is valid? [True, True] Translation: X:23.80, Y:0.45, Z:-0.70 [[ 9.99419701e-01 2.54613373e-02 2.26270089e-02 2.38033407e+01] [-2.54711114e-02 9.99675548e-01 1.43819388e-04 4.47111300e-01] [-2.26160057e-02 -7.20070994e-04 9.99743966e-01 -7.01651411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.686874999999997 meters 0.021509513580002693 Centerline is valid? [True, True] Translation: X:23.84, Y:0.45, Z:-0.70 [[ 9.99412683e-01 2.57353262e-02 2.26270004e-02 2.38357236e+01] [-2.57452023e-02 9.99668527e-01 1.45228086e-04 4.47218705e-01] [-2.26157626e-02 -7.27679493e-04 9.99743966e-01 -7.02682651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.716874999999998 meters 0.021891014801894506 Centerline is valid? [True, True] Translation: X:23.87, Y:0.45, Z:-0.70 [[ 9.99292548e-01 3.01160339e-02 2.25261848e-02 2.38665880e+01] [-3.01267417e-02 9.99546077e-01 1.36057663e-04 4.49207926e-01] [-2.25118621e-02 -8.14601959e-04 9.99746244e-01 -7.00856819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.746875 meters 0.02247943239644305 Centerline is valid? [True, True] Translation: X:23.90, Y:0.45, Z:-0.70 [[ 9.99246581e-01 3.14750973e-02 2.27065619e-02 2.38986339e+01] [-3.14863654e-02 9.99504172e-01 1.38813922e-04 4.51795862e-01] [-2.26909341e-02 -8.53656441e-04 9.99742163e-01 -7.01753907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.776874999999997 meters 0.023924968575374215 Centerline is valid? [True, True] Translation: X:23.93, Y:0.46, Z:-0.70 [[ 9.99186115e-01 3.27434796e-02 2.35578330e-02 2.39292350e+01] [-3.27557938e-02 9.99463376e-01 1.36925145e-04 4.55299603e-01] [-2.35407079e-02 -9.08469223e-04 9.99722466e-01 -7.02610358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.806874999999998 meters 0.02399229893389603 Centerline is valid? [True, True] Translation: X:23.96, Y:0.46, Z:-0.70 [[ 9.99135505e-01 3.40860087e-02 2.37988921e-02 2.39616058e+01] [-3.40989096e-02 9.99418454e-01 1.36355906e-04 4.55690620e-01] [-2.37804041e-02 -9.47754296e-04 9.99716757e-01 -7.02033945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.836875 meters 0.024595090716727813 Centerline is valid? [True, True] Translation: X:23.99, Y:0.46, Z:-0.70 [[ 9.99030183e-01 3.58922331e-02 2.55037545e-02 2.39936369e+01] [-3.59074646e-02 9.99355109e-01 1.39368262e-04 4.57259592e-01] [-2.54823051e-02 -1.05500826e-03 9.99674717e-01 -7.00198766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.866874999999997 meters 0.025348667114346735 Centerline is valid? [True, True] Translation: X:24.03, Y:0.46, Z:-0.70 [[ 9.99005215e-01 3.62995734e-02 2.59021590e-02 2.40259242e+01] [-3.63152383e-02 9.99340375e-01 1.34471654e-04 4.59748168e-01] [-2.58801920e-02 -1.07498096e-03 9.99664474e-01 -7.01378010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.896874999999998 meters 0.024801969328150708 Centerline is valid? [True, True] Translation: X:24.06, Y:0.46, Z:-0.70 [[ 9.98990027e-01 3.64670948e-02 2.62502627e-02 2.40585139e+01] [-3.64831710e-02 9.99334259e-01 1.33591572e-04 4.59647309e-01] [-2.62279152e-02 -1.09114947e-03 9.99655394e-01 -7.03035031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.926875 meters 0.02546133663760504 Centerline is valid? [True, True] Translation: X:24.09, Y:0.46, Z:-0.70 [[ 9.99009205e-01 3.56025856e-02 2.67032447e-02 2.40893537e+01] [-3.56187033e-02 9.99365444e-01 1.28027968e-04 4.60762744e-01] [-2.66817419e-02 -1.07903607e-03 9.99643397e-01 -7.03094403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.956874999999997 meters 0.024480064723065936 Centerline is valid? [True, True] Translation: X:24.12, Y:0.46, Z:-0.70 [[ 9.99046857e-01 3.53080287e-02 2.56655703e-02 2.41211143e+01] [-3.53226847e-02 9.99375952e-01 1.17754841e-04 4.58706942e-01] [-2.56453961e-02 -1.02421945e-03 9.99670578e-01 -7.04441227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.986874999999998 meters 0.02504288001515759 Centerline is valid? [True, True] Translation: X:24.15, Y:0.46, Z:-0.71 [[ 9.99125248e-01 3.43943063e-02 2.37859186e-02 2.41523030e+01] [-3.44065091e-02 9.99407915e-01 1.03842079e-04 4.59778975e-01] [-2.37682638e-02 -9.22141667e-04 9.99717070e-01 -7.06778264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.016875 meters 0.022094728636675262 Centerline is valid? [True, True] Translation: X:24.18, Y:0.45, Z:-0.71 [[ 9.99180448e-01 3.36702462e-02 2.24665678e-02 2.41844435e+01] [-3.36808540e-02 9.99432635e-01 9.38241776e-05 4.54475022e-01] [-2.24506620e-02 -8.50440473e-04 9.99747590e-01 -7.07654698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.046874999999996 meters 0.023929471351633293 Centerline is valid? [True, True] Translation: X:24.22, Y:0.46, Z:-0.71 [[ 9.99283398e-01 3.13014453e-02 2.12816963e-02 2.42151907e+01] [-3.13103189e-02 9.99509708e-01 8.37993634e-05 4.57414044e-01] [-2.12686390e-02 -7.50076010e-04 9.99773516e-01 -7.09881037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.076874999999998 meters 0.021291072054174475 Centerline is valid? [True, True] Translation: X:24.25, Y:0.45, Z:-0.71 [[ 9.99333991e-01 3.02645008e-02 2.03870903e-02 2.42475193e+01] [-3.02723428e-02 9.99541685e-01 7.60774639e-05 4.52469603e-01] [-2.03754441e-02 -6.93191781e-04 9.99792159e-01 -7.10189796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.106875 meters 0.02102971835764104 Centerline is valid? [True, True] Translation: X:24.28, Y:0.45, Z:-0.71 [[ 9.99387407e-01 2.87079901e-02 2.00165447e-02 2.42784195e+01] [-2.87151387e-02 9.99587633e-01 6.97487644e-05 4.51430634e-01] [-2.00062882e-02 -6.44483895e-04 9.99799646e-01 -7.11898603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.136874999999996 meters 0.020801008725801356 Centerline is valid? [True, True] Translation: X:24.31, Y:0.45, Z:-0.71 [[ 9.99437781e-01 2.71719026e-02 1.96420448e-02 2.43097697e+01] [-2.71784048e-02 9.99630597e-01 6.41197187e-05 4.50403981e-01] [-1.96330467e-02 -5.97923115e-04 9.99807074e-01 -7.13177585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.166874999999997 meters 0.019174661495449115 Centerline is valid? [True, True] Translation: X:24.34, Y:0.45, Z:-0.71 [[ 9.99512234e-01 2.41879982e-02 1.97543628e-02 2.43416313e+01] [-2.41938645e-02 9.99707284e-01 5.79897049e-05 4.46029574e-01] [-1.97471777e-02 -5.35895795e-04 9.99804862e-01 -7.14003488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.196875 meters 0.019095459519290255 Centerline is valid? [True, True] Translation: X:24.37, Y:0.45, Z:-0.72 [[ 9.99528888e-01 2.37589470e-02 1.94297542e-02 2.43734165e+01] [-2.37645671e-02 9.99717581e-01 5.83813013e-05 4.45843258e-01] [-1.94228798e-02 -5.20093494e-04 9.99811223e-01 -7.15787446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.226875 meters 0.018978063139282884 Centerline is valid? [True, True] Translation: X:24.41, Y:0.45, Z:-0.72 [[ 9.99527047e-01 2.34281818e-02 1.99199227e-02 2.44053728e+01] [-2.34339243e-02 9.99725386e-01 5.48754979e-05 4.45187682e-01] [-1.99131668e-02 -5.21651505e-04 9.99801577e-01 -7.16472490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.256874999999997 meters 0.01844532400030688 Centerline is valid? [True, True] Translation: X:24.44, Y:0.44, Z:-0.72 [[ 9.99502906e-01 2.43179969e-02 2.00642996e-02 2.44376005e+01] [-2.43239066e-02 9.99704129e-01 5.05093370e-05 4.43392700e-01] [-2.00571349e-02 -5.38526379e-04 9.99798690e-01 -7.15625592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.286875 meters 0.019252520310283936 Centerline is valid? [True, True] Translation: X:24.47, Y:0.44, Z:-0.71 [[ 9.99416280e-01 2.69950361e-02 2.09372459e-02 2.44681943e+01] [-2.70019139e-02 9.99635381e-01 4.58127209e-05 4.44570998e-01] [-2.09283751e-02 -6.11131691e-04 9.99780791e-01 -7.14121692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.316875 meters 0.020582411251219863 Centerline is valid? [True, True] Translation: X:24.50, Y:0.45, Z:-0.72 [[ 9.99353214e-01 2.91413196e-02 2.10698378e-02 2.44987876e+01] [-2.91487055e-02 9.99575085e-01 4.34511721e-05 4.46762202e-01] [-2.10596187e-02 -6.57581567e-04 9.99778005e-01 -7.15207476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.346874999999997 meters 0.022072141294239473 Centerline is valid? [True, True] Translation: X:24.53, Y:0.45, Z:-0.72 [[ 9.99286354e-01 3.13671896e-02 2.10447695e-02 2.45301566e+01] [-3.13750238e-02 9.99507682e-01 4.21068045e-05 4.50297480e-01] [-2.10330880e-02 -7.02356899e-04 9.99778533e-01 -7.17446305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.376875 meters 0.023542775267384214 Centerline is valid? [True, True] Translation: X:24.56, Y:0.45, Z:-0.72 [[ 9.99080063e-01 3.69132578e-02 2.18274959e-02 2.45607967e+01] [-3.69228386e-02 9.99318119e-01 3.59399378e-05 4.53490476e-01] [-2.18112855e-02 -8.41839983e-04 9.99761751e-01 -7.18910907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.406875 meters 0.023768974341349 Centerline is valid? [True, True] Translation: X:24.59, Y:0.45, Z:-0.72 [[ 9.98996395e-01 3.91578956e-02 2.17453731e-02 2.45930271e+01] [-3.91679386e-02 9.99232641e-01 3.59659275e-05 4.53295720e-01] [-2.17272783e-02 -8.87651272e-04 9.99763541e-01 -7.19698588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.436874999999997 meters 0.0253417000058848 Centerline is valid? [True, True] Translation: X:24.62, Y:0.45, Z:-0.72 [[ 9.98920263e-01 4.14185743e-02 2.10430604e-02 2.46242833e+01] [-4.14284850e-02 9.99141471e-01 3.50655558e-05 4.54673169e-01] [-2.10235420e-02 -9.06809806e-04 9.99778570e-01 -7.20578605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.466874999999998 meters 0.025589269636286834 Centerline is valid? [True, True] Translation: X:24.66, Y:0.45, Z:-0.72 [[ 9.98886783e-01 4.25738375e-02 2.03141326e-02 2.46563148e+01] [-4.25832267e-02 9.99092923e-01 2.96637399e-05 4.54660664e-01] [-2.02944432e-02 -8.94672031e-04 9.99793646e-01 -7.22745986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.496875 meters 0.024224389083479618 Centerline is valid? [True, True] Translation: X:24.69, Y:0.45, Z:-0.72 [[ 9.98829717e-01 4.40160202e-02 2.00445868e-02 2.46887572e+01] [-4.40253579e-02 9.99030414e-01 2.45922727e-05 4.51848665e-01] [-2.00240694e-02 -9.07033601e-04 9.99799087e-01 -7.22873553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.526874999999997 meters 0.027550897143782935 Centerline is valid? [True, True] Translation: X:24.72, Y:0.46, Z:-0.72 [[ 9.98730674e-01 4.59802770e-02 2.05634174e-02 2.47197745e+01] [-4.59904037e-02 9.98941881e-01 1.95731724e-05 4.55556550e-01] [-2.05407589e-02 -9.65268197e-04 9.99788550e-01 -7.23844056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.556874999999998 meters 0.026301328762317232 Centerline is valid? [True, True] Translation: X:24.75, Y:0.45, Z:-0.72 [[ 9.98701947e-01 4.64713820e-02 2.08525979e-02 2.47522027e+01] [-4.64818073e-02 9.98919137e-01 1.52790393e-05 4.52575804e-01] [-2.08293490e-02 -9.84525643e-04 9.99782561e-01 -7.23657166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.586875 meters 0.025428360526590386 Centerline is valid? [True, True] Translation: X:24.78, Y:0.45, Z:-0.72 [[ 9.98739299e-01 4.46898707e-02 2.28610731e-02 2.47838346e+01] [-4.47017347e-02 9.99000378e-01 7.93749203e-06 4.50804919e-01] [-2.28378659e-02 -1.02985711e-03 9.99738651e-01 -7.24979103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.616874999999997 meters 0.025033722341000063 Centerline is valid? [True, True] Translation: X:24.82, Y:0.45, Z:-0.73 [[ 9.98778119e-01 4.37903623e-02 2.29057647e-02 2.48160088e+01] [-4.38020479e-02 9.99040230e-01 8.44475524e-06 4.49136601e-01] [-2.28834106e-02 -1.01175384e-03 9.99737629e-01 -7.25962876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.646874999999998 meters 0.02659072529558795 Centerline is valid? [True, True] Translation: X:24.85, Y:0.45, Z:-0.73 [[ 9.98851441e-01 4.23317108e-02 2.24460491e-02 2.48473766e+01] [-4.23424437e-02 9.99103157e-01 2.89779684e-06 4.50335870e-01] [-2.24257959e-02 -9.53315041e-04 9.99748056e-01 -7.28333674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.676875 meters 0.02354313397582551 Centerline is valid? [True, True] Translation: X:24.88, Y:0.44, Z:-0.73 [[ 9.99009128e-01 3.83670208e-02 2.25551483e-02 2.48783454e+01] [-3.83766784e-02 9.99263344e-01 -4.67669260e-06 4.42435436e-01] [-2.25387123e-02 -8.60919613e-04 9.99745600e-01 -7.27939002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.706874999999997 meters 0.02361268008120694 Centerline is valid? [True, True] Translation: X:24.91, Y:0.44, Z:-0.73 [[ 9.99071375e-01 3.67180259e-02 2.25427222e-02 2.49090749e+01] [-3.67272870e-02 9.99325326e-01 -3.19578054e-06 4.41543464e-01] [-2.25276305e-02 -8.24740214e-04 9.99745881e-01 -7.28989080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.736874999999998 meters 0.02227812139130553 Centerline is valid? [True, True] Translation: X:24.94, Y:0.44, Z:-0.73 [[ 9.99144749e-01 3.48785968e-02 2.22093180e-02 2.49414047e+01] [-3.48870294e-02 9.99391262e-01 -7.77327830e-06 4.38233369e-01] [-2.21960695e-02 -7.67050500e-04 9.99753343e-01 -7.29047565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.766875 meters 0.021058762560096735 Centerline is valid? [True, True] Translation: X:24.97, Y:0.43, Z:-0.73 [[ 9.99226549e-01 3.21950344e-02 2.25783670e-02 2.49732848e+01] [-3.22028998e-02 9.99481352e-01 -1.52354211e-05 4.33866170e-01] [-2.25671473e-02 -7.11865254e-04 9.99745076e-01 -7.28818077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.796874999999996 meters 0.02011179743026668 Centerline is valid? [True, True] Translation: X:25.01, Y:0.43, Z:-0.73 [[ 9.99269746e-01 3.10499668e-02 2.22682265e-02 2.50051815e+01] [-3.10573491e-02 9.99517604e-01 -1.43275999e-05 4.30871276e-01] [-2.22579293e-02 -6.77274949e-04 9.99752032e-01 -7.29626583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.826874999999998 meters 0.019450735193169588 Centerline is valid? [True, True] Translation: X:25.04, Y:0.43, Z:-0.73 [[ 9.99321603e-01 2.96867648e-02 2.17951950e-02 2.50370061e+01] [-2.96934012e-02 9.99559054e-01 -1.91422664e-05 4.28227907e-01] [-2.17861527e-02 -6.28044189e-04 9.99762456e-01 -7.31317430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.856875 meters 0.01933862998559008 Centerline is valid? [True, True] Translation: X:25.07, Y:0.43, Z:-0.73 [[ 9.99350914e-01 2.87004260e-02 2.17723913e-02 2.50683206e+01] [-2.87066941e-02 9.99587878e-01 -2.46579952e-05 4.26817391e-01] [-2.17641261e-02 -6.00371388e-04 9.99762953e-01 -7.33198883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.886874999999996 meters 0.019258796693220566 Centerline is valid? [True, True] Translation: X:25.10, Y:0.43, Z:-0.73 [[ 9.99342816e-01 2.86987359e-02 2.21431255e-02 2.51000830e+01] [-2.87051092e-02 9.99587923e-01 -3.00348289e-05 4.26211297e-01] [-2.21348628e-02 -6.05605747e-04 9.99754810e-01 -7.34078503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.916874999999997 meters 0.018780739715414597 Centerline is valid? [True, True] Translation: X:25.13, Y:0.42, Z:-0.73 [[ 9.99341670e-01 2.79760010e-02 2.30991345e-02 2.51321917e+01] [-2.79825871e-02 9.99608410e-01 -3.81181691e-05 4.23838502e-01] [-2.30911555e-02 -6.08280468e-04 9.99733179e-01 -7.33774778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.946875 meters 0.019303060648805038 Centerline is valid? [True, True] Translation: X:25.16, Y:0.42, Z:-0.73 [[ 9.99335251e-01 2.79612683e-02 2.33928072e-02 2.51632029e+01] [-2.79679467e-02 9.99608820e-01 -4.16960350e-05 4.23898001e-01] [-2.33848223e-02 -6.12580467e-04 9.99726350e-01 -7.34516011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.976875 meters 0.019076125885109086 Centerline is valid? [True, True] Translation: X:25.20, Y:0.42, Z:-0.73 [[ 9.99329429e-01 2.80976450e-02 2.34779652e-02 2.51956148e+01] [-2.81043604e-02 9.99604993e-01 -4.39480960e-05 4.22771527e-01] [-2.34699261e-02 -6.15914571e-04 9.99724354e-01 -7.34557469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.006874999999997 meters 0.01855543565150217 Centerline is valid? [True, True] Translation: X:25.23, Y:0.42, Z:-0.74 [[ 9.99343997e-01 2.79566369e-02 2.30217814e-02 2.52281816e+01] [-2.79629150e-02 9.99608960e-01 -4.92377576e-05 4.21814225e-01] [-2.30141555e-02 -5.94550658e-04 9.99734962e-01 -7.35554732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.036875 meters 0.019423965368119786 Centerline is valid? [True, True] Translation: X:25.26, Y:0.42, Z:-0.74 [[ 9.99341237e-01 2.76460070e-02 2.35115083e-02 2.52603694e+01] [-2.76523049e-02 9.99617600e-01 -5.72746558e-05 4.22067081e-01] [-2.35041009e-02 -5.92910471e-04 9.99723565e-01 -7.38779692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.066875 meters 0.01853680190795316 Centerline is valid? [True, True] Translation: X:25.29, Y:0.42, Z:-0.74 [[ 9.99365670e-01 2.67934613e-02 2.34599206e-02 2.52920007e+01] [-2.67993644e-02 9.99640831e-01 -6.27944002e-05 4.22091636e-01] [-2.34531770e-02 -5.65956393e-04 9.99724776e-01 -7.37802835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.096874999999997 meters 0.017802144070930195 Centerline is valid? [True, True] Translation: X:25.32, Y:0.42, Z:-0.74 [[ 9.99373601e-01 2.53039956e-02 2.47409081e-02 2.53238710e+01] [-2.53099497e-02 9.99679649e-01 -7.25076143e-05 4.20259132e-01] [-2.47348171e-02 -5.53728945e-04 9.99693894e-01 -7.37750379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.126875 meters 0.017318809873036283 Centerline is valid? [True, True] Translation: X:25.35, Y:0.42, Z:-0.74 [[ 9.99367488e-01 2.37616715e-02 2.64576390e-02 2.53547892e+01] [-2.37677568e-02 9.99717503e-01 -8.44937605e-05 4.19244677e-01] [-2.64521725e-02 -5.44398413e-04 9.99649932e-01 -7.36982681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.156875 meters 0.016084933305887356 Centerline is valid? [True, True] Translation: X:25.39, Y:0.42, Z:-0.74 [[ 9.99402295e-01 1.95039269e-02 2.85420578e-02 2.53864083e+01] [-1.95090634e-02 9.99809675e-01 -9.85228504e-05 4.17104790e-01] [-2.85385471e-02 -4.58364852e-04 9.99592588e-01 -7.37230073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.186874999999997 meters 0.015609797583376241 Centerline is valid? [True, True] Translation: X:25.42, Y:0.42, Z:-0.74 [[ 9.99464273e-01 1.74361264e-02 2.76974592e-02 2.54173509e+01] [-1.74401344e-02 9.99847905e-01 -9.68735457e-05 4.15449109e-01] [-2.76949356e-02 -3.86225764e-04 9.99616347e-01 -7.38691619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.216874999999998 meters 0.015415301019412637 Centerline is valid? [True, True] Translation: X:25.45, Y:0.41, Z:-0.74 [[ 9.99514128e-01 1.52301089e-02 2.71947150e-02 2.54486025e+01] [-1.52329843e-02 9.99883966e-01 -1.01440089e-04 4.13178046e-01] [-2.71931044e-02 -3.12865866e-04 9.99630150e-01 -7.39213741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.246875 meters 0.014938376306771743 Centerline is valid? [True, True] Translation: X:25.48, Y:0.41, Z:-0.74 [[ 9.99545260e-01 1.23102004e-02 2.75269373e-02 2.54799995e+01] [-1.23119459e-02 9.99924199e-01 -1.06083494e-04 4.11046412e-01] [-2.75261566e-02 -2.32874909e-04 9.99621056e-01 -7.40037431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.276874999999997 meters 0.014692893152016521 Centerline is valid? [True, True] Translation: X:25.51, Y:0.41, Z:-0.74 [[ 9.99562343e-01 1.14126020e-02 2.72924069e-02 2.55125690e+01] [-1.14138126e-02 9.99934854e-01 -1.11432992e-04 4.10630893e-01] [-2.72919006e-02 -2.00126195e-04 9.99627487e-01 -7.41867801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.306874999999998 meters 0.014405032954190239 Centerline is valid? [True, True] Translation: X:25.55, Y:0.41, Z:-0.75 [[ 9.99597118e-01 1.06802298e-02 2.62970323e-02 2.55455093e+01] [-1.06810370e-02 9.99942950e-01 -1.09774946e-04 4.10718429e-01] [-2.62967045e-02 -1.71148854e-04 9.99654167e-01 -7.45736473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.336875 meters 0.014423396343832988 Centerline is valid? [True, True] Translation: X:25.58, Y:0.41, Z:-0.75 [[ 9.99616315e-01 1.10300556e-02 2.54079021e-02 2.55779230e+01] [-1.10307557e-02 9.99939153e-01 -1.12607749e-04 4.10896663e-01] [-2.54075982e-02 -1.67703818e-04 9.99677161e-01 -7.48155588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.366874999999997 meters 0.01453752093852825 Centerline is valid? [True, True] Translation: X:25.61, Y:0.41, Z:-0.75 [[ 9.99632805e-01 1.21453074e-02 2.42228622e-02 2.56096104e+01] [-1.21461165e-02 9.99926227e-01 -1.13734625e-04 4.11299664e-01] [-2.42224565e-02 -1.80520843e-04 9.99706577e-01 -7.50014239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.396874999999998 meters 0.014865680523847747 Centerline is valid? [True, True] Translation: X:25.64, Y:0.41, Z:-0.75 [[ 9.99610487e-01 1.53861862e-02 2.32839054e-02 2.56411021e+01] [-1.53876870e-02 9.99881596e-01 -1.14722463e-04 4.13871735e-01] [-2.32829137e-02 -2.43607671e-04 9.99728887e-01 -7.50822255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.426875 meters 0.01532814130818627 Centerline is valid? [True, True] Translation: X:25.67, Y:0.42, Z:-0.75 [[ 9.99559581e-01 1.73120628e-02 2.41026214e-02 2.56734552e+01] [-1.73141012e-02 9.99850092e-01 -1.24130483e-04 4.16131180e-01] [-2.41011572e-02 -2.93239412e-04 9.99709482e-01 -7.51236512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.456874999999997 meters 0.01566279758250439 Centerline is valid? [True, True] Translation: X:25.71, Y:0.42, Z:-0.75 [[ 9.99483513e-01 1.96218263e-02 2.54497751e-02 2.57054724e+01] [-1.96246867e-02 9.99807408e-01 -1.37387134e-04 4.18804909e-01] [-2.54475695e-02 -3.62127688e-04 9.99676093e-01 -7.51043147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.486874999999998 meters 0.015955845550706112 Centerline is valid? [True, True] Translation: X:25.74, Y:0.42, Z:-0.75 [[ 9.99408178e-01 2.15694640e-02 2.67964834e-02 2.57373793e+01] [-2.15731580e-02 9.99767261e-01 -1.51266113e-04 4.20982487e-01] [-2.67935095e-02 -4.26908179e-04 9.99640898e-01 -7.51258545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.516875 meters 0.017259476213963953 Centerline is valid? [True, True] Translation: X:25.77, Y:0.43, Z:-0.75 [[ 9.99266635e-01 2.65099145e-02 2.76299824e-02 2.57690980e+01] [-2.65155402e-02 9.99648388e-01 -1.62817468e-04 4.25902392e-01] [-2.76245837e-02 -5.69925846e-04 9.99618206e-01 -7.51234389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.546874999999996 meters 0.017522761925009858 Centerline is valid? [True, True] Translation: X:25.80, Y:0.43, Z:-0.75 [[ 9.99210493e-01 2.89128075e-02 2.72477576e-02 2.58009521e+01] [-2.89190144e-02 9.99581744e-01 -1.66324557e-04 4.27074038e-01] [-2.72411700e-02 -6.21785052e-04 9.99628697e-01 -7.52242602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.576874999999998 meters 0.017522761925009858 Centerline is valid? [True, True] Translation: X:25.83, Y:0.43, Z:-0.75 [[ 9.99202472e-01 2.91887173e-02 2.72477169e-02 2.58333191e+01] [-2.91948521e-02 9.99573725e-01 -1.72727624e-04 4.26778465e-01] [-2.72411436e-02 -6.22903198e-04 9.99628697e-01 -7.53276777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.606875 meters 0.018618924577593236 Centerline is valid? [True, True] Translation: X:25.86, Y:0.43, Z:-0.75 [[ 9.99162155e-01 3.11357825e-02 2.65622037e-02 2.58640518e+01] [-3.11420772e-02 9.99514952e-01 -1.76762529e-04 4.30092931e-01] [-2.65548234e-02 -6.50587769e-04 9.99647147e-01 -7.54778673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.636874999999996 meters 0.01874823291677649 Centerline is valid? [True, True] Translation: X:25.90, Y:0.43, Z:-0.76 [[ 9.99096234e-01 3.31618016e-02 2.65896798e-02 2.58959123e+01] [-3.31688304e-02 9.99449747e-01 -1.76785831e-04 4.31256815e-01] [-2.65809113e-02 -7.05322521e-04 9.99646416e-01 -7.55690157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.666874999999997 meters 0.01953770822486135 Centerline is valid? [True, True] Translation: X:25.93, Y:0.43, Z:-0.76 [[ 9.98972568e-01 3.64648371e-02 2.69095397e-02 2.59280632e+01] [-3.64730340e-02 9.99334620e-01 -1.86313835e-04 4.34248105e-01] [-2.68984285e-02 -7.95350145e-04 9.99637855e-01 -7.57202563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.696875 meters 0.019883723206525917 Centerline is valid? [True, True] Translation: X:25.96, Y:0.44, Z:-0.76 [[ 9.98919196e-01 3.81834534e-02 2.65040361e-02 2.59602012e+01] [-3.81919857e-02 9.99270403e-01 -1.84391791e-04 4.35246999e-01] [-2.64917395e-02 -8.28049268e-04 9.99648689e-01 -7.58036341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.726874999999996 meters 0.02136808015165737 Centerline is valid? [True, True] Translation: X:25.99, Y:0.44, Z:-0.76 [[ 9.98829406e-01 4.07570355e-02 2.60515242e-02 2.59913853e+01] [-4.07659858e-02 9.99168704e-01 -1.87665558e-04 4.39728805e-01] [-2.60375163e-02 -8.74570186e-04 9.99660584e-01 -7.59773726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.756874999999997 meters 0.0214437804862075 Centerline is valid? [True, True] Translation: X:26.02, Y:0.44, Z:-0.76 [[ 9.98802072e-01 4.19826830e-02 2.51371324e-02 2.60235201e+01] [-4.19912688e-02 9.99117960e-01 -1.86428704e-04 4.40891176e-01] [-2.51227873e-02 -8.69334710e-04 9.99683995e-01 -7.62001930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.786875 meters 0.022082096489310744 Centerline is valid? [True, True] Translation: X:26.06, Y:0.44, Z:-0.76 [[ 9.98773171e-01 4.33139867e-02 2.40010794e-02 2.60550194e+01] [-4.33220625e-02 9.99061142e-01 -1.83631130e-04 4.42558262e-01] [-2.39864996e-02 -8.56370414e-04 9.99711916e-01 -7.64791861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.816875 meters 0.02234746330034219 Centerline is valid? [True, True] Translation: X:26.09, Y:0.44, Z:-0.77 [[ 9.98758941e-01 4.42323706e-02 2.28927044e-02 2.60869095e+01] [-4.42398512e-02 9.99020922e-01 -1.79828520e-04 4.43704322e-01] [-2.28782449e-02 -8.33164492e-04 9.99737912e-01 -7.67608225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.846874999999997 meters 0.022678803124735757 Centerline is valid? [True, True] Translation: X:26.12, Y:0.45, Z:-0.77 [[ 9.98702178e-01 4.58156069e-02 2.22461385e-02 2.61188820e+01] [-4.58229481e-02 9.98949561e-01 -1.79913659e-04 4.46033722e-01] [-2.22310131e-02 -8.39703485e-04 9.99752508e-01 -7.68441788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.876875 meters 0.022153124543835986 Centerline is valid? [True, True] Translation: X:26.15, Y:0.45, Z:-0.77 [[ 9.98642877e-01 4.67005671e-02 2.30534508e-02 2.61509453e+01] [-4.67085515e-02 9.98908541e-01 -1.92298909e-04 4.45626969e-01] [-2.30372694e-02 -8.84755360e-04 9.99734215e-01 -7.68357130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.906875 meters 0.022326153997136732 Centerline is valid? [True, True] Translation: X:26.18, Y:0.45, Z:-0.77 [[ 9.98595217e-01 4.74563543e-02 2.35687721e-02 2.61831744e+01] [-4.74647686e-02 9.98872892e-01 -2.02595295e-04 4.46102010e-01] [-2.35518220e-02 -9.16375622e-04 9.99722197e-01 -7.68152303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.936874999999997 meters 0.022401816195693668 Centerline is valid? [True, True] Translation: X:26.21, Y:0.45, Z:-0.77 [[ 9.98604745e-01 4.66025233e-02 2.48348343e-02 2.62139051e+01] [-4.66114367e-02 9.98913072e-01 -2.20171609e-04 4.46676838e-01] [-2.48181012e-02 -9.37722893e-04 9.99691544e-01 -7.68876813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.966874999999998 meters 0.02076079181484056 Centerline is valid? [True, True] Translation: X:26.25, Y:0.44, Z:-0.77 [[ 9.98655488e-01 4.51100967e-02 2.55400784e-02 2.62459218e+01] [-4.51188852e-02 9.98981598e-01 -2.32344650e-04 4.43594540e-01] [-2.55245494e-02 -9.20307604e-04 9.99673772e-01 -7.69698631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.996875 meters 0.02180490904322606 Centerline is valid? [True, True] Translation: X:26.28, Y:0.44, Z:-0.77 [[ 9.98688391e-01 4.36826339e-02 2.67081655e-02 2.62775348e+01] [-4.36915456e-02 9.99045037e-01 -2.50080538e-04 4.44781471e-01] [-2.66935843e-02 -9.17168500e-04 9.99643242e-01 -7.69909615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.026874999999997 meters 0.019965646514943453 Centerline is valid? [True, True] Translation: X:26.31, Y:0.44, Z:-0.77 [[ 9.98808655e-01 3.89662254e-02 2.93752358e-02 2.63078346e+01] [-3.89747133e-02 9.99240157e-01 -2.83784112e-04 4.40461183e-01] [-2.93639733e-02 -8.61445367e-04 9.99568414e-01 -7.68391500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.056874999999998 meters 0.01859992235647288 Centerline is valid? [True, True] Translation: X:26.34, Y:0.44, Z:-0.77 [[ 9.98871236e-01 3.66746240e-02 3.01865194e-02 2.63400905e+01] [-3.66825541e-02 9.99326926e-01 -2.91226809e-04 4.37293081e-01] [-3.01768823e-02 -8.16420549e-04 9.99544241e-01 -7.68928490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.086875 meters 0.017763897025379425 Centerline is valid? [True, True] Translation: X:26.37, Y:0.43, Z:-0.77 [[ 9.98912427e-01 3.48529931e-02 3.09714575e-02 2.63724492e+01] [-3.48602270e-02 9.99392151e-01 -3.06530885e-04 4.34987901e-01] [-3.09633150e-02 -7.73474528e-04 9.99520222e-01 -7.69406448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.116874999999997 meters 0.01717039865062358 Centerline is valid? [True, True] Translation: X:26.40, Y:0.43, Z:-0.77 [[ 9.98985055e-01 3.25120365e-02 3.11741520e-02 2.64043340e+01] [-3.25179881e-02 9.99471100e-01 -3.16182701e-04 4.32903373e-01] [-3.11679438e-02 -6.97858913e-04 9.99513918e-01 -7.68485813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.146874999999998 meters 0.01679428867075134 Centerline is valid? [True, True] Translation: X:26.44, Y:0.43, Z:-0.77 [[ 9.99018043e-01 3.19243244e-02 3.07211179e-02 2.64367048e+01] [-3.19296025e-02 9.99490069e-01 -3.18875912e-04 4.31561459e-01] [-3.07156321e-02 -6.62350292e-04 9.99527944e-01 -7.68801970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.176875 meters 0.01724585124714324 Centerline is valid? [True, True] Translation: X:26.47, Y:0.43, Z:-0.77 [[ 9.99033385e-01 3.18883433e-02 3.02560710e-02 2.64683885e+01] [-3.18932293e-02 9.99491230e-01 -3.21214721e-04 4.31966516e-01] [-3.02509207e-02 -6.44059581e-04 9.99542129e-01 -7.70521411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.206874999999997 meters 0.0173812584774882 Centerline is valid? [True, True] Translation: X:26.50, Y:0.43, Z:-0.77 [[ 9.99074961e-01 3.26801640e-02 2.79504842e-02 2.64999438e+01] [-3.26844423e-02 9.99465675e-01 -3.03901464e-04 4.33310684e-01] [-2.79454811e-02 -6.09925646e-04 9.99609263e-01 -7.74731668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.236874999999998 meters 0.017210779611496196 Centerline is valid? [True, True] Translation: X:26.53, Y:0.43, Z:-0.78 [[ 9.99072745e-01 3.32005165e-02 2.74112443e-02 2.65326531e+01] [-3.32046539e-02 9.99448527e-01 -3.04350959e-04 4.34102463e-01] [-2.74062324e-02 -6.06112133e-04 9.99624195e-01 -7.77653195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.266875 meters 0.017521854011796963 Centerline is valid? [True, True] Translation: X:26.56, Y:0.44, Z:-0.78 [[ 9.99018201e-01 3.47055482e-02 2.75346862e-02 2.65647244e+01] [-3.47100785e-02 9.99397374e-01 -3.13553613e-04 4.36554888e-01] [-2.75289751e-02 -6.42485353e-04 9.99620799e-01 -7.78983588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.296874999999996 meters 0.017757470350491293 Centerline is valid? [True, True] Translation: X:26.60, Y:0.44, Z:-0.78 [[ 9.98978851e-01 3.57218585e-02 2.76623182e-02 2.65963501e+01] [-3.57266355e-02 9.99361548e-01 -3.21684766e-04 4.37235016e-01] [-2.76561484e-02 -6.66925283e-04 9.99617273e-01 -7.79694052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.326874999999998 meters 0.017541620590306603 Centerline is valid? [True, True] Translation: X:26.63, Y:0.44, Z:-0.78 [[ 9.98944853e-01 3.67312203e-02 2.75680782e-02 2.66287722e+01] [-3.67361664e-02 9.99324946e-01 -3.27203822e-04 4.37085840e-01] [-2.75614868e-02 -6.85886934e-04 9.99619875e-01 -7.79931987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.356875 meters 0.018410273701642953 Centerline is valid? [True, True] Translation: X:26.66, Y:0.44, Z:-0.78 [[ 9.98890564e-01 3.78990295e-02 2.79518341e-02 2.66605534e+01] [-3.79043768e-02 9.99281313e-01 -3.38714341e-04 4.37687664e-01] [-2.79445824e-02 -7.21158292e-04 9.99609214e-01 -7.80154226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.386874999999996 meters 0.019302451867267024 Centerline is valid? [True, True] Translation: X:26.69, Y:0.44, Z:-0.78 [[ 9.98752088e-01 4.03271711e-02 2.94616093e-02 2.66920243e+01] [-4.03339440e-02 9.99186189e-01 -3.64600135e-04 4.40046829e-01] [-2.94523364e-02 -8.24157753e-04 9.99565846e-01 -7.77848550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.416874999999997 meters 0.019121803373021464 Centerline is valid? [True, True] Translation: X:26.72, Y:0.44, Z:-0.78 [[ 9.98707943e-01 4.15522982e-02 2.92549210e-02 2.67240179e+01] [-4.15593133e-02 9.99135971e-01 -3.68468218e-04 4.40582129e-01] [-2.92449546e-02 -8.47822294e-04 9.99571915e-01 -7.79173864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.446875 meters 0.02001075154446675 Centerline is valid? [True, True] Translation: X:26.75, Y:0.44, Z:-0.78 [[ 9.98632834e-01 4.33913036e-02 2.91488858e-02 2.67545868e+01] [-4.33988335e-02 9.99057757e-01 -3.74568688e-04 4.43468838e-01] [-2.91376735e-02 -8.90971052e-04 9.99575011e-01 -7.82724159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.476874999999996 meters 0.02019978750846313 Centerline is valid? [True, True] Translation: X:26.79, Y:0.44, Z:-0.78 [[ 9.98583196e-01 4.44536501e-02 2.92484653e-02 2.67866115e+01] [-4.44615791e-02 9.99011023e-01 -3.79530035e-04 4.43451376e-01] [-2.92364107e-02 -9.21440636e-04 9.99572100e-01 -7.83949247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.506874999999997 meters 0.02075791202149975 Centerline is valid? [True, True] Translation: X:26.82, Y:0.44, Z:-0.78 [[ 9.98563325e-01 4.52170050e-02 2.87525486e-02 2.68178310e+01] [-4.52249243e-02 9.98976759e-01 -3.75146191e-04 4.43429742e-01] [-2.87400908e-02 -9.25724603e-04 9.99586490e-01 -7.84915292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.536875 meters 0.01997570597322183 Centerline is valid? [True, True] Translation: X:26.85, Y:0.44, Z:-0.79 [[ 9.98544163e-01 4.56656719e-02 2.87088858e-02 2.68507570e+01] [-4.56735692e-02 9.98956345e-01 -3.80953674e-04 4.41285760e-01] [-2.86963202e-02 -9.30838215e-04 9.99587742e-01 -7.85161951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.566875 meters 0.020089495668581193 Centerline is valid? [True, True] Translation: X:26.88, Y:0.44, Z:-0.79 [[ 9.98530803e-01 4.61362830e-02 2.84197003e-02 2.68831438e+01] [-4.61439851e-02 9.98934725e-01 -3.85110673e-04 4.41444402e-01] [-2.84071931e-02 -9.26853357e-04 9.99596005e-01 -7.86211169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.596874999999997 meters 0.019529858115532366 Centerline is valid? [True, True] Translation: X:26.92, Y:0.44, Z:-0.79 [[ 9.98537165e-01 4.65760781e-02 2.74626865e-02 2.69164253e+01] [-4.65832475e-02 9.98914339e-01 -3.79000465e-04 4.40001332e-01] [-2.74505237e-02 -9.00855072e-04 9.99622757e-01 -7.88188858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.626875 meters 0.020185319942983317 Centerline is valid? [True, True] Translation: X:26.95, Y:0.44, Z:-0.79 [[ 9.98535368e-01 4.70831645e-02 2.66513523e-02 2.69471979e+01] [-4.70898921e-02 9.98890585e-01 -3.75477820e-04 4.41067659e-01] [-2.66394635e-02 -8.80081419e-04 9.99644719e-01 -7.90556701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.656875 meters 0.020456175116864393 Centerline is valid? [True, True] Translation: X:26.98, Y:0.44, Z:-0.79 [[ 9.98569409e-01 4.74347002e-02 2.46796431e-02 2.69787428e+01] [-4.74404509e-02 9.98874006e-01 -3.52761632e-04 4.40262428e-01] [-2.46685871e-02 -8.18556422e-04 9.99695349e-01 -7.93365380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.686874999999997 meters 0.020561349829236176 Centerline is valid? [True, True] Translation: X:27.01, Y:0.44, Z:-0.80 [[ 9.98629093e-01 4.66946080e-02 2.36547545e-02 2.70101134e+01] [-4.66995503e-02 9.98908922e-01 -3.43735661e-04 4.40050133e-01] [-2.36449959e-02 -7.61401965e-04 9.99720128e-01 -7.96104674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.716874999999998 meters 0.019686982198681376 Centerline is valid? [True, True] Translation: X:27.04, Y:0.44, Z:-0.80 [[ 9.98723997e-01 4.45204900e-02 2.38391325e-02 2.70424393e+01] [-4.45247636e-02 9.99008219e-01 -3.51758319e-04 4.37106361e-01] [-2.38311498e-02 -7.10122266e-04 9.99715746e-01 -7.97494828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.746875 meters 0.018971231984144337 Centerline is valid? [True, True] Translation: X:27.07, Y:0.43, Z:-0.80 [[ 9.98752573e-01 4.34298895e-02 2.46402591e-02 2.70742417e+01] [-4.34339709e-02 9.99056231e-01 -3.69780408e-04 4.34952545e-01] [-2.46330639e-02 -7.00905165e-04 9.99696314e-01 -7.97489950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.776874999999997 meters 0.01890744925737109 Centerline is valid? [True, True] Translation: X:27.11, Y:0.43, Z:-0.80 [[ 9.98768803e-01 4.26127137e-02 2.53975186e-02 2.71055170e+01] [-4.26166186e-02 9.99091424e-01 -3.87744009e-04 4.33250405e-01] [-2.53909658e-02 -6.95089742e-04 9.99677356e-01 -7.97593062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.806874999999998 meters 0.01866186257384752 Centerline is valid? [True, True] Translation: X:27.14, Y:0.43, Z:-0.80 [[ 9.98773463e-01 4.23245514e-02 2.56943881e-02 2.71381374e+01] [-4.23282870e-02 9.99103677e-01 -3.98731276e-04 4.31776747e-01] [-2.56882337e-02 -6.89357216e-04 9.99669765e-01 -7.97510033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.836875 meters 0.01888746004190713 Centerline is valid? [True, True] Translation: X:27.17, Y:0.43, Z:-0.80 [[ 9.98753501e-01 4.21951632e-02 2.66648218e-02 2.71692000e+01] [-4.21990564e-02 9.99109136e-01 -4.16946742e-04 4.32024823e-01] [-2.66586602e-02 -7.08803298e-04 9.99644343e-01 -7.97129769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.866874999999997 meters 0.01892488879791817 Centerline is valid? [True, True] Translation: X:27.20, Y:0.43, Z:-0.80 [[ 9.98701440e-01 4.29758926e-02 2.73588345e-02 2.72022957e+01] [-4.29801188e-02 9.99075834e-01 -4.33835239e-04 4.32463353e-01] [-2.73521949e-02 -7.42614079e-04 9.99625583e-01 -7.98147341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.896874999999998 meters 0.019454184506421415 Centerline is valid? [True, True] Translation: X:27.23, Y:0.43, Z:-0.80 [[ 9.98644990e-01 4.42292616e-02 2.74218090e-02 2.72339736e+01] [-4.42337694e-02 9.99021110e-01 -4.42487928e-04 4.34337624e-01] [-2.74145369e-02 -7.71081622e-04 9.99623854e-01 -7.99760162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.926875 meters 0.020657362256606235 Centerline is valid? [True, True] Translation: X:27.27, Y:0.44, Z:-0.80 [[ 9.98519103e-01 4.68053534e-02 2.77283118e-02 2.72663858e+01] [-4.68107527e-02 9.98903672e-01 -4.54719539e-04 4.38972645e-01] [-2.77191958e-02 -8.43936999e-04 9.99615393e-01 -8.02460359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.956874999999997 meters 0.02058853756587676 Centerline is valid? [True, True] Translation: X:27.30, Y:0.44, Z:-0.80 [[ 9.98473425e-01 4.81812997e-02 2.70070837e-02 2.72985265e+01] [-4.81868838e-02 9.98838239e-01 -4.44386826e-04 4.39660238e-01] [-2.69971190e-02 -8.57678768e-04 9.99635143e-01 -8.04456301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.986874999999998 meters 0.02085319207077872 Centerline is valid? [True, True] Translation: X:27.33, Y:0.44, Z:-0.81 [[ 9.98471397e-01 4.92437996e-02 2.50981741e-02 2.73307519e+01] [-4.92488190e-02 9.98786453e-01 -4.18470778e-04 4.41181018e-01] [-2.50883234e-02 -8.18224331e-04 9.99684904e-01 -8.07314587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.016875 meters 0.01967375815098153 Centerline is valid? [True, True] Translation: X:27.36, Y:0.44, Z:-0.81 [[ 9.98490616e-01 4.90849881e-02 2.46404834e-02 2.73624147e+01] [-4.90896376e-02 9.98794290e-01 -4.16522544e-04 4.39211521e-01] [-2.46312191e-02 -7.93698549e-04 9.99696290e-01 -8.07601912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.046874999999996 meters 0.02038909326606074 Centerline is valid? [True, True] Translation: X:27.39, Y:0.44, Z:-0.81 [[ 9.98500619e-01 4.89103827e-02 2.45822575e-02 2.73934823e+01] [-4.89147896e-02 9.98802866e-01 -4.22364297e-04 4.40569565e-01] [-2.45734872e-02 -7.80704941e-04 9.99697721e-01 -8.08999645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.076874999999998 meters 0.01962046987236323 Centerline is valid? [True, True] Translation: X:27.43, Y:0.44, Z:-0.81 [[ 9.98487641e-01 4.89214788e-02 2.50822579e-02 2.74254164e+01] [-4.89259996e-02 9.98802312e-01 -4.33781154e-04 4.39800953e-01] [-2.50734384e-02 -7.94049420e-04 9.99685297e-01 -8.09346616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.106875 meters 0.01967954570641113 Centerline is valid? [True, True] Translation: X:27.46, Y:0.44, Z:-0.81 [[ 9.98454126e-01 4.92824320e-02 2.57021359e-02 2.74585850e+01] [-4.92871380e-02 9.98784549e-01 -4.50755081e-04 4.40160187e-01] [-2.56931105e-02 -8.16726447e-04 9.99669544e-01 -8.10102618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.136874999999996 meters 0.020861696926171368 Centerline is valid? [True, True] Translation: X:27.49, Y:0.44, Z:-0.81 [[ 9.98414817e-01 4.99975516e-02 2.58476072e-02 2.74898061e+01] [-5.00023541e-02 9.98748994e-01 -4.60899742e-04 4.42496199e-01] [-2.58383156e-02 -8.32272079e-04 9.99665789e-01 -8.12275010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.166874999999997 meters 0.021522401340387423 Centerline is valid? [True, True] Translation: X:27.52, Y:0.44, Z:-0.81 [[ 9.98345263e-01 5.10932070e-02 2.63859996e-02 2.75207581e+01] [-5.10984331e-02 9.98693508e-01 -4.76600516e-04 4.43700401e-01] [-2.63758776e-02 -8.72471368e-04 9.99651715e-01 -8.13623884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.196875 meters 0.022795372090854308 Centerline is valid? [True, True] Translation: X:27.55, Y:0.45, Z:-0.82 [[ 9.98203482e-01 5.35114953e-02 2.69504969e-02 2.75532775e+01] [-5.35176441e-02 9.98566782e-01 -4.93606205e-04 4.46377722e-01] [-2.69382845e-02 -9.49607669e-04 9.99636648e-01 -8.15317478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.226874999999996 meters 0.023364913991158573 Centerline is valid? [True, True] Translation: X:27.59, Y:0.45, Z:-0.82 [[ 9.98116407e-01 5.52236703e-02 2.67204757e-02 2.75851037e+01] [-5.52303025e-02 9.98473522e-01 -4.90315016e-04 4.47188343e-01] [-2.67067645e-02 -9.86388495e-04 9.99642824e-01 -8.16061452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.256874999999997 meters 0.021867559074608637 Centerline is valid? [True, True] Translation: X:27.62, Y:0.45, Z:-0.82 [[ 9.97974114e-01 5.76188746e-02 2.69765429e-02 2.76173230e+01] [-5.76263141e-02 9.98338097e-01 -5.02206958e-04 4.45258226e-01] [-2.69606471e-02 -1.05336919e-03 9.99635941e-01 -8.16641911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.286875 meters 0.02259759182357513 Centerline is valid? [True, True] Translation: X:27.65, Y:0.45, Z:-0.82 [[ 9.97895022e-01 5.85030204e-02 2.79807305e-02 2.76485864e+01] [-5.85113206e-02 9.98286608e-01 -5.22723250e-04 4.46498159e-01] [-2.79633694e-02 -1.11556656e-03 9.99608326e-01 -8.17024057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.316875 meters 0.022256594346994618 Centerline is valid? [True, True] Translation: X:27.68, Y:0.45, Z:-0.82 [[ 9.97858459e-01 5.91173816e-02 2.79934247e-02 2.76802959e+01] [-5.91258381e-02 9.98250399e-01 -5.26268776e-04 4.45447005e-01] [-2.79755590e-02 -1.12999295e-03 9.99607969e-01 -8.17681207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.346874999999997 meters 0.022633612240348537 Centerline is valid? [True, True] Translation: X:27.71, Y:0.44, Z:-0.82 [[ 9.97898031e-01 5.91352687e-02 2.65054491e-02 2.77122628e+01] [-5.91426951e-02 9.98249411e-01 -5.04354391e-04 4.44614813e-01] [-2.64888740e-02 -1.06430944e-03 9.99648542e-01 -8.18707305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.376875 meters 0.02414902176048936 Centerline is valid? [True, True] Translation: X:27.74, Y:0.45, Z:-0.82 [[ 9.97945914e-01 5.85424537e-02 2.60140966e-02 2.77429623e+01] [-5.85492245e-02 9.98284397e-01 -5.01987636e-04 4.46128600e-01] [-2.59988544e-02 -1.02214867e-03 9.99661450e-01 -8.20006303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.406875 meters 0.022394664376234837 Centerline is valid? [True, True] Translation: X:27.77, Y:0.44, Z:-0.82 [[ 9.97975760e-01 5.79942550e-02 2.60969065e-02 2.77749090e+01] [-5.80007292e-02 9.98316411e-01 -5.09436904e-04 4.42087836e-01] [-2.60825145e-02 -1.00523393e-03 9.99659288e-01 -8.20899916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.436874999999997 meters 0.02114651444460042 Centerline is valid? [True, True] Translation: X:27.81, Y:0.44, Z:-0.82 [[ 9.98026793e-01 5.73669250e-02 2.55255978e-02 2.78065397e+01] [-5.73727603e-02 9.98352699e-01 -5.04292612e-04 4.39018773e-01] [-2.55124792e-02 -9.61176467e-04 9.99674042e-01 -8.22771072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.466874999999998 meters 0.021588417324024885 Centerline is valid? [True, True] Translation: X:27.84, Y:0.44, Z:-0.83 [[ 9.98219504e-01 5.45479944e-02 2.41316639e-02 2.78366299e+01] [-5.45522098e-02 9.98510802e-01 -4.84086553e-04 4.38854844e-01] [-2.41221330e-02 -8.33210953e-04 9.99708672e-01 -8.27748851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.496875 meters 0.021588417324024885 Centerline is valid? [True, True] Translation: X:27.87, Y:0.44, Z:-0.83 [[ 9.98204544e-01 5.48210614e-02 2.41316951e-02 2.78690141e+01] [-5.48253936e-02 9.98495840e-01 -4.82546673e-04 4.38114531e-01] [-2.41218509e-02 -8.41349402e-04 9.99708672e-01 -8.28780107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.526874999999997 meters 0.021018296944215923 Centerline is valid? [True, True] Translation: X:27.90, Y:0.44, Z:-0.83 [[ 9.98292669e-01 5.36121750e-02 2.31836381e-02 2.79015680e+01] [-5.36156709e-02 9.98561534e-01 -4.71216573e-04 4.35324278e-01] [-2.31755522e-02 -7.72594260e-04 9.99731112e-01 -8.30605338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.556874999999998 meters 0.019469899782744136 Centerline is valid? [True, True] Translation: X:27.93, Y:0.43, Z:-0.83 [[ 9.98456487e-01 5.07674011e-02 2.25236489e-02 2.79331153e+01] [-5.07699287e-02 9.98710270e-01 -4.59967036e-04 4.28595231e-01] [-2.25179508e-02 -6.84266979e-04 9.99746205e-01 -8.30789991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.586875 meters 0.019180084194158675 Centerline is valid? [True, True] Translation: X:27.97, Y:0.43, Z:-0.83 [[ 9.98510770e-01 4.94941579e-02 2.29471431e-02 2.79652905e+01] [-4.94964561e-02 9.98774190e-01 -4.68162978e-04 4.26095920e-01] [-2.29421856e-02 -6.68336486e-04 9.99736570e-01 -8.32351781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.616874999999997 meters 0.018877425924005344 Centerline is valid? [True, True] Translation: X:28.00, Y:0.42, Z:-0.83 [[ 9.98543369e-01 4.83605237e-02 2.39248672e-02 2.79969876e+01] [-4.83625501e-02 9.98829725e-01 -4.94251768e-04 4.23921175e-01] [-2.39207708e-02 -6.63535761e-04 9.99713637e-01 -8.33069760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.646874999999998 meters 0.018270739470861497 Centerline is valid? [True, True] Translation: X:28.03, Y:0.42, Z:-0.83 [[ 9.98616842e-01 4.66060372e-02 2.43368242e-02 2.80286080e+01] [-4.66074661e-02 9.98913152e-01 -5.08811802e-04 4.20537273e-01] [-2.43340875e-02 -6.26169677e-04 9.99703686e-01 -8.33520479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.676875 meters 0.018149338337954877 Centerline is valid? [True, True] Translation: X:28.06, Y:0.42, Z:-0.83 [[ 9.98617394e-01 4.63965273e-02 2.47116091e-02 2.80608841e+01] [-4.63977855e-02 9.98922906e-01 -5.22761758e-04 4.18790009e-01] [-2.47092467e-02 -6.24524954e-04 9.99694485e-01 -8.34492962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.706874999999997 meters 0.018251987475729793 Centerline is valid? [True, True] Translation: X:28.09, Y:0.42, Z:-0.84 [[ 9.98602985e-01 4.66568727e-02 2.48035389e-02 2.80937993e+01] [-4.66580764e-02 9.98910778e-01 -5.30516901e-04 4.16993536e-01] [-2.48012746e-02 -6.27509653e-04 9.99692204e-01 -8.35311141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.736874999999998 meters 0.018203050217474585 Centerline is valid? [True, True] Translation: X:28.13, Y:0.42, Z:-0.84 [[ 9.98594752e-01 4.70853986e-02 2.43204953e-02 2.81267526e+01] [-4.70865223e-02 9.98890676e-01 -5.26779370e-04 4.15451053e-01] [-2.43183196e-02 -6.19128430e-04 9.99704074e-01 -8.36986397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.766875 meters 0.018781107788639548 Centerline is valid? [True, True] Translation: X:28.16, Y:0.41, Z:-0.84 [[ 9.98561228e-01 4.75247338e-02 2.48369566e-02 2.81582484e+01] [-4.75258627e-02 9.98869859e-01 -5.45168174e-04 4.14431206e-01] [-2.48347963e-02 -6.36013987e-04 9.99691367e-01 -8.39413457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.796874999999996 meters 0.01883244106746619 Centerline is valid? [True, True] Translation: X:28.19, Y:0.41, Z:-0.84 [[ 9.98514735e-01 4.80254359e-02 2.57270555e-02 2.81906675e+01] [-4.80266377e-02 9.98845892e-01 -5.71536877e-04 4.12720080e-01] [-2.57248120e-02 -6.64895981e-04 9.99668841e-01 -8.39458393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.826874999999998 meters 0.01836884081573438 Centerline is valid? [True, True] Translation: X:28.22, Y:0.41, Z:-0.84 [[ 9.98511407e-01 4.72565430e-02 2.72358059e-02 2.82228146e+01] [-4.72573848e-02 9.98882557e-01 -6.13116463e-04 4.08137799e-01] [-2.72343452e-02 -6.74889179e-04 9.99628849e-01 -8.38338888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.856875 meters 0.01782058612985771 Centerline is valid? [True, True] Translation: X:28.26, Y:0.40, Z:-0.84 [[ 9.98534174e-01 4.66772186e-02 2.73996413e-02 2.82553848e+01] [-4.66776531e-02 9.98909809e-01 -6.24086089e-04 4.04004988e-01] [-2.73989011e-02 -6.55779667e-04 9.99624365e-01 -8.38373240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.886874999999996 meters 0.018075916493808818 Centerline is valid? [True, True] Translation: X:28.29, Y:0.40, Z:-0.84 [[ 9.98566498e-01 4.62792079e-02 2.68920751e-02 2.82859872e+01] [-4.62794382e-02 9.98928344e-01 -6.14156003e-04 4.02319321e-01] [-2.68916787e-02 -6.31274521e-04 9.99638154e-01 -8.38807062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.916874999999997 meters 0.01846103355785317 Centerline is valid? [True, True] Translation: X:28.32, Y:0.40, Z:-0.84 [[ 9.98592427e-01 4.59986163e-02 2.64062733e-02 2.83169648e+01] [-4.59985862e-02 9.98941319e-01 -6.08892835e-04 4.01519396e-01] [-2.64063257e-02 -6.06615464e-04 9.99651108e-01 -8.40719926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.946875 meters 0.018014568865160445 Centerline is valid? [True, True] Translation: X:28.35, Y:0.40, Z:-0.84 [[ 9.98615223e-01 4.56921068e-02 2.60742645e-02 2.83487432e+01] [-4.56918272e-02 9.98955399e-01 -6.06823538e-04 3.98739289e-01] [-2.60747543e-02 -5.85397567e-04 9.99659824e-01 -8.44143152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.976874999999996 meters 0.01784794479916374 Centerline is valid? [True, True] Translation: X:28.38, Y:0.40, Z:-0.85 [[ 9.98608650e-01 4.54406825e-02 2.67564758e-02 2.83809984e+01] [-4.54401243e-02 9.98966866e-01 -6.29195892e-04 3.96362733e-01] [-2.67574238e-02 -5.87497124e-04 9.99641783e-01 -8.45199950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.006874999999997 meters 0.01793454967091185 Centerline is valid? [True, True] Translation: X:28.41, Y:0.39, Z:-0.85 [[ 9.98609313e-01 4.49727475e-02 2.75116576e-02 2.84127607e+01] [-4.49717965e-02 9.98988043e-01 -6.53622133e-04 3.93141258e-01] [-2.75132122e-02 -5.84535518e-04 9.99621269e-01 -8.45750907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.036875 meters 0.0167168276328799 Centerline is valid? [True, True] Translation: X:28.44, Y:0.38, Z:-0.85 [[ 9.98797435e-01 4.21063934e-02 2.51144453e-02 2.84445747e+01] [-4.21045644e-02 9.99113028e-01 -6.01857953e-04 3.83855776e-01] [-2.51175116e-02 -4.56298599e-04 9.99684401e-01 -8.46412534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.066875 meters 0.016132320553323407 Centerline is valid? [True, True] Translation: X:28.48, Y:0.38, Z:-0.85 [[ 9.98896930e-01 4.01081817e-02 2.44183933e-02 2.84766842e+01] [-4.01057185e-02 9.99195267e-01 -5.90793584e-04 3.79982154e-01] [-2.44224386e-02 -3.89175309e-04 9.99701652e-01 -8.47883392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.096874999999997 meters 0.015883321793246617 Centerline is valid? [True, True] Translation: X:28.51, Y:0.38, Z:-0.85 [[ 9.98941943e-01 3.87516036e-02 2.47650633e-02 2.85088773e+01] [-3.87485060e-02 9.99248811e-01 -6.05126763e-04 3.76703584e-01] [-2.47699097e-02 -3.55122697e-04 9.99693116e-01 -8.50137732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.126875 meters 0.015708404292566744 Centerline is valid? [True, True] Translation: X:28.54, Y:0.37, Z:-0.85 [[ 9.98980191e-01 3.77145717e-02 2.48231528e-02 2.85409775e+01] [-3.77109927e-02 9.99288500e-01 -6.12455119e-04 3.73936497e-01] [-2.48285896e-02 -3.24275204e-04 9.99691670e-01 -8.51988474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.156875 meters 0.015318556039376697 Centerline is valid? [True, True] Translation: X:28.57, Y:0.37, Z:-0.85 [[ 9.99001061e-01 3.58099213e-02 2.67306818e-02 2.85716723e+01] [-3.58049028e-02 9.99358577e-01 -6.66503514e-04 3.68364461e-01] [-2.67374035e-02 -2.91251747e-04 9.99642449e-01 -8.51137804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.186874999999997 meters 0.015099178645082159 Centerline is valid? [True, True] Translation: X:28.60, Y:0.36, Z:-0.85 [[ 9.99026349e-01 3.51249145e-02 2.66944546e-02 2.86035121e+01] [-3.51195122e-02 9.99382894e-01 -6.71323697e-04 3.64972304e-01] [-2.67015615e-02 -2.66826164e-04 9.99643414e-01 -8.51989512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.216874999999998 meters 0.014988558013295157 Centerline is valid? [True, True] Translation: X:28.64, Y:0.36, Z:-0.85 [[ 9.99038882e-01 3.44786417e-02 2.70654013e-02 2.86358835e+01] [-3.44726572e-02 9.99405405e-01 -6.87813876e-04 3.62856413e-01] [-2.70730232e-02 -2.45863497e-04 9.99633428e-01 -8.52929487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.246875 meters 0.014976658774204255 Centerline is valid? [True, True] Translation: X:28.67, Y:0.36, Z:-0.85 [[ 9.99009871e-01 3.49479004e-02 2.75303754e-02 2.86686688e+01] [-3.49418452e-02 9.99389101e-01 -7.01135728e-04 3.60600296e-01] [-2.75380604e-02 -2.61520603e-04 9.99620721e-01 -8.54630464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.276874999999997 meters 0.015205142827233935 Centerline is valid? [True, True] Translation: X:28.70, Y:0.36, Z:-0.86 [[ 9.98989403e-01 3.60012755e-02 2.69087538e-02 2.87008674e+01] [-3.59956689e-02 9.99351706e-01 -6.92870210e-04 3.60728075e-01] [-2.69162532e-02 -2.76428594e-04 9.99637654e-01 -8.56804560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.306874999999998 meters 0.015541266706312557 Centerline is valid? [True, True] Translation: X:28.73, Y:0.36, Z:-0.86 [[ 9.98927228e-01 3.78971950e-02 2.66119649e-02 2.87315260e+01] [-3.78921936e-02 9.99281593e-01 -6.92378584e-04 3.60752094e-01] [-2.66190859e-02 -3.16749906e-04 9.99645599e-01 -8.57823903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.336875 meters 0.01565238383867342 Centerline is valid? [True, True] Translation: X:28.76, Y:0.36, Z:-0.86 [[ 9.98875903e-01 3.97778235e-02 2.57809217e-02 2.87637886e+01] [-3.97736187e-02 9.99208488e-01 -6.76064617e-04 3.59837877e-01] [-2.57874081e-02 -3.50095894e-04 9.99667388e-01 -8.58950519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.366874999999997 meters 0.0165348871601467 Centerline is valid? [True, True] Translation: X:28.80, Y:0.36, Z:-0.86 [[ 9.98717488e-01 4.35375736e-02 2.58429577e-02 2.87953394e+01] [-4.35344459e-02 9.99051693e-01 -6.83908752e-04 3.61512956e-01] [-2.58482263e-02 -4.42027211e-04 9.99665781e-01 -8.60377246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.396874999999998 meters 0.017211023791781743 Centerline is valid? [True, True] Translation: X:28.83, Y:0.36, Z:-0.86 [[ 9.98638651e-01 4.57030061e-02 2.51412061e-02 2.88265063e+01] [-4.57005832e-02 9.98954957e-01 -6.71236672e-04 3.62171847e-01] [-2.51456100e-02 -4.78644899e-04 9.99683685e-01 -8.61923802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.426875 meters 0.017368759968712663 Centerline is valid? [True, True] Translation: X:28.86, Y:0.36, Z:-0.86 [[ 9.98560364e-01 4.74529784e-02 2.50082655e-02 2.88581142e+01] [-4.74509921e-02 9.98873340e-01 -6.73178166e-04 3.62179069e-01] [-2.50120340e-02 -5.14457974e-04 9.99687018e-01 -8.62910245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.456874999999997 meters 0.01844840680096087 Centerline is valid? [True, True] Translation: X:28.89, Y:0.36, Z:-0.86 [[ 9.98349577e-01 5.07142115e-02 2.69479343e-02 2.88902309e+01] [-5.07129180e-02 9.98713004e-01 -7.31864313e-04 3.64735289e-01] [-2.69503684e-02 -6.35951958e-04 9.99636571e-01 -8.64051446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.486874999999998 meters 0.018960638749611874 Centerline is valid? [True, True] Translation: X:28.92, Y:0.36, Z:-0.86 [[ 9.98240144e-01 5.22150132e-02 2.81106388e-02 2.89222934e+01] [-5.22140020e-02 9.98635621e-01 -7.70503213e-04 3.64904302e-01] [-2.81125170e-02 -6.98621709e-04 9.99604521e-01 -8.64685236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.516875 meters 0.019939747581366397 Centerline is valid? [True, True] Translation: X:28.95, Y:0.37, Z:-0.86 [[ 9.98147035e-01 5.36439250e-02 2.87197925e-02 2.89533880e+01] [-5.36432485e-02 9.98559848e-01 -7.94580349e-04 3.65419051e-01] [-2.87210560e-02 -7.47514945e-04 9.99587186e-01 -8.64868724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.546874999999996 meters 0.019286946082831626 Centerline is valid? [True, True] Translation: X:28.99, Y:0.36, Z:-0.86 [[ 9.98109196e-01 5.43944224e-02 2.86230602e-02 2.89856184e+01] [-5.43939650e-02 9.98519236e-01 -7.95177393e-04 3.61472079e-01] [-2.86239294e-02 -7.63247864e-04 9.99589960e-01 -8.63654735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.576874999999998 meters 0.019022812606832723 Centerline is valid? [True, True] Translation: X:29.02, Y:0.36, Z:-0.86 [[ 9.98140178e-01 5.40859416e-02 2.81228589e-02 2.90180337e+01] [-5.40851876e-02 9.98536014e-01 -7.88032120e-04 3.59305628e-01] [-2.81243089e-02 -7.34463577e-04 9.99604164e-01 -8.64258948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.606875 meters 0.018516329863859506 Centerline is valid? [True, True] Translation: X:29.05, Y:0.36, Z:-0.87 [[ 9.98179045e-01 5.35157696e-02 2.78326654e-02 2.90498193e+01] [-5.35146219e-02 9.98566756e-01 -7.86641305e-04 3.56755186e-01] [-2.78348721e-02 -7.04245699e-04 9.99612287e-01 -8.65289788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.636874999999996 meters 0.01835234894431741 Centerline is valid? [True, True] Translation: X:29.08, Y:0.35, Z:-0.87 [[ 9.98230090e-01 5.31657341e-02 2.66475473e-02 2.90815258e+01] [-5.31643905e-02 9.98585485e-01 -7.59396653e-04 3.54587751e-01] [-2.66502278e-02 -6.58648021e-04 9.99644603e-01 -8.67444245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.666874999999997 meters 0.01852056545554479 Centerline is valid? [True, True] Translation: X:29.11, Y:0.35, Z:-0.87 [[ 9.98253345e-01 5.32437649e-02 2.56000275e-02 2.91131081e+01] [-5.32423991e-02 9.98581347e-01 -7.35447501e-04 3.53025073e-01] [-2.56028680e-02 -6.28843957e-04 9.99671995e-01 -8.70373529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.696875 meters 0.018384286537248835 Centerline is valid? [True, True] Translation: X:29.15, Y:0.35, Z:-0.87 [[ 9.98306191e-01 5.32495634e-02 2.34357105e-02 2.91454252e+01] [-5.32482954e-02 9.98581073e-01 -6.78587102e-04 3.49972626e-01] [-2.34385914e-02 -5.70473930e-04 9.99725116e-01 -8.74001594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.726874999999996 meters 0.018409548299435283 Centerline is valid? [True, True] Translation: X:29.18, Y:0.35, Z:-0.88 [[ 9.98280916e-01 5.34597194e-02 2.40264518e-02 2.91777762e+01] [-5.34582806e-02 9.98569837e-01 -7.02640670e-04 3.47998777e-01] [-2.40296530e-02 -5.82980028e-04 9.99711076e-01 -8.75809252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.756874999999997 meters 0.018368871047967174 Centerline is valid? [True, True] Translation: X:29.21, Y:0.34, Z:-0.88 [[ 9.98277396e-01 5.30062476e-02 2.51510985e-02 2.92089715e+01] [-5.30043309e-02 9.98594006e-01 -7.43334532e-04 3.44732664e-01] [-2.51551375e-02 -5.91063085e-04 9.99683385e-01 -8.75253192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.786875 meters 0.018170018097693814 Centerline is valid? [True, True] Translation: X:29.24, Y:0.34, Z:-0.87 [[ 9.98226200e-01 5.34919353e-02 2.61355293e-02 2.92416935e+01] [-5.34898793e-02 9.98568088e-01 -7.78274915e-04 3.41933733e-01] [-2.61397369e-02 -6.21091895e-04 9.99658106e-01 -8.73746402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.816874999999996 meters 0.018688232793976692 Centerline is valid? [True, True] Translation: X:29.27, Y:0.34, Z:-0.87 [[ 9.98135244e-01 5.44250553e-02 2.76396152e-02 2.92749028e+01] [-5.44228851e-02 9.98517631e-01 -8.31329985e-04 3.40602662e-01] [-2.76438883e-02 -6.74447847e-04 9.99617607e-01 -8.72776421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.846874999999997 meters 0.019156989530410926 Centerline is valid? [True, True] Translation: X:29.31, Y:0.34, Z:-0.87 [[ 9.98070994e-01 5.54433678e-02 2.79342652e-02 2.93061405e+01] [-5.54413224e-02 9.98461587e-01 -8.48322639e-04 3.39992937e-01] [-2.79383246e-02 -7.02026381e-04 9.99609402e-01 -8.73450962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.876875 meters 0.016932303481773256 Centerline is valid? [True, True] Translation: X:29.34, Y:0.33, Z:-0.88 [[ 9.98492694e-01 4.85098404e-02 2.56736244e-02 2.93372215e+01] [-4.85056568e-02 9.98822599e-01 -7.86056287e-04 3.34149624e-01] [-2.56815277e-02 -4.60444552e-04 9.99670069e-01 -8.78193218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.906875 meters 0.015364466537976516 Centerline is valid? [True, True] Translation: X:29.37, Y:0.33, Z:-0.88 [[ 9.98811501e-01 4.14506217e-02 2.56404109e-02 2.93682159e+01] [-4.14441001e-02 9.99140515e-01 -7.85934850e-04 3.29023711e-01] [-2.56509508e-02 -2.77642988e-04 9.99670922e-01 -8.78460896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.936874999999997 meters 0.014811243508072492 Centerline is valid? [True, True] Translation: X:29.40, Y:0.32, Z:-0.88 [[ 9.98931861e-01 3.75917746e-02 2.68699844e-02 2.94001695e+01] [-3.75832171e-02 9.99293162e-01 -8.23606761e-04 3.24413005e-01] [-2.68819525e-02 -1.87133422e-04 9.99638597e-01 -8.76486779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.966874999999998 meters 0.014557263333699338 Centerline is valid? [True, True] Translation: X:29.43, Y:0.32, Z:-0.88 [[ 9.98984632e-01 3.56253497e-02 2.75778947e-02 2.94322215e+01] [-3.56154003e-02 9.99365207e-01 -8.52039628e-04 3.21630915e-01] [-2.75907426e-02 -1.31023263e-04 9.99619294e-01 -8.75497902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.996875 meters 0.014648789418821894 Centerline is valid? [True, True] Translation: X:29.46, Y:0.32, Z:-0.88 [[ 9.99012902e-01 3.56870234e-02 2.64510364e-02 2.94637396e+01] [-3.56777350e-02 9.99363008e-01 -8.23157570e-04 3.21905388e-01] [-2.64635633e-02 -1.21368035e-04 9.99649771e-01 -8.78739867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.026874999999997 meters 0.014865757886533628 Centerline is valid? [True, True] Translation: X:29.50, Y:0.33, Z:-0.89 [[ 9.99065500e-01 3.71075656e-02 2.21620296e-02 2.94955925e+01] [-3.71012965e-02 9.99311269e-01 -6.94121573e-04 3.26426252e-01] [-2.21725230e-02 -1.28767113e-04 9.99754151e-01 -8.87578014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.056874999999998 meters 0.01528553497649553 Centerline is valid? [True, True] Translation: X:29.53, Y:0.33, Z:-0.89 [[ 9.98967335e-01 4.00796701e-02 2.13982289e-02 2.95268364e+01] [-4.00743974e-02 9.99196470e-01 -6.75331238e-04 3.29628787e-01] [-2.14081018e-02 -1.82887282e-04 9.99770804e-01 -8.91408880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.086875 meters 0.0156475705587136 Centerline is valid? [True, True] Translation: X:29.56, Y:0.33, Z:-0.89 [[ 9.98802648e-01 4.40752984e-02 2.12282257e-02 2.95589987e+01] [-4.40709151e-02 9.99028178e-01 -6.74495634e-04 3.30851677e-01] [-2.12373242e-02 -2.61859306e-04 9.99774428e-01 -8.90970810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.116874999999997 meters 0.017218005884026284 Centerline is valid? [True, True] Translation: X:29.59, Y:0.34, Z:-0.89 [[ 9.98425825e-01 5.12379970e-02 2.28153340e-02 2.95907963e+01] [-5.12346312e-02 9.98686375e-01 -7.32429158e-04 3.35520518e-01] [-2.28228914e-02 -4.37659037e-04 9.99739428e-01 -8.87821503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.146874999999998 meters 0.018358318128156463 Centerline is valid? [True, True] Translation: X:29.62, Y:0.34, Z:-0.89 [[ 9.98227452e-01 5.46961224e-02 2.34582089e-02 2.96223424e+01] [-5.46935093e-02 9.98502906e-01 -7.53456382e-04 3.37498211e-01] [-2.34643009e-02 -5.30890922e-04 9.99724534e-01 -8.86286836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.176875 meters 0.018732150274464635 Centerline is valid? [True, True] Translation: X:29.65, Y:0.34, Z:-0.89 [[ 9.98042957e-01 5.78595983e-02 2.37175694e-02 2.96547274e+01] [-5.78576964e-02 9.98324546e-01 -7.66976642e-04 3.39015236e-01] [-2.37222087e-02 -6.06768298e-04 9.99718405e-01 -8.85920356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.206874999999997 meters 0.019864191107546753 Centerline is valid? [True, True] Translation: X:29.69, Y:0.34, Z:-0.89 [[ 9.97872064e-01 6.08760305e-02 2.33549258e-02 2.96855136e+01] [-6.08748572e-02 9.98145115e-01 -7.61855669e-04 3.42081991e-01] [-2.33579839e-02 -6.61493283e-04 9.99726946e-01 -8.87294647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.236874999999998 meters 0.02147545979373912 Centerline is valid? [True, True] Translation: X:29.72, Y:0.35, Z:-0.89 [[ 9.97694533e-01 6.37666625e-02 2.32256838e-02 2.97162111e+01] [-6.37662019e-02 9.97964575e-01 -7.61192054e-04 3.45321633e-01] [-2.32269483e-02 -7.21576490e-04 9.99729958e-01 -8.89815562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.266875 meters 0.021832713089567198 Centerline is valid? [True, True] Translation: X:29.75, Y:0.35, Z:-0.89 [[ 9.97405552e-01 6.79488208e-02 2.37723016e-02 2.97469324e+01] [-6.79495011e-02 9.97688457e-01 -7.80087786e-04 3.46548337e-01] [-2.37703569e-02 -8.37252145e-04 9.99717095e-01 -8.90602101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.296874999999996 meters 0.02277371360321559 Centerline is valid? [True, True] Translation: X:29.78, Y:0.35, Z:-0.89 [[ 9.97307898e-01 6.93008460e-02 2.39656034e-02 2.97791304e+01] [-6.93019598e-02 9.97595420e-01 -7.85073349e-04 3.47036899e-01] [-2.39623825e-02 -8.77903433e-04 9.99712475e-01 -8.91412446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.326874999999998 meters 0.022413601057328505 Centerline is valid? [True, True] Translation: X:29.81, Y:0.35, Z:-0.89 [[ 9.97397410e-01 6.82009904e-02 2.33887083e-02 2.98110456e+01] [-6.82016190e-02 9.97671260e-01 -7.71738927e-04 3.45350152e-01] [-2.33868754e-02 -8.25417363e-04 9.99726149e-01 -8.93046173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.356875 meters 0.02159617281861061 Centerline is valid? [True, True] Translation: X:29.84, Y:0.34, Z:-0.89 [[ 9.97566384e-01 6.53968926e-02 2.41775931e-02 2.98426035e+01] [-6.53965565e-02 9.97859029e-01 -8.05429691e-04 3.42815486e-01] [-2.41785022e-02 -7.77661751e-04 9.99707355e-01 -8.93157399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.386874999999996 meters 0.02159617281861061 Centerline is valid? [True, True] Translation: X:29.87, Y:0.34, Z:-0.89 [[ 9.97548236e-01 6.56731291e-02 2.41776085e-02 2.98749598e+01] [-6.56728850e-02 9.97840881e-01 -8.04976755e-04 3.41632643e-01] [-2.41782716e-02 -7.84810163e-04 9.99707355e-01 -8.94188764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.416874999999997 meters 0.020447056517025084 Centerline is valid? [True, True] Translation: X:29.91, Y:0.34, Z:-0.89 [[ 9.97573607e-01 6.48063376e-02 2.54369225e-02 2.99066769e+01] [-6.48055902e-02 9.97897542e-01 -8.54609036e-04 3.37734715e-01] [-2.54388265e-02 -7.95919357e-04 9.99676064e-01 -8.93159818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.446875 meters 0.019572482825275243 Centerline is valid? [True, True] Translation: X:29.94, Y:0.33, Z:-0.89 [[ 9.97668001e-01 6.33724290e-02 2.53474950e-02 2.99387742e+01] [-6.33710663e-02 9.97989665e-01 -8.57844255e-04 3.34032812e-01] [-2.53509017e-02 -7.50454023e-04 9.99678333e-01 -8.92813589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.476874999999996 meters 0.020204669374621387 Centerline is valid? [True, True] Translation: X:29.97, Y:0.33, Z:-0.89 [[ 9.97784728e-01 6.14677898e-02 2.54430342e-02 2.99702065e+01] [-6.14656358e-02 9.98108823e-01 -8.67455425e-04 3.33227833e-01] [-2.54482375e-02 -6.98338498e-04 9.99675897e-01 -8.94067084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.506874999999997 meters 0.01857881717508125 Centerline is valid? [True, True] Translation: X:30.00, Y:0.33, Z:-0.90 [[ 9.98070402e-01 5.77030113e-02 2.29310797e-02 3.00020737e+01] [-5.77001553e-02 9.98333648e-01 -7.86726439e-04 3.28551635e-01] [-2.29382650e-02 -5.37918489e-04 9.99736739e-01 -8.99044775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.536875 meters 0.017991096150769343 Centerline is valid? [True, True] Translation: X:30.03, Y:0.33, Z:-0.90 [[ 9.98150982e-01 5.67731550e-02 2.17123332e-02 3.00343090e+01] [-5.67702707e-02 9.98386986e-01 -7.49699019e-04 3.26210176e-01] [-2.17198737e-02 -4.84302220e-04 9.99763978e-01 -9.02431732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.566874999999996 meters 0.017861177653345776 Centerline is valid? [True, True] Translation: X:30.07, Y:0.32, Z:-0.90 [[ 9.98183928e-01 5.67079150e-02 2.03238494e-02 3.00666040e+01] [-5.67052923e-02 9.98390711e-01 -7.05778062e-04 3.24302685e-01] [-2.03311657e-02 -4.47973504e-04 9.99793200e-01 -9.04767081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.596874999999997 meters 0.018053469044810422 Centerline is valid? [True, True] Translation: X:30.10, Y:0.32, Z:-0.91 [[ 9.98174094e-01 5.74665996e-02 1.86029230e-02 3.00972790e+01] [-5.74644389e-02 9.98347342e-01 -6.51116791e-04 3.23085590e-01] [-1.86095962e-02 -4.19078618e-04 9.99826739e-01 -9.07163783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.626875 meters 0.018352804848844575 Centerline is valid? [True, True] Translation: X:30.13, Y:0.32, Z:-0.91 [[ 9.98107812e-01 5.86130592e-02 1.85824062e-02 3.01297702e+01] [-5.86110008e-02 9.98280682e-01 -6.55833124e-04 3.22294071e-01] [-1.85888975e-02 -4.34541258e-04 9.99827117e-01 -9.07565120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.656875 meters 0.019280719615725955 Centerline is valid? [True, True] Translation: X:30.16, Y:0.32, Z:-0.91 [[ 9.98030077e-01 5.97668050e-02 1.90760347e-02 3.01612196e+01] [-5.97647985e-02 9.98212258e-01 -6.75766379e-04 3.22880214e-01] [-1.90823201e-02 -4.65640201e-04 9.99817808e-01 -9.07796348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.686874999999997 meters 0.01998038827674166 Centerline is valid? [True, True] Translation: X:30.19, Y:0.32, Z:-0.91 [[ 9.97909175e-01 6.17321747e-02 1.91420352e-02 3.01937154e+01] [-6.17304561e-02 9.98092624e-01 -6.81209077e-04 3.24252738e-01] [-1.91475767e-02 -5.01861778e-04 9.99816542e-01 -9.08815338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.716874999999998 meters 0.019906379429774225 Centerline is valid? [True, True] Translation: X:30.23, Y:0.32, Z:-0.91 [[ 9.97794728e-01 6.30365916e-02 2.07862854e-02 3.02267465e+01] [-6.30348503e-02 9.98011052e-01 -7.39613155e-04 3.23229333e-01] [-2.07915653e-02 -5.72278286e-04 9.99783668e-01 -9.08883398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.746875 meters 0.019537688515409792 Centerline is valid? [True, True] Translation: X:30.26, Y:0.32, Z:-0.91 [[ 9.97693658e-01 6.42214069e-02 2.19767239e-02 3.02588761e+01] [-6.42195960e-02 9.97935479e-01 -7.88870981e-04 3.21597885e-01] [-2.19820149e-02 -6.24284758e-04 9.99758171e-01 -9.08644216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.776874999999997 meters 0.020493008166582456 Centerline is valid? [True, True] Translation: X:30.29, Y:0.32, Z:-0.91 [[ 9.97624665e-01 6.46871569e-02 2.36769765e-02 3.02901661e+01] [-6.46850319e-02 9.97905363e-01 -8.56421562e-04 3.21232625e-01] [-2.36827813e-02 -6.77158706e-04 9.99719294e-01 -9.08387324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.806874999999998 meters 0.019691169901521425 Centerline is valid? [True, True] Translation: X:30.32, Y:0.32, Z:-0.91 [[ 9.97575136e-01 6.50940560e-02 2.46294732e-02 3.03227872e+01] [-6.50917479e-02 9.97878881e-01 -8.96259652e-04 3.17797251e-01] [-2.46355723e-02 -7.09089114e-04 9.99696247e-01 -9.07418546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.836875 meters 0.01976747891496248 Centerline is valid? [True, True] Translation: X:30.36, Y:0.32, Z:-0.91 [[ 9.97563525e-01 6.52414527e-02 2.47096542e-02 3.03559468e+01] [-6.52390027e-02 9.97869256e-01 -9.06141337e-04 3.16602278e-01] [-2.47161222e-02 -7.08099647e-04 9.99694259e-01 -9.07935922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.866874999999997 meters 0.020032621098547965 Centerline is valid? [True, True] Translation: X:30.39, Y:0.32, Z:-0.91 [[ 9.97612300e-01 6.51705832e-02 2.28581272e-02 3.03881097e+01] [-6.51683335e-02 9.97873928e-01 -8.44109134e-04 3.16070365e-01] [-2.28645402e-02 -6.47532401e-04 9.99738363e-01 -9.11760636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.896874999999998 meters 0.020096875602375473 Centerline is valid? [True, True] Translation: X:30.42, Y:0.31, Z:-0.91 [[ 9.97607086e-01 6.57855392e-02 2.12688674e-02 3.04200900e+01] [-6.57836212e-02 9.97833598e-01 -7.90576262e-04 3.14861295e-01] [-2.12747990e-02 -6.10458634e-04 9.99773479e-01 -9.13796803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.926875 meters 0.020268375241017267 Centerline is valid? [True, True] Translation: X:30.45, Y:0.31, Z:-0.92 [[ 9.97632328e-01 6.56485645e-02 2.04939890e-02 3.04528966e+01] [-6.56466673e-02 9.97842637e-01 -7.66038045e-04 3.13918865e-01] [-2.05000654e-02 -5.81137762e-04 9.99789683e-01 -9.16716428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.956874999999997 meters 0.020287426427500692 Centerline is valid? [True, True] Translation: X:30.49, Y:0.31, Z:-0.92 [[ 9.97669956e-01 6.54427917e-02 1.92847284e-02 3.04856930e+01] [-6.54409819e-02 9.97856178e-01 -7.25571378e-04 3.12150920e-01] [-1.92908688e-02 -5.38130799e-04 9.99813769e-01 -9.20039529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.986874999999998 meters 0.019058982201892043 Centerline is valid? [True, True] Translation: X:30.52, Y:0.31, Z:-0.92 [[ 9.97784115e-01 6.40421191e-02 1.80407026e-02 3.05181128e+01] [-6.40401821e-02 9.97947085e-01 -6.85655044e-04 3.07683001e-01] [-1.80475773e-02 -4.71194165e-04 9.99837018e-01 -9.21964488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.016875 meters 0.019980604933955304 Centerline is valid? [True, True] Translation: X:30.55, Y:0.31, Z:-0.92 [[ 9.97798653e-01 6.36858419e-02 1.84922046e-02 3.05487214e+01] [-6.36837480e-02 9.97969883e-01 -7.02682679e-04 3.07767245e-01] [-1.84994142e-02 -4.76517070e-04 9.99828758e-01 -9.23269376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.046874999999996 meters 0.01905941714812954 Centerline is valid? [True, True] Translation: X:30.58, Y:0.30, Z:-0.92 [[ 9.97748623e-01 6.41628219e-02 1.95145606e-02 3.05811994e+01] [-6.41605022e-02 9.97939314e-01 -7.45584608e-04 3.04102009e-01] [-1.95221860e-02 -5.08157992e-04 9.99809295e-01 -9.21756394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.076874999999998 meters 0.01885946912206288 Centerline is valid? [True, True] Translation: X:30.61, Y:0.30, Z:-0.92 [[ 9.97708416e-01 6.45874391e-02 2.01588549e-02 3.06141414e+01] [-6.45849328e-02 9.97911912e-01 -7.76030903e-04 3.02266208e-01] [-2.01668833e-02 -5.27705726e-04 9.99796488e-01 -9.21189255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.106875 meters 0.01934875033459248 Centerline is valid? [True, True] Translation: X:30.65, Y:0.30, Z:-0.92 [[ 9.97581710e-01 6.58580511e-02 2.22136987e-02 3.06457408e+01] [-6.58551610e-02 9.97828820e-01 -8.62407626e-04 3.01363695e-01] [-2.22222652e-02 -6.02564628e-04 9.99752873e-01 -9.19507349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.136874999999996 meters 0.020760497707927383 Centerline is valid? [True, True] Translation: X:30.68, Y:0.30, Z:-0.92 [[ 9.97522405e-01 6.65606539e-02 2.27756798e-02 3.06772850e+01] [-6.65576584e-02 9.97782183e-01 -8.90384489e-04 3.02624002e-01] [-2.27844321e-02 -6.27717438e-04 9.99740204e-01 -9.19739021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.166874999999997 meters 0.02000165929570482 Centerline is valid? [True, True] Translation: X:30.71, Y:0.30, Z:-0.92 [[ 9.97428113e-01 6.75982304e-02 2.38251545e-02 3.07094135e+01] [-6.75950925e-02 9.97712395e-01 -9.37951326e-04 3.00442982e-01] [-2.38340558e-02 -6.74924499e-04 9.99715701e-01 -9.19723486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.196875 meters 0.01966168172303161 Centerline is valid? [True, True] Translation: X:30.74, Y:0.30, Z:-0.92 [[ 9.97268459e-01 6.90934343e-02 2.61097171e-02 3.07410783e+01] [-6.90899965e-02 9.97609894e-01 -1.03483627e-03 2.99515401e-01] [-2.61188125e-02 -7.71910689e-04 9.99658548e-01 -9.19515838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.226874999999996 meters 0.01995635159127928 Centerline is valid? [True, True] Translation: X:30.77, Y:0.30, Z:-0.92 [[ 9.97219401e-01 6.97787123e-02 2.61610044e-02 3.07736571e+01] [-6.97753324e-02 9.97562186e-01 -1.04314023e-03 2.98226351e-01] [-2.61700177e-02 -7.85153104e-04 9.99657198e-01 -9.20725882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.256874999999997 meters 0.02027429811485089 Centerline is valid? [True, True] Translation: X:30.81, Y:0.30, Z:-0.92 [[ 9.97199473e-01 7.02942400e-02 2.55329178e-02 3.08054431e+01] [-7.02910080e-02 9.97526001e-01 -1.02518445e-03 2.97127521e-01] [-2.55418139e-02 -7.72421133e-04 9.99673456e-01 -9.22184157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.286875 meters 0.020684301533056112 Centerline is valid? [True, True] Translation: X:30.84, Y:0.30, Z:-0.92 [[ 9.97097627e-01 7.16544633e-02 2.57285690e-02 3.08369677e+01] [-7.16514537e-02 9.97429189e-01 -1.04004074e-03 2.97009485e-01] [-2.57369493e-02 -8.06467213e-04 9.99668425e-01 -9.23222029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.316874999999996 meters 0.02126712088234426 Centerline is valid? [True, True] Translation: X:30.87, Y:0.30, Z:-0.92 [[ 9.96989770e-01 7.29184891e-02 2.63494137e-02 3.08689757e+01] [-7.29156148e-02 9.97337539e-01 -1.07115960e-03 2.97338920e-01] [-2.63573667e-02 -8.53348534e-04 9.99652220e-01 -9.24307484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.346874999999997 meters 0.020784163455228193 Centerline is valid? [True, True] Translation: X:30.90, Y:0.30, Z:-0.93 [[ 9.96897399e-01 7.41605742e-02 2.63777379e-02 3.09007922e+01] [-7.41579610e-02 9.97245924e-01 -1.07863328e-03 2.95459899e-01] [-2.63850837e-02 -8.80832545e-04 9.99651465e-01 -9.25257108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.376875 meters 0.022143902858038928 Centerline is valid? [True, True] Translation: X:30.93, Y:0.30, Z:-0.93 [[ 9.96757225e-01 7.59625633e-02 2.65466190e-02 3.09317830e+01] [-7.59603765e-02 9.97110239e-01 -1.09224980e-03 2.97716910e-01] [-2.65528757e-02 -9.27783289e-04 9.99646980e-01 -9.26764765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.406875 meters 0.021443837900963072 Centerline is valid? [True, True] Translation: X:30.96, Y:0.30, Z:-0.93 [[ 9.96719539e-01 7.65797732e-02 2.61858621e-02 3.09637402e+01] [-7.65777064e-02 9.97063028e-01 -1.08318943e-03 2.95817431e-01] [-2.61919053e-02 -9.25617194e-04 9.99656505e-01 -9.28319330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.436874999999997 meters 0.023230622087202755 Centerline is valid? [True, True] Translation: X:31.00, Y:0.30, Z:-0.93 [[ 9.96715558e-01 7.69133838e-02 2.53461472e-02 3.09952041e+01] [-7.69114044e-02 9.97037373e-01 -1.05439445e-03 2.97897911e-01] [-2.53521531e-02 -8.98476425e-04 9.99678179e-01 -9.30744095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.466874999999998 meters 0.021409701849777772 Centerline is valid? [True, True] Translation: X:31.03, Y:0.29, Z:-0.93 [[ 9.96744640e-01 7.68259552e-02 2.44518984e-02 3.10275081e+01] [-7.68239389e-02 9.97044149e-01 -1.02322678e-03 2.93397702e-01] [-2.44582326e-02 -8.58595340e-04 9.99700484e-01 -9.32023661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.496875 meters 0.021812285649101724 Centerline is valid? [True, True] Translation: X:31.06, Y:0.29, Z:-0.94 [[ 9.96859734e-01 7.60197311e-02 2.21736622e-02 3.10584909e+01] [-7.60177417e-02 9.97106028e-01 -9.33828075e-04 2.92413460e-01] [-2.21804816e-02 -7.54696122e-04 9.99753698e-01 -9.35209724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.526874999999997 meters 0.020889952453679292 Centerline is valid? [True, True] Translation: X:31.09, Y:0.29, Z:-0.94 [[ 9.96933926e-01 7.52857328e-02 2.13261852e-02 3.10900599e+01] [-7.52836326e-02 9.97161752e-01 -9.02450794e-04 2.88704055e-01] [-2.13335979e-02 -7.05828881e-04 9.99772164e-01 -9.36875075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.556874999999998 meters 0.020962016223320844 Centerline is valid? [True, True] Translation: X:31.12, Y:0.29, Z:-0.94 [[ 9.97026814e-01 7.42216400e-02 2.07046147e-02 3.11206588e+01] [-7.42193261e-02 9.97241553e-01 -8.81219366e-04 2.86733978e-01] [-2.07129077e-02 -6.58083213e-04 9.99785248e-01 -9.38209324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.586875 meters 0.019437150578427702 Centerline is valid? [True, True] Translation: X:31.15, Y:0.28, Z:-0.94 [[ 9.97251745e-01 7.07061201e-02 2.21269364e-02 3.11520710e+01] [-7.07024538e-02 9.97496999e-01 -9.48941631e-04 2.81284534e-01] [-2.21386486e-02 -6.18095002e-04 9.99754719e-01 -9.38116085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.616874999999997 meters 0.01849075685491387 Centerline is valid? [True, True] Translation: X:31.18, Y:0.28, Z:-0.94 [[ 9.97320637e-01 6.91909665e-02 2.37519884e-02 3.11837443e+01] [-6.91863166e-02 9.97603236e-01 -1.01846907e-03 2.78174836e-01] [-2.37655293e-02 -6.27572363e-04 9.99717363e-01 -9.37741727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.646874999999998 meters 0.01798661940602639 Centerline is valid? [True, True] Translation: X:31.22, Y:0.28, Z:-0.94 [[ 9.97344630e-01 6.80692177e-02 2.58895811e-02 3.12154226e+01] [-6.80631354e-02 9.97680391e-01 -1.11709095e-03 2.75649821e-01] [-2.59055669e-02 -6.48001410e-04 9.99664184e-01 -9.37604086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.676875 meters 0.01689952517226114 Centerline is valid? [True, True] Translation: X:31.25, Y:0.27, Z:-0.93 [[ 9.97466806e-01 6.49560373e-02 2.89945391e-02 3.12471917e+01] [-6.49468511e-02 9.97887930e-01 -1.25945922e-03 2.71895060e-01] [-2.90151101e-02 -6.26835247e-04 9.99578777e-01 -9.34995863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.706874999999997 meters 0.016181777251949716 Centerline is valid? [True, True] Translation: X:31.28, Y:0.27, Z:-0.93 [[ 9.97515404e-01 6.37589894e-02 2.99634753e-02 3.12788258e+01] [-6.37486021e-02 9.97965139e-01 -1.30279263e-03 2.68411412e-01] [-2.99855685e-02 -6.10573945e-04 9.99550145e-01 -9.34678623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.736874999999998 meters 0.0160132650337333 Centerline is valid? [True, True] Translation: X:31.31, Y:0.27, Z:-0.93 [[ 9.97587431e-01 6.24290506e-02 3.03633162e-02 3.13099867e+01] [-6.24175414e-02 9.98049241e-01 -1.32764740e-03 2.66237622e-01] [-3.03869685e-02 -5.70759194e-04 9.99538046e-01 -9.34736824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.766875 meters 0.015478057738230687 Centerline is valid? [True, True] Translation: X:31.34, Y:0.26, Z:-0.93 [[ 9.97700998e-01 6.04956251e-02 3.05450014e-02 3.13422645e+01] [-6.04828641e-02 9.98168333e-01 -1.34239332e-03 2.63560040e-01] [-3.05702621e-02 -5.08142013e-04 9.99532491e-01 -9.34864351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.796874999999996 meters 0.01540795226206368 Centerline is valid? [True, True] Translation: X:31.37, Y:0.26, Z:-0.94 [[ 9.97753588e-01 5.98914016e-02 3.00132764e-02 3.13744948e+01] [-5.98785981e-02 9.98204786e-01 -1.32600037e-03 2.62671882e-01] [-3.00388122e-02 -4.74131288e-04 9.99548621e-01 -9.36676349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.826874999999998 meters 0.015137213259080799 Centerline is valid? [True, True] Translation: X:31.41, Y:0.26, Z:-0.94 [[ 9.97794400e-01 5.95654722e-02 2.92965894e-02 3.14075959e+01] [-5.95529375e-02 9.98224301e-01 -1.30098316e-03 2.61179090e-01] [-2.93220611e-02 -4.46584240e-04 9.99569916e-01 -9.39293792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.856875 meters 0.015152415699712395 Centerline is valid? [True, True] Translation: X:31.44, Y:0.26, Z:-0.94 [[ 9.97829551e-01 5.93134452e-02 2.86024843e-02 3.14392168e+01] [-5.93011731e-02 9.98239319e-01 -1.27786888e-03 2.59878526e-01] [-2.86279192e-02 -4.21065543e-04 9.99590048e-01 -9.41348903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.886874999999996 meters 0.015112345826410732 Centerline is valid? [True, True] Translation: X:31.47, Y:0.26, Z:-0.95 [[ 9.97980186e-01 5.83391361e-02 2.51414758e-02 3.14720996e+01] [-5.83292101e-02 9.98296764e-01 -1.12860813e-03 2.58004823e-01] [-2.51644960e-02 -3.40153871e-04 9.99683266e-01 -9.46747144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.916874999999997 meters 0.01504516295770148 Centerline is valid? [True, True] Translation: X:31.50, Y:0.26, Z:-0.95 [[ 9.98018999e-01 5.82913687e-02 2.36684281e-02 3.15037054e+01] [-5.82824168e-02 9.98299563e-01 -1.06845657e-03 2.56884471e-01] [-2.36904632e-02 -3.13113238e-04 9.99719293e-01 -9.50029619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.946875 meters 0.014758664933894322 Centerline is valid? [True, True] Translation: X:31.54, Y:0.25, Z:-0.95 [[ 9.98032827e-01 5.80036339e-02 2.37919164e-02 3.15360565e+01] [-5.79943687e-02 9.98316326e-01 -1.07982244e-03 2.54735641e-01] [-2.38144922e-02 -3.02098933e-04 9.99716349e-01 -9.51821674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.976874999999996 meters 0.015471010821440227 Centerline is valid? [True, True] Translation: X:31.57, Y:0.26, Z:-0.95 [[ 9.97925101e-01 5.92853083e-02 2.51146283e-02 3.15680641e+01] [-5.92752015e-02 9.98241020e-01 -1.14734235e-03 2.56196588e-01] [-2.51384727e-02 -3.43712920e-04 9.99683920e-01 -9.52468254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.006874999999997 meters 0.015098931901608704 Centerline is valid? [True, True] Translation: X:31.60, Y:0.25, Z:-0.95 [[ 9.97819664e-01 6.06179418e-02 2.61033127e-02 3.16005255e+01] [-6.06073007e-02 9.98160967e-01 -1.19935019e-03 2.54437949e-01] [-2.61280100e-02 -3.85316117e-04 9.99658531e-01 -9.51466459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.036875 meters 0.01548969331301779 Centerline is valid? [True, True] Translation: X:31.63, Y:0.25, Z:-0.95 [[ 9.97710188e-01 6.21573985e-02 2.66615728e-02 3.16312373e+01] [-6.21466417e-02 9.98066268e-01 -1.23268104e-03 2.54781600e-01] [-2.66866367e-02 -4.27068781e-04 9.99643757e-01 -9.51724820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.066874999999996 meters 0.016427349003724723 Centerline is valid? [True, True] Translation: X:31.66, Y:0.26, Z:-0.95 [[ 9.97596510e-01 6.39989079e-02 2.65582786e-02 3.16623890e+01] [-6.39887201e-02 9.97949859e-01 -1.23416119e-03 2.55255908e-01] [-2.65828154e-02 -4.68235360e-04 9.99646505e-01 -9.52512880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.096874999999997 meters 0.016851170459096985 Centerline is valid? [True, True] Translation: X:31.69, Y:0.25, Z:-0.95 [[ 9.97343278e-01 6.79948768e-02 2.61358493e-02 3.16947610e+01] [-6.79862886e-02 9.97685512e-01 -1.21807734e-03 2.54781819e-01] [-2.61581812e-02 -5.62038148e-04 9.99657658e-01 -9.52351911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.126875 meters 0.016889356894439062 Centerline is valid? [True, True] Translation: X:31.73, Y:0.25, Z:-0.95 [[ 9.97192029e-01 7.01621869e-02 2.61787034e-02 3.17270804e+01] [-7.01542955e-02 9.97535405e-01 -1.22088713e-03 2.53737014e-01] [-2.61998436e-02 -6.19089577e-04 9.99656533e-01 -9.52909657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.156875 meters 0.018081380138431098 Centerline is valid? [True, True] Translation: X:31.76, Y:0.26, Z:-0.95 [[ 9.97065015e-01 7.17941717e-02 2.65885661e-02 3.17580544e+01] [-7.17864298e-02 9.97419247e-01 -1.24680905e-03 2.55630021e-01] [-2.66094612e-02 -6.65548552e-04 9.99645684e-01 -9.54932321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.186874999999997 meters 0.018573760373717434 Centerline is valid? [True, True] Translation: X:31.79, Y:0.26, Z:-0.96 [[ 9.96871462e-01 7.45881555e-02 2.61513960e-02 3.17894705e+01] [-7.45814732e-02 9.97214162e-01 -1.23216493e-03 2.55065352e-01] [-2.61704473e-02 -7.22099578e-04 9.99657234e-01 -9.57114024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.216874999999998 meters 0.01985348026536088 Centerline is valid? [True, True] Translation: X:31.82, Y:0.26, Z:-0.96 [[ 9.96808188e-01 7.54693359e-02 2.60349126e-02 3.18206211e+01] [-7.54628586e-02 9.97147851e-01 -1.23260655e-03 2.55402503e-01] [-2.60536812e-02 -7.35996626e-04 9.99660274e-01 -9.58872137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.246875 meters 0.019082855376226837 Centerline is valid? [True, True] Translation: X:31.85, Y:0.25, Z:-0.96 [[ 9.96752582e-01 7.63699192e-02 2.55328550e-02 3.18524774e+01] [-7.63638432e-02 9.97079279e-01 -1.21436138e-03 2.51945157e-01] [-2.55510214e-02 -7.39369103e-04 9.99673246e-01 -9.59742312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.276874999999997 meters 0.019101827948820743 Centerline is valid? [True, True] Translation: X:31.88, Y:0.25, Z:-0.96 [[ 9.96623384e-01 7.80832002e-02 2.53937706e-02 3.18848321e+01] [-7.80775892e-02 9.96946546e-01 -1.21390391e-03 2.49208273e-01] [-2.54110174e-02 -7.72879372e-04 9.99676789e-01 -9.60441555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.306874999999998 meters 0.019101827948820743 Centerline is valid? [True, True] Translation: X:31.92, Y:0.25, Z:-0.96 [[ 9.96600903e-01 7.83697050e-02 2.53934755e-02 3.19171592e+01] [-7.83640306e-02 9.96924064e-01 -1.22004337e-03 2.47562617e-01] [-2.54109812e-02 -7.74038764e-04 9.99676789e-01 -9.61475919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.336875 meters 0.020382633672721404 Centerline is valid? [True, True] Translation: X:31.95, Y:0.25, Z:-0.96 [[ 9.96522680e-01 7.93681077e-02 2.53623901e-02 3.19478474e+01] [-7.93625758e-02 9.96845062e-01 -1.22620545e-03 2.48069277e-01] [-2.53796949e-02 -7.90883061e-04 9.99677571e-01 -9.62676739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.366874999999997 meters 0.020533161025456298 Centerline is valid? [True, True] Translation: X:31.98, Y:0.25, Z:-0.96 [[ 9.96441107e-01 8.01317589e-02 2.61537887e-02 3.19810470e+01] [-8.01259810e-02 9.96783935e-01 -1.27051480e-03 2.46075268e-01] [-2.61714850e-02 -8.29604800e-04 9.99657124e-01 -9.64580082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.396874999999998 meters 0.020594893500729555 Centerline is valid? [True, True] Translation: X:32.01, Y:0.24, Z:-0.97 [[ 9.96410144e-01 8.05107347e-02 2.61695583e-02 3.20140618e+01] [-8.05048908e-02 9.96753394e-01 -1.27851373e-03 2.43739406e-01] [-2.61875301e-02 -8.32853380e-04 9.99656701e-01 -9.65998245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.426875 meters 0.020321348356658574 Centerline is valid? [True, True] Translation: X:32.05, Y:0.24, Z:-0.97 [[ 9.96391650e-01 8.08702622e-02 2.57620137e-02 3.20463995e+01] [-8.08645390e-02 9.96724297e-01 -1.26557863e-03 2.40400456e-01] [-2.57799727e-02 -8.22221387e-04 9.99667303e-01 -9.67579277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.456874999999997 meters 0.020465052597913994 Centerline is valid? [True, True] Translation: X:32.08, Y:0.24, Z:-0.97 [[ 9.96497226e-01 8.02358142e-02 2.35688749e-02 3.20768318e+01] [-8.02306813e-02 9.96775642e-01 -1.16483394e-03 2.37407799e-01] [-2.35863418e-02 -7.30193100e-04 9.99721537e-01 -9.71000951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.486874999999998 meters 0.020743398871048885 Centerline is valid? [True, True] Translation: X:32.11, Y:0.24, Z:-0.97 [[ 9.96500560e-01 8.04541916e-02 2.26662271e-02 3.21092338e+01] [-8.04494633e-02 9.96758058e-01 -1.12186781e-03 2.35118922e-01] [-2.26830035e-02 -7.05543913e-04 9.99742459e-01 -9.73293343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.516875 meters 0.020481841549814864 Centerline is valid? [True, True] Translation: X:32.14, Y:0.23, Z:-0.97 [[ 9.96518908e-01 8.04863380e-02 2.17259362e-02 3.21421901e+01] [-8.04818790e-02 9.96755486e-01 -1.08095532e-03 2.32019032e-01] [-2.17424482e-02 -6.71351752e-04 9.99763380e-01 -9.74957853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.546874999999996 meters 0.020023040446220775 Centerline is valid? [True, True] Translation: X:32.17, Y:0.23, Z:-0.98 [[ 9.96522471e-01 8.07266562e-02 2.06439468e-02 3.21748123e+01] [-8.07225738e-02 9.96736074e-01 -1.03234363e-03 2.28064389e-01] [-2.06599042e-02 -6.37678898e-04 9.99786358e-01 -9.76067553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.576874999999998 meters 0.02065884743956261 Centerline is valid? [True, True] Translation: X:32.21, Y:0.23, Z:-0.98 [[ 9.96565823e-01 8.01920809e-02 2.06347118e-02 3.22058064e+01] [-8.01877572e-02 9.96779236e-01 -1.03819839e-03 2.25348983e-01] [-2.06515076e-02 -6.20018231e-04 9.99786543e-01 -9.77584299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.606875 meters 0.01968916523098145 Centerline is valid? [True, True] Translation: X:32.24, Y:0.22, Z:-0.98 [[ 9.96587808e-01 7.95815628e-02 2.18978635e-02 3.22379621e+01] [-7.95764333e-02 9.96828153e-01 -1.10691470e-03 2.21803419e-01] [-2.19164968e-02 -6.39416178e-04 9.99759600e-01 -9.77728201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.636874999999996 meters 0.019180904284269808 Centerline is valid? [True, True] Translation: X:32.27, Y:0.22, Z:-0.98 [[ 9.96604608e-01 7.89812684e-02 2.32640376e-02 3.22704579e+01] [-7.89751430e-02 9.96875883e-01 -1.18338175e-03 2.18242035e-01] [-2.32848230e-02 -6.57916987e-04 9.99728655e-01 -9.77600831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.666874999999997 meters 0.018443435301201645 Centerline is valid? [True, True] Translation: X:32.30, Y:0.21, Z:-0.98 [[ 9.96742655e-01 7.66915331e-02 2.49497217e-02 3.23022894e+01] [-7.66837385e-02 9.97054658e-01 -1.27044136e-03 2.13077040e-01] [-2.49736683e-02 -6.46934837e-04 9.99687900e-01 -9.76707066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.696875 meters 0.01850251306720471 Centerline is valid? [True, True] Translation: X:32.33, Y:0.21, Z:-0.98 [[ 9.96783745e-01 7.59483689e-02 2.55736541e-02 3.23329673e+01] [-7.59397691e-02 9.97111548e-01 -1.30870046e-03 2.10908271e-01] [-2.55991795e-02 -6.37566041e-04 9.99672084e-01 -9.76623055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.726874999999996 meters 0.01748812777403068 Centerline is valid? [True, True] Translation: X:32.36, Y:0.21, Z:-0.98 [[ 9.96807574e-01 7.53205828e-02 2.64852868e-02 3.23646099e+01] [-7.53109775e-02 9.97159166e-01 -1.36139270e-03 2.06678230e-01] [-2.65125874e-02 -6.37586285e-04 9.99648276e-01 -9.76719715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.756874999999997 meters 0.017401930285487047 Centerline is valid? [True, True] Translation: X:32.40, Y:0.20, Z:-0.98 [[ 9.96816442e-01 7.53592803e-02 2.60376495e-02 3.23975693e+01] [-7.53498519e-02 9.97156253e-01 -1.34444651e-03 2.04247354e-01] [-2.60649216e-02 -6.21766649e-04 9.99660059e-01 -9.77825786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.786875 meters 0.017349709108356565 Centerline is valid? [True, True] Translation: X:32.43, Y:0.20, Z:-0.98 [[ 9.96853290e-01 7.52648871e-02 2.48739832e-02 3.24300184e+01] [-7.52560903e-02 9.97163404e-01 -1.29089639e-03 2.01812788e-01] [-2.49005850e-02 -5.85084417e-04 9.99689761e-01 -9.79980817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.816874999999996 meters 0.0172065746551178 Centerline is valid? [True, True] Translation: X:32.46, Y:0.20, Z:-0.98 [[ 9.96890866e-01 7.51727757e-02 2.36147090e-02 3.24630487e+01] [-7.51646770e-02 9.97170374e-01 -1.23164123e-03 1.99944579e-01] [-2.36404741e-02 -5.47180080e-04 9.99720375e-01 -9.82444857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.846874999999997 meters 0.01724165086964228 Centerline is valid? [True, True] Translation: X:32.50, Y:0.20, Z:-0.98 [[ 9.96943297e-01 7.48131723e-02 2.25178308e-02 3.24954565e+01] [-7.48055859e-02 9.97197439e-01 -1.18023386e-03 1.97579257e-01] [-2.25430202e-02 -5.07833292e-04 9.99745745e-01 -9.84770789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.876875 meters 0.017308780760738305 Centerline is valid? [True, True] Translation: X:32.53, Y:0.19, Z:-0.99 [[ 9.97033928e-01 7.38133916e-02 2.17928705e-02 3.25264119e+01] [-7.38059114e-02 9.97271963e-01 -1.14846089e-03 1.94957489e-01] [-2.18181906e-02 -4.63388199e-04 9.99761848e-01 -9.86026820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.906875 meters 0.016743603218500342 Centerline is valid? [True, True] Translation: X:32.56, Y:0.19, Z:-0.99 [[ 9.97065232e-01 7.32564167e-02 2.22355668e-02 3.25584727e+01] [-7.32483826e-02 9.97313035e-01 -1.17666078e-03 1.91475392e-01] [-2.22620185e-02 -4.55511746e-04 9.99752067e-01 -9.86310419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.936874999999997 meters 0.01691044309548165 Centerline is valid? [True, True] Translation: X:32.59, Y:0.19, Z:-0.99 [[ 9.97049206e-01 7.32222748e-02 2.30516749e-02 3.25892404e+01] [-7.32134927e-02 9.97315538e-01 -1.22583713e-03 1.89829014e-01] [-2.30795521e-02 -4.65473699e-04 9.99733523e-01 -9.86666172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.966874999999998 meters 0.016605281452733253 Centerline is valid? [True, True] Translation: X:32.62, Y:0.19, Z:-0.99 [[ 9.97049778e-01 7.30518413e-02 2.35620386e-02 3.26214992e+01] [-7.30424955e-02 9.97328036e-01 -1.25818974e-03 1.88074639e-01] [-2.35909947e-02 -4.66552294e-04 9.99721585e-01 -9.87403867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.996875 meters 0.016835657457116505 Centerline is valid? [True, True] Translation: X:32.65, Y:0.19, Z:-0.99 [[ 9.96970684e-01 7.42166542e-02 2.32668083e-02 3.26535806e+01] [-7.42077312e-02 9.97242025e-01 -1.24787255e-03 1.86890469e-01] [-2.32952519e-02 -4.82484709e-04 9.99728512e-01 -9.88849661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.026875 meters 0.017308529114356954 Centerline is valid? [True, True] Translation: X:32.69, Y:0.19, Z:-0.99 [[ 9.96901367e-01 7.51827977e-02 2.31346441e-02 3.26850714e+01] [-7.51741032e-02 9.97169645e-01 -1.24650316e-03 1.86262467e-01] [-2.31628804e-02 -4.96485421e-04 9.99731581e-01 -9.89950056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.056875 meters 0.018401508621510944 Centerline is valid? [True, True] Translation: X:32.72, Y:0.19, Z:-0.99 [[ 9.96746910e-01 7.73126311e-02 2.27674189e-02 3.27163202e+01] [-7.73046515e-02 9.97006757e-01 -1.23172060e-03 1.86980728e-01] [-2.27944981e-02 -5.32313684e-04 9.99740030e-01 -9.90180041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.086875 meters 0.0187645121354585 Centerline is valid? [True, True] Translation: X:32.75, Y:0.19, Z:-0.99 [[ 9.96650034e-01 7.87744629e-02 2.19839211e-02 3.27485016e+01] [-7.87672811e-02 9.96892316e-01 -1.19375486e-03 1.85946906e-01] [-2.20096394e-02 -5.41857864e-04 9.99757612e-01 -9.91326480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.116875 meters 0.01929188814492449 Centerline is valid? [True, True] Translation: X:32.78, Y:0.19, Z:-0.99 [[ 9.96532106e-01 8.05197046e-02 2.09842763e-02 3.27803859e+01] [-8.05134500e-02 9.96752866e-01 -1.14411929e-03 1.85686628e-01] [-2.10082617e-02 -5.49364876e-04 9.99779151e-01 -9.92867899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.146874999999994 meters 0.02055080478497604 Centerline is valid? [True, True] Translation: X:32.81, Y:0.19, Z:-0.99 [[ 9.96195662e-01 8.47182430e-02 2.04211413e-02 3.28115566e+01] [-8.47130608e-02 9.96404758e-01 -1.12024827e-03 1.87609381e-01] [-2.04426278e-02 -6.13950920e-04 9.99790839e-01 -9.94341199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.176874999999995 meters 0.022278137861273244 Centerline is valid? [True, True] Translation: X:32.84, Y:0.19, Z:-1.00 [[ 9.95964721e-01 8.75442505e-02 1.97554624e-02 3.28429861e+01] [-8.75399795e-02 9.96160419e-01 -1.08253440e-03 1.88998653e-01] [-1.97743793e-02 -6.51226697e-04 9.99804256e-01 -9.95308427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.206875 meters 0.022662741678158824 Centerline is valid? [True, True] Translation: X:32.87, Y:0.19, Z:-1.00 [[ 9.95773770e-01 8.97433271e-02 1.95124104e-02 3.28748727e+01] [-8.97395021e-02 9.95964693e-01 -1.07331169e-03 1.87993467e-01] [-1.95299944e-02 -6.82258367e-04 9.99809039e-01 -9.96348913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.236875 meters 0.024814521531699486 Centerline is valid? [True, True] Translation: X:32.91, Y:0.19, Z:-1.00 [[ 9.95600683e-01 9.16975686e-02 1.92571248e-02 3.29063187e+01] [-9.16941156e-02 9.95786652e-01 -1.06406430e-03 1.90339097e-01] [-1.92735600e-02 -7.06381883e-04 9.99813998e-01 -9.97832917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.266875 meters 0.02408783204502839 Centerline is valid? [True, True] Translation: X:32.94, Y:0.19, Z:-1.00 [[ 9.95383521e-01 9.39464787e-02 1.96393570e-02 3.29382619e+01] [-9.39431997e-02 9.95576960e-01 -1.09152026e-03 1.88673465e-01] [-1.96550358e-02 -7.58502751e-04 9.99806533e-01 -9.97780586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.296875 meters 0.024674961837634204 Centerline is valid? [True, True] Translation: X:32.97, Y:0.19, Z:-1.00 [[ 9.95362951e-01 9.42395178e-02 1.92745837e-02 3.29705279e+01] [-9.42364349e-02 9.95549270e-01 -1.07017624e-03 1.87623705e-01] [-1.92896506e-02 -7.51154275e-04 9.99813655e-01 -9.98695376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.326875 meters 0.024480383430520784 Centerline is valid? [True, True] Translation: X:33.00, Y:0.18, Z:-1.00 [[ 9.95295441e-01 9.49952158e-02 1.90497976e-02 3.30024375e+01] [-9.49922462e-02 9.95477445e-01 -1.06274773e-03 1.84552233e-01] [-1.90645998e-02 -7.51835094e-04 9.99817971e-01 -9.98169297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.356874999999995 meters 0.02280021903057837 Centerline is valid? [True, True] Translation: X:33.03, Y:0.18, Z:-1.00 [[ 9.95756393e-01 9.02174655e-02 1.81663185e-02 3.30322316e+01] [-9.02138359e-02 9.95921895e-01 -1.02086642e-03 1.78708121e-01] [-1.81843343e-02 -6.22319007e-04 9.99834458e-01 -9.97319130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.386874999999996 meters 0.02141872802494158 Centerline is valid? [True, True] Translation: X:33.06, Y:0.17, Z:-1.00 [[ 9.96070207e-01 8.66541710e-02 1.83084023e-02 3.30631560e+01] [-8.66498915e-02 9.96238294e-01 -1.02838790e-03 1.74467488e-01] [-1.83286456e-02 -5.62074525e-04 9.99831858e-01 -9.97717242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.416875 meters 0.020305286210671902 Centerline is valid? [True, True] Translation: X:33.09, Y:0.17, Z:-1.00 [[ 9.96292958e-01 8.39413445e-02 1.88200120e-02 3.30944280e+01] [-8.39363261e-02 9.96470559e-01 -1.05780546e-03 1.70477462e-01] [-1.88423815e-02 -5.25798532e-04 9.99822328e-01 -9.98179257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.446875 meters 0.019367628725004183 Centerline is valid? [True, True] Translation: X:33.13, Y:0.17, Z:-1.00 [[ 9.96436501e-01 8.21653649e-02 1.90565618e-02 3.31262535e+01] [-8.21599321e-02 9.96618584e-01 -1.06915512e-03 1.66614341e-01] [-1.90799712e-02 -5.00340641e-04 9.99817836e-01 -9.99631993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.476875 meters 0.017798641185609834 Centerline is valid? [True, True] Translation: X:33.16, Y:0.16, Z:-1.00 [[ 9.96773205e-01 7.81308484e-02 1.84051190e-02 3.31569542e+01] [-7.81249659e-02 9.96943032e-01 -1.03950387e-03 1.61223735e-01] [-1.84300724e-02 -4.01749686e-04 9.99830071e-01 -1.00289880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.506875 meters 0.01757141398212605 Centerline is valid? [True, True] Translation: X:33.19, Y:0.16, Z:-1.00 [[ 9.96895432e-01 7.65725709e-02 1.83341191e-02 3.31889757e+01] [-7.65665089e-02 9.97063941e-01 -1.03339466e-03 1.57592940e-01] [-1.83594187e-02 -3.73593071e-04 9.99831382e-01 -1.00421907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.536874999999995 meters 0.01714491080441386 Centerline is valid? [True, True] Translation: X:33.22, Y:0.15, Z:-1.00 [[ 9.96963821e-01 7.56615810e-02 1.83974136e-02 3.32212914e+01] [-7.56552413e-02 9.97133492e-01 -1.04134409e-03 1.53455308e-01] [-1.84234670e-02 -3.53678379e-04 9.99830211e-01 -1.00416620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.566874999999996 meters 0.016602773164007278 Centerline is valid? [True, True] Translation: X:33.25, Y:0.15, Z:-1.00 [[ 9.97069155e-01 7.37612062e-02 2.03072595e-02 3.32532995e+01] [-7.37529725e-02 9.97275872e-01 -1.15511698e-03 1.48620762e-01] [-2.03371428e-02 -3.45989247e-04 9.99793119e-01 -1.00279809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.596875 meters 0.016478501267503023 Centerline is valid? [True, True] Translation: X:33.29, Y:0.15, Z:-1.00 [[ 9.97055015e-01 7.36228556e-02 2.14702840e-02 3.32851073e+01] [-7.36134996e-02 9.97286091e-01 -1.22685548e-03 1.46234800e-01] [-2.15023402e-02 -3.57260338e-04 9.99768734e-01 -1.00205390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.626875 meters 0.016424345592892457 Centerline is valid? [True, True] Translation: X:33.32, Y:0.14, Z:-1.00 [[ 9.97010334e-01 7.39177825e-02 2.25067877e-02 3.33168227e+01] [-7.39074477e-02 9.97264268e-01 -1.29179633e-03 1.44146498e-01] [-2.25407019e-02 -3.75484939e-04 9.99745856e-01 -1.00157427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.656875 meters 0.01684946016604165 Centerline is valid? [True, True] Translation: X:33.35, Y:0.14, Z:-1.00 [[ 9.96932304e-01 7.50724440e-02 2.21383955e-02 3.33486864e+01] [-7.50626128e-02 9.97178006e-01 -1.27590323e-03 1.43328435e-01] [-2.21717063e-02 -3.89776659e-04 9.99754102e-01 -1.00373471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.686875 meters 0.01708690746194581 Centerline is valid? [True, True] Translation: X:33.38, Y:0.14, Z:-1.01 [[ 9.96876407e-01 7.60364336e-02 2.13515662e-02 3.33796802e+01] [-7.60273815e-02 9.97104963e-01 -1.23655821e-03 1.42884854e-01] [-2.13837762e-02 -3.90607962e-04 9.99771265e-01 -1.00620511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.716874999999995 meters 0.01755250092875425 Centerline is valid? [True, True] Translation: X:33.41, Y:0.14, Z:-1.01 [[ 9.96756241e-01 7.76778771e-02 2.10509620e-02 3.34115427e+01] [-7.76694121e-02 9.96978421e-01 -1.22065587e-03 1.43054198e-01] [-2.10821728e-02 -4.18319488e-04 9.99777659e-01 -1.00852287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.746874999999996 meters 0.017735749055189563 Centerline is valid? [True, True] Translation: X:33.44, Y:0.14, Z:-1.01 [[ 9.96697588e-01 7.85601773e-02 2.05478920e-02 3.34436879e+01] [-7.85522027e-02 9.96909284e-01 -1.19618806e-03 1.42206081e-01] [-2.05783571e-02 -4.21844425e-04 9.99788154e-01 -1.00971527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.776875 meters 0.01804257811989804 Centerline is valid? [True, True] Translation: X:33.48, Y:0.14, Z:-1.01 [[ 9.96590688e-01 7.98931027e-02 2.05934952e-02 3.34757965e+01] [-7.98852749e-02 9.96803338e-01 -1.20379415e-03 1.41375536e-01] [-2.06238396e-02 -4.45426988e-04 9.99787207e-01 -1.01048267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.806875 meters 0.018812626977845012 Centerline is valid? [True, True] Translation: X:33.51, Y:0.14, Z:-1.01 [[ 9.96297303e-01 8.35057020e-02 2.04568379e-02 3.35075691e+01] [-8.34986359e-02 9.96507168e-01 -1.20081611e-03 1.41552235e-01] [-2.04856606e-02 -5.11748209e-04 9.99790016e-01 -1.01070323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.836875 meters 0.019971847262525412 Centerline is valid? [True, True] Translation: X:33.54, Y:0.14, Z:-1.01 [[ 9.96142586e-01 8.55671515e-02 1.94476254e-02 3.35381761e+01] [-8.55610336e-02 9.96332270e-01 -1.14795666e-03 1.42235919e-01] [-1.94745241e-02 -5.20430415e-04 9.99810218e-01 -1.01237452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.866875 meters 0.021153169951919383 Centerline is valid? [True, True] Translation: X:33.57, Y:0.14, Z:-1.01 [[ 9.95928284e-01 8.81640141e-02 1.88138103e-02 3.35701851e+01] [-8.81587479e-02 9.96105818e-01 -1.11072358e-03 1.42752994e-01] [-1.88384717e-02 -5.52400925e-04 9.99822388e-01 -1.01392193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.896874999999994 meters 0.02163612621089203 Centerline is valid? [True, True] Translation: X:33.60, Y:0.14, Z:-1.02 [[ 9.95787375e-01 8.96141522e-02 1.94115508e-02 3.36023185e+01] [-8.96088354e-02 9.95976378e-01 -1.14528377e-03 1.42404302e-01] [-1.94360797e-02 -5.98987344e-04 9.99810922e-01 -1.01539681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.926874999999995 meters 0.01967917797669493 Centerline is valid? [True, True] Translation: X:33.63, Y:0.14, Z:-1.02 [[ 9.96162742e-01 8.51832103e-02 2.00901000e-02 3.36337027e+01] [-8.51764675e-02 9.96365167e-01 -1.19263541e-03 1.37666088e-01] [-2.01186684e-02 -5.23144792e-04 9.99797462e-01 -1.01633653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.956875 meters 0.019634436823416104 Centerline is valid? [True, True] Translation: X:33.66, Y:0.14, Z:-1.02 [[ 9.96214248e-01 8.43501197e-02 2.10292311e-02 3.36643512e+01] [-8.43425602e-02 9.96436037e-01 -1.24772900e-03 1.35504916e-01] [-2.10595298e-02 -5.30653783e-04 9.99778083e-01 -1.01647523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.986875 meters 0.01982184426618137 Centerline is valid? [True, True] Translation: X:33.70, Y:0.13, Z:-1.02 [[ 9.96135116e-01 8.51632691e-02 2.14952854e-02 3.36972211e+01] [-8.51554641e-02 9.96366855e-01 -1.27983887e-03 1.34114648e-01] [-2.15261851e-02 -5.55548563e-04 9.99768130e-01 -1.01622775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.016875 meters 0.021167705516285905 Centerline is valid? [True, True] Translation: X:33.73, Y:0.14, Z:-1.02 [[ 9.95803319e-01 8.90340196e-02 2.11823934e-02 3.37289187e+01] [-8.90271828e-02 9.96028390e-01 -1.26742693e-03 1.37080155e-01] [-2.12111093e-02 -6.23700870e-04 9.99774825e-01 -1.01611280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.046875 meters 0.022147714387271575 Centerline is valid? [True, True] Translation: X:33.76, Y:0.14, Z:-1.02 [[ 9.95572808e-01 9.15701334e-02 2.12060041e-02 3.37611234e+01] [-9.15637219e-02 9.95798403e-01 -1.27515197e-03 1.38591652e-01] [-2.12336708e-02 -6.72194030e-04 9.99774314e-01 -1.01655053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.076875 meters 0.023289494196723885 Centerline is valid? [True, True] Translation: X:33.79, Y:0.14, Z:-1.02 [[ 9.95252544e-01 9.49503979e-02 2.13727794e-02 3.37929495e+01] [-9.49446658e-02 9.95481722e-01 -1.28506656e-03 1.39925257e-01] [-2.13982288e-02 -7.50265630e-04 9.99770750e-01 -1.01686704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.106874999999995 meters 0.0243635375413859 Centerline is valid? [True, True] Translation: X:33.82, Y:0.14, Z:-1.02 [[ 9.94823630e-01 9.94115650e-02 2.10543725e-02 3.38244645e+01] [-9.94068652e-02 9.95046057e-01 -1.27229674e-03 1.42534419e-01] [-2.10765514e-02 -8.27238308e-04 9.99777523e-01 -1.01711547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.136874999999996 meters 0.02448216552804303 Centerline is valid? [True, True] Translation: X:33.86, Y:0.14, Z:-1.02 [[ 9.94643957e-01 1.01125527e-01 2.13781875e-02 3.38567151e+01] [-1.01121095e-01 9.94873287e-01 -1.29097414e-03 1.41784206e-01] [-2.13991381e-02 -8.77726110e-04 9.99770627e-01 -1.01778808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.166875 meters 0.02536621785024741 Centerline is valid? [True, True] Translation: X:33.89, Y:0.14, Z:-1.02 [[ 9.94531001e-01 1.02215968e-01 2.14472360e-02 3.38888184e+01] [-1.02211646e-01 9.94761825e-01 -1.30052043e-03 1.42205883e-01] [-2.14678256e-02 -8.98749421e-04 9.99769136e-01 -1.01925034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.196875 meters 0.02536621785024741 Centerline is valid? [True, True] Translation: X:33.92, Y:0.14, Z:-1.02 [[ 9.94502139e-01 1.02496457e-01 2.14469384e-02 3.39211403e+01] [-1.02492095e-01 9.94732962e-01 -1.30540627e-03 1.40134346e-01] [-2.14677761e-02 -8.99912311e-04 9.99769136e-01 -1.02028516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.226875 meters 0.02467769519797222 Centerline is valid? [True, True] Translation: X:33.95, Y:0.14, Z:-1.02 [[ 9.94425905e-01 1.03356312e-01 2.08468899e-02 3.39529414e+01] [-1.03352254e-01 9.94644000e-01 -1.27488593e-03 1.39151700e-01] [-2.08670014e-02 -8.86793458e-04 9.99781867e-01 -1.02238642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.256875 meters 0.02606971928269365 Centerline is valid? [True, True] Translation: X:33.98, Y:0.14, Z:-1.02 [[ 9.94433547e-01 1.03236835e-01 2.10731324e-02 3.39845383e+01] [-1.03232543e-01 9.94656406e-01 -1.29431416e-03 1.40343800e-01] [-2.10941471e-02 -8.88323626e-04 9.99777099e-01 -1.02401954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.286874999999995 meters 0.02467448737588993 Centerline is valid? [True, True] Translation: X:34.02, Y:0.14, Z:-1.02 [[ 9.94698739e-01 1.00401247e-01 2.22262742e-02 3.40163446e+01] [-1.00395606e-01 9.94946651e-01 -1.37233594e-03 1.37154247e-01] [-2.22517413e-02 -8.66359440e-04 9.99752024e-01 -1.02431166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.316874999999996 meters 0.02095856360722908 Centerline is valid? [True, True] Translation: X:34.05, Y:0.13, Z:-1.02 [[ 9.95291344e-01 9.40209669e-02 2.35626627e-02 3.40470746e+01] [-9.40128022e-02 9.95569923e-01 -1.45648014e-03 1.29399543e-01] [-2.35952180e-02 -7.65569874e-04 9.99721301e-01 -1.02151346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.346875 meters 0.020508221758308732 Centerline is valid? [True, True] Translation: X:34.08, Y:0.13, Z:-1.02 [[ 9.95567444e-01 9.11371629e-02 2.32267647e-02 3.40776390e+01] [-9.11284402e-02 9.95838112e-01 -1.43592786e-03 1.26200494e-01] [-2.32609639e-02 -6.87055814e-04 9.99729191e-01 -1.02080631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.376875 meters 0.01945451577591942 Centerline is valid? [True, True] Translation: X:34.11, Y:0.12, Z:-1.02 [[ 9.95842318e-01 8.83442966e-02 2.22117904e-02 3.41091652e+01] [-8.83356534e-02 9.96089820e-01 -1.37191801e-03 1.22259365e-01] [-2.22461394e-02 -5.95879009e-04 9.99752346e-01 -1.02145169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.406875 meters 0.018564113768817156 Centerline is valid? [True, True] Translation: X:34.14, Y:0.12, Z:-1.02 [[ 9.96081519e-01 8.56020889e-02 2.22236186e-02 3.41409714e+01] [-8.55926328e-02 9.96329264e-01 -1.37810691e-03 1.18984530e-01] [-2.22600104e-02 -5.29471193e-04 9.99752075e-01 -1.02328311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.436875 meters 0.017571619943023326 Centerline is valid? [True, True] Translation: X:34.17, Y:0.12, Z:-1.03 [[ 9.96526185e-01 8.03446136e-02 2.19158617e-02 3.41710663e+01] [-8.03339836e-02 9.96767066e-01 -1.36643378e-03 1.15781251e-01] [-2.19547948e-02 -3.98901440e-04 9.99758885e-01 -1.02656367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.466874999999995 meters 0.017027539856935274 Centerline is valid? [True, True] Translation: X:34.20, Y:0.11, Z:-1.03 [[ 9.96680928e-01 7.84159731e-02 2.18646496e-02 3.42028389e+01] [-7.84049677e-02 9.96920663e-01 -1.36146345e-03 1.12229947e-01] [-2.19040815e-02 -3.57352487e-04 9.99760013e-01 -1.02691481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.496874999999996 meters 0.016144563599123196 Centerline is valid? [True, True] Translation: X:34.23, Y:0.11, Z:-1.03 [[ 9.96987411e-01 7.42579153e-02 2.24023457e-02 3.42345725e+01] [-7.42451583e-02 9.97239034e-01 -1.40179896e-03 1.06461974e-01] [-2.24445882e-02 -2.65689789e-04 9.99748053e-01 -1.02506915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.526875 meters 0.015885860516624564 Centerline is valid? [True, True] Translation: X:34.27, Y:0.10, Z:-1.03 [[ 9.97090314e-01 7.25426262e-02 2.34195055e-02 3.42655435e+01] [-7.25281882e-02 9.97365285e-01 -1.46643344e-03 1.03330617e-01] [-2.34641807e-02 -2.36407726e-04 9.99724650e-01 -1.02505917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.556875 meters 0.015681749875673636 Centerline is valid? [True, True] Translation: X:34.30, Y:0.10, Z:-1.02 [[ 9.97165351e-01 7.10667114e-02 2.47140876e-02 3.42970833e+01] [-7.10500370e-02 9.97471543e-01 -1.55325195e-03 1.00103470e-01] [-2.47619836e-02 -2.07087817e-04 9.99693354e-01 -1.02385201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.586875 meters 0.01549022402440064 Centerline is valid? [True, True] Translation: X:34.33, Y:0.10, Z:-1.02 [[ 9.97202790e-01 7.02797131e-02 2.54432203e-02 3.43294669e+01] [-7.02616247e-02 9.97527306e-01 -1.60532875e-03 9.79318276e-02] [-2.54931290e-02 -1.86843679e-04 9.99674980e-01 -1.02407647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.616875 meters 0.015601950131438657 Centerline is valid? [True, True] Translation: X:34.36, Y:0.10, Z:-1.02 [[ 9.97202392e-01 7.00969396e-02 2.59578176e-02 3.43626668e+01] [-7.00778916e-02 9.97540168e-01 -1.64388982e-03 9.59011911e-02] [-2.60091974e-02 -1.79778268e-04 9.99661687e-01 -1.02447076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.646874999999994 meters 0.015584836698577801 Centerline is valid? [True, True] Translation: X:34.40, Y:0.10, Z:-1.02 [[ 9.97057715e-01 7.12296292e-02 2.83240765e-02 3.43954969e+01] [-7.12071670e-02 9.97459920e-01 -1.80217707e-03 9.59126693e-02] [-2.83804995e-02 -2.20002702e-04 9.99597168e-01 -1.02374726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.676874999999995 meters 0.015828454557274226 Centerline is valid? [True, True] Translation: X:34.43, Y:0.10, Z:-1.02 [[ 9.96960885e-01 7.25315692e-02 2.84282461e-02 3.44287684e+01] [-7.25092526e-02 9.97366086e-01 -1.81645493e-03 9.54116258e-02] [-2.84851189e-02 -2.50376361e-04 9.99594185e-01 -1.02488956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.706875 meters 0.015968914138435937 Centerline is valid? [True, True] Translation: X:34.46, Y:0.10, Z:-1.03 [[ 9.96866572e-01 7.37656270e-02 2.85599407e-02 3.44608377e+01] [-7.37433854e-02 9.97275566e-01 -1.83269550e-03 9.55146820e-02] [-2.86173210e-02 -2.79153837e-04 9.99590402e-01 -1.02654955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.736875 meters 0.01625935146363631 Centerline is valid? [True, True] Translation: X:34.49, Y:0.10, Z:-1.03 [[ 9.96674256e-01 7.67148991e-02 2.74818564e-02 3.44929363e+01] [-7.66952416e-02 9.97053011e-01 -1.77019786e-03 9.69956059e-02] [-2.75366682e-02 -3.43416976e-04 9.99620735e-01 -1.02862939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.766875 meters 0.016477159938347474 Centerline is valid? [True, True] Translation: X:34.52, Y:0.10, Z:-1.03 [[ 9.96560746e-01 7.84426194e-02 2.67102135e-02 3.45246586e+01] [-7.84245059e-02 9.96918560e-01 -1.72664556e-03 9.65637406e-02] [-2.67633502e-02 -3.74028104e-04 9.99641727e-01 -1.02977495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.796875 meters 0.016769300488704307 Centerline is valid? [True, True] Translation: X:34.56, Y:0.10, Z:-1.03 [[ 9.96423373e-01 8.04940867e-02 2.57131009e-02 3.45564594e+01] [-8.04778313e-02 9.96755003e-01 -1.66807869e-03 9.65804953e-02] [-2.57639324e-02 -4.07221999e-04 9.99667972e-01 -1.03063953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.826875 meters 0.017422893020087187 Centerline is valid? [True, True] Translation: X:34.59, Y:0.10, Z:-1.03 [[ 9.96153035e-01 8.39646099e-02 2.50813818e-02 3.45888988e+01] [-8.39500964e-02 9.96468622e-01 -1.63291920e-03 9.97137856e-02] [-2.51299173e-02 -4.78947002e-04 9.99684079e-01 -1.03259116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.856874999999995 meters 0.017809465086196907 Centerline is valid? [True, True] Translation: X:34.62, Y:0.10, Z:-1.03 [[ 9.96025738e-01 8.56437972e-02 2.44513736e-02 3.46212587e+01] [-8.56303704e-02 9.96325693e-01 -1.59757072e-03 1.00488836e-01] [-2.44983538e-02 -5.02558621e-04 9.99699744e-01 -1.03395624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.886874999999996 meters 0.018206505475623004 Centerline is valid? [True, True] Translation: X:34.65, Y:0.10, Z:-1.04 [[ 9.95886851e-01 8.73674425e-02 2.40064540e-02 3.46532770e+01] [-8.73548661e-02 9.96176013e-01 -1.57407795e-03 1.00628404e-01] [-2.40521768e-02 -5.29477037e-04 9.99710564e-01 -1.03533187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.916875 meters 0.018474537757895815 Centerline is valid? [True, True] Translation: X:34.69, Y:0.10, Z:-1.04 [[ 9.95759969e-01 8.90223858e-02 2.31754076e-02 3.46851627e+01] [-8.90109911e-02 9.96029477e-01 -1.52483189e-03 1.00125123e-01] [-2.32191332e-02 -5.44499444e-04 9.99730251e-01 -1.03614185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.946875 meters 0.019003018862611992 Centerline is valid? [True, True] Translation: X:34.72, Y:0.10, Z:-1.04 [[ 9.95538621e-01 9.16911956e-02 2.22615760e-02 3.47174224e+01] [-9.16812131e-02 9.95787323e-01 -1.47077016e-03 1.02031067e-01] [-2.23026518e-02 -5.76759793e-04 9.99751099e-01 -1.03853140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.976875 meters 0.019287177413437915 Centerline is valid? [True, True] Translation: X:34.75, Y:0.10, Z:-1.04 [[ 9.95420674e-01 9.29025079e-02 2.25123659e-02 3.47498679e+01] [-9.28925664e-02 9.95675024e-01 -1.48921710e-03 1.02164113e-01] [-2.25533525e-02 -6.08833955e-04 9.99745455e-01 -1.04014962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.006875 meters 0.018906488344890587 Centerline is valid? [True, True] Translation: X:34.78, Y:0.10, Z:-1.04 [[ 9.95315729e-01 9.38606626e-02 2.31684192e-02 3.47818882e+01] [-9.38502562e-02 9.95585136e-01 -1.53849049e-03 1.00251228e-01] [-2.32105375e-02 -6.43078297e-04 9.99730392e-01 -1.03935470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.036874999999995 meters 0.019236306477972566 Centerline is valid? [True, True] Translation: X:34.81, Y:0.10, Z:-1.04 [[ 9.95175100e-01 9.49299979e-02 2.47955001e-02 3.48136001e+01] [-9.49182232e-02 9.95483699e-01 -1.65405986e-03 9.90298575e-02] [-2.48405361e-02 -7.07465623e-04 9.99691176e-01 -1.03612792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.066874999999996 meters 0.019083060276696324 Centerline is valid? [True, True] Translation: X:34.85, Y:0.10, Z:-1.04 [[ 9.95131933e-01 9.53623218e-02 2.48689312e-02 3.48463739e+01] [-9.53505526e-02 9.95442370e-01 -1.66134897e-03 9.72346773e-02] [-2.49140179e-02 -7.18004914e-04 9.99689340e-01 -1.03702741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.096875 meters 0.01952087691900324 Centerline is valid? [True, True] Translation: X:34.88, Y:0.10, Z:-1.04 [[ 9.95104161e-01 9.58260752e-02 2.41882755e-02 3.48786520e+01] [-9.58149117e-02 9.95397845e-01 -1.62275004e-03 9.73067399e-02] [-2.42324591e-02 -7.02792161e-04 9.99706104e-01 -1.03979996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.126875 meters 0.019919915581796187 Centerline is valid? [True, True] Translation: X:34.91, Y:0.10, Z:-1.04 [[ 9.95071077e-01 9.65212507e-02 2.27420377e-02 3.49092671e+01] [-9.65114207e-02 9.95330698e-01 -1.53198994e-03 9.73682897e-02] [-2.27837179e-02 -6.70427488e-04 9.99740193e-01 -1.04322203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.156875 meters 0.020332827808587087 Centerline is valid? [True, True] Translation: X:34.94, Y:0.10, Z:-1.05 [[ 9.95120775e-01 9.62184059e-02 2.18325964e-02 3.49413357e+01] [-9.62091824e-02 9.95360044e-01 -1.47488705e-03 9.58617730e-02] [-2.18732054e-02 -6.32805507e-04 9.99760553e-01 -1.04554543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.186875 meters 0.01919342830879265 Centerline is valid? [True, True] Translation: X:34.97, Y:0.09, Z:-1.05 [[ 9.95174198e-01 9.60638207e-02 2.00014712e-02 3.49743039e+01] [-9.60560142e-02 9.95375011e-01 -1.35288462e-03 9.09650822e-02] [-2.00389279e-02 -5.74905740e-04 9.99799035e-01 -1.04629834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.216874999999995 meters 0.018860523194179264 Centerline is valid? [True, True] Translation: X:35.01, Y:0.09, Z:-1.05 [[ 9.95478406e-01 9.30763861e-02 1.89612868e-02 3.50055730e+01] [-9.30687270e-02 9.95658854e-01 -1.28788763e-03 8.79316429e-02] [-1.89988450e-02 -4.82638499e-04 9.99819389e-01 -1.04897990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.246874999999996 meters 0.018398970052764713 Centerline is valid? [True, True] Translation: X:35.04, Y:0.08, Z:-1.05 [[ 9.95597757e-01 9.17146107e-02 1.93270710e-02 3.50380781e+01] [-9.17062650e-02 9.95785228e-01 -1.31953347e-03 8.42989561e-02] [-1.93666323e-02 -4.58688932e-04 9.99812344e-01 -1.04970723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.276875 meters 0.01778708771311299 Centerline is valid? [True, True] Translation: X:35.07, Y:0.08, Z:-1.05 [[ 9.95708115e-01 9.04586819e-02 1.95595705e-02 3.50701097e+01] [-9.04498957e-02 9.95900112e-01 -1.33521969e-03 8.03336918e-02] [-1.96001607e-02 -4.39672035e-04 9.99807802e-01 -1.04945617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.306875 meters 0.017127051811131125 Centerline is valid? [True, True] Translation: X:35.10, Y:0.07, Z:-1.05 [[ 9.95947956e-01 8.74676955e-02 2.09062615e-02 3.51021373e+01] [-8.74568805e-02 9.96167276e-01 -1.43280554e-03 7.48127750e-02] [-2.09514577e-02 -4.01396666e-04 9.99780414e-01 -1.04865561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.336875 meters 0.016713918178909534 Centerline is valid? [True, True] Translation: X:35.13, Y:0.07, Z:-1.05 [[ 9.96066834e-01 8.59991861e-02 2.13307874e-02 3.51339396e+01] [-8.59874769e-02 9.96295138e-01 -1.46722517e-03 7.04868781e-02] [-2.13779399e-02 -3.72726260e-04 9.99771396e-01 -1.04831875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.366875 meters 0.016435494349161212 Centerline is valid? [True, True] Translation: X:35.17, Y:0.07, Z:-1.05 [[ 9.96156493e-01 8.48521910e-02 2.17335685e-02 3.51662191e+01] [-8.48396442e-02 9.96393488e-01 -1.50036189e-03 6.68218408e-02] [-2.17824951e-02 -3.49272983e-04 9.99762672e-01 -1.04861117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.396874999999994 meters 0.016195839421455086 Centerline is valid? [True, True] Translation: X:35.20, Y:0.06, Z:-1.05 [[ 9.96250497e-01 8.37649876e-02 2.16419329e-02 3.51980498e+01] [-8.37521781e-02 9.96485487e-01 -1.49919138e-03 6.32693557e-02] [-2.16914518e-02 -3.18988862e-04 9.99764662e-01 -1.04981960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.426874999999995 meters 0.016336007723207525 Centerline is valid? [True, True] Translation: X:35.23, Y:0.06, Z:-1.05 [[ 9.96264810e-01 8.39075477e-02 2.03948952e-02 3.52294757e+01] [-8.38961182e-02 9.96473499e-01 -1.41688880e-03 6.15348754e-02] [-2.04418602e-02 -2.99456085e-04 9.99790998e-01 -1.05328583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.456875 meters 0.01655176476830336 Centerline is valid? [True, True] Translation: X:35.26, Y:0.06, Z:-1.06 [[ 9.96152354e-01 8.52869029e-02 2.01650911e-02 3.52610294e+01] [-8.52758952e-02 9.96356383e-01 -1.40670244e-03 6.01279115e-02] [-2.02115906e-02 -3.18306250e-04 9.99795674e-01 -1.05502974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.486875 meters 0.01710583815012916 Centerline is valid? [True, True] Translation: X:35.29, Y:0.06, Z:-1.06 [[ 9.95945000e-01 8.77462101e-02 1.98534444e-02 3.52929602e+01] [-8.77359372e-02 9.96142798e-01 -1.38954838e-03 5.90094256e-02] [-1.98987932e-02 -3.57946783e-04 9.99801935e-01 -1.05591834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.516875 meters 0.01711595008084242 Centerline is valid? [True, True] Translation: X:35.32, Y:0.06, Z:-1.06 [[ 9.95767635e-01 8.97618427e-02 1.97390085e-02 3.53247245e+01] [-8.97519946e-02 9.95963181e-01 -1.38603968e-03 5.68942181e-02] [-1.97837392e-02 -3.91441926e-04 9.99804206e-01 -1.05571403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.546875 meters 0.01910997734215775 Centerline is valid? [True, True] Translation: X:35.36, Y:0.06, Z:-1.06 [[ 9.95402063e-01 9.38840583e-02 1.89872916e-02 3.53560717e+01] [-9.38756091e-02 9.95583035e-01 -1.33778153e-03 5.95087510e-02] [-1.90290218e-02 -4.50813073e-04 9.99818830e-01 -1.05664792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.576875 meters 0.018016229235471276 Centerline is valid? [True, True] Translation: X:35.39, Y:0.06, Z:-1.06 [[ 9.95168667e-01 9.62187478e-02 1.95263325e-02 3.53882691e+01] [-9.62101789e-02 9.95360084e-01 -1.37995277e-03 5.52867858e-02] [-1.95685093e-02 -5.05346184e-04 9.99808391e-01 -1.05519446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.606874999999995 meters 0.020076579152492106 Centerline is valid? [True, True] Translation: X:35.42, Y:0.06, Z:-1.06 [[ 9.94967253e-01 9.81658364e-02 2.00906404e-02 3.54193345e+01] [-9.81570513e-02 9.95169916e-01 -1.42531621e-03 5.79314727e-02] [-2.01335183e-02 -5.53895064e-04 9.99797147e-01 -1.05726900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.636874999999996 meters 0.02080696418993323 Centerline is valid? [True, True] Translation: X:35.45, Y:0.06, Z:-1.06 [[ 9.94650651e-01 1.01073717e-01 2.13116485e-02 3.54512671e+01] [-1.01064384e-01 9.94878730e-01 -1.51724819e-03 5.76525212e-02] [-2.13558598e-02 -6.44716741e-04 9.99771730e-01 -1.05610015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.666875 meters 0.020319996260716715 Centerline is valid? [True, True] Translation: X:35.48, Y:0.05, Z:-1.06 [[ 9.94465459e-01 1.02641337e-01 2.24322844e-02 3.54831190e+01] [-1.02631268e-01 9.94718178e-01 -1.60269846e-03 5.46038659e-02] [-2.24783042e-02 -7.08425547e-04 9.99747080e-01 -1.05515612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.696875 meters 0.020687248498146037 Centerline is valid? [True, True] Translation: X:35.52, Y:0.05, Z:-1.06 [[ 9.94287375e-01 1.04240796e-01 2.29449923e-02 3.55155415e+01] [-1.04230554e-01 9.94551801e-01 -1.64514416e-03 5.34866014e-02] [-2.29914746e-02 -7.55823190e-04 9.99735375e-01 -1.05576583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.726875 meters 0.021990620235494442 Centerline is valid? [True, True] Translation: X:35.55, Y:0.05, Z:-1.06 [[ 9.94106732e-01 1.05867862e-01 2.33195463e-02 3.55464407e+01] [-1.05857590e-01 9.94379885e-01 -1.67797413e-03 5.39276613e-02] [-2.33661313e-02 -8.00465591e-04 9.99726654e-01 -1.05689387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.756875 meters 0.022237100029117253 Centerline is valid? [True, True] Translation: X:35.58, Y:0.05, Z:-1.06 [[ 9.93899328e-01 1.07780790e-01 2.33971599e-02 3.55783035e+01] [-1.07770859e-01 9.94174326e-01 -1.68866404e-03 5.33820360e-02] [-2.34428612e-02 -8.43169956e-04 9.99724823e-01 -1.05822515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.786874999999995 meters 0.02264693852240011 Centerline is valid? [True, True] Translation: X:35.61, Y:0.05, Z:-1.06 [[ 9.93864737e-01 1.08255146e-01 2.26651439e-02 3.56107478e+01] [-1.08245831e-01 9.94122803e-01 -1.64106255e-03 5.20959613e-02] [-2.27095898e-02 -8.22413133e-04 9.99741766e-01 -1.06050499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.816874999999996 meters 0.022129941968365645 Centerline is valid? [True, True] Translation: X:35.64, Y:0.05, Z:-1.06 [[ 9.93838368e-01 1.08484487e-01 2.27247647e-02 3.56436977e+01] [-1.08475066e-01 9.94097800e-01 -1.65047939e-03 4.83409069e-02] [-2.27696900e-02 -8.24760622e-04 9.99740397e-01 -1.06110407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.846875 meters 0.021003654037732356 Centerline is valid? [True, True] Translation: X:35.68, Y:0.04, Z:-1.06 [[ 9.93948716e-01 1.07533524e-01 2.24162968e-02 3.56752649e+01] [-1.07523973e-01 9.94201149e-01 -1.63446742e-03 4.24784388e-02] [-2.24620681e-02 -7.85712488e-04 9.99747387e-01 -1.05984329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.876875 meters 0.02080056917898547 Centerline is valid? [True, True] Translation: X:35.71, Y:0.04, Z:-1.06 [[ 9.94029955e-01 1.06837633e-01 2.21397627e-02 3.57077392e+01] [-1.06828000e-01 9.94276195e-01 -1.62074932e-03 3.92602098e-02] [-2.21861961e-02 -7.54073214e-04 9.99753572e-01 -1.06111232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.906875 meters 0.02129649772383748 Centerline is valid? [True, True] Translation: X:35.74, Y:0.04, Z:-1.06 [[ 9.94092765e-01 1.06370159e-01 2.15630200e-02 3.57384339e+01] [-1.06360873e-01 9.94326338e-01 -1.58033597e-03 3.75918480e-02] [-2.16087793e-02 -7.22461068e-04 9.99766242e-01 -1.06323835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.936875 meters 0.020764247594137954 Centerline is valid? [True, True] Translation: X:35.77, Y:0.03, Z:-1.07 [[ 9.94172701e-01 1.05795070e-01 2.06892408e-02 3.57699119e+01] [-1.05786283e-01 9.94387724e-01 -1.52174640e-03 3.45656864e-02] [-2.07341203e-02 -6.75759147e-04 9.99784797e-01 -1.06567247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.966874999999995 meters 0.021201005248682 Centerline is valid? [True, True] Translation: X:35.80, Y:0.03, Z:-1.07 [[ 9.94167427e-01 1.06070086e-01 1.95003321e-02 3.58003788e+01] [-1.06062286e-01 9.94358450e-01 -1.43673471e-03 3.21883000e-02] [-1.95427146e-02 -6.39894948e-04 9.99808818e-01 -1.06878233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.996874999999996 meters 0.020623273522272192 Centerline is valid? [True, True] Translation: X:35.83, Y:0.03, Z:-1.07 [[ 9.94140579e-01 1.06481057e-01 1.86089803e-02 3.58322974e+01] [-1.06474016e-01 9.94314539e-01 -1.37153576e-03 2.80851537e-02] [-1.86492223e-02 -6.17873515e-04 9.99825897e-01 -1.06967579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.026875 meters 0.02232200389472284 Centerline is valid? [True, True] Translation: X:35.86, Y:0.03, Z:-1.07 [[ 9.94029721e-01 1.07540031e-01 1.84406016e-02 3.58629337e+01] [-1.07533186e-01 9.94200558e-01 -1.36522772e-03 2.78687832e-02] [-1.84804730e-02 -6.25899711e-04 9.99829026e-01 -1.07061787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.056875 meters 0.021997080044448048 Centerline is valid? [True, True] Translation: X:35.90, Y:0.02, Z:-1.07 [[ 9.93921742e-01 1.08521845e-01 1.85089270e-02 3.58951021e+01] [-1.08515106e-01 9.94093855e-01 -1.37097995e-03 2.49384914e-02] [-1.85483918e-02 -6.45851398e-04 9.99827755e-01 -1.07131903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.086875 meters 0.022591151404370475 Centerline is valid? [True, True] Translation: X:35.93, Y:0.02, Z:-1.07 [[ 9.93770933e-01 1.09907563e-01 1.84298981e-02 3.59273123e+01] [-1.09901038e-01 9.93941591e-01 -1.36957272e-03 2.37138085e-02] [-1.84687686e-02 -6.64423371e-04 9.99829217e-01 -1.07233990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.116875 meters 0.022591151404370475 Centerline is valid? [True, True] Translation: X:35.96, Y:0.02, Z:-1.07 [[ 9.93740828e-01 1.10179472e-01 1.84296030e-02 3.59596075e+01] [-1.10172920e-01 9.93911486e-01 -1.37352903e-03 2.12060783e-02] [-1.84687288e-02 -6.65511298e-04 9.99829217e-01 -1.07337458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.146874999999994 meters 0.023337641066408094 Centerline is valid? [True, True] Translation: X:35.99, Y:0.02, Z:-1.07 [[ 9.93577738e-01 1.11668216e-01 1.82616366e-02 3.59917470e+01] [-1.11661935e-01 9.93745312e-01 -1.36644085e-03 2.02839820e-02] [-1.83000038e-02 -6.81464474e-04 9.99832309e-01 -1.07451545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.176874999999995 meters 0.02429828637045933 Centerline is valid? [True, True] Translation: X:36.02, Y:0.02, Z:-1.08 [[ 9.93279740e-01 1.14195845e-01 1.88325897e-02 3.60241764e+01] [-1.14189488e-01 9.93457979e-01 -1.41610098e-03 1.93639455e-02] [-1.88710993e-02 -7.43899356e-04 9.99821648e-01 -1.07528491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.206875 meters 0.025188537820833815 Centerline is valid? [True, True] Translation: X:36.06, Y:0.02, Z:-1.08 [[ 9.93164689e-01 1.15091605e-01 1.94376910e-02 3.60563317e+01] [-1.15085017e-01 9.93354571e-01 -1.46094091e-03 1.83879008e-02] [-1.94766612e-02 -7.86032070e-04 9.99810003e-01 -1.07614028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.236875 meters 0.023503747849081064 Centerline is valid? [True, True] Translation: X:36.09, Y:0.01, Z:-1.08 [[ 9.93096535e-01 1.15622929e-01 1.97638592e-02 3.60885776e+01] [-1.15616138e-01 9.93292852e-01 -1.48970148e-03 1.26369681e-02] [-1.98035437e-02 -8.05603709e-04 9.99803566e-01 -1.07534060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.266875 meters 0.024391844869333684 Centerline is valid? [True, True] Translation: X:36.12, Y:0.01, Z:-1.08 [[ 9.93105058e-01 1.15560109e-01 1.97029285e-02 3.61200040e+01] [-1.15553225e-01 9.93300170e-01 -1.49132344e-03 1.15374679e-02] [-1.97432597e-02 -7.95696080e-04 9.99804766e-01 -1.07683627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.296875 meters 0.024582143835597425 Centerline is valid? [True, True] Translation: X:36.15, Y:0.01, Z:-1.08 [[ 9.93101358e-01 1.15695883e-01 1.90828301e-02 3.61531399e+01] [-1.15689384e-01 9.93284385e-01 -1.44789195e-03 8.58997983e-03] [-1.91221924e-02 -7.69777409e-04 9.99816858e-01 -1.07835590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.326874999999994 meters 0.023463493160003374 Centerline is valid? [True, True] Translation: X:36.18, Y:0.00, Z:-1.08 [[ 9.93183372e-01 1.15012011e-01 1.89479869e-02 3.61846216e+01] [-1.15005373e-01 9.93363821e-01 -1.44320034e-03 3.62316270e-03] [-1.89882301e-02 -7.45757733e-04 9.99819429e-01 -1.07937361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.356874999999995 meters 0.02268510798686973 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.00, Z:-1.08 [[ 9.93261154e-01 1.14330177e-01 1.89971193e-02 3.62162384e+01] [-1.14323293e-01 9.93442539e-01 -1.45157111e-03 -7.54394843e-04] [-1.90385048e-02 -7.30024035e-04 9.99818485e-01 -1.08054837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.386874999999996 meters 0.0224767815923345 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.00, Z:-1.08 [[ 9.93441613e-01 1.12982545e-01 1.75700404e-02 3.62476350e+01] [-1.12976380e-01 9.93596762e-01 -1.34627094e-03 -4.36647870e-03] [-1.76096404e-02 -6.47557979e-04 9.99844729e-01 -1.08274929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.416875 meters 0.022407657655725895 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.01, Z:-1.08 [[ 9.93508778e-01 1.12531146e-01 1.66447946e-02 3.62799773e+01] [-1.12525490e-01 9.93648015e-01 -1.27898072e-03 -7.66177311e-03] [-1.66829923e-02 -6.02285088e-04 9.99860648e-01 -1.08422851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.446875 meters 0.021586485758754666 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.01, Z:-1.09 [[ 9.93532458e-01 1.12398681e-01 1.61180195e-02 3.63124321e+01] [-1.12393310e-01 9.93663023e-01 -1.24152556e-03 -1.23561325e-02] [-1.61554258e-02 -5.78061619e-04 9.99869325e-01 -1.08527868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.476875 meters 0.022411102886717035 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.01, Z:-1.09 [[ 9.93625213e-01 1.11671181e-01 1.54429145e-02 3.63429517e+01] [-1.11666088e-01 9.93745067e-01 -1.19435175e-03 -1.42646151e-02] [-1.54796947e-02 -5.37711842e-04 9.99880038e-01 -1.08749253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.506875 meters 0.020855951678504698 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.02, Z:-1.09 [[ 9.93821363e-01 1.09702764e-01 1.68642242e-02 3.63741285e+01] [-1.09696285e-01 9.93964288e-01 -1.31155363e-03 -2.10273982e-02] [-1.69063177e-02 -5.46492736e-04 9.99856929e-01 -1.08570461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.536874999999995 meters 0.020108440583309604 Centerline is valid? [True, True] Translation: X:36.41, Y:-0.03, Z:-1.09 [[ 9.93897757e-01 1.08930153e-01 1.73628831e-02 3.64055285e+01] [-1.08923208e-01 9.94049253e-01 -1.34795267e-03 -2.50425681e-02] [-1.74063936e-02 -5.51493790e-04 9.99848345e-01 -1.08646121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.566874999999996 meters 0.019780145063246147 Centerline is valid? [True, True] Translation: X:36.44, Y:-0.03, Z:-1.09 [[ 9.93942563e-01 1.08333917e-01 1.84917227e-02 3.64370095e+01] [-1.08325843e-01 9.94114398e-01 -1.44065248e-03 -2.93606191e-02] [-1.85389593e-02 -5.71205630e-04 9.99827976e-01 -1.08701188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.596875 meters 0.01977749604955444 Centerline is valid? [True, True] Translation: X:36.47, Y:-0.04, Z:-1.09 [[ 9.94014038e-01 1.07564431e-01 1.91307583e-02 3.64688220e+01] [-1.07555515e-01 9.94197953e-01 -1.49737778e-03 -3.50551086e-02] [-1.91808253e-02 -5.69204024e-04 9.99815869e-01 -1.08661992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.626875 meters 0.019833554116401343 Centerline is valid? [True, True] Translation: X:36.50, Y:-0.04, Z:-1.09 [[ 9.94119293e-01 1.06514825e-01 1.95300626e-02 3.64992562e+01] [-1.06505328e-01 9.94310956e-01 -1.52869555e-03 -3.88443862e-02] [-1.95817840e-02 -5.60349996e-04 9.99808101e-01 -1.08735799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.656875 meters 0.019396210053183458 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.04, Z:-1.09 [[ 9.94153805e-01 1.06112350e-01 1.99595045e-02 3.65309984e+01] [-1.06102260e-01 9.94353989e-01 -1.56682358e-03 -4.38241567e-02] [-2.00130723e-02 -5.60084925e-04 9.99799562e-01 -1.08828623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.686875 meters 0.01867582714441529 Centerline is valid? [True, True] Translation: X:36.56, Y:-0.05, Z:-1.09 [[ 9.94285198e-01 1.04738861e-01 2.06570997e-02 3.65629689e+01] [-1.04727649e-01 9.94499609e-01 -1.62679957e-03 -5.06122286e-02] [-2.07138667e-02 -5.45866758e-04 9.99785296e-01 -1.08839864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.716874999999995 meters 0.0191945908220082 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.05, Z:-1.09 [[ 9.94255847e-01 1.05020969e-01 2.06374971e-02 3.65949176e+01] [-1.05009740e-01 9.94469857e-01 -1.63004523e-03 -5.37318514e-02] [-2.06945578e-02 -5.46456207e-04 9.99785695e-01 -1.08971781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.746874999999996 meters 0.019099398620042854 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.06, Z:-1.09 [[ 9.94204986e-01 1.05494206e-01 2.06740954e-02 3.66277781e+01] [-1.05482932e-01 9.94419764e-01 -1.63810791e-03 -5.82686812e-02] [-2.07315400e-02 -5.52149157e-04 9.99784926e-01 -1.09031433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.776875 meters 0.020178611151998732 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.06, Z:-1.09 [[ 9.94102461e-01 1.06429341e-01 2.08108555e-02 3.66587215e+01] [-1.06417990e-01 9.94320105e-01 -1.65527639e-03 -6.01099308e-02] [-2.08688220e-02 -5.69135089e-04 9.99782060e-01 -1.09159120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.806875 meters 0.01983252364732716 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.07, Z:-1.09 [[ 9.93949064e-01 1.07833901e-01 2.09071377e-02 3.66902972e+01] [-1.07822662e-01 9.94168745e-01 -1.66735954e-03 -6.51914035e-02] [-2.09650207e-02 -5.96992791e-04 9.99780032e-01 -1.09237483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.836875 meters 0.01994211729151983 Centerline is valid? [True, True] Translation: X:36.72, Y:-0.07, Z:-1.09 [[ 9.93919651e-01 1.08177234e-01 2.05283614e-02 3.67224905e+01] [-1.08166376e-01 9.94131450e-01 -1.64179111e-03 -6.82058761e-02] [-2.05854941e-02 -5.88670019e-04 9.99787923e-01 -1.09474583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.866875 meters 0.019465272550265953 Centerline is valid? [True, True] Translation: X:36.75, Y:-0.07, Z:-1.10 [[ 9.93844560e-01 1.08922088e-01 2.02230068e-02 3.67543315e+01] [-1.08911599e-01 9.94050115e-01 -1.62263478e-03 -7.29739200e-02] [-2.02794230e-02 -5.89873251e-04 9.99794177e-01 -1.09614498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.896874999999994 meters 0.020678223177983672 Centerline is valid? [True, True] Translation: X:36.79, Y:-0.08, Z:-1.10 [[ 9.93770132e-01 1.09683186e-01 1.97616786e-02 3.67856675e+01] [-1.09673200e-01 9.93966426e-01 -1.59167060e-03 -7.60477590e-02] [-1.98170246e-02 -5.85571825e-04 9.99803452e-01 -1.09639007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.926874999999995 meters 0.020138297768324005 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.08, Z:-1.10 [[ 9.93691927e-01 1.10497499e-01 1.91483036e-02 3.68174319e+01] [-1.10488256e-01 9.93876232e-01 -1.54326170e-03 -8.12233243e-02] [-1.92015704e-02 -5.82135975e-04 9.99815463e-01 -1.09613129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.956875 meters 0.020917646690775435 Centerline is valid? [True, True] Translation: X:36.85, Y:-0.08, Z:-1.10 [[ 9.93628853e-01 1.10990011e-01 1.95683557e-02 3.68487868e+01] [-1.10980358e-01 9.93821341e-01 -1.58192755e-03 -8.32818397e-02] [-1.96230277e-02 -5.99854266e-04 9.99807270e-01 -1.09712041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.986875 meters 0.020885886194902083 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.09, Z:-1.10 [[ 9.93591258e-01 1.11041773e-01 2.11219552e-02 3.68810248e+01] [-1.11030401e-01 9.93815532e-01 -1.71402066e-03 -8.63414177e-02] [-2.11816551e-02 -6.42143207e-04 9.99775437e-01 -1.09849014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.016875 meters 0.019836513638332918 Centerline is valid? [True, True] Translation: X:36.91, Y:-0.09, Z:-1.10 [[ 9.93605718e-01 1.10847784e-01 2.14579925e-02 3.69125938e+01] [-1.10835890e-01 9.93837188e-01 -1.74647677e-03 -9.10149346e-02] [-2.15193440e-02 -6.43006383e-04 9.99768225e-01 -1.09920005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.046875 meters 0.02000488950192448 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.09, Z:-1.10 [[ 9.93639317e-01 1.10397818e-01 2.22087728e-02 3.69439624e+01] [-1.10384814e-01 9.93887268e-01 -1.81435660e-03 -9.41352530e-02] [-2.22733175e-02 -6.48695204e-04 9.99751708e-01 -1.10004791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.076874999999994 meters 0.019766411329205733 Centerline is valid? [True, True] Translation: X:36.98, Y:-0.10, Z:-1.10 [[ 9.93692237e-01 1.09902303e-01 2.22984524e-02 3.69756362e+01] [-1.09889021e-01 9.93942190e-01 -1.82385132e-03 -9.90575833e-02] [-2.23638180e-02 -6.38008200e-04 9.99749695e-01 -1.10056156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.106874999999995 meters 0.018419571908983853 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.11, Z:-1.10 [[ 9.94074157e-01 1.06546334e-01 2.15510900e-02 3.70069887e+01] [-1.06532992e-01 9.94307593e-01 -1.76953249e-03 -1.07201891e-01] [-2.16169497e-02 -5.36855576e-04 9.99766182e-01 -1.10078074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.136874999999996 meters 0.018086759689342702 Centerline is valid? [True, True] Translation: X:37.04, Y:-0.11, Z:-1.10 [[ 9.94276645e-01 1.04577443e-01 2.18520222e-02 3.70381787e+01] [-1.04563253e-01 9.94516620e-01 -1.79407858e-03 -1.11856250e-01] [-2.19198194e-02 -5.01108096e-04 9.99759606e-01 -1.10141811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.166875 meters 0.017661564417977425 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.12, Z:-1.10 [[ 9.94493050e-01 1.02240025e-01 2.30336830e-02 3.70693115e+01] [-1.02223489e-01 9.94759649e-01 -1.89727209e-03 -1.16316075e-01] [-2.31069555e-02 -4.67759540e-04 9.99732889e-01 -1.10095563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.196875 meters 0.016331136032561245 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.13, Z:-1.10 [[ 9.94947866e-01 9.74195575e-02 2.42522828e-02 3.71003576e+01] [-9.73996284e-02 9.95243334e-01 -2.00446336e-03 -1.25242519e-01] [-2.43321967e-02 -3.67826788e-04 9.99703861e-01 -1.10169015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.226875 meters 0.015589047588903828 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.13, Z:-1.10 [[ 9.95123380e-01 9.57097899e-02 2.38556985e-02 3.71323978e+01] [-9.56900077e-02 9.95409229e-01 -1.97203410e-03 -1.31587127e-01] [-2.39349254e-02 -3.20334740e-04 9.99713467e-01 -1.10289347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.256875 meters 0.015180925686408643 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.14, Z:-1.10 [[ 9.95257541e-01 9.44208951e-02 2.33906361e-02 3.71636866e+01] [-9.44013923e-02 9.95532329e-01 -1.93906709e-03 -1.36778504e-01] [-2.34692229e-02 -2.78237471e-04 9.99724521e-01 -1.10420223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.286874999999995 meters 0.015201331847166388 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.14, Z:-1.11 [[ 9.95317628e-01 9.36788053e-02 2.38138994e-02 3.71945483e+01] [-9.36582337e-02 9.95602438e-01 -1.98018427e-03 -1.40583058e-01] [-2.38946776e-02 -2.59455443e-04 9.99714448e-01 -1.10536123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.316874999999996 meters 0.015220491278787334 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.15, Z:-1.11 [[ 9.95356899e-01 9.34310642e-02 2.31361161e-02 3.72269694e+01] [-9.34114754e-02 9.95625722e-01 -1.92833943e-03 -1.45219006e-01] [-2.32150791e-02 -2.41792780e-04 9.99730464e-01 -1.10588456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.346875 meters 0.015316067074351892 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.15, Z:-1.11 [[ 9.95277574e-01 9.42579800e-02 2.31944812e-02 3.72601145e+01] [-9.42383691e-02 9.95547773e-01 -1.93954240e-03 -1.48280896e-01] [-2.32740314e-02 -2.55427021e-04 9.99729090e-01 -1.10678816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.376875 meters 0.015500009230622877 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.15, Z:-1.11 [[ 9.95159106e-01 9.54496085e-02 2.34035319e-02 3.72916026e+01] [-9.54298146e-02 9.95434224e-01 -1.96372083e-03 -1.50607491e-01] [-2.34841130e-02 -2.79180046e-04 9.99724171e-01 -1.10827532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.406875 meters 0.015661635970084846 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.15, Z:-1.11 [[ 9.95031178e-01 9.68513324e-02 2.30818915e-02 3.73238442e+01] [-9.68323196e-02 9.95298813e-01 -1.94260921e-03 -1.53629356e-01] [-2.31615235e-02 -3.02116356e-04 9.99731690e-01 -1.10868361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.436875 meters 0.01632286576637746 Centerline is valid? [True, True] Translation: X:37.36, Y:-0.15, Z:-1.11 [[ 9.94746313e-01 9.99871064e-02 2.19625122e-02 3.73555447e+01] [-9.99705499e-02 9.94988671e-01 -1.85325779e-03 -1.54953528e-01] [-2.20377527e-02 -3.52083067e-04 9.99757077e-01 -1.11034150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.466874999999995 meters 0.01646054675703703 Centerline is valid? [True, True] Translation: X:37.39, Y:-0.16, Z:-1.11 [[ 9.94666786e-01 1.00953822e-01 2.11260570e-02 3.73875574e+01] [-1.00938620e-01 9.94891049e-01 -1.78742194e-03 -1.56863937e-01] [-2.11985721e-02 -3.54545803e-04 9.99775222e-01 -1.11296400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.496874999999996 meters 0.016859609033489147 Centerline is valid? [True, True] Translation: X:37.42, Y:-0.16, Z:-1.12 [[ 9.94542728e-01 1.02262422e-01 2.06678103e-02 3.74197017e+01] [-1.02248054e-01 9.94757388e-01 -1.75346681e-03 -1.58131895e-01] [-2.07387708e-02 -3.69345730e-04 9.99784860e-01 -1.11522104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.526875 meters 0.017144381902342874 Centerline is valid? [True, True] Translation: X:37.45, Y:-0.16, Z:-1.11 [[ 9.94300037e-01 1.04500390e-01 2.11448478e-02 3.74513576e+01] [-1.04485746e-01 9.94524757e-01 -1.79919490e-03 -1.60090157e-01] [-2.12170912e-02 -4.20395647e-04 9.99774804e-01 -1.11427826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.556875 meters 0.01768757170319755 Centerline is valid? [True, True] Translation: X:37.48, Y:-0.16, Z:-1.11 [[ 9.94121983e-01 1.06118577e-01 2.14553362e-02 3.74830423e+01] [-1.06103761e-01 9.94353378e-01 -1.83096946e-03 -1.61707667e-01] [-2.15284859e-02 -4.56284870e-04 9.99768131e-01 -1.11418055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.586875 meters 0.017988176571715895 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.16, Z:-1.11 [[ 9.93966117e-01 1.07512230e-01 2.17365820e-02 3.75155187e+01] [-1.07497240e-01 9.94203642e-01 -1.86031001e-03 -1.63201743e-01] [-2.18105951e-02 -4.87537452e-04 9.99762002e-01 -1.11457918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.616875 meters 0.018689535974818743 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.16, Z:-1.12 [[ 9.93791457e-01 1.09122088e-01 2.17004525e-02 3.75472819e+01] [-1.09107418e-01 9.94028220e-01 -1.86242567e-03 -1.64184172e-01] [-2.17740939e-02 -5.16817606e-04 9.99762783e-01 -1.11566962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.646874999999994 meters 0.0197803413447525 Centerline is valid? [True, True] Translation: X:37.58, Y:-0.16, Z:-1.12 [[ 9.93491073e-01 1.11980763e-01 2.08757315e-02 3.75797019e+01] [-1.11967680e-01 9.93710222e-01 -1.79819749e-03 -1.63023896e-01] [-2.09457913e-02 -5.50914063e-04 9.99780461e-01 -1.11956224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.676874999999995 meters 0.02035369763939859 Centerline is valid? [True, True] Translation: X:37.61, Y:-0.16, Z:-1.12 [[ 9.93299393e-01 1.13681998e-01 2.08019159e-02 3.76118683e+01] [-1.13669389e-01 9.93517016e-01 -1.79139108e-03 -1.64386959e-01] [-2.08707063e-02 -5.85153405e-04 9.99782012e-01 -1.12130840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.706875 meters 0.02082244020354652 Centerline is valid? [True, True] Translation: X:37.64, Y:-0.17, Z:-1.12 [[ 9.93109129e-01 1.15321636e-01 2.08609043e-02 3.76441253e+01] [-1.15309211e-01 9.93328012e-01 -1.80148880e-03 -1.66011338e-01] [-2.09294712e-02 -6.16379449e-04 9.99780765e-01 -1.12224220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.736875 meters 0.02143846598288808 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.17, Z:-1.12 [[ 9.92841092e-01 1.17445027e-01 2.17539045e-02 3.76765869e+01] [-1.17431905e-01 9.93079150e-01 -1.88413092e-03 -1.67146564e-01] [-2.18246308e-02 -6.83959849e-04 9.99761580e-01 -1.12159617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.766875 meters 0.02189301204778739 Centerline is valid? [True, True] Translation: X:37.71, Y:-0.17, Z:-1.12 [[ 9.92643632e-01 1.19008144e-01 2.22639094e-02 3.77089142e+01] [-1.18994668e-01 9.92893010e-01 -1.93385888e-03 -1.68763163e-01] [-2.23358250e-02 -7.29653806e-04 9.99750258e-01 -1.12117064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.796875 meters 0.021337643564464392 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.17, Z:-1.12 [[ 9.92474655e-01 1.20329172e-01 2.26925193e-02 3.77407708e+01] [-1.20315389e-01 9.92733751e-01 -1.97667880e-03 -1.71590750e-01] [-2.27654820e-02 -7.68455695e-04 9.99740537e-01 -1.12109403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.826874999999994 meters 0.022337605433819768 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.17, Z:-1.12 [[ 9.92407513e-01 1.20840991e-01 2.29081231e-02 3.77724737e+01] [-1.20826952e-01 9.92671569e-01 -2.00111745e-03 -1.72129618e-01] [-2.29820595e-02 -7.81994686e-04 9.99735572e-01 -1.12273991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.856874999999995 meters 0.021565039958993847 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.18, Z:-1.12 [[ 9.92364199e-01 1.21335589e-01 2.21578587e-02 3.78046443e+01] [-1.21322448e-01 9.92611251e-01 -1.94137835e-03 -1.76181821e-01] [-2.22296981e-02 -7.61691289e-04 9.99752600e-01 -1.12474981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.886874999999996 meters 0.022357462418633532 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.18, Z:-1.13 [[ 9.92423472e-01 1.21003861e-01 2.13006535e-02 3.78356612e+01] [-1.20991529e-01 9.92651775e-01 -1.87151241e-03 -1.78005108e-01] [-2.13705918e-02 -7.19865804e-04 9.99771364e-01 -1.12721450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.916875 meters 0.021351296631633307 Centerline is valid? [True, True] Translation: X:37.87, Y:-0.18, Z:-1.13 [[ 9.92662133e-01 1.19253206e-01 2.00140411e-02 3.78675129e+01] [-1.19241882e-01 9.92863670e-01 -1.76245784e-03 -1.83204213e-01] [-2.00813931e-02 -6.36986779e-04 9.99798146e-01 -1.12998568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.946875 meters 0.020823822415767454 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.19, Z:-1.13 [[ 9.92742216e-01 1.18487415e-01 2.05821636e-02 3.78997683e+01] [-1.18475167e-01 9.92955352e-01 -1.81774282e-03 -1.86616677e-01] [-2.06525491e-02 -6.33925232e-04 9.99786512e-01 -1.13144135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.976875 meters 0.021177230502124035 Centerline is valid? [True, True] Translation: X:37.93, Y:-0.19, Z:-1.13 [[ 9.92737600e-01 1.18456992e-01 2.09761307e-02 3.79305349e+01] [-1.18444147e-01 9.92958978e-01 -1.85804784e-03 -1.89060316e-01] [-2.10485361e-02 -6.39945967e-04 9.99778250e-01 -1.13232969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.006875 meters 0.01957803167880936 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.20, Z:-1.13 [[ 9.93074621e-01 1.15450951e-01 2.17686669e-02 3.79612072e+01] [-1.15436240e-01 9.93313006e-01 -1.93536133e-03 -1.95581608e-01] [-2.18465393e-02 -5.90934845e-04 9.99761161e-01 -1.13239349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.036874999999995 meters 0.01957803167880936 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.20, Z:-1.13 [[ 9.93042790e-01 1.15724397e-01 2.17688122e-02 3.79934387e+01] [-1.15709788e-01 9.93281182e-01 -1.93373234e-03 -1.98551006e-01] [-2.18463315e-02 -5.98585687e-04 9.99761161e-01 -1.13342427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.066874999999996 meters 0.016148838503531607 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.21, Z:-1.13 [[ 9.94235105e-01 1.04688231e-01 2.31717619e-02 3.80232641e+01] [-1.04668466e-01 9.94505021e-01 -2.06751570e-03 -2.10947583e-01] [-2.32608781e-02 -3.69756087e-04 9.99729361e-01 -1.13008162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.096875 meters 0.015190559484533796 Centerline is valid? [True, True] Translation: X:38.06, Y:-0.22, Z:-1.13 [[ 9.94727445e-01 9.96046420e-02 2.44177171e-02 3.80553819e+01] [-9.95811577e-02 9.95027058e-01 -2.17887794e-03 -2.17773564e-01] [-2.45133156e-02 -2.64154851e-04 9.99699469e-01 -1.12992786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.126875 meters 0.014775154158543578 Centerline is valid? [True, True] Translation: X:38.09, Y:-0.22, Z:-1.13 [[ 9.95089563e-01 9.57773386e-02 2.49692343e-02 3.80863169e+01] [-9.57515296e-02 9.95402769e-01 -2.22995515e-03 -2.22139774e-01] [-2.50680241e-02 -1.71837283e-04 9.99685733e-01 -1.13131349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.156875 meters 0.014440422198743173 Centerline is valid? [True, True] Translation: X:38.12, Y:-0.23, Z:-1.13 [[ 9.95244588e-01 9.42481463e-02 2.46068330e-02 3.81193612e+01] [-9.42225567e-02 9.95548728e-01 -2.19990010e-03 -2.25898328e-01] [-2.47046378e-02 -1.29080050e-04 9.99694786e-01 -1.13239738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.186875 meters 0.014699569930318856 Centerline is valid? [True, True] Translation: X:38.15, Y:-0.23, Z:-1.14 [[ 9.95105705e-01 9.59010380e-02 2.38249256e-02 3.81511199e+01] [-9.58773636e-02 9.95390861e-01 -2.13663963e-03 -2.25213551e-01] [-2.39200191e-02 -1.58088766e-04 9.99713863e-01 -1.13584892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.216874999999995 meters 0.014938015311888639 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.22, Z:-1.14 [[ 9.94810865e-01 9.87759815e-02 2.43853947e-02 3.81818957e+01] [-9.87518907e-02 9.95109669e-01 -2.19313732e-03 -2.24794112e-01] [-2.44827713e-02 -2.26346994e-04 9.99700226e-01 -1.13691980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.246874999999996 meters 0.015472722750646449 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.22, Z:-1.14 [[ 9.94464746e-01 1.02236205e-01 2.42410216e-02 3.82144721e+01] [-1.02213297e-01 9.94760105e-01 -2.18546486e-03 -2.24623272e-01] [-2.43374348e-02 -3.04386984e-04 9.99703754e-01 -1.13709738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.276875 meters 0.016742172767126487 Centerline is valid? [True, True] Translation: X:38.25, Y:-0.22, Z:-1.14 [[ 9.93791824e-01 1.08487317e-01 2.46640034e-02 3.82473983e+01] [-1.08465346e-01 9.94097728e-01 -2.23080238e-03 -2.21475083e-01] [-2.47604435e-02 -4.58236510e-04 9.99693308e-01 -1.13649573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.306875 meters 0.0176031866323496 Centerline is valid? [True, True] Translation: X:38.28, Y:-0.22, Z:-1.14 [[ 9.93430946e-01 1.11720582e-01 2.47682787e-02 3.82797333e+01] [-1.11699417e-01 9.93739513e-01 -2.24075414e-03 -2.21013288e-01] [-2.48635555e-02 -5.40567775e-04 9.99690708e-01 -1.13744444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.336875 meters 0.01876054621818352 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.22, Z:-1.14 [[ 9.93179088e-01 1.13935562e-01 2.47787743e-02 3.83106505e+01] [-1.13914881e-01 9.93487967e-01 -2.24919714e-03 -2.19291570e-01] [-2.48736777e-02 -5.88815548e-04 9.99690429e-01 -1.13982947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.366875 meters 0.019840726284061586 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.22, Z:-1.14 [[ 9.92716319e-01 1.17951512e-01 2.45306220e-02 3.83433099e+01] [-1.17932452e-01 9.93019122e-01 -2.22727146e-03 -2.17530758e-01] [-2.46220868e-02 -6.81907690e-04 9.99696598e-01 -1.14171657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.396874999999994 meters 0.019935544104362917 Centerline is valid? [True, True] Translation: X:38.38, Y:-0.22, Z:-1.14 [[ 9.92608425e-01 1.18880686e-01 2.44109997e-02 3.83753176e+01] [-1.18862082e-01 9.92908299e-01 -2.21683369e-03 -2.19092579e-01] [-2.45014229e-02 -7.01094453e-04 9.99699549e-01 -1.14314374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.426874999999995 meters 0.01995970292334883 Centerline is valid? [True, True] Translation: X:38.41, Y:-0.22, Z:-1.14 [[ 9.92512981e-01 1.19828370e-01 2.36462133e-02 3.84075375e+01] [-1.19811052e-01 9.92794378e-01 -2.15287540e-03 -2.21212490e-01] [-2.37338032e-02 -6.96320908e-04 9.99718071e-01 -1.14456341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.456875 meters 0.020221959595723184 Centerline is valid? [True, True] Translation: X:38.44, Y:-0.22, Z:-1.15 [[ 9.92484748e-01 1.20105160e-01 2.34259448e-02 3.84394871e+01] [-1.20088110e-01 9.92760935e-01 -2.13837569e-03 -2.21373858e-01] [-2.35131928e-02 -6.90872186e-04 9.99723288e-01 -1.14718658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.486875 meters 0.019252058971594353 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.23, Z:-1.15 [[ 9.92542129e-01 1.19649432e-01 2.33267230e-02 3.84714909e+01] [-1.19632256e-01 9.92815976e-01 -2.13545025e-03 -2.25677900e-01] [-2.34146486e-02 -6.71104153e-04 9.99725614e-01 -1.14804413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.516875 meters 0.01955882119665638 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.23, Z:-1.15 [[ 9.92673459e-01 1.18388652e-01 2.41563956e-02 3.85024616e+01] [-1.18369703e-01 9.92967116e-01 -2.21787581e-03 -2.27747728e-01] [-2.42490779e-02 -6.57758929e-04 9.99705731e-01 -1.14846686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.546875 meters 0.018902876151241577 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.23, Z:-1.15 [[ 9.92820536e-01 1.17029226e-01 2.47294114e-02 3.85348326e+01] [-1.17008775e-01 9.93128270e-01 -2.27737269e-03 -2.32167412e-01] [-2.48259967e-02 -6.32535755e-04 9.99691587e-01 -1.14760554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.576874999999994 meters 0.01757359876939044 Centerline is valid? [True, True] Translation: X:38.57, Y:-0.24, Z:-1.15 [[ 9.93252625e-01 1.13173757e-01 2.53164835e-02 3.85655340e+01] [-1.13151006e-01 9.93575061e-01 -2.33402314e-03 -2.37607144e-01] [-2.54179768e-02 -5.46310950e-04 9.99676762e-01 -1.14674929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.606874999999995 meters 0.01699143294322367 Centerline is valid? [True, True] Translation: X:38.60, Y:-0.24, Z:-1.15 [[ 9.93519184e-01 1.10690307e-01 2.58319147e-02 3.85976449e+01] [-1.10665787e-01 9.93854825e-01 -2.38126780e-03 -2.41896660e-01] [-2.59367564e-02 -4.92873948e-04 9.99663464e-01 -1.14804426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.636874999999996 meters 0.01643718748497056 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.25, Z:-1.15 [[ 9.93724048e-01 1.08617623e-01 2.67344197e-02 3.86293219e+01] [-1.08590432e-01 9.94083503e-01 -2.47111455e-03 -2.46496558e-01] [-2.68446521e-02 -4.47496227e-04 9.99639517e-01 -1.14860761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.666875 meters 0.015522659770209736 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.25, Z:-1.15 [[ 9.94143602e-01 1.04379225e-01 2.79906540e-02 3.86615152e+01] [-1.04347525e-01 9.94537511e-01 -2.59483143e-03 -2.52570930e-01] [-2.81086019e-02 -3.41120393e-04 9.99604817e-01 -1.14904360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.696875 meters 0.015316454502747915 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.26, Z:-1.15 [[ 9.94283617e-01 1.03155285e-01 2.75513530e-02 3.86933057e+01] [-1.03124055e-01 9.94665219e-01 -2.55580192e-03 -2.56449723e-01] [-2.76680170e-02 -3.00015265e-04 9.99617122e-01 -1.15074230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.726875 meters 0.015236909420359475 Centerline is valid? [True, True] Translation: X:38.73, Y:-0.26, Z:-1.15 [[ 9.94386167e-01 1.02458179e-01 2.64286130e-02 3.87256701e+01] [-1.02429043e-01 9.94737278e-01 -2.45744448e-03 -2.60067445e-01] [-2.65413119e-02 -2.63408730e-04 9.99647683e-01 -1.15307519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.756875 meters 0.015160296949143878 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.26, Z:-1.16 [[ 9.94501902e-01 1.01899704e-01 2.41333323e-02 3.87584622e+01] [-1.01875104e-01 9.94794653e-01 -2.24984870e-03 -2.64136198e-01] [-2.42369689e-02 -2.21106932e-04 9.99706217e-01 -1.15628495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.786874999999995 meters 0.015206821370006129 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.27, Z:-1.16 [[ 9.94443297e-01 1.02695109e-01 2.31569311e-02 3.87898985e+01] [-1.02672529e-01 9.94712855e-01 -2.16507452e-03 -2.66983435e-01] [-2.32568396e-02 -2.24536835e-04 9.99729498e-01 -1.15763771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.816874999999996 meters 0.015357586566466288 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.27, Z:-1.16 [[ 9.94342537e-01 1.03790309e-01 2.25940280e-02 3.88215426e+01] [-1.03768980e-01 9.94599173e-01 -2.11759321e-03 -2.69488294e-01] [-2.26917872e-02 -2.38946217e-04 9.99742480e-01 -1.15868827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.846875 meters 0.015619777712880716 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.27, Z:-1.16 [[ 9.94176289e-01 1.05266489e-01 2.30753810e-02 3.88548165e+01] [-1.05244515e-01 9.94444011e-01 -2.16805620e-03 -2.71432952e-01] [-2.31753981e-02 -2.73127205e-04 9.99731377e-01 -1.16065152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.876875 meters 0.01612055988100635 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.27, Z:-1.16 [[ 9.93804918e-01 1.08715426e-01 2.30811833e-02 3.88871510e+01] [-1.08694218e-01 9.94072852e-01 -2.17516140e-03 -2.72232220e-01] [-2.31808513e-02 -3.47105062e-04 9.99731228e-01 -1.16279433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.906875 meters 0.01653975484506292 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.28, Z:-1.16 [[ 9.93549301e-01 1.10828245e-01 2.40184487e-02 3.89192893e+01] [-1.10805751e-01 9.93839492e-01 -2.26950939e-03 -2.75122160e-01] [-2.41220086e-02 -4.06512768e-04 9.99708939e-01 -1.16271874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.936875 meters 0.01691412521715437 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.28, Z:-1.16 [[ 9.93294165e-01 1.12913369e-01 2.48449726e-02 3.89515078e+01] [-1.12889795e-01 9.93604727e-01 -2.35389201e-03 -2.76939899e-01] [-2.49518681e-02 -4.66636656e-04 9.99688545e-01 -1.16307504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.966874999999995 meters 0.018367105166600693 Centerline is valid? [True, True] Translation: X:38.98, Y:-0.28, Z:-1.16 [[ 9.92721634e-01 1.17633132e-01 2.58109247e-02 3.89825903e+01] [-1.17609111e-01 9.93056939e-01 -2.45202344e-03 -2.76422201e-01] [-2.59201571e-02 -6.01423193e-04 9.99663835e-01 -1.16332646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.996874999999996 meters 0.01890243553530733 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.28, Z:-1.16 [[ 9.92451397e-01 1.19904970e-01 2.57492222e-02 3.90145592e+01] [-1.19881683e-01 9.92785159e-01 -2.45172945e-03 -2.78574406e-01] [-2.58574202e-02 -6.53637781e-04 9.99665427e-01 -1.16467982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.026875 meters 0.019311579486452575 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.28, Z:-1.17 [[ 9.92168108e-01 1.22263840e-01 2.55733898e-02 3.90463370e+01] [-1.22241495e-01 9.92497384e-01 -2.44114962e-03 -2.81276212e-01] [-2.56799868e-02 -7.04098612e-04 9.99669967e-01 -1.16575262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.056875 meters 0.02054472926346607 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.28, Z:-1.17 [[ 9.91975822e-01 1.23886048e-01 2.52233119e-02 3.90769493e+01] [-1.23864646e-01 9.92296184e-01 -2.41516041e-03 -2.82511289e-01] [-2.53282008e-02 -7.28495877e-04 9.99678924e-01 -1.16783452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.086875 meters 0.020808488893845754 Centerline is valid? [True, True] Translation: X:39.11, Y:-0.29, Z:-1.17 [[ 9.91627165e-01 1.26980262e-01 2.34857082e-02 3.91083359e+01] [-1.26962594e-01 9.91904958e-01 -2.24794081e-03 -2.86535639e-01] [-2.35810346e-02 -7.52687261e-04 9.99721645e-01 -1.16906849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.116875 meters 0.02161492171959918 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.29, Z:-1.17 [[ 9.91436579e-01 1.28574619e-01 2.28490180e-02 3.91405550e+01] [-1.28558206e-01 9.91699543e-01 -2.19188715e-03 -2.89355235e-01] [-2.29411818e-02 -7.64311669e-04 9.99736524e-01 -1.17102293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.146874999999994 meters 0.021514706491429093 Centerline is valid? [True, True] Translation: X:39.17, Y:-0.29, Z:-1.17 [[ 9.91376673e-01 1.29195169e-01 2.19294285e-02 3.91721254e+01] [-1.29180091e-01 9.91618907e-01 -2.10870648e-03 -2.93172395e-01] [-2.20180707e-02 -7.42323169e-04 9.99757297e-01 -1.17349094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.176874999999995 meters 0.02192323325220661 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.30, Z:-1.17 [[ 9.91283084e-01 1.29919579e-01 2.18803730e-02 3.92042493e+01] [-1.29904627e-01 9.91524250e-01 -2.10939416e-03 -2.97386619e-01] [-2.19689720e-02 -7.51354935e-04 9.99758371e-01 -1.17470735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.206875 meters 0.021499606027415078 Centerline is valid? [True, True] Translation: X:39.24, Y:-0.30, Z:-1.18 [[ 9.91270639e-01 1.30018165e-01 2.18585508e-02 3.92368710e+01] [-1.30003157e-01 9.91511330e-01 -2.11226351e-03 -3.02604991e-01] [-2.19476334e-02 -7.47855819e-04 9.99758842e-01 -1.17533897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.236875 meters 0.021343772942217037 Centerline is valid? [True, True] Translation: X:39.27, Y:-0.31, Z:-1.18 [[ 9.91299438e-01 1.29853452e-01 2.15291739e-02 3.92686486e+01] [-1.29838717e-01 9.91532931e-01 -2.08679959e-03 -3.07376463e-01] [-2.16178630e-02 -7.26677057e-04 9.99766043e-01 -1.17719437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.266875 meters 0.02120481974085947 Centerline is valid? [True, True] Translation: X:39.30, Y:-0.31, Z:-1.18 [[ 9.91623395e-01 1.27258634e-01 2.20971255e-02 3.92988129e+01] [-1.27242291e-01 9.91869335e-01 -2.14979090e-03 -3.13187981e-01] [-2.21910406e-02 -6.79905928e-04 9.99753517e-01 -1.17763042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.296875 meters 0.020429476238822013 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.32, Z:-1.18 [[ 9.91714869e-01 1.26273876e-01 2.35908391e-02 3.93301079e+01] [-1.26255003e-01 9.91995168e-01 -2.29372736e-03 -3.19572248e-01] [-2.36916363e-02 -7.03737942e-04 9.99719066e-01 -1.17590375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.326874999999994 meters 0.02121435418802386 Centerline is valid? [True, True] Translation: X:39.36, Y:-0.32, Z:-1.18 [[ 9.91813767e-01 1.25439320e-01 2.38836314e-02 3.93609026e+01] [-1.25419571e-01 9.92101057e-01 -2.32898258e-03 -3.22663072e-01] [-2.39871220e-02 -6.85557822e-04 9.99712033e-01 -1.17671199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.356874999999995 meters 0.019860655679468868 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.33, Z:-1.18 [[ 9.91846697e-01 1.25203091e-01 2.37553106e-02 3.93920408e+01] [-1.25183427e-01 9.92130905e-01 -2.31893262e-03 -3.29286894e-01] [-2.38587153e-02 -6.73745544e-04 9.99715113e-01 -1.17730855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.386874999999996 meters 0.019563419874032508 Centerline is valid? [True, True] Translation: X:39.42, Y:-0.33, Z:-1.18 [[ 9.91968965e-01 1.24210115e-01 2.38625157e-02 3.94236806e+01] [-1.24189845e-01 9.92255728e-01 -2.33528292e-03 -3.33388769e-01] [-2.39677836e-02 -6.46953941e-04 9.99712522e-01 -1.17960615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.416875 meters 0.016068817616541463 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.35, Z:-1.18 [[ 9.93449237e-01 1.11863478e-01 2.33489939e-02 3.94520836e+01] [-1.11840480e-01 9.93723528e-01 -2.29262366e-03 -3.45381964e-01] [-2.34589054e-02 -3.33757454e-04 9.99724746e-01 -1.18211495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.446875 meters 0.014796132399875294 Centerline is valid? [True, True] Translation: X:39.48, Y:-0.35, Z:-1.18 [[ 9.94157519e-01 1.05241829e-01 2.39788372e-02 3.94831557e+01] [-1.05215692e-01 9.94446642e-01 -2.35259446e-03 -3.54835242e-01] [-2.40932655e-02 -1.84100469e-04 9.99709698e-01 -1.18018981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.476875 meters 0.014496363024983298 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.37, Z:-1.18 [[ 9.95160131e-01 9.49509144e-02 2.53108272e-02 3.95143415e+01] [-9.49182946e-02 9.95481953e-01 -2.48981293e-03 -3.66223758e-01] [-2.54328817e-02 7.53020032e-05 9.99676529e-01 -1.17775674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.506875 meters 0.014663240243914258 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.37, Z:-1.18 [[ 9.95443758e-01 9.23172142e-02 2.38590962e-02 3.95462875e+01] [-9.22873472e-02 9.95729638e-01 -2.35224903e-03 -3.70516134e-01] [-2.39743623e-02 1.39638923e-04 9.99712564e-01 -1.18038358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.536874999999995 meters 0.014763411264656485 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.37, Z:-1.18 [[ 9.95657823e-01 9.02476074e-02 2.28225366e-02 3.95784385e+01] [-9.02196165e-02 9.95919341e-01 -2.25526012e-03 -3.73130934e-01] [-2.29329375e-02 1.86426884e-04 9.99736988e-01 -1.18367867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.566874999999996 meters 0.015005227296291524 Centerline is valid? [True, True] Translation: X:39.61, Y:-0.38, Z:-1.19 [[ 9.95698532e-01 8.98812580e-02 2.24898323e-02 3.96096965e+01] [-8.98538653e-02 9.95952469e-01 -2.22762728e-03 -3.75596109e-01] [-2.25990259e-02 1.97246850e-04 9.99744590e-01 -1.18621337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.596875 meters 0.014770308856215567 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.38, Z:-1.19 [[ 9.95467560e-01 9.24414369e-02 2.23364479e-02 3.96408432e+01] [-9.24149066e-02 9.95718113e-01 -2.21931082e-03 -3.76342273e-01] [-2.24459620e-02 1.45031181e-04 9.99748047e-01 -1.18803671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.626875 meters 0.014414212101287169 Centerline is valid? [True, True] Translation: X:39.67, Y:-0.38, Z:-1.19 [[ 9.95215983e-01 9.53149518e-02 2.14524285e-02 3.96736123e+01] [-9.52911177e-02 9.95447163e-01 -2.13285829e-03 -3.77454267e-01] [-2.15580523e-02 7.84287787e-05 9.99767595e-01 -1.18758977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.656875 meters 0.014324223358782386 Centerline is valid? [True, True] Translation: X:39.71, Y:-0.38, Z:-1.19 [[ 9.94934239e-01 9.83111121e-02 2.09948644e-02 3.97069366e+01] [-9.82888338e-02 9.95155729e-01 -2.09290886e-03 -3.78597782e-01] [-2.10989158e-02 1.87459432e-05 9.99777393e-01 -1.18797984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.686875 meters 0.01445976087261992 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.37, Z:-1.19 [[ 9.94231507e-01 1.05290637e-01 2.04350647e-02 3.97395259e+01] [-1.05270889e-01 9.94441485e-01 -2.04272068e-03 -3.74345951e-01] [-2.05365554e-02 -1.20280155e-04 9.99789095e-01 -1.18907464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.716874999999995 meters 0.014967382511352694 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.37, Z:-1.19 [[ 9.93765309e-01 1.09530027e-01 2.08250917e-02 3.97704731e+01] [-1.09510341e-01 9.93983466e-01 -2.08685224e-03 -3.72011830e-01] [-2.09283698e-02 -2.06721523e-04 9.99780956e-01 -1.19220598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.746874999999996 meters 0.015664975751826165 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.37, Z:-1.19 [[ 9.93255336e-01 1.13847087e-01 2.19699539e-02 3.98026524e+01] [-1.13826108e-01 9.93498236e-01 -2.20716901e-03 -3.70560029e-01] [-2.20783902e-02 -3.08471958e-04 9.99756195e-01 -1.19351597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.776875 meters 0.01738059780897626 Centerline is valid? [True, True] Translation: X:39.84, Y:-0.37, Z:-1.19 [[ 9.92382367e-01 1.20654136e-01 2.48961096e-02 3.98355620e+01] [-1.20629136e-01 9.92694473e-01 -2.50908234e-03 -3.68262765e-01] [-2.50169615e-02 -5.13227122e-04 9.99686895e-01 -1.19016193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.806875 meters 0.018566172120125218 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.37, Z:-1.19 [[ 9.92053968e-01 1.23326241e-01 2.48910152e-02 3.98666156e+01] [-1.23302061e-01 9.92366012e-01 -2.50978477e-03 -3.68402614e-01] [-2.50105199e-02 -5.79271554e-04 9.99687020e-01 -1.19021214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.836875 meters 0.01836653605802177 Centerline is valid? [True, True] Translation: X:39.90, Y:-0.37, Z:-1.19 [[ 9.91763723e-01 1.25652172e-01 2.48243558e-02 3.98987593e+01] [-1.25628714e-01 9.92074157e-01 -2.50846716e-03 -3.71096124e-01] [-2.49427962e-02 -6.30845167e-04 9.99688681e-01 -1.19065143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.866875 meters 0.019322277100551455 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.37, Z:-1.19 [[ 9.91303208e-01 1.29146412e-01 2.52814988e-02 3.99310301e+01] [-1.29123029e-01 9.91625272e-01 -2.56209033e-03 -3.70469953e-01] [-2.54006579e-02 -7.24615339e-04 9.99677089e-01 -1.19220388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.896874999999994 meters 0.020859503930468343 Centerline is valid? [True, True] Translation: X:39.96, Y:-0.37, Z:-1.19 [[ 9.91068038e-01 1.30974650e-01 2.50955114e-02 3.99624035e+01] [-1.30952177e-01 9.91385422e-01 -2.54397392e-03 -3.69949817e-01] [-2.52125203e-02 -7.65060607e-04 9.99681821e-01 -1.19465946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.926874999999995 meters 0.020859503930468343 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.37, Z:-1.20 [[ 9.91032089e-01 1.31246490e-01 2.50949656e-02 3.99946030e+01] [-1.31223968e-01 9.91349470e-01 -2.54934572e-03 -3.73328649e-01] [-2.52124735e-02 -7.66577538e-04 9.99681821e-01 -1.19569363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.956875 meters 0.02184683405575203 Centerline is valid? [True, True] Translation: X:40.03, Y:-0.37, Z:-1.20 [[ 9.90833402e-01 1.32819197e-01 2.46623245e-02 4.00253986e+01] [-1.32797723e-01 9.91139973e-01 -2.51377151e-03 -3.73861136e-01] [-2.47776927e-02 -7.84371760e-04 9.99692678e-01 -1.19740975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.986875 meters 0.021893348291769987 Centerline is valid? [True, True] Translation: X:40.06, Y:-0.38, Z:-1.20 [[ 9.90575665e-01 1.35007879e-01 2.30808417e-02 4.00576368e+01] [-1.34989658e-01 9.90844214e-01 -2.35285185e-03 -3.75932904e-01] [-2.31871720e-02 -7.84997141e-04 9.99730833e-01 -1.20037109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.016875 meters 0.020950383904213863 Centerline is valid? [True, True] Translation: X:40.09, Y:-0.38, Z:-1.20 [[ 9.90502432e-01 1.35772175e-01 2.16990612e-02 4.00892212e+01] [-1.35756252e-01 9.90739798e-01 -2.21208729e-03 -3.80415012e-01] [-2.17984634e-02 -7.54705374e-04 9.99762100e-01 -1.20206534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.046875 meters 0.021701019474823578 Centerline is valid? [True, True] Translation: X:40.12, Y:-0.38, Z:-1.20 [[ 9.90397063e-01 1.36673300e-01 2.08342843e-02 4.01205075e+01] [-1.36658712e-01 9.90615901e-01 -2.12907339e-03 -3.82206349e-01] [-2.09297608e-02 -7.38558423e-04 9.99780676e-01 -1.20352184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.076874999999994 meters 0.02261287644500572 Centerline is valid? [True, True] Translation: X:40.15, Y:-0.38, Z:-1.20 [[ 9.90317351e-01 1.37317615e-01 2.03817838e-02 4.01516791e+01] [-1.37303696e-01 9.90526798e-01 -2.08739880e-03 -3.83787477e-01] [-2.04753397e-02 -7.31307006e-04 9.99790091e-01 -1.20488265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.106874999999995 meters 0.022423806474482447 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.39, Z:-1.20 [[ 9.90130522e-01 1.38727412e-01 1.99061521e-02 4.01836510e+01] [-1.38714336e-01 9.90330329e-01 -2.04282682e-03 -3.87868399e-01] [-1.99970623e-02 -7.38603497e-04 9.99799766e-01 -1.20483067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.136874999999996 meters 0.022237305581077033 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.39, Z:-1.21 [[ 9.90027674e-01 1.39393578e-01 2.03626126e-02 4.02164240e+01] [-1.39379939e-01 9.90236763e-01 -2.09446084e-03 -3.91192158e-01] [-2.04557620e-02 -7.64565510e-04 9.99790467e-01 -1.20581204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.166875 meters 0.02367895631590527 Centerline is valid? [True, True] Translation: X:40.25, Y:-0.39, Z:-1.21 [[ 9.89755228e-01 1.41143631e-01 2.15189467e-02 4.02480402e+01] [-1.41128633e-01 9.89988774e-01 -2.22165195e-03 -3.90787091e-01] [-2.16170877e-02 -8.38047904e-04 9.99765972e-01 -1.20763383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.196875 meters 0.02442370534499972 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.39, Z:-1.21 [[ 9.89624519e-01 1.42039073e-01 2.16382358e-02 4.02789465e+01] [-1.42024081e-01 9.89860678e-01 -2.23585914e-03 -3.92918501e-01] [-2.17364182e-02 -8.60489539e-04 9.99763366e-01 -1.20921717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.226875 meters 0.024015473716815627 Centerline is valid? [True, True] Translation: X:40.31, Y:-0.40, Z:-1.21 [[ 9.89486629e-01 1.43049679e-01 2.12838229e-02 4.03102006e+01] [-1.43035309e-01 9.89715132e-01 -2.20387795e-03 -3.97415425e-01] [-2.13801856e-02 -8.63630413e-04 9.99771045e-01 -1.20973029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.256875 meters 0.02437819657649339 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.40, Z:-1.21 [[ 9.89364235e-01 1.43847324e-01 2.15953167e-02 4.03421227e+01] [-1.43832612e-01 9.89599493e-01 -2.24105583e-03 -4.00840704e-01] [-2.16930844e-02 -8.88890337e-04 9.99764282e-01 -1.20912430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.286874999999995 meters 0.025015523180057418 Centerline is valid? [True, True] Translation: X:40.37, Y:-0.40, Z:-1.21 [[ 9.89288443e-01 1.44364627e-01 2.16155077e-02 4.03732259e+01] [-1.44349890e-01 9.89524155e-01 -2.24872779e-03 -4.03776162e-01] [-2.17137038e-02 -8.95555746e-04 9.99763829e-01 -1.20939989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.316874999999996 meters 0.02448226180223663 Centerline is valid? [True, True] Translation: X:40.41, Y:-0.41, Z:-1.21 [[ 9.89292301e-01 1.44203608e-01 2.24958571e-02 4.04052230e+01] [-1.44187485e-01 9.89547607e-01 -2.34557816e-03 -4.08077139e-01] [-2.25989624e-02 -9.23158654e-04 9.99744185e-01 -1.21021825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.346875 meters 0.023600343361401717 Centerline is valid? [True, True] Translation: X:40.44, Y:-0.41, Z:-1.21 [[ 9.89305301e-01 1.44057235e-01 2.28590301e-02 4.04371799e+01] [-1.44040416e-01 9.89568921e-01 -2.38921324e-03 -4.13048327e-01] [-2.29647693e-02 -9.28962893e-04 9.99735843e-01 -1.21078075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.376875 meters 0.024579462419388846 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.42, Z:-1.21 [[ 9.89370006e-01 1.43686425e-01 2.23875650e-02 4.04683406e+01] [-1.43670053e-01 9.89622863e-01 -2.34641577e-03 -4.16488311e-01] [-2.24923942e-02 -8.94949245e-04 9.99746614e-01 -1.21245824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.406875 meters 0.02339651172449158 Centerline is valid? [True, True] Translation: X:40.50, Y:-0.42, Z:-1.21 [[ 9.89398749e-01 1.43644955e-01 2.13598179e-02 4.05010506e+01] [-1.43630013e-01 9.89628921e-01 -2.24002868e-03 -4.22811044e-01] [-2.14600623e-02 -8.51629343e-04 9.99769344e-01 -1.21379670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.436875 meters 0.02378569584497353 Centerline is valid? [True, True] Translation: X:40.53, Y:-0.43, Z:-1.22 [[ 9.89507992e-01 1.43038304e-01 2.03464315e-02 4.05317246e+01] [-1.43024475e-01 9.89716837e-01 -2.14079835e-03 -4.26467679e-01] [-2.04434220e-02 -7.91700602e-04 9.99790698e-01 -1.21596502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.466874999999995 meters 0.02361319740897218 Centerline is valid? [True, True] Translation: X:40.56, Y:-0.43, Z:-1.22 [[ 9.89689633e-01 1.42036837e-01 1.84381843e-02 4.05625307e+01] [-1.42025286e-01 9.89861127e-01 -1.94110333e-03 -4.31824488e-01] [-1.85269501e-02 -6.97598548e-04 9.99828118e-01 -1.21832657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.496874999999996 meters 0.023852502142049672 Centerline is valid? [True, True] Translation: X:40.59, Y:-0.44, Z:-1.22 [[ 9.89723157e-01 1.41922492e-01 1.74950943e-02 4.05937896e+01] [-1.41912019e-01 9.89877555e-01 -1.84497222e-03 -4.35683192e-01] [-1.75798442e-02 -6.56752429e-04 9.99845247e-01 -1.22032040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.526875 meters 0.022920294498458966 Centerline is valid? [True, True] Translation: X:40.63, Y:-0.44, Z:-1.22 [[ 9.89808276e-01 1.41303670e-01 1.76875433e-02 4.06252237e+01] [-1.41292780e-01 9.89966087e-01 -1.87012343e-03 -4.40899933e-01] [-1.77743234e-02 -6.48058517e-04 9.99841814e-01 -1.22131564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.556875 meters 0.022150669514057045 Centerline is valid? [True, True] Translation: X:40.66, Y:-0.45, Z:-1.22 [[ 9.89830804e-01 1.41112254e-01 1.79530060e-02 4.06572562e+01] [-1.41100922e-01 9.89993389e-01 -1.90269065e-03 -4.46304948e-01] [-1.80418502e-02 -6.49843887e-04 9.99837021e-01 -1.22169465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.586875 meters 0.02164355347908321 Centerline is valid? [True, True] Translation: X:40.69, Y:-0.45, Z:-1.22 [[ 9.90216147e-01 1.38421039e-01 1.76521429e-02 4.06871727e+01] [-1.38409545e-01 9.90373300e-01 -1.87709984e-03 -4.53605407e-01] [-1.77420411e-02 -5.84490498e-04 9.99842427e-01 -1.22175366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.616875 meters 0.02044407125168699 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.46, Z:-1.22 [[ 9.90507526e-01 1.36284935e-01 1.79236507e-02 4.07188415e+01] [-1.36272735e-01 9.90669526e-01 -1.90596122e-03 -4.61230208e-01] [-1.80161683e-02 -5.54635965e-04 9.99837542e-01 -1.22123628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.646874999999994 meters 0.020046402749670983 Centerline is valid? [True, True] Translation: X:40.75, Y:-0.47, Z:-1.22 [[ 9.90849340e-01 1.33594502e-01 1.92378311e-02 4.07490283e+01] [-1.33579788e-01 9.91035934e-01 -2.05359614e-03 -4.67018344e-01] [-1.93397310e-02 -5.34981019e-04 9.99812827e-01 -1.22108136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.676874999999995 meters 0.018420562577415346 Centerline is valid? [True, True] Translation: X:40.78, Y:-0.48, Z:-1.22 [[ 9.91457046e-01 1.28642914e-01 2.15389456e-02 4.07791813e+01] [-1.28623283e-01 9.91690859e-01 -2.30013703e-03 -4.76704493e-01] [-2.16558718e-02 -4.89922819e-04 9.99765364e-01 -1.21931135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.706875 meters 0.017373301282554134 Centerline is valid? [True, True] Translation: X:40.81, Y:-0.48, Z:-1.22 [[ 9.91688613e-01 1.26898282e-01 2.12254705e-02 4.08111329e+01] [-1.26878815e-01 9.91915636e-01 -2.26679182e-03 -4.84226665e-01] [-2.13415281e-02 -4.45110912e-04 9.99772145e-01 -1.22047616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.736875 meters 0.017098778777916584 Centerline is valid? [True, True] Translation: X:40.84, Y:-0.49, Z:-1.22 [[ 9.91932156e-01 1.25073368e-01 2.06700463e-02 4.08421955e+01] [-1.25054510e-01 9.92147417e-01 -2.20751320e-03 -4.90278107e-01] [-2.07838341e-02 -3.95179182e-04 9.99783915e-01 -1.22308451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.766875 meters 0.016693022335182755 Centerline is valid? [True, True] Translation: X:40.87, Y:-0.50, Z:-1.22 [[ 9.92102509e-01 1.23740959e-01 2.05130759e-02 4.08733524e+01] [-1.23721999e-01 9.92314489e-01 -2.19570171e-03 -4.96446286e-01] [-2.06271207e-02 -3.59557583e-04 9.99787174e-01 -1.22426204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.796875 meters 0.016200776587419623 Centerline is valid? [True, True] Translation: X:40.90, Y:-0.51, Z:-1.23 [[ 9.92336972e-01 1.22000571e-01 1.95753687e-02 4.09041592e+01] [-1.21982881e-01 9.92529983e-01 -2.09967525e-03 -5.05300322e-01] [-1.96853019e-02 -3.04274485e-04 9.99806179e-01 -1.22520330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.826874999999994 meters 0.016274900659725505 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.51, Z:-1.23 [[ 9.92388869e-01 1.21660830e-01 1.90519100e-02 4.09354410e+01] [-1.21643909e-01 9.92571691e-01 -2.04885220e-03 -5.10014143e-01] [-1.91596516e-02 -2.84290684e-04 9.99816397e-01 -1.22640372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.856874999999995 meters 0.016257608968500377 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.51, Z:-1.23 [[ 9.92344491e-01 1.21888474e-01 1.98899481e-02 4.09667425e+01] [-1.21870020e-01 9.92543758e-01 -2.14186193e-03 -5.14423157e-01] [-2.00027122e-02 -2.98523491e-04 9.99799881e-01 -1.22641444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.886874999999996 meters 0.016680523751479406 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.52, Z:-1.23 [[ 9.92110842e-01 1.23838828e-01 1.94941568e-02 4.09980957e+01] [-1.23821389e-01 9.92302292e-01 -2.10372984e-03 -5.18250753e-01] [-1.96046199e-02 -3.26660393e-04 9.99807758e-01 -1.22823346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.916875 meters 0.017177513886443067 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.52, Z:-1.23 [[ 9.92002005e-01 1.24815963e-01 1.87882388e-02 4.10286074e+01] [-1.24799855e-01 9.92179856e-01 -2.03203572e-03 -5.21054682e-01] [-1.88949425e-02 -3.28985964e-04 9.99821421e-01 -1.23042397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.946875 meters 0.01709242558480987 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.53, Z:-1.23 [[ 9.91837666e-01 1.26146877e-01 1.85744150e-02 4.10604510e+01] [-1.26131297e-01 9.92011515e-01 -2.01263985e-03 -5.25126064e-01] [-1.86799218e-02 -3.46603038e-04 9.99825455e-01 -1.23075612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.976875 meters 0.017656525185934514 Centerline is valid? [True, True] Translation: X:41.09, Y:-0.53, Z:-1.23 [[ 9.91633076e-01 1.27967777e-01 1.69732530e-02 4.10915707e+01] [-1.27954969e-01 9.91778266e-01 -1.84289302e-03 -5.27514390e-01] [-1.70695344e-02 -3.44338395e-04 9.99854246e-01 -1.23276052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.006875 meters 0.016515143488222847 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.53, Z:-1.23 [[ 9.91819195e-01 1.26475472e-01 1.72812047e-02 4.11236163e+01] [-1.26461877e-01 9.91969684e-01 -1.88163289e-03 -5.34015281e-01] [-1.73804116e-02 -3.19173966e-04 9.99848898e-01 -1.23234622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.036874999999995 meters 0.016132165560816383 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.54, Z:-1.23 [[ 9.92152503e-01 1.23750080e-01 1.78697468e-02 4.11543640e+01] [-1.23735079e-01 9.92313378e-01 -1.94699330e-03 -5.38783975e-01] [-1.79733294e-02 -2.79400252e-04 9.99838428e-01 -1.23171482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.066874999999996 meters 0.01589065501616089 Centerline is valid? [True, True] Translation: X:41.19, Y:-0.54, Z:-1.23 [[ 9.92347141e-01 1.22075129e-01 1.85691788e-02 4.11855854e+01] [-1.22058553e-01 9.92520830e-01 -2.02770527e-03 -5.43292171e-01] [-1.86778292e-02 -2.54339572e-04 9.99825522e-01 -1.23136393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.096875 meters 0.015270044906514565 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.55, Z:-1.23 [[ 9.92560337e-01 1.20289223e-01 1.88276696e-02 4.12177212e+01] [-1.20271771e-01 9.92738865e-01 -2.06060657e-03 -5.46299809e-01] [-1.89388281e-02 -2.19160818e-04 9.99820620e-01 -1.23392661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.126875 meters 0.015282214552132734 Centerline is valid? [True, True] Translation: X:41.25, Y:-0.55, Z:-1.24 [[ 9.92540613e-01 1.20444428e-01 1.88751642e-02 4.12506080e+01] [-1.20426836e-01 9.92720047e-01 -2.07002917e-03 -5.48696129e-01] [-1.89870774e-02 -2.18488289e-04 9.99819705e-01 -1.23628661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.156875 meters 0.015213360175851731 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.55, Z:-1.24 [[ 9.92518403e-01 1.20473019e-01 1.98361003e-02 4.12825333e+01] [-1.20453471e-01 9.92716577e-01 -2.18168581e-03 -5.51742808e-01] [-1.99544599e-02 -2.23963820e-04 9.99800865e-01 -1.23726469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.186875 meters 0.015684402808874398 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.55, Z:-1.24 [[ 9.92295387e-01 1.22221819e-01 2.02901885e-02 4.13141137e+01] [-1.22201623e-01 9.92502776e-01 -2.23691584e-03 -5.53354853e-01] [-2.04114683e-02 -2.59812692e-04 9.99791631e-01 -1.23649098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.216874999999995 meters 0.015798921375748023 Centerline is valid? [True, True] Translation: X:41.35, Y:-0.56, Z:-1.24 [[ 9.92113929e-01 1.23581718e-01 2.09167412e-02 4.13465233e+01] [-1.23560468e-01 9.92334356e-01 -2.31028106e-03 -5.56095003e-01] [-2.10419094e-02 -2.92420303e-04 9.99778552e-01 -1.23559957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.246874999999996 meters 0.015964986086385677 Centerline is valid? [True, True] Translation: X:41.38, Y:-0.56, Z:-1.24 [[ 9.91927748e-01 1.25020587e-01 2.11942431e-02 4.13786682e+01] [-1.24998963e-01 9.92154096e-01 -2.34725152e-03 -5.57847385e-01] [-2.13214098e-02 -3.20954486e-04 9.99772621e-01 -1.23549546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.276875 meters 0.016476391296234977 Centerline is valid? [True, True] Translation: X:41.41, Y:-0.56, Z:-1.24 [[ 9.91715885e-01 1.26628410e-01 2.15603722e-02 4.14110357e+01] [-1.26606297e-01 9.91950159e-01 -2.39306024e-03 -5.59322800e-01] [-2.16898441e-02 -3.56443041e-04 9.99764684e-01 -1.23639104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.306875 meters 0.01691173872331429 Centerline is valid? [True, True] Translation: X:41.44, Y:-0.56, Z:-1.24 [[ 9.91329475e-01 1.29831802e-01 2.02379576e-02 4.14432452e+01] [-1.29812898e-01 9.91535953e-01 -2.25060452e-03 -5.59519883e-01] [-2.03588626e-02 -3.96057331e-04 9.99792658e-01 -1.23968033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.336875 meters 0.01742800437342365 Centerline is valid? [True, True] Translation: X:41.47, Y:-0.56, Z:-1.24 [[ 9.91135233e-01 1.31337592e-01 2.00346442e-02 4.14747282e+01] [-1.31319271e-01 9.91337613e-01 -2.23306606e-03 -5.60823612e-01] [-2.01543819e-02 -4.17664427e-04 9.99796793e-01 -1.24253839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.366875 meters 0.017771135194522687 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.56, Z:-1.24 [[ 9.90947815e-01 1.32761646e-01 1.99191865e-02 4.15062284e+01] [-1.32743734e-01 9.91147896e-01 -2.22464674e-03 -5.62679835e-01] [-2.00382076e-02 -4.39638371e-04 9.99799118e-01 -1.24428826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.396874999999994 meters 0.018320409053907895 Centerline is valid? [True, True] Translation: X:41.54, Y:-0.56, Z:-1.24 [[ 9.90704958e-01 1.34565693e-01 1.98937460e-02 4.15379158e+01] [-1.34548100e-01 9.90904563e-01 -2.22630032e-03 -5.64179846e-01] [-2.00123873e-02 -4.71058970e-04 9.99799621e-01 -1.24405053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.426874999999995 meters 0.018454707961136824 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.57, Z:-1.24 [[ 9.90623522e-01 1.35157132e-01 1.99395726e-02 4.15702202e+01] [-1.35139500e-01 9.90824061e-01 -2.23533079e-03 -5.67755712e-01] [-2.00587292e-02 -4.80252607e-04 9.99798688e-01 -1.24412933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.456875 meters 0.018433310811061827 Centerline is valid? [True, True] Translation: X:41.60, Y:-0.57, Z:-1.24 [[ 9.90626438e-01 1.35141869e-01 1.98981405e-02 4.16026459e+01] [-1.35124196e-01 9.90826146e-01 -2.23622738e-03 -5.71621254e-01] [-2.00178058e-02 -4.73454271e-04 9.99799512e-01 -1.24394429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.486875 meters 0.017707911582135596 Centerline is valid? [True, True] Translation: X:41.63, Y:-0.58, Z:-1.25 [[ 9.90712019e-01 1.34511509e-01 1.99085149e-02 4.16342097e+01] [-1.34493573e-01 9.90911927e-01 -2.24326047e-03 -5.76506118e-01] [-2.00293292e-02 -4.55142184e-04 9.99799289e-01 -1.24501837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.516875 meters 0.0175375693793286 Centerline is valid? [True, True] Translation: X:41.66, Y:-0.58, Z:-1.25 [[ 9.90868585e-01 1.33300472e-01 2.02591211e-02 4.16647796e+01] [-1.33281536e-01 9.91075576e-01 -2.28812301e-03 -5.80413340e-01] [-2.03833280e-02 -4.32937575e-04 9.99792145e-01 -1.24715255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.546875 meters 0.016942161396264702 Centerline is valid? [True, True] Translation: X:41.70, Y:-0.59, Z:-1.25 [[ 9.91112416e-01 1.31411364e-01 2.06696057e-02 4.16968961e+01] [-1.31391109e-01 9.91327845e-01 -2.34087489e-03 -5.85963710e-01] [-2.07979733e-02 -3.95732263e-04 9.99783620e-01 -1.24840101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.576874999999994 meters 0.016820589911710215 Centerline is valid? [True, True] Translation: X:41.73, Y:-0.59, Z:-1.25 [[ 9.91147161e-01 1.31188086e-01 2.04203540e-02 4.17298188e+01] [-1.31168277e-01 9.91357421e-01 -2.31225933e-03 -5.90806901e-01] [-2.05472104e-02 -3.86713389e-04 9.99788809e-01 -1.24902614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.606874999999995 meters 0.016905464044487614 Centerline is valid? [True, True] Translation: X:41.76, Y:-0.59, Z:-1.25 [[ 9.91176577e-01 1.30878382e-01 2.09724164e-02 4.17608608e+01] [-1.30857278e-01 9.91398357e-01 -2.38141525e-03 -5.94985342e-01] [-2.11036949e-02 -3.83990301e-04 9.99777218e-01 -1.24876207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.636874999999996 meters 0.0166266394552715 Centerline is valid? [True, True] Translation: X:41.79, Y:-0.60, Z:-1.25 [[ 9.91187159e-01 1.30603828e-01 2.21507312e-02 4.17925018e+01] [-1.30580103e-01 9.91434559e-01 -2.52036644e-03 -5.99669117e-01] [-2.22901700e-02 -3.94289900e-04 9.99751466e-01 -1.24755043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.666875 meters 0.01677020654452621 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.60, Z:-1.25 [[ 9.91180606e-01 1.30210084e-01 2.46239934e-02 4.18231322e+01] [-1.30180470e-01 9.91486337e-01 -2.80872541e-03 -6.02711741e-01] [-2.47800773e-02 -4.21608884e-04 9.99692838e-01 -1.24605575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.696875 meters 0.016663343956215198 Centerline is valid? [True, True] Translation: X:41.86, Y:-0.61, Z:-1.25 [[ 9.91174774e-01 1.30231546e-01 2.47449305e-02 4.18555465e+01] [-1.30201518e-01 9.91483519e-01 -2.82773316e-03 -6.07011632e-01] [-2.49024508e-02 -4.19049720e-04 9.99689798e-01 -1.24664100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.726875 meters 0.016444483251690005 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.61, Z:-1.25 [[ 9.91197688e-01 1.30095394e-01 2.45424407e-02 4.18881705e+01] [-1.30065652e-01 9.91501399e-01 -2.81112442e-03 -6.11373726e-01] [-2.46995786e-02 -4.05748512e-04 9.99694837e-01 -1.24802231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.756875 meters 0.015973573739654374 Centerline is valid? [True, True] Translation: X:41.92, Y:-0.62, Z:-1.25 [[ 9.91173112e-01 1.30240067e-01 2.47666381e-02 4.19209417e+01] [-1.30209656e-01 9.91482405e-01 -2.84354662e-03 -6.16614475e-01] [-2.49260296e-02 -4.06408472e-04 9.99689216e-01 -1.24834682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.786874999999995 meters 0.015857253331916985 Centerline is valid? [True, True] Translation: X:41.95, Y:-0.62, Z:-1.25 [[ 9.91180700e-01 1.30227028e-01 2.45304300e-02 4.19536264e+01] [-1.30197023e-01 9.91484122e-01 -2.82317236e-03 -6.21544151e-01] [-2.46891852e-02 -3.95515014e-04 9.99695097e-01 -1.24874223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.816874999999996 meters 0.015857253331916985 Centerline is valid? [True, True] Translation: X:41.99, Y:-0.63, Z:-1.25 [[ 9.91144349e-01 1.30503550e-01 2.45296431e-02 4.19857554e+01] [-1.30473462e-01 9.91447763e-01 -2.82999033e-03 -6.25354271e-01] [-2.46891836e-02 -3.95538537e-04 9.99695097e-01 -1.24977682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.846875 meters 0.01586435503306704 Centerline is valid? [True, True] Translation: X:42.02, Y:-0.63, Z:-1.25 [[ 9.91167849e-01 1.30393808e-01 2.41609355e-02 4.20169820e+01] [-1.30364403e-01 9.91462208e-01 -2.79494317e-03 -6.29179420e-01] [-2.43190977e-02 -3.79468120e-04 9.99704175e-01 -1.25177597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.876875 meters 0.015519529270995617 Centerline is valid? [True, True] Translation: X:42.05, Y:-0.63, Z:-1.25 [[ 9.91142941e-01 1.30625623e-01 2.39294352e-02 4.20491289e+01] [-1.30596766e-01 9.91431694e-01 -2.77147222e-03 -6.34332984e-01] [-2.40864258e-02 -3.78181740e-04 9.99709808e-01 -1.25291766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.906875 meters 0.015684856804387668 Centerline is valid? [True, True] Translation: X:42.08, Y:-0.64, Z:-1.25 [[ 9.91077987e-01 1.31186253e-01 2.35497358e-02 4.20812762e+01] [-1.31158307e-01 9.91357667e-01 -2.73408241e-03 -6.38441234e-01] [-2.37048851e-02 -3.79054577e-04 9.99718928e-01 -1.25372169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.936875 meters 0.01616503560460794 Centerline is valid? [True, True] Translation: X:42.11, Y:-0.64, Z:-1.26 [[ 9.91011743e-01 1.31724299e-01 2.33331218e-02 4.21134398e+01] [-1.31696857e-01 9.91286318e-01 -2.71562647e-03 -6.41273305e-01] [-2.34875183e-02 -3.81681080e-04 9.99724057e-01 -1.25552708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.966874999999995 meters 0.014843923044310713 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.65, Z:-1.25 [[ 9.91432123e-01 1.28354642e-01 2.42369862e-02 4.21445221e+01] [-1.28323858e-01 9.91728285e-01 -2.82768539e-03 -6.49148449e-01] [-2.43994513e-02 -3.06725443e-04 9.99702242e-01 -1.25479959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.996874999999996 meters 0.013845413869110186 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.66, Z:-1.25 [[ 9.92321801e-01 1.21021327e-01 2.55202341e-02 4.21748123e+01] [-1.20984581e-01 9.92649899e-01 -2.98474208e-03 -6.57229610e-01] [-2.56938753e-02 -1.25730191e-04 9.99669850e-01 -1.25225070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.026875 meters 0.01370200341792724 Centerline is valid? [True, True] Translation: X:42.21, Y:-0.66, Z:-1.25 [[ 9.93106128e-01 1.13840103e-01 2.79400890e-02 4.22063132e+01] [-1.13793101e-01 9.93499082e-01 -3.27171715e-03 -6.63807740e-01] [-2.81309054e-02 6.97729960e-05 9.99604245e-01 -1.24953458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.056875 meters 0.013602714660253916 Centerline is valid? [True, True] Translation: X:42.24, Y:-0.67, Z:-1.25 [[ 9.93154034e-01 1.13671372e-01 2.69050886e-02 4.22392678e+01] [-1.13627563e-01 9.93518401e-01 -3.15653308e-03 -6.66063152e-01] [-2.70895080e-02 7.77639163e-05 9.99633009e-01 -1.25204475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.086875 meters 0.013728983503705891 Centerline is valid? [True, True] Translation: X:42.27, Y:-0.67, Z:-1.26 [[ 9.93064995e-01 1.14880303e-01 2.49886283e-02 4.22722257e+01] [-1.14842740e-01 9.93379340e-01 -2.93789786e-03 -6.66764806e-01] [-2.51606937e-02 4.77609706e-05 9.99683418e-01 -1.25687081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.116875 meters 0.013669675626102456 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.67, Z:-1.26 [[ 9.92810170e-01 1.17275920e-01 2.39650673e-02 4.23055991e+01] [-1.17241920e-01 9.93099370e-01 -2.82376069e-03 -6.66842821e-01] [-2.41308524e-02 -6.25217517e-06 9.99708809e-01 -1.26147088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.146874999999994 meters 0.013731240768432247 Centerline is valid? [True, True] Translation: X:42.34, Y:-0.67, Z:-1.26 [[ 9.92472279e-01 1.20267255e-01 2.31206254e-02 4.23389113e+01] [-1.20236281e-01 9.92741549e-01 -2.73026643e-03 -6.66996056e-01] [-2.32811671e-02 -7.02242664e-05 9.99728954e-01 -1.26451789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.176874999999995 meters 0.014498521649882632 Centerline is valid? [True, True] Translation: X:42.37, Y:-0.66, Z:-1.26 [[ 9.91554377e-01 1.27563224e-01 2.33995937e-02 4.23717176e+01] [-1.27533367e-01 9.91830413e-01 -2.77000209e-03 -6.64509160e-01] [-2.35617791e-02 -2.37621274e-04 9.99722355e-01 -1.26355797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.206875 meters 0.015221640892019578 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.67, Z:-1.26 [[ 9.91039069e-01 1.31395226e-01 2.40178697e-02 4.24034938e+01] [-1.31364729e-01 9.91330008e-01 -2.85002865e-03 -6.65301435e-01] [-2.41841151e-02 -3.30611215e-04 9.99707467e-01 -1.26182082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.236875 meters 0.015790810519649163 Centerline is valid? [True, True] Translation: X:42.44, Y:-0.67, Z:-1.26 [[ 9.90554113e-01 1.34810305e-01 2.50745047e-02 4.24361023e+01] [-1.34778092e-01 9.90871332e-01 -2.97805080e-03 -6.66513990e-01] [-2.52470798e-02 -4.29573428e-04 9.99681149e-01 -1.26017358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.266875 meters 0.017195783520926267 Centerline is valid? [True, True] Translation: X:42.47, Y:-0.66, Z:-1.26 [[ 9.89678888e-01 1.40895469e-01 2.61565441e-02 4.24682542e+01] [-1.40862359e-01 9.90024294e-01 -3.11336967e-03 -6.64147261e-01] [-2.63342738e-02 -6.03236271e-04 9.99653011e-01 -1.25875130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.296875 meters 0.017521971632508546 Centerline is valid? [True, True] Translation: X:42.50, Y:-0.67, Z:-1.26 [[ 9.89237764e-01 1.43871567e-01 2.66386728e-02 4.25005201e+01] [-1.43838138e-01 9.89596129e-01 -3.17688950e-03 -6.65852374e-01] [-2.68185916e-02 -6.88958021e-04 9.99640079e-01 -1.26002977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.326874999999994 meters 0.01993192177334865 Centerline is valid? [True, True] Translation: X:42.53, Y:-0.66, Z:-1.26 [[ 9.88604662e-01 1.48256860e-01 2.60907227e-02 4.25319008e+01] [-1.48226144e-01 9.88948577e-01 -3.11812539e-03 -6.63143697e-01] [-2.62646665e-02 -7.84733910e-04 9.99654716e-01 -1.26380983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.356874999999995 meters 0.019386816098547668 Centerline is valid? [True, True] Translation: X:42.56, Y:-0.67, Z:-1.26 [[ 9.88426413e-01 1.49507361e-01 2.57055545e-02 4.25640164e+01] [-1.49477817e-01 9.88760289e-01 -3.07790393e-03 -6.68101025e-01] [-2.58768008e-02 -8.00128630e-04 9.99664819e-01 -1.26497667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.386874999999996 meters 0.02037978196152077 Centerline is valid? [True, True] Translation: X:42.59, Y:-0.67, Z:-1.27 [[ 9.88276978e-01 1.50547566e-01 2.53780459e-02 4.25948863e+01] [-1.50518931e-01 9.88602435e-01 -3.04578299e-03 -6.70372969e-01] [-2.55473332e-02 -8.09799127e-04 9.99673286e-01 -1.26599654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.416875 meters 0.022334709818310233 Centerline is valid? [True, True] Translation: X:42.63, Y:-0.67, Z:-1.27 [[ 9.88236343e-01 1.50763365e-01 2.56775713e-02 4.26264232e+01] [-1.50734050e-01 9.88569538e-01 -3.08455014e-03 -6.71460564e-01] [-2.58491020e-02 -8.22219763e-04 9.99665518e-01 -1.26595763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.446875 meters 0.019978958806858967 Centerline is valid? [True, True] Translation: X:42.66, Y:-0.68, Z:-1.27 [[ 9.88303950e-01 1.50409213e-01 2.51469924e-02 4.26577428e+01] [-1.50380815e-01 9.88623510e-01 -3.02739295e-03 -6.79602392e-01] [-2.53162557e-02 -7.89640815e-04 9.99679180e-01 -1.26647686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.476875 meters 0.01965081938162534 Centerline is valid? [True, True] Translation: X:42.69, Y:-0.68, Z:-1.27 [[ 9.88308625e-01 1.50400053e-01 2.50177099e-02 4.26902627e+01] [-1.50371795e-01 9.88624912e-01 -3.01776113e-03 -6.84587802e-01] [-2.51870027e-02 -7.79478588e-04 9.99682453e-01 -1.26765842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.506875 meters 0.020104294407429 Centerline is valid? [True, True] Translation: X:42.72, Y:-0.69, Z:-1.27 [[ 9.88538872e-01 1.49055801e-01 2.39429936e-02 4.27209325e+01] [-1.49029357e-01 9.88828534e-01 -2.89507189e-03 -6.87990725e-01] [-2.41070426e-02 -7.06317843e-04 9.99709134e-01 -1.27049407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.536874999999995 meters 0.018713363077569323 Centerline is valid? [True, True] Translation: X:42.75, Y:-0.69, Z:-1.27 [[ 9.88714106e-01 1.47946939e-01 2.35822018e-02 4.27519921e+01] [-1.47920846e-01 9.88995077e-01 -2.85668075e-03 -6.94707559e-01] [-2.37453187e-02 -6.63858697e-04 9.99717820e-01 -1.27197454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.566874999999996 meters 0.018833588667009158 Centerline is valid? [True, True] Translation: X:42.78, Y:-0.70, Z:-1.27 [[ 9.88901140e-01 1.46770735e-01 2.30843340e-02 4.27830766e+01] [-1.46745280e-01 9.89170345e-01 -2.80210667e-03 -6.98920982e-01] [-2.32456058e-02 -6.16510563e-04 9.99729594e-01 -1.27420110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.596875 meters 0.01834186904674497 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.70, Z:-1.27 [[ 9.89123559e-01 1.45125406e-01 2.39416426e-02 4.28153146e+01] [-1.45097379e-01 9.89413091e-01 -2.91296111e-03 -7.04873491e-01] [-2.41109193e-02 -5.92591137e-04 9.99709114e-01 -1.27422039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.626875 meters 0.017341912138770756 Centerline is valid? [True, True] Translation: X:42.85, Y:-0.71, Z:-1.27 [[ 9.89445308e-01 1.42745207e-01 2.49356910e-02 4.28464363e+01] [-1.42714018e-01 9.89759313e-01 -3.03512788e-03 -7.13017453e-01] [-2.51135824e-02 -5.55579611e-04 9.99684450e-01 -1.27175536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.656875 meters 0.01682522891773409 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.72, Z:-1.27 [[ 9.89697708e-01 1.40913067e-01 2.53368002e-02 4.28783463e+01] [-1.40880104e-01 9.90021841e-01 -3.09029412e-03 -7.19104316e-01] [-2.55194484e-02 -5.10994033e-04 9.99674195e-01 -1.27273362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.686875 meters 0.016432946356997977 Centerline is valid? [True, True] Translation: X:42.91, Y:-0.72, Z:-1.27 [[ 9.89827374e-01 1.40072763e-01 2.49277069e-02 4.29097867e+01] [-1.40040441e-01 9.90141098e-01 -3.04630729e-03 -7.24450815e-01] [-2.51086518e-02 -4.75568732e-04 9.99684615e-01 -1.27441405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.716874999999995 meters 0.01617051300502818 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.73, Z:-1.28 [[ 9.89914847e-01 1.39486934e-01 2.47384349e-02 4.29415484e+01] [-1.39454769e-01 9.90223809e-01 -3.02916014e-03 -7.29521593e-01] [-2.49191155e-02 -4.51282120e-04 9.99689369e-01 -1.27617009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.746874999999996 meters 0.016385485313902916 Centerline is valid? [True, True] Translation: X:42.97, Y:-0.73, Z:-1.28 [[ 9.90076036e-01 1.38332578e-01 2.47697543e-02 4.29724101e+01] [-1.38299818e-01 9.90385745e-01 -3.03911491e-03 -7.33895971e-01] [-2.49520202e-02 -4.16697658e-04 9.99688563e-01 -1.27786796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.776875 meters 0.015942111346553836 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.74, Z:-1.28 [[ 9.90089496e-01 1.38141591e-01 2.52921075e-02 4.30038659e+01] [-1.38107210e-01 9.90412404e-01 -3.10955731e-03 -7.39174759e-01] [-2.54791762e-02 -4.14282381e-04 9.99675267e-01 -1.27844504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.806875 meters 0.01569022698556395 Centerline is valid? [True, True] Translation: X:43.04, Y:-0.75, Z:-1.28 [[ 9.90156485e-01 1.37638384e-01 2.54128127e-02 4.30357883e+01] [-1.37603352e-01 9.90482467e-01 -3.13051208e-03 -7.45021857e-01] [-2.56018241e-02 -3.97191381e-04 9.99672141e-01 -1.27888187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.836875 meters 0.015971212171914505 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.75, Z:-1.28 [[ 9.90121554e-01 1.38022092e-01 2.46821844e-02 4.30670664e+01] [-1.37989025e-01 9.90429074e-01 -3.04611022e-03 -7.48886022e-01] [-2.48663835e-02 -3.89851167e-04 9.99690708e-01 -1.28065820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.866875 meters 0.015605131973681076 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.75, Z:-1.28 [[ 9.90110324e-01 1.38298863e-01 2.35578186e-02 4.30997841e+01] [-1.38268689e-01 9.90390471e-01 -2.91280724e-03 -7.54670862e-01] [-2.37342770e-02 -3.73308174e-04 9.99718233e-01 -1.28220955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.896874999999994 meters 0.015958294672108065 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.76, Z:-1.28 [[ 9.89973318e-01 1.39272945e-01 2.35770159e-02 4.31310378e+01] [-1.39242831e-01 9.90253955e-01 -2.92220148e-03 -7.57775516e-01] [-2.37542169e-02 -3.90028949e-04 9.99717753e-01 -1.28312238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.926874999999995 meters 0.015970192183065193 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.76, Z:-1.28 [[ 9.89798579e-01 1.40485722e-01 2.37177987e-02 4.31625062e+01] [-1.40455472e-01 9.90082617e-01 -2.94483909e-03 -7.61912457e-01] [-2.38962880e-02 -4.16497056e-04 9.99714356e-01 -1.28327482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.956875 meters 0.016851870211626426 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.76, Z:-1.28 [[ 9.89506918e-01 1.42321164e-01 2.49147802e-02 4.31935216e+01] [-1.42288198e-01 9.89820417e-01 -3.10009876e-03 -7.63764695e-01] [-2.51023678e-02 -4.77510006e-04 9.99684772e-01 -1.28259131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.986875 meters 0.017840156522758676 Centerline is valid? [True, True] Translation: X:43.23, Y:-0.77, Z:-1.28 [[ 9.89071179e-01 1.45530895e-01 2.36423831e-02 4.32255966e+01] [-1.45502010e-01 9.89353568e-01 -2.94667051e-03 -7.65771256e-01] [-2.38195077e-02 -5.25547394e-04 9.99716137e-01 -1.28413071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.016875 meters 0.017726970912200057 Centerline is valid? [True, True] Translation: X:43.26, Y:-0.77, Z:-1.29 [[ 9.88769290e-01 1.47606393e-01 2.34018030e-02 4.32575295e+01] [-1.47578543e-01 9.89046022e-01 -2.92218419e-03 -7.69240919e-01] [-2.35767932e-02 -5.64238010e-04 9.99721870e-01 -1.28555545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.046875 meters 0.01900695938198338 Centerline is valid? [True, True] Translation: X:43.29, Y:-0.77, Z:-1.29 [[ 9.88270897e-01 1.50825757e-01 2.39212328e-02 4.32896034e+01] [-1.50797419e-01 9.88560151e-01 -2.99449204e-03 -7.69177059e-01] [-2.40992240e-02 -6.47890844e-04 9.99709362e-01 -1.28843012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.076874999999994 meters 0.019165315345766522 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.77, Z:-1.29 [[ 9.88045933e-01 1.52369104e-01 2.34284215e-02 4.33218565e+01] [-1.52342352e-01 9.88323432e-01 -2.93296554e-03 -7.72690090e-01] [-2.36017513e-02 -6.71236162e-04 9.99721215e-01 -1.28959915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.106874999999995 meters 0.019960690821320785 Centerline is valid? [True, True] Translation: X:43.35, Y:-0.78, Z:-1.29 [[ 9.87923900e-01 1.53251355e-01 2.28120456e-02 4.33528339e+01] [-1.53226098e-01 9.88187014e-01 -2.86141262e-03 -7.75651173e-01] [-2.29810826e-02 -6.68542817e-04 9.99735677e-01 -1.29113424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.136874999999996 meters 0.019998031628934515 Centerline is valid? [True, True] Translation: X:43.39, Y:-0.78, Z:-1.29 [[ 9.87885476e-01 1.53629174e-01 2.19172096e-02 4.33855554e+01] [-1.53605860e-01 9.88128361e-01 -2.75336997e-03 -7.80298574e-01] [-2.20800143e-02 -6.46597619e-04 9.99755998e-01 -1.29175676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.166875 meters 0.01969636418162676 Centerline is valid? [True, True] Translation: X:43.42, Y:-0.79, Z:-1.29 [[ 9.88239862e-01 1.51280617e-01 2.22744325e-02 4.34168237e+01] [-1.51255789e-01 9.88490677e-01 -2.80498371e-03 -7.85509349e-01] [-2.24424086e-02 -5.97140160e-04 9.99747959e-01 -1.29227908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.196875 meters 0.019125567606152038 Centerline is valid? [True, True] Translation: X:43.45, Y:-0.79, Z:-1.29 [[ 9.88382012e-01 1.50267658e-01 2.28173251e-02 4.34480093e+01] [-1.50241203e-01 9.88645180e-01 -2.87910255e-03 -7.90969953e-01] [-2.29908745e-02 -5.82449196e-04 9.99735505e-01 -1.29285013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.226875 meters 0.018293863236849353 Centerline is valid? [True, True] Translation: X:43.48, Y:-0.80, Z:-1.29 [[ 9.88695325e-01 1.48111442e-01 2.33356960e-02 4.34791975e+01] [-1.48083034e-01 9.88970531e-01 -2.95033426e-03 -7.97147346e-01] [-2.35152939e-02 -5.38638969e-04 9.99723332e-01 -1.29473229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.256874999999994 meters 0.016773612082248698 Centerline is valid? [True, True] Translation: X:43.51, Y:-0.81, Z:-1.30 [[ 9.89483225e-01 1.42766478e-01 2.32525465e-02 4.35089911e+01] [-1.42736625e-01 9.89756319e-01 -2.94711021e-03 -8.06404145e-01] [-2.34351034e-02 -4.02873893e-04 9.99725279e-01 -1.29715313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.286874999999995 meters 0.015959147883057592 Centerline is valid? [True, True] Translation: X:43.54, Y:-0.81, Z:-1.30 [[ 9.89846328e-01 1.40198613e-01 2.34221326e-02 4.35409668e+01] [-1.40167595e-01 9.90123341e-01 -2.96900057e-03 -8.13897484e-01] [-2.36070499e-02 -3.44169672e-04 9.99721256e-01 -1.29774529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.316874999999996 meters 0.01487268162311444 Centerline is valid? [True, True] Translation: X:43.57, Y:-0.82, Z:-1.30 [[ 9.90339103e-01 1.36600394e-01 2.38493961e-02 4.35726066e+01] [-1.36567141e-01 9.90626198e-01 -3.02521313e-03 -8.23408078e-01] [-2.40390819e-02 -2.61056984e-04 9.99710985e-01 -1.29717309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.346875 meters 0.014954156296014336 Centerline is valid? [True, True] Translation: X:43.60, Y:-0.83, Z:-1.30 [[ 9.90466750e-01 1.35690861e-01 2.37404124e-02 4.36029014e+01] [-1.35657627e-01 9.90751197e-01 -3.01235730e-03 -8.27719842e-01] [-2.39295914e-02 -2.36928255e-04 9.99713618e-01 -1.29882969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.376875 meters 0.014886169524855419 Centerline is valid? [True, True] Translation: X:43.64, Y:-0.83, Z:-1.30 [[ 9.90426571e-01 1.36049597e-01 2.33605206e-02 4.36357103e+01] [-1.36017406e-01 9.90701999e-01 -2.96889313e-03 -8.33043721e-01] [-2.35472311e-02 -2.36966768e-04 9.99722697e-01 -1.29965000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.406875 meters 0.015471836760223717 Centerline is valid? [True, True] Translation: X:43.67, Y:-0.84, Z:-1.30 [[ 9.90023085e-01 1.38986993e-01 2.31712412e-02 4.36672067e+01] [-1.38955970e-01 9.90294162e-01 -2.95147265e-03 -8.36031315e-01] [-2.33565612e-02 -2.97756241e-04 9.99727154e-01 -1.30053780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.436875 meters 0.015848882290755727 Centerline is valid? [True, True] Translation: X:43.70, Y:-0.84, Z:-1.30 [[ 9.89751158e-01 1.40854716e-01 2.35073221e-02 4.36989816e+01] [-1.40823190e-01 9.90030218e-01 -2.99946498e-03 -8.38692276e-01] [-2.36954480e-02 -3.41652161e-04 9.99719165e-01 -1.30183583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.466874999999995 meters 0.0162062206549091 Centerline is valid? [True, True] Translation: X:43.73, Y:-0.84, Z:-1.30 [[ 9.89396032e-01 1.43200304e-01 2.42727315e-02 4.37308981e+01] [-1.43167248e-01 9.89693644e-01 -3.10323098e-03 -8.40808246e-01] [-2.44669517e-02 -4.04735753e-04 9.99700557e-01 -1.30263017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.496874999999996 meters 0.01774973094395601 Centerline is valid? [True, True] Translation: X:43.76, Y:-0.84, Z:-1.30 [[ 9.88648589e-01 1.48089085e-01 2.53690868e-02 4.37617967e+01] [-1.48054384e-01 9.88973877e-01 -3.25114569e-03 -8.40342003e-01] [-2.55708233e-02 -5.41763927e-04 9.99672866e-01 -1.30237010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.526875 meters 0.017878791286091367 Centerline is valid? [True, True] Translation: X:43.79, Y:-0.84, Z:-1.30 [[ 9.88284295e-01 1.50487706e-01 2.54480271e-02 4.37934440e+01] [-1.50453594e-01 9.88611695e-01 -3.26083455e-03 -8.43712894e-01] [-2.56489327e-02 -6.06115571e-04 9.99670828e-01 -1.30371597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.556875 meters 0.019334599401938442 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.85, Z:-1.30 [[ 9.87603336e-01 1.54878399e-01 2.55408043e-02 4.38259354e+01] [-1.54845312e-01 9.87933282e-01 -3.28018540e-03 -8.45270144e-01] [-2.57406405e-02 -7.15351776e-04 9.99668399e-01 -1.30435940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.586875 meters 0.01983259035377746 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.85, Z:-1.31 [[ 9.87464499e-01 1.55854360e-01 2.49656134e-02 4.38581701e+01] [-1.55823043e-01 9.87779781e-01 -3.20687358e-03 -8.48078312e-01] [-2.51603333e-02 -7.23544042e-04 9.99683167e-01 -1.30605180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.616875 meters 0.020319536945065445 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.85, Z:-1.31 [[ 9.87293543e-01 1.57064884e-01 2.41263615e-02 4.38900640e+01] [-1.57035860e-01 9.87588021e-01 -3.10479064e-03 -8.51078309e-01] [-2.43145592e-02 -7.23364174e-04 9.99704096e-01 -1.30784399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.646874999999994 meters 0.01914581834454962 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.86, Z:-1.31 [[ 9.87594482e-01 1.55350871e-01 2.28745743e-02 4.39211111e+01] [-1.55324199e-01 9.87859148e-01 -2.94897697e-03 -8.57388389e-01] [-2.30549836e-02 -6.40581555e-04 9.99733993e-01 -1.31062493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.676874999999995 meters 0.018834559989664212 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.86, Z:-1.31 [[ 9.87801036e-01 1.53985605e-01 2.31850509e-02 4.39520262e+01] [-1.53957686e-01 9.88072902e-01 -2.99511892e-03 -8.62288129e-01] [-2.33697257e-02 -6.10935205e-04 9.99726704e-01 -1.31145825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.706875 meters 0.018512721516675015 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.87, Z:-1.31 [[ 9.88063674e-01 1.52277998e-01 2.32720218e-02 4.39830479e+01] [-1.52249272e-01 9.88337538e-01 -3.01159751e-03 -8.67675281e-01] [-2.34592128e-02 -5.67498290e-04 9.99724634e-01 -1.31287103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.736875 meters 0.018512721516675015 Centerline is valid? [True, True] Translation: X:44.02, Y:-0.87, Z:-1.31 [[ 9.88022170e-01 1.52547160e-01 2.32713356e-02 4.40151307e+01] [-1.52518384e-01 9.88296029e-01 -3.01688970e-03 -8.71942545e-01] [-2.34591865e-02 -5.68552584e-04 9.99724634e-01 -1.31390524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.766875 meters 0.017361561537943097 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.88, Z:-1.31 [[ 9.88290466e-01 1.50797625e-01 2.32815422e-02 4.40467882e+01] [-1.50768182e-01 9.88564517e-01 -3.02490563e-03 -8.79119157e-01] [-2.34714552e-02 -5.20630412e-04 9.99724372e-01 -1.31402032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.796875 meters 0.016488130003156493 Centerline is valid? [True, True] Translation: X:44.08, Y:-0.89, Z:-1.31 [[ 9.88955582e-01 1.46251067e-01 2.40308631e-02 4.40761315e+01] [-1.46218163e-01 9.89247416e-01 -3.13020238e-03 -8.87117920e-01] [-2.42302647e-02 -4.18117545e-04 9.99706317e-01 -1.31472345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.826874999999994 meters 0.015994457407628473 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.89, Z:-1.31 [[ 9.89136007e-01 1.44753025e-01 2.56226904e-02 4.41076135e+01] [-1.44715137e-01 9.89467733e-01 -3.33671255e-03 -8.93335512e-01] [-2.58358246e-02 -4.07528613e-04 9.99666116e-01 -1.31474576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.856874999999995 meters 0.01577890488028077 Centerline is valid? [True, True] Translation: X:44.14, Y:-0.90, Z:-1.31 [[ 9.89267442e-01 1.43687253e-01 2.65311508e-02 4.41384726e+01] [-1.43646065e-01 9.89623072e-01 -3.46177691e-03 -8.98563486e-01] [-2.67532522e-02 -3.86472227e-04 9.99641993e-01 -1.31469914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.886874999999996 meters 0.015742358448887567 Centerline is valid? [True, True] Translation: X:44.17, Y:-0.90, Z:-1.31 [[ 9.89250185e-01 1.43604807e-01 2.75994723e-02 4.41696345e+01] [-1.43560026e-01 9.89635036e-01 -3.60754446e-03 -9.04600970e-01] [-2.78314655e-02 -3.93416935e-04 9.99612552e-01 -1.31442676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.916875 meters 0.015945017979243522 Centerline is valid? [True, True] Translation: X:44.20, Y:-0.91, Z:-1.32 [[ 9.89140316e-01 1.44404349e-01 2.73645710e-02 4.42023516e+01] [-1.44360458e-01 9.89518680e-01 -3.58316912e-03 -9.08685288e-01] [-2.75951794e-02 -4.06104970e-04 9.99619098e-01 -1.31624838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.946875 meters 0.016485605810265116 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.91, Z:-1.32 [[ 9.88830769e-01 1.46348327e-01 2.82113147e-02 4.42341768e+01] [-1.46302238e-01 9.89233011e-01 -3.70212969e-03 -9.11928334e-01] [-2.84493642e-02 -4.66598725e-04 9.99595126e-01 -1.31788273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.976875 meters 0.015365211364005229 Centerline is valid? [True, True] Translation: X:44.27, Y:-0.92, Z:-1.32 [[ 9.89409169e-01 1.42475328e-01 2.77538576e-02 4.42652277e+01] [-1.42429016e-01 9.89798294e-01 -3.64859574e-03 -9.19317770e-01] [-2.79905558e-02 -3.43000542e-04 9.99608129e-01 -1.31925388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.006874999999994 meters 0.015024009233855171 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.93, Z:-1.32 [[ 9.89672641e-01 1.40709061e-01 2.73682992e-02 4.42969510e+01] [-1.40663175e-01 9.90050948e-01 -3.60432227e-03 -9.25172412e-01] [-2.76031714e-02 -2.82612708e-04 9.99618920e-01 -1.32011615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.036874999999995 meters 0.014762552333909969 Centerline is valid? [True, True] Translation: X:44.33, Y:-0.93, Z:-1.32 [[ 9.89801003e-01 1.39820099e-01 2.72821212e-02 4.43287718e+01] [-1.39773984e-01 9.90176892e-01 -3.59947319e-03 -9.29886681e-01] [-2.75174047e-02 -2.50568608e-04 9.99621293e-01 -1.32116646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.066874999999996 meters 0.014972333302275327 Centerline is valid? [True, True] Translation: X:44.36, Y:-0.93, Z:-1.32 [[ 9.89594401e-01 1.41343916e-01 2.69224730e-02 4.43610169e+01] [-1.41299402e-01 9.89960513e-01 -3.55830042e-03 -9.31760133e-01] [-2.71551293e-02 -2.82855169e-04 9.99631191e-01 -1.32433135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.096875 meters 0.015179140786339128 Centerline is valid? [True, True] Translation: X:44.39, Y:-0.93, Z:-1.33 [[ 9.89360241e-01 1.42975671e-01 2.69122795e-02 4.43926217e+01] [-1.42931620e-01 9.89726151e-01 -3.56336687e-03 -9.33745363e-01] [-2.71452615e-02 -3.21162209e-04 9.99631448e-01 -1.32614128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.126875 meters 0.01560229600554925 Centerline is valid? [True, True] Translation: X:44.42, Y:-0.93, Z:-1.33 [[ 9.89078151e-01 1.45017689e-01 2.63492309e-02 4.44248890e+01] [-1.44976022e-01 9.89428996e-01 -3.49499223e-03 -9.34945069e-01] [-2.65775287e-02 -3.63186219e-04 9.99646689e-01 -1.32878181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.156875 meters 0.015716395342353886 Centerline is valid? [True, True] Translation: X:44.46, Y:-0.94, Z:-1.33 [[ 9.88866825e-01 1.46364187e-01 2.68314502e-02 4.44567423e+01] [-1.46321299e-01 9.89230693e-01 -3.56549370e-03 -9.38249536e-01] [-2.70643547e-02 -4.00214210e-04 9.99633613e-01 -1.32860477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.186875 meters 0.01573759586573946 Centerline is valid? [True, True] Translation: X:44.49, Y:-0.94, Z:-1.33 [[ 9.88684503e-01 1.47504552e-01 2.73012942e-02 4.44891621e+01] [-1.47460403e-01 9.89061282e-01 -3.63448553e-03 -9.41313820e-01] [-2.75387562e-02 -4.32500322e-04 9.99620643e-01 -1.32906747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.216874999999995 meters 0.016182844392597664 Centerline is valid? [True, True] Translation: X:44.52, Y:-0.94, Z:-1.33 [[ 9.88315763e-01 1.50010266e-01 2.69976506e-02 4.45211553e+01] [-1.49967824e-01 9.88684318e-01 -3.60157074e-03 -9.42564147e-01] [-2.72324263e-02 -4.89289766e-04 9.99629009e-01 -1.32948190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.246874999999996 meters 0.01658030266238812 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.94, Z:-1.33 [[ 9.88130839e-01 1.51157623e-01 2.73645553e-02 4.45521983e+01] [-1.51114267e-01 9.88509535e-01 -3.65744066e-03 -9.44817846e-01] [-2.76029739e-02 -5.21144800e-04 9.99618829e-01 -1.32997865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.276875 meters 0.01669452672112064 Centerline is valid? [True, True] Translation: X:44.59, Y:-0.95, Z:-1.33 [[ 9.87952682e-01 1.52187785e-01 2.80780541e-02 4.45851926e+01] [-1.52142372e-01 9.88351439e-01 -3.75920737e-03 -9.47894635e-01] [-2.83230907e-02 -5.57942761e-04 9.99598665e-01 -1.33105631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.306875 meters 0.017099900430049372 Centerline is valid? [True, True] Translation: X:44.62, Y:-0.95, Z:-1.33 [[ 9.87673844e-01 1.53528704e-01 3.04846728e-02 4.46165015e+01] [-1.53475520e-01 9.88143982e-01 -4.09086235e-03 -9.49266834e-01] [-3.07513107e-02 -6.38213256e-04 9.99526863e-01 -1.33105226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.336875 meters 0.017033144156086213 Centerline is valid? [True, True] Translation: X:44.65, Y:-0.95, Z:-1.33 [[ 9.87695820e-01 1.53312077e-01 3.08605698e-02 4.46486139e+01] [-1.53257246e-01 9.88177619e-01 -4.14842909e-03 -9.53258737e-01] [-3.11317286e-02 -6.32219847e-04 9.99515090e-01 -1.33187001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.366875 meters 0.01673410377022088 Centerline is valid? [True, True] Translation: X:44.68, Y:-0.96, Z:-1.33 [[ 9.87732176e-01 1.52928100e-01 3.15934309e-02 4.46806710e+01] [-1.52870185e-01 9.88237119e-01 -4.25481412e-03 -9.57881556e-01] [-3.18724817e-02 -6.27076822e-04 9.99491747e-01 -1.33293188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.396874999999994 meters 0.016453821024631925 Centerline is valid? [True, True] Translation: X:44.71, Y:-0.96, Z:-1.33 [[ 9.87961295e-01 1.51646337e-01 3.05919535e-02 4.47111443e+01] [-1.51591196e-01 9.88434659e-01 -4.12726529e-03 -9.61845954e-01] [-3.08640318e-02 -5.59892445e-04 9.99523435e-01 -1.33463563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.426874999999995 meters 0.016388194989818673 Centerline is valid? [True, True] Translation: X:44.74, Y:-0.97, Z:-1.33 [[ 9.88106983e-01 1.50688796e-01 3.06182341e-02 4.47423428e+01] [-1.50632885e-01 9.88581111e-01 -4.13779059e-03 -9.65857762e-01] [-3.08921266e-02 -5.23533174e-04 9.99522587e-01 -1.33498709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.456875 meters 0.0156666249482431 Centerline is valid? [True, True] Translation: X:44.77, Y:-0.97, Z:-1.34 [[ 9.88218717e-01 1.49853437e-01 3.11081285e-02 4.47736112e+01] [-1.49795085e-01 9.88708096e-01 -4.21110010e-03 -9.71755731e-01] [-3.13879063e-02 -4.98356835e-04 9.99507154e-01 -1.33530056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.486875 meters 0.015578994111114585 Centerline is valid? [True, True] Translation: X:44.80, Y:-0.98, Z:-1.34 [[ 9.88479405e-01 1.48299083e-01 3.02629716e-02 4.48047793e+01] [-1.48242908e-01 9.88942464e-01 -4.10399361e-03 -9.75138116e-01] [-3.05369562e-02 -4.29557751e-04 9.99533546e-01 -1.33768761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.516875 meters 0.015012977323584796 Centerline is valid? [True, True] Translation: X:44.84, Y:-0.98, Z:-1.34 [[ 9.88731442e-01 1.46860295e-01 2.90205171e-02 4.48359415e+01] [-1.46807834e-01 9.89157178e-01 -3.94178650e-03 -9.80520668e-01] [-2.92847447e-02 -3.63071014e-04 9.99571044e-01 -1.34082727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.546875 meters 0.01441210476299172 Centerline is valid? [True, True] Translation: X:44.87, Y:-0.99, Z:-1.34 [[ 9.89255721e-01 1.43733992e-01 2.67143879e-02 4.48671674e+01] [-1.43688241e-01 9.89616330e-01 -3.63443666e-03 -9.87067667e-01] [-2.69593866e-02 -2.43156143e-04 9.99636500e-01 -1.34441865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.576874999999994 meters 0.014310894825199216 Centerline is valid? [True, True] Translation: X:44.90, Y:-0.99, Z:-1.35 [[ 9.89517799e-01 1.41851954e-01 2.70656321e-02 4.48974530e+01] [-1.41804093e-01 9.89887866e-01 -3.68934503e-03 -9.92247086e-01] [-2.73152816e-02 -1.87344825e-04 9.99626851e-01 -1.34629129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.606874999999995 meters 0.014033127682786766 Centerline is valid? [True, True] Translation: X:44.93, Y:-1.00, Z:-1.35 [[ 9.89818747e-01 1.39757095e-01 2.69592718e-02 4.49288395e+01] [-1.39708745e-01 9.90185810e-01 -3.67805795e-03 -9.98559550e-01] [-2.72087231e-02 -1.25835315e-04 9.99629766e-01 -1.34658228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.636874999999996 meters 0.013975943835693066 Centerline is valid? [True, True] Translation: X:44.96, Y:-1.00, Z:-1.35 [[ 9.90076192e-01 1.37737596e-01 2.78834974e-02 4.49602185e+01] [-1.37684880e-01 9.90468753e-01 -3.81097373e-03 -1.00481064e+00] [-2.81426472e-02 -6.59816199e-05 9.99603915e-01 -1.34715073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.666875 meters 0.014009328638275014 Centerline is valid? [True, True] Translation: X:44.99, Y:-1.01, Z:-1.35 [[ 9.90607108e-01 1.33553501e-01 2.93431365e-02 4.49920820e+01] [-1.33493067e-01 9.91041603e-01 -4.01776533e-03 -1.01290524e+00] [-2.96168557e-02 6.29215963e-05 9.99561323e-01 -1.34522592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.696875 meters 0.014118643892415541 Centerline is valid? [True, True] Translation: X:45.02, Y:-1.02, Z:-1.34 [[ 9.90701585e-01 1.32863757e-01 2.92846646e-02 4.50249153e+01] [-1.32803029e-01 9.91134307e-01 -4.01769398e-03 -1.01856185e+00] [-2.95588416e-02 9.12436431e-05 9.99563038e-01 -1.34496943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.726875 meters 0.014054355892964464 Centerline is valid? [True, True] Translation: X:45.06, Y:-1.02, Z:-1.35 [[ 9.90712921e-01 1.32862487e-01 2.89044490e-02 4.50575042e+01] [-1.32803093e-01 9.91134476e-01 -3.97349151e-03 -1.02340072e+00] [-2.91761239e-02 9.79891645e-05 9.99574281e-01 -1.34618526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.756874999999994 meters 0.01400876349918344 Centerline is valid? [True, True] Translation: X:45.09, Y:-1.03, Z:-1.35 [[ 9.90559822e-01 1.34104195e-01 2.84131086e-02 4.50886846e+01] [-1.34047091e-01 9.90967235e-01 -3.91369159e-03 -1.02669676e+00] [-2.86813022e-02 6.80510734e-05 9.99588605e-01 -1.34829109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.786874999999995 meters 0.013956327322292194 Centerline is valid? [True, True] Translation: X:45.12, Y:-1.03, Z:-1.35 [[ 9.89983427e-01 1.38303601e-01 2.83712437e-02 4.51220574e+01] [-1.38248182e-01 9.90389879e-01 -3.91514779e-03 -1.02713497e+00] [-2.86400717e-02 -4.63414282e-05 9.99589788e-01 -1.35115912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.816874999999996 meters 0.014130203713649555 Centerline is valid? [True, True] Translation: X:45.15, Y:-1.03, Z:-1.35 [[ 9.89567830e-01 1.41192992e-01 2.86364805e-02 4.51535295e+01] [-1.41137506e-01 9.89982083e-01 -3.95985375e-03 -1.02938666e+00] [-2.89087062e-02 -1.23137564e-04 9.99582048e-01 -1.35253367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.846875 meters 0.014317940411041133 Centerline is valid? [True, True] Translation: X:45.19, Y:-1.03, Z:-1.35 [[ 9.89165094e-01 1.44037599e-01 2.83828728e-02 4.51857066e+01] [-1.43984053e-01 9.89572196e-01 -3.93208004e-03 -1.03204820e+00] [-2.86532691e-02 -1.97204746e-04 9.99589391e-01 -1.35327093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.876875 meters 0.014659688267804253 Centerline is valid? [True, True] Translation: X:45.22, Y:-1.03, Z:-1.35 [[ 9.88819517e-01 1.46589439e-01 2.73404438e-02 4.52164992e+01] [-1.46540552e-01 9.89197387e-01 -3.79411069e-03 -1.03385119e+00] [-2.76012721e-02 -2.54793020e-04 9.99618980e-01 -1.35445231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.906875 meters 0.015120687461728639 Centerline is valid? [True, True] Translation: X:45.25, Y:-1.04, Z:-1.36 [[ 9.88402282e-01 1.49559002e-01 2.63255359e-02 4.52483090e+01] [-1.49514581e-01 9.88752751e-01 -3.65885143e-03 -1.03597831e+00] [-2.65766602e-02 -3.19634381e-04 9.99646727e-01 -1.35564728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.936875 meters 0.01554465185860287 Centerline is valid? [True, True] Translation: X:45.28, Y:-1.04, Z:-1.36 [[ 9.87887529e-01 1.53121122e-01 2.51426136e-02 4.52798549e+01] [-1.53081610e-01 9.88207351e-01 -3.50023639e-03 -1.03756386e+00] [-2.53820757e-02 -3.91031883e-04 9.99677747e-01 -1.35707791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.966874999999995 meters 0.01600513248884164 Centerline is valid? [True, True] Translation: X:45.31, Y:-1.04, Z:-1.36 [[ 9.87660959e-01 1.54408043e-01 2.61531286e-02 4.53105343e+01] [-1.54365562e-01 9.88007069e-01 -3.64770435e-03 -1.04042429e+00] [-2.64027108e-02 -4.34447210e-04 9.99651293e-01 -1.35698980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.996874999999996 meters 0.015770555254170517 Centerline is valid? [True, True] Translation: X:45.34, Y:-1.05, Z:-1.36 [[ 9.87697222e-01 1.54071232e-01 2.67629176e-02 4.53419645e+01] [-1.54026537e-01 9.88059648e-01 -3.73592443e-03 -1.04555878e+00] [-2.70189574e-02 -4.32237348e-04 9.99634828e-01 -1.35726364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.026875 meters 0.01550941416871948 Centerline is valid? [True, True] Translation: X:45.37, Y:-1.05, Z:-1.36 [[ 9.87862249e-01 1.52796694e-01 2.79525970e-02 4.53730608e+01] [-1.52747225e-01 9.88257560e-01 -3.90913981e-03 -1.05061783e+00] [-2.82216689e-02 -4.07989971e-04 9.99601606e-01 -1.35836008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.056875 meters 0.014831207609912817 Centerline is valid? [True, True] Translation: X:45.40, Y:-1.06, Z:-1.36 [[ 9.88341201e-01 1.49557739e-01 2.85333574e-02 4.54039422e+01] [-1.49504639e-01 9.88752944e-01 -3.99743936e-03 -1.05738799e+00] [-2.88102891e-02 -3.15035275e-04 9.99584848e-01 -1.35884042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.086875 meters 0.01468679605995464 Centerline is valid? [True, True] Translation: X:45.44, Y:-1.06, Z:-1.36 [[ 9.88549534e-01 1.48177688e-01 2.85164998e-02 4.54350803e+01] [-1.48123881e-01 9.88960718e-01 -4.00186408e-03 -1.06347120e+00] [-2.87946851e-02 -2.67933751e-04 9.99585311e-01 -1.35938930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.116875 meters 0.014391854186520935 Centerline is valid? [True, True] Translation: X:45.47, Y:-1.07, Z:-1.36 [[ 9.88789147e-01 1.46553943e-01 2.86000948e-02 4.54665253e+01] [-1.46498945e-01 9.89202657e-01 -4.02035302e-03 -1.07041349e+00] [-2.88804883e-02 -2.14602279e-04 9.99582849e-01 -1.35943211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.146874999999994 meters 0.014190013006866259 Centerline is valid? [True, True] Translation: X:45.50, Y:-1.08, Z:-1.36 [[ 9.89283412e-01 1.42973680e-01 2.96117833e-02 4.54966217e+01] [-1.42912892e-01 9.89726485e-01 -4.17012965e-03 -1.07767523e+00] [-2.99037850e-02 -1.06465491e-04 9.99552776e-01 -1.35901009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.176874999999995 meters 0.014056077905198541 Centerline is valid? [True, True] Translation: X:45.53, Y:-1.08, Z:-1.36 [[ 9.89435403e-01 1.41775316e-01 3.02876593e-02 4.55285481e+01] [-1.41710947e-01 9.89898861e-01 -4.27222068e-03 -1.08386803e+00] [-3.05874148e-02 -6.50064999e-05 9.99532093e-01 -1.35896579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.206875 meters 0.014148017245513357 Centerline is valid? [True, True] Translation: X:45.56, Y:-1.09, Z:-1.36 [[ 9.89456691e-01 1.41556172e-01 3.06154755e-02 4.55597239e+01] [-1.41490021e-01 9.89930224e-01 -4.32738910e-03 -1.08871918e+00] [-3.09197531e-02 -5.00201609e-05 9.99521869e-01 -1.36007540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.236875 meters 0.014247914606845298 Centerline is valid? [True, True] Translation: X:45.59, Y:-1.09, Z:-1.36 [[ 9.89440618e-01 1.41770054e-01 3.01415919e-02 4.55922894e+01] [-1.41705793e-01 9.89899616e-01 -4.26834077e-03 -1.09273809e+00] [-3.04422732e-02 -4.79684671e-05 9.99536525e-01 -1.36262837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.266875 meters 0.014247719627672911 Centerline is valid? [True, True] Translation: X:45.62, Y:-1.10, Z:-1.36 [[ 9.89245963e-01 1.43287509e-01 2.93447544e-02 4.56246358e+01] [-1.43227031e-01 9.89681101e-01 -4.16351903e-03 -1.09673408e+00] [-2.96385291e-02 -8.42176727e-05 9.99560679e-01 -1.36464794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.296875 meters 0.014444738678205844 Centerline is valid? [True, True] Translation: X:45.66, Y:-1.10, Z:-1.37 [[ 9.88840054e-01 1.46484804e-01 2.71578536e-02 4.56559597e+01] [-1.46434015e-01 9.89212908e-01 -3.86037590e-03 -1.09899312e+00] [-2.74303857e-02 -1.59539216e-04 9.99623703e-01 -1.36766692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.326874999999994 meters 0.014790747581491506 Centerline is valid? [True, True] Translation: X:45.69, Y:-1.10, Z:-1.37 [[ 9.88471494e-01 1.49154942e-01 2.60174725e-02 4.56868478e+01] [-1.49109107e-01 9.88813812e-01 -3.70384624e-03 -1.10124649e+00] [-2.62788831e-02 -2.18295669e-04 9.99654627e-01 -1.37004794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.356874999999995 meters 0.015017253067071702 Centerline is valid? [True, True] Translation: X:45.72, Y:-1.10, Z:-1.37 [[ 9.88078617e-01 1.51869452e-01 2.52253130e-02 4.57185861e+01] [-1.51827120e-01 9.88400523e-01 -3.59618425e-03 -1.10407280e+00] [-2.54788631e-02 -2.76573859e-04 9.99675323e-01 -1.37180263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.386874999999996 meters 0.016173864955966552 Centerline is valid? [True, True] Translation: X:45.75, Y:-1.10, Z:-1.37 [[ 9.87244384e-01 1.57202231e-01 2.52187289e-02 4.57496967e+01] [-1.57161497e-01 9.87566348e-01 -3.60159438e-03 -1.10445727e+00] [-2.54713467e-02 -4.07759369e-04 9.99675469e-01 -1.37283437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.416875 meters 0.01652688657268245 Centerline is valid? [True, True] Translation: X:45.78, Y:-1.11, Z:-1.37 [[ 9.87111702e-01 1.58097490e-01 2.48127275e-02 4.57806434e+01] [-1.58058200e-01 9.87423419e-01 -3.54917062e-03 -1.10822541e+00] [-2.50617832e-02 -4.18427200e-04 9.99685817e-01 -1.37353703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.446875 meters 0.016394067070576945 Centerline is valid? [True, True] Translation: X:45.81, Y:-1.11, Z:-1.37 [[ 9.86959904e-01 1.59046937e-01 2.47834496e-02 4.58120963e+01] [-1.59007906e-01 9.87270926e-01 -3.55031853e-03 -1.11286846e+00] [-2.50326465e-02 -4.36742390e-04 9.99686539e-01 -1.37401577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.476875 meters 0.01671114783563782 Centerline is valid? [True, True] Translation: X:45.84, Y:-1.12, Z:-1.38 [[ 9.86814722e-01 1.59945154e-01 2.47841174e-02 4.58427099e+01] [-1.59906248e-01 9.87125799e-01 -3.55663614e-03 -1.11593169e+00] [-2.50339084e-02 -4.53394308e-04 9.99686500e-01 -1.37575352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.506874999999994 meters 0.016701609588991403 Centerline is valid? [True, True] Translation: X:45.87, Y:-1.12, Z:-1.38 [[ 9.86738451e-01 1.60332016e-01 2.53154810e-02 4.58748330e+01] [-1.60291409e-01 9.87063030e-01 -3.63846628e-03 -1.12057566e+00] [-2.55713380e-02 -4.67639521e-04 9.99672890e-01 -1.37633949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.536874999999995 meters 0.016745733578421032 Centerline is valid? [True, True] Translation: X:45.91, Y:-1.13, Z:-1.38 [[ 9.86602321e-01 1.60942810e-01 2.67071509e-02 4.59073176e+01] [-1.60897625e-01 9.86963606e-01 -3.84638322e-03 -1.12530288e+00] [-2.69780337e-02 -5.02266541e-04 9.99635900e-01 -1.37559472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.566874999999996 meters 0.017170623457376532 Centerline is valid? [True, True] Translation: X:45.94, Y:-1.13, Z:-1.38 [[ 9.86428708e-01 1.62028712e-01 2.65537402e-02 4.59392784e+01] [-1.61984237e-01 9.86785906e-01 -3.83178067e-03 -1.12851544e+00] [-2.68237151e-02 -5.21508879e-04 9.99640043e-01 -1.37744650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.596875 meters 0.01732352993004835 Centerline is valid? [True, True] Translation: X:45.97, Y:-1.13, Z:-1.38 [[ 9.86179957e-01 1.63624104e-01 2.60047109e-02 4.59712205e+01] [-1.63581844e-01 9.86522606e-01 -3.75861078e-03 -1.13212978e+00] [-2.62692345e-02 -5.47231948e-04 9.99654754e-01 -1.37938881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.626875 meters 0.01732352993004835 Centerline is valid? [True, True] Translation: X:46.00, Y:-1.14, Z:-1.38 [[ 9.86135213e-01 1.63893692e-01 2.60038425e-02 4.60032376e+01] [-1.63851368e-01 9.86477854e-01 -3.76460842e-03 -1.13686520e+00] [-2.62692103e-02 -5.48352236e-04 9.99654754e-01 -1.38042291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.656875 meters 0.01807418422552555 Centerline is valid? [True, True] Translation: X:46.03, Y:-1.14, Z:-1.38 [[ 9.85883124e-01 1.65484861e-01 2.54799276e-02 4.60337568e+01] [-1.65444564e-01 9.86212165e-01 -3.69622244e-03 -1.13951582e+00] [-2.57402834e-02 -5.71472173e-04 9.99668501e-01 -1.38241568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.686875 meters 0.018729256186129986 Centerline is valid? [True, True] Translation: X:46.07, Y:-1.14, Z:-1.38 [[ 9.85340151e-01 1.68870307e-01 2.42406080e-02 4.60661205e+01] [-1.68834731e-01 9.85638084e-01 -3.52165448e-03 -1.14258039e+00] [-2.44871693e-02 -6.22628972e-04 9.99699950e-01 -1.38262919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.716874999999995 meters 0.020762762451408463 Centerline is valid? [True, True] Translation: X:46.10, Y:-1.14, Z:-1.38 [[ 9.85019155e-01 1.70776141e-01 2.39326788e-02 4.60973151e+01] [-1.70742013e-01 9.85309633e-01 -3.47739819e-03 -1.14269547e+00] [-2.41749556e-02 -6.61009927e-04 9.99707525e-01 -1.38486248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.746874999999996 meters 0.020024012975781078 Centerline is valid? [True, True] Translation: X:46.13, Y:-1.15, Z:-1.39 [[ 9.84737387e-01 1.72318275e-01 2.44681677e-02 4.61286204e+01] [-1.72282940e-01 9.85041070e-01 -3.56076796e-03 -1.14823457e+00] [-2.47157355e-02 -7.09026532e-04 9.99694268e-01 -1.38519160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.776875 meters 0.022023643909029864 Centerline is valid? [True, True] Translation: X:46.16, Y:-1.15, Z:-1.39 [[ 9.84263249e-01 1.75035837e-01 2.42551574e-02 4.61597775e+01] [-1.75001791e-01 9.84561766e-01 -3.53577668e-03 -1.14954557e+00] [-2.44995882e-02 -7.64560944e-04 9.99699548e-01 -1.38603505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.806875 meters 0.021461653816162572 Centerline is valid? [True, True] Translation: X:46.19, Y:-1.16, Z:-1.39 [[ 9.84146699e-01 1.75750800e-01 2.38103352e-02 4.61913849e+01] [-1.75718078e-01 9.84434393e-01 -3.47605327e-03 -1.15543083e+00] [-2.40506320e-02 -7.62959980e-04 9.99710451e-01 -1.38692013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.836875 meters 0.02175019821927562 Centerline is valid? [True, True] Translation: X:46.22, Y:-1.16, Z:-1.39 [[ 9.83903110e-01 1.77108593e-01 2.38163093e-02 4.62231052e+01] [-1.77076111e-01 9.84190998e-01 -3.48279886e-03 -1.15965357e+00] [-2.40566308e-02 -7.90562788e-04 9.99710285e-01 -1.38884960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.866875 meters 0.021155234184035386 Centerline is valid? [True, True] Translation: X:46.25, Y:-1.17, Z:-1.39 [[ 9.83791527e-01 1.77728436e-01 2.38082925e-02 4.62546188e+01] [-1.77696016e-01 9.84079246e-01 -3.48746682e-03 -1.16585135e+00] [-2.40490685e-02 -7.99698414e-04 9.99710459e-01 -1.38949290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.896874999999994 meters 0.022236226341710685 Centerline is valid? [True, True] Translation: X:46.29, Y:-1.17, Z:-1.39 [[ 9.83733286e-01 1.78001310e-01 2.41734484e-02 4.62864845e+01] [-1.77967820e-01 9.84029915e-01 -3.54708422e-03 -1.16927150e+00] [-2.44187820e-02 -8.12711091e-04 9.99701487e-01 -1.39010805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.926874999999995 meters 0.021728737004109898 Centerline is valid? [True, True] Translation: X:46.32, Y:-1.18, Z:-1.39 [[ 9.83557963e-01 1.78815790e-01 2.52714545e-02 4.63184418e+01] [-1.78779275e-01 9.83882192e-01 -3.71533199e-03 -1.17599835e+00] [-2.55284941e-02 -8.63767959e-04 9.99673722e-01 -1.38854742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.956875 meters 0.022893806219942386 Centerline is valid? [True, True] Translation: X:46.35, Y:-1.18, Z:-1.39 [[ 9.83421393e-01 1.79428548e-01 2.62251703e-02 4.63493001e+01] [-1.79389213e-01 9.83770592e-01 -3.86417165e-03 -1.17860386e+00] [-2.64928941e-02 -9.04403605e-04 9.99648593e-01 -1.38976166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.986875 meters 0.022145947109110154 Centerline is valid? [True, True] Translation: X:46.38, Y:-1.19, Z:-1.39 [[ 9.83054358e-01 1.81273268e-01 2.72787624e-02 4.63808033e+01] [-1.81231324e-01 9.83432267e-01 -4.02283353e-03 -1.18520165e+00] [-2.75560473e-02 -9.89102187e-04 9.99619771e-01 -1.38938888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.016875 meters 0.02361024399706701 Centerline is valid? [True, True] Translation: X:46.41, Y:-1.19, Z:-1.39 [[ 9.82933772e-01 1.81964903e-01 2.70180227e-02 4.64113254e+01] [-1.81923829e-01 9.83304525e-01 -3.99130444e-03 -1.18803906e+00] [-2.72932213e-02 -9.92034223e-04 9.99626978e-01 -1.38995982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.046875 meters 0.02314126783522932 Centerline is valid? [True, True] Translation: X:46.44, Y:-1.19, Z:-1.39 [[ 9.82800195e-01 1.82712275e-01 2.68328563e-02 4.64424980e+01] [-1.82671872e-01 9.83165919e-01 -3.97015628e-03 -1.19458060e+00] [-2.71065461e-02 -9.99737722e-04 9.99632050e-01 -1.39077956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.076874999999994 meters 0.02297179790120899 Centerline is valid? [True, True] Translation: X:46.48, Y:-1.20, Z:-1.39 [[ 9.82799498e-01 1.82847347e-01 2.59228416e-02 4.64751224e+01] [-1.82809527e-01 9.83140844e-01 -3.84154028e-03 -1.20019374e+00] [-2.61882198e-02 -9.63478540e-04 9.99656565e-01 -1.39275702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.106874999999995 meters 0.022292451881878218 Centerline is valid? [True, True] Translation: X:46.51, Y:-1.21, Z:-1.40 [[ 9.82893459e-01 1.82408647e-01 2.54466800e-02 4.65063607e+01] [-1.82371866e-01 9.83222369e-01 -3.77840005e-03 -1.20644952e+00] [-2.57089579e-02 -9.26993821e-04 9.99669040e-01 -1.39611734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.136874999999996 meters 0.023001451061407628 Centerline is valid? [True, True] Translation: X:46.54, Y:-1.21, Z:-1.40 [[ 9.83127205e-01 1.81263716e-01 2.45838209e-02 4.65371112e+01] [-1.81228878e-01 9.83434149e-01 -3.65640737e-03 -1.21117254e+00] [-2.48393429e-02 -8.60584710e-04 9.99691086e-01 -1.39769428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.166875 meters 0.021878328067210153 Centerline is valid? [True, True] Translation: X:46.57, Y:-1.22, Z:-1.40 [[ 9.83450703e-01 1.79569127e-01 2.40757911e-02 4.65685503e+01] [-1.79535074e-01 9.83745036e-01 -3.58625067e-03 -1.21915434e+00] [-2.43284199e-02 -7.95548204e-04 9.99703704e-01 -1.39827386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.196875 meters 0.02019637610819785 Centerline is valid? [True, True] Translation: X:46.60, Y:-1.23, Z:-1.40 [[ 9.84162570e-01 1.75505308e-01 2.49383977e-02 4.65992192e+01] [-1.75467277e-01 9.84478227e-01 -3.72227386e-03 -1.22986563e+00] [-2.52045884e-02 -7.12550147e-04 9.99682060e-01 -1.39649123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.226875 meters 0.019229878168373096 Centerline is valid? [True, True] Translation: X:46.63, Y:-1.24, Z:-1.40 [[ 9.84508631e-01 1.73515283e-01 2.52032069e-02 4.66310342e+01] [-1.73475741e-01 9.84830951e-01 -3.76368194e-03 -1.23772752e+00] [-2.54739546e-02 -6.66767644e-04 9.99675264e-01 -1.39757402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.256874999999994 meters 0.018143449970139558 Centerline is valid? [True, True] Translation: X:46.66, Y:-1.25, Z:-1.40 [[ 9.85298317e-01 1.68924191e-01 2.55312369e-02 4.66604322e+01] [-1.68882001e-01 9.85628892e-01 -3.81538524e-03 -1.24687021e+00] [-2.58088356e-02 -5.52473731e-04 9.99666744e-01 -1.39940387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.286874999999995 meters 0.01697521714875389 Centerline is valid? [True, True] Translation: X:46.69, Y:-1.26, Z:-1.40 [[ 9.85615517e-01 1.66941055e-01 2.63198994e-02 4.66920895e+01] [-1.66895508e-01 9.85966743e-01 -3.93335908e-03 -1.25580691e+00] [-2.66071846e-02 -5.15893243e-04 9.99645833e-01 -1.39974701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.316874999999996 meters 0.016958822422574037 Centerline is valid? [True, True] Translation: X:46.72, Y:-1.26, Z:-1.40 [[ 9.85851781e-01 1.65603309e-01 2.59193051e-02 4.67227061e+01] [-1.65558636e-01 9.86192335e-01 -3.87498735e-03 -1.26229412e+00] [-2.62031307e-02 -4.71001633e-04 9.99656528e-01 -1.40132788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.346875 meters 0.01614526076965222 Centerline is valid? [True, True] Translation: X:46.75, Y:-1.27, Z:-1.40 [[ 9.86306931e-01 1.63113207e-01 2.43458443e-02 4.67537122e+01] [-1.63072912e-01 9.86607288e-01 -3.64476482e-03 -1.27278892e+00] [-2.46142967e-02 -3.75290918e-04 9.99696952e-01 -1.40360414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.376875 meters 0.01608546760872534 Centerline is valid? [True, True] Translation: X:46.78, Y:-1.28, Z:-1.40 [[ 9.86399451e-01 1.62604135e-01 2.40003899e-02 4.67846329e+01] [-1.62564668e-01 9.86691326e-01 -3.59955197e-03 -1.27888905e+00] [-2.42662786e-02 -3.51019314e-04 9.99705469e-01 -1.40416149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.406875 meters 0.014981099928968547 Centerline is valid? [True, True] Translation: X:46.82, Y:-1.29, Z:-1.41 [[ 9.87369139e-01 1.56467204e-01 2.49037653e-02 4.68156214e+01] [-1.56422685e-01 9.87683133e-01 -3.73787986e-03 -1.28859952e+00] [-2.51818845e-02 -2.04846606e-04 9.99682865e-01 -1.40518760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.436875 meters 0.014480712420418628 Centerline is valid? [True, True] Translation: X:46.85, Y:-1.30, Z:-1.40 [[ 9.89144741e-01 1.44579359e-01 2.62581575e-02 4.68452255e+01] [-1.44525488e-01 9.89493202e-01 -3.94798392e-03 -1.29897454e+00] [-2.65530653e-02 1.10154499e-04 9.99647399e-01 -1.40393981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.466874999999995 meters 0.014867442979264591 Centerline is valid? [True, True] Translation: X:46.88, Y:-1.31, Z:-1.40 [[ 9.89827008e-01 1.39663272e-01 2.71415681e-02 4.68764044e+01] [-1.39603695e-01 9.90199023e-01 -4.08699704e-03 -1.30624667e+00] [-2.74463576e-02 2.56356858e-04 9.99623245e-01 -1.40285942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.496874999999996 meters 0.01613667820949115 Centerline is valid? [True, True] Translation: X:46.91, Y:-1.31, Z:-1.40 [[ 9.90668337e-01 1.33363230e-01 2.81157270e-02 4.69076927e+01] [-1.33296544e-01 9.91067123e-01 -4.24128530e-03 -1.31262997e+00] [-2.84302042e-02 4.53977792e-04 9.99595677e-01 -1.40337609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.526875 meters 0.016251476601315283 Centerline is valid? [True, True] Translation: X:46.94, Y:-1.31, Z:-1.41 [[ 9.90953236e-01 1.31286044e-01 2.78506476e-02 4.69395233e+01] [-1.31219754e-01 9.91344398e-01 -4.20253770e-03 -1.31488936e+00] [-2.81613180e-02 5.09963199e-04 9.99603261e-01 -1.40666803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.556875 meters 0.017235681024934203 Centerline is valid? [True, True] Translation: X:46.97, Y:-1.32, Z:-1.41 [[ 9.91055902e-01 1.30672287e-01 2.70730824e-02 4.69702205e+01] [-1.30609243e-01 9.91425481e-01 -4.09165614e-03 -1.31972530e+00] [-2.73756098e-02 5.19065181e-04 9.99625083e-01 -1.41012273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.586875 meters 0.01623432725528471 Centerline is valid? [True, True] Translation: X:47.00, Y:-1.32, Z:-1.41 [[ 9.90845292e-01 1.32646770e-01 2.51086183e-02 4.70027945e+01] [-1.32593051e-01 9.91163278e-01 -3.79975324e-03 -1.31936206e+00] [-2.53907654e-02 4.35739297e-04 9.99677508e-01 -1.41106838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.616875 meters 0.016264975214682488 Centerline is valid? [True, True] Translation: X:47.03, Y:-1.32, Z:-1.41 [[ 9.90586416e-01 1.34583816e-01 2.50149793e-02 4.70340919e+01] [-1.34530961e-01 9.90902136e-01 -3.79164485e-03 -1.32347368e+00] [-2.52976904e-02 3.90662671e-04 9.99679886e-01 -1.41158870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.646874999999994 meters 0.015624732367390157 Centerline is valid? [True, True] Translation: X:47.07, Y:-1.33, Z:-1.41 [[ 9.90170812e-01 1.37618179e-01 2.49599648e-02 4.70658083e+01] [-1.37566367e-01 9.90485303e-01 -3.78934738e-03 -1.32562865e+00] [-2.52439614e-02 3.18449490e-04 9.99681270e-01 -1.41120895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.676874999999995 meters 0.01530865717314398 Centerline is valid? [True, True] Translation: X:47.10, Y:-1.33, Z:-1.41 [[ 9.89786502e-01 1.40357813e-01 2.49472533e-02 4.70969912e+01] [-1.40306772e-01 9.90100813e-01 -3.79343637e-03 -1.32781281e+00] [-2.52327342e-02 2.54423529e-04 9.99681571e-01 -1.41238103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.706875 meters 0.014536838287015113 Centerline is valid? [True, True] Translation: X:47.13, Y:-1.33, Z:-1.41 [[ 9.89070219e-01 1.45392738e-01 2.45163902e-02 4.71293143e+01] [-1.45344864e-01 9.89374012e-01 -3.73301058e-03 -1.32525222e+00] [-2.47986320e-02 1.28878187e-04 9.99692458e-01 -1.41480599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.736875 meters 0.014343223180962683 Centerline is valid? [True, True] Translation: X:47.16, Y:-1.33, Z:-1.42 [[ 9.88709350e-01 1.47775720e-01 2.48225314e-02 4.71607486e+01] [-1.47727238e-01 9.89020895e-01 -3.78581485e-03 -1.32696712e+00] [-2.51094538e-02 7.61065417e-05 9.99684705e-01 -1.41713850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.766875 meters 0.01410267095386641 Centerline is valid? [True, True] Translation: X:47.19, Y:-1.33, Z:-1.42 [[ 9.87996030e-01 1.52132274e-01 2.68256584e-02 4.71928888e+01] [-1.52077079e-01 9.88360142e-01 -4.09777729e-03 -1.32689204e+00] [-2.71368158e-02 -3.09800839e-05 9.99631728e-01 -1.41627894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.796875 meters 0.014370877311388482 Centerline is valid? [True, True] Translation: X:47.23, Y:-1.33, Z:-1.42 [[ 9.87495918e-01 1.55153738e-01 2.79128738e-02 4.72256943e+01] [-1.55094993e-01 9.87890330e-01 -4.27063680e-03 -1.33014762e+00] [-2.82374633e-02 -1.11910544e-04 9.99601237e-01 -1.41532878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.826874999999994 meters 0.01442320392645495 Centerline is valid? [True, True] Translation: X:47.26, Y:-1.33, Z:-1.42 [[ 9.87119613e-01 1.57471316e-01 2.82427680e-02 4.72584107e+01] [-1.57411888e-01 9.87523547e-01 -4.32926751e-03 -1.33206274e+00] [-2.85721339e-02 -1.72242556e-04 9.99591718e-01 -1.41602789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.856874999999995 meters 0.014935343238591017 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.33, Z:-1.42 [[ 9.86452108e-01 1.61674200e-01 2.78153021e-02 4.72900126e+01] [-1.61618005e-01 9.86844149e-01 -4.27163163e-03 -1.32973322e+00] [-2.81399807e-02 -2.81693608e-04 9.99603953e-01 -1.41969616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.886874999999996 meters 0.015216152245992714 Centerline is valid? [True, True] Translation: X:47.32, Y:-1.33, Z:-1.42 [[ 9.86075982e-01 1.64025966e-01 2.73795702e-02 4.73218762e+01] [-1.63972256e-01 9.86455964e-01 -4.21076253e-03 -1.33194255e+00] [-2.76994148e-02 -3.37358112e-04 9.99616241e-01 -1.42150515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.916875 meters 0.015548661208482964 Centerline is valid? [True, True] Translation: X:47.35, Y:-1.33, Z:-1.42 [[ 9.85506720e-01 1.67457022e-01 2.71044298e-02 4.73537856e+01] [-1.67405506e-01 9.85879286e-01 -4.17488336e-03 -1.33371471e+00] [-2.74208095e-02 -4.23055186e-04 9.99623889e-01 -1.42249028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.946875 meters 0.0158875689532019 Centerline is valid? [True, True] Translation: X:47.39, Y:-1.34, Z:-1.42 [[ 9.85317832e-01 1.68633678e-01 2.66730579e-02 4.73851481e+01] [-1.68584043e-01 9.85678694e-01 -4.11502830e-03 -1.33624823e+00] [-2.69849972e-02 -4.42041164e-04 9.99635741e-01 -1.42419397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.976875 meters 0.01583927559700069 Centerline is valid? [True, True] Translation: X:47.42, Y:-1.34, Z:-1.43 [[ 9.85179900e-01 1.69465361e-01 2.64963359e-02 4.74181544e+01] [-1.69416528e-01 9.85536039e-01 -4.09348613e-03 -1.34036756e+00] [-2.68067981e-02 -4.56096990e-04 9.99640529e-01 -1.42554029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.006874999999994 meters 0.0161181941600711 Centerline is valid? [True, True] Translation: X:47.45, Y:-1.34, Z:-1.43 [[ 9.84993645e-01 1.70495280e-01 2.68119222e-02 4.74502234e+01] [-1.70445445e-01 9.85358375e-01 -4.15010928e-03 -1.34363195e+00] [-2.71269261e-02 -4.82138733e-04 9.99631881e-01 -1.42608621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.036874999999995 meters 0.01672758416883521 Centerline is valid? [True, True] Translation: X:47.48, Y:-1.35, Z:-1.43 [[ 9.84858920e-01 1.71354811e-01 2.62761715e-02 4.74814845e+01] [-1.71307084e-01 9.85209262e-01 -4.07356401e-03 -1.34596503e+00] [-2.65855523e-02 -4.89408454e-04 9.99646422e-01 -1.42768768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.066874999999996 meters 0.016193943973290024 Centerline is valid? [True, True] Translation: X:47.51, Y:-1.35, Z:-1.43 [[ 9.84759114e-01 1.72088094e-01 2.52026878e-02 4.75133038e+01] [-1.72044292e-01 9.85081446e-01 -3.91243939e-03 -1.35071467e+00] [-2.54999844e-02 -4.83168222e-04 9.99674706e-01 -1.42929317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.096875 meters 0.016545069690790653 Centerline is valid? [True, True] Translation: X:47.55, Y:-1.35, Z:-1.43 [[ 9.84582152e-01 1.73184798e-01 2.45969777e-02 4.75453029e+01] [-1.73143272e-01 9.84889223e-01 -3.82430965e-03 -1.35468485e+00] [-2.48876105e-02 -4.93454153e-04 9.99690134e-01 -1.43127886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.126875 meters 0.017058447360091565 Centerline is valid? [True, True] Translation: X:47.58, Y:-1.36, Z:-1.43 [[ 9.84434257e-01 1.74006907e-01 2.47141621e-02 4.75772708e+01] [-1.73965091e-01 9.84744300e-01 -3.84858168e-03 -1.35730747e+00] [-2.50068101e-02 -5.10725820e-04 9.99687150e-01 -1.43290341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.156875 meters 0.01673487918548868 Centerline is valid? [True, True] Translation: X:47.61, Y:-1.36, Z:-1.44 [[ 9.84346552e-01 1.74641941e-01 2.37077689e-02 4.76094326e+01] [-1.74603472e-01 9.84631883e-01 -3.69909694e-03 -1.36209152e+00] [-2.39894426e-02 -4.98265438e-04 9.99712088e-01 -1.43501057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.186875 meters 0.01682445768489373 Centerline is valid? [True, True] Translation: X:47.64, Y:-1.37, Z:-1.44 [[ 9.84303492e-01 1.74821560e-01 2.41672891e-02 4.76416750e+01] [-1.74781620e-01 9.84600000e-01 -3.77157079e-03 -1.36725199e+00] [-2.44544647e-02 -5.11627632e-04 9.99700814e-01 -1.43568312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.216874999999995 meters 0.017088178728488973 Centerline is valid? [True, True] Translation: X:47.67, Y:-1.37, Z:-1.44 [[ 9.84257013e-01 1.75007556e-01 2.47080341e-02 4.76732048e+01] [-1.74965684e-01 9.84566953e-01 -3.86329869e-03 -1.37120600e+00] [-2.50028203e-02 -5.20579249e-04 9.99687245e-01 -1.43681311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.246874999999996 meters 0.017302939610571756 Centerline is valid? [True, True] Translation: X:47.71, Y:-1.38, Z:-1.44 [[ 9.84031040e-01 1.76055118e-01 2.62203844e-02 4.77061058e+01] [-1.76008141e-01 9.84380143e-01 -4.10703294e-03 -1.37594500e+00] [-2.65338900e-02 -5.73553238e-04 9.99647750e-01 -1.43580276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.276875 meters 0.01737899303195815 Centerline is valid? [True, True] Translation: X:47.74, Y:-1.38, Z:-1.44 [[ 9.83856715e-01 1.76956866e-01 2.66876767e-02 4.77375306e+01] [-1.76908324e-01 9.84218424e-01 -4.18788637e-03 -1.38060921e+00] [-2.70075783e-02 -6.00992028e-04 9.99635048e-01 -1.43643929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.306875 meters 0.016819320827206385 Centerline is valid? [True, True] Translation: X:47.77, Y:-1.39, Z:-1.44 [[ 9.83634459e-01 1.78197130e-01 2.66276711e-02 4.77691789e+01] [-1.78149068e-01 9.83994609e-01 -4.18563009e-03 -1.38678388e+00] [-2.69473521e-02 -6.26564796e-04 9.99636658e-01 -1.43677394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.336875 meters 0.01886889818550099 Centerline is valid? [True, True] Translation: X:47.80, Y:-1.39, Z:-1.44 [[ 9.83125471e-01 1.81101711e-01 2.58162532e-02 4.78005499e+01] [-1.81057495e-01 9.83464134e-01 -4.05955637e-03 -1.38668479e+00] [-2.61245517e-02 -6.83172878e-04 9.99658462e-01 -1.43963186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.366875 meters 0.01929779775272057 Centerline is valid? [True, True] Translation: X:47.83, Y:-1.39, Z:-1.44 [[ 9.82757378e-01 1.83126255e-01 2.55481953e-02 4.78323844e+01] [-1.83083479e-01 9.83089137e-01 -4.02344936e-03 -1.39032392e+00] [-2.58529525e-02 -7.23377940e-04 9.99665495e-01 -1.44162155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.396874999999994 meters 0.019629728015350283 Centerline is valid? [True, True] Translation: X:47.86, Y:-1.39, Z:-1.44 [[ 9.82305610e-01 1.85466893e-01 2.60330655e-02 4.78644918e+01] [-1.85423127e-01 9.82650193e-01 -4.10633123e-03 -1.39428091e+00] [-2.63429854e-02 -7.93460226e-04 9.99652648e-01 -1.44314987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.426874999999995 meters 0.020900148717233176 Centerline is valid? [True, True] Translation: X:47.90, Y:-1.40, Z:-1.44 [[ 9.81502018e-01 1.89664230e-01 2.61011332e-02 4.78950549e+01] [-1.89621514e-01 9.81848597e-01 -4.12468873e-03 -1.39692840e+00] [-2.64096669e-02 -9.00946083e-04 9.99650798e-01 -1.44474017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.456875 meters 0.022905668478790043 Centerline is valid? [True, True] Translation: X:47.93, Y:-1.40, Z:-1.45 [[ 9.81193229e-01 1.91311536e-01 2.56854804e-02 4.79258384e+01] [-1.91270739e-01 9.81528925e-01 -4.05877594e-03 -1.39865113e+00] [-2.59875327e-02 -9.30437362e-04 9.99661834e-01 -1.44687652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.486875 meters 0.022887927614698066 Centerline is valid? [True, True] Translation: X:47.96, Y:-1.40, Z:-1.45 [[ 9.80865066e-01 1.93058799e-01 2.51400590e-02 4.79569752e+01] [-1.93020145e-01 9.81186729e-01 -3.97829240e-03 -1.40377526e+00] [-2.54351366e-02 -9.50369794e-04 9.99676023e-01 -1.44801705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.516875 meters 0.02319679577060731 Centerline is valid? [True, True] Translation: X:47.99, Y:-1.41, Z:-1.45 [[ 9.80326653e-01 1.95847269e-01 2.45662550e-02 4.79882416e+01] [-1.95811098e-01 9.80633907e-01 -3.89292494e-03 -1.40821007e+00] [-2.48529213e-02 -9.94007280e-04 9.99690624e-01 -1.44981388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.546875 meters 0.02319679577060731 Centerline is valid? [True, True] Translation: X:48.02, Y:-1.41, Z:-1.45 [[ 9.80271767e-01 1.96121905e-01 2.45654273e-02 4.80202166e+01] [-1.96085689e-01 9.80579016e-01 -3.89813982e-03 -1.41338115e+00] [-2.48528532e-02 -9.95692341e-04 9.99690624e-01 -1.45084835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.576874999999994 meters 0.025693246008417197 Centerline is valid? [True, True] Translation: X:48.05, Y:-1.41, Z:-1.45 [[ 9.79948504e-01 1.97723860e-01 2.46212085e-02 4.80514448e+01] [-1.97687798e-01 9.80257217e-01 -3.91446322e-03 -1.41463131e+00] [-2.49091001e-02 -1.03134012e-03 9.99689188e-01 -1.45270218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.606874999999995 meters 0.02261539570601092 Centerline is valid? [True, True] Translation: X:48.08, Y:-1.42, Z:-1.45 [[ 9.79653055e-01 1.99147561e-01 2.49026118e-02 4.80823184e+01] [-1.99110987e-01 9.79968925e-01 -3.96485510e-03 -1.42487418e+00] [-2.51933770e-02 -1.07420120e-03 9.99682019e-01 -1.45263528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.636874999999996 meters 0.026762878616431045 Centerline is valid? [True, True] Translation: X:48.11, Y:-1.42, Z:-1.45 [[ 9.79113457e-01 2.01728213e-01 2.53488899e-02 4.81135757e+01] [-2.01690984e-01 9.79440860e-01 -4.04345656e-03 -1.42349532e+00] [-2.56434177e-02 -1.15363981e-03 9.99670488e-01 -1.45436521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.666875 meters 0.026089118228335446 Centerline is valid? [True, True] Translation: X:48.15, Y:-1.43, Z:-1.46 [[ 9.78844294e-01 2.02990835e-01 2.56625967e-02 4.81451198e+01] [-2.02953043e-01 9.79179904e-01 -4.09616415e-03 -1.42959441e+00] [-2.59597827e-02 -1.19879518e-03 9.99662269e-01 -1.45539832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.696875 meters 0.028415774303373414 Centerline is valid? [True, True] Translation: X:48.18, Y:-1.43, Z:-1.46 [[ 9.78453284e-01 2.04804977e-01 2.61551419e-02 4.81758233e+01] [-2.04766171e-01 9.78801984e-01 -4.18220218e-03 -1.43174956e+00] [-2.64572406e-02 -1.26359879e-03 9.99649147e-01 -1.45566874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.726875 meters 0.026998896375463065 Centerline is valid? [True, True] Translation: X:48.21, Y:-1.44, Z:-1.46 [[ 9.78315348e-01 2.05486048e-01 2.59723508e-02 4.82070980e+01] [-2.05447955e-01 9.78659220e-01 -4.15551148e-03 -1.43981275e+00] [-2.62719803e-02 -1.27056570e-03 9.99654025e-01 -1.45594050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.756874999999994 meters 0.02723828481365072 Centerline is valid? [True, True] Translation: X:48.24, Y:-1.44, Z:-1.46 [[ 9.78236779e-01 2.05824023e-01 2.62540690e-02 4.82395109e+01] [-2.05785047e-01 9.78588174e-01 -4.20712070e-03 -1.44492071e+00] [-2.65578480e-02 -1.28713462e-03 9.99646449e-01 -1.45727565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.786874999999995 meters 0.02808668600389652 Centerline is valid? [True, True] Translation: X:48.27, Y:-1.45, Z:-1.46 [[ 9.78358733e-01 2.05314684e-01 2.56918396e-02 4.82699330e+01] [-2.05276989e-01 9.78695226e-01 -4.12453404e-03 -1.44896023e+00] [-2.59913082e-02 -1.23866957e-03 9.99661401e-01 -1.46076789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.816874999999996 meters 0.02674856915195047 Centerline is valid? [True, True] Translation: X:48.30, Y:-1.46, Z:-1.46 [[ 9.78462634e-01 2.04853291e-01 2.54166032e-02 4.83008523e+01] [-2.04816097e-01 9.78791944e-01 -4.08604522e-03 -1.45682456e+00] [-2.57146063e-02 -1.20768690e-03 9.99668595e-01 -1.46234326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.846875 meters 0.027400508049798284 Centerline is valid? [True, True] Translation: X:48.33, Y:-1.46, Z:-1.46 [[ 9.78667649e-01 2.03903734e-01 2.51575190e-02 4.83317140e+01] [-2.03866805e-01 9.78990251e-01 -4.05132254e-03 -1.46195737e+00] [-2.54550456e-02 -1.16388472e-03 9.99675290e-01 -1.46387964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.876875 meters 0.024875895045913882 Centerline is valid? [True, True] Translation: X:48.36, Y:-1.47, Z:-1.46 [[ 9.78914645e-01 2.02704920e-01 2.52355578e-02 4.83623098e+01] [-2.02667290e-01 9.79239210e-01 -4.06680937e-03 -1.47206794e+00] [-2.55360099e-02 -1.13336285e-03 9.99673260e-01 -1.46399179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.906875 meters 0.02400044384551912 Centerline is valid? [True, True] Translation: X:48.39, Y:-1.48, Z:-1.46 [[ 9.79402234e-01 2.00286120e-01 2.56268136e-02 4.83931469e+01] [-2.00246288e-01 9.79736855e-01 -4.13754283e-03 -1.47999139e+00] [-2.59362261e-02 -1.07935559e-03 9.99663017e-01 -1.46478415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.936875 meters 0.023108142612532752 Centerline is valid? [True, True] Translation: X:48.42, Y:-1.49, Z:-1.47 [[ 9.79584560e-01 1.99357965e-01 2.58938582e-02 4.84243246e+01] [-1.99316947e-01 9.79926154e-01 -4.18171415e-03 -1.48690556e+00] [-2.62077269e-02 -1.06474213e-03 9.99655952e-01 -1.46590918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.966874999999995 meters 0.02219961183388255 Centerline is valid? [True, True] Translation: X:48.46, Y:-1.49, Z:-1.47 [[ 9.79739600e-01 1.98478760e-01 2.67674642e-02 4.84561298e+01] [-1.98434388e-01 9.80104606e-01 -4.33061089e-03 -1.49405423e+00] [-2.70944492e-02 -1.06871439e-03 9.99632307e-01 -1.46682630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.996874999999996 meters 0.02105044967475942 Centerline is valid? [True, True] Translation: X:48.49, Y:-1.50, Z:-1.47 [[ 9.79981265e-01 1.97217131e-01 2.72419455e-02 4.84875030e+01] [-1.97170634e-01 9.80359271e-01 -4.40923528e-03 -1.50249569e+00] [-2.75764706e-02 -1.05034369e-03 9.99619145e-01 -1.46803655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.026875 meters 0.022307517003855967 Centerline is valid? [True, True] Translation: X:48.52, Y:-1.51, Z:-1.47 [[ 9.80114351e-01 1.96602160e-01 2.68970357e-02 4.85181420e+01] [-1.96556400e-01 9.80482822e-01 -4.36080465e-03 -1.50635299e+00] [-2.72294251e-02 -1.01269729e-03 9.99628697e-01 -1.46963789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.056875 meters 0.02159237521430428 Centerline is valid? [True, True] Translation: X:48.55, Y:-1.51, Z:-1.47 [[ 9.80345800e-01 1.95526884e-01 2.62935248e-02 4.85488922e+01] [-1.95482681e-01 9.80697874e-01 -4.26622066e-03 -1.51493782e+00] [-2.66201647e-02 -9.57557222e-04 9.99645162e-01 -1.47116061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.086875 meters 0.02059018774406609 Centerline is valid? [True, True] Translation: X:48.58, Y:-1.52, Z:-1.47 [[ 9.80374036e-01 1.95403495e-01 2.61576833e-02 4.85804222e+01] [-1.95359530e-01 9.80722481e-01 -4.25076396e-03 -1.52295356e+00] [-2.64840422e-02 -9.42814091e-04 9.99648792e-01 -1.47210043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.116875 meters 0.020691275455118244 Centerline is valid? [True, True] Translation: X:48.61, Y:-1.53, Z:-1.47 [[ 9.80430455e-01 1.95108260e-01 2.62467060e-02 4.86122953e+01] [-1.95063708e-01 9.80781270e-01 -4.27202975e-03 -1.52883805e+00] [-2.65757859e-02 -9.31351725e-04 9.99646368e-01 -1.47337470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.146874999999994 meters 0.021957618693394777 Centerline is valid? [True, True] Translation: X:48.64, Y:-1.53, Z:-1.48 [[ 9.80538319e-01 1.94389584e-01 2.75189770e-02 4.86430496e+01] [-1.94340117e-01 9.80923947e-01 -4.48658567e-03 -1.53309609e+00] [-2.78661691e-02 -9.48772054e-04 9.99611213e-01 -1.47578999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.176874999999995 meters 0.02026385320948083 Centerline is valid? [True, True] Translation: X:48.67, Y:-1.54, Z:-1.48 [[ 9.80546576e-01 1.94335577e-01 2.76060811e-02 4.86741219e+01] [-1.94285595e-01 9.80934653e-01 -4.50722336e-03 -1.54197401e+00] [-2.79556754e-02 -9.43921451e-04 9.99608718e-01 -1.47739313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.206875 meters 0.022043572705758144 Centerline is valid? [True, True] Translation: X:48.71, Y:-1.55, Z:-1.48 [[ 9.80662033e-01 1.93789439e-01 2.73428278e-02 4.87052483e+01] [-1.93739998e-01 9.81042721e-01 -4.47130499e-03 -1.54522025e+00] [-2.76909739e-02 -9.12560375e-04 9.99616115e-01 -1.47966080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.236875 meters 0.020066772994232842 Centerline is valid? [True, True] Translation: X:48.74, Y:-1.55, Z:-1.48 [[ 9.80676309e-01 1.93730710e-01 2.72468162e-02 4.87360738e+01] [-1.93681417e-01 9.81054330e-01 -4.46200804e-03 -1.55470581e+00] [-2.75950350e-02 -9.01416385e-04 9.99618778e-01 -1.48027230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.266875 meters 0.020186487946027856 Centerline is valid? [True, True] Translation: X:48.77, Y:-1.56, Z:-1.48 [[ 9.80669266e-01 1.93831179e-01 2.67817836e-02 4.87684573e+01] [-1.93783415e-01 9.81034503e-01 -4.39234387e-03 -1.56071060e+00] [-2.71252269e-02 -8.82428850e-04 9.99631654e-01 -1.48150052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.296875 meters 0.02067318172264268 Centerline is valid? [True, True] Translation: X:48.80, Y:-1.57, Z:-1.48 [[ 9.80614009e-01 1.94042048e-01 2.72735764e-02 4.87995116e+01] [-1.93992360e-01 9.80992803e-01 -4.48150916e-03 -1.56638139e+00] [-2.76247834e-02 -8.96234784e-04 9.99617961e-01 -1.48153237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.326874999999994 meters 0.020681101414180763 Centerline is valid? [True, True] Translation: X:48.83, Y:-1.57, Z:-1.48 [[ 9.80533834e-01 1.94367709e-01 2.78315427e-02 4.88320696e+01] [-1.94315964e-01 9.80928310e-01 -4.57795134e-03 -1.57227732e+00] [-2.81905540e-02 -9.19276875e-04 9.99602145e-01 -1.48205531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.356874999999995 meters 0.02090222672238648 Centerline is valid? [True, True] Translation: X:48.86, Y:-1.58, Z:-1.48 [[ 9.80418008e-01 1.94876298e-01 2.83506215e-02 4.88645645e+01] [-1.94822580e-01 9.80827375e-01 -4.67155399e-03 -1.57766482e+00] [-2.87174408e-02 -9.43265558e-04 9.99587124e-01 -1.48315487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.386874999999996 meters 0.02220423690959914 Centerline is valid? [True, True] Translation: X:48.90, Y:-1.58, Z:-1.49 [[ 9.80331090e-01 1.95249558e-01 2.87847751e-02 4.88961804e+01] [-1.95194099e-01 9.80753123e-01 -4.75147496e-03 -1.58048795e+00] [-2.91584814e-02 -9.60599603e-04 9.99574340e-01 -1.48521816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.416875 meters 0.020525115006529586 Centerline is valid? [True, True] Translation: X:48.93, Y:-1.59, Z:-1.49 [[ 9.80387142e-01 1.95018116e-01 2.84426988e-02 4.89270255e+01] [-1.94963655e-01 9.80799195e-01 -4.70246756e-03 -1.58914002e+00] [-2.88136425e-02 -9.35053781e-04 9.99584363e-01 -1.48812876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.446875 meters 0.020080651784865042 Centerline is valid? [True, True] Translation: X:48.96, Y:-1.60, Z:-1.49 [[ 9.80435201e-01 1.94868341e-01 2.78055040e-02 4.89585527e+01] [-1.94816042e-01 9.80828993e-01 -4.60391585e-03 -1.59606794e+00] [-2.81696019e-02 -9.03117062e-04 9.99602750e-01 -1.48979797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.476875 meters 0.019981712963723003 Centerline is valid? [True, True] Translation: X:48.99, Y:-1.60, Z:-1.49 [[ 9.80558449e-01 1.94286128e-01 2.75323253e-02 4.89899859e+01] [-1.94234430e-01 9.80944515e-01 -4.56554311e-03 -1.60294283e+00] [-2.78947052e-02 -8.70943649e-04 9.99610488e-01 -1.49052366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.506874999999994 meters 0.01990011441130549 Centerline is valid? [True, True] Translation: X:49.02, Y:-1.61, Z:-1.49 [[ 9.81012278e-01 1.92049319e-01 2.70549314e-02 4.90204112e+01] [-1.91998364e-01 9.81384960e-01 -4.49312521e-03 -1.61095830e+00] [-2.74142044e-02 -7.86691563e-04 9.99623851e-01 -1.49031976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.536874999999995 meters 0.01932358029064538 Centerline is valid? [True, True] Translation: X:49.05, Y:-1.62, Z:-1.49 [[ 9.81294552e-01 1.90513999e-01 2.76661947e-02 4.90515937e+01] [-1.90459922e-01 9.81684189e-01 -4.60118278e-03 -1.61801298e+00] [-2.80360556e-02 -7.54185685e-04 9.99606628e-01 -1.49075277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.566874999999996 meters 0.01743274128946451 Centerline is valid? [True, True] Translation: X:49.08, Y:-1.63, Z:-1.49 [[ 9.82173488e-01 1.85740326e-01 2.89096897e-02 4.90813146e+01] [-1.85678977e-01 9.82598659e-01 -4.81591541e-03 -1.62872133e+00] [-2.93011320e-02 -6.37857154e-04 9.99570426e-01 -1.49172099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.596875 meters 0.016697561727111333 Centerline is valid? [True, True] Translation: X:49.11, Y:-1.64, Z:-1.49 [[ 9.82571611e-01 1.83470291e-01 2.98610321e-02 4.91128577e+01] [-1.83403766e-01 9.83025079e-01 -4.97517618e-03 -1.63658465e+00] [-3.02669405e-02 -5.88158861e-04 9.99541678e-01 -1.49222162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.626875 meters 0.01591879128040134 Centerline is valid? [True, True] Translation: X:49.14, Y:-1.65, Z:-1.49 [[ 9.82941459e-01 1.81325695e-01 3.07746606e-02 4.91442685e+01] [-1.81253742e-01 9.83422956e-01 -5.13517746e-03 -1.64500391e+00] [-3.11956473e-02 -5.30443549e-04 9.99513157e-01 -1.49221164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.656875 meters 0.015405451851435234 Centerline is valid? [True, True] Translation: X:49.18, Y:-1.65, Z:-1.49 [[ 9.83275172e-01 1.79493457e-01 3.08550644e-02 4.91759570e+01] [-1.79419986e-01 9.83759057e-01 -5.15625328e-03 -1.65303979e+00] [-3.12794628e-02 -4.65999404e-04 9.99510569e-01 -1.49269912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.686875 meters 0.015207670942311464 Centerline is valid? [True, True] Translation: X:49.21, Y:-1.66, Z:-1.49 [[ 9.83575743e-01 1.77883550e-01 3.05974059e-02 4.92059730e+01] [-1.77810443e-01 9.84051460e-01 -5.11574985e-03 -1.65984643e+00] [-3.10194297e-02 -4.08810836e-04 9.99518698e-01 -1.49313514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.716874999999995 meters 0.01491258947558054 Centerline is valid? [True, True] Translation: X:49.24, Y:-1.67, Z:-1.49 [[ 9.83783328e-01 1.76863525e-01 2.98271387e-02 4.92372484e+01] [-1.76793386e-01 9.84235319e-01 -4.99350674e-03 -1.66694423e+00] [-3.02400926e-02 -3.60712172e-04 9.99542599e-01 -1.49422712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.746874999999996 meters 0.014803328341198652 Centerline is valid? [True, True] Translation: X:49.27, Y:-1.67, Z:-1.50 [[ 9.83835404e-01 1.76525722e-01 3.01092472e-02 4.92690220e+01] [-1.76453867e-01 9.84295966e-01 -5.04811151e-03 -1.67224813e+00] [-3.05275321e-02 -3.46382273e-04 9.99533866e-01 -1.49594134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.776875 meters 0.014737863124436434 Centerline is valid? [True, True] Translation: X:49.30, Y:-1.68, Z:-1.50 [[ 9.83767914e-01 1.76860677e-01 3.03478371e-02 4.93015188e+01] [-1.76787595e-01 9.84235834e-01 -5.09598759e-03 -1.67871736e+00] [-3.07707086e-02 -3.51852063e-04 9.99526408e-01 -1.49667897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.806875 meters 0.014940801864189905 Centerline is valid? [True, True] Translation: X:49.33, Y:-1.68, Z:-1.50 [[ 9.83580450e-01 1.77873185e-01 3.05061969e-02 4.93335471e+01] [-1.77799563e-01 9.84053346e-01 -5.13104359e-03 -1.68390198e+00] [-3.09324002e-02 -3.77194317e-04 9.99521408e-01 -1.49683465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.836875 meters 0.015025259492825556 Centerline is valid? [True, True] Translation: X:49.37, Y:-1.69, Z:-1.50 [[ 9.83392552e-01 1.78929458e-01 3.03864861e-02 4.93656010e+01] [-1.78856661e-01 9.83861824e-01 -5.11921045e-03 -1.68904026e+00] [-3.08120812e-02 -4.00632022e-04 9.99525115e-01 -1.49818087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.866875 meters 0.015418776474070034 Centerline is valid? [True, True] Translation: X:49.40, Y:-1.69, Z:-1.50 [[ 9.83147382e-01 1.80332511e-01 3.00235144e-02 4.93964120e+01] [-1.80261841e-01 9.83605612e-01 -5.06643459e-03 -1.69265753e+00] [-3.04449401e-02 -4.31042084e-04 9.99536352e-01 -1.49914417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.896874999999994 meters 0.01576228654146287 Centerline is valid? [True, True] Translation: X:49.43, Y:-1.70, Z:-1.50 [[ 9.82876774e-01 1.81843717e-01 2.97675801e-02 4.94282498e+01] [-1.81774741e-01 9.83327333e-01 -5.02984723e-03 -1.69730092e+00] [-3.01859213e-02 -4.67274133e-04 9.99544192e-01 -1.49991609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.926874999999995 meters 0.01602745375427274 Centerline is valid? [True, True] Translation: X:49.46, Y:-1.70, Z:-1.50 [[ 9.82380840e-01 1.84576419e-01 2.93160519e-02 4.94599029e+01] [-1.84510528e-01 9.82818019e-01 -4.96052101e-03 -1.70050718e+00] [-2.97279393e-02 -5.35999435e-04 9.99557883e-01 -1.50163534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.956875 meters 0.016933458497066373 Centerline is valid? [True, True] Translation: X:49.49, Y:-1.70, Z:-1.50 [[ 9.82130324e-01 1.85955134e-01 2.89950731e-02 4.94906229e+01] [-1.85891061e-01 9.82558075e-01 -4.91361042e-03 -1.70307605e+00] [-2.94030542e-02 -5.64119092e-04 9.99567478e-01 -1.50412511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.986875 meters 0.01724285790716881 Centerline is valid? [True, True] Translation: X:49.52, Y:-1.71, Z:-1.51 [[ 9.81881850e-01 1.87354307e-01 2.83971052e-02 4.95224013e+01] [-1.87293336e-01 9.82292225e-01 -4.81567124e-03 -1.70692515e+00] [-2.87964924e-02 -5.90168382e-04 9.99585121e-01 -1.50595518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.016875 meters 0.01788069575744735 Centerline is valid? [True, True] Translation: X:49.55, Y:-1.71, Z:-1.51 [[ 9.81608721e-01 1.88784596e-01 2.83671336e-02 4.95535011e+01] [-1.88724151e-01 9.82018323e-01 -4.81753794e-03 -1.71068493e+00] [-2.87665220e-02 -6.24625952e-04 9.99585963e-01 -1.50699732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.046875 meters 0.018530116384848822 Centerline is valid? [True, True] Translation: X:49.58, Y:-1.71, Z:-1.51 [[ 9.81181863e-01 1.91229379e-01 2.67109663e-02 4.95847479e+01] [-1.91176541e-01 9.81545160e-01 -4.54184324e-03 -1.71469638e+00] [-2.70865536e-02 -6.50135946e-04 9.99632881e-01 -1.50784516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.076874999999994 meters 0.01974740141406365 Centerline is valid? [True, True] Translation: X:49.62, Y:-1.72, Z:-1.51 [[ 9.80941535e-01 1.92557237e-01 2.59887452e-02 4.96158396e+01] [-1.92507533e-01 9.81285520e-01 -4.42473847e-03 -1.71694906e+00] [-2.63543948e-02 -6.62619473e-04 9.99652443e-01 -1.50979949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.106874999999995 meters 0.019315516438465748 Centerline is valid? [True, True] Translation: X:49.65, Y:-1.72, Z:-1.51 [[ 9.80662904e-01 1.94018692e-01 2.56323373e-02 4.96478216e+01] [-1.93970696e-01 9.80997592e-01 -4.36959950e-03 -1.72245089e+00] [-2.59930452e-02 -6.86818179e-04 9.99661888e-01 -1.51139465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.136874999999996 meters 0.019191116923908604 Centerline is valid? [True, True] Translation: X:49.68, Y:-1.73, Z:-1.51 [[ 9.80593234e-01 1.94393226e-01 2.54594367e-02 4.96801840e+01] [-1.94345850e-01 9.80923444e-01 -4.34604316e-03 -1.72759224e+00] [-2.58185997e-02 -6.86235356e-04 9.99666409e-01 -1.51444559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.166875 meters 0.018751538854378535 Centerline is valid? [True, True] Translation: X:49.71, Y:-1.73, Z:-1.52 [[ 9.80876684e-01 1.93115840e-01 2.42322654e-02 4.97118912e+01] [-1.93072367e-01 9.81175772e-01 -4.14324144e-03 -1.73396864e+00] [-2.45762372e-02 -6.14571912e-04 9.99697770e-01 -1.51660664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.196875 meters 0.01797850143475548 Centerline is valid? [True, True] Translation: X:49.74, Y:-1.74, Z:-1.52 [[ 9.81140219e-01 1.91804904e-01 2.39739370e-02 4.97432485e+01] [-1.91761821e-01 9.81432909e-01 -4.10484700e-03 -1.74063139e+00] [-2.43161405e-02 -5.69855344e-04 9.99704157e-01 -1.51737109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.226875 meters 0.01792766922476833 Centerline is valid? [True, True] Translation: X:49.78, Y:-1.75, Z:-1.52 [[ 9.81120397e-01 1.91850697e-01 2.44146885e-02 4.97752368e+01] [-1.91805883e-01 9.81423955e-01 -4.18623109e-03 -1.74667006e+00] [-2.47642915e-02 -5.75684188e-04 9.99693152e-01 -1.51753802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.256874999999994 meters 0.01845465371232168 Centerline is valid? [True, True] Translation: X:49.81, Y:-1.75, Z:-1.52 [[ 9.81061315e-01 1.92154364e-01 2.44007398e-02 4.98071777e+01] [-1.92109521e-01 9.81364544e-01 -4.19088348e-03 -1.75123972e+00] [-2.47513174e-02 -5.76100757e-04 9.99693473e-01 -1.51761583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.286874999999995 meters 0.018184465855551647 Centerline is valid? [True, True] Translation: X:49.84, Y:-1.76, Z:-1.52 [[ 9.80877980e-01 1.93066726e-01 2.45688544e-02 4.98385411e+01] [-1.93021383e-01 9.81185448e-01 -4.22640046e-03 -1.75686037e+00] [-2.49225798e-02 -5.96731111e-04 9.99689206e-01 -1.51613800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.316874999999996 meters 0.018689469791948153 Centerline is valid? [True, True] Translation: X:49.87, Y:-1.76, Z:-1.52 [[ 9.80633317e-01 1.94322357e-01 2.44360230e-02 4.98700114e+01] [-1.94277744e-01 9.80937530e-01 -4.20953637e-03 -1.76101601e+00] [-2.47882190e-02 -6.19363788e-04 9.99692533e-01 -1.51785606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.346875 meters 0.01950747936978294 Centerline is valid? [True, True] Translation: X:49.90, Y:-1.76, Z:-1.52 [[ 9.80318695e-01 1.95899232e-01 2.44693230e-02 4.99011173e+01] [-1.95854836e-01 9.80623813e-01 -4.22141168e-03 -1.76404312e+00] [-2.48221721e-02 -6.54106446e-04 9.99691668e-01 -1.52028421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.376875 meters 0.020137389627728593 Centerline is valid? [True, True] Translation: X:49.93, Y:-1.77, Z:-1.52 [[ 9.80000259e-01 1.97457699e-01 2.46971611e-02 4.99327266e+01] [-1.97412827e-01 9.80311162e-01 -4.26625118e-03 -1.76720861e+00] [-2.50533068e-02 -6.94609138e-04 9.99685875e-01 -1.52181680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.406875 meters 0.021593962721901037 Centerline is valid? [True, True] Translation: X:49.96, Y:-1.77, Z:-1.52 [[ 9.79459008e-01 2.00181711e-01 2.42349627e-02 4.99639877e+01] [-2.00139192e-01 9.79758505e-01 -4.19227990e-03 -1.76955863e+00] [-2.45836286e-02 -7.44199531e-04 9.99697500e-01 -1.52198517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.436875 meters 0.021046856756430216 Centerline is valid? [True, True] Translation: X:50.00, Y:-1.78, Z:-1.52 [[ 9.79217377e-01 2.01364875e-01 2.41974397e-02 4.99951434e+01] [-2.01322719e-01 9.79516002e-01 -4.19102497e-03 -1.77635037e+00] [-2.45457046e-02 -7.67569888e-04 9.99698414e-01 -1.52144598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.466874999999995 meters 0.021046856756430216 Centerline is valid? [True, True] Translation: X:50.03, Y:-1.78, Z:-1.52 [[ 9.79161678e-01 2.01635660e-01 2.41964768e-02 5.00270220e+01] [-2.01593450e-01 9.79460295e-01 -4.19657596e-03 -1.78199172e+00] [-2.45456676e-02 -7.68724880e-04 9.99698414e-01 -1.52248035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.496874999999996 meters 0.020717866178751015 Centerline is valid? [True, True] Translation: X:50.06, Y:-1.79, Z:-1.52 [[ 9.78981452e-01 2.02452120e-01 2.46669089e-02 5.00583097e+01] [-2.02408326e-01 9.79291838e-01 -4.28557738e-03 -1.78818120e+00] [-2.50237267e-02 -7.97286961e-04 9.99686540e-01 -1.52190165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.526875 meters 0.0205512274547612 Centerline is valid? [True, True] Translation: X:50.09, Y:-1.79, Z:-1.52 [[ 9.78696133e-01 2.03782816e-01 2.50288627e-02 5.00897688e+01] [-2.03737998e-01 9.79015762e-01 -4.35488855e-03 -1.79397462e+00] [-2.53911025e-02 -8.37217805e-04 9.99677243e-01 -1.52143754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.556875 meters 0.020388688943401508 Centerline is valid? [True, True] Translation: X:50.12, Y:-1.80, Z:-1.52 [[ 9.78672745e-01 2.03934850e-01 2.47029485e-02 5.01218200e+01] [-2.03891090e-01 9.78984115e-01 -4.30419955e-03 -1.79956519e+00] [-2.50615704e-02 -8.24308300e-04 9.99685570e-01 -1.52356245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.586875 meters 0.02125601443351955 Centerline is valid? [True, True] Translation: X:50.15, Y:-1.80, Z:-1.53 [[ 9.78566404e-01 2.04536701e-01 2.39276164e-02 5.01523314e+01] [-2.04495633e-01 9.78858564e-01 -4.17701703e-03 -1.80293017e+00] [-2.42761055e-02 -8.05604515e-04 9.99704967e-01 -1.52648435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.616875 meters 0.021903616332350485 Centerline is valid? [True, True] Translation: X:50.18, Y:-1.81, Z:-1.53 [[ 9.78364439e-01 2.05548354e-01 2.35138125e-02 5.01837783e+01] [-2.05508929e-01 9.78646622e-01 -4.10710613e-03 -1.80659300e+00] [-2.38559221e-02 -8.14051846e-04 9.99715076e-01 -1.52949430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.646874999999994 meters 0.021935446612997796 Centerline is valid? [True, True] Translation: X:50.22, Y:-1.81, Z:-1.53 [[ 9.78340748e-01 2.05705862e-01 2.31187975e-02 5.02159445e+01] [-2.05667670e-01 9.78613540e-01 -4.04344271e-03 -1.81277027e+00] [-2.34561282e-02 -7.98924452e-04 9.99724548e-01 -1.52969406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.676874999999995 meters 0.021120849360813283 Centerline is valid? [True, True] Translation: X:50.25, Y:-1.82, Z:-1.53 [[ 9.78366495e-01 2.05708035e-01 2.19819615e-02 5.02482348e+01] [-2.05673380e-01 9.78613119e-01 -3.85033696e-03 -1.82128176e+00] [-2.23038811e-02 -7.54063636e-04 9.99750953e-01 -1.52976986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.706875 meters 0.020706226992998678 Centerline is valid? [True, True] Translation: X:50.28, Y:-1.83, Z:-1.53 [[ 9.78473867e-01 2.05150366e-01 2.24102264e-02 5.02802711e+01] [-2.05114008e-01 9.78730182e-01 -3.93385075e-03 -1.82762077e+00] [-2.27405959e-02 -7.47481195e-04 9.99741120e-01 -1.53015653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.736875 meters 0.02155088742510818 Centerline is valid? [True, True] Translation: X:50.31, Y:-1.83, Z:-1.53 [[ 9.78627614e-01 2.04363358e-01 2.28825365e-02 5.03113197e+01] [-2.04325215e-01 9.78894818e-01 -4.01770371e-03 -1.83227274e+00] [-2.32206678e-02 -7.43643382e-04 9.99730087e-01 -1.53138366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.766875 meters 0.018688613556170856 Centerline is valid? [True, True] Translation: X:50.34, Y:-1.84, Z:-1.53 [[ 9.78967583e-01 2.02569163e-01 2.42529482e-02 5.03420454e+01] [-2.02525617e-01 9.79267681e-01 -4.26425150e-03 -1.84361341e+00] [-2.46139342e-02 -7.37279311e-04 9.99696759e-01 -1.53008339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.796875 meters 0.01565707606557666 Centerline is valid? [True, True] Translation: X:50.37, Y:-1.86, Z:-1.53 [[ 9.81633554e-01 1.89126399e-01 2.50353763e-02 5.03704573e+01] [-1.89075403e-01 9.81952668e-01 -4.41023421e-03 -1.85735469e+00] [-2.54176462e-02 -4.04339982e-04 9.99676838e-01 -1.52993773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.826874999999994 meters 0.01446748702481269 Centerline is valid? [True, True] Translation: X:50.40, Y:-1.87, Z:-1.53 [[ 9.82625146e-01 1.83850277e-01 2.54341824e-02 5.04013634e+01] [-1.83795906e-01 9.82954221e-01 -4.47927860e-03 -1.86723916e+00] [-2.58241536e-02 -2.73246802e-04 9.99666464e-01 -1.53053762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.856874999999995 meters 0.013851402575105969 Centerline is valid? [True, True] Translation: X:50.43, Y:-1.88, Z:-1.53 [[ 9.83440500e-01 1.79332666e-01 2.61644470e-02 5.04320527e+01] [-1.79273347e-01 9.83788479e-01 -4.61467248e-03 -1.87631233e+00] [-2.65678431e-02 -1.52332185e-04 9.99647001e-01 -1.53033310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.886874999999996 meters 0.013727013051274958 Centerline is valid? [True, True] Translation: X:50.46, Y:-1.89, Z:-1.53 [[ 9.84706807e-01 1.72220331e-01 2.63184650e-02 5.04628250e+01] [-1.72157593e-01 9.85058453e-01 -4.64840018e-03 -1.88678439e+00] [-2.67257754e-02 4.63877071e-05 9.99642802e-01 -1.53073465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.916875 meters 0.01381042778397257 Centerline is valid? [True, True] Translation: X:50.49, Y:-1.89, Z:-1.53 [[ 9.85083206e-01 1.70098532e-01 2.60300942e-02 5.04934796e+01] [-1.70036256e-01 9.85427053e-01 -4.60372889e-03 -1.89427245e+00] [-2.64338466e-02 1.08996264e-04 9.99650559e-01 -1.53332372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.946875 meters 0.013890585754729139 Centerline is valid? [True, True] Translation: X:50.52, Y:-1.90, Z:-1.53 [[ 9.85538129e-01 1.67528686e-01 2.54702764e-02 5.05248595e+01] [-1.67468032e-01 9.85867185e-01 -4.51125330e-03 -1.90119287e+00] [-2.58660741e-02 1.80555071e-04 9.99665401e-01 -1.53462697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.976875 meters 0.014065517972050596 Centerline is valid? [True, True] Translation: X:50.56, Y:-1.91, Z:-1.53 [[ 9.85464559e-01 1.67936335e-01 2.56318408e-02 5.05558822e+01] [-1.67874882e-01 9.85797827e-01 -4.54619758e-03 -1.90744100e+00] [-2.60312847e-02 1.77174339e-04 9.99661113e-01 -1.53435300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.006874999999994 meters 0.013790905436790823 Centerline is valid? [True, True] Translation: X:50.59, Y:-1.91, Z:-1.53 [[ 9.85288087e-01 1.68914260e-01 2.59876628e-02 5.05888169e+01] [-1.68851247e-01 9.85630736e-01 -4.61619893e-03 -1.91256029e+00] [-2.63939811e-02 1.60236538e-04 9.99651605e-01 -1.53338972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.036874999999995 meters 0.013660465482213925 Centerline is valid? [True, True] Translation: X:50.62, Y:-1.92, Z:-1.53 [[ 9.84762729e-01 1.71946475e-01 2.60149596e-02 5.06195448e+01] [-1.71884180e-01 9.85106290e-01 -4.62886468e-03 -1.91552442e+00] [-2.64234173e-02 8.67734004e-05 9.99650837e-01 -1.53456355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.066874999999996 meters 0.013435533964192276 Centerline is valid? [True, True] Translation: X:50.65, Y:-1.92, Z:-1.54 [[ 9.84341885e-01 1.74323876e-01 2.61197200e-02 5.06515612e+01] [-1.74261757e-01 9.84688370e-01 -4.65346477e-03 -1.91910053e+00] [-2.65309945e-02 2.89320013e-05 9.99647991e-01 -1.53624265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.096875 meters 0.013393588640918136 Centerline is valid? [True, True] Translation: X:50.68, Y:-1.92, Z:-1.54 [[ 9.83913053e-01 1.76750048e-01 2.59716178e-02 5.06845832e+01] [-1.76689303e-01 9.84255769e-01 -4.63364053e-03 -1.92258079e+00] [-2.63817108e-02 -2.98076386e-05 9.99651942e-01 -1.53810429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.126875 meters 0.013676987925389373 Centerline is valid? [True, True] Translation: X:50.72, Y:-1.92, Z:-1.54 [[ 9.83085216e-01 1.81347876e-01 2.56204400e-02 5.07172185e+01] [-1.81290137e-01 9.83418999e-01 -4.57810647e-03 -1.92366701e+00] [-2.60258573e-02 -1.44064282e-04 9.99661260e-01 -1.54105333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.156875 meters 0.013801821948755018 Centerline is valid? [True, True] Translation: X:50.75, Y:-1.93, Z:-1.54 [[ 9.82609863e-01 1.84000647e-01 2.49323072e-02 5.07494451e+01] [-1.83946676e-01 9.82926101e-01 -4.46090834e-03 -1.92739321e+00] [-2.53274255e-02 -2.02882493e-04 9.99679189e-01 -1.54283715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.186875 meters 0.014202245269733618 Centerline is valid? [True, True] Translation: X:50.78, Y:-1.93, Z:-1.54 [[ 9.82169280e-01 1.86361166e-01 2.47592807e-02 5.07803737e+01] [-1.86308536e-01 9.82481272e-01 -4.43608493e-03 -1.93036955e+00] [-2.51522435e-02 -2.55879005e-04 9.99683600e-01 -1.54410747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.216874999999995 meters 0.01452878760448964 Centerline is valid? [True, True] Translation: X:50.81, Y:-1.93, Z:-1.54 [[ 9.81752952e-01 1.88419054e-01 2.56788145e-02 5.08110293e+01] [-1.88362988e-01 9.82088673e-01 -4.60691382e-03 -1.93355158e+00] [-2.60869032e-02 -3.14086977e-04 9.99659629e-01 -1.54388986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.246874999999996 meters 0.015898649035446567 Centerline is valid? [True, True] Translation: X:50.84, Y:-1.93, Z:-1.54 [[ 9.80908432e-01 1.92739794e-01 2.58847388e-02 5.08426845e+01] [-1.92684172e-01 9.81249810e-01 -4.64973187e-03 -1.93357512e+00] [-2.62955834e-02 -4.26618246e-04 9.99654120e-01 -1.54412679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.276875 meters 0.01594253405868681 Centerline is valid? [True, True] Translation: X:50.87, Y:-1.94, Z:-1.55 [[ 9.80596718e-01 1.94403387e-01 2.52467764e-02 5.08744146e+01] [-1.94350888e-01 9.80921565e-01 -4.54044945e-03 -1.93851650e+00] [-2.56477862e-02 -4.54383586e-04 9.99670938e-01 -1.54581917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.306875 meters 0.016293636891779185 Centerline is valid? [True, True] Translation: X:50.91, Y:-1.94, Z:-1.55 [[ 9.80317148e-01 1.95825874e-01 2.51100719e-02 5.09064213e+01] [-1.95774255e-01 9.80638564e-01 -4.52189793e-03 -1.94239911e+00] [-2.55094095e-02 -4.83011539e-04 9.99674465e-01 -1.54826838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.336875 meters 0.01685005669200864 Centerline is valid? [True, True] Translation: X:50.94, Y:-1.95, Z:-1.55 [[ 9.80065417e-01 1.97139972e-01 2.46497232e-02 5.09381581e+01] [-1.97090499e-01 9.80375224e-01 -4.44478454e-03 -1.94654029e+00] [-2.50422226e-02 -5.02046618e-04 9.99686268e-01 -1.55090781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.366875 meters 0.0167009103561649 Centerline is valid? [True, True] Translation: X:50.97, Y:-1.95, Z:-1.55 [[ 9.80094822e-01 1.97051341e-01 2.41848883e-02 5.09700865e+01] [-1.97003557e-01 9.80393051e-01 -4.36635905e-03 -1.95283118e+00] [-2.45710933e-02 -4.85063109e-04 9.99697967e-01 -1.55135277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.396874999999994 meters 0.016174496261579647 Centerline is valid? [True, True] Translation: X:51.00, Y:-1.96, Z:-1.55 [[ 9.80223636e-01 1.96462374e-01 2.37520320e-02 5.10011630e+01] [-1.96415953e-01 9.80511259e-01 -4.29478338e-03 -1.96006285e+00] [-2.41328981e-02 -4.55429823e-04 9.99708655e-01 -1.55202889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.426874999999995 meters 0.015541637991515894 Centerline is valid? [True, True] Translation: X:51.03, Y:-1.97, Z:-1.55 [[ 9.80358123e-01 1.95686856e-01 2.45887325e-02 5.10327161e+01] [-1.95636707e-01 9.80666333e-01 -4.45231445e-03 -1.96768119e+00] [-2.49846015e-02 -4.45596011e-04 9.99687737e-01 -1.55160220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.456875 meters 0.015220764839578323 Centerline is valid? [True, True] Translation: X:51.06, Y:-1.98, Z:-1.55 [[ 9.80729069e-01 1.93682336e-01 2.56446176e-02 5.10631315e+01] [-1.93626921e-01 9.81064212e-01 -4.65041335e-03 -1.97502812e+00] [-2.60597195e-02 -4.04692809e-04 9.99660306e-01 -1.55063830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.486875 meters 0.01495673272768497 Centerline is valid? [True, True] Translation: X:51.09, Y:-1.98, Z:-1.55 [[ 9.80880938e-01 1.92910484e-01 2.56540687e-02 5.10944758e+01] [-1.92854611e-01 9.81216287e-01 -4.65802582e-03 -1.98179431e+00] [-2.60707720e-02 -3.78536695e-04 9.99660028e-01 -1.55086351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.516875 meters 0.014822058269234648 Centerline is valid? [True, True] Translation: X:51.13, Y:-1.99, Z:-1.55 [[ 9.81060616e-01 1.92062241e-01 2.51428491e-02 5.11264513e+01] [-1.92008124e-01 9.81382687e-01 -4.57183971e-03 -1.98788656e+00] [-2.55528346e-02 -3.42379406e-04 9.99673414e-01 -1.55276334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.546875 meters 0.01505109640058489 Centerline is valid? [True, True] Translation: X:51.16, Y:-1.99, Z:-1.55 [[ 9.81026563e-01 1.92204017e-01 2.53869789e-02 5.11575660e+01] [-1.92148825e-01 9.81354928e-01 -4.61884286e-03 -1.99323186e+00] [-2.58013970e-02 -3.46870621e-04 9.99667028e-01 -1.55427765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.576874999999994 meters 0.014869090565613209 Centerline is valid? [True, True] Translation: X:51.19, Y:-2.00, Z:-1.55 [[ 9.80958820e-01 1.92578542e-01 2.51654375e-02 5.11901534e+01] [-1.92524269e-01 9.81281501e-01 -4.58491405e-03 -1.99962906e+00] [-2.55773344e-02 -3.47345586e-04 9.99672786e-01 -1.55487379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.606874999999995 meters 0.015088419273623713 Centerline is valid? [True, True] Translation: X:51.22, Y:-2.00, Z:-1.56 [[ 9.80651270e-01 1.94028783e-01 2.59984177e-02 5.12222005e+01] [-1.93971165e-01 9.80995759e-01 -4.74426069e-03 -2.00481895e+00] [-2.64248606e-02 -3.90478100e-04 9.99650726e-01 -1.55514447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.636874999999996 meters 0.015395710985123342 Centerline is valid? [True, True] Translation: X:51.25, Y:-2.01, Z:-1.56 [[ 9.80479162e-01 1.94946027e-01 2.56253840e-02 5.12530746e+01] [-1.94890201e-01 9.80813889e-01 -4.68246004e-03 -2.00876144e+00] [-2.60465595e-02 -4.03081738e-04 9.99660650e-01 -1.55730732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.666875 meters 0.015161967126849028 Centerline is valid? [True, True] Translation: X:51.29, Y:-2.01, Z:-1.56 [[ 9.80410424e-01 1.95308501e-01 2.54949162e-02 5.12857181e+01] [-1.95253223e-01 9.80741773e-01 -4.66407067e-03 -2.01471491e+00] [-2.59148620e-02 -4.05261049e-04 9.99664071e-01 -1.55918270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.696875 meters 0.015054526208959654 Centerline is valid? [True, True] Translation: X:51.32, Y:-2.02, Z:-1.56 [[ 9.80324462e-01 1.95756351e-01 2.53653419e-02 5.13175984e+01] [-1.95701603e-01 9.80652479e-01 -4.64738506e-03 -2.02108135e+00] [-2.57843406e-02 -4.08092815e-04 9.99667445e-01 -1.55999611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.726875 meters 0.015124403031183925 Centerline is valid? [True, True] Translation: X:51.35, Y:-2.03, Z:-1.56 [[ 9.80391870e-01 1.95348637e-01 2.58976965e-02 5.13482925e+01] [-1.95291217e-01 9.80733782e-01 -4.75279504e-03 -2.02707068e+00] [-2.63271979e-02 -3.97991046e-04 9.99653300e-01 -1.56005732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.756874999999994 meters 0.014847530771509933 Centerline is valid? [True, True] Translation: X:51.38, Y:-2.03, Z:-1.56 [[ 9.80377465e-01 1.95428906e-01 2.58373738e-02 5.13805534e+01] [-1.95371633e-01 9.80717792e-01 -4.74733000e-03 -2.03458501e+00] [-2.62669376e-02 -3.93714559e-04 9.99654887e-01 -1.56027320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.786874999999995 meters 0.014796445089410913 Centerline is valid? [True, True] Translation: X:51.41, Y:-2.04, Z:-1.56 [[ 9.80570929e-01 1.94421696e-01 2.60932483e-02 5.14110445e+01] [-1.94362721e-01 9.80917974e-01 -4.80206438e-03 -2.04008695e+00] [-2.65289618e-02 -3.62790018e-04 9.99647979e-01 -1.56165207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.816874999999996 meters 0.014626966176918305 Centerline is valid? [True, True] Translation: X:51.44, Y:-2.05, Z:-1.56 [[ 9.80519814e-01 1.94730826e-01 2.57060380e-02 5.14433732e+01] [-1.94673554e-01 9.80856654e-01 -4.73624297e-03 -2.04676466e+00] [-2.61362310e-02 -3.60305705e-04 9.99658325e-01 -1.56352796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.846875 meters 0.014835651714152345 Centerline is valid? [True, True] Translation: X:51.48, Y:-2.05, Z:-1.57 [[ 9.80470996e-01 1.95082647e-01 2.48874653e-02 5.14751578e+01] [-1.95028907e-01 9.80786744e-01 -4.59219176e-03 -2.05253919e+00] [-2.53051530e-02 -3.51264318e-04 9.99679712e-01 -1.56600265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.876875 meters 0.014687958803275569 Centerline is valid? [True, True] Translation: X:51.51, Y:-2.06, Z:-1.57 [[ 9.80407366e-01 1.95535613e-01 2.38163985e-02 5.15075940e+01] [-1.95486397e-01 9.80696542e-01 -4.40015177e-03 -2.05941713e+00] [-2.42170460e-02 -3.41840721e-04 9.99706666e-01 -1.56811885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.906875 meters 0.01475028883321553 Centerline is valid? [True, True] Translation: X:51.54, Y:-2.07, Z:-1.57 [[ 9.80375188e-01 1.95898405e-01 2.20976340e-02 5.15391356e+01] [-1.95855997e-01 9.80624144e-01 -4.08850697e-03 -2.06646016e+00] [-2.24704054e-02 -3.19683342e-04 9.99747457e-01 -1.57069219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.936875 meters 0.014810037922852874 Centerline is valid? [True, True] Translation: X:51.57, Y:-2.07, Z:-1.57 [[ 9.80297896e-01 1.96241162e-01 2.24820145e-02 5.15712174e+01] [-1.96197234e-01 9.80555607e-01 -4.16495077e-03 -2.07357706e+00] [-2.28622002e-02 -3.28016574e-04 9.99738572e-01 -1.57096109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.966874999999995 meters 0.014887939654707718 Centerline is valid? [True, True] Translation: X:51.60, Y:-2.08, Z:-1.57 [[ 9.80245535e-01 1.96473032e-01 2.27384627e-02 5.16028517e+01] [-1.96428008e-01 9.80509173e-01 -4.21897001e-03 -2.08104577e+00] [-2.31241851e-02 -3.30844401e-04 9.99732546e-01 -1.57060901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.996874999999996 meters 0.014928640729131873 Centerline is valid? [True, True] Translation: X:51.63, Y:-2.09, Z:-1.57 [[ 9.80161015e-01 1.96807743e-01 2.34754440e-02 5.16343567e+01] [-1.96759680e-01 9.80442041e-01 -4.36272836e-03 -2.08683464e+00] [-2.38749310e-02 -3.42844600e-04 9.99714894e-01 -1.57184689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.026875 meters 0.014887717780590944 Centerline is valid? [True, True] Translation: X:51.67, Y:-2.09, Z:-1.57 [[ 9.80102541e-01 1.96994903e-01 2.43313988e-02 5.16661207e+01] [-1.96943168e-01 9.80404449e-01 -4.52827268e-03 -2.09365697e+00] [-2.47466583e-02 -3.53731226e-04 9.99693692e-01 -1.57279357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.056875 meters 0.01477820853832489 Centerline is valid? [True, True] Translation: X:51.70, Y:-2.10, Z:-1.57 [[ 9.80041097e-01 1.97196477e-01 2.51594243e-02 5.16983827e+01] [-1.97141039e-01 9.80363921e-01 -4.68974138e-03 -2.10205964e+00] [-2.55901923e-02 -3.63815763e-04 9.99672451e-01 -1.57328221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.086875 meters 0.014690043746556997 Centerline is valid? [True, True] Translation: X:51.73, Y:-2.11, Z:-1.57 [[ 9.80027106e-01 1.97230790e-01 2.54339706e-02 5.17304811e+01] [-1.97173959e-01 9.80357019e-01 -4.74817605e-03 -2.10921267e+00] [-2.58708581e-02 -3.61575436e-04 9.99665228e-01 -1.57385170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.116875 meters 0.014936395300457534 Centerline is valid? [True, True] Translation: X:51.76, Y:-2.12, Z:-1.57 [[ 9.79901323e-01 1.97785236e-01 2.59691699e-02 5.17625289e+01] [-1.97725984e-01 9.80245305e-01 -4.85560166e-03 -2.11564879e+00] [-2.64165232e-02 -3.76769191e-04 9.99650952e-01 -1.57467230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.146874999999994 meters 0.015060974856330832 Centerline is valid? [True, True] Translation: X:51.79, Y:-2.12, Z:-1.58 [[ 9.79693316e-01 1.98808383e-01 2.60044954e-02 5.17948356e+01] [-1.98749136e-01 9.80038300e-01 -4.86952359e-03 -2.12156934e+00] [-2.64535035e-02 -3.97731277e-04 9.99649966e-01 -1.57589816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.176874999999995 meters 0.01562269767484834 Centerline is valid? [True, True] Translation: X:51.83, Y:-2.13, Z:-1.58 [[ 9.79206973e-01 2.01208477e-01 2.58621879e-02 5.18268195e+01] [-2.01150518e-01 9.79548337e-01 -4.85030520e-03 -2.12605377e+00] [-2.63091857e-02 -4.52739820e-04 9.99653751e-01 -1.57887733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.206875 meters 0.015913878546564005 Centerline is valid? [True, True] Translation: X:51.86, Y:-2.13, Z:-1.58 [[ 9.78937432e-01 2.02543663e-01 2.56430866e-02 5.18583695e+01] [-2.02486978e-01 9.79273116e-01 -4.81541653e-03 -2.13147128e+00] [-2.60869174e-02 -4.78399606e-04 9.99659564e-01 -1.58024690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.236875 meters 0.016057564011833548 Centerline is valid? [True, True] Translation: X:51.89, Y:-2.14, Z:-1.58 [[ 9.78666285e-01 2.03952628e-01 2.48118377e-02 5.18900983e+01] [-2.03899864e-01 9.78980634e-01 -4.66515148e-03 -2.13761525e+00] [-2.52417785e-02 -4.93503855e-04 9.99681254e-01 -1.58287198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.266875 meters 0.016145891312717202 Centerline is valid? [True, True] Translation: X:51.92, Y:-2.14, Z:-1.58 [[ 9.78624752e-01 2.04208671e-01 2.43395380e-02 5.19213370e+01] [-2.04157831e-01 9.78927262e-01 -4.58217616e-03 -2.14393428e+00] [-2.47623574e-02 -4.84876272e-04 9.99693248e-01 -1.58466662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.296875 meters 0.01598043717052652 Centerline is valid? [True, True] Translation: X:51.95, Y:-2.15, Z:-1.59 [[ 9.78770621e-01 2.03544880e-01 2.40323375e-02 5.19521625e+01] [-2.03494957e-01 9.79065511e-01 -4.53080524e-03 -2.15098924e+00] [-2.44514550e-02 -4.55840445e-04 9.99700915e-01 -1.58574975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.326874999999994 meters 0.01589084119572131 Centerline is valid? [True, True] Translation: X:51.98, Y:-2.16, Z:-1.59 [[ 9.78803759e-01 2.03364599e-01 2.42082928e-02 5.19838232e+01] [-2.03313739e-01 9.79102977e-01 -4.57001234e-03 -2.15856096e+00] [-2.46317903e-02 -4.48733267e-04 9.99696491e-01 -1.58513684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.356874999999995 meters 0.01589084119572131 Centerline is valid? [True, True] Translation: X:52.02, Y:-2.16, Z:-1.59 [[ 9.78748373e-01 2.03631115e-01 2.42072550e-02 5.20156006e+01] [-2.03580201e-01 9.79047581e-01 -4.57550230e-03 -2.16467932e+00] [-2.46317691e-02 -4.49852393e-04 9.99696491e-01 -1.58617088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.386874999999996 meters 0.015209327238006458 Centerline is valid? [True, True] Translation: X:52.05, Y:-2.17, Z:-1.59 [[ 9.79007965e-01 2.02410994e-01 2.39414724e-02 5.20465053e+01] [-2.02360659e-01 9.79300579e-01 -4.53214337e-03 -2.17454320e+00] [-2.43632534e-02 -4.07807686e-04 9.99703089e-01 -1.58747294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.416875 meters 0.014910454812056733 Centerline is valid? [True, True] Translation: X:52.08, Y:-2.18, Z:-1.59 [[ 9.79188010e-01 2.01490232e-01 2.43418880e-02 5.20772466e+01] [-2.01437760e-01 9.79490448e-01 -4.61419327e-03 -2.18189218e+00] [-2.47723616e-02 -3.85212657e-04 9.99693044e-01 -1.58896514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.446875 meters 0.01466201516801929 Centerline is valid? [True, True] Translation: X:52.11, Y:-2.19, Z:-1.59 [[ 9.79482668e-01 1.99762603e-01 2.66196637e-02 5.21075914e+01] [-1.99699007e-01 9.79844257e-01 -5.05351383e-03 -2.18963619e+00] [-2.70926277e-02 -3.66091213e-04 9.99632860e-01 -1.58965786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.476875 meters 0.014617794350026463 Centerline is valid? [True, True] Translation: X:52.14, Y:-2.20, Z:-1.59 [[ 9.79496218e-01 1.99668856e-01 2.68236426e-02 5.21390593e+01] [-1.99604080e-01 9.79863367e-01 -5.09835618e-03 -2.19647510e+00] [-2.73014877e-02 -3.60287914e-04 9.99627180e-01 -1.59005412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.506874999999994 meters 0.0144182088493809 Centerline is valid? [True, True] Translation: X:52.17, Y:-2.20, Z:-1.59 [[ 9.79557719e-01 1.99414844e-01 2.64649659e-02 5.21709587e+01] [-1.99351514e-01 9.79915100e-01 -5.03694432e-03 -2.20453033e+00] [-2.69378611e-02 -3.41853311e-04 9.99637052e-01 -1.59095841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.536874999999995 meters 0.014652758588603994 Centerline is valid? [True, True] Translation: X:52.20, Y:-2.21, Z:-1.59 [[ 9.79473692e-01 2.00059726e-01 2.46453454e-02 5.22022281e+01] [-2.00004845e-01 9.79783649e-01 -4.69719839e-03 -2.21097648e+00] [-2.50868267e-02 -3.28406247e-04 9.99685222e-01 -1.59242518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.566874999999996 meters 0.014616790141530852 Centerline is valid? [True, True] Translation: X:52.23, Y:-2.22, Z:-1.59 [[ 9.79329379e-01 2.00832350e-01 2.40901162e-02 5.22342584e+01] [-2.00780015e-01 9.79625569e-01 -4.59681742e-03 -2.21685357e+00] [-2.45224834e-02 -3.35015546e-04 9.99699223e-01 -1.59351939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.596875 meters 0.015083752300804103 Centerline is valid? [True, True] Translation: X:52.27, Y:-2.22, Z:-1.60 [[ 9.78900598e-01 2.02842447e-01 2.46690161e-02 5.22664839e+01] [-2.02788015e-01 9.79211311e-01 -4.71480206e-03 -2.22024814e+00] [-2.51125416e-02 -3.87258252e-04 9.99684555e-01 -1.59529258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.626875 meters 0.015843136880947604 Centerline is valid? [True, True] Translation: X:52.30, Y:-2.22, Z:-1.60 [[ 9.78641522e-01 2.04023034e-01 2.52066076e-02 5.22980659e+01] [-2.03966430e-01 9.78965998e-01 -4.82395237e-03 -2.22379680e+00] [-2.56606092e-02 -4.20381685e-04 9.99670624e-01 -1.59722400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.656875 meters 0.015698587978876518 Centerline is valid? [True, True] Translation: X:52.33, Y:-2.23, Z:-1.60 [[ 9.78387846e-01 2.05214204e-01 2.53841089e-02 5.23298430e+01] [-2.05157020e-01 9.78716982e-01 -4.86489024e-03 -2.23001109e+00] [-2.58422030e-02 -4.47978652e-04 9.99665934e-01 -1.59738728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68687499999999 meters 0.01619618764978319 Centerline is valid? [True, True] Translation: X:52.36, Y:-2.23, Z:-1.60 [[ 9.78092569e-01 2.06735667e-01 2.43985648e-02 5.23615131e+01] [-2.06683168e-01 9.78396724e-01 -4.68174547e-03 -2.23423426e+00] [-2.48393597e-02 -4.63592227e-04 9.99691348e-01 -1.59870695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.716874999999995 meters 0.01646960352137627 Centerline is valid? [True, True] Translation: X:52.39, Y:-2.24, Z:-1.60 [[ 9.77945100e-01 2.07532768e-01 2.35272565e-02 5.23926686e+01] [-2.07484048e-01 9.78227958e-01 -4.52019799e-03 -2.23913448e+00] [-2.39531093e-02 -4.61024925e-04 9.99712977e-01 -1.60015010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.746874999999996 meters 0.016751052442556383 Centerline is valid? [True, True] Translation: X:52.42, Y:-2.24, Z:-1.60 [[ 9.77602258e-01 2.09132907e-01 2.36062083e-02 5.24238956e+01] [-2.09084197e-01 9.77887100e-01 -4.54069580e-03 -2.24418901e+00] [-2.40338154e-02 -4.96690631e-04 9.99711023e-01 -1.60105802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.776875 meters 0.017163329249101886 Centerline is valid? [True, True] Translation: X:52.46, Y:-2.25, Z:-1.60 [[ 9.77321229e-01 2.10458655e-01 2.34599787e-02 5.24554662e+01] [-2.10410790e-01 9.77602621e-01 -4.51837948e-03 -2.24897962e+00] [-2.38854687e-02 -5.20324457e-04 9.99714566e-01 -1.60154684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.806875 meters 0.017573490267018505 Centerline is valid? [True, True] Translation: X:52.49, Y:-2.25, Z:-1.60 [[ 9.77075376e-01 2.11632144e-01 2.31418360e-02 5.24866402e+01] [-2.11585762e-01 9.77349246e-01 -4.46286098e-03 -2.25390279e+00] [-2.35621408e-02 -5.35931420e-04 9.99722231e-01 -1.60355495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.836875 meters 0.017379006841362496 Centerline is valid? [True, True] Translation: X:52.52, Y:-2.26, Z:-1.60 [[ 9.76981817e-01 2.12011992e-01 2.36102774e-02 5.25186318e+01] [-2.11963699e-01 9.77266909e-01 -4.55838822e-03 -2.26043878e+00] [-2.40399757e-02 -5.51059308e-04 9.99710846e-01 -1.60421585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.866875 meters 0.01749146207352489 Centerline is valid? [True, True] Translation: X:52.55, Y:-2.27, Z:-1.60 [[ 9.76865557e-01 2.12406721e-01 2.48408451e-02 5.25509351e+01] [-2.12353196e-01 9.77181173e-01 -4.80358689e-03 -2.26674905e+00] [-2.52943203e-02 -5.82574273e-04 9.99679878e-01 -1.60405715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.896874999999994 meters 0.018189737247608445 Centerline is valid? [True, True] Translation: X:52.58, Y:-2.27, Z:-1.60 [[ 9.76742407e-01 2.12805901e-01 2.62281880e-02 5.25827927e+01] [-2.12746158e-01 9.77094298e-01 -5.07995666e-03 -2.27173346e+00] [-2.67084577e-02 -6.18137116e-04 9.99643074e-01 -1.60333495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.926874999999995 meters 0.017933707191897304 Centerline is valid? [True, True] Translation: X:52.61, Y:-2.28, Z:-1.60 [[ 9.76734220e-01 2.12878578e-01 2.59417465e-02 5.26147365e+01] [-2.12819980e-01 9.77078473e-01 -5.03121702e-03 -2.27866366e+00] [-2.64181604e-02 -6.06760142e-04 9.99650795e-01 -1.60434951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.956875 meters 0.017726813523507877 Centerline is valid? [True, True] Translation: X:52.65, Y:-2.29, Z:-1.60 [[ 9.76768612e-01 2.12697508e-01 2.61313824e-02 5.26458118e+01] [-2.12637761e-01 9.77117911e-01 -5.07644107e-03 -2.28524427e+00] [-2.66131882e-02 -5.98010351e-04 9.99645628e-01 -1.60437875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.986875 meters 0.017763128243803362 Centerline is valid? [True, True] Translation: X:52.68, Y:-2.29, Z:-1.61 [[ 9.76808741e-01 2.12456700e-01 2.65863379e-02 5.26759020e+01] [-2.12394717e-01 9.77170298e-01 -5.16658483e-03 -2.29117897e+00] [-2.70770553e-02 -6.00032494e-04 9.99633169e-01 -1.60542337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.016875 meters 0.017274821458412644 Centerline is valid? [True, True] Translation: X:52.71, Y:-2.30, Z:-1.61 [[ 9.76978001e-01 2.11668991e-01 2.66500175e-02 5.27066717e+01] [-2.11606251e-01 9.77341245e-01 -5.18508481e-03 -2.29846626e+00] [-2.71436830e-02 -5.73596502e-04 9.99631378e-01 -1.60604374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.046875 meters 0.01648611366249815 Centerline is valid? [True, True] Translation: X:52.74, Y:-2.31, Z:-1.61 [[ 9.77604865e-01 2.08839650e-01 2.59755354e-02 5.27367541e+01] [-2.08778880e-01 9.77949781e-01 -5.06018377e-03 -2.30684740e+00] [-2.64595361e-02 -4.76282903e-04 9.99649772e-01 -1.60830606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.076874999999994 meters 0.015652812883108776 Centerline is valid? [True, True] Translation: X:52.77, Y:-2.32, Z:-1.61 [[ 9.77933896e-01 2.07340294e-01 2.55987622e-02 5.27674802e+01] [-2.07280615e-01 9.78268789e-01 -4.99238489e-03 -2.31502688e+00] [-2.60775926e-02 -4.23904768e-04 9.99659832e-01 -1.60950478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.106874999999995 meters 0.015071645681803521 Centerline is valid? [True, True] Translation: X:52.80, Y:-2.32, Z:-1.61 [[ 9.78407915e-01 2.05024159e-01 2.61351663e-02 5.27982771e+01] [-2.04960948e-01 9.78756845e-01 -5.10364407e-03 -2.32258589e+00] [-2.66263432e-02 -3.63242715e-04 9.99645390e-01 -1.61152737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.136874999999996 meters 0.014625026145836722 Centerline is valid? [True, True] Translation: X:52.83, Y:-2.33, Z:-1.61 [[ 9.78624716e-01 2.03947551e-01 2.64397795e-02 5.28298098e+01] [-2.03882287e-01 9.78981760e-01 -5.16975740e-03 -2.32987232e+00] [-2.69384213e-02 -3.31350339e-04 9.99637040e-01 -1.61303556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.166875 meters 0.014366483519136615 Centerline is valid? [True, True] Translation: X:52.86, Y:-2.34, Z:-1.61 [[ 9.78856441e-01 2.02795840e-01 2.67191959e-02 5.28610686e+01] [-2.02728578e-01 9.79220996e-01 -5.23108616e-03 -2.33752136e+00] [-2.72248401e-02 -2.96262212e-04 9.99629291e-01 -1.61375569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.196875 meters 0.014235592633971008 Centerline is valid? [True, True] Translation: X:52.89, Y:-2.34, Z:-1.61 [[ 9.79092807e-01 2.01598575e-01 2.71162140e-02 5.28910136e+01] [-2.01528647e-01 9.79468196e-01 -5.31578911e-03 -2.34481480e+00] [-2.76311247e-02 -2.60043026e-04 9.99618154e-01 -1.61328060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.226875 meters 0.01386795091831857 Centerline is valid? [True, True] Translation: X:52.92, Y:-2.35, Z:-1.61 [[ 9.79570632e-01 1.99434054e-01 2.58347561e-02 5.29210099e+01] [-1.99369679e-01 9.79911233e-01 -5.07020594e-03 -2.35414786e+00] [-2.63269394e-02 -1.84042181e-04 9.99653369e-01 -1.61373775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.256874999999994 meters 0.013715015396557872 Centerline is valid? [True, True] Translation: X:52.95, Y:-2.36, Z:-1.61 [[ 9.79765039e-01 1.98518415e-01 2.55128658e-02 5.29526676e+01] [-1.98455186e-01 9.80097146e-01 -5.01234371e-03 -2.36183425e+00] [-2.60001295e-02 -1.52241376e-04 9.99661928e-01 -1.61468236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.286874999999995 meters 0.013519761773898162 Centerline is valid? [True, True] Translation: X:52.98, Y:-2.37, Z:-1.62 [[ 9.79958749e-01 1.97600496e-01 2.51971146e-02 5.29845859e+01] [-1.97538337e-01 9.80282627e-01 -4.95738004e-03 -2.36952975e+00] [-2.56798745e-02 -1.19368175e-04 9.99670211e-01 -1.61630625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.316874999999996 meters 0.01348564549138838 Centerline is valid? [True, True] Translation: X:53.02, Y:-2.38, Z:-1.62 [[ 9.80077747e-01 1.97035764e-01 2.49903556e-02 5.30169947e+01] [-1.96974260e-01 9.80396297e-01 -4.92369119e-03 -2.37699973e+00] [-2.54705953e-02 -9.68566300e-05 9.99675567e-01 -1.61770510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.346875 meters 0.013448257978220033 Centerline is valid? [True, True] Translation: X:53.05, Y:-2.38, Z:-1.62 [[ 9.80173846e-01 1.96564990e-01 2.49286104e-02 5.30492940e+01] [-1.96503458e-01 9.80490795e-01 -4.91856703e-03 -2.38469292e+00] [-2.54090911e-02 -7.75073679e-05 9.99677134e-01 -1.61859847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.376875 meters 0.013456575338759841 Centerline is valid? [True, True] Translation: X:53.08, Y:-2.39, Z:-1.62 [[ 9.80194972e-01 1.96393961e-01 2.54406968e-02 5.30812751e+01] [-1.96329626e-01 9.80525067e-01 -5.02696369e-03 -2.39161450e+00] [-2.59325063e-02 -6.73579627e-05 9.99663694e-01 -1.61901521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.406875 meters 0.013465257389538545 Centerline is valid? [True, True] Translation: X:53.11, Y:-2.40, Z:-1.62 [[ 9.80022011e-01 1.97117426e-01 2.64873176e-02 5.31139313e+01] [-1.97047740e-01 9.80379882e-01 -5.24160163e-03 -2.39856467e+00] [-2.70008443e-02 -8.23811000e-05 9.99635407e-01 -1.61755591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43687499999999 meters 0.01349166505596683 Centerline is valid? [True, True] Translation: X:53.15, Y:-2.40, Z:-1.62 [[ 9.79866681e-01 1.97821487e-01 2.69804826e-02 5.31452622e+01] [-1.97749232e-01 9.80238058e-01 -5.34709295e-03 -2.40485591e+00] [-2.75050658e-02 -9.59314839e-05 9.99621660e-01 -1.61755032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.466874999999995 meters 0.01365766444163511 Centerline is valid? [True, True] Translation: X:53.18, Y:-2.41, Z:-1.62 [[ 9.79589733e-01 1.98970965e-01 2.85396090e-02 5.31776835e+01] [-1.98890373e-01 9.80005377e-01 -5.66401737e-03 -2.41094733e+00] [-2.90959452e-02 -1.27840192e-04 9.99576615e-01 -1.61798891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.496874999999996 meters 0.013667074520391386 Centerline is valid? [True, True] Translation: X:53.21, Y:-2.42, Z:-1.62 [[ 9.79576731e-01 1.99026108e-01 2.86013468e-02 5.32095813e+01] [-1.98944954e-01 9.79994180e-01 -5.68435620e-03 -2.41760857e+00] [-2.91604887e-02 -1.21830546e-04 9.99574735e-01 -1.61943104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.526875 meters 0.01353735563229465 Centerline is valid? [True, True] Translation: X:53.24, Y:-2.42, Z:-1.62 [[ 9.79520084e-01 1.99388077e-01 2.80142717e-02 5.32420967e+01] [-1.99310146e-01 9.79920599e-01 -5.57544757e-03 -2.42493680e+00] [-2.85634396e-02 -1.22265707e-04 9.99591974e-01 -1.62005527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.556875 meters 0.013637031969998643 Centerline is valid? [True, True] Translation: X:53.27, Y:-2.43, Z:-1.62 [[ 9.79422271e-01 1.99826812e-01 2.83065425e-02 5.32743058e+01] [-1.99747196e-01 9.79831225e-01 -5.64171868e-03 -2.43203508e+00] [-2.88630009e-02 -1.28527568e-04 9.99583369e-01 -1.62068340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.586875 meters 0.013904015181978147 Centerline is valid? [True, True] Translation: X:53.30, Y:-2.44, Z:-1.62 [[ 9.79071525e-01 2.01651230e-01 2.74905503e-02 5.33048243e+01] [-2.01576622e-01 9.79457377e-01 -5.48747722e-03 -2.43632296e+00] [-2.80323788e-02 -1.68819564e-04 9.99607001e-01 -1.62330288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.616875 meters 0.014164249626796467 Centerline is valid? [True, True] Translation: X:53.34, Y:-2.44, Z:-1.63 [[ 9.78796974e-01 2.02969755e-01 2.75637697e-02 5.33366181e+01] [-2.02895175e-01 9.79184986e-01 -5.50555744e-03 -2.44130216e+00] [-2.81074911e-02 -2.03732904e-04 9.99604886e-01 -1.62509081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.646874999999994 meters 0.014138607422146206 Centerline is valid? [True, True] Translation: X:53.37, Y:-2.45, Z:-1.63 [[ 9.78482065e-01 2.04441826e-01 2.78637430e-02 5.33684972e+01] [-2.04365997e-01 9.78878686e-01 -5.57292001e-03 -2.44725316e+00] [-2.84145621e-02 -2.41399357e-04 9.99596196e-01 -1.62560171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.676874999999995 meters 0.014641428548031615 Centerline is valid? [True, True] Translation: X:53.40, Y:-2.45, Z:-1.63 [[ 9.78030399e-01 2.06727806e-01 2.68356564e-02 5.33996427e+01] [-2.06658126e-01 9.78398452e-01 -5.37478167e-03 -2.45243378e+00] [-2.73670815e-02 -2.89106601e-04 9.99625409e-01 -1.62771146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.706875 meters 0.014633798083120413 Centerline is valid? [True, True] Translation: X:53.43, Y:-2.46, Z:-1.63 [[ 9.77879252e-01 2.07542608e-01 2.60429348e-02 5.34314921e+01] [-2.07477128e-01 9.78225934e-01 -5.22148525e-03 -2.45909068e+00] [-2.65595549e-02 -2.97331226e-04 9.99647189e-01 -1.62967040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.736875 meters 0.014667874652827286 Centerline is valid? [True, True] Translation: X:53.46, Y:-2.47, Z:-1.63 [[ 9.77736532e-01 2.08228082e-01 2.59295216e-02 5.34632393e+01] [-2.08163219e-01 9.78080248e-01 -5.20604027e-03 -2.46565021e+00] [-2.64451967e-02 -3.07436928e-04 9.99650217e-01 -1.63080978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.766875 meters 0.014558644830071832 Centerline is valid? [True, True] Translation: X:53.50, Y:-2.47, Z:-1.63 [[ 9.77720741e-01 2.08179847e-01 2.68943242e-02 5.34958113e+01] [-2.08109830e-01 9.78090515e-01 -5.40773120e-03 -2.47233835e+00] [-2.74308641e-02 -3.09722283e-04 9.99623655e-01 -1.63272129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.796875 meters 0.0145140725519744 Centerline is valid? [True, True] Translation: X:53.53, Y:-2.48, Z:-1.63 [[ 9.77842504e-01 2.07591729e-01 2.70131564e-02 5.35256191e+01] [-2.07520646e-01 9.78215514e-01 -5.43962093e-03 -2.47903371e+00] [-2.75539090e-02 -2.86695118e-04 9.99620278e-01 -1.63424139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.826874999999994 meters 0.014132281214134637 Centerline is valid? [True, True] Translation: X:53.56, Y:-2.49, Z:-1.64 [[ 9.78337884e-01 2.05323616e-01 2.64044937e-02 5.35559719e+01] [-2.05254704e-01 9.78694114e-01 -5.32339460e-03 -2.48699718e+00] [-2.69349412e-02 -2.11567924e-04 9.99637166e-01 -1.63598223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.856874999999995 meters 0.013635920795348706 Centerline is valid? [True, True] Translation: X:53.59, Y:-2.50, Z:-1.64 [[ 9.79235577e-01 2.01129365e-01 2.53902328e-02 5.35863395e+01] [-2.01064163e-01 9.79564684e-01 -5.12169092e-03 -2.49755416e+00] [-2.59014979e-02 -8.97239530e-05 9.99664496e-01 -1.63770918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.886874999999996 meters 0.01351830615613213 Centerline is valid? [True, True] Translation: X:53.62, Y:-2.51, Z:-1.64 [[ 9.79421171e-01 2.00216709e-01 2.54448261e-02 5.36182607e+01] [-2.00150763e-01 9.79751635e-01 -5.13871438e-03 -2.50548033e+00] [-2.59584664e-02 -5.98356857e-05 9.99663020e-01 -1.63796632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.916875 meters 0.013456675374749046 Centerline is valid? [True, True] Translation: X:53.65, Y:-2.51, Z:-1.64 [[ 9.79544600e-01 1.99578914e-01 2.57028017e-02 5.36505059e+01] [-1.99511211e-01 9.79881756e-01 -5.19816005e-03 -2.51261120e+00] [-2.62231496e-02 -3.61674972e-05 9.99656113e-01 -1.63971731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.946875 meters 0.013539014645193194 Centerline is valid? [True, True] Translation: X:53.68, Y:-2.52, Z:-1.64 [[ 9.79372261e-01 2.00316073e-01 2.65225390e-02 5.36817013e+01] [-2.00244042e-01 9.79731325e-01 -5.37171495e-03 -2.51847084e+00] [-2.70610031e-02 -5.00717915e-05 9.99633783e-01 -1.64057938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.976875 meters 0.013472113979003228 Centerline is valid? [True, True] Translation: X:53.71, Y:-2.52, Z:-1.64 [[ 9.79085212e-01 2.01627988e-01 2.71717053e-02 5.37139143e+01] [-2.01552693e-01 9.79462173e-01 -5.51037628e-03 -2.52450059e+00] [-2.77247036e-02 -8.14024554e-05 9.99615593e-01 -1.64110289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.006874999999994 meters 0.013519969124926564 Centerline is valid? [True, True] Translation: X:53.74, Y:-2.53, Z:-1.64 [[ 9.79009765e-01 2.01952148e-01 2.74810677e-02 5.37448858e+01] [-2.01875024e-01 9.79395386e-01 -5.58138166e-03 -2.53051295e+00] [-2.80420029e-02 -8.35140415e-05 9.99606742e-01 -1.64249315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.036874999999995 meters 0.013649519871512878 Centerline is valid? [True, True] Translation: X:53.78, Y:-2.54, Z:-1.64 [[ 9.78823312e-01 2.02740714e-01 2.83041950e-02 5.37766654e+01] [-2.02659087e-01 9.79232450e-01 -5.75349986e-03 -2.53665749e+00] [-2.88828549e-02 -1.04442514e-04 9.99582798e-01 -1.64253644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.066874999999996 meters 0.013640511026480055 Centerline is valid? [True, True] Translation: X:53.81, Y:-2.54, Z:-1.64 [[ 9.78684383e-01 2.03357399e-01 2.86818127e-02 5.38086949e+01] [-2.03273630e-01 9.79104568e-01 -5.83753145e-03 -2.54334486e+00] [-2.92695990e-02 -1.17155306e-04 9.99571547e-01 -1.64278670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.096875 meters 0.013800298609056249 Centerline is valid? [True, True] Translation: X:53.84, Y:-2.55, Z:-1.64 [[ 9.78536420e-01 2.04045778e-01 2.88408590e-02 5.38407689e+01] [-2.03961134e-01 9.78961339e-01 -5.87812800e-03 -2.54919049e+00] [-2.94334932e-02 -1.30451995e-04 9.99566732e-01 -1.64442929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.126875 meters 0.013815089048743363 Centerline is valid? [True, True] Translation: X:53.87, Y:-2.56, Z:-1.65 [[ 9.78468139e-01 2.04384546e-01 2.87586111e-02 5.38727135e+01] [-2.04300291e-01 9.78890668e-01 -5.86953311e-03 -2.55538541e+00] [-2.93511779e-02 -1.32241471e-04 9.99569153e-01 -1.64629638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.156875 meters 0.013973820211021684 Centerline is valid? [True, True] Translation: X:53.90, Y:-2.56, Z:-1.65 [[ 9.78331318e-01 2.05126236e-01 2.81257882e-02 5.39036237e+01] [-2.05045730e-01 9.78735514e-01 -5.74823205e-03 -2.56188110e+00] [-2.87068210e-02 -1.43397320e-04 9.99587864e-01 -1.64892439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18687499999999 meters 0.014038509093943271 Centerline is valid? [True, True] Translation: X:53.94, Y:-2.57, Z:-1.65 [[ 9.78186694e-01 2.05967189e-01 2.69871895e-02 5.39357052e+01] [-2.05893205e-01 9.78558886e-01 -5.52223285e-03 -2.56899042e+00] [-2.75459529e-02 -1.54704252e-04 9.99620526e-01 -1.65009045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.216874999999995 meters 0.014081431385415632 Centerline is valid? [True, True] Translation: X:53.97, Y:-2.58, Z:-1.65 [[ 9.78177289e-01 2.06105635e-01 2.62613462e-02 5.39675442e+01] [-2.06035437e-01 9.78529737e-01 -5.38080920e-03 -2.57576437e+00] [-2.68065232e-02 -1.47382564e-04 9.99640630e-01 -1.65115632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.246874999999996 meters 0.014081431385415632 Centerline is valid? [True, True] Translation: X:54.00, Y:-2.58, Z:-1.65 [[ 9.78121365e-01 2.06371057e-01 2.62598890e-02 5.39992129e+01] [-2.06300765e-01 9.78473794e-01 -5.38791047e-03 -2.58237191e+00] [-2.68065220e-02 -1.47404830e-04 9.99640630e-01 -1.65219078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.276875 meters 0.014107879254795109 Centerline is valid? [True, True] Translation: X:54.03, Y:-2.59, Z:-1.65 [[ 9.77963837e-01 2.07154107e-01 2.59597584e-02 5.40316242e+01] [-2.07085496e-01 9.78308311e-01 -5.33355831e-03 -2.58912987e+00] [-2.65015158e-02 -1.59862282e-04 9.99648760e-01 -1.65336583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.306875 meters 0.014027911825159677 Centerline is valid? [True, True] Translation: X:54.06, Y:-2.60, Z:-1.66 [[ 9.77930753e-01 2.07299085e-01 2.60486492e-02 5.40642484e+01] [-2.07229857e-01 9.78277601e-01 -5.35927429e-03 -2.59521871e+00] [-2.65937827e-02 -1.57058707e-04 9.99646310e-01 -1.65644326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.336875 meters 0.01399483263540667 Centerline is valid? [True, True] Translation: X:54.10, Y:-2.60, Z:-1.66 [[ 9.77908398e-01 2.07345239e-01 2.65163659e-02 5.40955321e+01] [-2.07273308e-01 9.78267820e-01 -5.46329434e-03 -2.60168431e+00] [-2.70728956e-02 -1.53533463e-04 9.99633450e-01 -1.65798734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.366875 meters 0.013944393023928229 Centerline is valid? [True, True] Translation: X:54.13, Y:-2.61, Z:-1.66 [[ 9.77858494e-01 2.07569538e-01 2.66017260e-02 5.41278330e+01] [-2.07497038e-01 9.78220253e-01 -5.48781743e-03 -2.60955097e+00] [-2.71614509e-02 -1.53470461e-04 9.99631048e-01 -1.65823384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.396874999999994 meters 0.013972845687813505 Centerline is valid? [True, True] Translation: X:54.16, Y:-2.62, Z:-1.66 [[ 9.77857698e-01 2.07239055e-01 2.90911802e-02 5.41584012e+01] [-2.07151927e-01 9.78290321e-01 -6.01057626e-03 -2.61616860e+00] [-2.97052462e-02 -1.48805785e-04 9.99558691e-01 -1.65709248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.426874999999995 meters 0.013969410947093426 Centerline is valid? [True, True] Translation: X:54.19, Y:-2.62, Z:-1.66 [[ 9.77674652e-01 2.08003673e-01 2.97783119e-02 5.41901816e+01] [-2.07912525e-01 9.78128030e-01 -6.15943357e-03 -2.62236117e+00] [-3.04081864e-02 -1.69361944e-04 9.99537550e-01 -1.65779598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.456875 meters 0.014059039643202266 Centerline is valid? [True, True] Translation: X:54.22, Y:-2.63, Z:-1.66 [[ 9.77501745e-01 2.08777819e-01 3.00359877e-02 5.42218523e+01] [-2.08685181e-01 9.77963081e-01 -6.22154789e-03 -2.62794145e+00] [-3.06730082e-02 -1.86491611e-04 9.99529455e-01 -1.65834369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.486875 meters 0.014325490665322106 Centerline is valid? [True, True] Translation: X:54.25, Y:-2.63, Z:-1.66 [[ 9.77097446e-01 2.10776464e-01 2.92209365e-02 5.42536074e+01] [-2.10689533e-01 9.77534258e-01 -6.05764584e-03 -2.63320222e+00] [-2.98412757e-02 -2.37635184e-04 9.99554622e-01 -1.65996339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.516875 meters 0.014510441767969753 Centerline is valid? [True, True] Translation: X:54.29, Y:-2.64, Z:-1.66 [[ 9.76837764e-01 2.12027197e-01 2.88522336e-02 5.42860717e+01] [-2.11942784e-01 9.77263730e-01 -5.98822258e-03 -2.63898469e+00] [-2.94659075e-02 -2.65500772e-04 9.99565751e-01 -1.66185929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.546875 meters 0.01469622660588293 Centerline is valid? [True, True] Translation: X:54.32, Y:-2.64, Z:-1.66 [[ 9.76612391e-01 2.13165008e-01 2.80876597e-02 5.43186472e+01] [-2.13085256e-01 9.77016171e-01 -5.83737943e-03 -2.64487419e+00] [-2.86864228e-02 -2.84209075e-04 9.99588419e-01 -1.66418161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.576874999999994 meters 0.01497238631134629 Centerline is valid? [True, True] Translation: X:54.35, Y:-2.65, Z:-1.67 [[ 9.76281431e-01 2.14838870e-01 2.68109711e-02 5.43490677e+01] [-2.14766630e-01 9.76649458e-01 -5.57953804e-03 -2.65032743e+00] [-2.73836220e-02 -3.10902540e-04 9.99624950e-01 -1.66644900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.606874999999995 meters 0.014675735448444997 Centerline is valid? [True, True] Translation: X:54.38, Y:-2.66, Z:-1.67 [[ 9.76308364e-01 2.14681988e-01 2.70854685e-02 5.43811374e+01] [-2.14608033e-01 9.76683957e-01 -5.64271723e-03 -2.65820799e+00] [-2.76653323e-02 -3.03727098e-04 9.99617195e-01 -1.66709727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.636874999999996 meters 0.014615185158489351 Centerline is valid? [True, True] Translation: X:54.41, Y:-2.67, Z:-1.67 [[ 9.76326042e-01 2.14420706e-01 2.84819293e-02 5.44125647e+01] [-2.14338561e-01 9.76741352e-01 -5.94241248e-03 -2.66545743e+00] [-2.90936545e-02 -3.03043702e-04 9.99576644e-01 -1.66735463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.666875 meters 0.014480508821050357 Centerline is valid? [True, True] Translation: X:54.44, Y:-2.67, Z:-1.67 [[ 9.76363258e-01 2.14193819e-01 2.89101488e-02 5.44439445e+01] [-2.14108866e-01 9.76791135e-01 -6.03918725e-03 -2.67313003e+00] [-2.95327337e-02 -2.93478650e-04 9.99563771e-01 -1.66819224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.696875 meters 0.014459044870264608 Centerline is valid? [True, True] Translation: X:54.48, Y:-2.68, Z:-1.67 [[ 9.76350649e-01 2.14342761e-01 2.82239579e-02 5.44752349e+01] [-2.14261643e-01 9.76758466e-01 -5.90323120e-03 -2.67993495e+00] [-2.88333047e-02 -2.83687966e-04 9.99584194e-01 -1.66960195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.726875 meters 0.01437193848789707 Centerline is valid? [True, True] Translation: X:54.51, Y:-2.69, Z:-1.67 [[ 9.76296639e-01 2.14613013e-01 2.80379534e-02 5.45067996e+01] [-2.14532861e-01 9.76699122e-01 -5.87169290e-03 -2.68715574e+00] [-2.86447861e-02 -2.82548300e-04 9.99589614e-01 -1.67068412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.756874999999994 meters 0.014718917379931012 Centerline is valid? [True, True] Translation: X:54.54, Y:-2.69, Z:-1.67 [[ 9.76103304e-01 2.15517299e-01 2.78322349e-02 5.45380616e+01] [-2.15438460e-01 9.76499977e-01 -5.83657767e-03 -2.69334912e+00] [-2.84360602e-02 -2.99031085e-04 9.99595569e-01 -1.67168884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.786874999999995 meters 0.014702520620553204 Centerline is valid? [True, True] Translation: X:54.57, Y:-2.70, Z:-1.67 [[ 9.76002764e-01 2.16085993e-01 2.69341604e-02 5.45701826e+01] [-2.16012188e-01 9.76374290e-01 -5.65509884e-03 -2.70051761e+00] [-2.75198093e-02 -2.98714824e-04 9.99621214e-01 -1.67291934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.816874999999996 meters 0.014899843779088937 Centerline is valid? [True, True] Translation: X:54.60, Y:-2.71, Z:-1.68 [[ 9.75836201e-01 2.16927602e-01 2.61939928e-02 5.46013904e+01] [-2.16857901e-01 9.76187647e-01 -5.50716326e-03 -2.70634418e+00] [-2.67649079e-02 -3.06285024e-04 9.99641709e-01 -1.67514654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.846875 meters 0.01488363831375536 Centerline is valid? [True, True] Translation: X:54.63, Y:-2.71, Z:-1.68 [[ 9.75665834e-01 2.17763000e-01 2.56018932e-02 5.46326183e+01] [-2.17696526e-01 9.76001627e-01 -5.38945225e-03 -2.71226679e+00] [-2.61611127e-02 -3.15138773e-04 9.99657690e-01 -1.67733177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.876875 meters 0.01492475115925469 Centerline is valid? [True, True] Translation: X:54.66, Y:-2.72, Z:-1.68 [[ 9.75655471e-01 2.17777793e-01 2.58695752e-02 5.46644474e+01] [-2.17709743e-01 9.75998328e-01 -5.45271341e-03 -2.71949630e+00] [-2.64361420e-02 -3.12088902e-04 9.99650455e-01 -1.67818128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.906875 meters 0.014564945413232284 Centerline is valid? [True, True] Translation: X:54.70, Y:-2.73, Z:-1.68 [[ 9.75762422e-01 2.17295080e-01 2.58948649e-02 5.46964591e+01] [-2.17226535e-01 9.76105918e-01 -5.46533049e-03 -2.72832674e+00] [-2.64637203e-02 -2.92187662e-04 9.99649732e-01 -1.67751106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93687499999999 meters 0.014505926745986225 Centerline is valid? [True, True] Translation: X:54.73, Y:-2.74, Z:-1.68 [[ 9.75918900e-01 2.16598210e-01 2.58363366e-02 5.47278034e+01] [-2.16529528e-01 9.76260798e-01 -5.46064459e-03 -2.73549234e+00] [-2.64057684e-02 -2.65183486e-04 9.99651272e-01 -1.67865095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.966874999999995 meters 0.014412223207851382 Centerline is valid? [True, True] Translation: X:54.76, Y:-2.74, Z:-1.68 [[ 9.75855422e-01 2.16656534e-01 2.76792577e-02 5.47602097e+01] [-2.16577511e-01 9.76247852e-01 -5.85772169e-03 -2.73872771e+00] [-2.82909295e-02 -2.78415275e-04 9.99599693e-01 -1.67762710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.996874999999996 meters 0.01415604683256395 Centerline is valid? [True, True] Translation: X:54.79, Y:-2.74, Z:-1.67 [[ 9.76272346e-01 2.14281811e-01 3.12348002e-02 5.47909281e+01] [-2.14179680e-01 9.76771853e-01 -6.61897808e-03 -2.74264114e+00] [-3.19276003e-02 -2.27934271e-04 9.99490158e-01 -1.67402564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.026875 meters 0.013670364273829935 Centerline is valid? [True, True] Translation: X:54.82, Y:-2.75, Z:-1.67 [[ 9.77128466e-01 2.10401839e-01 3.08387255e-02 5.48228501e+01] [-2.10300129e-01 9.77614984e-01 -6.54202392e-03 -2.74817245e+00] [-3.15248540e-02 -9.29901401e-05 9.99502964e-01 -1.67300721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.056875 meters 0.013726250258298146 Centerline is valid? [True, True] Translation: X:54.86, Y:-2.75, Z:-1.68 [[ 9.77627667e-01 2.08621694e-01 2.68539363e-02 5.48553452e+01] [-2.08543752e-01 9.77996415e-01 -5.70223528e-03 -2.75259574e+00] [-2.74526634e-02 -2.55576690e-05 9.99623104e-01 -1.68018745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.086875 meters 0.013728156118931726 Centerline is valid? [True, True] Translation: X:54.89, Y:-2.75, Z:-1.69 [[ 9.78474101e-01 2.05295083e-01 2.10323998e-02 5.48864209e+01] [-2.05246406e-01 9.78700120e-01 -4.47071708e-03 -2.75358867e+00] [-2.15022285e-02 5.76563993e-05 9.99768799e-01 -1.69391671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.116875 meters 0.013713047346082405 Centerline is valid? [True, True] Translation: X:54.92, Y:-2.76, Z:-1.70 [[ 9.78729878e-01 2.04161128e-01 2.01509166e-02 5.49181313e+01] [-2.04116123e-01 9.78937295e-01 -4.28738007e-03 -2.75866833e+00] [-2.06018001e-02 8.30600086e-05 9.99787757e-01 -1.69513680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.146874999999994 meters 0.013846688495828577 Centerline is valid? [True, True] Translation: X:54.95, Y:-2.77, Z:-1.70 [[ 9.78974495e-01 2.03053441e-01 1.94483264e-02 5.49497548e+01] [-2.03011210e-01 9.79167651e-01 -4.14245965e-03 -2.76543252e+00] [-1.98843128e-02 1.07134066e-04 9.99802282e-01 -1.69514580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.176874999999995 meters 0.014150309715846184 Centerline is valid? [True, True] Translation: X:54.98, Y:-2.77, Z:-1.69 [[ 9.79497816e-01 2.00568693e-01 1.88739927e-02 5.49796965e+01] [-2.00528342e-01 9.79679628e-01 -4.02614816e-03 -2.77309169e+00] [-1.92979854e-02 1.58832853e-04 9.99813764e-01 -1.69295022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.206875 meters 0.014240493139026943 Centerline is valid? [True, True] Translation: X:55.01, Y:-2.78, Z:-1.69 [[ 9.79638664e-01 1.99839854e-01 1.92904353e-02 5.50124944e+01] [-1.99797541e-01 9.79828557e-01 -4.11599909e-03 -2.77942072e+00] [-1.97238601e-02 1.78010303e-04 9.99805450e-01 -1.69196340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.236875 meters 0.014264881923159188 Centerline is valid? [True, True] Translation: X:55.04, Y:-2.79, Z:-1.69 [[ 9.79572182e-01 2.00123645e-01 1.97197107e-02 5.50443683e+01] [-2.00079366e-01 9.79770633e-01 -4.21348824e-03 -2.78525461e+00] [-2.01640120e-02 1.81908655e-04 9.99796669e-01 -1.69209107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.266875 meters 0.01398161297353244 Centerline is valid? [True, True] Translation: X:55.08, Y:-2.79, Z:-1.69 [[ 9.79337963e-01 2.01040849e-01 2.19027478e-02 5.50765488e+01] [-2.00986283e-01 9.79582841e-01 -4.68748387e-03 -2.78693137e+00] [-2.23979316e-02 1.88479036e-04 9.99749117e-01 -1.69300746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.296875 meters 0.013739118516462579 Centerline is valid? [True, True] Translation: X:55.11, Y:-2.79, Z:-1.69 [[ 9.78893579e-01 2.02981958e-01 2.37841464e-02 5.51087392e+01] [-2.02918026e-01 9.79182464e-01 -5.09669720e-03 -2.79116302e+00] [-2.43235566e-02 1.62892123e-04 9.99704125e-01 -1.69289562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.326874999999994 meters 0.013634432271480779 Centerline is valid? [True, True] Translation: X:55.14, Y:-2.80, Z:-1.69 [[ 9.78428621e-01 2.05076531e-01 2.49208855e-02 5.51398621e+01] [-2.05006847e-01 9.78745933e-01 -5.34707683e-03 -2.79619939e+00] [-2.54877753e-02 1.22780837e-04 9.99675126e-01 -1.69228989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.356874999999995 meters 0.013404657614023872 Centerline is valid? [True, True] Translation: X:55.17, Y:-2.80, Z:-1.69 [[ 9.77845443e-01 2.07755446e-01 2.56118134e-02 5.51719074e+01] [-2.07682604e-01 9.78180797e-01 -5.50137881e-03 -2.80103489e+00] [-2.61959255e-02 6.03700993e-05 9.99656826e-01 -1.69085583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.386874999999996 meters 0.013484347861603876 Centerline is valid? [True, True] Translation: X:55.20, Y:-2.80, Z:-1.69 [[ 9.76570731e-01 2.13739692e-01 2.49990263e-02 5.52046496e+01] [-2.13672086e-01 9.76890647e-01 -5.37625395e-03 -2.80220885e+00] [-2.55704339e-02 -9.13018490e-05 9.99673019e-01 -1.69062337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.416875 meters 0.013811225132091483 Centerline is valid? [True, True] Translation: X:55.24, Y:-2.80, Z:-1.69 [[ 9.75854372e-01 2.17091043e-01 2.40774667e-02 5.52365647e+01] [-2.17029260e-01 9.76151346e-01 -5.18166607e-03 -2.80481544e+00] [-2.46281448e-02 -1.68963294e-04 9.99696667e-01 -1.69409520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.446875 meters 0.01407168051278625 Centerline is valid? [True, True] Translation: X:55.27, Y:-2.81, Z:-1.70 [[ 9.75171994e-01 2.20145158e-01 2.39935683e-02 5.52683022e+01] [-2.20084586e-01 9.75467094e-01 -5.16942400e-03 -2.80776539e+00] [-2.45429600e-02 -2.39537046e-04 9.99698747e-01 -1.69656705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.476875 meters 0.014619907611889497 Centerline is valid? [True, True] Translation: X:55.30, Y:-2.81, Z:-1.70 [[ 9.74490773e-01 2.23011600e-01 2.51706018e-02 5.52991180e+01] [-2.22945706e-01 9.74815738e-01 -5.43032734e-03 -2.81092520e+00] [-2.57477248e-02 -3.19873696e-04 9.99668421e-01 -1.69785446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.506874999999994 meters 0.015303807069393454 Centerline is valid? [True, True] Translation: X:55.33, Y:-2.81, Z:-1.70 [[ 9.73463556e-01 2.27217719e-01 2.72178954e-02 5.53310325e+01] [-2.27142210e-01 9.73843876e-01 -5.87556727e-03 -2.81478308e+00] [-2.78410137e-02 -4.62682314e-04 9.99612257e-01 -1.69658360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.536874999999995 meters 0.01558515452146168 Centerline is valid? [True, True] Translation: X:55.36, Y:-2.82, Z:-1.70 [[ 9.73141211e-01 2.28562531e-01 2.74836982e-02 5.53621601e+01] [-2.28485880e-01 9.73529106e-01 -5.93989088e-03 -2.82050388e+00] [-2.81138166e-02 -4.99284370e-04 9.99604604e-01 -1.69723390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.566874999999996 meters 0.015845702757774652 Centerline is valid? [True, True] Translation: X:55.39, Y:-2.83, Z:-1.70 [[ 9.72976970e-01 2.29344266e-01 2.67772939e-02 5.53937456e+01] [-2.29271623e-01 9.73345240e-01 -5.79373870e-03 -2.82644191e+00] [-2.73923123e-02 -5.02099316e-04 9.99624634e-01 -1.69849952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.596875 meters 0.016682061344248236 Centerline is valid? [True, True] Translation: X:55.43, Y:-2.83, Z:-1.70 [[ 9.72708960e-01 2.30515994e-01 2.64509844e-02 5.54251362e+01] [-2.30445353e-01 9.73068396e-01 -5.73017447e-03 -2.83046137e+00] [-2.70595139e-02 -5.21714400e-04 9.99633688e-01 -1.70034757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.626875 meters 0.016581980379098048 Centerline is valid? [True, True] Translation: X:55.46, Y:-2.84, Z:-1.70 [[ 9.72546401e-01 2.31156331e-01 2.68374308e-02 5.54574933e+01] [-2.31083770e-01 9.72916468e-01 -5.81695626e-03 -2.83758620e+00] [-2.74552047e-02 -5.44434813e-04 9.99622887e-01 -1.70138205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.656875 meters 0.016627869684538242 Centerline is valid? [True, True] Translation: X:55.49, Y:-2.85, Z:-1.70 [[ 9.72335012e-01 2.31945655e-01 2.76737778e-02 5.54894205e+01] [-2.31868592e-01 9.72728575e-01 -6.00625905e-03 -2.84505395e+00] [-2.83122001e-02 -5.76583925e-04 9.99598963e-01 -1.70197910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68687499999999 meters 0.016547521380829995 Centerline is valid? [True, True] Translation: X:55.52, Y:-2.85, Z:-1.70 [[ 9.72289084e-01 2.32203616e-01 2.71185746e-02 5.55217860e+01] [-2.32129509e-01 9.72667035e-01 -5.89319913e-03 -2.85309462e+00] [-2.77457657e-02 -5.65128218e-04 9.99614852e-01 -1.70305474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.716874999999995 meters 0.016589705653151137 Centerline is valid? [True, True] Translation: X:55.55, Y:-2.86, Z:-1.70 [[ 9.72266995e-01 2.32362421e-01 2.65442113e-02 5.55532289e+01] [-2.32291277e-01 9.72629119e-01 -5.77583145e-03 -2.86077806e+00] [-2.71597590e-02 -5.50338451e-04 9.99630954e-01 -1.70458208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.746874999999996 meters 0.01626058406645036 Centerline is valid? [True, True] Translation: X:55.58, Y:-2.87, Z:-1.71 [[ 9.72368482e-01 2.32088798e-01 2.51858215e-02 5.55844917e+01] [-2.32024498e-01 9.72694469e-01 -5.48647509e-03 -2.86922788e+00] [-2.57714587e-02 -5.08852141e-04 9.99667731e-01 -1.70706487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.776875 meters 0.01620577684288622 Centerline is valid? [True, True] Translation: X:55.62, Y:-2.88, Z:-1.71 [[ 9.72369998e-01 2.31999679e-01 2.59371421e-02 5.56157958e+01] [-2.31931247e-01 9.72715727e-01 -5.65791538e-03 -2.87704348e+00] [-2.65421005e-02 -5.14046527e-04 9.99647564e-01 -1.70884891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.806875 meters 0.016233379128772717 Centerline is valid? [True, True] Translation: X:55.65, Y:-2.88, Z:-1.71 [[ 9.72380719e-01 2.31953834e-01 2.59452689e-02 5.56468000e+01] [-2.31885175e-01 9.72726664e-01 -5.66602864e-03 -2.88436376e+00] [-2.65519119e-02 -5.06786211e-04 9.99647307e-01 -1.70985434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.836875 meters 0.016239657951299474 Centerline is valid? [True, True] Translation: X:55.68, Y:-2.89, Z:-1.71 [[ 9.72436327e-01 2.31715830e-01 2.59877533e-02 5.56781060e+01] [-2.31646674e-01 9.72783393e-01 -5.68229937e-03 -2.89311330e+00] [-2.65971336e-02 -4.94302305e-04 9.99646111e-01 -1.71079669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.866875 meters 0.016041258271823226 Centerline is valid? [True, True] Translation: X:55.71, Y:-2.90, Z:-1.71 [[ 9.72397198e-01 2.31960332e-01 2.52604992e-02 5.57103243e+01] [-2.31894927e-01 9.72725127e-01 -5.52904154e-03 -2.90169164e+00] [-2.58540406e-02 -4.81357100e-04 9.99665613e-01 -1.71191984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.896874999999994 meters 0.016270312823603507 Centerline is valid? [True, True] Translation: X:55.74, Y:-2.91, Z:-1.71 [[ 9.72207724e-01 2.32909726e-01 2.37739506e-02 5.57419000e+01] [-2.32851919e-01 9.72498246e-01 -5.21014541e-03 -2.90899726e+00] [-2.43336188e-02 -4.70466399e-04 9.99703783e-01 -1.71352342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.926874999999995 meters 0.016218604117405815 Centerline is valid? [True, True] Translation: X:55.77, Y:-2.92, Z:-1.71 [[ 9.71996786e-01 2.33798723e-01 2.36728609e-02 5.57729451e+01] [-2.33741530e-01 9.72284897e-01 -5.19378916e-03 -2.91653866e+00] [-2.42310664e-02 -4.84984354e-04 9.99706267e-01 -1.71410938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.956875 meters 0.01750738019829714 Centerline is valid? [True, True] Translation: X:55.80, Y:-2.92, Z:-1.72 [[ 9.71660438e-01 2.35193955e-01 2.36600360e-02 5.58040958e+01] [-2.35137090e-01 9.71948322e-01 -5.19705479e-03 -2.92126533e+00] [-2.42186482e-02 -5.13579473e-04 9.99706554e-01 -1.71596266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.986875 meters 0.017501094478001224 Centerline is valid? [True, True] Translation: X:55.83, Y:-2.93, Z:-1.72 [[ 9.70916143e-01 2.38178423e-01 2.43491773e-02 5.58348376e+01] [-2.38118988e-01 9.71221231e-01 -5.35424877e-03 -2.92899505e+00] [-2.49237045e-02 -5.99474905e-04 9.99689176e-01 -1.71567681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.016875 meters 0.0185949549733984 Centerline is valid? [True, True] Translation: X:55.87, Y:-2.93, Z:-1.72 [[ 9.70531476e-01 2.39692397e-01 2.48235404e-02 5.58654443e+01] [-2.39630967e-01 9.70848669e-01 -5.46450587e-03 -2.93380554e+00] [-2.54097017e-02 -6.45014050e-04 9.99676913e-01 -1.71736287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.046875 meters 0.018432560686467078 Centerline is valid? [True, True] Translation: X:55.90, Y:-2.94, Z:-1.72 [[ 9.70122873e-01 2.41370827e-01 2.45303051e-02 5.58967379e+01] [-2.41311238e-01 9.70432722e-01 -5.40543166e-03 -2.94141248e+00] [-2.51097243e-02 -6.75505419e-04 9.99684473e-01 -1.71810645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.076874999999994 meters 0.019540304367366222 Centerline is valid? [True, True] Translation: X:55.93, Y:-2.95, Z:-1.72 [[ 9.69850588e-01 2.42508268e-01 2.40744122e-02 5.59272073e+01] [-2.42451057e-01 9.70149097e-01 -5.31173887e-03 -2.94651120e+00] [-2.46439098e-02 -6.85273618e-04 9.99696058e-01 -1.71983820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.106874999999995 meters 0.01980198841506981 Centerline is valid? [True, True] Translation: X:55.96, Y:-2.95, Z:-1.72 [[ 9.69480222e-01 2.44057240e-01 2.33273149e-02 5.59585655e+01] [-2.44003921e-01 9.69760575e-01 -5.14905623e-03 -2.95459855e+00] [-2.38785748e-02 -7.00048123e-04 9.99714621e-01 -1.72072842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.136874999999996 meters 0.019673367284757357 Centerline is valid? [True, True] Translation: X:55.99, Y:-2.96, Z:-1.72 [[ 9.69448752e-01 2.44216639e-01 2.29641136e-02 5.59907896e+01] [-2.44164888e-01 9.69720455e-01 -5.07418685e-03 -2.96304148e+00] [-2.35079716e-02 -6.87866127e-04 9.99723413e-01 -1.72137117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.166875 meters 0.019673367284757357 Centerline is valid? [True, True] Translation: X:56.02, Y:-2.97, Z:-1.72 [[ 9.69382101e-01 2.44481197e-01 2.29627234e-02 5.60223805e+01] [-2.44429371e-01 9.69653789e-01 -5.08046877e-03 -2.97013329e+00] [-2.35079709e-02 -6.87848561e-04 9.99723413e-01 -1.72240610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.196875 meters 0.019501934642067568 Centerline is valid? [True, True] Translation: X:56.05, Y:-2.98, Z:-1.72 [[ 9.69495405e-01 2.44043318e-01 2.28367824e-02 5.60536624e+01] [-2.43991780e-01 9.69764102e-01 -5.05937850e-03 -2.97870654e+00] [-2.33809993e-02 -6.66942999e-04 9.99726405e-01 -1.72337884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.226875 meters 0.019227113369426105 Centerline is valid? [True, True] Translation: X:56.08, Y:-2.99, Z:-1.72 [[ 9.69630892e-01 2.43453750e-01 2.33710192e-02 5.60848505e+01] [-2.43399456e-01 9.69912281e-01 -5.18379377e-03 -2.98749495e+00] [-2.39298526e-02 -6.62126772e-04 9.99713421e-01 -1.72349951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.256874999999994 meters 0.017446110210229418 Centerline is valid? [True, True] Translation: X:56.11, Y:-3.00, Z:-1.72 [[ 9.70190790e-01 2.41125697e-01 2.42534520e-02 5.61148214e+01] [-2.41066340e-01 9.70493695e-01 -5.38586417e-03 -2.99960120e+00] [-2.48364925e-02 -6.21375100e-04 9.99691334e-01 -1.72345385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.286874999999995 meters 0.01742148707210119 Centerline is valid? [True, True] Translation: X:56.14, Y:-3.01, Z:-1.73 [[ 9.70490431e-01 2.39908648e-01 2.43344073e-02 5.61445999e+01] [-2.39848335e-01 9.70795291e-01 -5.41093530e-03 -3.00742267e+00] [-2.49218582e-02 -5.85306162e-04 9.99689231e-01 -1.72511485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.316874999999996 meters 0.017937294709335767 Centerline is valid? [True, True] Translation: X:56.17, Y:-3.01, Z:-1.73 [[ 9.70791106e-01 2.38676716e-01 2.44551184e-02 5.61745658e+01] [-2.38615336e-01 9.71098923e-01 -5.44081918e-03 -3.01400979e+00] [-2.50469360e-02 -5.53467417e-04 9.99686123e-01 -1.72636340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.346875 meters 0.01661940868025331 Centerline is valid? [True, True] Translation: X:56.21, Y:-3.03, Z:-1.73 [[ 9.71181926e-01 2.36942088e-01 2.57703959e-02 5.62051514e+01] [-2.36873149e-01 9.71523631e-01 -5.73978006e-03 -3.02556902e+00] [-2.63965441e-02 -5.29944167e-04 9.99651410e-01 -1.72593394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.376875 meters 0.01663502566936327 Centerline is valid? [True, True] Translation: X:56.24, Y:-3.03, Z:-1.73 [[ 9.71252696e-01 2.36660365e-01 2.56918734e-02 5.62350306e+01] [-2.36591575e-01 9.71592305e-01 -5.72884381e-03 -3.03303771e+00] [-2.63178168e-02 -5.14325788e-04 9.99653494e-01 -1.72670228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.406875 meters 0.016428941555341154 Centerline is valid? [True, True] Translation: X:56.27, Y:-3.04, Z:-1.73 [[ 9.71205356e-01 2.36883099e-01 2.54274293e-02 5.62672012e+01] [-2.36815650e-01 9.71538027e-01 -5.67540967e-03 -3.04124751e+00] [-2.60481231e-02 -5.09624943e-04 9.99660560e-01 -1.72765525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43687499999999 meters 0.01695661814891544 Centerline is valid? [True, True] Translation: X:56.30, Y:-3.05, Z:-1.73 [[ 9.70875035e-01 2.38355956e-01 2.42508498e-02 5.62983951e+01] [-2.38294894e-01 9.71177724e-01 -5.41964073e-03 -3.04797490e+00] [-2.48436887e-02 -5.17059800e-04 9.99691214e-01 -1.72951062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.466874999999995 meters 0.017320578602664453 Centerline is valid? [True, True] Translation: X:56.33, Y:-3.05, Z:-1.73 [[ 9.70591250e-01 2.39559939e-01 2.37415612e-02 5.63299548e+01] [-2.39501635e-01 9.70881431e-01 -5.31160512e-03 -3.05470714e+00] [-2.43226887e-02 -5.30745273e-04 9.99704019e-01 -1.73107816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.496874999999996 meters 0.017815122003475237 Centerline is valid? [True, True] Translation: X:56.36, Y:-3.06, Z:-1.73 [[ 9.70291136e-01 2.40833842e-01 2.31121479e-02 5.63612846e+01] [-2.40778817e-01 9.70566209e-01 -5.17635992e-03 -3.06112307e+00] [-2.36785124e-02 -5.42339470e-04 9.99719478e-01 -1.73288398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.526875 meters 0.018443168504939992 Centerline is valid? [True, True] Translation: X:56.39, Y:-3.07, Z:-1.73 [[ 9.69887561e-01 2.42522921e-01 2.23774727e-02 5.63925580e+01] [-2.42471667e-01 9.70145514e-01 -5.01712236e-03 -3.06755368e+00] [-2.29261719e-02 -5.59858543e-04 9.99737004e-01 -1.73494501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.556875 meters 0.018874389308516565 Centerline is valid? [True, True] Translation: X:56.42, Y:-3.07, Z:-1.74 [[ 9.69761783e-01 2.43040695e-01 2.22104798e-02 5.64232657e+01] [-2.42990218e-01 9.70015930e-01 -4.98497488e-03 -3.07391446e+00] [-2.27560710e-02 -5.62691207e-04 9.99740889e-01 -1.73721812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.586875 meters 0.01985857042766724 Centerline is valid? [True, True] Translation: X:56.45, Y:-3.08, Z:-1.74 [[ 9.69413086e-01 2.44316369e-01 2.34047170e-02 5.64534193e+01] [-2.44260522e-01 9.69695380e-01 -5.25996323e-03 -3.08037966e+00] [-2.39805410e-02 -6.17771202e-04 9.99712235e-01 -1.73785934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.616875 meters 0.017957882049327977 Centerline is valid? [True, True] Translation: X:56.48, Y:-3.09, Z:-1.74 [[ 9.69246260e-01 2.44954773e-01 2.36399529e-02 5.64846251e+01] [-2.44897868e-01 9.69534298e-01 -5.31777194e-03 -3.09258979e+00] [-2.42223588e-02 -6.35143507e-04 9.99706394e-01 -1.73695064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.646874999999994 meters 0.018668348495651247 Centerline is valid? [True, True] Translation: X:56.52, Y:-3.10, Z:-1.74 [[ 9.69219975e-01 2.45047500e-01 2.37563003e-02 5.65160394e+01] [-2.44989883e-01 9.69510867e-01 -5.35127528e-03 -3.09941508e+00] [-2.43433080e-02 -6.33490338e-04 9.99703457e-01 -1.73720324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.676874999999995 meters 0.019119377994591756 Centerline is valid? [True, True] Translation: X:56.55, Y:-3.11, Z:-1.74 [[ 9.69185911e-01 2.45171781e-01 2.38635377e-02 5.65465589e+01] [-2.45113516e-01 9.69479446e-01 -5.38214842e-03 -3.10689334e+00] [-2.44547602e-02 -6.32973196e-04 9.99700737e-01 -1.73758649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.706875 meters 0.019482137857546253 Centerline is valid? [True, True] Translation: X:56.58, Y:-3.11, Z:-1.74 [[ 9.69221007e-01 2.45052507e-01 2.36623860e-02 5.65775093e+01] [-2.44995031e-01 9.69509611e-01 -5.34307605e-03 -3.11402535e+00] [-2.42502448e-02 -6.18545445e-04 9.99705728e-01 -1.73885017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.736875 meters 0.020241548564221293 Centerline is valid? [True, True] Translation: X:56.61, Y:-3.12, Z:-1.74 [[ 9.69350444e-01 2.44505779e-01 2.40133499e-02 5.66076089e+01] [-2.44446249e-01 9.69647645e-01 -5.42917070e-03 -3.12010956e+00] [-2.46119518e-02 -6.07204296e-04 9.99696896e-01 -1.74008535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.766875 meters 0.018946851537288735 Centerline is valid? [True, True] Translation: X:56.64, Y:-3.13, Z:-1.74 [[ 9.69318384e-01 2.44614707e-01 2.41974284e-02 5.66389563e+01] [-2.44554168e-01 9.69620170e-01 -5.47593261e-03 -3.13010452e+00] [-2.48018083e-02 -6.09659811e-04 9.99692202e-01 -1.74087660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.796875 meters 0.018279989989520053 Centerline is valid? [True, True] Translation: X:56.67, Y:-3.14, Z:-1.74 [[ 9.69316834e-01 2.44637226e-01 2.40313011e-02 5.66710251e+01] [-2.44577357e-01 9.69614495e-01 -5.44502006e-03 -3.13878452e+00] [-2.46331525e-02 -5.99562515e-04 9.99696378e-01 -1.74201703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.826874999999994 meters 0.018622660445411984 Centerline is valid? [True, True] Translation: X:56.70, Y:-3.15, Z:-1.74 [[ 9.69304994e-01 2.44728342e-01 2.35768476e-02 5.67026026e+01] [-2.44670580e-01 9.69591511e-01 -5.34880353e-03 -3.14566541e+00] [-2.41689151e-02 -5.83939006e-04 9.99707719e-01 -1.74437446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.856874999999995 meters 0.017782034631045468 Centerline is valid? [True, True] Translation: X:56.73, Y:-3.15, Z:-1.75 [[ 9.69506358e-01 2.43982133e-01 2.30247634e-02 5.67332311e+01] [-2.43926691e-01 9.69779573e-01 -5.22965996e-03 -3.15453695e+00] [-2.36048889e-02 -5.46165770e-04 9.99721217e-01 -1.74556181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.886874999999996 meters 0.017403001941409695 Centerline is valid? [True, True] Translation: X:56.76, Y:-3.16, Z:-1.75 [[ 9.69825573e-01 2.42684533e-01 2.32932493e-02 5.67640762e+01] [-2.42627272e-01 9.70105125e-01 -5.29663544e-03 -3.16285303e+00] [-2.38823120e-02 -5.14765016e-04 9.99714644e-01 -1.74645801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.916875 meters 0.016055119779232525 Centerline is valid? [True, True] Translation: X:56.79, Y:-3.17, Z:-1.74 [[ 9.70674232e-01 2.39160588e-01 2.43669711e-02 5.67943573e+01] [-2.39096654e-01 9.70979927e-01 -5.54725285e-03 -3.17406651e+00] [-2.49865241e-02 -4.41485856e-04 9.99687691e-01 -1.74444994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.946875 meters 0.015650964925679845 Centerline is valid? [True, True] Translation: X:56.82, Y:-3.18, Z:-1.74 [[ 9.71145017e-01 2.37156752e-01 2.51799703e-02 5.68242874e+01] [-2.37087631e-01 9.71471316e-01 -5.73910166e-03 -3.18228110e+00] [-2.58226856e-02 -3.96359518e-04 9.99666460e-01 -1.74403909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.976875 meters 0.01494596856152829 Centerline is valid? [True, True] Translation: X:56.85, Y:-3.19, Z:-1.74 [[ 9.71498576e-01 2.35636428e-01 2.58067992e-02 5.68547795e+01] [-2.35563124e-01 9.71841214e-01 -5.88807415e-03 -3.19114142e+00] [-2.64675559e-02 -3.58874603e-04 9.99649608e-01 -1.74410266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.006874999999994 meters 0.014720374435007922 Centerline is valid? [True, True] Translation: X:56.89, Y:-3.20, Z:-1.75 [[ 9.71871234e-01 2.34098785e-01 2.57694119e-02 5.68852497e+01] [-2.34024977e-01 9.72212766e-01 -5.88623775e-03 -3.19829841e+00] [-2.64313123e-02 -3.10020872e-04 9.99650584e-01 -1.74622722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.036874999999995 meters 0.014649022593468458 Centerline is valid? [True, True] Translation: X:56.92, Y:-3.20, Z:-1.75 [[ 9.72197627e-01 2.32753211e-01 2.56459974e-02 5.69160456e+01] [-2.32679468e-01 9.72535795e-01 -5.86455203e-03 -3.20497732e+00] [-2.63066437e-02 -2.65793465e-04 9.99653885e-01 -1.74797481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.066874999999996 meters 0.01420726979401882 Centerline is valid? [True, True] Translation: X:56.95, Y:-3.21, Z:-1.75 [[ 9.72700667e-01 2.30633361e-01 2.57228579e-02 5.69468014e+01] [-2.30558351e-01 9.73040703e-01 -5.88525619e-03 -3.21254752e+00] [-2.63867242e-02 -2.06027078e-04 9.99651789e-01 -1.74938704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.096875 meters 0.013990845088437443 Centerline is valid? [True, True] Translation: X:56.98, Y:-3.22, Z:-1.75 [[ 9.72854535e-01 2.29995656e-01 2.56135231e-02 5.69788563e+01] [-2.29920902e-01 9.73191638e-01 -5.86631428e-03 -3.22069609e+00] [-2.62760933e-02 -1.82013884e-04 9.99654707e-01 -1.74974742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.126875 meters 0.013953474278068655 Centerline is valid? [True, True] Translation: X:57.01, Y:-3.23, Z:-1.75 [[ 9.73220801e-01 2.28479076e-01 2.52702368e-02 5.70086382e+01] [-2.28405607e-01 9.73548815e-01 -5.79520089e-03 -3.22804054e+00] [-2.59258913e-02 -1.31853731e-04 9.99663859e-01 -1.75152629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.156875 meters 0.013739384946977939 Centerline is valid? [True, True] Translation: X:57.04, Y:-3.24, Z:-1.75 [[ 9.73573975e-01 2.27034284e-01 2.46809462e-02 5.70407211e+01] [-2.26963604e-01 9.73886763e-01 -5.66533940e-03 -3.23565707e+00] [-2.53226731e-02 -8.60495004e-05 9.99679326e-01 -1.75292864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18687499999999 meters 0.013721358025096558 Centerline is valid? [True, True] Translation: X:57.07, Y:-3.24, Z:-1.75 [[ 9.73775284e-01 2.26132118e-01 2.50192137e-02 5.70730060e+01] [-2.26059003e-01 9.74096639e-01 -5.75022994e-03 -3.24301839e+00] [-2.56714437e-02 -5.63867176e-05 9.99670433e-01 -1.75387151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.216874999999995 meters 0.013709057772550177 Centerline is valid? [True, True] Translation: X:57.10, Y:-3.25, Z:-1.75 [[ 9.74108669e-01 2.24613439e-01 2.57119380e-02 5.71047486e+01] [-2.24535462e-01 9.74447948e-01 -5.91803559e-03 -3.25061985e+00] [-2.63842156e-02 -8.43211403e-06 9.99651876e-01 -1.75381111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.246874999999996 meters 0.014085818726470157 Centerline is valid? [True, True] Translation: X:57.13, Y:-3.26, Z:-1.75 [[ 9.75459426e-01 2.18270693e-01 2.89277022e-02 5.71348683e+01] [-2.18169112e-01 9.75888247e-01 -6.66101052e-03 -3.25991991e+00] [-2.96841080e-02 1.86414411e-04 9.99559312e-01 -1.74941354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.276875 meters 0.014486231969836293 Centerline is valid? [True, True] Translation: X:57.17, Y:-3.27, Z:-1.75 [[ 9.76101838e-01 2.15329887e-01 2.92957523e-02 5.71660231e+01] [-2.15224262e-01 9.76541325e-01 -6.74962761e-03 -3.26710907e+00] [-3.00619093e-02 2.83167267e-04 9.99547999e-01 -1.75005475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.306875 meters 0.014699921742194328 Centerline is valid? [True, True] Translation: X:57.20, Y:-3.27, Z:-1.75 [[ 9.76561109e-01 2.13368701e-01 2.83230878e-02 5.71971569e+01] [-2.13268957e-01 9.76971690e-01 -6.53214763e-03 -3.27273647e+00] [-2.90646108e-02 3.38605922e-04 9.99577478e-01 -1.75252160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.336875 meters 0.014823311220193224 Centerline is valid? [True, True] Translation: X:57.23, Y:-3.28, Z:-1.76 [[ 9.76837361e-01 2.12249344e-01 2.71842992e-02 5.72283484e+01] [-2.12156849e-01 9.77215475e-01 -6.27596475e-03 -3.27817505e+00] [-2.78969873e-02 3.63261594e-04 9.99610737e-01 -1.75603461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.366875 meters 0.015033631449226708 Centerline is valid? [True, True] Translation: X:57.26, Y:-3.28, Z:-1.76 [[ 9.77026717e-01 2.11435338e-01 2.67187539e-02 5.72595162e+01] [-2.11345500e-01 9.77391911e-01 -6.17502143e-03 -3.28356188e+00] [-2.74203117e-02 3.86272509e-04 9.99623918e-01 -1.75884530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.396874999999994 meters 0.015247899589935023 Centerline is valid? [True, True] Translation: X:57.29, Y:-3.29, Z:-1.76 [[ 9.77133726e-01 2.11048895e-01 2.58465707e-02 5.72898401e+01] [-2.10964526e-01 9.77475428e-01 -5.97976096e-03 -3.28894940e+00] [-2.65264097e-02 3.90316587e-04 9.99648037e-01 -1.76101896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.426874999999995 meters 0.01489231645283507 Centerline is valid? [True, True] Translation: X:57.32, Y:-3.29, Z:-1.76 [[ 9.76921171e-01 2.12083856e-01 2.54059872e-02 5.73225699e+01] [-2.12002542e-01 9.77251404e-01 -5.88345261e-03 -3.29139894e+00] [-2.60758219e-02 3.61535563e-04 9.99659903e-01 -1.76149273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.456875 meters 0.015262850012128085 Centerline is valid? [True, True] Translation: X:57.35, Y:-3.30, Z:-1.76 [[ 9.76629097e-01 2.13413369e-01 2.55017692e-02 5.73530354e+01] [-2.13331720e-01 9.76961935e-01 -5.91223074e-03 -3.29747047e+00] [-2.61760069e-02 3.33720280e-04 9.99657294e-01 -1.76211174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.486875 meters 0.014845187491271769 Centerline is valid? [True, True] Translation: X:57.39, Y:-3.30, Z:-1.76 [[ 9.76309282e-01 2.14808019e-01 2.60326926e-02 5.73851745e+01] [-2.14723265e-01 9.76656244e-01 -6.04151926e-03 -3.30112006e+00] [-2.67227585e-02 3.08566586e-04 9.99642836e-01 -1.76222083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.516875 meters 0.014424505721370011 Centerline is valid? [True, True] Translation: X:57.42, Y:-3.30, Z:-1.76 [[ 9.75779066e-01 2.17222662e-01 2.58752746e-02 5.74180980e+01] [-2.17139593e-01 9.76122048e-01 -6.01196830e-03 -3.30372927e+00] [-2.65633618e-02 2.47806233e-04 9.99647101e-01 -1.76210014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.546875 meters 0.014040611858396758 Centerline is valid? [True, True] Translation: X:57.45, Y:-3.31, Z:-1.76 [[ 9.75076420e-01 2.20372882e-01 2.57248428e-02 5.74499252e+01] [-2.20291834e-01 9.75415689e-01 -5.97843498e-03 -3.30628753e+00] [-2.64099002e-02 1.62458182e-04 9.99651185e-01 -1.76368948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.576874999999994 meters 0.013732056207548622 Centerline is valid? [True, True] Translation: X:57.48, Y:-3.30, Z:-1.77 [[ 9.73470507e-01 2.27439160e-01 2.50319999e-02 5.74831860e+01] [-2.27364597e-01 9.73792292e-01 -5.82341587e-03 -3.30361043e+00] [-2.57004414e-02 -2.24669692e-05 9.99669689e-01 -1.76661299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.606874999999995 meters 0.013960354880854032 Centerline is valid? [True, True] Translation: X:57.52, Y:-3.31, Z:-1.77 [[ 9.72558461e-01 2.31289403e-01 2.52041932e-02 5.75166961e+01] [-2.31214944e-01 9.72884987e-01 -5.86959458e-03 -3.30612244e+00] [-2.58783562e-02 -1.19062231e-04 9.99665092e-01 -1.76838923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.636874999999996 meters 0.014212595264899985 Centerline is valid? [True, True] Translation: X:57.55, Y:-3.31, Z:-1.77 [[ 9.71653370e-01 2.35014575e-01 2.56491372e-02 5.75485283e+01] [-2.34938540e-01 9.71991823e-01 -5.98152424e-03 -3.30809508e+00] [-2.63364970e-02 -2.14002674e-04 9.99653111e-01 -1.76989616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.666875 meters 0.014963706971105946 Centerline is valid? [True, True] Translation: X:57.58, Y:-3.31, Z:-1.77 [[ 9.70831656e-01 2.38316500e-01 2.62895877e-02 5.75802987e+01] [-2.38237741e-01 9.71187495e-01 -6.13412725e-03 -3.31029989e+00] [-2.69939826e-02 -3.07967076e-04 9.99635549e-01 -1.77148455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.696875 meters 0.01530831464648121 Centerline is valid? [True, True] Translation: X:57.61, Y:-3.31, Z:-1.77 [[ 9.70044834e-01 2.41460746e-01 2.66407371e-02 5.76127936e+01] [-2.41380886e-01 9.70410507e-01 -6.22218578e-03 -3.31392598e+00] [-2.73548648e-02 -3.94765558e-04 9.99625708e-01 -1.77131288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.726875 meters 0.015731444920812573 Centerline is valid? [True, True] Translation: X:57.65, Y:-3.32, Z:-1.77 [[ 9.69309923e-01 2.44263405e-01 2.78147829e-02 5.76452477e+01] [-2.44177295e-01 9.69708797e-01 -6.50363903e-03 -3.31800293e+00] [-2.85608407e-02 -4.87696624e-04 9.99591937e-01 -1.77106888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.756874999999994 meters 0.016150222400218083 Centerline is valid? [True, True] Translation: X:57.68, Y:-3.32, Z:-1.77 [[ 9.68165726e-01 2.48602947e-01 2.91839259e-02 5.76776795e+01] [-2.48509876e-01 9.68605269e-01 -6.83182232e-03 -3.32019659e+00] [-2.99661156e-02 -6.38157589e-04 9.99550711e-01 -1.77043093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.786874999999995 meters 0.017088528557488047 Centerline is valid? [True, True] Translation: X:57.71, Y:-3.32, Z:-1.77 [[ 9.67783773e-01 2.50046098e-01 2.95214948e-02 5.77088335e+01] [-2.49951471e-01 9.68233688e-01 -6.91285228e-03 -3.32310048e+00] [-3.03122375e-02 -6.88794779e-04 9.99540241e-01 -1.77184337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.816874999999996 meters 0.0169995640803855 Centerline is valid? [True, True] Translation: X:57.74, Y:-3.33, Z:-1.77 [[ 9.67384945e-01 2.51558450e-01 2.97441398e-02 5.77401912e+01] [-2.51462883e-01 9.67841829e-01 -6.97221791e-03 -3.32877470e+00] [-3.05415430e-02 -7.34728518e-04 9.99533228e-01 -1.77236982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.846875 meters 0.017574541092243965 Centerline is valid? [True, True] Translation: X:57.77, Y:-3.33, Z:-1.77 [[ 9.67060020e-01 2.52794128e-01 2.98336357e-02 5.77715700e+01] [-2.52698335e-01 9.67519787e-01 -7.00095381e-03 -3.33288851e+00] [-3.06344328e-02 -7.68567536e-04 9.99530360e-01 -1.77398424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.876875 meters 0.01741903339598344 Centerline is valid? [True, True] Translation: X:57.80, Y:-3.34, Z:-1.78 [[ 9.66768114e-01 2.53874898e-01 3.01156058e-02 5.78026623e+01] [-2.53777585e-01 9.67236729e-01 -7.07436783e-03 -3.33841596e+00] [-3.09249245e-02 -8.03392478e-04 9.99521387e-01 -1.77565340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.906875 meters 0.017172324122284758 Centerline is valid? [True, True] Translation: X:57.83, Y:-3.34, Z:-1.78 [[ 9.66615079e-01 2.54526900e-01 2.95185690e-02 5.78348933e+01] [-2.54433503e-01 9.67065362e-01 -6.94100525e-03 -3.34479203e+00] [-3.03130582e-02 -8.01232580e-04 9.99540133e-01 -1.77774697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93687499999999 meters 0.01760604058349854 Centerline is valid? [True, True] Translation: X:57.87, Y:-3.35, Z:-1.78 [[ 9.66255555e-01 2.56071247e-01 2.78876017e-02 5.78668585e+01] [-2.55988300e-01 9.66657584e-01 -6.56551922e-03 -3.34846376e+00] [-2.86390023e-02 -7.94930308e-04 9.99589504e-01 -1.78033177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.966874999999995 meters 0.01805236352986469 Centerline is valid? [True, True] Translation: X:57.90, Y:-3.35, Z:-1.78 [[ 9.65982102e-01 2.57164560e-01 2.72940841e-02 5.78981997e+01] [-2.57085346e-01 9.66367293e-01 -6.43278925e-03 -3.35371914e+00] [-2.80303955e-02 -8.02949756e-04 9.99606749e-01 -1.78150211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.996874999999996 meters 0.01837327817603929 Centerline is valid? [True, True] Translation: X:57.93, Y:-3.36, Z:-1.78 [[ 9.65705415e-01 2.58196247e-01 2.73450083e-02 5.79301857e+01] [-2.58116948e-01 9.66092135e-01 -6.45194929e-03 -3.35900285e+00] [-2.80836665e-02 -8.27527721e-04 9.99605234e-01 -1.78191872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.026875 meters 0.019249889584101003 Centerline is valid? [True, True] Translation: X:57.96, Y:-3.36, Z:-1.78 [[ 9.65491269e-01 2.58918881e-01 2.80646255e-02 5.79615874e+01] [-2.58835440e-01 9.65898684e-01 -6.62928672e-03 -3.36315823e+00] [-2.88240323e-02 -8.63601250e-04 9.99584128e-01 -1.78245035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.056875 meters 0.019249889584101003 Centerline is valid? [True, True] Translation: X:57.99, Y:-3.37, Z:-1.78 [[ 9.65420214e-01 2.59183853e-01 2.80631573e-02 5.79930893e+01] [-2.59100345e-01 9.65827615e-01 -6.63549583e-03 -3.37069415e+00] [-2.88239857e-02 -8.65131922e-04 9.99584128e-01 -1.78348455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.086875 meters 0.018940435770616455 Centerline is valid? [True, True] Translation: X:58.02, Y:-3.38, Z:-1.78 [[ 9.65064786e-01 2.60452156e-01 2.85417787e-02 5.80246652e+01] [-2.60366078e-01 9.65486326e-01 -6.75716254e-03 -3.37763191e+00] [-2.93166146e-02 -9.10211360e-04 9.99569761e-01 -1.78390728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.116875 meters 0.020680583746886427 Centerline is valid? [True, True] Translation: X:58.06, Y:-3.38, Z:-1.78 [[ 9.64732705e-01 2.61647819e-01 2.88309909e-02 5.80561587e+01] [-2.61560296e-01 9.65162949e-01 -6.83322925e-03 -3.38117851e+00] [-2.96145038e-02 -9.48802772e-04 9.99560944e-01 -1.78478881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.146874999999994 meters 0.020384923883250358 Centerline is valid? [True, True] Translation: X:58.09, Y:-3.39, Z:-1.79 [[ 9.64233607e-01 2.63561106e-01 2.80908213e-02 5.80871243e+01] [-2.63478643e-01 9.64642209e-01 -6.66427331e-03 -3.38799374e+00] [-2.88540352e-02 -9.75415194e-04 9.99583160e-01 -1.78643035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.176874999999995 meters 0.020751694472822674 Centerline is valid? [True, True] Translation: X:58.12, Y:-3.39, Z:-1.79 [[ 9.64049813e-01 2.64303213e-01 2.74184295e-02 5.81183090e+01] [-2.64224757e-01 9.64439151e-01 -6.51162454e-03 -3.39378176e+00] [-2.81644501e-02 -9.67097461e-04 9.99602835e-01 -1.78850646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.206875 meters 0.02175335062592084 Centerline is valid? [True, True] Translation: X:58.15, Y:-3.40, Z:-1.79 [[ 9.63815975e-01 2.65175324e-01 2.72179097e-02 5.81490391e+01] [-2.65098164e-01 9.64199715e-01 -6.47099323e-03 -3.39874335e+00] [-2.79594485e-02 -9.78571250e-04 9.99608579e-01 -1.79007051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.236875 meters 0.02069285468806926 Centerline is valid? [True, True] Translation: X:58.18, Y:-3.41, Z:-1.79 [[ 9.63678813e-01 2.65666874e-01 2.72810964e-02 5.81803615e+01] [-2.65589376e-01 9.64064383e-01 -6.49225654e-03 -3.40762563e+00] [-2.80255109e-02 -9.89119307e-04 9.99606719e-01 -1.79102708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.266875 meters 0.022853488532626424 Centerline is valid? [True, True] Translation: X:58.21, Y:-3.41, Z:-1.79 [[ 9.63414072e-01 2.66631734e-01 2.72184468e-02 5.82114538e+01] [-2.66554746e-01 9.63797958e-01 -6.48555865e-03 -3.41167816e+00] [-2.79623392e-02 -1.00692771e-03 9.99608470e-01 -1.79244976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.296875 meters 0.020716824338138946 Centerline is valid? [True, True] Translation: X:58.24, Y:-3.42, Z:-1.79 [[ 9.63378528e-01 2.66827655e-01 2.65483448e-02 5.82426017e+01] [-2.66754327e-01 9.63743762e-01 -6.33172711e-03 -3.42334127e+00] [-2.72752816e-02 -9.82035922e-04 9.99627478e-01 -1.79339569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.326874999999994 meters 0.020196287809550514 Centerline is valid? [True, True] Translation: X:58.27, Y:-3.43, Z:-1.79 [[ 9.63368133e-01 2.66888515e-01 2.63127464e-02 5.82744888e+01] [-2.66816297e-01 9.63726924e-01 -6.28324457e-03 -3.43290439e+00] [-2.70352280e-02 -9.67591984e-04 9.99634013e-01 -1.79394572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.356874999999995 meters 0.01996431886479594 Centerline is valid? [True, True] Translation: X:58.31, Y:-3.44, Z:-1.80 [[ 9.63474683e-01 2.66546172e-01 2.58780458e-02 5.83056195e+01] [-2.66475989e-01 9.63821698e-01 -6.18727725e-03 -3.44127528e+00] [-2.65910171e-02 -9.34592860e-04 9.99645959e-01 -1.79507068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.386874999999996 meters 0.02026928636732475 Centerline is valid? [True, True] Translation: X:58.34, Y:-3.45, Z:-1.80 [[ 9.63443682e-01 2.66653733e-01 2.59240841e-02 5.83380032e+01] [-2.66583162e-01 9.63791947e-01 -6.20494679e-03 -3.44916919e+00] [-2.66399957e-02 -9.32807541e-04 9.99644657e-01 -1.79616211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.416875 meters 0.01952667919917716 Centerline is valid? [True, True] Translation: X:58.37, Y:-3.46, Z:-1.80 [[ 9.63536164e-01 2.66325365e-01 2.58623504e-02 5.83682920e+01] [-2.66254802e-01 9.63882755e-01 -6.19802648e-03 -3.45843746e+00] [-2.65789652e-02 -9.13952321e-04 9.99646299e-01 -1.79737621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.446875 meters 0.019711794433102996 Centerline is valid? [True, True] Translation: X:58.40, Y:-3.47, Z:-1.80 [[ 9.63834378e-01 2.65311902e-01 2.51572322e-02 5.83984766e+01] [-2.65244624e-01 9.64162259e-01 -6.03548531e-03 -3.46784871e+00] [-2.58569400e-02 -8.55612381e-04 9.99665287e-01 -1.79941113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.476875 meters 0.020323471406968645 Centerline is valid? [True, True] Translation: X:58.43, Y:-3.48, Z:-1.80 [[ 9.63952417e-01 2.64913904e-01 2.48266161e-02 5.84282549e+01] [-2.64848069e-01 9.64271715e-01 -5.96328595e-03 -3.47542056e+00] [-2.55193611e-02 -8.26957429e-04 9.99673986e-01 -1.80134890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.506874999999994 meters 0.018880175968650395 Centerline is valid? [True, True] Translation: X:58.46, Y:-3.49, Z:-1.80 [[ 9.63972151e-01 2.64910197e-01 2.40889994e-02 5.84596066e+01] [-2.64848157e-01 9.64272756e-01 -5.78846022e-03 -3.48759603e+00] [-2.47617880e-02 -8.00012634e-04 9.99693060e-01 -1.80251568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.536874999999995 meters 0.01902853647307104 Centerline is valid? [True, True] Translation: X:58.49, Y:-3.50, Z:-1.80 [[ 9.64005271e-01 2.64832708e-01 2.36109055e-02 5.84916169e+01] [-2.64772915e-01 9.64294061e-01 -5.68052635e-03 -3.49689378e+00] [-2.42722451e-02 -7.75470934e-04 9.99705085e-01 -1.80443755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.566874999999996 meters 0.021393553812915557 Centerline is valid? [True, True] Translation: X:58.52, Y:-3.50, Z:-1.81 [[ 9.63899174e-01 2.65214209e-01 2.36602270e-02 5.85226394e+01] [-2.65154100e-01 9.64189201e-01 -5.69977741e-03 -3.50194858e+00] [-2.43245974e-02 -7.79595479e-04 9.99703809e-01 -1.80678267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.596875 meters 0.02019634486116842 Centerline is valid? [True, True] Translation: X:58.55, Y:-3.51, Z:-1.81 [[ 9.63742905e-01 2.65760413e-01 2.38959201e-02 5.85531857e+01] [-2.65699120e-01 9.64038780e-01 -5.76261781e-03 -3.51370613e+00] [-2.45680694e-02 -7.95442911e-04 9.99697843e-01 -1.80720422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.626875 meters 0.019884075856673643 Centerline is valid? [True, True] Translation: X:58.58, Y:-3.53, Z:-1.81 [[ 9.63462283e-01 2.66797867e-01 2.36501028e-02 5.85831541e+01] [-2.66737968e-01 9.63752171e-01 -5.71042278e-03 -3.52691275e+00] [-2.43163666e-02 -8.06603409e-04 9.99703988e-01 -1.80751017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.656875 meters 0.019446942469095955 Centerline is valid? [True, True] Translation: X:58.61, Y:-3.54, Z:-1.81 [[ 9.63366471e-01 2.67159066e-01 2.34750097e-02 5.86142998e+01] [-2.67100020e-01 9.63652109e-01 -5.67387800e-03 -3.53817207e+00] [-2.41375705e-02 -8.04151723e-04 9.99708323e-01 -1.80887308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68687499999999 meters 0.021746788922170156 Centerline is valid? [True, True] Translation: X:58.64, Y:-3.54, Z:-1.81 [[ 9.63230970e-01 2.67668168e-01 2.32346947e-02 5.86442680e+01] [-2.67610290e-01 9.63510825e-01 -5.62341546e-03 -3.54416314e+00] [-2.38920892e-02 -8.01195450e-04 9.99714222e-01 -1.81090718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.716874999999995 meters 0.020162378347071335 Centerline is valid? [True, True] Translation: X:58.67, Y:-3.56, Z:-1.81 [[ 9.63043443e-01 2.68377054e-01 2.28272501e-02 5.86744490e+01] [-2.68321289e-01 9.63313613e-01 -5.52894511e-03 -3.55728741e+00] [-2.34736428e-02 -8.00422855e-04 9.99724136e-01 -1.81187820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.746874999999996 meters 0.02156923069762251 Centerline is valid? [True, True] Translation: X:58.70, Y:-3.57, Z:-1.81 [[ 9.62848167e-01 2.69082372e-01 2.27614798e-02 5.87044050e+01] [-2.69026982e-01 9.63116827e-01 -5.51914621e-03 -3.56501276e+00] [-2.34070691e-02 -8.09352403e-04 9.99725689e-01 -1.81420800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.776875 meters 0.022833475017808896 Centerline is valid? [True, True] Translation: X:58.73, Y:-3.58, Z:-1.82 [[ 9.62560520e-01 2.70134060e-01 2.24685414e-02 5.87339162e+01] [-2.70080248e-01 9.62822372e-01 -5.45350328e-03 -3.57611564e+00] [-2.31063913e-02 -8.18982283e-04 9.99732676e-01 -1.81614397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.806875 meters 0.022159965707108143 Centerline is valid? [True, True] Translation: X:58.76, Y:-3.59, Z:-1.82 [[ 9.62399517e-01 2.70709381e-01 2.24410481e-02 5.87646361e+01] [-2.70655747e-01 9.62660764e-01 -5.45158118e-03 -3.58764819e+00] [-2.30789107e-02 -8.27199538e-04 9.99733304e-01 -1.81692858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.836875 meters 0.02327766303400224 Centerline is valid? [True, True] Translation: X:58.80, Y:-3.60, Z:-1.82 [[ 9.62329689e-01 2.70957992e-01 2.24351490e-02 5.87955111e+01] [-2.70904298e-01 9.62590818e-01 -5.45691642e-03 -3.59616828e+00] [-2.30744636e-02 -8.26425605e-04 9.99733408e-01 -1.81848734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.866875 meters 0.021351888968590013 Centerline is valid? [True, True] Translation: X:58.82, Y:-3.61, Z:-1.82 [[ 9.62373363e-01 2.70760039e-01 2.29458529e-02 5.88247997e+01] [-2.70703661e-01 9.62646511e-01 -5.58771742e-03 -3.60983358e+00] [-2.36016758e-02 -8.34055977e-04 9.99721094e-01 -1.81815632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.896874999999994 meters 0.021773011171336135 Centerline is valid? [True, True] Translation: X:58.85, Y:-3.62, Z:-1.82 [[ 9.62544055e-01 2.70108935e-01 2.34543440e-02 5.88542796e+01] [-2.70049681e-01 9.62829411e-01 -5.71801550e-03 -3.61947315e+00] [-2.41270192e-02 -8.29996272e-04 9.99708557e-01 -1.81865013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.926874999999995 meters 0.021136970459086833 Centerline is valid? [True, True] Translation: X:58.88, Y:-3.63, Z:-1.82 [[ 9.62982319e-01 2.68401791e-01 2.50106250e-02 5.88828721e+01] [-2.68333667e-01 9.63306693e-01 -6.10397390e-03 -3.63316795e+00] [-2.57312200e-02 -8.33173790e-04 9.99668550e-01 -1.81875206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.956875 meters 0.019737515899197876 Centerline is valid? [True, True] Translation: X:58.91, Y:-3.65, Z:-1.82 [[ 9.63253584e-01 2.67354651e-01 2.57686347e-02 5.89126302e+01] [-2.67281794e-01 9.63597848e-01 -6.29527435e-03 -3.64576491e+00] [-2.65136718e-02 -8.23541327e-04 9.99648112e-01 -1.81941473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.986875 meters 0.020176275577890958 Centerline is valid? [True, True] Translation: X:58.94, Y:-3.66, Z:-1.82 [[ 9.63659055e-01 2.65872883e-01 2.59390729e-02 5.89426474e+01] [-2.65798323e-01 9.64007780e-01 -6.34436081e-03 -3.65510301e+00] [-2.66922616e-02 -7.80761333e-04 9.99643393e-01 -1.82154790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.016875 meters 0.020078244655473157 Centerline is valid? [True, True] Translation: X:58.97, Y:-3.67, Z:-1.82 [[ 9.64066896e-01 2.64354872e-01 2.62968015e-02 5.89723398e+01] [-2.64277579e-01 9.64425190e-01 -6.43546994e-03 -3.66551311e+00] [-2.70625456e-02 -7.45431486e-04 9.99633464e-01 -1.82271450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.046875 meters 0.018911821793723495 Centerline is valid? [True, True] Translation: X:59.00, Y:-3.68, Z:-1.82 [[ 9.64638718e-01 2.62270806e-01 2.61947977e-02 5.90028231e+01] [-2.62193160e-01 9.64994075e-01 -6.41731569e-03 -3.67835086e+00] [-2.69608991e-02 -6.77705596e-04 9.99636259e-01 -1.82351352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.076874999999994 meters 0.01836258399161423 Centerline is valid? [True, True] Translation: X:59.03, Y:-3.69, Z:-1.82 [[ 9.65330967e-01 2.59729708e-01 2.60115758e-02 5.90319845e+01] [-2.59652166e-01 9.65681168e-01 -6.37451078e-03 -3.68942583e+00] [-2.67745388e-02 -6.00449349e-04 9.99641317e-01 -1.82463354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.106874999999995 meters 0.01616857376046269 Centerline is valid? [True, True] Translation: X:59.06, Y:-3.71, Z:-1.82 [[ 9.66605728e-01 2.54914104e-01 2.63090367e-02 5.90600610e+01] [-2.54832876e-01 9.66963588e-01 -6.45176709e-03 -3.70755953e+00] [-2.70845270e-02 -4.68092451e-04 9.99633037e-01 -1.82439670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.136874999999996 meters 0.0161724933212458 Centerline is valid? [True, True] Translation: X:59.09, Y:-3.72, Z:-1.83 [[ 9.67007199e-01 2.53362532e-01 2.65425054e-02 5.90892158e+01] [-2.53279267e-01 9.67371306e-01 -6.50914164e-03 -3.71732478e+00] [-2.73256307e-02 -4.28279477e-04 9.99626493e-01 -1.82522086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.166875 meters 0.015671241166898053 Centerline is valid? [True, True] Translation: X:59.12, Y:-3.73, Z:-1.83 [[ 9.67260359e-01 2.52371546e-01 2.67581772e-02 5.91194635e+01] [-2.52286364e-01 9.67630325e-01 -6.56850097e-03 -3.72789655e+00] [-2.75497265e-02 -3.97272643e-04 9.99620355e-01 -1.82548174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.196875 meters 0.01556690624072377 Centerline is valid? [True, True] Translation: X:59.15, Y:-3.74, Z:-1.83 [[ 9.67453291e-01 2.51589712e-01 2.71430654e-02 5.91494096e+01] [-2.51501545e-01 9.67833910e-01 -6.67049149e-03 -3.73665018e+00] [-2.79482061e-02 -3.73133924e-04 9.99609303e-01 -1.82691596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.226875 meters 0.015538532210454375 Centerline is valid? [True, True] Translation: X:59.18, Y:-3.75, Z:-1.83 [[ 9.67538816e-01 2.51268421e-01 2.70706700e-02 5.91807348e+01] [-2.51180504e-01 9.67917378e-01 -6.65605919e-03 -3.74550404e+00] [-2.78746294e-02 -3.59628900e-04 9.99611362e-01 -1.82852385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.256874999999994 meters 0.01540104841579892 Centerline is valid? [True, True] Translation: X:59.21, Y:-3.75, Z:-1.83 [[ 9.67637911e-01 2.50860043e-01 2.73150525e-02 5.92112357e+01] [-2.50770138e-01 9.68023306e-01 -6.72431265e-03 -3.75446243e+00] [-2.81284688e-02 -3.43099641e-04 9.99604257e-01 -1.83039355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.286874999999995 meters 0.015287313240333712 Centerline is valid? [True, True] Translation: X:59.24, Y:-3.76, Z:-1.83 [[ 9.67636795e-01 2.50836033e-01 2.75738582e-02 5.92423134e+01] [-2.50744206e-01 9.68029529e-01 -6.79510797e-03 -3.76328086e+00] [-2.83967669e-02 -3.38788674e-04 9.99596673e-01 -1.83077979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.316874999999996 meters 0.015370235581020015 Centerline is valid? [True, True] Translation: X:59.27, Y:-3.77, Z:-1.83 [[ 9.67549702e-01 2.51104788e-01 2.81772757e-02 5.92744743e+01] [-2.51008786e-01 9.67959847e-01 -6.95158320e-03 -3.77167169e+00] [-2.90200473e-02 -3.46741507e-04 9.99578770e-01 -1.83149648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.346875 meters 0.015290859760962415 Centerline is valid? [True, True] Translation: X:59.31, Y:-3.78, Z:-1.83 [[ 9.67433106e-01 2.51474927e-01 2.88711938e-02 5.93067273e+01] [-2.51374049e-01 9.67863747e-01 -7.13126724e-03 -3.77948883e+00] [-2.97367167e-02 -3.58444854e-04 9.99557702e-01 -1.83255864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.376875 meters 0.015446197053575814 Centerline is valid? [True, True] Translation: X:59.34, Y:-3.79, Z:-1.83 [[ 9.67135875e-01 2.52522072e-01 2.96783037e-02 5.93387426e+01] [-2.52415697e-01 9.67591055e-01 -7.33942036e-03 -3.78691527e+00] [-3.05698268e-02 -3.93052973e-04 9.99532556e-01 -1.83305113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.406875 meters 0.01582068681736631 Centerline is valid? [True, True] Translation: X:59.37, Y:-3.79, Z:-1.83 [[ 9.66761206e-01 2.53838542e-01 3.06392708e-02 5.93690364e+01] [-2.53725537e-01 9.67246505e-01 -7.58623855e-03 -3.79272704e+00] [-3.15614073e-02 -4.39884309e-04 9.99501718e-01 -1.83311476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43687499999999 meters 0.0159551706125919 Centerline is valid? [True, True] Translation: X:59.40, Y:-3.80, Z:-1.83 [[ 9.66223037e-01 2.55864102e-01 3.07669260e-02 5.94006622e+01] [-2.55750952e-01 9.66712631e-01 -7.62500452e-03 -3.80014304e+00] [-3.16937409e-02 -5.01215567e-04 9.99497502e-01 -1.83348512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.466874999999995 meters 0.0173970948515007 Centerline is valid? [True, True] Translation: X:59.43, Y:-3.80, Z:-1.84 [[ 9.65299986e-01 2.59341265e-01 3.06275347e-02 5.94316944e+01] [-2.59230636e-01 9.65785557e-01 -7.59836565e-03 -3.80253336e+00] [-3.15502004e-02 -6.04893050e-04 9.99501985e-01 -1.83575314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.496874999999996 meters 0.01796757782457043 Centerline is valid? [True, True] Translation: X:59.46, Y:-3.81, Z:-1.84 [[ 9.64856270e-01 2.61005122e-01 3.04746445e-02 5.94629151e+01] [-2.60896354e-01 9.65337194e-01 -7.56265167e-03 -3.80803040e+00] [-3.13921987e-02 -6.53851745e-04 9.99506930e-01 -1.83765651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.526875 meters 0.017802856328027333 Centerline is valid? [True, True] Translation: X:59.49, Y:-3.82, Z:-1.84 [[ 9.64444623e-01 2.62474103e-01 3.08855111e-02 5.94940591e+01] [-2.62362887e-01 9.64938781e-01 -7.67237891e-03 -3.81500201e+00] [-3.18164281e-02 -7.03627253e-04 9.99493482e-01 -1.83891215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.556875 meters 0.01761935583208894 Centerline is valid? [True, True] Translation: X:59.52, Y:-3.82, Z:-1.84 [[ 9.64209672e-01 2.63269515e-01 3.14463279e-02 5.95249956e+01] [-2.63154380e-01 9.64722044e-01 -7.81987950e-03 -3.82249684e+00] [-3.23957016e-02 -7.35235475e-04 9.99474851e-01 -1.83945423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.586875 meters 0.01838689689477623 Centerline is valid? [True, True] Translation: X:59.56, Y:-3.83, Z:-1.84 [[ 9.63997010e-01 2.64030181e-01 3.15884329e-02 5.95559675e+01] [-2.63914141e-01 9.64514122e-01 -7.86347811e-03 -3.82847965e+00] [-3.25436852e-02 -7.56264772e-04 9.99470028e-01 -1.84017640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61687499999999 meters 0.018645580587811975 Centerline is valid? [True, True] Translation: X:59.59, Y:-3.84, Z:-1.84 [[ 9.63952854e-01 2.64186745e-01 3.16268718e-02 5.95867352e+01] [-2.64070258e-01 9.64471251e-01 -7.88066913e-03 -3.83533475e+00] [-3.25851770e-02 -7.55122716e-04 9.99468677e-01 -1.84027836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.646874999999994 meters 0.01788258140674399 Centerline is valid? [True, True] Translation: X:59.62, Y:-3.84, Z:-1.84 [[ 9.64036776e-01 2.63962421e-01 3.09343609e-02 5.96175100e+01] [-2.63850603e-01 9.64532694e-01 -7.71634267e-03 -3.84382429e+00] [-3.18740270e-02 -7.23211672e-04 9.99491632e-01 -1.84114773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.676874999999995 meters 0.01765825840558981 Centerline is valid? [True, True] Translation: X:59.65, Y:-3.85, Z:-1.84 [[ 9.64145415e-01 2.63642021e-01 3.02738212e-02 5.96487284e+01] [-2.63534532e-01 9.64620344e-01 -7.55921950e-03 -3.85150225e+00] [-3.11956717e-02 -6.90010469e-04 9.99513058e-01 -1.84375054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.706875 meters 0.01762383210895467 Centerline is valid? [True, True] Translation: X:59.68, Y:-3.86, Z:-1.85 [[ 9.64426048e-01 2.62733552e-01 2.92143394e-02 5.96792669e+01] [-2.62632822e-01 9.64868221e-01 -7.30190330e-03 -3.85893079e+00] [-3.01064427e-02 -6.30498670e-04 9.99546499e-01 -1.84651688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.736875 meters 0.01687377186995949 Centerline is valid? [True, True] Translation: X:59.71, Y:-3.87, Z:-1.85 [[ 9.64771320e-01 2.61541578e-01 2.85009394e-02 5.97097669e+01] [-2.61444998e-01 9.65192040e-01 -7.13007833e-03 -3.86793735e+00] [-2.93736918e-02 -5.72532964e-04 9.99568336e-01 -1.84897437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.766875 meters 0.016770308670238432 Centerline is valid? [True, True] Translation: X:59.74, Y:-3.88, Z:-1.85 [[ 9.65171128e-01 2.60098880e-01 2.81649803e-02 5.97396103e+01] [-2.60003734e-01 9.65581849e-01 -7.05344782e-03 -3.87607064e+00] [-2.90301876e-02 -5.15215845e-04 9.99578403e-01 -1.85114238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.796875 meters 0.016070109319947994 Centerline is valid? [True, True] Translation: X:59.77, Y:-3.89, Z:-1.85 [[ 9.65585657e-01 2.58682478e-01 2.69761986e-02 5.97698584e+01] [-2.58594551e-01 9.65962304e-01 -6.75904010e-03 -3.88578480e+00] [-2.78064362e-02 -4.49465787e-04 9.99613225e-01 -1.85234382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.826874999999994 meters 0.015255186671902489 Centerline is valid? [True, True] Translation: X:59.80, Y:-3.90, Z:-1.85 [[ 9.66582232e-01 2.54897478e-01 2.73141747e-02 5.97991276e+01] [-2.54805623e-01 9.66968025e-01 -6.85077107e-03 -3.89669922e+00] [-2.81581778e-02 -3.37971711e-04 9.99603423e-01 -1.85236141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.856874999999995 meters 0.0148509631156811 Centerline is valid? [True, True] Translation: X:59.83, Y:-3.91, Z:-1.85 [[ 9.67020663e-01 2.53155971e-01 2.79837639e-02 5.98297254e+01] [-2.53058636e-01 9.67425434e-01 -7.02532893e-03 -3.90626562e+00] [-2.88507090e-02 -2.87894906e-04 9.99583690e-01 -1.85250779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.886874999999996 meters 0.014545201692010377 Centerline is valid? [True, True] Translation: X:59.86, Y:-3.92, Z:-1.85 [[ 9.67415623e-01 2.51539846e-01 2.88914980e-02 5.98608815e+01] [-2.51435142e-01 9.67846914e-01 -7.26094362e-03 -3.91524265e+00] [-2.97889638e-02 -2.39987607e-04 9.99556182e-01 -1.85221438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.916875 meters 0.014285366108611615 Centerline is valid? [True, True] Translation: X:59.89, Y:-3.92, Z:-1.85 [[ 9.67784569e-01 2.50028723e-01 2.96423047e-02 5.98917689e+01] [-2.49917720e-01 9.68238400e-01 -7.45213144e-03 -3.92448218e+00] [-3.05640646e-02 -1.96079398e-04 9.99532791e-01 -1.85246251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.946875 meters 0.014204116226554053 Centerline is valid? [True, True] Translation: X:59.92, Y:-3.93, Z:-1.85 [[ 9.68161182e-01 2.48492418e-01 3.02563209e-02 5.99216990e+01] [-2.48375772e-01 9.68633831e-01 -7.61431964e-03 -3.93273477e+00] [-3.11993967e-02 -1.43048363e-04 9.99513170e-01 -1.85371253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.976875 meters 0.014204116226554053 Centerline is valid? [True, True] Translation: X:59.95, Y:-3.94, Z:-1.85 [[ 9.68095709e-01 2.48747488e-01 3.02553407e-02 5.99530536e+01] [-2.48630845e-01 9.68568359e-01 -7.61821226e-03 -3.94073613e+00] [-3.11993769e-02 -1.47252344e-04 9.99513170e-01 -1.85474469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.006874999999994 meters 0.013922962149487414 Centerline is valid? [True, True] Translation: X:59.98, Y:-3.95, Z:-1.86 [[ 9.68443179e-01 2.47424718e-01 2.99802918e-02 5.99848653e+01] [-2.47309296e-01 9.68907116e-01 -7.55726935e-03 -3.95016353e+00] [-3.09179733e-02 -9.56188990e-05 9.99521921e-01 -1.85605234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.036874999999995 meters 0.013906167515813693 Centerline is valid? [True, True] Translation: X:60.02, Y:-3.96, Z:-1.86 [[ 9.69204396e-01 2.44461225e-01 2.96908737e-02 6.00165978e+01] [-2.44346369e-01 9.69659069e-01 -7.49284953e-03 -3.95948657e+00] [-3.06217362e-02 7.24552502e-06 9.99531045e-01 -1.85852586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.066874999999996 meters 0.013914504868426146 Centerline is valid? [True, True] Translation: X:60.05, Y:-3.97, Z:-1.86 [[ 9.69440279e-01 2.43577322e-01 2.92512232e-02 6.00468923e+01] [-2.43465189e-01 9.69881481e-01 -7.39021296e-03 -3.96763998e+00] [-3.01703080e-02 4.27155232e-05 9.99544772e-01 -1.86014721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.096875 meters 0.013882800967955492 Centerline is valid? [True, True] Translation: X:60.08, Y:-3.98, Z:-1.86 [[ 9.69643324e-01 2.42838610e-01 2.86571719e-02 6.00789251e+01] [-2.42730444e-01 9.70066701e-01 -7.24757984e-03 -3.97602016e+00] [-2.95593604e-02 7.15993521e-05 9.99563024e-01 -1.86133656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.126875 meters 0.013875709552600472 Centerline is valid? [True, True] Translation: X:60.11, Y:-3.98, Z:-1.86 [[ 9.69673598e-01 2.42785599e-01 2.80760617e-02 6.01105409e+01] [-2.42681528e-01 9.70079969e-01 -7.10839270e-03 -3.98399666e+00] [-2.89618404e-02 7.92791623e-05 9.99580515e-01 -1.86198772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.156875 meters 0.013912287041064016 Centerline is valid? [True, True] Translation: X:60.14, Y:-3.99, Z:-1.86 [[ 9.69682672e-01 2.42787133e-01 2.77474867e-02 6.01417519e+01] [-2.42685256e-01 9.70079585e-01 -7.03321903e-03 -3.99205266e+00] [-2.86248455e-02 8.60847068e-05 9.99590221e-01 -1.86196874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18687499999999 meters 0.013881353745894975 Centerline is valid? [True, True] Translation: X:60.17, Y:-4.00, Z:-1.86 [[ 9.69699448e-01 2.42661217e-01 2.82579911e-02 6.01736463e+01] [-2.42555264e-01 9.70111088e-01 -7.17078116e-03 -3.99950269e+00] [-2.91534610e-02 9.93780188e-05 9.99574943e-01 -1.86285690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.216874999999995 meters 0.01382459852048552 Centerline is valid? [True, True] Translation: X:60.21, Y:-4.01, Z:-1.86 [[ 9.69587923e-01 2.42999574e-01 2.91627655e-02 6.02063626e+01] [-2.42886773e-01 9.70026390e-01 -7.40390479e-03 -4.00583429e+00] [-3.00877979e-02 9.54866519e-05 9.99547255e-01 -1.86405090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.246874999999996 meters 0.013767861032658679 Centerline is valid? [True, True] Translation: X:60.24, Y:-4.01, Z:-1.87 [[ 9.69616648e-01 2.42810090e-01 2.97794709e-02 6.02385333e+01] [-2.42692106e-01 9.70073836e-01 -7.56926601e-03 -4.01275514e+00] [-3.07261798e-02 1.12043801e-04 9.99527833e-01 -1.86542548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.276875 meters 0.013788948294160904 Centerline is valid? [True, True] Translation: X:60.27, Y:-4.02, Z:-1.87 [[ 9.69483632e-01 2.43275352e-01 3.03082631e-02 6.02692149e+01] [-2.43153083e-01 9.69957263e-01 -7.71278129e-03 -4.02025154e+00] [-3.12740495e-02 1.07867620e-04 9.99510841e-01 -1.86578675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.306875 meters 0.013848359019594629 Centerline is valid? [True, True] Translation: X:60.30, Y:-4.03, Z:-1.87 [[ 9.69440596e-01 2.43386147e-01 3.07914712e-02 6.03014816e+01] [-2.43259822e-01 9.69929467e-01 -7.84142597e-03 -4.02775599e+00] [-3.17740497e-02 1.11468873e-04 9.99495071e-01 -1.86664241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.336875 meters 0.013771663767187628 Centerline is valid? [True, True] Translation: X:60.33, Y:-4.03, Z:-1.87 [[ 9.69226571e-01 2.44278013e-01 3.04648471e-02 6.03337125e+01] [-2.44154530e-01 9.69705236e-01 -7.76666540e-03 -4.03478834e+00] [-3.14391474e-02 8.95280420e-05 9.99505664e-01 -1.86677358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36687499999999 meters 0.013727585283087698 Centerline is valid? [True, True] Translation: X:60.37, Y:-4.04, Z:-1.87 [[ 9.68937165e-01 2.45405933e-01 3.06055280e-02 6.03652042e+01] [-2.45281585e-01 9.69420406e-01 -7.81152530e-03 -4.04123069e+00] [-3.15866180e-02 6.19047784e-05 9.99501016e-01 -1.86791482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.396874999999994 meters 0.013782495351815676 Centerline is valid? [True, True] Translation: X:60.40, Y:-4.04, Z:-1.87 [[ 9.67984976e-01 2.49202133e-01 3.00563295e-02 6.03981895e+01] [-2.49083787e-01 9.68451493e-01 -7.67940214e-03 -4.04441749e+00] [-3.10218206e-02 -5.29984789e-05 9.99518706e-01 -1.86940069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.426874999999995 meters 0.013841211133658736 Centerline is valid? [True, True] Translation: X:60.43, Y:-4.05, Z:-1.87 [[ 9.67442887e-01 2.51395143e-01 2.92359662e-02 6.04292673e+01] [-2.51283922e-01 9.67884533e-01 -7.47805324e-03 -4.04958508e+00] [-3.01769858e-02 -1.11938825e-04 9.99544565e-01 -1.87119939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.456875 meters 0.013959888097276997 Centerline is valid? [True, True] Translation: X:60.46, Y:-4.05, Z:-1.87 [[ 9.66876734e-01 2.53694426e-01 2.80805755e-02 6.04605317e+01] [-2.53592676e-01 9.67284399e-01 -7.18654235e-03 -4.05480459e+00] [-2.89850883e-02 -1.72527681e-04 9.99579829e-01 -1.87385081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.486875 meters 0.014157376946004682 Centerline is valid? [True, True] Translation: X:60.49, Y:-4.06, Z:-1.88 [[ 9.66312649e-01 2.55908065e-01 2.74030269e-02 6.04916925e+01] [-2.55811867e-01 9.66701097e-01 -7.01981236e-03 -4.06016499e+00] [-2.82869627e-02 -2.26685985e-04 9.99599818e-01 -1.87647547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.516875 meters 0.01433379739606701 Centerline is valid? [True, True] Translation: X:60.52, Y:-4.07, Z:-1.88 [[ 9.65768955e-01 2.58059466e-01 2.63749528e-02 6.05235325e+01] [-2.57970994e-01 9.66128996e-01 -6.76230788e-03 -4.06598042e+00] [-2.72266843e-02 -2.73145785e-04 9.99629248e-01 -1.87933496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.546875 meters 0.014654100453575979 Centerline is valid? [True, True] Translation: X:60.55, Y:-4.07, Z:-1.88 [[ 9.65392178e-01 2.59519549e-01 2.58369265e-02 6.05542573e+01] [-2.59434999e-01 9.65737808e-01 -6.63085428e-03 -4.07185733e+00] [-2.66725331e-02 -3.01628154e-04 9.99644179e-01 -1.88155805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.576874999999994 meters 0.014738329250611667 Centerline is valid? [True, True] Translation: X:60.59, Y:-4.08, Z:-1.88 [[ 9.64948833e-01 2.61225301e-01 2.52010271e-02 6.05853233e+01] [-2.61145299e-01 9.65277799e-01 -6.47324763e-03 -4.07946377e+00] [-2.60169681e-02 -3.34777017e-04 9.99661445e-01 -1.88250607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.606874999999995 meters 0.014973765576466219 Centerline is valid? [True, True] Translation: X:60.62, Y:-4.09, Z:-1.88 [[ 9.64739273e-01 2.61977953e-01 2.54103865e-02 6.06160663e+01] [-2.61896707e-01 9.65073794e-01 -6.53348780e-03 -4.08601950e+00] [-2.62345278e-02 -3.51784274e-04 9.99655754e-01 -1.88343120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.636874999999996 meters 0.015030977285367293 Centerline is valid? [True, True] Translation: X:60.65, Y:-4.09, Z:-1.88 [[ 9.64399601e-01 2.63173665e-01 2.59428459e-02 6.06477907e+01] [-2.63089220e-01 9.64748399e-01 -6.67749667e-03 -4.09385695e+00] [-2.67856603e-02 -3.85507954e-04 9.99641125e-01 -1.88382901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.666875 meters 0.015533453755307855 Centerline is valid? [True, True] Translation: X:60.68, Y:-4.10, Z:-1.88 [[ 9.64054743e-01 2.64433059e-01 2.59539932e-02 6.06782232e+01] [-2.64348787e-01 9.64403954e-01 -6.68821495e-03 -4.09969693e+00] [-2.67987188e-02 -4.13101284e-04 9.99640764e-01 -1.88473684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.696875 meters 0.015706029266705227 Centerline is valid? [True, True] Translation: X:60.71, Y:-4.11, Z:-1.89 [[ 9.63605060e-01 2.66052550e-01 2.61022780e-02 6.07096740e+01] [-2.65967741e-01 9.63958419e-01 -6.73252937e-03 -4.10728119e+00] [-2.69527173e-02 -4.54864555e-04 9.99636606e-01 -1.88506419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.726875 meters 0.015852282920914815 Centerline is valid? [True, True] Translation: X:60.74, Y:-4.11, Z:-1.88 [[ 9.63044246e-01 2.68026871e-01 2.65965587e-02 6.07413101e+01] [-2.67939381e-01 9.63411300e-01 -6.86694090e-03 -4.11475433e+00] [-2.74639498e-02 -5.13097552e-04 9.99622663e-01 -1.88468561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.756874999999994 meters 0.01699142664080131 Centerline is valid? [True, True] Translation: X:60.77, Y:-4.12, Z:-1.88 [[ 9.61904354e-01 2.71924899e-01 2.82287569e-02 6.07730583e+01] [-2.71827790e-01 9.62318253e-01 -7.29605996e-03 -4.11990078e+00] [-2.91490284e-02 -6.55248760e-04 9.99574862e-01 -1.88318071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.786874999999995 meters 0.01820757984216858 Centerline is valid? [True, True] Translation: X:60.80, Y:-4.12, Z:-1.88 [[ 9.61288289e-01 2.74103870e-01 2.81406102e-02 6.08037973e+01] [-2.74008090e-01 9.61699829e-01 -7.28049533e-03 -4.12457233e+00] [-2.90584320e-02 -7.12099956e-04 9.99577461e-01 -1.88468076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.816874999999996 meters 0.018207313123157296 Centerline is valid? [True, True] Translation: X:60.83, Y:-4.13, Z:-1.89 [[ 9.60584136e-01 2.76597717e-01 2.77816748e-02 6.08344930e+01] [-2.76505222e-01 9.60985488e-01 -7.19404198e-03 -4.13236181e+00] [-2.86876419e-02 -7.71295549e-04 9.99588127e-01 -1.88637559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.846875 meters 0.019783315766226266 Centerline is valid? [True, True] Translation: X:60.86, Y:-4.14, Z:-1.89 [[ 9.60039688e-01 2.78583681e-01 2.67381729e-02 6.08649253e+01] [-2.78498578e-01 9.60411633e-01 -6.93092388e-03 -4.13744326e+00] [-2.76104946e-02 -7.92581152e-04 9.99618443e-01 -1.88855107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.876875 meters 0.0202004146696582 Centerline is valid? [True, True] Translation: X:60.90, Y:-4.14, Z:-1.89 [[ 9.59421445e-01 2.80693944e-01 2.68589150e-02 6.08957147e+01] [-2.80608809e-01 9.59796947e-01 -6.96533732e-03 -4.14497888e+00] [-2.77342326e-02 -8.54154141e-04 9.99614967e-01 -1.88955864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.906875 meters 0.020127016755520387 Centerline is valid? [True, True] Translation: X:60.93, Y:-4.15, Z:-1.89 [[ 9.58858046e-01 2.82651249e-01 2.64484273e-02 6.09264537e+01] [-2.82569260e-01 9.59222330e-01 -6.86546594e-03 -4.15305052e+00] [-2.73104546e-02 -8.90505286e-04 9.99626603e-01 -1.89081217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93687499999999 meters 0.020825621578058097 Centerline is valid? [True, True] Translation: X:60.96, Y:-4.16, Z:-1.89 [[ 9.57981606e-01 2.85617468e-01 2.63420642e-02 6.09579965e+01] [-2.85537047e-01 9.58343223e-01 -6.84554181e-03 -4.15988482e+00] [-2.71999451e-02 -9.63732097e-04 9.99629548e-01 -1.89308760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.966874999999995 meters 0.02331104247259518 Centerline is valid? [True, True] Translation: X:60.99, Y:-4.16, Z:-1.89 [[ 9.57650202e-01 2.86752588e-01 2.60584651e-02 6.09885362e+01] [-2.86674263e-01 9.58004168e-01 -6.77352860e-03 -4.16426376e+00] [-2.69064450e-02 -9.83620251e-04 9.99637472e-01 -1.89413839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.996874999999996 meters 0.02161413684193328 Centerline is valid? [True, True] Translation: X:61.02, Y:-4.18, Z:-1.89 [[ 9.57401509e-01 2.87619274e-01 2.56418311e-02 6.10182040e+01] [-2.87543673e-01 9.57744316e-01 -6.66795014e-03 -4.17558558e+00] [-2.64761490e-02 -9.89240786e-04 9.99648956e-01 -1.89471336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.026875 meters 0.02161179315164397 Centerline is valid? [True, True] Translation: X:61.05, Y:-4.18, Z:-1.90 [[ 9.57052702e-01 2.88830942e-01 2.50362388e-02 6.10494067e+01] [-2.88759132e-01 9.57379601e-01 -6.51633456e-03 -4.18462873e+00] [-2.58513033e-02 -9.92966982e-04 9.99665306e-01 -1.89541382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.056875 meters 0.023158699932741635 Centerline is valid? [True, True] Translation: X:61.08, Y:-4.19, Z:-1.90 [[ 9.56957315e-01 2.89226585e-01 2.40973076e-02 6.10803889e+01] [-2.89160013e-01 9.57260185e-01 -6.27889122e-03 -4.19030069e+00] [-2.48834154e-02 -9.59346896e-04 9.99689900e-01 -1.89840365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.086875 meters 0.02282351881159887 Centerline is valid? [True, True] Translation: X:61.11, Y:-4.20, Z:-1.90 [[ 9.56871666e-01 2.89636648e-01 2.25216901e-02 6.11110569e+01] [-2.89578565e-01 9.57136246e-01 -5.87035903e-03 -4.20014666e+00] [-2.32565970e-02 -9.04618477e-04 9.99729119e-01 -1.90180205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11687499999999 meters 0.023255905916330828 Centerline is valid? [True, True] Translation: X:61.14, Y:-4.21, Z:-1.90 [[ 9.56830557e-01 2.89828286e-01 2.17910694e-02 6.11428319e+01] [-2.89773844e-01 9.57078262e-01 -5.68506098e-03 -4.20891292e+00] [-2.25034503e-02 -8.74841873e-04 9.99746383e-01 -1.90322188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.146874999999994 meters 0.023294281986552954 Centerline is valid? [True, True] Translation: X:61.17, Y:-4.22, Z:-1.90 [[ 9.56901827e-01 2.89602410e-01 2.16642090e-02 6.11732814e+01] [-2.89548392e-01 9.57146649e-01 -5.65866203e-03 -4.21778197e+00] [-2.23745872e-02 -8.58052863e-04 9.99749289e-01 -1.90395540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.176874999999995 meters 0.0232980740616087 Centerline is valid? [True, True] Translation: X:61.20, Y:-4.23, Z:-1.90 [[ 9.56969662e-01 2.89342734e-01 2.21324965e-02 6.12044594e+01] [-2.89286153e-01 9.57225174e-01 -5.78685444e-03 -4.22683061e+00] [-2.28601671e-02 -8.64780605e-04 9.99738298e-01 -1.90368183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.206875 meters 0.023267185857510208 Centerline is valid? [True, True] Translation: X:61.24, Y:-4.24, Z:-1.90 [[ 9.57014046e-01 2.89147562e-01 2.27553023e-02 6.12355057e+01] [-2.89087553e-01 9.57284135e-01 -5.95576284e-03 -4.23622597e+00] [-2.35053842e-02 -8.78525985e-04 9.99723324e-01 -1.90294794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.236875 meters 0.024023393403267552 Centerline is valid? [True, True] Translation: X:61.27, Y:-4.24, Z:-1.90 [[ 9.57169036e-01 2.88598989e-01 2.31961216e-02 6.12663061e+01] [-2.88536325e-01 9.57449662e-01 -6.07727679e-03 -4.24333733e+00] [-2.39630147e-02 -8.75942501e-04 9.99712462e-01 -1.90339268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.266875 meters 0.023372277195391006 Centerline is valid? [True, True] Translation: X:61.30, Y:-4.25, Z:-1.90 [[ 9.57377861e-01 2.87815607e-01 2.42859643e-02 6.12971461e+01] [-2.87746498e-01 9.57685430e-01 -6.36939471e-03 -4.25353211e+00] [-2.50915254e-02 -8.90283704e-04 9.99684762e-01 -1.90463113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.296875 meters 0.02119041142829676 Centerline is valid? [True, True] Translation: X:61.33, Y:-4.27, Z:-1.91 [[ 9.57564077e-01 2.87148356e-01 2.48366688e-02 6.13274265e+01] [-2.87075690e-01 9.57885711e-01 -6.52018091e-03 -4.26592046e+00] [-2.56629494e-02 -8.86512829e-04 9.99670259e-01 -1.90503777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.326874999999994 meters 0.021464480254559937 Centerline is valid? [True, True] Translation: X:61.36, Y:-4.27, Z:-1.91 [[ 9.57878746e-01 2.86015921e-01 2.57526849e-02 6.13578767e+01] [-2.85937197e-01 9.58224461e-01 -6.76774185e-03 -4.27424746e+00] [-2.66125345e-02 -8.80974458e-04 9.99645436e-01 -1.90576940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.356874999999995 meters 0.02219197549826715 Centerline is valid? [True, True] Translation: X:61.39, Y:-4.28, Z:-1.91 [[ 9.58151957e-01 2.85124713e-01 2.54700740e-02 6.13880238e+01] [-2.85047205e-01 9.58490059e-01 -6.70062542e-03 -4.28229059e+00] [-2.63233266e-02 -8.39956045e-04 9.99653128e-01 -1.90663207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.386874999999996 meters 0.018834554307948496 Centerline is valid? [True, True] Translation: X:61.42, Y:-4.30, Z:-1.91 [[ 9.58568370e-01 2.83739406e-01 2.52711220e-02 6.14171992e+01] [-2.83662545e-01 9.58901101e-01 -6.65125718e-03 -4.29738302e+00] [-2.61197304e-02 -7.92786023e-04 9.99658507e-01 -1.90680516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.416875 meters 0.01946468249529035 Centerline is valid? [True, True] Translation: X:61.45, Y:-4.31, Z:-1.91 [[ 9.58942819e-01 2.82489439e-01 2.50676561e-02 6.14476448e+01] [-2.82413212e-01 9.59270118e-01 -6.60436636e-03 -4.30559627e+00] [-2.59123172e-02 -7.46227590e-04 9.99663941e-01 -1.90868340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.446875 meters 0.01858256746533719 Centerline is valid? [True, True] Translation: X:61.48, Y:-4.32, Z:-1.91 [[ 9.59494002e-01 2.80775546e-01 2.31593119e-02 6.14772501e+01] [-2.80709852e-01 9.59773245e-01 -6.10716005e-03 -4.31766585e+00] [-2.39424291e-02 -6.41263581e-04 9.99713133e-01 -1.91098267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.476875 meters 0.019547619273990118 Centerline is valid? [True, True] Translation: X:61.51, Y:-4.32, Z:-1.91 [[ 9.59458753e-01 2.80929191e-01 2.27528355e-02 6.15078988e+01] [-2.80865695e-01 9.59728292e-01 -6.00556242e-03 -4.32493446e+00] [-2.35236777e-02 -6.28401518e-04 9.99723083e-01 -1.91340390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.506874999999994 meters 0.019911713429814078 Centerline is valid? [True, True] Translation: X:61.54, Y:-4.33, Z:-1.91 [[ 9.59334722e-01 2.81398443e-01 2.21767193e-02 6.15391020e+01] [-2.81338107e-01 9.59590816e-01 -5.85958542e-03 -4.33340093e+00] [-2.29294544e-02 -6.17852486e-04 9.99736895e-01 -1.91469668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.536874999999995 meters 0.021501433671177243 Centerline is valid? [True, True] Translation: X:61.57, Y:-4.34, Z:-1.92 [[ 9.59137519e-01 2.82126268e-01 2.14473503e-02 6.15698492e+01] [-2.82069902e-01 9.59377088e-01 -5.67208367e-03 -4.33917832e+00] [-2.21763403e-02 -6.09343729e-04 9.99753889e-01 -1.91778766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.566874999999996 meters 0.020751021637611004 Centerline is valid? [True, True] Translation: X:61.60, Y:-4.35, Z:-1.92 [[ 9.58874632e-01 2.83056445e-01 2.09401399e-02 6.16000853e+01] [-2.83002839e-01 9.59103058e-01 -5.54237840e-03 -4.34892875e+00] [-2.16525581e-02 -6.11672997e-04 9.99765369e-01 -1.91952692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.596875 meters 0.021436927225024504 Centerline is valid? [True, True] Translation: X:61.63, Y:-4.36, Z:-1.92 [[ 9.58546488e-01 2.84180960e-01 2.07319115e-02 6.16302432e+01] [-2.84128546e-01 9.58770458e-01 -5.49342016e-03 -4.35642353e+00] [-2.14382697e-02 -6.24829256e-04 9.99769979e-01 -1.92035294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.626875 meters 0.020941472273640595 Centerline is valid? [True, True] Translation: X:61.66, Y:-4.37, Z:-1.92 [[ 9.57603187e-01 2.87203359e-01 2.25913162e-02 6.16606404e+01] [-2.87141906e-01 9.57869336e-01 -5.98843318e-03 -4.36668458e+00] [-2.33594272e-02 -7.52370910e-04 9.99726848e-01 -1.91810839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.656875 meters 0.02455312576556524 Centerline is valid? [True, True] Translation: X:61.69, Y:-4.37, Z:-1.92 [[ 9.57000134e-01 2.89137284e-01 2.34600635e-02 6.16920369e+01] [-2.89071436e-01 9.57287288e-01 -6.22519770e-03 -4.36907804e+00] [-2.42579573e-02 -8.24119213e-04 9.99705393e-01 -1.91836317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68687499999999 meters 0.025397305169322745 Centerline is valid? [True, True] Translation: X:61.72, Y:-4.38, Z:-1.92 [[ 9.56566189e-01 2.90455042e-01 2.48393692e-02 6.17237586e+01] [-2.90381502e-01 9.56888214e-01 -6.59759142e-03 -4.37569074e+00] [-2.56848033e-02 -9.01860449e-04 9.99669684e-01 -1.91795662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.716874999999995 meters 0.026931196795075364 Centerline is valid? [True, True] Translation: X:61.76, Y:-4.38, Z:-1.92 [[ 9.55956440e-01 2.92399767e-01 2.54884490e-02 6.17554575e+01] [-2.92322856e-01 9.56295681e-01 -6.77631433e-03 -4.38122513e+00] [-2.63558864e-02 -9.72994879e-04 9.99652150e-01 -1.91850713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.746874999999996 meters 0.023267910745795026 Centerline is valid? [True, True] Translation: X:61.79, Y:-4.39, Z:-1.92 [[ 9.55428012e-01 2.94039649e-01 2.64196623e-02 6.17851641e+01] [-2.93957463e-01 9.55792647e-01 -7.03037434e-03 -4.39458713e+00] [-2.73189277e-02 -1.04924031e-03 9.99626218e-01 -1.91756953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.776875 meters 0.025854730268446365 Centerline is valid? [True, True] Translation: X:61.82, Y:-4.40, Z:-1.92 [[ 9.55034430e-01 2.95303294e-01 2.65556342e-02 6.18162975e+01] [-2.95220551e-01 9.55402946e-01 -7.07369662e-03 -4.39820151e+00] [-2.74602170e-02 -1.08414513e-03 9.99622309e-01 -1.91841291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.806875 meters 0.02453954084570026 Centerline is valid? [True, True] Translation: X:61.85, Y:-4.41, Z:-1.92 [[ 9.54678938e-01 2.96467001e-01 2.63712370e-02 6.18466578e+01] [-2.96385676e-01 9.55042459e-01 -7.03082956e-03 -4.40744286e+00] [-2.72700600e-02 -1.10387199e-03 9.99627493e-01 -1.92076767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.836875 meters 0.025251364888189777 Centerline is valid? [True, True] Translation: X:61.88, Y:-4.41, Z:-1.92 [[ 9.54620940e-01 2.96743785e-01 2.53374782e-02 6.18784222e+01] [-2.96668626e-01 9.54956543e-01 -6.76219422e-03 -4.41402010e+00] [-2.62028297e-02 -1.06150265e-03 9.99656083e-01 -1.92403405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86687499999999 meters 0.025251364888189777 Centerline is valid? [True, True] Translation: X:61.91, Y:-4.42, Z:-1.93 [[ 9.54538063e-01 2.97010325e-01 2.53368040e-02 6.19096818e+01] [-2.96935192e-01 9.54873672e-01 -6.76471999e-03 -4.42248679e+00] [-2.62026387e-02 -1.06620604e-03 9.99656083e-01 -1.92506693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.896874999999994 meters 0.024873943909221773 Centerline is valid? [True, True] Translation: X:61.94, Y:-4.43, Z:-1.93 [[ 9.54423033e-01 2.97467956e-01 2.42793815e-02 6.19404866e+01] [-2.97398933e-01 9.54731250e-01 -6.48951924e-03 -4.43078228e+00] [-2.51107083e-02 -1.02691552e-03 9.99684149e-01 -1.92831383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.926874999999995 meters 0.025505416502278958 Centerline is valid? [True, True] Translation: X:61.97, Y:-4.44, Z:-1.93 [[ 9.54604755e-01 2.97020489e-01 2.25519561e-02 6.19708178e+01] [-2.96960686e-01 9.54870646e-01 -6.03332069e-03 -4.43771532e+00] [-2.33262207e-02 -9.37607729e-04 9.99727467e-01 -1.93196370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.956875 meters 0.025384067502077078 Centerline is valid? [True, True] Translation: X:62.00, Y:-4.45, Z:-1.93 [[ 9.54710100e-01 2.96745017e-01 2.17029950e-02 6.20019674e+01] [-2.96689454e-01 9.54956334e-01 -5.81097786e-03 -4.44685071e+00] [-2.24497913e-02 -8.91250481e-04 9.99747574e-01 -1.93318670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.986875 meters 0.022342507860282045 Centerline is valid? [True, True] Translation: X:62.03, Y:-4.46, Z:-1.93 [[ 9.55294750e-01 2.94808825e-01 2.23538941e-02 6.20309418e+01] [-2.94749200e-01 9.55555864e-01 -5.99171522e-03 -4.46013342e+00] [-2.31268051e-02 -8.64938309e-04 9.99732166e-01 -1.93079015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.016875 meters 0.023383538432184443 Centerline is valid? [True, True] Translation: X:62.06, Y:-4.47, Z:-1.93 [[ 9.55610191e-01 2.93713601e-01 2.32698113e-02 6.20614201e+01] [-2.93648558e-01 9.55893073e-01 -6.24164515e-03 -4.46623146e+00] [-2.40767075e-02 -8.68566847e-04 9.99709737e-01 -1.93198580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.046875 meters 0.023483850134531754 Centerline is valid? [True, True] Translation: X:62.09, Y:-4.47, Z:-1.93 [[ 9.55963172e-01 2.92485080e-01 2.42258669e-02 6.20913796e+01] [-2.92414032e-01 9.56269694e-01 -6.50430109e-03 -4.47368276e+00] [-2.50688734e-02 -8.66111120e-04 9.99685351e-01 -1.93332469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.076874999999994 meters 0.020991364771649625 Centerline is valid? [True, True] Translation: X:62.12, Y:-4.49, Z:-1.93 [[ 9.56480509e-01 2.90730939e-01 2.49109712e-02 6.21213084e+01] [-2.90655070e-01 9.56804483e-01 -6.69411647e-03 -4.48545501e+00] [-2.57811157e-02 -8.37708161e-04 9.99667261e-01 -1.93374495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.106874999999995 meters 0.021601234900646436 Centerline is valid? [True, True] Translation: X:62.15, Y:-4.49, Z:-1.93 [[ 9.56907882e-01 2.89270277e-01 2.54953215e-02 6.21517861e+01] [-2.89190106e-01 9.57247121e-01 -6.85801119e-03 -4.49239047e+00] [-2.63891419e-02 -8.10509764e-04 9.99651417e-01 -1.93469057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.136874999999996 meters 0.01972119520598514 Centerline is valid? [True, True] Translation: X:62.18, Y:-4.50, Z:-1.93 [[ 9.57371920e-01 2.87660899e-01 2.62719304e-02 6.21815936e+01] [-2.87574991e-01 9.57732005e-01 -7.07327004e-03 -4.50411835e+00] [-2.71961718e-02 -7.83400017e-04 9.99629809e-01 -1.93433582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.166875 meters 0.01790280090848422 Centerline is valid? [True, True] Translation: X:62.21, Y:-4.52, Z:-1.93 [[ 9.58502645e-01 2.83793656e-01 2.70894776e-02 6.22111831e+01] [-2.83700556e-01 9.58885128e-01 -7.30110803e-03 -4.51662750e+00] [-2.80477054e-02 -6.87168510e-04 9.99606350e-01 -1.93350877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.196875 meters 0.016815366237360015 Centerline is valid? [True, True] Translation: X:62.24, Y:-4.53, Z:-1.93 [[ 9.59052810e-01 2.81869129e-01 2.77038273e-02 6.22415196e+01] [-2.81770906e-01 9.59452646e-01 -7.46836565e-03 -4.52747502e+00] [-2.86856121e-02 -6.43575468e-04 9.99588276e-01 -1.93353956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.226875 meters 0.01624746659745195 Centerline is valid? [True, True] Translation: X:62.27, Y:-4.54, Z:-1.93 [[ 9.59658457e-01 2.79815412e-01 2.75496113e-02 6.22707789e+01] [-2.79717229e-01 9.60053649e-01 -7.43395289e-03 -4.53712600e+00] [-2.85292394e-02 -5.72045167e-04 9.99592795e-01 -1.93385926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.256874999999994 meters 0.015346387489406189 Centerline is valid? [True, True] Translation: X:62.30, Y:-4.55, Z:-1.94 [[ 9.60332291e-01 2.77484733e-01 2.76426048e-02 6.23017539e+01] [-2.77384717e-01 9.60729918e-01 -7.46616564e-03 -4.54769159e+00] [-2.86288244e-02 -4.97636159e-04 9.99589987e-01 -1.93527186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.286874999999995 meters 0.014883734508290792 Centerline is valid? [True, True] Translation: X:62.33, Y:-4.56, Z:-1.94 [[ 9.60931566e-01 2.75379739e-01 2.78662016e-02 6.23317437e+01] [-2.75277149e-01 9.61335430e-01 -7.52874727e-03 -4.55662649e+00] [-2.88620313e-02 -4.36317621e-04 9.99583310e-01 -1.93776435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.316874999999996 meters 0.014415039065546373 Centerline is valid? [True, True] Translation: X:62.36, Y:-4.57, Z:-1.94 [[ 9.61382511e-01 2.73831111e-01 2.75715331e-02 6.23626957e+01] [-2.73729859e-01 9.61777718e-01 -7.45559870e-03 -4.56633265e+00] [-2.85592610e-02 -3.79469651e-04 9.99592029e-01 -1.94016766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.346875 meters 0.013695186894594182 Centerline is valid? [True, True] Translation: X:62.39, Y:-4.58, Z:-1.94 [[ 9.62401045e-01 2.70376249e-01 2.60942893e-02 6.23914932e+01] [-2.70284116e-01 9.62754703e-01 -7.06244513e-03 -4.57707983e+00] [-2.70319172e-02 -2.55967358e-04 9.99634538e-01 -1.94326019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.376875 meters 0.013329771512597014 Centerline is valid? [True, True] Translation: X:62.42, Y:-4.59, Z:-1.94 [[ 9.62737054e-01 2.69197639e-01 2.58842751e-02 6.24222652e+01] [-2.69106400e-01 9.63084931e-01 -7.01148944e-03 -4.58717141e+00] [-2.68162317e-02 -2.15403402e-04 9.99640357e-01 -1.94328981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.406875 meters 0.01312076122044693 Centerline is valid? [True, True] Translation: X:62.45, Y:-4.60, Z:-1.94 [[ 9.63061395e-01 2.67965693e-01 2.65920348e-02 6.24530455e+01] [-2.67868732e-01 9.63428438e-01 -7.21020126e-03 -4.59674888e+00] [-2.75516092e-02 -1.79308166e-04 9.99620366e-01 -1.94348356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43687499999999 meters 0.013070090257187573 Centerline is valid? [True, True] Translation: X:62.48, Y:-4.61, Z:-1.94 [[ 9.63359503e-01 2.66812786e-01 2.73752805e-02 6.24828230e+01] [-2.66709348e-01 9.63748368e-01 -7.43014548e-03 -4.60595284e+00] [-2.83653397e-02 -1.43341959e-04 9.99597613e-01 -1.94314813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.466874999999995 meters 0.012874047072065634 Centerline is valid? [True, True] Translation: X:62.51, Y:-4.62, Z:-1.94 [[ 9.63568264e-01 2.66037438e-01 2.75732163e-02 6.25140189e+01] [-2.65932079e-01 9.63962690e-01 -7.48740414e-03 -4.61571873e+00] [-2.85714816e-02 -1.17977739e-04 9.99591745e-01 -1.94374188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.496874999999996 meters 0.01286958954903925 Centerline is valid? [True, True] Translation: X:62.54, Y:-4.62, Z:-1.95 [[ 9.63669509e-01 2.65683784e-01 2.74445871e-02 6.25443408e+01] [-2.65579034e-01 9.64060225e-01 -7.46051378e-03 -4.62430265e+00] [-2.84403724e-02 -9.92373086e-05 9.99595486e-01 -1.94507347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.526875 meters 0.0127849729242968 Centerline is valid? [True, True] Translation: X:62.58, Y:-4.63, Z:-1.95 [[ 9.63543150e-01 2.66256210e-01 2.63102443e-02 6.25761842e+01] [-2.66159971e-01 9.63902287e-01 -7.15891775e-03 -4.63218763e+00] [-2.72666109e-02 -1.04807706e-04 9.99628191e-01 -1.94809317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.556875 meters 0.01279594754590361 Centerline is valid? [True, True] Translation: X:62.61, Y:-4.64, Z:-1.95 [[ 9.63250437e-01 2.67381528e-01 2.56069153e-02 6.26082023e+01] [-2.67290574e-01 9.63590734e-01 -6.97470404e-03 -4.63985652e+00] [-2.65394933e-02 -1.26100368e-04 9.99647758e-01 -1.95123777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.586875 meters 0.01289036744270715 Centerline is valid? [True, True] Translation: X:62.64, Y:-4.65, Z:-1.95 [[ 9.62776343e-01 2.69110253e-01 2.53255704e-02 6.26399906e+01] [-2.69021696e-01 9.63109363e-01 -6.90524645e-03 -4.64746393e+00] [-2.62495666e-02 -1.64919967e-04 9.99655407e-01 -1.95268822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61687499999999 meters 0.0129334550217468 Centerline is valid? [True, True] Translation: X:62.67, Y:-4.66, Z:-1.95 [[ 9.62315300e-01 2.70693573e-01 2.59663644e-02 6.26717035e+01] [-2.70600845e-01 9.62665543e-01 -7.08772142e-03 -4.65502169e+00] [-2.69155249e-02 -2.05897381e-04 9.99637690e-01 -1.95255635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.646874999999994 meters 0.013292932559293178 Centerline is valid? [True, True] Translation: X:62.70, Y:-4.66, Z:-1.95 [[ 9.61727030e-01 2.72783554e-01 2.58892516e-02 6.27016388e+01] [-2.72691923e-01 9.62075396e-01 -7.07445143e-03 -4.66164531e+00] [-2.68372059e-02 -2.56098630e-04 9.99639785e-01 -1.95300619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.676874999999995 meters 0.013888936823095313 Centerline is valid? [True, True] Translation: X:62.73, Y:-4.67, Z:-1.95 [[ 9.61116057e-01 2.74911087e-01 2.60733295e-02 6.27317845e+01] [-2.74818763e-01 9.61469603e-01 -7.13095474e-03 -4.66758652e+00] [-2.70290923e-02 -3.11765067e-04 9.99634599e-01 -1.95392423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.706875 meters 0.014515656643205796 Centerline is valid? [True, True] Translation: X:62.76, Y:-4.67, Z:-1.95 [[ 9.60051866e-01 2.78547685e-01 2.66758703e-02 6.27635307e+01] [-2.78452272e-01 9.60422310e-01 -7.30200768e-03 -4.67344777e+00] [-2.76540583e-02 -4.17650607e-04 9.99617466e-01 -1.95379118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.736875 meters 0.01494136901836189 Centerline is valid? [True, True] Translation: X:62.79, Y:-4.68, Z:-1.95 [[ 9.59538525e-01 2.80296486e-01 2.68272011e-02 6.27941076e+01] [-2.80200465e-01 9.59913363e-01 -7.35077851e-03 -4.67982076e+00] [-2.78121863e-02 -4.63639076e-04 9.99613059e-01 -1.95407695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.766875 meters 0.015048533713405508 Centerline is valid? [True, True] Translation: X:62.83, Y:-4.69, Z:-1.96 [[ 9.59165354e-01 2.81582665e-01 2.67025464e-02 6.28253653e+01] [-2.81487945e-01 9.59536845e-01 -7.31982362e-03 -4.68743569e+00] [-2.76832126e-02 -4.95523703e-04 9.99616624e-01 -1.95540749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.796875 meters 0.015984028853078265 Centerline is valid? [True, True] Translation: X:62.86, Y:-4.69, Z:-1.96 [[ 9.58768949e-01 2.82937564e-01 2.66165043e-02 6.28555331e+01] [-2.82843769e-01 9.59138185e-01 -7.30368289e-03 -4.69307705e+00] [-2.75953919e-02 -5.25768031e-04 9.99619036e-01 -1.95721341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.826874999999994 meters 0.016137246846818862 Centerline is valid? [True, True] Translation: X:62.89, Y:-4.70, Z:-1.96 [[ 9.58643190e-01 2.83417311e-01 2.60357855e-02 6.28870300e+01] [-2.83327672e-01 9.58996534e-01 -7.14690584e-03 -4.70109423e+00] [-2.69937849e-02 -5.25325881e-04 9.99635463e-01 -1.95866021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.856874999999995 meters 0.015600875425662112 Centerline is valid? [True, True] Translation: X:62.92, Y:-4.71, Z:-1.96 [[ 9.58540765e-01 2.83815882e-01 2.54587147e-02 6.29188696e+01] [-2.83730129e-01 9.58878656e-01 -6.99549479e-03 -4.71080678e+00] [-2.63972507e-02 -5.17937474e-04 9.99651398e-01 -1.95973317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.886874999999996 meters 0.015749545951210607 Centerline is valid? [True, True] Translation: X:62.95, Y:-4.72, Z:-1.96 [[ 9.58434759e-01 2.84245676e-01 2.46416195e-02 6.29507073e+01] [-2.84165301e-01 9.58751344e-01 -6.77802686e-03 -4.71875861e+00] [-2.55518106e-02 -5.05996682e-04 9.99673371e-01 -1.96207386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.916875 meters 0.01607735785500303 Centerline is valid? [True, True] Translation: X:62.98, Y:-4.73, Z:-1.96 [[ 9.58280295e-01 2.84859808e-01 2.35322220e-02 6.29806629e+01] [-2.84786506e-01 9.58569063e-01 -6.48054521e-03 -4.72609084e+00] [-2.44033069e-02 -4.91480526e-04 9.99702074e-01 -1.96423915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.946875 meters 0.01637164430215616 Centerline is valid? [True, True] Translation: X:63.01, Y:-4.73, Z:-1.97 [[ 9.58329407e-01 2.84808484e-01 2.21105131e-02 6.30111485e+01] [-2.84743694e-01 9.58584330e-01 -6.09188738e-03 -4.73399263e+00] [-2.29298126e-02 -4.57794344e-04 9.99736972e-01 -1.96630130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.976875 meters 0.016317802047431763 Centerline is valid? [True, True] Translation: X:63.04, Y:-4.74, Z:-1.97 [[ 9.58240324e-01 2.85149130e-01 2.15743971e-02 6.30429887e+01] [-2.85087495e-01 9.58483056e-01 -5.94573132e-03 -4.74308639e+00] [-2.23741142e-02 -4.53151311e-04 9.99749565e-01 -1.96766610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.006874999999994 meters 0.01638720620714066 Centerline is valid? [True, True] Translation: X:63.07, Y:-4.75, Z:-1.97 [[ 9.58106059e-01 2.85645757e-01 2.09590351e-02 6.30743862e+01] [-2.85587571e-01 9.58335173e-01 -5.78237672e-03 -4.75092562e+00] [-2.17374919e-02 -4.45509752e-04 9.99763614e-01 -1.96898359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.036874999999995 meters 0.016349726706042133 Centerline is valid? [True, True] Translation: X:63.11, Y:-4.76, Z:-1.97 [[ 9.57805519e-01 2.86612400e-01 2.14923394e-02 6.31063134e+01] [-2.86551341e-01 9.58046506e-01 -5.93478389e-03 -4.75798795e+00] [-2.22916433e-02 -4.74289915e-04 9.99751398e-01 -1.96993855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.066874999999996 meters 0.016403221931001886 Centerline is valid? [True, True] Translation: X:63.14, Y:-4.77, Z:-1.97 [[ 9.57584252e-01 2.87292613e-01 2.22565521e-02 6.31378655e+01] [-2.87227158e-01 9.57842734e-01 -6.15276165e-03 -4.76536931e+00] [-2.30859197e-02 -5.00898525e-04 9.99733359e-01 -1.97138056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.096875 meters 0.01669804514270576 Centerline is valid? [True, True] Translation: X:63.17, Y:-4.77, Z:-1.97 [[ 9.57477031e-01 2.87638578e-01 2.24005322e-02 6.31702571e+01] [-2.87572212e-01 9.57738896e-01 -6.19927401e-03 -4.77330854e+00] [-2.32370113e-02 -5.06108114e-04 9.99729856e-01 -1.97231407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.126875 meters 0.016222486532424505 Centerline is valid? [True, True] Translation: X:63.20, Y:-4.78, Z:-1.97 [[ 9.57470629e-01 2.87589693e-01 2.32844104e-02 6.32013717e+01] [-2.87517791e-01 9.57753570e-01 -6.45130301e-03 -4.78238892e+00] [-2.41560554e-02 -5.17749108e-04 9.99708066e-01 -1.97197656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.156875 meters 0.0167530463642876 Centerline is valid? [True, True] Translation: X:63.23, Y:-4.79, Z:-1.97 [[ 9.57451392e-01 2.87640180e-01 2.34511895e-02 6.32324351e+01] [-2.87567113e-01 9.57738409e-01 -6.50354677e-03 -4.78958773e+00] [-2.43307863e-02 -5.16960958e-04 9.99703829e-01 -1.97283122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18687499999999 meters 0.01646562997408174 Centerline is valid? [True, True] Translation: X:63.26, Y:-4.80, Z:-1.97 [[ 9.57288360e-01 2.88194437e-01 2.33015413e-02 6.32644221e+01] [-2.88122314e-01 9.57571770e-01 -6.46825551e-03 -4.79843209e+00] [-2.41770134e-02 -5.21708277e-04 9.99707557e-01 -1.97359871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.216874999999995 meters 0.016966530820120847 Centerline is valid? [True, True] Translation: X:63.30, Y:-4.81, Z:-1.97 [[ 9.57126607e-01 2.88715127e-01 2.34996530e-02 6.32952676e+01] [-2.88641739e-01 9.57414901e-01 -6.53100321e-03 -4.80555118e+00] [-2.43845173e-02 -5.31983763e-04 9.99702512e-01 -1.97448045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.246874999999996 meters 0.016332609047763413 Centerline is valid? [True, True] Translation: X:63.33, Y:-4.81, Z:-1.97 [[ 9.57067834e-01 2.88864275e-01 2.40539237e-02 6.33265984e+01] [-2.88787337e-01 9.57369904e-01 -6.68880106e-03 -4.81454052e+00] [-2.49606583e-02 -5.44832223e-04 9.99688286e-01 -1.97497239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.276875 meters 0.016653004324790697 Centerline is valid? [True, True] Translation: X:63.36, Y:-4.82, Z:-1.98 [[ 9.56833985e-01 2.89575615e-01 2.47928938e-02 6.33580943e+01] [-2.89493893e-01 9.57154969e-01 -6.90291513e-03 -4.82069752e+00] [-2.57295574e-02 -5.72447572e-04 9.99668776e-01 -1.97540545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.306875 meters 0.016742186838260457 Centerline is valid? [True, True] Translation: X:63.39, Y:-4.83, Z:-1.98 [[ 9.56705948e-01 2.89986031e-01 2.49365383e-02 6.33886348e+01] [-2.89903419e-01 9.57030700e-01 -6.94600688e-03 -4.82813951e+00] [-2.58792777e-02 -5.83901607e-04 9.99664905e-01 -1.97733870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.336875 meters 0.016385060333162924 Centerline is valid? [True, True] Translation: X:63.42, Y:-4.84, Z:-1.98 [[ 9.56694045e-01 2.90038869e-01 2.47781732e-02 6.34200377e+01] [-2.89957219e-01 9.57014692e-01 -6.90582609e-03 -4.83692135e+00] [-2.57160338e-02 -5.77847499e-04 9.99669121e-01 -1.97846387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36687499999999 meters 0.016475750956704498 Centerline is valid? [True, True] Translation: X:63.45, Y:-4.84, Z:-1.98 [[ 9.56861130e-01 2.89464205e-01 2.50449983e-02 6.34501161e+01] [-2.89380385e-01 9.57188675e-01 -6.98807112e-03 -4.84471649e+00] [-2.59955852e-02 -5.60917624e-04 9.99661900e-01 -1.98021077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.396874999999994 meters 0.016130600247684996 Centerline is valid? [True, True] Translation: X:63.48, Y:-4.85, Z:-1.98 [[ 9.56915570e-01 2.89346270e-01 2.43172329e-02 6.34815872e+01] [-2.89267079e-01 9.57224346e-01 -6.79031461e-03 -4.85408787e+00] [-2.52417995e-02 -5.36417159e-04 9.99681231e-01 -1.98106588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.426874999999995 meters 0.016479639941634226 Centerline is valid? [True, True] Translation: X:63.51, Y:-4.86, Z:-1.98 [[ 9.56710518e-01 2.89987242e-01 2.47464006e-02 6.35126742e+01] [-2.89905236e-01 9.57030350e-01 -6.91832246e-03 -4.86166275e+00] [-2.56892817e-02 -5.55279231e-04 9.99669822e-01 -1.98029673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.456875 meters 0.016802692943834595 Centerline is valid? [True, True] Translation: X:63.54, Y:-4.87, Z:-1.98 [[ 9.56539880e-01 2.90494951e-01 2.53799437e-02 6.35445942e+01] [-2.90408758e-01 9.56876349e-01 -7.09971245e-03 -4.86927437e+00] [-2.63478985e-02 -5.79399827e-04 9.99652666e-01 -1.98102707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.486875 meters 0.017054720505962906 Centerline is valid? [True, True] Translation: X:63.58, Y:-4.88, Z:-1.98 [[ 9.56323545e-01 2.91174002e-01 2.57483637e-02 6.35765548e+01] [-2.91085329e-01 9.56669923e-01 -7.21040915e-03 -4.87671530e+00] [-2.67321688e-02 -5.99486891e-04 9.99642452e-01 -1.98191890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.516875 meters 0.01665008722404526 Centerline is valid? [True, True] Translation: X:63.61, Y:-4.89, Z:-1.98 [[ 9.56120105e-01 2.91833294e-01 2.58393778e-02 6.36084701e+01] [-2.91744033e-01 9.56469002e-01 -7.24338726e-03 -4.88549339e+00] [-2.68284254e-02 -6.12936086e-04 9.99639865e-01 -1.98346996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.546875 meters 0.01669539196894995 Centerline is valid? [True, True] Translation: X:63.64, Y:-4.89, Z:-1.98 [[ 9.55846689e-01 2.92729372e-01 2.58190346e-02 6.36396335e+01] [-2.92640366e-01 9.56195125e-01 -7.24557907e-03 -4.89329197e+00] [-2.68090288e-02 -6.30028974e-04 9.99640375e-01 -1.98482878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.576874999999994 meters 0.016811626754667755 Centerline is valid? [True, True] Translation: X:63.67, Y:-4.90, Z:-1.99 [[ 9.55510868e-01 2.93843765e-01 2.55895104e-02 6.36711448e+01] [-2.93756558e-01 9.55853242e-01 -7.18779349e-03 -4.90122240e+00] [-2.65719048e-02 -6.49071703e-04 9.99646694e-01 -1.98647945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.606874999999995 meters 0.01842468163154242 Centerline is valid? [True, True] Translation: X:63.70, Y:-4.91, Z:-1.99 [[ 9.55026793e-01 2.95369842e-01 2.60860487e-02 6.37020982e+01] [-2.95279592e-01 9.55382734e-01 -7.33439495e-03 -4.90546388e+00] [-2.70885196e-02 -6.98134146e-04 9.99632795e-01 -1.98870291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.636874999999996 meters 0.01779494216189084 Centerline is valid? [True, True] Translation: X:63.73, Y:-4.91, Z:-1.99 [[ 9.54762370e-01 2.96201731e-01 2.63315606e-02 6.37322617e+01] [-2.96109911e-01 9.55125129e-01 -7.40995684e-03 -4.91497001e+00] [-2.73447772e-02 -7.22288112e-04 9.99625801e-01 -1.98866112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.666875 meters 0.018081487403276534 Centerline is valid? [True, True] Translation: X:63.76, Y:-4.92, Z:-1.99 [[ 9.54596876e-01 2.96741626e-01 2.62528577e-02 6.37643644e+01] [-2.96650392e-01 9.54957525e-01 -7.39388970e-03 -4.92320235e+00] [-2.72644389e-02 -7.29736539e-04 9.99627990e-01 -1.98923015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.696875 meters 0.018585817594354556 Centerline is valid? [True, True] Translation: X:63.79, Y:-4.93, Z:-1.99 [[ 9.54482394e-01 2.97168682e-01 2.55760546e-02 6.37949026e+01] [-2.97082030e-01 9.54824729e-01 -7.21139534e-03 -4.93025949e+00] [-2.65636502e-02 -7.15036336e-04 9.99646868e-01 -1.99049855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.726875 meters 0.01820986276084532 Centerline is valid? [True, True] Translation: X:63.83, Y:-4.94, Z:-1.99 [[ 9.53864096e-01 2.99172588e-01 2.52794126e-02 6.38261446e+01] [-2.99088562e-01 9.54198714e-01 -7.13063697e-03 -4.93788029e+00] [-2.62548741e-02 -7.59124567e-04 9.99654993e-01 -1.99167395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.756874999999994 meters 0.018948880592516915 Centerline is valid? [True, True] Translation: X:63.86, Y:-4.94, Z:-1.99 [[ 9.53590229e-01 3.00041976e-01 2.53078605e-02 6.38563629e+01] [-2.99957887e-01 9.53925683e-01 -7.14549146e-03 -4.94404558e+00] [-2.62857654e-02 -7.77421516e-04 9.99654167e-01 -1.99301315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.786874999999995 meters 0.018948880592516915 Centerline is valid? [True, True] Translation: X:63.89, Y:-4.95, Z:-1.99 [[ 9.53507872e-01 3.00303726e-01 2.53063149e-02 6.38874992e+01] [-3.00219583e-01 9.53843313e-01 -7.15096040e-03 -4.95293578e+00] [-2.62857193e-02 -7.78954291e-04 9.99654167e-01 -1.99404729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.816874999999996 meters 0.017977904084589838 Centerline is valid? [True, True] Translation: X:63.92, Y:-4.96, Z:-2.00 [[ 9.53296853e-01 3.01024179e-01 2.46891306e-02 6.39177222e+01] [-3.00944146e-01 9.53616195e-01 -6.98381461e-03 -4.96255732e+00] [-2.56462518e-02 -7.72400841e-04 9.99670782e-01 -1.99500930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.846875 meters 0.019396666707635738 Centerline is valid? [True, True] Translation: X:63.95, Y:-4.97, Z:-2.00 [[ 9.53151300e-01 3.01464983e-01 2.49291777e-02 6.39494139e+01] [-3.01383364e-01 9.53476925e-01 -7.05841430e-03 -4.96823619e+00] [-2.58972605e-02 -7.85502679e-04 9.99664301e-01 -1.99681115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.876875 meters 0.019344481859952942 Centerline is valid? [True, True] Translation: X:63.98, Y:-4.98, Z:-2.00 [[ 9.53307666e-01 3.00872250e-01 2.60841712e-02 6.39803606e+01] [-3.00782451e-01 9.53664120e-01 -7.39349748e-03 -4.97586867e+00] [-2.71000363e-02 -7.97383108e-04 9.99632409e-01 -1.99753430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.906875 meters 0.018926071817343834 Centerline is valid? [True, True] Translation: X:64.01, Y:-4.98, Z:-2.00 [[ 9.53641867e-01 2.99758662e-01 2.66821061e-02 6.40107848e+01] [-2.99664066e-01 9.54014749e-01 -7.57005802e-03 -4.98476185e+00] [-2.77243132e-02 -7.76544145e-04 9.99615306e-01 -1.99831891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93687499999999 meters 0.017624944649576937 Centerline is valid? [True, True] Translation: X:64.04, Y:-5.00, Z:-2.00 [[ 9.54099176e-01 2.98199963e-01 2.77767000e-02 6.40411794e+01] [-2.98096571e-01 9.54503124e-01 -7.88804478e-03 -4.99661438e+00] [-2.88651615e-02 -7.54161983e-04 9.99583030e-01 -1.99755591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.966874999999995 meters 0.017136718782706534 Centerline is valid? [True, True] Translation: X:64.07, Y:-5.01, Z:-2.00 [[ 9.54523528e-01 2.96834619e-01 2.78216371e-02 6.40723767e+01] [-2.96730086e-01 9.54928641e-01 -7.90863164e-03 -5.00618790e+00] [-2.89152338e-02 -7.06541792e-04 9.99581618e-01 -1.99761349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.996874999999996 meters 0.016949192402808996 Centerline is valid? [True, True] Translation: X:64.10, Y:-5.01, Z:-2.00 [[ 9.54817899e-01 2.95918936e-01 2.74729648e-02 6.41027520e+01] [-2.95816570e-01 9.55212823e-01 -7.81154850e-03 -5.01470255e+00] [-2.85541134e-02 -6.68351887e-04 9.99592025e-01 -1.99911769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.026875 meters 0.016605404395752598 Centerline is valid? [True, True] Translation: X:64.13, Y:-5.02, Z:-2.00 [[ 9.55236741e-01 2.94673286e-01 2.62759019e-02 6.41330769e+01] [-2.94578985e-01 9.55597875e-01 -7.47818432e-03 -5.02191764e+00] [-2.73128171e-02 -5.96892082e-04 9.99626757e-01 -2.00159066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.056875 meters 0.01638488686921182 Centerline is valid? [True, True] Translation: X:64.16, Y:-5.03, Z:-2.00 [[ 9.55201907e-01 2.94788251e-01 2.62526900e-02 6.41649602e+01] [-2.94694072e-01 9.55562416e-01 -7.47481743e-03 -5.03094407e+00] [-2.72895723e-02 -5.96552248e-04 9.99627392e-01 -2.00305044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.086875 meters 0.016974482238376293 Centerline is valid? [True, True] Translation: X:64.20, Y:-5.04, Z:-2.00 [[ 9.55128932e-01 2.95066022e-01 2.57830673e-02 6.41957268e+01] [-2.94975079e-01 9.55476687e-01 -7.34875432e-03 -5.03803676e+00] [-2.68034874e-02 -5.86354452e-04 9.99640550e-01 -2.00452966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11687499999999 meters 0.016721327981746862 Centerline is valid? [True, True] Translation: X:64.23, Y:-5.05, Z:-2.01 [[ 9.55257780e-01 2.94746938e-01 2.46336294e-02 6.42274847e+01] [-2.94663654e-01 9.55575191e-01 -7.02753979e-03 -5.04589965e+00] [-2.56106310e-02 -5.45523181e-04 9.99671845e-01 -2.00754043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.146874999999994 meters 0.01658529428537648 Centerline is valid? [True, True] Translation: X:64.26, Y:-5.05, Z:-2.01 [[ 9.55155974e-01 2.95119394e-01 2.41165620e-02 6.42594593e+01] [-2.95039516e-01 9.55460232e-01 -6.88692206e-03 -5.05448126e+00] [-2.50748802e-02 -5.37254029e-04 9.99685431e-01 -2.00894111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.176874999999995 meters 0.017042995496140776 Centerline is valid? [True, True] Translation: X:64.29, Y:-5.06, Z:-2.01 [[ 9.55036988e-01 2.95490613e-01 2.42826909e-02 6.42902578e+01] [-2.95409546e-01 9.55345489e-01 -6.94243725e-03 -5.06106739e+00] [-2.52497842e-02 -5.43054332e-04 9.99681026e-01 -2.01014468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.206875 meters 0.016735429334531118 Centerline is valid? [True, True] Translation: X:64.32, Y:-5.07, Z:-2.01 [[ 9.54846469e-01 2.96062190e-01 2.48072709e-02 6.43215470e+01] [-2.95977686e-01 9.55168497e-01 -7.09588470e-03 -5.07013655e+00] [-2.57959468e-02 -5.66918182e-04 9.99667068e-01 -2.01030936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.236875 meters 0.016916249816319267 Centerline is valid? [True, True] Translation: X:64.35, Y:-5.08, Z:-2.01 [[ 9.54665335e-01 2.96669365e-01 2.45231625e-02 6.43529535e+01] [-2.96586803e-01 9.54980085e-01 -7.02178039e-03 -5.07840127e+00] [-2.55022789e-02 -5.69796010e-04 9.99674602e-01 -2.01008942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.266875 meters 0.01699774801233656 Centerline is valid? [True, True] Translation: X:64.38, Y:-5.09, Z:-2.01 [[ 9.54056729e-01 2.98564254e-01 2.52020657e-02 6.43837010e+01] [-2.98477507e-01 9.54389328e-01 -7.22415759e-03 -5.08593415e+00] [-2.62094577e-02 -6.29993577e-04 9.99656275e-01 -2.00925550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.296875 meters 0.01739086903284544 Centerline is valid? [True, True] Translation: X:64.41, Y:-5.09, Z:-2.01 [[ 9.53799126e-01 2.99363949e-01 2.54647324e-02 6.44146649e+01] [-2.99275503e-01 9.54138774e-01 -7.30570720e-03 -5.09315076e+00] [-2.64839539e-02 -6.52793448e-04 9.99649025e-01 -2.01049078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.326874999999994 meters 0.017442853452318195 Centerline is valid? [True, True] Translation: X:64.45, Y:-5.10, Z:-2.01 [[ 9.53500487e-01 3.00354582e-01 2.49789210e-02 6.44454721e+01] [-3.00269652e-01 9.53827389e-01 -7.17271906e-03 -5.10101945e+00] [-2.59799381e-02 -6.61220811e-04 9.99662246e-01 -2.01257709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.356874999999995 meters 0.01853150107019394 Centerline is valid? [True, True] Translation: X:64.48, Y:-5.11, Z:-2.02 [[ 9.53036931e-01 3.01959123e-01 2.32657666e-02 6.44756303e+01] [-3.01885784e-01 9.53320651e-01 -6.68651535e-03 -5.10741749e+00] [-2.41987901e-02 -6.51108114e-04 9.99706954e-01 -2.01540741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.386874999999996 meters 0.018166522925041527 Centerline is valid? [True, True] Translation: X:64.51, Y:-5.12, Z:-2.02 [[ 9.52915998e-01 3.02382359e-01 2.27158559e-02 6.45066878e+01] [-3.02312451e-01 9.53186497e-01 -6.53336492e-03 -5.11709139e+00] [-2.36280214e-02 -6.41538117e-04 9.99720613e-01 -2.01609017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.416875 meters 0.018291118739528132 Centerline is valid? [True, True] Translation: X:64.54, Y:-5.13, Z:-2.02 [[ 9.52744909e-01 3.02835848e-01 2.38241056e-02 6.45381989e+01] [-3.02758904e-01 9.53042491e-01 -6.85972377e-03 -5.12554895e+00] [-2.47827552e-02 -6.77393206e-04 9.99692631e-01 -2.01620439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.446875 meters 0.017915183140633312 Centerline is valid? [True, True] Translation: X:64.57, Y:-5.14, Z:-2.02 [[ 9.52441493e-01 3.03769596e-01 2.40672994e-02 6.45686153e+01] [-3.03691183e-01 9.52745265e-01 -6.93725124e-03 -5.13536554e+00] [-2.50373315e-02 -7.01700685e-04 9.99686271e-01 -2.01599671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.476875 meters 0.020262057486389554 Centerline is valid? [True, True] Translation: X:64.60, Y:-5.14, Z:-2.02 [[ 9.51944623e-01 3.05306844e-01 2.42727323e-02 6.45994355e+01] [-3.05227415e-01 9.52253737e-01 -7.00317920e-03 -5.13998956e+00] [-2.52519185e-02 -7.42064542e-04 9.99680844e-01 -2.01668106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.506874999999994 meters 0.019791344149820547 Centerline is valid? [True, True] Translation: X:64.63, Y:-5.15, Z:-2.02 [[ 9.51592226e-01 3.06376483e-01 2.46107020e-02 6.46299947e+01] [-3.06295027e-01 9.51910106e-01 -7.10681635e-03 -5.14993905e+00] [-2.56045374e-02 -7.75344475e-04 9.99671849e-01 -2.01672757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.536874999999995 meters 0.01962442484169588 Centerline is valid? [True, True] Translation: X:64.66, Y:-5.16, Z:-2.02 [[ 9.51131911e-01 3.07816338e-01 2.44374688e-02 6.46604735e+01] [-3.07736342e-01 9.51445457e-01 -7.06300592e-03 -5.15930184e+00] [-2.54250273e-02 -8.02446929e-04 9.99676410e-01 -2.01763879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.566874999999996 meters 0.020546316860891978 Centerline is valid? [True, True] Translation: X:64.69, Y:-5.17, Z:-2.02 [[ 9.50403900e-01 3.10131609e-01 2.34693980e-02 6.46916808e+01] [-3.10058355e-01 9.50693277e-01 -6.79036574e-03 -5.16716557e+00] [-2.44181059e-02 -8.23292845e-04 9.99701495e-01 -2.02079669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.596875 meters 0.021452826860430138 Centerline is valid? [True, True] Translation: X:64.72, Y:-5.18, Z:-2.02 [[ 9.50127246e-01 3.11026739e-01 2.28163113e-02 6.47213037e+01] [-3.10957736e-01 9.50400806e-01 -6.60255066e-03 -5.17512371e+00] [-2.37382105e-02 -8.21645244e-04 9.99717871e-01 -2.02243988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.626875 meters 0.020746763504506004 Centerline is valid? [True, True] Translation: X:64.75, Y:-5.19, Z:-2.02 [[ 9.49521256e-01 3.12964008e-01 2.15154297e-02 6.47507744e+01] [-3.12903105e-01 9.49764634e-01 -6.22791364e-03 -5.18665517e+00] [-2.23837070e-02 -8.18708367e-04 9.99749118e-01 -2.02357756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.656875 meters 0.022571553861129152 Centerline is valid? [True, True] Translation: X:64.78, Y:-5.19, Z:-2.03 [[ 9.49169036e-01 3.14071633e-01 2.09081635e-02 6.47807993e+01] [-3.14014247e-01 9.49398939e-01 -6.05864513e-03 -5.19306294e+00] [-2.17530368e-02 -8.14782853e-04 9.99763043e-01 -2.02552101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68687499999999 meters 0.02271326302060155 Centerline is valid? [True, True] Translation: X:64.81, Y:-5.20, Z:-2.03 [[ 9.48848688e-01 3.15003790e-01 2.14191593e-02 6.48117449e+01] [-3.14943791e-01 9.49090027e-01 -6.20721815e-03 -5.20289401e+00] [-2.22840078e-02 -8.56120445e-04 9.99751314e-01 -2.02585604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.716874999999995 meters 0.022885770987718265 Centerline is valid? [True, True] Translation: X:64.84, Y:-5.21, Z:-2.03 [[ 9.48397146e-01 3.16306606e-01 2.22032479e-02 6.48422642e+01] [-3.16242349e-01 9.48656575e-01 -6.44050895e-03 -5.21380412e+00] [-2.31004327e-02 -9.13446963e-04 9.99732732e-01 -2.02524148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.746874999999996 meters 0.023166828768788433 Centerline is valid? [True, True] Translation: X:64.87, Y:-5.22, Z:-2.03 [[ 9.48114347e-01 3.17197602e-01 2.15607742e-02 6.48728750e+01] [-3.17137118e-01 9.48359039e-01 -6.25956683e-03 -5.22419638e+00] [-2.24328747e-02 -9.02936667e-04 9.99747944e-01 -2.02708332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.776875 meters 0.0248704521522044 Centerline is valid? [True, True] Translation: X:64.90, Y:-5.23, Z:-2.03 [[ 9.48018397e-01 3.17475490e-01 2.16894745e-02 6.49035619e+01] [-3.17414227e-01 9.48266042e-01 -6.30256789e-03 -5.23138499e+00] [-2.25683029e-02 -9.09597475e-04 9.99744890e-01 -2.02892218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.806875 meters 0.023125741359412175 Centerline is valid? [True, True] Translation: X:64.93, Y:-5.24, Z:-2.03 [[ 9.47887263e-01 3.17871766e-01 2.16166047e-02 6.49338798e+01] [-3.17810884e-01 9.48133277e-01 -6.28732461e-03 -5.24467503e+00] [-2.24939853e-02 -9.10317336e-04 9.99746564e-01 -2.02852033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.836875 meters 0.024714183690549445 Centerline is valid? [True, True] Translation: X:64.96, Y:-5.25, Z:-2.03 [[ 9.47793757e-01 3.18155301e-01 2.15452909e-02 6.49643918e+01] [-3.18094742e-01 9.48038175e-01 -6.27329936e-03 -5.25227074e+00] [-2.24216417e-02 -9.07649784e-04 9.99748191e-01 -2.02970056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86687499999999 meters 0.024139064203768504 Centerline is valid? [True, True] Translation: X:64.99, Y:-5.26, Z:-2.03 [[ 9.47589664e-01 3.18791077e-01 2.11205459e-02 6.49944772e+01] [-3.18732909e-01 9.47824584e-01 -6.15562478e-03 -5.26470150e+00] [-2.19809309e-02 -8.98806597e-04 9.99757986e-01 -2.02958154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.896874999999994 meters 0.023934166513888133 Centerline is valid? [True, True] Translation: X:65.03, Y:-5.28, Z:-2.03 [[ 9.47551581e-01 3.18974647e-01 2.00293999e-02 6.50255610e+01] [-3.18922282e-01 9.47762865e-01 -5.84204771e-03 -5.27664342e+00] [-2.08465865e-02 -8.52180378e-04 9.99782323e-01 -2.03079928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.926874999999995 meters 0.024752363298289205 Centerline is valid? [True, True] Translation: X:65.06, Y:-5.29, Z:-2.03 [[ 9.47540168e-01 3.19017544e-01 1.98855800e-02 6.50565588e+01] [-3.18965813e-01 9.47748437e-01 -5.80611830e-03 -5.28589799e+00] [-2.06987809e-02 -8.41289879e-04 9.99785403e-01 -2.03248394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.956875 meters 0.024379921642607657 Centerline is valid? [True, True] Translation: X:65.09, Y:-5.30, Z:-2.03 [[ 9.47537166e-01 3.18990050e-01 2.04613548e-02 6.50864770e+01] [-3.18935129e-01 9.47757675e-01 -5.98103675e-03 -5.29671779e+00] [-2.13002973e-02 -8.58590220e-04 9.99772754e-01 -2.03326662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.986875 meters 0.023305397399752237 Centerline is valid? [True, True] Translation: X:65.12, Y:-5.31, Z:-2.03 [[ 9.48152892e-01 3.17120394e-01 2.09940199e-02 6.51155784e+01] [-3.17061949e-01 9.48384925e-01 -6.14445788e-03 -5.31046324e+00] [-2.18589449e-02 -8.30519355e-04 9.99760720e-01 -2.03318268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.016875 meters 0.022152177452514618 Centerline is valid? [True, True] Translation: X:65.15, Y:-5.32, Z:-2.03 [[ 9.48679741e-01 3.15555440e-01 2.07728899e-02 6.51457855e+01] [-3.15497829e-01 9.48906817e-01 -6.08052261e-03 -5.32335378e+00] [-2.16302789e-02 -7.85333055e-04 9.99765730e-01 -2.03391295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.046875 meters 0.02162504959704297 Centerline is valid? [True, True] Translation: X:65.17, Y:-5.34, Z:-2.04 [[ 9.49734105e-01 3.12429359e-01 1.98248554e-02 6.51735991e+01] [-3.12376174e-01 9.49940752e-01 -5.80457111e-03 -5.33677951e+00] [-2.06459564e-02 -6.80013317e-04 9.99786618e-01 -2.03521661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.076874999999994 meters 0.021093554968216688 Centerline is valid? [True, True] Translation: X:65.20, Y:-5.35, Z:-2.04 [[ 9.50177603e-01 3.11070409e-01 1.99430236e-02 6.52037985e+01] [-3.11016272e-01 9.50386644e-01 -5.83992187e-03 -5.34850733e+00] [-2.07702102e-02 -6.53641908e-04 9.99784062e-01 -2.03601650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.106874999999995 meters 0.019210143182347494 Centerline is valid? [True, True] Translation: X:65.23, Y:-5.36, Z:-2.04 [[ 9.50491523e-01 3.10092399e-01 2.02130661e-02 6.52332637e+01] [-3.10036455e-01 9.50706211e-01 -5.92422332e-03 -5.36251970e+00] [-2.10537441e-02 -6.35863327e-04 9.99778143e-01 -2.03535699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.136874999999996 meters 0.019301443292331386 Centerline is valid? [True, True] Translation: X:65.26, Y:-5.37, Z:-2.04 [[ 9.51242813e-01 3.07741708e-01 2.07882854e-02 6.52621898e+01] [-3.07681842e-01 9.51469751e-01 -6.09887678e-03 -5.37483907e+00] [-2.16563035e-02 -5.94665252e-04 9.99765298e-01 -2.03594639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.166875 meters 0.019165656869261534 Centerline is valid? [True, True] Translation: X:65.29, Y:-5.39, Z:-2.04 [[ 9.51492628e-01 3.06959663e-01 2.09175675e-02 6.52928183e+01] [-3.06898714e-01 9.51722352e-01 -6.14359833e-03 -5.38627713e+00] [-2.17935534e-02 -5.73986028e-04 9.99762328e-01 -2.03670376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.196875 meters 0.018854456777896836 Centerline is valid? [True, True] Translation: X:65.32, Y:-5.40, Z:-2.04 [[ 9.51852243e-01 3.05874668e-01 2.04449466e-02 6.53224215e+01] [-3.05816189e-01 9.52071636e-01 -6.00492550e-03 -5.39958023e+00] [-2.13018083e-02 -5.36593833e-04 9.99772947e-01 -2.03753859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.226875 meters 0.018546071569699736 Centerline is valid? [True, True] Translation: X:65.35, Y:-5.41, Z:-2.04 [[ 9.51966002e-01 3.05502115e-01 2.07168955e-02 6.53526267e+01] [-3.05441863e-01 9.52191250e-01 -6.09028179e-03 -5.41079817e+00] [-2.15870406e-02 -5.30065959e-04 9.99766832e-01 -2.03852516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.256874999999994 meters 0.018376663752406514 Centerline is valid? [True, True] Translation: X:65.38, Y:-5.42, Z:-2.04 [[ 9.51849865e-01 3.05865893e-01 2.06854788e-02 6.53831820e+01] [-3.05805802e-01 9.52074457e-01 -6.08605732e-03 -5.42229062e+00] [-2.15556334e-02 -5.32726603e-04 9.99767508e-01 -2.03939447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.286874999999995 meters 0.018122077096674398 Centerline is valid? [True, True] Translation: X:65.41, Y:-5.43, Z:-2.04 [[ 9.52603513e-01 3.03532927e-01 2.03545887e-02 6.54117152e+01] [-3.03474071e-01 9.52820836e-01 -5.99528286e-03 -5.43396532e+00] [-2.12140420e-02 -4.65962386e-04 9.99774848e-01 -2.04257446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.316874999999996 meters 0.016202344473328217 Centerline is valid? [True, True] Translation: X:65.44, Y:-5.45, Z:-2.04 [[ 9.54412113e-01 2.97762469e-01 2.08573783e-02 6.54394367e+01] [-2.97699136e-01 9.54639931e-01 -6.15039274e-03 -5.44991521e+00] [-2.17426423e-02 -3.39214171e-04 9.99763543e-01 -2.04276349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.346875 meters 0.01565763471707284 Centerline is valid? [True, True] Translation: X:65.47, Y:-5.46, Z:-2.04 [[ 9.54928321e-01 2.96092759e-01 2.09995024e-02 6.54690558e+01] [-2.96028171e-01 9.55159142e-01 -6.19163419e-03 -5.46268615e+00] [-2.18911647e-02 -3.03877444e-04 9.99760314e-01 -2.04156112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.376875 meters 0.015762418317811677 Centerline is valid? [True, True] Translation: X:65.50, Y:-5.47, Z:-2.04 [[ 9.55269765e-01 2.94972660e-01 2.12321718e-02 6.54987179e+01] [-2.94906228e-01 9.55505653e-01 -6.26604029e-03 -5.47317551e+00] [-2.21357707e-02 -2.75740857e-04 9.99754936e-01 -2.04284870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.406875 meters 0.015496553294865259 Centerline is valid? [True, True] Translation: X:65.53, Y:-5.48, Z:-2.05 [[ 9.55467151e-01 2.94375522e-01 2.06295052e-02 6.55294896e+01] [-2.94312577e-01 9.55689798e-01 -6.09241403e-03 -5.48465468e+00] [-2.15088652e-02 -2.50421373e-04 9.99768626e-01 -2.04555811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43687499999999 meters 0.01562202028567868 Centerline is valid? [True, True] Translation: X:65.56, Y:-5.49, Z:-2.05 [[ 9.55175707e-01 2.95417445e-01 1.91807673e-02 6.55601492e+01] [-2.95363133e-01 9.55368239e-01 -5.66994883e-03 -5.49376723e+00] [-1.99996977e-02 -2.49494152e-04 9.99799955e-01 -2.04827237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.466874999999995 meters 0.015885932923052144 Centerline is valid? [True, True] Translation: X:65.59, Y:-5.50, Z:-2.05 [[ 9.54690940e-01 2.97065940e-01 1.78055434e-02 6.55908424e+01] [-2.97019352e-01 9.54856932e-01 -5.26733450e-03 -5.50386634e+00] [-1.85664922e-02 -2.59914418e-04 9.99827594e-01 -2.05035842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.496874999999996 meters 0.016092730333442353 Centerline is valid? [True, True] Translation: X:65.62, Y:-5.51, Z:-2.05 [[ 9.54612321e-01 2.97358506e-01 1.71241438e-02 6.56211851e+01] [-2.97315392e-01 9.54765864e-01 -5.06970999e-03 -5.51358403e+00] [-1.78570694e-02 -2.51663915e-04 9.99840518e-01 -2.05122011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.526875 meters 0.016407805171791637 Centerline is valid? [True, True] Translation: X:65.65, Y:-5.52, Z:-2.05 [[ 9.54533965e-01 2.97611368e-01 1.70992491e-02 6.56515990e+01] [-2.97568334e-01 9.54687075e-01 -5.06715303e-03 -5.52220400e+00] [-1.78324745e-02 -2.51425409e-04 9.99840957e-01 -2.05222604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.556875 meters 0.016234623072468417 Centerline is valid? [True, True] Translation: X:65.68, Y:-5.53, Z:-2.05 [[ 9.54270658e-01 2.98380012e-01 1.83542950e-02 6.56821666e+01] [-2.98330460e-01 9.54447112e-01 -5.44487500e-03 -5.53208748e+00] [-1.91428457e-02 -2.79760800e-04 9.99816720e-01 -2.05011641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.586875 meters 0.016227229233531787 Centerline is valid? [True, True] Translation: X:65.71, Y:-5.54, Z:-2.05 [[ 9.54079924e-01 2.98937636e-01 1.91778106e-02 6.57137225e+01] [-2.98883552e-01 9.54272603e-01 -5.69405450e-03 -5.54110628e+00] [-2.00030264e-02 -2.99349058e-04 9.99799875e-01 -2.05050712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61687499999999 meters 0.016199381925038777 Centerline is valid? [True, True] Translation: X:65.74, Y:-5.55, Z:-2.05 [[ 9.53876528e-01 2.99419219e-01 2.16263628e-02 6.57448081e+01] [-2.99350388e-01 9.54121593e-01 -6.42889476e-03 -5.54922542e+00] [-2.25591143e-02 -3.41488274e-04 9.99745452e-01 -2.04996184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.646874999999994 meters 0.01627655339604183 Centerline is valid? [True, True] Translation: X:65.78, Y:-5.56, Z:-2.05 [[ 9.53687471e-01 2.99945455e-01 2.26479886e-02 6.57761700e+01] [-2.99869974e-01 9.53956283e-01 -6.73855086e-03 -5.55803753e+00] [-2.36263887e-02 -3.64980222e-04 9.99720791e-01 -2.05069366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.676874999999995 meters 0.01627655339604183 Centerline is valid? [True, True] Translation: X:65.81, Y:-5.57, Z:-2.05 [[ 9.53606047e-01 3.00204361e-01 2.26461597e-02 6.58071532e+01] [-3.00128806e-01 9.53874839e-01 -6.74469045e-03 -5.56737315e+00] [-2.36263874e-02 -3.64987280e-04 9.99720791e-01 -2.05172826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.706875 meters 0.01625299812255446 Centerline is valid? [True, True] Translation: X:65.84, Y:-5.58, Z:-2.05 [[ 9.53130851e-01 3.01613243e-01 2.38962786e-02 6.58387239e+01] [-3.01529371e-01 9.53430270e-01 -7.12453792e-03 -5.57635200e+00] [-2.49322904e-02 -4.14812963e-04 9.99689056e-01 -2.05065931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.736875 meters 0.01714374837693996 Centerline is valid? [True, True] Translation: X:65.87, Y:-5.58, Z:-2.05 [[ 9.52699602e-01 3.02888717e-01 2.49377817e-02 6.58691516e+01] [-3.02797595e-01 9.53025820e-01 -7.44327843e-03 -5.58287310e+00] [-2.60208349e-02 -4.59891926e-04 9.99661295e-01 -2.05093461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.766875 meters 0.01766608884146106 Centerline is valid? [True, True] Translation: X:65.90, Y:-5.59, Z:-2.05 [[ 9.51650356e-01 3.06154312e-01 2.51224280e-02 6.59009038e+01] [-3.06062813e-01 9.51981742e-01 -7.50445214e-03 -5.58929013e+00] [-2.62136131e-02 -5.47426423e-04 9.99656214e-01 -2.05136514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.796875 meters 0.017987862901264834 Centerline is valid? [True, True] Translation: X:65.93, Y:-5.60, Z:-2.05 [[ 9.51162125e-01 3.07728420e-01 2.43686476e-02 6.59315019e+01] [-3.07642688e-01 9.51474066e-01 -7.28550269e-03 -5.59683130e+00] [-2.54280924e-02 -5.67142007e-04 9.99676493e-01 -2.05367514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.826874999999994 meters 0.018597109078694624 Centerline is valid? [True, True] Translation: X:65.96, Y:-5.60, Z:-2.06 [[ 9.50650015e-01 3.09437817e-01 2.26448037e-02 6.59629791e+01] [-3.09364157e-01 9.50919512e-01 -6.77495630e-03 -5.60434579e+00] [-2.36298133e-02 -5.64878292e-04 9.99720617e-01 -2.05728827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.856874999999995 meters 0.019514852980159852 Centerline is valid? [True, True] Translation: X:65.99, Y:-5.61, Z:-2.06 [[ 9.49852920e-01 3.12046154e-01 2.01650341e-02 6.59939905e+01] [-3.11988234e-01 9.50066781e-01 -6.03766222e-03 -5.61074388e+00] [-2.10421583e-02 -5.56362291e-04 9.99778434e-01 -2.06101420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.886874999999996 meters 0.01979603056427428 Centerline is valid? [True, True] Translation: X:66.03, Y:-5.62, Z:-2.06 [[ 9.49466461e-01 3.13262323e-01 1.94975823e-02 6.60254237e+01] [-3.13208344e-01 9.49666469e-01 -5.84211726e-03 -5.61879998e+00] [-2.03463154e-02 -5.59911060e-04 9.99792836e-01 -2.06250762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.916875 meters 0.020584499065300667 Centerline is valid? [True, True] Translation: X:66.06, Y:-5.63, Z:-2.06 [[ 9.48862004e-01 3.15012470e-01 2.06891429e-02 6.60573058e+01] [-3.14951976e-01 9.49087324e-01 -6.20514895e-03 -5.62521561e+00] [-2.15905026e-02 -6.28256358e-04 9.99766701e-01 -2.06257212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.946875 meters 0.020678845519965683 Centerline is valid? [True, True] Translation: X:66.09, Y:-5.63, Z:-2.06 [[ 9.48595522e-01 3.15798518e-01 2.09244026e-02 6.60882466e+01] [-3.15736710e-01 9.48826051e-01 -6.28129322e-03 -5.63420292e+00] [-2.18372414e-02 -6.48195406e-04 9.99761329e-01 -2.06245298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.976875 meters 0.020201686456471524 Centerline is valid? [True, True] Translation: X:66.12, Y:-5.64, Z:-2.06 [[ 9.48515411e-01 3.15977756e-01 2.18305359e-02 6.61188375e+01] [-3.15910386e-01 9.48766358e-01 -6.55940039e-03 -5.64388531e+00] [-2.27847027e-02 -6.74800674e-04 9.99740167e-01 -2.06151915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.006875 meters 0.021046610052194988 Centerline is valid? [True, True] Translation: X:66.15, Y:-5.65, Z:-2.06 [[ 9.48346943e-01 3.16390332e-01 2.31351146e-02 6.61497811e+01] [-3.16314633e-01 9.48628821e-01 -6.95792371e-03 -5.65065710e+00] [-2.41480562e-02 -7.19449599e-04 9.99708134e-01 -2.05993842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.036875 meters 0.020223453661801453 Centerline is valid? [True, True] Translation: X:66.18, Y:-5.66, Z:-2.06 [[ 9.48315296e-01 3.16500844e-01 2.29197449e-02 6.61812535e+01] [-3.16426431e-01 9.48591963e-01 -6.89940486e-03 -5.66085876e+00] [-2.39251533e-02 -7.09601931e-04 9.99713501e-01 -2.06047395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.066875 meters 0.020739872957030878 Centerline is valid? [True, True] Translation: X:66.21, Y:-5.67, Z:-2.06 [[ 9.48394158e-01 3.16251202e-01 2.31018970e-02 6.62117784e+01] [-3.16175327e-01 9.48675227e-01 -6.96251340e-03 -5.66754501e+00] [-2.41181007e-02 -7.01042820e-04 9.99708871e-01 -2.06317190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.096875 meters 0.02016076843214682 Centerline is valid? [True, True] Translation: X:66.24, Y:-5.68, Z:-2.06 [[ 9.48643730e-01 3.15507483e-01 2.30239323e-02 6.62423423e+01] [-3.15431838e-01 9.48922847e-01 -6.94164939e-03 -5.67715252e+00] [-2.40380777e-02 -6.77329109e-04 9.99710814e-01 -2.06435380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.126875 meters 0.019562564224480553 Centerline is valid? [True, True] Translation: X:66.27, Y:-5.69, Z:-2.06 [[ 9.48740433e-01 3.15162968e-01 2.37464439e-02 6.62724833e+01] [-3.15082231e-01 9.49037321e-01 -7.16596134e-03 -5.68729041e+00] [-2.47947072e-02 -6.83445265e-04 9.99692330e-01 -2.06426742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.156875 meters 0.01888529660414682 Centerline is valid? [True, True] Translation: X:66.30, Y:-5.70, Z:-2.06 [[ 9.49515917e-01 3.12794435e-01 2.40658631e-02 6.63023523e+01] [-3.12710584e-01 9.49820642e-01 -7.26898037e-03 -5.69706724e+00] [-2.51319501e-02 -6.23637534e-04 9.99683948e-01 -2.06408054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.186875 meters 0.01829532654836094 Centerline is valid? [True, True] Translation: X:66.33, Y:-5.71, Z:-2.07 [[ 9.50001866e-01 3.11331672e-01 2.38546701e-02 6.63330057e+01] [-3.11248685e-01 9.50301142e-01 -7.21081777e-03 -5.70722787e+00] [-2.49140762e-02 -5.74444357e-04 9.99689431e-01 -2.06532434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.216875 meters 0.01832712582412158 Centerline is valid? [True, True] Translation: X:66.36, Y:-5.72, Z:-2.07 [[ 9.50458753e-01 3.09957264e-01 2.35510841e-02 6.63624704e+01] [-3.09875801e-01 9.50750345e-01 -7.12525888e-03 -5.71571373e+00] [-2.45997271e-02 -5.25646385e-04 9.99697243e-01 -2.06720384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.246875 meters 0.016619606912172416 Centerline is valid? [True, True] Translation: X:66.39, Y:-5.73, Z:-2.07 [[ 9.51429043e-01 3.06890861e-01 2.45107182e-02 6.63925134e+01] [-3.06801449e-01 9.51744603e-01 -7.42171931e-03 -5.72763695e+00] [-2.56056016e-02 -4.58684556e-04 9.99672018e-01 -2.06815228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27687499999999 meters 0.01608657896942594 Centerline is valid? [True, True] Translation: X:66.42, Y:-5.74, Z:-2.07 [[ 9.51794962e-01 3.05746260e-01 2.46084275e-02 6.64230039e+01] [-3.05655585e-01 9.52112937e-01 -7.45774838e-03 -5.73786773e+00] [-2.57101809e-02 -4.23455973e-04 9.99669349e-01 -2.06941388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30687499999999 meters 0.015516674076523677 Centerline is valid? [True, True] Translation: X:66.45, Y:-5.75, Z:-2.07 [[ 9.52467455e-01 3.03695526e-01 2.39744332e-02 6.64525144e+01] [-3.03608659e-01 9.52769071e-01 -7.27182392e-03 -5.74767654e+00] [-2.50505189e-02 -3.52669892e-04 9.99686124e-01 -2.07093089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33687499999999 meters 0.015637662844281065 Centerline is valid? [True, True] Translation: X:66.48, Y:-5.76, Z:-2.07 [[ 9.52389436e-01 3.04031288e-01 2.27889849e-02 6.64835208e+01] [-3.03952781e-01 9.52661987e-01 -6.91710071e-03 -5.75692477e+00] [-2.38132146e-02 -3.39001677e-04 9.99716368e-01 -2.07238744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.366875 meters 0.015928173846190996 Centerline is valid? [True, True] Translation: X:66.51, Y:-5.76, Z:-2.07 [[ 9.52189704e-01 3.04707462e-01 2.20936799e-02 6.65136894e+01] [-3.04633712e-01 9.52445929e-01 -6.71221661e-03 -5.76483534e+00] [-2.30882980e-02 -3.39176187e-04 9.99733372e-01 -2.07390833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.396875 meters 0.015600846526580347 Centerline is valid? [True, True] Translation: X:66.55, Y:-5.77, Z:-2.07 [[ 9.51934365e-01 3.05460567e-01 2.26893523e-02 6.65453037e+01] [-3.05382878e-01 9.52204658e-01 -6.89831689e-03 -5.77449048e+00] [-2.37120707e-02 -3.62194780e-04 9.99718764e-01 -2.07429139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.426875 meters 0.016039210699720623 Centerline is valid? [True, True] Translation: X:66.58, Y:-5.78, Z:-2.08 [[ 9.51398883e-01 3.07095724e-01 2.30734153e-02 6.65764596e+01] [-3.07015686e-01 9.51678546e-01 -7.02238740e-03 -5.78204659e+00] [-2.41150194e-02 -4.02808896e-04 9.99709109e-01 -2.07577439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.456875 meters 0.01621059638517374 Centerline is valid? [True, True] Translation: X:66.61, Y:-5.79, Z:-2.08 [[ 9.51023816e-01 3.08261127e-01 2.29951901e-02 6.66068557e+01] [-3.08181830e-01 9.51301685e-01 -7.00451832e-03 -5.79102785e+00] [-2.40345838e-02 -4.25236020e-04 9.99711037e-01 -2.07688556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.486875 meters 0.01583390829278741 Centerline is valid? [True, True] Translation: X:66.64, Y:-5.80, Z:-2.08 [[ 9.51247884e-01 3.07482084e-01 2.41294548e-02 6.66373009e+01] [-3.07394350e-01 9.51553778e-01 -7.35670144e-03 -5.80238858e+00] [-2.52225278e-02 -4.19211397e-04 9.99681774e-01 -2.07759665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.516875 meters 0.015136594091440919 Centerline is valid? [True, True] Translation: X:66.67, Y:-5.81, Z:-2.08 [[ 9.52078718e-01 3.04827847e-01 2.50219512e-02 6.66669410e+01] [-3.04732406e-01 9.52407401e-01 -7.63564731e-03 -5.81470668e+00] [-2.61586495e-02 -3.55262107e-04 9.99657741e-01 -2.07708239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.546875 meters 0.014879568316281707 Centerline is valid? [True, True] Translation: X:66.70, Y:-5.83, Z:-2.08 [[ 9.52734926e-01 3.02722273e-01 2.56005287e-02 6.66957622e+01] [-3.02621420e-01 9.53078767e-01 -7.81914408e-03 -5.82549106e+00] [-2.67663494e-02 -2.97696707e-04 9.99641673e-01 -2.07783160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.576875 meters 0.014472416186576343 Centerline is valid? [True, True] Translation: X:66.73, Y:-5.84, Z:-2.08 [[ 9.53399443e-01 3.00610695e-01 2.57431931e-02 6.67258537e+01] [-3.00507779e-01 9.53746903e-01 -7.86888828e-03 -5.83784292e+00] [-2.69179627e-02 -2.33836076e-04 9.99637619e-01 -2.07843339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.606875 meters 0.0143052861560643 Centerline is valid? [True, True] Translation: X:66.76, Y:-5.85, Z:-2.08 [[ 9.53308888e-01 3.00948011e-01 2.51487346e-02 6.67571808e+01] [-3.00849755e-01 9.53640520e-01 -7.69312600e-03 -5.84789669e+00] [-2.62980833e-02 -2.32065263e-04 9.99654119e-01 -2.07974606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.636875 meters 0.014435157484469212 Centerline is valid? [True, True] Translation: X:66.79, Y:-5.86, Z:-2.08 [[ 9.52966392e-01 3.02071886e-01 2.46501917e-02 6.67881120e+01] [-3.01977677e-01 9.53285116e-01 -7.54783991e-03 -5.85724544e+00] [-2.57786511e-02 -2.50969861e-04 9.99667644e-01 -2.08212337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66687499999999 meters 0.015105537245277642 Centerline is valid? [True, True] Translation: X:66.82, Y:-5.86, Z:-2.08 [[ 9.51933824e-01 3.05447458e-01 2.28876463e-02 6.68178987e+01] [-3.05367069e-01 9.52208881e-01 -7.01427759e-03 -5.86461922e+00] [-2.39363133e-02 -3.12005375e-04 9.99713437e-01 -2.08440888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69687499999999 meters 0.015707868248079616 Centerline is valid? [True, True] Translation: X:66.85, Y:-5.87, Z:-2.09 [[ 9.51231284e-01 3.07663334e-01 2.24124418e-02 6.68492846e+01] [-3.07586744e-01 9.51495216e-01 -6.87375104e-03 -5.87205860e+00] [-2.34401323e-02 -3.55242958e-04 9.99725179e-01 -2.08623166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72687499999999 meters 0.016322444768941798 Centerline is valid? [True, True] Translation: X:66.88, Y:-5.88, Z:-2.09 [[ 9.50248228e-01 3.10669799e-01 2.26402497e-02 6.68803619e+01] [-3.10592356e-01 9.50517802e-01 -6.94952127e-03 -5.87936411e+00] [-2.36789667e-02 -4.28118207e-04 9.99719522e-01 -2.08740743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.756875 meters 0.017013289004678342 Centerline is valid? [True, True] Translation: X:66.91, Y:-5.89, Z:-2.09 [[ 9.49092022e-01 3.14137954e-01 2.32740031e-02 6.69118462e+01] [-3.14057003e-01 9.49377202e-01 -7.15030508e-03 -5.88618195e+00] [-2.43419902e-02 -5.23066163e-04 9.99703553e-01 -2.08705482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.786875 meters 0.01747349000598407 Centerline is valid? [True, True] Translation: X:66.94, Y:-5.89, Z:-2.09 [[ 9.48608670e-01 3.15573327e-01 2.35598499e-02 6.69434080e+01] [-3.15490632e-01 9.48901029e-01 -7.24561299e-03 -5.89434754e+00] [-2.46424880e-02 -5.59660626e-04 9.99696171e-01 -2.08757507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.816875 meters 0.019002784292572666 Centerline is valid? [True, True] Translation: X:66.97, Y:-5.90, Z:-2.09 [[ 9.47585422e-01 3.18619052e-01 2.37437891e-02 6.69739640e+01] [-3.18535963e-01 9.47882634e-01 -7.30429454e-03 -5.89933894e+00] [-2.48336127e-02 -6.41807690e-04 9.99691392e-01 -2.08880947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.846875 meters 0.018628905307738388 Centerline is valid? [True, True] Translation: X:67.00, Y:-5.91, Z:-2.09 [[ 9.47062829e-01 3.20174983e-01 2.36638676e-02 6.70043844e+01] [-3.20092890e-01 9.47358179e-01 -7.28158692e-03 -5.90879484e+00] [-2.47495405e-02 -6.78515450e-04 9.99693453e-01 -2.08945881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.876875 meters 0.019564818281085767 Centerline is valid? [True, True] Translation: X:67.03, Y:-5.92, Z:-2.09 [[ 9.46621992e-01 3.21440508e-01 2.41413225e-02 6.70343160e+01] [-3.21355293e-01 9.46929503e-01 -7.43590417e-03 -5.91615664e+00] [-2.52503314e-02 -7.18951359e-04 9.99680901e-01 -2.09066276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.906875 meters 0.019458365976661722 Centerline is valid? [True, True] Translation: X:67.07, Y:-5.93, Z:-2.09 [[ 9.46491005e-01 3.21800151e-01 2.44834698e-02 6.70653761e+01] [-3.21712556e-01 9.46807330e-01 -7.54392348e-03 -5.92570766e+00] [-2.56087644e-02 -7.36383948e-04 9.99671771e-01 -2.09164346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.936875 meters 0.019277276242459954 Centerline is valid? [True, True] Translation: X:67.10, Y:-5.94, Z:-2.09 [[ 9.46034264e-01 3.23146925e-01 2.43974854e-02 6.70959182e+01] [-3.23060196e-01 9.46348500e-01 -7.52505513e-03 -5.93550743e+00] [-2.55202221e-02 -7.62896431e-04 9.99674015e-01 -2.09231794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.966875 meters 0.019756982411371245 Centerline is valid? [True, True] Translation: X:67.13, Y:-5.94, Z:-2.09 [[ 9.45829886e-01 3.23725223e-01 2.46537170e-02 6.71269253e+01] [-3.23636687e-01 9.46150818e-01 -7.61077840e-03 -5.94466271e+00] [-2.57899355e-02 -7.80345622e-04 9.99667080e-01 -2.09319140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.996875 meters 0.020054669025187256 Centerline is valid? [True, True] Translation: X:67.16, Y:-5.95, Z:-2.09 [[ 9.45626901e-01 3.24316459e-01 2.46697901e-02 6.71581287e+01] [-3.24227826e-01 9.45948312e-01 -7.62280100e-03 -5.95400658e+00] [-2.58085461e-02 -7.90306716e-04 9.99666592e-01 -2.09403462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02687499999999 meters 0.020552560404022646 Centerline is valid? [True, True] Translation: X:67.19, Y:-5.96, Z:-2.10 [[ 9.45156802e-01 3.25749089e-01 2.37939303e-02 6.71891503e+01] [-3.25666911e-01 9.45455923e-01 -7.35938774e-03 -5.96211998e+00] [-2.48934262e-02 -7.93120416e-04 9.99689796e-01 -2.09627119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05687499999999 meters 0.021361561331941236 Centerline is valid? [True, True] Translation: X:67.22, Y:-5.97, Z:-2.10 [[ 9.44847804e-01 3.26699910e-01 2.30173071e-02 6.72190665e+01] [-3.26623146e-01 9.45127796e-01 -7.12525989e-03 -5.96979448e+00] [-2.40821185e-02 -7.85699081e-04 9.99709675e-01 -2.09868434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08687499999999 meters 0.021225663026426412 Centerline is valid? [True, True] Translation: X:67.25, Y:-5.98, Z:-2.10 [[ 9.44742377e-01 3.27051057e-01 2.23483318e-02 6.72504789e+01] [-3.26978676e-01 9.45006359e-01 -6.92299304e-03 -5.97991782e+00] [-2.33834879e-02 -7.66983053e-04 9.99726275e-01 -2.09998654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.116875 meters 0.021491871267080503 Centerline is valid? [True, True] Translation: X:67.28, Y:-5.99, Z:-2.10 [[ 9.44543799e-01 3.27669395e-01 2.16743827e-02 6.72806413e+01] [-3.27601324e-01 9.44792147e-01 -6.72090840e-03 -5.98935426e+00] [-2.26800225e-02 -7.52364115e-04 9.99742492e-01 -2.10074169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.146875 meters 0.02035592299604833 Centerline is valid? [True, True] Translation: X:67.31, Y:-6.00, Z:-2.10 [[ 9.45827360e-01 3.24029525e-01 2.03831282e-02 6.73096832e+01] [-3.23968327e-01 9.46046766e-01 -6.32761899e-03 -6.00025702e+00] [-2.13337279e-02 -6.18652792e-04 9.99772219e-01 -2.10453376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.176875 meters 0.018868941705659288 Centerline is valid? [True, True] Translation: X:67.34, Y:-6.01, Z:-2.11 [[ 9.46910602e-01 3.20808226e-01 2.10331513e-02 6.73385307e+01] [-3.20742261e-01 9.47144004e-01 -6.52973397e-03 -6.01191133e+00] [-2.20162155e-02 -5.63146166e-04 9.99757455e-01 -2.10541306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.206875 meters 0.017596092262776898 Centerline is valid? [True, True] Translation: X:67.37, Y:-6.02, Z:-2.10 [[ 9.47677469e-01 3.18446720e-01 2.23405633e-02 6.73681078e+01] [-3.18371602e-01 9.47940608e-01 -6.93728271e-03 -6.02455504e+00] [-2.33866821e-02 -5.38294404e-04 9.99726349e-01 -2.10396642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.236875 meters 0.016198927527571197 Centerline is valid? [True, True] Translation: X:67.40, Y:-6.04, Z:-2.10 [[ 9.49077681e-01 3.14119736e-01 2.40903687e-02 6.73967742e+01] [-3.14030782e-01 9.49383264e-01 -7.48905042e-03 -6.03777530e+00] [-2.52234514e-02 -4.57426722e-04 9.99681733e-01 -2.10219602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.266875 meters 0.015599534438275744 Centerline is valid? [True, True] Translation: X:67.43, Y:-6.05, Z:-2.10 [[ 9.49643170e-01 3.12352082e-01 2.47795649e-02 6.74267583e+01] [-3.12257359e-01 9.49966314e-01 -7.70345221e-03 -6.04842715e+00] [-2.59459413e-02 -4.22070725e-04 9.99663258e-01 -2.10255160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.296875 meters 0.01518510053055186 Centerline is valid? [True, True] Translation: X:67.46, Y:-6.06, Z:-2.10 [[ 9.50037457e-01 3.11082442e-01 2.56231370e-02 6.74569201e+01] [-3.10980508e-01 9.50382849e-01 -7.97275636e-03 -6.05859878e+00] [-2.68319745e-02 -3.93878991e-04 9.99639880e-01 -2.10318949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.326875 meters 0.01508755696992887 Centerline is valid? [True, True] Translation: X:67.49, Y:-6.07, Z:-2.10 [[ 9.50289234e-01 3.10286954e-01 2.59302751e-02 6.74869631e+01] [-3.10182062e-01 9.50642872e-01 -8.07577756e-03 -6.06787506e+00] [-2.71562396e-02 -3.68781717e-04 9.99631133e-01 -2.10378475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.356875 meters 0.015267071660404856 Centerline is valid? [True, True] Translation: X:67.52, Y:-6.08, Z:-2.11 [[ 9.50090966e-01 3.10941212e-01 2.53518938e-02 6.75181635e+01] [-3.10841102e-01 9.50429072e-01 -7.89858514e-03 -6.07706700e+00] [-2.65511726e-02 -3.76036238e-04 9.99647385e-01 -2.10530628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.386875 meters 0.015396159879888287 Centerline is valid? [True, True] Translation: X:67.55, Y:-6.09, Z:-2.11 [[ 9.49878001e-01 3.11621194e-01 2.49802883e-02 6.75497902e+01] [-3.11524043e-01 9.50206338e-01 -7.79005034e-03 -6.08621701e+00] [-2.61639731e-02 -3.82362969e-04 9.99657592e-01 -2.10719027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41687499999999 meters 0.01601547264573275 Centerline is valid? [True, True] Translation: X:67.58, Y:-6.09, Z:-2.11 [[ 9.49226455e-01 3.13696851e-01 2.37365144e-02 6.75798602e+01] [-3.13609595e-01 9.49523100e-01 -7.40977330e-03 -6.09269871e+00] [-2.48627913e-02 -4.10445835e-04 9.99690789e-01 -2.11026889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44687499999999 meters 0.01621131474433629 Centerline is valid? [True, True] Translation: X:67.61, Y:-6.10, Z:-2.11 [[ 9.48832048e-01 3.14949212e-01 2.29071515e-02 6.76105790e+01] [-3.14868264e-01 9.49108430e-01 -7.15290722e-03 -6.10182815e+00] [-2.39941731e-02 -4.25827419e-04 9.99712008e-01 -2.11159547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47687499999999 meters 0.016284162020101776 Centerline is valid? [True, True] Translation: X:67.64, Y:-6.11, Z:-2.11 [[ 9.48415366e-01 3.16235744e-01 2.24331781e-02 6.76412528e+01] [-3.16158340e-01 9.48680535e-01 -7.01048540e-03 -6.11121403e+00] [-2.34988855e-02 -4.43584275e-04 9.99723765e-01 -2.11266232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.506875 meters 0.01661093189947947 Centerline is valid? [True, True] Translation: X:67.67, Y:-6.12, Z:-2.11 [[ 9.48099629e-01 3.17161596e-01 2.27071462e-02 6.76712633e+01] [-3.17082406e-01 9.48371396e-01 -7.10234544e-03 -6.11931338e+00] [-2.37873992e-02 -4.66305475e-04 9.99716931e-01 -2.11351428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.536875 meters 0.017213663589682543 Centerline is valid? [True, True] Translation: X:67.70, Y:-6.13, Z:-2.11 [[ 9.47249496e-01 3.19532320e-01 2.48493223e-02 6.77025265e+01] [-3.19438123e-01 9.47575207e-01 -7.77903833e-03 -6.12682234e+00] [-2.60322558e-02 -5.69130718e-04 9.99660941e-01 -2.11336538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.566875 meters 0.017903841029101 Centerline is valid? [True, True] Translation: X:67.73, Y:-6.13, Z:-2.11 [[ 9.47045184e-01 3.20073513e-01 2.56586346e-02 6.77331658e+01] [-3.19973091e-01 9.47392522e-01 -8.03933426e-03 -6.13490795e+00] [-2.68819765e-02 -5.96459817e-04 9.99638436e-01 -2.11343281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.596875 meters 0.017903841029101 Centerline is valid? [True, True] Translation: X:67.76, Y:-6.14, Z:-2.11 [[ 9.46959902e-01 3.20325903e-01 2.56565831e-02 6.77640211e+01] [-3.20225396e-01 9.47307215e-01 -8.04587538e-03 -6.14469982e+00] [-2.68819686e-02 -5.96768126e-04 9.99638436e-01 -2.11446734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.626875 meters 0.017169122794968985 Centerline is valid? [True, True] Translation: X:67.79, Y:-6.16, Z:-2.11 [[ 9.46841803e-01 3.20615651e-01 2.63856921e-02 6.77946132e+01] [-3.20509243e-01 9.47209178e-01 -8.28244629e-03 -6.15644961e+00] [-2.76482516e-02 -6.14691816e-04 9.99617525e-01 -2.11390798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.656875 meters 0.016874384847792863 Centerline is valid? [True, True] Translation: X:67.82, Y:-6.17, Z:-2.12 [[ 9.47096215e-01 3.19818086e-01 2.69286245e-02 6.78242739e+01] [-3.19706677e-01 9.47478780e-01 -8.46182297e-03 -6.16685925e+00] [-2.82205443e-02 -5.95100554e-04 9.99601544e-01 -2.11506444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.686875 meters 0.0165080282207886 Centerline is valid? [True, True] Translation: X:67.85, Y:-6.18, Z:-2.12 [[ 9.47216013e-01 3.19472115e-01 2.68214817e-02 6.78545748e+01] [-3.19361350e-01 9.47595501e-01 -8.43181067e-03 -6.17831639e+00] [-2.81096438e-02 -5.78998521e-04 9.99604678e-01 -2.11564897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.716875 meters 0.016620139821164292 Centerline is valid? [True, True] Translation: X:67.88, Y:-6.19, Z:-2.12 [[ 9.47396591e-01 3.19001070e-01 2.60387611e-02 6.78844418e+01] [-3.18896312e-01 9.47754200e-01 -8.19262751e-03 -6.18803212e+00] [-2.72918022e-02 -5.41997516e-04 9.99627362e-01 -2.11715785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.746875 meters 0.0161423431657081 Centerline is valid? [True, True] Translation: X:67.91, Y:-6.20, Z:-2.12 [[ 9.47892080e-01 3.17561062e-01 2.56042183e-02 6.79147063e+01] [-3.17459059e-01 9.48237700e-01 -8.06287284e-03 -6.20033555e+00] [-2.68393395e-02 -4.85557720e-04 9.99639642e-01 -2.11958800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77687499999999 meters 0.015930024619133492 Centerline is valid? [True, True] Translation: X:67.94, Y:-6.21, Z:-2.12 [[ 9.48185605e-01 3.16690671e-01 2.55162292e-02 6.79447392e+01] [-3.16589010e-01 9.48528760e-01 -8.03674722e-03 -6.21124287e+00] [-2.67480401e-02 -4.57829719e-04 9.99642102e-01 -2.12130714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80687499999999 meters 0.015572935627396832 Centerline is valid? [True, True] Translation: X:67.97, Y:-6.22, Z:-2.12 [[ 9.48582083e-01 3.15460057e-01 2.60189164e-02 6.79744727e+01] [-3.15353697e-01 9.48938761e-01 -8.20204059e-03 -6.22277931e+00] [-2.72777744e-02 -4.24852714e-04 9.99627802e-01 -2.12257112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83687499999999 meters 0.01486600570904569 Centerline is valid? [True, True] Translation: X:68.00, Y:-6.24, Z:-2.12 [[ 9.49458222e-01 3.12827844e-01 2.58423017e-02 6.80038270e+01] [-3.12721768e-01 9.49809783e-01 -8.15303161e-03 -6.23743094e+00] [-2.70957662e-02 -3.40487364e-04 9.99632784e-01 -2.12247372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.866875 meters 0.014674786602520728 Centerline is valid? [True, True] Translation: X:68.03, Y:-6.25, Z:-2.12 [[ 9.49717328e-01 3.12052367e-01 2.56966312e-02 6.80340164e+01] [-3.11947019e-01 9.50064853e-01 -8.11376438e-03 -6.24908227e+00] [-2.69453855e-02 -3.10204885e-04 9.99636859e-01 -2.12266614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.896875 meters 0.01446052520731124 Centerline is valid? [True, True] Translation: X:68.06, Y:-6.26, Z:-2.12 [[ 9.50107578e-01 3.10820302e-01 2.61979197e-02 6.80638295e+01] [-3.10710142e-01 9.50468655e-01 -8.27904410e-03 -6.26025974e+00] [-2.74735965e-02 -2.73976813e-04 9.99622492e-01 -2.12429962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.926875 meters 0.014503098416941477 Centerline is valid? [True, True] Translation: X:68.10, Y:-6.27, Z:-2.12 [[ 9.50060758e-01 3.10932016e-01 2.65676102e-02 6.80951755e+01] [-3.10818575e-01 9.50432115e-01 -8.40281423e-03 -6.27115781e+00] [-2.78634140e-02 -2.74522701e-04 9.99611702e-01 -2.12498194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.956875 meters 0.014496553108635664 Centerline is valid? [True, True] Translation: X:68.13, Y:-6.28, Z:-2.13 [[ 9.49904996e-01 3.11409079e-01 2.65496547e-02 6.81260055e+01] [-3.11295759e-01 9.50275911e-01 -8.40499897e-03 -6.28203809e+00] [-2.78468903e-02 -2.80844403e-04 9.99612161e-01 -2.12655848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.986875 meters 0.014573145202355918 Centerline is valid? [True, True] Translation: X:68.16, Y:-6.29, Z:-2.13 [[ 9.49777967e-01 3.11798386e-01 2.65250718e-02 6.81567292e+01] [-3.11685202e-01 9.50148244e-01 -8.40530463e-03 -6.29169284e+00] [-2.78235108e-02 -2.84299206e-04 9.99612811e-01 -2.12799879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.016875 meters 0.01467938701132093 Centerline is valid? [True, True] Translation: X:68.19, Y:-6.30, Z:-2.13 [[ 9.49582290e-01 3.12414432e-01 2.62811114e-02 6.81871229e+01] [-3.12303353e-01 9.49945860e-01 -8.33535433e-03 -6.30099772e+00] [-2.75697179e-02 -2.92574357e-04 9.99619840e-01 -2.12938252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.046875 meters 0.014654974227429401 Centerline is valid? [True, True] Translation: X:68.22, Y:-6.31, Z:-2.13 [[ 9.49306939e-01 3.13299207e-01 2.56893297e-02 6.82175081e+01] [-3.13193216e-01 9.49654418e-01 -8.15447365e-03 -6.31264810e+00] [-2.69507756e-02 -3.04625366e-04 9.99636715e-01 -2.12975682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.076875 meters 0.014873862882472602 Centerline is valid? [True, True] Translation: X:68.25, Y:-6.32, Z:-2.13 [[ 9.49164765e-01 3.13750623e-01 2.54321690e-02 6.82480352e+01] [-3.13646700e-01 9.49505372e-01 -8.08056555e-03 -6.32221777e+00] [-2.66832636e-02 -3.06927777e-04 9.99643891e-01 -2.13081517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.106875 meters 0.014809226468472521 Centerline is valid? [True, True] Translation: X:68.28, Y:-6.33, Z:-2.13 [[ 9.48922852e-01 3.14473040e-01 2.55368124e-02 6.82795564e+01] [-3.14368330e-01 9.49266350e-01 -8.12095224e-03 -6.33228653e+00] [-2.67950572e-02 -3.21807891e-04 9.99640896e-01 -2.13181009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.136875 meters 0.01504469307037155 Centerline is valid? [True, True] Translation: X:68.31, Y:-6.34, Z:-2.13 [[ 9.48573703e-01 3.15500340e-01 2.58353360e-02 6.83107507e+01] [-3.15393336e-01 9.48925400e-01 -8.22367317e-03 -6.34197002e+00] [-2.71103782e-02 -3.47532694e-04 9.99632386e-01 -2.13301546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16687499999999 meters 0.015402337345339865 Centerline is valid? [True, True] Translation: X:68.34, Y:-6.35, Z:-2.13 [[ 9.48146172e-01 3.16805545e-01 2.55554744e-02 6.83405099e+01] [-3.16701111e-01 9.48490436e-01 -8.14242270e-03 -6.35053087e+00] [-2.68186877e-02 -3.73240218e-04 9.99640245e-01 -2.13461095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19687499999999 meters 0.015674839941537552 Centerline is valid? [True, True] Translation: X:68.37, Y:-6.36, Z:-2.14 [[ 9.47862823e-01 3.17624556e-01 2.58980689e-02 6.83716158e+01] [-3.17517442e-01 9.48216475e-01 -8.25769571e-03 -6.36027250e+00] [-2.71798226e-02 -3.95925825e-04 9.99630482e-01 -2.13601240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22687499999999 meters 0.015697574623321418 Centerline is valid? [True, True] Translation: X:68.40, Y:-6.37, Z:-2.14 [[ 9.47710731e-01 3.18090740e-01 2.57420384e-02 6.84026892e+01] [-3.17984882e-01 9.48060189e-01 -8.21544444e-03 -6.37031776e+00] [-2.70182586e-02 -3.99714196e-04 9.99634860e-01 -2.13748411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.256875 meters 0.01588126743468786 Centerline is valid? [True, True] Translation: X:68.43, Y:-6.38, Z:-2.14 [[ 9.47492200e-01 3.18711975e-01 2.60999751e-02 6.84339846e+01] [-3.18603174e-01 9.47851520e-01 -8.33746373e-03 -6.38178777e+00] [-2.73961506e-02 -4.15853046e-04 9.99624569e-01 -2.13913750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.286875 meters 0.015719813127334236 Centerline is valid? [True, True] Translation: X:68.46, Y:-6.39, Z:-2.14 [[ 9.47468967e-01 3.18818371e-01 2.56398637e-02 6.84648138e+01] [-3.18713213e-01 9.47815743e-01 -8.19785004e-03 -6.39310190e+00] [-2.69154917e-02 -4.04554851e-04 9.99637631e-01 -2.13981612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.316875 meters 0.015848554055269363 Centerline is valid? [True, True] Translation: X:68.50, Y:-6.40, Z:-2.14 [[ 9.47300223e-01 3.19329858e-01 2.55093988e-02 6.84956358e+01] [-3.19225754e-01 9.47643537e-01 -8.16360566e-03 -6.40414779e+00] [-2.67806999e-02 -4.09871587e-04 9.99641249e-01 -2.14084858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.346875 meters 0.015946623101611327 Centerline is valid? [True, True] Translation: X:68.53, Y:-6.42, Z:-2.14 [[ 9.46867301e-01 3.20668720e-01 2.47767413e-02 6.85255386e+01] [-3.20570782e-01 9.47191316e-01 -7.93631825e-03 -6.41597995e+00] [-2.60132432e-02 -4.28059088e-04 9.99661507e-01 -2.14193799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.376875 meters 0.015599745506952749 Centerline is valid? [True, True] Translation: X:68.56, Y:-6.43, Z:-2.14 [[ 9.47044087e-01 3.20139257e-01 2.48667217e-02 6.85553857e+01] [-3.20040254e-01 9.47370407e-01 -7.97164932e-03 -6.42715801e+00] [-2.61100342e-02 -4.08848573e-04 9.99658991e-01 -2.14450431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.406875 meters 0.014682852294399435 Centerline is valid? [True, True] Translation: X:68.59, Y:-6.44, Z:-2.15 [[ 9.48584298e-01 3.15590804e-01 2.42955465e-02 6.85852431e+01] [-3.15494625e-01 9.48895343e-01 -7.79552861e-03 -6.44079911e+00] [-2.55141280e-02 -2.70398297e-04 9.99674425e-01 -2.14722682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.436875 meters 0.014080674970071561 Centerline is valid? [True, True] Translation: X:68.61, Y:-6.45, Z:-2.15 [[ 9.49791528e-01 3.11930141e-01 2.44057377e-02 6.86131913e+01] [-3.11831803e-01 9.50105025e-01 -7.83379635e-03 -6.45399144e+00] [-2.56316113e-02 -1.70011780e-04 9.99671442e-01 -2.14818014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.466875 meters 0.013776882365358368 Centerline is valid? [True, True] Translation: X:68.64, Y:-6.47, Z:-2.15 [[ 9.50828006e-01 3.08748328e-01 2.45065849e-02 6.86428383e+01] [-3.08647967e-01 9.51143766e-01 -7.87200491e-03 -6.46783011e+00] [-2.57397538e-02 -7.89848884e-05 9.99668675e-01 -2.14870638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.496875 meters 0.013648917556717289 Centerline is valid? [True, True] Translation: X:68.67, Y:-6.48, Z:-2.15 [[ 9.51618732e-01 3.06343396e-01 2.39898613e-02 6.86726783e+01] [-3.06246313e-01 9.51921070e-01 -7.71180472e-03 -6.48153965e+00] [-2.51989149e-02 -8.10874823e-06 9.99682457e-01 -2.14942406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52687499999999 meters 0.013785126365132244 Centerline is valid? [True, True] Translation: X:68.70, Y:-6.49, Z:-2.15 [[ 9.51674481e-01 3.06208390e-01 2.34968983e-02 6.87034353e+01] [-3.06115044e-01 9.51964507e-01 -7.56028939e-03 -6.49160229e+00] [-2.46832372e-02 2.18043785e-06 9.99695322e-01 -2.15170462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55687499999999 meters 0.013683701220672782 Centerline is valid? [True, True] Translation: X:68.73, Y:-6.50, Z:-2.15 [[ 9.51302620e-01 3.07382100e-01 2.32286359e-02 6.87334964e+01] [-3.07291051e-01 9.51586173e-01 -7.48102808e-03 -6.50067363e+00] [-2.44035828e-02 -2.12303123e-05 9.99702188e-01 -2.15356501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58687499999999 meters 0.013803740739807446 Centerline is valid? [True, True] Translation: X:68.77, Y:-6.51, Z:-2.15 [[ 9.50647605e-01 3.09300176e-01 2.45465313e-02 6.87654651e+01] [-3.09198934e-01 9.50964456e-01 -7.91343054e-03 -6.50938651e+00] [-2.57905043e-02 -6.68775268e-05 9.99667367e-01 -2.15310127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.616875 meters 0.0138016523909208 Centerline is valid? [True, True] Translation: X:68.80, Y:-6.52, Z:-2.15 [[ 9.50375441e-01 3.10112061e-01 2.48400926e-02 6.87974141e+01] [-3.10008461e-01 9.50700007e-01 -8.01568776e-03 -6.51889702e+00] [-2.61012376e-02 -8.27260740e-05 9.99659301e-01 -2.15278175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.646875 meters 0.013915993805570601 Centerline is valid? [True, True] Translation: X:68.83, Y:-6.53, Z:-2.15 [[ 9.50011220e-01 3.11226688e-01 2.48320479e-02 6.88294078e+01] [-3.11123337e-01 9.50335697e-01 -8.02069969e-03 -6.52802608e+00] [-2.60950373e-02 -1.06074906e-04 9.99659461e-01 -2.15397217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.676875 meters 0.01426948521507242 Centerline is valid? [True, True] Translation: X:68.86, Y:-6.53, Z:-2.16 [[ 9.49025298e-01 3.14226051e-01 2.47582709e-02 6.88600993e+01] [-3.14124128e-01 9.49348175e-01 -8.00472802e-03 -6.53297078e+00] [-2.60195133e-02 -1.80480858e-04 9.99661419e-01 -2.15626864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.706875 meters 0.014460499696827696 Centerline is valid? [True, True] Translation: X:68.89, Y:-6.54, Z:-2.16 [[ 9.48423110e-01 3.16111718e-01 2.38114827e-02 6.88916690e+01] [-3.16017899e-01 9.48721948e-01 -7.70411748e-03 -6.54063326e+00] [-2.50258381e-02 -2.18091689e-04 9.99686781e-01 -2.15780579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.736875 meters 0.01466879313777847 Centerline is valid? [True, True] Translation: X:68.92, Y:-6.55, Z:-2.16 [[ 9.47895279e-01 3.17712226e-01 2.35261757e-02 6.89231430e+01] [-3.17620985e-01 9.48187154e-01 -7.61785862e-03 -6.54819308e+00] [-2.47275044e-02 -2.51474873e-04 9.99694197e-01 -2.15979251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.766875 meters 0.015176705098100733 Centerline is valid? [True, True] Translation: X:68.95, Y:-6.55, Z:-2.16 [[ 9.47266600e-01 3.19561992e-01 2.37933027e-02 6.89530784e+01] [-3.19469082e-01 9.47565325e-01 -7.71106545e-03 -6.55482246e+00] [-2.50098720e-02 -2.96789803e-04 9.99687160e-01 -2.16152585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.796875 meters 0.01611456305652352 Centerline is valid? [True, True] Translation: X:68.98, Y:-6.56, Z:-2.16 [[ 9.46346184e-01 3.22298125e-01 2.35120895e-02 6.89837486e+01] [-3.22208130e-01 9.46638151e-01 -7.62447543e-03 -6.55953506e+00] [-2.47147950e-02 -3.60393137e-04 9.99694478e-01 -2.16387568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.826875 meters 0.016093435389322352 Centerline is valid? [True, True] Translation: X:69.01, Y:-6.57, Z:-2.16 [[ 9.45849903e-01 3.23774283e-01 2.31985864e-02 6.90146046e+01] [-3.23686987e-01 9.46134273e-01 -7.52806429e-03 -6.56859076e+00] [-2.43863713e-02 -3.88661653e-04 9.99702533e-01 -2.16407211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.856875 meters 0.016576138197974835 Centerline is valid? [True, True] Translation: X:69.04, Y:-6.58, Z:-2.16 [[ 9.45467426e-01 3.24872912e-01 2.34294076e-02 6.90444168e+01] [-3.24784033e-01 9.45757590e-01 -7.61002545e-03 -6.57607953e+00] [-2.46308312e-02 -4.14466323e-04 9.99696529e-01 -2.16494759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.886875 meters 0.01664154575884882 Centerline is valid? [True, True] Translation: X:69.08, Y:-6.58, Z:-2.17 [[ 9.45286298e-01 3.25395347e-01 2.34879341e-02 6.90756494e+01] [-3.25306127e-01 9.45577964e-01 -7.63136066e-03 -6.58489341e+00] [-2.46928822e-02 -4.26948220e-04 9.99694993e-01 -2.16594367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91687499999999 meters 0.016270249260665216 Centerline is valid? [True, True] Translation: X:69.11, Y:-6.60, Z:-2.17 [[ 9.45427153e-01 3.24964217e-01 2.37856429e-02 6.91055700e+01] [-3.24872399e-01 9.45726222e-01 -7.73552902e-03 -6.59583818e+00] [-2.50084763e-02 -4.13919679e-04 9.99687153e-01 -2.16696116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94687499999999 meters 0.01599128473451133 Centerline is valid? [True, True] Translation: X:69.14, Y:-6.61, Z:-2.17 [[ 9.45623784e-01 3.24389442e-01 2.38148748e-02 6.91356238e+01] [-3.24297057e-01 9.45923536e-01 -7.75136887e-03 -6.60645225e+00] [-2.50415128e-02 -3.93215027e-04 9.99686335e-01 -2.16692456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97687499999999 meters 0.015805177574024516 Centerline is valid? [True, True] Translation: X:69.17, Y:-6.62, Z:-2.17 [[ 9.45750642e-01 3.23998731e-01 2.40944966e-02 6.91660718e+01] [-3.23903873e-01 9.46057438e-01 -7.84883455e-03 -6.61718144e+00] [-2.53377902e-02 -3.81260445e-04 9.99678874e-01 -2.16736907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.006875 meters 0.0158556221026349 Centerline is valid? [True, True] Translation: X:69.20, Y:-6.63, Z:-2.17 [[ 9.45907049e-01 3.23588176e-01 2.34637542e-02 6.91960177e+01] [-3.23497949e-01 9.46197953e-01 -7.64923857e-03 -6.62730473e+00] [-2.46765593e-02 -3.55007661e-04 9.99695424e-01 -2.16923701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.036875 meters 0.01584208190252784 Centerline is valid? [True, True] Translation: X:69.23, Y:-6.64, Z:-2.17 [[ 9.45872516e-01 3.23761416e-01 2.24438963e-02 6.92270004e+01] [-3.23678774e-01 9.46138695e-01 -7.32261611e-03 -6.63782359e+00] [-2.36058193e-02 -3.38351510e-04 9.99721287e-01 -2.17073666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.066875 meters 0.01584302429594497 Centerline is valid? [True, True] Translation: X:69.26, Y:-6.65, Z:-2.17 [[ 9.45760966e-01 3.24131519e-01 2.17934083e-02 6.92582581e+01] [-3.24053553e-01 9.46011970e-01 -7.11662528e-03 -6.64889431e+00] [-2.29235477e-02 -3.31605004e-04 9.99737166e-01 -2.17116060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.096875 meters 0.01587611702991602 Centerline is valid? [True, True] Translation: X:69.29, Y:-6.66, Z:-2.17 [[ 9.45622922e-01 3.24578300e-01 2.11238153e-02 6.92892945e+01] [-3.24505029e-01 9.45858774e-01 -6.90401648e-03 -6.66019770e+00] [-2.22210400e-02 -3.26188067e-04 9.99753029e-01 -2.17225864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.126875 meters 0.016304448065872782 Centerline is valid? [True, True] Translation: X:69.32, Y:-6.67, Z:-2.17 [[ 9.45496827e-01 3.24952478e-01 2.10151733e-02 6.93196974e+01] [-3.24879889e-01 9.45730289e-01 -6.87585803e-03 -6.66956203e+00] [-2.21090130e-02 -3.26305224e-04 9.99755513e-01 -2.17407323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.156875 meters 0.016009967827758955 Centerline is valid? [True, True] Translation: X:69.35, Y:-6.68, Z:-2.17 [[ 9.45391943e-01 3.25239469e-01 2.12922910e-02 6.93507643e+01] [-3.25164956e-01 9.45631628e-01 -6.96960011e-03 -6.68126382e+00] [-2.24014529e-02 -3.34503079e-04 9.99749000e-01 -2.17439415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.186875 meters 0.01659870763317371 Centerline is valid? [True, True] Translation: X:69.38, Y:-6.69, Z:-2.17 [[ 9.44830787e-01 3.26799948e-01 2.22840310e-02 6.93801702e+01] [-3.26718588e-01 9.45093460e-01 -7.30180273e-03 -6.69064650e+00] [-2.34467207e-02 -3.81639111e-04 9.99725015e-01 -2.17353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.216875 meters 0.016606528855061628 Centerline is valid? [True, True] Translation: X:69.41, Y:-6.70, Z:-2.17 [[ 9.44379451e-01 3.28080177e-01 2.26019993e-02 6.94102577e+01] [-3.27996716e-01 9.44649790e-01 -7.41138643e-03 -6.70075436e+00] [-2.37825029e-02 -4.14220516e-04 9.99717070e-01 -2.17398444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.246875 meters 0.017542925818002344 Centerline is valid? [True, True] Translation: X:69.44, Y:-6.71, Z:-2.18 [[ 9.43841957e-01 3.29628712e-01 2.25227102e-02 6.94404173e+01] [-3.29546132e-01 9.44110541e-01 -7.39143525e-03 -6.70883741e+00] [-2.37003574e-02 -4.45925326e-04 9.99719008e-01 -2.17529702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27687499999999 meters 0.018242372367650885 Centerline is valid? [True, True] Translation: X:69.47, Y:-6.72, Z:-2.18 [[ 9.42712473e-01 3.32835386e-01 2.26671383e-02 6.94711104e+01] [-3.32752541e-01 9.42984799e-01 -7.44418726e-03 -6.71776353e+00] [-2.38524558e-02 -5.24819705e-04 9.99715352e-01 -2.17633017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30687499999999 meters 0.018451178321358893 Centerline is valid? [True, True] Translation: X:69.50, Y:-6.73, Z:-2.18 [[ 9.42100712e-01 3.34603229e-01 2.20664238e-02 6.95021033e+01] [-3.34525073e-01 9.42358943e-01 -7.25246201e-03 -6.72732447e+00] [-2.32211890e-02 -5.49222412e-04 9.99730201e-01 -2.17805356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33687499999999 meters 0.019289824427720908 Centerline is valid? [True, True] Translation: X:69.53, Y:-6.74, Z:-2.18 [[ 9.41444716e-01 3.36493510e-01 2.13064364e-02 6.95326630e+01] [-3.36421007e-01 9.41685612e-01 -7.00810901e-03 -6.73582593e+00] [-2.24221478e-02 -5.70185570e-04 9.99748429e-01 -2.18021459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.366875 meters 0.02059483970774781 Centerline is valid? [True, True] Translation: X:69.56, Y:-6.74, Z:-2.18 [[ 9.40531677e-01 3.39161064e-01 1.92337590e-02 6.95625751e+01] [-3.39102446e-01 9.40728149e-01 -6.33090946e-03 -6.74351111e+00] [-2.02409365e-02 -5.67793842e-04 9.99794970e-01 -2.18342156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.396875 meters 0.02078979225279307 Centerline is valid? [True, True] Translation: X:69.59, Y:-6.75, Z:-2.19 [[ 9.40176096e-01 3.40220131e-01 1.78653468e-02 6.95926715e+01] [-3.40169681e-01 9.40345663e-01 -5.88411544e-03 -6.75344859e+00] [-1.88014959e-02 -5.45144664e-04 9.99823088e-01 -2.18569517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.426875 meters 0.02068329372436665 Centerline is valid? [True, True] Translation: X:69.62, Y:-6.76, Z:-2.19 [[ 9.39979026e-01 3.40836867e-01 1.64213463e-02 6.96225229e+01] [-3.40794269e-01 9.40122317e-01 -5.41247772e-03 -6.76357032e+00] [-1.72828461e-02 -5.08685180e-04 9.99850511e-01 -2.18722437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.456875 meters 0.02105941005838718 Centerline is valid? [True, True] Translation: X:69.65, Y:-6.77, Z:-2.19 [[ 9.39847810e-01 3.41220545e-01 1.59572405e-02 6.96531605e+01] [-3.41180318e-01 9.39983134e-01 -5.26300957e-03 -6.77355287e+00] [-1.67953839e-02 -4.97868364e-04 9.99858824e-01 -2.18905363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.486875 meters 0.02105941005838718 Centerline is valid? [True, True] Translation: X:69.68, Y:-6.78, Z:-2.19 [[ 9.39753942e-01 3.41479033e-01 1.59561459e-02 6.96838674e+01] [-3.41438786e-01 9.39889260e-01 -5.26632520e-03 -6.78380386e+00] [-1.67953498e-02 -4.98997203e-04 9.99858824e-01 -2.19008802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.516875 meters 0.020829058674183422 Centerline is valid? [True, True] Translation: X:69.71, Y:-6.80, Z:-2.19 [[ 9.40014192e-01 3.40843212e-01 1.41146808e-02 6.97146058e+01] [-3.40811600e-01 9.40120057e-01 -4.66177861e-03 -6.79659972e+00] [-1.48584301e-02 -4.28308913e-04 9.99889516e-01 -2.19113076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.546875 meters 0.020606156417735822 Centerline is valid? [True, True] Translation: X:69.74, Y:-6.81, Z:-2.19 [[ 9.40172211e-01 3.40404055e-01 1.41877645e-02 6.97444475e+01] [-3.40371990e-01 9.40279163e-01 -4.69090135e-03 -6.80795547e+00] [-1.49372612e-02 -4.18862543e-04 9.99888345e-01 -2.19221647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.576875 meters 0.020138118454661274 Centerline is valid? [True, True] Translation: X:69.77, Y:-6.82, Z:-2.19 [[ 9.40492051e-01 3.39484659e-01 1.49955808e-02 6.97743084e+01] [-3.39448651e-01 9.40611496e-01 -4.96246482e-03 -6.81933933e+00] [-1.57896964e-02 -4.23070977e-04 9.99875245e-01 -2.19265315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.606875 meters 0.01975487982811852 Centerline is valid? [True, True] Translation: X:69.80, Y:-6.83, Z:-2.19 [[ 9.40852518e-01 3.38456286e-01 1.56166939e-02 6.98046963e+01] [-3.38416975e-01 9.40982024e-01 -5.17509989e-03 -6.83121158e+00] [-1.64465733e-02 -4.15948537e-04 9.99864659e-01 -2.19289923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.636875 meters 0.01947187021674653 Centerline is valid? [True, True] Translation: X:69.83, Y:-6.84, Z:-2.19 [[ 9.41315937e-01 3.37076114e-01 1.74356194e-02 6.98337578e+01] [-3.37026877e-01 9.41477298e-01 -5.77771481e-03 -6.84364722e+00] [-1.83627695e-02 -4.37617323e-04 9.99831294e-01 -2.19102745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66687499999999 meters 0.01874856533658934 Centerline is valid? [True, True] Translation: X:69.86, Y:-6.86, Z:-2.19 [[ 9.41481754e-01 3.36571254e-01 1.82180832e-02 6.98637606e+01] [-3.36517305e-01 9.41657897e-01 -6.04215155e-03 -6.85614956e+00] [-1.91888165e-02 -4.42124842e-04 9.99815780e-01 -2.19021263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69687499999999 meters 0.0184981546111293 Centerline is valid? [True, True] Translation: X:69.89, Y:-6.87, Z:-2.19 [[ 9.41977919e-01 3.35151354e-01 1.87395332e-02 6.98934666e+01] [-3.35093886e-01 9.42164207e-01 -6.22043479e-03 -6.86744858e+00] [-1.97405046e-02 -4.19990782e-04 9.99805049e-01 -2.19097358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72687499999999 meters 0.01771631782227241 Centerline is valid? [True, True] Translation: X:69.92, Y:-6.88, Z:-2.19 [[ 9.43112941e-01 3.31905664e-01 1.94064766e-02 6.99222229e+01] [-3.31843232e-01 9.43312515e-01 -6.44732458e-03 -6.88059334e+00] [-2.04462758e-02 -3.59352673e-04 9.99790888e-01 -2.19152359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.756875 meters 0.017236938245163893 Centerline is valid? [True, True] Translation: X:69.95, Y:-6.89, Z:-2.19 [[ 9.43465100e-01 3.30880851e-01 1.97855439e-02 6.99521547e+01] [-3.30815617e-01 9.43672479e-01 -6.57871855e-03 -6.89190565e+00] [-2.08478453e-02 -3.38575565e-04 9.99782603e-01 -2.19226826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.786875 meters 0.01778173840336132 Centerline is valid? [True, True] Translation: X:69.98, Y:-6.90, Z:-2.20 [[ 9.43650254e-01 3.30353327e-01 1.97705991e-02 6.99815233e+01] [-3.30287966e-01 9.43857286e-01 -6.57904488e-03 -6.90095460e+00] [-2.08340334e-02 -3.21673586e-04 9.99782896e-01 -2.19518067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.816875 meters 0.0168542909262413 Centerline is valid? [True, True] Translation: X:70.01, Y:-6.91, Z:-2.20 [[ 9.43907916e-01 3.29669651e-01 1.88617938e-02 7.00120874e+01] [-3.29609943e-01 9.44096307e-01 -6.28073834e-03 -6.91439115e+00] [-1.98779187e-02 -2.88596153e-04 9.99802373e-01 -2.19601815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.846875 meters 0.016802675315038717 Centerline is valid? [True, True] Translation: X:70.04, Y:-6.92, Z:-2.20 [[ 9.43763232e-01 3.30071346e-01 1.90753543e-02 7.00429790e+01] [-3.30010240e-01 9.43955942e-01 -6.35784316e-03 -6.92472545e+00] [-2.01048359e-02 -2.94763651e-04 9.99797834e-01 -2.19740007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.876875 meters 0.016703263065922194 Centerline is valid? [True, True] Translation: X:70.07, Y:-6.94, Z:-2.20 [[ 9.43612476e-01 3.30470395e-01 1.96166748e-02 7.00743729e+01] [-3.30405730e-01 9.43816309e-01 -6.54441044e-03 -6.93529224e+00] [-2.06772715e-02 -3.06074429e-04 9.99786156e-01 -2.19817884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.906875 meters 0.01687107335966516 Centerline is valid? [True, True] Translation: X:70.11, Y:-6.94, Z:-2.20 [[ 9.43311148e-01 3.31287576e-01 2.03130702e-02 7.01052919e+01] [-3.31218281e-01 9.43529774e-01 -6.78355511e-03 -6.94474166e+00] [-2.14132940e-02 -3.29057035e-04 9.99770655e-01 -2.19889275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.936875 meters 0.01703898269969465 Centerline is valid? [True, True] Translation: X:70.14, Y:-6.95, Z:-2.20 [[ 9.42704622e-01 3.32869711e-01 2.24889200e-02 7.01374465e+01] [-3.32785049e-01 9.42972745e-01 -7.51752260e-03 -6.95296909e+00] [-2.37087942e-02 -3.97173062e-04 9.99718828e-01 -2.19972333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.966875 meters 0.017318818726515018 Centerline is valid? [True, True] Translation: X:70.17, Y:-6.96, Z:-2.20 [[ 9.42223504e-01 3.34213816e-01 2.27155116e-02 7.01682651e+01] [-3.34127656e-01 9.42497184e-01 -7.60050691e-03 -6.96144138e+00] [-2.39495001e-02 -4.28504381e-04 9.99713078e-01 -2.20130762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.996875 meters 0.018059095042198468 Centerline is valid? [True, True] Translation: X:70.20, Y:-6.97, Z:-2.20 [[ 9.41776266e-01 3.35444577e-01 2.31170995e-02 7.01988478e+01] [-3.35355558e-01 9.42059830e-01 -7.74125635e-03 -6.96920051e+00] [-2.43744533e-02 -4.61916309e-04 9.99702792e-01 -2.20317846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02687499999999 meters 0.017700782446219976 Centerline is valid? [True, True] Translation: X:70.23, Y:-6.98, Z:-2.20 [[ 9.41369707e-01 3.36556601e-01 2.35101741e-02 7.02295072e+01] [-3.36464734e-01 9.41663109e-01 -7.87857716e-03 -6.97939859e+00] [-2.47902508e-02 -4.93690600e-04 9.99692553e-01 -2.20385388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05687499999999 meters 0.018433268995810975 Centerline is valid? [True, True] Translation: X:70.26, Y:-6.99, Z:-2.21 [[ 9.40791040e-01 3.38143593e-01 2.38983139e-02 7.02599957e+01] [-3.38049011e-01 9.41094374e-01 -8.01531163e-03 -6.98676743e+00] [-2.52008950e-02 -5.38067997e-04 9.99682262e-01 -2.20542638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08687499999999 meters 0.018345374087806426 Centerline is valid? [True, True] Translation: X:70.29, Y:-7.00, Z:-2.21 [[ 9.40555210e-01 3.38816439e-01 2.36498757e-02 7.02899827e+01] [-3.38723883e-01 9.40852339e-01 -7.93774178e-03 -6.99649633e+00] [-2.49404783e-02 -5.44893331e-04 9.99688789e-01 -2.20669405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.116875 meters 0.018160752584119567 Centerline is valid? [True, True] Translation: X:70.32, Y:-7.01, Z:-2.21 [[ 9.40484089e-01 3.38972899e-01 2.42291484e-02 7.03215256e+01] [-3.38875655e-01 9.40795973e-01 -8.13800623e-03 -7.00640151e+00] [-2.55532488e-02 -5.57003163e-04 9.99673307e-01 -2.20834754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.146875 meters 0.01769078363413904 Centerline is valid? [True, True] Translation: X:70.35, Y:-7.02, Z:-2.21 [[ 9.40681994e-01 3.38397612e-01 2.45853985e-02 7.03521626e+01] [-3.38297087e-01 9.41003062e-01 -8.26549545e-03 -7.01642244e+00] [-2.59319592e-02 -5.41965949e-04 9.99663563e-01 -2.21010466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.176875 meters 0.017629077658876276 Centerline is valid? [True, True] Translation: X:70.38, Y:-7.03, Z:-2.21 [[ 9.40775747e-01 3.38083668e-01 2.53066772e-02 7.03817985e+01] [-3.37976851e-01 9.41115901e-01 -8.51517696e-03 -7.02609096e+00] [-2.66953586e-02 -5.42199117e-04 9.99643468e-01 -2.21085572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.206875 meters 0.01732512705865116 Centerline is valid? [True, True] Translation: X:70.41, Y:-7.04, Z:-2.21 [[ 9.40957529e-01 3.37529865e-01 2.59329560e-02 7.04120923e+01] [-3.37417306e-01 9.41314669e-01 -8.73248274e-03 -7.03664258e+00] [-2.73585456e-02 -5.33332765e-04 9.99625543e-01 -2.21177958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.236875 meters 0.017055877222060707 Centerline is valid? [True, True] Translation: X:70.44, Y:-7.05, Z:-2.21 [[ 9.41126201e-01 3.37014407e-01 2.65096827e-02 7.04419893e+01] [-3.36896376e-01 9.41499345e-01 -8.93400138e-03 -7.04692494e+00] [-2.79697361e-02 -5.22993242e-04 9.99608634e-01 -2.21320477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.266875 meters 0.016143475604613756 Centerline is valid? [True, True] Translation: X:70.47, Y:-7.06, Z:-2.21 [[ 9.42147681e-01 3.34050308e-01 2.77153179e-02 7.04722987e+01] [-3.33919783e-01 9.42555140e-01 -9.34812417e-03 -7.05815278e+00] [-2.92459591e-02 -4.47379403e-04 9.99572145e-01 -2.21495469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.296875 meters 0.015458194204662752 Centerline is valid? [True, True] Translation: X:70.50, Y:-7.07, Z:-2.22 [[ 9.43242534e-01 3.30935597e-01 2.78415803e-02 7.05011008e+01] [-3.30802300e-01 9.43653279e-01 -9.39822454e-03 -7.07048364e+00] [-2.93830056e-02 -3.45253665e-04 9.99568167e-01 -2.21552528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.326875 meters 0.014827059918939758 Centerline is valid? [True, True] Translation: X:70.53, Y:-7.08, Z:-2.22 [[ 9.44221110e-01 3.28075899e-01 2.85078758e-02 7.05311279e+01] [-3.27934626e-01 9.44651332e-01 -9.63027935e-03 -7.08292608e+00] [-3.00894654e-02 -2.55606521e-04 9.99547177e-01 -2.21661649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.356875 meters 0.014392676021979006 Centerline is valid? [True, True] Translation: X:70.56, Y:-7.10, Z:-2.22 [[ 9.45043987e-01 3.25691570e-01 2.85808138e-02 7.05605003e+01] [-3.25548255e-01 9.45476055e-01 -9.66241806e-03 -7.09555346e+00] [-3.01694432e-02 -1.73023979e-04 9.99544784e-01 -2.21746166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.386875 meters 0.01413501365668117 Centerline is valid? [True, True] Translation: X:70.59, Y:-7.11, Z:-2.22 [[ 9.46323453e-01 3.22040702e-01 2.75990511e-02 7.05895154e+01] [-3.21905304e-01 9.46725823e-01 -9.33762580e-03 -7.10798669e+00] [-2.91358300e-02 -4.78666701e-05 9.99575460e-01 -2.21957519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41687499999999 meters 0.014110143552371165 Centerline is valid? [True, True] Translation: X:70.62, Y:-7.12, Z:-2.22 [[ 9.46889009e-01 3.20411225e-01 2.71634313e-02 7.06198260e+01] [-3.20279199e-01 9.47278548e-01 -9.19716891e-03 -7.11955398e+00] [-2.86782119e-02 8.81616093e-06 9.99588695e-01 -2.22136470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44687499999999 meters 0.01417299320560957 Centerline is valid? [True, True] Translation: X:70.65, Y:-7.13, Z:-2.22 [[ 9.47609376e-01 3.18249347e-01 2.74558599e-02 7.06492513e+01] [-3.18113297e-01 9.48007039e-01 -9.30504319e-03 -7.13176353e+00] [-2.89896724e-02 8.34720396e-05 9.99579708e-01 -2.22379550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47687499999999 meters 0.014236051900190167 Centerline is valid? [True, True] Translation: X:70.68, Y:-7.14, Z:-2.22 [[ 9.47657562e-01 3.18089694e-01 2.76422108e-02 7.06801618e+01] [-3.17951487e-01 9.48060619e-01 -9.37627658e-03 -7.14331163e+00] [-2.91889885e-02 9.66173608e-05 9.99573906e-01 -2.22432839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.506875 meters 0.014263632710864992 Centerline is valid? [True, True] Translation: X:70.71, Y:-7.15, Z:-2.23 [[ 9.47555261e-01 3.18366467e-01 2.79610550e-02 7.07114008e+01] [-3.18224922e-01 9.47967712e-01 -9.49293322e-03 -7.15438280e+00] [-2.95284090e-02 9.71742488e-05 9.99563937e-01 -2.22512960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.536875 meters 0.014250110897217975 Centerline is valid? [True, True] Translation: X:70.74, Y:-7.16, Z:-2.23 [[ 9.47335405e-01 3.18991859e-01 2.82811626e-02 7.07422604e+01] [-3.18847077e-01 9.47757451e-01 -9.61015105e-03 -7.16491117e+00] [-2.98692425e-02 8.66703267e-05 9.99553811e-01 -2.22580322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.566875 meters 0.014099841359342712 Centerline is valid? [True, True] Translation: X:70.77, Y:-7.17, Z:-2.23 [[ 9.46203652e-01 3.22284385e-01 2.88344127e-02 7.07746823e+01] [-3.22135141e-01 9.46642897e-01 -9.80693159e-03 -7.17292740e+00] [-3.04565129e-02 -9.22310768e-06 9.99536093e-01 -2.22624418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.596875 meters 0.014027351258593872 Centerline is valid? [True, True] Translation: X:70.81, Y:-7.18, Z:-2.23 [[ 9.45228954e-01 3.25077552e-01 2.94416321e-02 7.08067329e+01] [-3.24923024e-01 9.45687357e-01 -1.00225467e-02 -7.18141923e+00] [-3.11006842e-02 -9.26628600e-05 9.99516252e-01 -2.22707130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.626875 meters 0.014157218957245863 Centerline is valid? [True, True] Translation: X:70.84, Y:-7.19, Z:-2.23 [[ 9.44171661e-01 3.28055114e-01 3.03268185e-02 7.08382637e+01] [-3.27892385e-01 9.44658566e-01 -1.03333022e-02 -7.18952560e+00] [-3.20383816e-02 -1.87521721e-04 9.99486622e-01 -2.22763106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.656875 meters 0.014725580342360985 Centerline is valid? [True, True] Translation: X:70.87, Y:-7.20, Z:-2.23 [[ 9.43032905e-01 3.31322562e-01 3.02373876e-02 7.08685587e+01] [-3.31162175e-01 9.43517502e-01 -1.03120120e-02 -7.19692473e+00] [-3.19461066e-02 -2.88912379e-04 9.99489551e-01 -2.22854645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.686875 meters 0.015765330341244294 Centerline is valid? [True, True] Translation: X:70.90, Y:-7.20, Z:-2.23 [[ 9.40891575e-01 3.37351867e-01 3.02780865e-02 7.09006946e+01] [-3.37194021e-01 9.41378499e-01 -1.03302567e-02 -7.20272913e+00] [-3.19880710e-02 -4.89938265e-04 9.99488131e-01 -2.22932412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.716875 meters 0.01626844442675022 Centerline is valid? [True, True] Translation: X:70.93, Y:-7.21, Z:-2.23 [[ 9.40694991e-01 3.38016230e-01 2.89475826e-02 7.09312316e+01] [-3.37872206e-01 9.41140154e-01 -9.87837836e-03 -7.21031303e+00] [-3.05827846e-02 -4.88042572e-04 9.99532118e-01 -2.23223814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.746875 meters 0.016311659360507505 Centerline is valid? [True, True] Translation: X:70.96, Y:-7.22, Z:-2.23 [[ 9.40508494e-01 3.38583827e-01 2.83683710e-02 7.09628574e+01] [-3.38445651e-01 9.40936103e-01 -9.68462872e-03 -7.22040200e+00] [-2.99718831e-02 -4.92676227e-04 9.99550621e-01 -2.23463933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77687499999999 meters 0.014954066839953798 Centerline is valid? [True, True] Translation: X:70.99, Y:-7.23, Z:-2.24 [[ 9.41660275e-01 3.35411080e-01 2.78448320e-02 7.09919699e+01] [-3.35276328e-01 9.42071794e-01 -9.51410428e-03 -7.23446895e+00] [-2.94229668e-02 -3.76658959e-04 9.99566980e-01 -2.23551082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80687499999999 meters 0.014921576133384273 Centerline is valid? [True, True] Translation: X:71.02, Y:-7.24, Z:-2.24 [[ 9.42134231e-01 3.34010500e-01 2.86369655e-02 7.10212428e+01] [-3.33867072e-01 9.42569294e-01 -9.79309570e-03 -7.24401891e+00] [-3.02633212e-02 -3.34529130e-04 9.99541905e-01 -2.23605518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83687499999999 meters 0.014760319368551707 Centerline is valid? [True, True] Translation: X:71.05, Y:-7.25, Z:-2.24 [[ 9.42460452e-01 3.33060514e-01 2.89653285e-02 7.10502995e+01] [-3.32913190e-01 9.42905405e-01 -9.90986885e-03 -7.25429470e+00] [-3.06121508e-02 -3.03280455e-04 9.99531292e-01 -2.23630513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.866875 meters 0.014444609664259265 Centerline is valid? [True, True] Translation: X:71.08, Y:-7.27, Z:-2.24 [[ 9.42514165e-01 3.32851160e-01 2.96167930e-02 7.10816942e+01] [-3.32696803e-01 9.42979330e-01 -1.01400116e-02 -7.26536766e+00] [-3.13031383e-02 -2.96307773e-04 9.99509893e-01 -2.23662392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.896875 meters 0.014817390689061394 Centerline is valid? [True, True] Translation: X:71.11, Y:-7.27, Z:-2.24 [[ 9.42035789e-01 3.34240950e-01 2.91814902e-02 7.11115690e+01] [-3.34091491e-01 9.42487601e-01 -9.99985374e-03 -7.27375818e+00] [-3.08455534e-02 -3.29067465e-04 9.99524109e-01 -2.23672654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.926875 meters 0.015040285544285976 Centerline is valid? [True, True] Translation: X:71.14, Y:-7.28, Z:-2.24 [[ 9.41569973e-01 3.35574087e-01 2.89139670e-02 7.11416509e+01] [-3.35427768e-01 9.42013747e-01 -9.91524297e-03 -7.28337924e+00] [-3.05646530e-02 -3.62652360e-04 9.99532726e-01 -2.23772590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.956875 meters 0.015658709908697988 Centerline is valid? [True, True] Translation: X:71.17, Y:-7.29, Z:-2.24 [[ 9.40826733e-01 3.37672686e-01 2.86743113e-02 7.11713442e+01] [-3.37529546e-01 9.41263502e-01 -9.84000298e-03 -7.29171184e+00] [-3.03127829e-02 -4.20689412e-04 9.99540373e-01 -2.23927866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.986875 meters 0.016818479237829153 Centerline is valid? [True, True] Translation: X:71.20, Y:-7.30, Z:-2.24 [[ 9.39190328e-01 3.42141863e-01 2.93338277e-02 7.12029631e+01] [-3.41994010e-01 9.39648136e-01 -1.00736104e-02 -7.29855126e+00] [-3.10100804e-02 -5.70955934e-04 9.99518909e-01 -2.24054589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.016875 meters 0.017705006239033618 Centerline is valid? [True, True] Translation: X:71.23, Y:-7.31, Z:-2.24 [[ 9.38302231e-01 3.44504954e-01 3.00875454e-02 7.12328228e+01] [-3.44350365e-01 9.38784269e-01 -1.03403456e-02 -7.30662058e+00] [-3.18080146e-02 -6.58287934e-04 9.99493780e-01 -2.24077242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.046875 meters 0.017687800747158804 Centerline is valid? [True, True] Translation: X:71.26, Y:-7.32, Z:-2.24 [[ 9.37311139e-01 3.47211229e-01 2.98695658e-02 7.12625488e+01] [-3.47060115e-01 9.37786657e-01 -1.02694980e-02 -7.31725323e+00] [-3.15769653e-02 -7.40820090e-04 9.99501049e-01 -2.24041436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.076875 meters 0.019626253610976682 Centerline is valid? [True, True] Translation: X:71.29, Y:-7.32, Z:-2.24 [[ 9.36069854e-01 3.50551411e-01 2.97814735e-02 7.12936759e+01] [-3.50402638e-01 9.36543109e-01 -1.02467350e-02 -7.32319536e+00] [-3.14836412e-02 -8.43847095e-04 9.99503911e-01 -2.24133010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.106875 meters 0.01926815249756867 Centerline is valid? [True, True] Translation: X:71.32, Y:-7.33, Z:-2.24 [[ 9.35641115e-01 3.51715484e-01 2.95283126e-02 7.13234871e+01] [-3.51569578e-01 9.36106545e-01 -1.01670098e-02 -7.33391374e+00] [-3.12175415e-02 -8.68584023e-04 9.99512236e-01 -2.24290662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.136875 meters 0.01958501306671515 Centerline is valid? [True, True] Translation: X:71.35, Y:-7.34, Z:-2.24 [[ 9.35252295e-01 3.52803363e-01 2.88605714e-02 7.13538036e+01] [-3.52664263e-01 9.35697076e-01 -9.94484617e-03 -7.34396973e+00] [-3.05133274e-02 -8.77151926e-04 9.99533975e-01 -2.24393652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16687499999999 meters 0.018876225648646137 Centerline is valid? [True, True] Translation: X:71.38, Y:-7.35, Z:-2.25 [[ 9.35673827e-01 3.51822970e-01 2.71124973e-02 7.13835055e+01] [-3.51699603e-01 9.36066225e-01 -9.34939431e-03 -7.35442113e+00] [-2.86684247e-02 -7.87470998e-04 9.99588666e-01 -2.24816226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19687499999999 meters 0.020194637012401796 Centerline is valid? [True, True] Translation: X:71.41, Y:-7.36, Z:-2.25 [[ 9.36029875e-01 3.50865690e-01 2.72275633e-02 7.14133553e+01] [-3.50740650e-01 9.36425490e-01 -9.39668581e-03 -7.36173695e+00] [-2.87935589e-02 -7.54234588e-04 9.99585095e-01 -2.25053172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22687499999999 meters 0.018142971768526747 Centerline is valid? [True, True] Translation: X:71.44, Y:-7.38, Z:-2.25 [[ 9.36300763e-01 3.50108125e-01 2.76619309e-02 7.14423693e+01] [-3.49978522e-01 9.36709005e-01 -9.55375789e-03 -7.37584719e+00] [-2.92560281e-02 -7.35890920e-04 9.99571680e-01 -2.24963451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.256875 meters 0.017808931399687887 Centerline is valid? [True, True] Translation: X:71.47, Y:-7.39, Z:-2.25 [[ 9.36960063e-01 3.48316529e-01 2.79541550e-02 7.14717728e+01] [-3.48183143e-01 9.37376730e-01 -9.66259112e-03 -7.38691920e+00] [-2.95692146e-02 -6.79703542e-04 9.99562504e-01 -2.24937342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.286875 meters 0.016934811487727738 Centerline is valid? [True, True] Translation: X:71.50, Y:-7.40, Z:-2.25 [[ 9.37306851e-01 3.47401943e-01 2.77084322e-02 7.15015216e+01] [-3.47270376e-01 9.37716097e-01 -9.58162643e-03 -7.39904158e+00] [-2.93113185e-02 -6.41393579e-04 9.99570125e-01 -2.25119074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.316875 meters 0.01664199506547724 Centerline is valid? [True, True] Translation: X:71.53, Y:-7.41, Z:-2.25 [[ 9.37683557e-01 3.46421969e-01 2.72280261e-02 7.15307257e+01] [-3.46294293e-01 9.38078604e-01 -9.42310133e-03 -7.40946861e+00] [-2.88063981e-02 -5.93022892e-04 9.99584834e-01 -2.25322801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.346875 meters 0.016106328518383256 Centerline is valid? [True, True] Translation: X:71.56, Y:-7.42, Z:-2.26 [[ 9.38228337e-01 3.44978267e-01 2.67877395e-02 7.15599051e+01] [-3.44853994e-01 9.38610520e-01 -9.27442788e-03 -7.42135755e+00] [-2.83427302e-02 -5.36327922e-04 9.99598120e-01 -2.25543238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.376875 meters 0.01701744074970302 Centerline is valid? [True, True] Translation: X:71.59, Y:-7.43, Z:-2.26 [[ 9.38515339e-01 3.44220240e-01 2.64836599e-02 7.15897533e+01] [-3.44098274e-01 9.38888798e-01 -9.17621169e-03 -7.43041227e+00] [-2.80238494e-02 -5.00966241e-04 9.99607129e-01 -2.25723044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.406875 meters 0.01701744074970302 Centerline is valid? [True, True] Translation: X:71.62, Y:-7.44, Z:-2.26 [[ 9.38428052e-01 3.44458286e-01 2.64816987e-02 7.16202988e+01] [-3.44336255e-01 9.38801490e-01 -9.18186784e-03 -7.44113428e+00] [-2.80238287e-02 -5.02086609e-04 9.99607129e-01 -2.25826444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.436875 meters 0.015497269127219415 Centerline is valid? [True, True] Translation: X:71.65, Y:-7.46, Z:-2.26 [[ 9.38530666e-01 3.44176896e-01 2.65038470e-02 7.16493920e+01] [-3.44054335e-01 9.38904695e-01 -9.19714279e-03 -7.45565349e+00] [-2.80500304e-02 -4.86962902e-04 9.99606402e-01 -2.25787704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.466875 meters 0.015448435288580606 Centerline is valid? [True, True] Translation: X:71.68, Y:-7.47, Z:-2.26 [[ 9.38765016e-01 3.43471329e-01 2.73439559e-02 7.16786766e+01] [-3.43340345e-01 9.39163044e-01 -9.49656415e-03 -7.46677793e+00] [-2.89422304e-02 -4.73241084e-04 9.99580974e-01 -2.25809001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.496875 meters 0.014862223701330316 Centerline is valid? [True, True] Translation: X:71.71, Y:-7.48, Z:-2.26 [[ 9.39208780e-01 3.42255670e-01 2.73482067e-02 7.17072025e+01] [-3.42124020e-01 9.39606763e-01 -9.50186119e-03 -7.48127819e+00] [-2.89486258e-02 -4.32246955e-04 9.99580807e-01 -2.25808653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52687499999999 meters 0.014645302611543022 Centerline is valid? [True, True] Translation: X:71.74, Y:-7.49, Z:-2.26 [[ 9.39548001e-01 3.41296381e-01 2.76827289e-02 7.17373736e+01] [-3.41160839e-01 9.39955648e-01 -9.62606658e-03 -7.49385712e+00] [-2.93058791e-02 -4.00111430e-04 9.99570410e-01 -2.25875477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55687499999999 meters 0.014519011643722568 Centerline is valid? [True, True] Translation: X:71.77, Y:-7.51, Z:-2.26 [[ 9.39549138e-01 3.41282476e-01 2.78152644e-02 7.17668856e+01] [-3.41145561e-01 9.39960697e-01 -9.67441864e-03 -7.50583904e+00] [-2.94469649e-02 -3.99462280e-04 9.99566264e-01 -2.25924460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58687499999999 meters 0.014702094791697248 Centerline is valid? [True, True] Translation: X:71.80, Y:-7.52, Z:-2.26 [[ 9.39658822e-01 3.40974618e-01 2.78856304e-02 7.17964560e+01] [-3.40836636e-01 9.40072424e-01 -9.70695386e-03 -7.51731760e+00] [-2.95243371e-02 -3.83219622e-04 9.99563988e-01 -2.26100048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.616875 meters 0.014244333090595621 Centerline is valid? [True, True] Translation: X:71.82, Y:-7.53, Z:-2.26 [[ 9.40101207e-01 3.39810308e-01 2.71785803e-02 7.18249662e+01] [-3.39678530e-01 9.40493937e-01 -9.46842937e-03 -7.53209840e+00] [-2.87787599e-02 -3.30698334e-04 9.99585751e-01 -2.26212056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.646875 meters 0.013961459988928625 Centerline is valid? [True, True] Translation: X:71.85, Y:-7.55, Z:-2.26 [[ 9.40243711e-01 3.39357224e-01 2.79005193e-02 7.18544618e+01] [-3.39217927e-01 9.40657522e-01 -9.72750543e-03 -7.54505588e+00] [-2.95459326e-02 -3.18130521e-04 9.99563373e-01 -2.26203183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.676875 meters 0.013712151958446004 Centerline is valid? [True, True] Translation: X:71.88, Y:-7.56, Z:-2.26 [[ 9.40340321e-01 3.39008919e-01 2.88623277e-02 7.18845809e+01] [-3.38859442e-01 9.40783108e-01 -1.00708387e-02 -7.55783985e+00] [-3.05672945e-02 -3.10256568e-04 9.99532663e-01 -2.26248682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.706875 meters 0.013522430387206534 Centerline is valid? [True, True] Translation: X:71.91, Y:-7.57, Z:-2.26 [[ 9.40716056e-01 3.37896496e-01 2.96523156e-02 7.19134041e+01] [-3.37737870e-01 9.41183236e-01 -1.03560469e-02 -7.57096527e+00] [-3.14075343e-02 -2.72610307e-04 9.99506625e-01 -2.26268439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.736875 meters 0.013587268162496929 Centerline is valid? [True, True] Translation: X:71.94, Y:-7.58, Z:-2.26 [[ 9.40695533e-01 3.37933151e-01 2.98847723e-02 7.19427314e+01] [-3.37771788e-01 9.41170077e-01 -1.04453847e-02 -7.58224966e+00] [-3.16564952e-02 -2.68306224e-04 9.99498772e-01 -2.26298041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.766875 meters 0.013462278151741846 Centerline is valid? [True, True] Translation: X:71.97, Y:-7.59, Z:-2.26 [[ 9.40298956e-01 3.39046568e-01 2.97539765e-02 7.19735525e+01] [-3.38886906e-01 9.40769545e-01 -1.04080729e-02 -7.59277227e+00] [-3.15204563e-02 -2.96533020e-04 9.99503063e-01 -2.26402405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.796875 meters 0.013770731518748669 Centerline is valid? [True, True] Translation: X:72.00, Y:-7.60, Z:-2.27 [[ 9.39768923e-01 3.40539904e-01 2.94439382e-02 7.20030140e+01] [-3.40384004e-01 9.40230005e-01 -1.03086308e-02 -7.60115822e+00] [-3.11945743e-02 -3.34514733e-04 9.99513275e-01 -2.26566953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.826875 meters 0.014213489563417751 Centerline is valid? [True, True] Translation: X:72.03, Y:-7.61, Z:-2.27 [[ 9.38873271e-01 3.43139073e-01 2.77949074e-02 7.20337299e+01] [-3.43001099e-01 9.39284528e-01 -9.73767987e-03 -7.61065066e+00] [-2.94487049e-02 -3.91236426e-04 9.99566216e-01 -2.26911108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.856875 meters 0.014540215566211195 Centerline is valid? [True, True] Translation: X:72.06, Y:-7.62, Z:-2.27 [[ 9.38414014e-01 3.44474681e-01 2.67643729e-02 7.20638026e+01] [-3.44347096e-01 9.38795519e-01 -9.38357707e-03 -7.62076296e+00] [-2.83586781e-02 -4.10553888e-04 9.99597727e-01 -2.27089254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88687499999999 meters 0.014753996847319355 Centerline is valid? [True, True] Translation: X:72.09, Y:-7.63, Z:-2.27 [[ 9.38151003e-01 3.45280025e-01 2.55812234e-02 7.20934881e+01] [-3.45163593e-01 9.38499620e-01 -8.97539208e-03 -7.63079205e+00] [-2.71069921e-02 -4.09433905e-04 9.99632454e-01 -2.27285981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91687499999999 meters 0.014821581212720538 Centerline is valid? [True, True] Translation: X:72.12, Y:-7.64, Z:-2.27 [[ 9.37896810e-01 3.46012270e-01 2.50016590e-02 7.21240693e+01] [-3.45901161e-01 9.38229895e-01 -8.77782773e-03 -7.64202426e+00] [-2.64945400e-02 -4.15406245e-04 9.99648872e-01 -2.27442508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94687499999999 meters 0.014988891854494299 Centerline is valid? [True, True] Translation: X:72.15, Y:-7.65, Z:-2.28 [[ 9.37740914e-01 3.46435800e-01 2.49842772e-02 7.21539711e+01] [-3.46324790e-01 9.38073590e-01 -8.77949287e-03 -7.65300979e+00] [-2.64786212e-02 -4.19784872e-04 9.99649292e-01 -2.27603316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97687499999999 meters 0.014401916793650734 Centerline is valid? [True, True] Translation: X:72.18, Y:-7.67, Z:-2.28 [[ 9.38431173e-01 3.44548282e-01 2.51677451e-02 7.21820998e+01] [-3.44434759e-01 9.38768528e-01 -8.85138676e-03 -7.66547318e+00] [-2.66764171e-02 -3.62228959e-04 9.99644055e-01 -2.27647756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.006875 meters 0.01378898596566112 Centerline is valid? [True, True] Translation: X:72.21, Y:-7.68, Z:-2.28 [[ 9.39336756e-01 3.42082957e-01 2.50141668e-02 7.22103281e+01] [-3.41969779e-01 9.39669713e-01 -8.80347708e-03 -7.67844069e+00] [-2.65165744e-02 -2.84659492e-04 9.99648333e-01 -2.27744597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.036875 meters 0.013513960774044388 Centerline is valid? [True, True] Translation: X:72.24, Y:-7.69, Z:-2.28 [[ 9.39407529e-01 3.41891761e-01 2.49703483e-02 7.22410386e+01] [-3.41778758e-01 9.39739299e-01 -8.79382356e-03 -7.69015185e+00] [-2.64721534e-02 -2.73350558e-04 9.99649514e-01 -2.27876717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.066875 meters 0.013547862008702507 Centerline is valid? [True, True] Translation: X:72.27, Y:-7.70, Z:-2.28 [[ 9.39270488e-01 3.42347848e-01 2.38516501e-02 7.22716488e+01] [-3.42244723e-01 9.39573243e-01 -8.40654359e-03 -7.70138181e+00] [-2.52883344e-02 -2.67083089e-04 9.99680163e-01 -2.28100383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.096875 meters 0.013440799542572997 Centerline is valid? [True, True] Translation: X:72.30, Y:-7.71, Z:-2.28 [[ 9.39144462e-01 3.42779378e-01 2.25826712e-02 7.23011428e+01] [-3.42686907e-01 9.39415899e-01 -7.96570979e-03 -7.71264117e+00] [-2.39450015e-02 -2.57833518e-04 9.99713244e-01 -2.28332599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.126875 meters 0.013657751289213284 Centerline is valid? [True, True] Translation: X:72.33, Y:-7.72, Z:-2.29 [[ 9.39248066e-01 3.42482150e-01 2.27826347e-02 7.23311675e+01] [-3.42387801e-01 9.39524303e-01 -8.04222768e-03 -7.72321226e+00] [-2.41591584e-02 -2.46849390e-04 9.99708094e-01 -2.28509681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.156875 meters 0.013796194527132202 Centerline is valid? [True, True] Translation: X:72.36, Y:-7.73, Z:-2.29 [[ 9.39177986e-01 3.42620496e-01 2.35776638e-02 7.23619535e+01] [-3.42519285e-01 9.39473859e-01 -8.33108630e-03 -7.73408637e+00] [-2.50049997e-02 -2.51431680e-04 9.99687294e-01 -2.28507641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.186875 meters 0.013366261794972497 Centerline is valid? [True, True] Translation: X:72.39, Y:-7.75, Z:-2.28 [[ 9.38867215e-01 3.43486033e-01 2.33601704e-02 7.23928260e+01] [-3.43386933e-01 9.39157746e-01 -8.25484998e-03 -7.74617969e+00] [-2.47743106e-02 -2.71369263e-04 9.99693033e-01 -2.28428303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.216875 meters 0.014102936042266544 Centerline is valid? [True, True] Translation: X:72.42, Y:-7.75, Z:-2.29 [[ 9.38551721e-01 3.44337528e-01 2.35017989e-02 7.24239412e+01] [-3.44237303e-01 9.38845879e-01 -8.31234364e-03 -7.75473128e+00] [-2.49268189e-02 -2.88631450e-04 9.99689237e-01 -2.28553152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.246875 meters 0.014578677108654898 Centerline is valid? [True, True] Translation: X:72.45, Y:-7.76, Z:-2.29 [[ 9.37943142e-01 3.45997648e-01 2.34155973e-02 7.24542887e+01] [-3.45898499e-01 9.38235323e-01 -8.28893296e-03 -7.76366244e+00] [-2.48372918e-02 -3.24872126e-04 9.99691454e-01 -2.28583391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27687499999999 meters 0.014414719862783228 Centerline is valid? [True, True] Translation: X:72.49, Y:-7.77, Z:-2.29 [[ 9.37054635e-01 3.48395799e-01 2.34302685e-02 7.24854600e+01] [-3.48297146e-01 9.37347438e-01 -8.29931376e-03 -7.77256506e+00] [-2.48537482e-02 -3.83785209e-04 9.99691024e-01 -2.28595611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30687499999999 meters 0.014204720922246623 Centerline is valid? [True, True] Translation: X:72.52, Y:-7.78, Z:-2.29 [[ 9.37408034e-01 3.47383118e-01 2.43135379e-02 7.25153546e+01] [-3.47276369e-01 9.37723220e-01 -8.61896707e-03 -7.78307349e+00] [-2.57934527e-02 -3.64028186e-04 9.99667227e-01 -2.28639936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33687499999999 meters 0.013495316644072365 Centerline is valid? [True, True] Translation: X:72.54, Y:-7.79, Z:-2.29 [[ 9.38483626e-01 3.44428655e-01 2.48472449e-02 7.25442597e+01] [-3.44315952e-01 9.38812453e-01 -8.81498654e-03 -7.79352961e+00] [-2.63630369e-02 -2.82582233e-04 9.99652395e-01 -2.28553137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.366875 meters 0.013123350319791633 Centerline is valid? [True, True] Translation: X:72.58, Y:-7.80, Z:-2.29 [[ 9.38749435e-01 3.43759583e-01 2.40592499e-02 7.25755783e+01] [-3.43653561e-01 9.39057659e-01 -8.54069359e-03 -7.80426573e+00] [-2.55289681e-02 -2.50475610e-04 9.99674051e-01 -2.28798509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.396875 meters 0.012918105682769205 Centerline is valid? [True, True] Translation: X:72.61, Y:-7.81, Z:-2.29 [[ 9.38821234e-01 3.43627983e-01 2.31192589e-02 7.26072081e+01] [-3.43529883e-01 9.39105828e-01 -8.21360238e-03 -7.81467921e+00] [-2.45338544e-02 -2.31051993e-04 9.99698973e-01 -2.29042994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.426875 meters 0.013146096592267448 Centerline is valid? [True, True] Translation: X:72.64, Y:-7.82, Z:-2.29 [[ 9.38787921e-01 3.43800412e-01 2.18750294e-02 7.26379799e+01] [-3.43712486e-01 9.39042720e-01 -7.77798068e-03 -7.82370701e+00] [-2.32156601e-02 -2.16846438e-04 9.99730457e-01 -2.29374403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.456875 meters 0.013239869926968092 Centerline is valid? [True, True] Translation: X:72.67, Y:-7.83, Z:-2.30 [[ 9.38420393e-01 3.44893545e-01 2.03864939e-02 7.26688335e+01] [-3.44817321e-01 9.38641781e-01 -7.25411328e-03 -7.83179871e+00] [-2.16375117e-02 -2.22208362e-04 9.99765857e-01 -2.29613892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.486875 meters 0.013432650960227343 Centerline is valid? [True, True] Translation: X:72.70, Y:-7.84, Z:-2.30 [[ 9.37943871e-01 3.46191584e-01 2.03145656e-02 7.26992849e+01] [-3.46116085e-01 9.38163806e-01 -7.23389350e-03 -7.84058076e+00] [-2.15627032e-02 -2.46211847e-04 9.99767468e-01 -2.29652610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.516875 meters 0.013667930167425344 Centerline is valid? [True, True] Translation: X:72.73, Y:-7.85, Z:-2.30 [[ 9.37425765e-01 3.47602817e-01 2.01299802e-02 7.27296099e+01] [-3.47528896e-01 9.37641834e-01 -7.17344163e-03 -7.84971740e+00] [-2.13682201e-02 -2.71180776e-04 9.99771637e-01 -2.29696568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.546875 meters 0.013945995177298899 Centerline is valid? [True, True] Translation: X:72.76, Y:-7.86, Z:-2.30 [[ 9.36914403e-01 3.48974129e-01 2.02103829e-02 7.27607669e+01] [-3.48899818e-01 9.37132311e-01 -7.20754542e-03 -7.85889245e+00] [-2.14550497e-02 -2.98545813e-04 9.99769769e-01 -2.29738220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.576875 meters 0.014312806519924833 Centerline is valid? [True, True] Translation: X:72.79, Y:-7.87, Z:-2.30 [[ 9.36141582e-01 3.51059926e-01 1.98963914e-02 7.27923725e+01] [-3.50988268e-01 9.36352933e-01 -7.10073672e-03 -7.86611741e+00] [-2.11228286e-02 -3.36105051e-04 9.99776832e-01 -2.29894122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.606875 meters 0.014792898543495732 Centerline is valid? [True, True] Translation: X:72.82, Y:-7.87, Z:-2.30 [[ 9.35663302e-01 3.52298064e-01 2.05002414e-02 7.28235875e+01] [-3.52222165e-01 9.35887780e-01 -7.32182534e-03 -7.87464092e+00] [-2.17653903e-02 -3.69876137e-04 9.99763037e-01 -2.30011522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63687499999999 meters 0.015271488435716494 Centerline is valid? [True, True] Translation: X:72.86, Y:-7.88, Z:-2.30 [[ 9.34830976e-01 3.54356254e-01 2.28624350e-02 7.28553914e+01] [-3.54262282e-01 9.35110387e-01 -8.17315460e-03 -7.88181565e+00] [-2.42751089e-02 -4.58780308e-04 9.99705211e-01 -2.29907172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66687499999999 meters 0.015362404403215391 Centerline is valid? [True, True] Translation: X:72.89, Y:-7.89, Z:-2.30 [[ 9.34416302e-01 3.55396916e-01 2.36475621e-02 7.28865732e+01] [-3.55296552e-01 9.34715350e-01 -8.46018540e-03 -7.89157514e+00] [-2.51104631e-02 -4.96562129e-04 9.99684559e-01 -2.29915735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69687499999999 meters 0.01583534065914694 Centerline is valid? [True, True] Translation: X:72.92, Y:-7.90, Z:-2.30 [[ 9.34077729e-01 3.56261409e-01 2.40125959e-02 7.29165162e+01] [-3.56157989e-01 9.34386183e-01 -8.59934806e-03 -7.90009287e+00] [-2.55006537e-02 -5.19818357e-04 9.99674670e-01 -2.29949164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72687499999999 meters 0.017004615003050397 Centerline is valid? [True, True] Translation: X:72.95, Y:-7.91, Z:-2.30 [[ 9.33873517e-01 3.56729758e-01 2.49826669e-02 7.29474735e+01] [-3.56617894e-01 9.34207459e-01 -8.94996998e-03 -7.90737082e+00] [-2.65317143e-02 -5.51126091e-04 9.99647820e-01 -2.29995808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.756875 meters 0.01596077845874953 Centerline is valid? [True, True] Translation: X:72.98, Y:-7.92, Z:-2.30 [[ 9.33836115e-01 3.56829182e-01 2.49608722e-02 7.29783981e+01] [-3.56717362e-01 9.34169490e-01 -8.94919210e-03 -7.91868314e+00] [-2.65110181e-02 -5.46897704e-04 9.99648372e-01 -2.29967795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.786875 meters 0.015783316946263885 Centerline is valid? [True, True] Translation: X:73.01, Y:-7.93, Z:-2.30 [[ 9.33987280e-01 3.56505650e-01 2.39056832e-02 7.30088453e+01] [-3.56402805e-01 9.34293028e-01 -8.57777399e-03 -7.92977845e+00] [-2.53929380e-02 -5.08520727e-04 9.99677418e-01 -2.30086216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.816875 meters 0.015618511236528411 Centerline is valid? [True, True] Translation: X:73.04, Y:-7.94, Z:-2.30 [[ 9.34558843e-01 3.55014645e-01 2.37564750e-02 7.30380285e+01] [-3.54912407e-01 9.34860627e-01 -8.53177330e-03 -7.94012408e+00] [-2.52378976e-02 -4.58023545e-04 9.99681369e-01 -2.30234669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.846875 meters 0.013757067893826816 Centerline is valid? [True, True] Translation: X:73.07, Y:-7.96, Z:-2.30 [[ 9.36417650e-01 3.50099769e-01 2.34975912e-02 7.30663517e+01] [-3.49998060e-01 9.36712363e-01 -8.44430964e-03 -7.95531990e+00] [-2.49668350e-02 -3.16710752e-04 9.99688230e-01 -2.30167930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.876875 meters 0.013140126679128542 Centerline is valid? [True, True] Translation: X:73.10, Y:-7.97, Z:-2.30 [[ 9.37639703e-01 3.46823223e-01 2.33546270e-02 7.30956218e+01] [-3.46721576e-01 9.37930489e-01 -8.39914511e-03 -7.96803430e+00] [-2.48180353e-02 -2.22181173e-04 9.99691960e-01 -2.30278403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.906875 meters 0.01290994639977243 Centerline is valid? [True, True] Translation: X:73.13, Y:-7.98, Z:-2.30 [[ 9.38841305e-01 3.43599966e-01 2.27171160e-02 7.31251692e+01] [-3.43502707e-01 9.39116099e-01 -8.17576444e-03 -7.98077857e+00] [-2.41432018e-02 -1.27645504e-04 9.99708502e-01 -2.30417001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.936875 meters 0.012845501288890756 Centerline is valid? [True, True] Translation: X:73.15, Y:-8.00, Z:-2.30 [[ 9.41299328e-01 3.36826162e-01 2.24435178e-02 7.31548185e+01] [-3.36729170e-01 9.41566850e-01 -8.08283180e-03 -7.99560708e+00] [-2.38545816e-02 5.09770087e-05 9.99715438e-01 -2.30452504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.966875 meters 0.013211013182706965 Centerline is valid? [True, True] Translation: X:73.18, Y:-8.01, Z:-2.30 [[ 9.42317010e-01 3.33941377e-01 2.28431544e-02 7.31837994e+01] [-3.33839868e-01 9.42593836e-01 -8.23428726e-03 -8.00824924e+00] [-2.42815858e-02 1.33353303e-04 9.99705150e-01 -2.30469178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.996875 meters 0.01355217015021324 Centerline is valid? [True, True] Translation: X:73.21, Y:-8.02, Z:-2.30 [[ 9.43215032e-01 3.31378046e-01 2.31083204e-02 7.32138063e+01] [-3.31273224e-01 9.43498038e-01 -8.33687148e-03 -8.02090154e+00] [-2.45653111e-02 2.08294705e-04 9.99698206e-01 -2.30435725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02687499999999 meters 0.014614873668594286 Centerline is valid? [True, True] Translation: X:73.24, Y:-8.03, Z:-2.31 [[ 9.44922986e-01 3.26536477e-01 2.22368803e-02 7.32423146e+01] [-3.26437934e-01 9.45184544e-01 -8.02829947e-03 -8.03329519e+00] [-2.36394882e-02 3.27163444e-04 9.99720495e-01 -2.30559648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05687499999999 meters 0.014911076198864117 Centerline is valid? [True, True] Translation: X:73.27, Y:-8.04, Z:-2.31 [[ 9.45486299e-01 3.24899471e-01 2.22708818e-02 7.32728926e+01] [-3.24800045e-01 9.45748484e-01 -8.04591358e-03 -8.04380778e+00] [-2.36767658e-02 3.73717653e-04 9.99719596e-01 -2.30679885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08687499999999 meters 0.015232580090856639 Centerline is valid? [True, True] Translation: X:73.30, Y:-8.05, Z:-2.31 [[ 9.45859741e-01 3.23783830e-01 2.26579344e-02 7.33030451e+01] [-3.23680448e-01 9.46130995e-01 -8.19194614e-03 -8.05442740e+00] [-2.40897937e-02 4.14501702e-04 9.99709713e-01 -2.30751476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.116875 meters 0.015322500018011794 Centerline is valid? [True, True] Translation: X:73.33, Y:-8.06, Z:-2.31 [[ 9.45868753e-01 3.23816507e-01 2.17984532e-02 7.33348000e+01] [-3.23720709e-01 9.46119817e-01 -7.88640564e-03 -8.06361188e+00] [-2.31776969e-02 4.02893928e-04 9.99731280e-01 -2.30815011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.146875 meters 0.015218822236385198 Centerline is valid? [True, True] Translation: X:73.37, Y:-8.07, Z:-2.31 [[ 9.45515759e-01 3.24926006e-01 2.05679277e-02 7.33665014e+01] [-3.24840856e-01 9.45739373e-01 -7.44694671e-03 -8.07289813e+00] [-2.18716057e-02 3.59902236e-04 9.99760723e-01 -2.31036784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.176875 meters 0.014968032218246744 Centerline is valid? [True, True] Translation: X:73.40, Y:-8.08, Z:-2.31 [[ 9.44982550e-01 3.26498123e-01 2.01731628e-02 7.33975261e+01] [-3.26416432e-01 9.45197795e-01 -7.31039241e-03 -8.08131794e+00] [-2.14544584e-02 3.23341427e-04 9.99769774e-01 -2.31245809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.206875 meters 0.014310954919238674 Centerline is valid? [True, True] Translation: X:73.43, Y:-8.09, Z:-2.31 [[ 9.44286850e-01 3.28512885e-01 2.00406925e-02 7.34286574e+01] [-3.28432604e-01 9.44499447e-01 -7.26765261e-03 -8.08853546e+00] [-2.13159406e-02 2.80731943e-04 9.99772750e-01 -2.31368603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.236875 meters 0.013768966343812675 Centerline is valid? [True, True] Translation: X:73.46, Y:-8.09, Z:-2.32 [[ 9.42272891e-01 3.34279033e-01 1.94763291e-02 7.34597390e+01] [-3.34204329e-01 9.42474140e-01 -7.06833494e-03 -8.09421207e+00] [-2.07187327e-02 1.51226906e-04 9.99785333e-01 -2.31502474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.266875 meters 0.013308655726122215 Centerline is valid? [True, True] Translation: X:73.49, Y:-8.10, Z:-2.31 [[ 9.41078911e-01 3.37609046e-01 1.97640000e-02 7.34914692e+01] [-3.37532749e-01 9.41286420e-01 -7.17759958e-03 -8.10150254e+00] [-2.10268074e-02 8.36903366e-05 9.99778909e-01 -2.31396297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.296875 meters 0.013308655726122215 Centerline is valid? [True, True] Translation: X:73.52, Y:-8.11, Z:-2.31 [[ 9.40984762e-01 3.37871463e-01 1.97623805e-02 7.35218551e+01] [-3.37795131e-01 9.41192259e-01 -7.18205512e-03 -8.11262777e+00] [-2.10268110e-02 8.25685153e-05 9.99778909e-01 -2.31499688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.326875 meters 0.013215513994001947 Centerline is valid? [True, True] Translation: X:73.55, Y:-8.12, Z:-2.32 [[ 9.39538789e-01 3.41823238e-01 2.05848857e-02 7.35521843e+01] [-3.41741203e-01 9.39764265e-01 -7.48843521e-03 -8.11961769e+00] [-2.19046612e-02 9.71739206e-07 9.99760064e-01 -2.31670658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.356875 meters 0.013706576500532126 Centerline is valid? [True, True] Translation: X:73.59, Y:-8.12, Z:-2.32 [[ 9.36416521e-01 3.50181989e-01 2.22861724e-02 7.35851388e+01] [-3.50088043e-01 9.36681660e-01 -8.11352121e-03 -8.12161862e+00] [-2.37162580e-02 -2.04487188e-04 9.99718709e-01 -2.31808379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38687499999999 meters 0.014778441312806097 Centerline is valid? [True, True] Translation: X:73.62, Y:-8.13, Z:-2.32 [[ 9.34773167e-01 3.54554645e-01 2.21388630e-02 7.36167697e+01] [-3.54463022e-01 9.35035245e-01 -8.06577993e-03 -8.12834973e+00] [-2.35603769e-02 -3.07733631e-04 9.99722368e-01 -2.32056603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41687499999999 meters 0.01630019149730472 Centerline is valid? [True, True] Translation: X:73.65, Y:-8.14, Z:-2.32 [[ 9.33145697e-01 3.58857117e-01 2.14634215e-02 7.36482697e+01] [-3.58771972e-01 9.33392421e-01 -7.82685551e-03 -8.13563617e+00] [-2.28425177e-02 -3.96877505e-04 9.99738997e-01 -2.32315856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44687499999999 meters 0.017133764411669822 Centerline is valid? [True, True] Translation: X:73.68, Y:-8.14, Z:-2.32 [[ 9.31780786e-01 3.62413282e-01 2.10042807e-02 7.36798554e+01] [-3.62332609e-01 9.32017376e-01 -7.66099003e-03 -8.14359819e+00] [-2.23527991e-02 -4.72172509e-04 9.99750033e-01 -2.32492274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47687499999999 meters 0.01837831486973435 Centerline is valid? [True, True] Translation: X:73.71, Y:-8.15, Z:-2.33 [[ 9.29884856e-01 3.67272897e-01 2.06100406e-02 7.37110755e+01] [-3.67196378e-01 9.30113051e-01 -7.51883845e-03 -8.15067799e+00] [-2.19311334e-02 -5.76278252e-04 9.99759318e-01 -2.32631206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.506875 meters 0.019535798039705062 Centerline is valid? [True, True] Translation: X:73.74, Y:-8.16, Z:-2.33 [[ 9.29085488e-01 3.69307584e-01 2.02993647e-02 7.37408751e+01] [-3.69233848e-01 9.29307016e-01 -7.40509313e-03 -8.15926916e+00] [-2.15990991e-02 -6.15247984e-04 9.99766523e-01 -2.32811958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.536875 meters 0.01993974110569812 Centerline is valid? [True, True] Translation: X:73.77, Y:-8.17, Z:-2.33 [[ 9.28555796e-01 3.70649597e-01 2.00751112e-02 7.37711725e+01] [-3.70577691e-01 9.28772563e-01 -7.32813170e-03 -8.16884155e+00] [-2.13613816e-02 -6.34809210e-04 9.99771618e-01 -2.33009579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.566875 meters 0.020566767172795795 Centerline is valid? [True, True] Translation: X:73.80, Y:-8.18, Z:-2.34 [[ 9.28048608e-01 3.71954858e-01 1.93743485e-02 7.38014930e+01] [-3.71888066e-01 9.28250601e-01 -7.07731427e-03 -8.17825165e+00] [-2.06166921e-02 -6.36997336e-04 9.99787250e-01 -2.33511488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.596875 meters 0.020743412555452007 Centerline is valid? [True, True] Translation: X:73.83, Y:-8.19, Z:-2.34 [[ 9.27968122e-01 3.72170715e-01 1.90820236e-02 7.38310727e+01] [-3.72105871e-01 9.28164083e-01 -6.97537199e-03 -8.18953440e+00] [-2.03072781e-02 -6.27610175e-04 9.99793589e-01 -2.33733475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.626875 meters 0.02029741303616957 Centerline is valid? [True, True] Translation: X:73.86, Y:-8.20, Z:-2.34 [[ 9.27969635e-01 3.72186128e-01 1.87040660e-02 7.38613166e+01] [-3.72123730e-01 9.28157914e-01 -6.84224380e-03 -8.20227381e+00] [-1.99069151e-02 -6.10832334e-04 9.99801651e-01 -2.33883926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.656875 meters 0.020257407056550283 Centerline is valid? [True, True] Translation: X:73.89, Y:-8.21, Z:-2.34 [[ 9.27929098e-01 3.72305299e-01 1.83399677e-02 7.38914953e+01] [-3.72245223e-01 9.28110128e-01 -6.71456397e-03 -8.21405045e+00] [-1.95213775e-02 -5.96326056e-04 9.99809262e-01 -2.34032208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.686875 meters 0.019910762452842984 Centerline is valid? [True, True] Translation: X:73.92, Y:-8.23, Z:-2.34 [[ 9.27909104e-01 3.72303894e-01 1.93521275e-02 7.39206912e+01] [-3.72236861e-01 9.28110674e-01 -7.09201763e-03 -8.22743189e+00] [-2.06013019e-02 -6.22827475e-04 9.99787577e-01 -2.34114727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.716875 meters 0.021444993855903108 Centerline is valid? [True, True] Translation: X:73.95, Y:-8.24, Z:-2.34 [[ 9.27638027e-01 3.72945407e-01 1.99853339e-02 7.39512481e+01] [-3.72873949e-01 9.27853058e-01 -7.32946974e-03 -8.23665131e+00] [-2.12769453e-02 -6.52915534e-04 9.99773407e-01 -2.34143005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.746875 meters 0.02162608734605483 Centerline is valid? [True, True] Translation: X:73.98, Y:-8.25, Z:-2.34 [[ 9.27591873e-01 3.73049644e-01 2.01811853e-02 7.39812743e+01] [-3.72976639e-01 9.27811152e-01 -7.40893770e-03 -8.24832998e+00] [-2.14882304e-02 -6.54640270e-04 9.99768887e-01 -2.34188923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77687499999999 meters 0.020596539858072693 Centerline is valid? [True, True] Translation: X:74.01, Y:-8.26, Z:-2.34 [[ 9.27414579e-01 3.73471493e-01 2.05241992e-02 7.40116723e+01] [-3.73396024e-01 9.27641413e-01 -7.53780000e-03 -8.26232696e+00] [-2.18542506e-02 -6.72988759e-04 9.99760941e-01 -2.34207400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80687499999999 meters 0.021044687248156113 Centerline is valid? [True, True] Translation: X:74.04, Y:-8.27, Z:-2.34 [[ 9.26994316e-01 3.74487056e-01 2.09995773e-02 7.40414084e+01] [-3.74408153e-01 9.27231873e-01 -7.71942055e-03 -8.27385142e+00] [-2.23623005e-02 -7.06553987e-04 9.99749683e-01 -2.34305555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83687499999999 meters 0.02116311141308885 Centerline is valid? [True, True] Translation: X:74.07, Y:-8.28, Z:-2.34 [[ 9.26736337e-01 3.75118708e-01 2.11120055e-02 7.40711254e+01] [-3.75038993e-01 9.26976502e-01 -7.76646357e-03 -8.28498029e+00] [-2.24836788e-02 -7.20361307e-04 9.99746951e-01 -2.34394836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.866875 meters 0.021078321155389105 Centerline is valid? [True, True] Translation: X:74.10, Y:-8.30, Z:-2.35 [[ 9.26401943e-01 3.75934868e-01 2.12700452e-02 7.41009854e+01] [-3.75854038e-01 9.26645794e-01 -7.83039172e-03 -8.29662553e+00] [-2.26535152e-02 -7.40342266e-04 9.99743102e-01 -2.34509462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.896875 meters 0.021748181676803726 Centerline is valid? [True, True] Translation: X:74.13, Y:-8.31, Z:-2.35 [[ 9.25822648e-01 3.77350710e-01 2.14211686e-02 7.41308200e+01] [-3.77268971e-01 9.26070106e-01 -7.89193458e-03 -8.30719462e+00] [-2.28155310e-02 -7.75010458e-04 9.99739391e-01 -2.34699152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.926875 meters 0.022223557497382796 Centerline is valid? [True, True] Translation: X:74.16, Y:-8.32, Z:-2.35 [[ 9.25494304e-01 3.78144436e-01 2.16120134e-02 7.41609489e+01] [-3.78061314e-01 9.25746267e-01 -7.96814824e-03 -8.31806984e+00] [-2.30203516e-02 -7.96190375e-04 9.99734680e-01 -2.34778027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.956875 meters 0.021841660314940607 Centerline is valid? [True, True] Translation: X:74.19, Y:-8.33, Z:-2.35 [[ 9.25232233e-01 3.78742046e-01 2.23557091e-02 7.41912225e+01] [-3.78653136e-01 9.25501901e-01 -8.24831953e-03 -8.33075228e+00] [-2.38142367e-02 -8.33448264e-04 9.99716053e-01 -2.34768202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.986875 meters 0.022338679952641636 Centerline is valid? [True, True] Translation: X:74.22, Y:-8.34, Z:-2.35 [[ 9.24991641e-01 3.79265897e-01 2.34060698e-02 7.42220147e+01] [-3.79168407e-01 9.25287310e-01 -8.64366656e-03 -8.34168067e+00] [-2.49355873e-02 -8.79522877e-04 9.99688673e-01 -2.34728362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.016875 meters 0.02196904891745704 Centerline is valid? [True, True] Translation: X:74.25, Y:-8.35, Z:-2.35 [[ 9.24859945e-01 3.79530115e-01 2.43099448e-02 7.42530333e+01] [-3.79424835e-01 9.25178933e-01 -8.98537626e-03 -8.35403523e+00] [-2.59012696e-02 -9.13582199e-04 9.99664088e-01 -2.34712126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.046875 meters 0.02195862039549829 Centerline is valid? [True, True] Translation: X:74.28, Y:-8.37, Z:-2.35 [[ 9.25009572e-01 3.79141875e-01 2.46724604e-02 7.42832621e+01] [-3.79033081e-01 9.25338107e-01 -9.12745236e-03 -8.36523510e+00] [-2.62909672e-02 -9.08697867e-04 9.99653920e-01 -2.34894261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.076875 meters 0.022504265015495815 Centerline is valid? [True, True] Translation: X:74.31, Y:-8.38, Z:-2.35 [[ 9.25200361e-01 3.78659024e-01 2.49325980e-02 7.43130996e+01] [-3.78547566e-01 9.25535811e-01 -9.23056041e-03 -8.37529338e+00] [-2.65712473e-02 -8.98056485e-04 9.99646519e-01 -2.35066289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.106875 meters 0.019985904118556094 Centerline is valid? [True, True] Translation: X:74.34, Y:-8.39, Z:-2.35 [[ 9.25668832e-01 3.77463042e-01 2.56683643e-02 7.43421752e+01] [-3.77344238e-01 9.26024230e-01 -9.51062902e-03 -8.39049824e+00] [-2.73594382e-02 -8.82116519e-04 9.99625271e-01 -2.35154058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13687499999999 meters 0.02019872226798422 Centerline is valid? [True, True] Translation: X:74.37, Y:-8.40, Z:-2.35 [[ 9.25860209e-01 3.77018005e-01 2.53041008e-02 7.43709528e+01] [-3.76902294e-01 9.26205536e-01 -9.37897124e-03 -8.40136580e+00] [-2.69728393e-02 -8.53557381e-04 9.99635802e-01 -2.35306224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16687499999999 meters 0.021206560741830072 Centerline is valid? [True, True] Translation: X:74.40, Y:-8.41, Z:-2.35 [[ 9.26092138e-01 3.76486213e-01 2.47282074e-02 7.44000542e+01] [-3.76375357e-01 9.26421864e-01 -9.17172078e-03 -8.41096763e+00] [-2.63617784e-02 -8.13229372e-04 9.99652137e-01 -2.35395107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19687499999999 meters 0.01978117110794484 Centerline is valid? [True, True] Translation: X:74.43, Y:-8.42, Z:-2.35 [[ 9.26460861e-01 3.75574175e-01 2.47853213e-02 7.44293935e+01] [-3.75462316e-01 9.26792007e-01 -9.19912608e-03 -8.42478318e+00] [-2.64257919e-02 -7.83323895e-04 9.99650471e-01 -2.35456720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22687499999999 meters 0.01936135262843108 Centerline is valid? [True, True] Translation: X:74.46, Y:-8.44, Z:-2.36 [[ 9.27064670e-01 3.74093883e-01 2.45939867e-02 7.44582686e+01] [-3.73983046e-01 9.27390551e-01 -9.13490923e-03 -8.43504462e+00] [-2.62255446e-02 -7.29082449e-04 9.99655785e-01 -2.35638694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.256875 meters 0.019067454806456097 Centerline is valid? [True, True] Translation: X:74.49, Y:-8.45, Z:-2.36 [[ 9.27258599e-01 3.73595520e-01 2.48571711e-02 7.44884709e+01] [-3.73481952e-01 9.27591437e-01 -9.23893544e-03 -8.44659978e+00] [-2.65089240e-02 -7.16822459e-04 9.99648320e-01 -2.35776183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.286875 meters 0.018627697614169433 Centerline is valid? [True, True] Translation: X:74.52, Y:-8.46, Z:-2.36 [[ 9.27705274e-01 3.72480566e-01 2.49229364e-02 7.45186915e+01] [-3.72365793e-01 9.28039744e-01 -9.27090495e-03 -8.45903591e+00] [-2.65827074e-02 -6.79781572e-04 9.99646386e-01 -2.35893480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.316875 meters 0.017483544945976516 Centerline is valid? [True, True] Translation: X:74.55, Y:-8.47, Z:-2.36 [[ 9.28256616e-01 3.71089283e-01 2.51475490e-02 7.45479479e+01] [-3.70971880e-01 9.28596968e-01 -9.35604696e-03 -8.47328742e+00] [-2.68238665e-02 -6.44221030e-04 9.99639968e-01 -2.35946981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.346875 meters 0.0165698445925884 Centerline is valid? [True, True] Translation: X:74.58, Y:-8.49, Z:-2.36 [[ 9.29456725e-01 3.68075977e-01 2.51052232e-02 7.45775526e+01] [-3.67957668e-01 9.29795555e-01 -9.34776381e-03 -8.48742894e+00] [-2.67834122e-02 -5.49317463e-04 9.99641109e-01 -2.36021534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.376875 meters 0.015907667841024282 Centerline is valid? [True, True] Translation: X:74.61, Y:-8.50, Z:-2.36 [[ 9.30144834e-01 3.66367465e-01 2.46062709e-02 7.46068135e+01] [-3.66253139e-01 9.30470119e-01 -9.16491808e-03 -8.50009981e+00] [-2.62531276e-02 -4.87422747e-04 9.99655208e-01 -2.36139067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.406875 meters 0.015464844414662286 Centerline is valid? [True, True] Translation: X:74.64, Y:-8.51, Z:-2.36 [[ 9.30670101e-01 3.65017528e-01 2.48065768e-02 7.46368238e+01] [-3.64900654e-01 9.31000540e-01 -9.24702788e-03 -8.51278766e+00] [-2.64702636e-02 -4.46003716e-04 9.99649502e-01 -2.36214299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.436875 meters 0.015281996387107456 Centerline is valid? [True, True] Translation: X:74.67, Y:-8.53, Z:-2.36 [[ 9.31391897e-01 3.63159286e-01 2.49893560e-02 7.46655826e+01] [-3.63039931e-01 9.31726987e-01 -9.31826993e-03 -8.52650456e+00] [-2.66672736e-02 -3.93172965e-04 9.99644288e-01 -2.36265921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.466875 meters 0.01523880115748716 Centerline is valid? [True, True] Translation: X:74.69, Y:-8.54, Z:-2.36 [[ 9.31521249e-01 3.62816881e-01 2.51410832e-02 7.46942809e+01] [-3.62695761e-01 9.31860380e-01 -9.38177371e-03 -8.53788764e+00] [-2.68318452e-02 -3.79242749e-04 9.99639889e-01 -2.36278272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.496875 meters 0.014821281274708354 Centerline is valid? [True, True] Translation: X:74.72, Y:-8.55, Z:-2.36 [[ 9.31769334e-01 3.62188662e-01 2.50056157e-02 7.47240168e+01] [-3.62068456e-01 9.32104741e-01 -9.33727387e-03 -8.55082803e+00] [-2.66897077e-02 -3.53559228e-04 9.99643704e-01 -2.36365216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52687499999999 meters 0.014569041465987956 Centerline is valid? [True, True] Translation: X:74.75, Y:-8.56, Z:-2.37 [[ 9.32273768e-01 3.60919607e-01 2.45491101e-02 7.47525174e+01] [-3.60803137e-01 9.32596882e-01 -9.17347307e-03 -8.56335606e+00] [-2.62053098e-02 -3.05207607e-04 9.99656535e-01 -2.36506460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55687499999999 meters 0.014340374816840902 Centerline is valid? [True, True] Translation: X:74.78, Y:-8.58, Z:-2.37 [[ 9.32533502e-01 3.60234349e-01 2.47483703e-02 7.47823269e+01] [-3.60115576e-01 9.32861798e-01 -9.25406937e-03 -8.57611884e+00] [-2.64204429e-02 -2.82543894e-04 9.99650879e-01 -2.36620610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58687499999999 meters 0.014228913638988561 Centerline is valid? [True, True] Translation: X:74.81, Y:-8.59, Z:-2.37 [[ 9.32807329e-01 3.59537858e-01 2.45563782e-02 7.48110783e+01] [-3.59420505e-01 9.33130464e-01 -9.18894828e-03 -8.58837395e+00] [-2.62180794e-02 -2.54547563e-04 9.99656215e-01 -2.36692323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.616875 meters 0.013974898597671091 Centerline is valid? [True, True] Translation: X:74.84, Y:-8.60, Z:-2.37 [[ 9.33199677e-01 3.58573035e-01 2.37432515e-02 7.48408664e+01] [-3.58462879e-01 9.33501651e-01 -8.88999573e-03 -8.60159342e+00] [-2.53520773e-02 -2.14933154e-04 9.99678561e-01 -2.36818613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.646875 meters 0.013721075890094815 Centerline is valid? [True, True] Translation: X:74.87, Y:-8.62, Z:-2.37 [[ 9.33931896e-01 3.56715808e-01 2.29138691e-02 7.48696659e+01] [-3.56612486e-01 9.34212936e-01 -8.58637700e-03 -8.61687333e+00] [-2.44693294e-02 -1.52280487e-04 9.99700570e-01 -2.36892459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.676875 meters 0.01369094969439485 Centerline is valid? [True, True] Translation: X:74.90, Y:-8.63, Z:-2.37 [[ 9.34212533e-01 3.56024193e-01 2.22197595e-02 7.48999999e+01] [-3.55926712e-01 9.34476730e-01 -8.33171774e-03 -8.63049395e+00] [-2.37301413e-02 -1.25010833e-04 9.99718393e-01 -2.36925087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.706875 meters 0.013631780528755412 Centerline is valid? [True, True] Translation: X:74.93, Y:-8.64, Z:-2.37 [[ 9.34578965e-01 3.55066951e-01 2.21273392e-02 7.49301842e+01] [-3.54969851e-01 9.34840870e-01 -8.30382605e-03 -8.64394413e+00] [-2.36339552e-02 -9.39571301e-05 9.99720675e-01 -2.36990004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.736875 meters 0.013717986569226124 Centerline is valid? [True, True] Translation: X:74.96, Y:-8.66, Z:-2.37 [[ 9.34706874e-01 3.54688648e-01 2.27820873e-02 7.49598610e+01] [-3.54585425e-01 9.34984469e-01 -8.55683685e-03 -8.65727345e+00] [-2.43359107e-02 -8.00619054e-05 9.99703835e-01 -2.37005055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.766875 meters 0.013792384306054756 Centerline is valid? [True, True] Translation: X:74.99, Y:-8.67, Z:-2.37 [[ 9.34583057e-01 3.55005719e-01 2.29226619e-02 7.49903903e+01] [-3.54901141e-01 9.34864125e-01 -8.61668900e-03 -8.66943999e+00] [-2.44885482e-02 -8.22673286e-05 9.99700107e-01 -2.37155892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.796875 meters 0.013781374849933279 Centerline is valid? [True, True] Translation: X:75.02, Y:-8.68, Z:-2.37 [[ 9.34513752e-01 3.55231911e-01 2.22337033e-02 7.50202383e+01] [-3.55133396e-01 9.34778200e-01 -8.36585648e-03 -8.68093484e+00] [-2.37554004e-02 -7.79226423e-05 9.99717798e-01 -2.37318305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.826875 meters 0.013943355174291825 Centerline is valid? [True, True] Translation: X:75.05, Y:-8.69, Z:-2.37 [[ 9.33951521e-01 3.56721103e-01 2.20139003e-02 7.50510837e+01] [-3.56624929e-01 9.34210919e-01 -8.28359685e-03 -8.69258691e+00] [-2.35205599e-02 -1.14227773e-04 9.99723347e-01 -2.37423566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.856875 meters 0.013996260439306678 Centerline is valid? [True, True] Translation: X:75.08, Y:-8.70, Z:-2.38 [[ 9.33579313e-01 3.57725947e-01 2.14898176e-02 7.50820085e+01] [-3.57634417e-01 9.33826606e-01 -8.09283599e-03 -8.70373616e+00] [-2.29627809e-02 -1.30194141e-04 9.99736312e-01 -2.37547291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88687499999999 meters 0.014182852437544986 Centerline is valid? [True, True] Translation: X:75.11, Y:-8.71, Z:-2.38 [[ 9.32936729e-01 3.59426499e-01 2.10154999e-02 7.51121191e+01] [-3.59339249e-01 9.33173384e-01 -7.92078944e-03 -8.71431285e+00] [-2.24580468e-02 -1.62098538e-04 9.99747773e-01 -2.37625693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91687499999999 meters 0.014356519984890365 Centerline is valid? [True, True] Translation: X:75.14, Y:-8.73, Z:-2.38 [[ 9.32500474e-01 3.60621593e-01 1.98729291e-02 7.51425981e+01] [-3.60543742e-01 9.32712193e-01 -7.49496531e-03 -8.72540055e+00] [-2.12385696e-02 -1.76001521e-04 9.99774421e-01 -2.37669370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94687499999999 meters 0.014545525401373929 Centerline is valid? [True, True] Translation: X:75.17, Y:-8.74, Z:-2.38 [[ 9.31619278e-01 3.62924761e-01 1.92649734e-02 7.51730348e+01] [-3.62851992e-01 9.31818422e-01 -7.27056429e-03 -8.73536929e+00] [-2.05901249e-02 -2.16936125e-04 9.99787977e-01 -2.37739252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97687499999999 meters 0.014845771824538917 Centerline is valid? [True, True] Translation: X:75.20, Y:-8.75, Z:-2.38 [[ 9.31218070e-01 3.63964537e-01 1.90452313e-02 7.52031939e+01] [-3.63893533e-01 9.31412777e-01 -7.19270441e-03 -8.74607569e+00] [-2.03568611e-02 -2.32460174e-04 9.99792751e-01 -2.37939661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.006875 meters 0.014903596302487936 Centerline is valid? [True, True] Translation: X:75.23, Y:-8.76, Z:-2.38 [[ 9.30915339e-01 3.64745485e-01 1.89040375e-02 7.52340216e+01] [-3.64675596e-01 9.31107229e-01 -7.14403966e-03 -8.75757464e+00] [-2.02074422e-02 -2.43345051e-04 9.99795779e-01 -2.38056510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.036875 meters 0.015146524103479423 Centerline is valid? [True, True] Translation: X:75.26, Y:-8.77, Z:-2.38 [[ 9.30939812e-01 3.64707298e-01 1.84296585e-02 7.52636255e+01] [-3.64640754e-01 9.31122190e-01 -6.97048975e-03 -8.76890059e+00] [-1.97024525e-02 -2.31098149e-04 9.99805861e-01 -2.38178584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.066875 meters 0.014843100789860513 Centerline is valid? [True, True] Translation: X:75.29, Y:-8.78, Z:-2.38 [[ 9.30953482e-01 3.64670452e-01 1.84682383e-02 7.52940264e+01] [-3.64603521e-01 9.31136623e-01 -6.99012744e-03 -8.78181720e+00] [-1.97455459e-02 -2.26101215e-04 9.99805012e-01 -2.38139432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.096875 meters 0.014723014550802936 Centerline is valid? [True, True] Translation: X:75.32, Y:-8.79, Z:-2.38 [[ 9.30942968e-01 3.64657611e-01 1.92358157e-02 7.53229810e+01] [-3.64584853e-01 9.31141651e-01 -7.28765818e-03 -8.79319025e+00] [-2.05687692e-02 -2.28692897e-04 9.99788414e-01 -2.38126171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.126875 meters 0.014604557918041869 Centerline is valid? [True, True] Translation: X:75.35, Y:-8.81, Z:-2.38 [[ 9.31196777e-01 3.63955708e-01 2.02189307e-02 7.53529411e+01] [-3.63875043e-01 9.31416231e-01 -7.66539730e-03 -8.80511600e+00] [-2.16221054e-02 -2.19171039e-04 9.99766191e-01 -2.38108827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.156875 meters 0.014477707300558185 Centerline is valid? [True, True] Translation: X:75.38, Y:-8.82, Z:-2.38 [[ 9.31333792e-01 3.63595334e-01 2.03911863e-02 7.53832130e+01] [-3.63513045e-01 9.31556971e-01 -7.73792200e-03 -8.81724491e+00] [-2.18090241e-02 -2.05873968e-04 9.99762134e-01 -2.38201732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.186875 meters 0.014460385723012883 Centerline is valid? [True, True] Translation: X:75.41, Y:-8.83, Z:-2.38 [[ 9.31361266e-01 3.63574909e-01 1.94801966e-02 7.54133071e+01] [-3.63499809e-01 9.31564945e-01 -7.39200682e-03 -8.82915002e+00] [-2.08346165e-02 -1.96418917e-04 9.99782917e-01 -2.38354463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.216875 meters 0.014460385723012883 Centerline is valid? [True, True] Translation: X:75.44, Y:-8.84, Z:-2.38 [[ 9.31262295e-01 3.63828435e-01 1.94783882e-02 7.54435256e+01] [-3.63753291e-01 9.31465958e-01 -7.39676806e-03 -8.84072936e+00] [-2.08346101e-02 -1.96996603e-04 9.99782917e-01 -2.38457886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.246875 meters 0.01462156343176683 Centerline is valid? [True, True] Translation: X:75.47, Y:-8.85, Z:-2.39 [[ 9.31281123e-01 3.63901012e-01 1.70740549e-02 7.54729775e+01] [-3.63843202e-01 9.31437612e-01 -6.48842430e-03 -8.85253010e+00] [-1.82645611e-02 -1.69731734e-04 9.99833175e-01 -2.38687196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27687499999999 meters 0.014521295115776886 Centerline is valid? [True, True] Translation: X:75.50, Y:-8.86, Z:-2.39 [[ 9.31124335e-01 3.64333193e-01 1.63950118e-02 7.55030723e+01] [-3.64279884e-01 9.31268649e-01 -6.23455032e-03 -8.86377051e+00] [-1.75396142e-02 -1.67231493e-04 9.99846155e-01 -2.38830629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30687499999999 meters 0.014697269152818092 Centerline is valid? [True, True] Translation: X:75.53, Y:-8.88, Z:-2.39 [[ 9.30861388e-01 3.65025313e-01 1.59247581e-02 7.55327669e+01] [-3.64975051e-01 9.30997579e-01 -6.05976180e-03 -8.87504238e+00] [-1.70378777e-02 -1.71341122e-04 9.99854830e-01 -2.38890537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33687499999999 meters 0.01474889135639915 Centerline is valid? [True, True] Translation: X:75.56, Y:-8.89, Z:-2.39 [[ 9.30534792e-01 3.65856612e-01 1.59355121e-02 7.55640074e+01] [-3.65806340e-01 9.30671213e-01 -6.06760043e-03 -8.88662090e+00] [-1.70505941e-02 -1.83198059e-04 9.99854611e-01 -2.38953725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.366875 meters 0.014994833206038076 Centerline is valid? [True, True] Translation: X:75.59, Y:-8.90, Z:-2.39 [[ 9.29893247e-01 3.67452802e-01 1.66429496e-02 7.55949407e+01] [-3.67398125e-01 9.30042145e-01 -6.34245268e-03 -8.89738384e+00] [-1.78091965e-02 -2.16784544e-04 9.99841380e-01 -2.39026862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.396875 meters 0.015106312962815421 Centerline is valid? [True, True] Translation: X:75.63, Y:-8.91, Z:-2.39 [[ 9.29531911e-01 3.68350808e-01 1.69737551e-02 7.56252708e+01] [-3.68293981e-01 9.29686844e-01 -6.47424276e-03 -8.90799467e+00] [-1.81650694e-02 -2.33316614e-04 9.99834974e-01 -2.39120353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.426875 meters 0.015443807508088856 Centerline is valid? [True, True] Translation: X:75.66, Y:-8.92, Z:-2.39 [[ 9.29216375e-01 3.69127165e-01 1.73799992e-02 7.56559026e+01] [-3.69067626e-01 9.29378865e-01 -6.63428387e-03 -8.91955351e+00] [-1.86014983e-02 -2.49709840e-04 9.99826946e-01 -2.39228360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.456875 meters 0.015908805212321367 Centerline is valid? [True, True] Translation: X:75.69, Y:-8.93, Z:-2.39 [[ 9.28862251e-01 3.69976007e-01 1.82393249e-02 7.56855013e+01] [-3.69910474e-01 9.29041269e-01 -6.96863643e-03 -8.93009362e+00] [-1.95233138e-02 -2.74013992e-04 9.99809364e-01 -2.39262940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.486875 meters 0.01575577423759382 Centerline is valid? [True, True] Translation: X:75.72, Y:-8.94, Z:-2.39 [[ 9.28521740e-01 3.70837999e-01 1.80708929e-02 7.57151126e+01] [-3.70773730e-01 9.28697528e-01 -6.90962999e-03 -8.94179830e+00] [-1.93447469e-02 -2.84470716e-04 9.99812832e-01 -2.39235778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.516875 meters 0.01609315894358341 Centerline is valid? [True, True] Translation: X:75.75, Y:-8.95, Z:-2.39 [[ 9.28140826e-01 3.71774679e-01 1.83900930e-02 7.57463145e+01] [-3.71708213e-01 9.28322948e-01 -7.03630228e-03 -8.95293046e+00] [-1.96878644e-02 -3.05069218e-04 9.99806129e-01 -2.39279318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.546875 meters 0.015932807326661125 Centerline is valid? [True, True] Translation: X:75.78, Y:-8.96, Z:-2.39 [[ 9.27752937e-01 3.72751672e-01 1.81845668e-02 7.57758883e+01] [-3.72686760e-01 9.27931081e-01 -6.96338578e-03 -8.96459119e+00] [-1.94696385e-02 -3.16845686e-04 9.99810398e-01 -2.39328071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.576875 meters 0.016330311189164705 Centerline is valid? [True, True] Translation: X:75.81, Y:-8.98, Z:-2.39 [[ 9.27258846e-01 3.73997829e-01 1.77948248e-02 7.58065537e+01] [-3.73935809e-01 9.27429520e-01 -6.81885495e-03 -8.97512072e+00] [-1.90536827e-02 -3.31278612e-04 9.99818407e-01 -2.39469809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.606875 meters 0.01622972987330785 Centerline is valid? [True, True] Translation: X:75.84, Y:-8.99, Z:-2.40 [[ 9.27028285e-01 3.74575956e-01 1.76468424e-02 7.58373411e+01] [-3.74514988e-01 9.27196171e-01 -6.76639211e-03 -8.98693729e+00] [-1.88966125e-02 -3.36370079e-04 9.99821386e-01 -2.39579177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63687499999999 meters 0.016439035454622584 Centerline is valid? [True, True] Translation: X:75.87, Y:-9.00, Z:-2.40 [[ 9.26914451e-01 3.74880174e-01 1.71596884e-02 7.58678001e+01] [-3.74822482e-01 9.27073216e-01 -6.58480369e-03 -8.99829598e+00] [-1.83767999e-02 -3.28287293e-04 9.99831078e-01 -2.39778312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66687499999999 meters 0.016746510603315147 Centerline is valid? [True, True] Translation: X:75.90, Y:-9.01, Z:-2.40 [[ 9.26736706e-01 3.75330543e-01 1.69133527e-02 7.58976007e+01] [-3.75274471e-01 9.26890973e-01 -6.49573950e-03 -9.00868662e+00] [-1.81148834e-02 -3.27309261e-04 9.99835858e-01 -2.40001390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69687499999999 meters 0.016493511378948094 Centerline is valid? [True, True] Translation: X:75.93, Y:-9.02, Z:-2.40 [[ 9.26719113e-01 3.75374275e-01 1.69067908e-02 7.59279763e+01] [-3.75318170e-01 9.26873265e-01 -6.49790982e-03 -9.02094008e+00] [-1.81096005e-02 -3.23688539e-04 9.99835955e-01 -2.40027582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72687499999999 meters 0.016639297985267438 Centerline is valid? [True, True] Translation: X:75.96, Y:-9.03, Z:-2.40 [[ 9.26616403e-01 3.75623822e-01 1.69937115e-02 7.59586238e+01] [-3.75567081e-01 9.26772161e-01 -6.53675796e-03 -9.03322090e+00] [-1.82046608e-02 -3.25211484e-04 9.99834229e-01 -2.40045289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.756875 meters 0.016602002994813948 Centerline is valid? [True, True] Translation: X:75.99, Y:-9.05, Z:-2.40 [[ 9.26588099e-01 3.75678979e-01 1.73147138e-02 7.59897219e+01] [-3.75619981e-01 9.26749803e-01 -6.66577104e-03 -9.04530902e+00] [-1.85505977e-02 -3.27328346e-04 9.99827869e-01 -2.40052508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.786875 meters 0.0168131838367151 Centerline is valid? [True, True] Translation: X:76.02, Y:-9.06, Z:-2.40 [[ 9.26285648e-01 3.76420675e-01 1.73888971e-02 7.60199627e+01] [-3.76361194e-01 9.26448790e-01 -6.70004791e-03 -9.05561196e+00] [-1.86319593e-02 -3.38347874e-04 9.99826353e-01 -2.40281396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.816875 meters 0.01680508893631171 Centerline is valid? [True, True] Translation: X:76.05, Y:-9.07, Z:-2.40 [[ 9.26239727e-01 3.76541520e-01 1.72177907e-02 7.60504339e+01] [-3.76483115e-01 9.26399684e-01 -6.64003353e-03 -9.06668663e+00] [-1.84508042e-02 -3.31944643e-04 9.99829714e-01 -2.40437105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.846875 meters 0.016834120239379288 Centerline is valid? [True, True] Translation: X:76.08, Y:-9.08, Z:-2.41 [[ 9.26104865e-01 3.76866000e-01 1.73722759e-02 7.60815409e+01] [-3.76806553e-01 9.26267727e-01 -6.70216463e-03 -9.07833138e+00] [-1.86171965e-02 -3.39080114e-04 9.99826627e-01 -2.40556142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.876875 meters 0.017073337794476822 Centerline is valid? [True, True] Translation: X:76.11, Y:-9.09, Z:-2.41 [[ 9.25876706e-01 3.77413542e-01 1.76449191e-02 7.61117057e+01] [-3.77352202e-01 9.26044759e-01 -6.81319874e-03 -9.08987014e+00] [-1.89113783e-02 -3.50167089e-04 9.99821103e-01 -2.40608669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.906875 meters 0.017049012897519214 Centerline is valid? [True, True] Translation: X:76.14, Y:-9.10, Z:-2.41 [[ 9.25957183e-01 3.77246550e-01 1.69804493e-02 7.61415296e+01] [-3.77189632e-01 9.26112807e-01 -6.56123177e-03 -9.10195874e+00] [-1.82010136e-02 -3.29429724e-04 9.99834294e-01 -2.40640812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.936875 meters 0.016608470205054172 Centerline is valid? [True, True] Translation: X:76.17, Y:-9.11, Z:-2.41 [[ 9.25953729e-01 3.77220725e-01 1.77261733e-02 7.61716202e+01] [-3.77158548e-01 9.26123324e-01 -6.85700052e-03 -9.11465546e+00] [-1.90032253e-02 -3.36312577e-04 9.99819366e-01 -2.40607185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.966875 meters 0.01639105068908807 Centerline is valid? [True, True] Translation: X:76.20, Y:-9.13, Z:-2.41 [[ 9.25925900e-01 3.77267222e-01 1.81843673e-02 7.62014487e+01] [-3.77201801e-01 9.26104380e-01 -7.03405151e-03 -9.12626913e+00] [-1.94943393e-02 -3.46165624e-04 9.99809907e-01 -2.40536935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.996875 meters 0.016999212852308678 Centerline is valid? [True, True] Translation: X:76.23, Y:-9.14, Z:-2.41 [[ 9.25756752e-01 3.77677377e-01 1.82820955e-02 7.62318866e+01] [-3.77611235e-01 9.25937187e-01 -7.07674026e-03 -9.13661556e+00] [-1.96007968e-02 -3.52184572e-04 9.99807824e-01 -2.40694287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02687499999999 meters 0.016739068915520936 Centerline is valid? [True, True] Translation: X:76.26, Y:-9.15, Z:-2.41 [[ 9.25579740e-01 3.78089543e-01 1.87201047e-02 7.62625161e+01] [-3.78020168e-01 9.25768959e-01 -7.25173037e-03 -9.14920093e+00] [-2.00722952e-02 -3.64522412e-04 9.99798465e-01 -2.40659424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05687499999999 meters 0.016987176547720657 Centerline is valid? [True, True] Translation: X:76.29, Y:-9.16, Z:-2.41 [[ 9.25267379e-01 3.78858114e-01 1.86227282e-02 7.62930826e+01] [-3.78789500e-01 9.25454693e-01 -7.21976683e-03 -9.16026453e+00] [-1.99697585e-02 -3.73879174e-04 9.99800515e-01 -2.40715187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08687499999999 meters 0.017266223603801582 Centerline is valid? [True, True] Translation: X:76.32, Y:-9.17, Z:-2.41 [[ 9.24844362e-01 3.79870136e-01 1.90153985e-02 7.63224866e+01] [-3.79798675e-01 9.25039740e-01 -7.37869182e-03 -9.17026116e+00] [-2.03929439e-02 -3.97881624e-04 9.99791963e-01 -2.40723146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.116875 meters 0.017541224230491696 Centerline is valid? [True, True] Translation: X:76.35, Y:-9.18, Z:-2.41 [[ 9.24650082e-01 3.80332892e-01 1.92124070e-02 7.63532076e+01] [-3.80259953e-01 9.24849569e-01 -7.45945105e-03 -9.18092356e+00] [-2.06056609e-02 -4.08326960e-04 9.99787597e-01 -2.40876521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.146875 meters 0.017640812959989344 Centerline is valid? [True, True] Translation: X:76.38, Y:-9.19, Z:-2.41 [[ 9.24546426e-01 3.80592265e-01 1.90639348e-02 7.63837154e+01] [-3.80520387e-01 9.24742863e-01 -7.40753740e-03 -9.19199015e+00] [-2.04484891e-02 -4.05603600e-04 9.99790826e-01 -2.41064160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.176875 meters 0.01783836124855413 Centerline is valid? [True, True] Translation: X:76.41, Y:-9.20, Z:-2.41 [[ 9.24450090e-01 3.80829456e-01 1.89988525e-02 7.64144267e+01] [-3.80758001e-01 9.24645209e-01 -7.38799875e-03 -9.20328131e+00] [-2.03807655e-02 -4.04128979e-04 9.99792209e-01 -2.41259883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.206875 meters 0.017797084458808007 Centerline is valid? [True, True] Translation: X:76.44, Y:-9.21, Z:-2.41 [[ 9.24548515e-01 3.80603051e-01 1.87446039e-02 7.64445605e+01] [-3.80533335e-01 9.24738431e-01 -7.29485726e-03 -9.21473337e+00] [-2.01103005e-02 -3.88497174e-04 9.99797692e-01 -2.41368317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.236875 meters 0.017809498454693835 Centerline is valid? [True, True] Translation: X:76.47, Y:-9.23, Z:-2.41 [[ 9.24681935e-01 3.80276860e-01 1.87837576e-02 7.64749394e+01] [-3.80206637e-01 9.24872623e-01 -7.31740625e-03 -9.22661334e+00] [-2.01552234e-02 -3.75435919e-04 9.99796792e-01 -2.41462796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.266875 meters 0.017351915860136746 Centerline is valid? [True, True] Translation: X:76.50, Y:-9.24, Z:-2.42 [[ 9.25127782e-01 3.79182515e-01 1.89527579e-02 7.65043639e+01] [-3.79110792e-01 9.25321833e-01 -7.38325010e-03 -9.23856826e+00] [-2.03370000e-02 -3.54745277e-04 9.99793119e-01 -2.41578010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.296875 meters 0.016498627458638785 Centerline is valid? [True, True] Translation: X:76.53, Y:-9.25, Z:-2.42 [[ 9.26268536e-01 3.76374467e-01 1.92057036e-02 7.65323665e+01] [-3.76300105e-01 9.26467579e-01 -7.48706118e-03 -9.25140507e+00] [-2.06114003e-02 -2.92079059e-04 9.99787520e-01 -2.41611107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.326875 meters 0.01592159053106798 Centerline is valid? [True, True] Translation: X:76.56, Y:-9.26, Z:-2.42 [[ 9.26872614e-01 3.74872341e-01 1.94392754e-02 7.65617886e+01] [-3.74795733e-01 9.27076406e-01 -7.58263793e-03 -9.26475231e+00] [-2.08642148e-02 -2.57618044e-04 9.99782285e-01 -2.41615125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.356875 meters 0.015452359841969151 Centerline is valid? [True, True] Translation: X:76.59, Y:-9.28, Z:-2.42 [[ 9.27607607e-01 3.73070703e-01 1.90362469e-02 7.65911671e+01] [-3.72996765e-01 9.27802892e-01 -7.43007468e-03 -9.27771825e+00] [-2.04338281e-02 -2.08264724e-04 9.99791186e-01 -2.41800938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38687499999999 meters 0.01490166855747659 Centerline is valid? [True, True] Translation: X:76.62, Y:-9.29, Z:-2.42 [[ 9.28520477e-01 3.70800771e-01 1.88815407e-02 7.66200850e+01] [-3.70727466e-01 9.28712423e-01 -7.37433103e-03 -9.29120239e+00] [-2.02699290e-02 -1.52688361e-04 9.99794532e-01 -2.41959579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41687499999999 meters 0.014287096979754279 Centerline is valid? [True, True] Translation: X:76.65, Y:-9.31, Z:-2.42 [[ 9.30367985e-01 3.66138413e-01 1.89228865e-02 7.66477617e+01] [-3.66063721e-01 9.30560401e-01 -7.39539268e-03 -9.30544705e+00] [-2.03166262e-02 -4.65456548e-05 9.99793595e-01 -2.42092775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44687499999999 meters 0.014286898060061063 Centerline is valid? [True, True] Translation: X:76.68, Y:-9.32, Z:-2.42 [[ 9.31055085e-01 3.64365831e-01 1.93383011e-02 7.66773492e+01] [-3.64287354e-01 9.31255895e-01 -7.56193547e-03 -9.31862175e+00] [-2.07642178e-02 -4.12005862e-06 9.99784400e-01 -2.42187239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47687499999999 meters 0.01419973906019706 Centerline is valid? [True, True] Translation: X:76.71, Y:-9.33, Z:-2.42 [[ 9.31760521e-01 3.62546960e-01 1.95456755e-02 7.67080465e+01] [-3.62466292e-01 9.31965504e-01 -7.64767794e-03 -9.33134684e+00] [-2.09885377e-02 4.11558578e-05 9.99779716e-01 -2.41980210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.506875 meters 0.014250632172831358 Centerline is valid? [True, True] Translation: X:76.74, Y:-9.34, Z:-2.42 [[ 9.32244917e-01 3.61256534e-01 2.03256346e-02 7.67382676e+01] [-3.61168844e-01 9.32466466e-01 -7.95963108e-03 -9.34345055e+00] [-2.18284414e-02 7.93396717e-05 9.99761728e-01 -2.42000000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.536875 meters 0.014395043246487287 Centerline is valid? [True, True] Translation: X:76.77, Y:-9.36, Z:-2.42 [[ 9.32929347e-01 3.59411088e-01 2.15986925e-02 7.67683867e+01] [-3.59311403e-01 9.33179324e-01 -8.46548316e-03 -9.35587812e+00] [-2.31980418e-02 1.37041156e-04 9.99730880e-01 -2.41875914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.566875 meters 0.015031397330851041 Centerline is valid? [True, True] Translation: X:76.80, Y:-9.37, Z:-2.42 [[ 9.33223255e-01 3.58622392e-01 2.20076523e-02 7.67968336e+01] [-3.58518507e-01 9.33482701e-01 -8.63293139e-03 -9.36930919e+00] [-2.36397252e-02 1.66301665e-04 9.99720529e-01 -2.42168699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.596875 meters 0.01448395719246274 Centerline is valid? [True, True] Translation: X:76.83, Y:-9.38, Z:-2.42 [[ 9.33187830e-01 3.58717607e-01 2.19579796e-02 7.68288281e+01] [-3.58614073e-01 9.33446115e-01 -8.61954847e-03 -9.37678887e+00] [-2.35885746e-02 1.69217212e-04 9.99721737e-01 -2.42073690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.626875 meters 0.014463429690063456 Centerline is valid? [True, True] Translation: X:76.86, Y:-9.39, Z:-2.42 [[ 9.32757370e-01 3.59818313e-01 2.22366953e-02 7.68587079e+01] [-3.59712267e-01 9.33022379e-01 -8.73645483e-03 -9.38663747e+00] [-2.38908707e-02 1.50180554e-04 9.99714561e-01 -2.42258238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.656875 meters 0.014201018362967735 Centerline is valid? [True, True] Translation: X:76.89, Y:-9.40, Z:-2.42 [[ 9.32002132e-01 3.61741983e-01 2.26883891e-02 7.68895116e+01] [-3.61632014e-01 9.32278245e-01 -8.91968028e-03 -9.39667656e+00] [-2.43785144e-02 1.08313210e-04 9.99702794e-01 -2.42341416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.686875 meters 0.013891358981152088 Centerline is valid? [True, True] Translation: X:76.92, Y:-9.40, Z:-2.42 [[ 9.30180945e-01 3.66486991e-01 2.12295843e-02 7.69225527e+01] [-3.66391836e-01 9.30423175e-01 -8.35087674e-03 -9.40388936e+00] [-2.28129850e-02 -1.05199640e-05 9.99739750e-01 -2.42356753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.716875 meters 0.014354288567811119 Centerline is valid? [True, True] Translation: X:76.95, Y:-9.41, Z:-2.43 [[ 9.29051004e-01 3.69392903e-01 2.03252472e-02 7.69529344e+01] [-3.69306236e-01 9.29273306e-01 -8.00162050e-03 -9.41158023e+00] [-2.18434515e-02 -7.23269659e-05 9.99761401e-01 -2.42962388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.746875 meters 0.01487071101308668 Centerline is valid? [True, True] Translation: X:76.98, Y:-9.42, Z:-2.43 [[ 9.27789032e-01 3.72571593e-01 1.99479552e-02 7.69832562e+01] [-3.72488718e-01 9.28003442e-01 -7.85914603e-03 -9.41842833e+00] [-2.14398656e-02 -1.38758751e-04 9.99770130e-01 -2.43146434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77687499999999 meters 0.015013138765557535 Centerline is valid? [True, True] Translation: X:77.01, Y:-9.43, Z:-2.43 [[ 9.25190766e-01 3.78971768e-01 2.00610473e-02 7.70149419e+01] [-3.78889427e-01 9.25408189e-01 -7.90476206e-03 -9.42639282e+00] [-2.15603391e-02 -2.87505881e-04 9.99767508e-01 -2.42930127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80687499999999 meters 0.01883514126243955 Centerline is valid? [True, True] Translation: X:77.05, Y:-9.43, Z:-2.44 [[ 9.23913769e-01 3.82054220e-01 2.04430836e-02 7.70473475e+01] [-3.81969335e-01 9.24139839e-01 -8.06129298e-03 -9.42769120e+00] [-2.19721190e-02 -3.60691475e-04 9.99758519e-01 -2.43519218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83687499999999 meters 0.0163086627970791 Centerline is valid? [True, True] Translation: X:77.08, Y:-9.44, Z:-2.43 [[ 9.22446442e-01 3.85558935e-01 2.09013978e-02 7.70756440e+01] [-3.85470980e-01 9.22683102e-01 -8.24730133e-03 -9.44334490e+00] [-2.24651873e-02 -4.49188533e-04 9.99747525e-01 -2.43085771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.866875 meters 0.017397486437301542 Centerline is valid? [True, True] Translation: X:77.11, Y:-9.45, Z:-2.43 [[ 9.21138182e-01 3.88667249e-01 2.10290044e-02 7.71059270e+01] [-3.88578887e-01 9.21378042e-01 -8.30373525e-03 -9.45191908e+00] [-2.26030528e-02 -5.22539519e-04 9.99744382e-01 -2.43158661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.896875 meters 0.018599133599976576 Centerline is valid? [True, True] Translation: X:77.14, Y:-9.46, Z:-2.43 [[ 9.18953881e-01 3.93809605e-01 2.09227026e-02 7.71365665e+01] [-3.93723341e-01 9.19191811e-01 -8.26718162e-03 -9.45934398e+00] [-2.24876724e-02 -6.40597727e-04 9.99746915e-01 -2.43190988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.926875 meters 0.019584453517743464 Centerline is valid? [True, True] Translation: X:77.17, Y:-9.47, Z:-2.43 [[ 9.17964469e-01 3.96141911e-01 2.03179643e-02 7.71666727e+01] [-3.96061029e-01 9.18189051e-01 -8.03291899e-03 -9.46837366e+00] [-2.18379082e-02 -6.73219643e-04 9.99761298e-01 -2.43343461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.956875 meters 0.020660899503124712 Centerline is valid? [True, True] Translation: X:77.20, Y:-9.48, Z:-2.44 [[ 9.17116950e-01 3.98110548e-01 2.01119933e-02 7.71960394e+01] [-3.98031632e-01 9.17337175e-01 -7.95789558e-03 -9.47702177e+00] [-2.16176013e-02 -7.06888600e-04 9.99766062e-01 -2.43511204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.986875 meters 0.022515038965782868 Centerline is valid? [True, True] Translation: X:77.23, Y:-9.48, Z:-2.44 [[ 9.15604884e-01 4.01585013e-01 1.99292071e-02 7.72271868e+01] [-4.01508281e-01 9.15821419e-01 -7.88856847e-03 -9.48398596e+00] [-2.14195256e-02 -7.78929870e-04 9.99770272e-01 -2.43797632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.016875 meters 0.02274088829694541 Centerline is valid? [True, True] Translation: X:77.26, Y:-9.49, Z:-2.44 [[ 9.14824473e-01 4.03365361e-01 1.98133380e-02 7.72570053e+01] [-4.03289948e-01 9.15038644e-01 -7.84210248e-03 -9.49446769e+00] [-2.12932024e-02 -8.16372770e-04 9.99772941e-01 -2.43873093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.046875 meters 0.022788348358471877 Centerline is valid? [True, True] Translation: X:77.29, Y:-9.51, Z:-2.44 [[ 9.14328489e-01 4.04496618e-01 1.96443320e-02 7.72866517e+01] [-4.04422645e-01 9.14539116e-01 -7.78006536e-03 -9.50562303e+00] [-2.11125201e-02 -8.31077275e-04 9.99776760e-01 -2.43979041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.076875 meters 0.02477366059850991 Centerline is valid? [True, True] Translation: X:77.32, Y:-9.51, Z:-2.44 [[ 9.13575384e-01 4.06208921e-01 1.93476395e-02 7.73168311e+01] [-4.06137433e-01 9.13779834e-01 -7.66808034e-03 -9.51283556e+00] [-2.07943255e-02 -8.52431209e-04 9.99783411e-01 -2.44110791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.106875 meters 0.02477366059850991 Centerline is valid? [True, True] Translation: X:77.35, Y:-9.52, Z:-2.44 [[ 9.13465075e-01 4.06456990e-01 1.93461320e-02 7.73469127e+01] [-4.06385477e-01 9.13669517e-01 -7.67188128e-03 -9.52487760e+00] [-2.07942609e-02 -8.53991491e-04 9.99783411e-01 -2.44214251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13687499999999 meters 0.025125758796116223 Centerline is valid? [True, True] Translation: X:77.38, Y:-9.54, Z:-2.44 [[ 9.13227534e-01 4.06990047e-01 1.93538634e-02 7.73772352e+01] [-4.06918461e-01 9.13432188e-01 -7.68145489e-03 -9.53580730e+00] [-2.08047175e-02 -8.60528208e-04 9.99783188e-01 -2.44312403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16687499999999 meters 0.023820989278029978 Centerline is valid? [True, True] Translation: X:77.41, Y:-9.55, Z:-2.44 [[ 9.13129711e-01 4.07170238e-01 2.01625329e-02 7.74061435e+01] [-4.07092463e-01 9.13351846e-01 -8.00819709e-03 -9.54917911e+00] [-2.16761861e-02 -8.95492482e-04 9.99764643e-01 -2.44323702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19687499999999 meters 0.02273452347806864 Centerline is valid? [True, True] Translation: X:77.44, Y:-9.56, Z:-2.44 [[ 9.13276539e-01 4.06822121e-01 2.05359456e-02 7.74351208e+01] [-4.06741221e-01 9.13506954e-01 -8.16237083e-03 -9.56224113e+00] [-2.20803621e-02 -8.98313798e-04 9.99755796e-01 -2.44342663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22687499999999 meters 0.02215565288058369 Centerline is valid? [True, True] Translation: X:77.46, Y:-9.57, Z:-2.44 [[ 9.13699306e-01 4.05873680e-01 2.04971530e-02 7.74647699e+01] [-4.05792719e-01 9.13928773e-01 -8.15275742e-03 -9.57435121e+00] [-2.20419275e-02 -8.68426641e-04 9.99756670e-01 -2.44471903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.256875 meters 0.02263793101833562 Centerline is valid? [True, True] Translation: X:77.49, Y:-9.58, Z:-2.45 [[ 9.14137820e-01 4.04925881e-01 1.96742837e-02 7.74937479e+01] [-4.04850955e-01 9.14349157e-01 -7.83093087e-03 -9.58477789e+00] [-2.11601113e-02 -8.06602482e-04 9.99775774e-01 -2.44642260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.286875 meters 0.020686210241004272 Centerline is valid? [True, True] Translation: X:77.52, Y:-9.60, Z:-2.45 [[ 9.14612820e-01 4.03878922e-01 1.91103729e-02 7.75219474e+01] [-4.03807909e-01 9.14812137e-01 -7.61097986e-03 -9.60003100e+00] [-2.05563154e-02 -7.55819980e-04 9.99788411e-01 -2.44714076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.316875 meters 0.02160437558722911 Centerline is valid? [True, True] Translation: X:77.55, Y:-9.61, Z:-2.45 [[ 9.15191384e-01 4.02557902e-01 1.92838334e-02 7.75513462e+01] [-4.02485180e-01 9.15394236e-01 -7.68590266e-03 -9.61053043e+00] [-2.07463308e-02 -7.27385270e-04 9.99784507e-01 -2.44827673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.346875 meters 0.01918115355349967 Centerline is valid? [True, True] Translation: X:77.58, Y:-9.63, Z:-2.45 [[ 9.16397723e-01 3.99768260e-01 2.00137672e-02 7.75794105e+01] [-3.99689101e-01 9.16615990e-01 -7.98436100e-03 -9.62631143e+00] [-2.15368331e-02 -6.82434360e-04 9.99767823e-01 -2.44653248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.376875 meters 0.01870271218340588 Centerline is valid? [True, True] Translation: X:77.61, Y:-9.64, Z:-2.45 [[ 9.16999614e-01 3.98341976e-01 2.08657159e-02 7.76086817e+01] [-3.98255577e-01 9.17236726e-01 -8.32366842e-03 -9.63854262e+00] [-2.24544675e-02 -6.77087005e-04 9.99747637e-01 -2.44720434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.406875 meters 0.01877105364849388 Centerline is valid? [True, True] Translation: X:77.64, Y:-9.65, Z:-2.45 [[ 9.17599060e-01 3.96941205e-01 2.12048533e-02 7.76379261e+01] [-3.96851456e-01 9.17843811e-01 -8.46528702e-03 -9.64998464e+00] [-2.28229646e-02 -6.47437484e-04 9.99739313e-01 -2.44822681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.436875 meters 0.01817230261808258 Centerline is valid? [True, True] Translation: X:77.67, Y:-9.66, Z:-2.45 [[ 9.18472266e-01 3.94878956e-01 2.18930882e-02 7.76667823e+01] [-3.94782561e-01 9.18732953e-01 -8.74594100e-03 -9.66270615e+00] [-2.35674896e-02 -6.10105194e-04 9.99722062e-01 -2.44832459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.466875 meters 0.01791157803435739 Centerline is valid? [True, True] Translation: X:77.70, Y:-9.67, Z:-2.45 [[ 9.18747819e-01 3.94256568e-01 2.15453777e-02 7.76963859e+01] [-3.94162904e-01 9.19000230e-01 -8.61290069e-03 -9.67445680e+00] [-2.31958998e-02 -5.79304935e-04 9.99730771e-01 -2.44964845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.496875 meters 0.017782006676629568 Centerline is valid? [True, True] Translation: X:77.73, Y:-9.69, Z:-2.45 [[ 9.19065981e-01 3.93521951e-01 2.14055216e-02 7.77250044e+01] [-3.93429160e-01 9.19315055e-01 -8.56303453e-03 -9.68538422e+00] [-2.30481603e-02 -5.51562658e-04 9.99734204e-01 -2.45139059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52687499999999 meters 0.017093977872697317 Centerline is valid? [True, True] Translation: X:77.75, Y:-9.70, Z:-2.45 [[ 9.19304311e-01 3.92991733e-01 2.09065035e-02 7.77543824e+01] [-3.92902969e-01 9.19541857e-01 -8.36843239e-03 -9.69741299e+00] [-2.25131298e-02 -5.21091332e-04 9.99746412e-01 -2.45303185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55687499999999 meters 0.01693369962246296 Centerline is valid? [True, True] Translation: X:77.78, Y:-9.71, Z:-2.45 [[ 9.19490080e-01 3.92587900e-01 2.03158247e-02 7.77846360e+01] [-3.92503865e-01 9.19714357e-01 -8.13741389e-03 -9.70934258e+00] [-2.18794059e-02 -4.91768346e-04 9.99760496e-01 -2.45429314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58687499999999 meters 0.016949089830661672 Centerline is valid? [True, True] Translation: X:77.81, Y:-9.72, Z:-2.46 [[ 9.19723453e-01 3.92073414e-01 1.96776309e-02 7.78139619e+01] [-3.91994344e-01 9.19933817e-01 -7.88716740e-03 -9.72018979e+00] [-2.11944668e-02 -4.59507185e-04 9.99775266e-01 -2.45712328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.616875 meters 0.016612317726801232 Centerline is valid? [True, True] Translation: X:77.84, Y:-9.73, Z:-2.46 [[ 9.19894520e-01 3.91678854e-01 1.95383689e-02 7.78441295e+01] [-3.91600711e-01 9.20101885e-01 -7.83607974e-03 -9.73235170e+00] [-2.10465167e-02 -4.42872318e-04 9.99778399e-01 -2.45796138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.646875 meters 0.01622646186415222 Centerline is valid? [True, True] Translation: X:77.87, Y:-9.75, Z:-2.46 [[ 9.19773472e-01 3.91954841e-01 1.97018505e-02 7.78745448e+01] [-3.91875341e-01 9.19984349e-01 -7.90665727e-03 -9.74543194e+00] [-2.12244467e-02 -4.48335773e-04 9.99774636e-01 -2.45828276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.676875 meters 0.016612456169263663 Centerline is valid? [True, True] Translation: X:77.90, Y:-9.76, Z:-2.46 [[ 9.19507051e-01 3.92550385e-01 2.02725935e-02 7.79045113e+01] [-3.92466203e-01 9.19730382e-01 -8.14271681e-03 -9.75629503e+00] [-2.18417468e-02 -4.69022290e-04 9.99761331e-01 -2.45874899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.706875 meters 0.01680165854761066 Centerline is valid? [True, True] Translation: X:77.94, Y:-9.77, Z:-2.46 [[ 9.19147279e-01 3.93351697e-01 2.10409650e-02 7.79355922e+01] [-3.93261075e-01 9.19387944e-01 -8.45782172e-03 -9.76758838e+00] [-2.26717081e-02 -5.00608702e-04 9.99742838e-01 -2.45913982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.736875 meters 0.017031545097611366 Centerline is valid? [True, True] Translation: X:77.97, Y:-9.78, Z:-2.46 [[ 9.18144398e-01 3.95654227e-01 2.16471181e-02 7.79657332e+01] [-3.95558773e-01 9.18399375e-01 -8.70890328e-03 -9.77773677e+00] [-2.33264141e-02 -5.66676715e-04 9.99727742e-01 -2.45939569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.766875 meters 0.017458101896698837 Centerline is valid? [True, True] Translation: X:78.00, Y:-9.79, Z:-2.46 [[ 9.17417427e-01 3.97320534e-01 2.19466969e-02 7.79961225e+01] [-3.97222747e-01 9.17679693e-01 -8.83572958e-03 -9.78861595e+00] [-2.36506549e-02 -6.11674959e-04 9.99720097e-01 -2.46047207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.796875 meters 0.018709321834313522 Centerline is valid? [True, True] Translation: X:78.03, Y:-9.80, Z:-2.46 [[ 9.15912402e-01 4.00774193e-01 2.20117620e-02 7.80269252e+01] [-4.00676667e-01 9.16176599e-01 -8.86835341e-03 -9.79669998e+00] [-2.37208685e-02 -6.96964576e-04 9.99718378e-01 -2.46198960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.826875 meters 0.018891095005936942 Centerline is valid? [True, True] Translation: X:78.06, Y:-9.81, Z:-2.46 [[ 9.15083439e-01 4.02669623e-01 2.18968948e-02 7.80573576e+01] [-4.02573524e-01 9.15345089e-01 -8.82758189e-03 -9.80796139e+00] [-2.35978142e-02 -7.37136127e-04 9.99721261e-01 -2.46324265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.856875 meters 0.019338758581091877 Centerline is valid? [True, True] Translation: X:78.09, Y:-9.82, Z:-2.47 [[ 9.14328026e-01 4.04407180e-01 2.14264617e-02 7.80878149e+01] [-4.04315506e-01 9.14578731e-01 -8.64386351e-03 -9.81882866e+00] [-2.30918266e-02 -7.59724019e-04 9.99733060e-01 -2.46537571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88687499999999 meters 0.019758623604544893 Centerline is valid? [True, True] Translation: X:78.12, Y:-9.83, Z:-2.47 [[ 9.13725458e-01 4.05780492e-01 2.11655132e-02 7.81173470e+01] [-4.05691244e-01 9.13970233e-01 -8.54565831e-03 -9.83008625e+00] [-2.28123105e-02 -7.78277827e-04 9.99739462e-01 -2.46678590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91687499999999 meters 0.02187953986147982 Centerline is valid? [True, True] Translation: X:78.15, Y:-9.84, Z:-2.47 [[ 9.12875423e-01 4.07736128e-01 2.02413393e-02 7.81468024e+01] [-4.07654921e-01 9.13099463e-01 -8.17539754e-03 -9.83885804e+00] [-2.18157610e-02 -7.88362071e-04 9.99761697e-01 -2.46843887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94687499999999 meters 0.020480570401435784 Centerline is valid? [True, True] Translation: X:78.18, Y:-9.85, Z:-2.47 [[ 9.12640328e-01 4.08261048e-01 2.02620096e-02 7.81763398e+01] [-4.08179775e-01 9.12864873e-01 -8.18508362e-03 -9.85406625e+00] [-2.18381276e-02 -8.00505118e-04 9.99761199e-01 -2.46898665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97687499999999 meters 0.02242797973505299 Centerline is valid? [True, True] Translation: X:78.21, Y:-9.86, Z:-2.47 [[ 9.12468237e-01 4.08659988e-01 1.99682607e-02 7.82072236e+01] [-4.08581006e-01 9.12686357e-01 -8.07307324e-03 -9.86367111e+00] [-2.15239011e-02 -7.92229144e-04 9.99768020e-01 -2.47108531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.006875 meters 0.020281046917398123 Centerline is valid? [True, True] Translation: X:78.23, Y:-9.88, Z:-2.47 [[ 9.12724984e-01 4.08077522e-01 2.01454575e-02 7.82348343e+01] [-4.07996851e-01 9.12946947e-01 -8.15115187e-03 -9.88048167e+00] [-2.17180358e-02 -7.79523290e-04 9.99763832e-01 -2.47099151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.036875 meters 0.021959054479545274 Centerline is valid? [True, True] Translation: X:78.26, Y:-9.89, Z:-2.47 [[ 9.12863343e-01 4.07726937e-01 2.09585641e-02 7.82645104e+01] [-4.07639363e-01 9.13103560e-01 -8.48751623e-03 -9.89077917e+00] [-2.25979285e-02 -7.95593262e-04 9.99744318e-01 -2.47226156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.066875 meters 0.02021448800171215 Centerline is valid? [True, True] Translation: X:78.29, Y:-9.91, Z:-2.47 [[ 9.13111821e-01 4.07167580e-01 2.10086909e-02 7.82924516e+01] [-4.07079384e-01 9.13353136e-01 -8.51020854e-03 -9.90668505e+00] [-2.26534347e-02 -7.81432935e-04 9.99743073e-01 -2.47208756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.096875 meters 0.01983661522834613 Centerline is valid? [True, True] Translation: X:78.32, Y:-9.92, Z:-2.47 [[ 9.13425117e-01 4.06446224e-01 2.13546831e-02 7.83217517e+01] [-4.06354760e-01 9.13674380e-01 -8.65656946e-03 -9.92061941e+00] [-2.30296569e-02 -7.70449165e-04 9.99734485e-01 -2.47276918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.126875 meters 0.019854039865305765 Centerline is valid? [True, True] Translation: X:78.35, Y:-9.94, Z:-2.47 [[ 9.13626464e-01 4.05944271e-01 2.22695482e-02 7.83497513e+01] [-4.05844486e-01 9.13897497e-01 -9.03429180e-03 -9.93538612e+00] [-2.40195033e-02 -7.84005255e-04 9.99711183e-01 -2.47216588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.156875 meters 0.0200738062827501 Centerline is valid? [True, True] Translation: X:78.38, Y:-9.95, Z:-2.47 [[ 9.13602327e-01 4.05971561e-01 2.27569814e-02 7.83776535e+01] [-4.05867219e-01 9.13885363e-01 -9.23815427e-03 -9.94806083e+00] [-2.45477001e-02 -7.96313509e-04 9.99698343e-01 -2.47195600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.186875 meters 0.020687628766244495 Centerline is valid? [True, True] Translation: X:78.41, Y:-9.96, Z:-2.47 [[ 9.13317340e-01 4.06526714e-01 2.42377264e-02 7.84070557e+01] [-4.06408376e-01 9.13638492e-01 -9.84571882e-03 -9.96209306e+00] [-2.61470675e-02 -8.58149299e-04 9.99657739e-01 -2.47179824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.216875 meters 0.020739409517433242 Centerline is valid? [True, True] Translation: X:78.44, Y:-9.98, Z:-2.47 [[ 9.13031349e-01 4.07150789e-01 2.45354818e-02 7.84373341e+01] [-4.07029542e-01 9.13360532e-01 -9.97451620e-03 -9.97537606e+00] [-2.64708729e-02 -8.79619938e-04 9.99649198e-01 -2.47277352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.246875 meters 0.01976448099573621 Centerline is valid? [True, True] Translation: X:78.47, Y:-9.99, Z:-2.47 [[ 9.12836936e-01 4.07594114e-01 2.44083326e-02 7.84666010e+01] [-4.07474076e-01 9.13162780e-01 -9.93052109e-03 -9.99059738e+00] [-2.63364028e-02 -8.80816329e-04 9.99652749e-01 -2.47399871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27687499999999 meters 0.021308074566701717 Centerline is valid? [True, True] Translation: X:78.50, Y:-10.00, Z:-2.48 [[ 9.12582016e-01 4.08267099e-01 2.26283086e-02 7.84954132e+01] [-4.08163963e-01 9.12862142e-01 -9.21350370e-03 -1.00028766e+01] [-2.44180967e-02 -8.27982317e-04 9.99701491e-01 -2.47807403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30687499999999 meters 0.019913068054736534 Centerline is valid? [True, True] Translation: X:78.52, Y:-10.02, Z:-2.48 [[ 9.12419113e-01 4.08659019e-01 2.21171484e-02 7.85243197e+01] [-4.08560483e-01 9.12686771e-01 -9.01053607e-03 -1.00190688e+01] [-2.38682656e-02 -8.14807505e-04 9.99714780e-01 -2.47969152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33687499999999 meters 0.02002596531734388 Centerline is valid? [True, True] Translation: X:78.55, Y:-10.03, Z:-2.48 [[ 9.12145527e-01 4.09305504e-01 2.14369292e-02 7.85529899e+01] [-4.09212947e-01 9.12397044e-01 -8.74062734e-03 -1.00323112e+01] [-2.31365777e-02 -7.99544834e-04 9.99731994e-01 -2.48095701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.366875 meters 0.02140167493211568 Centerline is valid? [True, True] Translation: X:78.58, Y:-10.04, Z:-2.48 [[ 9.11927027e-01 4.09809817e-01 2.10952973e-02 7.85819221e+01] [-4.09720196e-01 9.12170643e-01 -8.60685339e-03 -1.00429386e+01] [-2.27696839e-02 -7.94347125e-04 9.99740422e-01 -2.48257635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.396875 meters 0.020720113004600943 Centerline is valid? [True, True] Translation: X:78.61, Y:-10.06, Z:-2.48 [[ 9.11441654e-01 4.10876947e-01 2.13130469e-02 7.86102873e+01] [-4.10785630e-01 9.11690438e-01 -8.70125904e-03 -1.00582181e+01] [-2.30060478e-02 -8.24403478e-04 9.99734986e-01 -2.48215271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.426875 meters 0.0212801972118328 Centerline is valid? [True, True] Translation: X:78.64, Y:-10.07, Z:-2.48 [[ 9.11262986e-01 4.11219460e-01 2.23232403e-02 7.86401270e+01] [-4.11119224e-01 9.11535959e-01 -9.12022698e-03 -1.00708468e+01] [-2.40988510e-02 -8.66587945e-04 9.99709205e-01 -2.48290386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.456875 meters 0.021469961831898 Centerline is valid? [True, True] Translation: X:78.67, Y:-10.08, Z:-2.48 [[ 9.11333880e-01 4.11001012e-01 2.34249232e-02 7.86677633e+01] [-4.10890349e-01 9.11634448e-01 -9.57886577e-03 -1.00846177e+01] [-2.52918904e-02 -8.95529960e-04 9.99679708e-01 -2.48328791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.486875 meters 0.02026088587616942 Centerline is valid? [True, True] Translation: X:78.70, Y:-10.10, Z:-2.48 [[ 9.11470871e-01 4.10664807e-01 2.39847480e-02 7.86957519e+01] [-4.10548508e-01 9.11785942e-01 -9.81420872e-03 -1.00996451e+01] [-2.58993062e-02 -9.01537151e-04 9.99664150e-01 -2.48408629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.516875 meters 0.021414748429125628 Centerline is valid? [True, True] Translation: X:78.72, Y:-10.11, Z:-2.48 [[ 9.11571634e-01 4.10429929e-01 2.41750010e-02 7.87242275e+01] [-4.10311508e-01 9.11891700e-01 -9.89922946e-03 -1.01108796e+01] [-2.61079228e-02 -8.95424342e-04 9.99658729e-01 -2.48490569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.546875 meters 0.02088482577200896 Centerline is valid? [True, True] Translation: X:78.75, Y:-10.13, Z:-2.49 [[ 9.11599267e-01 4.10345930e-01 2.45559510e-02 7.87534060e+01] [-4.10223542e-01 9.11929496e-01 -1.00617787e-02 -1.01254053e+01] [-2.65221060e-02 -9.01119143e-04 9.99647821e-01 -2.48524134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.576875 meters 0.021009336755014773 Centerline is valid? [True, True] Translation: X:78.78, Y:-10.14, Z:-2.49 [[ 9.12014333e-01 4.09370665e-01 2.54069751e-02 7.87816564e+01] [-4.09239058e-01 9.12367720e-01 -1.04181257e-02 -1.01393451e+01] [-2.74453790e-02 -8.96046578e-04 9.99622903e-01 -2.48635856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.606875 meters 0.019969718865203868 Centerline is valid? [True, True] Translation: X:78.81, Y:-10.15, Z:-2.49 [[ 9.12275037e-01 4.08783662e-01 2.54985208e-02 7.88098555e+01] [-4.08650693e-01 9.12630895e-01 -1.04623109e-02 -1.01542105e+01] [-2.75475596e-02 -8.75483158e-04 9.99620111e-01 -2.48701949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63687499999999 meters 0.020370030970091692 Centerline is valid? [True, True] Translation: X:78.84, Y:-10.17, Z:-2.49 [[ 9.12492602e-01 4.08307896e-01 2.53360239e-02 7.88378184e+01] [-4.08176233e-01 9.12843876e-01 -1.04029659e-02 -1.01667007e+01] [-2.73754474e-02 -8.48933332e-04 9.99624862e-01 -2.48811377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66687499999999 meters 0.019542862034009425 Centerline is valid? [True, True] Translation: X:78.87, Y:-10.18, Z:-2.49 [[ 9.12882014e-01 4.07470755e-01 2.47792758e-02 7.88658789e+01] [-4.07344339e-01 9.13217906e-01 -1.01806388e-02 -1.01816751e+01] [-2.67771910e-02 -7.99975729e-04 9.99641107e-01 -2.48947811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69687499999999 meters 0.01883791875188927 Centerline is valid? [True, True] Translation: X:78.89, Y:-10.20, Z:-2.49 [[ 9.13500224e-01 4.06182539e-01 2.30886491e-02 7.88939056e+01] [-4.06072226e-01 9.13791688e-01 -9.49206527e-03 -1.01978413e+01] [-2.49537268e-02 -7.04655361e-04 9.99688359e-01 -2.49337055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72687499999999 meters 0.018537182029562154 Centerline is valid? [True, True] Translation: X:78.92, Y:-10.21, Z:-2.50 [[ 9.13700408e-01 4.05748589e-01 2.27957685e-02 7.89229402e+01] [-4.05640763e-01 9.13984476e-01 -9.37807585e-03 -1.02112672e+01] [-2.46401195e-02 -6.78141192e-04 9.99696156e-01 -2.49575134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.756875 meters 0.017849750787923373 Centerline is valid? [True, True] Translation: X:78.95, Y:-10.23, Z:-2.50 [[ 9.13935475e-01 4.05225092e-01 2.26841803e-02 7.89512038e+01] [-4.05118002e-01 9.14216712e-01 -9.33853521e-03 -1.02256614e+01] [-2.45224656e-02 -6.54951205e-04 9.99699065e-01 -2.49672979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.786875 meters 0.018572492169442276 Centerline is valid? [True, True] Translation: X:78.98, Y:-10.24, Z:-2.50 [[ 9.14031249e-01 4.04957874e-01 2.35795926e-02 7.89792430e+01] [-4.04841871e-01 9.14335101e-01 -9.71508853e-03 -1.02388648e+01] [-2.54938508e-02 -6.66111885e-04 9.99674757e-01 -2.49671373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.816875 meters 0.018502977785520826 Centerline is valid? [True, True] Translation: X:79.01, Y:-10.25, Z:-2.50 [[ 9.14010406e-01 4.04968256e-01 2.42010293e-02 7.90081249e+01] [-4.04845968e-01 9.14330492e-01 -9.97465636e-03 -1.02524791e+01] [-2.61671582e-02 -6.80749423e-04 9.99657349e-01 -2.49658398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.846875 meters 0.018205039542034278 Centerline is valid? [True, True] Translation: X:79.04, Y:-10.27, Z:-2.50 [[ 9.13903576e-01 4.05196327e-01 2.44170289e-02 7.90375976e+01] [-4.05071751e-01 9.14229438e-01 -1.00703703e-02 -1.02670008e+01] [-2.64032437e-02 -6.87301246e-04 9.99651137e-01 -2.49647162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.876875 meters 0.018462802977554423 Centerline is valid? [True, True] Translation: X:79.07, Y:-10.28, Z:-2.50 [[ 9.13967119e-01 4.04990657e-01 2.54297821e-02 7.90655266e+01] [-4.04855193e-01 9.14320555e-01 -1.04974356e-02 -1.02802521e+01] [-2.75023358e-02 -7.01068349e-04 9.99621493e-01 -2.49592410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.906875 meters 0.01877592659149706 Centerline is valid? [True, True] Translation: X:79.09, Y:-10.29, Z:-2.50 [[ 9.13810257e-01 4.05329257e-01 2.56711458e-02 7.90944006e+01] [-4.05191241e-01 9.14170489e-01 -1.06007320e-02 -1.02925727e+01] [-2.77645907e-02 -7.14665829e-04 9.99614234e-01 -2.49723220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.936875 meters 0.01859599307559001 Centerline is valid? [True, True] Translation: X:79.12, Y:-10.31, Z:-2.50 [[ 9.13826044e-01 4.05314316e-01 2.53429936e-02 7.91242669e+01] [-4.05179598e-01 9.14177126e-01 -1.04726248e-02 -1.03073209e+01] [-2.74126899e-02 -6.98306669e-04 9.99623958e-01 -2.49912053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.966875 meters 0.019086087406413755 Centerline is valid? [True, True] Translation: X:79.15, Y:-10.32, Z:-2.50 [[ 9.13687165e-01 4.05615072e-01 2.55377857e-02 7.91539688e+01] [-4.05478150e-01 9.14043717e-01 -1.05618938e-02 -1.03197217e+01] [-2.76267159e-02 -7.04747298e-04 9.99618061e-01 -2.49976385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.996875 meters 0.018141116309346124 Centerline is valid? [True, True] Translation: X:79.18, Y:-10.33, Z:-2.50 [[ 9.13731574e-01 4.05504761e-01 2.57001714e-02 7.91826589e+01] [-4.05365912e-01 9.14092663e-01 -1.06339350e-02 -1.03344862e+01] [-2.78044494e-02 -7.01411262e-04 9.99613135e-01 -2.50044159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02687499999999 meters 0.018141116309346124 Centerline is valid? [True, True] Translation: X:79.21, Y:-10.35, Z:-2.50 [[ 9.13618933e-01 4.05758642e-01 2.56976389e-02 7.92125232e+01] [-4.05619722e-01 9.13979995e-01 -1.06400514e-02 -1.03469609e+01] [-2.78044206e-02 -7.02516725e-04 9.99613135e-01 -2.50147575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05687499999999 meters 0.018019308197410655 Centerline is valid? [True, True] Translation: X:79.24, Y:-10.36, Z:-2.50 [[ 9.13713488e-01 4.05605303e-01 2.47386152e-02 7.92417648e+01] [-4.05476297e-01 9.14048082e-01 -1.02506699e-02 -1.03615734e+01] [-2.67700098e-02 -6.64746774e-04 9.99641398e-01 -2.50281742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08687499999999 meters 0.017743089206551984 Centerline is valid? [True, True] Translation: X:79.27, Y:-10.38, Z:-2.50 [[ 9.13927516e-01 4.05136994e-01 2.45053214e-02 7.92704382e+01] [-4.05010028e-01 9.14255768e-01 -1.01620597e-02 -1.03752792e+01] [-2.65211577e-02 -6.37514905e-04 9.99648049e-01 -2.50433494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.116875 meters 0.018389259655884758 Centerline is valid? [True, True] Translation: X:79.30, Y:-10.39, Z:-2.51 [[ 9.14115728e-01 4.04724377e-01 2.43025622e-02 7.92990663e+01] [-4.04599174e-01 9.14438517e-01 -1.00849408e-02 -1.03874376e+01] [-2.63048203e-02 -6.13993607e-04 9.99653780e-01 -2.50579882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.146875 meters 0.017432996397439938 Centerline is valid? [True, True] Translation: X:79.33, Y:-10.40, Z:-2.51 [[ 9.14509666e-01 4.03825739e-01 2.44303771e-02 7.93280523e+01] [-4.03698703e-01 9.14835740e-01 -1.01452650e-02 -1.04026612e+01] [-2.64467013e-02 -5.84568680e-04 9.99650054e-01 -2.50638792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.176875 meters 0.017049643082974957 Centerline is valid? [True, True] Translation: X:79.36, Y:-10.42, Z:-2.51 [[ 9.14679776e-01 4.03416426e-01 2.48212630e-02 7.93568864e+01] [-4.03285095e-01 9.15016312e-01 -1.03092944e-02 -1.04167870e+01] [-2.68707992e-02 -5.80342305e-04 9.99638746e-01 -2.50675737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.206875 meters 0.017338899397684925 Centerline is valid? [True, True] Translation: X:79.39, Y:-10.43, Z:-2.51 [[ 9.15145010e-01 4.02405469e-01 2.40717431e-02 7.93853675e+01] [-4.02281429e-01 9.15461392e-01 -1.00046366e-02 -1.04293342e+01] [-2.60626719e-02 -5.27921907e-04 9.99660171e-01 -2.51065636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.236875 meters 0.0167952451715447 Centerline is valid? [True, True] Translation: X:79.41, Y:-10.44, Z:-2.51 [[ 9.15031606e-01 4.02716875e-01 2.31576804e-02 7.94147217e+01] [-4.02602042e-01 9.15324454e-01 -9.63009612e-03 -1.04440918e+01] [-2.50749934e-02 -5.11487093e-04 9.99685442e-01 -2.51217099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.266875 meters 0.017450948201607145 Centerline is valid? [True, True] Translation: X:79.44, Y:-10.46, Z:-2.51 [[ 9.15065500e-01 4.02666502e-01 2.26896215e-02 7.94442170e+01] [-4.02556070e-01 9.15346626e-01 -9.44272804e-03 -1.04559768e+01] [-2.45711387e-02 -4.93130197e-04 9.99697962e-01 -2.51352093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.296875 meters 0.01683462753194819 Centerline is valid? [True, True] Translation: X:79.47, Y:-10.47, Z:-2.51 [[ 9.15128794e-01 4.02565834e-01 2.19098122e-02 7.94730986e+01] [-4.02462690e-01 9.15390917e-01 -9.12432473e-03 -1.04718473e+01] [-2.37291844e-02 -4.67949650e-04 9.99718314e-01 -2.51487200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.326875 meters 0.016659037978455426 Centerline is valid? [True, True] Translation: X:79.50, Y:-10.49, Z:-2.52 [[ 9.15010392e-01 4.02862959e-01 2.13873417e-02 7.95024487e+01] [-4.02764606e-01 9.15260196e-01 -8.91326728e-03 -1.04862020e+01] [-2.31658077e-02 -4.58332041e-04 9.99731532e-01 -2.51603374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.356875 meters 0.01666794651725071 Centerline is valid? [True, True] Translation: X:79.53, Y:-10.50, Z:-2.52 [[ 9.14946576e-01 4.03017165e-01 2.12115129e-02 7.95322678e+01] [-4.02920307e-01 9.15192308e-01 -8.84680995e-03 -1.05001218e+01] [-2.29780297e-02 -4.52190823e-04 9.99735868e-01 -2.51722470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38687499999999 meters 0.01641024152927963 Centerline is valid? [True, True] Translation: X:79.56, Y:-10.52, Z:-2.52 [[ 9.15144623e-01 4.02506279e-01 2.23386097e-02 7.95608956e+01] [-4.02398506e-01 9.15417111e-01 -9.32492267e-03 -1.05155375e+01] [-2.42024855e-02 -4.55370339e-04 9.99706973e-01 -2.51640248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41687499999999 meters 0.015714933185146752 Centerline is valid? [True, True] Translation: X:79.59, Y:-10.53, Z:-2.52 [[ 9.15932758e-01 4.00704458e-01 2.24303322e-02 7.95891483e+01] [-4.00595101e-01 9.16207277e-01 -9.36963437e-03 -1.05299292e+01] [-2.43052879e-02 -4.03526152e-04 9.99704501e-01 -2.51729583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44687499999999 meters 0.01541833600949763 Centerline is valid? [True, True] Translation: X:79.62, Y:-10.54, Z:-2.52 [[ 9.17101712e-01 3.98029478e-01 2.22931477e-02 7.96173362e+01] [-3.97920491e-01 9.17372569e-01 -9.31950665e-03 -1.05426272e+01] [-2.41605605e-02 -3.23964757e-04 9.99708039e-01 -2.52009236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47687499999999 meters 0.013778611508577943 Centerline is valid? [True, True] Translation: X:79.64, Y:-10.56, Z:-2.52 [[ 9.20757219e-01 3.89340955e-01 2.48950801e-02 7.96430056e+01] [-3.89201719e-01 9.21093704e-01 -1.04120865e-02 -1.05644504e+01] [-2.69845532e-02 -1.02204136e-04 9.99635845e-01 -2.51511450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.506875 meters 0.013853971378434443 Centerline is valid? [True, True] Translation: X:79.67, Y:-10.58, Z:-2.51 [[ 9.22683455e-01 3.84670667e-01 2.61480420e-02 7.96712996e+01] [-3.84515119e-01 9.23053886e-01 -1.09383291e-02 -1.05812485e+01] [-2.83437061e-02 3.82977710e-05 9.99598236e-01 -2.51231132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.536875 meters 0.014212182440578694 Centerline is valid? [True, True] Translation: X:79.70, Y:-10.60, Z:-2.51 [[ 9.24086220e-01 3.81325569e-01 2.56021178e-02 7.96986145e+01] [-3.81174964e-01 9.24440798e-01 -1.07171690e-02 -1.05957555e+01] [-2.77543727e-02 1.44701882e-04 9.99614763e-01 -2.51336980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.566875 meters 0.014692255335169827 Centerline is valid? [True, True] Translation: X:79.73, Y:-10.61, Z:-2.52 [[ 9.25665132e-01 3.77629766e-01 2.32340764e-02 7.97279290e+01] [-3.77504436e-01 9.25956642e-01 -9.73124744e-03 -1.06086951e+01] [-2.51885561e-02 2.36909536e-04 9.99682690e-01 -2.52046497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.596875 meters 0.014584839741027296 Centerline is valid? [True, True] Translation: X:79.76, Y:-10.62, Z:-2.52 [[ 9.25581397e-01 3.77929337e-01 2.16447289e-02 7.97581026e+01] [-3.77820530e-01 9.25834417e-01 -9.07076717e-03 -1.06192056e+01] [-2.34675440e-02 2.17910406e-04 9.99724576e-01 -2.52340916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.626875 meters 0.014419391930276016 Centerline is valid? [True, True] Translation: X:79.79, Y:-10.63, Z:-2.53 [[ 9.25089400e-01 3.79200147e-01 2.04169313e-02 7.97890915e+01] [-3.79103536e-01 9.25314658e-01 -8.56108188e-03 -1.06311516e+01] [-2.21384493e-02 1.79635240e-04 9.99754898e-01 -2.52583007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.656875 meters 0.01399480854485904 Centerline is valid? [True, True] Translation: X:79.82, Y:-10.64, Z:-2.53 [[ 9.23626918e-01 3.82815286e-01 1.91252014e-02 7.98200892e+01] [-3.82731166e-01 9.23824901e-01 -8.02538955e-03 -1.06410772e+01] [-2.07405791e-02 9.26551799e-05 9.99784887e-01 -2.52629856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.686875 meters 0.013826166061684315 Centerline is valid? [True, True] Translation: X:79.85, Y:-10.65, Z:-2.53 [[ 9.22691902e-01 3.85050371e-01 1.93872631e-02 7.98503385e+01] [-3.84964269e-01 9.22895557e-01 -8.14260050e-03 -1.06516948e+01] [-2.10277304e-02 4.97079537e-05 9.99778892e-01 -2.52614895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.716875 meters 0.013908798674733887 Centerline is valid? [True, True] Translation: X:79.88, Y:-10.66, Z:-2.53 [[ 9.21593780e-01 3.87643104e-01 1.99431305e-02 7.98799219e+01] [-3.87552587e-01 9.21809538e-01 -8.37665237e-03 -1.06613335e+01] [-2.16309195e-02 -9.14110784e-06 9.99766024e-01 -2.52624459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.746875 meters 0.013877653246450074 Centerline is valid? [True, True] Translation: X:79.91, Y:-10.67, Z:-2.53 [[ 9.20163479e-01 3.90979404e-01 2.08393112e-02 7.99114279e+01] [-3.90881301e-01 9.20399423e-01 -8.75846243e-03 -1.06709708e+01] [-2.26048685e-02 -8.64798212e-05 9.99744474e-01 -2.52549657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77687499999999 meters 0.014490731790935117 Centerline is valid? [True, True] Translation: X:79.94, Y:-10.68, Z:-2.52 [[ 9.17406938e-01 3.97326058e-01 2.22825774e-02 7.99433261e+01] [-3.97215566e-01 9.17677471e-01 -9.37301544e-03 -1.06769145e+01] [-2.41723625e-02 -2.52117193e-04 9.99707774e-01 -2.52484453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80687499999999 meters 0.015102407700011028 Centerline is valid? [True, True] Translation: X:79.97, Y:-10.69, Z:-2.53 [[ 9.16180875e-01 4.00122367e-01 2.26869266e-02 7.99733768e+01] [-4.00008503e-01 9.16461666e-01 -9.55048481e-03 -1.06857907e+01] [-2.46130612e-02 -3.24992025e-04 9.99697000e-01 -2.52633382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83687499999999 meters 0.01666749297490521 Centerline is valid? [True, True] Translation: X:80.01, Y:-10.69, Z:-2.53 [[ 9.13892644e-01 4.05308776e-01 2.29135696e-02 8.00055806e+01] [-4.05194152e-01 9.14179730e-01 -9.64988084e-03 -1.06924098e+01] [-2.48583023e-02 -4.65489294e-04 9.99690876e-01 -2.52859563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.866875 meters 0.016872987754996426 Centerline is valid? [True, True] Translation: X:80.04, Y:-10.70, Z:-2.53 [[ 9.12773553e-01 4.07833597e-01 2.27199979e-02 8.00354131e+01] [-4.07721668e-01 9.13056119e-01 -9.56893758e-03 -1.07028008e+01] [-2.46471674e-02 -5.29162289e-04 9.99696072e-01 -2.53000271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.896875 meters 0.018103369919137115 Centerline is valid? [True, True] Translation: X:80.07, Y:-10.71, Z:-2.53 [[ 9.11601981e-01 4.10447221e-01 2.26915613e-02 8.00651584e+01] [-4.10336210e-01 9.11884164e-01 -9.56385459e-03 -1.07113516e+01] [-2.46175329e-02 -5.92740447e-04 9.99696767e-01 -2.53136079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.926875 meters 0.019126520570869585 Centerline is valid? [True, True] Translation: X:80.09, Y:-10.72, Z:-2.53 [[ 9.10761758e-01 4.12358930e-01 2.17516112e-02 8.00949273e+01] [-4.12257399e-01 9.11021259e-01 -9.17073643e-03 -1.07204688e+01] [-2.35978153e-02 -6.14906628e-04 9.99721344e-01 -2.53373336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.956875 meters 0.02104501140115627 Centerline is valid? [True, True] Translation: X:80.12, Y:-10.73, Z:-2.54 [[ 9.09520759e-01 4.15127291e-01 2.10076690e-02 8.01247956e+01] [-4.15033265e-01 9.09763099e-01 -8.85962162e-03 -1.07285011e+01] [-2.27898728e-02 -6.60871679e-04 9.99740059e-01 -2.53544889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.986875 meters 0.01962818574752622 Centerline is valid? [True, True] Translation: X:80.15, Y:-10.74, Z:-2.54 [[ 9.09056668e-01 4.16149813e-01 2.08640109e-02 8.01536663e+01] [-4.16057265e-01 9.09295811e-01 -8.80226221e-03 -1.07429170e+01] [-2.26346175e-02 -6.78868179e-04 9.99743574e-01 -2.53559186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.016875 meters 0.02003490485374574 Centerline is valid? [True, True] Translation: X:80.18, Y:-10.75, Z:-2.54 [[ 9.08948223e-01 4.16395557e-01 2.06849497e-02 8.01839041e+01] [-4.16304525e-01 9.09183307e-01 -8.73249503e-03 -1.07543428e+01] [-2.24425831e-02 -6.73852296e-04 9.99747906e-01 -2.53700372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.046875 meters 0.0201366134240229 Centerline is valid? [True, True] Translation: X:80.21, Y:-10.77, Z:-2.54 [[ 9.08853529e-01 4.16592217e-01 2.08851217e-02 8.02139984e+01] [-4.16499321e-01 9.09093209e-01 -8.82340693e-03 -1.07664107e+01] [-2.26622849e-02 -6.79454465e-04 9.99742947e-01 -2.53789749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.076875 meters 0.020347586510108484 Centerline is valid? [True, True] Translation: X:80.24, Y:-10.78, Z:-2.54 [[ 9.08863050e-01 4.16529749e-01 2.17007978e-02 8.02430777e+01] [-4.16429248e-01 9.09121819e-01 -9.17601560e-03 -1.07779583e+01] [-2.35507522e-02 -6.97105362e-04 9.99722400e-01 -2.53925058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.106875 meters 0.020672458125222684 Centerline is valid? [True, True] Translation: X:80.27, Y:-10.79, Z:-2.54 [[ 9.09071841e-01 4.16042938e-01 2.22859249e-02 8.02722543e+01] [-4.15936648e-01 9.09344702e-01 -9.42959582e-03 -1.07891356e+01] [-2.41887045e-02 -6.97352881e-04 9.99707167e-01 -2.54019919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13687499999999 meters 0.020015927392656844 Centerline is valid? [True, True] Translation: X:80.30, Y:-10.80, Z:-2.54 [[ 9.09093514e-01 4.15976577e-01 2.26378075e-02 8.03013799e+01] [-4.15866739e-01 9.09375058e-01 -9.58437256e-03 -1.08031757e+01] [-2.45731320e-02 -7.01220267e-04 9.99697789e-01 -2.54036342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16687499999999 meters 0.019530259795881463 Centerline is valid? [True, True] Translation: X:80.33, Y:-10.82, Z:-2.54 [[ 9.09499088e-01 4.15092346e-01 2.25777332e-02 8.03305753e+01] [-4.14982661e-01 9.09779037e-01 -9.56531242e-03 -1.08164463e+01] [-2.45112363e-02 -6.69724890e-04 9.99699330e-01 -2.54119198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19687499999999 meters 0.019120942729409524 Centerline is valid? [True, True] Translation: X:80.36, Y:-10.83, Z:-2.54 [[ 9.09620384e-01 4.14829249e-01 2.25266582e-02 8.03594780e+01] [-4.14719825e-01 9.09899041e-01 -9.55001048e-03 -1.08299296e+01] [-2.44586083e-02 -6.55367516e-04 9.99700629e-01 -2.54167344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22687499999999 meters 0.01956604194803168 Centerline is valid? [True, True] Translation: X:80.39, Y:-10.84, Z:-2.54 [[ 9.09807454e-01 4.14424819e-01 2.24157425e-02 8.03880414e+01] [-4.14316188e-01 9.10083329e-01 -9.50950277e-03 -1.08410537e+01] [-2.43411676e-02 -6.35388479e-04 9.99703508e-01 -2.54315424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.256875 meters 0.01920427928467797 Centerline is valid? [True, True] Translation: X:80.42, Y:-10.85, Z:-2.54 [[ 9.10105697e-01 4.13776428e-01 2.22864979e-02 8.04172077e+01] [-4.13668712e-01 9.10378326e-01 -9.46043535e-03 -1.08540536e+01] [-2.42036498e-02 -6.09230773e-04 9.99706863e-01 -2.54499890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.286875 meters 0.01865868337880558 Centerline is valid? [True, True] Translation: X:80.45, Y:-10.87, Z:-2.55 [[ 9.10346920e-01 4.13258348e-01 2.20459286e-02 8.04468748e+01] [-4.13152620e-01 9.10613639e-01 -9.36554990e-03 -1.08676090e+01] [-2.39457150e-02 -5.82433681e-04 9.99713091e-01 -2.54681797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.316875 meters 0.017932062235981795 Centerline is valid? [True, True] Translation: X:80.48, Y:-10.88, Z:-2.55 [[ 9.10383251e-01 4.13173522e-01 2.21354107e-02 8.04761350e+01] [-4.13066888e-01 9.10652130e-01 -9.40445590e-03 -1.08813512e+01] [-2.40433311e-02 -5.81746061e-04 9.99710748e-01 -2.54856064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.346875 meters 0.017842427280422124 Centerline is valid? [True, True] Translation: X:80.51, Y:-10.89, Z:-2.55 [[ 9.10341257e-01 4.13293405e-01 2.16184382e-02 8.05061364e+01] [-4.13191594e-01 9.10597738e-01 -9.19049958e-03 -1.08945392e+01] [-2.34840738e-02 -5.66065980e-04 9.99724051e-01 -2.54921222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.376875 meters 0.018487507397980826 Centerline is valid? [True, True] Translation: X:80.54, Y:-10.91, Z:-2.55 [[ 9.10055215e-01 4.13944041e-01 2.12093655e-02 8.05357596e+01] [-4.13846055e-01 9.10302154e-01 -9.02394309e-03 -1.09053771e+01] [-2.30423385e-02 -5.65125762e-04 9.99734330e-01 -2.55063808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.406875 meters 0.01839476178098887 Centerline is valid? [True, True] Translation: X:80.57, Y:-10.92, Z:-2.55 [[ 9.09771501e-01 4.14592316e-01 2.07129577e-02 8.05652129e+01] [-4.14498915e-01 9.10007085e-01 -8.81791239e-03 -1.09179651e+01] [-2.25047769e-02 -5.63213073e-04 9.99746577e-01 -2.55099822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.436875 meters 0.01851262689067867 Centerline is valid? [True, True] Translation: X:80.60, Y:-10.93, Z:-2.55 [[ 9.09640222e-01 4.14882625e-01 2.06657543e-02 8.05955421e+01] [-4.14789600e-01 9.09874766e-01 -8.80330905e-03 -1.09304327e+01] [-2.24555883e-02 -5.64095953e-04 9.99747682e-01 -2.55202732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.466875 meters 0.018322632437251865 Centerline is valid? [True, True] Translation: X:80.62, Y:-10.94, Z:-2.55 [[ 9.09587953e-01 4.14924137e-01 2.20842962e-02 8.06248608e+01] [-4.14817720e-01 9.09855815e-01 -9.41565276e-03 -1.09429689e+01] [-2.40003069e-02 -5.96593063e-04 9.99711773e-01 -2.55099980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.496875 meters 0.0183003510461965 Centerline is valid? [True, True] Translation: X:80.65, Y:-10.95, Z:-2.55 [[ 9.09748247e-01 4.14547356e-01 2.25525414e-02 8.06531298e+01] [-4.14436096e-01 9.10027548e-01 -9.62205933e-03 -1.09548253e+01] [-2.45122332e-02 -5.92935614e-04 9.99699354e-01 -2.55133002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52687499999999 meters 0.018215717216003256 Centerline is valid? [True, True] Translation: X:80.68, Y:-10.97, Z:-2.55 [[ 9.09886281e-01 4.14207260e-01 2.32228488e-02 8.06829860e+01] [-4.14088991e-01 9.10182395e-01 -9.91541983e-03 -1.09678808e+01] [-2.52440671e-02 -5.94421562e-04 9.99681141e-01 -2.55208722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55687499999999 meters 0.01673194581335668 Centerline is valid? [True, True] Translation: X:80.71, Y:-10.98, Z:-2.55 [[ 9.11460964e-01 4.10730991e-01 2.32155867e-02 8.07105725e+01] [-4.10611634e-01 9.11756440e-01 -9.91363498e-03 -1.09836289e+01] [-2.52387978e-02 -4.96698679e-04 9.99681327e-01 -2.55356619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58687499999999 meters 0.015142041262959836 Centerline is valid? [True, True] Translation: X:80.74, Y:-11.00, Z:-2.56 [[ 9.14217905e-01 4.04601341e-01 2.24360611e-02 8.07365581e+01] [-4.04487847e-01 9.14493116e-01 -9.58765415e-03 -1.09996728e+01] [-2.43968011e-02 -3.09908948e-04 9.99702306e-01 -2.55556352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.616875 meters 0.014231333149963821 Centerline is valid? [True, True] Translation: X:80.76, Y:-11.02, Z:-2.56 [[ 9.16216467e-01 4.00059218e-01 2.23608736e-02 8.07642132e+01] [-3.99945089e-01 9.16489273e-01 -9.55711362e-03 -1.10164389e+01] [-2.43169122e-02 -1.86736719e-04 9.99704283e-01 -2.55582595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.646875 meters 0.01371419944626878 Centerline is valid? [True, True] Translation: X:80.79, Y:-11.04, Z:-2.56 [[ 9.19310312e-01 3.92880623e-01 2.26576039e-02 8.07905669e+01] [-3.92761099e-01 9.19589482e-01 -9.69035664e-03 -1.10359444e+01] [-2.46428476e-02 9.41939172e-06 9.99696319e-01 -2.55547868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.676875 meters 0.013703588027153789 Centerline is valid? [True, True] Translation: X:80.82, Y:-11.05, Z:-2.56 [[ 9.20193997e-01 3.90866648e-01 2.15933104e-02 8.08195200e+01] [-3.90757404e-01 9.20447315e-01 -9.24077868e-03 -1.10503194e+01] [-2.34874168e-02 6.55631319e-05 9.99724130e-01 -2.55767271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.706875 meters 0.013939155525491883 Centerline is valid? [True, True] Translation: X:80.85, Y:-11.06, Z:-2.56 [[ 9.20718349e-01 3.89633092e-01 2.15354240e-02 8.08490366e+01] [-3.89523944e-01 9.20970164e-01 -9.22249546e-03 -1.10636161e+01] [-2.34268724e-02 1.02757519e-04 9.99725548e-01 -2.55954673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.736875 meters 0.013850409252883797 Centerline is valid? [True, True] Translation: X:80.88, Y:-11.08, Z:-2.56 [[ 9.20311978e-01 3.90583256e-01 2.16929436e-02 8.08792232e+01] [-3.90472685e-01 9.20567604e-01 -9.29346560e-03 -1.10757269e+01] [-2.35996931e-02 8.23857771e-05 9.99721485e-01 -2.56123045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.766875 meters 0.013765674564798824 Centerline is valid? [True, True] Translation: X:80.91, Y:-11.09, Z:-2.56 [[ 9.19465066e-01 3.92526119e-01 2.25219543e-02 8.09089537e+01] [-3.92407328e-01 9.19740857e-01 -9.65630943e-03 -1.10876829e+01] [-2.45047152e-02 4.08592712e-05 9.99699714e-01 -2.56084850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.796875 meters 0.01379318036563902 Centerline is valid? [True, True] Translation: X:80.94, Y:-11.10, Z:-2.56 [[ 9.18447065e-01 3.94854139e-01 2.33494813e-02 8.09394379e+01] [-3.94727043e-01 9.18743821e-01 -1.00176112e-02 -1.10993758e+01] [-2.54076869e-02 -1.60261547e-05 9.99677172e-01 -2.56024606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.826875 meters 0.013886359870322877 Centerline is valid? [True, True] Translation: X:80.97, Y:-11.11, Z:-2.56 [[ 9.17097139e-01 3.97959404e-01 2.36886265e-02 8.09704276e+01] [-3.97829423e-01 9.17403021e-01 -1.01708611e-02 -1.11103437e+01] [-2.57796074e-02 -9.63649649e-05 9.99667646e-01 -2.55957560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.856875 meters 0.014715638873810517 Centerline is valid? [True, True] Translation: X:81.00, Y:-11.12, Z:-2.56 [[ 9.14474759e-01 4.03960340e-01 2.34938009e-02 8.10018780e+01] [-4.03834268e-01 9.14776463e-01 -1.00948572e-02 -1.11174134e+01] [-2.55694981e-02 -2.56109752e-04 9.99673014e-01 -2.56036351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88687499999999 meters 0.015533510339053013 Centerline is valid? [True, True] Translation: X:81.03, Y:-11.13, Z:-2.56 [[ 9.12956981e-01 4.07398314e-01 2.31552508e-02 8.10316141e+01] [-4.07276773e-01 9.13250512e-01 -9.95650274e-03 -1.11261727e+01] [-2.52028071e-02 -3.40737140e-04 9.99682301e-01 -2.56199550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91687499999999 meters 0.015533510339053013 Centerline is valid? [True, True] Translation: X:81.06, Y:-11.14, Z:-2.56 [[ 9.12847974e-01 4.07642552e-01 2.31543948e-02 8.10613001e+01] [-4.07521039e-01 9.13141517e-01 -9.95849308e-03 -1.11390599e+01] [-2.52027448e-02 -3.45312815e-04 9.99682301e-01 -2.56302759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94687499999999 meters 0.01636669561920352 Centerline is valid? [True, True] Translation: X:81.09, Y:-11.15, Z:-2.56 [[ 9.11268118e-01 4.11172854e-01 2.29630639e-02 8.10916112e+01] [-4.11054253e-01 9.11557293e-01 -9.88449186e-03 -1.11484846e+01] [-2.49963831e-02 -4.31642791e-04 9.99687448e-01 -2.56457682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97687499999999 meters 0.01792735021615076 Centerline is valid? [True, True] Translation: X:81.12, Y:-11.16, Z:-2.57 [[ 9.09811232e-01 4.14383617e-01 2.30160973e-02 8.11212353e+01] [-4.14265412e-01 9.10102165e-01 -9.91053320e-03 -1.11568973e+01] [-2.50537626e-02 -5.18058608e-04 9.99685971e-01 -2.56586393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.006875 meters 0.01865324158859504 Centerline is valid? [True, True] Translation: X:81.15, Y:-11.17, Z:-2.57 [[ 9.07861301e-01 4.18618366e-01 2.33778093e-02 8.11513978e+01] [-4.18497732e-01 9.08162019e-01 -1.00695937e-02 -1.11668526e+01] [-2.54461554e-02 -6.41765695e-04 9.99675988e-01 -2.56672884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.036875 meters 0.018514233613708048 Centerline is valid? [True, True] Translation: X:81.18, Y:-11.18, Z:-2.57 [[ 9.07287313e-01 4.19854716e-01 2.34893596e-02 8.11813650e+01] [-4.19733186e-01 9.07591077e-01 -1.01237197e-02 -1.11793410e+01] [-2.55692247e-02 -6.74141269e-04 9.99672827e-01 -2.56773071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.066875 meters 0.019414697412553288 Centerline is valid? [True, True] Translation: X:81.21, Y:-11.19, Z:-2.57 [[ 9.06744641e-01 4.21041800e-01 2.31939423e-02 8.12102268e+01] [-4.20923519e-01 9.07040971e-01 -1.00033793e-02 -1.11895380e+01] [-2.52496968e-02 -6.92365266e-04 9.99680936e-01 -2.56901440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.096875 meters 0.01924800454756475 Centerline is valid? [True, True] Translation: X:81.24, Y:-11.20, Z:-2.57 [[ 9.06150819e-01 4.22269884e-01 2.40590679e-02 8.12394848e+01] [-4.22142906e-01 9.06469847e-01 -1.03818630e-02 -1.12024543e+01] [-2.61927677e-02 -7.48831137e-04 9.99656630e-01 -2.56839046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.126875 meters 0.019658481440123343 Centerline is valid? [True, True] Translation: X:81.27, Y:-11.21, Z:-2.57 [[ 9.05995825e-01 4.22602658e-01 2.40532464e-02 8.12686897e+01] [-4.22475677e-01 9.06314751e-01 -1.03862710e-02 -1.12140559e+01] [-2.61890778e-02 -7.51993370e-04 9.99656724e-01 -2.56914538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.156875 meters 0.019409345996010834 Centerline is valid? [True, True] Translation: X:81.30, Y:-11.23, Z:-2.57 [[ 9.05736878e-01 4.23145152e-01 2.42670287e-02 8.12986257e+01] [-4.23015900e-01 9.06061582e-01 -1.04860650e-02 -1.12273761e+01] [-2.64245500e-02 -7.67723242e-04 9.99650516e-01 -2.57013798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.186875 meters 0.02009141339752991 Centerline is valid? [True, True] Translation: X:81.33, Y:-11.24, Z:-2.57 [[ 9.05465092e-01 4.23676439e-01 2.51245509e-02 8.13291282e+01] [-4.23537853e-01 9.05813243e-01 -1.08653921e-02 -1.12382059e+01] [-2.73615616e-02 -8.02965049e-04 9.99625280e-01 -2.57102695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.216875 meters 0.019785203969181757 Centerline is valid? [True, True] Translation: X:81.36, Y:-11.25, Z:-2.57 [[ 9.04992532e-01 4.24665669e-01 2.54477144e-02 8.13584335e+01] [-4.24523661e-01 9.05349861e-01 -1.10132164e-02 -1.12512594e+01] [-2.77160196e-02 -8.36278287e-04 9.99615488e-01 -2.57164407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.246875 meters 0.020796899410150765 Centerline is valid? [True, True] Translation: X:81.39, Y:-11.26, Z:-2.57 [[ 9.04604258e-01 4.25514201e-01 2.50759023e-02 8.13873455e+01] [-4.25376440e-01 9.04951355e-01 -1.08595709e-02 -1.12618643e+01] [-2.73133734e-02 -8.43083965e-04 9.99626565e-01 -2.57304958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27687499999999 meters 0.02087510680744053 Centerline is valid? [True, True] Translation: X:81.42, Y:-11.27, Z:-2.57 [[ 9.04262704e-01 4.26255417e-01 2.48048872e-02 8.14165707e+01] [-4.26120720e-01 9.04602452e-01 -1.07487205e-02 -1.12744428e+01] [-2.70202621e-02 -8.50209378e-04 9.99634525e-01 -2.57483759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30687499999999 meters 0.021655636050100673 Centerline is valid? [True, True] Translation: X:81.45, Y:-11.29, Z:-2.58 [[ 9.03569101e-01 4.27787165e-01 2.36858966e-02 8.14467727e+01] [-4.27664683e-01 9.03879096e-01 -1.02712103e-02 -1.12860357e+01] [-2.58030787e-02 -8.48873214e-04 9.99666685e-01 -2.57744546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33687499999999 meters 0.02172075168082765 Centerline is valid? [True, True] Translation: X:81.48, Y:-11.30, Z:-2.58 [[ 9.03297353e-01 4.28393032e-01 2.30933360e-02 8.14758544e+01] [-4.28276771e-01 9.03592109e-01 -1.00154078e-02 -1.12983768e+01] [-2.51574870e-02 -8.43448049e-04 9.99683145e-01 -2.57902583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.366875 meters 0.021470343004389783 Centerline is valid? [True, True] Translation: X:81.51, Y:-11.31, Z:-2.58 [[ 9.03101445e-01 4.28809198e-01 2.30315577e-02 8.15061951e+01] [-4.28693534e-01 9.03394684e-01 -9.99495944e-03 -1.13121628e+01] [-2.50925174e-02 -8.47017588e-04 9.99684774e-01 -2.58083973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.396875 meters 0.021153290730723313 Centerline is valid? [True, True] Translation: X:81.54, Y:-11.33, Z:-2.58 [[ 9.03129422e-01 4.28745576e-01 2.31187986e-02 8.15352247e+01] [-4.28628812e-01 9.03424885e-01 -1.00408095e-02 -1.13266600e+01] [-2.51910506e-02 -8.41232719e-04 9.99682301e-01 -2.58120444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.426875 meters 0.0211349470716379 Centerline is valid? [True, True] Translation: X:81.56, Y:-11.34, Z:-2.58 [[ 9.03512347e-01 4.27928365e-01 2.32970523e-02 8.15628928e+01] [-4.27809328e-01 9.03812285e-01 -1.01258465e-02 -1.13399087e+01] [-2.53892990e-02 -8.17868968e-04 9.99677305e-01 -2.58227047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.456875 meters 0.02069517040300822 Centerline is valid? [True, True] Translation: X:81.59, Y:-11.35, Z:-2.58 [[ 9.03742672e-01 4.27429174e-01 2.35262456e-02 8.15920274e+01] [-4.27307504e-01 9.04048477e-01 -1.02297771e-02 -1.13547364e+01] [-2.56413717e-02 -8.07855197e-04 9.99670880e-01 -2.58197674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.486875 meters 0.020099366519299586 Centerline is valid? [True, True] Translation: X:81.62, Y:-11.37, Z:-2.58 [[ 9.04442786e-01 4.25893339e-01 2.44563101e-02 8.16202846e+01] [-4.25761248e-01 9.04773030e-01 -1.06359827e-02 -1.13692879e+01] [-2.66572040e-02 -7.92911244e-04 9.99644319e-01 -2.58267871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.516875 meters 0.019681925272082762 Centerline is valid? [True, True] Translation: X:81.65, Y:-11.38, Z:-2.58 [[ 9.04427423e-01 4.25919353e-01 2.45711672e-02 8.16496632e+01] [-4.25785842e-01 9.04760786e-01 -1.06928657e-02 -1.13833383e+01] [-2.67853270e-02 -7.91134155e-04 9.99640896e-01 -2.58422658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.546875 meters 0.020257258519164725 Centerline is valid? [True, True] Translation: X:81.68, Y:-11.40, Z:-2.59 [[ 9.04409080e-01 4.25967189e-01 2.44165774e-02 8.16792356e+01] [-4.25835156e-01 9.04738274e-01 -1.06336799e-02 -1.13956756e+01] [-2.66202108e-02 -7.80240399e-04 9.99645315e-01 -2.58649241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.576875 meters 0.020236969234251754 Centerline is valid? [True, True] Translation: X:81.71, Y:-11.41, Z:-2.59 [[ 9.04000809e-01 4.26871042e-01 2.37413553e-02 8.17080107e+01] [-4.26746321e-01 9.04312175e-01 -1.03473892e-02 -1.14096204e+01] [-2.58865975e-02 -7.77487845e-04 9.99664584e-01 -2.58769098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.606875 meters 0.020101475601371706 Centerline is valid? [True, True] Translation: X:81.74, Y:-11.42, Z:-2.59 [[ 9.03511150e-01 4.27941729e-01 2.30971340e-02 8.17371240e+01] [-4.27823871e-01 9.03805990e-01 -1.00731076e-02 -1.14233011e+01] [-2.51860312e-02 -7.80340299e-04 9.99682477e-01 -2.58858396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63687499999999 meters 0.020441533459450153 Centerline is valid? [True, True] Translation: X:81.77, Y:-11.44, Z:-2.59 [[ 9.03154146e-01 4.28695331e-01 2.30846683e-02 8.17665093e+01] [-4.28577676e-01 9.03448771e-01 -1.00744539e-02 -1.14356258e+01] [-2.51746865e-02 -7.94788622e-04 9.99682751e-01 -2.58925285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66687499999999 meters 0.021359456107496927 Centerline is valid? [True, True] Translation: X:81.80, Y:-11.45, Z:-2.59 [[ 9.02324469e-01 4.30455603e-01 2.27711598e-02 8.17960056e+01] [-4.30341515e-01 9.02611373e-01 -9.94431645e-03 -1.14467079e+01] [-2.48340945e-02 -8.26375330e-04 9.99691245e-01 -2.59051011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69687499999999 meters 0.021714000916055694 Centerline is valid? [True, True] Translation: X:81.83, Y:-11.46, Z:-2.59 [[ 9.02009037e-01 4.31109226e-01 2.29026761e-02 8.18252810e+01] [-4.30993874e-01 9.02299353e-01 -1.00078881e-02 -1.14587643e+01] [-2.49795627e-02 -8.43707603e-04 9.99687606e-01 -2.59198964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72687499999999 meters 0.022088329964414267 Centerline is valid? [True, True] Translation: X:81.85, Y:-11.47, Z:-2.59 [[ 9.01694993e-01 4.31760769e-01 2.29951906e-02 8.18545631e+01] [-4.31644524e-01 9.01987749e-01 -1.00550776e-02 -1.14711066e+01] [-2.50827682e-02 -8.59134992e-04 9.99685009e-01 -2.59325971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.756875 meters 0.02209989939093303 Centerline is valid? [True, True] Translation: X:81.88, Y:-11.48, Z:-2.59 [[ 9.01606193e-01 4.31915430e-01 2.35655386e-02 8.18847426e+01] [-4.31793224e-01 9.01913682e-01 -1.03112611e-02 -1.14845303e+01] [-2.57076745e-02 -8.78743008e-04 9.99669117e-01 -2.59456286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.786875 meters 0.02190736745927271 Centerline is valid? [True, True] Translation: X:81.91, Y:-11.50, Z:-2.60 [[ 9.01799878e-01 4.31513346e-01 2.35204826e-02 8.19130896e+01] [-4.31391264e-01 9.02106144e-01 -1.02996031e-02 -1.14984122e+01] [-2.56623881e-02 -8.58349866e-04 9.99670298e-01 -2.59517037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.816875 meters 0.021706277743679062 Centerline is valid? [True, True] Translation: X:81.94, Y:-11.51, Z:-2.60 [[ 9.01810458e-01 4.31467911e-01 2.39445124e-02 8.19422704e+01] [-4.31341185e-01 9.02127869e-01 -1.04924077e-02 -1.15127709e+01] [-2.61281492e-02 -8.66091395e-04 9.99658226e-01 -2.59549622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.846875 meters 0.022329753075283516 Centerline is valid? [True, True] Translation: X:81.97, Y:-11.53, Z:-2.60 [[ 9.02043136e-01 4.30984050e-01 2.38941201e-02 8.19711674e+01] [-4.30857508e-01 9.02359150e-01 -1.04771896e-02 -1.15253014e+01] [-2.60765795e-02 -8.44084091e-04 9.99659592e-01 -2.59614651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.876875 meters 0.02080596047617502 Centerline is valid? [True, True] Translation: X:82.00, Y:-11.54, Z:-2.60 [[ 9.02687083e-01 4.29653566e-01 2.35338897e-02 8.19989853e+01] [-4.29530190e-01 9.02993462e-01 -1.03258124e-02 -1.15417512e+01] [-2.56874707e-02 -7.87538667e-04 9.99669712e-01 -2.59699262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.906875 meters 0.019503235729951017 Centerline is valid? [True, True] Translation: X:82.03, Y:-11.56, Z:-2.60 [[ 9.02904970e-01 4.29195958e-01 2.35253870e-02 8.20274129e+01] [-4.29072342e-01 9.03211071e-01 -1.03289002e-02 -1.15576291e+01] [-2.56815122e-02 -7.68077605e-04 9.99669881e-01 -2.59787590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.936875 meters 0.02135956650794351 Centerline is valid? [True, True] Translation: X:82.06, Y:-11.57, Z:-2.60 [[ 9.03344089e-01 4.28310482e-01 2.27944769e-02 8.20569838e+01] [-4.28193980e-01 9.03631353e-01 -1.00146837e-02 -1.15678922e+01] [-2.48871980e-02 -7.13752420e-04 9.99690011e-01 -2.60073574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.966875 meters 0.0191453328590796 Centerline is valid? [True, True] Translation: X:82.08, Y:-11.59, Z:-2.60 [[ 9.03977210e-01 4.26973443e-01 2.27789941e-02 8.20847902e+01] [-4.26856493e-01 9.04263916e-01 -1.00151868e-02 -1.15854545e+01] [-2.48744412e-02 -6.69860902e-04 9.99690359e-01 -2.60194836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.996875 meters 0.01781617102339309 Centerline is valid? [True, True] Translation: X:82.11, Y:-11.60, Z:-2.60 [[ 9.05256381e-01 4.24226377e-01 2.32995008e-02 8.21120488e+01] [-4.24103074e-01 9.05555969e-01 -1.02454535e-02 -1.16023400e+01] [-2.54453937e-02 -6.06627751e-04 9.99676029e-01 -2.60270963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02687499999999 meters 0.01728974752544917 Centerline is valid? [True, True] Translation: X:82.14, Y:-11.62, Z:-2.60 [[ 9.06102558e-01 4.22375227e-01 2.40275149e-02 8.21405321e+01] [-4.22243253e-01 9.06420900e-01 -1.05729168e-02 -1.16166834e+01] [-2.62447798e-02 -5.65309081e-04 9.99655387e-01 -2.60283706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05687499999999 meters 0.016966089941110405 Centerline is valid? [True, True] Translation: X:82.17, Y:-11.63, Z:-2.60 [[ 9.06828133e-01 4.20759709e-01 2.49800751e-02 8.21682754e+01] [-4.20616228e-01 9.07171971e-01 -1.10001874e-02 -1.16303597e+01] [-2.72896597e-02 -5.31745561e-04 9.99627426e-01 -2.60277830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08687499999999 meters 0.016372826333511253 Centerline is valid? [True, True] Translation: X:82.20, Y:-11.65, Z:-2.60 [[ 9.08045729e-01 4.18084595e-01 2.56559222e-02 8.21960555e+01] [-4.17932064e-01 9.08407981e-01 -1.13017585e-02 -1.16456681e+01] [-2.80311356e-02 -4.59919011e-04 9.99606945e-01 -2.60144903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.116875 meters 0.01587273257585695 Centerline is valid? [True, True] Translation: X:82.22, Y:-11.66, Z:-2.60 [[ 9.08744168e-01 4.16552016e-01 2.58544805e-02 8.22244432e+01] [-4.16396287e-01 9.09111792e-01 -1.13965806e-02 -1.16597657e+01] [-2.82518817e-02 -4.09133535e-04 9.99600752e-01 -2.60286022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.146875 meters 0.015217206110032152 Centerline is valid? [True, True] Translation: X:82.25, Y:-11.67, Z:-2.60 [[ 9.09424048e-01 4.15101502e-01 2.52714139e-02 8.22527413e+01] [-4.14951969e-01 9.09775039e-01 -1.11464154e-02 -1.16744429e+01] [-2.76181953e-02 -3.49604779e-04 9.99618484e-01 -2.60371541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.176875 meters 0.01459961950133251 Centerline is valid? [True, True] Translation: X:82.28, Y:-11.69, Z:-2.60 [[ 9.10197109e-01 4.13372267e-01 2.57796896e-02 8.22809632e+01] [-4.13215754e-01 9.10562069e-01 -1.13780354e-02 -1.16894204e+01] [-2.81773718e-02 -2.96319002e-04 9.99602895e-01 -2.60438951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.206875 meters 0.014097543718140324 Centerline is valid? [True, True] Translation: X:82.31, Y:-11.70, Z:-2.61 [[ 9.11523016e-01 4.10430363e-01 2.59366127e-02 8.23093467e+01] [-4.10270532e-01 9.11891922e-01 -1.14548359e-02 -1.17048637e+01] [-2.83528001e-02 -1.99681302e-04 9.99597959e-01 -2.60530220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.236875 meters 0.013947343669884026 Centerline is valid? [True, True] Translation: X:82.34, Y:-11.72, Z:-2.61 [[ 9.12059087e-01 4.09270479e-01 2.54144925e-02 8.23383067e+01] [-4.09116374e-01 9.12413093e-01 -1.12312501e-02 -1.17185570e+01] [-2.77851348e-02 -1.53921313e-04 9.99613907e-01 -2.60751909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.266875 meters 0.01393112178503442 Centerline is valid? [True, True] Translation: X:82.37, Y:-11.73, Z:-2.61 [[ 9.12409699e-01 4.08541271e-01 2.45473215e-02 8.23676707e+01] [-4.08397050e-01 9.12739840e-01 -1.08551362e-02 -1.17326230e+01] [-2.68400894e-02 -1.20722136e-04 9.99639733e-01 -2.60974085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.296875 meters 0.0138008779251644 Centerline is valid? [True, True] Translation: X:82.40, Y:-11.75, Z:-2.61 [[ 9.12905502e-01 4.07539482e-01 2.26961434e-02 8.23970730e+01] [-4.07415726e-01 9.13187585e-01 -1.00429688e-02 -1.17466543e+01] [-2.48187427e-02 -7.84843119e-05 9.99691964e-01 -2.61284052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.326875 meters 0.013861350843928165 Centerline is valid? [True, True] Translation: X:82.43, Y:-11.76, Z:-2.61 [[ 9.13013877e-01 4.07300919e-01 2.26190676e-02 8.24274262e+01] [-4.07177756e-01 9.13294015e-01 -1.00158942e-02 -1.17600177e+01] [-2.47373419e-02 -6.53307446e-05 9.99693983e-01 -2.61446837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.356875 meters 0.013878878470080049 Centerline is valid? [True, True] Translation: X:82.46, Y:-11.77, Z:-2.62 [[ 9.12848480e-01 4.07630895e-01 2.33389417e-02 8.24564027e+01] [-4.07499671e-01 9.13146784e-01 -1.03425877e-02 -1.17723043e+01] [-2.55278378e-02 -6.93955563e-05 9.99674109e-01 -2.61563071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38687499999999 meters 0.013875607662373193 Centerline is valid? [True, True] Translation: X:82.49, Y:-11.78, Z:-2.61 [[ 9.12345724e-01 4.08692072e-01 2.44145341e-02 8.24866681e+01] [-4.08548649e-01 9.12672329e-01 -1.08268528e-02 -1.17849557e+01] [-2.67073186e-02 -9.66920005e-05 9.99643291e-01 -2.61472820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41687499999999 meters 0.013869786930762485 Centerline is valid? [True, True] Translation: X:82.52, Y:-11.80, Z:-2.62 [[ 9.11922043e-01 4.09613034e-01 2.48062213e-02 8.25173412e+01] [-4.09465092e-01 9.12259364e-01 -1.10086400e-02 -1.17980277e+01] [-2.71389901e-02 -1.18260236e-04 9.99631663e-01 -2.61523474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44687499999999 meters 0.013937834217072993 Centerline is valid? [True, True] Translation: X:82.55, Y:-11.81, Z:-2.62 [[ 9.11540638e-01 4.10431283e-01 2.52948140e-02 8.25478567e+01] [-4.10277535e-01 9.11891519e-01 -1.12339467e-02 -1.18106299e+01] [-2.76768895e-02 -1.37694953e-04 9.99616912e-01 -2.61557992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47687499999999 meters 0.01399759087524503 Centerline is valid? [True, True] Translation: X:82.58, Y:-11.82, Z:-2.62 [[ 9.10786528e-01 4.12078535e-01 2.56745396e-02 8.25782332e+01] [-4.11920550e-01 9.11148313e-01 -1.14110718e-02 -1.18226528e+01] [-2.80955711e-02 -1.82820044e-04 9.99605225e-01 -2.61611910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.506875 meters 0.014125998690219407 Centerline is valid? [True, True] Translation: X:82.61, Y:-11.83, Z:-2.62 [[ 9.10167475e-01 4.13441321e-01 2.57185010e-02 8.26085262e+01] [-4.13283103e-01 9.10530739e-01 -1.14389669e-02 -1.18345160e+01] [-2.81468273e-02 -2.17646282e-04 9.99603776e-01 -2.61743928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.536875 meters 0.014611918434220262 Centerline is valid? [True, True] Translation: X:82.64, Y:-11.84, Z:-2.62 [[ 9.08689743e-01 4.16696227e-01 2.54402364e-02 8.26390783e+01] [-4.16542456e-01 9.09045741e-01 -1.13235416e-02 -1.18445845e+01] [-2.78448156e-02 -3.07352469e-04 9.99612211e-01 -2.61991233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.566875 meters 0.015016123008420118 Centerline is valid? [True, True] Translation: X:82.67, Y:-11.86, Z:-2.62 [[ 9.07976345e-01 4.18256349e-01 2.53097317e-02 8.26691295e+01] [-4.18104558e-01 9.08328964e-01 -1.12726618e-02 -1.18561924e+01] [-2.77044247e-02 -3.46803939e-04 9.99616099e-01 -2.62107042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.596875 meters 0.015095786850000969 Centerline is valid? [True, True] Translation: X:82.70, Y:-11.87, Z:-2.62 [[ 9.07443434e-01 4.19440918e-01 2.48139221e-02 8.26991690e+01] [-4.19295271e-01 9.07782562e-01 -1.10587552e-02 -1.18684923e+01] [-2.71641402e-02 -3.69165405e-04 9.99630918e-01 -2.62210028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.626875 meters 0.015760401196635684 Centerline is valid? [True, True] Translation: X:82.73, Y:-11.88, Z:-2.63 [[ 9.06890358e-01 4.20725575e-01 2.32350687e-02 8.27284006e+01] [-4.20598120e-01 9.07187880e-01 -1.03620640e-02 -1.18787428e+01] [-2.54381580e-02 -3.75370278e-04 9.99676327e-01 -2.62540672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.656875 meters 0.01555805735325358 Centerline is valid? [True, True] Translation: X:82.76, Y:-11.89, Z:-2.63 [[ 9.06776980e-01 4.20978325e-01 2.30815648e-02 8.27585741e+01] [-4.20852565e-01 9.07070619e-01 -1.02961800e-02 -1.18919642e+01] [-2.52710779e-02 -3.77596739e-04 9.99680564e-01 -2.62729475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.686875 meters 0.015493058167401454 Centerline is valid? [True, True] Translation: X:82.79, Y:-11.91, Z:-2.63 [[ 9.06427311e-01 4.21746327e-01 2.27940007e-02 8.27884502e+01] [-4.21623744e-01 9.06713784e-01 -1.01751077e-02 -1.19056643e+01] [-2.49589490e-02 -3.87496415e-04 9.99688402e-01 -2.62871575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.716875 meters 0.015788527934746728 Centerline is valid? [True, True] Translation: X:82.82, Y:-11.92, Z:-2.63 [[ 9.05892999e-01 4.22888933e-01 2.28653406e-02 8.28180386e+01] [-4.22765748e-01 9.06181427e-01 -1.02148250e-02 -1.19176670e+01] [-2.50398835e-02 -4.13144378e-04 9.99686368e-01 -2.62939925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.746875 meters 0.015860777769859696 Centerline is valid? [True, True] Translation: X:82.85, Y:-11.93, Z:-2.63 [[ 9.05458745e-01 4.23812352e-01 2.29684880e-02 8.28474577e+01] [-4.23688183e-01 9.05749911e-01 -1.02675405e-02 -1.19300078e+01] [-2.51552165e-02 -4.34642585e-04 9.99683463e-01 -2.62989827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77687499999999 meters 0.01687652973397965 Centerline is valid? [True, True] Translation: X:82.88, Y:-11.94, Z:-2.63 [[ 9.04662755e-01 4.25475733e-01 2.35733197e-02 8.28772622e+01] [-4.25345316e-01 9.04969703e-01 -1.05450810e-02 -1.19403866e+01] [-2.58198162e-02 -4.87059028e-04 9.99666494e-01 -2.63125246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80687499999999 meters 0.01681375387819077 Centerline is valid? [True, True] Translation: X:82.91, Y:-11.95, Z:-2.63 [[ 9.03772798e-01 4.27350014e-01 2.38053692e-02 8.29069171e+01] [-4.27217501e-01 9.04086099e-01 -1.06551694e-02 -1.19528838e+01] [-2.60755901e-02 -5.40218113e-04 9.99659828e-01 -2.63145061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83687499999999 meters 0.01681375387819077 Centerline is valid? [True, True] Translation: X:82.94, Y:-11.97, Z:-2.63 [[ 9.03654117e-01 4.27601052e-01 2.38028832e-02 8.29364096e+01] [-4.27468481e-01 9.03967393e-01 -1.06607197e-02 -1.19662037e+01] [-2.60755652e-02 -5.41379100e-04 9.99659828e-01 -2.63248464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.866875 meters 0.01756900569989765 Centerline is valid? [True, True] Translation: X:82.97, Y:-11.98, Z:-2.63 [[ 9.02756417e-01 4.29461052e-01 2.43732819e-02 8.29652942e+01] [-4.29322479e-01 9.03085181e-01 -1.09254265e-02 -1.19765374e+01] [-2.67031948e-02 -6.00998957e-04 9.99643225e-01 -2.63346729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.896875 meters 0.018690285318021728 Centerline is valid? [True, True] Translation: X:83.00, Y:-11.99, Z:-2.63 [[ 9.00928697e-01 4.33276361e-01 2.44760649e-02 8.29961362e+01] [-4.33137918e-01 9.01260831e-01 -1.09753417e-02 -1.19866119e+01] [-2.68146747e-02 -7.13511499e-04 9.99640167e-01 -2.63495665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.926875 meters 0.019295677935882743 Centerline is valid? [True, True] Translation: X:83.03, Y:-12.00, Z:-2.64 [[ 8.99987467e-01 4.35256818e-01 2.39595989e-02 8.30261834e+01] [-4.35124834e-01 9.00306021e-01 -1.07446416e-02 -1.19980721e+01] [-2.62476497e-02 -7.55373751e-04 9.99655186e-01 -2.63703246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.956875 meters 0.019472164930370725 Centerline is valid? [True, True] Translation: X:83.06, Y:-12.01, Z:-2.64 [[ 8.99108737e-01 4.37081387e-01 2.37347881e-02 8.30555067e+01] [-4.36952324e-01 8.99421608e-01 -1.06506883e-02 -1.20101388e+01] [-2.60027989e-02 -7.94843893e-04 9.99661554e-01 -2.63897311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.986875 meters 0.020268858886002456 Centerline is valid? [True, True] Translation: X:83.08, Y:-12.02, Z:-2.64 [[ 8.98744876e-01 4.37824951e-01 2.38109157e-02 8.30843108e+01] [-4.37695115e-01 8.99059872e-01 -1.06926558e-02 -1.20216259e+01] [-2.60889503e-02 -8.11951913e-04 9.99659296e-01 -2.63997574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.016875 meters 0.019763606998932953 Centerline is valid? [True, True] Translation: X:83.11, Y:-12.04, Z:-2.64 [[ 8.99941286e-01 4.35350083e-01 2.39997382e-02 8.31118297e+01] [-4.35217208e-01 9.00260936e-01 -1.07809137e-02 -1.20354991e+01] [-2.62994985e-02 -7.42909730e-04 9.99653832e-01 -2.64071666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.046875 meters 0.019093310685687735 Centerline is valid? [True, True] Translation: X:83.14, Y:-12.05, Z:-2.64 [[ 9.01193322e-01 4.32750802e-01 2.40278963e-02 8.31397974e+01] [-4.32616537e-01 9.01513341e-01 -1.07994161e-02 -1.20502847e+01] [-2.63349250e-02 -6.62503640e-04 9.99652956e-01 -2.64118455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.076875 meters 0.017586466789025257 Centerline is valid? [True, True] Translation: X:83.17, Y:-12.07, Z:-2.64 [[ 9.02789936e-01 4.29391579e-01 2.43557614e-02 8.31668326e+01] [-4.29252209e-01 9.03118238e-01 -1.09539454e-02 -1.20668475e+01] [-2.66996642e-02 -5.65652675e-04 9.99643340e-01 -2.64121113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.106875 meters 0.016846982480568654 Centerline is valid? [True, True] Translation: X:83.20, Y:-12.08, Z:-2.64 [[ 9.03189979e-01 4.28530867e-01 2.46811154e-02 8.31953089e+01] [-4.28387258e-01 9.03526979e-01 -1.11065108e-02 -1.20812840e+01] [-2.70595364e-02 -5.41786113e-04 9.99633677e-01 -2.64266201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13687499999999 meters 0.016514616003639855 Centerline is valid? [True, True] Translation: X:83.22, Y:-12.09, Z:-2.65 [[ 9.03425762e-01 4.28041499e-01 2.45431688e-02 8.32238219e+01] [-4.27899123e-01 9.03758932e-01 -1.10513872e-02 -1.20947847e+01] [-2.69115604e-02 -5.17892489e-04 9.99637684e-01 -2.64524110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16687499999999 meters 0.016233116106706826 Centerline is valid? [True, True] Translation: X:83.25, Y:-12.11, Z:-2.65 [[ 9.03599386e-01 4.27657382e-01 2.48457741e-02 8.32532050e+01] [-4.27511132e-01 9.03940765e-01 -1.11948766e-02 -1.21085535e+01] [-2.72466797e-02 -5.06161344e-04 9.99628612e-01 -2.64689691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19687499999999 meters 0.01627688384756356 Centerline is valid? [True, True] Translation: X:83.28, Y:-12.12, Z:-2.65 [[ 9.03385508e-01 4.28069205e-01 2.55221364e-02 8.32828577e+01] [-4.27914839e-01 9.03745805e-01 -1.15070283e-02 -1.21228106e+01] [-2.79913282e-02 -5.26018260e-04 9.99608028e-01 -2.64714259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22687499999999 meters 0.016313201523881233 Centerline is valid? [True, True] Translation: X:83.31, Y:-12.14, Z:-2.65 [[ 9.03049751e-01 4.28767239e-01 2.56866040e-02 8.33120359e+01] [-4.28610919e-01 9.03414832e-01 -1.15896991e-02 -1.21369972e+01] [-2.81749423e-02 -5.43484055e-04 9.99602860e-01 -2.64681308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.256875 meters 0.016765166931195744 Centerline is valid? [True, True] Translation: X:83.34, Y:-12.15, Z:-2.65 [[ 9.02696896e-01 4.29481949e-01 2.61451781e-02 8.33409661e+01] [-4.29320036e-01 9.03075265e-01 -1.18056482e-02 -1.21491813e+01] [-2.86813764e-02 -5.67726849e-04 9.99588443e-01 -2.64721966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.286875 meters 0.017097831112952527 Centerline is valid? [True, True] Translation: X:83.37, Y:-12.16, Z:-2.65 [[ 9.02090399e-01 4.30719351e-01 2.67161511e-02 8.33702989e+01] [-4.30550595e-01 9.02485715e-01 -1.20714583e-02 -1.21612358e+01] [-2.93103554e-02 -6.13108121e-04 9.99570171e-01 -2.64870827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.316875 meters 0.016801309548350317 Centerline is valid? [True, True] Translation: X:83.40, Y:-12.18, Z:-2.65 [[ 9.01964038e-01 4.31001316e-01 2.64336864e-02 8.33996620e+01] [-4.30836018e-01 9.02351093e-01 -1.19511906e-02 -1.21751944e+01] [-2.90034447e-02 -6.09040025e-04 9.99579126e-01 -2.65033417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.346875 meters 0.016917211883183562 Centerline is valid? [True, True] Translation: X:83.43, Y:-12.19, Z:-2.65 [[ 9.01863115e-01 4.31209424e-01 2.64831000e-02 8.34298575e+01] [-4.31043339e-01 9.02251662e-01 -1.19824089e-02 -1.21889021e+01] [-2.90613486e-02 -6.08871222e-04 9.99577444e-01 -2.65226231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.376875 meters 0.0164594266624471 Centerline is valid? [True, True] Translation: X:83.46, Y:-12.20, Z:-2.65 [[ 9.02526949e-01 4.29762090e-01 2.73797920e-02 8.34581007e+01] [-4.29583613e-01 9.02941979e-01 -1.23976206e-02 -1.22033503e+01] [-3.00503909e-02 -5.72723315e-04 9.99548221e-01 -2.65402026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.406875 meters 0.015940859853415115 Centerline is valid? [True, True] Translation: X:83.49, Y:-12.22, Z:-2.65 [[ 9.02860270e-01 4.29050648e-01 2.75476756e-02 8.34869734e+01] [-4.28869403e-01 9.03280269e-01 -1.24816439e-02 -1.22183099e+01] [-3.02385293e-02 -5.45174801e-04 9.99542562e-01 -2.65438555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.436875 meters 0.015457379977513392 Centerline is valid? [True, True] Translation: X:83.52, Y:-12.23, Z:-2.65 [[ 9.03490177e-01 4.27715819e-01 2.76528224e-02 8.35154539e+01] [-4.27532317e-01 9.03913123e-01 -1.25373519e-02 -1.22332636e+01] [-3.03581728e-02 -4.95100959e-04 9.99538962e-01 -2.65464674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.466875 meters 0.01462227542761763 Centerline is valid? [True, True] Translation: X:83.54, Y:-12.25, Z:-2.66 [[ 9.05026538e-01 4.24415814e-01 2.82521098e-02 8.35427133e+01] [-4.24222400e-01 9.05467320e-01 -1.28174539e-02 -1.22487014e+01] [-3.10212923e-02 -3.85041878e-04 9.99518650e-01 -2.65505185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.496875 meters 0.014160385657363491 Centerline is valid? [True, True] Translation: X:83.57, Y:-12.26, Z:-2.66 [[ 9.06085339e-01 4.22091799e-01 2.91182266e-02 8.35698447e+01] [-4.21884884e-01 9.06553042e-01 -1.32183903e-02 -1.22632940e+01] [-3.19765911e-02 -3.07550009e-04 9.99488571e-01 -2.65518591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52687499999999 meters 0.01380212502778796 Centerline is valid? [True, True] Translation: X:83.60, Y:-12.28, Z:-2.66 [[ 9.07145586e-01 4.19760732e-01 2.97962131e-02 8.35985357e+01] [-4.19542548e-01 9.07634771e-01 -1.35341341e-02 -1.22790489e+01] [-3.27251771e-02 -2.23349156e-04 9.99464363e-01 -2.65548345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55687499999999 meters 0.013389052618149008 Centerline is valid? [True, True] Translation: X:83.63, Y:-12.30, Z:-2.66 [[ 9.09574738e-01 4.14450599e-01 3.00748689e-02 8.36259191e+01] [-4.14225244e-01 9.10071811e-01 -1.36655288e-02 -1.22966698e+01] [-3.30339770e-02 -2.79501671e-05 9.99454229e-01 -2.65618762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58687499999999 meters 0.013349517591541769 Centerline is valid? [True, True] Translation: X:83.65, Y:-12.31, Z:-2.66 [[ 9.10654327e-01 4.12055405e-01 3.03156703e-02 8.36548581e+01] [-4.11824805e-01 9.11158789e-01 -1.37837302e-02 -1.23118406e+01] [-3.33020499e-02 6.74685894e-05 9.99445331e-01 -2.65709164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.616875 meters 0.01348669299256568 Centerline is valid? [True, True] Translation: X:83.68, Y:-12.33, Z:-2.66 [[ 9.11680182e-01 4.09782068e-01 3.02969130e-02 8.36843895e+01] [-4.09550169e-01 9.12183442e-01 -1.37850380e-02 -1.23268862e+01] [-3.32852037e-02 1.59440106e-04 9.99445881e-01 -2.65874153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.646875 meters 0.013732425538657366 Centerline is valid? [True, True] Translation: X:83.71, Y:-12.34, Z:-2.66 [[ 9.12458219e-01 4.08009891e-01 3.07884371e-02 8.37125720e+01] [-4.07769055e-01 9.12977476e-01 -1.40187418e-02 -1.23412663e+01] [-3.38289349e-02 2.36944252e-04 9.99427610e-01 -2.65949909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.676875 meters 0.014156789953611968 Centerline is valid? [True, True] Translation: X:83.74, Y:-12.36, Z:-2.66 [[ 9.13491284e-01 4.05657417e-01 3.12367535e-02 8.37400817e+01] [-4.05407830e-01 9.14025135e-01 -1.42318271e-02 -1.23564891e+01] [-3.43244240e-02 3.37025537e-04 9.99410687e-01 -2.65874774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.706875 meters 0.014077456720533267 Centerline is valid? [True, True] Translation: X:83.77, Y:-12.37, Z:-2.66 [[ 9.13485081e-01 4.05708917e-01 3.07454313e-02 8.37701676e+01] [-4.05466880e-01 9.14002276e-01 -1.40159918e-02 -1.23701595e+01] [-3.37878070e-02 3.37145278e-04 9.99428972e-01 -2.66067746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.736875 meters 0.014038843380795873 Centerline is valid? [True, True] Translation: X:83.80, Y:-12.38, Z:-2.66 [[ 9.13202194e-01 4.06390052e-01 3.01476000e-02 8.37999638e+01] [-4.06157394e-01 9.13699637e-01 -1.37529892e-02 -1.23827171e+01] [-3.31349292e-02 3.14589224e-04 9.99450838e-01 -2.66311751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.766875 meters 0.01387781330213874 Centerline is valid? [True, True] Translation: X:83.83, Y:-12.39, Z:-2.67 [[ 9.12691143e-01 4.07561560e-01 2.98069096e-02 8.38288211e+01] [-4.07334448e-01 9.13177692e-01 -1.36069741e-02 -1.23944276e+01] [-3.27646845e-02 2.77583684e-04 9.99463055e-01 -2.66540302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.796875 meters 0.01334584354282623 Centerline is valid? [True, True] Translation: X:83.86, Y:-12.40, Z:-2.67 [[ 9.10662242e-01 4.12192551e-01 2.81350443e-02 8.38600860e+01] [-4.11992285e-01 9.11096751e-01 -1.28478799e-02 -1.24027429e+01] [-3.09295478e-02 1.08657941e-04 9.99521561e-01 -2.66919215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.826875 meters 0.01330557255798744 Centerline is valid? [True, True] Translation: X:83.89, Y:-12.41, Z:-2.67 [[ 9.09096983e-01 4.15698777e-01 2.71514833e-02 8.38910060e+01] [-4.15513609e-01 9.09502351e-01 -1.24062066e-02 -1.24134477e+01] [-2.98515828e-02 -3.36583288e-06 9.99554342e-01 -2.67171723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.856875 meters 0.013529153354746479 Centerline is valid? [True, True] Translation: X:83.92, Y:-12.42, Z:-2.67 [[ 9.07409910e-01 4.19399229e-01 2.66747421e-02 8.39205023e+01] [-4.19221927e-01 9.07801891e-01 -1.21943688e-02 -1.24229334e+01] [-2.93296902e-02 -1.17345689e-04 9.99569785e-01 -2.67301853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88687499999999 meters 0.014527697647251639 Centerline is valid? [True, True] Translation: X:83.95, Y:-12.43, Z:-2.67 [[ 9.03873686e-01 4.26979897e-01 2.64674628e-02 8.39525059e+01] [-4.26808467e-01 9.04261046e-01 -1.21034043e-02 -1.24306221e+01] [-2.91014060e-02 -3.56588549e-04 9.99576401e-01 -2.67268202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91687499999999 meters 0.015426554215274068 Centerline is valid? [True, True] Translation: X:83.98, Y:-12.44, Z:-2.67 [[ 9.02152728e-01 4.30591878e-01 2.66662512e-02 8.39832097e+01] [-4.30419199e-01 9.02546627e-01 -1.22024127e-02 -1.24398076e+01] [-2.93217949e-02 -4.69226536e-04 9.99569914e-01 -2.67353812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94687499999999 meters 0.01660434748111487 Centerline is valid? [True, True] Translation: X:84.01, Y:-12.45, Z:-2.67 [[ 9.00506095e-01 4.34012513e-01 2.68684259e-02 8.40129983e+01] [-4.33838601e-01 9.00906655e-01 -1.22990829e-02 -1.24487107e+01] [-2.95438996e-02 -5.81161151e-04 9.99563315e-01 -2.67458364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97687499999999 meters 0.018705511839353574 Centerline is valid? [True, True] Translation: X:84.04, Y:-12.46, Z:-2.68 [[ 8.98226575e-01 4.38775829e-01 2.57835454e-02 8.40432288e+01] [-4.38617533e-01 8.98596281e-01 -1.18061335e-02 -1.24554456e+01] [-2.83492440e-02 -7.04532208e-04 9.99597831e-01 -2.67803080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.006875 meters 0.019644697092564802 Centerline is valid? [True, True] Translation: X:84.07, Y:-12.47, Z:-2.68 [[ 8.97448527e-01 4.40368601e-01 2.57222886e-02 8.40722149e+01] [-4.40211618e-01 8.97816759e-01 -1.17812838e-02 -1.24664975e+01] [-2.82820092e-02 -7.50154531e-04 9.99599702e-01 -2.67930230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.036875 meters 0.019775111371215955 Centerline is valid? [True, True] Translation: X:84.10, Y:-12.48, Z:-2.68 [[ 8.97110500e-01 4.41017547e-01 2.63870065e-02 8.41023575e+01] [-4.40852420e-01 8.97498138e-01 -1.20927876e-02 -1.24799890e+01] [-2.90154208e-02 -7.84208928e-04 9.99578656e-01 -2.67978448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.066875 meters 0.01908604603712333 Centerline is valid? [True, True] Translation: X:84.13, Y:-12.50, Z:-2.68 [[ 8.97088976e-01 4.41026905e-01 2.69562522e-02 8.41318149e+01] [-4.40854315e-01 8.97493532e-01 -1.23625586e-02 -1.24953731e+01] [-2.96452830e-02 -7.93465059e-04 9.99560167e-01 -2.68002331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.096875 meters 0.019541037345280066 Centerline is valid? [True, True] Translation: X:84.16, Y:-12.51, Z:-2.68 [[ 8.97595451e-01 4.39990748e-01 2.70286446e-02 8.41601206e+01] [-4.39816491e-01 8.98001990e-01 -1.24048169e-02 -1.25077432e+01] [-2.97297813e-02 -7.53136419e-04 9.99557689e-01 -2.68116284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.126875 meters 0.017422017047839074 Centerline is valid? [True, True] Translation: X:84.19, Y:-12.53, Z:-2.68 [[ 8.98102672e-01 4.38911252e-01 2.77218948e-02 8.41873476e+01] [-4.38727196e-01 8.98530123e-01 -1.27305350e-02 -1.25255459e+01] [-3.04965326e-02 -7.29021717e-04 9.99534607e-01 -2.68108734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.156875 meters 0.017292111422135808 Centerline is valid? [True, True] Translation: X:84.21, Y:-12.54, Z:-2.68 [[ 8.98719981e-01 4.37664264e-01 2.74296845e-02 8.42149871e+01] [-4.37483244e-01 8.99138221e-01 -1.26044069e-02 -1.25397878e+01] [-3.01795762e-02 -6.72195059e-04 9.99544267e-01 -2.68199346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.186875 meters 0.015980907796151526 Centerline is valid? [True, True] Translation: X:84.24, Y:-12.56, Z:-2.68 [[ 9.00604735e-01 4.33861928e-01 2.59795703e-02 8.42419848e+01] [-4.33697770e-01 9.00979227e-01 -1.19447315e-02 -1.25575304e+01] [-2.85894174e-02 -5.09799928e-04 9.99591109e-01 -2.68439288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.216875 meters 0.01544701564296238 Centerline is valid? [True, True] Translation: X:84.27, Y:-12.57, Z:-2.69 [[ 9.01618572e-01 4.31793820e-01 2.52596230e-02 8.42699616e+01] [-4.31637629e-01 9.01972237e-01 -1.16207255e-02 -1.25730895e+01] [-2.78012361e-02 -4.25541877e-04 9.99613380e-01 -2.68692417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.246875 meters 0.014952687172034098 Centerline is valid? [True, True] Translation: X:84.30, Y:-12.59, Z:-2.69 [[ 9.02688409e-01 4.29602460e-01 2.44000438e-02 8.42972626e+01] [-4.29455735e-01 9.03018057e-01 -1.12321439e-02 -1.25877164e+01] [-2.68590368e-02 -3.39612602e-04 9.99639173e-01 -2.68993828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27687499999999 meters 0.014219285156025425 Centerline is valid? [True, True] Translation: X:84.32, Y:-12.60, Z:-2.69 [[ 9.03713202e-01 4.27482882e-01 2.36819497e-02 8.43249462e+01] [-4.27343781e-01 9.04023405e-01 -1.09075975e-02 -1.26042478e+01] [-2.60718480e-02 -2.62994114e-04 9.99660037e-01 -2.69144178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30687499999999 meters 0.01373577826152612 Centerline is valid? [True, True] Translation: X:84.35, Y:-12.62, Z:-2.69 [[ 9.05933055e-01 4.22809087e-01 2.27546865e-02 8.43509671e+01] [-4.22679030e-01 9.06218772e-01 -1.04869021e-02 -1.26219339e+01] [-2.50546816e-02 -1.17497556e-04 9.99686075e-01 -2.69351111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33687499999999 meters 0.0136547473697497 Centerline is valid? [True, True] Translation: X:84.38, Y:-12.64, Z:-2.69 [[ 9.06920754e-01 4.20715371e-01 2.22108566e-02 8.43791628e+01] [-4.20590701e-01 9.07192688e-01 -1.02415398e-02 -1.26382805e+01] [-2.44582999e-02 -5.34147067e-05 9.99700850e-01 -2.69438365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.366875 meters 0.013506126810511805 Centerline is valid? [True, True] Translation: X:84.41, Y:-12.65, Z:-2.69 [[ 9.07618620e-01 4.19202666e-01 2.23061590e-02 8.44069385e+01] [-4.19076281e-01 9.07892683e-01 -1.02930205e-02 -1.26538382e+01] [-2.45664602e-02 -5.84509843e-06 9.99698199e-01 -2.69447390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.396875 meters 0.013703633585616708 Centerline is valid? [True, True] Translation: X:84.44, Y:-12.67, Z:-2.69 [[ 9.08371212e-01 4.17568091e-01 2.23300494e-02 8.44361734e+01] [-4.17440776e-01 9.08645633e-01 -1.03107339e-02 -1.26699395e+01] [-2.45955354e-02 4.45006716e-05 9.99697483e-01 -2.69497117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.426875 meters 0.01367409395724266 Centerline is valid? [True, True] Translation: X:84.47, Y:-12.69, Z:-2.69 [[ 9.09044559e-01 4.16059534e-01 2.30749579e-02 8.44654573e+01] [-4.15922900e-01 9.09337371e-01 -1.06624057e-02 -1.26856563e+01] [-2.54191171e-02 9.51984801e-05 9.99676878e-01 -2.69377597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.456875 meters 0.01368689365358981 Centerline is valid? [True, True] Translation: X:84.50, Y:-12.70, Z:-2.69 [[ 9.08919326e-01 4.16281829e-01 2.39811779e-02 8.44955665e+01] [-4.16134112e-01 9.09235629e-01 -1.10892861e-02 -1.26997318e+01] [-2.64208097e-02 9.98802859e-05 9.99650904e-01 -2.69297903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.486875 meters 0.013645883569694619 Centerline is valid? [True, True] Translation: X:84.52, Y:-12.71, Z:-2.69 [[ 9.08884483e-01 4.16282438e-01 2.52572463e-02 8.45237961e+01] [-4.16118309e-01 9.09235348e-01 -1.16890632e-02 -1.27131452e+01] [-2.78307329e-02 1.14005541e-04 9.99612644e-01 -2.69311869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.516875 meters 0.0136623346141763 Centerline is valid? [True, True] Translation: X:84.55, Y:-12.73, Z:-2.69 [[ 9.08653721e-01 4.16673604e-01 2.70466723e-02 8.45527846e+01] [-4.16485426e-01 9.09056156e-01 -1.25217685e-02 -1.27262831e+01] [-2.98044344e-02 1.13406689e-04 9.99555743e-01 -2.69273469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.546875 meters 0.013563706546137404 Centerline is valid? [True, True] Translation: X:84.58, Y:-12.74, Z:-2.69 [[ 9.08383040e-01 4.17262326e-01 2.70629710e-02 8.45823563e+01] [-4.17073936e-01 9.08786081e-01 -1.25375693e-02 -1.27395015e+01] [-2.98259067e-02 1.01655504e-04 9.99555104e-01 -2.69343350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.576875 meters 0.013577355706317407 Centerline is valid? [True, True] Translation: X:84.61, Y:-12.75, Z:-2.69 [[ 9.07857635e-01 4.18391735e-01 2.72556579e-02 8.46127485e+01] [-4.18200891e-01 9.08266674e-01 -1.26358200e-02 -1.27529997e+01] [-3.00421284e-02 7.31852757e-05 9.99548631e-01 -2.69446391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.606875 meters 0.013468714848672791 Centerline is valid? [True, True] Translation: X:84.64, Y:-12.76, Z:-2.70 [[ 9.06748688e-01 4.20898658e-01 2.55173832e-02 8.46434025e+01] [-4.20732158e-01 9.07107667e-01 -1.18377256e-02 -1.27646057e+01] [-2.81294968e-02 -2.14152602e-06 9.99604287e-01 -2.69752626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63687499999999 meters 0.013470804882727148 Centerline is valid? [True, True] Translation: X:84.67, Y:-12.78, Z:-2.70 [[ 9.05987959e-01 4.22582979e-01 2.46869412e-02 8.46742617e+01] [-4.22427554e-01 9.06324238e-01 -1.14602557e-02 -1.27772187e+01] [-2.72172822e-02 -4.55905321e-05 9.99629540e-01 -2.69976230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66687499999999 meters 0.013466100311171661 Centerline is valid? [True, True] Translation: X:84.70, Y:-12.79, Z:-2.70 [[ 9.05214598e-01 4.24277162e-01 2.39879483e-02 8.47037151e+01] [-4.24130807e-01 9.05532375e-01 -1.11434505e-02 -1.27891007e+01] [-2.64497754e-02 -8.68137853e-05 9.99650140e-01 -2.70246925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69687499999999 meters 0.013664677273037521 Centerline is valid? [True, True] Translation: X:84.73, Y:-12.80, Z:-2.70 [[ 9.04242003e-01 4.26364769e-01 2.36534252e-02 8.47339336e+01] [-4.26223000e-01 9.04551306e-01 -1.09949963e-02 -1.28019522e+01] [-2.60836157e-02 -1.39496393e-04 9.99659755e-01 -2.70393698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72687499999999 meters 0.013664677273037521 Centerline is valid? [True, True] Translation: X:84.76, Y:-12.82, Z:-2.70 [[ 9.04126923e-01 4.26608911e-01 2.36504525e-02 8.47632316e+01] [-4.26467058e-01 9.04436188e-01 -1.10013863e-02 -1.28156832e+01] [-2.60836145e-02 -1.39489377e-04 9.99659755e-01 -2.70497143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.756875 meters 0.014077227441168207 Centerline is valid? [True, True] Translation: X:84.79, Y:-12.83, Z:-2.71 [[ 9.02749988e-01 4.29562816e-01 2.27650196e-02 8.47924008e+01] [-4.29432120e-01 9.03036956e-01 -1.05976905e-02 -1.28274358e+01] [-2.51100278e-02 -2.08965696e-04 9.99684672e-01 -2.70628519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.786875 meters 0.014295254662952932 Centerline is valid? [True, True] Translation: X:84.82, Y:-12.84, Z:-2.71 [[ 9.02105147e-01 4.30910757e-01 2.28521909e-02 8.48220795e+01] [-4.30779427e-01 9.02394514e-01 -1.06407626e-02 -1.28409666e+01] [-2.52069108e-02 -2.45166980e-04 9.99682225e-01 -2.70646794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.816875 meters 0.014616743397568925 Centerline is valid? [True, True] Translation: X:84.85, Y:-12.85, Z:-2.71 [[ 9.01445079e-01 4.32247415e-01 2.36419590e-02 8.48509068e+01] [-4.32107072e-01 9.01755006e-01 -1.10175711e-02 -1.28528877e+01] [-2.60815715e-02 -2.84122407e-04 9.99659778e-01 -2.70725909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.846875 meters 0.01536506285325636 Centerline is valid? [True, True] Translation: X:84.88, Y:-12.86, Z:-2.71 [[ 9.00146452e-01 4.34863467e-01 2.51023899e-02 8.48804764e+01] [-4.34706155e-01 9.00496320e-01 -1.17020079e-02 -1.28642698e+01] [-2.76933855e-02 -3.78642510e-04 9.99616393e-01 -2.70689850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.876875 meters 0.015254110978290547 Centerline is valid? [True, True] Translation: X:84.91, Y:-12.88, Z:-2.71 [[ 8.99508089e-01 4.36181399e-01 2.51194059e-02 8.49096010e+01] [-4.36024193e-01 8.99858665e-01 -1.17169339e-02 -1.28781180e+01] [-2.77146237e-02 -4.13191877e-04 9.99615791e-01 -2.70696421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.906875 meters 0.015821473580416183 Centerline is valid? [True, True] Translation: X:84.94, Y:-12.89, Z:-2.71 [[ 8.98739410e-01 4.37753658e-01 2.52825557e-02 8.49382777e+01] [-4.37594815e-01 8.99094837e-01 -1.18005363e-02 -1.28901354e+01] [-2.78971432e-02 -4.57908257e-04 9.99610694e-01 -2.70794302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.936875 meters 0.016082142259890117 Centerline is valid? [True, True] Translation: X:84.97, Y:-12.90, Z:-2.71 [[ 8.98134266e-01 4.39030182e-01 2.46442639e-02 8.49679005e+01] [-4.38879567e-01 8.98472186e-01 -1.15089464e-02 -1.29030823e+01] [-2.71949605e-02 -4.79284700e-04 9.99630034e-01 -2.70923475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.966875 meters 0.017155860827470514 Centerline is valid? [True, True] Translation: X:85.00, Y:-12.91, Z:-2.71 [[ 8.96666772e-01 4.42048208e-01 2.41263615e-02 8.49979822e+01] [-4.41904764e-01 8.96991124e-01 -1.12740048e-02 -1.29127174e+01] [-2.66247857e-02 -5.52528566e-04 9.99645345e-01 -2.71157688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.996875 meters 0.017297894430123792 Centerline is valid? [True, True] Translation: X:85.03, Y:-12.93, Z:-2.71 [[ 8.96023585e-01 4.43387306e-01 2.34399699e-02 8.50275446e+01] [-4.43252213e-01 8.96329946e-01 -1.09592027e-02 -1.29255462e+01] [-2.58691184e-02 -5.70114456e-04 9.99665176e-01 -2.71365289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02687499999999 meters 0.01766934937280886 Centerline is valid? [True, True] Translation: X:85.06, Y:-12.94, Z:-2.72 [[ 8.95335684e-01 4.44804619e-01 2.28661916e-02 8.50572037e+01] [-4.44676357e-01 8.95627435e-01 -1.06974422e-02 -1.29377454e+01] [-2.52378602e-02 -5.90253091e-04 9.99681300e-01 -2.71532902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05687499999999 meters 0.018510600323951836 Centerline is valid? [True, True] Translation: X:85.09, Y:-12.95, Z:-2.72 [[ 8.94663397e-01 4.46179925e-01 2.23803689e-02 8.50866014e+01] [-4.46057325e-01 8.94943072e-01 -1.04766486e-02 -1.29490402e+01] [-2.47036264e-02 -6.09853467e-04 9.99694633e-01 -2.71718204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08687499999999 meters 0.0183305700160031 Centerline is valid? [True, True] Translation: X:85.12, Y:-12.96, Z:-2.72 [[ 8.94544369e-01 4.46439483e-01 2.19581329e-02 8.51157848e+01] [-4.46321416e-01 8.94813627e-01 -1.02842862e-02 -1.29636079e+01] [-2.42397479e-02 -6.00634637e-04 9.99705994e-01 -2.71827080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.116875 meters 0.01798428696158482 Centerline is valid? [True, True] Translation: X:85.14, Y:-12.98, Z:-2.72 [[ 8.94484421e-01 4.46558940e-01 2.19711909e-02 8.51447279e+01] [-4.46440592e-01 8.94754020e-01 -1.02976717e-02 -1.29783978e+01] [-2.42573288e-02 -5.97724585e-04 9.99705569e-01 -2.71878241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.146875 meters 0.018015406989386563 Centerline is valid? [True, True] Translation: X:85.17, Y:-12.99, Z:-2.72 [[ 8.94753689e-01 4.46039519e-01 2.15542094e-02 8.51726258e+01] [-4.45925291e-01 8.95013088e-01 -1.01097929e-02 -1.29914286e+01] [-2.38006667e-02 -5.65792599e-04 9.99716564e-01 -2.71966175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.176875 meters 0.01780332494318617 Centerline is valid? [True, True] Translation: X:85.20, Y:-13.01, Z:-2.72 [[ 8.94983677e-01 4.45514258e-01 2.28311987e-02 8.52018522e+01] [-4.45385754e-01 8.95274657e-01 -1.07153596e-02 -1.30054603e+01] [-2.52140391e-02 -5.78618669e-04 9.99681908e-01 -2.71916755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.206875 meters 0.017120638964613934 Centerline is valid? [True, True] Translation: X:85.23, Y:-13.02, Z:-2.72 [[ 8.95230323e-01 4.44994070e-01 2.33011948e-02 8.52299980e+01] [-4.44859867e-01 8.95533335e-01 -1.09428139e-02 -1.30205503e+01] [-2.57364839e-02 -5.69427609e-04 9.99668600e-01 -2.71939839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.236875 meters 0.016938718745899074 Centerline is valid? [True, True] Translation: X:85.26, Y:-13.03, Z:-2.72 [[ 8.95326915e-01 4.44786663e-01 2.35486870e-02 8.52588758e+01] [-4.44649337e-01 8.95636370e-01 -1.10661447e-02 -1.30346998e+01] [-2.60131341e-02 -5.63090873e-04 9.99661443e-01 -2.71922207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.266875 meters 0.017437018133842158 Centerline is valid? [True, True] Translation: X:85.29, Y:-13.05, Z:-2.72 [[ 8.95223479e-01 4.44974882e-01 2.39223083e-02 8.52881487e+01] [-4.44833027e-01 8.95542868e-01 -1.12493973e-02 -1.30474017e+01] [-2.64291518e-02 -5.70708261e-04 9.99650526e-01 -2.71994528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.296875 meters 0.017328361454238956 Centerline is valid? [True, True] Translation: X:85.32, Y:-13.06, Z:-2.72 [[ 8.95258499e-01 4.44915609e-01 2.37132840e-02 8.53175022e+01] [-4.44776088e-01 8.95572324e-01 -1.11554773e-02 -1.30611519e+01] [-2.62002068e-02 -5.60065860e-04 9.99656559e-01 -2.72113711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.326875 meters 0.01710713126045112 Centerline is valid? [True, True] Translation: X:85.35, Y:-13.08, Z:-2.72 [[ 8.95317552e-01 4.44825967e-01 2.31590332e-02 8.53472233e+01] [-4.44692672e-01 8.95616866e-01 -1.09021587e-02 -1.30756481e+01] [-2.55911840e-02 -5.37758294e-04 9.99672347e-01 -2.72321654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.356875 meters 0.016853539525437795 Centerline is valid? [True, True] Translation: X:85.37, Y:-13.09, Z:-2.73 [[ 8.95925329e-01 4.43666156e-01 2.18665642e-02 8.53742881e+01] [-4.43546808e-01 8.96192011e-01 -1.03008836e-02 -1.30899840e+01] [-2.41667936e-02 -4.70022245e-04 9.99707830e-01 -2.72537736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38687499999999 meters 0.016629226418530728 Centerline is valid? [True, True] Translation: X:85.40, Y:-13.10, Z:-2.73 [[ 8.96190732e-01 4.43135021e-01 2.17606430e-02 8.54029031e+01] [-4.43016534e-01 8.96454769e-01 -1.02566319e-02 -1.31046350e+01] [-2.40525049e-02 -4.48426168e-04 9.99710596e-01 -2.72634773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41687499999999 meters 0.01594214120941203 Centerline is valid? [True, True] Translation: X:85.43, Y:-13.12, Z:-2.73 [[ 8.96584016e-01 4.42323270e-01 2.20732192e-02 8.54315302e+01] [-4.42200953e-01 8.96855586e-01 -1.04103243e-02 -1.31200177e+01] [-2.44012186e-02 -4.27068198e-04 9.99702155e-01 -2.72632969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44687499999999 meters 0.015791714682434885 Centerline is valid? [True, True] Translation: X:85.46, Y:-13.13, Z:-2.73 [[ 8.97027381e-01 4.41394998e-01 2.26347689e-02 8.54592844e+01] [-4.41265907e-01 8.97312817e-01 -1.06821505e-02 -1.31336196e+01] [-2.50255160e-02 -4.05770348e-04 9.99686730e-01 -2.72664493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47687499999999 meters 0.015494524943996077 Centerline is valid? [True, True] Translation: X:85.49, Y:-13.15, Z:-2.73 [[ 8.97587849e-01 4.40225826e-01 2.31792112e-02 8.54874864e+01] [-4.40089896e-01 8.97887009e-01 -1.09454808e-02 -1.31482431e+01] [-2.56307959e-02 -3.76406103e-04 9.99671406e-01 -2.72714481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.506875 meters 0.015293041148736258 Centerline is valid? [True, True] Translation: X:85.52, Y:-13.16, Z:-2.73 [[ 8.97632418e-01 4.40145638e-01 2.29751733e-02 8.55173294e+01] [-4.40011906e-01 8.97926324e-01 -1.08553573e-02 -1.31629771e+01] [-2.54079511e-02 -3.65229142e-04 9.99677099e-01 -2.72861034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.536875 meters 0.015320522191358679 Centerline is valid? [True, True] Translation: X:85.55, Y:-13.18, Z:-2.73 [[ 8.97508805e-01 4.40394457e-01 2.30362322e-02 8.55461591e+01] [-4.40259893e-01 8.97804315e-01 -1.08921051e-02 -1.31761647e+01] [-2.54788514e-02 -3.66168921e-04 9.99675294e-01 -2.73012981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.566875 meters 0.01498655723314884 Centerline is valid? [True, True] Translation: X:85.58, Y:-13.19, Z:-2.73 [[ 8.97536484e-01 4.40344829e-01 2.29061405e-02 8.55760289e+01] [-4.40211588e-01 8.97828661e-01 -1.08376002e-02 -1.31907629e+01] [-2.53380706e-02 -3.56406916e-04 9.99678876e-01 -2.73138143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.596875 meters 0.014872185949154423 Centerline is valid? [True, True] Translation: X:85.61, Y:-13.20, Z:-2.73 [[ 8.97852888e-01 4.39712812e-01 2.26458459e-02 8.56054482e+01] [-4.39582187e-01 8.98138372e-01 -1.07221862e-02 -1.32043013e+01] [-2.50537858e-02 -3.27764636e-04 9.99686051e-01 -2.73378404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.626875 meters 0.014880250751394429 Centerline is valid? [True, True] Translation: X:85.63, Y:-13.22, Z:-2.74 [[ 8.98199441e-01 4.39006980e-01 2.25972492e-02 8.56331734e+01] [-4.38876525e-01 8.98483601e-01 -1.07058154e-02 -1.32178414e+01] [-2.50031855e-02 -3.01444784e-04 9.99687326e-01 -2.73536812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.656875 meters 0.014471037870817882 Centerline is valid? [True, True] Translation: X:85.66, Y:-13.23, Z:-2.74 [[ 8.98491352e-01 4.38402588e-01 2.27257831e-02 8.56619030e+01] [-4.38270301e-01 8.98778667e-01 -1.07727044e-02 -1.32327344e+01] [-2.51482305e-02 -2.80854109e-04 9.99683694e-01 -2.73515578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.686875 meters 0.014093023265245034 Centerline is valid? [True, True] Translation: X:85.69, Y:-13.25, Z:-2.74 [[ 8.99654009e-01 4.36007388e-01 2.28083712e-02 8.56895319e+01] [-4.35873195e-01 8.99943062e-01 -1.08186694e-02 -1.32479553e+01] [-2.52432552e-02 -2.08498305e-04 9.99681317e-01 -2.73535149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.716875 meters 0.013837828846026324 Centerline is valid? [True, True] Translation: X:85.72, Y:-13.26, Z:-2.74 [[ 9.00233775e-01 4.34778052e-01 2.33922324e-02 8.57172757e+01] [-4.34636315e-01 9.00537626e-01 -1.11021625e-02 -1.32618123e+01] [-2.58925620e-02 -1.72572053e-04 9.99664717e-01 -2.73637465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.746875 meters 0.013680059052321992 Centerline is valid? [True, True] Translation: X:85.75, Y:-13.28, Z:-2.74 [[ 9.00933911e-01 4.33292668e-01 2.39906356e-02 8.57453811e+01] [-4.33142887e-01 9.01253265e-01 -1.13926407e-02 -1.32767398e+01] [-2.65579863e-02 -1.27356827e-04 9.99647266e-01 -2.73680466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77687499999999 meters 0.01346436516177829 Centerline is valid? [True, True] Translation: X:85.77, Y:-13.29, Z:-2.74 [[ 9.02551871e-01 4.29875789e-01 2.46358770e-02 8.57725178e+01] [-4.29716368e-01 9.02888036e-01 -1.17063039e-02 -1.32934527e+01] [-2.72756952e-02 -2.08930611e-05 9.99627949e-01 -2.73703629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80687499999999 meters 0.0134972997645548 Centerline is valid? [True, True] Translation: X:85.80, Y:-13.31, Z:-2.74 [[ 9.03249122e-01 4.28392613e-01 2.49157237e-02 8.58012131e+01] [-4.28228789e-01 9.03592700e-01 -1.18463358e-02 -1.33085657e+01] [-2.75885488e-02 3.05622006e-05 9.99619363e-01 -2.73767014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83687499999999 meters 0.013544859071494109 Centerline is valid? [True, True] Translation: X:85.83, Y:-13.32, Z:-2.74 [[ 9.03737505e-01 4.27355569e-01 2.50147950e-02 8.58295164e+01] [-4.27189805e-01 9.04083632e-01 -1.19020135e-02 -1.33232067e+01] [-2.77018585e-02 7.02306344e-05 9.99616227e-01 -2.73856555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.866875 meters 0.013726330718336226 Centerline is valid? [True, True] Translation: X:85.86, Y:-13.34, Z:-2.74 [[ 9.04757663e-01 4.25188496e-01 2.50662125e-02 8.58574589e+01] [-4.25020997e-01 9.05104813e-01 -1.19343896e-02 -1.33387436e+01] [-2.77619147e-02 1.44063792e-04 9.99614553e-01 -2.73881014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.896875 meters 0.014003092587053022 Centerline is valid? [True, True] Translation: X:85.89, Y:-13.35, Z:-2.74 [[ 9.05049427e-01 4.24527059e-01 2.57353840e-02 8.58863312e+01] [-4.24349994e-01 9.05415233e-01 -1.22612131e-02 -1.33534522e+01] [-2.85064254e-02 1.76193792e-04 9.99593594e-01 -2.73948427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.926875 meters 0.014053272793623974 Centerline is valid? [True, True] Translation: X:85.92, Y:-13.37, Z:-2.74 [[ 9.05359030e-01 4.23860849e-01 2.58264909e-02 8.59151488e+01] [-4.23682007e-01 9.05727298e-01 -1.23133468e-02 -1.33678697e+01] [-2.86109035e-02 2.05780169e-04 9.99590603e-01 -2.74069295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.956875 meters 0.014091869895862698 Centerline is valid? [True, True] Translation: X:85.94, Y:-13.38, Z:-2.74 [[ 9.05612472e-01 4.23359423e-01 2.51565005e-02 8.59449843e+01] [-4.23189339e-01 9.05961781e-01 -1.20014082e-02 -1.33811827e+01] [-2.78717373e-02 2.22662071e-04 9.99611483e-01 -2.74359494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.986875 meters 0.014079894741464686 Centerline is valid? [True, True] Translation: X:85.98, Y:-13.39, Z:-2.75 [[ 9.05553012e-01 4.23525025e-01 2.45009356e-02 8.59752564e+01] [-4.23363537e-01 9.05884377e-01 -1.16966119e-02 -1.33947752e+01] [-2.71488226e-02 2.19099335e-04 9.99631379e-01 -2.74526448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.016875 meters 0.014206255658805766 Centerline is valid? [True, True] Translation: X:86.00, Y:-13.41, Z:-2.75 [[ 9.05375799e-01 4.23932569e-01 2.39966732e-02 8.60040139e+01] [-4.23777590e-01 9.05693730e-01 -1.14638854e-02 -1.34079912e+01] [-2.65935508e-02 2.09872059e-04 9.99646307e-01 -2.74714876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.046875 meters 0.014022636517648644 Centerline is valid? [True, True] Translation: X:86.03, Y:-13.42, Z:-2.75 [[ 9.05099243e-01 4.24554993e-01 2.34183326e-02 8.60346450e+01] [-4.24407423e-01 9.05402132e-01 -1.11945823e-02 -1.34211693e+01] [-2.59557241e-02 1.93293806e-04 9.99663075e-01 -2.74825030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.076875 meters 0.013963148070803164 Centerline is valid? [True, True] Translation: X:86.07, Y:-13.43, Z:-2.75 [[ 9.04797411e-01 4.25192445e-01 2.35165871e-02 8.60652064e+01] [-4.25043645e-01 9.05102951e-01 -1.12493967e-02 -1.34335787e+01] [-2.60680908e-02 1.82849076e-04 9.99660153e-01 -2.74848021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.106875 meters 0.014043979928516635 Centerline is valid? [True, True] Translation: X:86.09, Y:-13.45, Z:-2.75 [[ 9.04646085e-01 4.25471278e-01 2.42827488e-02 8.60949574e+01] [-4.25312495e-01 9.04971909e-01 -1.16243493e-02 -1.34467101e+01] [-2.69210323e-02 1.88165579e-04 9.99637546e-01 -2.74910017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13687499999999 meters 0.013915129702291812 Centerline is valid? [True, True] Translation: X:86.12, Y:-13.46, Z:-2.75 [[ 9.04218988e-01 4.26336308e-01 2.50074835e-02 8.61249106e+01] [-4.26167992e-01 9.04564714e-01 -1.19800093e-02 -1.34596431e+01] [-2.77284001e-02 1.75162836e-04 9.99615479e-01 -2.74955293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16687499999999 meters 0.013755102253611939 Centerline is valid? [True, True] Translation: X:86.16, Y:-13.47, Z:-2.75 [[ 9.02673918e-01 4.29545695e-01 2.58900364e-02 8.61561338e+01] [-4.29366340e-01 9.03045120e-01 -1.24119781e-02 -1.34690374e+01] [-2.87113828e-02 8.76587476e-05 9.99587739e-01 -2.75024025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19687499999999 meters 0.013712516162239405 Centerline is valid? [True, True] Translation: X:86.19, Y:-13.48, Z:-2.75 [[ 9.01553775e-01 4.31891841e-01 2.58887814e-02 8.61871838e+01] [-4.31713255e-01 9.01925405e-01 -1.24188817e-02 -1.34802124e+01] [-2.87133633e-02 1.97596270e-05 9.99587686e-01 -2.75184648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22687499999999 meters 0.013773761960309177 Centerline is valid? [True, True] Translation: X:86.22, Y:-13.49, Z:-2.75 [[ 8.99996859e-01 4.35132670e-01 2.57917103e-02 8.62178274e+01] [-4.34956502e-01 9.00366344e-01 -1.23809412e-02 -1.34905156e+01] [-2.86093399e-02 -7.54639568e-05 9.99590666e-01 -2.75422491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.256875 meters 0.014324455524678412 Centerline is valid? [True, True] Translation: X:86.25, Y:-13.50, Z:-2.76 [[ 8.96788426e-01 4.41706445e-01 2.58057347e-02 8.62493763e+01] [-4.41532564e-01 8.97159595e-01 -1.23958038e-02 -1.34976832e+01] [-2.86271689e-02 -2.77658817e-04 9.99590120e-01 -2.75533891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.286875 meters 0.014976638660942619 Centerline is valid? [True, True] Translation: X:86.28, Y:-13.51, Z:-2.76 [[ 8.94958753e-01 4.45388782e-01 2.60319879e-02 8.62796397e+01] [-4.45213185e-01 8.95337187e-01 -1.25116266e-02 -1.35082059e+01] [-2.88799449e-02 -3.92394530e-04 9.99582810e-01 -2.75574782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.316875 meters 0.015844766407222134 Centerline is valid? [True, True] Translation: X:86.31, Y:-13.52, Z:-2.76 [[ 8.93336204e-01 4.48638010e-01 2.59685001e-02 8.63101732e+01] [-4.48464419e-01 8.93713431e-01 -1.24887305e-02 -1.35188795e+01] [-2.88113165e-02 -4.89313195e-04 9.99584748e-01 -2.75660917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.346875 meters 0.016976791803791528 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.53, Z:-2.76 [[ 8.91705226e-01 4.51899172e-01 2.54740767e-02 8.63401418e+01] [-4.51733249e-01 8.92068834e-01 -1.22583288e-02 -1.35290545e+01] [-2.82641586e-02 -5.76671549e-04 9.99600323e-01 -2.75850775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.376875 meters 0.018104378891401908 Centerline is valid? [True, True] Translation: X:86.37, Y:-13.54, Z:-2.76 [[ 8.89540963e-01 4.56155531e-01 2.52785767e-02 8.63715579e+01] [-4.55993650e-01 8.89899793e-01 -1.21716679e-02 -1.35383809e+01] [-2.80475738e-02 -6.99673205e-04 9.99606345e-01 -2.76133793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.406875 meters 0.018097040886427038 Centerline is valid? [True, True] Translation: X:86.40, Y:-13.55, Z:-2.76 [[ 8.88742987e-01 4.57705339e-01 2.53322969e-02 8.64009127e+01] [-4.57543358e-01 8.89103628e-01 -1.21989451e-02 -1.35519209e+01] [-2.81065594e-02 -7.48897236e-04 9.99604652e-01 -2.76269433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.436875 meters 0.0184693111856369 Centerline is valid? [True, True] Translation: X:86.43, Y:-13.56, Z:-2.76 [[ 8.88284703e-01 4.58554713e-01 2.60357722e-02 8.64298109e+01] [-4.58383739e-01 8.88665827e-01 -1.25457618e-02 -1.35647969e+01] [-2.88900192e-02 -7.90166339e-04 9.99582284e-01 -2.76353478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.466875 meters 0.018880918992148926 Centerline is valid? [True, True] Translation: X:86.46, Y:-13.58, Z:-2.76 [[ 8.87599448e-01 4.59821400e-01 2.70462682e-02 8.64586765e+01] [-4.59637228e-01 8.88011006e-01 -1.30411278e-02 -1.35792470e+01] [-3.00139735e-02 -8.56173957e-04 9.99549113e-01 -2.76255085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49687499999999 meters 0.018680822176675545 Centerline is valid? [True, True] Translation: X:86.49, Y:-13.59, Z:-2.76 [[ 8.87573484e-01 4.59884864e-01 2.68183098e-02 8.64879820e+01] [-4.59703578e-01 8.87978152e-01 -1.29391194e-02 -1.35946428e+01] [-2.97645784e-02 -8.44053686e-04 9.99556580e-01 -2.76290424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52687499999999 meters 0.019086152712438218 Centerline is valid? [True, True] Translation: X:86.52, Y:-13.61, Z:-2.76 [[ 8.88186156e-01 4.58669671e-01 2.73401576e-02 8.65155303e+01] [-4.58480385e-01 8.88606480e-01 -1.32007631e-02 -1.36091645e+01] [-3.03494309e-02 -8.10190989e-04 9.99539022e-01 -2.76380097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55687499999999 meters 0.018101904833086373 Centerline is valid? [True, True] Translation: X:86.54, Y:-13.63, Z:-2.76 [[ 8.88333197e-01 4.58426826e-01 2.66266090e-02 8.65430435e+01] [-4.58247061e-01 8.88731816e-01 -1.28604146e-02 -1.36260929e+01] [-2.95594736e-02 -7.77232041e-04 9.99562721e-01 -2.76491867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58687499999999 meters 0.018562214471497113 Centerline is valid? [True, True] Translation: X:86.57, Y:-13.64, Z:-2.77 [[ 8.88629204e-01 4.57888496e-01 2.60050486e-02 8.65709568e+01] [-4.57716574e-01 8.89009328e-01 -1.25679414e-02 -1.36401612e+01] [-2.88734465e-02 -7.34701990e-04 9.99582805e-01 -2.76696628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.616875 meters 0.018078479862514662 Centerline is valid? [True, True] Translation: X:86.60, Y:-13.66, Z:-2.77 [[ 8.88711817e-01 4.57778339e-01 2.51057721e-02 8.65994378e+01] [-4.57617878e-01 8.89066085e-01 -1.21398170e-02 -1.36566956e+01] [-2.78780357e-02 -7.00051314e-04 9.99611087e-01 -2.76889649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.646875 meters 0.018078479862514662 Centerline is valid? [True, True] Translation: X:86.63, Y:-13.67, Z:-2.77 [[ 8.88585193e-01 4.58024260e-01 2.51024169e-02 8.66285366e+01] [-4.57863702e-01 8.88939417e-01 -1.21467505e-02 -1.36708770e+01] [-2.78780342e-02 -7.00062876e-04 9.99611087e-01 -2.76993122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.676875 meters 0.02028897508942188 Centerline is valid? [True, True] Translation: X:86.66, Y:-13.68, Z:-2.78 [[ 8.88582798e-01 4.58107210e-01 2.36303810e-02 8.66583429e+01] [-4.57964762e-01 8.88896707e-01 -1.14420651e-02 -1.36827182e+01] [-2.62466603e-02 -6.54659565e-04 9.99655283e-01 -2.77503410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.706875 meters 0.017911222176092 Centerline is valid? [True, True] Translation: X:86.69, Y:-13.70, Z:-2.78 [[ 8.88394570e-01 4.58515643e-01 2.27704415e-02 8.66853433e+01] [-4.58383339e-01 8.88686109e-01 -1.10324239e-02 -1.37023315e+01] [-2.52943140e-02 -6.36445548e-04 9.99679845e-01 -2.77621055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.736875 meters 0.018411709772048503 Centerline is valid? [True, True] Translation: X:86.71, Y:-13.72, Z:-2.78 [[ 8.88076597e-01 4.59141815e-01 2.25555228e-02 8.67134671e+01] [-4.59011996e-01 8.88362754e-01 -1.09363874e-02 -1.37165927e+01] [-2.50588391e-02 -6.40905856e-04 9.99685773e-01 -2.77713378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.766875 meters 0.018827516438017177 Centerline is valid? [True, True] Translation: X:86.74, Y:-13.73, Z:-2.78 [[ 8.87494549e-01 4.60248342e-01 2.29104514e-02 8.67416550e+01] [-4.60114610e-01 8.87789956e-01 -1.11148744e-02 -1.37324447e+01] [-2.54552712e-02 -6.77042916e-04 9.99675733e-01 -2.77703153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.796875 meters 0.019041004938784502 Centerline is valid? [True, True] Translation: X:86.77, Y:-13.75, Z:-2.78 [[ 8.87207761e-01 4.60784261e-01 2.32433659e-02 8.67706472e+01] [-4.60646622e-01 8.87511904e-01 -1.12831670e-02 -1.37476340e+01] [-2.58278697e-02 -6.96464632e-04 9.99666162e-01 -2.77773493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.826875 meters 0.019364312118878714 Centerline is valid? [True, True] Translation: X:86.80, Y:-13.76, Z:-2.78 [[ 8.86951149e-01 4.61266905e-01 2.34627784e-02 8.67997080e+01] [-4.61126614e-01 8.87261144e-01 -1.13977062e-02 -1.37619451e+01] [-2.60749963e-02 -7.10102956e-04 9.99659737e-01 -2.77876993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.856875 meters 0.0196956639797232 Centerline is valid? [True, True] Translation: X:86.83, Y:-13.78, Z:-2.78 [[ 8.86563327e-01 4.61979120e-01 2.40989505e-02 8.68289982e+01] [-4.61831155e-01 8.86890489e-01 -1.17151184e-02 -1.37764882e+01] [-2.67852701e-02 -7.43451756e-04 9.99640934e-01 -2.77932581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88687499999999 meters 0.018987192772483376 Centerline is valid? [True, True] Translation: X:86.86, Y:-13.79, Z:-2.78 [[ 8.86392149e-01 4.62220738e-01 2.57088980e-02 8.68576195e+01] [-4.62052176e-01 8.86764546e-01 -1.25070374e-02 -1.37937494e+01] [-2.85787513e-02 -7.92712571e-04 9.99591230e-01 -2.77984603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91687499999999 meters 0.019817640440267795 Centerline is valid? [True, True] Translation: X:86.89, Y:-13.81, Z:-2.78 [[ 8.86593019e-01 4.61819527e-01 2.59912026e-02 8.68862066e+01] [-4.61646802e-01 8.86973571e-01 -1.26536432e-02 -1.38070018e+01] [-2.88972093e-02 -7.80123799e-04 9.99582084e-01 -2.78046132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94687499999999 meters 0.019117093943695596 Centerline is valid? [True, True] Translation: X:86.91, Y:-13.82, Z:-2.78 [[ 8.86959322e-01 4.61079529e-01 2.66238462e-02 8.69143205e+01] [-4.60897734e-01 8.87358484e-01 -1.29691968e-02 -1.38231239e+01] [-2.96047269e-02 -7.67720358e-04 9.99561389e-01 -2.78131722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97687499999999 meters 0.018227889690545666 Centerline is valid? [True, True] Translation: X:86.94, Y:-13.84, Z:-2.78 [[ 8.87510112e-01 4.60037917e-01 2.62852874e-02 8.69418993e+01] [-4.59860039e-01 8.87898981e-01 -1.28118494e-02 -1.38402361e+01] [-2.92326164e-02 -7.16907426e-04 9.99572379e-01 -2.78263521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.006875 meters 0.018003657126383618 Centerline is valid? [True, True] Translation: X:86.97, Y:-13.86, Z:-2.78 [[ 8.87885098e-01 4.59328787e-01 2.60214860e-02 8.69703490e+01] [-4.59153935e-01 8.88266066e-01 -1.26909643e-02 -1.38554732e+01] [-2.89433282e-02 -6.79749572e-04 9.99580823e-01 -2.78418912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.036875 meters 0.017804491494462137 Centerline is valid? [True, True] Translation: X:87.00, Y:-13.87, Z:-2.79 [[ 8.88172355e-01 4.58774990e-01 2.59880168e-02 8.69986987e+01] [-4.58600126e-01 8.88552239e-01 -1.26824036e-02 -1.38708149e+01] [-2.89100801e-02 -6.53947490e-04 9.99581802e-01 -2.78545706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.066875 meters 0.017225526021591095 Centerline is valid? [True, True] Translation: X:87.03, Y:-13.89, Z:-2.79 [[ 8.89065708e-01 4.57086817e-01 2.51755502e-02 8.70261998e+01] [-4.56921837e-01 8.89421898e-01 -1.22931622e-02 -1.38871307e+01] [-2.80107280e-02 -5.73829687e-04 9.99607458e-01 -2.78810237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.096875 meters 0.01683776056329433 Centerline is valid? [True, True] Translation: X:87.05, Y:-13.90, Z:-2.79 [[ 8.89623147e-01 4.55990802e-01 2.53583475e-02 8.70537857e+01] [-4.55822747e-01 8.89984326e-01 -1.23904150e-02 -1.39019430e+01] [-2.82184471e-02 -5.36111603e-04 9.99601637e-01 -2.78973592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.126875 meters 0.01674101545039315 Centerline is valid? [True, True] Translation: X:87.08, Y:-13.92, Z:-2.79 [[ 8.90052692e-01 4.55181093e-01 2.48269593e-02 8.70808988e+01] [-4.55019591e-01 8.90398745e-01 -1.21344875e-02 -1.39168125e+01] [-2.76292827e-02 -4.96419616e-04 9.99618115e-01 -2.79120968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.156875 meters 0.01572672260054327 Centerline is valid? [True, True] Translation: X:87.11, Y:-13.94, Z:-2.79 [[ 8.90894685e-01 4.53530003e-01 2.48434471e-02 8.71079740e+01] [-4.53367461e-01 8.91240901e-01 -1.21491705e-02 -1.39351855e+01] [-2.76515095e-02 -4.39579111e-04 9.99617527e-01 -2.79236859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.186875 meters 0.015697061906065783 Centerline is valid? [True, True] Translation: X:87.14, Y:-13.95, Z:-2.79 [[ 8.91188063e-01 4.52933378e-01 2.52029857e-02 8.71356344e+01] [-4.52765642e-01 8.91544266e-01 -1.23326709e-02 -1.39495746e+01] [-2.80554557e-02 -4.20316877e-04 9.99606280e-01 -2.79352128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.216875 meters 0.015220806199656125 Centerline is valid? [True, True] Translation: X:87.16, Y:-13.97, Z:-2.79 [[ 8.91509243e-01 4.52297611e-01 2.52614561e-02 8.71630908e+01] [-4.52128647e-01 8.91866983e-01 -1.23681575e-02 -1.39660444e+01] [-2.81239467e-02 -3.95101210e-04 9.99604365e-01 -2.79492994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24687499999999 meters 0.015288675673896076 Centerline is valid? [True, True] Translation: X:87.19, Y:-13.98, Z:-2.80 [[ 8.91675006e-01 4.51949382e-01 2.56405751e-02 8.71904583e+01] [-4.51774932e-01 8.92043502e-01 -1.25618839e-02 -1.39804727e+01] [-2.85498441e-02 -3.82651182e-04 9.99592297e-01 -2.79659404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27687499999999 meters 0.015081773983781433 Centerline is valid? [True, True] Translation: X:87.22, Y:-14.00, Z:-2.80 [[ 8.91586235e-01 4.52138423e-01 2.53935518e-02 8.72196135e+01] [-4.51967294e-01 8.91947701e-01 -1.24444786e-02 -1.39967690e+01] [-2.82763470e-02 -3.81729096e-04 9.99600071e-01 -2.79733029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30687499999999 meters 0.01510764365723057 Centerline is valid? [True, True] Translation: X:87.25, Y:-14.01, Z:-2.80 [[ 8.91619281e-01 4.52098796e-01 2.49346567e-02 8.72474418e+01] [-4.51933537e-01 8.91967794e-01 -1.22283794e-02 -1.40116937e+01] [-2.77693464e-02 -3.65748723e-04 9.99614290e-01 -2.79843624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33687499999999 meters 0.015368686366088314 Centerline is valid? [True, True] Translation: X:87.28, Y:-14.03, Z:-2.80 [[ 8.91376556e-01 4.52525560e-01 2.58544428e-02 8.72767884e+01] [-4.52347906e-01 8.91751348e-01 -1.26848348e-02 -1.40273431e+01] [-2.87959462e-02 -3.88238712e-04 9.99585235e-01 -2.79904047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.366875 meters 0.015478789046990777 Centerline is valid? [True, True] Translation: X:87.31, Y:-14.04, Z:-2.80 [[ 8.91041162e-01 4.53178222e-01 2.59835733e-02 8.73059651e+01] [-4.52998813e-01 8.91419843e-01 -1.27569566e-02 -1.40418495e+01] [-2.89434478e-02 -4.03554394e-04 9.99580969e-01 -2.80042439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.396875 meters 0.015538761446881577 Centerline is valid? [True, True] Translation: X:87.34, Y:-14.06, Z:-2.80 [[ 8.90642174e-01 4.53986638e-01 2.55470490e-02 8.73358540e+01] [-4.53813300e-01 8.91008395e-01 -1.25510373e-02 -1.40563831e+01] [-2.84606384e-02 -4.15107510e-04 9.99594828e-01 -2.80243482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.426875 meters 0.016199866871868952 Centerline is valid? [True, True] Translation: X:87.36, Y:-14.07, Z:-2.80 [[ 8.90077174e-01 4.55097867e-01 2.54667626e-02 8.73639044e+01] [-4.54925823e-01 8.90441315e-01 -1.25203633e-02 -1.40688291e+01] [-2.83746482e-02 -4.41398352e-04 9.99597261e-01 -2.80442393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.456875 meters 0.016777252007543018 Centerline is valid? [True, True] Translation: X:87.39, Y:-14.08, Z:-2.81 [[ 8.89081552e-01 4.57052593e-01 2.52372931e-02 8.73925445e+01] [-4.56884232e-01 8.89439534e-01 -1.24142842e-02 -1.40826061e+01] [-2.81210270e-02 -4.93210242e-04 9.99604404e-01 -2.80581413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.486875 meters 0.017260220068715984 Centerline is valid? [True, True] Translation: X:87.42, Y:-14.10, Z:-2.81 [[ 8.88390630e-01 4.58397820e-01 2.51699761e-02 8.74210952e+01] [-4.58230691e-01 8.88746961e-01 -1.23884375e-02 -1.40964689e+01] [-2.80485725e-02 -5.27883808e-04 9.99606422e-01 -2.80717083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.516875 meters 0.01763921211555182 Centerline is valid? [True, True] Translation: X:87.45, Y:-14.11, Z:-2.81 [[ 8.87937716e-01 4.59308467e-01 2.45427160e-02 8.74499981e+01] [-4.59149724e-01 8.88276671e-01 -1.20866250e-02 -1.41103444e+01] [-2.73522113e-02 -5.36611082e-04 9.99625714e-01 -2.80869889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.546875 meters 0.01753625220650524 Centerline is valid? [True, True] Translation: X:87.48, Y:-14.13, Z:-2.81 [[ 8.88133349e-01 4.58929092e-01 2.45610144e-02 8.74772342e+01] [-4.58769772e-01 8.88472745e-01 -1.21027788e-02 -1.41255266e+01] [-2.73761091e-02 -5.18969549e-04 9.99625069e-01 -2.81027215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.576875 meters 0.01735043528159423 Centerline is valid? [True, True] Translation: X:87.51, Y:-14.14, Z:-2.81 [[ 8.88257525e-01 4.58659803e-01 2.50949233e-02 8.75058877e+01] [-4.58493183e-01 8.88611793e-01 -1.23726244e-02 -1.41404360e+01] [-2.79744702e-02 -5.15774528e-04 9.99608505e-01 -2.81099385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.606875 meters 0.01624701404656781 Centerline is valid? [True, True] Translation: X:87.53, Y:-14.16, Z:-2.81 [[ 8.88518697e-01 4.58149305e-01 2.51742074e-02 8.75331935e+01] [-4.57981226e-01 8.88875115e-01 -1.24188218e-02 -1.41571042e+01] [-2.80664011e-02 -4.94958971e-04 9.99605938e-01 -2.81225380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63687499999999 meters 0.014801451792926544 Centerline is valid? [True, True] Translation: X:87.56, Y:-14.18, Z:-2.81 [[ 8.91230866e-01 4.52822321e-01 2.56805157e-02 8.75590180e+01] [-4.52644967e-01 8.91600717e-01 -1.26765194e-02 -1.41763102e+01] [-2.86369772e-02 -3.26450837e-04 9.99589824e-01 -2.81189049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66687499999999 meters 0.014515174769009962 Centerline is valid? [True, True] Translation: X:87.59, Y:-14.19, Z:-2.81 [[ 8.92078306e-01 4.51138521e-01 2.58907317e-02 8.75861726e+01] [-4.50957322e-01 8.92453900e-01 -1.27879024e-02 -1.41914431e+01] [-2.88753999e-02 -2.67804696e-04 9.99582983e-01 -2.81313092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69687499999999 meters 0.01390257202773673 Centerline is valid? [True, True] Translation: X:87.61, Y:-14.21, Z:-2.82 [[ 8.93715176e-01 4.47948340e-01 2.48086549e-02 8.76137599e+01] [-4.47780645e-01 8.94059428e-01 -1.22569685e-02 -1.42086270e+01] [-2.76709005e-02 -1.54596754e-04 9.99617075e-01 -2.81648587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72687499999999 meters 0.01374374743042726 Centerline is valid? [True, True] Translation: X:87.64, Y:-14.22, Z:-2.82 [[ 8.94720155e-01 4.45952414e-01 2.45415569e-02 8.76418976e+01] [-4.45787362e-01 8.95056667e-01 -1.21322092e-02 -1.42242193e+01] [-2.73764722e-02 -8.53838067e-05 9.99625190e-01 -2.81791158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.756875 meters 0.013706733934217093 Centerline is valid? [True, True] Translation: X:87.67, Y:-14.24, Z:-2.82 [[ 8.94975744e-01 4.45449774e-01 2.43498914e-02 8.76711469e+01] [-4.45286918e-01 8.95306928e-01 -1.20443314e-02 -1.42390438e+01] [-2.71657712e-02 -6.33036207e-05 9.99630940e-01 -2.81986376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.786875 meters 0.01390122832157698 Centerline is valid? [True, True] Translation: X:87.70, Y:-14.26, Z:-2.82 [[ 8.98025268e-01 4.39274098e-01 2.42669574e-02 8.76983321e+01] [-4.39109869e-01 8.98353077e-01 -1.20113615e-02 -1.42571989e+01] [-2.70765758e-02 1.30645697e-04 9.99633354e-01 -2.82046406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.816875 meters 0.014046152993809733 Centerline is valid? [True, True] Translation: X:87.73, Y:-14.27, Z:-2.82 [[ 8.98792596e-01 4.37691703e-01 2.44508376e-02 8.77261462e+01] [-4.37524154e-01 8.99125096e-01 -1.21110037e-02 -1.42724118e+01] [-2.72852475e-02 1.87448426e-04 9.99627671e-01 -2.82071253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.846875 meters 0.014419215385161771 Centerline is valid? [True, True] Translation: X:87.75, Y:-14.29, Z:-2.82 [[ 9.00133121e-01 4.34932563e-01 2.43727238e-02 8.77538286e+01] [-4.34764856e-01 9.00462986e-01 -1.20802236e-02 -1.42875621e+01] [-2.72008183e-02 2.77405629e-04 9.99629951e-01 -2.82176266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.876875 meters 0.015164314415645173 Centerline is valid? [True, True] Translation: X:87.78, Y:-14.30, Z:-2.82 [[ 9.01879908e-01 4.31284624e-01 2.46212031e-02 8.77819115e+01] [-4.31111931e-01 9.02215836e-01 -1.22101743e-02 -1.43030444e+01] [-2.74796998e-02 3.97616492e-04 9.99622283e-01 -2.82205125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.906875 meters 0.015661730316690693 Centerline is valid? [True, True] Translation: X:87.81, Y:-14.32, Z:-2.82 [[ 9.02770233e-01 4.29395590e-01 2.50066840e-02 8.78098865e+01] [-4.29216509e-01 9.03116386e-01 -1.24089231e-02 -1.43168135e+01] [-2.79122829e-02 4.69124784e-04 9.99610266e-01 -2.82338771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.936875 meters 0.01586154738466495 Centerline is valid? [True, True] Translation: X:87.84, Y:-14.33, Z:-2.83 [[ 9.03222622e-01 4.28401310e-01 2.57140482e-02 8.78402809e+01] [-4.28211344e-01 9.03588428e-01 -1.27670741e-02 -1.43282215e+01] [-2.87043477e-02 5.20462956e-04 9.99587810e-01 -2.82544994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.966875 meters 0.015364194825164216 Centerline is valid? [True, True] Translation: X:87.87, Y:-14.34, Z:-2.83 [[ 9.02637193e-01 4.29623206e-01 2.58843404e-02 8.78704779e+01] [-4.29430996e-01 9.03008117e-01 -1.28592734e-02 -1.43399492e+01] [-2.88984118e-02 4.91720377e-04 9.99582233e-01 -2.82639433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99687499999999 meters 0.014669623480725908 Centerline is valid? [True, True] Translation: X:87.90, Y:-14.35, Z:-2.83 [[ 9.00642456e-01 4.33697321e-01 2.73824807e-02 8.79022360e+01] [-4.33483826e-01 9.01058534e-01 -1.36121570e-02 -1.43488967e+01] [-3.05767740e-02 3.89823950e-04 9.99532345e-01 -2.82604207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02687499999999 meters 0.014293282334319623 Centerline is valid? [True, True] Translation: X:87.93, Y:-14.36, Z:-2.83 [[ 8.99277179e-01 4.36518180e-01 2.74305346e-02 8.79328429e+01] [-4.36304995e-01 8.99695386e-01 -1.36441676e-02 -1.43598671e+01] [-3.06350526e-02 3.01809232e-04 9.99530591e-01 -2.82605329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05687499999999 meters 0.013937348101867635 Centerline is valid? [True, True] Translation: X:87.96, Y:-14.37, Z:-2.83 [[ 8.97706738e-01 4.39706429e-01 2.79440296e-02 8.79625022e+01] [-4.39486464e-01 8.98141534e-01 -1.39080116e-02 -1.43701575e+01] [-3.12131357e-02 2.04292966e-04 9.99512730e-01 -2.82619621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08687499999999 meters 0.013627972634933252 Centerline is valid? [True, True] Translation: X:87.99, Y:-14.38, Z:-2.83 [[ 8.96039019e-01 4.43085658e-01 2.80922841e-02 8.79929698e+01] [-4.42864769e-01 8.96479275e-01 -1.39894912e-02 -1.43803372e+01] [-3.13826934e-02 9.40470481e-05 9.99507438e-01 -2.82650522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.116875 meters 0.013596780255481515 Centerline is valid? [True, True] Translation: X:88.03, Y:-14.39, Z:-2.83 [[ 8.92905150e-01 4.49305243e-01 2.90721926e-02 8.80260819e+01] [-4.49071669e-01 8.93378298e-01 -1.44862636e-02 -1.43869239e+01] [-3.24812201e-02 -1.20638676e-04 9.99472339e-01 -2.82715787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.146875 meters 0.013816274550715402 Centerline is valid? [True, True] Translation: X:88.06, Y:-14.40, Z:-2.83 [[ 8.91672575e-01 4.51743763e-01 2.91134279e-02 8.80571185e+01] [-4.51510502e-01 8.92147708e-01 -1.45166863e-02 -1.43982555e+01] [-3.25313005e-02 -2.00887366e-04 9.99470697e-01 -2.82882001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.176875 meters 0.013988522962659894 Centerline is valid? [True, True] Translation: X:88.09, Y:-14.41, Z:-2.83 [[ 8.90629200e-01 4.53804377e-01 2.90037218e-02 8.80871615e+01] [-4.53573647e-01 8.91101294e-01 -1.44717159e-02 -1.44098887e+01] [-3.24125820e-02 -2.66391156e-04 9.99474539e-01 -2.83079041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.206875 meters 0.014422687229197187 Centerline is valid? [True, True] Translation: X:88.12, Y:-14.42, Z:-2.83 [[ 8.89706729e-01 4.55655435e-01 2.82853348e-02 8.81167331e+01] [-4.55436672e-01 8.90156179e-01 -1.41214279e-02 -1.44190856e+01] [-3.16128709e-02 -3.18249324e-04 9.99500138e-01 -2.83455648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.236875 meters 0.014133903663776431 Centerline is valid? [True, True] Translation: X:88.15, Y:-14.43, Z:-2.84 [[ 8.89519477e-01 4.56043823e-01 2.79129134e-02 8.81461392e+01] [-4.55830741e-01 8.89957262e-01 -1.39429941e-02 -1.44336755e+01] [-3.11999163e-02 -3.20999130e-04 9.99513113e-01 -2.83614457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.266875 meters 0.014191325561906864 Centerline is valid? [True, True] Translation: X:88.17, Y:-14.45, Z:-2.84 [[ 8.89535684e-01 4.56023460e-01 2.77285199e-02 8.81747659e+01] [-4.55812883e-01 8.89967700e-01 -1.38602954e-02 -1.44472118e+01] [-3.09981069e-02 -3.09789284e-04 9.99519395e-01 -2.83731425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.296875 meters 0.014123433424336763 Centerline is valid? [True, True] Translation: X:88.20, Y:-14.46, Z:-2.84 [[ 8.89383050e-01 4.56352536e-01 2.72057438e-02 8.82044612e+01] [-4.56149724e-01 8.89799004e-01 -1.36073897e-02 -1.44622733e+01] [-3.04174105e-02 -3.07710791e-04 9.99537236e-01 -2.83839545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.326875 meters 0.01428934530492763 Centerline is valid? [True, True] Translation: X:88.23, Y:-14.47, Z:-2.84 [[ 8.89161312e-01 4.56775427e-01 2.73563699e-02 8.82334319e+01] [-4.56570274e-01 8.89581986e-01 -1.36921614e-02 -1.44749831e+01] [-3.05899767e-02 -3.15565139e-04 9.99531967e-01 -2.83970625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.356875 meters 0.01417553250954553 Centerline is valid? [True, True] Translation: X:88.26, Y:-14.49, Z:-2.84 [[ 8.88830244e-01 4.57434623e-01 2.70991348e-02 8.82630248e+01] [-4.57233340e-01 8.89243195e-01 -1.35725348e-02 -1.44898250e+01] [-3.03062685e-02 -3.26948503e-04 9.99540606e-01 -2.84104842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38687499999999 meters 0.014718429337853271 Centerline is valid? [True, True] Translation: X:88.29, Y:-14.50, Z:-2.84 [[ 8.87697719e-01 4.59676336e-01 2.62759455e-02 8.82912638e+01] [-4.59487816e-01 8.88086437e-01 -1.31691828e-02 -1.45017324e+01] [-2.93888725e-02 -3.83223278e-04 9.99567980e-01 -2.84276522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41687499999999 meters 0.015036810998323985 Centerline is valid? [True, True] Translation: X:88.32, Y:-14.51, Z:-2.84 [[ 8.87046264e-01 4.60902209e-01 2.67969925e-02 8.83201635e+01] [-4.60706507e-01 8.87450828e-01 -1.34366040e-02 -1.45149390e+01] [-2.99739736e-02 -4.26659397e-04 9.99550588e-01 -2.84477816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44687499999999 meters 0.015258650168498405 Centerline is valid? [True, True] Translation: X:88.35, Y:-14.53, Z:-2.85 [[ 8.86293979e-01 4.62345445e-01 2.68267027e-02 8.83490223e+01] [-4.62149734e-01 8.86699763e-01 -1.34593630e-02 -1.45283592e+01] [-3.00101061e-02 -4.69001168e-04 9.99549485e-01 -2.84631712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47687499999999 meters 0.016036458922265212 Centerline is valid? [True, True] Translation: X:88.38, Y:-14.54, Z:-2.85 [[ 8.84402174e-01 4.65931348e-01 2.72171460e-02 8.83778170e+01] [-4.65731343e-01 8.84820676e-01 -1.36633851e-02 -1.45419933e+01] [-3.04484930e-02 -5.91950464e-04 9.99536162e-01 -2.84547916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.506875 meters 0.01653757277354292 Centerline is valid? [True, True] Translation: X:88.41, Y:-14.56, Z:-2.85 [[ 8.83500558e-01 4.67625332e-01 2.74465472e-02 8.84062233e+01] [-4.67422497e-01 8.83926540e-01 -1.37869846e-02 -1.45558176e+01] [-3.07078747e-02 -6.48325025e-04 9.99528192e-01 -2.84625759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.536875 meters 0.01653757277354292 Centerline is valid? [True, True] Translation: X:88.44, Y:-14.57, Z:-2.85 [[ 8.83370776e-01 4.67870552e-01 2.74448251e-02 8.84351036e+01] [-4.67667728e-01 8.83796764e-01 -1.37904118e-02 -1.45704301e+01] [-3.07077752e-02 -6.53012206e-04 9.99528192e-01 -2.84728982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.566875 meters 0.017330412060468717 Centerline is valid? [True, True] Translation: X:88.46, Y:-14.58, Z:-2.85 [[ 8.81947834e-01 4.70501242e-01 2.82240915e-02 8.84639225e+01] [-4.70287759e-01 8.82399008e-01 -1.41920804e-02 -1.45843735e+01] [-3.15823018e-02 -7.56770216e-04 9.99500868e-01 -2.84867071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.596875 meters 0.018794649140923995 Centerline is valid? [True, True] Translation: X:88.49, Y:-14.60, Z:-2.85 [[ 8.81014983e-01 4.72236948e-01 2.83701229e-02 8.84925696e+01] [-4.72021871e-01 8.81471270e-01 -1.42742419e-02 -1.45965751e+01] [-3.17482726e-02 -8.15497508e-04 9.99495564e-01 -2.84952999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.626875 meters 0.01935433905418055 Centerline is valid? [True, True] Translation: X:88.52, Y:-14.61, Z:-2.85 [[ 8.80065445e-01 4.74013947e-01 2.82062044e-02 8.85207878e+01] [-4.73802008e-01 8.80516908e-01 -1.41997203e-02 -1.46106078e+01] [-3.15669053e-02 -8.67473124e-04 9.99501265e-01 -2.85027565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.656875 meters 0.02035783872753082 Centerline is valid? [True, True] Translation: X:88.55, Y:-14.62, Z:-2.85 [[ 8.79048671e-01 4.75947639e-01 2.73363875e-02 8.85491236e+01] [-4.75749281e-01 8.79473156e-01 -1.37691538e-02 -1.46242977e+01] [-3.05950152e-02 -9.01510405e-04 9.99531456e-01 -2.85205008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.686875 meters 0.021505530650060556 Centerline is valid? [True, True] Translation: X:88.58, Y:-14.64, Z:-2.86 [[ 8.77238963e-01 4.79376915e-01 2.54867820e-02 8.85775229e+01] [-4.79205739e-01 8.77608614e-01 -1.28444789e-02 -1.46380928e+01] [-2.85247661e-02 -9.45734840e-04 9.99592639e-01 -2.85528772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.716875 meters 0.024261341094577515 Centerline is valid? [True, True] Translation: X:88.61, Y:-14.65, Z:-2.86 [[ 8.76352270e-01 4.81039269e-01 2.46560300e-02 8.86064551e+01] [-4.80879651e-01 8.76698518e-01 -1.24286003e-02 -1.46485884e+01] [-2.75945497e-02 -9.64751026e-04 9.99618732e-01 -2.85770874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74687499999999 meters 0.023420063184668126 Centerline is valid? [True, True] Translation: X:88.63, Y:-14.67, Z:-2.86 [[ 8.75338714e-01 4.82898365e-01 2.43167677e-02 8.86340266e+01] [-4.82743724e-01 8.75675829e-01 -1.22613417e-02 -1.46650459e+01] [-2.72145875e-02 -1.00593993e-03 9.99629108e-01 -2.85905508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77687499999999 meters 0.023411732110202532 Centerline is valid? [True, True] Translation: X:88.66, Y:-14.68, Z:-2.86 [[ 8.74652800e-01 4.84164342e-01 2.38195116e-02 8.86619347e+01] [-4.84016241e-01 8.74976488e-01 -1.20176418e-02 -1.46814408e+01] [-2.66600263e-02 -1.01776640e-03 9.99644040e-01 -2.86136621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80687499999999 meters 0.023133867762898504 Centerline is valid? [True, True] Translation: X:88.69, Y:-14.70, Z:-2.86 [[ 8.75349692e-01 4.82925781e-01 2.33582015e-02 8.86886093e+01] [-4.82782734e-01 8.75660767e-01 -1.17920845e-02 -1.46971925e+01] [-2.61485623e-02 -9.54738865e-04 9.99657612e-01 -2.86265983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83687499999999 meters 0.02244111082099987 Centerline is valid? [True, True] Translation: X:88.72, Y:-14.71, Z:-2.86 [[ 8.76157615e-01 4.81466650e-01 2.31883250e-02 8.87162969e+01] [-4.81324972e-01 8.76463952e-01 -1.17137967e-02 -1.47147617e+01] [-2.59635334e-02 -8.97987692e-04 9.99662487e-01 -2.86373958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.866875 meters 0.021162007950009065 Centerline is valid? [True, True] Translation: X:88.74, Y:-14.73, Z:-2.86 [[ 8.77771423e-01 4.78489105e-01 2.37803497e-02 8.87415533e+01] [-4.78338953e-01 8.78093099e-01 -1.20148320e-02 -1.47342466e+01] [-2.66303272e-02 -8.28791382e-04 9.99645006e-01 -2.86260618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.896875 meters 0.020941069522263333 Centerline is valid? [True, True] Translation: X:88.77, Y:-14.75, Z:-2.86 [[ 8.78362105e-01 4.77380083e-01 2.42542553e-02 8.87681099e+01] [-4.77223291e-01 8.78696539e-01 -1.22606066e-02 -1.47501048e+01] [-2.71650996e-02 -8.05443274e-04 9.99630636e-01 -2.86264537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.926875 meters 0.019632794687217334 Centerline is valid? [True, True] Translation: X:88.79, Y:-14.77, Z:-2.86 [[ 8.79087838e-01 4.76033945e-01 2.44183581e-02 8.87947587e+01] [-4.75874320e-01 8.79426575e-01 -1.23503376e-02 -1.47677282e+01] [-2.73533330e-02 -7.63037998e-04 9.99625536e-01 -2.86405711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.956875 meters 0.018636977918028076 Centerline is valid? [True, True] Translation: X:88.82, Y:-14.78, Z:-2.87 [[ 8.80608591e-01 4.73219429e-01 2.43285925e-02 8.88207578e+01] [-4.73059693e-01 8.80944339e-01 -1.23125739e-02 -1.47841345e+01] [-2.72586850e-02 -6.66318168e-04 9.99628191e-01 -2.86642497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.986875 meters 0.017119913169078384 Centerline is valid? [True, True] Translation: X:88.85, Y:-14.80, Z:-2.87 [[ 8.83021173e-01 4.68710300e-01 2.41715382e-02 8.88460972e+01] [-4.68550736e-01 8.83351791e-01 -1.22401077e-02 -1.48045137e+01] [-2.70890361e-02 -5.17317736e-04 9.99632891e-01 -2.86810869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.016875 meters 0.016467592653257427 Centerline is valid? [True, True] Translation: X:88.87, Y:-14.82, Z:-2.87 [[ 8.83672837e-01 4.67471323e-01 2.43491214e-02 8.88730044e+01] [-4.67308919e-01 8.84008105e-01 -1.23306611e-02 -1.48218722e+01] [-2.72890511e-02 -4.82291358e-04 9.99627468e-01 -2.86828922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.046875 meters 0.015937706825449743 Centerline is valid? [True, True] Translation: X:88.90, Y:-14.84, Z:-2.87 [[ 8.84819470e-01 4.65314181e-01 2.40253846e-02 8.88996647e+01] [-4.65155078e-01 8.85145497e-01 -1.21738958e-02 -1.48400656e+01] [-2.69306473e-02 -4.03829621e-04 9.99637223e-01 -2.86901607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.076875 meters 0.015386610511281866 Centerline is valid? [True, True] Translation: X:88.93, Y:-14.86, Z:-2.87 [[ 8.85695141e-01 4.63671890e-01 2.35052099e-02 8.89271689e+01] [-4.63518843e-01 8.86006920e-01 -1.19172089e-02 -1.48564590e+01] [-2.63514534e-02 -3.40093617e-04 9.99652682e-01 -2.87009694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.106875 meters 0.015381278325612481 Centerline is valid? [True, True] Translation: X:88.95, Y:-14.87, Z:-2.87 [[ 8.86039543e-01 4.63012947e-01 2.35146374e-02 8.89548497e+01] [-4.62859356e-01 8.86351461e-01 -1.19291379e-02 -1.48705258e+01] [-2.63655785e-02 -3.14282019e-04 9.99652318e-01 -2.87108683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13687499999999 meters 0.014267876064356498 Centerline is valid? [True, True] Translation: X:88.98, Y:-14.89, Z:-2.87 [[ 8.89353941e-01 4.56536187e-01 2.49855537e-02 8.89812156e+01] [-4.56359969e-01 8.89704836e-01 -1.26839881e-02 -1.48907341e+01] [-2.80204676e-02 -1.21851717e-04 9.99607342e-01 -2.87046712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16687499999999 meters 0.01405313724508803 Centerline is valid? [True, True] Translation: X:89.01, Y:-14.91, Z:-2.87 [[ 8.91333253e-01 4.52591665e-01 2.61880922e-02 8.90079553e+01] [-4.52396291e-01 8.91717884e-01 -1.32970201e-02 -1.49084033e+01] [-2.93705106e-02 4.68044696e-06 9.99568593e-01 -2.86917464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19687499999999 meters 0.014129986443609322 Centerline is valid? [True, True] Translation: X:89.04, Y:-14.93, Z:-2.87 [[ 8.92902750e-01 4.49479548e-01 2.63213653e-02 8.90365848e+01] [-4.49280597e-01 8.93290615e-01 -1.33724712e-02 -1.49252648e+01] [-2.95232809e-02 1.14637567e-04 9.99564086e-01 -2.87046969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22687499999999 meters 0.014336897836372523 Centerline is valid? [True, True] Translation: X:89.06, Y:-14.94, Z:-2.88 [[ 8.94263187e-01 4.46867280e-01 2.45557856e-02 8.90647589e+01] [-4.46692927e-01 8.94600244e-01 -1.24833061e-02 -1.49393449e+01] [-2.75459928e-02 1.94465324e-04 9.99620518e-01 -2.87510306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.256875 meters 0.014443008433020774 Centerline is valid? [True, True] Translation: X:89.09, Y:-14.95, Z:-2.88 [[ 8.94413436e-01 4.46646599e-01 2.30525651e-02 8.90936225e+01] [-4.46492702e-01 8.94710444e-01 -1.17255938e-02 -1.49529811e+01] [-2.58625673e-02 1.94726531e-04 9.99665489e-01 -2.87855755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.286875 meters 0.014443537867203338 Centerline is valid? [True, True] Translation: X:89.12, Y:-14.97, Z:-2.88 [[ 8.94015016e-01 4.47475265e-01 2.24285134e-02 8.91236275e+01] [-4.47329692e-01 8.94296292e-01 -1.14144310e-02 -1.49672696e+01] [-2.51654119e-02 1.71732688e-04 9.99683286e-01 -2.88120369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.316875 meters 0.014255067879622288 Centerline is valid? [True, True] Translation: X:89.15, Y:-14.98, Z:-2.88 [[ 8.93392481e-01 4.48764576e-01 2.14529875e-02 8.91533988e+01] [-4.48631599e-01 8.93650008e-01 -1.09248221e-02 -1.49809070e+01] [-2.40741356e-02 1.35665795e-04 9.99710167e-01 -2.88224879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.346875 meters 0.014216029400222586 Centerline is valid? [True, True] Translation: X:89.18, Y:-14.99, Z:-2.88 [[ 8.91569433e-01 4.52365165e-01 2.16726333e-02 8.91829386e+01] [-4.52230318e-01 8.91832807e-01 -1.10446702e-02 -1.49924108e+01] [-2.43245895e-02 4.60684556e-05 9.99704112e-01 -2.88071653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.376875 meters 0.014199255996427936 Centerline is valid? [True, True] Translation: X:89.21, Y:-15.00, Z:-2.88 [[ 8.90430484e-01 4.54592576e-01 2.18893331e-02 8.92134563e+01] [-4.54455549e-01 8.90699495e-01 -1.11608063e-02 -1.50048692e+01] [-2.45704376e-02 -9.80672175e-06 9.99698101e-01 -2.88156894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.406875 meters 0.014302832884803081 Centerline is valid? [True, True] Translation: X:89.24, Y:-15.02, Z:-2.88 [[ 8.89261978e-01 4.56893925e-01 2.14726637e-02 8.92437845e+01] [-4.56762566e-01 8.89521184e-01 -1.09554426e-02 -1.50167835e+01] [-2.41058644e-02 -6.56504096e-05 9.99709409e-01 -2.88262908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.436875 meters 0.014707059359640645 Centerline is valid? [True, True] Translation: X:89.28, Y:-15.03, Z:-2.89 [[ 8.87025793e-01 4.61226987e-01 2.13285883e-02 8.92754218e+01] [-4.61098457e-01 8.87282162e-01 -1.08893090e-02 -1.50258866e+01] [-2.39469191e-02 -1.75481251e-04 9.99713216e-01 -2.88511365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.466875 meters 0.015082169920385776 Centerline is valid? [True, True] Translation: X:89.30, Y:-15.04, Z:-2.89 [[ 8.86038382e-01 4.63121642e-01 2.13150220e-02 8.93047327e+01] [-4.62993670e-01 8.86294701e-01 -1.08887562e-02 -1.50375861e+01] [-2.39342097e-02 -2.20864360e-04 9.99713511e-01 -2.88681495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49687499999999 meters 0.015222501944279756 Centerline is valid? [True, True] Translation: X:89.33, Y:-15.05, Z:-2.89 [[ 8.84964497e-01 4.65151420e-01 2.17254454e-02 8.93339995e+01] [-4.65018941e-01 8.85231089e-01 -1.11042417e-02 -1.50505155e+01] [-2.43971935e-02 -2.75883925e-04 9.99702306e-01 -2.88726347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52687499999999 meters 0.01593614013385308 Centerline is valid? [True, True] Translation: X:89.36, Y:-15.06, Z:-2.89 [[ 8.83506078e-01 4.67893875e-01 2.21885417e-02 8.93643723e+01] [-4.67756380e-01 8.83784588e-01 -1.13477511e-02 -1.50613687e+01] [-2.49194344e-02 -3.53024914e-04 9.99689400e-01 -2.88785791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55687499999999 meters 0.01600846195661102 Centerline is valid? [True, True] Translation: X:89.39, Y:-15.07, Z:-2.89 [[ 8.82877571e-01 4.69063358e-01 2.25113437e-02 8.93936406e+01] [-4.68922040e-01 8.83164434e-01 -1.15196822e-02 -1.50745428e+01] [-2.52846789e-02 -3.85596185e-04 9.99680217e-01 -2.88834412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58687499999999 meters 0.016235646576609565 Centerline is valid? [True, True] Translation: X:89.42, Y:-15.09, Z:-2.89 [[ 8.82415739e-01 4.69926239e-01 2.26228427e-02 8.94226921e+01] [-4.69783628e-01 8.82705593e-01 -1.15835190e-02 -1.50876966e+01] [-2.54127093e-02 -4.06361659e-04 9.99676962e-01 -2.88878972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.616875 meters 0.016874815354297922 Centerline is valid? [True, True] Translation: X:89.45, Y:-15.10, Z:-2.89 [[ 8.81436286e-01 4.71757972e-01 2.26823665e-02 8.94520084e+01] [-4.71615022e-01 8.81727968e-01 -1.16215877e-02 -1.50997793e+01] [-2.54822536e-02 -4.53655721e-04 9.99675172e-01 -2.88940915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.646875 meters 0.017115773264607212 Centerline is valid? [True, True] Translation: X:89.48, Y:-15.11, Z:-2.89 [[ 8.81012706e-01 4.72553165e-01 2.25857801e-02 8.94806588e+01] [-4.72411534e-01 8.81302040e-01 -1.15782938e-02 -1.51131180e+01] [-2.53762534e-02 -4.69159051e-04 9.99677861e-01 -2.89020603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.676875 meters 0.016973114899031774 Centerline is valid? [True, True] Translation: X:89.51, Y:-15.13, Z:-2.89 [[ 8.80580405e-01 4.73357582e-01 2.25997664e-02 8.95097225e+01] [-4.73215886e-01 8.80870230e-01 -1.15915158e-02 -1.51274244e+01] [-2.53943933e-02 -4.87306827e-04 9.99677392e-01 -2.89146050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.706875 meters 0.017493280406627548 Centerline is valid? [True, True] Translation: X:89.54, Y:-15.14, Z:-2.89 [[ 8.79633334e-01 4.75088357e-01 2.31570874e-02 8.95389528e+01] [-4.74939994e-01 8.79937928e-01 -1.18846736e-02 -1.51395109e+01] [-2.60230696e-02 -5.44071883e-04 9.99661195e-01 -2.89325096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.736875 meters 0.018033675703243428 Centerline is valid? [True, True] Translation: X:89.57, Y:-15.15, Z:-2.89 [[ 8.79186129e-01 4.75934365e-01 2.27646788e-02 8.95671483e+01] [-4.75791110e-01 8.79480627e-01 -1.16895810e-02 -1.51517938e+01] [-2.55845673e-02 -5.53914294e-04 9.99672508e-01 -2.89431611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.766875 meters 0.018852766130267033 Centerline is valid? [True, True] Translation: X:89.60, Y:-15.16, Z:-2.90 [[ 8.78797821e-01 4.76654147e-01 2.26983303e-02 8.95954376e+01] [-4.76511803e-01 8.79090724e-01 -1.16618788e-02 -1.51638592e+01] [-2.55125745e-02 -5.67588649e-04 9.99674340e-01 -2.89581750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.796875 meters 0.018141584990003262 Centerline is valid? [True, True] Translation: X:89.62, Y:-15.18, Z:-2.90 [[ 8.78167452e-01 4.77831764e-01 2.23323160e-02 8.96233559e+01] [-4.77694208e-01 8.78451172e-01 -1.14796369e-02 -1.51794021e+01] [-2.51031843e-02 -5.86974550e-04 9.99684693e-01 -2.89592272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.826875 meters 0.018614639195942213 Centerline is valid? [True, True] Translation: X:89.65, Y:-15.19, Z:-2.90 [[ 8.77802698e-01 4.78506171e-01 2.22321558e-02 8.96513888e+01] [-4.78369890e-01 8.78083987e-01 -1.14350475e-02 -1.51931081e+01] [-2.49934408e-02 -5.97478400e-04 9.99687437e-01 -2.89759282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.856875 meters 0.018994201112114556 Centerline is valid? [True, True] Translation: X:89.68, Y:-15.21, Z:-2.90 [[ 8.77340895e-01 4.79382164e-01 2.15799618e-02 8.96800479e+01] [-4.79253889e-01 8.77606052e-01 -1.11053330e-02 -1.52076326e+01] [-2.42624037e-02 -5.99117815e-04 9.99705445e-01 -2.89867293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88687499999999 meters 0.018990748601895053 Centerline is valid? [True, True] Translation: X:89.71, Y:-15.22, Z:-2.90 [[ 8.76948380e-01 4.80146899e-01 2.05059479e-02 8.97081491e+01] [-4.80031153e-01 8.77187901e-01 -1.05583226e-02 -1.52226916e+01] [-2.30571153e-02 -5.84389878e-04 9.99733979e-01 -2.90156901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91687499999999 meters 0.019320487163270523 Centerline is valid? [True, True] Translation: X:89.74, Y:-15.24, Z:-2.90 [[ 8.76552499e-01 4.80888143e-01 2.00576686e-02 8.97358891e+01] [-4.80777459e-01 8.76781758e-01 -1.03335781e-02 -1.52368284e+01] [-2.25554932e-02 -5.85351211e-04 9.99745421e-01 -2.90311977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94687499999999 meters 0.02007319998819317 Centerline is valid? [True, True] Translation: X:89.76, Y:-15.25, Z:-2.90 [[ 8.75184263e-01 4.83360849e-01 2.03665248e-02 8.97646586e+01] [-4.83247269e-01 8.75420962e-01 -1.04983473e-02 -1.52517393e+01] [-2.29037728e-02 -6.54079145e-04 9.99737460e-01 -2.90237327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97687499999999 meters 0.02097156859805649 Centerline is valid? [True, True] Translation: X:89.79, Y:-15.26, Z:-2.90 [[ 8.74414287e-01 4.84750008e-01 2.04226677e-02 8.97933358e+01] [-4.84636032e-01 8.74652479e-01 -1.05336623e-02 -1.52649859e+01] [-2.29689298e-02 -6.86775801e-04 9.99735943e-01 -2.90355616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.006875 meters 0.021137192102270098 Centerline is valid? [True, True] Translation: X:89.82, Y:-15.28, Z:-2.91 [[ 8.73616931e-01 4.86196337e-01 2.01637940e-02 8.98223408e+01] [-4.86085497e-01 8.73849310e-01 -1.04054626e-02 -1.52789509e+01] [-2.26792153e-02 -7.10939565e-04 9.99742541e-01 -2.90574426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.036875 meters 0.02070467610151569 Centerline is valid? [True, True] Translation: X:89.85, Y:-15.29, Z:-2.91 [[ 8.72448008e-01 4.88251035e-01 2.11045036e-02 8.98502426e+01] [-4.88130048e-01 8.72702868e-01 -1.08976832e-02 -1.52945254e+01] [-2.37387659e-02 -7.94080390e-04 9.99717880e-01 -2.90558342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.066875 meters 0.022217033433092077 Centerline is valid? [True, True] Translation: X:89.88, Y:-15.31, Z:-2.91 [[ 8.72040069e-01 4.88961576e-01 2.15103247e-02 8.98790417e+01] [-4.88835934e-01 8.72304935e-01 -1.11143806e-02 -1.53070077e+01] [-2.41980675e-02 -8.22834426e-04 9.99706845e-01 -2.90607471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.096875 meters 0.02169566761026854 Centerline is valid? [True, True] Translation: X:89.91, Y:-15.32, Z:-2.91 [[ 8.71863728e-01 4.89277516e-01 2.14744637e-02 8.99073526e+01] [-4.89152248e-01 8.72127761e-01 -1.11016534e-02 -1.53234289e+01] [-2.41602654e-02 -8.25153270e-04 9.99707758e-01 -2.90604330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.126875 meters 0.022201344269844017 Centerline is valid? [True, True] Translation: X:89.94, Y:-15.34, Z:-2.91 [[ 8.72091571e-01 4.88828906e-01 2.24185583e-02 8.99355330e+01] [-4.88692013e-01 8.72379271e-01 -1.15984299e-02 -1.53375686e+01] [-2.52271334e-02 -8.40877398e-04 9.99681392e-01 -2.90641654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.156875 meters 0.020977838765816315 Centerline is valid? [True, True] Translation: X:89.96, Y:-15.36, Z:-2.90 [[ 8.73007755e-01 4.87125291e-01 2.37993936e-02 8.99628910e+01] [-4.86970144e-01 8.73331700e-01 -1.23215622e-02 -1.53559107e+01] [-2.67869094e-02 -8.32774735e-04 9.99640819e-01 -2.90465281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.186875 meters 0.021154042020419806 Centerline is valid? [True, True] Translation: X:89.99, Y:-15.37, Z:-2.90 [[ 8.73709066e-01 4.85851424e-01 2.41010738e-02 8.99902962e+01] [-4.85691781e-01 8.74041046e-01 -1.24797225e-02 -1.53708786e+01] [-2.71286187e-02 -8.02046736e-04 9.99631630e-01 -2.90490110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.216875 meters 0.019792152401055106 Centerline is valid? [True, True] Translation: X:90.02, Y:-15.39, Z:-2.91 [[ 8.74406469e-01 4.84605978e-01 2.38824957e-02 9.00175445e+01] [-4.84448574e-01 8.74732235e-01 -1.23731996e-02 -1.53885856e+01] [-2.68869153e-02 -7.50635167e-04 9.99638200e-01 -2.90672212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24687499999999 meters 0.018870974647300025 Centerline is valid? [True, True] Translation: X:90.04, Y:-15.41, Z:-2.91 [[ 8.75827773e-01 4.82084139e-01 2.28165540e-02 9.00439979e+01] [-4.81939447e-01 8.76124692e-01 -1.18276399e-02 -1.54059037e+01] [-2.56920639e-02 -6.37221906e-04 9.99669701e-01 -2.90968969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27687499999999 meters 0.018210040173334198 Centerline is valid? [True, True] Translation: X:90.07, Y:-15.42, Z:-2.91 [[ 8.76471383e-01 4.80944257e-01 2.21480516e-02 9.00713734e+01] [-4.80807393e-01 8.76750982e-01 -1.14876680e-02 -1.54224975e+01] [-2.49432539e-02 -5.80334637e-04 9.99688700e-01 -2.91158603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30687499999999 meters 0.018047643685940775 Centerline is valid? [True, True] Translation: X:90.10, Y:-15.44, Z:-2.91 [[ 8.77268003e-01 4.79499193e-01 2.19402538e-02 9.00987285e+01] [-4.79364267e-01 8.77542161e-01 -1.13865989e-02 -1.54381832e+01] [-2.47133627e-02 -5.28274825e-04 9.99694439e-01 -2.91280565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33687499999999 meters 0.017570879850471354 Centerline is valid? [True, True] Translation: X:90.13, Y:-15.45, Z:-2.91 [[ 8.77563726e-01 4.78964822e-01 2.17854729e-02 9.01259951e+01] [-4.78831466e-01 8.77833951e-01 -1.13128883e-02 -1.54541888e+01] [-2.45425033e-02 -5.03789592e-04 9.99698660e-01 -2.91399861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.366875 meters 0.017146303568743082 Centerline is valid? [True, True] Translation: X:90.15, Y:-15.47, Z:-2.91 [[ 8.77906921e-01 4.78329967e-01 2.19061896e-02 9.01537976e+01] [-4.78194766e-01 8.78180055e-01 -1.13822681e-02 -1.54699631e+01] [-2.46820587e-02 -4.82853309e-04 9.99695235e-01 -2.91493192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.396875 meters 0.016969992483852354 Centerline is valid? [True, True] Translation: X:90.18, Y:-15.49, Z:-2.92 [[ 8.78085550e-01 4.78008799e-01 2.17567113e-02 9.01815985e+01] [-4.77875178e-01 8.78354924e-01 -1.13111713e-02 -1.54858531e+01] [-2.45169539e-02 -4.64816218e-04 9.99699306e-01 -2.91506030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.426875 meters 0.016879185747364887 Centerline is valid? [True, True] Translation: X:90.21, Y:-15.50, Z:-2.92 [[ 8.78339088e-01 4.77495316e-01 2.27743088e-02 9.02093772e+01] [-4.77348535e-01 8.78634171e-01 -1.18477535e-02 -1.55006384e+01] [-2.56675327e-02 -4.64937957e-04 9.99670426e-01 -2.91514489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.456875 meters 0.016879185747364887 Centerline is valid? [True, True] Translation: X:90.24, Y:-15.52, Z:-2.92 [[ 8.78209745e-01 4.77733282e-01 2.27718005e-02 9.02380394e+01] [-4.77586456e-01 8.78504806e-01 -1.18525722e-02 -1.55156684e+01] [-2.56675044e-02 -4.66459049e-04 9.99670427e-01 -2.91617867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.486875 meters 0.016658511949139806 Centerline is valid? [True, True] Translation: X:90.27, Y:-15.53, Z:-2.92 [[ 8.78249012e-01 4.77640498e-01 2.31997424e-02 9.02662168e+01] [-4.77487849e-01 8.78555256e-01 -1.20836862e-02 -1.55303439e+01] [-2.61539135e-02 -4.65109612e-04 9.99657820e-01 -2.91747423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.516875 meters 0.01686475598096462 Centerline is valid? [True, True] Translation: X:90.29, Y:-15.54, Z:-2.92 [[ 8.78138650e-01 4.77810105e-01 2.38749933e-02 9.02945996e+01] [-4.77648302e-01 8.78463019e-01 -1.24428213e-02 -1.55445454e+01] [-2.69186044e-02 -4.77327665e-04 9.99637515e-01 -2.91866866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.546875 meters 0.016415894357403763 Centerline is valid? [True, True] Translation: X:90.32, Y:-15.56, Z:-2.92 [[ 8.78142085e-01 4.77692424e-01 2.60082172e-02 9.03225557e+01] [-4.77500084e-01 8.78527000e-01 -1.35639255e-02 -1.55596813e+01] [-2.93283055e-02 -5.07872092e-04 9.99569704e-01 -2.91777069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.576875 meters 0.016395339162256908 Centerline is valid? [True, True] Translation: X:90.35, Y:-15.58, Z:-2.92 [[ 8.78183733e-01 4.77595267e-01 2.63835448e-02 9.03516797e+01] [-4.77397047e-01 8.78579824e-01 -1.37678142e-02 -1.55751049e+01] [-2.97554931e-02 -5.04755895e-04 9.99557080e-01 -2.91791869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.606875 meters 0.0163089915072762 Centerline is valid? [True, True] Translation: X:90.38, Y:-15.59, Z:-2.92 [[ 8.78284888e-01 4.77379471e-01 2.69164814e-02 9.03798596e+01] [-4.77172766e-01 8.78697099e-01 -1.40555830e-02 -1.55901087e+01] [-3.03612809e-02 -4.99005718e-04 9.99538865e-01 -2.91766969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63687499999999 meters 0.0161988165248864 Centerline is valid? [True, True] Translation: X:90.41, Y:-15.61, Z:-2.92 [[ 8.78602922e-01 4.76805929e-01 2.67022819e-02 9.04082359e+01] [-4.76601993e-01 8.79008468e-01 -1.39518318e-02 -1.56050825e+01] [-3.01238480e-02 -4.68240608e-04 9.99546064e-01 -2.91918982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66687499999999 meters 0.015760556274548483 Centerline is valid? [True, True] Translation: X:90.44, Y:-15.62, Z:-2.92 [[ 8.79377026e-01 4.75471243e-01 2.49628327e-02 9.04351984e+01] [-4.75292268e-01 8.79731178e-01 -1.30504428e-02 -1.56205591e+01] [-2.81656925e-02 -3.88381805e-04 9.99603193e-01 -2.92237954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69687499999999 meters 0.015637186265996694 Centerline is valid? [True, True] Translation: X:90.46, Y:-15.64, Z:-2.92 [[ 8.79721111e-01 4.74879868e-01 2.40806310e-02 9.04643432e+01] [-4.74713011e-01 8.80050559e-01 -1.25925386e-02 -1.56366798e+01] [-2.71721159e-02 -3.53466799e-04 9.99630707e-01 -2.92417490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72687499999999 meters 0.015588793671818776 Centerline is valid? [True, True] Translation: X:90.49, Y:-15.65, Z:-2.93 [[ 8.80056005e-01 4.74263172e-01 2.39973258e-02 9.04919081e+01] [-4.74097008e-01 8.80383063e-01 -1.25574408e-02 -1.56518111e+01] [-2.70823709e-02 -3.25809173e-04 9.99633152e-01 -2.92617172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.756875 meters 0.01504498193903057 Centerline is valid? [True, True] Translation: X:90.52, Y:-15.67, Z:-2.93 [[ 8.80446021e-01 4.73541054e-01 2.39515060e-02 9.05197473e+01] [-4.73375081e-01 8.80771697e-01 -1.25399816e-02 -1.56685982e+01] [-2.70340047e-02 -2.97269173e-04 9.99634470e-01 -2.92676781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.786875 meters 0.015170846424686392 Centerline is valid? [True, True] Translation: X:90.55, Y:-15.68, Z:-2.93 [[ 8.80109195e-01 4.74182164e-01 2.36448922e-02 9.05489581e+01] [-4.74020462e-01 8.80426704e-01 -1.23863107e-02 -1.56842178e+01] [-2.66909621e-02 -3.06856788e-04 9.99643686e-01 -2.92751545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.816875 meters 0.01533212645720273 Centerline is valid? [True, True] Translation: X:90.58, Y:-15.70, Z:-2.93 [[ 8.79635630e-01 4.75063101e-01 2.35840594e-02 9.05779913e+01] [-4.74902327e-01 8.79951671e-01 -1.23626714e-02 -1.56985199e+01] [-2.66258815e-02 -3.25478468e-04 9.99645415e-01 -2.92858872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.846875 meters 0.015462246616459717 Centerline is valid? [True, True] Translation: X:90.61, Y:-15.71, Z:-2.93 [[ 8.78959624e-01 4.76320238e-01 2.34309648e-02 9.06064062e+01] [-4.76161791e-01 8.79271804e-01 -1.22899734e-02 -1.57123770e+01] [-2.64561497e-02 -3.54539772e-04 9.99649912e-01 -2.93026753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.876875 meters 0.016668252632587387 Centerline is valid? [True, True] Translation: X:90.64, Y:-15.72, Z:-2.93 [[ 8.77155018e-01 4.79624031e-01 2.36614393e-02 9.06359739e+01] [-4.79463453e-01 8.77473979e-01 -1.24182572e-02 -1.57235472e+01] [-2.67183919e-02 -4.52058784e-04 9.99642898e-01 -2.93296977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.906875 meters 0.017117125379687237 Centerline is valid? [True, True] Translation: X:90.66, Y:-15.74, Z:-2.93 [[ 8.76251676e-01 4.81275623e-01 2.35960794e-02 9.06644761e+01] [-4.81116356e-01 8.76569181e-01 -1.23904535e-02 -1.57378046e+01] [-2.66468192e-02 -4.95304062e-04 9.99644788e-01 -2.93398378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.936875 meters 0.01839546075336931 Centerline is valid? [True, True] Translation: X:90.69, Y:-15.75, Z:-2.93 [[ 8.74212429e-01 4.84942581e-01 2.41520701e-02 9.06936894e+01] [-4.84776891e-01 8.74545777e-01 -1.26905463e-02 -1.57507380e+01] [-2.72762771e-02 -6.14132146e-04 9.99627744e-01 -2.93332770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.966875 meters 0.017985057603040467 Centerline is valid? [True, True] Translation: X:90.72, Y:-15.77, Z:-2.93 [[ 8.73251251e-01 4.86645487e-01 2.46662078e-02 9.07220506e+01] [-4.86473289e-01 8.73599283e-01 -1.29626904e-02 -1.57666383e+01] [-2.78566162e-02 -6.79765654e-04 9.99611698e-01 -2.93321632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99687499999999 meters 0.019071774787449338 Centerline is valid? [True, True] Translation: X:90.75, Y:-15.78, Z:-2.93 [[ 8.72569526e-01 4.87847293e-01 2.50487690e-02 9.07503706e+01] [-4.87669977e-01 8.72928689e-01 -1.31718229e-02 -1.57790716e+01] [-2.82916272e-02 -7.22201290e-04 9.99599451e-01 -2.93456129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02687499999999 meters 0.01994775173061463 Centerline is valid? [True, True] Translation: X:90.78, Y:-15.79, Z:-2.94 [[ 8.71468770e-01 4.89822700e-01 2.48174341e-02 9.07790695e+01] [-4.89649246e-01 8.71821728e-01 -1.30571863e-02 -1.57937633e+01] [-2.80320845e-02 -7.72907755e-04 9.99606725e-01 -2.93638449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05687499999999 meters 0.019527492009429843 Centerline is valid? [True, True] Translation: X:90.81, Y:-15.81, Z:-2.94 [[ 8.71438166e-01 4.89894912e-01 2.44642411e-02 9.08076216e+01] [-4.89726192e-01 8.71781166e-01 -1.28784855e-02 -1.58107139e+01] [-2.76365691e-02 -7.57975853e-04 9.99617750e-01 -2.93796550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08687499999999 meters 0.019150054865326702 Centerline is valid? [True, True] Translation: X:90.83, Y:-15.83, Z:-2.94 [[ 8.71830998e-01 4.89232750e-01 2.37071342e-02 9.08347033e+01] [-4.89073847e-01 8.72152978e-01 -1.24882186e-02 -1.58274079e+01] [-2.67858933e-02 -7.06923243e-04 9.99640944e-01 -2.94049191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.116875 meters 0.018492370388386425 Centerline is valid? [True, True] Translation: X:90.86, Y:-15.84, Z:-2.94 [[ 8.72031070e-01 4.88900695e-01 2.31931691e-02 9.08624032e+01] [-4.88748308e-01 8.72339185e-01 -1.22244507e-02 -1.58442651e+01] [-2.62088527e-02 -6.75521357e-04 9.99656261e-01 -2.94192607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.146875 meters 0.01815811241241137 Centerline is valid? [True, True] Translation: X:90.89, Y:-15.86, Z:-2.94 [[ 8.72363918e-01 4.88320575e-01 2.28956536e-02 9.08898286e+01] [-4.88171691e-01 8.72664083e-01 -1.20747060e-02 -1.58607641e+01] [-2.58765420e-02 -6.43472074e-04 9.99664939e-01 -2.94352343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.176875 meters 0.017968888393568277 Centerline is valid? [True, True] Translation: X:90.92, Y:-15.88, Z:-2.94 [[ 8.72721565e-01 4.87697130e-01 2.25517153e-02 9.09177961e+01] [-4.87552299e-01 8.73012679e-01 -1.19003127e-02 -1.58773731e+01] [-2.54916818e-02 -6.09481118e-04 9.99674848e-01 -2.94465683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.206875 meters 0.01808910850575955 Centerline is valid? [True, True] Translation: X:90.94, Y:-15.89, Z:-2.95 [[ 8.73641466e-01 4.86041924e-01 2.26679601e-02 9.09445852e+01] [-4.85894853e-01 8.73935316e-01 -1.19689379e-02 -1.58935738e+01] [-2.56277365e-02 -5.57684717e-04 9.99671400e-01 -2.94543286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.236875 meters 0.017006355001733017 Centerline is valid? [True, True] Translation: X:90.97, Y:-15.91, Z:-2.95 [[ 8.74181100e-01 4.85044553e-01 2.32204019e-02 9.09712465e+01] [-4.84889694e-01 8.74489277e-01 -1.22674057e-02 -1.59117777e+01] [-2.62562308e-02 -5.35399359e-04 9.99655102e-01 -2.94536084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.266875 meters 0.016726407906838346 Centerline is valid? [True, True] Translation: X:91.00, Y:-15.93, Z:-2.95 [[ 8.74934223e-01 4.83665799e-01 2.36114252e-02 9.09981120e+01] [-4.83504974e-01 8.75252620e-01 -1.24816146e-02 -1.59281929e+01] [-2.67028919e-02 -4.95649791e-04 9.99643291e-01 -2.94530617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.296875 meters 0.01576032526077712 Centerline is valid? [True, True] Translation: X:91.02, Y:-15.95, Z:-2.95 [[ 8.76190706e-01 4.81353107e-01 2.42699945e-02 9.10247237e+01] [-4.81182087e-01 8.76526669e-01 -1.28373803e-02 -1.59474803e+01] [-2.74526103e-02 -4.30293307e-04 9.99623013e-01 -2.94528035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.326875 meters 0.015621494257842806 Centerline is valid? [True, True] Translation: X:91.05, Y:-15.96, Z:-2.95 [[ 8.76451171e-01 4.80834285e-01 2.51343532e-02 9.10519185e+01] [-4.80650538e-01 8.76811388e-01 -1.32985253e-02 -1.59637213e+01] [-2.84324740e-02 -4.25332267e-04 9.99595625e-01 -2.94531762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.356875 meters 0.015506308303711315 Centerline is valid? [True, True] Translation: X:91.08, Y:-15.98, Z:-2.95 [[ 8.76807077e-01 4.80175932e-01 2.53065790e-02 9.10800323e+01] [-4.79989159e-01 8.77172112e-01 -1.33975142e-02 -1.59799026e+01] [-2.86313892e-02 -3.99848284e-04 9.99589958e-01 -2.94551630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38687499999999 meters 0.015292035732574687 Centerline is valid? [True, True] Translation: X:91.11, Y:-16.00, Z:-2.95 [[ 8.76752608e-01 4.80240228e-01 2.59651190e-02 9.11085025e+01] [-4.80043398e-01 8.77136910e-01 -1.37541866e-02 -1.59963144e+01] [-2.93802779e-02 -4.05364971e-04 9.99568224e-01 -2.94517723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41687499999999 meters 0.015351521685632403 Centerline is valid? [True, True] Translation: X:91.14, Y:-16.01, Z:-2.95 [[ 8.76537337e-01 4.80638458e-01 2.58644334e-02 9.11373827e+01] [-4.80443058e-01 8.76918756e-01 -1.37099443e-02 -1.60115459e+01] [-2.92705333e-02 -4.09109411e-04 9.99571442e-01 -2.94753466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44687499999999 meters 0.0150436837356839 Centerline is valid? [True, True] Translation: X:91.17, Y:-16.03, Z:-2.95 [[ 8.76789520e-01 4.80221088e-01 2.50568205e-02 9.11662197e+01] [-4.80037288e-01 8.77147403e-01 -1.32904389e-02 -1.60273933e+01] [-2.83608740e-02 -3.75290604e-04 9.99597679e-01 -2.94988291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47687499999999 meters 0.01485759440840633 Centerline is valid? [True, True] Translation: X:91.19, Y:-16.04, Z:-2.95 [[ 8.77338705e-01 4.79292042e-01 2.35782894e-02 9.11932622e+01] [-4.79128747e-01 8.77655421e-01 -1.25142448e-02 -1.60424824e+01] [-2.66915914e-02 -3.17804865e-04 9.99643665e-01 -2.95299983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.506875 meters 0.014457302954880654 Centerline is valid? [True, True] Translation: X:91.22, Y:-16.06, Z:-2.95 [[ 8.77570922e-01 4.78875452e-01 2.34004049e-02 9.12217592e+01] [-4.78714299e-01 8.77882801e-01 -1.24260642e-02 -1.60592147e+01] [-2.64933501e-02 -2.97355817e-04 9.99648945e-01 -2.95397751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.536875 meters 0.014005913780104495 Centerline is valid? [True, True] Translation: X:91.25, Y:-16.08, Z:-2.95 [[ 8.78450571e-01 4.77251997e-01 2.35611072e-02 9.12491182e+01] [-4.77087810e-01 8.78766449e-01 -1.25199550e-02 -1.60761848e+01] [-2.66798841e-02 -2.42555458e-04 9.99643999e-01 -2.95459088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.566875 meters 0.013937027300172052 Centerline is valid? [True, True] Translation: X:91.28, Y:-16.09, Z:-2.96 [[ 8.78933665e-01 4.76352843e-01 2.37398644e-02 9.12766359e+01] [-4.76185618e-01 8.79254187e-01 -1.26226718e-02 -1.60908811e+01] [-2.68862207e-02 -2.10090832e-04 9.99638478e-01 -2.95647233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.596875 meters 0.013840846960477536 Centerline is valid? [True, True] Translation: X:91.30, Y:-16.11, Z:-2.96 [[ 8.79419647e-01 4.75439422e-01 2.40508115e-02 9.13044102e+01] [-4.75267251e-01 8.79748444e-01 -1.27951564e-02 -1.61065493e+01] [-2.72419857e-02 -1.78251086e-04 9.99628852e-01 -2.95750840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.626875 meters 0.013510970598673145 Centerline is valid? [True, True] Translation: X:91.33, Y:-16.12, Z:-2.96 [[ 8.80374081e-01 4.73615110e-01 2.51038947e-02 9.13318702e+01] [-4.73426557e-01 8.80731919e-01 -1.33634358e-02 -1.61235748e+01] [-2.84389265e-02 -1.20027878e-04 9.99595525e-01 -2.95702960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.656875 meters 0.013444747665273144 Centerline is valid? [True, True] Translation: X:91.36, Y:-16.14, Z:-2.96 [[ 8.80777372e-01 4.72860291e-01 2.51866201e-02 9.13601809e+01] [-4.72669966e-01 8.81137411e-01 -1.34151111e-02 -1.61395424e+01] [-2.85363465e-02 -8.92325087e-05 9.99592752e-01 -2.95794643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.686875 meters 0.013392638032712857 Centerline is valid? [True, True] Translation: X:91.39, Y:-16.15, Z:-2.96 [[ 8.80977700e-01 4.72482138e-01 2.52769104e-02 9.13879729e+01] [-4.72290034e-01 8.81340244e-01 -1.34721524e-02 -1.61547343e+01] [-2.86429097e-02 -6.93670883e-05 9.99589705e-01 -2.95846159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.716875 meters 0.01328593989880979 Centerline is valid? [True, True] Translation: X:91.42, Y:-16.17, Z:-2.96 [[ 8.80888451e-01 4.72677364e-01 2.47314889e-02 9.14175901e+01] [-4.72493320e-01 8.81235556e-01 -1.31892737e-02 -1.61696381e+01] [-2.80285385e-02 -6.71844035e-05 9.99607121e-01 -2.95989959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74687499999999 meters 0.013263295024834833 Centerline is valid? [True, True] Translation: X:91.45, Y:-16.18, Z:-2.96 [[ 8.80664736e-01 4.73135494e-01 2.39254481e-02 9.14467222e+01] [-4.72963207e-01 8.80989670e-01 -1.27673931e-02 -1.61845876e+01] [-2.71187794e-02 -7.20638220e-05 9.99632216e-01 -2.96152783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77687499999999 meters 0.013374784502032498 Centerline is valid? [True, True] Translation: X:91.48, Y:-16.20, Z:-2.96 [[ 8.80408802e-01 4.73622425e-01 2.37094862e-02 9.14750409e+01] [-4.73453183e-01 8.80727990e-01 -1.26606276e-02 -1.61982001e+01] [-2.68779652e-02 -7.88036740e-05 9.99638719e-01 -2.96372322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80687499999999 meters 0.013343291063713712 Centerline is valid? [True, True] Translation: X:91.50, Y:-16.21, Z:-2.97 [[ 8.79930173e-01 4.74533714e-01 2.32517647e-02 9.15047287e+01] [-4.74371067e-01 8.80237323e-01 -1.24236012e-02 -1.62124609e+01] [-2.63624887e-02 -9.80629337e-05 9.99652444e-01 -2.96555224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83687499999999 meters 0.01324033113191097 Centerline is valid? [True, True] Translation: X:91.54, Y:-16.23, Z:-2.97 [[ 8.79320557e-01 4.75670137e-01 2.30928434e-02 9.15352296e+01] [-4.75509888e-01 8.79623730e-01 -1.23467053e-02 -1.62256873e+01] [-2.61859721e-02 -1.24163566e-04 9.99657081e-01 -2.96737555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.866875 meters 0.01342806002384785 Centerline is valid? [True, True] Translation: X:91.56, Y:-16.24, Z:-2.97 [[ 8.78928201e-01 4.76387223e-01 2.32472003e-02 9.15637687e+01] [-4.76224850e-01 8.79235574e-01 -1.24377487e-02 -1.62390663e+01] [-2.63649501e-02 -1.39006336e-04 9.99652375e-01 -2.96883296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.896875 meters 0.013518928790459886 Centerline is valid? [True, True] Translation: X:91.59, Y:-16.25, Z:-2.97 [[ 8.77899889e-01 4.78292198e-01 2.29860358e-02 9.15931902e+01] [-4.78133905e-01 8.78200739e-01 -1.23057177e-02 -1.62520099e+01] [-2.60720824e-02 -1.87214875e-04 9.99660048e-01 -2.96902005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.926875 meters 0.013838763125068126 Centerline is valid? [True, True] Translation: X:91.62, Y:-16.26, Z:-2.97 [[ 8.77164140e-01 4.79656834e-01 2.26360737e-02 9.16210537e+01] [-4.79503599e-01 8.77456138e-01 -1.21253804e-02 -1.62647872e+01] [-2.56781834e-02 -2.18129923e-04 9.99670237e-01 -2.96930528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.956875 meters 0.014258985111918594 Centerline is valid? [True, True] Translation: X:91.65, Y:-16.28, Z:-2.97 [[ 8.76248329e-01 4.81337760e-01 2.24237910e-02 9.16497386e+01] [-4.81187773e-01 8.76535164e-01 -1.20180379e-02 -1.62772266e+01] [-2.54399767e-02 -2.59268413e-04 9.99676318e-01 -2.97043236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.986875 meters 0.015123384297002716 Centerline is valid? [True, True] Translation: X:91.68, Y:-16.29, Z:-2.97 [[ 8.73931476e-01 4.85536467e-01 2.23184511e-02 9.16803791e+01] [-4.85389096e-01 8.74216334e-01 -1.19677422e-02 -1.62871805e+01] [-2.53219298e-02 -3.74146176e-04 9.99679279e-01 -2.97206898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.016875 meters 0.015917875326879962 Centerline is valid? [True, True] Translation: X:91.71, Y:-16.30, Z:-2.97 [[ 8.72673725e-01 4.87822398e-01 2.16766674e-02 9.17096273e+01] [-4.87683924e-01 8.72942798e-01 -1.16301676e-02 -1.62988049e+01] [-2.45959470e-02 -4.22020516e-04 9.99697385e-01 -2.97414153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.046875 meters 0.016552201171867908 Centerline is valid? [True, True] Translation: X:91.74, Y:-16.31, Z:-2.98 [[ 8.71589625e-01 4.89768848e-01 2.14009829e-02 9.17389962e+01] [-4.89634317e-01 8.71852200e-01 -1.14880996e-02 -1.63117049e+01] [-2.42850073e-02 -4.65747225e-04 9.99704967e-01 -2.97561436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.076875 meters 0.018005781908359466 Centerline is valid? [True, True] Translation: X:91.77, Y:-16.32, Z:-2.98 [[ 8.69826374e-01 4.92934693e-01 2.04320257e-02 9.17693997e+01] [-4.92812768e-01 8.70066156e-01 -1.09754640e-02 -1.63229637e+01] [-2.31874010e-02 -5.22415036e-04 9.99731000e-01 -2.97815982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.106875 meters 0.018416500615845977 Centerline is valid? [True, True] Translation: X:91.80, Y:-16.34, Z:-2.98 [[ 8.69090234e-01 4.94250349e-01 1.99689047e-02 9.17980582e+01] [-4.94134237e-01 8.69319444e-01 -1.07266338e-02 -1.63373413e+01] [-2.26609997e-02 -5.44906762e-04 9.99743058e-01 -2.97956163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13687499999999 meters 0.019063226904855245 Centerline is valid? [True, True] Translation: X:91.83, Y:-16.35, Z:-2.98 [[ 8.68707479e-01 4.94935788e-01 1.96438905e-02 9.18263434e+01] [-4.94823465e-01 8.68929379e-01 -1.05580856e-02 -1.63509770e+01] [-2.22947280e-02 -5.48369984e-04 9.99751291e-01 -2.98090829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16687499999999 meters 0.019731382371090914 Centerline is valid? [True, True] Translation: X:91.86, Y:-16.36, Z:-2.98 [[ 8.68211795e-01 4.95764005e-01 2.06477372e-02 9.18554816e+01] [-4.95640004e-01 8.68457079e-01 -1.11035257e-02 -1.63647969e+01] [-2.34364019e-02 -5.93632608e-04 9.99725154e-01 -2.98130192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19687499999999 meters 0.01836050455323448 Centerline is valid? [True, True] Translation: X:91.88, Y:-16.38, Z:-2.98 [[ 8.67880789e-01 4.96337561e-01 2.07836773e-02 9.18831512e+01] [-4.96211932e-01 8.68129401e-01 -1.11830776e-02 -1.63821949e+01] [-2.35935028e-02 -6.07530453e-04 9.99721450e-01 -2.98071658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22687499999999 meters 0.019059904920918483 Centerline is valid? [True, True] Translation: X:91.91, Y:-16.40, Z:-2.98 [[ 8.67454823e-01 4.97079010e-01 2.08467675e-02 9.19113489e+01] [-4.96952642e-01 8.67705059e-01 -1.12250313e-02 -1.63955624e+01] [-2.36685731e-02 -6.22648622e-04 9.99719666e-01 -2.98222567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.256875 meters 0.01826050860859519 Centerline is valid? [True, True] Translation: X:91.94, Y:-16.41, Z:-2.98 [[ 8.67272423e-01 4.97410950e-01 2.05156308e-02 9.19392947e+01] [-4.97288537e-01 8.67514822e-01 -1.10519414e-02 -1.64121022e+01] [-2.32949705e-02 -6.17144047e-04 9.99728445e-01 -2.98299141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.286875 meters 0.01887582399255853 Centerline is valid? [True, True] Translation: X:91.97, Y:-16.43, Z:-2.98 [[ 8.67396478e-01 4.97196092e-01 2.04791791e-02 9.19676716e+01] [-4.97073873e-01 8.67637990e-01 -1.10400587e-02 -1.64258720e+01] [-2.32575878e-02 -6.03556802e-04 9.99729324e-01 -2.98459154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.316875 meters 0.01895470701928742 Centerline is valid? [True, True] Translation: X:92.00, Y:-16.44, Z:-2.99 [[ 8.67362208e-01 4.97258099e-01 2.04250819e-02 9.19971133e+01] [-4.97136400e-01 8.67602458e-01 -1.10169990e-02 -1.64414033e+01] [-2.31991433e-02 -5.98323109e-04 9.99730685e-01 -2.98554848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.346875 meters 0.01895470701928742 Centerline is valid? [True, True] Translation: X:92.03, Y:-16.46, Z:-2.99 [[ 8.67226767e-01 4.97494396e-01 2.04220760e-02 9.20255506e+01] [-4.97372632e-01 8.67466984e-01 -1.10225677e-02 -1.64568712e+01] [-2.31991423e-02 -5.98315943e-04 9.99730685e-01 -2.98658326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.376875 meters 0.018331213793860636 Centerline is valid? [True, True] Translation: X:92.05, Y:-16.47, Z:-2.99 [[ 8.67162735e-01 4.97613279e-01 2.02438919e-02 9.20540774e+01] [-4.97493503e-01 8.67398799e-01 -1.09333740e-02 -1.64732524e+01] [-2.30001196e-02 -5.90190208e-04 9.99735288e-01 -2.98735155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.406875 meters 0.01862008856051069 Centerline is valid? [True, True] Translation: X:92.08, Y:-16.49, Z:-2.99 [[ 8.67477400e-01 4.97060962e-01 2.03312774e-02 9.20823757e+01] [-4.96939795e-01 8.67715434e-01 -1.09893104e-02 -1.64863278e+01] [-2.31041204e-02 -5.70442375e-04 9.99732901e-01 -2.99003705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.436875 meters 0.017890700704981513 Centerline is valid? [True, True] Translation: X:92.11, Y:-16.50, Z:-2.99 [[ 8.67675124e-01 4.96717499e-01 2.02880703e-02 9.21104614e+01] [-4.96596694e-01 8.67912101e-01 -1.09685319e-02 -1.65025735e+01] [-2.30565235e-02 -5.57866395e-04 9.99734007e-01 -2.99155082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.466875 meters 0.017640220696309862 Centerline is valid? [True, True] Translation: X:92.14, Y:-16.52, Z:-2.99 [[ 8.67968385e-01 4.96186514e-01 2.07322343e-02 9.21385751e+01] [-4.96060053e-01 8.68215780e-01 -1.12152856e-02 -1.65184488e+01] [-2.35649265e-02 -5.49919948e-04 9.99722157e-01 -2.99221877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49687499999999 meters 0.01693864751719263 Centerline is valid? [True, True] Translation: X:92.17, Y:-16.53, Z:-2.99 [[ 8.69081032e-01 4.94226962e-01 2.09253242e-02 9.21652754e+01] [-4.94097405e-01 8.69332770e-01 -1.13265352e-02 -1.65346763e+01] [-2.37889492e-02 -4.95471461e-04 9.99716880e-01 -2.99212908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52687499999999 meters 0.01656311110656179 Centerline is valid? [True, True] Translation: X:92.19, Y:-16.55, Z:-2.99 [[ 8.69691382e-01 4.93146442e-01 2.10591216e-02 9.21933785e+01] [-4.93014763e-01 8.69946189e-01 -1.14049092e-02 -1.65509641e+01] [-2.39445930e-02 -4.63706615e-04 9.99713180e-01 -2.99298826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55687499999999 meters 0.01576170647549363 Centerline is valid? [True, True] Translation: X:92.22, Y:-16.57, Z:-2.99 [[ 8.71022771e-01 4.90726232e-01 2.25188300e-02 9.22212208e+01] [-4.90574661e-01 8.71313715e-01 -1.22029603e-02 -1.65666740e+01] [-2.56092782e-02 -4.18111055e-04 9.99671941e-01 -2.99322083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58687499999999 meters 0.015800135934627087 Centerline is valid? [True, True] Translation: X:92.25, Y:-16.58, Z:-2.99 [[ 8.71428653e-01 4.89947234e-01 2.37447217e-02 9.22488963e+01] [-4.89778206e-01 8.71751995e-01 -1.28751189e-02 -1.65809556e+01] [-2.70076374e-02 -4.09899640e-04 9.99635143e-01 -2.99373153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.616875 meters 0.01532099731378591 Centerline is valid? [True, True] Translation: X:92.28, Y:-16.60, Z:-2.99 [[ 8.71750127e-01 4.89328843e-01 2.46779112e-02 9.22766543e+01] [-4.89145817e-01 8.72099263e-01 -1.33882800e-02 -1.65975510e+01] [-2.80728597e-02 -3.99862186e-04 9.99605800e-01 -2.99345355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.646875 meters 0.015261909990526887 Centerline is valid? [True, True] Translation: X:92.31, Y:-16.61, Z:-2.99 [[ 8.71756229e-01 4.89314045e-01 2.47556496e-02 9.23058374e+01] [-4.89129650e-01 8.72107568e-01 -1.34378558e-02 -1.66132986e+01] [-2.81649210e-02 -3.94187747e-04 9.99603212e-01 -2.99451992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.676875 meters 0.015512517302991689 Centerline is valid? [True, True] Translation: X:92.33, Y:-16.63, Z:-3.00 [[ 8.71222232e-01 4.90274425e-01 2.45522058e-02 9.23349831e+01] [-4.90093189e-01 8.71568022e-01 -1.33360153e-02 -1.66271540e+01] [-2.79372247e-02 -4.14235857e-04 9.99609594e-01 -2.99641552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.706875 meters 0.015850180995931027 Centerline is valid? [True, True] Translation: X:92.36, Y:-16.64, Z:-3.00 [[ 8.70597688e-01 4.91412576e-01 2.39446613e-02 9.23638058e+01] [-4.91240438e-01 8.70926801e-01 -1.30130462e-02 -1.66409711e+01] [-2.72488218e-02 -4.33457964e-04 9.99628588e-01 -2.99851625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.736875 meters 0.016056983907364604 Centerline is valid? [True, True] Translation: X:92.39, Y:-16.65, Z:-3.00 [[ 8.69765064e-01 4.92875866e-01 2.41270265e-02 9.23926510e+01] [-4.92701457e-01 8.70099508e-01 -1.31194604e-02 -1.66549669e+01] [-2.74591793e-02 -4.76572783e-04 9.99622812e-01 -3.00019879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.766875 meters 0.016355326325645424 Centerline is valid? [True, True] Translation: X:92.42, Y:-16.67, Z:-3.00 [[ 8.68424717e-01 4.95192397e-01 2.49599837e-02 9.24219578e+01] [-4.95006467e-01 8.68783157e-01 -1.35802829e-02 -1.66678050e+01] [-2.84096662e-02 -5.61899995e-04 9.99596206e-01 -3.00163705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.796875 meters 0.016872689290207576 Centerline is valid? [True, True] Translation: X:92.45, Y:-16.68, Z:-3.00 [[ 8.67772996e-01 4.96329742e-01 2.50362725e-02 9.24499261e+01] [-4.96142920e-01 8.68133880e-01 -1.36296765e-02 -1.66809257e+01] [-2.84996502e-02 -5.94104169e-04 9.99593626e-01 -3.00243740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.826875 meters 0.016692494120902797 Centerline is valid? [True, True] Translation: X:92.48, Y:-16.70, Z:-3.00 [[ 8.67472755e-01 4.96858287e-01 2.49572109e-02 9.24786652e+01] [-4.96672665e-01 8.67831481e-01 -1.35935672e-02 -1.66962939e+01] [-2.84127298e-02 -6.03515257e-04 9.99596095e-01 -3.00379287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.856875 meters 0.017227605215708996 Centerline is valid? [True, True] Translation: X:92.51, Y:-16.71, Z:-3.01 [[ 8.67083765e-01 4.97554092e-01 2.46103690e-02 9.25066695e+01] [-4.97373616e-01 8.67432737e-01 -1.34138923e-02 -1.67096201e+01] [-2.80219768e-02 -6.09579964e-04 9.99607121e-01 -3.00529581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88687499999999 meters 0.016832603718665018 Centerline is valid? [True, True] Translation: X:92.54, Y:-16.72, Z:-3.01 [[ 8.66792566e-01 4.98087002e-01 2.40828992e-02 9.25355335e+01] [-4.97914297e-01 8.67126845e-01 -1.31296622e-02 -1.67246743e+01] [-2.74226425e-02 -6.10526186e-04 9.99623742e-01 -3.00849811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91687499999999 meters 0.017046885586934422 Centerline is valid? [True, True] Translation: X:92.56, Y:-16.74, Z:-3.01 [[ 8.66668981e-01 4.98298418e-01 2.41570645e-02 9.25637219e+01] [-4.98124488e-01 8.67005371e-01 -1.31788439e-02 -1.67387047e+01] [-2.75113017e-02 -6.11530183e-04 9.99621305e-01 -3.01021063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94687499999999 meters 0.016672466443025766 Centerline is valid? [True, True] Translation: X:92.59, Y:-16.75, Z:-3.01 [[ 8.66604615e-01 4.98341730e-01 2.55335335e-02 9.25923009e+01] [-4.98147165e-01 8.66980456e-01 -1.39388412e-02 -1.67536086e+01] [-2.90833807e-02 -6.39993162e-04 9.99576784e-01 -3.01014767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97687499999999 meters 0.016520160925296228 Centerline is valid? [True, True] Translation: X:92.62, Y:-16.77, Z:-3.01 [[ 8.66743572e-01 4.98067880e-01 2.61527458e-02 9.26203877e+01] [-4.97863389e-01 8.67137808e-01 -1.42852055e-02 -1.67686274e+01] [-2.97930367e-02 -6.38884611e-04 9.99555885e-01 -3.01081991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.006875 meters 0.0165808170510767 Centerline is valid? [True, True] Translation: X:92.65, Y:-16.78, Z:-3.01 [[ 8.66900327e-01 4.97784310e-01 2.63553286e-02 9.26476111e+01] [-4.97576257e-01 8.67300633e-01 -1.44041902e-02 -1.67833039e+01] [-3.00281731e-02 -6.26788532e-04 9.99548856e-01 -3.01151058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.036875 meters 0.01563976100082623 Centerline is valid? [True, True] Translation: X:92.68, Y:-16.80, Z:-3.01 [[ 8.68125003e-01 4.95627402e-01 2.66919211e-02 9.26754484e+01] [-4.95412735e-01 8.68535074e-01 -1.45961715e-02 -1.68002626e+01] [-3.04171322e-02 -5.52216165e-04 9.99537139e-01 -3.01277609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.066875 meters 0.015147176570035552 Centerline is valid? [True, True] Translation: X:92.70, Y:-16.82, Z:-3.01 [[ 8.68708648e-01 4.94579865e-01 2.71300979e-02 9.27032957e+01] [-4.94357491e-01 8.69132030e-01 -1.48386694e-02 -1.68162561e+01] [-3.09185441e-02 -5.21486647e-04 9.99521771e-01 -3.01378112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.096875 meters 0.014954873829247105 Centerline is valid? [True, True] Translation: X:92.73, Y:-16.83, Z:-3.02 [[ 8.69015589e-01 4.94011361e-01 2.76528872e-02 9.27309273e+01] [-4.93779770e-01 8.69455302e-01 -1.51332965e-02 -1.68317347e+01] [-3.15189698e-02 -5.03365768e-04 9.99503027e-01 -3.01537324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.126875 meters 0.014447127222889721 Centerline is valid? [True, True] Translation: X:92.76, Y:-16.85, Z:-3.02 [[ 8.69562088e-01 4.93042030e-01 2.77728547e-02 9.27587001e+01] [-4.92807661e-01 8.70005369e-01 -1.52074761e-02 -1.68479317e+01] [-3.16604576e-02 -4.62830905e-04 9.99498575e-01 -3.01676750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.156875 meters 0.013682309006098655 Centerline is valid? [True, True] Translation: X:92.79, Y:-16.86, Z:-3.02 [[ 8.71084122e-01 4.90383360e-01 2.71406174e-02 9.27863903e+01] [-4.90157997e-01 8.71506763e-01 -1.48694427e-02 -1.68646890e+01] [-3.09449589e-02 -3.50655234e-04 9.99521029e-01 -3.01911552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.186875 meters 0.013339139836703238 Centerline is valid? [True, True] Translation: X:92.81, Y:-16.88, Z:-3.02 [[ 8.71866605e-01 4.89017768e-01 2.66504363e-02 9.28140706e+01] [-4.88799591e-01 8.72273775e-01 -1.46089364e-02 -1.68812196e+01] [-3.03905062e-02 -2.89678598e-04 9.99538060e-01 -3.02050567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.216875 meters 0.01288681455036475 Centerline is valid? [True, True] Translation: X:92.84, Y:-16.90, Z:-3.02 [[ 8.73745259e-01 4.85682129e-01 2.61168785e-02 9.28411334e+01] [-4.85470875e-01 8.74135483e-01 -1.43243389e-02 -1.68984717e+01] [-2.97867656e-02 -1.63160637e-04 9.99556263e-01 -3.02245355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24687499999999 meters 0.012657818390405407 Centerline is valid? [True, True] Translation: X:92.87, Y:-16.92, Z:-3.02 [[ 8.74603246e-01 4.84159157e-01 2.56724067e-02 9.28691185e+01] [-4.83954153e-01 8.74979943e-01 -1.40882169e-02 -1.69151234e+01] [-2.92837802e-02 -1.02667608e-04 9.99571133e-01 -3.02340183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27687499999999 meters 0.012569635737872334 Centerline is valid? [True, True] Translation: X:92.90, Y:-16.93, Z:-3.02 [[ 8.75370605e-01 4.82765090e-01 2.57715235e-02 9.28978217e+01] [-4.82557628e-01 8.75749887e-01 -1.41516935e-02 -1.69320743e+01] [-2.94013523e-02 -4.82687610e-05 9.99567686e-01 -3.02441097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30687499999999 meters 0.012586810623672617 Centerline is valid? [True, True] Translation: X:92.93, Y:-16.95, Z:-3.02 [[ 8.76176216e-01 4.81289296e-01 2.59971458e-02 9.29254955e+01] [-4.81077244e-01 8.76561814e-01 -1.42853599e-02 -1.69481513e+01] [-2.96634961e-02 9.85734942e-06 9.99559942e-01 -3.02437365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33687499999999 meters 0.012582964168540623 Centerline is valid? [True, True] Translation: X:92.95, Y:-16.96, Z:-3.03 [[ 8.77116353e-01 4.79546262e-01 2.65006706e-02 9.29545103e+01] [-4.79324939e-01 8.77516597e-01 -1.45679558e-02 -1.69633172e+01] [-3.02407870e-02 7.53599617e-05 9.99542640e-01 -3.02556453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.366875 meters 0.012582097711646227 Centerline is valid? [True, True] Translation: X:92.98, Y:-16.98, Z:-3.03 [[ 8.77243607e-01 4.79268397e-01 2.73030659e-02 9.29830133e+01] [-4.79033019e-01 8.77668385e-01 -1.50190551e-02 -1.69780668e+01] [-3.11611962e-02 9.62999518e-05 9.99514367e-01 -3.02626197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.396875 meters 0.012557378880339191 Centerline is valid? [True, True] Translation: X:93.01, Y:-16.99, Z:-3.03 [[ 8.76419028e-01 4.80771788e-01 2.73528061e-02 9.30130190e+01] [-4.80536098e-01 8.76845759e-01 -1.50523452e-02 -1.69922505e+01] [-3.12209350e-02 4.81510200e-05 9.99512507e-01 -3.02606349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.426875 meters 0.012499974404982551 Centerline is valid? [True, True] Translation: X:93.04, Y:-17.01, Z:-3.03 [[ 8.75656205e-01 4.82206147e-01 2.65224851e-02 9.30429940e+01] [-4.81984937e-01 8.76057779e-01 -1.46044120e-02 -1.70068423e+01] [-3.02775666e-02 5.00569168e-06 9.99541529e-01 -3.02701609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.456875 meters 0.012510325509889708 Centerline is valid? [True, True] Translation: X:93.07, Y:-17.02, Z:-3.03 [[ 8.74836051e-01 4.83721084e-01 2.59960911e-02 9.30731063e+01] [-4.83508973e-01 8.75222207e-01 -1.43234711e-02 -1.70207905e+01] [-2.96809212e-02 -3.86543550e-05 9.99559424e-01 -3.02901855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.486875 meters 0.012722212854774716 Centerline is valid? [True, True] Translation: X:93.10, Y:-17.03, Z:-3.03 [[ 8.72644329e-01 4.87724010e-01 2.48428038e-02 9.31037225e+01] [-4.87531685e-01 8.72997860e-01 -1.36964293e-02 -1.70308651e+01] [-2.83677920e-02 -1.59542674e-04 9.99597540e-01 -3.03163795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.516875 meters 0.013006096608098532 Centerline is valid? [True, True] Translation: X:93.13, Y:-17.04, Z:-3.03 [[ 8.71229751e-01 4.90243509e-01 2.49002525e-02 9.31332477e+01] [-4.90051102e-01 8.71585479e-01 -1.37357526e-02 -1.70433791e+01] [-2.84365621e-02 -2.35399821e-04 9.99595571e-01 -3.03341776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.546875 meters 0.013521365067858105 Centerline is valid? [True, True] Translation: X:93.16, Y:-17.06, Z:-3.04 [[ 8.69715580e-01 4.92937895e-01 2.46381958e-02 9.31626146e+01] [-4.92750384e-01 8.70064442e-01 -1.35987335e-02 -1.70559531e+01] [-2.81401491e-02 -3.13450086e-04 9.99603938e-01 -3.03515022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.576875 meters 0.01457495669501206 Centerline is valid? [True, True] Translation: X:93.19, Y:-17.07, Z:-3.04 [[ 8.67163805e-01 4.97471212e-01 2.34377499e-02 9.31926909e+01] [-4.97302996e-01 8.67480378e-01 -1.29430625e-02 -1.70672149e+01] [-2.67705891e-02 -4.31907920e-04 9.99641510e-01 -3.03668213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.606875 meters 0.015016817466478588 Centerline is valid? [True, True] Translation: X:93.22, Y:-17.08, Z:-3.04 [[ 8.66024298e-01 4.99502223e-01 2.23482631e-02 9.32213723e+01] [-4.99349800e-01 8.66312479e-01 -1.23477209e-02 -1.70814551e+01] [-2.55282932e-02 -4.66174375e-04 9.99673991e-01 -3.03808057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63687499999999 meters 0.0161064364340204 Centerline is valid? [True, True] Translation: X:93.25, Y:-17.09, Z:-3.04 [[ 8.64065270e-01 5.02868067e-01 2.26917779e-02 9.32502557e+01] [-5.02711871e-01 8.64362994e-01 -1.25454844e-02 -1.70943759e+01] [-2.59226566e-02 -5.67308718e-04 9.99663790e-01 -3.03881816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66687499999999 meters 0.016906842426768667 Centerline is valid? [True, True] Translation: X:93.28, Y:-17.11, Z:-3.04 [[ 8.63253116e-01 5.04230268e-01 2.33643831e-02 9.32783278e+01] [-5.04065089e-01 8.63569018e-01 -1.29204633e-02 -1.71076198e+01] [-2.66916460e-02 -6.23539651e-04 9.99643520e-01 -3.03963100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69687499999999 meters 0.017101522995421163 Centerline is valid? [True, True] Translation: X:93.31, Y:-17.12, Z:-3.04 [[ 8.62315993e-01 5.05800939e-01 2.40112110e-02 9.33063732e+01] [-5.05626883e-01 8.62649954e-01 -1.32857951e-02 -1.71227767e+01] [-2.74332377e-02 -6.84160155e-04 9.99623404e-01 -3.04038578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72687499999999 meters 0.017358875546585217 Centerline is valid? [True, True] Translation: X:93.33, Y:-17.14, Z:-3.04 [[ 8.61355326e-01 5.07428265e-01 2.41569530e-02 9.33344650e+01] [-5.07252518e-01 8.61693691e-01 -1.33740734e-02 -1.71382945e+01] [-2.76022769e-02 -7.33845877e-04 9.99618715e-01 -3.04094733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.756875 meters 0.018887982597020226 Centerline is valid? [True, True] Translation: X:93.36, Y:-17.15, Z:-3.04 [[ 8.59680030e-01 5.10269739e-01 2.39799782e-02 9.33624171e+01] [-5.10097452e-01 8.60014031e-01 -1.32836872e-02 -1.71526386e+01] [-2.74013813e-02 -8.12405191e-04 9.99624182e-01 -3.04129306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.786875 meters 0.018821316353208495 Centerline is valid? [True, True] Translation: X:93.39, Y:-17.17, Z:-3.04 [[ 8.58864619e-01 5.11673154e-01 2.32840953e-02 9.33896085e+01] [-5.11511066e-01 8.59179783e-01 -1.29046174e-02 -1.71690173e+01] [-2.66081702e-02 -8.26753122e-04 9.99645598e-01 -3.04289588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.816875 meters 0.019777798891432396 Centerline is valid? [True, True] Translation: X:93.42, Y:-17.18, Z:-3.04 [[ 8.58246231e-01 5.12745119e-01 2.24910970e-02 9.34170023e+01] [-5.12594075e-01 8.58540484e-01 -1.24720391e-02 -1.71830981e+01] [-2.57044945e-02 -8.24722479e-04 9.99669245e-01 -3.04464929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.846875 meters 0.020335776449346928 Centerline is valid? [True, True] Translation: X:93.45, Y:-17.20, Z:-3.05 [[ 8.56713076e-01 5.15290888e-01 2.27597501e-02 9.34452523e+01] [-5.15136908e-01 8.57014867e-01 -1.26287131e-02 -1.71982653e+01] [-2.60129049e-02 -9.05203642e-04 9.99661197e-01 -3.04667858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.876875 meters 0.021333700176422558 Centerline is valid? [True, True] Translation: X:93.47, Y:-17.21, Z:-3.05 [[ 8.55720329e-01 5.16909302e-01 2.33985332e-02 9.34739022e+01] [-5.16747128e-01 8.56039609e-01 -1.29843490e-02 -1.72124353e+01] [-2.67418020e-02 -9.80153472e-04 9.99641894e-01 -3.04757094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.906875 meters 0.022606235885940424 Centerline is valid? [True, True] Translation: X:93.50, Y:-17.23, Z:-3.05 [[ 8.54825652e-01 5.18402203e-01 2.30707850e-02 9.35013244e+01] [-5.18244875e-01 8.55136331e-01 -1.28103319e-02 -1.72263178e+01] [-2.63695707e-02 -1.00571576e-03 9.99651756e-01 -3.04801988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.936875 meters 0.02407094058066648 Centerline is valid? [True, True] Translation: X:93.53, Y:-17.24, Z:-3.05 [[ 8.53951706e-01 5.19884363e-01 2.20620312e-02 9.35284020e+01] [-5.19740909e-01 8.54236059e-01 -1.22533231e-02 -1.72407748e+01] [-2.52164937e-02 -1.00279395e-03 9.99681511e-01 -3.04964010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.966875 meters 0.02418198279095471 Centerline is valid? [True, True] Translation: X:93.56, Y:-17.26, Z:-3.05 [[ 8.53780546e-01 5.20199428e-01 2.12446428e-02 9.35564581e+01] [-5.20066436e-01 8.54044267e-01 -1.18021793e-02 -1.72566131e+01] [-2.42833523e-02 -9.72154620e-04 9.99704643e-01 -3.05181549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99687499999999 meters 0.024106921114732047 Centerline is valid? [True, True] Translation: X:93.59, Y:-17.27, Z:-3.05 [[ 8.53631098e-01 5.20465147e-01 2.07359314e-02 9.35850606e+01] [-5.20338388e-01 8.53882384e-01 -1.15254751e-02 -1.72730515e+01] [-2.37046546e-02 -9.51197103e-04 9.99718553e-01 -3.05411389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02687499999999 meters 0.024142871770088666 Centerline is valid? [True, True] Translation: X:93.61, Y:-17.29, Z:-3.06 [[ 8.53758443e-01 5.20263158e-01 2.05613119e-02 9.36117034e+01] [-5.20138285e-01 8.54005491e-01 -1.14361169e-02 -1.72882793e+01] [-2.35092636e-02 -9.31044157e-04 9.99723186e-01 -3.05538619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05687499999999 meters 0.021379871138849146 Centerline is valid? [True, True] Translation: X:93.64, Y:-17.31, Z:-3.06 [[ 8.54794930e-01 5.18565980e-01 2.03703661e-02 9.36367444e+01] [-5.18442806e-01 8.55037172e-01 -1.13354207e-02 -1.73095839e+01] [-2.32955838e-02 -8.71409628e-04 9.99728241e-01 -3.05550095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08687499999999 meters 0.021490111805262946 Centerline is valid? [True, True] Translation: X:93.66, Y:-17.33, Z:-3.06 [[ 8.55384040e-01 5.17594090e-01 2.03593376e-02 9.36632148e+01] [-5.17470620e-01 8.55625885e-01 -1.13358947e-02 -1.73261410e+01] [-2.32873684e-02 -8.38815703e-04 9.99728461e-01 -3.05596765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.116875 meters 0.021073676193094238 Centerline is valid? [True, True] Translation: X:93.69, Y:-17.34, Z:-3.06 [[ 8.56171278e-01 5.16279666e-01 2.06409533e-02 9.36903043e+01] [-5.16152233e-01 8.56419670e-01 -1.14987209e-02 -1.73437864e+01] [-2.36138742e-02 -8.08999527e-04 9.99720826e-01 -3.05566762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.146875 meters 0.018554737342826002 Centerline is valid? [True, True] Translation: X:93.71, Y:-17.37, Z:-3.05 [[ 8.57893364e-01 5.13387425e-01 2.12679859e-02 9.37142102e+01] [-5.13251069e-01 8.58156627e-01 -1.18551286e-02 -1.73655276e+01] [-2.43375370e-02 -7.45380379e-04 9.99703520e-01 -3.05457783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.176875 meters 0.018023244419630453 Centerline is valid? [True, True] Translation: X:93.74, Y:-17.38, Z:-3.06 [[ 8.58780912e-01 5.11902392e-01 2.12435257e-02 9.37407915e+01] [-5.11765760e-01 8.59043337e-01 -1.18470143e-02 -1.73832945e+01] [-2.43136241e-02 -6.97719371e-04 9.99704137e-01 -3.05524152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.206875 meters 0.016717574338373068 Centerline is valid? [True, True] Translation: X:93.76, Y:-17.40, Z:-3.06 [[ 8.61164513e-01 5.07853663e-01 2.19166369e-02 9.37641886e+01] [-5.07706723e-01 8.61443152e-01 -1.22303117e-02 -1.74030594e+01] [-2.50911454e-02 -5.94913508e-04 9.99684991e-01 -3.05553018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.236875 meters 0.016103706402865643 Centerline is valid? [True, True] Translation: X:93.79, Y:-17.42, Z:-3.06 [[ 8.62296940e-01 5.05907196e-01 2.24030266e-02 9.37900315e+01] [-5.05752900e-01 8.62587740e-01 -1.25057675e-02 -1.74215634e+01] [-2.56513338e-02 -5.46710624e-04 9.99670801e-01 -3.05534541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.266875 meters 0.016103706402865643 Centerline is valid? [True, True] Translation: X:93.82, Y:-17.44, Z:-3.06 [[ 8.62159967e-01 5.06140717e-01 2.24001541e-02 9.38182485e+01] [-5.05986366e-01 8.62450738e-01 -1.25109103e-02 -1.74374284e+01] [-2.56513105e-02 -5.47766564e-04 9.99670801e-01 -3.05637953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.296875 meters 0.015525231040764908 Centerline is valid? [True, True] Translation: X:93.84, Y:-17.46, Z:-3.06 [[ 8.63370555e-01 5.04048613e-01 2.29408140e-02 9.38440860e+01] [-5.03885755e-01 8.63675145e-01 -1.28214823e-02 -1.74563041e+01] [-2.62760612e-02 -4.89859101e-04 9.99654605e-01 -3.05648745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.326875 meters 0.014754984086992015 Centerline is valid? [True, True] Translation: X:93.87, Y:-17.48, Z:-3.06 [[ 8.64553627e-01 5.02019604e-01 2.28766861e-02 9.38699266e+01] [-5.01856759e-01 8.64856138e-01 -1.27927358e-02 -1.74752742e+01] [-2.62072466e-02 -4.20813359e-04 9.99656443e-01 -3.05654857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.356875 meters 0.0137099101851248 Centerline is valid? [True, True] Translation: X:93.89, Y:-17.50, Z:-3.06 [[ 8.67022656e-01 4.97756743e-01 2.25818216e-02 9.38943796e+01] [-4.97596440e-01 8.67316635e-01 -1.26347897e-02 -1.74970852e+01] [-2.58746413e-02 -2.81985059e-04 9.99665156e-01 -3.05717300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38687499999999 meters 0.013418564518302842 Centerline is valid? [True, True] Translation: X:93.92, Y:-17.51, Z:-3.06 [[ 8.68261959e-01 4.95589766e-01 2.26264247e-02 9.39198597e+01] [-4.95427904e-01 8.68556699e-01 -1.26669746e-02 -1.75143059e+01] [-2.59299557e-02 -2.11509950e-04 9.99663740e-01 -3.05912404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41687499999999 meters 0.013085747999491913 Centerline is valid? [True, True] Translation: X:93.95, Y:-17.53, Z:-3.06 [[ 8.69105005e-01 4.94109755e-01 2.26283092e-02 9.39467346e+01] [-4.93947199e-01 8.69399519e-01 -1.26744046e-02 -1.75324832e+01] [-2.59355881e-02 -1.61801493e-04 9.99663603e-01 -3.06059611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44687499999999 meters 0.012862152137250999 Centerline is valid? [True, True] Translation: X:93.97, Y:-17.55, Z:-3.06 [[ 8.70529188e-01 4.91649358e-01 2.14439203e-02 9.39733532e+01] [-4.91502484e-01 8.70793261e-01 -1.20168779e-02 -1.75522715e+01] [-2.45813116e-02 -7.86970835e-05 9.99697831e-01 -3.06303786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47687499999999 meters 0.012820285850121526 Centerline is valid? [True, True] Translation: X:94.00, Y:-17.57, Z:-3.06 [[ 8.70860387e-01 4.91081768e-01 2.09972140e-02 9.40010611e+01] [-4.90940612e-01 8.71113479e-01 -1.17737546e-02 -1.75697287e+01] [-2.40728324e-02 -5.50885842e-05 9.99710206e-01 -3.06435348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.506875 meters 0.012776823423610289 Centerline is valid? [True, True] Translation: X:94.03, Y:-17.59, Z:-3.06 [[ 8.70982565e-01 4.90852377e-01 2.12912191e-02 9.40277661e+01] [-4.90706979e-01 8.71242757e-01 -1.19464690e-02 -1.75866684e+01] [-2.44137732e-02 -4.25836052e-05 9.99701939e-01 -3.06474184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.536875 meters 0.012812973457078798 Centerline is valid? [True, True] Translation: X:94.06, Y:-17.60, Z:-3.07 [[ 8.70621628e-01 4.91498276e-01 2.11524593e-02 9.40564359e+01] [-4.91354794e-01 8.70878546e-01 -1.18753879e-02 -1.76028248e+01] [-2.42579556e-02 -5.43927373e-05 9.99705731e-01 -3.06526727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.566875 meters 0.012900709197886197 Centerline is valid? [True, True] Translation: X:94.08, Y:-17.62, Z:-3.07 [[ 8.69176469e-01 4.94136598e-01 1.90076044e-02 9.40848021e+01] [-4.94021234e-01 8.69384271e-01 -1.06775497e-02 -1.76163248e+01] [-2.18010804e-02 -1.09485208e-04 9.99762322e-01 -3.06879975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.596875 meters 0.013056606953981328 Centerline is valid? [True, True] Translation: X:94.11, Y:-17.63, Z:-3.07 [[ 8.68056317e-01 4.96118681e-01 1.85602761e-02 9.41138252e+01] [-4.96009033e-01 8.68254704e-01 -1.04311349e-02 -1.76307214e+01] [-2.12901279e-02 -1.51252068e-04 9.99773328e-01 -3.07140138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.626875 meters 0.013257522255623355 Centerline is valid? [True, True] Translation: X:94.14, Y:-17.65, Z:-3.07 [[ 8.66722245e-01 4.98466876e-01 1.79811998e-02 9.41422619e+01] [-4.98364361e-01 8.66908723e-01 -1.01108418e-02 -1.76453606e+01] [-2.06279787e-02 -1.97897609e-04 9.99787201e-01 -3.07232642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.656875 meters 0.013905536978969044 Centerline is valid? [True, True] Translation: X:94.17, Y:-17.66, Z:-3.07 [[ 8.65198885e-01 5.01095587e-01 1.82784469e-02 9.41703926e+01] [-5.00990100e-01 8.65391903e-01 -1.02846682e-02 -1.76576948e+01] [-2.09716218e-02 -2.59037483e-04 9.99780038e-01 -3.07426995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.686875 meters 0.014471995449691777 Centerline is valid? [True, True] Translation: X:94.20, Y:-17.67, Z:-3.08 [[ 8.63643180e-01 5.03767730e-01 1.83992308e-02 9.41989383e+01] [-5.03661358e-01 8.63839088e-01 -1.03569516e-02 -1.76713124e+01] [-2.11114728e-02 -3.22270978e-04 9.99777076e-01 -3.07513703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.716875 meters 0.016077278516828008 Centerline is valid? [True, True] Translation: X:94.23, Y:-17.68, Z:-3.08 [[ 8.60539828e-01 5.09034708e-01 1.88379828e-02 9.42294496e+01] [-5.08924328e-01 8.60745873e-01 -1.06099631e-02 -1.76820586e+01] [-2.16155554e-02 -4.56811852e-04 9.99766252e-01 -3.07633847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74687499999999 meters 0.017044398647198446 Centerline is valid? [True, True] Translation: X:94.26, Y:-17.70, Z:-3.08 [[ 8.59143866e-01 5.11366644e-01 1.93900056e-02 9.42583772e+01] [-5.11250193e-01 8.59362483e-01 -1.09253045e-02 -1.76957786e+01] [-2.22498797e-02 -5.26735761e-04 9.99752302e-01 -3.07714106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77687499999999 meters 0.017439898968667773 Centerline is valid? [True, True] Translation: X:94.29, Y:-17.71, Z:-3.08 [[ 8.57950276e-01 5.13343908e-01 1.99838751e-02 9.42861935e+01] [-5.13220596e-01 8.58182780e-01 -1.12665666e-02 -1.77108858e+01] [-2.29334408e-02 -5.89982317e-04 9.99736820e-01 -3.07657332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80687499999999 meters 0.019246333846251205 Centerline is valid? [True, True] Translation: X:94.32, Y:-17.72, Z:-3.08 [[ 8.55883194e-01 5.16760840e-01 2.05473348e-02 9.43150976e+01] [-5.16631282e-01 8.56129519e-01 -1.15916158e-02 -1.77232642e+01] [-2.35812730e-02 -6.94326828e-04 9.99721682e-01 -3.07642540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83687499999999 meters 0.019906455165873454 Centerline is valid? [True, True] Translation: X:94.34, Y:-17.74, Z:-3.08 [[ 8.55207327e-01 5.17888736e-01 2.02900299e-02 9.43436111e+01] [-5.17762679e-01 8.55447687e-01 -1.14482615e-02 -1.77380021e+01] [-2.32859849e-02 -7.14783107e-04 9.99728589e-01 -3.07905398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.866875 meters 0.020183473194626975 Centerline is valid? [True, True] Translation: X:94.37, Y:-17.75, Z:-3.08 [[ 8.54696495e-01 5.18746682e-01 1.98942707e-02 9.43720860e+01] [-5.18625587e-01 8.54927695e-01 -1.12310634e-02 -1.77532852e+01] [-2.28342399e-02 -7.18527287e-04 9.99739007e-01 -3.08072950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.896875 meters 0.018757162680739087 Centerline is valid? [True, True] Translation: X:94.40, Y:-17.77, Z:-3.08 [[ 8.56013803e-01 5.16594385e-01 1.92512366e-02 9.43989568e+01] [-5.16480293e-01 8.56230016e-01 -1.08750347e-02 -1.77716507e+01] [-2.21014685e-02 -6.33704537e-04 9.99755532e-01 -3.08364322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.926875 meters 0.01866344425483679 Centerline is valid? [True, True] Translation: X:94.43, Y:-17.79, Z:-3.08 [[ 8.56484299e-01 5.15809289e-01 1.93758526e-02 9.44252204e+01] [-5.15693440e-01 8.56703216e-01 -1.09487864e-02 -1.77879701e+01] [-2.22468410e-02 -6.14536446e-04 9.99752320e-01 -3.08439955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.956875 meters 0.018200360654353213 Centerline is valid? [True, True] Translation: X:94.45, Y:-17.81, Z:-3.08 [[ 8.57310798e-01 5.14437601e-01 1.92912133e-02 9.44525538e+01] [-5.14322324e-01 8.57527624e-01 -1.09050469e-02 -1.78058109e+01] [-2.21527145e-02 -5.72887184e-04 9.99754434e-01 -3.08462322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.986875 meters 0.016667501616419226 Centerline is valid? [True, True] Translation: X:94.48, Y:-17.83, Z:-3.09 [[ 8.58992641e-01 5.11659130e-01 1.83460613e-02 9.44777957e+01] [-5.11554239e-01 8.59188401e-01 -1.03707493e-02 -1.78264061e+01] [-2.10690116e-02 -4.76608104e-04 9.99777910e-01 -3.08551649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.016875 meters 0.01620501585683471 Centerline is valid? [True, True] Translation: X:94.50, Y:-17.84, Z:-3.09 [[ 8.59791555e-01 5.10321067e-01 1.81903963e-02 9.45044234e+01] [-5.10217530e-01 8.59983848e-01 -1.02884729e-02 -1.78436875e+01] [-2.08938715e-02 -4.35116954e-04 9.99781605e-01 -3.08713633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.046875 meters 0.016095142377721267 Centerline is valid? [True, True] Translation: X:94.53, Y:-17.86, Z:-3.09 [[ 8.60560477e-01 5.09019248e-01 1.83049677e-02 9.45306248e+01] [-5.08913980e-01 8.60755044e-01 -1.03593585e-02 -1.78596780e+01] [-2.10292062e-02 -4.00799459e-04 9.99778781e-01 -3.08909178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.076875 meters 0.015220100753761769 Centerline is valid? [True, True] Translation: X:94.56, Y:-17.88, Z:-3.09 [[ 8.61533152e-01 5.07350745e-01 1.88639825e-02 9.45556448e+01] [-5.07238429e-01 8.61739570e-01 -1.06812671e-02 -1.78801335e+01] [-2.16749890e-02 -3.66271180e-04 9.99765003e-01 -3.08813010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.106875 meters 0.014956341236799078 Centerline is valid? [True, True] Translation: X:94.58, Y:-17.90, Z:-3.09 [[ 8.61793868e-01 5.06906974e-01 1.88851254e-02 9.45822528e+01] [-5.06794171e-01 8.62000694e-01 -1.06991523e-02 -1.78984122e+01] [-2.17024661e-02 -3.50407671e-04 9.99764412e-01 -3.08853897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13687499999999 meters 0.014958493427427978 Centerline is valid? [True, True] Translation: X:94.61, Y:-17.92, Z:-3.09 [[ 8.61885817e-01 5.06764543e-01 1.85077255e-02 9.46091999e+01] [-5.06656054e-01 8.62084442e-01 -1.04908375e-02 -1.79153134e+01] [-2.12716067e-02 -3.35147080e-04 9.99773678e-01 -3.08948837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16687499999999 meters 0.014585399343620721 Centerline is valid? [True, True] Translation: X:94.64, Y:-17.93, Z:-3.09 [[ 8.62924805e-01 5.04984009e-01 1.87598621e-02 9.46357354e+01] [-5.04871939e-01 8.63128651e-01 -1.06422302e-02 -1.79345927e+01] [-2.15663305e-02 -2.87883504e-04 9.99767378e-01 -3.09100151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19687499999999 meters 0.014289476003200137 Centerline is valid? [True, True] Translation: X:94.66, Y:-17.95, Z:-3.09 [[ 8.63086925e-01 5.04711611e-01 1.86319610e-02 9.46633734e+01] [-5.04601005e-01 8.63287966e-01 -1.05695101e-02 -1.79522218e+01] [-2.14193022e-02 -2.79300222e-04 9.99770541e-01 -3.09196053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22687499999999 meters 0.013939019778769764 Centerline is valid? [True, True] Translation: X:94.69, Y:-17.97, Z:-3.09 [[ 8.63995780e-01 5.03145059e-01 1.88770371e-02 9.46900520e+01] [-5.03030953e-01 8.64201941e-01 -1.07175523e-02 -1.79713048e+01] [-2.17060556e-02 -2.35814057e-04 9.99764368e-01 -3.09202437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.256875 meters 0.014002319640275821 Centerline is valid? [True, True] Translation: X:94.72, Y:-17.99, Z:-3.09 [[ 8.63994986e-01 5.03148694e-01 1.88163775e-02 9.47184233e+01] [-5.03035323e-01 8.64199825e-01 -1.06830459e-02 -1.79886098e+01] [-2.16362707e-02 -2.35204453e-04 9.99765881e-01 -3.09291632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.286875 meters 0.01383248832722747 Centerline is valid? [True, True] Translation: X:94.75, Y:-18.01, Z:-3.09 [[ 8.63901839e-01 5.03317022e-01 1.85900142e-02 9.47467535e+01] [-5.03206262e-01 8.64101801e-01 -1.05610753e-02 -1.80057577e+01] [-2.13792337e-02 -2.30879139e-04 9.99771411e-01 -3.09327325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.316875 meters 0.014158821073295347 Centerline is valid? [True, True] Translation: X:94.77, Y:-18.02, Z:-3.10 [[ 8.63906360e-01 5.03319245e-01 1.83177118e-02 9.47741008e+01] [-5.03211565e-01 8.64100508e-01 -1.04130930e-02 -1.80211736e+01] [-2.10694541e-02 -2.21747184e-04 9.99777990e-01 -3.09515301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.346875 meters 0.014000114104914502 Centerline is valid? [True, True] Translation: X:94.80, Y:-18.04, Z:-3.10 [[ 8.63766612e-01 5.03544427e-01 1.87149846e-02 9.48018227e+01] [-5.03431944e-01 8.63969304e-01 -1.06451421e-02 -1.80379749e+01] [-2.15294742e-02 -2.26802773e-04 9.99768188e-01 -3.09567214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.376875 meters 0.014043083638670283 Centerline is valid? [True, True] Translation: X:94.83, Y:-18.05, Z:-3.10 [[ 8.63846410e-01 5.03388789e-01 1.92121827e-02 9.48289178e+01] [-5.03270043e-01 8.64059997e-01 -1.09355323e-02 -1.80543623e+01] [-2.21053029e-02 -2.22295771e-04 9.99755623e-01 -3.09543443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.406875 meters 0.013861026332711681 Centerline is valid? [True, True] Translation: X:94.86, Y:-18.07, Z:-3.10 [[ 8.63965154e-01 5.03180216e-01 1.93360310e-02 9.48567638e+01] [-5.03059755e-01 8.64181477e-01 -1.10117382e-02 -1.80714095e+01] [-2.22507287e-02 -2.13420924e-04 9.99752399e-01 -3.09556030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.436875 meters 0.013657484893900087 Centerline is valid? [True, True] Translation: X:94.88, Y:-18.09, Z:-3.10 [[ 8.64876094e-01 5.01603760e-01 1.95706517e-02 9.48834572e+01] [-5.01479782e-01 8.65097474e-01 -1.11529315e-02 -1.80886857e+01] [-2.25248738e-02 -1.68382324e-04 9.99746269e-01 -3.09587227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.466875 meters 0.013539019596437822 Centerline is valid? [True, True] Translation: X:94.91, Y:-18.11, Z:-3.10 [[ 8.65246566e-01 5.00960797e-01 1.96636930e-02 9.49117471e+01] [-5.00835339e-01 8.65469964e-01 -1.12118110e-02 -1.81058153e+01] [-2.26350135e-02 -1.47291436e-04 9.99743784e-01 -3.09660656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49687499999999 meters 0.013539019596437822 Centerline is valid? [True, True] Translation: X:94.94, Y:-18.12, Z:-3.10 [[ 8.65106661e-01 5.01202482e-01 1.96605563e-02 9.49397980e+01] [-5.01076961e-01 8.65330024e-01 -1.12173080e-02 -1.81219280e+01] [-2.26350123e-02 -1.47283924e-04 9.99743784e-01 -3.09764103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52687499999999 meters 0.013498362054188825 Centerline is valid? [True, True] Translation: X:94.97, Y:-18.14, Z:-3.10 [[ 8.65548439e-01 5.00414552e-01 2.02774667e-02 9.49669970e+01] [-5.00280599e-01 8.65785921e-01 -1.15784984e-02 -1.81376226e+01] [-2.33499943e-02 -1.22671995e-04 9.99727344e-01 -3.09767955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55687499999999 meters 0.013497173278570987 Centerline is valid? [True, True] Translation: X:95.00, Y:-18.15, Z:-3.10 [[ 8.65441551e-01 5.00596920e-01 2.03382728e-02 9.49952412e+01] [-5.00462157e-01 8.65680488e-01 -1.16155691e-02 -1.81544633e+01] [-2.34211641e-02 -1.25939772e-04 9.99725679e-01 -3.09792418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58687499999999 meters 0.013490114171334184 Centerline is valid? [True, True] Translation: X:95.02, Y:-18.17, Z:-3.10 [[ 8.65557685e-01 5.00429373e-01 1.95022259e-02 9.50225201e+01] [-5.00305263e-01 8.65777356e-01 -1.11450959e-02 -1.81699039e+01] [-2.24619189e-02 -1.10342860e-04 9.99747693e-01 -3.09978695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.616875 meters 0.013515497570379674 Centerline is valid? [True, True] Translation: X:95.05, Y:-18.19, Z:-3.10 [[ 8.65636454e-01 5.00271465e-01 2.00497282e-02 9.50513418e+01] [-5.00140084e-01 8.65868610e-01 -1.14649899e-02 -1.81855774e+01] [-2.30960376e-02 -1.03159507e-04 9.99733246e-01 -3.10012503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.646875 meters 0.013412202453730001 Centerline is valid? [True, True] Translation: X:95.08, Y:-18.20, Z:-3.10 [[ 8.65347868e-01 5.00738062e-01 2.08437282e-02 9.50795290e+01] [-5.00596004e-01 8.65598857e-01 -1.19272944e-02 -1.82004034e+01] [-2.40147575e-02 -1.13028279e-04 9.99711598e-01 -3.10068871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.676875 meters 0.013647086654376315 Centerline is valid? [True, True] Translation: X:95.11, Y:-18.21, Z:-3.10 [[ 8.64902456e-01 5.01509677e-01 2.07794609e-02 9.51082284e+01] [-5.01368544e-01 8.65152026e-01 -1.18977000e-02 -1.82147972e+01] [-2.39442044e-02 -1.27818064e-04 9.99713288e-01 -3.10277228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.706875 meters 0.013547729378082591 Centerline is valid? [True, True] Translation: X:95.14, Y:-18.23, Z:-3.10 [[ 8.64487065e-01 5.02221556e-01 2.08715928e-02 9.51370566e+01] [-5.02079212e-01 8.64738972e-01 -1.19572564e-02 -1.82301195e+01] [-2.40536716e-02 -1.42299362e-04 9.99710658e-01 -3.10319425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.736875 meters 0.013738477253689103 Centerline is valid? [True, True] Translation: X:95.17, Y:-18.24, Z:-3.10 [[ 8.63138822e-01 5.04542642e-01 2.06904941e-02 9.51664341e+01] [-5.04403238e-01 8.63386752e-01 -1.18613022e-02 -1.82423770e+01] [-2.38484312e-02 -1.98401773e-04 9.99715566e-01 -3.10397385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.766875 meters 0.013966187810876753 Centerline is valid? [True, True] Translation: X:95.19, Y:-18.26, Z:-3.11 [[ 8.62336507e-01 5.05916362e-01 2.06005490e-02 9.51948545e+01] [-5.05778415e-01 8.62582507e-01 -1.18158108e-02 -1.82558879e+01] [-2.37474852e-02 -2.30107995e-04 9.99717962e-01 -3.10558906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.796875 meters 0.014151314729587902 Centerline is valid? [True, True] Translation: X:95.22, Y:-18.27, Z:-3.11 [[ 8.61766281e-01 5.06890326e-01 2.05200870e-02 9.52232076e+01] [-5.06753567e-01 8.62010519e-01 -1.17765715e-02 -1.82692657e+01] [-2.36579610e-02 -2.49975057e-04 9.99720080e-01 -3.10702027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.826875 meters 0.014930930860825758 Centerline is valid? [True, True] Translation: X:95.25, Y:-18.28, Z:-3.11 [[ 8.60144511e-01 5.09668240e-01 1.97409701e-02 9.52526934e+01] [-5.09542324e-01 8.60370960e-01 -1.13327522e-02 -1.82811871e+01] [-2.27605013e-02 -3.11055164e-04 9.99740898e-01 -3.10809262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.856875 meters 0.015431765386470456 Centerline is valid? [True, True] Translation: X:95.28, Y:-18.29, Z:-3.11 [[ 8.59477718e-01 5.10815473e-01 1.91207845e-02 9.52810504e+01] [-5.10697586e-01 8.59690319e-01 -1.09786582e-02 -1.82946819e+01] [-2.20460218e-02 -3.29026396e-04 9.99756903e-01 -3.10992039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88687499999999 meters 0.015530315689913598 Centerline is valid? [True, True] Translation: X:95.31, Y:-18.31, Z:-3.11 [[ 8.58858817e-01 5.11864089e-01 1.88861501e-02 9.53098665e+01] [-5.11749221e-01 8.59066373e-01 -1.08490022e-02 -1.83095611e+01] [-2.17776711e-02 -3.47211410e-04 9.99762778e-01 -3.11028568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91687499999999 meters 0.015795618868227026 Centerline is valid? [True, True] Translation: X:95.34, Y:-18.32, Z:-3.11 [[ 8.58294883e-01 5.12783528e-01 1.95690515e-02 9.53394019e+01] [-5.12660305e-01 8.58517857e-01 -1.12473033e-02 -1.83237270e+01] [-2.25678120e-02 -3.78773051e-04 9.99745243e-01 -3.11194867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94687499999999 meters 0.015550640232743343 Centerline is valid? [True, True] Translation: X:95.37, Y:-18.34, Z:-3.11 [[ 8.58089290e-01 5.13095521e-01 2.03901351e-02 9.53673901e+01] [-5.12961651e-01 8.58331421e-01 -1.17267207e-02 -1.83401141e+01] [-2.35184215e-02 -3.96783907e-04 9.99723325e-01 -3.11213843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97687499999999 meters 0.015356813632918036 Centerline is valid? [True, True] Translation: X:95.40, Y:-18.36, Z:-3.11 [[ 8.58242717e-01 5.12809818e-01 2.11075783e-02 9.53952082e+01] [-5.12666070e-01 8.58502146e-01 -1.21476917e-02 -1.83558063e+01] [-2.43503568e-02 -3.95471224e-04 9.99703408e-01 -3.11252299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.006875 meters 0.015207629560117116 Centerline is valid? [True, True] Translation: X:95.42, Y:-18.37, Z:-3.11 [[ 8.58902376e-01 5.11638306e-01 2.26484258e-02 9.54221420e+01] [-5.11472170e-01 8.59200848e-01 -1.30430379e-02 -1.83709080e+01] [-2.61328645e-02 -3.81343244e-04 9.99658406e-01 -3.11262131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.036875 meters 0.014813412947747077 Centerline is valid? [True, True] Translation: X:95.45, Y:-18.39, Z:-3.11 [[ 8.59151030e-01 5.11215358e-01 2.27676465e-02 9.54490939e+01] [-5.11047228e-01 8.59452571e-01 -1.31151887e-02 -1.83883295e+01] [-2.62723982e-02 -3.67414780e-04 9.99654753e-01 -3.11290571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.066875 meters 0.014564066066791575 Centerline is valid? [True, True] Translation: X:95.48, Y:-18.41, Z:-3.11 [[ 8.59474143e-01 5.10674194e-01 2.27170431e-02 9.54767737e+01] [-5.10506434e-01 8.59774243e-01 -1.30931878e-02 -1.84053667e+01] [-2.62178817e-02 -3.43940323e-04 9.99656193e-01 -3.11437060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.096875 meters 0.01446226589027572 Centerline is valid? [True, True] Translation: X:95.50, Y:-18.42, Z:-3.12 [[ 8.60131025e-01 5.09598334e-01 2.20035817e-02 9.55029850e+01] [-5.09440421e-01 8.60412372e-01 -1.26888812e-02 -1.84218939e+01] [-2.53983866e-02 -2.95413467e-04 9.99677365e-01 -3.11639984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.126875 meters 0.014255917488442826 Centerline is valid? [True, True] Translation: X:95.53, Y:-18.44, Z:-3.12 [[ 8.60300817e-01 5.09337422e-01 2.13984491e-02 9.55305567e+01] [-5.09187854e-01 8.60566857e-01 -1.23456328e-02 -1.84391234e+01] [-2.47028889e-02 -2.74872399e-04 9.99694799e-01 -3.11738985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.156875 meters 0.014255917488442826 Centerline is valid? [True, True] Translation: X:95.56, Y:-18.46, Z:-3.12 [[ 8.60163796e-01 5.09568929e-01 2.13951239e-02 9.55585363e+01] [-5.09419289e-01 8.60429794e-01 -1.23513922e-02 -1.84553840e+01] [-2.47028878e-02 -2.74868360e-04 9.99694799e-01 -3.11842435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.186875 meters 0.014274469473466118 Centerline is valid? [True, True] Translation: X:95.59, Y:-18.47, Z:-3.12 [[ 8.60125586e-01 5.09660688e-01 2.07354507e-02 9.55867329e+01] [-5.09519990e-01 8.60375450e-01 -1.19776942e-02 -1.84718049e+01] [-2.39448326e-02 -2.62805402e-04 9.99713247e-01 -3.12048632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.216875 meters 0.014463154196878379 Centerline is valid? [True, True] Translation: X:95.61, Y:-18.49, Z:-3.12 [[ 8.59811127e-01 5.10202419e-01 2.04528022e-02 9.56143106e+01] [-5.10065492e-01 8.60054312e-01 -1.18225998e-02 -1.84880563e+01] [-2.36224398e-02 -2.67065735e-04 9.99720916e-01 -3.12205514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24687499999999 meters 0.014672347514639198 Centerline is valid? [True, True] Translation: X:95.64, Y:-18.50, Z:-3.12 [[ 8.59402418e-01 5.10889614e-01 2.04764830e-02 9.56431957e+01] [-5.10752477e-01 8.59646277e-01 -1.18399803e-02 -1.85045618e+01] [-2.36514553e-02 -2.83106688e-04 9.99720225e-01 -3.12271675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27687499999999 meters 0.014907583782675246 Centerline is valid? [True, True] Translation: X:95.67, Y:-18.52, Z:-3.12 [[ 8.58861221e-01 5.11810434e-01 2.01861794e-02 9.56705893e+01] [-5.11677241e-01 8.59098359e-01 -1.16794995e-02 -1.85198056e+01] [-2.33196034e-02 -2.97739356e-04 9.99728017e-01 -3.12370382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30687499999999 meters 0.015008851635802928 Centerline is valid? [True, True] Translation: X:95.70, Y:-18.54, Z:-3.13 [[ 8.58391130e-01 5.12605745e-01 2.00004574e-02 9.56990525e+01] [-5.12475075e-01 8.58624046e-01 -1.15777710e-02 -1.85363849e+01] [-2.31077056e-02 -3.11480027e-04 9.99732933e-01 -3.12541519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33687499999999 meters 0.015355750562857352 Centerline is valid? [True, True] Translation: X:95.73, Y:-18.55, Z:-3.13 [[ 8.57417882e-01 5.14256144e-01 1.93699208e-02 9.57269936e+01] [-5.14133847e-01 8.57636580e-01 -1.12198080e-02 -1.85520559e+01] [-2.23822079e-02 -3.38667913e-04 9.99749430e-01 -3.12710180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.366875 meters 0.015239863863595498 Centerline is valid? [True, True] Translation: X:95.75, Y:-18.57, Z:-3.13 [[ 8.56930469e-01 5.15050392e-01 1.98309108e-02 9.57545121e+01] [-5.14922276e-01 8.57159823e-01 -1.14929489e-02 -1.85691644e+01] [-2.29177079e-02 -3.62719613e-04 9.99737289e-01 -3.12745614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.396875 meters 0.015839869893265197 Centerline is valid? [True, True] Translation: X:95.78, Y:-18.58, Z:-3.13 [[ 8.56440395e-01 5.15824278e-01 2.08606127e-02 9.57829101e+01] [-5.15682514e-01 8.56694320e-01 -1.20990169e-02 -1.85845425e+01] [-2.41121351e-02 -3.95366432e-04 9.99709182e-01 -3.12687852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.426875 meters 0.016184488425379527 Centerline is valid? [True, True] Translation: X:95.81, Y:-18.60, Z:-3.12 [[ 8.55478615e-01 5.17322714e-01 2.30986542e-02 9.58112370e+01] [-5.17149296e-01 8.55790266e-01 -1.34024951e-02 -1.86011905e+01] [-2.67010185e-02 -4.79904778e-04 9.99643349e-01 -3.12452595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.456875 meters 0.016370561093549865 Centerline is valid? [True, True] Translation: X:95.84, Y:-18.62, Z:-3.12 [[ 8.54992495e-01 5.18099190e-01 2.36867783e-02 9.58394451e+01] [-5.17916879e-01 8.55320390e-01 -1.37526851e-02 -1.86174031e+01] [-2.73850395e-02 -5.09339750e-04 9.99624830e-01 -3.12473155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.486875 meters 0.016621003449086076 Centerline is valid? [True, True] Translation: X:95.87, Y:-18.63, Z:-3.13 [[ 8.54682042e-01 5.18618922e-01 2.35163910e-02 9.58665053e+01] [-5.18439168e-01 8.55005351e-01 -1.36630689e-02 -1.86324898e+01] [-2.71925662e-02 -5.14238602e-04 9.99630082e-01 -3.12575864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.516875 meters 0.016557873381600245 Centerline is valid? [True, True] Translation: X:95.89, Y:-18.65, Z:-3.13 [[ 8.54215217e-01 5.19387112e-01 2.35242671e-02 9.58942161e+01] [-5.19207432e-01 8.54538905e-01 -1.36712091e-02 -1.86490467e+01] [-2.72030513e-02 -5.35819436e-04 9.99629785e-01 -3.12703100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.546875 meters 0.016601961352367946 Centerline is valid? [True, True] Translation: X:95.92, Y:-18.66, Z:-3.13 [[ 8.54482896e-01 5.18917211e-01 2.41641886e-02 9.59210672e+01] [-5.18727207e-01 8.54824338e-01 -1.40511963e-02 -1.86646638e+01] [-2.79475442e-02 -5.28115151e-04 9.99609252e-01 -3.12870242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.576875 meters 0.016118733853146557 Centerline is valid? [True, True] Translation: X:95.95, Y:-18.68, Z:-3.13 [[ 8.55495033e-01 5.17362105e-01 2.15569198e-02 9.59498145e+01] [-5.17210268e-01 8.55766484e-01 -1.25404855e-02 -1.86790897e+01] [-2.49356615e-02 -4.21137221e-04 9.99688969e-01 -3.13470945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.606875 meters 0.015518593936565179 Centerline is valid? [True, True] Translation: X:95.98, Y:-18.69, Z:-3.14 [[ 8.56635549e-01 5.15506013e-01 2.07144033e-02 9.59770620e+01] [-5.15365117e-01 8.56885891e-01 -1.20567840e-02 -1.86946289e+01] [-2.39652246e-02 -3.47211119e-04 9.99712732e-01 -3.13862553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63687499999999 meters 0.014753149365652704 Centerline is valid? [True, True] Translation: X:96.00, Y:-18.71, Z:-3.14 [[ 8.57720782e-01 5.13649845e-01 2.18837243e-02 9.60026701e+01] [-5.13491817e-01 8.57999850e-01 -1.27440725e-02 -1.87140611e+01] [-2.53222230e-02 -3.06257497e-04 9.99679294e-01 -3.13555092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66687499999999 meters 0.014109101064243602 Centerline is valid? [True, True] Translation: X:96.03, Y:-18.73, Z:-3.13 [[ 8.60329594e-01 5.09263452e-01 2.19937900e-02 9.60280164e+01] [-5.09102211e-01 8.60610659e-01 -1.28152893e-02 -1.87334365e+01] [-2.54544486e-02 -1.71714510e-04 9.99675968e-01 -3.13197145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69687499999999 meters 0.013790464079529687 Centerline is valid? [True, True] Translation: X:96.06, Y:-18.75, Z:-3.13 [[ 8.61608188e-01 5.07130433e-01 2.12144884e-02 9.60559973e+01] [-5.06979620e-01 8.61869314e-01 -1.23673297e-02 -1.87505561e+01] [-2.45559658e-02 -9.95206839e-05 9.99698452e-01 -3.13412940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72687499999999 meters 0.01373694405668043 Centerline is valid? [True, True] Translation: X:96.08, Y:-18.77, Z:-3.14 [[ 8.62823138e-01 5.05071017e-01 2.09642483e-02 9.60841428e+01] [-5.04922952e-01 8.63077787e-01 -1.22289271e-02 -1.87673581e+01] [-2.42702537e-02 -3.39288362e-05 9.99705433e-01 -3.13599490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.756875 meters 0.013719519239341898 Centerline is valid? [True, True] Translation: X:96.11, Y:-18.78, Z:-3.14 [[ 8.63759902e-01 5.03441584e-01 2.15731969e-02 9.61121781e+01] [-5.03284080e-01 8.64029265e-01 -1.25922218e-02 -1.87836049e+01] [-2.49793216e-02 1.92097606e-05 9.99687968e-01 -3.13639086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.786875 meters 0.013767521411101205 Centerline is valid? [True, True] Translation: X:96.14, Y:-18.80, Z:-3.14 [[ 8.63730364e-01 5.03487561e-01 2.16825732e-02 9.61399903e+01] [-5.03328268e-01 8.64002474e-01 -1.26641110e-02 -1.87993780e+01] [-2.51100193e-02 2.49252093e-05 9.99684693e-01 -3.13865860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.816875 meters 0.013768263170247652 Centerline is valid? [True, True] Translation: X:96.17, Y:-18.82, Z:-3.14 [[ 8.63584384e-01 5.03731188e-01 2.18380602e-02 9.61680917e+01] [-5.03569495e-01 8.63860457e-01 -1.27622292e-02 -1.88156054e+01] [-2.52937696e-02 2.42809120e-05 9.99680061e-01 -3.13934040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.846875 meters 0.013647299671373566 Centerline is valid? [True, True] Translation: X:96.20, Y:-18.83, Z:-3.14 [[ 8.62921485e-01 5.04843939e-01 2.23407176e-02 9.61968780e+01] [-5.04674876e-01 8.63210633e-01 -1.30641669e-02 -1.88318224e+01] [-2.58801105e-02 -1.44854755e-06 9.99665054e-01 -3.13743427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.876875 meters 0.013777589845223242 Centerline is valid? [True, True] Translation: X:96.23, Y:-18.85, Z:-3.14 [[ 8.62531642e-01 5.05560084e-01 2.11700043e-02 9.62250671e+01] [-5.05408318e-01 8.62791401e-01 -1.23867023e-02 -1.88467389e+01] [-2.45275199e-02 -1.55736277e-05 9.99699155e-01 -3.13945293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.906875 meters 0.013660503288262684 Centerline is valid? [True, True] Translation: X:96.25, Y:-18.86, Z:-3.14 [[ 8.61374002e-01 5.07518038e-01 2.14538993e-02 9.62546951e+01] [-5.07362601e-01 8.61641130e-01 -1.25600144e-02 -1.88601520e+01] [-2.48599959e-02 -6.60363183e-05 9.99690940e-01 -3.14115244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.936875 meters 0.013817003985463846 Centerline is valid? [True, True] Translation: X:96.28, Y:-18.88, Z:-3.14 [[ 8.60469258e-01 5.08998715e-01 2.26487217e-02 9.62832947e+01] [-5.08825789e-01 8.60767272e-01 -1.32672443e-02 -1.88759089e+01] [-2.62482887e-02 -1.08197807e-04 9.99655448e-01 -3.14041864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.966875 meters 0.013908106203620017 Centerline is valid? [True, True] Translation: X:96.31, Y:-18.89, Z:-3.14 [[ 8.59795167e-01 5.10107058e-01 2.33036632e-02 9.63113893e+01] [-5.09924154e-01 8.60110906e-01 -1.36596900e-02 -1.88913975e+01] [-2.70116391e-02 -1.38565324e-04 9.99635110e-01 -3.13965545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99687499999999 meters 0.013986094817995265 Centerline is valid? [True, True] Translation: X:96.34, Y:-18.91, Z:-3.14 [[ 8.59196850e-01 5.11142299e-01 2.26787049e-02 9.63398608e+01] [-5.10969242e-01 8.59496088e-01 -1.33007138e-02 -1.89070270e+01] [-2.62908156e-02 -1.60189273e-04 9.99654324e-01 -3.14108191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02687499999999 meters 0.013897611252386328 Centerline is valid? [True, True] Translation: X:96.37, Y:-18.92, Z:-3.15 [[ 8.59408431e-01 5.10846623e-01 2.12809124e-02 9.63682151e+01] [-5.10693979e-01 8.59671861e-01 -1.24880076e-02 -1.89210655e+01] [-2.46740581e-02 -1.35734821e-04 9.99695540e-01 -3.14576163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05687499999999 meters 0.013677365789968502 Centerline is valid? [True, True] Translation: X:96.40, Y:-18.94, Z:-3.15 [[ 8.59459784e-01 5.10755921e-01 2.13838584e-02 9.63961164e+01] [-5.10601598e-01 8.59725754e-01 -1.25552947e-02 -1.89380493e+01] [-2.47969449e-02 -1.27861362e-04 9.99692500e-01 -3.14593560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08687499999999 meters 0.013653643926559813 Centerline is valid? [True, True] Translation: X:96.42, Y:-18.96, Z:-3.15 [[ 8.59569931e-01 5.10552223e-01 2.18165335e-02 9.64242854e+01] [-5.10391321e-01 8.59846738e-01 -1.28174081e-02 -1.89552879e+01] [-2.53028313e-02 -1.17510737e-04 9.99679825e-01 -3.14606978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.116875 meters 0.013756581899339279 Centerline is valid? [True, True] Translation: X:96.45, Y:-18.97, Z:-3.15 [[ 8.60535789e-01 5.08940683e-01 2.13901057e-02 9.64509683e+01] [-5.08785297e-01 8.60801590e-01 -1.25755552e-02 -1.89724137e+01] [-2.48128486e-02 -6.12559166e-05 9.99692112e-01 -3.14717613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.146875 meters 0.013664951780855026 Centerline is valid? [True, True] Translation: X:96.48, Y:-18.99, Z:-3.15 [[ 8.61483541e-01 5.07366870e-01 2.06147402e-02 9.64784167e+01] [-5.07222007e-01 8.61730154e-01 -1.21233957e-02 -1.89906138e+01] [-2.39153526e-02 -1.21440256e-05 9.99713987e-01 -3.14647560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.176875 meters 0.013580250516416856 Centerline is valid? [True, True] Translation: X:96.51, Y:-19.01, Z:-3.15 [[ 8.62410061e-01 5.05800472e-01 2.03658593e-02 9.65064028e+01] [-5.05658477e-01 8.62650498e-01 -1.19843214e-02 -1.90087710e+01] [-2.36302941e-02 3.72299321e-05 9.99720765e-01 -3.14763259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.206875 meters 0.013777905121138682 Centerline is valid? [True, True] Translation: X:96.53, Y:-19.03, Z:-3.15 [[ 8.63689879e-01 5.03617425e-01 2.02307368e-02 9.65329637e+01] [-5.03476527e-01 8.63926779e-01 -1.19125345e-02 -1.90254345e+01] [-2.34772353e-02 1.03034396e-04 9.99724366e-01 -3.14951992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.236875 meters 0.014261900300418308 Centerline is valid? [True, True] Translation: X:96.56, Y:-19.04, Z:-3.15 [[ 8.66127345e-01 4.99444148e-01 1.94670247e-02 9.65586125e+01] [-4.99312471e-01 8.66346061e-01 -1.14699393e-02 -1.90433973e+01] [-2.25937743e-02 2.14299809e-04 9.99744705e-01 -3.15197630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.266875 meters 0.01458781659332362 Centerline is valid? [True, True] Translation: X:96.59, Y:-19.06, Z:-3.15 [[ 8.67375257e-01 4.97272630e-01 1.94960170e-02 9.65854583e+01] [-4.97139961e-01 8.67594293e-01 -1.14892383e-02 -1.90599648e+01] [-2.26279169e-02 2.73231863e-04 9.99743919e-01 -3.15269119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.296875 meters 0.015556250588627139 Centerline is valid? [True, True] Translation: X:96.61, Y:-19.08, Z:-3.15 [[ 8.69260817e-01 4.93974576e-01 1.93584646e-02 9.66101531e+01] [-4.93842811e-01 8.69476272e-01 -1.14145044e-02 -1.90783969e+01] [-2.24702005e-02 3.62142834e-04 9.99747448e-01 -3.15207579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.326875 meters 0.01579706605307776 Centerline is valid? [True, True] Translation: X:96.64, Y:-19.09, Z:-3.15 [[ 8.70245082e-01 4.92234500e-01 1.94600553e-02 9.66375845e+01] [-4.92100830e-01 8.70462536e-01 -1.14780597e-02 -1.90946840e+01] [-2.25891461e-02 4.12415658e-04 9.99744748e-01 -3.15148347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.356875 meters 0.01613201598474094 Centerline is valid? [True, True] Translation: X:96.67, Y:-19.11, Z:-3.15 [[ 8.70857019e-01 4.91120025e-01 2.02280241e-02 9.66653040e+01] [-4.90975134e-01 8.71091789e-01 -1.19378655e-02 -1.91108568e+01] [-2.34833905e-02 4.64717113e-04 9.99724119e-01 -3.15131250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38687499999999 meters 0.015992079087322076 Centerline is valid? [True, True] Translation: X:96.69, Y:-19.13, Z:-3.15 [[ 8.71275728e-01 4.90355894e-01 2.07292586e-02 9.66934869e+01] [-4.90203353e-01 8.71522142e-01 -1.22404632e-02 -1.91254863e+01] [-2.40681911e-02 5.03266365e-04 9.99710192e-01 -3.15127361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41687499999999 meters 0.016470059702595352 Centerline is valid? [True, True] Translation: X:96.72, Y:-19.14, Z:-3.15 [[ 8.71553488e-01 4.89792648e-01 2.23087304e-02 9.67225426e+01] [-4.89615568e-01 8.71838771e-01 -1.31815492e-02 -1.91399689e+01] [-2.59058420e-02 5.65723481e-04 9.99664227e-01 -3.15151458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44687499999999 meters 0.016564901722471534 Centerline is valid? [True, True] Translation: X:96.75, Y:-19.16, Z:-3.15 [[ 8.71412377e-01 4.90033706e-01 2.25263398e-02 9.67518806e+01] [-4.89853114e-01 8.71703300e-01 -1.33147609e-02 -1.91556432e+01] [-2.61609664e-02 5.68049741e-04 9.99657582e-01 -3.15261345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47687499999999 meters 0.016266976859338575 Centerline is valid? [True, True] Translation: X:96.78, Y:-19.17, Z:-3.15 [[ 8.70784756e-01 4.91167669e-01 2.20959159e-02 9.67815278e+01] [-4.90994070e-01 8.71064888e-01 -1.30684157e-02 -1.91677474e+01] [-2.56657598e-02 5.30813470e-04 9.99670439e-01 -3.15486868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.506875 meters 0.016276261394043524 Centerline is valid? [True, True] Translation: X:96.81, Y:-19.18, Z:-3.16 [[ 8.70305275e-01 4.92037948e-01 2.16191177e-02 9.68093962e+01] [-4.91871857e-01 8.70573608e-01 -1.27933129e-02 -1.91817672e+01] [-2.51158287e-02 5.00252070e-04 9.99684423e-01 -3.15667375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.536875 meters 0.01584442958164826 Centerline is valid? [True, True] Translation: X:96.84, Y:-19.20, Z:-3.16 [[ 8.69834023e-01 4.92896027e-01 2.10304119e-02 9.68381329e+01] [-4.92738968e-01 8.70088092e-01 -1.24507846e-02 -1.91955564e+01] [-2.44352532e-02 4.67612658e-04 9.99701305e-01 -3.15787647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.566875 meters 0.015591707471477317 Centerline is valid? [True, True] Translation: X:96.87, Y:-19.21, Z:-3.16 [[ 8.68930368e-01 4.94480062e-01 2.12010363e-02 9.68680662e+01] [-4.94320744e-01 8.69188864e-01 -1.25586941e-02 -1.92076975e+01] [-2.46377285e-02 4.32518667e-04 9.99696352e-01 -3.15809814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.596875 meters 0.015482945585207667 Centerline is valid? [True, True] Translation: X:96.90, Y:-19.22, Z:-3.16 [[ 8.68696673e-01 4.94882345e-01 2.13905090e-02 9.68977529e+01] [-4.94720122e-01 8.68959883e-01 -1.26776072e-02 -1.92227654e+01] [-2.48614182e-02 4.30679966e-04 9.99690814e-01 -3.15889532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.626875 meters 0.015815455718781544 Centerline is valid? [True, True] Translation: X:96.93, Y:-19.24, Z:-3.16 [[ 8.68790519e-01 4.94708642e-01 2.15961587e-02 9.69256037e+01] [-4.94543024e-01 8.69058778e-01 -1.28077196e-02 -1.92381165e+01] [-2.51044209e-02 4.46995763e-04 9.99684734e-01 -3.16006166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.656875 meters 0.015570982268296146 Centerline is valid? [True, True] Translation: X:96.95, Y:-19.25, Z:-3.16 [[ 8.69197239e-01 4.94009730e-01 2.12260685e-02 9.69547841e+01] [-4.93849354e-01 8.69456250e-01 -1.25954648e-02 -1.92524999e+01] [-2.46774201e-02 4.65463050e-04 9.99695358e-01 -3.16085383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.686875 meters 0.016050550674142242 Centerline is valid? [True, True] Translation: X:96.98, Y:-19.27, Z:-3.16 [[ 8.69740363e-01 4.93048359e-01 2.13311040e-02 9.69819735e+01] [-4.92885924e-01 8.70001761e-01 -1.26649960e-02 -1.92679526e+01] [-2.48025535e-02 5.01457298e-04 9.99692244e-01 -3.16207105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.716875 meters 0.017568861387482572 Centerline is valid? [True, True] Translation: X:97.01, Y:-19.28, Z:-3.16 [[ 8.71355019e-01 4.90151178e-01 2.21867868e-02 9.70086521e+01] [-4.89974304e-01 8.71637221e-01 -1.31809007e-02 -1.92831283e+01] [-2.57994632e-02 6.14288586e-04 9.99666950e-01 -3.16350562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74687499999999 meters 0.017318901366345653 Centerline is valid? [True, True] Translation: X:97.04, Y:-19.30, Z:-3.16 [[ 8.72008779e-01 4.88951598e-01 2.29570041e-02 9.70376919e+01] [-4.88761730e-01 8.72310655e-01 -1.36415882e-02 -1.92974576e+01] [-2.66957156e-02 6.75079607e-04 9.99643378e-01 -3.16433208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77687499999999 meters 0.01715020031706455 Centerline is valid? [True, True] Translation: X:97.07, Y:-19.31, Z:-3.16 [[ 8.72742753e-01 4.87622524e-01 2.33315665e-02 9.70660491e+01] [-4.87425722e-01 8.73054257e-01 -1.38719121e-02 -1.93115264e+01] [-2.71339803e-02 7.34205062e-04 9.99631536e-01 -3.16443931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80687499999999 meters 0.01826962196442231 Centerline is valid? [True, True] Translation: X:97.09, Y:-19.33, Z:-3.16 [[ 8.73790691e-01 4.85693799e-01 2.43179227e-02 9.70939267e+01] [-4.85479034e-01 8.74128616e-01 -1.44661762e-02 -1.93257533e+01] [-2.82831242e-02 8.34568506e-04 9.99599604e-01 -3.16472194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83687499999999 meters 0.01891489377549191 Centerline is valid? [True, True] Translation: X:97.12, Y:-19.34, Z:-3.17 [[ 8.74015448e-01 4.85308501e-01 2.39302373e-02 9.71208839e+01] [-4.85100176e-01 8.74342583e-01 -1.42431152e-02 -1.93408952e+01] [-2.78355304e-02 8.40140377e-04 9.99612163e-01 -3.16586149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.866875 meters 0.018598342279412983 Centerline is valid? [True, True] Translation: X:97.15, Y:-19.35, Z:-3.17 [[ 8.74196050e-01 4.85034972e-01 2.28548074e-02 9.71501479e+01] [-4.84844777e-01 8.74494376e-01 -1.36061686e-02 -1.93547961e+01] [-2.65858682e-02 8.13424848e-04 9.99646202e-01 -3.16750046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.896875 meters 0.018986074877946908 Centerline is valid? [True, True] Translation: X:97.18, Y:-19.37, Z:-3.17 [[ 8.73847205e-01 4.85777959e-01 2.02691202e-02 9.71802884e+01] [-4.85628443e-01 8.74081962e-01 -1.20722547e-02 -1.93664616e+01] [-2.35813076e-02 7.06044765e-04 9.99721673e-01 -3.17229026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.926875 meters 0.018517930115483378 Centerline is valid? [True, True] Translation: X:97.21, Y:-19.38, Z:-3.18 [[ 8.73331389e-01 4.86730901e-01 1.96294516e-02 9.72102296e+01] [-4.86590762e-01 8.73551709e-01 -1.16979446e-02 -1.93794838e+01] [-2.28410921e-02 6.64672410e-04 9.99738887e-01 -3.17511920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.956875 meters 0.01838561850881742 Centerline is valid? [True, True] Translation: X:97.24, Y:-19.39, Z:-3.18 [[ 8.72883110e-01 4.87543379e-01 1.94043759e-02 9.72393416e+01] [-4.87406498e-01 8.73098530e-01 -1.15699476e-02 -1.93922588e+01] [-2.25827834e-02 6.41392986e-04 9.99744771e-01 -3.17757044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.986875 meters 0.017332763414064055 Centerline is valid? [True, True] Translation: X:97.27, Y:-19.40, Z:-3.18 [[ 8.71978475e-01 4.89114284e-01 2.05123603e-02 9.72708559e+01] [-4.88961587e-01 8.72219471e-01 -1.22376573e-02 -1.94021624e+01] [-2.38768930e-02 6.41217514e-04 9.99714701e-01 -3.17712888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.016875 meters 0.017733667507409973 Centerline is valid? [True, True] Translation: X:97.30, Y:-19.42, Z:-3.18 [[ 8.71697229e-01 4.89579234e-01 2.13568696e-02 9.72984112e+01] [-4.89413654e-01 8.71958564e-01 -1.27490292e-02 -1.94160195e+01] [-2.48639653e-02 6.60949777e-04 9.99690625e-01 -3.17800069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.046875 meters 0.01740850196485364 Centerline is valid? [True, True] Translation: X:97.33, Y:-19.43, Z:-3.18 [[ 8.71447689e-01 4.90012401e-01 2.16049316e-02 9.73282829e+01] [-4.89842928e-01 8.71715211e-01 -1.29033509e-02 -1.94300303e+01] [-2.51561494e-02 6.61572359e-04 9.99683315e-01 -3.17812230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.076875 meters 0.01740850196485364 Centerline is valid? [True, True] Translation: X:97.36, Y:-19.45, Z:-3.18 [[ 8.71312784e-01 4.90252397e-01 2.16013770e-02 9.73560429e+01] [-4.90082851e-01 8.71580260e-01 -1.29092984e-02 -1.94467077e+01] [-2.51561482e-02 6.61572328e-04 9.99683315e-01 -3.17915710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.106875 meters 0.018216861687820114 Centerline is valid? [True, True] Translation: X:97.39, Y:-19.46, Z:-3.18 [[ 8.70792165e-01 4.91144254e-01 2.23232372e-02 9.73850887e+01] [-4.90963241e-01 8.71077999e-01 -1.33497404e-02 -1.94585034e+01] [-2.60019291e-02 6.64960449e-04 9.99661672e-01 -3.18025899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13687499999999 meters 0.016689644003417846 Centerline is valid? [True, True] Translation: X:97.42, Y:-19.47, Z:-3.18 [[ 8.69975566e-01 4.92556397e-01 2.30371494e-02 9.74163161e+01] [-4.92363900e-01 8.70280284e-01 -1.37846562e-02 -1.94698714e+01] [-2.68384976e-02 6.49653342e-04 9.99639572e-01 -3.18091601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16687499999999 meters 0.015972313515221524 Centerline is valid? [True, True] Translation: X:97.45, Y:-19.48, Z:-3.18 [[ 8.68691312e-01 4.94805694e-01 2.32965746e-02 9.74460686e+01] [-4.94609590e-01 8.69003440e-01 -1.39418085e-02 -1.94823385e+01] [-2.71432897e-02 5.88418723e-04 9.99631380e-01 -3.18201033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19687499999999 meters 0.015596324230158404 Centerline is valid? [True, True] Translation: X:97.48, Y:-19.50, Z:-3.18 [[ 8.67516295e-01 4.96814882e-01 2.42992124e-02 9.74762673e+01] [-4.96602060e-01 8.67856361e-01 -1.45509360e-02 -1.94955190e+01] [-2.83173477e-02 5.56135164e-04 9.99598829e-01 -3.18259425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22687499999999 meters 0.014424815731068281 Centerline is valid? [True, True] Translation: X:97.51, Y:-19.50, Z:-3.18 [[ 8.64208757e-01 5.02488564e-01 2.54650203e-02 9.75070056e+01] [-5.02257187e-01 8.64583767e-01 -1.52521514e-02 -1.95029512e+01] [-2.96806748e-02 3.91053411e-04 9.99559355e-01 -3.18337320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.256875 meters 0.01404156112687421 Centerline is valid? [True, True] Translation: X:97.54, Y:-19.52, Z:-3.18 [[ 8.62346923e-01 5.05651547e-01 2.59672326e-02 9.75357793e+01] [-5.05412262e-01 8.62737751e-01 -1.55569085e-02 -1.95151118e+01] [-3.02692867e-02 2.91294377e-04 9.99541738e-01 -3.18451424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.286875 meters 0.013648898836460387 Centerline is valid? [True, True] Translation: X:97.57, Y:-19.53, Z:-3.19 [[ 8.60951059e-01 5.08019560e-01 2.60653294e-02 9.75658090e+01] [-5.07779308e-01 8.61345506e-01 -1.56235151e-02 -1.95272575e+01] [-3.03883056e-02 2.15646960e-04 9.99538146e-01 -3.18539209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.316875 meters 0.013410746782409258 Centerline is valid? [True, True] Translation: X:97.59, Y:-19.54, Z:-3.19 [[ 8.59587376e-01 5.10337920e-01 2.57827567e-02 9.75945339e+01] [-5.10103632e-01 8.59973946e-01 -1.54627609e-02 -1.95403076e+01] [-3.00637322e-02 1.39716259e-04 9.99547974e-01 -3.18661751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.346875 meters 0.013275418745222157 Centerline is valid? [True, True] Translation: X:97.63, Y:-19.55, Z:-3.19 [[ 8.56624056e-01 5.15282663e-01 2.60577093e-02 9.76256829e+01] [-5.15045485e-01 8.57020290e-01 -1.56323829e-02 -1.95501930e+01] [-3.03870815e-02 -2.98303084e-05 9.99538206e-01 -3.18706700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.376875 meters 0.013311265939788392 Centerline is valid? [True, True] Translation: X:97.65, Y:-19.56, Z:-3.19 [[ 8.54802146e-01 5.18309561e-01 2.58552002e-02 9.76546376e+01] [-5.18077175e-01 8.55193068e-01 -1.55196106e-02 -1.95632618e+01] [-3.01551505e-02 -1.28792639e-04 9.99545222e-01 -3.18828600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.406875 meters 0.014477587710888537 Centerline is valid? [True, True] Translation: X:97.69, Y:-19.57, Z:-3.19 [[ 8.50855595e-01 5.24814170e-01 2.47960481e-02 9.76860304e+01] [-5.24602932e-01 8.51216761e-01 -1.48926130e-02 -1.95708799e+01] [-2.89226661e-02 -3.36616419e-04 9.99581596e-01 -3.19049458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.436875 meters 0.015196640792094459 Centerline is valid? [True, True] Translation: X:97.72, Y:-19.58, Z:-3.19 [[ 8.48762638e-01 5.28215869e-01 2.42895058e-02 9.77160160e+01] [-5.28014361e-01 8.49110007e-01 -1.45955477e-02 -1.95831842e+01] [-2.83340624e-02 -4.37052341e-04 9.99598414e-01 -3.19256948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.466875 meters 0.015347662115298236 Centerline is valid? [True, True] Translation: X:97.75, Y:-19.60, Z:-3.19 [[ 8.46938392e-01 5.31176357e-01 2.33888257e-02 9.77450161e+01] [-5.30990451e-01 8.47261127e-01 -1.40614273e-02 -1.95976486e+01] [-2.72855406e-02 -5.10080502e-04 9.99627550e-01 -3.19477746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49687499999999 meters 0.017311104211587762 Centerline is valid? [True, True] Translation: X:97.77, Y:-19.61, Z:-3.20 [[ 8.43372379e-01 5.36863641e-01 2.23710093e-02 9.77743287e+01] [-5.36695346e-01 8.43668774e-01 -1.34575458e-02 -1.96076285e+01] [-2.60985890e-02 -6.56694182e-04 9.99659158e-01 -3.19641868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52687499999999 meters 0.017728099060892035 Centerline is valid? [True, True] Translation: X:97.80, Y:-19.62, Z:-3.20 [[ 8.41835508e-01 5.39262708e-01 2.25545798e-02 9.78028086e+01] [-5.39092435e-01 8.42137276e-01 -1.35703886e-02 -1.96231819e+01] [-2.63120569e-02 -7.34968405e-04 9.99653508e-01 -3.19656103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55687499999999 meters 0.019272436048135687 Centerline is valid? [True, True] Translation: X:97.83, Y:-19.64, Z:-3.20 [[ 8.40525460e-01 5.41273049e-01 2.32473323e-02 9.78305745e+01] [-5.41092682e-01 8.40846492e-01 -1.39959652e-02 -1.96363259e+01] [-2.71230766e-02 -8.14996313e-04 9.99631769e-01 -3.19678488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58687499999999 meters 0.019527123656878472 Centerline is valid? [True, True] Translation: X:97.86, Y:-19.65, Z:-3.20 [[ 8.38499590e-01 5.44376113e-01 2.39391803e-02 9.78580216e+01] [-5.44186007e-01 8.38840727e-01 -1.44161394e-02 -1.96519738e+01] [-2.79289613e-02 -9.39440023e-04 9.99609469e-01 -3.19664174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.616875 meters 0.020305949727166327 Centerline is valid? [True, True] Translation: X:97.89, Y:-19.67, Z:-3.20 [[ 8.37452307e-01 5.45976236e-01 2.41574726e-02 9.78857827e+01] [-5.45783097e-01 8.37800071e-01 -1.45551699e-02 -1.96676628e+01] [-2.81859091e-02 -9.95479592e-04 9.99602203e-01 -3.19802189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.646875 meters 0.020711908949956902 Centerline is valid? [True, True] Translation: X:97.91, Y:-19.68, Z:-3.20 [[ 8.36640525e-01 5.47221128e-01 2.41178325e-02 9.79131257e+01] [-5.47028907e-01 8.36987442e-01 -1.45394710e-02 -1.96833441e+01] [-2.81426287e-02 -1.02884094e-03 9.99603388e-01 -3.19932470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.676875 meters 0.02108778907179509 Centerline is valid? [True, True] Translation: X:97.94, Y:-19.70, Z:-3.20 [[ 8.35837373e-01 5.48467829e-01 2.36416388e-02 9.79405691e+01] [-5.48283425e-01 8.36171006e-01 -1.42595319e-02 -1.97004072e+01] [-2.75893475e-02 -1.04366899e-03 9.99618797e-01 -3.20082343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.706875 meters 0.022669697931815554 Centerline is valid? [True, True] Translation: X:97.97, Y:-19.72, Z:-3.20 [[ 8.34351919e-01 5.50746331e-01 2.31377108e-02 9.79670958e+01] [-5.50570370e-01 8.34671968e-01 -1.39633103e-02 -1.97163114e+01] [-2.70026406e-02 -1.08862323e-03 9.99634769e-01 -3.20244672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.736875 meters 0.023033803762138157 Centerline is valid? [True, True] Translation: X:97.99, Y:-19.73, Z:-3.20 [[ 8.33820524e-01 5.51529837e-01 2.36256861e-02 9.79938743e+01] [-5.51346482e-01 8.34154398e-01 -1.42652454e-02 -1.97335580e+01] [-2.75751785e-02 -1.13128457e-03 9.99619092e-01 -3.20227151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.766875 meters 0.023275010995946494 Centerline is valid? [True, True] Translation: X:98.02, Y:-19.75, Z:-3.20 [[ 8.33163476e-01 5.52460839e-01 2.50128672e-02 9.80202860e+01] [-5.52255478e-01 8.33537957e-01 -1.51116597e-02 -1.97525962e+01] [-2.91977744e-02 -1.22301004e-03 9.99572906e-01 -3.20066641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.796875 meters 0.02265979298926056 Centerline is valid? [True, True] Translation: X:98.05, Y:-19.77, Z:-3.20 [[ 8.32667803e-01 5.53177815e-01 2.56638808e-02 9.80462414e+01] [-5.52961699e-01 8.33062232e-01 -1.55137485e-02 -1.97713829e+01] [-2.99614714e-02 -1.27334430e-03 9.99550243e-01 -3.20017564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.826875 meters 0.022897249328820778 Centerline is valid? [True, True] Translation: X:98.07, Y:-19.79, Z:-3.20 [[ 8.32506512e-01 5.53392313e-01 2.62650941e-02 9.80738614e+01] [-5.53165778e-01 8.32919713e-01 -1.58862434e-02 -1.97897172e+01] [-3.06680396e-02 -1.30355016e-03 9.99528775e-01 -3.20060946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.856875 meters 0.022430509282562388 Centerline is valid? [True, True] Translation: X:98.10, Y:-19.81, Z:-3.20 [[ 8.32483052e-01 5.53398412e-01 2.68731618e-02 9.80991378e+01] [-5.53160933e-01 8.32915627e-01 -1.62646726e-02 -1.98095784e+01] [-3.13839204e-02 -1.32511898e-03 9.99506525e-01 -3.20162069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88687499999999 meters 0.022042899062836525 Centerline is valid? [True, True] Translation: X:98.13, Y:-19.83, Z:-3.20 [[ 8.32377889e-01 5.53559228e-01 2.68184996e-02 9.81262519e+01] [-5.53322513e-01 8.32808764e-01 -1.62406872e-02 -1.98288611e+01] [-3.13248638e-02 -1.32089073e-03 9.99508383e-01 -3.20328024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91687499999999 meters 0.02166475357770764 Centerline is valid? [True, True] Translation: X:98.15, Y:-19.85, Z:-3.20 [[ 8.32598395e-01 5.53251650e-01 2.63158569e-02 9.81521808e+01] [-5.53023260e-01 8.33013195e-01 -1.59464813e-02 -1.98478299e+01] [-3.07438731e-02 -1.27626623e-03 9.99526481e-01 -3.20483854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94687499999999 meters 0.022835210970012416 Centerline is valid? [True, True] Translation: X:98.18, Y:-19.87, Z:-3.21 [[ 8.33055004e-01 5.52638297e-01 2.47036965e-02 9.81775064e+01] [-5.52436529e-01 8.33420389e-01 -1.49778908e-02 -1.98661665e+01] [-2.88659204e-02 -1.16981746e-03 9.99582608e-01 -3.20677954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97687499999999 meters 0.02187281708979049 Centerline is valid? [True, True] Translation: X:98.20, Y:-19.89, Z:-3.21 [[ 8.33353740e-01 5.52217228e-01 2.40349394e-02 9.82031274e+01] [-5.52025947e-01 8.33699513e-01 -1.45765603e-02 -1.98864324e+01] [-2.80873450e-02 -1.12047914e-03 9.99604845e-01 -3.20774725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.006875 meters 0.021152496312951928 Centerline is valid? [True, True] Translation: X:98.23, Y:-19.91, Z:-3.21 [[ 8.33484700e-01 5.52039171e-01 2.35798268e-02 9.82287712e+01] [-5.51854780e-01 8.33817470e-01 -1.43083542e-02 -1.99060852e+01] [-2.75600435e-02 -1.08684583e-03 9.99619559e-01 -3.20860492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.036875 meters 0.021398894635253973 Centerline is valid? [True, True] Translation: X:98.25, Y:-19.93, Z:-3.21 [[ 8.33553602e-01 5.51951204e-01 2.32004579e-02 9.82531290e+01] [-5.51772451e-01 8.33875737e-01 -1.40860531e-02 -1.99259701e+01] [-2.71211129e-02 -1.05989324e-03 9.99631593e-01 -3.20883040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.066875 meters 0.022142328961120717 Centerline is valid? [True, True] Translation: X:98.28, Y:-19.94, Z:-3.21 [[ 8.33361907e-01 5.52240235e-01 2.32089488e-02 9.82795478e+01] [-5.52061270e-01 8.33684348e-01 -1.40983459e-02 -1.99432503e+01] [-2.71346111e-02 -1.06373732e-03 9.99631223e-01 -3.20989927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.096875 meters 0.02092319088404549 Centerline is valid? [True, True] Translation: X:98.30, Y:-19.97, Z:-3.21 [[ 8.33153444e-01 5.52554667e-01 2.32094442e-02 9.83041932e+01] [-5.52375592e-01 8.33475975e-01 -1.41068904e-02 -1.99652618e+01] [-2.71393423e-02 -1.06712610e-03 9.99631091e-01 -3.21066600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.126875 meters 0.02288922899100776 Centerline is valid? [True, True] Translation: X:98.33, Y:-19.98, Z:-3.21 [[ 8.32808085e-01 5.53056683e-01 2.36431705e-02 9.83309958e+01] [-5.52870782e-01 8.33142908e-01 -1.43803179e-02 -1.99804003e+01] [-2.76512707e-02 -1.09557309e-03 9.99617030e-01 -3.21162076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.156875 meters 0.021854050844907196 Centerline is valid? [True, True] Translation: X:98.36, Y:-20.00, Z:-3.21 [[ 8.32342311e-01 5.53752386e-01 2.37607372e-02 9.83560251e+01] [-5.53564704e-01 8.32680638e-01 -1.44593418e-02 -2.00002347e+01] [-2.77920008e-02 -1.11798350e-03 9.99613103e-01 -3.21189017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.186875 meters 0.021915229186760532 Centerline is valid? [True, True] Translation: X:98.38, Y:-20.02, Z:-3.21 [[ 8.32163731e-01 5.54013226e-01 2.39347002e-02 9.83830319e+01] [-5.53822669e-01 8.32507101e-01 -1.45732258e-02 -2.00193917e+01] [-2.79995677e-02 -1.12826958e-03 9.99607298e-01 -3.21234466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.216875 meters 0.02174638301379423 Centerline is valid? [True, True] Translation: X:98.41, Y:-20.04, Z:-3.21 [[ 8.32253557e-01 5.53863546e-01 2.42732191e-02 9.84076947e+01] [-5.53667220e-01 8.32606686e-01 -1.47890447e-02 -2.00412500e+01] [-2.84011573e-02 -1.13105067e-03 9.99595966e-01 -3.21203870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24687499999999 meters 0.02175420828168204 Centerline is valid? [True, True] Translation: X:98.43, Y:-20.06, Z:-3.21 [[ 8.32342891e-01 5.53745009e-01 2.39118469e-02 9.84333294e+01] [-5.53554215e-01 8.32685563e-01 -1.45768337e-02 -2.00609407e+01] [-2.79828986e-02 -1.10357977e-03 9.99607793e-01 -3.21219623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27687499999999 meters 0.021876859436098423 Centerline is valid? [True, True] Translation: X:98.46, Y:-20.08, Z:-3.21 [[ 8.32834639e-01 5.53002548e-01 2.39717648e-02 9.84581808e+01] [-5.52810249e-01 8.33178869e-01 -1.46219120e-02 -2.00795650e+01] [-2.80587224e-02 -1.07420244e-03 9.99605699e-01 -3.21252700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30687499999999 meters 0.0225997373874718 Centerline is valid? [True, True] Translation: X:98.48, Y:-20.10, Z:-3.21 [[ 8.33119586e-01 5.52553930e-01 2.44112618e-02 9.84839422e+01] [-5.52354195e-01 8.33476454e-01 -1.48944461e-02 -2.00968747e+01] [-2.85761966e-02 -1.07480806e-03 9.99591039e-01 -3.21362273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33687499999999 meters 0.020954615941851797 Centerline is valid? [True, True] Translation: X:98.51, Y:-20.12, Z:-3.21 [[ 8.33692483e-01 5.51616551e-01 2.60004569e-02 9.85074755e+01] [-5.51389243e-01 8.34097095e-01 -1.58726141e-02 -2.01206735e+01] [-3.04425022e-02 -1.10349318e-03 9.99535910e-01 -3.21229081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.366875 meters 0.02047966600909218 Centerline is valid? [True, True] Translation: X:98.53, Y:-20.14, Z:-3.21 [[ 8.33987784e-01 5.51174754e-01 2.58991714e-02 9.85332600e+01] [-5.50948738e-01 8.34389138e-01 -1.58194502e-02 -2.01406615e+01] [-3.03292689e-02 -1.07588758e-03 9.99539383e-01 -3.21306468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.396875 meters 0.022128900427262996 Centerline is valid? [True, True] Translation: X:98.56, Y:-20.16, Z:-3.21 [[ 8.34184678e-01 5.50897645e-01 2.54500965e-02 9.85597975e+01] [-5.50679019e-01 8.34572168e-01 -1.55536291e-02 -2.01567020e+01] [-2.98083999e-02 -1.04023507e-03 9.99555090e-01 -3.21499654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.426875 meters 0.02063190868938159 Centerline is valid? [True, True] Translation: X:98.58, Y:-20.18, Z:-3.22 [[ 8.34934322e-01 5.49779317e-01 2.50475620e-02 9.85830262e+01] [-5.49566827e-01 8.35309371e-01 -1.53152437e-02 -2.01806495e+01] [-2.93424674e-02 -9.78086578e-04 9.99568939e-01 -3.21616557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.456875 meters 0.019125353063278092 Centerline is valid? [True, True] Translation: X:98.61, Y:-20.20, Z:-3.22 [[ 8.35692316e-01 5.48640339e-01 2.47412858e-02 9.86074501e+01] [-5.48432285e-01 8.36057972e-01 -1.51359431e-02 -2.02021072e+01] [-2.89893382e-02 -9.19928494e-04 9.99579298e-01 -3.21662286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.486875 meters 0.02066358953589545 Centerline is valid? [True, True] Translation: X:98.63, Y:-20.22, Z:-3.22 [[ 8.36223149e-01 5.47842505e-01 2.44833649e-02 9.86345163e+01] [-5.47638192e-01 8.36581031e-01 -1.49862968e-02 -2.02182984e+01] [-2.86924490e-02 -8.76137410e-04 9.99587903e-01 -3.21825359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.516875 meters 0.01873103651478079 Centerline is valid? [True, True] Translation: X:98.66, Y:-20.24, Z:-3.22 [[ 8.36607125e-01 5.47266255e-01 2.42520894e-02 9.86585388e+01] [-5.47065315e-01 8.36958146e-01 -1.48527071e-02 -2.02395855e+01] [-2.84263692e-02 -8.41596383e-04 9.99595535e-01 -3.21933567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.546875 meters 0.01787648153195173 Centerline is valid? [True, True] Translation: X:98.68, Y:-20.26, Z:-3.22 [[ 8.37154657e-01 5.46465587e-01 2.33974992e-02 9.86822244e+01] [-5.46278045e-01 8.37481196e-01 -1.43367578e-02 -2.02618406e+01] [-2.74295104e-02 -7.79456610e-04 9.99623436e-01 -3.22088126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.576875 meters 0.018135749686572823 Centerline is valid? [True, True] Translation: X:98.71, Y:-20.28, Z:-3.22 [[ 8.37255928e-01 5.46338006e-01 2.27441042e-02 9.87086048e+01] [-5.46160554e-01 8.37564460e-01 -1.39436099e-02 -2.02809079e+01] [-2.66675774e-02 -7.47562530e-04 9.99644077e-01 -3.22232375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.606875 meters 0.01856707934831527 Centerline is valid? [True, True] Translation: X:98.73, Y:-20.30, Z:-3.22 [[ 8.37304304e-01 5.46285614e-01 2.22155377e-02 9.87348228e+01] [-5.46116080e-01 8.37598655e-01 -1.36279401e-02 -2.02991580e+01] [-2.60524521e-02 -7.21529396e-04 9.99660317e-01 -3.22419955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63687499999999 meters 0.0181347338423755 Centerline is valid? [True, True] Translation: X:98.76, Y:-20.32, Z:-3.23 [[ 8.37645698e-01 5.45809097e-01 2.10265124e-02 9.87593431e+01] [-5.45656900e-01 8.37909297e-01 -1.29057340e-02 -2.03212116e+01] [-2.46623772e-02 -6.62829017e-04 9.99695618e-01 -3.22639663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66687499999999 meters 0.018046254020074183 Centerline is valid? [True, True] Translation: X:98.79, Y:-20.34, Z:-3.23 [[ 8.37878643e-01 5.45449947e-01 2.10650275e-02 9.87850281e+01] [-5.45296906e-01 8.38143148e-01 -1.29363099e-02 -2.03402721e+01] [-2.47116180e-02 -6.47636597e-04 9.99694412e-01 -3.22798748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69687499999999 meters 0.017980390409138323 Centerline is valid? [True, True] Translation: X:98.81, Y:-20.36, Z:-3.23 [[ 8.37998700e-01 5.45263386e-01 2.11191670e-02 9.88111485e+01] [-5.45109294e-01 8.38264537e-01 -1.29777874e-02 -2.03601190e+01] [-2.47797611e-02 -6.36885251e-04 9.99692732e-01 -3.22827982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72687499999999 meters 0.017461073417147137 Centerline is valid? [True, True] Translation: X:98.84, Y:-20.38, Z:-3.23 [[ 8.38104162e-01 5.45094054e-01 2.13045742e-02 9.88360337e+01] [-5.44937158e-01 8.38374658e-01 -1.30929967e-02 -2.03802585e+01] [-2.49981297e-02 -6.36359056e-04 9.99687295e-01 -3.22826189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.756875 meters 0.018339472168102153 Centerline is valid? [True, True] Translation: X:98.86, Y:-20.40, Z:-3.23 [[ 8.37942273e-01 5.45345496e-01 2.12376307e-02 9.88616361e+01] [-5.45189493e-01 8.38211122e-01 -1.30587662e-02 -2.04002722e+01] [-2.49231576e-02 -6.36040912e-04 9.99689168e-01 -3.22847645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.786875 meters 0.018447832087381415 Centerline is valid? [True, True] Translation: X:98.89, Y:-20.42, Z:-3.23 [[ 8.37575291e-01 5.45906365e-01 2.13042730e-02 9.88883481e+01] [-5.45749376e-01 8.37845940e-01 -1.31072123e-02 -2.04197590e+01] [-2.50050093e-02 -6.48516507e-04 9.99687116e-01 -3.22927936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.816875 meters 0.01810920885336931 Centerline is valid? [True, True] Translation: X:98.91, Y:-20.44, Z:-3.23 [[ 8.37300072e-01 5.46328848e-01 2.12926919e-02 9.89133044e+01] [-5.46171970e-01 8.37570511e-01 -1.31079378e-02 -2.04414650e+01] [-2.49953755e-02 -6.54194205e-04 9.99687353e-01 -3.23022465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.846875 meters 0.018258363943120026 Centerline is valid? [True, True] Translation: X:98.94, Y:-20.46, Z:-3.23 [[ 8.37219256e-01 5.46463774e-01 2.10062026e-02 9.89404449e+01] [-5.46310938e-01 8.37482495e-01 -1.29394122e-02 -2.04608223e+01] [-2.46632470e-02 -6.42793216e-04 9.99695609e-01 -3.23173930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.876875 meters 0.018345778859915757 Centerline is valid? [True, True] Translation: X:98.97, Y:-20.48, Z:-3.23 [[ 8.37325875e-01 5.46301882e-01 2.09674281e-02 9.89660357e+01] [-5.46149353e-01 8.37588119e-01 -1.29239010e-02 -2.04792286e+01] [-2.46224201e-02 -6.29830558e-04 9.99696624e-01 -3.23330412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.906875 meters 0.01744670207040967 Centerline is valid? [True, True] Translation: X:98.99, Y:-20.50, Z:-3.24 [[ 8.37691762e-01 5.45779869e-01 1.99210246e-02 9.89899264e+01] [-5.45641911e-01 8.37928397e-01 -1.22843674e-02 -2.05019799e+01] [-2.33969527e-02 -5.79232568e-04 9.99726086e-01 -3.23580599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.936875 meters 0.017350545030981747 Centerline is valid? [True, True] Translation: X:99.02, Y:-20.52, Z:-3.24 [[ 8.37833685e-01 5.45589687e-01 1.91470533e-02 9.90165753e+01] [-5.45462065e-01 8.38052262e-01 -1.18127701e-02 -2.05220240e+01] [-2.24911569e-02 -5.46854531e-04 9.99746892e-01 -3.23811800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.966875 meters 0.017350545030981747 Centerline is valid? [True, True] Translation: X:99.04, Y:-20.54, Z:-3.24 [[ 8.37681834e-01 5.45822921e-01 1.91437564e-02 9.90440647e+01] [-5.45695238e-01 8.37900376e-01 -1.18181101e-02 -2.05391098e+01] [-2.24911560e-02 -5.46840575e-04 9.99746892e-01 -3.23915275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99687499999999 meters 0.017387005708083218 Centerline is valid? [True, True] Translation: X:99.07, Y:-20.56, Z:-3.24 [[ 8.37878034e-01 5.45531355e-01 1.88663937e-02 9.90688680e+01] [-5.45407100e-01 8.38090249e-01 -1.16546026e-02 -2.05574092e+01] [-2.21696918e-02 -5.24729564e-04 9.99754084e-01 -3.24087007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02687499999999 meters 0.017376504454837023 Centerline is valid? [True, True] Translation: X:99.09, Y:-20.58, Z:-3.24 [[ 8.37968783e-01 5.45420930e-01 1.80090861e-02 9.90938547e+01] [-5.45307591e-01 8.38162135e-01 -1.11295556e-02 -2.05789207e+01] [-2.11648267e-02 -4.94271192e-04 9.99775878e-01 -3.24226833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05687499999999 meters 0.017809725995846928 Centerline is valid? [True, True] Translation: X:99.12, Y:-20.60, Z:-3.24 [[ 8.37608716e-01 5.45990240e-01 1.75013471e-02 9.91195921e+01] [-5.45883181e-01 8.37791393e-01 -1.08228570e-02 -2.05963033e+01] [-2.05716523e-02 -4.88371721e-04 9.99788262e-01 -3.24340851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08687499999999 meters 0.018062790799940217 Centerline is valid? [True, True] Translation: X:99.15, Y:-20.61, Z:-3.24 [[ 8.37195813e-01 5.46631416e-01 1.72414102e-02 9.91459489e+01] [-5.46527548e-01 8.37373186e-01 -1.06670816e-02 -2.06146202e+01] [-2.02684565e-02 -4.92469599e-04 9.99794452e-01 -3.24464563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.116875 meters 0.018384313120159698 Centerline is valid? [True, True] Translation: X:99.17, Y:-20.63, Z:-3.25 [[ 8.36731623e-01 5.47347576e-01 1.70535027e-02 9.91724467e+01] [-5.47245996e-01 8.36905241e-01 -1.05563902e-02 -2.06326952e+01] [-2.00501803e-02 -4.99595560e-04 9.99798850e-01 -3.24613016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.146875 meters 0.017359916368960903 Centerline is valid? [True, True] Translation: X:99.20, Y:-20.66, Z:-3.25 [[ 8.37825245e-01 5.45714704e-01 1.56307790e-02 9.91962036e+01] [-5.45629003e-01 8.37970934e-01 -9.68009431e-03 -2.06552186e+01] [-1.83807083e-02 -4.18378995e-04 9.99830973e-01 -3.24703717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.176875 meters 0.01690823656833246 Centerline is valid? [True, True] Translation: X:99.22, Y:-20.67, Z:-3.25 [[ 8.38783212e-01 5.44245822e-01 1.54663527e-02 9.92224926e+01] [-5.44161526e-01 8.38925708e-01 -9.58590864e-03 -2.06746763e+01] [-1.81922116e-02 -3.75694845e-04 9.99834437e-01 -3.24799125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.206875 meters 0.016796353830655437 Centerline is valid? [True, True] Translation: X:99.25, Y:-20.69, Z:-3.25 [[ 8.39484209e-01 5.43155773e-01 1.57501943e-02 9.92482744e+01] [-5.43068171e-01 8.39631870e-01 -9.76139212e-03 -2.06929663e+01] [-1.85263216e-02 -3.58894687e-04 9.99828309e-01 -3.24910549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.236875 meters 0.016064592350177858 Centerline is valid? [True, True] Translation: X:99.27, Y:-20.71, Z:-3.25 [[ 8.40387880e-01 5.41750223e-01 1.59657982e-02 9.92744070e+01] [-5.41659806e-01 8.40539464e-01 -9.90275951e-03 -2.07128549e+01] [-1.87847056e-02 -3.25872094e-04 9.99823499e-01 -3.24886872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.266875 meters 0.015866787519664603 Centerline is valid? [True, True] Translation: X:99.30, Y:-20.73, Z:-3.25 [[ 8.41392390e-01 5.40148473e-01 1.72763517e-02 9.92998422e+01] [-5.40042258e-01 8.41569681e-01 -1.07159031e-02 -2.07317073e+01] [-2.03274325e-02 -3.13680685e-04 9.99793327e-01 -3.24814251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.296875 meters 0.01503450131170892 Centerline is valid? [True, True] Translation: X:99.33, Y:-20.75, Z:-3.25 [[ 8.41932764e-01 5.39279730e-01 1.80719081e-02 9.93258833e+01] [-5.39163173e-01 8.42126642e-01 -1.12156610e-02 -2.07509404e+01] [-2.12672140e-02 -3.00874830e-04 9.99773782e-01 -3.24741648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.326875 meters 0.014054245265475124 Centerline is valid? [True, True] Translation: X:99.35, Y:-20.77, Z:-3.25 [[ 8.45093427e-01 5.34297043e-01 1.85409865e-02 9.93496726e+01] [-5.34173006e-01 8.45296776e-01 -1.15134793e-02 -2.07714337e+01] [-2.18242541e-02 -1.74128863e-04 9.99761807e-01 -3.24780492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.356875 meters 0.013822233543077649 Centerline is valid? [True, True] Translation: X:99.38, Y:-20.79, Z:-3.25 [[ 8.45683059e-01 5.33356492e-01 1.87354421e-02 9.93762607e+01] [-5.33229483e-01 8.45890555e-01 -1.16398782e-02 -2.07901194e+01] [-2.20563382e-02 -1.46642287e-04 9.99756719e-01 -3.24797857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38687499999999 meters 0.013756596176814398 Centerline is valid? [True, True] Translation: X:99.40, Y:-20.81, Z:-3.25 [[ 8.46048618e-01 5.32799902e-01 1.80554605e-02 9.94039673e+01] [-5.32681709e-01 8.46241248e-01 -1.12226327e-02 -2.08084271e+01] [-2.12586930e-02 -1.22920687e-04 9.99774001e-01 -3.24970114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41687499999999 meters 0.013824811664157144 Centerline is valid? [True, True] Translation: X:99.43, Y:-20.82, Z:-3.25 [[ 8.45843585e-01 5.33178893e-01 1.63980691e-02 9.94309556e+01] [-5.33081360e-01 8.46002514e-01 -1.01984953e-02 -2.08244496e+01] [-1.93104301e-02 -1.15173173e-04 9.99813530e-01 -3.25293536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44687499999999 meters 0.013988965393044962 Centerline is valid? [True, True] Translation: X:99.46, Y:-20.84, Z:-3.26 [[ 8.45400720e-01 5.33909594e-01 1.54326997e-02 9.94575775e+01] [-5.33823252e-01 8.45541561e-01 -9.60236780e-03 -2.08398177e+01] [-1.81757853e-02 -1.20485271e-04 9.99834800e-01 -3.25508426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47687499999999 meters 0.014161841238039092 Centerline is valid? [True, True] Translation: X:99.48, Y:-20.86, Z:-3.26 [[ 8.44611081e-01 5.35167717e-01 1.50876568e-02 9.94846214e+01] [-5.35085315e-01 8.44745817e-01 -9.39203080e-03 -2.08561308e+01] [-1.77715467e-02 -1.40570329e-04 9.99842064e-01 -3.25544655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.506875 meters 0.014271635038598764 Centerline is valid? [True, True] Translation: X:99.51, Y:-20.87, Z:-3.26 [[ 8.43919732e-01 5.36283608e-01 1.41201048e-02 9.95124403e+01] [-5.36211537e-01 8.44037836e-01 -8.79307468e-03 -2.08722720e+01] [-1.66334845e-02 -1.50713882e-04 9.99861643e-01 -3.25670200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.536875 meters 0.014216392076855426 Centerline is valid? [True, True] Translation: X:99.54, Y:-20.89, Z:-3.26 [[ 8.43379627e-01 5.37126703e-01 1.43425600e-02 9.95407422e+01] [-5.37052393e-01 8.43501557e-01 -8.93589724e-03 -2.08887779e+01] [-1.68976807e-02 -1.66352473e-04 9.99857210e-01 -3.25764608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.566875 meters 0.014492060889292861 Centerline is valid? [True, True] Translation: X:99.57, Y:-20.91, Z:-3.26 [[ 8.43172544e-01 5.37451085e-01 1.43663556e-02 9.95686048e+01] [-5.37376453e-01 8.43294909e-01 -8.95795038e-03 -2.09050904e+01] [-1.69295347e-02 -1.67043427e-04 9.99856671e-01 -3.25942325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.596875 meters 0.014687597675413793 Centerline is valid? [True, True] Translation: X:99.60, Y:-20.92, Z:-3.26 [[ 8.42490197e-01 5.38527863e-01 1.40715595e-02 9.95968490e+01] [-5.38456380e-01 8.42607683e-01 -8.77611371e-03 -2.09211328e+01] [-1.65829859e-02 -1.83131206e-04 9.99862476e-01 -3.26064181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.626875 meters 0.015004677397862707 Centerline is valid? [True, True] Translation: X:99.62, Y:-20.94, Z:-3.26 [[ 8.42409052e-01 5.38638680e-01 1.46751955e-02 9.96235079e+01] [-5.38560854e-01 8.42536846e-01 -9.15801550e-03 -2.09365077e+01] [-1.72972543e-02 -1.88690678e-04 9.99850373e-01 -3.26234069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.656875 meters 0.014755405052835614 Centerline is valid? [True, True] Translation: X:99.65, Y:-20.95, Z:-3.26 [[ 8.41953499e-01 5.39322562e-01 1.56678128e-02 9.96502882e+01] [-5.39233879e-01 8.42099239e-01 -9.78236717e-03 -2.09536441e+01] [-1.84697046e-02 -2.12317221e-04 9.99829398e-01 -3.26049438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.686875 meters 0.014582629713792388 Centerline is valid? [True, True] Translation: X:99.68, Y:-20.97, Z:-3.26 [[ 8.41581463e-01 5.39876321e-01 1.65589855e-02 9.96772441e+01] [-5.39777256e-01 8.41744322e-01 -1.03445708e-02 -2.09709868e+01] [-1.95232208e-02 -2.32364773e-04 9.99809377e-01 -3.25922230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.716875 meters 0.014565326006707924 Centerline is valid? [True, True] Translation: X:99.70, Y:-20.99, Z:-3.26 [[ 8.41461458e-01 5.40037549e-01 1.73798567e-02 9.97043536e+01] [-5.39928324e-01 8.41640889e-01 -1.08636157e-02 -2.09874128e+01] [-2.04943584e-02 -2.42563028e-04 9.99789939e-01 -3.25934002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74687499999999 meters 0.015154444617084295 Centerline is valid? [True, True] Translation: X:99.73, Y:-21.00, Z:-3.26 [[ 8.41090890e-01 5.40609512e-01 1.75348568e-02 9.97317385e+01] [-5.40498310e-01 8.41273613e-01 -1.09674799e-02 -2.10028765e+01] [-2.06807363e-02 -2.52912996e-04 9.99786099e-01 -3.26038396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77687499999999 meters 0.015225268147947266 Centerline is valid? [True, True] Translation: X:99.76, Y:-21.02, Z:-3.26 [[ 8.40873115e-01 5.40932948e-01 1.79986298e-02 9.97598577e+01] [-5.40815802e-01 8.41065679e-01 -1.12602033e-02 -2.10191877e+01] [-2.12290448e-02 -2.65541184e-04 9.99774603e-01 -3.26124701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80687499999999 meters 0.014796701728453194 Centerline is valid? [True, True] Translation: X:99.79, Y:-21.04, Z:-3.26 [[ 8.41121664e-01 5.40551275e-01 1.78512023e-02 9.97874251e+01] [-5.40435824e-01 8.41311035e-01 -1.11741879e-02 -2.10374232e+01] [-2.10586349e-02 -2.48577706e-04 9.99778211e-01 -3.26234216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83687499999999 meters 0.01460303743457134 Centerline is valid? [True, True] Translation: X:99.81, Y:-21.05, Z:-3.26 [[ 8.41589772e-01 5.39831649e-01 1.75626671e-02 9.98137484e+01] [-5.39719598e-01 8.41772975e-01 -1.10006089e-02 -2.10544812e+01] [-2.07222554e-02 -2.20915727e-04 9.99785247e-01 -3.26428792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.866875 meters 0.013885572721127464 Centerline is valid? [True, True] Translation: X:99.84, Y:-21.07, Z:-3.26 [[ 8.43299580e-01 5.37160895e-01 1.74353452e-02 9.98386960e+01] [-5.37049793e-01 8.43479787e-01 -1.09256144e-02 -2.10745962e+01] [-2.05751741e-02 -1.50082494e-04 9.99788297e-01 -3.26391689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.896875 meters 0.013765322025541657 Centerline is valid? [True, True] Translation: X:99.87, Y:-21.09, Z:-3.26 [[ 8.44100364e-01 5.35896647e-01 1.75886105e-02 9.98655233e+01] [-5.35783141e-01 8.44283584e-01 -1.10297539e-02 -2.10932633e+01] [-2.07605833e-02 -1.13461687e-04 9.99784469e-01 -3.26381875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.926875 meters 0.013875549321164436 Centerline is valid? [True, True] Translation: X:99.89, Y:-21.11, Z:-3.27 [[ 8.44809056e-01 5.34780807e-01 1.75256236e-02 9.98921631e+01] [-5.34667875e-01 8.44990817e-01 -1.09901152e-02 -2.11108096e+01] [-2.06862937e-02 -8.58390848e-05 9.99786012e-01 -3.26554853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.956875 meters 0.013601844199419543 Centerline is valid? [True, True] Translation: X:99.92, Y:-21.13, Z:-3.27 [[ 8.46189003e-01 5.32595384e-01 1.75022245e-02 9.99188769e+01] [-5.32482120e-01 8.46369988e-01 -1.09834420e-02 -2.11295548e+01] [-2.06630881e-02 -2.55538031e-05 9.99786495e-01 -3.26660601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.986875 meters 0.013599957899539229 Centerline is valid? [True, True] Translation: X:99.95, Y:-21.15, Z:-3.27 [[ 8.46597917e-01 5.31947002e-01 1.74457091e-02 9.99459405e+01] [-5.31834305e-01 8.46777649e-01 -1.09492022e-02 -2.11475645e+01] [-2.05970318e-02 -8.65477318e-06 9.99787859e-01 -3.26712812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.016875 meters 0.013621056609059153 Centerline is valid? [True, True] Translation: X:99.97, Y:-21.16, Z:-3.27 [[ 8.46937749e-01 5.31381849e-01 1.81598413e-02 9.99717205e+01] [-5.31259412e-01 8.47132416e-01 -1.14064412e-02 -2.11643404e+01] [-2.14449660e-02 1.29590776e-05 9.99770030e-01 -3.26790855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.046875 meters 0.013705271367271527 Centerline is valid? [True, True] Translation: X:100.00, Y:-21.18, Z:-3.27 [[ 8.47071543e-01 5.31156787e-01 1.85005051e-02 9.99999095e+01] [-5.31029618e-01 8.47273549e-01 -1.16223084e-02 -2.11815512e+01] [-2.18482567e-02 2.06105659e-05 9.99761298e-01 -3.26857660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.076875 meters 0.013605291233883602 Centerline is valid? [True, True] Translation: X:100.03, Y:-21.20, Z:-3.27 [[ 8.46945291e-01 5.31361756e-01 1.83945314e-02 1.00027066e+02] [-5.31235930e-01 8.47145019e-01 -1.15629780e-02 -2.11983500e+01] [-2.17269600e-02 2.13737919e-05 9.99763942e-01 -3.26986613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.106875 meters 0.013720661214970632 Centerline is valid? [True, True] Translation: X:100.05, Y:-21.21, Z:-3.27 [[ 8.46536539e-01 5.32010068e-01 1.84709469e-02 1.00053760e+02] [-5.31883202e-01 8.46738028e-01 -1.16177390e-02 -2.12149041e+01] [-2.18208073e-02 1.04541774e-05 9.99761898e-01 -3.27143497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13687499999999 meters 0.013648826051012202 Centerline is valid? [True, True] Translation: X:100.08, Y:-21.23, Z:-3.27 [[ 8.45669710e-01 5.33376575e-01 1.87661906e-02 1.00082764e+02] [-5.33245810e-01 8.45877904e-01 -1.18100813e-02 -2.12309243e+01] [-2.21731267e-02 -1.95645080e-05 9.99754146e-01 -3.27077047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16687499999999 meters 0.013664996835266357 Centerline is valid? [True, True] Translation: X:100.11, Y:-21.25, Z:-3.27 [[ 8.45169343e-01 5.34177583e-01 1.85227249e-02 1.00111066e+02] [-5.34050232e-01 8.45372290e-01 -1.16636701e-02 -2.12475892e+01] [-2.18890695e-02 -3.42891096e-05 9.99760405e-01 -3.27205966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19687499999999 meters 0.013774212520433276 Centerline is valid? [True, True] Translation: X:100.14, Y:-21.26, Z:-3.27 [[ 8.44674771e-01 5.34958753e-01 1.85381571e-02 1.00139418e+02] [-5.34831223e-01 8.44878175e-01 -1.16804474e-02 -2.12643939e+01] [-2.19110419e-02 -4.86060151e-05 9.99759923e-01 -3.27309071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22687499999999 meters 0.013821626668992693 Centerline is valid? [True, True] Translation: X:100.17, Y:-21.28, Z:-3.28 [[ 8.43936450e-01 5.36163410e-01 1.73223987e-02 1.00168001e+02] [-5.36052183e-01 8.44114206e-01 -1.09208027e-02 -2.12797144e+01] [-2.04774177e-02 -6.92462153e-05 9.99790313e-01 -3.27613472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.256875 meters 0.013962646146253511 Centerline is valid? [True, True] Translation: X:100.20, Y:-21.30, Z:-3.28 [[ 8.43244460e-01 5.37269628e-01 1.67370072e-02 1.00195913e+02] [-5.37165915e-01 8.43410540e-01 -1.05565334e-02 -2.12955044e+01] [-1.97878731e-02 -8.88114966e-05 9.99804197e-01 -3.27848826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.286875 meters 0.014084615844114063 Centerline is valid? [True, True] Translation: X:100.22, Y:-21.31, Z:-3.28 [[ 8.42398964e-01 5.38601490e-01 1.65051312e-02 1.00223353e+02] [-5.38500762e-01 8.42560634e-01 -1.04166998e-02 -2.13112350e+01] [-1.95170238e-02 -1.13008579e-04 9.99809518e-01 -3.27964540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.316875 meters 0.014120344198276156 Centerline is valid? [True, True] Translation: X:100.25, Y:-21.33, Z:-3.28 [[ 8.41702033e-01 5.39679273e-01 1.68514078e-02 1.00251527e+02] [-5.39574371e-01 8.41870693e-01 -1.06411566e-02 -2.13277447e+01] [-1.99295180e-02 -1.35904567e-04 9.99801378e-01 -3.27957364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.346875 meters 0.01437250673355181 Centerline is valid? [True, True] Translation: X:100.28, Y:-21.34, Z:-3.28 [[ 8.40624331e-01 5.41351049e-01 1.70228002e-02 1.00280339e+02] [-5.41244211e-01 8.40796653e-01 -1.07560093e-02 -2.13429068e+01] [-2.01354903e-02 -1.71728897e-04 9.99797246e-01 -3.28016825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.376875 meters 0.01433064313417782 Centerline is valid? [True, True] Translation: X:100.31, Y:-21.36, Z:-3.28 [[ 8.39961365e-01 5.42375372e-01 1.71423867e-02 1.00308661e+02] [-5.42267110e-01 8.40136250e-01 -1.08380195e-02 -2.13596356e+01] [-2.02802154e-02 -1.92234816e-04 9.99794317e-01 -3.28071953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.406875 meters 0.01456214148989365 Centerline is valid? [True, True] Translation: X:100.34, Y:-21.38, Z:-3.28 [[ 8.39368977e-01 5.43295151e-01 1.70322844e-02 1.00336268e+02] [-5.43188330e-01 8.39541742e-01 -1.07750919e-02 -2.13753626e+01] [-2.01533689e-02 -2.07460231e-04 9.99796879e-01 -3.28242739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.436875 meters 0.01472385418176347 Centerline is valid? [True, True] Translation: X:100.36, Y:-21.39, Z:-3.28 [[ 8.38639349e-01 5.44426173e-01 1.68577817e-02 1.00363556e+02] [-5.44321635e-01 8.38808733e-01 -1.06708453e-02 -2.13913423e+01] [-1.99499420e-02 -2.27064503e-04 9.99800954e-01 -3.28325478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.466875 meters 0.01519188966860815 Centerline is valid? [True, True] Translation: X:100.39, Y:-21.41, Z:-3.28 [[ 8.37410173e-01 5.46330982e-01 1.63297283e-02 1.00391811e+02] [-5.46233153e-01 8.37569335e-01 -1.03417604e-02 -2.14072206e+01] [-1.93273038e-02 -2.59543620e-04 9.99813177e-01 -3.28478866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49687499999999 meters 0.01569856361283205 Centerline is valid? [True, True] Translation: X:100.42, Y:-21.42, Z:-3.29 [[ 8.36732125e-01 5.47380636e-01 1.59307944e-02 1.00418995e+02] [-5.47287619e-01 8.36883722e-01 -1.00944392e-02 -2.14225932e+01] [-1.88577230e-02 -2.72384992e-04 9.99822140e-01 -3.28651874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52687499999999 meters 0.015913478923085606 Centerline is valid? [True, True] Translation: X:100.45, Y:-21.44, Z:-3.29 [[ 8.35976100e-01 5.48533762e-01 1.59584793e-02 1.00446599e+02] [-5.48440512e-01 8.36128355e-01 -1.01182553e-02 -2.14386395e+01] [-1.88935417e-02 -2.93656916e-04 9.99821458e-01 -3.28756586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55687499999999 meters 0.01629825035436346 Centerline is valid? [True, True] Translation: X:100.47, Y:-21.45, Z:-3.29 [[ 8.34359185e-01 5.50978580e-01 1.63510077e-02 1.00474872e+02] [-5.50881128e-01 8.34519309e-01 -1.03684631e-02 -2.14546439e+01] [-1.93580327e-02 -3.56439186e-04 9.99812552e-01 -3.28680650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58687499999999 meters 0.01660299170924468 Centerline is valid? [True, True] Translation: X:100.50, Y:-21.47, Z:-3.29 [[ 8.33673222e-01 5.52017631e-01 1.62939562e-02 1.00502267e+02] [-5.51920951e-01 8.33832354e-01 -1.03377860e-02 -2.14714190e+01] [-1.92930680e-02 -3.74640466e-04 9.99813801e-01 -3.28734381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.616875 meters 0.017025930805756668 Centerline is valid? [True, True] Translation: X:100.53, Y:-21.49, Z:-3.29 [[ 8.33339976e-01 5.52511242e-01 1.66075940e-02 1.00529788e+02] [-5.52410793e-01 8.33505354e-01 -1.05422999e-02 -2.14881314e+01] [-1.96672578e-02 -3.88894223e-04 9.99806505e-01 -3.28816565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.646875 meters 0.01686937485782271 Centerline is valid? [True, True] Translation: X:100.56, Y:-21.51, Z:-3.29 [[ 8.32838406e-01 5.53259322e-01 1.68615411e-02 1.00557675e+02] [-5.53155812e-01 8.33008977e-01 -1.07094036e-02 -2.15062311e+01] [-1.99708925e-02 -4.07856856e-04 9.99800479e-01 -3.28794135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.676875 meters 0.017256145888039406 Centerline is valid? [True, True] Translation: X:100.58, Y:-21.52, Z:-3.29 [[ 8.32275305e-01 5.54102691e-01 1.69712696e-02 1.00584145e+02] [-5.53997856e-01 8.32448213e-01 -1.07864703e-02 -2.15218132e+01] [-2.01045152e-02 -4.24734123e-04 9.99797794e-01 -3.28864216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.706875 meters 0.01763098434234653 Centerline is valid? [True, True] Translation: X:100.61, Y:-21.54, Z:-3.29 [[ 8.31901472e-01 5.54665383e-01 1.69190438e-02 1.00612499e+02] [-5.54561218e-01 8.32073389e-01 -1.07578358e-02 -2.15389511e+01] [-2.00448852e-02 -4.33186098e-04 9.99798987e-01 -3.29075697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.736875 meters 0.017616660798497663 Centerline is valid? [True, True] Translation: X:100.64, Y:-21.56, Z:-3.29 [[ 8.31660008e-01 5.55038156e-01 1.65612698e-02 1.00640612e+02] [-5.54938305e-01 8.31824778e-01 -1.05364001e-02 -2.15568304e+01] [-1.96241787e-02 -4.27780371e-04 9.99807336e-01 -3.29197723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.766875 meters 0.01721878541329203 Centerline is valid? [True, True] Translation: X:100.67, Y:-21.58, Z:-3.29 [[ 8.31338384e-01 5.55506690e-01 1.69943532e-02 1.00668152e+02] [-5.55401511e-01 8.31511948e-01 -1.08186189e-02 -2.15755578e+01] [-2.01408229e-02 -4.44756265e-04 9.99797054e-01 -3.29182917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.796875 meters 0.015188366077202906 Centerline is valid? [True, True] Translation: X:100.69, Y:-21.60, Z:-3.29 [[ 8.35779936e-01 5.48760126e-01 1.82817696e-02 1.00690778e+02] [-5.48636596e-01 8.35979806e-01 -1.16468165e-02 -2.15976130e+01] [-2.16744987e-02 -2.95872287e-04 9.99765037e-01 -3.29006892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.826875 meters 0.014696171175340058 Centerline is valid? [True, True] Translation: X:100.72, Y:-21.62, Z:-3.29 [[ 8.37407120e-01 5.46288303e-01 1.78439202e-02 1.00716330e+02] [-5.46169946e-01 8.37597183e-01 -1.13731597e-02 -2.16160083e+01] [-2.11590414e-02 -2.21848078e-04 9.99776098e-01 -3.29156356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.856875 meters 0.014038020887664657 Centerline is valid? [True, True] Translation: X:100.74, Y:-21.64, Z:-3.30 [[ 8.39713430e-01 5.42776940e-01 1.65694790e-02 1.00741819e+02] [-5.42674118e-01 8.39876883e-01 -1.05652022e-02 -2.16354838e+01] [-1.96508704e-02 -1.20085232e-04 9.99806896e-01 -3.29575390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88687499999999 meters 0.014038020887664657 Centerline is valid? [True, True] Translation: X:100.77, Y:-21.65, Z:-3.30 [[ 8.39568457e-01 5.43001228e-01 1.65672404e-02 1.00769044e+02] [-5.42898379e-01 8.39731893e-01 -1.05687107e-02 -2.16529733e+01] [-1.96508631e-02 -1.21171818e-04 9.99806896e-01 -3.29678779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91687499999999 meters 0.013766342803494543 Centerline is valid? [True, True] Translation: X:100.80, Y:-21.67, Z:-3.30 [[ 8.40091102e-01 5.42191095e-01 1.66059388e-02 1.00795837e+02] [-5.42087486e-01 8.40255204e-01 -1.05995119e-02 -2.16711984e+01] [-1.97001874e-02 -9.73160334e-05 9.99805928e-01 -3.29814597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94687499999999 meters 0.013798079500468043 Centerline is valid? [True, True] Translation: X:100.82, Y:-21.69, Z:-3.30 [[ 8.40340010e-01 5.41808175e-01 1.65096649e-02 1.00822155e+02] [-5.41705560e-01 8.40502168e-01 -1.05447476e-02 -2.16884294e+01] [-1.95896396e-02 -8.22039347e-05 9.99808101e-01 -3.30014567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97687499999999 meters 0.013828946173808015 Centerline is valid? [True, True] Translation: X:100.85, Y:-21.71, Z:-3.30 [[ 8.40248927e-01 5.41936414e-01 1.69311544e-02 1.00849680e+02] [-5.41828392e-01 8.40419488e-01 -1.08202305e-02 -2.17059756e+01] [-2.00931491e-02 -8.20931105e-05 9.99798109e-01 -3.30051751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.006875 meters 0.01391699800084603 Centerline is valid? [True, True] Translation: X:100.88, Y:-21.72, Z:-3.30 [[ 8.39398363e-01 5.43224549e-01 1.78178910e-02 1.00878048e+02] [-5.43105052e-01 8.39587445e-01 -1.13941149e-02 -2.17227954e+01] [-2.11492406e-02 -1.12785210e-04 9.99776323e-01 -3.29958243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.036875 meters 0.014103886352543239 Centerline is valid? [True, True] Translation: X:100.91, Y:-21.74, Z:-3.30 [[ 8.38744457e-01 5.44225257e-01 1.80722413e-02 1.00906114e+02] [-5.44102407e-01 8.38939123e-01 -1.15636710e-02 -2.17400673e+01] [-2.14547521e-02 -1.34185050e-04 9.99769811e-01 -3.30008923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.066875 meters 0.014217409894281339 Centerline is valid? [True, True] Translation: X:100.93, Y:-21.76, Z:-3.30 [[ 8.37937775e-01 5.45461533e-01 1.82209029e-02 1.00933915e+02] [-5.45336795e-01 8.38135842e-01 -1.16657770e-02 -2.17568360e+01] [-2.16348244e-02 -1.61333605e-04 9.99765927e-01 -3.30024923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.096875 meters 0.014327223220867564 Centerline is valid? [True, True] Translation: X:100.96, Y:-21.77, Z:-3.30 [[ 8.37366502e-01 5.46356308e-01 1.76670916e-02 1.00961152e+02] [-5.46239095e-01 8.37552837e-01 -1.13179840e-02 -2.17735190e+01] [-2.09807746e-02 -1.73155465e-04 9.99779864e-01 -3.30206624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.126875 meters 0.014698640100383702 Centerline is valid? [True, True] Translation: X:100.99, Y:-21.79, Z:-3.30 [[ 8.36438526e-01 5.47814468e-01 1.64286733e-02 1.00988227e+02] [-5.47713268e-01 8.36599829e-01 -1.05310257e-02 -2.17897579e+01] [-1.95132735e-02 -1.89646686e-04 9.99809580e-01 -3.30387664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.156875 meters 0.014893827530051598 Centerline is valid? [True, True] Translation: X:101.01, Y:-21.81, Z:-3.31 [[ 8.36210218e-01 5.48185752e-01 1.56477667e-02 1.01014537e+02] [-5.48093988e-01 8.36356590e-01 -1.00316254e-02 -2.18063155e+01] [-1.85863070e-02 -1.87899209e-04 9.99827242e-01 -3.30597940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.186875 meters 0.014861124510409805 Centerline is valid? [True, True] Translation: X:101.04, Y:-21.82, Z:-3.31 [[ 8.36160114e-01 5.48274501e-01 1.52097187e-02 1.01042028e+02] [-5.48187755e-01 8.36298415e-01 -9.75435706e-03 -2.18248902e+01] [-1.80679289e-02 -1.81577236e-04 9.99836745e-01 -3.30612087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.216875 meters 0.014556044403525467 Centerline is valid? [True, True] Translation: X:101.07, Y:-21.84, Z:-3.31 [[ 8.36704886e-01 5.47402615e-01 1.65924854e-02 1.01068706e+02] [-5.47299052e-01 8.36869373e-01 -1.06489381e-02 -2.18429018e+01] [-1.97149994e-02 -1.71033035e-04 9.99805626e-01 -3.30585366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24687499999999 meters 0.014490577668853415 Centerline is valid? [True, True] Translation: X:101.10, Y:-21.86, Z:-3.31 [[ 8.37108252e-01 5.46742408e-01 1.79586830e-02 1.01095149e+02] [-5.46620790e-01 8.37300850e-01 -1.15325065e-02 -2.18604557e+01] [-2.13421309e-02 -1.62633124e-04 9.99772218e-01 -3.30584646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27687499999999 meters 0.014184232556539065 Centerline is valid? [True, True] Translation: X:101.12, Y:-21.88, Z:-3.30 [[ 8.37648996e-01 5.45876838e-01 1.90430147e-02 1.01121965e+02] [-5.45739710e-01 8.37865417e-01 -1.22357035e-02 -2.18786749e+01] [-2.26346706e-02 -1.43304599e-04 9.99743793e-01 -3.30497609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30687499999999 meters 0.014154677456475083 Centerline is valid? [True, True] Translation: X:101.15, Y:-21.90, Z:-3.30 [[ 8.38229264e-01 5.44959483e-01 1.97702494e-02 1.01148141e+02] [-5.44811228e-01 8.38462372e-01 -1.27112991e-02 -2.18968673e+01] [-2.35037532e-02 -1.16070971e-04 9.99723742e-01 -3.30497534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33687499999999 meters 0.014067072027375813 Centerline is valid? [True, True] Translation: X:101.17, Y:-21.92, Z:-3.31 [[ 8.39150779e-01 5.43548205e-01 1.95274069e-02 1.01174707e+02] [-5.43403179e-01 8.39377950e-01 -1.25555564e-02 -2.19154963e+01] [-2.32154249e-02 -7.52501129e-05 9.99730483e-01 -3.30551518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.366875 meters 0.013976897465208783 Centerline is valid? [True, True] Translation: X:101.20, Y:-21.93, Z:-3.31 [[ 8.39218169e-01 5.43443867e-01 1.95353151e-02 1.01202417e+02] [-5.43298524e-01 8.39445507e-01 -1.25679887e-02 -2.19334648e+01] [-2.32288289e-02 -6.62233657e-05 9.99730172e-01 -3.30681023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.396875 meters 0.014049997623782536 Centerline is valid? [True, True] Translation: X:101.23, Y:-21.95, Z:-3.31 [[ 8.39312737e-01 5.43310271e-01 1.91853626e-02 1.01229611e+02] [-5.43169881e-01 8.39531980e-01 -1.23504907e-02 -2.19504734e+01] [-2.28168739e-02 -5.49869915e-05 9.99739660e-01 -3.30899945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.426875 meters 0.013983736194382845 Centerline is valid? [True, True] Translation: X:101.26, Y:-21.97, Z:-3.31 [[ 8.39218002e-01 5.43469733e-01 1.88094146e-02 1.01257644e+02] [-5.43334685e-01 8.39428762e-01 -1.21150279e-02 -2.19679939e+01] [-2.23733146e-02 -5.26578943e-05 9.99749685e-01 -3.30986169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.456875 meters 0.013951206036029982 Centerline is valid? [True, True] Translation: X:101.28, Y:-21.98, Z:-3.31 [[ 8.38828402e-01 5.44092660e-01 1.81683370e-02 1.01284042e+02] [-5.43966622e-01 8.39025133e-01 -1.17106952e-02 -2.19839560e+01] [-2.16153947e-02 -5.97051143e-05 9.99766358e-01 -3.31187465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.486875 meters 0.014137363490574087 Centerline is valid? [True, True] Translation: X:101.31, Y:-22.00, Z:-3.32 [[ 8.38220687e-01 5.45102669e-01 1.57847847e-02 1.01312318e+02] [-5.45007698e-01 8.38369295e-01 -1.01752280e-02 -2.19998740e+01] [-1.87800227e-02 -7.37425785e-05 9.99823637e-01 -3.31559467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.516875 meters 0.014110336957319777 Centerline is valid? [True, True] Translation: X:101.34, Y:-22.02, Z:-3.32 [[ 8.37558278e-01 5.46141464e-01 1.50210414e-02 1.01340122e+02] [-5.46055549e-01 8.37692959e-01 -9.68731906e-03 -2.20164445e+01] [-1.78736672e-02 -8.86287163e-05 9.99840249e-01 -3.31666795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.546875 meters 0.014251534283523397 Centerline is valid? [True, True] Translation: X:101.37, Y:-22.03, Z:-3.32 [[ 8.36966824e-01 5.47065033e-01 1.43661173e-02 1.01366710e+02] [-5.46986501e-01 8.37090102e-01 -9.26976087e-03 -2.20317386e+01] [-1.70968967e-02 -9.95899319e-05 9.99853832e-01 -3.31899134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.576875 meters 0.0143345668765676 Centerline is valid? [True, True] Translation: X:101.39, Y:-22.05, Z:-3.32 [[ 8.36318802e-01 5.48045706e-01 1.47229925e-02 1.01394011e+02] [-5.47963300e-01 8.36448379e-01 -9.50429974e-03 -2.20472610e+01] [-1.75238139e-02 -1.19034978e-04 9.99846439e-01 -3.32046385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60687499999999 meters 0.014502774690606056 Centerline is valid? [True, True] Translation: X:101.42, Y:-22.06, Z:-3.32 [[ 8.35141855e-01 5.49775762e-01 1.68728691e-02 1.01422452e+02] [-5.49667727e-01 8.35312266e-01 -1.08998904e-02 -2.20615547e+01] [-2.00866101e-02 -1.71516943e-04 9.99798229e-01 -3.31935365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63687499999999 meters 0.014660888727903075 Centerline is valid? [True, True] Translation: X:101.45, Y:-22.08, Z:-3.32 [[ 8.34510455e-01 5.50707844e-01 1.76966464e-02 1.01450456e+02] [-5.50589080e-01 8.34698048e-01 -1.14382226e-02 -2.20772072e+01] [-2.10704751e-02 -1.98263927e-04 9.99777973e-01 -3.31953982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66687499999999 meters 0.014761865212816586 Centerline is valid? [True, True] Translation: X:101.48, Y:-22.09, Z:-3.32 [[ 8.33585439e-01 5.52081838e-01 1.84650752e-02 1.01478693e+02] [-5.51952723e-01 8.33789894e-01 -1.19416895e-02 -2.20936090e+01] [-2.19887829e-02 -2.37430057e-04 9.99758189e-01 -3.31882499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69687499999999 meters 0.015218472926532261 Centerline is valid? [True, True] Translation: X:101.51, Y:-22.11, Z:-3.32 [[ 8.32136983e-01 5.54261311e-01 1.85051850e-02 1.01507337e+02] [-5.54132007e-01 8.32342667e-01 -1.19751103e-02 -2.21081345e+01] [-2.20399954e-02 -2.89383157e-04 9.99757048e-01 -3.31947509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72687499999999 meters 0.015682978392268954 Centerline is valid? [True, True] Translation: X:101.54, Y:-22.12, Z:-3.32 [[ 8.31252972e-01 5.55590995e-01 1.83614267e-02 1.01535130e+02] [-5.55463882e-01 8.31455679e-01 -1.18882415e-02 -2.21241795e+01] [-2.18717124e-02 -3.16973291e-04 9.99760735e-01 -3.32085604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.756875 meters 0.01625103879001371 Centerline is valid? [True, True] Translation: X:101.56, Y:-22.14, Z:-3.32 [[ 8.30342040e-01 5.56960138e-01 1.80970040e-02 1.01562366e+02] [-5.56836842e-01 8.30539155e-01 -1.17236697e-02 -2.21382886e+01] [-2.15598871e-02 -3.42422749e-04 9.99767500e-01 -3.32237468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.786875 meters 0.016401202374958533 Centerline is valid? [True, True] Translation: X:101.59, Y:-22.15, Z:-3.32 [[ 8.29531480e-01 5.58183136e-01 1.75815360e-02 1.01590525e+02] [-5.58066958e-01 8.29717697e-01 -1.13935889e-02 -2.21544881e+01] [-2.09474207e-02 -3.60333619e-04 9.99780514e-01 -3.32312908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.816875 meters 0.016922178326094744 Centerline is valid? [True, True] Translation: X:101.62, Y:-22.17, Z:-3.33 [[ 8.28379876e-01 5.59910295e-01 1.69482689e-02 1.01619297e+02] [-5.59802589e-01 8.28553145e-01 -1.09885056e-02 -2.21682494e+01] [-2.01951189e-02 -3.85027888e-04 9.99795984e-01 -3.32671873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.846875 meters 0.016784977717338823 Centerline is valid? [True, True] Translation: X:101.65, Y:-22.19, Z:-3.33 [[ 8.28102022e-01 5.60308836e-01 1.73507854e-02 1.01647647e+02] [-5.60195928e-01 8.28283676e-01 -1.12549590e-02 -2.21854330e+01] [-2.06776253e-02 -3.99584993e-04 9.99786115e-01 -3.32782890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.876875 meters 0.016668147252853822 Centerline is valid? [True, True] Translation: X:101.68, Y:-22.20, Z:-3.33 [[ 8.28290198e-01 5.60023032e-01 1.75940751e-02 1.01675001e+02] [-5.59906716e-01 8.28476946e-01 -1.14201178e-02 -2.22023259e+01] [-2.09718146e-02 -3.91869172e-04 9.99779991e-01 -3.32904346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.906875 meters 0.015941494410243808 Centerline is valid? [True, True] Translation: X:101.70, Y:-22.22, Z:-3.33 [[ 8.28949139e-01 5.59032296e-01 1.80615079e-02 1.01701129e+02] [-5.58909347e-01 8.29145798e-01 -1.17297515e-02 -2.22210000e+01] [-2.15329333e-02 -3.71378159e-04 9.99768071e-01 -3.32867894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.936875 meters 0.015569227413103197 Centerline is valid? [True, True] Translation: X:101.73, Y:-22.24, Z:-3.33 [[ 8.30183417e-01 5.57185182e-01 1.84435992e-02 1.01727255e+02] [-5.57056376e-01 8.30388203e-01 -1.19844166e-02 -2.22388589e+01] [-2.19928865e-02 -3.24860624e-04 9.99758074e-01 -3.32887922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.966875 meters 0.014282370660810801 Centerline is valid? [True, True] Translation: X:101.75, Y:-22.26, Z:-3.33 [[ 8.34266986e-01 5.50990369e-01 2.02041700e-02 1.01752136e+02] [-5.50833783e-01 8.34511584e-01 -1.31361607e-02 -2.22593662e+01] [-2.40985119e-02 -1.70074240e-04 9.99709574e-01 -3.32781862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99687499999999 meters 0.013926476109952752 Centerline is valid? [True, True] Translation: X:101.78, Y:-22.28, Z:-3.33 [[ 8.36450646e-01 5.47633849e-01 2.11538139e-02 1.01778623e+02] [-5.47460910e-01 8.36718090e-01 -1.37618779e-02 -2.22785431e+01] [-2.52362489e-02 -6.97545684e-05 9.99681513e-01 -3.32788959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02687499999999 meters 0.013710700368717778 Centerline is valid? [True, True] Translation: X:101.80, Y:-22.30, Z:-3.33 [[ 8.38356214e-01 5.44674362e-01 2.21064961e-02 1.01804018e+02] [-5.44484415e-01 8.38647625e-01 -1.43834341e-02 -2.22974907e+01] [-2.63738482e-02 2.17987505e-05 9.99652149e-01 -3.32711206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05687499999999 meters 0.014184220532992895 Centerline is valid? [True, True] Translation: X:101.83, Y:-22.32, Z:-3.33 [[ 8.42115846e-01 5.38774575e-01 2.37246400e-02 1.01829310e+02] [-5.38553195e-01 8.42449942e-01 -1.54451033e-02 -2.23173473e+01] [-2.83082506e-02 2.29585552e-04 9.99599215e-01 -3.32666630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08687499999999 meters 0.014811653870153471 Centerline is valid? [True, True] Translation: X:101.85, Y:-22.34, Z:-3.33 [[ 8.43584256e-01 5.36475283e-01 2.36616582e-02 1.01854638e+02] [-5.36253939e-01 8.43915975e-01 -1.54123577e-02 -2.23355785e+01] [-2.82368003e-02 3.12964861e-04 9.99601213e-01 -3.32798945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.116875 meters 0.014769015445973664 Centerline is valid? [True, True] Translation: X:101.88, Y:-22.35, Z:-3.33 [[ 8.44812010e-01 5.34501776e-01 2.45055031e-02 1.01881635e+02] [-5.34263291e-01 8.45167257e-01 -1.59701048e-02 -2.23519189e+01] [-2.92472982e-02 3.99345632e-04 9.99572126e-01 -3.32883663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.146875 meters 0.015917982031401903 Centerline is valid? [True, True] Translation: X:101.91, Y:-22.37, Z:-3.33 [[ 8.46087028e-01 5.32430247e-01 2.55885314e-02 1.01907443e+02] [-5.32168998e-01 8.46473734e-01 -1.66845733e-02 -2.23699200e+01] [-3.05433912e-02 4.99177889e-04 9.99533317e-01 -3.32993620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.176875 meters 0.014983316864863908 Centerline is valid? [True, True] Translation: X:101.94, Y:-22.38, Z:-3.33 [[ 8.45726985e-01 5.32990296e-01 2.58304218e-02 1.01937256e+02] [-5.32724087e-01 8.46121211e-01 -1.68506118e-02 -2.23844601e+01] [-3.08368803e-02 4.90529264e-04 9.99524310e-01 -3.33007136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.206875 meters 0.015196978229163749 Centerline is valid? [True, True] Translation: X:101.96, Y:-22.40, Z:-3.33 [[ 8.44987451e-01 5.34129064e-01 2.65018957e-02 1.01963752e+02] [-5.33849046e-01 8.45402816e-01 -1.72995335e-02 -2.24002893e+01] [-3.16449609e-02 4.69876951e-04 9.99499062e-01 -3.33089400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.236875 meters 0.014686799599932592 Centerline is valid? [True, True] Translation: X:101.99, Y:-22.41, Z:-3.33 [[ 8.43937242e-01 5.35740191e-01 2.74295271e-02 1.01992564e+02] [-5.35440771e-01 8.44382769e-01 -1.79142206e-02 -2.24141035e+01] [-3.27583880e-02 4.31590733e-04 9.99463207e-01 -3.33179703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.266875 meters 0.01400152561387582 Centerline is valid? [True, True] Translation: X:102.02, Y:-22.43, Z:-3.33 [[ 8.41308289e-01 5.39889385e-01 2.68293897e-02 1.02023045e+02] [-5.39604738e-01 8.41735932e-01 -1.75313426e-02 -2.24261196e+01] [-3.20482471e-02 2.71997993e-04 9.99486286e-01 -3.33239024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.296875 meters 0.013912868983842148 Centerline is valid? [True, True] Translation: X:102.05, Y:-22.44, Z:-3.33 [[ 8.40023030e-01 5.41935007e-01 2.58409778e-02 1.02050549e+02] [-5.41671653e-01 8.40420377e-01 -1.68940909e-02 -2.24408735e+01] [-3.08727836e-02 1.94100296e-04 9.99523303e-01 -3.33368816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.326875 meters 0.01387200631991995 Centerline is valid? [True, True] Translation: X:102.08, Y:-22.46, Z:-3.34 [[ 8.38968379e-01 5.43614853e-01 2.47982169e-02 1.02080059e+02] [-5.43372840e-01 8.39334781e-01 -1.62198075e-02 -2.24559586e+01] [-2.96313342e-02 1.33228075e-04 9.99560887e-01 -3.33643832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35687499999999 meters 0.013645764849613256 Centerline is valid? [True, True] Translation: X:102.11, Y:-22.47, Z:-3.34 [[ 8.37145414e-01 5.46480348e-01 2.33834180e-02 1.02110939e+02] [-5.46266047e-01 8.37471927e-01 -1.53028690e-02 -2.24678028e+01] [-2.79456733e-02 3.71592480e-05 9.99609443e-01 -3.34081555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38687499999999 meters 0.01361009060404157 Centerline is valid? [True, True] Translation: X:102.14, Y:-22.48, Z:-3.34 [[ 8.36184589e-01 5.47965050e-01 2.30138327e-02 1.02139916e+02] [-5.47757795e-01 8.36501228e-01 -1.50696339e-02 -2.24831257e+01] [-2.75087320e-02 -5.01062011e-06 9.99621563e-01 -3.34198545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41687499999999 meters 0.013574010371480174 Centerline is valid? [True, True] Translation: X:102.17, Y:-22.50, Z:-3.34 [[ 8.35582921e-01 5.48895958e-01 2.26806174e-02 1.02167660e+02] [-5.48694760e-01 8.35890679e-01 -1.48604734e-02 -2.24980291e+01] [-2.71153705e-02 -2.75781245e-05 9.99632310e-01 -3.34378649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44687499999999 meters 0.01367945680297644 Centerline is valid? [True, True] Translation: X:102.20, Y:-22.51, Z:-3.34 [[ 8.34855039e-01 5.50007705e-01 2.25519217e-02 1.02196515e+02] [-5.49808967e-01 8.35159578e-01 -1.47843891e-02 -2.25143089e+01] [-2.69659813e-02 -5.64270551e-05 9.99636350e-01 -3.34443357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47687499999999 meters 0.013754703146563596 Centerline is valid? [True, True] Translation: X:102.22, Y:-22.53, Z:-3.35 [[ 8.34181638e-01 5.51062482e-01 2.17056407e-02 1.02224940e+02] [-5.50878523e-01 8.34463980e-01 -1.42379509e-02 -2.25283357e+01] [-2.59585759e-02 -8.01340847e-05 9.99663016e-01 -3.34675126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.506875 meters 0.013706939746055247 Centerline is valid? [True, True] Translation: X:102.25, Y:-22.54, Z:-3.35 [[ 8.33917986e-01 5.51489029e-01 2.09914855e-02 1.02253098e+02] [-5.51316928e-01 8.34182140e-01 -1.37768659e-02 -2.25445485e+01] [-2.51085127e-02 -8.41849672e-05 9.99684728e-01 -3.34803909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.536875 meters 0.013702869981770555 Centerline is valid? [True, True] Translation: X:102.28, Y:-22.56, Z:-3.35 [[ 8.33577252e-01 5.52024625e-01 2.04396341e-02 1.02281678e+02] [-5.51861429e-01 8.33827803e-01 -1.34223171e-02 -2.25609223e+01] [-2.44525848e-02 -9.13075107e-05 9.99700987e-01 -3.34955187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.566875 meters 0.013872966229423071 Centerline is valid? [True, True] Translation: X:102.31, Y:-22.58, Z:-3.35 [[ 8.32941021e-01 5.53008162e-01 1.97794757e-02 1.02311058e+02] [-5.52855445e-01 8.33175828e-01 -1.29960453e-02 -2.25752615e+01] [-2.36667002e-02 -1.10251556e-04 9.99719898e-01 -3.35174773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.596875 meters 0.01380279122868566 Centerline is valid? [True, True] Translation: X:102.34, Y:-22.59, Z:-3.35 [[ 8.32463847e-01 5.53719503e-01 1.99663486e-02 1.02339454e+02] [-5.53563902e-01 8.32703246e-01 -1.31266949e-02 -2.25920301e+01] [-2.38945503e-02 -1.25150881e-04 9.99714477e-01 -3.35182677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.626875 meters 0.013947238066651857 Centerline is valid? [True, True] Translation: X:102.37, Y:-22.61, Z:-3.35 [[ 8.32063746e-01 5.54312434e-01 2.01902769e-02 1.02367428e+02] [-5.54153305e-01 8.32308661e-01 -1.32818745e-02 -2.26088611e+01] [-2.41668505e-02 -1.37142415e-04 9.99707930e-01 -3.35147205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.656875 meters 0.014043074070570758 Centerline is valid? [True, True] Translation: X:102.40, Y:-22.63, Z:-3.35 [[ 8.31454590e-01 5.55227507e-01 2.01415089e-02 1.02395319e+02] [-5.55069222e-01 8.31698498e-01 -1.32577186e-02 -2.26254566e+01] [-2.41127127e-02 -1.56740714e-04 9.99709234e-01 -3.35156072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.686875 meters 0.014337512630618426 Centerline is valid? [True, True] Translation: X:102.42, Y:-22.64, Z:-3.35 [[ 8.30100432e-01 5.57257716e-01 1.99276561e-02 1.02424806e+02] [-5.57103183e-01 8.30339566e-01 -1.31243400e-02 -2.26394557e+01] [-2.38603611e-02 -2.07240364e-04 9.99715280e-01 -3.35237269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.716875 meters 0.014579095115639493 Centerline is valid? [True, True] Translation: X:102.45, Y:-22.65, Z:-3.35 [[ 8.29095772e-01 5.58775360e-01 1.92431190e-02 1.02452577e+02] [-5.58631526e-01 8.29319022e-01 -1.26797902e-02 -2.26549710e+01] [-2.30438389e-02 -2.37052475e-04 9.99734427e-01 -3.35421070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74687499999999 meters 0.01480271649819083 Centerline is valid? [True, True] Translation: X:102.48, Y:-22.67, Z:-3.36 [[ 8.28054726e-01 5.60327660e-01 1.89283920e-02 1.02480366e+02] [-5.60188755e-01 8.28270994e-01 -1.24787440e-02 -2.26712748e+01] [-2.26700235e-02 -2.70389410e-04 9.99742965e-01 -3.35551121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77687499999999 meters 0.01480271649819083 Centerline is valid? [True, True] Translation: X:102.51, Y:-22.69, Z:-3.36 [[ 8.27901557e-01 5.60554041e-01 1.89255841e-02 1.02507347e+02] [-5.60415098e-01 8.28117801e-01 -1.24830008e-02 -2.26891738e+01] [-2.26700096e-02 -2.71487264e-04 9.99742965e-01 -3.35654521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80687499999999 meters 0.014902745690999657 Centerline is valid? [True, True] Translation: X:102.54, Y:-22.71, Z:-3.36 [[ 8.26879151e-01 5.62077755e-01 1.84246101e-02 1.02535697e+02] [-5.61946288e-01 8.27084341e-01 -1.21598389e-02 -2.27051757e+01] [-2.20734815e-02 -2.98923954e-04 9.99756306e-01 -3.35830641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83687499999999 meters 0.015296990513373146 Centerline is valid? [True, True] Translation: X:102.56, Y:-22.72, Z:-3.36 [[ 8.26268979e-01 5.62983476e-01 1.81432959e-02 1.02563186e+02] [-5.62856070e-01 8.26468092e-01 -1.19806830e-02 -2.27206853e+01] [-2.17397817e-02 -3.12797519e-04 9.99763614e-01 -3.35965575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.866875 meters 0.0150583883651948 Centerline is valid? [True, True] Translation: X:102.59, Y:-22.74, Z:-3.36 [[ 8.26059361e-01 5.63277949e-01 1.85441009e-02 1.02590644e+02] [-5.63144800e-01 8.26267419e-01 -1.22509648e-02 -2.27386912e+01] [-2.22230847e-02 -3.22989798e-04 9.99752985e-01 -3.36034268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.896875 meters 0.015047338752801348 Centerline is valid? [True, True] Translation: X:102.62, Y:-22.76, Z:-3.36 [[ 8.25984416e-01 5.63377359e-01 1.88598973e-02 1.02617946e+02] [-5.63239486e-01 8.26199641e-01 -1.24673703e-02 -2.27565092e+01] [-2.26058745e-02 -3.24785275e-04 9.99744402e-01 -3.36075346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.926875 meters 0.015032520025623474 Centerline is valid? [True, True] Translation: X:102.64, Y:-22.77, Z:-3.36 [[ 8.26384951e-01 5.62777284e-01 1.92260866e-02 1.02644122e+02] [-5.62633643e-01 8.26608514e-01 -1.27180417e-02 -2.27734826e+01] [-2.30498719e-02 -3.07244865e-04 9.99734269e-01 -3.36174526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.956875 meters 0.014980963494423795 Centerline is valid? [True, True] Translation: X:102.67, Y:-22.79, Z:-3.36 [[ 8.26375372e-01 5.62785954e-01 1.93833489e-02 1.02671421e+02] [-5.62639819e-01 8.26602611e-01 -1.28279938e-02 -2.27920488e+01] [-2.32417416e-02 -3.05105801e-04 9.99729828e-01 -3.36213340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.986875 meters 0.014750928390944242 Centerline is valid? [True, True] Translation: X:102.70, Y:-22.81, Z:-3.36 [[ 8.26214666e-01 5.63002255e-01 1.99446176e-02 1.02698268e+02] [-5.62847401e-01 8.26455300e-01 -1.32075844e-02 -2.28106126e+01] [-2.39192348e-02 -3.13476277e-04 9.99713845e-01 -3.36194590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.016875 meters 0.014988204437283095 Centerline is valid? [True, True] Translation: X:102.73, Y:-22.83, Z:-3.36 [[ 8.25988527e-01 5.63308761e-01 2.06444203e-02 1.02725377e+02] [-5.63142723e-01 8.26246412e-01 -1.36799150e-02 -2.28278741e+01] [-2.47633942e-02 -3.26302185e-04 9.99693287e-01 -3.36277781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.046875 meters 0.015128951161049575 Centerline is valid? [True, True] Translation: X:102.75, Y:-22.85, Z:-3.36 [[ 8.25191926e-01 5.64445500e-01 2.14374355e-02 1.02752938e+02] [-5.64266627e-01 8.25470256e-01 -1.42137626e-02 -2.28455253e+01] [-2.57188597e-02 -3.67347322e-04 9.99669148e-01 -3.36377606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.076875 meters 0.015180048168247527 Centerline is valid? [True, True] Translation: X:102.78, Y:-22.86, Z:-3.37 [[ 8.24564616e-01 5.65360082e-01 2.14749037e-02 1.02781124e+02] [-5.65180671e-01 8.24844122e-01 -1.42472143e-02 -2.28633192e+01] [-2.57682544e-02 -3.89451695e-04 9.99667868e-01 -3.36501968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10687499999999 meters 0.015199100859948328 Centerline is valid? [True, True] Translation: X:102.81, Y:-22.88, Z:-3.37 [[ 8.23665417e-01 5.66674761e-01 2.13306566e-02 1.02808047e+02] [-5.66497971e-01 8.23941465e-01 -1.41601546e-02 -2.28813366e+01] [-2.55994147e-02 -4.20544071e-04 9.99672193e-01 -3.36651642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13687499999999 meters 0.01606417836401266 Centerline is valid? [True, True] Translation: X:102.83, Y:-22.90, Z:-3.37 [[ 8.22478630e-01 5.68393851e-01 2.13853502e-02 1.02834843e+02] [-5.68216532e-01 8.22756471e-01 -1.42042830e-02 -2.28964082e+01] [-2.56685624e-02 -4.68790261e-04 9.99670398e-01 -3.36813725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16687499999999 meters 0.016844356057828108 Centerline is valid? [True, True] Translation: X:102.86, Y:-22.91, Z:-3.37 [[ 8.20263787e-01 5.71578279e-01 2.15775299e-02 1.02862304e+02] [-5.71398673e-01 8.20547347e-01 -1.43390421e-02 -2.29132816e+01] [-2.59012699e-02 -5.67574989e-04 9.99664345e-01 -3.36876961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19687499999999 meters 0.017875759270729877 Centerline is valid? [True, True] Translation: X:102.89, Y:-22.93, Z:-3.37 [[ 8.19328487e-01 5.72903385e-01 2.19668385e-02 1.02888817e+02] [-5.72717509e-01 8.19622678e-01 -1.46055266e-02 -2.29287191e+01] [-2.63720747e-02 -6.14069036e-04 9.99652008e-01 -3.37054909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22687499999999 meters 0.017370002430690583 Centerline is valid? [True, True] Translation: X:102.91, Y:-22.95, Z:-3.37 [[ 8.18146267e-01 5.74602932e-01 2.16369217e-02 1.02914627e+02] [-5.74423019e-01 8.18432064e-01 -1.43927774e-02 -2.29475976e+01] [-2.59784826e-02 -6.53348765e-04 9.99662289e-01 -3.37135279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.256875 meters 0.01860846193997023 Centerline is valid? [True, True] Translation: X:102.94, Y:-22.96, Z:-3.37 [[ 8.17208445e-01 5.75953384e-01 2.11673719e-02 1.02941622e+02] [-5.75781459e-01 8.17482259e-01 -1.40878664e-02 -2.29632196e+01] [-2.54179053e-02 -6.75056879e-04 9.99676685e-01 -3.37346966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.286875 meters 0.019078094703900133 Centerline is valid? [True, True] Translation: X:102.97, Y:-22.98, Z:-3.38 [[ 8.16050050e-01 5.77615358e-01 2.05624503e-02 1.02967711e+02] [-5.77453489e-01 8.16308770e-01 -1.36916124e-02 -2.29815093e+01] [-2.46937941e-02 -7.00817699e-04 9.99694816e-01 -3.37514127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.316875 meters 0.019217089872583755 Centerline is valid? [True, True] Translation: X:102.99, Y:-23.00, Z:-3.38 [[ 8.15694879e-01 5.78128868e-01 2.02206927e-02 1.02994000e+02] [-5.77972328e-01 8.15945172e-01 -1.34708692e-02 -2.29999236e+01] [-2.42868750e-02 -6.98881848e-04 9.99704786e-01 -3.37626265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.346875 meters 0.01958408720539025 Centerline is valid? [True, True] Translation: X:103.02, Y:-23.02, Z:-3.38 [[ 8.15181587e-01 5.78857936e-01 2.00616489e-02 1.03020192e+02] [-5.78703904e-01 8.15428100e-01 -1.33717734e-02 -2.30178067e+01] [-2.40991894e-02 -7.09331058e-04 9.99709321e-01 -3.37786295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.376875 meters 0.019533877155355865 Centerline is valid? [True, True] Translation: X:103.05, Y:-23.04, Z:-3.38 [[ 8.14807345e-01 5.79391209e-01 1.98700199e-02 1.03046568e+02] [-5.79240104e-01 8.15049274e-01 -1.32507830e-02 -2.30364023e+01] [-2.38724325e-02 -7.12677058e-04 9.99714759e-01 -3.37941961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.406875 meters 0.019476214029592938 Centerline is valid? [True, True] Translation: X:103.07, Y:-23.06, Z:-3.38 [[ 8.14056647e-01 5.80465741e-01 1.92691533e-02 1.03072394e+02] [-5.80323791e-01 8.14284355e-01 -1.28564066e-02 -2.30562060e+01] [-2.31532736e-02 -7.16504872e-04 9.99731670e-01 -3.38093275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.436875 meters 0.019883397377517285 Centerline is valid? [True, True] Translation: X:103.10, Y:-23.07, Z:-3.38 [[ 8.13454353e-01 5.81337008e-01 1.84200543e-02 1.03098874e+02] [-5.81207383e-01 8.13662576e-01 -1.22959348e-02 -2.30744747e+01] [-2.21357907e-02 -7.03689872e-04 9.99754726e-01 -3.38287440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.466875 meters 0.02128673504381388 Centerline is valid? [True, True] Translation: X:103.13, Y:-23.09, Z:-3.38 [[ 8.12790730e-01 5.82274370e-01 1.81049046e-02 1.03125612e+02] [-5.82149236e-01 8.12992037e-01 -1.20919432e-02 -2.30910047e+01] [-2.17599719e-02 -7.11537045e-04 9.99762971e-01 -3.38444702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49687499999999 meters 0.020724843996919796 Centerline is valid? [True, True] Translation: X:103.15, Y:-23.11, Z:-3.39 [[ 8.12201933e-01 5.83094803e-01 1.81237325e-02 1.03151114e+02] [-5.82969490e-01 8.12403790e-01 -1.21101384e-02 -2.31106225e+01] [-2.17851477e-02 -7.29705280e-04 9.99762409e-01 -3.38517522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52687499999999 meters 0.022869974891301503 Centerline is valid? [True, True] Translation: X:103.18, Y:-23.13, Z:-3.39 [[ 8.10446515e-01 5.85510700e-01 1.88060293e-02 1.03177336e+02] [-5.85376247e-01 8.10664265e-01 -1.25737301e-02 -2.31266211e+01] [-2.26074294e-02 -8.18267075e-04 9.99744085e-01 -3.38524671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55687499999999 meters 0.023296828347014433 Centerline is valid? [True, True] Translation: X:103.20, Y:-23.14, Z:-3.39 [[ 8.09263355e-01 5.87145855e-01 1.87767580e-02 1.03204127e+02] [-5.87012176e-01 8.09480702e-01 -1.25578407e-02 -2.31449453e+01] [-2.25727073e-02 -8.59585254e-04 9.99744834e-01 -3.38603794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58687499999999 meters 0.021666658205772984 Centerline is valid? [True, True] Translation: X:103.23, Y:-23.17, Z:-3.39 [[ 8.08204225e-01 5.88603096e-01 1.87703774e-02 1.03228287e+02] [-5.88469752e-01 8.08421669e-01 -1.25600951e-02 -2.31656278e+01] [-2.25672907e-02 -8.94677382e-04 9.99744926e-01 -3.38681461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.616875 meters 0.02518275332455007 Centerline is valid? [True, True] Translation: X:103.26, Y:-23.18, Z:-3.39 [[ 8.05906126e-01 5.91779754e-01 1.76646321e-02 1.03255846e+02] [-5.91662264e-01 8.06099173e-01 -1.18274071e-02 -2.31798739e+01] [-2.12386654e-02 -9.19716391e-04 9.99774011e-01 -3.38965736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.646875 meters 0.02372785516041691 Centerline is valid? [True, True] Translation: X:103.28, Y:-23.20, Z:-3.39 [[ 8.04782083e-01 5.93314966e-01 1.74112261e-02 1.03280952e+02] [-5.93201174e-01 8.04969848e-01 -1.16580775e-02 -2.32006642e+01] [-2.09324239e-02 -9.46147872e-04 9.99780445e-01 -3.38987223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.676875 meters 0.026337382241015606 Centerline is valid? [True, True] Translation: X:103.31, Y:-23.22, Z:-3.39 [[ 8.03617383e-01 5.94892373e-01 1.73829267e-02 1.03308153e+02] [-5.94779189e-01 8.03804767e-01 -1.16452979e-02 -2.32155667e+01] [-2.09001783e-02 -9.80639227e-04 9.99781086e-01 -3.39135247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.706875 meters 0.025800847799437143 Centerline is valid? [True, True] Translation: X:103.33, Y:-23.24, Z:-3.39 [[ 8.02786022e-01 5.96003837e-01 1.77208740e-02 1.03334022e+02] [-5.95886353e-01 8.02980932e-01 -1.18775853e-02 -2.32351124e+01] [-2.13086103e-02 -1.02446754e-03 9.99772421e-01 -3.39090766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.736875 meters 0.027356888502537875 Centerline is valid? [True, True] Translation: X:103.36, Y:-23.25, Z:-3.39 [[ 8.02168100e-01 5.96814620e-01 1.84024357e-02 1.03359951e+02] [-5.96687983e-01 8.02378428e-01 -1.23413384e-02 -2.32525769e+01] [-2.21312086e-02 -1.08068427e-03 9.99754491e-01 -3.39097313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.766875 meters 0.024651801341916052 Centerline is valid? [True, True] Translation: X:103.38, Y:-23.28, Z:-3.39 [[ 8.02580348e-01 5.96256452e-01 1.85209971e-02 1.03383820e+02] [-5.96127885e-01 8.02793314e-01 -1.24273961e-02 -2.32751463e+01] [-2.22784478e-02 -1.06689890e-03 9.99751235e-01 -3.39119601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.796875 meters 0.025725559179623304 Centerline is valid? [True, True] Translation: X:103.41, Y:-23.29, Z:-3.39 [[ 8.03053677e-01 5.95600154e-01 1.91114716e-02 1.03409671e+02] [-5.95462898e-01 8.03280336e-01 -1.28311679e-02 -2.32925417e+01] [-2.29941149e-02 -1.07605568e-03 9.99735021e-01 -3.39197576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.826875 meters 0.02352321961577263 Centerline is valid? [True, True] Translation: X:103.43, Y:-23.32, Z:-3.39 [[ 8.05615910e-01 5.92083691e-01 2.04916684e-02 1.03431617e+02] [-5.91924565e-01 8.05875811e-01 -1.37654250e-02 -2.33159796e+01] [-2.46640235e-02 -1.03987652e-03 9.99695256e-01 -3.39035857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85687499999999 meters 0.023767938854381276 Centerline is valid? [True, True] Translation: X:103.46, Y:-23.33, Z:-3.39 [[ 8.06736633e-01 5.90536809e-01 2.10305190e-02 1.03456426e+02] [-5.90368506e-01 8.07010069e-01 -1.41342237e-02 -2.33342593e+01] [-2.53186200e-02 -1.01316001e-03 9.99678919e-01 -3.39061055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88687499999999 meters 0.021278635937855117 Centerline is valid? [True, True] Translation: X:103.48, Y:-23.36, Z:-3.39 [[ 8.08017107e-01 5.88765123e-01 2.15402856e-02 1.03479382e+02] [-5.88587767e-01 8.08303580e-01 -1.44831844e-02 -2.33563842e+01] [-2.59382838e-02 -9.75687856e-04 9.99663070e-01 -3.39135916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91687499999999 meters 0.021588134613442604 Centerline is valid? [True, True] Translation: X:103.50, Y:-23.38, Z:-3.39 [[ 8.08887505e-01 5.87568559e-01 2.15451376e-02 1.03504982e+02] [-5.87390518e-01 8.09173850e-01 -1.44934106e-02 -2.33750307e+01] [-2.59496343e-02 -9.31870777e-04 9.99662817e-01 -3.39201431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94687499999999 meters 0.01988567370420941 Centerline is valid? [True, True] Translation: X:103.53, Y:-23.40, Z:-3.39 [[ 8.10633121e-01 5.85193004e-01 2.05691902e-02 1.03527862e+02] [-5.85029787e-01 8.10893637e-01 -1.38440588e-02 -2.33974770e+01] [-2.47808718e-02 -8.11136435e-04 9.99692578e-01 -3.39350056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97687499999999 meters 0.019389438511432683 Centerline is valid? [True, True] Translation: X:103.55, Y:-23.42, Z:-3.40 [[ 8.11015054e-01 5.84683121e-01 2.00057642e-02 1.03553121e+02] [-5.84528428e-01 8.11261398e-01 -1.34707262e-02 -2.34172601e+01] [-2.41060105e-02 -7.68976168e-04 9.99709112e-01 -3.39515611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.006875 meters 0.019937959810318706 Centerline is valid? [True, True] Translation: X:103.58, Y:-23.43, Z:-3.40 [[ 8.11454379e-01 5.84091167e-01 1.94756227e-02 1.03579274e+02] [-5.83944235e-01 8.11687736e-01 -1.31205489e-02 -2.34348171e+01] [-2.34717208e-02 -7.25950791e-04 9.99724238e-01 -3.39785173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.036875 meters 0.019201338916554594 Centerline is valid? [True, True] Translation: X:103.60, Y:-23.46, Z:-3.40 [[ 8.11443327e-01 5.84136572e-01 1.85524223e-02 1.03604104e+02] [-5.84003125e-01 8.11655094e-01 -1.25043546e-02 -2.34558424e+01] [-2.23624189e-02 -6.88097452e-04 9.99749693e-01 -3.40011500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.066875 meters 0.019228534143478682 Centerline is valid? [True, True] Translation: X:103.63, Y:-23.47, Z:-3.40 [[ 8.11223680e-01 5.84428899e-01 1.89473650e-02 1.03631114e+02] [-5.84289606e-01 8.11444617e-01 -1.27785263e-02 -2.34748393e+01] [-2.28428774e-02 -7.04505339e-04 9.99738819e-01 -3.40092190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.096875 meters 0.01956508204649248 Centerline is valid? [True, True] Translation: X:103.66, Y:-23.49, Z:-3.40 [[ 8.10753315e-01 5.85058318e-01 1.96424719e-02 1.03658336e+02] [-5.84908599e-01 8.10990884e-01 -1.32558330e-02 -2.34936487e+01] [-2.36853010e-02 -7.41840177e-04 9.99719189e-01 -3.40079270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.126875 meters 0.020400787614541737 Centerline is valid? [True, True] Translation: X:103.68, Y:-23.51, Z:-3.40 [[ 8.10387444e-01 5.85548726e-01 2.01216481e-02 1.03684907e+02] [-5.85391551e-01 8.10636849e-01 -1.35879250e-02 -2.35106373e+01] [-2.42677416e-02 -7.67558970e-04 9.99705200e-01 -3.40182876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.156875 meters 0.020444632912257423 Centerline is valid? [True, True] Translation: X:103.71, Y:-23.53, Z:-3.40 [[ 8.09366028e-01 5.86942389e-01 2.06219248e-02 1.03710628e+02] [-5.86777545e-01 8.09628282e-01 -1.39340793e-02 -2.35295683e+01] [-2.48745953e-02 -8.22711959e-04 9.99690241e-01 -3.40209887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.186875 meters 0.020779432541311937 Centerline is valid? [True, True] Translation: X:103.74, Y:-23.55, Z:-3.40 [[ 8.08645636e-01 5.87937407e-01 2.05387706e-02 1.03737121e+02] [-5.87774030e-01 8.08905985e-01 -1.38851433e-02 -2.35475747e+01] [-2.47775296e-02 -8.43995443e-04 9.99692634e-01 -3.40290581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.216875 meters 0.022124719465999396 Centerline is valid? [True, True] Translation: X:103.76, Y:-23.56, Z:-3.40 [[ 8.07892572e-01 5.88969803e-01 2.05952330e-02 1.03764273e+02] [-5.88805677e-01 8.08154571e-01 -1.39306862e-02 -2.35635374e+01] [-2.48488852e-02 -8.72092250e-04 9.99690838e-01 -3.40426498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24687499999999 meters 0.02289545834646626 Centerline is valid? [True, True] Translation: X:103.79, Y:-23.58, Z:-3.41 [[ 8.07103501e-01 5.90054414e-01 2.04872496e-02 1.03791159e+02] [-5.89892175e-01 8.07362984e-01 -1.38648386e-02 -2.35806511e+01] [-2.47216562e-02 -8.94908436e-04 9.99693973e-01 -3.40571410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27687499999999 meters 0.023601727257211512 Centerline is valid? [True, True] Translation: X:103.82, Y:-23.60, Z:-3.41 [[ 8.05709697e-01 5.91942652e-01 2.08753506e-02 1.03818013e+02] [-5.91774617e-01 8.05979508e-01 -1.41363158e-02 -2.35979198e+01] [-2.51929931e-02 -9.63735929e-04 9.99682142e-01 -3.40812264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30687499999999 meters 0.024383814261981173 Centerline is valid? [True, True] Translation: X:103.84, Y:-23.61, Z:-3.41 [[ 8.05228646e-01 5.92588664e-01 2.11069465e-02 1.03843825e+02] [-5.92417066e-01 8.05504617e-01 -1.42944772e-02 -2.36142604e+01] [-2.54724880e-02 -9.93792828e-04 9.99675030e-01 -3.40972897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33687499999999 meters 0.02433341200838758 Centerline is valid? [True, True] Translation: X:103.87, Y:-23.63, Z:-3.41 [[ 8.05133590e-01 5.92712452e-01 2.12567839e-02 1.03870307e+02] [-5.92538317e-01 8.05413526e-01 -1.44012329e-02 -2.36331944e+01] [-2.56562913e-02 -1.00054260e-03 9.99670322e-01 -3.41032891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.366875 meters 0.02416322502384692 Centerline is valid? [True, True] Translation: X:103.89, Y:-23.65, Z:-3.41 [[ 8.05970959e-01 5.91590387e-01 2.07756282e-02 1.03894414e+02] [-5.91423461e-01 8.06238139e-01 -1.40837450e-02 -2.36525430e+01] [-2.50819120e-02 -9.36104460e-04 9.99684961e-01 -3.41131472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.396875 meters 0.023627429546590573 Centerline is valid? [True, True] Translation: X:103.92, Y:-23.67, Z:-3.41 [[ 8.06530157e-01 5.90829470e-01 2.07278425e-02 1.03919507e+02] [-5.90662897e-01 8.06795958e-01 -1.40578840e-02 -2.36720799e+01] [-2.50289517e-02 -9.05060125e-04 9.99686317e-01 -3.41246314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.426875 meters 0.02084642077647964 Centerline is valid? [True, True] Translation: X:103.94, Y:-23.70, Z:-3.41 [[ 8.07057363e-01 5.90114088e-01 2.05858289e-02 1.03942944e+02] [-5.89949386e-01 8.07319394e-01 -1.39684597e-02 -2.36952108e+01] [-2.48623237e-02 -8.71248854e-04 9.99690505e-01 -3.41254727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.456875 meters 0.02063462081699593 Centerline is valid? [True, True] Translation: X:103.97, Y:-23.71, Z:-3.41 [[ 8.08601095e-01 5.88019358e-01 1.99374890e-02 1.03967031e+02] [-5.87864059e-01 8.08846483e-01 -1.35356907e-02 -2.37143674e+01] [-2.40856161e-02 -7.75558859e-04 9.99709599e-01 -3.41483488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.486875 meters 0.01995621173296165 Centerline is valid? [True, True] Translation: X:103.99, Y:-23.73, Z:-3.42 [[ 8.09185858e-01 5.87210920e-01 2.00395243e-02 1.03992077e+02] [-5.87053622e-01 8.09433613e-01 -1.36114424e-02 -2.37340452e+01] [-2.42134522e-02 -7.50088577e-04 9.99706530e-01 -3.41629390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.516875 meters 0.018940838005210833 Centerline is valid? [True, True] Translation: X:104.02, Y:-23.75, Z:-3.42 [[ 8.09459629e-01 5.86833377e-01 2.00423431e-02 1.04017319e+02] [-5.86675749e-01 8.09707385e-01 -1.36204397e-02 -2.37544124e+01] [-2.42213618e-02 -7.33160548e-04 9.99706351e-01 -3.41731846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.546875 meters 0.019388808680014368 Centerline is valid? [True, True] Translation: X:104.04, Y:-23.77, Z:-3.42 [[ 8.09890318e-01 5.86233785e-01 2.01896403e-02 1.04042743e+02] [-5.86073458e-01 8.10141616e-01 -1.37282038e-02 -2.37715000e+01] [-2.44044047e-02 -7.14272903e-04 9.99701913e-01 -3.41895446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.576875 meters 0.01886528309413672 Centerline is valid? [True, True] Translation: X:104.07, Y:-23.79, Z:-3.42 [[ 8.09822698e-01 5.86328019e-01 2.01655963e-02 1.04068798e+02] [-5.86167947e-01 8.10073421e-01 -1.37182307e-02 -2.37920423e+01] [-2.43789966e-02 -7.11091602e-04 9.99702535e-01 -3.41940056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60687499999999 meters 0.019463728197332934 Centerline is valid? [True, True] Translation: X:104.09, Y:-23.81, Z:-3.42 [[ 8.09640714e-01 5.86605362e-01 1.93923441e-02 1.04094066e+02] [-5.86457228e-01 8.09872631e-01 -1.32000226e-02 -2.38110715e+01] [-2.34485328e-02 -6.85504618e-04 9.99724810e-01 -3.42081626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63687499999999 meters 0.019517256070236366 Centerline is valid? [True, True] Translation: X:104.12, Y:-23.83, Z:-3.42 [[ 8.09333003e-01 5.87039944e-01 1.90838861e-02 1.04120385e+02] [-5.86896442e-01 8.09557682e-01 -1.29971586e-02 -2.38299779e+01] [-2.30793578e-02 -6.81235405e-04 9.99733404e-01 -3.42184224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66687499999999 meters 0.01968934135048701 Centerline is valid? [True, True] Translation: X:104.15, Y:-23.85, Z:-3.42 [[ 8.09247926e-01 5.87129840e-01 1.99084392e-02 1.04146708e+02] [-5.86973479e-01 8.09492466e-01 -1.35677031e-02 -2.38491342e+01] [-2.40817349e-02 -7.06090221e-04 9.99709744e-01 -3.42195220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69687499999999 meters 0.01968934135048701 Centerline is valid? [True, True] Translation: X:104.17, Y:-23.87, Z:-3.42 [[ 8.09084705e-01 5.87354849e-01 1.99052997e-02 1.04173400e+02] [-5.87198443e-01 8.09329217e-01 -1.35723072e-02 -2.38674533e+01] [-2.40817011e-02 -7.07214868e-04 9.99709744e-01 -3.42298649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72687499999999 meters 0.02017817273500252 Centerline is valid? [True, True] Translation: X:104.20, Y:-23.89, Z:-3.42 [[ 8.08867600e-01 5.87623875e-01 2.07698590e-02 1.04199885e+02] [-5.87453446e-01 8.09133879e-01 -1.41708852e-02 -2.38853933e+01] [-2.51327470e-02 -7.38955350e-04 9.99683850e-01 -3.42258767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.756875 meters 0.020536353478961798 Centerline is valid? [True, True] Translation: X:104.23, Y:-23.90, Z:-3.42 [[ 8.08545056e-01 5.88028763e-01 2.18418358e-02 1.04226143e+02] [-5.87840199e-01 8.08839638e-01 -1.49110988e-02 -2.39034066e+01] [-2.64346975e-02 -7.83213898e-04 9.99650236e-01 -3.42210116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.786875 meters 0.01958510350709098 Centerline is valid? [True, True] Translation: X:104.25, Y:-23.92, Z:-3.42 [[ 8.08355734e-01 5.88261479e-01 2.25707756e-02 1.04252342e+02] [-5.88059971e-01 8.08670375e-01 -1.54173716e-02 -2.39232272e+01] [-2.73217634e-02 -8.10248857e-04 9.99626363e-01 -3.42242063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.816875 meters 0.018657960545641877 Centerline is valid? [True, True] Translation: X:104.28, Y:-23.94, Z:-3.42 [[ 8.10099205e-01 5.85843222e-01 2.29564403e-02 1.04276406e+02] [-5.85633519e-01 8.10424076e-01 -1.56907349e-02 -2.39423749e+01] [-2.77967626e-02 -7.33009063e-04 9.99613327e-01 -3.42397717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.846875 meters 0.01702507742413612 Centerline is valid? [True, True] Translation: X:104.30, Y:-23.96, Z:-3.42 [[ 8.14060575e-01 5.80333714e-01 2.27631501e-02 1.04299251e+02] [-5.80125163e-01 8.14378595e-01 -1.55659826e-02 -2.39633300e+01] [-2.75712867e-02 -5.33823453e-04 9.99619697e-01 -3.42436388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.876875 meters 0.01618011983978339 Centerline is valid? [True, True] Translation: X:104.32, Y:-23.98, Z:-3.43 [[ 8.15225647e-01 5.78719051e-01 2.21676623e-02 1.04324587e+02] [-5.78520520e-01 8.15526853e-01 -1.51644662e-02 -2.39836987e+01] [-2.68542894e-02 -4.61985709e-04 9.99639252e-01 -3.42613045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.906875 meters 0.015984732208684346 Centerline is valid? [True, True] Translation: X:104.35, Y:-24.00, Z:-3.43 [[ 8.16143960e-01 5.77459387e-01 2.12059696e-02 1.04349377e+02] [-5.77277101e-01 8.16419316e-01 -1.45137762e-02 -2.40021136e+01] [-2.56940795e-02 -3.96389935e-04 9.99669774e-01 -3.42833172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.936875 meters 0.015559171450664858 Centerline is valid? [True, True] Translation: X:104.38, Y:-24.02, Z:-3.43 [[ 8.16890119e-01 5.76420252e-01 2.07418994e-02 1.04375331e+02] [-5.76245362e-01 8.17153334e-01 -1.42025195e-02 -2.40209679e+01] [-2.51359321e-02 -3.50525444e-04 9.99683981e-01 -3.43041123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.966875 meters 0.015149054251229624 Centerline is valid? [True, True] Translation: X:104.40, Y:-24.04, Z:-3.43 [[ 8.17638612e-01 5.75395142e-01 1.96858007e-02 1.04400465e+02] [-5.75237164e-01 8.17875505e-01 -1.34856686e-02 -2.40408580e+01] [-2.38601224e-02 -2.97600800e-04 9.99715262e-01 -3.43362071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99687499999999 meters 0.015268153277277251 Centerline is valid? [True, True] Translation: X:104.43, Y:-24.06, Z:-3.44 [[ 8.17507442e-01 5.75581438e-01 1.96873263e-02 1.04426476e+02] [-5.75423327e-01 8.17744410e-01 -1.34934854e-02 -2.40588113e+01] [-2.38658008e-02 -2.97522075e-04 9.99715127e-01 -3.43555202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02687499999999 meters 0.015728818591529907 Centerline is valid? [True, True] Translation: X:104.45, Y:-24.08, Z:-3.44 [[ 8.16233783e-01 5.77374778e-01 2.00194097e-02 1.04453202e+02] [-5.77211636e-01 8.16479175e-01 -1.37289250e-02 -2.40761612e+01] [-2.42721662e-02 -3.49423831e-04 9.99705327e-01 -3.43562297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05687499999999 meters 0.01580472158009271 Centerline is valid? [True, True] Translation: X:104.48, Y:-24.09, Z:-3.44 [[ 8.15431751e-01 5.78511737e-01 1.98803647e-02 1.04479307e+02] [-5.78351026e-01 8.15673973e-01 -1.36404293e-02 -2.40939102e+01] [-2.41070445e-02 -3.74990162e-04 9.99709313e-01 -3.43607694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08687499999999 meters 0.016267076744256582 Centerline is valid? [True, True] Translation: X:104.51, Y:-24.11, Z:-3.44 [[ 8.14378388e-01 5.80006629e-01 1.94974906e-02 1.04505404e+02] [-5.79852329e-01 8.14611653e-01 -1.33839762e-02 -2.41106159e+01] [-2.36456780e-02 -4.06044349e-04 9.99720319e-01 -3.43691332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.116875 meters 0.016634692067924808 Centerline is valid? [True, True] Translation: X:104.53, Y:-24.13, Z:-3.44 [[ 8.13350037e-01 5.81441991e-01 1.96705048e-02 1.04531986e+02] [-5.81285205e-01 8.13587741e-01 -1.35092072e-02 -2.41276961e+01] [-2.38585019e-02 -4.46459289e-04 9.99715246e-01 -3.43771277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.146875 meters 0.017695421294813173 Centerline is valid? [True, True] Translation: X:104.56, Y:-24.14, Z:-3.44 [[ 8.10836341e-01 5.84915802e-01 2.04433974e-02 1.04559999e+02] [-5.84747378e-01 8.11093821e-01 -1.40470022e-02 -2.41432846e+01] [-2.47978268e-02 -5.64403141e-04 9.99692327e-01 -3.43810058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.176875 meters 0.018362941468693796 Centerline is valid? [True, True] Translation: X:104.59, Y:-24.16, Z:-3.44 [[ 8.09519726e-01 5.86718331e-01 2.09621945e-02 1.04586878e+02] [-5.86541664e-01 8.09790840e-01 -1.44108447e-02 -2.41598455e+01] [-2.54300999e-02 -6.29337401e-04 9.99676405e-01 -3.43828725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.206875 meters 0.018748488653094364 Centerline is valid? [True, True] Translation: X:104.61, Y:-24.18, Z:-3.44 [[ 8.08462270e-01 5.88165752e-01 2.12086345e-02 1.04614249e+02] [-5.87985223e-01 8.08740125e-01 -1.45872521e-02 -2.41772168e+01] [-2.57319958e-02 -6.77120731e-04 9.99668648e-01 -3.43962695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.236875 meters 0.020023941198412158 Centerline is valid? [True, True] Translation: X:104.64, Y:-24.19, Z:-3.44 [[ 8.06712714e-01 5.90528494e-01 2.21516147e-02 1.04642216e+02] [-5.90332212e-01 8.07016413e-01 -1.52442974e-02 -2.41916306e+01] [-2.68789086e-02 -7.79043205e-04 9.99638393e-01 -3.44083165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.266875 meters 0.020786646806948778 Centerline is valid? [True, True] Translation: X:104.67, Y:-24.21, Z:-3.44 [[ 8.06054499e-01 5.91431622e-01 2.20177336e-02 1.04669045e+02] [-5.91237849e-01 8.06354760e-01 -1.51594111e-02 -2.42078891e+01] [-2.67198594e-02 -7.98405883e-04 9.99642642e-01 -3.44218578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.296875 meters 0.020562164069623814 Centerline is valid? [True, True] Translation: X:104.70, Y:-24.23, Z:-3.44 [[ 8.05467033e-01 5.92219127e-01 2.23464737e-02 1.04695647e+02] [-5.92019626e-01 8.05776530e-01 -1.53930640e-02 -2.42263146e+01] [-2.71223310e-02 -8.30945417e-04 9.99631777e-01 -3.44287210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.326875 meters 0.021046785635035533 Centerline is valid? [True, True] Translation: X:104.72, Y:-24.24, Z:-3.44 [[ 8.05193693e-01 5.92603266e-01 2.20110264e-02 1.04722288e+02] [-5.92409651e-01 8.05494064e-01 -1.51696100e-02 -2.42432817e+01] [-2.67193116e-02 -8.25070164e-04 9.99642635e-01 -3.44435596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35687499999999 meters 0.020845190575610423 Centerline is valid? [True, True] Translation: X:104.75, Y:-24.26, Z:-3.45 [[ 8.05373506e-01 5.92379822e-01 2.14397443e-02 1.04748862e+02] [-5.92195842e-01 8.05658440e-01 -1.47838676e-02 -2.42609406e+01] [-2.60307758e-02 -7.89992127e-04 9.99660830e-01 -3.44578708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38687499999999 meters 0.02028097048620393 Centerline is valid? [True, True] Translation: X:104.77, Y:-24.28, Z:-3.45 [[ 8.05806928e-01 5.91805645e-01 2.10064931e-02 1.04774842e+02] [-5.91628647e-01 8.06080341e-01 -1.44923751e-02 -2.42793457e+01] [-2.55095905e-02 -7.49986796e-04 9.99674296e-01 -3.44721951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41687499999999 meters 0.019397892888494476 Centerline is valid? [True, True] Translation: X:104.80, Y:-24.30, Z:-3.45 [[ 8.06153978e-01 5.91352138e-01 2.04551182e-02 1.04800598e+02] [-5.91183991e-01 8.06413134e-01 -1.41189769e-02 -2.42985435e+01] [-2.48445631e-02 -7.10669006e-04 9.99691074e-01 -3.44846093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44687499999999 meters 0.02052766455612646 Centerline is valid? [True, True] Translation: X:104.83, Y:-24.31, Z:-3.45 [[ 8.06831205e-01 5.90443446e-01 1.99985985e-02 1.04827854e+02] [-5.90282271e-01 8.07078744e-01 -1.38108977e-02 -2.43143834e+01] [-2.42949978e-02 -6.61754933e-04 9.99704614e-01 -3.45127029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47687499999999 meters 0.017520885771642365 Centerline is valid? [True, True] Translation: X:104.85, Y:-24.34, Z:-3.45 [[ 8.09171741e-01 5.87259760e-01 1.91590148e-02 1.04850579e+02] [-5.87110789e-01 8.09398348e-01 -1.32376729e-02 -2.43372146e+01] [-2.32812275e-02 -5.36913490e-04 9.99728811e-01 -3.45230678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.506875 meters 0.01784638363133368 Centerline is valid? [True, True] Translation: X:104.88, Y:-24.35, Z:-3.45 [[ 8.10566208e-01 5.85334804e-01 1.91203912e-02 1.04876132e+02] [-5.85185741e-01 8.10791552e-01 -1.32176691e-02 -2.43548374e+01] [-2.32394134e-02 -4.75184406e-04 9.99729815e-01 -3.45378067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.536875 meters 0.016666115264102607 Centerline is valid? [True, True] Translation: X:104.90, Y:-24.38, Z:-3.45 [[ 8.12264269e-01 5.82967529e-01 1.93808373e-02 1.04901358e+02] [-5.82813516e-01 8.12495351e-01 -1.34056234e-02 -2.43757470e+01] [-2.35618834e-02 -4.06505037e-04 9.99722298e-01 -3.45405108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.566875 meters 0.014725289515485988 Centerline is valid? [True, True] Translation: X:104.92, Y:-24.40, Z:-3.45 [[ 8.15327054e-01 5.78640033e-01 2.04329920e-02 1.04924226e+02] [-5.78467444e-01 8.15582997e-01 -1.41347509e-02 -2.43989481e+01] [-2.48437336e-02 -2.95375857e-04 9.99691303e-01 -3.45300685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.596875 meters 0.01486308805090865 Centerline is valid? [True, True] Translation: X:104.95, Y:-24.42, Z:-3.45 [[ 8.16018483e-01 5.77647919e-01 2.08977829e-02 1.04949430e+02] [-5.77466872e-01 8.16285986e-01 -1.44637468e-02 -2.44165423e+01] [-2.54135205e-02 -2.65092599e-04 9.99676989e-01 -3.45452274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.626875 meters 0.014317117212289197 Centerline is valid? [True, True] Translation: X:104.97, Y:-24.44, Z:-3.45 [[ 8.16549957e-01 5.76895323e-01 2.09273409e-02 1.04974777e+02] [-5.76713346e-01 8.16818052e-01 -1.44908835e-02 -2.44366991e+01] [-2.54535528e-02 -2.36546454e-04 9.99675978e-01 -3.45421283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.656875 meters 0.014579435992590107 Centerline is valid? [True, True] Translation: X:105.00, Y:-24.45, Z:-3.46 [[ 8.16717249e-01 5.76661065e-01 2.08555097e-02 1.05001900e+02] [-5.76480079e-01 8.16983456e-01 -1.44482366e-02 -2.44540995e+01] [-2.53703419e-02 -2.22661856e-04 9.99678096e-01 -3.45632856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.686875 meters 0.014189643212197334 Centerline is valid? [True, True] Translation: X:105.03, Y:-24.47, Z:-3.46 [[ 8.16222534e-01 5.77313584e-01 2.21314272e-02 1.05028947e+02] [-5.77109778e-01 8.16522481e-01 -1.53408617e-02 -2.44734243e+01] [-2.69272957e-02 -2.50706019e-04 9.99637363e-01 -3.45599960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.716875 meters 0.014326038420279517 Centerline is valid? [True, True] Translation: X:105.06, Y:-24.49, Z:-3.46 [[ 8.15379583e-01 5.78481462e-01 2.27009450e-02 1.05056441e+02] [-5.78267221e-01 8.15695479e-01 -1.57450360e-02 -2.44914755e+01] [-2.76252697e-02 -2.89031468e-04 9.99618308e-01 -3.45664942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74687499999999 meters 0.014673673707446964 Centerline is valid? [True, True] Translation: X:105.08, Y:-24.51, Z:-3.46 [[ 8.14308008e-01 5.79957351e-01 2.34933789e-02 1.05083073e+02] [-5.79728215e-01 8.14646766e-01 -1.63046943e-02 -2.45076744e+01] [-2.85948324e-02 -3.42731472e-04 9.99591025e-01 -3.45717772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77687499999999 meters 0.015461693895747643 Centerline is valid? [True, True] Translation: X:105.11, Y:-24.52, Z:-3.46 [[ 8.12204518e-01 5.82883594e-01 2.38858986e-02 1.05111403e+02] [-5.82647769e-01 8.12555546e-01 -1.65849648e-02 -2.45232273e+01] [-2.90757233e-02 -4.46682165e-04 9.99577112e-01 -3.45784384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80687499999999 meters 0.015568243226765833 Centerline is valid? [True, True] Translation: X:105.14, Y:-24.54, Z:-3.46 [[ 8.11025581e-01 5.84522046e-01 2.39057408e-02 1.05138308e+02] [-5.84286299e-01 8.11377673e-01 -1.66069924e-02 -2.45408371e+01] [-2.91037375e-02 -4.99101203e-04 9.99576272e-01 -3.45874901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83687499999999 meters 0.0162840864723855 Centerline is valid? [True, True] Translation: X:105.17, Y:-24.56, Z:-3.46 [[ 8.09841950e-01 5.86167765e-01 2.37353481e-02 1.05165069e+02] [-5.85935830e-01 8.10189516e-01 -1.64970191e-02 -2.45568322e+01] [-2.89001510e-02 -5.47412749e-04 9.99582154e-01 -3.46056111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.866875 meters 0.017247142983457097 Centerline is valid? [True, True] Translation: X:105.19, Y:-24.57, Z:-3.46 [[ 8.07471513e-01 5.89464361e-01 2.28368629e-02 1.05192758e+02] [-5.89250771e-01 8.07794135e-01 -1.58796964e-02 -2.45721306e+01] [-2.78079990e-02 -6.34236610e-04 9.99613082e-01 -3.46319822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.896875 meters 0.017866791355736166 Centerline is valid? [True, True] Translation: X:105.22, Y:-24.59, Z:-3.47 [[ 8.06429540e-01 5.90913198e-01 2.22033644e-02 1.05220163e+02] [-5.90711657e-01 8.06734874e-01 -1.54460723e-02 -2.45888829e+01] [-2.70395164e-02 -6.59617162e-04 9.99634148e-01 -3.46591456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.926875 meters 0.019025361592380066 Centerline is valid? [True, True] Translation: X:105.25, Y:-24.60, Z:-3.47 [[ 8.05422693e-01 5.92324753e-01 2.11109646e-02 1.05246749e+02] [-5.92142861e-01 8.05699040e-01 -1.46931943e-02 -2.46045583e+01] [-2.57122266e-02 -6.66474874e-04 9.99669164e-01 -3.46859251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.956875 meters 0.018165572930712155 Centerline is valid? [True, True] Translation: X:105.27, Y:-24.62, Z:-3.47 [[ 8.04788873e-01 5.93217844e-01 2.01856125e-02 1.05272655e+02] [-5.93051684e-01 8.05041710e-01 -1.40550782e-02 -2.46238991e+01] [-2.45879831e-02 -6.59740962e-04 9.99697452e-01 -3.47030148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.986875 meters 0.018276178356336135 Centerline is valid? [True, True] Translation: X:105.30, Y:-24.64, Z:-3.47 [[ 8.03900542e-01 5.94429012e-01 1.99516229e-02 1.05298873e+02] [-5.94266884e-01 8.04147799e-01 -1.38991993e-02 -2.46420175e+01] [-2.43061410e-02 -6.83014889e-04 9.99704329e-01 -3.47215464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.016875 meters 0.018303432143665373 Centerline is valid? [True, True] Translation: X:105.33, Y:-24.66, Z:-3.47 [[ 8.03791627e-01 5.94567420e-01 2.02139347e-02 1.05325209e+02] [-5.94400867e-01 8.04045463e-01 -1.40891213e-02 -2.46610335e+01] [-2.46298550e-02 -6.90462549e-04 9.99696401e-01 -3.47240164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.046875 meters 0.01904090129239536 Centerline is valid? [True, True] Translation: X:105.35, Y:-24.68, Z:-3.47 [[ 8.03806512e-01 5.94512723e-01 2.12064612e-02 1.05351546e+02] [-5.94329140e-01 8.04085886e-01 -1.47906089e-02 -2.46784064e+01] [-2.58450213e-02 -7.14830078e-04 9.99665706e-01 -3.47212084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.076875 meters 0.018200417808309662 Centerline is valid? [True, True] Translation: X:105.38, Y:-24.70, Z:-3.47 [[ 8.04025329e-01 5.94177751e-01 2.22726349e-02 1.05376535e+02] [-5.93974903e-01 8.04333428e-01 -1.55419360e-02 -2.46989770e+01] [-2.71492973e-02 -7.33275941e-04 9.99631121e-01 -3.47080539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10687499999999 meters 0.01770378557154381 Centerline is valid? [True, True] Translation: X:105.40, Y:-24.72, Z:-3.47 [[ 8.04931245e-01 5.92923771e-01 2.29584840e-02 1.05400963e+02] [-5.92707471e-01 8.05258285e-01 -1.60296306e-02 -2.47182647e+01] [-2.79918585e-02 -7.04914458e-04 9.99607903e-01 -3.47068933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13687499999999 meters 0.01744695639743983 Centerline is valid? [True, True] Translation: X:105.43, Y:-24.74, Z:-3.47 [[ 8.05265089e-01 5.92466650e-01 2.30522418e-02 1.05426731e+02] [-5.92248270e-01 8.05594684e-01 -1.60994242e-02 -2.47374318e+01] [-2.81091353e-02 -6.88346093e-04 9.99604623e-01 -3.47226425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16687499999999 meters 0.016982570961560188 Centerline is valid? [True, True] Translation: X:105.45, Y:-24.76, Z:-3.47 [[ 8.05701561e-01 5.91881502e-01 2.28316205e-02 1.05452630e+02] [-5.91666822e-01 8.06024726e-01 -1.59534686e-02 -2.47569253e+01] [-2.78454136e-02 -6.54977772e-04 9.99612027e-01 -3.47444663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19687499999999 meters 0.016477674278066703 Centerline is valid? [True, True] Translation: X:105.48, Y:-24.78, Z:-3.48 [[ 8.06627136e-01 5.90603833e-01 2.32330880e-02 1.05477531e+02] [-5.90380761e-01 8.06961421e-01 -1.62426029e-02 -2.47776219e+01] [-2.83411492e-02 -6.14643944e-04 9.99598120e-01 -3.47584909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22687499999999 meters 0.01685134248435227 Centerline is valid? [True, True] Translation: X:105.50, Y:-24.80, Z:-3.48 [[ 8.06883825e-01 5.90267422e-01 2.28662181e-02 1.05502597e+02] [-5.90050977e-01 8.07207549e-01 -1.59943104e-02 -2.47958842e+01] [-2.78987042e-02 -5.86683937e-04 9.99610583e-01 -3.47692104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.256875 meters 0.016303836382786888 Centerline is valid? [True, True] Translation: X:105.53, Y:-24.82, Z:-3.48 [[ 8.07271361e-01 5.89763096e-01 2.21910058e-02 1.05527324e+02] [-5.89558867e-01 8.07576122e-01 -1.55290311e-02 -2.48158999e+01] [-2.70793759e-02 -5.46762163e-04 9.99633137e-01 -3.47884314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.286875 meters 0.016534765581021148 Centerline is valid? [True, True] Translation: X:105.55, Y:-24.84, Z:-3.48 [[ 8.07349621e-01 5.89672788e-01 2.17391861e-02 1.05552367e+02] [-5.89476560e-01 8.07642078e-01 -1.52203445e-02 -2.48351027e+01] [-2.65325044e-02 -5.26601299e-04 9.99647812e-01 -3.47969415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.316875 meters 0.016774258010775395 Centerline is valid? [True, True] Translation: X:105.58, Y:-24.85, Z:-3.48 [[ 8.07190680e-01 5.89890284e-01 2.17407171e-02 1.05579205e+02] [-5.89693889e-01 8.07483235e-01 -1.52296521e-02 -2.48544631e+01] [-2.65390884e-02 -5.27134779e-04 9.99647637e-01 -3.48080850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.346875 meters 0.016924202424863713 Centerline is valid? [True, True] Translation: X:105.61, Y:-24.87, Z:-3.48 [[ 8.06775955e-01 5.90455489e-01 2.17916173e-02 1.05605841e+02] [-5.90258147e-01 8.07070024e-01 -1.52740284e-02 -2.48736919e+01] [-2.66059950e-02 -5.39960810e-04 9.99645852e-01 -3.48167881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.376875 meters 0.016790603052636025 Centerline is valid? [True, True] Translation: X:105.63, Y:-24.89, Z:-3.48 [[ 8.05856663e-01 5.91724222e-01 2.13888802e-02 1.05631405e+02] [-5.91534331e-01 8.06140265e-01 -1.50002904e-02 -2.48936594e+01] [-2.61184727e-02 -5.64172949e-04 9.99658695e-01 -3.48391532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.406875 meters 0.017365349612040958 Centerline is valid? [True, True] Translation: X:105.66, Y:-24.91, Z:-3.49 [[ 8.05296687e-01 5.92494670e-01 2.11497368e-02 1.05657121e+02] [-5.92309069e-01 8.05574164e-01 -1.48402488e-02 -2.49110152e+01] [-2.58304499e-02 -5.76377719e-04 9.99666172e-01 -3.48586819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.436875 meters 0.01807311229078487 Centerline is valid? [True, True] Translation: X:105.68, Y:-24.93, Z:-3.49 [[ 8.04185205e-01 5.94005884e-01 2.10515106e-02 1.05682561e+02] [-5.93822341e-01 8.04460459e-01 -1.47782786e-02 -2.49283945e+01] [-2.57134924e-02 -6.16384295e-04 9.99669163e-01 -3.48677537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.466875 meters 0.019440626770439322 Centerline is valid? [True, True] Translation: X:105.71, Y:-24.95, Z:-3.49 [[ 8.02057416e-01 5.96892720e-01 2.05665046e-02 1.05709599e+02] [-5.96718313e-01 8.02320764e-01 -1.44445883e-02 -2.49455487e+01] [-2.51228033e-02 -6.87020762e-04 9.99684136e-01 -3.48846620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49687499999999 meters 0.019194848466591405 Centerline is valid? [True, True] Translation: X:105.74, Y:-24.97, Z:-3.49 [[ 8.00725815e-01 5.98688624e-01 2.02509328e-02 1.05735058e+02] [-5.98519931e-01 8.00981525e-01 -1.42298285e-02 -2.49650031e+01] [-2.47398594e-02 -7.26395903e-04 9.99693659e-01 -3.48907367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52687499999999 meters 0.0206213492972039 Centerline is valid? [True, True] Translation: X:105.76, Y:-24.98, Z:-3.49 [[ 7.99444784e-01 6.00407241e-01 1.99795407e-02 1.05761309e+02] [-6.00243543e-01 7.99694039e-01 -1.40404502e-02 -2.49812452e+01] [-2.44075075e-02 -7.68025564e-04 9.99701797e-01 -3.49036346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55687499999999 meters 0.021934343150750192 Centerline is valid? [True, True] Translation: X:105.79, Y:-25.00, Z:-3.49 [[ 7.97483229e-01 6.03014420e-01 1.98521515e-02 1.05787841e+02] [-6.02853435e-01 7.97729847e-01 -1.39580476e-02 -2.49990215e+01] [-2.42535578e-02 -8.36628846e-04 9.99705489e-01 -3.49201761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58687499999999 meters 0.021934343150750192 Centerline is valid? [True, True] Translation: X:105.81, Y:-25.02, Z:-3.49 [[ 7.97314442e-01 6.03237653e-01 1.98498214e-02 1.05814263e+02] [-6.03076654e-01 7.97561051e-01 -1.39613604e-02 -2.50177334e+01] [-2.42534627e-02 -8.39369658e-04 9.99705489e-01 -3.49305122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.616875 meters 0.02111060573826145 Centerline is valid? [True, True] Translation: X:105.84, Y:-25.04, Z:-3.49 [[ 7.98137308e-01 6.02149406e-01 1.98224679e-02 1.05838932e+02] [-6.01988307e-01 7.98383026e-01 -1.39507296e-02 -2.50383233e+01] [-2.42263454e-02 -7.98296092e-04 9.99706180e-01 -3.49461598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.646875 meters 0.018823688873222017 Centerline is valid? [True, True] Translation: X:105.86, Y:-25.06, Z:-3.49 [[ 8.02342004e-01 5.96515299e-01 2.04158352e-02 1.05860299e+02] [-5.96342358e-01 8.02601451e-01 -1.43771678e-02 -2.50609509e+01] [-2.49619795e-02 -6.39421634e-04 9.99688197e-01 -3.49374512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.676875 meters 0.01722502847307023 Centerline is valid? [True, True] Translation: X:105.88, Y:-25.08, Z:-3.49 [[ 8.05516260e-01 5.92189520e-01 2.13337170e-02 1.05882322e+02] [-5.91999051e-01 8.05798546e-01 -1.50274946e-02 -2.50826307e+01] [-2.60898029e-02 -5.24648981e-04 9.99659465e-01 -3.49257918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.706875 meters 0.015194833218106397 Centerline is valid? [True, True] Translation: X:105.90, Y:-25.11, Z:-3.49 [[ 8.09847689e-01 5.86207677e-01 2.25229036e-02 1.05903595e+02] [-5.85992956e-01 8.10160749e-01 -1.58687319e-02 -2.51071693e+01] [-2.75495449e-02 -3.47006972e-04 9.99620379e-01 -3.49205023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.736875 meters 0.01473387811331666 Centerline is valid? [True, True] Translation: X:105.93, Y:-25.13, Z:-3.49 [[ 8.11282343e-01 5.84230413e-01 2.22662094e-02 1.05928937e+02] [-5.84019597e-01 8.11587797e-01 -1.56958028e-02 -2.51276518e+01] [-2.72409492e-02 -2.70174940e-04 9.99628860e-01 -3.49444405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.766875 meters 0.0144871607226218 Centerline is valid? [True, True] Translation: X:105.95, Y:-25.15, Z:-3.50 [[ 8.12017568e-01 5.83249511e-01 2.11536572e-02 1.05954590e+02] [-5.83058876e-01 8.12293024e-01 -1.49127411e-02 -2.51473875e+01] [-2.58808172e-02 -2.24419809e-04 9.99665010e-01 -3.49820334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.796875 meters 0.014270527997740983 Centerline is valid? [True, True] Translation: X:105.98, Y:-25.17, Z:-3.50 [[ 8.12582325e-01 5.82471984e-01 2.08890531e-02 1.05978746e+02] [-5.82285595e-01 8.12850756e-01 -1.47354775e-02 -2.51663090e+01] [-2.55626854e-02 -1.89606120e-04 9.99673203e-01 -3.50193373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.826875 meters 0.014419562617174912 Centerline is valid? [True, True] Translation: X:106.01, Y:-25.19, Z:-3.50 [[ 8.11934315e-01 5.83379037e-01 2.07741993e-02 1.06005708e+02] [-5.83194912e-01 8.12200008e-01 -1.46574513e-02 -2.51856965e+01] [-2.54236547e-02 -2.14519684e-04 9.99676744e-01 -3.50247422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85687499999999 meters 0.014687279913093109 Centerline is valid? [True, True] Translation: X:106.03, Y:-25.20, Z:-3.50 [[ 8.10724779e-01 5.85054708e-01 2.08883213e-02 1.06031846e+02] [-5.84868890e-01 8.10993786e-01 -1.47465632e-02 -2.52040432e+01] [-2.55678450e-02 -2.61525152e-04 9.99673055e-01 -3.50243688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88687499999999 meters 0.014881664561710105 Centerline is valid? [True, True] Translation: X:106.06, Y:-25.22, Z:-3.50 [[ 8.09570537e-01 5.86657390e-01 2.07039398e-02 1.06057936e+02] [-5.86475184e-01 8.09835177e-01 -1.46234119e-02 -2.52221449e+01] [-2.53457114e-02 -3.03663493e-04 9.99678700e-01 -3.50238692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91687499999999 meters 0.015582969070778557 Centerline is valid? [True, True] Translation: X:106.09, Y:-25.24, Z:-3.50 [[ 8.07222033e-01 5.89837518e-01 2.20066325e-02 1.06085718e+02] [-5.89632610e-01 8.07521842e-01 -1.55518607e-02 -2.52387182e+01] [-2.69439073e-02 -4.22023546e-04 9.99636858e-01 -3.50224788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94687499999999 meters 0.016214717541377772 Centerline is valid? [True, True] Translation: X:106.11, Y:-25.26, Z:-3.50 [[ 8.05874535e-01 5.91679851e-01 2.19359946e-02 1.06113151e+02] [-5.91476726e-01 8.06172889e-01 -1.55098235e-02 -2.52557806e+01] [-2.68610542e-02 -4.75658480e-04 9.99639064e-01 -3.50295535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97687499999999 meters 0.016544444827960702 Centerline is valid? [True, True] Translation: X:106.14, Y:-25.27, Z:-3.50 [[ 8.04644421e-01 5.93336519e-01 2.23412374e-02 1.06140050e+02] [-5.93126234e-01 8.04954340e-01 -1.58044611e-02 -2.52733825e+01] [-2.73610400e-02 -5.34202518e-04 9.99625474e-01 -3.50421637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.006875 meters 0.017388008482823986 Centerline is valid? [True, True] Translation: X:106.17, Y:-25.29, Z:-3.51 [[ 8.03485719e-01 5.94892034e-01 2.26752818e-02 1.06166823e+02] [-5.94675796e-01 8.03805400e-01 -1.60492052e-02 -2.52897794e+01] [-2.77740583e-02 -5.89134096e-04 9.99614053e-01 -3.50545472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.036875 meters 0.018993502491378503 Centerline is valid? [True, True] Translation: X:106.19, Y:-25.30, Z:-3.51 [[ 8.01803466e-01 5.97177428e-01 2.21432037e-02 1.06193517e+02] [-5.96971877e-01 8.02108909e-01 -1.56804055e-02 -2.53048930e+01] [-2.71252452e-02 -6.46266393e-04 9.99631834e-01 -3.50802722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.066875 meters 0.018543356179808783 Centerline is valid? [True, True] Translation: X:106.22, Y:-25.32, Z:-3.51 [[ 8.01177353e-01 5.98041239e-01 2.14831276e-02 1.06218935e+02] [-5.97847997e-01 8.01465064e-01 -1.52158689e-02 -2.53243967e+01] [-2.63176934e-02 -6.53035222e-04 9.99653416e-01 -3.50924005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.096875 meters 0.019803236825277466 Centerline is valid? [True, True] Translation: X:106.25, Y:-25.34, Z:-3.51 [[ 7.99797055e-01 5.99878678e-01 2.16850745e-02 1.06245428e+02] [-5.99682229e-01 8.00090660e-01 -1.53675096e-02 -2.53410002e+01] [-2.65686669e-02 -7.13264934e-04 9.99646736e-01 -3.50953209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.126875 meters 0.018963621946970995 Centerline is valid? [True, True] Translation: X:106.27, Y:-25.36, Z:-3.51 [[ 7.99042416e-01 6.00877661e-01 2.18461389e-02 1.06270982e+02] [-6.00678567e-01 7.99340650e-01 -1.54849678e-02 -2.53609965e+01] [-2.67670781e-02 -7.49361296e-04 9.99641417e-01 -3.51024990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.156875 meters 0.019282347946536684 Centerline is valid? [True, True] Translation: X:106.30, Y:-25.38, Z:-3.51 [[ 7.98384067e-01 6.01743275e-01 2.20887426e-02 1.06297023e+02] [-6.01539838e-01 7.98689190e-01 -1.56652624e-02 -2.53787693e+01] [-2.70685063e-02 -7.80362718e-04 9.99633276e-01 -3.51151538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.186875 meters 0.020177811123614404 Centerline is valid? [True, True] Translation: X:106.32, Y:-25.40, Z:-3.51 [[ 7.98043348e-01 6.02202399e-01 2.18880368e-02 1.06323331e+02] [-6.02002619e-01 7.98343070e-01 -1.55302326e-02 -2.53958656e+01] [-2.68265058e-02 -7.82856681e-04 9.99639798e-01 -3.51315362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.216875 meters 0.01928922028382163 Centerline is valid? [True, True] Translation: X:106.35, Y:-25.42, Z:-3.51 [[ 7.98755850e-01 6.01254243e-01 2.19642507e-02 1.06347702e+02] [-6.01052492e-01 7.99057431e-01 -1.55924318e-02 -2.54164446e+01] [-2.69257135e-02 -7.47121560e-04 9.99637158e-01 -3.51400792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24687499999999 meters 0.018370454785460167 Centerline is valid? [True, True] Translation: X:106.37, Y:-25.44, Z:-3.52 [[ 7.99395615e-01 6.00402752e-01 2.19814937e-02 1.06372143e+02] [-6.00200147e-01 7.99697460e-01 -1.56126642e-02 -2.54367911e+01] [-2.69524313e-02 -7.12600472e-04 9.99636463e-01 -3.51531342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27687499999999 meters 0.018118297488427464 Centerline is valid? [True, True] Translation: X:106.40, Y:-25.46, Z:-3.52 [[ 8.00299053e-01 5.99189293e-01 2.22174991e-02 1.06396689e+02] [-5.98981617e-01 8.00607107e-01 -1.57886873e-02 -2.54558028e+01] [-2.72479001e-02 -6.72202039e-04 9.99628481e-01 -3.51620303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30687499999999 meters 0.017084010384662375 Centerline is valid? [True, True] Translation: X:106.42, Y:-25.48, Z:-3.52 [[ 8.01365978e-01 5.97758474e-01 2.23019394e-02 1.06421674e+02] [-5.97548434e-01 8.01676009e-01 -1.58570581e-02 -2.54769129e+01] [-2.73576207e-02 -6.19182097e-04 9.99625518e-01 -3.51664612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33687499999999 meters 0.016640975945879412 Centerline is valid? [True, True] Translation: X:106.45, Y:-25.50, Z:-3.52 [[ 8.02766224e-01 5.95884194e-01 2.21001647e-02 1.06445428e+02] [-5.95677170e-01 8.03070188e-01 -1.57156903e-02 -2.54972256e+01] [-2.71127149e-02 -5.48538208e-04 9.99632232e-01 -3.51705744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.366875 meters 0.01637135717460236 Centerline is valid? [True, True] Translation: X:106.47, Y:-25.52, Z:-3.52 [[ 8.03110072e-01 5.95429805e-01 2.18531322e-02 1.06470892e+02] [-5.95227021e-01 8.03407167e-01 -1.55472867e-02 -2.55174248e+01] [-2.68142809e-02 -5.21392267e-04 9.99640297e-01 -3.51793082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.396875 meters 0.015931816870477702 Centerline is valid? [True, True] Translation: X:106.50, Y:-25.54, Z:-3.52 [[ 8.03481081e-01 5.94931471e-01 2.17875397e-02 1.06495844e+02] [-5.94729510e-01 8.03776273e-01 -1.55084529e-02 -2.55372187e+01] [-2.67387742e-02 -4.96944346e-04 9.99642332e-01 -3.51864029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.426875 meters 0.015930595093376302 Centerline is valid? [True, True] Translation: X:106.52, Y:-25.56, Z:-3.52 [[ 8.04094871e-01 5.94128094e-01 2.10534295e-02 1.06520668e+02] [-5.93939030e-01 8.04370317e-01 -1.49940418e-02 -2.55563455e+01] [-2.58431352e-02 -4.47821429e-04 9.99665910e-01 -3.52070935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.456875 meters 0.015997616710007986 Centerline is valid? [True, True] Translation: X:106.55, Y:-25.58, Z:-3.52 [[ 8.03938333e-01 5.94346742e-01 2.08592202e-02 1.06547314e+02] [-5.94161141e-01 8.04208772e-01 -1.48589596e-02 -2.55756047e+01] [-2.56065421e-02 -4.48050888e-04 9.99671998e-01 -3.52250837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.486875 meters 0.015758717485909964 Centerline is valid? [True, True] Translation: X:106.57, Y:-25.60, Z:-3.52 [[ 8.03591584e-01 5.94812424e-01 2.09462859e-02 1.06573922e+02] [-5.94625208e-01 8.03864398e-01 -1.49295269e-02 -2.55955449e+01] [-2.57182415e-02 -4.57947464e-04 9.99669126e-01 -3.52366793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.516875 meters 0.015236779893440534 Centerline is valid? [True, True] Translation: X:106.60, Y:-25.62, Z:-3.52 [[ 8.04388992e-01 5.93748484e-01 2.05204378e-02 1.06598768e+02] [-5.93568241e-01 8.04650590e-01 -1.46346244e-02 -2.56160159e+01] [-2.52010684e-02 -4.08349387e-04 9.99682319e-01 -3.52428314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.546875 meters 0.015322590731888928 Centerline is valid? [True, True] Translation: X:106.62, Y:-25.63, Z:-3.52 [[ 8.04368815e-01 5.93770606e-01 2.06706868e-02 1.06624673e+02] [-5.93587529e-01 8.04634267e-01 -1.47493225e-02 -2.56345266e+01] [-2.53900571e-02 -4.05966819e-04 9.99677538e-01 -3.52467739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.576875 meters 0.015447946968873978 Centerline is valid? [True, True] Translation: X:106.65, Y:-25.65, Z:-3.52 [[ 8.03802033e-01 5.94530536e-01 2.08742133e-02 1.06651304e+02] [-5.94343885e-01 8.04072919e-01 -1.49026279e-02 -2.56533990e+01] [-2.56444569e-02 -4.27698435e-04 9.99671035e-01 -3.52485513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60687499999999 meters 0.0156446973322136 Centerline is valid? [True, True] Translation: X:106.68, Y:-25.67, Z:-3.53 [[ 8.03196536e-01 5.95387559e-01 1.97225540e-02 1.06677275e+02] [-5.95221006e-01 8.03438532e-01 -1.40882912e-02 -2.56715515e+01] [-2.42338531e-02 -4.23611739e-04 9.99706227e-01 -3.52665805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63687499999999 meters 0.015807677350960777 Centerline is valid? [True, True] Translation: X:106.70, Y:-25.69, Z:-3.53 [[ 8.02807862e-01 5.95935239e-01 1.89928387e-02 1.06703316e+02] [-5.95780782e-01 8.03032388e-01 -1.35736410e-02 -2.56898761e+01] [-2.33408756e-02 -4.18542557e-04 9.99727477e-01 -3.52776358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66687499999999 meters 0.01570116432134545 Centerline is valid? [True, True] Translation: X:106.73, Y:-25.71, Z:-3.53 [[ 8.02463362e-01 5.96408737e-01 1.86861022e-02 1.06730231e+02] [-5.96259213e-01 8.02680784e-01 -1.33607188e-02 -2.57088527e+01] [-2.29674246e-02 -4.20273264e-04 9.99736126e-01 -3.52919281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69687499999999 meters 0.016341132728609906 Centerline is valid? [True, True] Translation: X:106.76, Y:-25.73, Z:-3.53 [[ 8.01940688e-01 5.97136435e-01 1.78664846e-02 1.06756420e+02] [-5.96999753e-01 8.02139580e-01 -1.27824048e-02 -2.57261228e+01] [-2.19642540e-02 -4.15556373e-04 9.99758670e-01 -3.53135413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72687499999999 meters 0.016410493271742224 Centerline is valid? [True, True] Translation: X:106.78, Y:-25.74, Z:-3.53 [[ 8.01105783e-01 5.98271529e-01 1.73407812e-02 1.06782393e+02] [-5.98142923e-01 8.01293326e-01 -1.24116996e-02 -2.57441616e+01] [-2.13206188e-02 -4.29181255e-04 9.99772598e-01 -3.53225133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.756875 meters 0.016390645020866967 Centerline is valid? [True, True] Translation: X:106.81, Y:-25.76, Z:-3.53 [[ 8.00795652e-01 5.98671418e-01 1.78565858e-02 1.06809383e+02] [-5.98535007e-01 8.00994590e-01 -1.27871884e-02 -2.57635075e+01] [-2.19583528e-02 -4.47866800e-04 9.99758786e-01 -3.53279756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.786875 meters 0.0165338404867761 Centerline is valid? [True, True] Translation: X:106.84, Y:-25.78, Z:-3.53 [[ 8.00453988e-01 5.99116136e-01 1.82556394e-02 1.06835919e+02] [-5.98973497e-01 8.00662001e-01 -1.30808908e-02 -2.57821083e+01] [-2.24535695e-02 -4.63992979e-04 9.99747779e-01 -3.53281468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.816875 meters 0.016770334698750788 Centerline is valid? [True, True] Translation: X:106.86, Y:-25.80, Z:-3.53 [[ 8.00179580e-01 5.99448829e-01 1.93323998e-02 1.06863025e+02] [-5.99288752e-01 8.00412930e-01 -1.38612456e-02 -2.58006879e+01] [-2.37830103e-02 -4.94204056e-04 9.99717022e-01 -3.53229594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.846875 meters 0.016805660756130263 Centerline is valid? [True, True] Translation: X:106.89, Y:-25.82, Z:-3.53 [[ 8.00318310e-01 5.99246523e-01 1.98546429e-02 1.06888745e+02] [-5.99077397e-01 8.00564401e-01 -1.42447122e-02 -2.58187517e+01] [-2.44310146e-02 -4.94163781e-04 9.99701396e-01 -3.53299049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.876875 meters 0.01624734890895217 Centerline is valid? [True, True] Translation: X:106.91, Y:-25.84, Z:-3.53 [[ 8.01393257e-01 5.97800735e-01 2.00780691e-02 1.06913457e+02] [-5.97627139e-01 8.01644609e-01 -1.44126055e-02 -2.58377711e+01] [-2.47113421e-02 -4.49034138e-04 9.99694527e-01 -3.53413757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.906875 meters 0.014735591148448688 Centerline is valid? [True, True] Translation: X:106.94, Y:-25.86, Z:-3.53 [[ 8.04473929e-01 5.93632412e-01 2.05488874e-02 1.06937434e+02] [-5.93449123e-01 8.04736263e-01 -1.47541503e-02 -2.58592209e+01] [-2.52949767e-02 -3.25389932e-04 9.99679978e-01 -3.53442208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.936875 meters 0.014345248212663121 Centerline is valid? [True, True] Translation: X:106.96, Y:-25.88, Z:-3.54 [[ 8.05559026e-01 5.92182875e-01 1.98518950e-02 1.06962813e+02] [-5.92011206e-01 8.05803557e-01 -1.42604117e-02 -2.58790250e+01] [-2.44414992e-02 -2.64940902e-04 9.99701227e-01 -3.53600154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.966875 meters 0.014072649094514915 Centerline is valid? [True, True] Translation: X:106.99, Y:-25.90, Z:-3.54 [[ 8.06325424e-01 5.91173173e-01 1.88040020e-02 1.06988503e+02] [-5.91018740e-01 8.06544625e-01 -1.35135644e-02 -2.58987808e+01] [-2.31551235e-02 -2.17187037e-04 9.99731861e-01 -3.53780558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99687499999999 meters 0.014012927401515874 Centerline is valid? [True, True] Translation: X:107.01, Y:-25.92, Z:-3.54 [[ 8.07061391e-01 5.90223798e-01 1.69640596e-02 1.07014304e+02] [-5.90097737e-01 8.07239643e-01 -1.21991762e-02 -2.59167132e+01] [-2.08943055e-02 -1.64969086e-04 9.99781677e-01 -3.54145125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02687499999999 meters 0.013971113209215163 Centerline is valid? [True, True] Translation: X:107.04, Y:-25.94, Z:-3.54 [[ 8.07023344e-01 5.90297008e-01 1.62099968e-02 1.07041607e+02] [-5.90181902e-01 8.07186111e-01 -1.16578492e-02 -2.59355979e+01] [-1.99660778e-02 -1.58690328e-04 9.99800645e-01 -3.54316007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05687499999999 meters 0.013885084522652493 Centerline is valid? [True, True] Translation: X:107.07, Y:-25.95, Z:-3.54 [[ 8.06446475e-01 5.91096833e-01 1.57676145e-02 1.07068207e+02] [-5.90987949e-01 8.06600586e-01 -1.13462972e-02 -2.59538379e+01] [-1.94249274e-02 -1.68288794e-04 9.99811304e-01 -3.54373637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08687499999999 meters 0.01432659082696455 Centerline is valid? [True, True] Translation: X:107.09, Y:-25.97, Z:-3.55 [[ 8.05426043e-01 5.92506740e-01 1.49884221e-02 1.07094371e+02] [-5.92408497e-01 8.05565471e-01 -1.07909755e-02 -2.59703725e+01] [-1.84678810e-02 -1.87935965e-04 9.99829436e-01 -3.54523005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.116875 meters 0.015263640769492928 Centerline is valid? [True, True] Translation: X:107.12, Y:-25.98, Z:-3.55 [[ 8.03236405e-01 5.95456918e-01 1.55671583e-02 1.07122347e+02] [-5.95351357e-01 8.03387199e-01 -1.12147322e-02 -2.59847990e+01] [-1.91843455e-02 -2.59847669e-04 9.99815930e-01 -3.54548151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.146875 meters 0.015367669177553367 Centerline is valid? [True, True] Translation: X:107.15, Y:-26.00, Z:-3.55 [[ 8.01874258e-01 5.97287159e-01 1.56755959e-02 1.07148936e+02] [-5.97180445e-01 8.02027404e-01 -1.12941967e-02 -2.60022256e+01] [-1.93181362e-02 -3.04633737e-04 9.99813341e-01 -3.54501706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.176875 meters 0.016114390296767037 Centerline is valid? [True, True] Translation: X:107.18, Y:-26.02, Z:-3.55 [[ 8.00399347e-01 5.99245501e-01 1.63007644e-02 1.07176417e+02] [-5.99130377e-01 8.00565238e-01 -1.17512263e-02 -2.60181688e+01] [-2.00916948e-02 -3.60609280e-04 9.99798076e-01 -3.54558332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.206875 meters 0.01756796046920751 Centerline is valid? [True, True] Translation: X:107.21, Y:-26.03, Z:-3.55 [[ 7.97362200e-01 6.03248893e-01 1.74440780e-02 1.07206388e+02] [-6.03117865e-01 7.97552842e-01 -1.25819817e-02 -2.60319695e+01] [-2.15026405e-02 -4.88438491e-04 9.99768672e-01 -3.54505571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.236875 meters 0.01858250772841064 Centerline is valid? [True, True] Translation: X:107.23, Y:-26.05, Z:-3.55 [[ 7.95792109e-01 6.05298834e-01 1.81174452e-02 1.07234005e+02] [-6.05157883e-01 7.95998121e-01 -1.30739432e-02 -2.60474899e+01] [-2.23350949e-02 -5.59773928e-04 9.99750384e-01 -3.54558754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.266875 meters 0.018202960000023964 Centerline is valid? [True, True] Translation: X:107.26, Y:-26.07, Z:-3.55 [[ 7.94872347e-01 6.06494380e-01 1.85072427e-02 1.07260966e+02] [-6.06347482e-01 7.95087546e-01 -1.33613416e-02 -2.60656072e+01] [-2.28184568e-02 -6.01259063e-04 9.99739444e-01 -3.54502845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.296875 meters 0.016971795061327462 Centerline is valid? [True, True] Translation: X:107.29, Y:-26.08, Z:-3.55 [[ 7.96868614e-01 6.03912857e-01 1.70198133e-02 1.07287291e+02] [-6.03787918e-01 7.97050206e-01 -1.22930425e-02 -2.60836715e+01] [-2.09895721e-02 -4.80417883e-04 9.99779579e-01 -3.54994902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.326875 meters 0.016326272142158336 Centerline is valid? [True, True] Translation: X:107.31, Y:-26.10, Z:-3.55 [[ 7.98704497e-01 6.01418553e-01 1.91533273e-02 1.07313310e+02] [-6.01259407e-01 7.98933985e-01 -1.38424172e-02 -2.61009673e+01] [-2.36273306e-02 -4.60117342e-04 9.99720730e-01 -3.54752366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35687499999999 meters 0.015923579448247644 Centerline is valid? [True, True] Translation: X:107.34, Y:-26.12, Z:-3.55 [[ 7.99685302e-01 6.00103372e-01 1.94771739e-02 1.07339702e+02] [-5.99938242e-01 7.99922349e-01 -1.40833793e-02 -2.61197626e+01] [-2.40317100e-02 -4.22830026e-04 9.99711107e-01 -3.54710729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38687499999999 meters 0.015210516008823515 Centerline is valid? [True, True] Translation: X:107.37, Y:-26.14, Z:-3.55 [[ 8.00495897e-01 5.99034985e-01 1.90631747e-02 1.07366281e+02] [-5.98876344e-01 8.00722764e-01 -1.37906094e-02 -2.61382666e+01] [-2.35253754e-02 -3.77158092e-04 9.99723169e-01 -3.54812929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41687499999999 meters 0.014863852735919643 Centerline is valid? [True, True] Translation: X:107.39, Y:-26.16, Z:-3.55 [[ 8.01070356e-01 5.98284138e-01 1.85033699e-02 1.07393058e+02] [-5.98134330e-01 8.01283954e-01 -1.33920957e-02 -2.61556887e+01] [-2.28387318e-02 -3.39489837e-04 9.99739105e-01 -3.55054080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44687499999999 meters 0.014513797768551703 Centerline is valid? [True, True] Translation: X:107.42, Y:-26.17, Z:-3.55 [[ 8.02206740e-01 5.96794141e-01 1.73522093e-02 1.07419636e+02] [-5.96661923e-01 8.02394341e-01 -1.25646743e-02 -2.61728175e+01] [-2.14218385e-02 -2.73936164e-04 9.99770489e-01 -3.55306025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47687499999999 meters 0.014661788095026601 Centerline is valid? [True, True] Translation: X:107.45, Y:-26.19, Z:-3.55 [[ 8.02028507e-01 5.97043661e-01 1.70041565e-02 1.07446358e+02] [-5.96916635e-01 8.02208697e-01 -1.23181659e-02 -2.61911230e+01] [-2.09953651e-02 -2.70543660e-04 9.99779536e-01 -3.55413247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.506875 meters 0.014661788095026601 Centerline is valid? [True, True] Translation: X:107.47, Y:-26.21, Z:-3.56 [[ 8.01866941e-01 5.97260732e-01 1.70007964e-02 1.07472510e+02] [-5.97133657e-01 8.02047096e-01 -1.23228009e-02 -2.62101912e+01] [-2.09953645e-02 -2.70501025e-04 9.99779536e-01 -3.55516702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.536875 meters 0.014736936221278484 Centerline is valid? [True, True] Translation: X:107.50, Y:-26.23, Z:-3.56 [[ 8.01228928e-01 5.98115918e-01 1.70162756e-02 1.07500227e+02] [-5.97988656e-01 8.01409550e-01 -1.23410524e-02 -2.62282461e+01] [-2.10183856e-02 -2.87531611e-04 9.99779048e-01 -3.55682897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.566875 meters 0.014956073296644504 Centerline is valid? [True, True] Translation: X:107.53, Y:-26.25, Z:-3.56 [[ 8.00350419e-01 5.99290049e-01 1.70482588e-02 1.07527422e+02] [-5.99162416e-01 8.00531910e-01 -1.23717772e-02 -2.62455541e+01] [-2.10619582e-02 -3.12918844e-04 9.99778123e-01 -3.55762887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.596875 meters 0.015348626463391468 Centerline is valid? [True, True] Translation: X:107.56, Y:-26.26, Z:-3.56 [[ 7.98703124e-01 6.01507963e-01 1.61706497e-02 1.07555616e+02] [-6.01393480e-01 7.98866728e-01 -1.17402387e-02 -2.62614290e+01] [-1.99800411e-02 -3.47957922e-04 9.99800319e-01 -3.55866803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.626875 meters 0.01584389284790173 Centerline is valid? [True, True] Translation: X:107.58, Y:-26.28, Z:-3.56 [[ 7.97819551e-01 6.02693906e-01 1.56211090e-02 1.07583188e+02] [-6.02587195e-01 7.97972384e-01 -1.13466637e-02 -2.62783534e+01] [-1.93037787e-02 -3.60490117e-04 9.99813600e-01 -3.56074842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.656875 meters 0.016509052773445953 Centerline is valid? [True, True] Translation: X:107.61, Y:-26.29, Z:-3.56 [[ 7.95726975e-01 6.05414263e-01 1.70924200e-02 1.07611245e+02] [-6.05286977e-01 7.95910396e-01 -1.24224801e-02 -2.62941590e+01] [-2.11247814e-02 -4.60916721e-04 9.99776741e-01 -3.55946863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.686875 meters 0.017459090044781862 Centerline is valid? [True, True] Translation: X:107.64, Y:-26.31, Z:-3.56 [[ 7.94649029e-01 6.06797002e-01 1.81746660e-02 1.07637677e+02] [-6.06653254e-01 7.94856670e-01 -1.32175696e-02 -2.63106711e+01] [-2.24666361e-02 -5.22391416e-04 9.99747457e-01 -3.55859504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.716875 meters 0.017913832104266756 Centerline is valid? [True, True] Translation: X:107.66, Y:-26.33, Z:-3.56 [[ 7.93640550e-01 6.08116653e-01 1.81332214e-02 1.07664429e+02] [-6.07973851e-01 7.93847483e-01 -1.31897826e-02 -2.63291249e+01] [-2.24159386e-02 -5.56578137e-04 9.99748576e-01 -3.55829197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74687499999999 meters 0.01779730281260832 Centerline is valid? [True, True] Translation: X:107.69, Y:-26.35, Z:-3.56 [[ 7.92828824e-01 6.09178367e-01 1.80048245e-02 1.07690367e+02] [-6.09037711e-01 7.93033028e-01 -1.31027589e-02 -2.63479088e+01] [-2.22603377e-02 -5.77372187e-04 9.99752041e-01 -3.55910389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77687499999999 meters 0.018705050575110356 Centerline is valid? [True, True] Translation: X:107.72, Y:-26.36, Z:-3.56 [[ 7.91709169e-01 6.10606020e-01 1.88912637e-02 1.07717320e+02] [-6.10451399e-01 7.91934262e-01 -1.37555064e-02 -2.63630525e+01] [-2.33598340e-02 -6.41837860e-04 9.99726916e-01 -3.56071747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80687499999999 meters 0.018827579679002355 Centerline is valid? [True, True] Translation: X:107.74, Y:-26.38, Z:-3.56 [[ 7.91031150e-01 6.11474246e-01 1.92084900e-02 1.07743742e+02] [-6.11314485e-01 7.91264048e-01 -1.39931001e-02 -2.63810238e+01] [-2.37554079e-02 -6.73450156e-04 9.99717574e-01 -3.56190668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83687499999999 meters 0.020200246861512516 Centerline is valid? [True, True] Translation: X:107.77, Y:-26.40, Z:-3.56 [[ 7.90034118e-01 6.12738162e-01 1.99508918e-02 1.07770160e+02] [-6.12566020e-01 7.90285650e-01 -1.45417717e-02 -2.63967797e+01] [-2.46772020e-02 -7.32742667e-04 9.99695203e-01 -3.56261469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.866875 meters 0.020534672631935022 Centerline is valid? [True, True] Translation: X:107.80, Y:-26.42, Z:-3.56 [[ 7.88216618e-01 6.15055927e-01 2.05126751e-02 1.07795851e+02] [-6.14874552e-01 7.88483057e-01 -1.49584351e-02 -2.64150848e+01] [-2.53741709e-02 -8.22234745e-04 9.99677686e-01 -3.56171536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.896875 meters 0.020077500021967915 Centerline is valid? [True, True] Translation: X:107.82, Y:-26.43, Z:-3.56 [[ 7.86945525e-01 6.16697062e-01 2.00368090e-02 1.07820983e+02] [-6.16524372e-01 7.87200109e-01 -1.46180615e-02 -2.64344312e+01] [-2.47878938e-02 -8.49563053e-04 9.99692372e-01 -3.56223387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.926875 meters 0.020749251149365815 Centerline is valid? [True, True] Translation: X:107.85, Y:-26.45, Z:-3.56 [[ 7.85495170e-01 6.18561141e-01 1.94795475e-02 1.07847972e+02] [-6.18398336e-01 7.85736180e-01 -1.42180959e-02 -2.64518350e+01] [-2.41005469e-02 -8.77874156e-04 9.99709154e-01 -3.56423126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.956875 meters 0.023663504010039693 Centerline is valid? [True, True] Translation: X:107.88, Y:-26.46, Z:-3.57 [[ 7.82474868e-01 6.22424618e-01 1.79074266e-02 1.07876074e+02] [-6.22287905e-01 7.82679222e-01 -1.30766410e-02 -2.64648568e+01] [-2.21549940e-02 -9.11432088e-04 9.99754133e-01 -3.56904307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.986875 meters 0.026125939893286376 Centerline is valid? [True, True] Translation: X:107.90, Y:-26.48, Z:-3.57 [[ 7.80748231e-01 6.24605304e-01 1.73324717e-02 1.07903153e+02] [-6.24477663e-01 7.80940032e-01 -1.26615056e-02 -2.64799442e+01] [-2.14440646e-02 -9.38293341e-04 9.99769609e-01 -3.57158083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.016875 meters 0.025193713936861817 Centerline is valid? [True, True] Translation: X:107.93, Y:-26.50, Z:-3.57 [[ 7.79348468e-01 6.26353881e-01 1.72273313e-02 1.07927589e+02] [-6.26228085e-01 7.79538237e-01 -1.25905583e-02 -2.64998657e+01] [-2.13155086e-02 -9.75806392e-04 9.99772323e-01 -3.57205863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.046875 meters 0.027344350321240284 Centerline is valid? [True, True] Translation: X:107.95, Y:-26.52, Z:-3.57 [[ 7.77108529e-01 6.29134419e-01 1.70943410e-02 1.07953826e+02] [-6.29011090e-01 7.77295828e-01 -1.24998010e-02 -2.65163454e+01] [-2.11514150e-02 -1.03882810e-03 9.99775744e-01 -3.57244679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.076875 meters 0.029121793945780145 Centerline is valid? [True, True] Translation: X:107.98, Y:-26.53, Z:-3.57 [[ 7.76456259e-01 6.29942695e-01 1.69670161e-02 1.07980023e+02] [-6.29821292e-01 7.76640908e-01 -1.24112841e-02 -2.65330800e+01] [-2.09956765e-02 -1.04936879e-03 9.99779016e-01 -3.57445751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10687499999999 meters 0.02872669241151572 Centerline is valid? [True, True] Translation: X:108.00, Y:-26.55, Z:-3.58 [[ 7.75927235e-01 6.30603560e-01 1.66155481e-02 1.08004976e+02] [-6.30487175e-01 7.76104417e-01 -1.21596103e-02 -2.65529851e+01] [-2.05632938e-02 -1.04091718e-03 9.99788011e-01 -3.57557168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13687499999999 meters 0.02947029640834224 Centerline is valid? [True, True] Translation: X:108.03, Y:-26.57, Z:-3.58 [[ 7.75911731e-01 6.30607675e-01 1.71739808e-02 1.08029946e+02] [-6.30483190e-01 7.76101033e-01 -1.25751236e-02 -2.65722269e+01] [-2.12587137e-02 -1.07072026e-03 9.99773435e-01 -3.57656653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16687499999999 meters 0.02929166390342165 Centerline is valid? [True, True] Translation: X:108.05, Y:-26.59, Z:-3.58 [[ 7.76261733e-01 6.30160431e-01 1.77637902e-02 1.08054909e+02] [-6.30026979e-01 7.76464194e-01 -1.30139180e-02 -2.65925255e+01] [-2.19938032e-02 -1.08946053e-03 9.99757513e-01 -3.57618114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19687499999999 meters 0.027576422355446904 Centerline is valid? [True, True] Translation: X:108.08, Y:-26.61, Z:-3.58 [[ 7.76522101e-01 6.29826086e-01 1.82353617e-02 1.08078073e+02] [-6.29685205e-01 7.76735402e-01 -1.33663034e-02 -2.66147651e+01] [-2.25824975e-02 -1.10330748e-03 9.99744374e-01 -3.57671521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22687499999999 meters 0.025985825610664093 Centerline is valid? [True, True] Translation: X:108.10, Y:-26.64, Z:-3.58 [[ 7.77374559e-01 6.28761397e-01 1.86520866e-02 1.08102080e+02] [-6.28613501e-01 7.77597529e-01 -1.36802645e-02 -2.66372839e+01] [-2.31054387e-02 -1.09026383e-03 9.99732439e-01 -3.57714137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.256875 meters 0.025097945467734493 Centerline is valid? [True, True] Translation: X:108.12, Y:-26.66, Z:-3.58 [[ 7.79192926e-01 6.26517684e-01 1.82750228e-02 1.08124433e+02] [-6.26375026e-01 7.79406563e-01 -1.34065954e-02 -2.66593904e+01] [-2.26431418e-02 -1.00069361e-03 9.99743110e-01 -3.57829844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.286875 meters 0.024724929469740486 Centerline is valid? [True, True] Translation: X:108.15, Y:-26.68, Z:-3.58 [[ 7.80052869e-01 6.25445879e-01 1.83023115e-02 1.08149359e+02] [-6.25302331e-01 7.80266955e-01 -1.34340244e-02 -2.66805252e+01] [-2.26829441e-02 -9.65228800e-04 9.99742243e-01 -3.58005620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.316875 meters 0.025460213973531327 Centerline is valid? [True, True] Translation: X:108.17, Y:-26.70, Z:-3.58 [[ 7.80930167e-01 6.24347089e-01 1.84061905e-02 1.08174157e+02] [-6.24201580e-01 7.81146486e-01 -1.35112509e-02 -2.66987830e+01] [-2.28136412e-02 -9.37829734e-04 9.99739295e-01 -3.58203936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.346875 meters 0.02303577734135092 Centerline is valid? [True, True] Translation: X:108.20, Y:-26.72, Z:-3.58 [[ 7.82573793e-01 6.22305819e-01 1.77123475e-02 1.08195253e+02] [-6.22170420e-01 7.82773762e-01 -1.30079549e-02 -2.67230289e+01] [-2.19596869e-02 -8.40414049e-04 9.99758504e-01 -3.58409918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.376875 meters 0.02278094596084016 Centerline is valid? [True, True] Translation: X:108.22, Y:-26.74, Z:-3.59 [[ 7.83115940e-01 6.21631287e-01 1.74346871e-02 1.08219877e+02] [-6.21499821e-01 7.83309579e-01 -1.28092376e-02 -2.67442745e+01] [-2.16193802e-02 -8.04536759e-04 9.99765950e-01 -3.58501645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.406875 meters 0.022382419985971642 Centerline is valid? [True, True] Translation: X:108.24, Y:-26.77, Z:-3.59 [[ 7.83909031e-01 6.20631122e-01 1.74253105e-02 1.08244616e+02] [-6.20499380e-01 7.84102300e-01 -1.28102432e-02 -2.67656557e+01] [-2.16136617e-02 -7.70328980e-04 9.99766101e-01 -3.58613747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.436875 meters 0.021893211033562853 Centerline is valid? [True, True] Translation: X:108.27, Y:-26.79, Z:-3.59 [[ 7.84733120e-01 6.19597248e-01 1.71225231e-02 1.08267658e+02] [-6.19469757e-01 7.84919564e-01 -1.25896013e-02 -2.67884100e+01] [-2.12402857e-02 -7.27408103e-04 9.99774135e-01 -3.58785204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.466875 meters 0.02103700227796899 Centerline is valid? [True, True] Translation: X:108.29, Y:-26.81, Z:-3.59 [[ 7.84882044e-01 6.19408293e-01 1.71331030e-02 1.08291548e+02] [-6.19280466e-01 7.85068692e-01 -1.26036864e-02 -2.68100448e+01] [-2.12574907e-02 -7.17788845e-04 9.99773776e-01 -3.58843888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49687499999999 meters 0.021308669459793716 Centerline is valid? [True, True] Translation: X:108.32, Y:-26.83, Z:-3.59 [[ 7.84995724e-01 6.19252116e-01 1.75650460e-02 1.08315802e+02] [-6.19117568e-01 7.85191881e-01 -1.29285284e-02 -2.68300667e+01] [-2.17979501e-02 -7.25989035e-04 9.99762133e-01 -3.58927644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52687499999999 meters 0.02107712258073908 Centerline is valid? [True, True] Translation: X:108.34, Y:-26.85, Z:-3.59 [[ 7.85990416e-01 6.17977736e-01 1.79606205e-02 1.08338606e+02] [-6.17836586e-01 7.86195285e-01 -1.32260083e-02 -2.68524280e+01] [-2.22939338e-02 -7.01212741e-04 9.99751213e-01 -3.58984557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55687499999999 meters 0.020232844133004014 Centerline is valid? [True, True] Translation: X:108.36, Y:-26.87, Z:-3.59 [[ 7.86533691e-01 6.17279904e-01 1.81734121e-02 1.08362425e+02] [-6.17135047e-01 7.86743321e-01 -1.33895811e-02 -2.68739233e+01] [-2.25629300e-02 -6.84092868e-04 9.99745191e-01 -3.59035360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58687499999999 meters 0.020234939606310703 Centerline is valid? [True, True] Translation: X:108.39, Y:-26.89, Z:-3.59 [[ 7.86902301e-01 6.16808207e-01 1.82319567e-02 1.08387313e+02] [-6.16662133e-01 7.87113201e-01 -1.34396182e-02 -2.68944718e+01] [-2.26402806e-02 -6.67290769e-04 9.99743453e-01 -3.59066343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.616875 meters 0.01828599998484707 Centerline is valid? [True, True] Translation: X:108.41, Y:-26.92, Z:-3.59 [[ 7.90442774e-01 6.12265007e-01 1.82149100e-02 1.08408810e+02] [-6.12117836e-01 7.90652439e-01 -1.34340878e-02 -2.69178508e+01] [-2.26268849e-02 -5.30793673e-04 9.99743838e-01 -3.59205413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.646875 meters 0.017207377638385053 Centerline is valid? [True, True] Translation: X:108.43, Y:-26.94, Z:-3.59 [[ 7.92240154e-01 6.09944634e-01 1.79744990e-02 1.08432538e+02] [-6.09800596e-01 7.92443902e-01 -1.32625714e-02 -2.69398105e+01] [-2.23332164e-02 -4.53718619e-04 9.99750480e-01 -3.59314113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.676875 meters 0.0163791020952535 Centerline is valid? [True, True] Translation: X:108.46, Y:-26.96, Z:-3.59 [[ 7.93373614e-01 6.08466070e-01 1.80928277e-02 1.08456832e+02] [-6.08319594e-01 7.93579784e-01 -1.33565663e-02 -2.69608988e+01] [-2.24851197e-02 -4.09474352e-04 9.99747094e-01 -3.59371306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.706875 meters 0.015893983377493988 Centerline is valid? [True, True] Translation: X:108.48, Y:-26.98, Z:-3.60 [[ 7.94574185e-01 6.06896490e-01 1.81249832e-02 1.08481729e+02] [-6.06748932e-01 7.94780801e-01 -1.33870309e-02 -2.69813910e+01] [-2.25299307e-02 -3.60324994e-04 9.99746104e-01 -3.59599163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.736875 meters 0.0158125248636626 Centerline is valid? [True, True] Translation: X:108.51, Y:-27.00, Z:-3.60 [[ 7.94097523e-01 6.07509422e-01 1.84777312e-02 1.08508144e+02] [-6.07356080e-01 7.94312380e-01 -1.36541063e-02 -2.70010708e+01] [-2.29720889e-02 -3.79870406e-04 9.99736035e-01 -3.59658397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.766875 meters 0.01615980983856031 Centerline is valid? [True, True] Translation: X:108.53, Y:-27.02, Z:-3.60 [[ 7.93521404e-01 6.08256389e-01 1.86533350e-02 1.08534514e+02] [-6.08100133e-01 7.93740516e-01 -1.37920702e-02 -2.70193812e+01] [-2.31950226e-02 -3.98792572e-04 9.99730880e-01 -3.59745562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.796875 meters 0.01652805036027414 Centerline is valid? [True, True] Translation: X:108.56, Y:-27.04, Z:-3.60 [[ 7.92609540e-01 6.09444222e-01 1.86509407e-02 1.08561067e+02] [-6.09288160e-01 7.92828832e-01 -1.37978476e-02 -2.70375813e+01] [-2.31960220e-02 -4.27491692e-04 9.99730845e-01 -3.59827536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.826875 meters 0.01776303413394273 Centerline is valid? [True, True] Translation: X:108.59, Y:-27.05, Z:-3.60 [[ 7.90273411e-01 6.12446486e-01 1.94225871e-02 1.08588704e+02] [-6.12277960e-01 7.90511872e-01 -1.43763853e-02 -2.70533429e+01] [-2.41585524e-02 -5.30746933e-04 9.99707999e-01 -3.59910199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85687499999999 meters 0.017596230895901083 Centerline is valid? [True, True] Translation: X:108.61, Y:-27.07, Z:-3.60 [[ 7.89574806e-01 6.13346119e-01 1.94464515e-02 1.08614152e+02] [-6.13177294e-01 7.89814049e-01 -1.44004964e-02 -2.70721864e+01] [-2.41915692e-02 -5.53853379e-04 9.99707188e-01 -3.59988791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88687499999999 meters 0.018123216561481796 Centerline is valid? [True, True] Translation: X:108.64, Y:-27.09, Z:-3.60 [[ 7.89117499e-01 6.13956077e-01 1.87485423e-02 1.08639974e+02] [-6.13799164e-01 7.89340001e-01 -1.38906200e-02 -2.70894940e+01] [-2.33272049e-02 -5.46508313e-04 9.99727734e-01 -3.60163649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91687499999999 meters 0.018649600660635195 Centerline is valid? [True, True] Translation: X:108.67, Y:-27.11, Z:-3.60 [[ 7.88097876e-01 6.15278277e-01 1.82860318e-02 1.08666532e+02] [-6.15129231e-01 7.88309787e-01 -1.35539209e-02 -2.71076508e+01] [-2.27544909e-02 -5.66456406e-04 9.99740923e-01 -3.60344765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94687499999999 meters 0.01904839052336877 Centerline is valid? [True, True] Translation: X:108.69, Y:-27.13, Z:-3.61 [[ 7.86743256e-01 6.17016720e-01 1.80393152e-02 1.08693425e+02] [-6.16871978e-01 7.86949810e-01 -1.33775680e-02 -2.71254096e+01] [-2.24502188e-02 -6.03236699e-04 9.99747780e-01 -3.60551473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97687499999999 meters 0.019085230888444063 Centerline is valid? [True, True] Translation: X:108.72, Y:-27.14, Z:-3.61 [[ 7.86156937e-01 6.17758083e-01 1.82269296e-02 1.08719602e+02] [-6.17610356e-01 7.86367954e-01 -1.35236570e-02 -2.71446082e+01] [-2.26874218e-02 -6.25423710e-04 9.99742412e-01 -3.60642066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.006875 meters 0.019355498795096373 Centerline is valid? [True, True] Translation: X:108.75, Y:-27.16, Z:-3.61 [[ 7.85480045e-01 6.18622799e-01 1.80812447e-02 1.08745714e+02] [-6.18477499e-01 7.85687866e-01 -1.34223577e-02 -2.71634226e+01] [-2.25095910e-02 -6.39848892e-04 9.99746422e-01 -3.60718004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.036875 meters 0.020432445890471794 Centerline is valid? [True, True] Translation: X:108.77, Y:-27.18, Z:-3.61 [[ 7.84887585e-01 6.19388422e-01 1.75915007e-02 1.08771698e+02] [-6.19250934e-01 7.85084438e-01 -1.30654545e-02 -2.71799295e+01] [-2.19034047e-02 -6.38640245e-04 9.99759888e-01 -3.60899251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.066875 meters 0.019793025724685425 Centerline is valid? [True, True] Translation: X:108.80, Y:-27.20, Z:-3.61 [[ 7.84340515e-01 6.20087219e-01 1.73723278e-02 1.08796444e+02] [-6.19953184e-01 7.84532615e-01 -1.29083677e-02 -2.71996405e+01] [-2.16334716e-02 -6.45474168e-04 9.99765761e-01 -3.61057646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.096875 meters 0.019872383624766857 Centerline is valid? [True, True] Translation: X:108.82, Y:-27.22, Z:-3.61 [[ 7.84040862e-01 6.20462299e-01 1.75060500e-02 1.08823102e+02] [-6.20326148e-01 7.84236001e-01 -1.30140344e-02 -2.72192738e+01] [-2.18035924e-02 -6.55925861e-04 9.99762058e-01 -3.61098549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.126875 meters 0.0186383876293012 Centerline is valid? [True, True] Translation: X:108.85, Y:-27.24, Z:-3.61 [[ 7.86346556e-01 6.17520534e-01 1.80964901e-02 1.08846040e+02] [-6.17374053e-01 7.86554541e-01 -1.34622567e-02 -2.72397881e+01] [-2.25470964e-02 -5.86304270e-04 9.99745610e-01 -3.61178092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.156875 meters 0.015078511377699774 Centerline is valid? [True, True] Translation: X:108.87, Y:-27.26, Z:-3.61 [[ 7.93794709e-01 6.07857616e-01 1.99769462e-02 1.08866957e+02] [-6.07675843e-01 7.94045972e-01 -1.48682675e-02 -2.72643979e+01] [-2.49004033e-02 -3.37155494e-04 9.99689880e-01 -3.60845315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.186875 meters 0.01429639633093188 Centerline is valid? [True, True] Translation: X:108.89, Y:-27.29, Z:-3.61 [[ 7.96236392e-01 6.04623745e-01 2.09221033e-02 1.08891237e+02] [-6.04423050e-01 7.96511186e-01 -1.55790982e-02 -2.72857112e+01] [-2.60841820e-02 -2.41156523e-04 9.99659721e-01 -3.60760887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.216875 meters 0.01391227569532775 Centerline is valid? [True, True] Translation: X:108.92, Y:-27.31, Z:-3.61 [[ 7.98035932e-01 6.02255486e-01 2.06635189e-02 1.08915976e+02] [-6.02058732e-01 7.98303392e-01 -1.53941058e-02 -2.73058346e+01] [-2.57669419e-02 -1.55602440e-04 9.99667965e-01 -3.60895963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24687499999999 meters 0.013763637737624547 Centerline is valid? [True, True] Translation: X:108.94, Y:-27.33, Z:-3.61 [[ 7.99476943e-01 6.00358568e-01 2.01545931e-02 1.08942087e+02] [-6.00170607e-01 7.99730943e-01 -1.50219931e-02 -2.73250873e+01] [-2.51368341e-02 -8.64572496e-05 9.99684016e-01 -3.61146600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27687499999999 meters 0.01371969671370175 Centerline is valid? [True, True] Translation: X:108.97, Y:-27.34, Z:-3.62 [[ 8.01196763e-01 5.98099214e-01 1.90020452e-02 1.08968613e+02] [-5.97931302e-01 8.01422068e-01 -1.41713786e-02 -2.73424139e+01] [-2.37045488e-02 -7.85492408e-06 9.99719008e-01 -3.61571232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30687499999999 meters 0.013682576215035127 Centerline is valid? [True, True] Translation: X:109.00, Y:-27.36, Z:-3.62 [[ 8.01129596e-01 5.98190301e-01 1.89666651e-02 1.08995197e+02] [-5.98022945e-01 8.01354082e-01 -1.41489448e-02 -2.73612120e+01] [-2.36627761e-02 -7.36245326e-06 9.99719997e-01 -3.61605007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33687499999999 meters 0.013627510802316476 Centerline is valid? [True, True] Translation: X:109.02, Y:-27.38, Z:-3.61 [[ 8.00324958e-01 5.99246357e-01 1.95899139e-02 1.09022633e+02] [-5.99067927e-01 8.00564677e-01 -1.46224509e-02 -2.73792169e+01] [-2.44454436e-02 -3.29767146e-05 9.99701165e-01 -3.61439210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.366875 meters 0.013697170579155976 Centerline is valid? [True, True] Translation: X:109.05, Y:-27.40, Z:-3.61 [[ 7.99906666e-01 5.99788230e-01 2.00849447e-02 1.09050133e+02] [-5.99600621e-01 8.00158782e-01 -1.50006084e-02 -2.73981594e+01] [-2.50683333e-02 -4.38586657e-05 9.99685739e-01 -3.61400124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.396875 meters 0.013697170579155976 Centerline is valid? [True, True] Translation: X:109.08, Y:-27.42, Z:-3.62 [[ 7.99745114e-01 6.00003759e-01 2.00808810e-02 1.09075997e+02] [-5.99816081e-01 7.99997179e-01 -1.50060459e-02 -2.74176039e+01] [-2.50683322e-02 -4.38234690e-05 9.99685739e-01 -3.61503568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.426875 meters 0.013626414664737609 Centerline is valid? [True, True] Translation: X:109.10, Y:-27.44, Z:-3.62 [[ 7.99218548e-01 6.00712160e-01 1.98648764e-02 1.09103638e+02] [-6.00528513e-01 7.99465382e-01 -1.48528613e-02 -2.74361699e+01] [-2.48035754e-02 -5.87424958e-05 9.99692342e-01 -3.61565273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.456875 meters 0.013709770037228425 Centerline is valid? [True, True] Translation: X:109.13, Y:-27.45, Z:-3.62 [[ 7.98327448e-01 6.01902416e-01 1.96664060e-02 1.09131045e+02] [-6.01722582e-01 7.98569643e-01 -1.47125988e-02 -2.74535995e+01] [-2.45605436e-02 -8.82491707e-05 9.99698340e-01 -3.61779558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.486875 meters 0.013911237950083708 Centerline is valid? [True, True] Translation: X:109.16, Y:-27.47, Z:-3.62 [[ 7.96450085e-01 6.04401614e-01 1.91298401e-02 1.09159512e+02] [-6.04231986e-01 7.96679776e-01 -1.43192625e-02 -2.74695218e+01] [-2.38949421e-02 -1.54283429e-04 9.99714463e-01 -3.62042648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.516875 meters 0.014152305354497534 Centerline is valid? [True, True] Translation: X:109.19, Y:-27.49, Z:-3.62 [[ 7.95364793e-01 6.05830312e-01 1.90913469e-02 1.09186090e+02] [-6.05661611e-01 7.95593864e-01 -1.42974611e-02 -2.74866058e+01] [-2.38507938e-02 -1.91198772e-04 9.99715511e-01 -3.62164765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.546875 meters 0.014354356883318231 Centerline is valid? [True, True] Translation: X:109.21, Y:-27.51, Z:-3.62 [[ 7.94212362e-01 6.07329180e-01 1.94419968e-02 1.09213689e+02] [-6.07154482e-01 7.94450258e-01 -1.45678914e-02 -2.75051089e+01] [-2.42932049e-02 -2.34296041e-04 9.99704849e-01 -3.62196767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.576875 meters 0.01460704795160393 Centerline is valid? [True, True] Translation: X:109.24, Y:-27.52, Z:-3.62 [[ 7.93122681e-01 6.08744640e-01 1.96564547e-02 1.09240251e+02] [-6.08566286e-01 7.93366175e-01 -1.47372770e-02 -2.75227167e+01] [-2.45660046e-02 -2.73786956e-04 9.99698173e-01 -3.62245432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60687499999999 meters 0.014999972030237224 Centerline is valid? [True, True] Translation: X:109.27, Y:-27.54, Z:-3.62 [[ 7.91277710e-01 6.11136459e-01 1.97942795e-02 1.09267829e+02] [-6.10956160e-01 7.91525179e-01 -1.48479494e-02 -2.75391955e+01] [-2.47417938e-02 -3.44585554e-04 9.99693816e-01 -3.62274826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63687499999999 meters 0.015670913155442057 Centerline is valid? [True, True] Translation: X:109.29, Y:-27.56, Z:-3.62 [[ 7.90028880e-01 6.12762399e-01 1.94064581e-02 1.09294168e+02] [-6.12589409e-01 7.90267105e-01 -1.45643151e-02 -2.75557451e+01] [-2.42607501e-02 -3.81961181e-04 9.99705592e-01 -3.62439184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66687499999999 meters 0.01584410352261026 Centerline is valid? [True, True] Translation: X:109.32, Y:-27.57, Z:-3.63 [[ 7.88914120e-01 6.14191752e-01 1.95704723e-02 1.09321214e+02] [-6.14016100e-01 7.89156709e-01 -1.46941343e-02 -2.75736390e+01] [-2.44691856e-02 -4.24175068e-04 9.99700495e-01 -3.62582455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69687499999999 meters 0.017099248181148427 Centerline is valid? [True, True] Translation: X:109.35, Y:-27.59, Z:-3.63 [[ 7.86600776e-01 6.17153049e-01 1.95277789e-02 1.09348343e+02] [-6.16978867e-01 7.86842968e-01 -1.46704162e-02 -2.75885236e+01] [-2.44191876e-02 -5.08466139e-04 9.99701678e-01 -3.62834200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72687499999999 meters 0.017876895634755807 Centerline is valid? [True, True] Translation: X:109.37, Y:-27.61, Z:-3.63 [[ 7.85331342e-01 6.18787490e-01 1.88871857e-02 1.09374518e+02] [-6.18624944e-01 7.85558243e-01 -1.41924612e-02 -2.76057174e+01] [-2.36191018e-02 -5.38299647e-04 9.99720885e-01 -3.62999516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.756875 meters 0.01758400816072654 Centerline is valid? [True, True] Translation: X:109.40, Y:-27.62, Z:-3.63 [[ 7.84505724e-01 6.19848525e-01 1.84004056e-02 1.09399869e+02] [-6.19694494e-01 7.84721288e-01 -1.38287601e-02 -2.76246462e+01] [-2.30109266e-02 -5.53888608e-04 9.99735060e-01 -3.63173431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.786875 meters 0.018032985276985356 Centerline is valid? [True, True] Translation: X:109.43, Y:-27.64, Z:-3.63 [[ 7.83482299e-01 6.21148124e-01 1.81795615e-02 1.09426385e+02] [-6.20997964e-01 7.83692971e-01 -1.36695426e-02 -2.76425783e+01] [-2.27380053e-02 -5.79626027e-04 9.99741290e-01 -3.63353728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.816875 meters 0.01931067347502586 Centerline is valid? [True, True] Translation: X:109.45, Y:-27.66, Z:-3.64 [[ 7.82196138e-01 6.22778257e-01 1.77888584e-02 1.09452694e+02] [-6.22634754e-01 7.82398155e-01 -1.33824950e-02 -2.76598391e+01] [-2.22522968e-02 -6.08225554e-04 9.99752202e-01 -3.63501034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.846875 meters 0.019189711530746414 Centerline is valid? [True, True] Translation: X:109.48, Y:-27.68, Z:-3.63 [[ 7.81515810e-01 6.23625213e-01 1.80175444e-02 1.09477267e+02] [-6.23478080e-01 7.81723218e-01 -1.35607609e-02 -2.76797427e+01] [-2.25415652e-02 -6.35594968e-04 9.99745705e-01 -3.63487078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.876875 meters 0.01951948003847558 Centerline is valid? [True, True] Translation: X:109.50, Y:-27.70, Z:-3.64 [[ 7.81138704e-01 6.24083026e-01 1.85122164e-02 1.09502306e+02] [-6.23927667e-01 7.81357754e-01 -1.39400993e-02 -2.76987187e+01] [-2.31644432e-02 -6.61132923e-04 9.99731450e-01 -3.63515070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.906875 meters 0.01937605364693459 Centerline is valid? [True, True] Translation: X:109.53, Y:-27.72, Z:-3.64 [[ 7.80709821e-01 6.24606796e-01 1.89348021e-02 1.09527939e+02] [-6.24444234e-01 7.80939101e-01 -1.42660089e-02 -2.77191247e+01] [-2.36975735e-02 -6.86114796e-04 9.99718938e-01 -3.63557573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.936875 meters 0.02021122552191292 Centerline is valid? [True, True] Translation: X:109.55, Y:-27.74, Z:-3.64 [[ 7.80329554e-01 6.25067689e-01 1.93951292e-02 1.09553505e+02] [-6.24897053e-01 7.80570227e-01 -1.46216699e-02 -2.77377228e+01] [-2.42787938e-02 -7.10237954e-04 9.99704974e-01 -3.63732600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.966875 meters 0.01940877540285902 Centerline is valid? [True, True] Translation: X:109.58, Y:-27.76, Z:-3.64 [[ 7.80014927e-01 6.25459348e-01 1.94246368e-02 1.09578713e+02] [-6.25288129e-01 7.80256425e-01 -1.46515059e-02 -2.77595279e+01] [-2.43201190e-02 -7.17601451e-04 9.99703965e-01 -3.63846747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99687499999999 meters 0.018469294175332517 Centerline is valid? [True, True] Translation: X:109.60, Y:-27.78, Z:-3.64 [[ 7.79794076e-01 6.25734829e-01 1.94196581e-02 1.09603216e+02] [-6.25563579e-01 7.80035516e-01 -1.46561398e-02 -2.77812198e+01] [-2.43188801e-02 -7.19459827e-04 9.99703993e-01 -3.63924198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02687499999999 meters 0.01948808706903566 Centerline is valid? [True, True] Translation: X:109.63, Y:-27.80, Z:-3.64 [[ 7.79453239e-01 6.26174544e-01 1.89232439e-02 1.09627184e+02] [-6.26011860e-01 7.79682589e-01 -1.42902592e-02 -2.78002737e+01] [-2.37023203e-02 -7.07586283e-04 9.99718810e-01 -3.64079247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05687499999999 meters 0.020415921649374943 Centerline is valid? [True, True] Translation: X:109.65, Y:-27.82, Z:-3.64 [[ 7.79182174e-01 6.26515643e-01 1.87959634e-02 1.09652255e+02] [-6.26355056e-01 7.79408525e-01 -1.42019406e-02 -2.78186006e+01] [-2.35474721e-02 -7.07047772e-04 9.99722470e-01 -3.64250487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08687499999999 meters 0.019618983192809622 Centerline is valid? [True, True] Translation: X:109.68, Y:-27.84, Z:-3.64 [[ 7.78882972e-01 6.26887495e-01 1.87985366e-02 1.09676858e+02] [-6.26726913e-01 7.79109463e-01 -1.42063694e-02 -2.78400446e+01] [-2.35519130e-02 -7.16449586e-04 9.99722359e-01 -3.64318376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.116875 meters 0.020447217788628992 Centerline is valid? [True, True] Translation: X:109.70, Y:-27.86, Z:-3.64 [[ 7.79023327e-01 6.26692794e-01 1.94627462e-02 1.09701072e+02] [-6.26520371e-01 7.79266073e-01 -1.47177679e-02 -2.78588222e+01] [-2.43901769e-02 -7.28322431e-04 9.99702250e-01 -3.64491036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.146875 meters 0.01835488680983189 Centerline is valid? [True, True] Translation: X:109.72, Y:-27.88, Z:-3.64 [[ 7.79482973e-01 6.26102544e-01 2.00474346e-02 1.09723276e+02] [-6.25919230e-01 7.79740392e-01 -1.51670395e-02 -2.78819360e+01] [-2.51279166e-02 -7.25625782e-04 9.99683981e-01 -3.64432735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.176875 meters 0.0195104680759407 Centerline is valid? [True, True] Translation: X:109.75, Y:-27.90, Z:-3.65 [[ 7.80006198e-01 6.25446528e-01 2.01735356e-02 1.09747938e+02] [-6.25260474e-01 7.80266715e-01 -1.52706530e-02 -2.79000600e+01] [-2.52917153e-02 -7.02510430e-04 9.99679867e-01 -3.64567027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.206875 meters 0.018576642918722883 Centerline is valid? [True, True] Translation: X:109.77, Y:-27.92, Z:-3.65 [[ 7.80659513e-01 6.24631323e-01 2.01602372e-02 1.09771450e+02] [-6.24445059e-01 7.80919498e-01 -1.52678219e-02 -2.79218183e+01] [-2.52802821e-02 -6.69990035e-04 9.99680178e-01 -3.64621848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.236875 meters 0.01807054891693433 Centerline is valid? [True, True] Translation: X:109.80, Y:-27.94, Z:-3.65 [[ 7.81440848e-01 6.23656511e-01 2.00687949e-02 1.09795589e+02] [-6.23471419e-01 7.81698254e-01 -1.52062315e-02 -2.79427058e+01] [-2.51712072e-02 -6.29549556e-04 9.99682957e-01 -3.64708745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.266875 meters 0.0180866054638251 Centerline is valid? [True, True] Translation: X:109.82, Y:-27.96, Z:-3.65 [[ 7.82921934e-01 6.21791823e-01 2.02033216e-02 1.09818694e+02] [-6.21603400e-01 7.83182359e-01 -1.53168260e-02 -2.79631378e+01] [-2.53467622e-02 -5.66574424e-04 9.99678559e-01 -3.64954314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.296875 meters 0.016954903940101927 Centerline is valid? [True, True] Translation: X:109.84, Y:-27.99, Z:-3.65 [[ 7.83793000e-01 6.20692778e-01 2.02239689e-02 1.09842362e+02] [-6.20503512e-01 7.84053695e-01 -1.53360844e-02 -2.79854703e+01] [-2.53756743e-02 -5.28728095e-04 9.99677846e-01 -3.65053472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.326875 meters 0.016561424123929292 Centerline is valid? [True, True] Translation: X:109.87, Y:-28.01, Z:-3.65 [[ 7.84474719e-01 6.19831788e-01 2.01982827e-02 1.09866433e+02] [-6.19642523e-01 7.84734548e-01 -1.53242610e-02 -2.80066069e+01] [-2.53487544e-02 -4.94219497e-04 9.99678547e-01 -3.65160847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35687499999999 meters 0.015695188110675842 Centerline is valid? [True, True] Translation: X:109.89, Y:-28.03, Z:-3.65 [[ 7.86102958e-01 6.17749324e-01 2.06860274e-02 1.09888707e+02] [-6.17549876e-01 7.86374966e-01 -1.57023433e-02 -2.80300291e+01] [-2.59670861e-02 -4.30995114e-04 9.99662705e-01 -3.65239482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38687499999999 meters 0.01580415862899471 Centerline is valid? [True, True] Translation: X:109.91, Y:-28.05, Z:-3.65 [[ 7.86590011e-01 6.17115425e-01 2.10880682e-02 1.09912450e+02] [-6.16907699e-01 7.86872533e-01 -1.60158818e-02 -2.80500132e+01] [-2.64772694e-02 -4.11458955e-04 9.99649331e-01 -3.65270230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41687499999999 meters 0.01539285810140816 Centerline is valid? [True, True] Translation: X:109.94, Y:-28.07, Z:-3.65 [[ 7.87305713e-01 6.16175406e-01 2.18537030e-02 1.09936829e+02] [-6.15951739e-01 7.87608862e-01 -1.66052860e-02 -2.80714606e+01] [-2.74439390e-02 -3.87389882e-04 9.99623269e-01 -3.65297309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44687499999999 meters 0.014915348372110336 Centerline is valid? [True, True] Translation: X:109.96, Y:-28.09, Z:-3.65 [[ 7.87949578e-01 6.15316904e-01 2.28160158e-02 1.09960187e+02] [-6.15072485e-01 7.88279756e-01 -1.73454227e-02 -2.80938906e+01] [-2.86583351e-02 -3.66185038e-04 9.99589198e-01 -3.65304285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47687499999999 meters 0.014809464187172274 Centerline is valid? [True, True] Translation: X:109.99, Y:-28.11, Z:-3.65 [[ 7.88207084e-01 6.14970094e-01 2.32674853e-02 1.09985466e+02] [-6.14715477e-01 7.88550353e-01 -1.76981344e-02 -2.81145406e+01] [-2.92314072e-02 -3.53088400e-04 9.99572609e-01 -3.65402007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.506875 meters 0.014821969484112999 Centerline is valid? [True, True] Translation: X:110.01, Y:-28.14, Z:-3.66 [[ 7.87804592e-01 6.15491041e-01 2.31236610e-02 1.10011165e+02] [-6.15239714e-01 7.88143796e-01 -1.75912129e-02 -2.81352974e+01] [-2.90520039e-02 -3.68156270e-04 9.99577834e-01 -3.65587607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.536875 meters 0.015017738459161527 Centerline is valid? [True, True] Translation: X:110.04, Y:-28.16, Z:-3.66 [[ 7.87229862e-01 6.16251737e-01 2.24263317e-02 1.10037576e+02] [-6.16015385e-01 7.87549144e-01 -1.70701703e-02 -2.81553455e+01] [-2.81813604e-02 -3.76817612e-04 9.99602756e-01 -3.65829204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.566875 meters 0.014375276314884203 Centerline is valid? [True, True] Translation: X:110.06, Y:-28.18, Z:-3.66 [[ 7.89080775e-01 6.13891929e-01 2.20959079e-02 1.10060922e+02] [-6.13661299e-01 7.89390031e-01 -1.68282503e-02 -2.81779377e+01] [-2.77730165e-02 -2.80554726e-04 9.99614216e-01 -3.65932906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.596875 meters 0.013859144194494254 Centerline is valid? [True, True] Translation: X:110.08, Y:-28.20, Z:-3.66 [[ 7.91390175e-01 6.10906940e-01 2.22329002e-02 1.10083912e+02] [-6.10672021e-01 7.91702395e-01 -1.69410947e-02 -2.82002241e+01] [-2.79512726e-02 -1.69994163e-04 9.99609272e-01 -3.65887008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.626875 meters 0.013648197703511574 Centerline is valid? [True, True] Translation: X:110.11, Y:-28.22, Z:-3.66 [[ 7.93065099e-01 6.08727236e-01 2.23360999e-02 1.10107646e+02] [-6.08489024e-01 7.93379572e-01 -1.70282889e-02 -2.82209376e+01] [-2.80865886e-02 -8.67300745e-05 9.99605490e-01 -3.66011011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.656875 meters 0.01350118825158226 Centerline is valid? [True, True] Translation: X:110.13, Y:-28.24, Z:-3.66 [[ 7.93961639e-01 6.07569300e-01 2.20104803e-02 1.10133382e+02] [-6.07337339e-01 7.94266671e-01 -1.67872570e-02 -2.82421239e+01] [-2.76816129e-02 -3.93484900e-05 9.99616790e-01 -3.66091069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.686875 meters 0.013485605758682422 Centerline is valid? [True, True] Translation: X:110.16, Y:-28.26, Z:-3.67 [[ 7.94485540e-01 6.06912300e-01 2.12175941e-02 1.10159289e+02] [-6.06696261e-01 7.94768809e-01 -1.61921670e-02 -2.82606662e+01] [-2.66903073e-02 -8.19246603e-06 9.99643750e-01 -3.66573258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.716875 meters 0.013563081783726942 Centerline is valid? [True, True] Translation: X:110.19, Y:-28.28, Z:-3.67 [[ 7.94144778e-01 6.07365271e-01 2.10118710e-02 1.10186414e+02] [-6.07153427e-01 7.94422701e-01 -1.60402359e-02 -2.82797612e+01] [-2.64345896e-02 -1.91598945e-05 9.99650545e-01 -3.66807684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74687499999999 meters 0.013639863491929114 Centerline is valid? [True, True] Translation: X:110.21, Y:-28.30, Z:-3.67 [[ 7.92525373e-01 6.09503007e-01 2.02389856e-02 1.10213403e+02] [-6.09306946e-01 7.92783752e-01 -1.54586002e-02 -2.82971347e+01] [-2.54672022e-02 -8.04216164e-05 9.99675655e-01 -3.66977856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77687499999999 meters 0.01370589615342587 Centerline is valid? [True, True] Translation: X:110.24, Y:-28.32, Z:-3.67 [[ 7.91322969e-01 6.11063774e-01 2.02243173e-02 1.10239708e+02] [-6.10868306e-01 7.91581359e-01 -1.54552347e-02 -2.83162728e+01] [-2.54533266e-02 -1.24312252e-04 9.99676004e-01 -3.66900007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80687499999999 meters 0.013843912074089576 Centerline is valid? [True, True] Translation: X:110.27, Y:-28.34, Z:-3.67 [[ 7.90289368e-01 6.12390896e-01 2.04964895e-02 1.10266132e+02] [-6.12190343e-01 7.90555099e-01 -1.56722389e-02 -2.83352605e+01] [-2.58011407e-02 -1.62149164e-04 9.99667082e-01 -3.66877862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83687499999999 meters 0.013933856186600023 Centerline is valid? [True, True] Translation: X:110.29, Y:-28.35, Z:-3.67 [[ 7.89225291e-01 6.13761261e-01 2.05074223e-02 1.10292804e+02] [-6.13560717e-01 7.89491656e-01 -1.56898532e-02 -2.83535013e+01] [-2.58202629e-02 -1.99719818e-04 9.99666581e-01 -3.66888547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.866875 meters 0.014433878204674969 Centerline is valid? [True, True] Translation: X:110.32, Y:-28.37, Z:-3.67 [[ 7.87244230e-01 6.16284519e-01 2.09741328e-02 1.10319793e+02] [-6.16075390e-01 7.87523532e-01 -1.60561886e-02 -2.83700675e+01] [-2.64128036e-02 -2.81505223e-04 9.99651081e-01 -3.66852162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.896875 meters 0.014764335451975976 Centerline is valid? [True, True] Translation: X:110.35, Y:-28.39, Z:-3.67 [[ 7.86154021e-01 6.17670798e-01 2.10865218e-02 1.10346068e+02] [-6.17459726e-01 7.86436699e-01 -1.61495027e-02 -2.83879532e+01] [-2.65582908e-02 -3.24081528e-04 9.99647214e-01 -3.66942727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.926875 meters 0.014939884958637744 Centerline is valid? [True, True] Translation: X:110.37, Y:-28.41, Z:-3.67 [[ 7.84919736e-01 6.19232212e-01 2.12714501e-02 1.10372313e+02] [-6.19017778e-01 7.85207824e-01 -1.62991923e-02 -2.84057061e+01] [-2.67954940e-02 -3.73848062e-04 9.99640866e-01 -3.67088032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.956875 meters 0.015556910408647946 Centerline is valid? [True, True] Translation: X:110.40, Y:-28.42, Z:-3.67 [[ 7.83632947e-01 6.20860921e-01 2.12396013e-02 1.10398481e+02] [-6.20647506e-01 7.83920620e-01 -1.62829526e-02 -2.84226931e+01] [-2.67596104e-02 -4.22447440e-04 9.99641808e-01 -3.67243399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.986875 meters 0.015650360540932762 Centerline is valid? [True, True] Translation: X:110.42, Y:-28.44, Z:-3.67 [[ 7.82608500e-01 6.22170729e-01 2.06765689e-02 1.10424814e+02] [-6.21968758e-01 7.82881461e-01 -1.58581892e-02 -2.84417409e+01] [-2.60538036e-02 -4.49426249e-04 9.99660441e-01 -3.67364821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.016875 meters 0.016651137212822156 Centerline is valid? [True, True] Translation: X:110.45, Y:-28.46, Z:-3.67 [[ 7.80398622e-01 6.24946699e-01 2.04845059e-02 1.10452691e+02] [-6.24749215e-01 7.80667242e-01 -1.57186486e-02 -2.84586758e+01] [-2.58149003e-02 -5.30867277e-04 9.99666599e-01 -3.67345177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.046875 meters 0.017090164094371082 Centerline is valid? [True, True] Translation: X:110.48, Y:-28.48, Z:-3.68 [[ 7.79244512e-01 6.26396545e-01 2.01335454e-02 1.10479296e+02] [-6.26206063e-01 7.79504363e-01 -1.54568729e-02 -2.84766870e+01] [-2.53763182e-02 -5.63064803e-04 9.99677811e-01 -3.67507423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.076875 meters 0.01867015567289823 Centerline is valid? [True, True] Translation: X:110.51, Y:-28.49, Z:-3.68 [[ 7.76929286e-01 6.29272490e-01 1.99253113e-02 1.10507194e+02] [-6.29086652e-01 7.77184483e-01 -1.53056984e-02 -2.84913751e+01] [-2.51170977e-02 -6.43302027e-04 9.99684309e-01 -3.67671211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10687499999999 meters 0.018115080982887447 Centerline is valid? [True, True] Translation: X:110.53, Y:-28.51, Z:-3.68 [[ 7.75770256e-01 6.30705479e-01 1.97764638e-02 1.10532785e+02] [-6.30522809e-01 7.76021993e-01 -1.51938755e-02 -2.85111270e+01] [-2.49298314e-02 -6.82554835e-04 9.99688970e-01 -3.67709791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13687499999999 meters 0.019888307119153955 Centerline is valid? [True, True] Translation: X:110.56, Y:-28.53, Z:-3.68 [[ 7.74755589e-01 6.31940689e-01 2.01181990e-02 1.10559385e+02] [-6.31751855e-01 7.75016409e-01 -1.54647566e-02 -2.85269749e+01] [-2.53647433e-02 -7.28302933e-04 9.99677998e-01 -3.67799004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16687499999999 meters 0.019498437399987047 Centerline is valid? [True, True] Translation: X:110.58, Y:-28.55, Z:-3.68 [[ 7.73860574e-01 6.33032191e-01 2.02498685e-02 1.10584526e+02] [-6.32841062e-01 7.74125095e-01 -1.55733065e-02 -2.85465658e+01] [-2.55343358e-02 -7.63380379e-04 9.99673654e-01 -3.67809069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19687499999999 meters 0.02049351031836809 Centerline is valid? [True, True] Translation: X:110.61, Y:-28.56, Z:-3.68 [[ 7.73058519e-01 6.34000556e-01 2.05869188e-02 1.10610733e+02] [-6.33803135e-01 7.73332174e-01 -1.58409107e-02 -2.85635260e+01] [-2.59636729e-02 -8.02102717e-04 9.99662565e-01 -3.67869878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22687499999999 meters 0.020015007798353683 Centerline is valid? [True, True] Translation: X:110.64, Y:-28.58, Z:-3.68 [[ 7.72922736e-01 6.34158703e-01 2.08130665e-02 1.10636566e+02] [-6.33956787e-01 7.73202484e-01 -1.60221946e-02 -2.85843132e+01] [-2.62533289e-02 -8.10666282e-04 9.99654993e-01 -3.67863406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.256875 meters 0.020005216636177176 Centerline is valid? [True, True] Translation: X:110.66, Y:-28.60, Z:-3.68 [[ 7.73554375e-01 6.33390489e-01 2.07392975e-02 1.10660847e+02] [-6.33189474e-01 7.73831952e-01 -1.59750147e-02 -2.86032238e+01] [-2.61671534e-02 -7.74362300e-04 9.99657281e-01 -3.67963582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.286875 meters 0.019941016882549293 Centerline is valid? [True, True] Translation: X:110.69, Y:-28.62, Z:-3.68 [[ 7.75712681e-01 6.30741415e-01 2.08591542e-02 1.10685478e+02] [-6.30536893e-01 7.75992785e-01 -1.60756134e-02 -2.86216212e+01] [-2.63261083e-02 -6.82409118e-04 9.99653175e-01 -3.68140226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.316875 meters 0.019941016882549293 Centerline is valid? [True, True] Translation: X:110.71, Y:-28.64, Z:-3.68 [[ 7.75547824e-01 6.30944160e-01 2.08576113e-02 1.10711047e+02] [-6.30739657e-01 7.75827942e-01 -1.60776150e-02 -2.86414841e+01] [-2.63259950e-02 -6.86763261e-04 9.99653175e-01 -3.68243475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.346875 meters 0.015995447459891867 Centerline is valid? [True, True] Translation: X:110.73, Y:-28.67, Z:-3.68 [[ 7.79259434e-01 6.26355777e-01 2.08128391e-02 1.10730946e+02] [-6.26150274e-01 7.79537149e-01 -1.60520211e-02 -2.86670118e+01] [-2.62786574e-02 -5.23276009e-04 9.99654519e-01 -3.68168626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.376875 meters 0.015281747776898093 Centerline is valid? [True, True] Translation: X:110.76, Y:-28.69, Z:-3.68 [[ 7.80548522e-01 6.24759251e-01 2.04910347e-02 1.10755238e+02] [-6.24559323e-01 7.80817308e-01 -1.58108540e-02 -2.86883752e+01] [-2.58777319e-02 -4.56728057e-04 9.99665011e-01 -3.68345655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.406875 meters 0.015196763737282291 Centerline is valid? [True, True] Translation: X:110.78, Y:-28.71, Z:-3.69 [[ 7.81636219e-01 6.23408604e-01 2.01626825e-02 1.10779489e+02] [-6.23214382e-01 7.81896127e-01 -1.55653677e-02 -2.87071257e+01] [-2.54687075e-02 -3.99218535e-04 9.99675540e-01 -3.68533937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.436875 meters 0.014403727899993403 Centerline is valid? [True, True] Translation: X:110.80, Y:-28.73, Z:-3.69 [[ 7.83023524e-01 6.21691644e-01 1.93302920e-02 1.10803615e+02] [-6.21512449e-01 7.83262022e-01 -1.49292001e-02 -2.87286749e+01] [-2.44220425e-02 -3.24102200e-04 9.99701685e-01 -3.68781495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.466875 meters 0.014139602789861034 Centerline is valid? [True, True] Translation: X:110.83, Y:-28.75, Z:-3.69 [[ 7.83274634e-01 6.21371816e-01 1.94400076e-02 1.10828194e+02] [-6.21190300e-01 7.83515776e-01 -1.50213328e-02 -2.87488969e+01] [-2.45653855e-02 -3.10115212e-04 9.99698177e-01 -3.68889190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49687499999999 meters 0.01436690913422501 Centerline is valid? [True, True] Translation: X:110.85, Y:-28.77, Z:-3.69 [[ 7.82941027e-01 6.21808146e-01 1.89203092e-02 1.10853427e+02] [-6.21636168e-01 7.83169544e-01 -1.46266954e-02 -2.87680146e+01] [-2.39128082e-02 -3.09708581e-04 9.99714000e-01 -3.69024435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52687499999999 meters 0.014423472880968298 Centerline is valid? [True, True] Translation: X:110.88, Y:-28.79, Z:-3.69 [[ 7.82194186e-01 6.22739657e-01 1.91722369e-02 1.10879065e+02] [-6.22563156e-01 7.82429042e-01 -1.48294004e-02 -2.87879887e+01] [-2.42357707e-02 -3.36457506e-04 9.99706214e-01 -3.69044045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55687499999999 meters 0.015165847123605691 Centerline is valid? [True, True] Translation: X:110.91, Y:-28.81, Z:-3.69 [[ 7.80213959e-01 6.25212562e-01 1.93760037e-02 1.10906357e+02] [-6.25032828e-01 7.80454408e-01 -1.49960088e-02 -2.88058004e+01] [-2.44977806e-02 -4.10542997e-04 9.99699800e-01 -3.69064732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58687499999999 meters 0.01582430588821172 Centerline is valid? [True, True] Translation: X:110.93, Y:-28.82, Z:-3.69 [[ 7.78860660e-01 6.26901091e-01 1.92637897e-02 1.10931890e+02] [-6.26723745e-01 7.79098720e-01 -1.49175203e-02 -2.88231546e+01] [-2.43602036e-02 -4.54404660e-04 9.99703143e-01 -3.69182969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.616875 meters 0.016404117636385458 Centerline is valid? [True, True] Translation: X:110.96, Y:-28.84, Z:-3.69 [[ 7.77341739e-01 6.28789320e-01 1.90738273e-02 1.10957835e+02] [-6.28615950e-01 7.77575549e-01 -1.47733636e-02 -2.88411008e+01] [-2.41206750e-02 -5.06159949e-04 9.99708926e-01 -3.69310419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.646875 meters 0.018336259435322785 Centerline is valid? [True, True] Translation: X:110.99, Y:-28.86, Z:-3.69 [[ 7.74211884e-01 6.32620007e-01 1.96948152e-02 1.10985840e+02] [-6.32436207e-01 7.74462083e-01 -1.52619210e-02 -2.88561950e+01] [-2.49078841e-02 -6.39753659e-04 9.99689546e-01 -3.69476317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.676875 meters 0.01860806211889321 Centerline is valid? [True, True] Translation: X:111.01, Y:-28.87, Z:-3.70 [[ 7.72555150e-01 6.34639519e-01 1.97793064e-02 1.11011691e+02] [-6.34454663e-01 7.72807988e-01 -1.53328001e-02 -2.88748401e+01] [-2.50164068e-02 -7.03639474e-04 9.99686793e-01 -3.69577674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.706875 meters 0.019232401107866365 Centerline is valid? [True, True] Translation: X:111.04, Y:-28.89, Z:-3.70 [[ 7.71157319e-01 6.36322517e-01 2.02495582e-02 1.11038041e+02] [-6.36129136e-01 7.71422752e-01 -1.57054496e-02 -2.88934955e+01] [-2.56147011e-02 -7.69961580e-04 9.99671593e-01 -3.69641395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.736875 meters 0.019894413849452116 Centerline is valid? [True, True] Translation: X:111.06, Y:-28.91, Z:-3.70 [[ 7.68980027e-01 6.38938672e-01 2.06662132e-02 1.11064485e+02] [-6.38737971e-01 7.69257187e-01 -1.60369793e-02 -2.89111463e+01] [-2.61442793e-02 -8.68178297e-04 9.99657803e-01 -3.69800562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.766875 meters 0.021576005405911442 Centerline is valid? [True, True] Translation: X:111.09, Y:-28.93, Z:-3.70 [[ 7.68004724e-01 6.40117295e-01 2.04595390e-02 1.11090581e+02] [-6.39920812e-01 7.68276676e-01 -1.58840843e-02 -2.89275137e+01] [-2.58862637e-02 -8.93432991e-04 9.99664495e-01 -3.69958607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.796875 meters 0.02084450134843515 Centerline is valid? [True, True] Translation: X:111.11, Y:-28.95, Z:-3.70 [[ 7.67264665e-01 6.41008427e-01 2.03255867e-02 1.11114704e+02] [-6.40814629e-01 7.67533299e-01 -1.57875380e-02 -2.89479585e+01] [-2.57205095e-02 -9.11713190e-04 9.99668757e-01 -3.70083518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.826875 meters 0.021750538984263816 Centerline is valid? [True, True] Translation: X:111.14, Y:-28.97, Z:-3.70 [[ 7.66396286e-01 6.42052322e-01 2.01382192e-02 1.11140882e+02] [-6.41862256e-01 7.66660255e-01 -1.56492095e-02 -2.89666300e+01] [-2.54867836e-02 -9.32466740e-04 9.99674724e-01 -3.70213986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85687499999999 meters 0.021845830789885376 Centerline is valid? [True, True] Translation: X:111.17, Y:-28.99, Z:-3.70 [[ 7.65222693e-01 6.43456216e-01 1.99581557e-02 1.11166357e+02] [-6.43269815e-01 7.65482310e-01 -1.55170121e-02 -2.89859131e+01] [-2.52621330e-02 -9.64509271e-04 9.99680396e-01 -3.70411807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88687499999999 meters 0.022420534866477326 Centerline is valid? [True, True] Translation: X:111.19, Y:-29.00, Z:-3.71 [[ 7.64401437e-01 6.44435840e-01 1.98214798e-02 1.11191795e+02] [-6.44252113e-01 7.64657753e-01 -1.54186595e-02 -2.90047398e+01] [-2.50929850e-02 -9.83984804e-04 9.99684637e-01 -3.70530796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91687499999999 meters 0.0234105531975763 Centerline is valid? [True, True] Translation: X:111.22, Y:-29.02, Z:-3.71 [[ 7.63932139e-01 6.45001391e-01 1.95164757e-02 1.11217065e+02] [-6.44823265e-01 7.64180766e-01 -1.51892490e-02 -2.90227236e+01] [-2.47112021e-02 -9.81122134e-04 9.99694150e-01 -3.70695527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94687499999999 meters 0.025341826742121664 Centerline is valid? [True, True] Translation: X:111.24, Y:-29.04, Z:-3.71 [[ 7.63236672e-01 6.45830241e-01 1.93153383e-02 1.11243072e+02] [-6.45655861e-01 7.63480396e-01 -1.50397500e-02 -2.90402957e+01] [-2.44600075e-02 -9.92172640e-04 9.99700317e-01 -3.70926293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97687499999999 meters 0.02398949591286612 Centerline is valid? [True, True] Translation: X:111.27, Y:-29.06, Z:-3.71 [[ 7.62770138e-01 6.46382289e-01 1.92782978e-02 1.11266708e+02] [-6.46208587e-01 7.63013061e-01 -1.50176984e-02 -2.90619690e+01] [-2.44167673e-02 -1.00274974e-03 9.99701363e-01 -3.70995625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.006875 meters 0.02376455023372909 Centerline is valid? [True, True] Translation: X:111.29, Y:-29.08, Z:-3.71 [[ 7.62518376e-01 6.46684042e-01 1.91174413e-02 1.11291865e+02] [-6.46513150e-01 7.62757336e-01 -1.48994560e-02 -2.90826004e+01] [-2.42172091e-02 -9.98568185e-04 9.99706222e-01 -3.71153881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.036875 meters 0.02344662901160986 Centerline is valid? [True, True] Translation: X:111.32, Y:-29.10, Z:-3.71 [[ 7.62387786e-01 6.46835821e-01 1.91907288e-02 1.11316837e+02] [-6.46663452e-01 7.62628625e-01 -1.49652917e-02 -2.91042126e+01] [-2.43154859e-02 -1.00058731e-03 9.99703834e-01 -3.71331088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.066875 meters 0.023894390249095537 Centerline is valid? [True, True] Translation: X:111.34, Y:-29.12, Z:-3.71 [[ 7.62590567e-01 6.46600552e-01 1.90618433e-02 1.11341645e+02] [-6.46430200e-01 7.62828137e-01 -1.48737867e-02 -2.91236635e+01] [-2.41583091e-02 -9.79541791e-04 9.99707666e-01 -3.71422812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.096875 meters 0.023724918790475644 Centerline is valid? [True, True] Translation: X:111.37, Y:-29.14, Z:-3.71 [[ 7.62861963e-01 6.46270239e-01 1.94011121e-02 1.11366284e+02] [-6.46093468e-01 7.63107998e-01 -1.51463982e-02 -2.91439801e+01] [-2.45938102e-02 -9.80320704e-04 9.99697046e-01 -3.71425274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.126875 meters 0.02364198227727943 Centerline is valid? [True, True] Translation: X:111.39, Y:-29.16, Z:-3.71 [[ 7.63136608e-01 6.45925217e-01 2.00781375e-02 1.11391000e+02] [-6.45735562e-01 7.63400040e-01 -1.56831880e-02 -2.91644497e+01] [-2.54578176e-02 -9.96752504e-04 9.99675400e-01 -3.71438559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.156875 meters 0.0224841302415409 Centerline is valid? [True, True] Translation: X:111.42, Y:-29.19, Z:-3.71 [[ 7.62922048e-01 6.46171061e-01 2.03201388e-02 1.11415563e+02] [-6.45976695e-01 7.63191940e-01 -1.58799463e-02 -2.91863602e+01] [-2.57693279e-02 -1.01117497e-03 9.99667404e-01 -3.71453235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.186875 meters 0.02369021255887598 Centerline is valid? [True, True] Translation: X:111.44, Y:-29.20, Z:-3.72 [[ 7.62914079e-01 6.46175130e-01 2.04892619e-02 1.11441308e+02] [-6.45977258e-01 7.63188494e-01 -1.60220107e-02 -2.92042130e+01] [-2.59901937e-02 -1.01217966e-03 9.99661685e-01 -3.71622422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.216875 meters 0.022703906341680586 Centerline is valid? [True, True] Translation: X:111.47, Y:-29.23, Z:-3.72 [[ 7.62931710e-01 6.46153179e-01 2.05249959e-02 1.11465578e+02] [-6.45954414e-01 7.63207085e-01 -1.60574214e-02 -2.92254038e+01] [-2.60403761e-02 -1.00749576e-03 9.99660384e-01 -3.71688178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24687499999999 meters 0.022590397141739663 Centerline is valid? [True, True] Translation: X:111.49, Y:-29.25, Z:-3.72 [[ 7.63255034e-01 6.45785600e-01 2.00676578e-02 1.11490313e+02] [-6.45595270e-01 7.63518188e-01 -1.57074338e-02 -2.92463586e+01] [-2.54656563e-02 -9.66807000e-04 9.99675230e-01 -3.71887474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27687499999999 meters 0.022397715487025464 Centerline is valid? [True, True] Translation: X:111.52, Y:-29.27, Z:-3.72 [[ 7.63804500e-01 6.45143209e-01 1.98223488e-02 1.11515460e+02] [-6.44957060e-01 7.64061110e-01 -1.55245254e-02 -2.92671385e+01] [-2.51610279e-02 -9.26861420e-04 9.99682982e-01 -3.72062401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30687499999999 meters 0.022022376293399797 Centerline is valid? [True, True] Translation: X:111.54, Y:-29.29, Z:-3.72 [[ 7.63993842e-01 6.44929937e-01 1.94624383e-02 1.11539693e+02] [-6.44750386e-01 7.64241168e-01 -1.52439178e-02 -2.92878790e+01] [-2.47052555e-02 -9.02155232e-04 9.99694372e-01 -3.72201359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33687499999999 meters 0.021382994815642424 Centerline is valid? [True, True] Translation: X:111.56, Y:-29.31, Z:-3.72 [[ 7.64642537e-01 6.44168130e-01 1.92148732e-02 1.11563443e+02] [-6.43992661e-01 7.64883443e-01 -1.50589498e-02 -2.93103314e+01] [-2.43976339e-02 -8.59523771e-04 9.99701964e-01 -3.72321423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.366875 meters 0.021990712281034535 Centerline is valid? [True, True] Translation: X:111.59, Y:-29.33, Z:-3.72 [[ 7.64866527e-01 6.43906562e-01 1.90665880e-02 1.11588138e+02] [-6.43733677e-01 7.65103671e-01 -1.49440849e-02 -2.93296526e+01] [-2.42105108e-02 -8.43574506e-04 9.99706527e-01 -3.72438442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.396875 meters 0.021170537492047576 Centerline is valid? [True, True] Translation: X:111.61, Y:-29.35, Z:-3.72 [[ 7.64877003e-01 6.43889902e-01 1.92084326e-02 1.11612238e+02] [-6.43714260e-01 7.65117691e-01 -1.50621941e-02 -2.93513429e+01] [-2.43951063e-02 -8.44016156e-04 9.99702039e-01 -3.72492738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.426875 meters 0.019848014882849915 Centerline is valid? [True, True] Translation: X:111.63, Y:-29.37, Z:-3.72 [[ 7.68316102e-01 6.39757958e-01 2.00030393e-02 1.11634296e+02] [-6.39565860e-01 7.68576095e-01 -1.56938302e-02 -2.93733648e+01] [-2.54141106e-02 -7.35438637e-04 9.99676739e-01 -3.72480436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.456875 meters 0.01548732925012073 Centerline is valid? [True, True] Translation: X:111.65, Y:-29.40, Z:-3.72 [[ 7.75078915e-01 6.31488786e-01 2.17850429e-02 1.11652891e+02] [-6.31257383e-01 7.75384850e-01 -1.71011862e-02 -2.94017831e+01] [-2.76909996e-02 -4.97200320e-04 9.99616407e-01 -3.72062450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.486875 meters 0.014582436618247176 Centerline is valid? [True, True] Translation: X:111.68, Y:-29.42, Z:-3.72 [[ 7.77044280e-01 6.29093341e-01 2.10654907e-02 1.11676331e+02] [-6.28876015e-01 7.77329667e-01 -1.65392420e-02 -2.94231172e+01] [-2.67795579e-02 -3.95858433e-04 9.99641285e-01 -3.72269290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.516875 meters 0.014998042562653848 Centerline is valid? [True, True] Translation: X:111.70, Y:-29.44, Z:-3.73 [[ 7.78575262e-01 6.27234230e-01 1.99444949e-02 1.11701290e+02] [-6.27038622e-01 7.78830614e-01 -1.56665511e-02 -2.94415768e+01] [-2.53599803e-02 -3.08379449e-04 9.99678336e-01 -3.72780535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.546875 meters 0.01347977577083757 Centerline is valid? [True, True] Translation: X:111.72, Y:-29.46, Z:-3.73 [[ 7.81134180e-01 6.24104842e-01 1.79593690e-02 1.11723377e+02] [-6.23945286e-01 7.81340587e-01 -1.41126567e-02 -2.94648949e+01] [-2.28401613e-02 -1.81785072e-04 9.99739113e-01 -3.73335722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.576875 meters 0.013246217783307195 Centerline is valid? [True, True] Translation: X:111.75, Y:-29.49, Z:-3.74 [[ 7.82179585e-01 6.22815386e-01 1.72073121e-02 1.11747928e+02] [-6.22668477e-01 7.82368824e-01 -1.35274283e-02 -2.94867312e+01] [-2.18875551e-02 -1.33572558e-04 9.99760430e-01 -3.73528179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60687499999999 meters 0.013202873229164224 Centerline is valid? [True, True] Translation: X:111.77, Y:-29.51, Z:-3.74 [[ 7.82736149e-01 6.22114902e-01 1.72385987e-02 1.11772433e+02] [-6.21967119e-01 7.82925946e-01 -1.35597227e-02 -2.95086871e+01] [-2.19322518e-02 -1.08156393e-04 9.99759453e-01 -3.73540896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63687499999999 meters 0.013385687916322176 Centerline is valid? [True, True] Translation: X:111.80, Y:-29.53, Z:-3.73 [[ 7.82445061e-01 6.22440704e-01 1.86359003e-02 1.11795639e+02] [-6.22267853e-01 7.82666951e-01 -1.46684454e-02 -2.95296868e+01] [-2.37159408e-02 -1.19269019e-04 9.99718730e-01 -3.73112211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66687499999999 meters 0.013459418041121935 Centerline is valid? [True, True] Translation: X:111.82, Y:-29.55, Z:-3.73 [[ 7.81534290e-01 6.23565174e-01 1.92516846e-02 1.11821876e+02] [-6.23380854e-01 7.81771354e-01 -1.51611579e-02 -2.95495273e+01] [-2.45043856e-02 -1.52166859e-04 9.99699711e-01 -3.72997266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69687499999999 meters 0.013727496395761709 Centerline is valid? [True, True] Translation: X:111.85, Y:-29.57, Z:-3.73 [[ 7.80090479e-01 6.25351250e-01 1.98660301e-02 1.11848764e+02] [-6.25155486e-01 7.80343366e-01 -1.56476479e-02 -2.95686290e+01] [-2.52876010e-02 -2.12776633e-04 9.99680195e-01 -3.73037663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72687499999999 meters 0.014202624360034796 Centerline is valid? [True, True] Translation: X:111.88, Y:-29.59, Z:-3.73 [[ 7.78400904e-01 6.27454966e-01 1.98065134e-02 1.11875050e+02] [-6.27260821e-01 7.78652805e-01 -1.56099760e-02 -2.95861730e+01] [-2.52169542e-02 -2.73030445e-04 9.99681965e-01 -3.73244256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.756875 meters 0.01539612652666392 Centerline is valid? [True, True] Translation: X:111.90, Y:-29.60, Z:-3.74 [[ 7.74856001e-01 6.31844933e-01 1.92395224e-02 1.11903439e+02] [-6.31662933e-01 7.75094718e-01 -1.51695938e-02 -2.96023021e+01] [-2.44972831e-02 -3.98642375e-04 9.99699817e-01 -3.73569905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.786875 meters 0.016167352168775014 Centerline is valid? [True, True] Translation: X:111.93, Y:-29.62, Z:-3.74 [[ 7.72753688e-01 6.34408100e-01 1.94447829e-02 1.11929701e+02] [-6.34222815e-01 7.72998146e-01 -1.53390980e-02 -2.96205581e+01] [-2.47620291e-02 -4.78980406e-04 9.99693259e-01 -3.73582477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.816875 meters 0.016839822311063745 Centerline is valid? [True, True] Translation: X:111.96, Y:-29.64, Z:-3.74 [[ 7.71027006e-01 6.36496575e-01 1.97349192e-02 1.11955857e+02] [-6.36306201e-01 7.71279333e-01 -1.55758862e-02 -2.96391145e+01] [-2.51351335e-02 -5.48022565e-04 9.99683912e-01 -3.73598300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.846875 meters 0.018027351577437463 Centerline is valid? [True, True] Translation: X:111.98, Y:-29.66, Z:-3.74 [[ 7.69343177e-01 6.38529695e-01 1.97712967e-02 1.11981712e+02] [-6.38339064e-01 7.69596945e-01 -1.56135291e-02 -2.96562388e+01] [-2.51856315e-02 -6.08628961e-04 9.99682606e-01 -3.73650866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.876875 meters 0.01947749462092276 Centerline is valid? [True, True] Translation: X:112.01, Y:-29.67, Z:-3.74 [[ 7.66736821e-01 6.41648451e-01 2.00477723e-02 1.12009265e+02] [-6.41453417e-01 7.66998533e-01 -1.58355351e-02 -2.96729055e+01] [-2.55374585e-02 -7.18024251e-04 9.99673608e-01 -3.73649351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.906875 meters 0.019936960473133914 Centerline is valid? [True, True] Translation: X:112.04, Y:-29.69, Z:-3.74 [[ 7.66370902e-01 6.42074625e-01 2.03915634e-02 1.12036143e+02] [-6.41872837e-01 7.66641786e-01 -1.61131299e-02 -2.96924603e+01] [-2.59788564e-02 -7.40156738e-04 9.99662219e-01 -3.73762159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.936875 meters 0.018749231977371893 Centerline is valid? [True, True] Translation: X:112.06, Y:-29.71, Z:-3.74 [[ 7.67359990e-01 6.40894246e-01 2.03275977e-02 1.12060141e+02] [-6.40693067e-01 7.67628874e-01 -1.60718562e-02 -2.97139674e+01] [-2.59044111e-02 -6.90851473e-04 9.99664186e-01 -3.73798241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.966875 meters 0.017700424445046745 Centerline is valid? [True, True] Translation: X:112.08, Y:-29.74, Z:-3.74 [[ 7.68864541e-01 6.39079707e-01 2.06020826e-02 1.12084312e+02] [-6.38872188e-01 7.69140253e-01 -1.62971604e-02 -2.97354163e+01] [-2.62610755e-02 -6.31788868e-04 9.99654919e-01 -3.73859712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99687499999999 meters 0.01724731308635089 Centerline is valid? [True, True] Translation: X:112.11, Y:-29.76, Z:-3.74 [[ 7.69424680e-01 6.38422426e-01 2.00615936e-02 1.12109036e+02] [-6.38225235e-01 7.69685949e-01 -1.58773100e-02 -2.97558123e+01] [-2.55775575e-02 -5.87421118e-04 9.99672668e-01 -3.74044995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02687499999999 meters 0.01708231716121628 Centerline is valid? [True, True] Translation: X:112.13, Y:-29.78, Z:-3.74 [[ 7.69942253e-01 6.37815852e-01 1.94901646e-02 1.12134230e+02] [-6.37629354e-01 7.70188705e-01 -1.54325719e-02 -2.97755643e+01] [-2.48542436e-02 -5.45311953e-04 9.99690937e-01 -3.74254931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05687499999999 meters 0.01675796043175445 Centerline is valid? [True, True] Translation: X:112.16, Y:-29.80, Z:-3.74 [[ 7.70430896e-01 6.37233114e-01 1.92403936e-02 1.12159198e+02] [-6.37051002e-01 7.70670938e-01 -1.52422589e-02 -2.97957309e+01] [-2.45408842e-02 -5.14004847e-04 9.99698695e-01 -3.74456485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08687499999999 meters 0.017182367664793943 Centerline is valid? [True, True] Translation: X:112.18, Y:-29.81, Z:-3.75 [[ 7.70285580e-01 6.37418842e-01 1.89035790e-02 1.12184931e+02] [-6.37242934e-01 7.70517336e-01 -1.49825894e-02 -2.98139643e+01] [-2.41157201e-02 -5.05299535e-04 9.99709046e-01 -3.74680026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.116875 meters 0.016732805590284054 Centerline is valid? [True, True] Translation: X:112.21, Y:-29.83, Z:-3.75 [[ 7.69733843e-01 6.38092859e-01 1.86363566e-02 1.12209459e+02] [-6.37921903e-01 7.69959245e-01 -1.47785632e-02 -2.98339561e+01] [-2.37793307e-02 -5.12979792e-04 9.99717100e-01 -3.74738557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.146875 meters 0.017467457335050233 Centerline is valid? [True, True] Translation: X:112.24, Y:-29.85, Z:-3.75 [[ 7.68959216e-01 6.39032164e-01 1.84287178e-02 1.12235110e+02] [-6.38865092e-01 7.69179831e-01 -1.46213027e-02 -2.98521275e+01] [-2.35184807e-02 -5.30279014e-04 9.99723262e-01 -3.74886143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.176875 meters 0.01800126167864841 Centerline is valid? [True, True] Translation: X:112.26, Y:-29.87, Z:-3.75 [[ 7.67408277e-01 6.40927262e-01 1.72273548e-02 1.12260523e+02] [-6.40781615e-01 7.67601425e-01 -1.36738440e-02 -2.98706959e+01] [-2.19876815e-02 -5.45551130e-04 9.99758093e-01 -3.75025344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.206875 meters 0.01800126167864841 Centerline is valid? [True, True] Translation: X:112.29, Y:-29.89, Z:-3.75 [[ 7.67230383e-01 6.41140275e-01 1.72246134e-02 1.12285806e+02] [-6.40994604e-01 7.67423513e-01 -1.36772961e-02 -2.98909047e+01] [-2.19876387e-02 -5.47247170e-04 9.99758093e-01 -3.75128729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.236875 meters 0.018538883185509395 Centerline is valid? [True, True] Translation: X:112.31, Y:-29.91, Z:-3.75 [[ 7.66325452e-01 6.42229348e-01 1.69341776e-02 1.12311517e+02] [-6.42088642e-01 7.66512328e-01 -1.34546170e-02 -2.99096642e+01] [-2.16212058e-02 -5.62627691e-04 9.99766076e-01 -3.75286726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.266875 meters 0.019087816530652255 Centerline is valid? [True, True] Translation: X:112.34, Y:-29.93, Z:-3.75 [[ 7.65143031e-01 6.43654965e-01 1.62612698e-02 1.12337450e+02] [-6.43525416e-01 7.65315593e-01 -1.29260177e-02 -2.99287113e+01] [-2.07648988e-02 -5.74288020e-04 9.99784221e-01 -3.75403516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.296875 meters 0.021709759915769702 Centerline is valid? [True, True] Translation: X:112.36, Y:-29.94, Z:-3.76 [[ 7.63013005e-01 6.46171087e-01 1.65553505e-02 1.12364831e+02] [-6.46037253e-01 7.63192312e-01 -1.31667392e-02 -2.99443865e+01] [-2.11428825e-02 -6.48979919e-04 9.99776254e-01 -3.75585798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.326875 meters 0.02092737852051465 Centerline is valid? [True, True] Translation: X:112.39, Y:-29.96, Z:-3.76 [[ 7.62059941e-01 6.47282740e-01 1.70205737e-02 1.12389234e+02] [-6.47141420e-01 7.62249679e-01 -1.35428940e-02 -2.99649374e+01] [-2.17400084e-02 -6.94221267e-04 9.99763417e-01 -3.75579661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35687499999999 meters 0.02186924693624024 Centerline is valid? [True, True] Translation: X:112.42, Y:-29.98, Z:-3.76 [[ 7.60793061e-01 6.48744759e-01 1.80043574e-02 1.12415394e+02] [-6.48586860e-01 7.61005677e-01 -1.43333130e-02 -2.99837378e+01] [-2.30000799e-02 -7.72704602e-04 9.99735165e-01 -3.75580452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38687499999999 meters 0.021491622129253617 Centerline is valid? [True, True] Translation: X:112.44, Y:-30.00, Z:-3.76 [[ 7.59863114e-01 6.49812204e-01 1.87655813e-02 1.12440443e+02] [-6.49640809e-01 7.60094340e-01 -1.49470296e-02 -3.00039283e+01] [-2.39763744e-02 -8.33190992e-04 9.99712178e-01 -3.75538055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41687499999999 meters 0.021958569478748736 Centerline is valid? [True, True] Translation: X:112.47, Y:-30.02, Z:-3.76 [[ 7.58757663e-01 6.51079169e-01 1.95633203e-02 1.12467218e+02] [-6.50893102e-01 7.59009287e-01 -1.55907530e-02 -3.00224007e+01] [-2.49995563e-02 -9.04026925e-04 9.99687053e-01 -3.75615983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44687499999999 meters 0.022455100985218048 Centerline is valid? [True, True] Translation: X:112.49, Y:-30.04, Z:-3.76 [[ 7.57870675e-01 6.52105681e-01 1.97539996e-02 1.12493294e+02] [-6.51916111e-01 7.58127493e-01 -1.57508316e-02 -3.00410639e+01] [-2.52472570e-02 -9.40857217e-04 9.99680794e-01 -3.75740615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47687499999999 meters 0.02365656601459134 Centerline is valid? [True, True] Translation: X:112.52, Y:-30.06, Z:-3.76 [[ 7.56141910e-01 6.54123208e-01 1.92935518e-02 1.12520177e+02] [-6.53942835e-01 7.56387382e-01 -1.53914961e-02 -3.00575987e+01] [-2.46613340e-02 -9.78724705e-04 9.99695384e-01 -3.76013387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.506875 meters 0.024351840495963138 Centerline is valid? [True, True] Translation: X:112.55, Y:-30.08, Z:-3.76 [[ 7.55494064e-01 6.54879265e-01 1.90228044e-02 1.12545232e+02] [-6.54703964e-01 7.55732877e-01 -1.51834902e-02 -3.00754194e+01] [-2.43195116e-02 -9.83268778e-04 9.99703753e-01 -3.76161758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.536875 meters 0.025910929884181838 Centerline is valid? [True, True] Translation: X:112.57, Y:-30.09, Z:-3.76 [[ 7.54955401e-01 6.55509775e-01 1.86889484e-02 1.12571034e+02] [-6.55340700e-01 7.55186048e-01 -1.49198115e-02 -3.00927019e+01] [-2.38937154e-02 -9.83836284e-04 9.99714020e-01 -3.76335372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.566875 meters 0.02452585714875691 Centerline is valid? [True, True] Translation: X:112.59, Y:-30.11, Z:-3.76 [[ 7.54372501e-01 6.56191097e-01 1.83132353e-02 1.12594854e+02] [-6.56028787e-01 7.54594119e-01 -1.46268839e-02 -3.01136154e+01] [-2.34170907e-02 -9.79890569e-04 9.99725302e-01 -3.76451810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.596875 meters 0.024161101907523283 Centerline is valid? [True, True] Translation: X:112.62, Y:-30.13, Z:-3.77 [[ 7.54955764e-01 6.55494490e-01 1.92033383e-02 1.12620201e+02] [-6.55315588e-01 7.55199296e-01 -1.53461552e-02 -3.01334131e+01] [-2.45616677e-02 -9.98578605e-04 9.99697818e-01 -3.76544236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.626875 meters 0.02389910808766584 Centerline is valid? [True, True] Translation: X:112.65, Y:-30.15, Z:-3.76 [[ 7.54520155e-01 6.55947754e-01 2.07817228e-02 1.12649193e+02] [-6.55738161e-01 7.54805509e-01 -1.66164802e-02 -3.01502241e+01] [-2.65857017e-02 -1.08989948e-03 9.99645944e-01 -3.76168519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.656875 meters 0.03103830906059998 Centerline is valid? [True, True] Translation: X:112.69, Y:-30.15, Z:-3.76 [[ 7.47075276e-01 6.64369556e-01 2.21726093e-02 1.12687666e+02] [-6.64134288e-01 7.47402787e-01 -1.77404084e-02 -3.01502891e+01] [-2.83580572e-02 -1.47216958e-03 9.99596745e-01 -3.76353745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.686875 meters 0.04393440621581623 Centerline is valid? [True, True] Translation: X:112.74, Y:-30.14, Z:-3.77 [[ 7.30394153e-01 6.82683791e-01 2.16153322e-02 1.12738703e+02] [-6.82467872e-01 7.30710859e-01 -1.72986822e-02 -3.01356618e+01] [-2.76040880e-02 -2.11691343e-03 9.99616693e-01 -3.76752854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.716875 meters 0.047976954278738625 Centerline is valid? [True, True] Translation: X:112.78, Y:-30.14, Z:-3.77 [[ 7.20860174e-01 6.92785248e-01 2.02289418e-02 1.12775102e+02] [-6.92599979e-01 7.21140158e-01 -1.61907552e-02 -3.01407138e+01] [-2.58046187e-02 -2.33929408e-03 9.99664268e-01 -3.77008655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74687499999999 meters 0.06326673927887949 Centerline is valid? [True, True] Translation: X:112.82, Y:-30.13, Z:-3.77 [[ 7.09916786e-01 7.04028709e-01 1.90193090e-02 1.12820677e+02] [-7.03868813e-01 7.10166828e-01 -1.52239865e-02 -3.01315626e+01] [-2.42250059e-02 -2.57933493e-03 9.99703204e-01 -3.77385213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77687499999999 meters 0.07655145410939866 Centerline is valid? [True, True] Translation: X:112.88, Y:-30.11, Z:-3.78 [[ 6.84054452e-01 7.29211910e-01 1.78744979e-02 1.12877547e+02] [-7.29078689e-01 6.84280261e-01 -1.43104825e-02 -3.01097009e+01] [-2.26665404e-02 -3.24276624e-03 9.99737822e-01 -3.77532139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80687499999999 meters 0.08819732652275426 Centerline is valid? [True, True] Translation: X:112.92, Y:-30.10, Z:-3.78 [[ 6.69277267e-01 7.42824388e-01 1.67292961e-02 1.12923395e+02] [-7.42711682e-01 6.69477373e-01 -1.33942089e-02 -3.01016573e+01] [-2.11494302e-02 -3.46060409e-03 9.99770337e-01 -3.77655467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83687499999999 meters 0.11114840195153146 Centerline is valid? [True, False] Translation: X:112.78, Y:-29.94, Z:-3.78 [[ 7.02364668e-01 7.11257359e-01 2.82284206e-02 1.12783825e+02] [-7.10846335e-01 7.02925471e-01 -2.43571601e-02 -2.99448980e+01] [-3.71666852e-02 -2.95846065e-03 9.99304701e-01 -3.78097905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.866875 meters 0.11529524953075988 Centerline is valid? [False, False] Translation: X:112.65, Y:-29.80, Z:-3.79 [[ 7.31308143e-01 6.81127436e-01 3.54092716e-02 1.12647194e+02] [-6.79605358e-01 7.32096406e-01 -4.65983861e-02 -2.98025422e+01] [-5.76624397e-02 1.00134485e-02 9.98285918e-01 -3.78824566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.896875 meters 0.13558110256703246 Centerline is valid? [False, False] Translation: X:112.53, Y:-29.66, Z:-3.79 [[ 7.43099216e-01 6.67689548e-01 4.46567265e-02 1.12533364e+02] [-6.64191363e-01 7.44048315e-01 -7.24012387e-02 -2.96595711e+01] [-8.15683124e-02 2.41406916e-02 9.96375350e-01 -3.79456253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.926875 meters 0.14196025078325208 Centerline is valid? [False, False] Translation: X:112.41, Y:-29.56, Z:-3.79 [[ 7.65802205e-01 6.39978250e-01 6.30461975e-02 1.12407415e+02] [-6.35013500e-01 7.68033769e-01 -8.29577302e-02 -2.95550483e+01] [-1.01512752e-01 2.34940262e-02 9.94556782e-01 -3.79148424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.956875 meters 0.1468537064514879 Centerline is valid? [False, False] Translation: X:112.28, Y:-29.47, Z:-3.78 [[ 7.88252512e-01 6.09209929e-01 8.67250801e-02 1.12282928e+02] [-6.03625915e-01 7.92896269e-01 -8.33742197e-02 -2.94654122e+01] [-1.19556395e-01 1.33704323e-02 9.92737377e-01 -3.78356652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.986875 meters 0.13473546864468186 Centerline is valid? [False, False] Translation: X:112.18, Y:-29.38, Z:-3.77 [[ 8.10228737e-01 5.75583576e-01 1.10602621e-01 1.12176583e+02] [-5.70511803e-01 8.17741897e-01 -7.62526956e-02 -2.93805375e+01] [-1.34334196e-01 -1.31797538e-03 9.90935208e-01 -3.77162566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.016875 meters 0.14018314267928114 Centerline is valid? [False, False] Translation: X:112.07, Y:-29.32, Z:-3.76 [[ 8.31700155e-01 5.38600368e-01 1.34849898e-01 1.12074382e+02] [-5.35198593e-01 8.42338379e-01 -6.34706349e-02 -2.93240019e+01] [-1.47774552e-01 -1.93829387e-02 9.88831120e-01 -3.75893421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.046875 meters 0.1253469365344216 Centerline is valid? [False, False] Translation: X:111.98, Y:-29.28, Z:-3.75 [[ 8.51277665e-01 5.00134004e-01 1.58720872e-01 1.11983410e+02] [-4.98909747e-01 8.65187429e-01 -5.03961937e-02 -2.92769240e+01] [-1.62528153e-01 -3.62862359e-02 9.86036464e-01 -3.74621661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.076875 meters 0.11763319055010196 Centerline is valid? [False, False] Translation: X:111.91, Y:-29.24, Z:-3.73 [[ 8.69135609e-01 4.61457139e-01 1.77934264e-01 1.11906397e+02] [-4.61923145e-01 8.85955740e-01 -4.13453084e-02 -2.92372828e+01] [-1.76720970e-01 -4.62572751e-02 9.83173415e-01 -3.73452581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10687499999999 meters 0.10118119691180465 Centerline is valid? [False, False] Translation: X:111.84, Y:-29.20, Z:-3.72 [[ 8.90589032e-01 4.10056460e-01 1.96735548e-01 1.11842342e+02] [-4.12124593e-01 9.10556357e-01 -3.22558573e-02 -2.91972252e+01] [-1.92365527e-01 -5.23528450e-02 9.79925856e-01 -3.72329778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13687499999999 meters 0.08992493946692137 Centerline is valid? [False, True] Translation: X:111.80, Y:-29.18, Z:-3.72 [[ 9.05265141e-01 3.71029178e-01 2.06959834e-01 1.11797824e+02] [-3.74101632e-01 9.27034634e-01 -2.55882102e-02 -2.91753038e+01] [-2.01352907e-01 -5.42598970e-02 9.78014760e-01 -3.71659088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16687499999999 meters 0.08528416595706237 Centerline is valid? [True, True] Translation: X:111.83, Y:-29.18, Z:-3.72 [[ 9.10514578e-01 3.59083923e-01 2.04992537e-01 1.11826270e+02] [-3.58352227e-01 9.32640860e-01 -4.20084156e-02 -2.91783657e+01] [-2.06268963e-01 -3.52102576e-02 9.77861622e-01 -3.72375731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19687499999999 meters 0.06531368510305206 Centerline is valid? [True, True] Translation: X:111.85, Y:-29.20, Z:-3.73 [[ 9.22697892e-01 3.25453316e-01 2.06660928e-01 1.11852570e+02] [-3.23886351e-01 9.45147646e-01 -4.23504436e-02 -2.92026023e+01] [-2.09108182e-01 -2.78579887e-02 9.77495627e-01 -3.72917426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22687499999999 meters 0.05476112154412294 Centerline is valid? [True, True] Translation: X:111.88, Y:-29.22, Z:-3.74 [[ 9.28679630e-01 3.07818369e-01 2.06886434e-01 1.11879930e+02] [-3.05819155e-01 9.51145057e-01 -4.23995924e-02 -2.92198889e+01] [-2.09830382e-01 -2.38941965e-02 9.77445793e-01 -3.73622913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.256875 meters 0.0464357553399324 Centerline is valid? [True, True] Translation: X:111.91, Y:-29.23, Z:-3.74 [[ 9.34370548e-01 2.90241161e-01 2.06668204e-01 1.11907290e+02] [-2.87822806e-01 9.56746482e-01 -4.23580225e-02 -2.92349922e+01] [-2.10023119e-01 -1.99057339e-02 9.77493760e-01 -3.74349103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.286875 meters 0.03975626348347797 Centerline is valid? [True, True] Translation: X:111.93, Y:-29.25, Z:-3.75 [[ 9.39502280e-01 2.73225352e-01 2.06599548e-01 1.11933867e+02] [-2.70402194e-01 9.61815656e-01 -4.23473503e-02 -2.92483905e+01] [-2.10281050e-01 -1.60795391e-02 9.77508736e-01 -3.75029638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.316875 meters 0.023976778316410676 Centerline is valid? [True, True] Translation: X:111.96, Y:-29.27, Z:-3.76 [[ 9.48005715e-01 2.42434388e-01 2.06181307e-01 1.11959486e+02] [-2.38898704e-01 9.70124281e-01 -4.22644993e-02 -2.92745611e+01] [-2.10267860e-01 -9.18946014e-03 9.77600624e-01 -3.75724235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.346875 meters 0.019233236529636537 Centerline is valid? [True, True] Translation: X:111.99, Y:-29.29, Z:-3.76 [[ 9.51178421e-01 2.29380267e-01 2.06504973e-01 1.11986816e+02] [-2.25527730e-01 9.73316471e-01 -4.23354526e-02 -2.92872150e+01] [-2.10705609e-01 -6.30402887e-03 9.77529235e-01 -3.76324392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.376875 meters 0.014880282439253404 Centerline is valid? [True, True] Translation: X:112.01, Y:-29.30, Z:-3.77 [[ 9.53731201e-01 2.17872615e-01 2.07191504e-01 1.12014648e+02] [-2.13725407e-01 9.75969925e-01 -4.24753438e-02 -2.93011203e+01] [-2.11466891e-01 -3.77202799e-03 9.77377883e-01 -3.76926064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.406875 meters 0.01261774755956115 Centerline is valid? [True, True] Translation: X:112.04, Y:-29.32, Z:-3.78 [[ 9.57482738e-01 1.99304595e-01 2.08577285e-01 1.12043134e+02] [-1.94663406e-01 9.79937529e-01 -4.27620917e-02 -2.93176805e+01] [-2.12915391e-01 3.41599798e-04 9.77070581e-01 -3.77519482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.436875 meters 0.013143348872782889 Centerline is valid? [True, True] Translation: X:112.07, Y:-29.33, Z:-3.78 [[ 9.58608872e-01 1.92356635e-01 2.09923691e-01 1.12072079e+02] [-1.87487162e-01 9.81323228e-01 -4.30498177e-02 -2.93278794e+01] [-2.14283913e-01 1.90994006e-03 9.76769552e-01 -3.78158318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.466875 meters 0.014149360594383244 Centerline is valid? [True, True] Translation: X:112.10, Y:-29.34, Z:-3.79 [[ 9.59774702e-01 1.86495078e-01 2.09885938e-01 1.12100547e+02] [-1.81477739e-01 9.82450456e-01 -4.30921242e-02 -2.93378426e+01] [-2.14239004e-01 3.26910518e-03 9.76775799e-01 -3.78838741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49687499999999 meters 0.01612631921779556 Centerline is valid? [True, True] Translation: X:112.13, Y:-29.35, Z:-3.80 [[ 9.61234521e-01 1.79237505e-01 2.09528312e-01 1.12127517e+02] [-1.74065210e-01 9.83793696e-01 -4.30263496e-02 -2.93491864e+01] [-2.13844568e-01 4.88682293e-03 9.76855475e-01 -3.79623936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52687499999999 meters 0.016888456425566453 Centerline is valid? [True, True] Translation: X:112.16, Y:-29.36, Z:-3.80 [[ 9.61542550e-01 1.78160466e-01 2.09032947e-01 1.12156664e+02] [-1.72987828e-01 9.83988160e-01 -4.29244884e-02 -2.93572748e+01] [-2.13333392e-01 5.11356655e-03 9.76966077e-01 -3.80351811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55687499999999 meters 0.017045873848274534 Centerline is valid? [True, True] Translation: X:112.19, Y:-29.36, Z:-3.81 [[ 9.61607259e-01 1.78534733e-01 2.08415041e-01 1.12186906e+02] [-1.73391338e-01 9.83920583e-01 -4.28454153e-02 -2.93640764e+01] [-2.12713244e-01 5.06309938e-03 9.77101551e-01 -3.81181655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58687499999999 meters 0.01658458009737404 Centerline is valid? [True, True] Translation: X:112.22, Y:-29.37, Z:-3.82 [[ 9.61495282e-01 1.80642591e-01 2.07111267e-01 1.12217655e+02] [-1.75600832e-01 9.83537950e-01 -4.26315400e-02 -2.93698475e+01] [-2.11402863e-01 4.62111387e-03 9.77388088e-01 -3.81998750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.616875 meters 0.013221482251196142 Centerline is valid? [True, True] Translation: X:112.25, Y:-29.37, Z:-3.83 [[ 9.60328584e-01 1.88787651e-01 2.05251634e-01 1.12249410e+02] [-1.84010097e-01 9.82013791e-01 -4.22989091e-02 -2.93677611e+01] [-2.09545447e-01 2.85247831e-03 9.77794748e-01 -3.82752555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.646875 meters 0.012877458378986408 Centerline is valid? [True, True] Translation: X:112.28, Y:-29.37, Z:-3.83 [[ 9.59052058e-01 1.95068481e-01 2.05347113e-01 1.12279841e+02] [-1.90426243e-01 9.80788489e-01 -4.23294999e-02 -2.93727781e+01] [-2.09659236e-01 1.49271476e-03 9.77773377e-01 -3.83486767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.676875 meters 0.01230504608020212 Centerline is valid? [True, True] Translation: X:112.31, Y:-29.37, Z:-3.84 [[ 9.57512316e-01 2.01973861e-01 2.05856076e-01 1.12312000e+02] [-1.97454066e-01 9.79390912e-01 -4.24892222e-02 -2.93744940e+01] [-2.10195282e-01 3.68343511e-05 9.77659420e-01 -3.84104923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.706875 meters 0.014845683404248581 Centerline is valid? [True, True] Translation: X:112.34, Y:-29.37, Z:-3.85 [[ 9.54148540e-01 2.16390140e-01 2.06823286e-01 1.12343900e+02] [-2.12150338e-01 9.76302055e-01 -4.27379509e-02 -2.93710913e+01] [-2.11170070e-01 -3.09927653e-03 9.77444421e-01 -3.84617660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.736875 meters 0.015418219626412747 Centerline is valid? [True, True] Translation: X:112.37, Y:-29.38, Z:-3.85 [[ 9.52306741e-01 2.23426829e-01 2.07827627e-01 1.12373839e+02] [-2.19300643e-01 9.74709681e-01 -4.29914577e-02 -2.93775976e+01] [-2.12177045e-01 -4.63567722e-03 9.77220247e-01 -3.85163513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.766875 meters 0.016411715972892423 Centerline is valid? [True, True] Translation: X:112.40, Y:-29.38, Z:-3.86 [[ 9.50638378e-01 2.29914886e-01 2.08388626e-01 1.12403486e+02] [-2.25919055e-01 9.73191650e-01 -4.31113907e-02 -2.93838032e+01] [-2.12714022e-01 -6.09561897e-03 9.77095486e-01 -3.85794591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.796875 meters 0.02830041662835773 Centerline is valid? [True, True] Translation: X:112.43, Y:-29.38, Z:-3.87 [[ 9.48130097e-01 2.39948028e-01 2.08504828e-01 1.12434304e+02] [-2.36185657e-01 9.70749876e-01 -4.31394729e-02 -2.93776554e+01] [-2.12757268e-01 -8.34401732e-03 9.77069456e-01 -3.86573825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.826875 meters 0.02248435796520467 Centerline is valid? [True, True] Translation: X:112.46, Y:-29.40, Z:-3.87 [[ 9.47484507e-01 2.43274447e-01 2.07582881e-01 1.12461240e+02] [-2.39623777e-01 9.69915305e-01 -4.29505231e-02 -2.93965010e+01] [-2.11786578e-01 -9.04683884e-03 9.77274066e-01 -3.87304625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85687499999999 meters 0.022401267165723163 Centerline is valid? [True, True] Translation: X:112.49, Y:-29.41, Z:-3.88 [[ 9.47141715e-01 2.45115203e-01 2.06980939e-01 1.12490612e+02] [-2.41528319e-01 9.69448136e-01 -4.28296940e-02 -2.94077221e+01] [-2.11155494e-01 -9.42596834e-03 9.77407033e-01 -3.88122106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88687499999999 meters 0.023099461828127745 Centerline is valid? [True, True] Translation: X:112.52, Y:-29.42, Z:-3.89 [[ 9.46975971e-01 2.46231503e-01 2.06413560e-01 1.12519801e+02] [-2.42687238e-01 9.69163180e-01 -4.27274455e-02 -2.94183810e+01] [-2.10569266e-01 -9.63207260e-03 9.77531487e-01 -3.88879952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91687499999999 meters 0.02379396748598596 Centerline is valid? [True, True] Translation: X:112.55, Y:-29.44, Z:-3.90 [[ 9.47013243e-01 2.45824803e-01 2.06727076e-01 1.12547088e+02] [-2.42249161e-01 9.69267660e-01 -4.28432896e-02 -2.94354352e+01] [-2.10905813e-01 -9.50629825e-03 9.77460162e-01 -3.89530157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94687499999999 meters 0.022380480889270953 Centerline is valid? [True, True] Translation: X:112.58, Y:-29.45, Z:-3.90 [[ 9.47132151e-01 2.45246629e-01 2.06868992e-01 1.12576422e+02] [-2.41641538e-01 9.69415785e-01 -4.29232201e-02 -2.94505491e+01] [-2.11068841e-01 -9.33417968e-03 9.77426630e-01 -3.90143183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97687499999999 meters 0.02177061877739287 Centerline is valid? [True, True] Translation: X:112.61, Y:-29.46, Z:-3.91 [[ 9.47169718e-01 2.44238095e-01 2.07887658e-01 1.12606338e+02] [-2.40561195e-01 9.69672584e-01 -4.31901840e-02 -2.94645795e+01] [-2.12131651e-01 -9.10126906e-03 9.77198715e-01 -3.90729530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.006875 meters 0.02454028539451416 Centerline is valid? [True, True] Translation: X:112.63, Y:-29.48, Z:-3.91 [[ 9.47450665e-01 2.42083300e-01 2.09124160e-01 1.12633712e+02] [-2.38303837e-01 9.70216979e-01 -4.34775177e-02 -2.94789426e+01] [-2.13420992e-01 -8.64228664e-03 9.76922101e-01 -3.91208858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.036875 meters 0.02082171442025606 Centerline is valid? [True, True] Translation: X:112.66, Y:-29.50, Z:-3.92 [[ 9.47448536e-01 2.41728622e-01 2.09543658e-01 1.12662340e+02] [-2.37924466e-01 9.70305992e-01 -4.35686943e-02 -2.94970014e+01] [-2.13853267e-01 -8.57646734e-03 9.76828145e-01 -3.91843496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.066875 meters 0.020333845125465645 Centerline is valid? [True, True] Translation: X:112.69, Y:-29.51, Z:-3.93 [[ 9.47559517e-01 2.41257071e-01 2.09585273e-01 1.12691516e+02] [-2.37427837e-01 9.70424746e-01 -4.36329588e-02 -2.95103907e+01] [-2.13913495e-01 -8.41655257e-03 9.76816348e-01 -3.92511932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.096875 meters 0.02115321386458847 Centerline is valid? [True, True] Translation: X:112.72, Y:-29.53, Z:-3.93 [[ 9.47960515e-01 2.40469828e-01 2.08674682e-01 1.12718375e+02] [-2.36643100e-01 9.70622429e-01 -4.34987767e-02 -2.95279748e+01] [-2.13004470e-01 -8.14630092e-03 9.77017264e-01 -3.93366403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.126875 meters 0.02115321386458847 Centerline is valid? [True, True] Translation: X:112.75, Y:-29.53, Z:-3.94 [[ 9.47893229e-01 2.40743794e-01 2.08664450e-01 1.12749413e+02] [-2.36912839e-01 9.70554427e-01 -4.35478078e-02 -2.95345277e+01] [-2.13004070e-01 -8.15661499e-03 9.77017265e-01 -3.94062587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.156875 meters 0.021743394491637712 Centerline is valid? [True, True] Translation: X:112.78, Y:-29.55, Z:-3.95 [[ 9.48206667e-01 2.40699604e-01 2.07286800e-01 1.12777457e+02] [-2.36905073e-01 9.70566447e-01 -4.33215711e-02 -2.95463192e+01] [-2.11613098e-01 -8.02949207e-03 9.77320533e-01 -3.94883954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.186875 meters 0.02018326893997893 Centerline is valid? [True, True] Translation: X:112.81, Y:-29.56, Z:-3.96 [[ 9.48439289e-01 2.40879157e-01 2.06010063e-01 1.12806937e+02] [-2.37125211e-01 9.70522398e-01 -4.31034810e-02 -2.95610872e+01] [-2.10320110e-01 -7.96914472e-03 9.77600094e-01 -3.95735174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21687499999999 meters 0.020281839261630585 Centerline is valid? [True, True] Translation: X:112.84, Y:-29.57, Z:-3.97 [[ 9.48781004e-01 2.40983227e-01 2.04307831e-01 1.12836913e+02] [-2.37280722e-01 9.70497435e-01 -4.28087430e-02 -2.95730131e+01] [-2.08596415e-01 -7.86218754e-03 9.77970205e-01 -3.96600694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24687499999999 meters 0.01913518673518426 Centerline is valid? [True, True] Translation: X:112.86, Y:-29.59, Z:-3.97 [[ 9.49059585e-01 2.41344043e-01 2.02580743e-01 1.12864508e+02] [-2.37699519e-01 9.70408182e-01 -4.25076286e-02 -2.95929225e+01] [-2.06844973e-01 -7.81107281e-03 9.78342549e-01 -3.97455589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27687499999999 meters 0.021003183129981416 Centerline is valid? [True, True] Translation: X:112.89, Y:-29.60, Z:-3.98 [[ 9.49090500e-01 2.41280784e-01 2.02511248e-01 1.12893477e+02] [-2.37625573e-01 9.70424488e-01 -4.25487861e-02 -2.96018998e+01] [-2.06788079e-01 -7.73920278e-03 9.78355148e-01 -3.98213092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30687499999999 meters 0.021068937327643943 Centerline is valid? [True, True] Translation: X:112.92, Y:-29.61, Z:-3.99 [[ 9.49003178e-01 2.41467030e-01 2.02698402e-01 1.12923977e+02] [-2.37802903e-01 9.70378015e-01 -4.26179319e-02 -2.96145558e+01] [-2.06984899e-01 -7.75771556e-03 9.78313380e-01 -3.98859181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33687499999999 meters 0.02005095805694691 Centerline is valid? [True, True] Translation: X:112.95, Y:-29.63, Z:-3.99 [[ 9.48791577e-01 2.42102116e-01 2.02931291e-01 1.12952706e+02] [-2.38431121e-01 9.70219050e-01 -4.27270013e-02 -2.96339249e+01] [-2.07232102e-01 -7.84611622e-03 9.78260341e-01 -3.99457608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.366875 meters 0.021834952159396924 Centerline is valid? [True, True] Translation: X:112.98, Y:-29.64, Z:-4.00 [[ 9.48344502e-01 2.43066080e-01 2.03866587e-01 1.12981556e+02] [-2.39369534e-01 9.69976469e-01 -4.29869216e-02 -2.96427746e+01] [-2.08194455e-01 -8.03303912e-03 9.78054466e-01 -4.00110196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.396875 meters 0.021295119510430952 Centerline is valid? [True, True] Translation: X:113.01, Y:-29.66, Z:-4.01 [[ 9.48021568e-01 2.44258799e-01 2.03942995e-01 1.13011255e+02] [-2.40580619e-01 9.69674816e-01 -4.30315830e-02 -2.96561092e+01] [-2.08269229e-01 -8.26986336e-03 9.78036573e-01 -4.00755809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.426875 meters 0.021162431982052015 Centerline is valid? [True, True] Translation: X:113.04, Y:-29.67, Z:-4.01 [[ 9.47674387e-01 2.45748452e-01 2.03766913e-01 1.13040766e+02] [-2.42099281e-01 9.69296047e-01 -4.30477873e-02 -2.96687083e+01] [-2.08089391e-01 -8.53653782e-03 9.78072560e-01 -4.01426769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.456875 meters 0.022549148432187298 Centerline is valid? [True, True] Translation: X:113.07, Y:-29.68, Z:-4.02 [[ 9.46989287e-01 2.48194799e-01 2.03986842e-01 1.13068007e+02] [-2.44581966e-01 9.68668058e-01 -4.31492172e-02 -2.96843643e+01] [-2.08304949e-01 -9.02965627e-03 9.78022246e-01 -4.02141479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.486875 meters 0.021986226387531716 Centerline is valid? [True, True] Translation: X:113.10, Y:-29.70, Z:-4.03 [[ 9.46551499e-01 2.49410025e-01 2.04535816e-01 1.13097559e+02] [-2.45799953e-01 9.68353347e-01 -4.32917731e-02 -2.96975352e+01] [-2.08860344e-01 -9.29700128e-03 9.77901285e-01 -4.02822602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.516875 meters 0.023421903091510425 Centerline is valid? [True, True] Translation: X:113.13, Y:-29.71, Z:-4.03 [[ 9.46050446e-01 2.50358034e-01 2.05692509e-01 1.13126365e+02] [-2.46716990e-01 9.68106637e-01 -4.35920384e-02 -2.97076668e+01] [-2.10045900e-01 -9.50756926e-03 9.77645297e-01 -4.03492752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.546875 meters 0.02385724242568027 Centerline is valid? [True, True] Translation: X:113.16, Y:-29.72, Z:-4.04 [[ 9.45448044e-01 2.51679430e-01 2.06846465e-01 1.13155792e+02] [-2.48017301e-01 9.67760958e-01 -4.38878860e-02 -2.97197907e+01] [-2.11223611e-01 -9.80778600e-03 9.77388558e-01 -4.04071047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.576875 meters 0.02313019899861288 Centerline is valid? [True, True] Translation: X:113.18, Y:-29.74, Z:-4.05 [[ 9.44775369e-01 2.53231404e-01 2.08022493e-01 1.13183064e+02] [-2.49552443e-01 9.67352374e-01 -4.41923302e-02 -2.97401064e+01] [-2.12421939e-01 -1.01606963e-02 9.77125212e-01 -4.04704414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60687499999999 meters 0.023116514646464536 Centerline is valid? [True, True] Translation: X:113.21, Y:-29.75, Z:-4.05 [[ 9.44763328e-01 2.53645311e-01 2.07572422e-01 1.13212551e+02] [-2.49980971e-01 9.67243731e-01 -4.41483658e-02 -2.97528508e+01] [-2.11971150e-01 -1.01793986e-02 9.77222908e-01 -4.05497647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63687499999999 meters 0.023527419648199325 Centerline is valid? [True, True] Translation: X:113.24, Y:-29.77, Z:-4.06 [[ 9.44685319e-01 2.54018417e-01 2.07471186e-01 1.13243028e+02] [-2.50352691e-01 9.67145652e-01 -4.41906932e-02 -2.97653230e+01] [-2.11880105e-01 -1.01946707e-02 9.77242493e-01 -4.06262626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66687499999999 meters 0.02628202208783115 Centerline is valid? [True, True] Translation: X:113.27, Y:-29.78, Z:-4.07 [[ 9.44386272e-01 2.54204919e-01 2.08601124e-01 1.13271841e+02] [-2.50489450e-01 9.67096261e-01 -4.44955828e-02 -2.97796635e+01] [-2.13048363e-01 -1.02313633e-02 9.76988083e-01 -4.06946764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69687499999999 meters 0.025857491841845694 Centerline is valid? [True, True] Translation: X:113.30, Y:-29.79, Z:-4.08 [[ 9.44240058e-01 2.54439560e-01 2.08976609e-01 1.13302375e+02] [-2.50703271e-01 9.67034414e-01 -4.46353307e-02 -2.97926337e+01] [-2.13444566e-01 -1.02446522e-02 9.76901461e-01 -4.07666473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72687499999999 meters 0.02446495649699553 Centerline is valid? [True, True] Translation: X:113.33, Y:-29.81, Z:-4.08 [[ 9.44220692e-01 2.54760069e-01 2.08673408e-01 1.13331894e+02] [-2.51029013e-01 9.66950068e-01 -4.46318372e-02 -2.98066690e+01] [-2.13147176e-01 -1.02407754e-02 9.76966431e-01 -4.08413563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.756875 meters 0.023381661034233888 Centerline is valid? [True, True] Translation: X:113.36, Y:-29.83, Z:-4.09 [[ 9.44331537e-01 2.55693262e-01 2.07023920e-01 1.13359234e+02] [-2.52029942e-01 9.66703051e-01 -4.43409380e-02 -2.98254007e+01] [-2.11468335e-01 -1.03036805e-02 9.77330537e-01 -4.09332996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.786875 meters 0.025473612325395068 Centerline is valid? [True, True] Translation: X:113.39, Y:-29.83, Z:-4.10 [[ 9.44443476e-01 2.56258928e-01 2.05810308e-01 1.13387786e+02] [-2.52640024e-01 9.66553168e-01 -4.41360597e-02 -2.98337632e+01] [-2.10236865e-01 -1.03119075e-02 9.77596095e-01 -4.10195812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.816875 meters 0.025394282950787123 Centerline is valid? [True, True] Translation: X:113.42, Y:-29.85, Z:-4.11 [[ 9.44671153e-01 2.56669036e-01 2.04248426e-01 1.13416962e+02] [-2.53103854e-01 9.66444779e-01 -4.38512079e-02 -2.98455411e+01] [-2.08650072e-01 -1.02710928e-02 9.77936425e-01 -4.11042179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.846875 meters 0.02375029746902996 Centerline is valid? [True, True] Translation: X:113.45, Y:-29.86, Z:-4.12 [[ 9.44761043e-01 2.56970120e-01 2.03452523e-01 1.13446674e+02] [-2.53428504e-01 9.66365059e-01 -4.37328970e-02 -2.98600661e+01] [-2.07847457e-01 -1.02435310e-02 9.78107614e-01 -4.11867577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.876875 meters 0.025970547701573334 Centerline is valid? [True, True] Translation: X:113.47, Y:-29.87, Z:-4.13 [[ 9.45040655e-01 2.56580266e-01 2.02644337e-01 1.13474745e+02] [-2.53044827e-01 9.66470632e-01 -4.36214611e-02 -2.98740719e+01] [-2.07042206e-01 -1.00540471e-02 9.78280349e-01 -4.12682757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.906875 meters 0.026579872553658165 Centerline is valid? [True, True] Translation: X:113.50, Y:-29.89, Z:-4.13 [[ 9.45222403e-01 2.56126896e-01 2.02370012e-01 1.13503701e+02] [-2.52580254e-01 9.66592559e-01 -4.36123770e-02 -2.98851322e+01] [-2.06779651e-01 -9.89127339e-03 9.78337538e-01 -4.13339721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.936875 meters 0.0235833795693144 Centerline is valid? [True, True] Translation: X:113.53, Y:-29.90, Z:-4.14 [[ 9.45233497e-01 2.55634766e-01 2.02939652e-01 1.13533031e+02] [-2.52046439e-01 9.66724124e-01 -4.37842397e-02 -2.99021070e+01] [-2.07379431e-01 -9.76388655e-03 9.78211857e-01 -4.13876151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96687499999999 meters 0.02472127646868434 Centerline is valid? [True, True] Translation: X:113.56, Y:-29.92, Z:-4.14 [[ 9.44922310e-01 2.54911561e-01 2.05284981e-01 1.13561032e+02] [-2.51218462e-01 9.66915694e-01 -4.43094236e-02 -2.99178705e+01] [-2.09788254e-01 -9.70241438e-03 9.77698702e-01 -4.14318744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99687499999999 meters 0.024566559316207215 Centerline is valid? [True, True] Translation: X:113.59, Y:-29.93, Z:-4.15 [[ 9.44541723e-01 2.55431239e-01 2.06387539e-01 1.13591621e+02] [-2.51699492e-01 9.66777322e-01 -4.45979318e-02 -2.99299576e+01] [-2.10922498e-01 -9.82303147e-03 9.77453430e-01 -4.14895358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02687499999999 meters 0.026611820297455065 Centerline is valid? [True, True] Translation: X:113.62, Y:-29.94, Z:-4.16 [[ 9.44080311e-01 2.56326283e-01 2.07386602e-01 1.13621376e+02] [-2.52565912e-01 9.66538460e-01 -4.48761186e-02 -2.99382697e+01] [-2.11950055e-01 -1.00121263e-02 9.77229211e-01 -4.15548323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05687499999999 meters 0.0271865135337578 Centerline is valid? [True, True] Translation: X:113.65, Y:-29.95, Z:-4.16 [[ 9.43795888e-01 2.57168178e-01 2.07638746e-01 1.13651635e+02] [-2.53407897e-01 9.66313200e-01 -4.49803995e-02 -2.99484730e+01] [-2.12211589e-01 -1.01649820e-02 9.77170873e-01 -4.16260114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08687499999999 meters 0.025828239758006685 Centerline is valid? [True, True] Translation: X:113.68, Y:-29.97, Z:-4.17 [[ 9.43105379e-01 2.59342630e-01 2.08071250e-01 1.13679972e+02] [-2.55607262e-01 9.65726930e-01 -4.51267495e-02 -2.99656362e+01] [-2.12643299e-01 -1.06252423e-02 9.77072122e-01 -4.16948074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.116875 meters 0.026817725896536235 Centerline is valid? [True, True] Translation: X:113.71, Y:-29.98, Z:-4.18 [[ 9.42855427e-01 2.60471673e-01 2.07793533e-01 1.13709729e+02] [-2.56767272e-01 9.65420667e-01 -4.50943780e-02 -2.99751355e+01] [-2.12353979e-01 -1.08370995e-02 9.77132716e-01 -4.17670085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.146875 meters 0.028218964356868544 Centerline is valid? [True, True] Translation: X:113.74, Y:-29.98, Z:-4.18 [[ 9.42668454e-01 2.61196762e-01 2.07731647e-01 1.13739064e+02] [-2.57499936e-01 9.65223556e-01 -4.51361238e-02 -2.99837718e+01] [-2.12296888e-01 -1.09424856e-02 9.77143947e-01 -4.18368699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.176875 meters 0.030626899346223552 Centerline is valid? [True, True] Translation: X:113.77, Y:-29.99, Z:-4.19 [[ 9.42601351e-01 2.61638875e-01 2.07479619e-01 1.13769595e+02] [-2.57950596e-01 9.65103406e-01 -4.51320905e-02 -2.99913813e+01] [-2.12047596e-01 -1.09779219e-02 9.77197678e-01 -4.19084405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.206875 meters 0.027476240462739304 Centerline is valid? [True, True] Translation: X:113.80, Y:-30.01, Z:-4.20 [[ 9.43944460e-01 2.58037611e-01 2.05877263e-01 1.13797007e+02] [-2.54309251e-01 9.66082824e-01 -4.48417434e-02 -3.00095760e+01] [-2.10465344e-01 -1.00283772e-02 9.77549881e-01 -4.19984759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.236875 meters 0.02435488695098471 Centerline is valid? [True, True] Translation: X:113.83, Y:-30.02, Z:-4.21 [[ 9.45415085e-01 2.53599557e-01 2.04640128e-01 1.13825364e+02] [-2.49811340e-01 9.67267672e-01 -4.45818903e-02 -3.00241623e+01] [-2.09247728e-01 -8.97303313e-03 9.77821493e-01 -4.20798861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.266875 meters 0.022971848315914166 Centerline is valid? [True, True] Translation: X:113.85, Y:-30.04, Z:-4.21 [[ 9.46239947e-01 2.50281222e-01 2.04912842e-01 1.13854361e+02] [-2.46402916e-01 9.68138149e-01 -4.46556561e-02 -3.00368193e+01] [-2.09560412e-01 -8.23615616e-03 9.77761013e-01 -4.21418208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.296875 meters 0.020859010513954786 Centerline is valid? [True, True] Translation: X:113.88, Y:-30.05, Z:-4.22 [[ 9.47492472e-01 2.44977490e-01 2.05533561e-01 1.13882007e+02] [-2.40949714e-01 9.69502963e-01 -4.48022298e-02 -3.00541950e+01] [-2.10240934e-01 -7.07347734e-03 9.77624015e-01 -4.21905268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.326875 meters 0.019464299438963894 Centerline is valid? [True, True] Translation: X:113.91, Y:-30.07, Z:-4.23 [[ 9.48131289e-01 2.42962321e-01 2.04978949e-01 1.13911044e+02] [-2.38904542e-01 9.70013389e-01 -4.47062182e-02 -3.00662670e+01] [-2.09694252e-01 -6.58303765e-03 9.77744846e-01 -4.22610775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35687499999999 meters 0.018352797456370615 Centerline is valid? [True, True] Translation: X:113.94, Y:-30.08, Z:-4.23 [[ 9.49056469e-01 2.39277855e-01 2.05031528e-01 1.13938911e+02] [-2.35121221e-01 9.70934312e-01 -4.47724492e-02 -3.00772619e+01] [-2.09785201e-01 -5.71568067e-03 9.77730791e-01 -4.23344442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38687499999999 meters 0.015386496260135047 Centerline is valid? [True, True] Translation: X:113.97, Y:-30.09, Z:-4.24 [[ 9.50827923e-01 2.31205771e-01 2.06082876e-01 1.13966124e+02] [-2.26816692e-01 9.72896868e-01 -4.50096875e-02 -3.00928579e+01] [-2.10903884e-01 -3.94656854e-03 9.77498837e-01 -4.23811384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41687499999999 meters 0.012856340289638496 Centerline is valid? [True, True] Translation: X:113.99, Y:-30.11, Z:-4.24 [[ 9.53316411e-01 2.21185577e-01 2.05583951e-01 1.13993335e+02] [-2.16581785e-01 9.75230259e-01 -4.49251869e-02 -3.01114133e+01] [-2.10428493e-01 -1.69782136e-03 9.77607777e-01 -4.24440114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44687499999999 meters 0.012669671376247143 Centerline is valid? [True, True] Translation: X:114.02, Y:-30.12, Z:-4.25 [[ 9.53903849e-01 2.19067491e-01 2.05126501e-01 1.14023089e+02] [-2.14432155e-01 9.75708958e-01 -4.48428400e-02 -3.01213535e+01] [-2.09967373e-01 -1.20995996e-03 9.77707645e-01 -4.25291312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47687499999999 meters 0.012542736112979251 Centerline is valid? [True, True] Translation: X:114.05, Y:-30.13, Z:-4.26 [[ 9.54407306e-01 2.17631163e-01 2.04311944e-01 1.14052943e+02] [-2.12989334e-01 9.76030724e-01 -4.47165467e-02 -3.01300464e+01] [-2.09146449e-01 -8.38466047e-04 9.77883971e-01 -4.26220677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.506875 meters 0.012431212458483117 Centerline is valid? [True, True] Translation: X:114.08, Y:-30.14, Z:-4.27 [[ 9.54598279e-01 2.17163607e-01 2.03916878e-01 1.14083548e+02] [-2.12521691e-01 9.76134970e-01 -4.46659950e-02 -3.01394912e+01] [-2.08750224e-01 -6.98677733e-04 9.77968740e-01 -4.26979357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.536875 meters 0.012511571403693016 Centerline is valid? [True, True] Translation: X:114.11, Y:-30.15, Z:-4.28 [[ 9.54251469e-01 2.18620848e-01 2.03982985e-01 1.14113049e+02] [-2.13995782e-01 9.75809412e-01 -4.47414344e-02 -3.01484232e+01] [-2.08829927e-01 -9.56918983e-04 9.77951505e-01 -4.27671503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.566875 meters 0.0126900993306363 Centerline is valid? [True, True] Translation: X:114.14, Y:-30.16, Z:-4.28 [[ 9.53516808e-01 2.20701621e-01 2.05174296e-01 1.14144283e+02] [-2.16061350e-01 9.75340392e-01 -4.50401314e-02 -3.01559257e+01] [-2.10055208e-01 -1.38371289e-03 9.77688547e-01 -4.28234186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.596875 meters 0.012624168387228461 Centerline is valid? [True, True] Translation: X:114.18, Y:-30.17, Z:-4.29 [[ 9.53210823e-01 2.20847514e-01 2.06435225e-01 1.14175392e+02] [-2.16139755e-01 9.75307394e-01 -4.53772337e-02 -3.01653620e+01] [-2.11359250e-01 -1.36478856e-03 9.77407492e-01 -4.28640620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.626875 meters 0.012868774183027384 Centerline is valid? [True, True] Translation: X:114.21, Y:-30.17, Z:-4.29 [[ 9.52880149e-01 2.21310050e-01 2.07463935e-01 1.14206148e+02] [-2.16552137e-01 9.75202474e-01 -4.56651675e-02 -3.01728744e+01] [-2.12425503e-01 -1.41332693e-03 9.77176242e-01 -4.29106661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.656875 meters 0.013164714912565954 Centerline is valid? [True, True] Translation: X:114.24, Y:-30.18, Z:-4.30 [[ 9.52612513e-01 2.23053326e-01 2.06825082e-01 1.14236282e+02] [-2.18353207e-01 9.74804693e-01 -4.55816672e-02 -3.01774625e+01] [-2.11781203e-01 -1.73925339e-03 9.77315557e-01 -4.29877823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.686875 meters 0.01336661385347335 Centerline is valid? [True, True] Translation: X:114.27, Y:-30.18, Z:-4.31 [[ 9.52453001e-01 2.24541114e-01 2.05947976e-01 1.14267110e+02] [-2.19905195e-01 9.74462537e-01 -4.54364302e-02 -3.01819595e+01] [-2.10890934e-01 -2.01296552e-03 9.77507525e-01 -4.30754458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71687499999999 meters 0.013705186150608636 Centerline is valid? [True, True] Translation: X:114.30, Y:-30.19, Z:-4.32 [[ 9.52231071e-01 2.26255108e-01 2.05096594e-01 1.14297531e+02] [-2.21686137e-01 9.74065291e-01 -4.52997275e-02 -3.01867849e+01] [-2.10026768e-01 -2.33126366e-03 9.77692857e-01 -4.31704430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74687499999999 meters 0.014390119396651208 Centerline is valid? [True, True] Translation: X:114.33, Y:-30.19, Z:-4.33 [[ 9.51675244e-01 2.29274899e-01 2.04321437e-01 1.14327846e+02] [-2.24798377e-01 9.73357289e-01 -4.51804981e-02 -3.01894526e+01] [-2.09236514e-01 -2.93396583e-03 9.77860661e-01 -4.32573603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77687499999999 meters 0.014605365826164585 Centerline is valid? [True, True] Translation: X:114.36, Y:-30.19, Z:-4.33 [[ 9.51167776e-01 2.31052021e-01 2.04682256e-01 1.14358942e+02] [-2.26589823e-01 9.72935859e-01 -4.53085624e-02 -3.01945645e+01] [-2.09611342e-01 -3.28287176e-03 9.77779274e-01 -4.33295742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80687499999999 meters 0.01515175867236724 Centerline is valid? [True, True] Translation: X:114.39, Y:-30.20, Z:-4.34 [[ 9.50756576e-01 2.32944922e-01 2.04447052e-01 1.14389645e+02] [-2.28525103e-01 9.72483104e-01 -4.53088302e-02 -3.01991599e+01] [-2.09375766e-01 -3.64361544e-03 9.77828468e-01 -4.33996441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83687499999999 meters 0.01569254633970805 Centerline is valid? [True, True] Translation: X:114.42, Y:-30.20, Z:-4.35 [[ 9.50259401e-01 2.35067575e-01 2.04328914e-01 1.14420509e+02] [-2.30690173e-01 9.71970565e-01 -4.53350364e-02 -3.02042721e+01] [-2.09258487e-01 -4.05662797e-03 9.77851947e-01 -4.34649326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.866875 meters 0.01704050271733114 Centerline is valid? [True, True] Translation: X:114.45, Y:-30.21, Z:-4.35 [[ 9.49202374e-01 2.39497322e-01 2.04097736e-01 1.14451435e+02] [-2.35219701e-01 9.70884282e-01 -4.53365473e-02 -3.02070956e+01] [-2.09013265e-01 -4.97425005e-03 9.77900154e-01 -4.35286959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.896875 meters 0.0182422714046075 Centerline is valid? [True, True] Translation: X:114.48, Y:-30.21, Z:-4.36 [[ 9.48517934e-01 2.41985193e-01 2.04345040e-01 1.14481406e+02] [-2.37743491e-01 9.70264467e-01 -4.54411302e-02 -3.02106776e+01] [-2.09264812e-01 -5.47997625e-03 9.77843652e-01 -4.35952663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.926875 meters 0.018984573030531648 Centerline is valid? [True, True] Translation: X:114.51, Y:-30.22, Z:-4.37 [[ 9.47831339e-01 2.44048771e-01 2.05075475e-01 1.14511926e+02] [-2.39813434e-01 9.69744962e-01 -4.56533277e-02 -3.02153839e+01] [-2.10012547e-01 -5.90819920e-03 9.77680839e-01 -4.36638358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.956875 meters 0.018858655720506125 Centerline is valid? [True, True] Translation: X:114.54, Y:-30.22, Z:-4.37 [[ 9.47116384e-01 2.43799495e-01 2.08644104e-01 1.14544273e+02] [-2.39397143e-01 9.69807655e-01 -4.64986054e-02 -3.02200804e+01] [-2.13680985e-01 -5.90921136e-03 9.76885622e-01 -4.36836734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.986875 meters 0.017328866451613172 Centerline is valid? [True, True] Translation: X:114.58, Y:-30.23, Z:-4.37 [[ 9.47128813e-01 2.41206619e-01 2.11580668e-01 1.14576104e+02] [-2.36602254e-01 9.70459048e-01 -4.72081605e-02 -3.02283467e+01] [-2.16717294e-01 -5.34825380e-03 9.76219755e-01 -4.36949592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.016875 meters 0.017328866451613172 Centerline is valid? [True, True] Translation: X:114.61, Y:-30.24, Z:-4.38 [[ 9.47061663e-01 2.41480491e-01 2.11568851e-01 1.14606952e+02] [-2.36871062e-01 9.70390897e-01 -4.72610584e-02 -3.02353198e+01] [-2.16717111e-01 -5.35540208e-03 9.76219757e-01 -4.37645350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.046875 meters 0.01681771166698147 Centerline is valid? [True, True] Translation: X:114.64, Y:-30.24, Z:-4.38 [[ 9.47438792e-01 2.39394783e-01 2.12249556e-01 1.14636838e+02] [-2.34689588e-01 9.70910290e-01 -4.74763686e-02 -3.02408448e+01] [-2.17440873e-01 -4.83180767e-03 9.76061535e-01 -4.38127198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.076875 meters 0.015563517866978209 Centerline is valid? [True, True] Translation: X:114.67, Y:-30.24, Z:-4.40 [[ 9.49443199e-01 2.35965894e-01 2.07069333e-01 1.14665230e+02] [-2.31398421e-01 9.71753538e-01 -4.63662846e-02 -3.02432869e+01] [-2.12161219e-01 -3.89336311e-03 9.77226923e-01 -4.39649665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10687499999999 meters 0.015208525291445712 Centerline is valid? [True, True] Translation: X:114.70, Y:-30.25, Z:-4.41 [[ 9.50435714e-01 2.34463757e-01 2.04202599e-01 1.14695350e+02] [-2.29982602e-01 9.72118641e-01 -4.57531406e-02 -3.02476186e+01] [-2.09236606e-01 -3.47762609e-03 9.77858859e-01 -4.40946653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13687499999999 meters 0.01478599969382643 Centerline is valid? [True, True] Translation: X:114.73, Y:-30.25, Z:-4.42 [[ 9.51366676e-01 2.32757483e-01 2.01805355e-01 1.14725636e+02] [-2.28333285e-01 9.72530138e-01 -4.52663316e-02 -3.02522393e+01] [-2.06797868e-01 -3.01400040e-03 9.78379046e-01 -4.42174774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16687499999999 meters 0.014141292940861186 Centerline is valid? [True, True] Translation: X:114.76, Y:-30.26, Z:-4.43 [[ 9.52171439e-01 2.30497295e-01 2.00600470e-01 1.14756142e+02] [-2.26065868e-01 9.73069866e-01 -4.50472944e-02 -3.02595990e+01] [-2.05581552e-01 -2.45617247e-03 9.78636905e-01 -4.43089293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19687499999999 meters 0.01330598055684463 Centerline is valid? [True, True] Translation: X:114.79, Y:-30.27, Z:-4.44 [[ 9.53307537e-01 2.25831103e-01 2.00511978e-01 1.14786722e+02] [-2.21297866e-01 9.74165419e-01 -4.50443258e-02 -3.02707063e+01] [-2.05504245e-01 -1.43177770e-03 9.78655177e-01 -4.43509970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22687499999999 meters 0.013085355714581366 Centerline is valid? [True, True] Translation: X:114.82, Y:-30.28, Z:-4.44 [[ 9.53633833e-01 2.23742313e-01 2.01300494e-01 1.14817637e+02] [-2.19116178e-01 9.74647887e-01 -4.52724751e-02 -3.02799568e+01] [-2.06326470e-01 -9.34830968e-04 9.78482761e-01 -4.43895027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.256875 meters 0.012998554203243839 Centerline is valid? [True, True] Translation: X:114.85, Y:-30.29, Z:-4.44 [[ 9.53648576e-01 2.21516578e-01 2.03678176e-01 1.14848866e+02] [-2.16717956e-01 9.75156521e-01 -4.58594310e-02 -3.02871409e+01] [-2.08776726e-01 -4.06937002e-04 9.77963247e-01 -4.44166104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.286875 meters 0.013064825074130438 Centerline is valid? [True, True] Translation: X:114.88, Y:-30.29, Z:-4.45 [[ 9.53337411e-01 2.22489019e-01 2.04074538e-01 1.14879299e+02] [-2.17682335e-01 9.74935030e-01 -4.60009600e-02 -3.02918151e+01] [-2.09194124e-01 -5.68985825e-04 9.77873967e-01 -4.44850542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.316875 meters 0.01305170472181353 Centerline is valid? [True, True] Translation: X:114.91, Y:-30.30, Z:-4.46 [[ 9.52795341e-01 2.24423013e-01 2.04488017e-01 1.14910971e+02] [-2.19628668e-01 9.74491369e-01 -4.61499811e-02 -3.02959840e+01] [-2.09628926e-01 -9.39943863e-04 9.77780563e-01 -4.45637519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.346875 meters 0.013297973734532701 Centerline is valid? [True, True] Translation: X:114.94, Y:-30.30, Z:-4.46 [[ 9.52172918e-01 2.26886974e-01 2.04668110e-01 1.14943011e+02] [-2.22127645e-01 9.73920054e-01 -4.62497358e-02 -3.03003878e+01] [-2.09823840e-01 -1.42469953e-03 9.77738169e-01 -4.46431205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.376875 meters 0.014140871474569149 Centerline is valid? [True, True] Translation: X:114.97, Y:-30.30, Z:-4.47 [[ 9.51020350e-01 2.31739972e-01 2.04589541e-01 1.14973998e+02] [-2.27082410e-01 9.72774722e-01 -4.62916796e-02 -3.03032702e+01] [-2.09747166e-01 -2.43435669e-03 9.77752627e-01 -4.47075917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.406875 meters 0.014531446838238546 Centerline is valid? [True, True] Translation: X:115.01, Y:-30.31, Z:-4.48 [[ 9.50425475e-01 2.33674405e-01 2.05152842e-01 1.15005318e+02] [-2.29024967e-01 9.72310812e-01 -4.64677330e-02 -3.03092484e+01] [-2.10330647e-01 -2.82100575e-03 9.77626238e-01 -4.47619016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.436875 meters 0.014828915108053654 Centerline is valid? [True, True] Translation: X:115.04, Y:-30.32, Z:-4.48 [[ 9.50134978e-01 2.35213212e-01 2.04739516e-01 1.15035675e+02] [-2.30606809e-01 9.71938843e-01 -4.64261233e-02 -3.03154347e+01] [-2.09914326e-01 -3.10324274e-03 9.77714859e-01 -4.48218330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46687499999999 meters 0.015027314104369877 Centerline is valid? [True, True] Translation: X:115.07, Y:-30.32, Z:-4.49 [[ 9.49861250e-01 2.36335817e-01 2.04716845e-01 1.15066165e+02] [-2.31745736e-01 9.71665825e-01 -4.64697558e-02 -3.03206739e+01] [-2.09898829e-01 -3.30243559e-03 9.77717534e-01 -4.48954343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49687499999999 meters 0.01550750743538862 Centerline is valid? [True, True] Translation: X:115.10, Y:-30.33, Z:-4.50 [[ 9.49596987e-01 2.37095417e-01 2.05064201e-01 1.15096188e+02] [-2.32495844e-01 9.71480332e-01 -4.66009233e-02 -3.03256534e+01] [-2.10264703e-01 -3.42447810e-03 9.77638495e-01 -4.49768557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52687499999999 meters 0.015383291893448298 Centerline is valid? [True, True] Translation: X:115.13, Y:-30.33, Z:-4.50 [[ 9.49606518e-01 2.37026868e-01 2.05099304e-01 1.15126897e+02] [-2.32412090e-01 9.71497304e-01 -4.66648450e-02 -3.03334293e+01] [-2.10314243e-01 -3.35431688e-03 9.77628083e-01 -4.50470963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55687499999999 meters 0.015156423659236294 Centerline is valid? [True, True] Translation: X:115.16, Y:-30.34, Z:-4.51 [[ 9.49804092e-01 2.36084480e-01 2.05271295e-01 1.15157240e+02] [-2.31427293e-01 9.71727624e-01 -4.67635805e-02 -3.03416328e+01] [-2.10507943e-01 -3.08914008e-03 9.77587266e-01 -4.51141246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58687499999999 meters 0.014915283042500631 Centerline is valid? [True, True] Translation: X:115.19, Y:-30.35, Z:-4.52 [[ 9.49977096e-01 2.35052066e-01 2.05655157e-01 1.15187563e+02] [-2.30342151e-01 9.71978707e-01 -4.69029597e-02 -3.03501682e+01] [-2.10917071e-01 -2.81431372e-03 9.77499907e-01 -4.51826523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.616875 meters 0.014172760722666156 Centerline is valid? [True, True] Translation: X:115.22, Y:-30.36, Z:-4.53 [[ 9.51018986e-01 2.31219911e-01 2.05183432e-01 1.15217346e+02] [-2.26432511e-01 9.72899641e-01 -4.68466287e-02 -3.03615118e+01] [-2.10454761e-01 -1.90816633e-03 9.77601735e-01 -4.52545079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.646875 meters 0.013856375407096255 Centerline is valid? [True, True] Translation: X:115.25, Y:-30.37, Z:-4.53 [[ 9.51436568e-01 2.29614154e-01 2.05050721e-01 1.15247290e+02] [-2.24784925e-01 9.73280582e-01 -4.68684004e-02 -3.03706330e+01] [-2.10333533e-01 -1.50000107e-03 9.77628536e-01 -4.53151646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.676875 meters 0.013833291092294264 Centerline is valid? [True, True] Translation: X:115.28, Y:-30.38, Z:-4.54 [[ 9.51751619e-01 2.28015221e-01 2.05372624e-01 1.15276691e+02] [-2.23122541e-01 9.73656950e-01 -4.69944104e-02 -3.03797940e+01] [-2.10677923e-01 -1.09625554e-03 9.77554914e-01 -4.53760607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.706875 meters 0.013753330667467619 Centerline is valid? [True, True] Translation: X:115.31, Y:-30.39, Z:-4.54 [[ 9.52159451e-01 2.26093630e-01 2.05606541e-01 1.15307276e+02] [-2.21134956e-01 9.74105375e-01 -4.70961757e-02 -3.03897443e+01] [-2.10930582e-01 -6.23724712e-04 9.77500844e-01 -4.54342074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.736875 meters 0.013828564241876815 Centerline is valid? [True, True] Translation: X:115.34, Y:-30.40, Z:-4.55 [[ 9.52676102e-01 2.24165332e-01 2.05324496e-01 1.15337945e+02] [-2.19164931e-01 9.74551119e-01 -4.70834380e-02 -3.03996339e+01] [-2.10653691e-01 -1.44662645e-04 9.77560741e-01 -4.55032396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.766875 meters 0.013878864797669359 Centerline is valid? [True, True] Translation: X:115.37, Y:-30.41, Z:-4.56 [[ 9.53535985e-01 2.19943654e-01 2.05897823e-01 1.15368425e+02] [-2.14804775e-01 9.75512207e-01 -4.72741139e-02 -3.04119094e+01] [-2.11253481e-01 8.49733393e-04 9.77430941e-01 -4.55647610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.796875 meters 0.014042431288781297 Centerline is valid? [True, True] Translation: X:115.40, Y:-30.42, Z:-4.56 [[ 9.54054532e-01 2.17837775e-01 2.05734427e-01 1.15398073e+02] [-2.12645812e-01 9.75984023e-01 -4.72963505e-02 -3.04211840e+01] [-2.11096445e-01 1.37473336e-03 9.77464271e-01 -4.56361547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.826875 meters 0.014371367880035051 Centerline is valid? [True, True] Translation: X:115.43, Y:-30.43, Z:-4.57 [[ 9.54337602e-01 2.16247205e-01 2.06099219e-01 1.15428219e+02] [-2.10988681e-01 9.76337018e-01 -4.74321000e-02 -3.04302062e+01] [-2.11479356e-01 1.78163408e-03 9.77380841e-01 -4.57062359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85687499999999 meters 0.01456224126190601 Centerline is valid? [True, True] Translation: X:115.46, Y:-30.44, Z:-4.58 [[ 9.54597469e-01 2.14848298e-01 2.06358623e-01 1.15458789e+02] [-2.09532715e-01 9.76645074e-01 -4.75440918e-02 -3.04389529e+01] [-2.11753899e-01 2.14658729e-03 9.77320663e-01 -4.57757588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88687499999999 meters 0.014931728615854881 Centerline is valid? [True, True] Translation: X:115.49, Y:-30.45, Z:-4.58 [[ 9.54564642e-01 2.13749399e-01 2.07647631e-01 1.15488712e+02] [-2.08329157e-01 9.76885433e-01 -4.78937671e-02 -3.04477310e+01] [-2.13085210e-01 2.45864075e-03 9.77030526e-01 -4.58314575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91687499999999 meters 0.014545268485726258 Centerline is valid? [True, True] Translation: X:115.52, Y:-30.45, Z:-4.59 [[ 9.54436014e-01 2.14336651e-01 2.07633560e-01 1.15519984e+02] [-2.08919448e-01 9.76756949e-01 -4.79429634e-02 -3.04549459e+01] [-2.13083457e-01 2.37980210e-03 9.77031103e-01 -4.58874753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94687499999999 meters 0.014307723222331526 Centerline is valid? [True, True] Translation: X:115.55, Y:-30.46, Z:-4.59 [[ 9.54327496e-01 2.15644242e-01 2.06776671e-01 1.15550512e+02] [-2.10289512e-01 9.76469655e-01 -4.78051740e-02 -3.04615814e+01] [-2.12220055e-01 2.13882679e-03 9.77219563e-01 -4.59442644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97687499999999 meters 0.014314972778528097 Centerline is valid? [True, True] Translation: X:115.58, Y:-30.47, Z:-4.60 [[ 9.54001975e-01 2.17577262e-01 2.06253161e-01 1.15579888e+02] [-2.12283120e-01 9.76041519e-01 -4.77370872e-02 -3.04681866e+01] [-2.11698153e-01 1.75721091e-03 9.77333517e-01 -4.60088891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.006875 meters 0.013770515751220985 Centerline is valid? [True, True] Translation: X:115.61, Y:-30.47, Z:-4.61 [[ 9.53478613e-01 2.22233308e-01 2.03693129e-01 1.15610938e+02] [-2.17166091e-01 9.74993219e-01 -4.71922924e-02 -3.04716221e+01] [-2.09087118e-01 7.61601121e-04 9.77896721e-01 -4.60927902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.036875 meters 0.013588976931392573 Centerline is valid? [True, True] Translation: X:115.64, Y:-30.48, Z:-4.62 [[ 9.52908680e-01 2.25166487e-01 2.03138130e-01 1.15642158e+02] [-2.20182197e-01 9.74320289e-01 -4.71144945e-02 -3.04767287e+01] [-2.08530207e-01 1.68410978e-04 9.78015912e-01 -4.61717717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.066875 meters 0.013674019372759427 Centerline is valid? [True, True] Translation: X:115.67, Y:-30.48, Z:-4.63 [[ 9.52483410e-01 2.28050392e-01 2.01911792e-01 1.15673989e+02] [-2.23178621e-01 9.73649247e-01 -4.68875976e-02 -3.04819460e+01] [-2.07284000e-01 -4.02736546e-04 9.78280727e-01 -4.62542517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.096875 meters 0.013930248421653718 Centerline is valid? [True, True] Translation: X:115.70, Y:-30.49, Z:-4.63 [[ 9.51849601e-01 2.32209485e-01 2.00152671e-01 1.15704385e+02] [-2.27501870e-01 9.72665009e-01 -4.65368633e-02 -3.04866157e+01] [-2.05487800e-01 -1.23901200e-03 9.78658893e-01 -4.63422567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.126875 meters 0.014058923677688448 Centerline is valid? [True, True] Translation: X:115.74, Y:-30.49, Z:-4.64 [[ 9.51694054e-01 2.33508976e-01 1.99379000e-01 1.15735074e+02] [-2.28855846e-01 9.72353544e-01 -4.64067589e-02 -3.04938814e+01] [-2.04703272e-01 -1.46401301e-03 9.78822981e-01 -4.64167909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.156875 meters 0.014087981198003354 Centerline is valid? [True, True] Translation: X:115.77, Y:-30.50, Z:-4.65 [[ 9.51741512e-01 2.33995840e-01 1.98580061e-01 1.15766568e+02] [-2.29380457e-01 9.72236421e-01 -4.62703791e-02 -3.05020268e+01] [-2.03893844e-01 -1.51294445e-03 9.78991834e-01 -4.64892222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.186875 meters 0.01419449371513551 Centerline is valid? [True, True] Translation: X:115.80, Y:-30.51, Z:-4.66 [[ 9.51862281e-01 2.34031974e-01 1.97957653e-01 1.15796795e+02] [-2.29434628e-01 9.72227806e-01 -4.61827237e-02 -3.05117115e+01] [-2.03268169e-01 -1.45874783e-03 9.79122017e-01 -4.65596211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21687499999999 meters 0.014293460706091778 Centerline is valid? [True, True] Translation: X:115.83, Y:-30.52, Z:-4.66 [[ 9.51929677e-01 2.33788149e-01 1.97921679e-01 1.15828056e+02] [-2.29175377e-01 9.72286625e-01 -4.62316548e-02 -3.05209740e+01] [-2.03245015e-01 -1.34949134e-03 9.79126980e-01 -4.66243494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24687499999999 meters 0.014157437150080051 Centerline is valid? [True, True] Translation: X:115.86, Y:-30.53, Z:-4.67 [[ 9.52018464e-01 2.33666583e-01 1.97637985e-01 1.15859080e+02] [-2.29052763e-01 9.72315961e-01 -4.62223294e-02 -3.05301139e+01] [-2.02967181e-01 -1.26501561e-03 9.79184724e-01 -4.66958727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27687499999999 meters 0.014174584046925927 Centerline is valid? [True, True] Translation: X:115.89, Y:-30.54, Z:-4.68 [[ 9.52215885e-01 2.33422600e-01 1.96974105e-01 1.15890052e+02] [-2.28823163e-01 9.72374702e-01 -4.61237315e-02 -3.05391319e+01] [-2.02298958e-01 -1.15248792e-03 9.79323135e-01 -4.67628910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30687499999999 meters 0.01400715477071959 Centerline is valid? [True, True] Translation: X:115.92, Y:-30.55, Z:-4.68 [[ 9.51976519e-01 2.33553998e-01 1.97972819e-01 1.15920325e+02] [-2.28898113e-01 9.72343178e-01 -4.64154997e-02 -3.05483837e+01] [-2.03338046e-01 -1.12913896e-03 9.79107943e-01 -4.68221723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33687499999999 meters 0.014072954985405412 Centerline is valid? [True, True] Translation: X:115.95, Y:-30.56, Z:-4.69 [[ 9.51754137e-01 2.34322979e-01 1.98133300e-01 1.15951307e+02] [-2.29665607e-01 9.72158007e-01 -4.65028771e-02 -3.05562478e+01] [-2.03513566e-01 -1.24509885e-03 9.79071334e-01 -4.68896761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.366875 meters 0.014173018601528515 Centerline is valid? [True, True] Translation: X:115.98, Y:-30.56, Z:-4.70 [[ 9.51251232e-01 2.35793976e-01 1.98802147e-01 1.15981570e+02] [-2.31124268e-01 9.71801899e-01 -4.67187530e-02 -3.05631160e+01] [-2.04212305e-01 -1.50672947e-03 9.78925464e-01 -4.69594600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.396875 meters 0.014209194375910566 Centerline is valid? [True, True] Translation: X:116.01, Y:-30.57, Z:-4.70 [[ 9.50831303e-01 2.37268513e-01 1.99056491e-01 1.16012744e+02] [-2.32611408e-01 9.71442456e-01 -4.68133361e-02 -3.05705684e+01] [-2.04479257e-01 -1.79122523e-03 9.78869258e-01 -4.70242580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.426875 meters 0.014785172017223586 Centerline is valid? [True, True] Translation: X:116.04, Y:-30.58, Z:-4.71 [[ 9.49924827e-01 2.40585132e-01 1.99403151e-01 1.16043193e+02] [-2.35971678e-01 9.70624945e-01 -4.69529951e-02 -3.05767690e+01] [-2.04841865e-01 -2.45168032e-03 9.78792010e-01 -4.71007319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.456875 meters 0.015341054635977477 Centerline is valid? [True, True] Translation: X:116.07, Y:-30.58, Z:-4.72 [[ 9.49459539e-01 2.42588946e-01 1.99191335e-01 1.16072657e+02] [-2.38018371e-01 9.70125039e-01 -4.69538389e-02 -3.05822731e+01] [-2.04630984e-01 -2.83042674e-03 9.78835098e-01 -4.71728814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.486875 meters 0.01570684729467353 Centerline is valid? [True, True] Translation: X:116.10, Y:-30.59, Z:-4.72 [[ 9.48942054e-01 2.44838440e-01 1.98904790e-01 1.16102770e+02] [-2.40320258e-01 9.69558396e-01 -4.69328375e-02 -3.05889987e+01] [-2.04340772e-01 -3.26430729e-03 9.78894373e-01 -4.72485987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.516875 meters 0.01674594320176481 Centerline is valid? [True, True] Translation: X:116.13, Y:-30.60, Z:-4.73 [[ 9.48300330e-01 2.48687289e-01 1.97182950e-01 1.16133075e+02] [-2.44319260e-01 9.68575545e-01 -4.65780229e-02 -3.05958324e+01] [-2.02569946e-01 -4.00563799e-03 9.79259604e-01 -4.73281697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.546875 meters 0.017532621348788947 Centerline is valid? [True, True] Translation: X:116.16, Y:-30.60, Z:-4.74 [[ 9.48101449e-01 2.50248296e-01 1.96161750e-01 1.16162773e+02] [-2.45955475e-01 9.68172145e-01 -4.63530102e-02 -3.06025217e+01] [-2.01518104e-01 -4.29970017e-03 9.79475353e-01 -4.74084585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.576875 meters 0.017922672797031445 Centerline is valid? [True, True] Translation: X:116.19, Y:-30.61, Z:-4.75 [[ 9.47826216e-01 2.51688451e-01 1.95648636e-01 1.16192824e+02] [-2.47439022e-01 9.67797627e-01 -4.62783392e-02 -3.06105002e+01] [-2.00996009e-01 -4.54728390e-03 9.79581506e-01 -4.74772444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60687499999999 meters 0.01793062771298445 Centerline is valid? [True, True] Translation: X:116.22, Y:-30.62, Z:-4.75 [[ 9.47593346e-01 2.52850185e-01 1.95278353e-01 1.16223093e+02] [-2.48631259e-01 9.67493854e-01 -4.62400144e-02 -3.06194423e+01] [-2.00622402e-01 -4.73557259e-03 9.79657198e-01 -4.75409629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63687499999999 meters 0.018519107752199226 Centerline is valid? [True, True] Translation: X:116.25, Y:-30.62, Z:-4.76 [[ 9.46981091e-01 2.54549696e-01 1.96038940e-01 1.16253891e+02] [-2.50323117e-01 9.67046425e-01 -4.64709487e-02 -3.06216856e+01] [-2.01407922e-01 -5.06596876e-03 9.79494352e-01 -4.75985491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66687499999999 meters 0.02063368862054944 Centerline is valid? [True, True] Translation: X:116.29, Y:-30.61, Z:-4.77 [[ 9.44534236e-01 2.61380978e-01 1.98834256e-01 1.16287142e+02] [-2.57171279e-01 9.65213356e-01 -4.71816753e-02 -3.06149043e+01] [-2.04249872e-01 -6.56975218e-03 9.78896740e-01 -4.76504781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69687499999999 meters 0.023826434811276546 Centerline is valid? [True, True] Translation: X:116.32, Y:-30.61, Z:-4.77 [[ 9.41790767e-01 2.70323119e-01 1.99888877e-01 1.16320704e+02] [-2.66256687e-01 9.62732082e-01 -4.74796270e-02 -3.06061932e+01] [-2.05274275e-01 -8.50587588e-03 9.78667524e-01 -4.77345815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72687499999999 meters 0.03125285392223285 Centerline is valid? [True, True] Translation: X:116.35, Y:-30.59, Z:-4.78 [[ 9.39092340e-01 2.79913731e-01 1.99383749e-01 1.16354484e+02] [-2.76078822e-01 9.59967050e-01 -4.73682101e-02 -3.05917308e+01] [-2.04660842e-01 -1.05625074e-02 9.78775957e-01 -4.78253546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.756875 meters 0.04218810282984164 Centerline is valid? [True, True] Translation: X:116.39, Y:-30.56, Z:-4.79 [[ 9.31993561e-01 3.03669023e-01 1.97922023e-01 1.16393226e+02] [-3.00410944e-01 9.52649496e-01 -4.70340571e-02 -3.05580954e+01] [-2.02833101e-01 -1.56225033e-02 9.79088694e-01 -4.79082108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.786875 meters 0.054008626190510424 Centerline is valid? [True, True] Translation: X:116.43, Y:-30.53, Z:-4.80 [[ 9.27362820e-01 3.17790131e-01 1.97503501e-01 1.16428903e+02] [-3.14856449e-01 9.47977635e-01 -4.69448511e-02 -3.05336903e+01] [-2.02147513e-01 -1.86503416e-02 9.79177485e-01 -4.79848819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.816875 meters 0.06644154251704881 Centerline is valid? [True, True] Translation: X:116.47, Y:-30.49, Z:-4.81 [[ 9.17941713e-01 3.45477536e-01 1.95008420e-01 1.16469792e+02] [-3.43217541e-01 9.38110645e-01 -4.63695704e-02 -3.04926390e+01] [-1.98959119e-01 -2.43657474e-02 9.79704843e-01 -4.80541931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.846875 meters 0.07781836782133165 Centerline is valid? [True, True] Translation: X:116.50, Y:-30.47, Z:-4.81 [[ 9.14819204e-01 3.54400336e-01 1.93665243e-01 1.16504707e+02] [-3.52362991e-01 9.34729332e-01 -4.60586443e-02 -3.04709671e+01] [-1.97347782e-01 -2.61051318e-02 9.79985906e-01 -4.81283507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.876875 meters 0.07753488272651209 Centerline is valid? [True, True] Translation: X:116.54, Y:-30.47, Z:-4.82 [[ 9.12900948e-01 3.59847941e-01 1.92668935e-01 1.16537503e+02] [-3.57944770e-01 9.32616829e-01 -4.58409454e-02 -3.04663906e+01] [-1.96182061e-01 -2.71165952e-02 9.80192476e-01 -4.81866071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.906875 meters 0.0800532098521376 Centerline is valid? [True, True] Translation: X:116.57, Y:-30.46, Z:-4.83 [[ 9.12289189e-01 3.61675921e-01 1.92143082e-01 1.16569448e+02] [-3.59821222e-01 9.31900373e-01 -4.57206966e-02 -3.04587714e+01] [-1.95594285e-01 -2.74266613e-02 9.80301308e-01 -4.82511509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.936875 meters 0.0800532098521376 Centerline is valid? [True, True] Translation: X:116.60, Y:-30.47, Z:-4.83 [[ 9.12189536e-01 3.61928254e-01 1.92141068e-01 1.16600553e+02] [-3.60077233e-01 9.31801068e-01 -4.57291589e-02 -3.04662890e+01] [-1.95587927e-01 -2.74719640e-02 9.80301308e-01 -4.83212984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96687499999999 meters 0.06874531541143568 Centerline is valid? [True, True] Translation: X:116.63, Y:-30.47, Z:-4.84 [[ 9.13752409e-01 3.57834882e-01 1.92381738e-01 1.16631612e+02] [-3.55878952e-01 9.33406753e-01 -4.58476259e-02 -3.04663378e+01] [-1.95976293e-01 -2.65712327e-02 9.80248572e-01 -4.83828908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99687499999999 meters 0.07175133751287882 Centerline is valid? [True, True] Translation: X:116.66, Y:-30.46, Z:-4.85 [[ 9.15776635e-01 3.52896880e-01 1.91877429e-01 1.16662598e+02] [-3.50843676e-01 9.35316459e-01 -4.57365907e-02 -3.04598800e+01] [-1.95606417e-01 -2.54344814e-02 9.80352598e-01 -4.84687182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02687499999999 meters 0.06410577641742826 Centerline is valid? [True, True] Translation: X:116.69, Y:-30.47, Z:-4.85 [[ 9.18583547e-01 3.46035363e-01 1.90954954e-01 1.16691645e+02] [-3.43855825e-01 9.37918402e-01 -4.55218909e-02 -3.04684085e+01] [-1.94852350e-01 -2.38453134e-02 9.80542688e-01 -4.85395715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05687499999999 meters 0.05924905290787934 Centerline is valid? [True, True] Translation: X:116.72, Y:-30.48, Z:-4.86 [[ 9.21587811e-01 3.38094556e-01 1.90703902e-01 1.16721004e+02] [-3.35753570e-01 9.40851950e-01 -4.54659028e-02 -3.04752937e+01] [-1.94795912e-01 -2.21286940e-02 9.80594143e-01 -4.86009651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08687499999999 meters 0.04793000025000831 Centerline is valid? [True, True] Translation: X:116.75, Y:-30.49, Z:-4.86 [[ 9.28243703e-01 3.18621975e-01 1.91947038e-01 1.16750047e+02] [-3.15839892e-01 9.47708193e-01 -4.57640028e-02 -3.04885070e+01] [-1.96491197e-01 -1.81443844e-02 9.80337692e-01 -4.86240310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.116875 meters 0.0402087482822602 Centerline is valid? [True, True] Translation: X:116.78, Y:-30.50, Z:-4.87 [[ 9.31788100e-01 3.07988896e-01 1.92129584e-01 1.16778457e+02] [-3.04977032e-01 9.51257008e-01 -4.58160904e-02 -3.05024966e+01] [-1.96875460e-01 -1.59042226e-02 9.80299500e-01 -4.86678967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.146875 meters 0.03654115886512281 Centerline is valid? [True, True] Translation: X:116.81, Y:-30.51, Z:-4.87 [[ 9.35234747e-01 2.97202427e-01 1.92371220e-01 1.16806916e+02] [-2.93955623e-01 9.54717112e-01 -4.58838379e-02 -3.05106427e+01] [-1.97296884e-01 -1.36364424e-02 9.80248941e-01 -4.87264435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.176875 meters 0.0255312378334206 Centerline is valid? [True, True] Translation: X:116.83, Y:-30.53, Z:-4.88 [[ 9.40939045e-01 2.77078832e-01 1.94579119e-01 1.16834477e+02] [-2.73329816e-01 9.60800085e-01 -4.64112936e-02 -3.05267574e+01] [-1.99811221e-01 -9.51407666e-03 9.79788221e-01 -4.87654281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.206875 meters 0.023432984305238644 Centerline is valid? [True, True] Translation: X:116.86, Y:-30.53, Z:-4.88 [[ 9.43213976e-01 2.68108466e-01 1.96125588e-01 1.16863114e+02] [-2.64106586e-01 9.63358191e-01 -4.67836142e-02 -3.05337381e+01] [-2.01482275e-01 -7.67110079e-03 9.79462121e-01 -4.88214818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.236875 meters 0.020419402795655853 Centerline is valid? [True, True] Translation: X:116.89, Y:-30.54, Z:-4.89 [[ 9.45154453e-01 2.59592551e-01 1.98229079e-01 1.16892109e+02] [-2.55318348e-01 9.65700090e-01 -4.72850702e-02 -3.05439913e+01] [-2.03704692e-01 -5.91982648e-03 9.79014481e-01 -4.88697029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.266875 meters 0.018434135173861783 Centerline is valid? [True, True] Translation: X:116.92, Y:-30.55, Z:-4.89 [[ 9.46986008e-01 2.51938651e-01 1.99360020e-01 1.16921641e+02] [-2.47446026e-01 9.67733690e-01 -4.75601682e-02 -3.05540163e+01] [-2.04909653e-01 -4.29203088e-03 9.78771481e-01 -4.89190714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.296875 meters 0.01730488040144294 Centerline is valid? [True, True] Translation: X:116.95, Y:-30.56, Z:-4.90 [[ 9.49735480e-01 2.40067719e-01 2.00922890e-01 1.16949691e+02] [-2.35238868e-01 9.70754593e-01 -4.79394942e-02 -3.05645976e+01] [-2.06555543e-01 -1.73503469e-03 9.78433338e-01 -4.89697629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.326875 meters 0.01733246021712011 Centerline is valid? [True, True] Translation: X:116.98, Y:-30.57, Z:-4.90 [[ 9.50749122e-01 2.36246546e-01 2.00658108e-01 1.16980036e+02] [-2.31346274e-01 9.71692726e-01 -4.78763784e-02 -3.05730468e+01] [-2.06288653e-01 -9.03081006e-04 9.78490764e-01 -4.90383667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35687499999999 meters 0.017220114752043235 Centerline is valid? [True, True] Translation: X:117.01, Y:-30.58, Z:-4.91 [[ 9.51652059e-01 2.33476179e-01 1.99617718e-01 1.17011053e+02] [-2.28555972e-01 9.72362490e-01 -4.76797232e-02 -3.05807887e+01] [-2.05232861e-01 -2.49314658e-04 9.78713140e-01 -4.91127696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38687499999999 meters 0.01775832527322601 Centerline is valid? [True, True] Translation: X:117.04, Y:-30.59, Z:-4.92 [[ 9.52132297e-01 2.32096543e-01 1.98935376e-01 1.17040923e+02] [-2.27167880e-01 9.72692749e-01 -4.75770031e-02 -3.05873372e+01] [-2.04545456e-01 1.07873700e-04 9.78857061e-01 -4.92078712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41687499999999 meters 0.017752708971321484 Centerline is valid? [True, True] Translation: X:117.07, Y:-30.59, Z:-4.93 [[ 9.52479090e-01 2.31395355e-01 1.98090316e-01 1.17072326e+02] [-2.26482397e-01 9.72859749e-01 -4.74302857e-02 -3.05942231e+01] [-2.03689243e-01 3.12385900e-04 9.79035543e-01 -4.92829960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44687499999999 meters 0.017799148990729617 Centerline is valid? [True, True] Translation: X:117.10, Y:-30.60, Z:-4.94 [[ 9.52367080e-01 2.32338634e-01 1.97523935e-01 1.17103402e+02] [-2.27461839e-01 9.72634942e-01 -4.73537854e-02 -3.06012410e+01] [-2.03120795e-01 1.69028762e-04 9.79153672e-01 -4.93561551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47687499999999 meters 0.017926735908650078 Centerline is valid? [True, True] Translation: X:117.13, Y:-30.61, Z:-4.94 [[ 9.52108089e-01 2.33276283e-01 1.97667300e-01 1.17133259e+02] [-2.28399531e-01 9.72410497e-01 -4.74497583e-02 -3.06089669e+01] [-2.03282661e-01 3.01800392e-05 9.79120094e-01 -4.94212201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.506875 meters 0.017903889891979673 Centerline is valid? [True, True] Translation: X:117.16, Y:-30.62, Z:-4.95 [[ 9.51614953e-01 2.34531669e-01 1.98554472e-01 1.17163846e+02] [-2.29629843e-01 9.72108459e-01 -4.76998930e-02 -3.06168387e+01] [-2.04203617e-01 -2.02100725e-04 9.78928415e-01 -4.94870736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.536875 meters 0.01804492501754386 Centerline is valid? [True, True] Translation: X:117.20, Y:-30.63, Z:-4.96 [[ 9.51266661e-01 2.35953136e-01 1.98539308e-01 1.17195415e+02] [-2.31071886e-01 9.71764328e-01 -4.77480184e-02 -3.06251448e+01] [-2.04199712e-01 -4.55754307e-04 9.78929145e-01 -4.95583810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.566875 meters 0.01796168788714534 Centerline is valid? [True, True] Translation: X:117.23, Y:-30.63, Z:-4.96 [[ 9.50840399e-01 2.37319431e-01 1.98952314e-01 1.17226758e+02] [-2.32434659e-01 9.71431423e-01 -4.79074044e-02 -3.06331219e+01] [-2.04637888e-01 -6.91117761e-04 9.78837503e-01 -4.96286196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.596875 meters 0.01803973552962433 Centerline is valid? [True, True] Translation: X:117.26, Y:-30.64, Z:-4.97 [[ 9.50316760e-01 2.39820794e-01 1.98454130e-01 1.17255749e+02] [-2.35001869e-01 9.70816475e-01 -4.78486551e-02 -3.06392734e+01] [-2.04137642e-01 -1.16571253e-03 9.78941502e-01 -4.97160686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.626875 meters 0.01793724824248955 Centerline is valid? [True, True] Translation: X:117.29, Y:-30.65, Z:-4.98 [[ 9.49846457e-01 2.41535098e-01 1.98626544e-01 1.17287184e+02] [-2.36734637e-01 9.70390944e-01 -4.79387871e-02 -3.06462341e+01] [-2.04324299e-01 -1.48729579e-03 9.78902124e-01 -4.97836536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.656875 meters 0.018167022344304437 Centerline is valid? [True, True] Translation: X:117.32, Y:-30.65, Z:-4.98 [[ 9.49226964e-01 2.43783417e-01 1.98841183e-01 1.17317846e+02] [-2.39008598e-01 9.69827812e-01 -4.80510738e-02 -3.06529109e+01] [-2.04555765e-01 -1.91337751e-03 9.78853042e-01 -4.98495829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.686875 meters 0.0184227987281321 Centerline is valid? [True, True] Translation: X:117.35, Y:-30.66, Z:-4.99 [[ 9.47704941e-01 2.49504995e-01 1.99004025e-01 1.17349150e+02] [-2.44835886e-01 9.68368555e-01 -4.81428121e-02 -3.06573914e+01] [-2.04721112e-01 -3.09814583e-03 9.78815441e-01 -4.99071663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71687499999999 meters 0.019108281628186282 Centerline is valid? [True, True] Translation: X:117.38, Y:-30.66, Z:-5.00 [[ 9.46765614e-01 2.52982711e-01 1.99084453e-01 1.17379438e+02] [-2.48374683e-01 9.67463340e-01 -4.82151594e-02 -3.06614705e+01] [-2.04804512e-01 -3.79908291e-03 9.78795525e-01 -4.99736692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74687499999999 meters 0.019930989268610942 Centerline is valid? [True, True] Translation: X:117.41, Y:-30.67, Z:-5.00 [[ 9.45642815e-01 2.56757240e-01 1.99588039e-01 1.17410955e+02] [-2.52198463e-01 9.66465076e-01 -4.83858728e-02 -3.06663402e+01] [-2.05318293e-01 -4.58004377e-03 9.78684536e-01 -5.00382676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77687499999999 meters 0.02165709886982964 Centerline is valid? [True, True] Translation: X:117.44, Y:-30.67, Z:-5.01 [[ 9.43526621e-01 2.63517339e-01 2.00788765e-01 1.17441429e+02] [-2.59042727e-01 9.64635786e-01 -4.87305487e-02 -3.06691746e+01] [-2.06529373e-01 -6.03429931e-03 9.78421793e-01 -5.01020154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80687499999999 meters 0.022195322489926884 Centerline is valid? [True, True] Translation: X:117.47, Y:-30.68, Z:-5.02 [[ 9.42709127e-01 2.66516792e-01 2.00669633e-01 1.17472257e+02] [-2.62113907e-01 9.63807101e-01 -4.87049448e-02 -3.06762146e+01] [-2.06387503e-01 -6.68370563e-03 9.78447508e-01 -5.01773605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83687499999999 meters 0.023870870492120312 Centerline is valid? [True, True] Translation: X:117.50, Y:-30.68, Z:-5.03 [[ 9.42055631e-01 2.69058401e-01 2.00346611e-01 1.17502011e+02] [-2.64723592e-01 9.63096843e-01 -4.86404344e-02 -3.06809911e+01] [-2.06040306e-01 -7.21447935e-03 9.78516910e-01 -5.02583287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.866875 meters 0.02356066762456211 Centerline is valid? [True, True] Translation: X:117.53, Y:-30.69, Z:-5.03 [[ 9.41618321e-01 2.70980126e-01 1.99811683e-01 1.17531712e+02] [-2.66701122e-01 9.62555208e-01 -4.85590691e-02 -3.06905451e+01] [-2.05488318e-01 -7.56589074e-03 9.78630323e-01 -5.03370786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.896875 meters 0.02448227679901899 Centerline is valid? [True, True] Translation: X:117.56, Y:-30.70, Z:-5.04 [[ 9.41445295e-01 2.73252273e-01 1.97519500e-01 1.17560227e+02] [-2.69110189e-01 9.61909847e-01 -4.80536397e-02 -3.07017669e+01] [-2.03126718e-01 -7.91463690e-03 9.79120470e-01 -5.04299060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.926875 meters 0.024554594164858095 Centerline is valid? [True, True] Translation: X:117.59, Y:-30.71, Z:-5.05 [[ 9.41290665e-01 2.74058585e-01 1.97138974e-01 1.17590034e+02] [-2.69940092e-01 9.61679513e-01 -4.80089671e-02 -3.07118287e+01] [-2.02741782e-01 -8.02532003e-03 9.79199349e-01 -5.05051131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.956875 meters 0.024682746679852752 Centerline is valid? [True, True] Translation: X:117.62, Y:-30.72, Z:-5.06 [[ 9.41102676e-01 2.74605764e-01 1.97275005e-01 1.17620392e+02] [-2.70482746e-01 9.61522797e-01 -4.80936039e-02 -3.07224371e+01] [-2.02891196e-01 -8.09846585e-03 9.79167798e-01 -5.05837794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.986875 meters 0.02484111814860222 Centerline is valid? [True, True] Translation: X:117.65, Y:-30.73, Z:-5.06 [[ 9.40872492e-01 2.75177433e-01 1.97576148e-01 1.17651269e+02] [-2.71041816e-01 9.61358689e-01 -4.82266060e-02 -3.07336686e+01] [-2.03212420e-01 -8.17631089e-03 9.79100536e-01 -5.06460131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.016875 meters 0.024823326495257512 Centerline is valid? [True, True] Translation: X:117.68, Y:-30.75, Z:-5.07 [[ 9.40242233e-01 2.75945603e-01 1.99495785e-01 1.17681403e+02] [-2.71733060e-01 9.61136833e-01 -4.87558379e-02 -3.07485813e+01] [-2.05196706e-01 -8.36730230e-03 9.78684985e-01 -5.06847499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.046875 meters 0.025009783552294038 Centerline is valid? [True, True] Translation: X:117.71, Y:-30.76, Z:-5.07 [[ 9.39783756e-01 2.76553190e-01 2.00810418e-01 1.17711852e+02] [-2.72285400e-01 9.60961033e-01 -4.91381059e-02 -3.07595610e+01] [-2.06560287e-01 -8.49855132e-03 9.78396966e-01 -5.07316426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.076875 meters 0.025564273905686972 Centerline is valid? [True, True] Translation: X:117.74, Y:-30.77, Z:-5.08 [[ 9.39108010e-01 2.77158501e-01 2.03123880e-01 1.17742088e+02] [-2.72791885e-01 9.60785051e-01 -4.97661836e-02 -3.07692944e+01] [-2.08951508e-01 -8.67472434e-03 9.77887528e-01 -5.07827777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10687499999999 meters 0.02513088132305539 Centerline is valid? [True, True] Translation: X:117.77, Y:-30.78, Z:-5.08 [[ 9.37980596e-01 2.79160758e-01 2.05576438e-01 1.17771050e+02] [-2.74722132e-01 9.60200515e-01 -5.04254037e-02 -3.07840492e+01] [-2.11471396e-01 -9.17834705e-03 9.77341090e-01 -5.08272947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13687499999999 meters 0.025295525849393714 Centerline is valid? [True, True] Translation: X:117.80, Y:-30.79, Z:-5.09 [[ 9.37588796e-01 2.80008056e-01 2.06210423e-01 1.17800398e+02] [-2.75550045e-01 9.59952161e-01 -5.06361615e-02 -3.07940909e+01] [-2.12130674e-01 -9.34539357e-03 9.77196623e-01 -5.08921563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16687499999999 meters 0.027923434403927774 Centerline is valid? [True, True] Translation: X:117.83, Y:-30.80, Z:-5.10 [[ 9.37130606e-01 2.81078747e-01 2.06835601e-01 1.17830135e+02] [-2.76607984e-01 9.59637014e-01 -5.08411610e-02 -3.08004579e+01] [-2.12777468e-01 -9.56757056e-03 9.77053842e-01 -5.09593173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19687499999999 meters 0.025255417455376846 Centerline is valid? [True, True] Translation: X:117.86, Y:-30.82, Z:-5.10 [[ 9.36972598e-01 2.82808465e-01 2.05187043e-01 1.17857319e+02] [-2.78439084e-01 9.59126055e-01 -5.04864969e-02 -3.08185551e+01] [-2.11078248e-01 -9.82762824e-03 9.77419762e-01 -5.10479073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22687499999999 meters 0.027471488664922866 Centerline is valid? [True, True] Translation: X:117.89, Y:-30.83, Z:-5.11 [[ 9.36937345e-01 2.83888813e-01 2.03851790e-01 1.17886351e+02] [-2.79598418e-01 9.58805188e-01 -5.01730582e-02 -3.08257663e+01] [-2.09697724e-01 -9.98762603e-03 9.77715251e-01 -5.11293274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.256875 meters 0.028157407525149482 Centerline is valid? [True, True] Translation: X:117.92, Y:-30.84, Z:-5.12 [[ 9.36856395e-01 2.84757043e-01 2.03011137e-01 1.17916394e+02] [-2.80511448e-01 9.58546634e-01 -5.00167687e-02 -3.08360249e+01] [-2.08838269e-01 -1.00884184e-02 9.77898155e-01 -5.12060867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.286875 meters 0.027100354934789773 Centerline is valid? [True, True] Translation: X:117.95, Y:-30.85, Z:-5.13 [[ 9.36767432e-01 2.85611081e-01 2.02220398e-01 1.17945550e+02] [-2.81407140e-01 9.58291482e-01 -4.98744065e-02 -3.08492254e+01] [-2.08030768e-01 -1.01855441e-02 9.78069248e-01 -5.12809870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.316875 meters 0.027786123000932656 Centerline is valid? [True, True] Translation: X:117.97, Y:-30.86, Z:-5.14 [[ 9.36703471e-01 2.86343838e-01 2.01479063e-01 1.17974569e+02] [-2.82176168e-01 9.58072033e-01 -4.97452565e-02 -3.08594947e+01] [-2.07275703e-01 -1.02560352e-02 9.78228806e-01 -5.13562862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.346875 meters 0.028255565073497645 Centerline is valid? [True, True] Translation: X:118.00, Y:-30.87, Z:-5.14 [[ 9.36445103e-01 2.87297083e-01 2.01323010e-01 1.18002953e+02] [-2.83147181e-01 9.57784951e-01 -4.97560211e-02 -3.08748498e+01] [-2.07118909e-01 -1.04102604e-02 9.78260387e-01 -5.14176231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.376875 meters 0.028711540416048766 Centerline is valid? [True, True] Translation: X:118.03, Y:-30.89, Z:-5.15 [[ 9.36344647e-01 2.87670757e-01 2.01256648e-01 1.18032250e+02] [-2.83520927e-01 9.57672487e-01 -4.97924768e-02 -3.08859810e+01] [-2.07061794e-01 -1.04375522e-02 9.78272187e-01 -5.14851951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.406875 meters 0.03142678623957481 Centerline is valid? [True, True] Translation: X:118.06, Y:-30.90, Z:-5.16 [[ 9.36262893e-01 2.88225047e-01 2.00843517e-01 1.18060366e+02] [-2.84092949e-01 9.57505325e-01 -4.97468455e-02 -3.08992744e+01] [-2.06647024e-01 -1.04821014e-02 9.78359409e-01 -5.15579784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.436875 meters 0.030039940429630384 Centerline is valid? [True, True] Translation: X:118.09, Y:-30.91, Z:-5.16 [[ 9.36072827e-01 2.88823911e-01 2.00869138e-01 1.18089497e+02] [-2.84694145e-01 9.57323904e-01 -4.98014809e-02 -3.09139907e+01] [-2.06680686e-01 -1.05684544e-02 9.78351369e-01 -5.16248152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46687499999999 meters 0.03056582990988697 Centerline is valid? [True, True] Translation: X:118.12, Y:-30.93, Z:-5.17 [[ 9.35901387e-01 2.89452003e-01 2.00763872e-01 1.18118834e+02] [-2.85329966e-01 9.57133270e-01 -4.98268462e-02 -3.09254714e+01] [-2.06580262e-01 -1.06509345e-02 9.78371684e-01 -5.16952533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49687499999999 meters 0.03101178206809135 Centerline is valid? [True, True] Translation: X:118.15, Y:-30.94, Z:-5.18 [[ 9.35700301e-01 2.89933279e-01 2.01006568e-01 1.18148068e+02] [-2.85801309e-01 9.56986815e-01 -4.99384422e-02 -3.09370424e+01] [-2.06839451e-01 -1.07205247e-02 9.78316161e-01 -5.17589919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52687499999999 meters 0.03204875461141117 Centerline is valid? [True, True] Translation: X:118.18, Y:-30.95, Z:-5.18 [[ 9.35115840e-01 2.90417923e-01 2.03016737e-01 1.18176735e+02] [-2.86202638e-01 9.56837935e-01 -5.04897554e-02 -3.09527263e+01] [-2.08917245e-01 -1.08901556e-02 9.77872686e-01 -5.18049578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55687499999999 meters 0.0324541655129532 Centerline is valid? [True, True] Translation: X:118.21, Y:-30.96, Z:-5.19 [[ 9.34876784e-01 2.90813913e-01 2.03550158e-01 1.18207448e+02] [-2.86573792e-01 9.56716916e-01 -5.06774622e-02 -3.09646128e+01] [-2.09477590e-01 -1.09549576e-02 9.77752079e-01 -5.18607868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58687499999999 meters 0.0330265637690256 Centerline is valid? [True, True] Translation: X:118.24, Y:-30.98, Z:-5.19 [[ 9.34626844e-01 2.91281029e-01 2.04029471e-01 1.18237526e+02] [-2.87019213e-01 9.56573943e-01 -5.08553044e-02 -3.09760581e+01] [-2.09982461e-01 -1.10296455e-02 9.77642937e-01 -5.19211281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.616875 meters 0.033666466225692006 Centerline is valid? [True, True] Translation: X:118.27, Y:-30.99, Z:-5.20 [[ 9.34244406e-01 2.92116743e-01 2.04585432e-01 1.18267657e+02] [-2.87840325e-01 9.56317090e-01 -5.10447872e-02 -3.09871998e+01] [-2.10559582e-01 -1.11996305e-02 9.77516870e-01 -5.19819382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.646875 meters 0.03528718843916835 Centerline is valid? [True, True] Translation: X:118.30, Y:-31.00, Z:-5.21 [[ 9.33942965e-01 2.93384532e-01 2.04147137e-01 1.18295199e+02] [-2.89145397e-01 9.55926426e-01 -5.09863476e-02 -3.09993843e+01] [-2.10108249e-01 -1.14098646e-02 9.77611548e-01 -5.20593625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.676875 meters 0.03640410619428252 Centerline is valid? [True, True] Translation: X:118.33, Y:-31.01, Z:-5.21 [[ 9.33764638e-01 2.94619660e-01 2.03181831e-01 1.18325287e+02] [-2.90446527e-01 9.55543990e-01 -5.07592083e-02 -3.10083241e+01] [-2.09103838e-01 -1.16163034e-02 9.77824446e-01 -5.21430440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.706875 meters 0.03741486334401223 Centerline is valid? [True, True] Translation: X:118.36, Y:-31.02, Z:-5.22 [[ 9.33663732e-01 2.95740028e-01 2.02014532e-01 1.18355107e+02] [-2.91630204e-01 9.55196228e-01 -5.05172309e-02 -3.10175703e+01] [-2.07903486e-01 -1.17474328e-02 9.78078800e-01 -5.22369534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.736875 meters 0.03915679949037011 Centerline is valid? [True, True] Translation: X:118.38, Y:-31.03, Z:-5.23 [[ 9.33517016e-01 2.97532706e-01 2.00050667e-01 1.18382297e+02] [-2.93540325e-01 9.54636087e-01 -5.00401726e-02 -3.10292501e+01] [-2.05864174e-01 -1.20095853e-02 9.78506879e-01 -5.23255318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.766875 meters 0.039797525024116674 Centerline is valid? [True, True] Translation: X:118.41, Y:-31.04, Z:-5.24 [[ 9.33628648e-01 2.97966968e-01 1.98879947e-01 1.18411909e+02] [-2.94030267e-01 9.54500405e-01 -4.97511721e-02 -3.10390443e+01] [-2.04655196e-01 -1.20276044e-02 9.78760230e-01 -5.24031391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.796875 meters 0.04007622015461115 Centerline is valid? [True, True] Translation: X:118.44, Y:-31.05, Z:-5.25 [[ 9.33681857e-01 2.98437538e-01 1.97922273e-01 1.18441183e+02] [-2.94539450e-01 9.54353425e-01 -4.95585781e-02 -3.10495635e+01] [-2.03677939e-01 -1.20239721e-02 9.78964106e-01 -5.24831953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.826875 meters 0.04007622015461115 Centerline is valid? [True, True] Translation: X:118.47, Y:-31.06, Z:-5.26 [[ 9.33606434e-01 2.98680717e-01 1.97911230e-01 1.18471917e+02] [-2.94778707e-01 9.54277262e-01 -4.96026364e-02 -3.10573840e+01] [-2.03677538e-01 -1.20306761e-02 9.78964107e-01 -5.25528825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85687499999999 meters 0.04078103132635351 Centerline is valid? [True, True] Translation: X:118.50, Y:-31.07, Z:-5.26 [[ 9.33861574e-01 2.98222208e-01 1.97398265e-01 1.18500888e+02] [-2.94319139e-01 9.54422966e-01 -4.95282436e-02 -3.10670126e+01] [-2.03171860e-01 -1.18455640e-02 9.79071437e-01 -5.26296900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88687499999999 meters 0.03936289016792621 Centerline is valid? [True, True] Translation: X:118.53, Y:-31.08, Z:-5.27 [[ 9.34582398e-01 2.96084783e-01 1.97204315e-01 1.18528649e+02] [-2.92133140e-01 9.55094521e-01 -4.95245916e-02 -3.10835072e+01] [-2.03012238e-01 -1.13251042e-02 9.79110705e-01 -5.27003643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91687499999999 meters 0.038838882198000524 Centerline is valid? [True, True] Translation: X:118.56, Y:-31.09, Z:-5.28 [[ 9.35197668e-01 2.94181646e-01 1.97135692e-01 1.18556811e+02] [-2.90188942e-01 9.55687394e-01 -4.95175060e-02 -3.10949623e+01] [-2.02967238e-01 -1.08979420e-02 9.79124882e-01 -5.27639373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94687499999999 meters 0.03761608450700143 Centerline is valid? [True, True] Translation: X:118.59, Y:-31.11, Z:-5.28 [[ 9.35716633e-01 2.92065054e-01 1.97819076e-01 1.18585081e+02] [-2.87996433e-01 9.56341144e-01 -4.96957910e-02 -3.11075011e+01] [-2.03696925e-01 -1.04700100e-02 9.78978009e-01 -5.28265198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97687499999999 meters 0.03667061188348842 Centerline is valid? [True, True] Translation: X:118.61, Y:-31.12, Z:-5.29 [[ 9.36320584e-01 2.90133559e-01 1.97803644e-01 1.18614065e+02] [-2.86021690e-01 9.56933470e-01 -4.96983672e-02 -3.11199435e+01] [-2.03704091e-01 -1.00425281e-02 9.78980996e-01 -5.28864574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.006875 meters 0.025793399197241974 Centerline is valid? [True, True] Translation: X:118.64, Y:-31.15, Z:-5.29 [[ 9.37694824e-01 2.84622851e-01 1.99294377e-01 1.18638708e+02] [-2.80323612e-01 9.58598205e-01 -5.00814648e-02 -3.11500958e+01] [-2.05297562e-01 -8.90578937e-03 9.78659082e-01 -5.29047500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.036875 meters 0.024477048729566395 Centerline is valid? [True, True] Translation: X:118.67, Y:-31.16, Z:-5.30 [[ 9.38516384e-01 2.81440661e-01 1.99945371e-01 1.18666926e+02] [-2.77032091e-01 9.59543662e-01 -5.02909670e-02 -3.11632009e+01] [-2.06010236e-01 -8.19238761e-03 9.78515543e-01 -5.29588709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.066875 meters 0.028911073043995716 Centerline is valid? [True, True] Translation: X:118.70, Y:-31.17, Z:-5.30 [[ 9.39659630e-01 2.77445088e-01 2.00159943e-01 1.18696749e+02] [-2.72933181e-01 9.60713728e-01 -5.03647846e-02 -3.11670230e+01] [-2.06269867e-01 -7.30453510e-03 9.78467877e-01 -5.30411639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.096875 meters 0.019734415038035906 Centerline is valid? [True, True] Translation: X:118.72, Y:-31.20, Z:-5.31 [[ 9.41996890e-01 2.68822828e-01 2.00938165e-01 1.18721227e+02] [-2.64076867e-01 9.63174416e-01 -5.05811478e-02 -3.11963110e+01] [-2.07135867e-01 -5.41583698e-03 9.78297195e-01 -5.30788300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.126875 meters 0.020816490286481592 Centerline is valid? [True, True] Translation: X:118.75, Y:-31.20, Z:-5.32 [[ 9.43444969e-01 2.64004005e-01 2.00532978e-01 1.18749122e+02] [-2.59160254e-01 9.64511980e-01 -5.05232993e-02 -3.12048993e+01] [-2.06754813e-01 -4.30422496e-03 9.78383320e-01 -5.31626209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.156875 meters 0.018487466779593304 Centerline is valid? [True, True] Translation: X:118.78, Y:-31.22, Z:-5.32 [[ 9.44857062e-01 2.59136906e-01 2.00232856e-01 1.18776468e+02] [-2.54194938e-01 9.65835260e-01 -5.04696339e-02 -3.12200631e+01] [-2.06470498e-01 -3.21158852e-03 9.78447556e-01 -5.32327103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.186875 meters 0.014756496673245236 Centerline is valid? [True, True] Translation: X:118.80, Y:-31.24, Z:-5.33 [[ 9.47466245e-01 2.50165200e-01 1.99311533e-01 1.18801801e+02] [-2.45071118e-01 9.68202370e-01 -5.02425900e-02 -3.12439911e+01] [-2.05542847e-01 -1.24234214e-03 9.78647329e-01 -5.32902635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21687499999999 meters 0.01434350311102122 Centerline is valid? [True, True] Translation: X:118.83, Y:-31.26, Z:-5.34 [[ 9.48611342e-01 2.46043325e-01 1.98995486e-01 1.18830527e+02] [-2.40869330e-01 9.69258779e-01 -5.01934737e-02 -3.12569704e+01] [-2.05227891e-01 -3.17810804e-04 9.78714163e-01 -5.33677176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24687499999999 meters 0.01455040130418203 Centerline is valid? [True, True] Translation: X:118.86, Y:-31.27, Z:-5.34 [[ 9.49736608e-01 2.42189513e-01 1.98354772e-01 1.18859851e+02] [-2.36955614e-01 9.70228799e-01 -5.00810729e-02 -3.12699418e+01] [-2.04578623e-01 5.62551642e-04 9.78849973e-01 -5.34497824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27687499999999 meters 0.014814408124023704 Centerline is valid? [True, True] Translation: X:118.89, Y:-31.28, Z:-5.35 [[ 9.50759998e-01 2.38444987e-01 1.97988418e-01 1.18887895e+02] [-2.33138318e-01 9.71154964e-01 -5.00455848e-02 -3.12826668e+01] [-2.04210554e-01 1.42265352e-03 9.78925955e-01 -5.35258347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30687499999999 meters 0.016403607180862728 Centerline is valid? [True, True] Translation: X:118.91, Y:-31.30, Z:-5.36 [[ 9.52435070e-01 2.31801026e-01 1.97827506e-01 1.18914858e+02] [-2.26351492e-01 9.72758924e-01 -5.00507610e-02 -3.12995285e+01] [-2.04040289e-01 2.89154885e-03 9.78958221e-01 -5.35943779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33687499999999 meters 0.01715855002079969 Centerline is valid? [True, True] Translation: X:118.94, Y:-31.31, Z:-5.37 [[ 9.52957949e-01 2.29532118e-01 1.97954930e-01 1.18944685e+02] [-2.24017828e-01 9.73295066e-01 -5.01271086e-02 -3.13110724e+01] [-2.04174338e-01 3.42359320e-03 9.78928556e-01 -5.36615468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.366875 meters 0.01668166269823195 Centerline is valid? [True, True] Translation: X:118.97, Y:-31.32, Z:-5.37 [[ 9.53501075e-01 2.27253515e-01 1.97968534e-01 1.18974849e+02] [-2.21679786e-01 9.73827582e-01 -5.01788194e-02 -3.13193999e+01] [-2.04190531e-01 3.95993616e-03 9.78923156e-01 -5.37138616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.396875 meters 0.016958390405242968 Centerline is valid? [True, True] Translation: X:119.00, Y:-31.33, Z:-5.38 [[ 9.53980763e-01 2.25477024e-01 1.97688684e-01 1.19004794e+02] [-2.19876230e-01 9.74238734e-01 -5.01331514e-02 -3.13291411e+01] [-2.03899847e-01 4.35901946e-03 9.78982049e-01 -5.37741331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.426875 meters 0.017941506477938282 Centerline is valid? [True, True] Translation: X:119.03, Y:-31.34, Z:-5.38 [[ 9.54548473e-01 2.22475381e-01 1.98347971e-01 1.19033346e+02] [-2.16761842e-01 9.74925131e-01 -5.03516869e-02 -3.13402125e+01] [-2.04576432e-01 5.06885427e-03 9.78837469e-01 -5.38365727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.456875 meters 0.01911617239001336 Centerline is valid? [True, True] Translation: X:119.06, Y:-31.35, Z:-5.39 [[ 9.54662801e-01 2.21756032e-01 1.98603118e-01 1.19061788e+02] [-2.16002361e-01 9.75087902e-01 -5.04634812e-02 -3.13501465e+01] [-2.04846079e-01 5.27686580e-03 9.78779974e-01 -5.39108228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.486875 meters 0.018498443772590245 Centerline is valid? [True, True] Translation: X:119.09, Y:-31.36, Z:-5.40 [[ 9.54691397e-01 2.21490068e-01 1.98762386e-01 1.19092510e+02] [-2.15711615e-01 9.75147760e-01 -5.05504140e-02 -3.13566628e+01] [-2.05019111e-01 5.38469000e-03 9.78743158e-01 -5.39792354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.516875 meters 0.01880393422317627 Centerline is valid? [True, True] Translation: X:119.12, Y:-31.36, Z:-5.40 [[ 9.54678426e-01 2.21760141e-01 1.98523406e-01 1.19122994e+02] [-2.15991092e-01 9.75086461e-01 -5.05395084e-02 -3.13639655e+01] [-2.04785134e-01 5.36969119e-03 9.78792223e-01 -5.40486382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.546875 meters 0.018707020676527034 Centerline is valid? [True, True] Translation: X:119.15, Y:-31.37, Z:-5.41 [[ 9.54614531e-01 2.21979980e-01 1.98584958e-01 1.19154800e+02] [-2.16200905e-01 9.75036397e-01 -5.06082384e-02 -3.13713136e+01] [-2.04861578e-01 5.37711214e-03 9.78776185e-01 -5.41158917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.576875 meters 0.019169942121961006 Centerline is valid? [True, True] Translation: X:119.18, Y:-31.38, Z:-5.42 [[ 9.54498573e-01 2.22755205e-01 1.98274036e-01 1.19184125e+02] [-2.16999160e-01 9.74860229e-01 -5.05855516e-02 -3.13780776e+01] [-2.04557667e-01 5.25853755e-03 9.78840390e-01 -5.41839820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60687499999999 meters 0.01891908452609892 Centerline is valid? [True, True] Translation: X:119.22, Y:-31.38, Z:-5.43 [[ 9.54302054e-01 2.23843835e-01 1.97993754e-01 1.19215529e+02] [-2.18118038e-01 9.74611876e-01 -5.05590099e-02 -3.13822620e+01] [-2.04284387e-01 5.06255778e-03 9.78898493e-01 -5.42511050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63687499999999 meters 0.01880844088971605 Centerline is valid? [True, True] Translation: X:119.25, Y:-31.39, Z:-5.43 [[ 9.54184559e-01 2.24656517e-01 1.97639261e-01 1.19246680e+02] [-2.18958737e-01 9.74425561e-01 -5.05163104e-02 -3.13879549e+01] [-2.03933566e-01 4.92704044e-03 9.78972331e-01 -5.43271250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66687499999999 meters 0.018868734600850725 Centerline is valid? [True, True] Translation: X:119.28, Y:-31.39, Z:-5.44 [[ 9.54031963e-01 2.25318623e-01 1.97622192e-01 1.19276570e+02] [-2.19625884e-01 9.74273145e-01 -5.05599613e-02 -3.13937083e+01] [-2.03930095e-01 4.83287060e-03 9.78973523e-01 -5.43996752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69687499999999 meters 0.018741037329822418 Centerline is valid? [True, True] Translation: X:119.31, Y:-31.40, Z:-5.45 [[ 9.53889970e-01 2.25913003e-01 1.97629045e-01 1.19307415e+02] [-2.20223328e-01 9.74135902e-01 -5.06056365e-02 -3.13993925e+01] [-2.03950019e-01 4.74968322e-03 9.78969780e-01 -5.44703011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72687499999999 meters 0.01713132324591625 Centerline is valid? [True, True] Translation: X:119.34, Y:-31.40, Z:-5.45 [[ 9.53792775e-01 2.26195271e-01 1.97775232e-01 1.19339660e+02] [-2.20493333e-01 9.74070448e-01 -5.06897716e-02 -3.14025523e+01] [-2.04112795e-01 4.73941798e-03 9.78935904e-01 -5.45341983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.756875 meters 0.01705227435226056 Centerline is valid? [True, True] Translation: X:119.37, Y:-31.41, Z:-5.46 [[ 9.53793117e-01 2.26434047e-01 1.97500160e-01 1.19371376e+02] [-2.20741350e-01 9.74014975e-01 -5.06762742e-02 -3.14065274e+01] [-2.03842947e-01 4.73822957e-03 9.78992136e-01 -5.46035580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.786875 meters 0.01699957391901891 Centerline is valid? [True, True] Translation: X:119.40, Y:-31.41, Z:-5.47 [[ 9.53857914e-01 2.26153794e-01 1.97508331e-01 1.19402786e+02] [-2.20442683e-01 9.74079506e-01 -5.07359769e-02 -3.14125281e+01] [-2.03862951e-01 4.85564675e-03 9.78987395e-01 -5.46660514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.816875 meters 0.01961229453192892 Centerline is valid? [True, True] Translation: X:119.43, Y:-31.42, Z:-5.48 [[ 9.53824683e-01 2.26112612e-01 1.97715857e-01 1.19432341e+02] [-2.20377976e-01 9.74088744e-01 -5.08396124e-02 -3.14227595e+01] [-2.04088268e-01 4.91985691e-03 9.78940128e-01 -5.47529375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.846875 meters 0.01689580767332888 Centerline is valid? [True, True] Translation: X:119.47, Y:-31.42, Z:-5.48 [[ 9.53749363e-01 2.25888174e-01 1.98334781e-01 1.19465939e+02] [-2.20101054e-01 9.74140213e-01 -5.10526372e-02 -3.14248001e+01] [-2.04738073e-01 5.03772579e-03 9.78803833e-01 -5.47934297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.876875 meters 0.017429914661283623 Centerline is valid? [True, True] Translation: X:119.50, Y:-31.43, Z:-5.48 [[ 9.53729934e-01 2.24846773e-01 1.99607469e-01 1.19496923e+02] [-2.18949096e-01 9.74379415e-01 -5.14397596e-02 -3.14299605e+01] [-2.06059473e-01 5.35576368e-03 9.78524813e-01 -5.48465609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.906875 meters 0.01729694481259132 Centerline is valid? [True, True] Translation: X:119.53, Y:-31.44, Z:-5.49 [[ 9.53646794e-01 2.24806939e-01 2.00049077e-01 1.19528927e+02] [-2.18871152e-01 9.74388209e-01 -5.16046271e-02 -3.14360340e+01] [-2.06526540e-01 5.42761520e-03 9.78425945e-01 -5.49128102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.936875 meters 0.01748013096905387 Centerline is valid? [True, True] Translation: X:119.56, Y:-31.44, Z:-5.50 [[ 9.53528631e-01 2.24912678e-01 2.00492986e-01 1.19560737e+02] [-2.18939971e-01 9.74363535e-01 -5.17782769e-02 -3.14422426e+01] [-2.06998645e-01 5.47614098e-03 9.78325903e-01 -5.49813608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96687499999999 meters 0.01740660191784937 Centerline is valid? [True, True] Translation: X:119.59, Y:-31.45, Z:-5.51 [[ 9.53223630e-01 2.25787050e-01 2.00959996e-01 1.19591229e+02] [-2.19792785e-01 9.74161947e-01 -5.19579836e-02 -3.14474937e+01] [-2.07499021e-01 5.35802053e-03 9.78220552e-01 -5.50555685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99687499999999 meters 0.016808208117203006 Centerline is valid? [True, True] Translation: X:119.62, Y:-31.45, Z:-5.51 [[ 9.52568456e-01 2.28486369e-01 2.01015712e-01 1.19622594e+02] [-2.22537291e-01 9.73535169e-01 -5.20233595e-02 -3.14497624e+01] [-2.07582494e-01 4.82231926e-03 9.78205629e-01 -5.51330076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02687499999999 meters 0.01620346365546932 Centerline is valid? [True, True] Translation: X:119.65, Y:-31.45, Z:-5.52 [[ 9.52179846e-01 2.30749304e-01 2.00270566e-01 1.19654020e+02] [-2.24883425e-01 9.73003453e-01 -5.18818373e-02 -3.14549071e+01] [-2.06835650e-01 4.36330909e-03 9.78365972e-01 -5.52093837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05687499999999 meters 0.015365904184046363 Centerline is valid? [True, True] Translation: X:119.69, Y:-31.46, Z:-5.53 [[ 9.51647008e-01 2.33879846e-01 1.99168748e-01 1.19685293e+02] [-2.28143423e-01 9.72258550e-01 -5.16128893e-02 -3.14591423e+01] [-2.05714732e-01 3.67821187e-03 9.78605089e-01 -5.52862521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08687499999999 meters 0.014500432210676428 Centerline is valid? [True, True] Translation: X:119.72, Y:-31.46, Z:-5.54 [[ 9.50881257e-01 2.37451584e-01 1.98599042e-01 1.19715232e+02] [-2.31814833e-01 9.71394905e-01 -5.15152517e-02 -3.14628865e+01] [-2.05150476e-01 2.94668364e-03 9.78726008e-01 -5.53543134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.116875 meters 0.012995562622892642 Centerline is valid? [True, True] Translation: X:119.75, Y:-31.46, Z:-5.54 [[ 9.48867855e-01 2.45036684e-01 1.99014617e-01 1.19746007e+02] [-2.39530634e-01 9.69512855e-01 -5.16710619e-02 -3.14619238e+01] [-2.05608535e-01 1.35891236e-03 9.78633376e-01 -5.54147624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.146875 meters 0.012387968363199263 Centerline is valid? [True, True] Translation: X:119.78, Y:-31.47, Z:-5.55 [[ 9.47506570e-01 2.49608949e-01 1.99816595e-01 1.19777957e+02] [-2.44157952e-01 9.68346650e-01 -5.18812074e-02 -3.14653790e+01] [-2.06441744e-01 3.70974277e-04 9.78458823e-01 -5.54783024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.176875 meters 0.01241975220696482 Centerline is valid? [True, True] Translation: X:119.81, Y:-31.47, Z:-5.55 [[ 9.46390840e-01 2.53462190e-01 2.00253079e-01 1.19809222e+02] [-2.48061862e-01 9.67345202e-01 -5.20439410e-02 -3.14690363e+01] [-2.06905026e-01 -4.21242546e-04 9.78360942e-01 -5.55492025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.206875 meters 0.012620449063745997 Centerline is valid? [True, True] Translation: X:119.84, Y:-31.47, Z:-5.56 [[ 9.45238260e-01 2.56852750e-01 2.01373523e-01 1.19841066e+02] [-2.51455863e-01 9.66449904e-01 -5.23882852e-02 -3.14738985e+01] [-2.08073497e-01 -1.11714152e-03 9.78112556e-01 -5.56090343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.236875 meters 0.01347020371804427 Centerline is valid? [True, True] Translation: X:119.87, Y:-31.48, Z:-5.57 [[ 9.44004525e-01 2.60704582e-01 2.02209244e-01 1.19871551e+02] [-2.55337538e-01 9.65416719e-01 -5.26621359e-02 -3.14778888e+01] [-2.08945445e-01 -1.91831606e-03 9.77925417e-01 -5.56687596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.266875 meters 0.01379215805445583 Centerline is valid? [True, True] Translation: X:119.90, Y:-31.49, Z:-5.57 [[ 9.43623338e-01 2.62146740e-01 2.02123930e-01 1.19901911e+02] [-2.56807368e-01 9.65025534e-01 -5.26848614e-02 -3.14853579e+01] [-2.08865918e-01 -2.19224967e-03 9.77941830e-01 -5.57390314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.296875 meters 0.01404439333900929 Centerline is valid? [True, True] Translation: X:119.93, Y:-31.49, Z:-5.58 [[ 9.43357536e-01 2.63410378e-01 2.01721423e-01 1.19932437e+02] [-2.58110738e-01 9.64680838e-01 -5.26281942e-02 -3.14927135e+01] [-2.08459604e-01 -2.41926189e-03 9.78027986e-01 -5.58106915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.326875 meters 0.014467425676400976 Centerline is valid? [True, True] Translation: X:119.96, Y:-31.50, Z:-5.59 [[ 9.43051502e-01 2.64327504e-01 2.01952556e-01 1.19962464e+02] [-2.59026109e-01 9.64429534e-01 -5.27365932e-02 -3.15008442e+01] [-2.08708742e-01 -2.57766146e-03 9.77974446e-01 -5.58876310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35687499999999 meters 0.013912716417889458 Centerline is valid? [True, True] Translation: X:119.99, Y:-31.51, Z:-5.60 [[ 9.43265175e-01 2.63924959e-01 2.01480584e-01 1.19993172e+02] [-2.58628634e-01 9.64540150e-01 -5.26643091e-02 -3.15112169e+01] [-2.08235538e-01 -2.43223961e-03 9.78075685e-01 -5.59619294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38687499999999 meters 0.01378895795643048 Centerline is valid? [True, True] Translation: X:120.02, Y:-31.52, Z:-5.60 [[ 9.43500513e-01 2.63612974e-01 2.00785911e-01 1.20023230e+02] [-2.58334525e-01 9.64625789e-01 -5.25391272e-02 -3.15208519e+01] [-2.07533263e-01 -2.29923949e-03 9.78225259e-01 -5.60384953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41687499999999 meters 0.013461749392254821 Centerline is valid? [True, True] Translation: X:120.05, Y:-31.53, Z:-5.61 [[ 9.44119731e-01 2.62215794e-01 1.99701804e-01 1.20053002e+02] [-2.56952044e-01 9.65007342e-01 -5.23113500e-02 -3.15312766e+01] [-2.06430569e-01 -1.92560922e-03 9.78459356e-01 -5.61159062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44687499999999 meters 0.012717662616909604 Centerline is valid? [True, True] Translation: X:120.08, Y:-31.55, Z:-5.62 [[ 9.45554166e-01 2.57283005e-01 1.99330817e-01 1.20081141e+02] [-2.51920250e-01 9.66335769e-01 -5.22625065e-02 -3.15475580e+01] [-2.06066753e-01 -7.98438694e-04 9.78537611e-01 -5.61729246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47687499999999 meters 0.012926592768204149 Centerline is valid? [True, True] Translation: X:120.11, Y:-31.56, Z:-5.63 [[ 9.46523451e-01 2.53989343e-01 1.98954194e-01 1.20109578e+02] [-2.48563823e-01 9.67207017e-01 -5.22169794e-02 -3.15591819e+01] [-2.05692448e-01 -2.82194100e-05 9.78616685e-01 -5.62571921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.506875 meters 0.013111597251828677 Centerline is valid? [True, True] Translation: X:120.14, Y:-31.57, Z:-5.63 [[ 9.47478559e-01 2.50717395e-01 1.98557718e-01 1.20139074e+02] [-2.45234851e-01 9.68060056e-01 -5.21497350e-02 -3.15716747e+01] [-2.05290641e-01 7.17483366e-04 9.78700791e-01 -5.63302857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.536875 meters 0.013974732824033958 Centerline is valid? [True, True] Translation: X:120.17, Y:-31.58, Z:-5.64 [[ 9.48327056e-01 2.47307135e-01 1.98783743e-01 1.20166747e+02] [-2.41726330e-01 9.68935961e-01 -5.22636166e-02 -3.15836436e+01] [-2.05533882e-01 1.51173704e-03 9.78648833e-01 -5.64059066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.566875 meters 0.01609310920838622 Centerline is valid? [True, True] Translation: X:120.19, Y:-31.60, Z:-5.65 [[ 9.50186563e-01 2.40372593e-01 1.98409960e-01 1.20193871e+02] [-2.34654099e-01 9.70675905e-01 -5.22086298e-02 -3.15999578e+01] [-2.05141292e-01 3.05022796e-03 9.78727616e-01 -5.64777614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.596875 meters 0.015185025888795738 Centerline is valid? [True, True] Translation: X:120.22, Y:-31.61, Z:-5.65 [[ 9.50811351e-01 2.37630193e-01 1.98720071e-01 1.20224841e+02] [-2.31825301e-01 9.71348686e-01 -5.23331572e-02 -3.16082491e+01] [-2.05462418e-01 3.69061963e-03 9.78658048e-01 -5.65216270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.626875 meters 0.018692219387399914 Centerline is valid? [True, True] Translation: X:120.25, Y:-31.62, Z:-5.66 [[ 9.51430634e-01 2.34895121e-01 1.99007615e-01 1.20251530e+02] [-2.29003061e-01 9.72011034e-01 -5.24609134e-02 -3.16236817e+01] [-2.05760410e-01 4.33956698e-03 9.78592776e-01 -5.66010119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.656875 meters 0.016795991169074095 Centerline is valid? [True, True] Translation: X:120.28, Y:-31.63, Z:-5.66 [[ 9.51996551e-01 2.32694136e-01 1.98886918e-01 1.20282484e+02] [-2.26751814e-01 9.72537826e-01 -5.24765779e-02 -3.16295413e+01] [-2.05636043e-01 4.85955169e-03 9.78616474e-01 -5.66484139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.686875 meters 0.018291361118905145 Centerline is valid? [True, True] Translation: X:120.31, Y:-31.64, Z:-5.67 [[ 9.53100678e-01 2.28625667e-01 1.98316420e-01 1.20310707e+02] [-2.22619657e-01 9.73497292e-01 -5.23785259e-02 -3.16410673e+01] [-2.05035573e-01 5.77287523e-03 9.78737497e-01 -5.67191308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71687499999999 meters 0.01907856819160029 Centerline is valid? [True, True] Translation: X:120.34, Y:-31.65, Z:-5.68 [[ 9.53463942e-01 2.27415715e-01 1.97961119e-01 1.20340402e+02] [-2.21402475e-01 9.73779054e-01 -5.23000857e-02 -3.16501759e+01] [-2.04664253e-01 6.03716417e-03 9.78813617e-01 -5.67941021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74687499999999 meters 0.01907856819160029 Centerline is valid? [True, True] Translation: X:120.37, Y:-31.66, Z:-5.69 [[ 9.53403782e-01 2.27678522e-01 1.97948779e-01 1.20370968e+02] [-2.21661201e-01 9.73717685e-01 -5.23467489e-02 -3.16583390e+01] [-2.04664458e-01 6.03002411e-03 9.78813618e-01 -5.68636905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77687499999999 meters 0.018666657610471395 Centerline is valid? [True, True] Translation: X:120.40, Y:-31.67, Z:-5.69 [[ 9.53480739e-01 2.27217096e-01 1.98108233e-01 1.20401174e+02] [-2.21167995e-01 9.73824447e-01 -5.24467866e-02 -3.16652149e+01] [-2.04839447e-01 6.19180024e-03 9.78776002e-01 -5.69328741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80687499999999 meters 0.01904013998830062 Centerline is valid? [True, True] Translation: X:120.43, Y:-31.67, Z:-5.70 [[ 9.53524303e-01 2.27183353e-01 1.97937181e-01 1.20432157e+02] [-2.21133475e-01 9.73831985e-01 -5.24523674e-02 -3.16730964e+01] [-2.04673863e-01 6.24407042e-03 9.78810309e-01 -5.70043350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83687499999999 meters 0.01846866710952696 Centerline is valid? [True, True] Translation: X:120.46, Y:-31.68, Z:-5.71 [[ 9.52818309e-01 2.28775628e-01 1.99496821e-01 1.20463175e+02] [-2.22650720e-01 9.73460628e-01 -5.29250759e-02 -3.16774925e+01] [-2.06310268e-01 6.00987065e-03 9.78468168e-01 -5.70696108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.866875 meters 0.018455285080814492 Centerline is valid? [True, True] Translation: X:120.49, Y:-31.68, Z:-5.71 [[ 9.52344519e-01 2.30581913e-01 1.99679489e-01 1.20493106e+02] [-2.24473947e-01 9.73036367e-01 -5.30252418e-02 -3.16837804e+01] [-2.06522066e-01 5.67545532e-03 9.78425483e-01 -5.71294648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.896875 meters 0.017495799028548913 Centerline is valid? [True, True] Translation: X:120.52, Y:-31.69, Z:-5.72 [[ 9.51739209e-01 2.32710257e-01 2.00096012e-01 1.20524895e+02] [-2.26612683e-01 9.72531814e-01 -5.31842313e-02 -3.16882879e+01] [-2.06976254e-01 5.27322394e-03 9.78331755e-01 -5.71952728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.926875 meters 0.016653383032631617 Centerline is valid? [True, True] Translation: X:120.56, Y:-31.69, Z:-5.73 [[ 9.50933284e-01 2.35833068e-01 2.00271451e-01 1.20556408e+02] [-2.29787300e-01 9.71782575e-01 -5.32580882e-02 -3.16923963e+01] [-2.07180324e-01 4.62505277e-03 9.78291839e-01 -5.72623951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.956875 meters 0.014913493040215544 Centerline is valid? [True, True] Translation: X:120.59, Y:-31.69, Z:-5.73 [[ 9.49040571e-01 2.43220058e-01 2.00414563e-01 1.20587601e+02] [-2.37316815e-01 9.69966281e-01 -5.33492631e-02 -3.16909241e+01] [-2.07370980e-01 3.06886922e-03 9.78257563e-01 -5.73243908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.986875 meters 0.014228628386213575 Centerline is valid? [True, True] Translation: X:120.62, Y:-31.69, Z:-5.74 [[ 9.48061817e-01 2.47160970e-01 2.00225488e-01 1.20618788e+02] [-2.41355365e-01 9.68971921e-01 -5.33010719e-02 -3.16937766e+01] [-2.07186820e-01 2.20721534e-03 9.78298906e-01 -5.74003742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.016875 meters 0.013546782123443209 Centerline is valid? [True, True] Translation: X:120.65, Y:-31.70, Z:-5.75 [[ 9.47097933e-01 2.51052039e-01 1.99945939e-01 1.20649982e+02] [-2.45337747e-01 9.67972572e-01 -5.32774768e-02 -3.16962212e+01] [-2.06917604e-01 1.40470204e-03 9.78357364e-01 -5.74742929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.046875 meters 0.01331782065724896 Centerline is valid? [True, True] Translation: X:120.68, Y:-31.70, Z:-5.75 [[ 9.45655289e-01 2.56049044e-01 2.00436924e-01 1.20680567e+02] [-2.50405811e-01 9.66663723e-01 -5.34619185e-02 -3.16971068e+01] [-2.07443976e-01 3.65975481e-04 9.78246831e-01 -5.75495834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.076875 meters 0.013221417767837088 Centerline is valid? [True, True] Translation: X:120.71, Y:-31.70, Z:-5.76 [[ 9.45152107e-01 2.57749331e-01 2.00630946e-01 1.20711909e+02] [-2.52122497e-01 9.66211820e-01 -5.35627274e-02 -3.17027917e+01] [-2.07657749e-01 4.13495327e-05 9.78201542e-01 -5.76197547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10687499999999 meters 0.013234289033345002 Centerline is valid? [True, True] Translation: X:120.74, Y:-31.71, Z:-5.77 [[ 9.44934936e-01 2.58659276e-01 2.00482782e-01 1.20741999e+02] [-2.53048589e-01 9.65968617e-01 -5.35821087e-02 -3.17090713e+01] [-2.07519585e-01 -1.00278749e-04 9.78230858e-01 -5.76881896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13687499999999 meters 0.013274558510520323 Centerline is valid? [True, True] Translation: X:120.77, Y:-31.72, Z:-5.78 [[ 9.44948840e-01 2.58814788e-01 2.00216373e-01 1.20772218e+02] [-2.53211027e-01 9.65926964e-01 -5.35656320e-02 -3.17160701e+01] [-2.07257971e-01 -8.02115982e-05 9.78286322e-01 -5.77597019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16687499999999 meters 0.013212518570685753 Centerline is valid? [True, True] Translation: X:120.80, Y:-31.72, Z:-5.78 [[ 9.44872173e-01 2.58063864e-01 2.01543095e-01 1.20804444e+02] [-2.52356168e-01 9.66127850e-01 -5.39753815e-02 -3.17227053e+01] [-2.08645493e-01 1.39192811e-04 9.77991329e-01 -5.78133247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19687499999999 meters 0.01333528040741948 Centerline is valid? [True, True] Translation: X:120.83, Y:-31.73, Z:-5.79 [[ 9.44888669e-01 2.57922043e-01 2.01647272e-01 1.20834463e+02] [-2.52191982e-01 9.66165703e-01 -5.40651256e-02 -3.17296599e+01] [-2.08769266e-01 2.31699376e-04 9.77964897e-01 -5.78819335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22687499999999 meters 0.01340895586576436 Centerline is valid? [True, True] Translation: X:120.86, Y:-31.74, Z:-5.80 [[ 9.44951789e-01 2.57540691e-01 2.01838819e-01 1.20864970e+02] [-2.51778718e-01 9.66267382e-01 -5.41740137e-02 -3.17371596e+01] [-2.08982280e-01 3.73112013e-04 9.77919356e-01 -5.79606270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.256875 meters 0.013481810162629894 Centerline is valid? [True, True] Translation: X:120.90, Y:-31.74, Z:-5.80 [[ 9.45011923e-01 2.57505964e-01 2.01601450e-01 1.20896576e+02] [-2.51744886e-01 9.66276611e-01 -5.41666287e-02 -3.17446043e+01] [-2.08750996e-01 4.35975801e-04 9.77968727e-01 -5.80358602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.286875 meters 0.013519188574221318 Centerline is valid? [True, True] Translation: X:120.93, Y:-31.75, Z:-5.81 [[ 9.45005880e-01 2.57647491e-01 2.01448897e-01 1.20928286e+02] [-2.51885716e-01 9.66238871e-01 -5.41851440e-02 -3.17511224e+01] [-2.08608421e-01 4.63180014e-04 9.77999137e-01 -5.81140592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.316875 meters 0.013528219002517277 Centerline is valid? [True, True] Translation: X:120.96, Y:-31.76, Z:-5.82 [[ 9.44923006e-01 2.58159269e-01 2.01182268e-01 1.20959041e+02] [-2.52411661e-01 9.66102285e-01 -5.41731373e-02 -3.17585608e+01] [-2.08347946e-01 4.08693417e-04 9.78054685e-01 -5.81841675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.346875 meters 0.013453988583718825 Centerline is valid? [True, True] Translation: X:120.99, Y:-31.77, Z:-5.83 [[ 9.44740844e-01 2.58928085e-01 2.01049704e-01 1.20990373e+02] [-2.53192735e-01 9.65896557e-01 -5.41966846e-02 -3.17657868e+01] [-2.08226261e-01 2.97496971e-04 9.78080639e-01 -5.82515900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.376875 meters 0.01358413326679783 Centerline is valid? [True, True] Translation: X:121.02, Y:-31.77, Z:-5.83 [[ 9.44086515e-01 2.60571994e-01 2.01997250e-01 1.21020984e+02] [-2.54805641e-01 9.65454419e-01 -5.45146711e-02 -3.17704419e+01] [-2.09224134e-01 -3.47293155e-06 9.77867712e-01 -5.83286124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.406875 meters 0.01359740305329968 Centerline is valid? [True, True] Translation: X:121.05, Y:-31.78, Z:-5.84 [[ 9.43451024e-01 2.62372008e-01 2.02635376e-01 1.21052875e+02] [-2.56597294e-01 9.64966740e-01 -5.47450354e-02 -3.17771435e+01] [-2.09899963e-01 -3.46429562e-04 9.77722806e-01 -5.83975269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.436875 meters 0.013677337620334948 Centerline is valid? [True, True] Translation: X:121.08, Y:-31.78, Z:-5.85 [[ 9.42976377e-01 2.64022844e-01 2.02700494e-01 1.21083827e+02] [-2.58269213e-01 9.64516204e-01 -5.48224860e-02 -3.17840302e+01] [-2.09982300e-01 -6.54987975e-04 9.77704968e-01 -5.84668505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46687499999999 meters 0.013788102139695965 Centerline is valid? [True, True] Translation: X:121.11, Y:-31.79, Z:-5.85 [[ 9.42439022e-01 2.65854407e-01 2.02805633e-01 1.21113975e+02] [-2.60123660e-01 9.64012669e-01 -5.49113407e-02 -3.17906561e+01] [-2.10105621e-01 -1.00395319e-03 9.77678178e-01 -5.85317886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49687499999999 meters 0.01412365762548167 Centerline is valid? [True, True] Translation: X:121.15, Y:-31.80, Z:-5.86 [[ 9.41276844e-01 2.69605802e-01 2.03250128e-01 1.21145175e+02] [-2.63923849e-01 9.62969111e-01 -5.50880440e-02 -3.17963688e+01] [-2.10575652e-01 -1.78945597e-03 9.77575927e-01 -5.85944739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52687499999999 meters 0.014636934191005773 Centerline is valid? [True, True] Translation: X:121.18, Y:-31.80, Z:-5.87 [[ 9.40677230e-01 2.71672844e-01 2.03273744e-01 1.21175120e+02] [-2.66025596e-01 9.62387152e-01 -5.51484571e-02 -3.18023960e+01] [-2.10610377e-01 -2.19912104e-03 9.77567610e-01 -5.86649083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55687499999999 meters 0.014844055747177003 Centerline is valid? [True, True] Translation: X:121.21, Y:-31.81, Z:-5.87 [[ 9.40034350e-01 2.73829979e-01 2.03353295e-01 1.21205187e+02] [-2.68221830e-01 9.61774451e-01 -5.51992275e-02 -3.18095763e+01] [-2.10695207e-01 -2.65462302e-03 9.77548200e-01 -5.87339465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58687499999999 meters 0.015566512472656707 Centerline is valid? [True, True] Translation: X:121.24, Y:-31.82, Z:-5.88 [[ 9.39253178e-01 2.76392711e-01 2.03495794e-01 1.21235046e+02] [-2.70829787e-01 9.61039442e-01 -5.52667863e-02 -3.18154690e+01] [-2.10842821e-01 -3.20321769e-03 9.77514728e-01 -5.88013958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.616875 meters 0.016586470547693456 Centerline is valid? [True, True] Translation: X:121.27, Y:-31.82, Z:-5.89 [[ 9.37981308e-01 2.81049701e-01 2.02983082e-01 1.21265485e+02] [-2.75611971e-01 9.59684070e-01 -5.51772299e-02 -3.18210748e+01] [-2.10307175e-01 -4.18935703e-03 9.77626381e-01 -5.88858669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.646875 meters 0.01760293533981483 Centerline is valid? [True, True] Translation: X:121.29, Y:-31.83, Z:-5.90 [[ 9.37586581e-01 2.83113602e-01 2.01935859e-01 1.21294883e+02] [-2.77776583e-01 9.59075288e-01 -5.49068564e-02 -3.18276687e+01] [-2.09216570e-01 -4.61312100e-03 9.77858449e-01 -5.89586816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.676875 meters 0.017472881675780736 Centerline is valid? [True, True] Translation: X:121.32, Y:-31.84, Z:-5.90 [[ 9.37255254e-01 2.84576311e-01 2.01417257e-01 1.21324335e+02] [-2.79289961e-01 9.58640975e-01 -5.48142114e-02 -3.18368381e+01] [-2.08685662e-01 -4.87891027e-03 9.77970598e-01 -5.90325464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.706875 meters 0.01803019259474323 Centerline is valid? [True, True] Translation: X:121.35, Y:-31.85, Z:-5.91 [[ 9.36526460e-01 2.86802570e-01 2.01649390e-01 1.21354467e+02] [-2.81543462e-01 9.57974889e-01 -5.49307821e-02 -3.18459527e+01] [-2.08929342e-01 -5.32893641e-03 9.77916220e-01 -5.91055478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.736875 meters 0.017588089459100897 Centerline is valid? [True, True] Translation: X:121.38, Y:-31.86, Z:-5.92 [[ 9.36354117e-01 2.87280212e-01 2.01769788e-01 1.21384768e+02] [-2.82014273e-01 9.57831439e-01 -5.50171245e-02 -3.18559573e+01] [-2.09066778e-01 -5.38644918e-03 9.77886531e-01 -5.91730092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.766875 meters 0.018179665225538048 Centerline is valid? [True, True] Translation: X:121.41, Y:-31.86, Z:-5.92 [[ 9.36215722e-01 2.87560095e-01 2.02013151e-01 1.21414492e+02] [-2.82274277e-01 9.57747407e-01 -5.51465052e-02 -3.18643550e+01] [-2.09335506e-01 -5.39409104e-03 9.77828998e-01 -5.92419685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.796875 meters 0.018105032782569714 Centerline is valid? [True, True] Translation: X:121.44, Y:-31.87, Z:-5.93 [[ 9.36324000e-01 2.87367514e-01 2.01785229e-01 1.21444147e+02] [-2.82076788e-01 9.57805803e-01 -5.51428169e-02 -3.18746834e+01] [-2.09117318e-01 -5.28738637e-03 9.77876266e-01 -5.93076052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.826875 meters 0.0172146083198255 Centerline is valid? [True, True] Translation: X:121.47, Y:-31.89, Z:-5.94 [[ 9.36719204e-01 2.84949481e-01 2.03373860e-01 1.21472844e+02] [-2.79506206e-01 9.58530851e-01 -5.56317184e-02 -3.18886003e+01] [-2.10792348e-01 -4.73295707e-03 9.77519404e-01 -5.93640385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85687499999999 meters 0.017105436550863547 Centerline is valid? [True, True] Translation: X:121.50, Y:-31.90, Z:-5.94 [[ 9.37356117e-01 2.82977846e-01 2.03192146e-01 1.21501977e+02] [-2.77486808e-01 9.59117110e-01 -5.56366809e-02 -3.18993224e+01] [-2.10629012e-01 -4.23175685e-03 9.77556910e-01 -5.94291234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88687499999999 meters 0.01655827437989622 Centerline is valid? [True, True] Translation: X:121.53, Y:-31.91, Z:-5.95 [[ 9.38012437e-01 2.80185679e-01 2.04031011e-01 1.21531610e+02] [-2.74571525e-01 9.59939200e-01 -5.59214565e-02 -3.19119141e+01] [-2.11525757e-01 -3.56608411e-03 9.77365918e-01 -5.94943943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91687499999999 meters 0.01549070267974518 Centerline is valid? [True, True] Translation: X:121.56, Y:-31.93, Z:-5.95 [[ 9.39255393e-01 2.74519669e-01 2.06005478e-01 1.21560024e+02] [-2.68656043e-01 9.61578749e-01 -5.64822018e-02 -3.19291327e+01] [-2.13595965e-01 -2.29340382e-03 9.76919395e-01 -5.95225070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94687499999999 meters 0.015103524942925233 Centerline is valid? [True, True] Translation: X:121.59, Y:-31.94, Z:-5.96 [[ 9.39834639e-01 2.71513803e-01 2.07342966e-01 1.21589203e+02] [-2.65497978e-01 9.62433200e-01 -5.68608751e-02 -3.19414490e+01] [-2.14992267e-01 -1.60931823e-03 9.76614425e-01 -5.95773872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97687499999999 meters 0.01485660632049631 Centerline is valid? [True, True] Translation: X:121.62, Y:-31.95, Z:-5.96 [[ 9.40590707e-01 2.68579993e-01 2.07735193e-01 1.21618519e+02] [-2.62458428e-01 9.63256976e-01 -5.70225625e-02 -3.19540884e+01] [-2.15417493e-01 -8.86959739e-04 9.76521642e-01 -5.96416351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.006875 meters 0.01479060165965677 Centerline is valid? [True, True] Translation: X:121.65, Y:-31.97, Z:-5.97 [[ 9.41286345e-01 2.65624395e-01 2.08383535e-01 1.21647083e+02] [-2.59380273e-01 9.64076582e-01 -5.72557206e-02 -3.19662916e+01] [-2.16106203e-01 -1.56550330e-04 9.76369850e-01 -5.97053461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.036875 meters 0.015098927901449132 Centerline is valid? [True, True] Translation: X:121.67, Y:-31.98, Z:-5.98 [[ 9.43135865e-01 2.59452091e-01 2.07796421e-01 1.21674950e+02] [-2.53082375e-01 9.65755087e-01 -5.71526317e-02 -3.19812319e+01] [-2.15508820e-01 1.31308504e-03 9.76501011e-01 -5.97952919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.066875 meters 0.015599245979130453 Centerline is valid? [True, True] Translation: X:121.70, Y:-31.99, Z:-5.99 [[ 9.43929397e-01 2.57035913e-01 2.07195159e-01 1.21703116e+02] [-2.50633674e-01 9.66399956e-01 -5.70428497e-02 -3.19930252e+01] [-2.14895453e-01 1.91433894e-03 9.76635182e-01 -5.98725698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.096875 meters 0.015949658057114135 Centerline is valid? [True, True] Translation: X:121.73, Y:-32.00, Z:-5.99 [[ 9.44659616e-01 2.55283733e-01 2.06030157e-01 1.21731979e+02] [-2.48901880e-01 9.66863328e-01 -5.67728799e-02 -3.20042936e+01] [-2.13696196e-01 2.34975348e-03 9.76897341e-01 -5.99428992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.126875 meters 0.016311881984386465 Centerline is valid? [True, True] Translation: X:121.76, Y:-32.02, Z:-6.00 [[ 9.45810031e-01 2.52274849e-01 2.04452406e-01 1.21761174e+02] [-2.45911706e-01 9.67650805e-01 -5.63857518e-02 -3.20152325e+01] [-2.12063243e-01 3.05296965e-03 9.77251176e-01 -6.00144092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.156875 meters 0.016625060464217443 Centerline is valid? [True, True] Translation: X:121.79, Y:-32.02, Z:-6.01 [[ 9.46068355e-01 2.51551446e-01 2.04148321e-01 1.21791107e+02] [-2.45179260e-01 9.67838428e-01 -5.63551882e-02 -3.20241542e+01] [-2.11758819e-01 3.26292589e-03 9.77316507e-01 -6.00894367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.186875 meters 0.01692577569795501 Centerline is valid? [True, True] Translation: X:121.82, Y:-32.03, Z:-6.02 [[ 9.46072130e-01 2.51260540e-01 2.04488789e-01 1.21821005e+02] [-2.44848466e-01 9.67913565e-01 -5.65027338e-02 -3.20336203e+01] [-2.12124380e-01 3.38689547e-03 9.77236807e-01 -6.01609826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21687499999999 meters 0.016774138109652722 Centerline is valid? [True, True] Translation: X:121.85, Y:-32.04, Z:-6.02 [[ 9.46141126e-01 2.51122763e-01 2.04338755e-01 1.21852430e+02] [-2.44704717e-01 9.67949021e-01 -5.65180869e-02 -3.20418167e+01] [-2.11982476e-01 3.47142912e-03 9.77267302e-01 -6.02323318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24687499999999 meters 0.01661357973961329 Centerline is valid? [True, True] Translation: X:121.88, Y:-32.05, Z:-6.03 [[ 9.46475216e-01 2.50889482e-01 2.03074205e-01 1.21882285e+02] [-2.44533318e-01 9.68009189e-01 -5.62286997e-02 -3.20492150e+01] [-2.10684886e-01 3.56066144e-03 9.77547544e-01 -6.03095665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27687499999999 meters 0.016875554765068225 Centerline is valid? [True, True] Translation: X:121.91, Y:-32.06, Z:-6.04 [[ 9.46636000e-01 2.51398405e-01 2.01690667e-01 1.21911630e+02] [-2.45129634e-01 9.67877452e-01 -5.58990215e-02 -3.20576439e+01] [-2.09264773e-01 3.47566685e-03 9.77852839e-01 -6.03882744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30687499999999 meters 0.01670387201206932 Centerline is valid? [True, True] Translation: X:121.94, Y:-32.06, Z:-6.05 [[ 9.46790144e-01 2.51397273e-01 2.00967247e-01 1.21942658e+02] [-2.45161809e-01 9.67877589e-01 -5.57553631e-02 -3.20644630e+01] [-2.08528441e-01 3.51913431e-03 9.78009972e-01 -6.04699067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33687499999999 meters 0.01707095098016979 Centerline is valid? [True, True] Translation: X:121.97, Y:-32.07, Z:-6.06 [[ 9.46868361e-01 2.51792958e-01 2.00101509e-01 1.21972649e+02] [-2.45607504e-01 9.67774879e-01 -5.55764167e-02 -3.20732437e+01] [-2.07646964e-01 3.47711849e-03 9.78197653e-01 -6.05528982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.366875 meters 0.01687356317743624 Centerline is valid? [True, True] Translation: X:122.00, Y:-32.08, Z:-6.06 [[ 9.46669327e-01 2.52839814e-01 1.99722842e-01 1.22003274e+02] [-2.46688974e-01 9.67502535e-01 -5.55283275e-02 -3.20795607e+01] [-2.07272127e-01 3.29754141e-03 9.78277768e-01 -6.06234662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.396875 meters 0.016585645047675356 Centerline is valid? [True, True] Translation: X:122.03, Y:-32.09, Z:-6.07 [[ 9.46340925e-01 2.54293695e-01 1.99433122e-01 1.22033678e+02] [-2.48181869e-01 9.67122309e-01 -5.54995368e-02 -3.20867835e+01] [-2.06989404e-01 3.02579814e-03 9.78338506e-01 -6.06893602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.426875 meters 0.01623601079948977 Centerline is valid? [True, True] Translation: X:122.06, Y:-32.09, Z:-6.08 [[ 9.45782518e-01 2.57191232e-01 1.98363551e-01 1.22064808e+02] [-2.51197759e-01 9.66357475e-01 -5.52531994e-02 -3.20910149e+01] [-2.05900739e-01 2.42903060e-03 9.78569867e-01 -6.07707680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.456875 meters 0.015737092686986226 Centerline is valid? [True, True] Translation: X:122.10, Y:-32.10, Z:-6.08 [[ 9.45402034e-01 2.58913464e-01 1.97936385e-01 1.22095340e+02] [-2.52972608e-01 9.65898239e-01 -5.51856156e-02 -3.20966092e+01] [-2.05474705e-01 2.10010964e-03 9.78660173e-01 -6.08397458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.486875 meters 0.015830732240458237 Centerline is valid? [True, True] Translation: X:122.12, Y:-32.10, Z:-6.09 [[ 9.44947413e-01 2.61054553e-01 1.97293961e-01 1.22124329e+02] [-2.55187500e-01 9.65322584e-01 -5.50604154e-02 -3.21034766e+01] [-2.04826088e-01 1.68224449e-03 9.78796937e-01 -6.09238681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.516875 meters 0.015446616068358308 Centerline is valid? [True, True] Translation: X:122.15, Y:-32.11, Z:-6.10 [[ 9.44295211e-01 2.63434971e-01 1.97252553e-01 1.22154942e+02] [-2.57615708e-01 9.64676417e-01 -5.50777422e-02 -3.21089194e+01] [-2.04794290e-01 1.19429221e-03 9.78804308e-01 -6.09887986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.546875 meters 0.015204997001200132 Centerline is valid? [True, True] Translation: X:122.19, Y:-32.11, Z:-6.11 [[ 9.42643876e-01 2.68759502e-01 1.97966798e-01 1.22185626e+02] [-2.63002403e-01 9.63207310e-01 -5.53300457e-02 -3.21130565e+01] [-2.05553542e-01 9.07851987e-05 9.78645867e-01 -6.10579732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.576875 meters 0.015215027538237917 Centerline is valid? [True, True] Translation: X:122.22, Y:-32.12, Z:-6.11 [[ 9.41691227e-01 2.71723482e-01 1.98453982e-01 1.22217046e+02] [-2.65992590e-01 9.62375233e-01 -5.55144390e-02 -3.21199361e+01] [-2.06071774e-01 -5.09828353e-04 9.78536746e-01 -6.11246562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60687499999999 meters 0.015350665289506746 Centerline is valid? [True, True] Translation: X:122.25, Y:-32.13, Z:-6.12 [[ 9.40899075e-01 2.74515426e-01 1.98368877e-01 1.22248173e+02] [-2.68838467e-01 9.61582108e-01 -5.55493260e-02 -3.21269334e+01] [-2.05997110e-01 -1.06287519e-03 9.78552023e-01 -6.11887515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63687499999999 meters 0.015350665289506746 Centerline is valid? [True, True] Translation: X:122.28, Y:-32.14, Z:-6.13 [[ 9.40825036e-01 2.74780110e-01 1.98353583e-01 1.22278611e+02] [-2.69097467e-01 9.61506506e-01 -5.56038826e-02 -3.21355449e+01] [-2.05997102e-01 -1.06292192e-03 9.78552024e-01 -6.12583466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66687499999999 meters 0.01562506817744336 Centerline is valid? [True, True] Translation: X:122.31, Y:-32.14, Z:-6.13 [[ 9.39903735e-01 2.77770657e-01 1.98555866e-01 1.22309307e+02] [-2.72129737e-01 9.60645981e-01 -5.57198808e-02 -3.21427106e+01] [-2.06219242e-01 -1.66163152e-03 9.78504401e-01 -6.13219297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69687499999999 meters 0.016589024068089757 Centerline is valid? [True, True] Translation: X:122.34, Y:-32.15, Z:-6.14 [[ 9.38188892e-01 2.83342807e-01 1.98792499e-01 1.22339319e+02] [-2.77800771e-01 9.59014495e-01 -5.58384286e-02 -3.21480346e+01] [-2.06466305e-01 -2.83771604e-03 9.78449596e-01 -6.13923411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72687499999999 meters 0.016882328948115585 Centerline is valid? [True, True] Translation: X:122.37, Y:-32.16, Z:-6.15 [[ 9.37423097e-01 2.85856840e-01 1.98805944e-01 1.22369411e+02] [-2.80359835e-01 9.58266497e-01 -5.58899166e-02 -3.21560816e+01] [-2.06485590e-01 -3.34470291e-03 9.78443925e-01 -6.14622773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.756875 meters 0.01750570960940455 Centerline is valid? [True, True] Translation: X:122.40, Y:-32.16, Z:-6.15 [[ 9.36652460e-01 2.88395031e-01 1.98772421e-01 1.22399788e+02] [-2.82945292e-01 9.57503769e-01 -5.59329384e-02 -3.21637519e+01] [-2.06456123e-01 -3.85199633e-03 9.78448277e-01 -6.15367775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.786875 meters 0.018446996533003066 Centerline is valid? [True, True] Translation: X:122.43, Y:-32.17, Z:-6.16 [[ 9.35525080e-01 2.92183677e-01 1.98548545e-01 1.22429920e+02] [-2.86819363e-01 9.56351014e-01 -5.59230901e-02 -3.21733023e+01] [-2.06221916e-01 -4.63011383e-03 9.78494294e-01 -6.16037472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.816875 meters 0.018828442918313947 Centerline is valid? [True, True] Translation: X:122.46, Y:-32.18, Z:-6.17 [[ 9.34999713e-01 2.93393078e-01 1.99238645e-01 1.22459611e+02] [-2.88015256e-01 9.55979332e-01 -5.61313621e-02 -3.21826529e+01] [-2.06936580e-01 -4.90096196e-03 9.78342084e-01 -6.16682218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.846875 meters 0.01884970078175954 Centerline is valid? [True, True] Translation: X:122.49, Y:-32.19, Z:-6.17 [[ 9.34563412e-01 2.94379241e-01 1.99830156e-01 1.22489832e+02] [-2.88980135e-01 9.55675166e-01 -5.63512008e-02 -3.21927117e+01] [-2.07561341e-01 -5.08317494e-03 9.78208797e-01 -6.17287455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.876875 meters 0.01835705088107189 Centerline is valid? [True, True] Translation: X:122.52, Y:-32.20, Z:-6.18 [[ 9.34236430e-01 2.95133547e-01 2.00246054e-01 1.22519949e+02] [-2.89717513e-01 9.55441806e-01 -5.65218332e-02 -3.22043834e+01] [-2.08004940e-01 -5.21003292e-03 9.78113900e-01 -6.17882419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.906875 meters 0.019439090556106927 Centerline is valid? [True, True] Translation: X:122.55, Y:-32.21, Z:-6.19 [[ 9.33531343e-01 2.96649314e-01 2.01291869e-01 1.22548739e+02] [-2.91197051e-01 9.54970560e-01 -5.68815219e-02 -3.22138755e+01] [-2.09101674e-01 -5.51491513e-03 9.77878354e-01 -6.18503287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.936875 meters 0.019699602170330257 Centerline is valid? [True, True] Translation: X:122.58, Y:-32.22, Z:-6.19 [[ 9.33058490e-01 2.97959421e-01 2.01549096e-01 1.22578840e+02] [-2.92512208e-01 9.54561124e-01 -5.70058682e-02 -3.22240259e+01] [-2.09376367e-01 -5.76576169e-03 9.77818129e-01 -6.19209552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96687499999999 meters 0.020227583463772587 Centerline is valid? [True, True] Translation: X:122.61, Y:-32.23, Z:-6.20 [[ 9.32657598e-01 2.99553406e-01 2.01041193e-01 1.22608199e+02] [-2.94158949e-01 9.54060320e-01 -5.69158921e-02 -3.22332149e+01] [-2.08854774e-01 -6.05502673e-03 9.77927922e-01 -6.19984237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99687499999999 meters 0.021179320548872605 Centerline is valid? [True, True] Translation: X:122.64, Y:-32.24, Z:-6.21 [[ 9.32170236e-01 3.02115681e-01 1.99461188e-01 1.22637587e+02] [-2.96852812e-01 9.53248961e-01 -5.65227942e-02 -3.22431779e+01] [-2.07212592e-01 -6.52174799e-03 9.78274199e-01 -6.20981974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02687499999999 meters 0.021494008635219 Centerline is valid? [True, True] Translation: X:122.67, Y:-32.25, Z:-6.22 [[ 9.31969485e-01 3.03117679e-01 1.98878233e-01 1.22666910e+02] [-2.97905376e-01 9.52929506e-01 -5.63714791e-02 -3.22526526e+01] [-2.06604128e-01 -6.71039625e-03 9.78401607e-01 -6.21785793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05687499999999 meters 0.02196756237126582 Centerline is valid? [True, True] Translation: X:122.70, Y:-32.26, Z:-6.23 [[ 9.31801875e-01 3.04069976e-01 1.98208768e-01 1.22696618e+02] [-2.98902851e-01 9.52625112e-01 -5.62359496e-02 -3.22626860e+01] [-2.05918314e-01 -6.84440272e-03 9.78545248e-01 -6.22537850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08687499999999 meters 0.022923203537141112 Centerline is valid? [True, True] Translation: X:122.73, Y:-32.27, Z:-6.23 [[ 9.31244979e-01 3.06043514e-01 1.97788163e-01 1.22725689e+02] [-3.00938475e-01 9.51989947e-01 -5.61353356e-02 -3.22739187e+01] [-2.05472198e-01 -7.24631849e-03 9.78636126e-01 -6.23186691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.116875 meters 0.023368798416235115 Centerline is valid? [True, True] Translation: X:122.76, Y:-32.28, Z:-6.24 [[ 9.30740010e-01 3.07217916e-01 1.98343606e-01 1.22755651e+02] [-3.02104724e-01 9.51609622e-01 -5.63192866e-02 -3.22836042e+01] [-2.06047978e-01 -7.50192714e-03 9.78513133e-01 -6.23884178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.146875 meters 0.02470150715761182 Centerline is valid? [True, True] Translation: X:122.78, Y:-32.29, Z:-6.25 [[ 9.30523490e-01 3.07814688e-01 1.98434252e-01 1.22784596e+02] [-3.02698794e-01 9.51416094e-01 -5.63990831e-02 -3.22910287e+01] [-2.06154007e-01 -7.58513696e-03 9.78490159e-01 -6.24536020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.176875 meters 0.026158265464177984 Centerline is valid? [True, True] Translation: X:122.81, Y:-32.30, Z:-6.25 [[ 9.30297681e-01 3.08450548e-01 1.98505629e-01 1.22813152e+02] [-3.03336424e-01 9.51209309e-01 -5.64611768e-02 -3.22996441e+01] [-2.06235883e-01 -7.68828577e-03 9.78472100e-01 -6.25356228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.206875 meters 0.02426939259257816 Centerline is valid? [True, True] Translation: X:122.84, Y:-32.31, Z:-6.26 [[ 9.30290930e-01 3.08198904e-01 1.98927679e-01 1.22842409e+02] [-3.03046956e-01 9.51291563e-01 -5.66295387e-02 -3.23126281e+01] [-2.06691384e-01 -7.60248144e-03 9.78376652e-01 -6.25929001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.236875 meters 0.023958123632592677 Centerline is valid? [True, True] Translation: X:122.87, Y:-32.32, Z:-6.27 [[ 9.30386795e-01 3.07731209e-01 1.99203197e-01 1.22872325e+02] [-3.02542965e-01 9.51444108e-01 -5.67614679e-02 -3.23231545e+01] [-2.06997984e-01 -7.45740578e-03 9.78312947e-01 -6.26536884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.266875 meters 0.023410484756549717 Centerline is valid? [True, True] Translation: X:122.90, Y:-32.33, Z:-6.27 [[ 9.30661558e-01 3.06385095e-01 1.99993096e-01 1.22901745e+02] [-3.01113202e-01 9.51880906e-01 -5.70401712e-02 -3.23339489e+01] [-2.07845868e-01 -7.13546703e-03 9.78135563e-01 -6.27124990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.296875 meters 0.02148740478344368 Centerline is valid? [True, True] Translation: X:122.93, Y:-32.35, Z:-6.28 [[ 9.31988513e-01 3.01931689e-01 2.00585810e-01 1.22929579e+02] [-2.96514802e-01 9.53309993e-01 -5.72628114e-02 -3.23486003e+01] [-2.08509914e-01 -6.10837923e-03 9.78001178e-01 -6.27628547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.326875 meters 0.020297436462368503 Centerline is valid? [True, True] Translation: X:122.96, Y:-32.36, Z:-6.28 [[ 9.32459582e-01 3.00006246e-01 2.01284328e-01 1.22958926e+02] [-2.94498300e-01 9.53920450e-01 -5.75023972e-02 -3.23603879e+01] [-2.09260315e-01 -5.65923119e-03 9.77843594e-01 -6.28205513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35687499999999 meters 0.02023588978626296 Centerline is valid? [True, True] Translation: X:122.99, Y:-32.37, Z:-6.29 [[ 9.32950224e-01 2.98581056e-01 2.01129888e-01 1.22987743e+02] [-2.93037398e-01 9.54369659e-01 -5.75120574e-02 -3.23697089e+01] [-2.09124274e-01 -5.28269232e-03 9.77874803e-01 -6.28876852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38687499999999 meters 0.01925821888732546 Centerline is valid? [True, True] Translation: X:123.02, Y:-32.38, Z:-6.30 [[ 9.34020106e-01 2.95520235e-01 2.00684410e-01 1.23015573e+02] [-2.89920865e-01 9.55325703e-01 -5.74342512e-02 -3.23814614e+01] [-2.08691959e-01 -4.53785245e-03 9.77970896e-01 -6.29589614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41687499999999 meters 0.018077583783772798 Centerline is valid? [True, True] Translation: X:123.04, Y:-32.39, Z:-6.30 [[ 9.34455360e-01 2.94230921e-01 2.00552602e-01 1.23044406e+02] [-2.88603377e-01 9.55725050e-01 -5.74257764e-02 -3.23939690e+01] [-2.08569584e-01 -4.21833370e-03 9.77998433e-01 -6.30168242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44687499999999 meters 0.017748647101001186 Centerline is valid? [True, True] Translation: X:123.07, Y:-32.40, Z:-6.31 [[ 9.34596944e-01 2.93159109e-01 2.01460392e-01 1.23073974e+02] [-2.87443659e-01 9.56055531e-01 -5.77404949e-02 -3.24042093e+01] [-2.09534474e-01 -3.94442218e-03 9.77793304e-01 -6.30777011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47687499999999 meters 0.01746664591598741 Centerline is valid? [True, True] Translation: X:123.10, Y:-32.41, Z:-6.31 [[ 9.35148432e-01 2.90905887e-01 2.02166207e-01 1.23102819e+02] [-2.85086130e-01 9.56745637e-01 -5.79972864e-02 -3.24143016e+01] [-2.10293388e-01 -3.39870997e-03 9.77632415e-01 -6.31398105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.506875 meters 0.017646125187531864 Centerline is valid? [True, True] Translation: X:123.13, Y:-32.42, Z:-6.32 [[ 9.35413157e-01 2.90342132e-01 2.01751512e-01 1.23131677e+02] [-2.84522862e-01 9.56917500e-01 -5.79278832e-02 -3.24226906e+01] [-2.09878458e-01 -3.21641353e-03 9.77722194e-01 -6.32068011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.536875 meters 0.016842184328635854 Centerline is valid? [True, True] Translation: X:123.16, Y:-32.43, Z:-6.33 [[ 9.35614729e-01 2.89734139e-01 2.01690870e-01 1.23161030e+02] [-2.83894042e-01 9.57102365e-01 -5.79589081e-02 -3.24342503e+01] [-2.09831484e-01 -3.03162847e-03 9.77732866e-01 -6.32679883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.566875 meters 0.016643448761392315 Centerline is valid? [True, True] Translation: X:123.19, Y:-32.44, Z:-6.33 [[ 9.35660624e-01 2.89179482e-01 2.02273140e-01 1.23190566e+02] [-2.83280965e-01 9.57270613e-01 -5.81796242e-02 -3.24441946e+01] [-2.10454486e-01 -2.86374677e-03 9.77599462e-01 -6.33320051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.596875 meters 0.01612271769862921 Centerline is valid? [True, True] Translation: X:123.22, Y:-32.46, Z:-6.34 [[ 9.36258696e-01 2.86697876e-01 2.03036899e-01 1.23219210e+02] [-2.80684825e-01 9.58018378e-01 -5.84535434e-02 -3.24554207e+01] [-2.11271587e-01 -2.26173820e-03 9.77424780e-01 -6.33871158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.626875 meters 0.015860961410415278 Centerline is valid? [True, True] Translation: X:123.25, Y:-32.47, Z:-6.34 [[ 9.36562194e-01 2.85243435e-01 2.03684660e-01 1.23248937e+02] [-2.79146690e-01 9.58453237e-01 -5.86900230e-02 -3.24661133e+01] [-2.11963165e-01 -1.89104180e-03 9.77275826e-01 -6.34443777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.656875 meters 0.01568960589333154 Centerline is valid? [True, True] Translation: X:123.28, Y:-32.48, Z:-6.35 [[ 9.36811713e-01 2.83942109e-01 2.04354330e-01 1.23278131e+02] [-2.77762370e-01 9.58840174e-01 -5.89371423e-02 -3.24767075e+01] [-2.12677878e-01 -1.54893784e-03 9.77121139e-01 -6.35031942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.686875 meters 0.015299939795188658 Centerline is valid? [True, True] Translation: X:123.31, Y:-32.49, Z:-6.36 [[ 9.37701928e-01 2.80451789e-01 2.05089954e-01 1.23307078e+02] [-2.74133430e-01 9.59867850e-01 -5.91994366e-02 -3.24892531e+01] [-2.13461841e-01 -7.10586766e-04 9.76951144e-01 -6.35626247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71687499999999 meters 0.015169752381938371 Centerline is valid? [True, True] Translation: X:123.34, Y:-32.50, Z:-6.36 [[ 9.38169953e-01 2.78822938e-01 2.05170435e-01 1.23336619e+02] [-2.72449122e-01 9.60342484e-01 -5.92772214e-02 -3.24994907e+01] [-2.13561734e-01 -2.86396838e-04 9.76929528e-01 -6.36342075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74687499999999 meters 0.015128380915758813 Centerline is valid? [True, True] Translation: X:123.37, Y:-32.51, Z:-6.37 [[ 9.38582767e-01 2.77535046e-01 2.05028502e-01 1.23367432e+02] [-2.71127133e-01 9.60715511e-01 -5.92940438e-02 -3.25102026e+01] [-2.13430238e-01 6.35775509e-05 9.76958305e-01 -6.37062700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77687499999999 meters 0.015060283167765708 Centerline is valid? [True, True] Translation: X:123.40, Y:-32.52, Z:-6.38 [[ 9.38942768e-01 2.76403519e-01 2.04908694e-01 1.23397234e+02] [-2.69962918e-01 9.61041596e-01 -5.93217849e-02 -3.25201752e+01] [-2.13322528e-01 3.82012012e-04 9.76981757e-01 -6.37858270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80687499999999 meters 0.015183771512246445 Centerline is valid? [True, True] Translation: X:123.43, Y:-32.53, Z:-6.39 [[ 9.39380906e-01 2.75598680e-01 2.03982550e-01 1.23426411e+02] [-2.69189786e-01 9.61272598e-01 -5.90918887e-02 -3.25295210e+01] [-2.12368483e-01 5.99772893e-04 9.77189474e-01 -6.38707695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83687499999999 meters 0.015004710756928132 Centerline is valid? [True, True] Translation: X:123.46, Y:-32.54, Z:-6.39 [[ 9.39377721e-01 2.76428812e-01 2.02870916e-01 1.23457239e+02] [-2.70097436e-01 9.61034284e-01 -5.88258377e-02 -3.25380872e+01] [-2.11227062e-01 4.64766923e-04 9.77436910e-01 -6.39427242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.866875 meters 0.015062244017523978 Centerline is valid? [True, True] Translation: X:123.49, Y:-32.55, Z:-6.40 [[ 9.39305741e-01 2.77566198e-01 2.01647543e-01 1.23487280e+02] [-2.71324575e-01 9.60706476e-01 -5.85323928e-02 -3.25461650e+01] [-2.09970714e-01 2.67878651e-04 9.77707639e-01 -6.40243183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.896875 meters 0.014994362865630828 Centerline is valid? [True, True] Translation: X:123.52, Y:-32.55, Z:-6.41 [[ 9.38908633e-01 2.79663310e-01 2.00596640e-01 1.23517956e+02] [-2.73526691e-01 9.60098123e-01 -5.82644223e-02 -3.25534753e+01] [-2.08886878e-01 -1.63565935e-04 9.77939796e-01 -6.41014491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.926875 meters 0.015185699069419124 Centerline is valid? [True, True] Translation: X:123.55, Y:-32.56, Z:-6.42 [[ 9.38136996e-01 2.84313700e-01 1.97647910e-01 1.23548093e+02] [-2.78447739e-01 9.58730650e-01 -5.74664934e-02 -3.25575986e+01] [-2.05829620e-01 -1.12317023e-03 9.78587199e-01 -6.42040107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.956875 meters 0.015488179939426978 Centerline is valid? [True, True] Translation: X:123.58, Y:-32.56, Z:-6.43 [[ 9.37510042e-01 2.87270647e-01 1.96342804e-01 1.23578279e+02] [-2.81536939e-01 9.57847920e-01 -5.71341756e-02 -3.25635210e+01] [-2.04479518e-01 -1.71388866e-03 9.78869342e-01 -6.42856520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.986875 meters 0.0166263969750726 Centerline is valid? [True, True] Translation: X:123.61, Y:-32.57, Z:-6.44 [[ 9.35981604e-01 2.93020654e-01 1.95134143e-01 1.23609929e+02] [-2.87470504e-01 9.56101717e-01 -5.68349888e-02 -3.25675879e+01] [-2.03221915e-01 -2.89880665e-03 9.79128413e-01 -6.43616837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.016875 meters 0.01695975262115414 Centerline is valid? [True, True] Translation: X:123.64, Y:-32.57, Z:-6.44 [[ 9.35157898e-01 2.95777496e-01 1.94924032e-01 1.23640264e+02] [-2.90295961e-01 9.55250518e-01 -5.67864608e-02 -3.25744393e+01] [-2.02997440e-01 -3.48135194e-03 9.79173079e-01 -6.44338000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.046875 meters 0.017837293241730213 Centerline is valid? [True, True] Translation: X:123.67, Y:-32.58, Z:-6.45 [[ 9.34404665e-01 2.98459126e-01 1.94448120e-01 1.23670102e+02] [-2.93051170e-01 9.54414024e-01 -5.66999333e-02 -3.25807971e+01] [-2.02506625e-01 -4.00256676e-03 9.79272713e-01 -6.45041120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.076875 meters 0.018383948606242925 Centerline is valid? [True, True] Translation: X:123.70, Y:-32.59, Z:-6.46 [[ 9.33651751e-01 3.00906459e-01 1.94292850e-01 1.23700183e+02] [-2.95549632e-01 9.53643125e-01 -5.67027765e-02 -3.25882348e+01] [-2.02348272e-01 -4.48253383e-03 9.79303366e-01 -6.45710617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10687499999999 meters 0.018496272327923488 Centerline is valid? [True, True] Translation: X:123.73, Y:-32.60, Z:-6.46 [[ 9.33369222e-01 3.01585863e-01 1.94596664e-01 1.23731310e+02] [-2.96216793e-01 9.53427970e-01 -5.68394099e-02 -3.25961991e+01] [-2.02675865e-01 -4.59064395e-03 9.79235120e-01 -6.46416420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13687499999999 meters 0.018188818123132486 Centerline is valid? [True, True] Translation: X:123.76, Y:-32.61, Z:-6.47 [[ 9.33247844e-01 3.01466868e-01 1.95361686e-01 1.23761418e+02] [-2.96040002e-01 9.53465917e-01 -5.71232263e-02 -3.26058497e+01] [-2.03491469e-01 -4.52474602e-03 9.79066264e-01 -6.46992218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16687499999999 meters 0.01882026832971263 Centerline is valid? [True, True] Translation: X:123.79, Y:-32.61, Z:-6.48 [[ 9.33096732e-01 3.01300815e-01 1.96337229e-01 1.23791091e+02] [-2.95804309e-01 9.53518709e-01 -5.74620017e-02 -3.26137772e+01] [-2.04524569e-01 -4.45979224e-03 9.78851271e-01 -6.47564156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19687499999999 meters 0.018197964610983736 Centerline is valid? [True, True] Translation: X:123.82, Y:-32.62, Z:-6.48 [[ 9.32860892e-01 3.01976003e-01 1.96420596e-01 1.23821944e+02] [-2.96479463e-01 9.53304608e-01 -5.75347960e-02 -3.26246183e+01] [-2.04622787e-01 -4.56271165e-03 9.78830270e-01 -6.48084141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22687499999999 meters 0.01864948973354033 Centerline is valid? [True, True] Translation: X:123.85, Y:-32.63, Z:-6.49 [[ 9.32606008e-01 3.02853433e-01 1.96279984e-01 1.23850891e+02] [-2.97371298e-01 9.53025593e-01 -5.75545855e-02 -3.26322624e+01] [-2.04490452e-01 -4.69228152e-03 9.78857312e-01 -6.48783326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.256875 meters 0.018839188175234813 Centerline is valid? [True, True] Translation: X:123.88, Y:-32.64, Z:-6.50 [[ 9.32409387e-01 3.03615727e-01 1.96036287e-01 1.23880620e+02] [-2.98153937e-01 9.52782446e-01 -5.75312167e-02 -3.26404372e+01] [-2.04247315e-01 -4.80634424e-03 9.78907520e-01 -6.49539063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.286875 meters 0.019185881972380997 Centerline is valid? [True, True] Translation: X:123.91, Y:-32.65, Z:-6.50 [[ 9.32027692e-01 3.04639249e-01 1.96263366e-01 1.23910827e+02] [-2.99176242e-01 9.52454759e-01 -5.76498821e-02 -3.26491239e+01] [-2.04494394e-01 -4.98604959e-03 9.78855036e-01 -6.50204943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.316875 meters 0.019394616067863347 Centerline is valid? [True, True] Translation: X:123.94, Y:-32.66, Z:-6.51 [[ 9.31529816e-01 3.05731270e-01 1.96927887e-01 1.23940654e+02] [-3.00244047e-01 9.52103681e-01 -5.78972586e-02 -3.26587007e+01] [-2.05196768e-01 -5.19340315e-03 9.78706961e-01 -6.50816445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.346875 meters 0.019903818634802412 Centerline is valid? [True, True] Translation: X:123.97, Y:-32.67, Z:-6.51 [[ 9.31141028e-01 3.06668190e-01 1.97309422e-01 1.23970846e+02] [-3.01169164e-01 9.51801397e-01 -5.80623403e-02 -3.26676141e+01] [-2.05605256e-01 -5.35928640e-03 9.78620333e-01 -6.51432974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.376875 meters 0.019959768443151685 Centerline is valid? [True, True] Translation: X:124.00, Y:-32.68, Z:-6.52 [[ 9.30863471e-01 3.07566519e-01 1.97220778e-01 1.24000981e+02] [-3.02081356e-01 9.51510663e-01 -5.80888269e-02 -3.26776333e+01] [-2.05523852e-01 -5.50395313e-03 9.78636630e-01 -6.52086229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.406875 meters 0.020012876466573414 Centerline is valid? [True, True] Translation: X:124.03, Y:-32.69, Z:-6.53 [[ 9.30758344e-01 3.08157832e-01 1.96793435e-01 1.24031143e+02] [-3.02698578e-01 9.51318938e-01 -5.80159331e-02 -3.26872535e+01] [-2.05091386e-01 -5.57027900e-03 9.78726977e-01 -6.52795548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.436875 meters 0.02001165209228338 Centerline is valid? [True, True] Translation: X:124.06, Y:-32.70, Z:-6.54 [[ 9.30573077e-01 3.09138184e-01 1.96130904e-01 1.24060742e+02] [-3.03726512e-01 9.50999958e-01 -5.78730065e-02 -3.26968673e+01] [-2.04411237e-01 -5.71509354e-03 9.78868420e-01 -6.53574855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46687499999999 meters 0.019397864364153816 Centerline is valid? [True, True] Translation: X:124.09, Y:-32.71, Z:-6.54 [[ 9.31215642e-01 3.07759303e-01 1.95247638e-01 1.24090079e+02] [-3.02355831e-01 9.51449283e-01 -5.76646616e-02 -3.27073537e+01] [-2.03515061e-01 -5.33602698e-03 9.79057274e-01 -6.54361586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49687499999999 meters 0.018432173887659182 Centerline is valid? [True, True] Translation: X:124.12, Y:-32.72, Z:-6.55 [[ 9.31685362e-01 3.06854497e-01 1.94429173e-01 1.24119076e+02] [-3.01466378e-01 9.51742959e-01 -5.74748923e-02 -3.27188486e+01] [-2.02683026e-01 -5.06534266e-03 9.79231297e-01 -6.55048533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52687499999999 meters 0.018842371812382675 Centerline is valid? [True, True] Translation: X:124.15, Y:-32.73, Z:-6.56 [[ 9.31942783e-01 3.05867427e-01 1.94750525e-01 1.24147584e+02] [-3.00428829e-01 9.52061980e-01 -5.76238216e-02 -3.27280015e+01] [-2.03039821e-01 -4.80656751e-03 9.79158684e-01 -6.55786694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55687499999999 meters 0.018842371812382675 Centerline is valid? [True, True] Translation: X:124.18, Y:-32.74, Z:-6.56 [[ 9.31858371e-01 3.06132994e-01 1.94737173e-01 1.24177882e+02] [-3.00690712e-01 9.51976571e-01 -5.76689090e-02 -3.27370734e+01] [-2.03039582e-01 -4.81640363e-03 9.79158685e-01 -6.56482323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58687499999999 meters 0.01780009337938981 Centerline is valid? [True, True] Translation: X:124.21, Y:-32.75, Z:-6.57 [[ 9.32404753e-01 3.05243029e-01 1.93515037e-01 1.24207076e+02] [-2.99838282e-01 9.52263687e-01 -5.73661546e-02 -3.27499623e+01] [-2.01787961e-01 -4.53474086e-03 9.79418733e-01 -6.57159008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.616875 meters 0.01842200499923475 Centerline is valid? [True, True] Translation: X:124.24, Y:-32.76, Z:-6.58 [[ 9.32576338e-01 3.04926185e-01 1.93187462e-01 1.24236048e+02] [-2.99522006e-01 9.52365798e-01 -5.73232552e-02 -3.27579948e+01] [-2.01464492e-01 -4.40558455e-03 9.79485911e-01 -6.57983013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.646875 meters 0.017982555344853206 Centerline is valid? [True, True] Translation: X:124.27, Y:-32.77, Z:-6.59 [[ 9.32740897e-01 3.04559776e-01 1.92970882e-01 1.24265636e+02] [-2.99154319e-01 9.52483544e-01 -5.72869169e-02 -3.27696234e+01] [-2.01248880e-01 -4.29422251e-03 9.79530728e-01 -6.58596026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.676875 meters 0.01760360998850866 Centerline is valid? [True, True] Translation: X:124.29, Y:-32.78, Z:-6.59 [[ 9.32975858e-01 3.03464653e-01 1.93559428e-01 1.24294958e+02] [-2.97991888e-01 9.52834214e-01 -5.75134276e-02 -3.27801949e+01] [-2.01883338e-01 -4.02050008e-03 9.79401324e-01 -6.59229723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.706875 meters 0.017161396728168198 Centerline is valid? [True, True] Translation: X:124.33, Y:-32.79, Z:-6.60 [[ 9.33095536e-01 3.02882367e-01 1.93894279e-01 1.24325038e+02] [-2.97367335e-01 9.53020168e-01 -5.76647850e-02 -3.27909797e+01] [-2.02250805e-01 -3.85107153e-03 9.79326187e-01 -6.59848168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.736875 meters 0.016883365838000416 Centerline is valid? [True, True] Translation: X:124.35, Y:-32.80, Z:-6.60 [[ 9.33279363e-01 3.01855867e-01 1.94609007e-01 1.24354944e+02] [-2.96266868e-01 9.53346806e-01 -5.79293520e-02 -3.28016603e+01] [-2.03016190e-01 -3.59193207e-03 9.79168793e-01 -6.60428647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.766875 meters 0.01614724060786547 Centerline is valid? [True, True] Translation: X:124.38, Y:-32.81, Z:-6.61 [[ 9.33778836e-01 3.00158908e-01 1.94837666e-01 1.24384617e+02] [-2.94509174e-01 9.53883927e-01 -5.80499891e-02 -3.28144867e+01] [-2.03276740e-01 -3.17562883e-03 9.79116174e-01 -6.61002837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.796875 meters 0.015894541986542447 Centerline is valid? [True, True] Translation: X:124.41, Y:-32.82, Z:-6.62 [[ 9.34053003e-01 2.99527209e-01 1.94495341e-01 1.24414262e+02] [-2.93878427e-01 9.54083021e-01 -5.79746398e-02 -3.28248910e+01] [-2.02929684e-01 -3.00659836e-03 9.79188697e-01 -6.61773682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.826875 meters 0.015444605747749621 Centerline is valid? [True, True] Translation: X:124.44, Y:-32.84, Z:-6.63 [[ 9.34841743e-01 2.97556747e-01 1.93728930e-01 1.24443602e+02] [-2.91900315e-01 9.54700813e-01 -5.77976089e-02 -3.28361602e+01] [-2.02151236e-01 -2.51791833e-03 9.79351080e-01 -6.62583933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85687499999999 meters 0.014941206209319529 Centerline is valid? [True, True] Translation: X:124.47, Y:-32.85, Z:-6.63 [[ 9.35657359e-01 2.95554035e-01 1.92855177e-01 1.24473385e+02] [-2.89895966e-01 9.55323881e-01 -5.75900236e-02 -3.28478939e+01] [-2.01260120e-01 -2.02340856e-03 9.79535742e-01 -6.63262696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88687499999999 meters 0.014812873734861674 Centerline is valid? [True, True] Translation: X:124.50, Y:-32.86, Z:-6.64 [[ 9.36135651e-01 2.94329275e-01 1.92406655e-01 1.24501635e+02] [-2.88668467e-01 9.55702494e-01 -5.74739930e-02 -3.28583720e+01] [-2.00799799e-01 -1.73828029e-03 9.79630757e-01 -6.63994606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91687499999999 meters 0.01465346892051776 Centerline is valid? [True, True] Translation: X:124.53, Y:-32.87, Z:-6.65 [[ 9.36442767e-01 2.92934251e-01 1.93040069e-01 1.24531135e+02] [-2.87200622e-01 9.56131538e-01 -5.76912896e-02 -3.28693676e+01] [-2.01471453e-01 -1.41663704e-03 9.79493362e-01 -6.64676697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94687499999999 meters 0.014626889754759235 Centerline is valid? [True, True] Translation: X:124.56, Y:-32.88, Z:-6.65 [[ 9.36281912e-01 2.93344960e-01 1.93196572e-01 1.24561669e+02] [-2.87600163e-01 9.56005550e-01 -5.77887025e-02 -3.28784865e+01] [-2.01649020e-01 -1.45684867e-03 9.79456763e-01 -6.65336026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97687499999999 meters 0.01482822249084828 Centerline is valid? [True, True] Translation: X:124.59, Y:-32.89, Z:-6.66 [[ 9.35572349e-01 2.94680042e-01 1.94597153e-01 1.24591567e+02] [-2.88866965e-01 9.55594467e-01 -5.82674107e-02 -3.28862360e+01] [-2.03126206e-01 -1.69931083e-03 9.79151090e-01 -6.65885883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.006875 meters 0.014726382098738122 Centerline is valid? [True, True] Translation: X:124.62, Y:-32.90, Z:-6.66 [[ 9.35228315e-01 2.95655237e-01 1.94771610e-01 1.24622431e+02] [-2.89842813e-01 9.55292884e-01 -5.83665075e-02 -3.28952858e+01] [-2.03320296e-01 -1.86714077e-03 9.79110500e-01 -6.66476105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.036875 meters 0.014795935384453797 Centerline is valid? [True, True] Translation: X:124.65, Y:-32.90, Z:-6.67 [[ 9.34866441e-01 2.96322558e-01 1.95493423e-01 1.24653680e+02] [-2.90468574e-01 9.55085908e-01 -5.86422633e-02 -3.29037943e+01] [-2.04090039e-01 -1.96201178e-03 9.78950155e-01 -6.67112948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.066875 meters 0.014979436942797743 Centerline is valid? [True, True] Translation: X:124.68, Y:-32.91, Z:-6.68 [[ 9.34477196e-01 2.97154765e-01 1.96090328e-01 1.24683897e+02] [-2.91270145e-01 9.54827037e-01 -5.88815123e-02 -3.29115657e+01] [-2.04729268e-01 -2.09182773e-03 9.78816403e-01 -6.67768799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.096875 meters 0.014923235805001532 Centerline is valid? [True, True] Translation: X:124.71, Y:-32.92, Z:-6.68 [[ 9.34145941e-01 2.97767285e-01 1.96738420e-01 1.24714644e+02] [-2.91849183e-01 9.54635957e-01 -5.91121333e-02 -3.29202392e+01] [-2.05415229e-01 -2.19858758e-03 9.78672443e-01 -6.68319525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.126875 meters 0.014951109388883716 Centerline is valid? [True, True] Translation: X:124.75, Y:-32.93, Z:-6.69 [[ 9.33883495e-01 2.98628161e-01 1.96679536e-01 1.24745250e+02] [-2.92720127e-01 9.54366698e-01 -5.91534671e-02 -3.29290547e+01] [-2.05369290e-01 -2.32961218e-03 9.78681781e-01 -6.69044855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.156875 meters 0.014577631012941374 Centerline is valid? [True, True] Translation: X:124.78, Y:-32.94, Z:-6.70 [[ 9.34221220e-01 2.97554735e-01 1.96702548e-01 1.24775435e+02] [-2.91609264e-01 9.54702590e-01 -5.92199413e-02 -3.29389893e+01] [-2.05413606e-01 -2.03575953e-03 9.78673136e-01 -6.69725740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.186875 meters 0.014270471090647168 Centerline is valid? [True, True] Translation: X:124.81, Y:-32.95, Z:-6.70 [[ 9.34782448e-01 2.95763272e-01 1.96738052e-01 1.24805152e+02] [-2.89765232e-01 9.55259942e-01 -5.92836643e-02 -3.29493671e+01] [-2.05469911e-01 -1.59051860e-03 9.78662141e-01 -6.70350103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21687499999999 meters 0.014084642577950508 Centerline is valid? [True, True] Translation: X:124.84, Y:-32.96, Z:-6.71 [[ 9.35422697e-01 2.93843517e-01 1.96571528e-01 1.24835493e+02] [-2.87802255e-01 9.55852890e-01 -5.92884117e-02 -3.29588923e+01] [-2.05314978e-01 -1.11400290e-03 9.78695315e-01 -6.71073062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24687499999999 meters 0.014073893889741536 Centerline is valid? [True, True] Translation: X:124.87, Y:-32.97, Z:-6.72 [[ 9.35636195e-01 2.93796511e-01 1.95623414e-01 1.24865162e+02] [-2.87809419e-01 9.55867376e-01 -5.90194734e-02 -3.29668806e+01] [-2.04329754e-01 -1.08150532e-03 9.78901518e-01 -6.71920018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27687499999999 meters 0.014025371151851283 Centerline is valid? [True, True] Translation: X:124.90, Y:-32.98, Z:-6.73 [[ 9.35996153e-01 2.93560239e-01 1.94251353e-01 1.24895210e+02] [-2.87641139e-01 9.55940086e-01 -5.86611163e-02 -3.29752304e+01] [-2.02913226e-01 -9.68101160e-04 9.79196245e-01 -6.72767892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30687499999999 meters 0.013884879470101372 Centerline is valid? [True, True] Translation: X:124.93, Y:-32.98, Z:-6.74 [[ 9.36378891e-01 2.92797928e-01 1.93556055e-01 1.24926143e+02] [-2.86895047e-01 9.56174048e-01 -5.85014736e-02 -3.29830682e+01] [-2.02202386e-01 -7.50728373e-04 9.79343470e-01 -6.73713833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33687499999999 meters 0.013872798429975283 Centerline is valid? [True, True] Translation: X:124.96, Y:-32.99, Z:-6.74 [[ 9.36587058e-01 2.92503691e-01 1.92992938e-01 1.24956428e+02] [-2.86617226e-01 9.56264187e-01 -5.83898067e-02 -3.29920793e+01] [-2.01631469e-01 -6.27963265e-04 9.79461258e-01 -6.74419580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.366875 meters 0.013737703117077527 Centerline is valid? [True, True] Translation: X:124.99, Y:-33.00, Z:-6.75 [[ 9.36607266e-01 2.92587205e-01 1.92768144e-01 1.24987619e+02] [-2.86704937e-01 9.56238662e-01 -5.83772270e-02 -3.30014909e+01] [-2.01412782e-01 -5.91043790e-04 9.79506275e-01 -6.75089468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.396875 meters 0.0139838614381569 Centerline is valid? [True, True] Translation: X:125.02, Y:-33.01, Z:-6.76 [[ 9.36636899e-01 2.92719868e-01 1.92422448e-01 1.25017936e+02] [-2.86849213e-01 9.56198079e-01 -5.83332075e-02 -3.30098010e+01] [-2.01069264e-01 -5.59193154e-04 9.79576867e-01 -6.75781667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.426875 meters 0.013911446401490899 Centerline is valid? [True, True] Translation: X:125.05, Y:-33.02, Z:-6.76 [[ 9.36521599e-01 2.93152255e-01 1.92325376e-01 1.25048613e+02] [-2.87289381e-01 9.56065570e-01 -5.83389857e-02 -3.30184608e+01] [-2.00977876e-01 -6.17318300e-04 9.79595586e-01 -6.76380005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.456875 meters 0.013817106873367709 Centerline is valid? [True, True] Translation: X:125.08, Y:-33.03, Z:-6.77 [[ 9.36244752e-01 2.93894685e-01 1.92540068e-01 1.25080155e+02] [-2.88022017e-01 9.55837536e-01 -5.84630002e-02 -3.30270713e+01] [-2.01218989e-01 -7.20101380e-04 9.79546017e-01 -6.77014923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.486875 meters 0.013957837540574555 Centerline is valid? [True, True] Translation: X:125.11, Y:-33.03, Z:-6.78 [[ 9.35893255e-01 2.94908457e-01 1.92698775e-01 1.25110120e+02] [-2.89034967e-01 9.55525105e-01 -5.85709946e-02 -3.30348590e+01] [-2.01401599e-01 -8.80485346e-04 9.79508357e-01 -6.77733402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.516875 meters 0.014101424058637027 Centerline is valid? [True, True] Translation: X:125.14, Y:-33.04, Z:-6.78 [[ 9.35163954e-01 2.96968418e-01 1.93075472e-01 1.25140362e+02] [-2.91103678e-01 9.54886454e-01 -5.87410351e-02 -3.30405647e+01] [-2.01809385e-01 -1.27248158e-03 9.79423990e-01 -6.78471339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.546875 meters 0.014332527166462657 Centerline is valid? [True, True] Translation: X:125.17, Y:-33.05, Z:-6.79 [[ 9.34634271e-01 2.98405620e-01 1.93424055e-01 1.25171674e+02] [-2.92538610e-01 9.54437917e-01 -5.89018143e-02 -3.30485439e+01] [-2.02187884e-01 -1.53234977e-03 9.79345553e-01 -6.79230532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.576875 meters 0.014291974113342695 Centerline is valid? [True, True] Translation: X:125.20, Y:-33.06, Z:-6.80 [[ 9.34107902e-01 2.99893926e-01 1.93664817e-01 1.25203299e+02] [-2.94031794e-01 9.53970855e-01 -5.90331404e-02 -3.30571177e+01] [-2.02454272e-01 -1.80029081e-03 9.79290063e-01 -6.79806599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60687499999999 meters 0.014588224468743478 Centerline is valid? [True, True] Translation: X:125.23, Y:-33.07, Z:-6.81 [[ 9.33529959e-01 3.01412093e-01 1.94094219e-01 1.25234756e+02] [-2.95543762e-01 9.53491709e-01 -5.92236883e-02 -3.30650163e+01] [-2.02917964e-01 -2.07624829e-03 9.79193540e-01 -6.80502774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63687499999999 meters 0.015018567090873156 Centerline is valid? [True, True] Translation: X:125.27, Y:-33.07, Z:-6.81 [[ 9.32615489e-01 3.04349288e-01 1.93906832e-01 1.25265259e+02] [-2.98542870e-01 9.52556803e-01 -5.92257644e-02 -3.30709174e+01] [-2.02732592e-01 -2.65463696e-03 9.79230539e-01 -6.81239623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66687499999999 meters 0.015304898275003045 Centerline is valid? [True, True] Translation: X:125.29, Y:-33.08, Z:-6.82 [[ 9.32096590e-01 3.05833420e-01 1.94066652e-01 1.25294470e+02] [-3.00038463e-01 9.52080530e-01 -5.93260961e-02 -3.30780330e+01] [-2.02910984e-01 -2.92980813e-03 9.79192805e-01 -6.81955786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69687499999999 meters 0.015324754398635811 Centerline is valid? [True, True] Translation: X:125.32, Y:-33.09, Z:-6.83 [[ 9.31676624e-01 3.07248716e-01 1.93847609e-01 1.25324597e+02] [-3.01487480e-01 9.51623907e-01 -5.93063116e-02 -3.30866505e+01] [-2.02691807e-01 -3.18832283e-03 9.79237390e-01 -6.82637516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72687499999999 meters 0.01663445473896284 Centerline is valid? [True, True] Translation: X:125.35, Y:-33.09, Z:-6.83 [[ 9.30659785e-01 3.10639828e-01 1.93326825e-01 1.25354328e+02] [-3.04971326e-01 9.50519837e-01 -5.91990742e-02 -3.30919779e+01] [-2.02150572e-01 -3.86494061e-03 9.79346827e-01 -6.83408917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.756875 meters 0.017199514809235657 Centerline is valid? [True, True] Translation: X:125.38, Y:-33.10, Z:-6.84 [[ 9.30237996e-01 3.12184086e-01 1.92868784e-01 1.25383579e+02] [-3.06565334e-01 9.50012599e-01 -5.91080263e-02 -3.30989388e+01] [-2.01680360e-01 -4.14235128e-03 9.79442634e-01 -6.84121556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.786875 meters 0.017501290269032847 Centerline is valid? [True, True] Translation: X:125.41, Y:-33.11, Z:-6.85 [[ 9.29711467e-01 3.13893342e-01 1.92633220e-01 1.25413342e+02] [-3.08319379e-01 9.49447671e-01 -5.90616685e-02 -3.31067864e+01] [-2.01434227e-01 -4.48224443e-03 9.79491788e-01 -6.84843974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.816875 meters 0.017512322250011654 Centerline is valid? [True, True] Translation: X:125.44, Y:-33.12, Z:-6.86 [[ 9.29373642e-01 3.14919455e-01 1.92588605e-01 1.25443141e+02] [-3.09360129e-01 9.49106972e-01 -5.90953984e-02 -3.31156815e+01] [-2.01397479e-01 -4.65753015e-03 9.79498526e-01 -6.85549880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.846875 meters 0.017504351703361964 Centerline is valid? [True, True] Translation: X:125.47, Y:-33.13, Z:-6.86 [[ 9.29411655e-01 3.14553760e-01 1.93002351e-01 1.25473102e+02] [-3.08951706e-01 9.49228814e-01 -5.92748009e-02 -3.31252693e+01] [-2.01848504e-01 -4.53771476e-03 9.79406244e-01 -6.86215885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.876875 meters 0.017184090842938933 Centerline is valid? [True, True] Translation: X:125.50, Y:-33.14, Z:-6.87 [[ 9.29500696e-01 3.13726220e-01 1.93918319e-01 1.25503356e+02] [-3.08041513e-01 9.49503622e-01 -5.96095410e-02 -3.31358275e+01] [-2.02827222e-01 -4.32778238e-03 9.79204978e-01 -6.86861571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.906875 meters 0.016645249541293074 Centerline is valid? [True, True] Translation: X:125.53, Y:-33.15, Z:-6.87 [[ 9.29897587e-01 3.12533351e-01 1.93941698e-01 1.25532510e+02] [-3.06816076e-01 9.49898187e-01 -5.96433571e-02 -3.31467596e+01] [-2.02865406e-01 -4.04221716e-03 9.79198288e-01 -6.87461643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.936875 meters 0.015315653735710194 Centerline is valid? [True, True] Translation: X:125.56, Y:-33.16, Z:-6.88 [[ 9.30794096e-01 3.09168160e-01 1.95031793e-01 1.25561417e+02] [-3.03301760e-01 9.51001741e-01 -6.00310848e-02 -3.31605494e+01] [-2.04035275e-01 -3.27690693e-03 9.78958052e-01 -6.87974196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96687499999999 meters 0.014944518879401479 Centerline is valid? [True, True] Translation: X:125.59, Y:-33.17, Z:-6.89 [[ 9.31359685e-01 3.06869185e-01 1.95960302e-01 1.25590050e+02] [-3.00884445e-01 9.51747776e-01 -6.03715268e-02 -3.31715242e+01] [-2.05030942e-01 -2.73380030e-03 9.78751674e-01 -6.88624187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99687499999999 meters 0.014255255129949174 Centerline is valid? [True, True] Translation: X:125.62, Y:-33.18, Z:-6.89 [[ 9.32122853e-01 3.04228284e-01 1.96448817e-01 1.25619136e+02] [-2.98149100e-01 9.52596775e-01 -6.05516150e-02 -3.31836399e+01] [-2.05558023e-01 -2.12949369e-03 9.78642613e-01 -6.89260730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.026875 meters 0.013400218861538723 Centerline is valid? [True, True] Translation: X:125.65, Y:-33.20, Z:-6.90 [[ 9.34262267e-01 2.96917767e-01 1.97468618e-01 1.25646971e+02] [-2.90601679e-01 9.54902936e-01 -6.09183581e-02 -3.32004749e+01] [-2.06651106e-01 -4.70988650e-04 9.78414584e-01 -6.89758231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.056875 meters 0.013393542910022168 Centerline is valid? [True, True] Translation: X:125.68, Y:-33.21, Z:-6.90 [[ 9.35382331e-01 2.92900742e-01 1.98164199e-01 1.25677229e+02] [-2.86439180e-01 9.56142737e-01 -6.11854713e-02 -3.32142497e+01] [-2.07394530e-01 4.69818218e-04 9.78257271e-01 -6.90291664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.086875 meters 0.013719275210399855 Centerline is valid? [True, True] Translation: X:125.71, Y:-33.23, Z:-6.91 [[ 9.36568534e-01 2.88676934e-01 1.98758668e-01 1.25706651e+02] [-2.82068841e-01 9.57425436e-01 -6.14304698e-02 -3.32273216e+01] [-2.08030164e-01 1.47021793e-03 9.78121306e-01 -6.90870572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.116875 meters 0.014347189216095443 Centerline is valid? [True, True] Translation: X:125.74, Y:-33.24, Z:-6.91 [[ 9.37741104e-01 2.84509208e-01 1.99238881e-01 1.25735733e+02] [-2.77764322e-01 9.58670168e-01 -6.16318899e-02 -3.32398177e+01] [-2.08539212e-01 2.45330366e-03 9.78010930e-01 -6.91468771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.146875 meters 0.016643624494169264 Centerline is valid? [True, True] Translation: X:125.76, Y:-33.25, Z:-6.92 [[ 9.40201746e-01 2.75739134e-01 1.99971512e-01 1.25762610e+02] [-2.68735817e-01 9.61222110e-01 -6.19121613e-02 -3.32542053e+01] [-2.09288645e-01 4.47041455e-03 9.77843688e-01 -6.92111426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.176875 meters 0.017934798390913116 Centerline is valid? [True, True] Translation: X:125.79, Y:-33.27, Z:-6.93 [[ 9.41375442e-01 2.71522765e-01 2.00219044e-01 1.25791130e+02] [-2.64399969e-01 9.62416587e-01 -6.20239470e-02 -3.32655909e+01] [-2.09535043e-01 5.44991133e-03 9.77785950e-01 -6.92826245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.206875 meters 0.018448195933356143 Centerline is valid? [True, True] Translation: X:125.82, Y:-33.28, Z:-6.93 [[ 9.42398333e-01 2.67795739e-01 2.00426604e-01 1.25820307e+02] [-2.60569492e-01 9.63455051e-01 -6.21120272e-02 -3.32759447e+01] [-2.09735360e-01 6.30921262e-03 9.77737834e-01 -6.93458940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.236875 meters 0.020985546645339873 Centerline is valid? [True, True] Translation: X:125.85, Y:-33.29, Z:-6.94 [[ 9.43538468e-01 2.63828226e-01 2.00324302e-01 1.25847908e+02] [-2.56510420e-01 9.64542534e-01 -6.21297389e-02 -3.32888188e+01] [-2.09612889e-01 7.23652766e-03 9.77757674e-01 -6.94134319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.266875 meters 0.023039592636128172 Centerline is valid? [True, True] Translation: X:125.88, Y:-33.30, Z:-6.95 [[ 9.45522849e-01 2.57270680e-01 1.99495209e-01 1.25876453e+02] [-2.49859550e-01 9.66300205e-01 -6.19202717e-02 -3.32996220e+01] [-2.08702531e-01 8.70124861e-03 9.77940459e-01 -6.94753398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.296875 meters 0.024728378918727218 Centerline is valid? [True, True] Translation: X:125.90, Y:-33.31, Z:-6.95 [[ 9.46230165e-01 2.54711515e-01 1.99425474e-01 1.25904381e+02] [-2.47239384e-01 9.66972275e-01 -6.19459968e-02 -3.33093713e+01] [-2.08617263e-01 9.30933950e-03 9.77953053e-01 -6.95380011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.326875 meters 0.024166769363976673 Centerline is valid? [True, True] Translation: X:125.93, Y:-33.31, Z:-6.96 [[ 9.47055982e-01 2.52209215e-01 1.98684370e-01 1.25934528e+02] [-2.44733843e-01 9.67622637e-01 -6.17396103e-02 -3.33149938e+01] [-2.07822793e-01 9.84607775e-03 9.78116936e-01 -6.96042405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.356875 meters 0.02534482667033813 Centerline is valid? [True, True] Translation: X:125.97, Y:-33.32, Z:-6.97 [[ 9.47689293e-01 2.50000979e-01 1.98455323e-01 1.25965032e+02] [-2.42491583e-01 9.68190422e-01 -6.16858049e-02 -3.33209721e+01] [-2.07564054e-01 1.03352314e-02 9.78166830e-01 -6.96708060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.386875 meters 0.025171123928695277 Centerline is valid? [True, True] Translation: X:126.00, Y:-33.33, Z:-6.97 [[ 9.47653574e-01 2.49716198e-01 1.98983728e-01 1.25996212e+02] [-2.42150145e-01 9.68262439e-01 -6.18963367e-02 -3.33265719e+01] [-2.08124988e-01 1.04723460e-02 9.78046174e-01 -6.97403440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.416875 meters 0.026102757281309626 Centerline is valid? [True, True] Translation: X:126.03, Y:-33.33, Z:-6.98 [[ 9.47456597e-01 2.50344850e-01 1.99131747e-01 1.26026269e+02] [-2.42769899e-01 9.68100933e-01 -6.19948346e-02 -3.33332757e+01] [-2.08299718e-01 1.03942208e-02 9.78009810e-01 -6.98116902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.446875 meters 0.024720605428527283 Centerline is valid? [True, True] Translation: X:126.06, Y:-33.34, Z:-6.99 [[ 9.47098526e-01 2.51734084e-01 1.99083735e-01 1.26058126e+02] [-2.44182047e-01 9.67743344e-01 -6.20318297e-02 -3.33367566e+01] [-2.08277485e-01 1.01375807e-02 9.78017238e-01 -6.98826124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.476875 meters 0.024720605428527283 Centerline is valid? [True, True] Translation: X:126.09, Y:-33.35, Z:-7.00 [[ 9.47031423e-01 2.51998129e-01 1.99068901e-01 1.26088321e+02] [-2.44441874e-01 9.67674697e-01 -6.20793968e-02 -3.33462474e+01] [-2.08277830e-01 1.01303643e-02 9.78017240e-01 -6.99522478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.506875 meters 0.024093056428597485 Centerline is valid? [True, True] Translation: X:126.12, Y:-33.34, Z:-7.00 [[ 9.46129552e-01 2.55603000e-01 1.98761105e-01 1.26119683e+02] [-2.48135914e-01 9.66736305e-01 -6.20442229e-02 -3.33443782e+01] [-2.08008266e-01 9.38210435e-03 9.78082071e-01 -7.00262099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53687499999998 meters 0.023791884915142048 Centerline is valid? [True, True] Translation: X:126.15, Y:-33.35, Z:-7.01 [[ 9.45357788e-01 2.58501957e-01 1.98684151e-01 1.26149855e+02] [-2.51099155e-01 9.65970988e-01 -6.20424408e-02 -3.33476789e+01] [-2.07961218e-01 8.76288225e-03 9.78097819e-01 -7.00968801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56687499999998 meters 0.022397926890962733 Centerline is valid? [True, True] Translation: X:126.18, Y:-33.35, Z:-7.02 [[ 9.44631609e-01 2.61175345e-01 1.98641795e-01 1.26181465e+02] [-2.53830517e-01 9.65256638e-01 -6.20458834e-02 -3.33495573e+01] [-2.07945166e-01 8.18915325e-03 9.78106204e-01 -7.01671305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59687499999998 meters 0.020765884166375707 Centerline is valid? [True, True] Translation: X:126.21, Y:-33.35, Z:-7.02 [[ 9.43943943e-01 2.63734548e-01 1.98529395e-01 1.26213212e+02] [-2.56451732e-01 9.64565108e-01 -6.20214640e-02 -3.33511921e+01] [-2.07851730e-01 7.63157795e-03 9.78130573e-01 -7.02304404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62687499999998 meters 0.019241933195080368 Centerline is valid? [True, True] Translation: X:126.25, Y:-33.35, Z:-7.03 [[ 9.42721745e-01 2.68302338e-01 1.98215962e-01 1.26246259e+02] [-2.61135814e-01 9.63311841e-01 -6.19546893e-02 -3.33484147e+01] [-2.07566372e-01 6.64474600e-03 9.78198369e-01 -7.02977648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65687499999999 meters 0.018563533181763032 Centerline is valid? [True, True] Translation: X:126.28, Y:-33.35, Z:-7.04 [[ 9.42103931e-01 2.70325284e-01 1.98404700e-01 1.26277994e+02] [-2.63187279e-01 9.62748992e-01 -6.20228469e-02 -3.33519012e+01] [-2.07780268e-01 6.21437480e-03 9.78155786e-01 -7.03657327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.686875 meters 0.018165893975459087 Centerline is valid? [True, True] Translation: X:126.31, Y:-33.36, Z:-7.04 [[ 9.41613792e-01 2.72293639e-01 1.98039496e-01 1.26309467e+02] [-2.65214120e-01 9.62196599e-01 -6.19610737e-02 -3.33559432e+01] [-2.07424536e-01 5.82053084e-03 9.78233706e-01 -7.04376928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.716875 meters 0.017686205313765756 Centerline is valid? [True, True] Translation: X:126.34, Y:-33.36, Z:-7.05 [[ 9.40925605e-01 2.74933875e-01 1.97662264e-01 1.26340926e+02] [-2.67928126e-01 9.61448641e-01 -6.18953076e-02 -3.33552307e+01] [-2.07059232e-01 5.27959968e-03 9.78314162e-01 -7.05177070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.746875 meters 0.017147508165757993 Centerline is valid? [True, True] Translation: X:126.37, Y:-33.36, Z:-7.06 [[ 9.40639586e-01 2.75683820e-01 1.97978789e-01 1.26372524e+02] [-2.68661533e-01 9.61234466e-01 -6.20425862e-02 -3.33596867e+01] [-2.07408173e-01 5.17042758e-03 9.78240827e-01 -7.05900911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.776875 meters 0.01710563632525624 Centerline is valid? [True, True] Translation: X:126.40, Y:-33.37, Z:-7.07 [[ 9.40589885e-01 2.76022302e-01 1.97743161e-01 1.26403988e+02] [-2.69013259e-01 9.61137483e-01 -6.20210076e-02 -3.33654702e+01] [-2.07177545e-01 5.14080025e-03 9.78289853e-01 -7.06617300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.806875 meters 0.016834052782647182 Centerline is valid? [True, True] Translation: X:126.44, Y:-33.37, Z:-7.07 [[ 9.40589384e-01 2.75762521e-01 1.98107653e-01 1.26435520e+02] [-2.68708760e-01 9.61211364e-01 -6.21957892e-02 -3.33711837e+01] [-2.07574595e-01 5.26743747e-03 9.78205010e-01 -7.07316272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.836875 meters 0.018393956610568887 Centerline is valid? [True, True] Translation: X:126.47, Y:-33.38, Z:-7.08 [[ 9.41441413e-01 2.72653452e-01 1.98363711e-01 1.26465195e+02] [-2.65499674e-01 9.62093459e-01 -6.23385901e-02 -3.33766170e+01] [-2.07841260e-01 6.02262973e-03 9.78144027e-01 -7.07963566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.866875 meters 0.018920871458853735 Centerline is valid? [True, True] Translation: X:126.50, Y:-33.38, Z:-7.09 [[ 9.42034480e-01 2.70214431e-01 1.98884890e-01 1.26496208e+02] [-2.62962260e-01 9.62777484e-01 -6.25329264e-02 -3.33836893e+01] [-2.08379193e-01 6.60895285e-03 9.78025784e-01 -7.08601026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.896875 meters 0.019893559867441214 Centerline is valid? [True, True] Translation: X:126.53, Y:-33.39, Z:-7.09 [[ 9.42687720e-01 2.67763903e-01 1.99103879e-01 1.26526181e+02] [-2.60438308e-01 9.63457850e-01 -6.26167608e-02 -3.33913316e+01] [-2.08594704e-01 7.17377408e-03 9.77975862e-01 -7.09248522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.926875 meters 0.019269188087538615 Centerline is valid? [True, True] Translation: X:126.56, Y:-33.40, Z:-7.10 [[ 9.43073752e-01 2.65676813e-01 2.00069310e-01 1.26557819e+02] [-2.58227033e-01 9.64031402e-01 -6.29464505e-02 -3.33970361e+01] [-2.09596510e-01 7.69984096e-03 9.77757647e-01 -7.09834125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.956875 meters 0.02062200357729223 Centerline is valid? [True, True] Translation: X:126.59, Y:-33.40, Z:-7.10 [[ 9.43668233e-01 2.62000428e-01 2.02104038e-01 1.26588662e+02] [-2.54309406e-01 9.65029233e-01 -6.36027079e-02 -3.34023435e+01] [-2.11700242e-01 8.62289700e-03 9.77296605e-01 -7.10440451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.986875 meters 0.023341013230915784 Centerline is valid? [True, True] Translation: X:126.62, Y:-33.41, Z:-7.11 [[ 9.43868294e-01 2.61044898e-01 2.02406039e-01 1.26617196e+02] [-2.53306609e-01 9.65285988e-01 -6.37081049e-02 -3.34126889e+01] [-2.12010389e-01 8.86127289e-03 9.77227237e-01 -7.11085174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.016875 meters 0.022145690442845246 Centerline is valid? [True, True] Translation: X:126.65, Y:-33.42, Z:-7.12 [[ 9.43988497e-01 2.60947861e-01 2.01970123e-01 1.26648907e+02] [-2.53230245e-01 9.65311750e-01 -6.36212817e-02 -3.34174242e+01] [-2.11565970e-01 8.91281427e-03 9.77323080e-01 -7.11816379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.046875 meters 0.02264216413141072 Centerline is valid? [True, True] Translation: X:126.68, Y:-33.42, Z:-7.13 [[ 9.44250129e-01 2.61354949e-01 2.00213100e-01 1.26680349e+02] [-2.53770631e-01 9.65202708e-01 -6.31205118e-02 -3.34208253e+01] [-2.09743085e-01 8.79334662e-03 9.77716992e-01 -7.12729158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.076875 meters 0.020845940908788087 Centerline is valid? [True, True] Translation: X:126.71, Y:-33.42, Z:-7.14 [[ 9.44211846e-01 2.62003726e-01 1.99544573e-01 1.26711883e+02] [-2.54472921e-01 9.65027874e-01 -6.29661429e-02 -3.34237608e+01] [-2.09063439e-01 8.67468773e-03 9.77863604e-01 -7.13538001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.106875 meters 0.020467005731111643 Centerline is valid? [True, True] Translation: X:126.74, Y:-33.43, Z:-7.14 [[ 9.44091733e-01 2.62951896e-01 1.98864526e-01 1.26742384e+02] [-2.55482285e-01 9.64771608e-01 -6.28056227e-02 -3.34291521e+01] [-2.08373706e-01 8.48790577e-03 9.78012451e-01 -7.14325442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.136875 meters 0.02037463501627387 Centerline is valid? [True, True] Translation: X:126.77, Y:-33.43, Z:-7.15 [[ 9.43733149e-01 2.64996824e-01 1.97849504e-01 1.26773039e+02] [-2.57637224e-01 9.64215709e-01 -6.25390048e-02 -3.34320712e+01] [-2.07342237e-01 8.04673496e-03 9.78235374e-01 -7.15123733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.166875 meters 0.02056790365849445 Centerline is valid? [True, True] Translation: X:126.80, Y:-33.44, Z:-7.16 [[ 9.43340302e-01 2.66935789e-01 1.97115090e-01 1.26802944e+02] [-2.59662792e-01 9.63684034e-01 -6.23563695e-02 -3.34387607e+01] [-2.06601812e-01 7.63982206e-03 9.78395280e-01 -7.15821481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.196875 meters 0.018361093127853487 Centerline is valid? [True, True] Translation: X:126.83, Y:-33.44, Z:-7.16 [[ 9.42568354e-01 2.69078044e-01 1.97893670e-01 1.26834683e+02] [-2.61782533e-01 9.63091087e-01 -6.26535150e-02 -3.34414311e+01] [-2.07448315e-01 7.25011436e-03 9.78219113e-01 -7.16440492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.226875 meters 0.017983896380354095 Centerline is valid? [True, True] Translation: X:126.86, Y:-33.45, Z:-7.17 [[ 9.41780043e-01 2.71616236e-01 1.98179139e-01 1.26864380e+02] [-2.64352295e-01 9.62382228e-01 -6.27559611e-02 -3.34464194e+01] [-2.07769620e-01 6.71320148e-03 9.78154752e-01 -7.17058998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.256875 meters 0.017207874292213397 Centerline is valid? [True, True] Translation: X:126.89, Y:-33.45, Z:-7.18 [[ 9.39847244e-01 2.76972047e-01 1.99934098e-01 1.26894933e+02] [-2.69695897e-01 9.60861743e-01 -6.33153558e-02 -3.34475542e+01] [-2.09645610e-01 5.58535667e-03 9.77761485e-01 -7.17607827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28687499999998 meters 0.016574047002185347 Centerline is valid? [True, True] Translation: X:126.93, Y:-33.45, Z:-7.18 [[ 9.39147697e-01 2.79139188e-01 2.00207187e-01 1.26926604e+02] [-2.71886908e-01 9.60236948e-01 -6.34232887e-02 -3.34530529e+01] [-2.09950263e-01 5.13012241e-03 9.77698608e-01 -7.18273582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31687499999998 meters 0.01662198230351317 Centerline is valid? [True, True] Translation: X:126.96, Y:-33.46, Z:-7.19 [[ 9.38550409e-01 2.80899059e-01 2.00546374e-01 1.26956234e+02] [-2.73657481e-01 9.59725496e-01 -6.35496325e-02 -3.34594537e+01] [-2.10320500e-01 4.76351812e-03 9.77620886e-01 -7.18945925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34687499999998 meters 0.015199820402439437 Centerline is valid? [True, True] Translation: X:126.99, Y:-33.46, Z:-7.20 [[ 9.38149893e-01 2.82352911e-01 2.00378670e-01 1.26988393e+02] [-2.75145655e-01 9.59300130e-01 -6.35462690e-02 -3.34631893e+01] [-2.10165758e-01 4.48260504e-03 9.77655492e-01 -7.19614045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37687499999998 meters 0.015491670818103005 Centerline is valid? [True, True] Translation: X:127.02, Y:-33.47, Z:-7.20 [[ 9.37566664e-01 2.84843098e-01 1.99582466e-01 1.27018304e+02] [-2.77737449e-01 9.58565961e-01 -6.33498784e-02 -3.34677657e+01] [-2.09357734e-01 3.96320933e-03 9.77831086e-01 -7.20389311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40687499999999 meters 0.015171502914655043 Centerline is valid? [True, True] Translation: X:127.05, Y:-33.47, Z:-7.21 [[ 9.37352943e-01 2.86131320e-01 1.98741863e-01 1.27048601e+02] [-2.79103816e-01 9.58183232e-01 -6.31344081e-02 -3.34740636e+01] [-2.08495852e-01 3.70961093e-03 9.78016216e-01 -7.21147109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.436875 meters 0.015013666669306147 Centerline is valid? [True, True] Translation: X:127.08, Y:-33.48, Z:-7.22 [[ 9.37162834e-01 2.87108234e-01 1.98228872e-01 1.27079028e+02] [-2.80127631e-01 9.57891624e-01 -6.30249669e-02 -3.34805170e+01] [-2.07976763e-01 3.53527239e-03 9.78127378e-01 -7.21905476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.466875 meters 0.014605715980349324 Centerline is valid? [True, True] Translation: X:127.11, Y:-33.48, Z:-7.23 [[ 9.36825253e-01 2.88698821e-01 1.97513128e-01 1.27110361e+02] [-2.81792775e-01 9.57414543e-01 -6.28508198e-02 -3.34846117e+01] [-2.07246898e-01 3.22246287e-03 9.78283363e-01 -7.22674883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.496875 meters 0.014882969915323598 Centerline is valid? [True, True] Translation: X:127.14, Y:-33.49, Z:-7.23 [[ 9.36712476e-01 2.89510301e-01 1.96859146e-01 1.27140185e+02] [-2.82656616e-01 9.57169924e-01 -6.26974867e-02 -3.34929408e+01] [-2.06579222e-01 3.08597808e-03 9.78425011e-01 -7.23479104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.526875 meters 0.014794264257047732 Centerline is valid? [True, True] Translation: X:127.17, Y:-33.50, Z:-7.24 [[ 9.36499999e-01 2.90275241e-01 1.96743580e-01 1.27171260e+02] [-2.83438394e-01 9.56938643e-01 -6.26985634e-02 -3.35008699e+01] [-2.06471375e-01 2.95252023e-03 9.78448187e-01 -7.24213598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.556875 meters 0.014785285454550925 Centerline is valid? [True, True] Translation: X:127.20, Y:-33.51, Z:-7.25 [[ 9.36343013e-01 2.90917091e-01 1.96542636e-01 1.27202354e+02] [-2.84095714e-01 9.56743972e-01 -6.26944691e-02 -3.35089182e+01] [-2.06279874e-01 2.86660776e-03 9.78488833e-01 -7.24932632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.586875 meters 0.014362461141672831 Centerline is valid? [True, True] Translation: X:127.23, Y:-33.51, Z:-7.26 [[ 9.35883660e-01 2.92442476e-01 1.96466722e-01 1.27233872e+02] [-2.85646956e-01 9.56279613e-01 -6.27305171e-02 -3.35145164e+01] [-2.06222189e-01 2.58834477e-03 9.78501768e-01 -7.25592080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.616875 meters 0.014133611790239909 Centerline is valid? [True, True] Translation: X:127.26, Y:-33.52, Z:-7.26 [[ 9.35448548e-01 2.93718910e-01 1.96634728e-01 1.27264549e+02] [-2.86928088e-01 9.55888918e-01 -6.28382792e-02 -3.35226049e+01] [-2.06417749e-01 2.36195043e-03 9.78461105e-01 -7.26216071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.646875 meters 0.013842332746696953 Centerline is valid? [True, True] Translation: X:127.30, Y:-33.53, Z:-7.27 [[ 9.34869892e-01 2.95547794e-01 1.96646350e-01 1.27295430e+02] [-2.88784776e-01 9.55325838e-01 -6.28959126e-02 -3.35297969e+01] [-2.06450087e-01 2.01102295e-03 9.78455067e-01 -7.26845360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.676875 meters 0.01355401641631221 Centerline is valid? [True, True] Translation: X:127.33, Y:-33.54, Z:-7.27 [[ 9.34042030e-01 2.97929481e-01 1.96986068e-01 1.27326283e+02] [-2.91183527e-01 9.54586638e-01 -6.30595326e-02 -3.35370560e+01] [-2.06827562e-01 1.54115596e-03 9.78376198e-01 -7.27486613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.706875 meters 0.013370732678099281 Centerline is valid? [True, True] Translation: X:127.36, Y:-33.54, Z:-7.28 [[ 9.32129939e-01 3.03307904e-01 1.97833495e-01 1.27357177e+02] [-2.96610728e-01 9.52892518e-01 -6.33871045e-02 -3.35418002e+01] [-2.07739867e-01 4.05481043e-04 9.78184023e-01 -7.28104597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.736875 meters 0.013384683008529815 Centerline is valid? [True, True] Translation: X:127.39, Y:-33.55, Z:-7.29 [[ 9.30961515e-01 3.06659961e-01 1.98167418e-01 1.27388655e+02] [-3.00008370e-01 9.51819085e-01 -6.35248560e-02 -3.35489226e+01] [-2.08100060e-01 -3.12687740e-04 9.78107493e-01 -7.28775725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.766875 meters 0.01353106586213683 Centerline is valid? [True, True] Translation: X:127.42, Y:-33.56, Z:-7.29 [[ 9.29828816e-01 3.10242323e-01 1.97909259e-01 1.27417935e+02] [-3.03675049e-01 9.50656928e-01 -6.35048753e-02 -3.35551082e+01] [-2.07845708e-01 -1.05144087e-03 9.78161058e-01 -7.29486953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.796875 meters 0.014369482609387467 Centerline is valid? [True, True] Translation: X:127.45, Y:-33.56, Z:-7.30 [[ 9.27453496e-01 3.17306946e-01 1.97854275e-01 1.27449525e+02] [-3.10892918e-01 9.48319350e-01 -6.35295490e-02 -3.35600426e+01] [-2.07787404e-01 -2.59079049e-03 9.78170579e-01 -7.30208157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.826875 meters 0.01496930721008983 Centerline is valid? [True, True] Translation: X:127.48, Y:-33.57, Z:-7.31 [[ 9.26172097e-01 3.21141448e-01 1.97669972e-01 1.27480140e+02] [-3.14814200e-01 9.47025156e-01 -6.35245799e-02 -3.35678214e+01] [-2.07598812e-01 -3.39462101e-03 9.78208163e-01 -7.30875896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.856875 meters 0.015971650397693986 Centerline is valid? [True, True] Translation: X:127.51, Y:-33.57, Z:-7.32 [[ 9.25061403e-01 3.24344005e-01 1.97642018e-01 1.27509258e+02] [-3.18078939e-01 9.45930492e-01 -6.35711713e-02 -3.35743640e+01] [-2.07574539e-01 -4.05852626e-03 9.78210785e-01 -7.31618024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.886875 meters 0.016597253203149757 Centerline is valid? [True, True] Translation: X:127.54, Y:-33.58, Z:-7.32 [[ 9.23939271e-01 3.27680917e-01 1.97386522e-01 1.27539205e+02] [-3.21501796e-01 9.44776380e-01 -6.35152556e-02 -3.35828338e+01] [-2.07298861e-01 -4.77588232e-03 9.78266003e-01 -7.32379433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.916875 meters 0.018322596345803042 Centerline is valid? [True, True] Translation: X:127.57, Y:-33.59, Z:-7.33 [[ 9.21899459e-01 3.33577692e-01 1.97046468e-01 1.27568520e+02] [-3.27541196e-01 9.42703286e-01 -6.34608462e-02 -3.35894252e+01] [-2.06925476e-01 -6.03631607e-03 9.78338086e-01 -7.33119207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.946875 meters 0.018933204144485797 Centerline is valid? [True, True] Translation: X:127.60, Y:-33.60, Z:-7.34 [[ 9.21076256e-01 3.35985186e-01 1.96805704e-01 1.27598348e+02] [-3.30011090e-01 9.41844578e-01 -6.34150638e-02 -3.35985206e+01] [-2.06666908e-01 -6.53795550e-03 9.78389516e-01 -7.33828747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.976875 meters 0.019738030799363215 Centerline is valid? [True, True] Translation: X:127.63, Y:-33.61, Z:-7.35 [[ 9.20420205e-01 3.38086101e-01 1.96276424e-01 1.27628170e+02] [-3.32188210e-01 9.41089338e-01 -6.32601930e-02 -3.36079082e+01] [-2.06101041e-01 -6.97475389e-03 9.78505858e-01 -7.34594533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.006875 meters 0.020411303732209708 Centerline is valid? [True, True] Translation: X:127.66, Y:-33.62, Z:-7.35 [[ 9.19641793e-01 3.40027749e-01 1.96570859e-01 1.27657386e+02] [-3.34152754e-01 9.40386228e-01 -6.33693839e-02 -3.36190960e+01] [-2.06399878e-01 -7.40756022e-03 9.78439686e-01 -7.35273079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03687499999998 meters 0.02113836374493532 Centerline is valid? [True, True] Translation: X:127.69, Y:-33.63, Z:-7.36 [[ 9.19370216e-01 3.40481615e-01 1.97055008e-01 1.27686467e+02] [-3.34576076e-01 9.40221453e-01 -6.35804168e-02 -3.36292982e+01] [-2.06923309e-01 -7.47594981e-03 9.78328602e-01 -7.35929413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06687499999998 meters 0.020331173862834333 Centerline is valid? [True, True] Translation: X:127.72, Y:-33.64, Z:-7.37 [[ 9.19296173e-01 3.40199772e-01 1.97885475e-01 1.27715352e+02] [-3.34224927e-01 9.40324161e-01 -6.39075148e-02 -3.36426042e+01] [-2.07817815e-01 -7.38832469e-03 9.78139647e-01 -7.36524581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09687499999998 meters 0.01970430034857214 Centerline is valid? [True, True] Translation: X:127.74, Y:-33.66, Z:-7.37 [[ 9.19770318e-01 3.37560699e-01 2.00188254e-01 1.27743346e+02] [-3.31370699e-01 9.41279060e-01 -6.47085146e-02 -3.36579126e+01] [-2.10276063e-01 -6.81955064e-03 9.77618264e-01 -7.36962502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12687499999998 meters 0.018609628148454047 Centerline is valid? [True, True] Translation: X:127.77, Y:-33.67, Z:-7.38 [[ 9.20147894e-01 3.35957307e-01 2.01148057e-01 1.27771925e+02] [-3.29667824e-01 9.41854935e-01 -6.50261995e-02 -3.36719893e+01] [-2.11298317e-01 -6.47832167e-03 9.77400150e-01 -7.37552693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15687499999999 meters 0.018599144211587714 Centerline is valid? [True, True] Translation: X:127.80, Y:-33.68, Z:-7.38 [[ 9.20987162e-01 3.33778637e-01 2.00933991e-01 1.27800434e+02] [-3.27439272e-01 9.42632912e-01 -6.50132054e-02 -3.36842203e+01] [-2.11107012e-01 -5.91735202e-03 9.77445044e-01 -7.38270369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.186875 meters 0.01730786706656564 Centerline is valid? [True, True] Translation: X:127.83, Y:-33.70, Z:-7.39 [[ 9.21861084e-01 3.31342512e-01 2.00958406e-01 1.27828377e+02] [-3.24932324e-01 9.43495620e-01 -6.50768759e-02 -3.36991690e+01] [-2.11166112e-01 -5.30604250e-03 9.77435788e-01 -7.38921328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.216875 meters 0.01539279616114848 Centerline is valid? [True, True] Translation: X:127.85, Y:-33.72, Z:-7.39 [[ 9.24069798e-01 3.25026238e-01 2.01129193e-01 1.27854951e+02] [-3.18444697e-01 9.45697325e-01 -6.51885331e-02 -3.37195086e+01] [-2.11395323e-01 -3.80977024e-03 9.77393218e-01 -7.39472415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.246875 meters 0.014514232625212405 Centerline is valid? [True, True] Translation: X:127.88, Y:-33.73, Z:-7.40 [[ 9.25339347e-01 3.21324807e-01 2.01239812e-01 1.27883270e+02] [-3.14646839e-01 9.46964435e-01 -6.52359149e-02 -3.37347961e+01] [-2.11528863e-01 -2.95411197e-03 9.77367287e-01 -7.40126424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.276875 meters 0.013972331779901299 Centerline is valid? [True, True] Translation: X:127.91, Y:-33.75, Z:-7.41 [[ 9.26645532e-01 3.17770506e-01 2.00873005e-01 1.27911762e+02] [-3.11022293e-01 9.48165368e-01 -6.51733718e-02 -3.37501655e+01] [-2.11171002e-01 -2.08336885e-03 9.77446913e-01 -7.40814307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.306875 meters 0.013344818995448008 Centerline is valid? [True, True] Translation: X:127.94, Y:-33.77, Z:-7.42 [[ 9.29475448e-01 3.10227296e-01 1.99585611e-01 1.27937556e+02] [-3.03387507e-01 9.50662354e-01 -6.47850923e-02 -3.37700213e+01] [-2.09836631e-01 -3.35628468e-04 9.77736404e-01 -7.41585383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.336875 meters 0.013446986509939543 Centerline is valid? [True, True] Translation: X:127.97, Y:-33.79, Z:-7.42 [[ 9.30606616e-01 3.06881887e-01 1.99486426e-01 1.27966197e+02] [-2.99961110e-01 9.51747490e-01 -6.48077789e-02 -3.37855131e+01] [-2.09749038e-01 4.72378209e-04 9.77755142e-01 -7.42270065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.366875 meters 0.013446986509939543 Centerline is valid? [True, True] Translation: X:128.00, Y:-33.80, Z:-7.43 [[ 9.30523563e-01 3.07145292e-01 1.99468465e-01 1.27996278e+02] [-3.00218659e-01 9.51662517e-01 -6.48630116e-02 -3.37953705e+01] [-2.09749030e-01 4.72405573e-04 9.77755144e-01 -7.42965991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.396875 meters 0.013616609641237783 Centerline is valid? [True, True] Translation: X:128.02, Y:-33.81, Z:-7.44 [[ 9.31696143e-01 3.03837985e-01 1.99059731e-01 1.28024628e+02] [-2.96852259e-01 9.52722864e-01 -6.47910619e-02 -3.38103615e+01] [-2.09334743e-01 1.27425180e-03 9.77843209e-01 -7.43635570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.426875 meters 0.013896832719353543 Centerline is valid? [True, True] Translation: X:128.05, Y:-33.82, Z:-7.44 [[ 9.32571069e-01 3.01470690e-01 1.98561389e-01 1.28052977e+02] [-2.94455785e-01 9.53473643e-01 -6.46823153e-02 -3.38242370e+01] [-2.08822873e-01 1.85330631e-03 9.77951723e-01 -7.44320560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.456875 meters 0.014323687491991827 Centerline is valid? [True, True] Translation: X:128.08, Y:-33.84, Z:-7.45 [[ 9.33820912e-01 2.97940589e-01 1.98014921e-01 1.28080969e+02] [-2.90874579e-01 9.54580629e-01 -6.45585215e-02 -3.38403184e+01] [-2.08255812e-01 2.68859057e-03 9.78070697e-01 -7.45017714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.486875 meters 0.014994560140385676 Centerline is valid? [True, True] Translation: X:128.11, Y:-33.85, Z:-7.46 [[ 9.34122101e-01 2.96688053e-01 1.98474431e-01 1.28108243e+02] [-2.89548966e-01 9.54969644e-01 -6.47639896e-02 -3.38532953e+01] [-2.08751758e-01 3.02940775e-03 9.77963970e-01 -7.45756487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.516875 meters 0.015043781620274234 Centerline is valid? [True, True] Translation: X:128.14, Y:-33.86, Z:-7.46 [[ 9.34334834e-01 2.95807529e-01 1.98787130e-01 1.28137628e+02] [-2.88615008e-01 9.55241927e-01 -6.49171678e-02 -3.38643831e+01] [-2.09092788e-01 3.28142202e-03 9.77890300e-01 -7.46431348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.546875 meters 0.01520346942224953 Centerline is valid? [True, True] Translation: X:128.17, Y:-33.88, Z:-7.47 [[ 9.34444879e-01 2.95139895e-01 1.99261662e-01 1.28167255e+02] [-2.87885946e-01 9.55447668e-01 -6.51263112e-02 -3.38755969e+01] [-2.09605463e-01 3.49231597e-03 9.77779808e-01 -7.47095704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.576875 meters 0.015180607540027372 Centerline is valid? [True, True] Translation: X:128.20, Y:-33.89, Z:-7.48 [[ 9.34492004e-01 2.94612260e-01 1.99820695e-01 1.28196961e+02] [-2.87293400e-01 9.55609813e-01 -6.53635050e-02 -3.38870469e+01] [-2.10207507e-01 3.67450593e-03 9.77649887e-01 -7.47739225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.606875 meters 0.0153456314743039 Centerline is valid? [True, True] Translation: X:128.23, Y:-33.90, Z:-7.48 [[ 9.34617874e-01 2.94489451e-01 1.99412620e-01 1.28227030e+02] [-2.87184517e-01 9.55647349e-01 -6.52931641e-02 -3.38977445e+01] [-2.09796290e-01 3.75594135e-03 9.77737904e-01 -7.48438559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.636875 meters 0.015228811705013449 Centerline is valid? [True, True] Translation: X:128.26, Y:-33.91, Z:-7.49 [[ 9.34542797e-01 2.94893489e-01 1.99167245e-01 1.28257068e+02] [-2.87602330e-01 9.55522881e-01 -6.52757460e-02 -3.39075032e+01] [-2.09558252e-01 3.72201452e-03 9.77789080e-01 -7.49192892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.666875 meters 0.015248417309235655 Centerline is valid? [True, True] Translation: X:128.29, Y:-33.92, Z:-7.50 [[ 9.34314906e-01 2.96504379e-01 1.97840362e-01 1.28286009e+02] [-2.89333550e-01 9.55025446e-01 -6.49037340e-02 -3.39153934e+01] [-2.08186822e-01 3.39867183e-03 9.78083175e-01 -7.50091531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.696875 meters 0.014976040331861087 Centerline is valid? [True, True] Translation: X:128.32, Y:-33.92, Z:-7.51 [[ 9.34113113e-01 2.97867751e-01 1.96742205e-01 1.28315785e+02] [-2.90796585e-01 9.54602029e-01 -6.45934421e-02 -3.39237962e+01] [-2.07050811e-01 3.12561999e-03 9.78325198e-01 -7.50936063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.726875 meters 0.014868299297502352 Centerline is valid? [True, True] Translation: X:128.35, Y:-33.93, Z:-7.52 [[ 9.33978387e-01 2.99287628e-01 1.95221128e-01 1.28346051e+02] [-2.92345796e-01 9.54158708e-01 -6.41490043e-02 -3.39323745e+01] [-2.05470943e-01 2.84170740e-03 9.78659091e-01 -7.51835848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.756875 meters 0.014740417205677144 Centerline is valid? [True, True] Translation: X:128.37, Y:-33.94, Z:-7.53 [[ 9.33450529e-01 3.02452766e-01 1.92853402e-01 1.28374599e+02] [-2.95743436e-01 9.53161984e-01 -6.33881040e-02 -3.39396040e+01] [-2.02992439e-01 2.13453153e-03 9.79177979e-01 -7.52830930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78687499999998 meters 0.014609625135486554 Centerline is valid? [True, True] Translation: X:128.41, Y:-33.95, Z:-7.54 [[ 9.33188737e-01 3.03933378e-01 1.91789683e-01 1.28405046e+02] [-2.97319762e-01 9.52691495e-01 -6.30862475e-02 -3.39484925e+01] [-2.01890416e-01 1.84851291e-03 9.79406373e-01 -7.53606830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81687499999998 meters 0.014599974877309218 Centerline is valid? [True, True] Translation: X:128.43, Y:-33.96, Z:-7.54 [[ 9.32839109e-01 3.05422690e-01 1.91123460e-01 1.28434261e+02] [-2.98874059e-01 9.52215568e-01 -6.29270186e-02 -3.39573274e+01] [-2.01210073e-01 1.57893969e-03 9.79546841e-01 -7.54424121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84687499999998 meters 0.01440919549278014 Centerline is valid? [True, True] Translation: X:128.46, Y:-33.97, Z:-7.55 [[ 9.32461297e-01 3.06694738e-01 1.90930008e-01 1.28464637e+02] [-3.00178688e-01 9.51806992e-01 -6.28983709e-02 -3.39664054e+01] [-2.01019116e-01 1.33717692e-03 9.79586406e-01 -7.55136008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87687499999998 meters 0.014161822509771112 Centerline is valid? [True, True] Translation: X:128.49, Y:-33.98, Z:-7.56 [[ 9.31903582e-01 3.08217224e-01 1.91201089e-01 1.28494839e+02] [-3.01702132e-01 9.51315407e-01 -6.30461720e-02 -3.39757860e+01] [-2.01324458e-01 1.06717731e-03 9.79524029e-01 -7.55708530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90687499999999 meters 0.01410637201608283 Centerline is valid? [True, True] Translation: X:128.52, Y:-33.99, Z:-7.56 [[ 9.31458968e-01 3.09053446e-01 1.92016037e-01 1.28524014e+02] [-3.02489000e-01 9.51044207e-01 -6.33665679e-02 -3.39861471e+01] [-2.02199396e-01 9.40618905e-04 9.79343923e-01 -7.56342193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.936875 meters 0.01384295177497547 Centerline is valid? [True, True] Translation: X:128.55, Y:-34.00, Z:-7.57 [[ 9.31014511e-01 3.09623075e-01 1.93249923e-01 1.28554284e+02] [-3.02974478e-01 9.50858975e-01 -6.38253528e-02 -3.39960213e+01] [-2.03515225e-01 8.72535182e-04 9.79071393e-01 -7.56758982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.966875 meters 0.013774806132221378 Centerline is valid? [True, True] Translation: X:128.58, Y:-34.01, Z:-7.57 [[ 9.30419811e-01 3.10335638e-01 1.94963500e-01 1.28582875e+02] [-3.03571265e-01 9.50626735e-01 -6.44460899e-02 -3.40059111e+01] [-2.05337434e-01 7.76602399e-04 9.78690929e-01 -7.57261740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.996875 meters 0.013725665843606773 Centerline is valid? [True, True] Translation: X:128.61, Y:-34.02, Z:-7.58 [[ 9.30073276e-01 3.10926870e-01 1.95673666e-01 1.28612796e+02] [-3.04114989e-01 9.50433583e-01 -6.47308106e-02 -3.40154052e+01] [-2.06101372e-01 6.97102159e-04 9.78530397e-01 -7.57921628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.026875 meters 0.013576975344358387 Centerline is valid? [True, True] Translation: X:128.64, Y:-34.02, Z:-7.59 [[ 9.29550947e-01 3.11983485e-01 1.96472243e-01 1.28642071e+02] [-3.05126313e-01 9.50087382e-01 -6.50530512e-02 -3.40243500e+01] [-2.06961276e-01 5.21274235e-04 9.78348996e-01 -7.58590326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.056875 meters 0.013550375213389204 Centerline is valid? [True, True] Translation: X:128.67, Y:-34.03, Z:-7.59 [[ 9.29033332e-01 3.13284309e-01 1.96850222e-01 1.28672671e+02] [-3.06418886e-01 9.49659341e-01 -6.52273155e-02 -3.40337919e+01] [-2.07375347e-01 2.79724469e-04 9.78261410e-01 -7.59258695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.086875 meters 0.013510610123127943 Centerline is valid? [True, True] Translation: X:128.70, Y:-34.04, Z:-7.60 [[ 9.28247927e-01 3.15108097e-01 1.97642792e-01 1.28703305e+02] [-3.08214165e-01 9.49055785e-01 -6.55526201e-02 -3.40433791e+01] [-2.08230196e-01 -6.72242963e-05 9.78079844e-01 -7.59863398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.116875 meters 0.013550472127449675 Centerline is valid? [True, True] Translation: X:128.73, Y:-34.05, Z:-7.60 [[ 9.26774362e-01 3.18667232e-01 1.98847874e-01 1.28733571e+02] [-3.11764771e-01 9.47866271e-01 -6.59716582e-02 -3.40509700e+01] [-2.09504199e-01 -8.52920508e-04 9.77807375e-01 -7.60448811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.146875 meters 0.013645224076260948 Centerline is valid? [True, True] Translation: X:128.76, Y:-34.06, Z:-7.61 [[ 9.26011674e-01 3.20787755e-01 1.98991448e-01 1.28764601e+02] [-3.13915306e-01 9.47150219e-01 -6.60578854e-02 -3.40601623e+01] [-2.09665355e-01 -1.29608834e-03 9.77772345e-01 -7.61164999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.176875 meters 0.013848141156059467 Centerline is valid? [True, True] Translation: X:128.79, Y:-34.07, Z:-7.62 [[ 9.25215363e-01 3.23275318e-01 1.98669576e-01 1.28794855e+02] [-3.16468399e-01 9.46303253e-01 -6.60144376e-02 -3.40691972e+01] [-2.09342504e-01 -1.79507079e-03 9.77840730e-01 -7.61881434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.206875 meters 0.014509194273897148 Centerline is valid? [True, True] Translation: X:128.82, Y:-34.08, Z:-7.63 [[ 9.23841694e-01 3.27502851e-01 1.98137345e-01 1.28823595e+02] [-3.20816926e-01 9.44846358e-01 -6.58927958e-02 -3.40770028e+01] [-2.08789428e-01 -2.69130196e-03 9.77956917e-01 -7.62654649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.236875 meters 0.014816901713728698 Centerline is valid? [True, True] Translation: X:128.85, Y:-34.09, Z:-7.63 [[ 9.23191187e-01 3.29436801e-01 1.97963194e-01 1.28853663e+02] [-3.22795837e-01 9.44172616e-01 -6.58856524e-02 -3.40860758e+01] [-2.08616585e-01 -3.07664119e-03 9.77992666e-01 -7.63442389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.266875 meters 0.015412997601900359 Centerline is valid? [True, True] Translation: X:128.88, Y:-34.10, Z:-7.64 [[ 9.22478954e-01 3.31913654e-01 1.97144379e-01 1.28883255e+02] [-3.25372551e-01 9.43303020e-01 -6.56667033e-02 -3.40950099e+01] [-2.07762564e-01 -3.56921791e-03 9.78172775e-01 -7.64266907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.296875 meters 0.016137841986593376 Centerline is valid? [True, True] Translation: X:128.91, Y:-34.10, Z:-7.65 [[ 9.21319541e-01 3.36288304e-01 1.95142206e-01 1.28912515e+02] [-3.29966141e-01 9.41748550e-01 -6.50539414e-02 -3.41048585e+01] [-2.05651769e-01 -4.45485304e-03 9.78615095e-01 -7.65142675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.326875 meters 0.016987033036882714 Centerline is valid? [True, True] Translation: X:128.94, Y:-34.11, Z:-7.66 [[ 9.20482776e-01 3.38639984e-01 1.95024151e-01 1.28940791e+02] [-3.32374472e-01 9.40902937e-01 -6.50297882e-02 -3.41137181e+01] [-2.05520483e-01 -4.96224919e-03 9.78640234e-01 -7.65909177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.356875 meters 0.017302880528187663 Centerline is valid? [True, True] Translation: X:128.97, Y:-34.12, Z:-7.67 [[ 9.19791307e-01 3.40781347e-01 1.94555967e-01 1.28969859e+02] [-3.34588400e-01 9.40127052e-01 -6.48978385e-02 -3.41238934e+01] [-2.05023300e-01 -5.40370181e-03 9.78742176e-01 -7.66635782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.386875 meters 0.017946434749401267 Centerline is valid? [True, True] Translation: X:129.00, Y:-34.13, Z:-7.67 [[ 9.18906002e-01 3.42915999e-01 1.94988144e-01 1.28999477e+02] [-3.36732042e-01 9.39347890e-01 -6.50928063e-02 -3.41339511e+01] [-2.05483067e-01 -5.84458555e-03 9.78643219e-01 -7.67306142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.416875 meters 0.018829356079550826 Centerline is valid? [True, True] Translation: X:129.03, Y:-34.15, Z:-7.68 [[ 9.17775194e-01 3.45601944e-01 1.95570932e-01 1.29028467e+02] [-3.39428956e-01 9.38359306e-01 -6.53436771e-02 -3.41463029e+01] [-2.06098706e-01 -6.41163135e-03 9.78510201e-01 -7.67900308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.446875 meters 0.019243811953256935 Centerline is valid? [True, True] Translation: X:129.06, Y:-34.16, Z:-7.69 [[ 9.17396860e-01 3.46611741e-01 1.95558947e-01 1.29057817e+02] [-3.40459182e-01 9.37985298e-01 -6.53538575e-02 -3.41575720e+01] [-2.06083831e-01 -6.62441541e-03 9.78511917e-01 -7.68539866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.476875 meters 0.019319506948901097 Centerline is valid? [True, True] Translation: X:129.09, Y:-34.17, Z:-7.69 [[ 9.17278417e-01 3.47078240e-01 1.95286971e-01 1.29087290e+02] [-3.40941966e-01 9.37812476e-01 -6.53171921e-02 -3.41693833e+01] [-2.05812734e-01 -6.66747317e-03 9.78568681e-01 -7.69288706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.506875 meters 0.019977283300431387 Centerline is valid? [True, True] Translation: X:129.12, Y:-34.18, Z:-7.70 [[ 9.17142713e-01 3.47025099e-01 1.96017408e-01 1.29115398e+02] [-3.40827828e-01 9.37832473e-01 -6.56250281e-02 -3.41820694e+01] [-2.06605022e-01 -6.62067111e-03 9.78402030e-01 -7.70007288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53687499999998 meters 0.019849513798366403 Centerline is valid? [True, True] Translation: X:129.14, Y:-34.19, Z:-7.71 [[ 9.17167644e-01 3.46693081e-01 1.96487711e-01 1.29144521e+02] [-3.40447546e-01 9.37956011e-01 -6.58330495e-02 -3.41944859e+01] [-2.07120692e-01 -6.51381601e-03 9.78293713e-01 -7.70646792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56687499999998 meters 0.018622492092820436 Centerline is valid? [True, True] Translation: X:129.17, Y:-34.21, Z:-7.71 [[ 9.17028816e-01 3.46453372e-01 1.97555590e-01 1.29173171e+02] [-3.40122157e-01 9.38045057e-01 -6.62449203e-02 -3.42088465e+01] [-2.08266821e-01 -6.44453266e-03 9.78050816e-01 -7.71243183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59687499999998 meters 0.01930112401818011 Centerline is valid? [True, True] Translation: X:129.20, Y:-34.22, Z:-7.72 [[ 9.16951200e-01 3.46340098e-01 1.98113688e-01 1.29202017e+02] [-3.39958170e-01 9.38087299e-01 -6.64880623e-02 -3.42199453e+01] [-2.08875417e-01 -6.38405850e-03 9.77921420e-01 -7.71866009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62687499999998 meters 0.018859135487455023 Centerline is valid? [True, True] Translation: X:129.23, Y:-34.24, Z:-7.72 [[ 9.17354449e-01 3.45170052e-01 1.98288805e-01 1.29229812e+02] [-3.38738735e-01 9.38520508e-01 -6.65982477e-02 -3.42353357e+01] [-2.09085830e-01 -6.07389999e-03 9.77878430e-01 -7.72477012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65687499999999 meters 0.01789396011131849 Centerline is valid? [True, True] Translation: X:129.26, Y:-34.25, Z:-7.73 [[ 9.17577897e-01 3.44697455e-01 1.98076923e-01 1.29258415e+02] [-3.38257521e-01 9.38695247e-01 -6.65813974e-02 -3.42493585e+01] [-2.08884304e-01 -5.90739026e-03 9.77922518e-01 -7.73149835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.686875 meters 0.017912751680956396 Centerline is valid? [True, True] Translation: X:129.29, Y:-34.26, Z:-7.74 [[ 9.17940420e-01 3.43617171e-01 1.98274116e-01 1.29286252e+02] [-3.37127387e-01 9.39093035e-01 -6.67037979e-02 -3.42608585e+01] [-2.09118412e-01 -5.61352235e-03 9.77874214e-01 -7.73884673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.716875 meters 0.0171906308432464 Centerline is valid? [True, True] Translation: X:129.31, Y:-34.28, Z:-7.74 [[ 9.18956827e-01 3.40775056e-01 1.98470934e-01 1.29312667e+02] [-3.34195648e-01 9.40131978e-01 -6.68216505e-02 -3.42774410e+01] [-2.09360023e-01 -4.92191025e-03 9.77826240e-01 -7.74492555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.746875 meters 0.016732222008579423 Centerline is valid? [True, True] Translation: X:129.34, Y:-34.29, Z:-7.75 [[ 9.19595357e-01 3.39085314e-01 1.98407485e-01 1.29341246e+02] [-3.32460522e-01 9.40744925e-01 -6.68504815e-02 -3.42917348e+01] [-2.09318851e-01 -4.48726371e-03 9.77837145e-01 -7.75166960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.776875 meters 0.016184962274695566 Centerline is valid? [True, True] Translation: X:129.37, Y:-34.31, Z:-7.76 [[ 9.20293511e-01 3.37272887e-01 1.98259563e-01 1.29369214e+02] [-3.30605011e-01 9.41398342e-01 -6.68542284e-02 -3.43062134e+01] [-2.09189343e-01 -4.02009255e-03 9.77866892e-01 -7.75844365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.806875 meters 0.015613061788852039 Centerline is valid? [True, True] Translation: X:129.40, Y:-34.32, Z:-7.77 [[ 9.21074569e-01 3.35163857e-01 1.98209051e-01 1.29396732e+02] [-3.28439663e-01 9.42153395e-01 -6.68907131e-02 -3.43205137e+01] [-2.09162679e-01 -3.48837901e-03 9.77874637e-01 -7.76550972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.836875 meters 0.014300497950984438 Centerline is valid? [True, True] Translation: X:129.42, Y:-34.34, Z:-7.77 [[ 9.23188432e-01 3.29940065e-01 1.97136176e-01 1.29422157e+02] [-3.23160885e-01 9.43999216e-01 -6.65771908e-02 -3.43415888e+01] [-2.08062878e-01 -2.24340849e-03 9.78112880e-01 -7.77290042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.866875 meters 0.013937787497301322 Centerline is valid? [True, True] Translation: X:129.45, Y:-34.36, Z:-7.78 [[ 9.24163546e-01 3.27523099e-01 1.96596947e-01 1.29448809e+02] [-3.20715888e-01 9.44841744e-01 -6.64484566e-02 -3.43563279e+01] [-2.07516407e-01 -1.64252311e-03 9.78230159e-01 -7.77965254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.896875 meters 0.013752753558691997 Centerline is valid? [True, True] Translation: X:129.48, Y:-34.37, Z:-7.79 [[ 9.24996304e-01 3.25353988e-01 1.96281993e-01 1.29477147e+02] [-3.18510097e-01 9.45591645e-01 -6.63909613e-02 -3.43714113e+01] [-2.07203177e-01 -1.10640296e-03 9.78297306e-01 -7.78703287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.926875 meters 0.013656399879237781 Centerline is valid? [True, True] Translation: X:129.51, Y:-34.39, Z:-7.79 [[ 9.25521881e-01 3.24101636e-01 1.95875923e-01 1.29506579e+02] [-3.17247577e-01 9.46021950e-01 -6.63056915e-02 -3.43860198e+01] [-2.06792706e-01 -7.73793691e-04 9.78384473e-01 -7.79430026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.956875 meters 0.013656285932684559 Centerline is valid? [True, True] Translation: X:129.53, Y:-34.40, Z:-7.80 [[ 9.26226805e-01 3.22636050e-01 1.94961239e-01 1.29533956e+02] [-3.15801870e-01 9.46523021e-01 -6.60556504e-02 -3.44029519e+01] [-2.05847235e-01 -3.86609822e-04 9.78584062e-01 -7.80192414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.986875 meters 0.013692965380232779 Centerline is valid? [True, True] Translation: X:129.56, Y:-34.42, Z:-7.81 [[ 9.26243535e-01 3.22666898e-01 1.94830660e-01 1.29563611e+02] [-3.15830983e-01 9.46512524e-01 -6.60668752e-02 -3.44159732e+01] [-2.05727254e-01 -3.39542988e-04 9.78609310e-01 -7.80864953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.016875 meters 0.013758049461819024 Centerline is valid? [True, True] Translation: X:129.59, Y:-34.43, Z:-7.82 [[ 9.26084268e-01 3.23663282e-01 1.93932998e-01 1.29591689e+02] [-3.16899938e-01 9.46172199e-01 -6.58224859e-02 -3.44294949e+01] [-2.04798333e-01 -5.00186269e-04 9.78804063e-01 -7.81626422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.046875 meters 0.013726976151882925 Centerline is valid? [True, True] Translation: X:129.62, Y:-34.44, Z:-7.82 [[ 9.25672464e-01 3.24815533e-01 1.93972570e-01 1.29621203e+02] [-3.18062754e-01 9.45777129e-01 -6.58916332e-02 -3.44408972e+01] [-2.04857446e-01 -7.01379321e-04 9.78791569e-01 -7.82336531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.076875 meters 0.013763582183588618 Centerline is valid? [True, True] Translation: X:129.65, Y:-34.45, Z:-7.83 [[ 9.25368155e-01 3.25816227e-01 1.93746134e-01 1.29651474e+02] [-3.19088690e-01 9.45432726e-01 -6.58738898e-02 -3.44524323e+01] [-2.04636717e-01 -8.64600011e-04 9.78837610e-01 -7.83073204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.106875 meters 0.013939643817452978 Centerline is valid? [True, True] Translation: X:129.68, Y:-34.46, Z:-7.84 [[ 9.24911673e-01 3.26957015e-01 1.94003886e-01 1.29680198e+02] [-3.20223667e-01 9.45038616e-01 -6.60213408e-02 -3.44634304e+01] [-2.04927305e-01 -1.06072713e-03 9.78776621e-01 -7.83738973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.136875 meters 0.014013847034019523 Centerline is valid? [True, True] Translation: X:129.71, Y:-34.47, Z:-7.84 [[ 9.24538260e-01 3.27620596e-01 1.94663172e-01 1.29709346e+02] [-3.20843547e-01 9.44808661e-01 -6.63024344e-02 -3.44746152e+01] [-2.05641494e-01 -1.15728509e-03 9.78626710e-01 -7.84406032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.166875 meters 0.014084272810739944 Centerline is valid? [True, True] Translation: X:129.74, Y:-34.49, Z:-7.85 [[ 9.23923560e-01 3.29367354e-01 1.94634020e-01 1.29738905e+02] [-3.22623110e-01 9.44200648e-01 -6.63284689e-02 -3.44863970e+01] [-2.05620000e-01 -1.51099777e-03 9.78630744e-01 -7.85091835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.196875 meters 0.014074907115491067 Centerline is valid? [True, True] Translation: X:129.77, Y:-34.50, Z:-7.86 [[ 9.23539511e-01 3.30441817e-01 1.94635499e-01 1.29768856e+02] [-3.23708721e-01 9.43824845e-01 -6.63876965e-02 -3.44977813e+01] [-2.05639091e-01 -1.69354778e-03 9.78626433e-01 -7.85834554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.226875 meters 0.014354558171740117 Centerline is valid? [True, True] Translation: X:129.80, Y:-34.51, Z:-7.87 [[ 9.23467215e-01 3.31085247e-01 1.93883632e-01 1.29798524e+02] [-3.24405873e-01 9.43599186e-01 -6.61921868e-02 -3.45089512e+01] [-2.04863694e-01 -1.77067457e-03 9.78788911e-01 -7.86592271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.256875 meters 0.014384549373883905 Centerline is valid? [True, True] Translation: X:129.83, Y:-34.52, Z:-7.87 [[ 9.23037076e-01 3.32668037e-01 1.93221462e-01 1.29827372e+02] [-3.26065460e-01 9.43041661e-01 -6.59828862e-02 -3.45212344e+01] [-2.04166285e-01 -2.09819440e-03 9.78933974e-01 -7.87305998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28687499999998 meters 0.014384549373883905 Centerline is valid? [True, True] Translation: X:129.86, Y:-34.53, Z:-7.88 [[ 9.22945634e-01 3.32931040e-01 1.93205280e-01 1.29857276e+02] [-3.26324252e-01 9.42948827e-01 -6.60302341e-02 -3.45315312e+01] [-2.04166207e-01 -2.10525217e-03 9.78933975e-01 -7.88001622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31687499999998 meters 0.01465732751510034 Centerline is valid? [True, True] Translation: X:129.89, Y:-34.54, Z:-7.89 [[ 9.22623094e-01 3.33920481e-01 1.93038179e-01 1.29885384e+02] [-3.27333707e-01 9.42598533e-01 -6.60352168e-02 -3.45416486e+01] [-2.04008016e-01 -2.26228676e-03 9.78966604e-01 -7.88670710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34687499999998 meters 0.01474934508943045 Centerline is valid? [True, True] Translation: X:129.92, Y:-34.55, Z:-7.89 [[ 9.22209678e-01 3.35150941e-01 1.92881198e-01 1.29915066e+02] [-3.28596401e-01 9.42161109e-01 -6.60064363e-02 -3.45526294e+01] [-2.03847283e-01 -2.50829314e-03 9.78999486e-01 -7.89339144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37687499999998 meters 0.015466208173176614 Centerline is valid? [True, True] Translation: X:129.94, Y:-34.56, Z:-7.90 [[ 9.21360682e-01 3.37462070e-01 1.92908904e-01 1.29943977e+02] [-3.30944505e-01 9.41334447e-01 -6.60696138e-02 -3.45617886e+01] [-2.03887785e-01 -2.96819726e-03 9.78989765e-01 -7.90181108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40687499999999 meters 0.015373151116420214 Centerline is valid? [True, True] Translation: X:129.97, Y:-34.57, Z:-7.91 [[ 9.20918872e-01 3.38651771e-01 1.92933693e-01 1.29973649e+02] [-3.32152728e-01 9.40906318e-01 -6.61049694e-02 -3.45734582e+01] [-2.03919095e-01 -3.20613848e-03 9.78982494e-01 -7.90795352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.436875 meters 0.015546774763343572 Centerline is valid? [True, True] Translation: X:130.00, Y:-34.58, Z:-7.91 [[ 9.20492875e-01 3.39647295e-01 1.93216412e-01 1.30003714e+02] [-3.33139738e-01 9.40546799e-01 -6.62543145e-02 -3.45848037e+01] [-2.04232176e-01 -3.38144024e-03 9.78916638e-01 -7.91459991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.466875 meters 0.015883995808577255 Centerline is valid? [True, True] Translation: X:130.03, Y:-34.60, Z:-7.92 [[ 9.20147813e-01 3.40607806e-01 1.93169160e-01 1.30031922e+02] [-3.34111725e-01 9.40198821e-01 -6.62988088e-02 -3.45952306e+01] [-2.04199308e-01 -3.53537727e-03 9.78922951e-01 -7.92076378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.496875 meters 0.01635502034542116 Centerline is valid? [True, True] Translation: X:130.06, Y:-34.61, Z:-7.93 [[ 9.19513003e-01 3.42068153e-01 1.93610991e-01 1.30061615e+02] [-3.35563895e-01 9.39667372e-01 -6.64988956e-02 -3.46059180e+01] [-2.04677086e-01 -3.82225915e-03 9.78822088e-01 -7.92781091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.526875 meters 0.01621953008468728 Centerline is valid? [True, True] Translation: X:130.09, Y:-34.62, Z:-7.93 [[ 9.19085853e-01 3.43015208e-01 1.93963301e-01 1.30091223e+02] [-3.36497042e-01 9.39321371e-01 -6.66716041e-02 -3.46174567e+01] [-2.05063248e-01 -3.99114869e-03 9.78740586e-01 -7.93431055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.556875 meters 0.01670653721271757 Centerline is valid? [True, True] Translation: X:130.12, Y:-34.63, Z:-7.94 [[ 9.18588116e-01 3.44075464e-01 1.94442661e-01 1.30119898e+02] [-3.37535259e-01 9.38932695e-01 -6.68980013e-02 -3.46276477e+01] [-2.05586533e-01 -4.17954493e-03 9.78630016e-01 -7.94075738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.586875 meters 0.01771886430937828 Centerline is valid? [True, True] Translation: X:130.15, Y:-34.64, Z:-7.95 [[ 9.17593583e-01 3.46225467e-01 1.95320103e-01 1.30148875e+02] [-3.39663156e-01 9.38139883e-01 -6.72495382e-02 -3.46382153e+01] [-2.06521081e-01 -4.63529791e-03 9.78431171e-01 -7.94661400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.616875 meters 0.017747524735791415 Centerline is valid? [True, True] Translation: X:130.18, Y:-34.65, Z:-7.95 [[ 9.17323699e-01 3.46992274e-01 1.95227032e-01 1.30177927e+02] [-3.40443249e-01 9.37855912e-01 -6.72657588e-02 -3.46494129e+01] [-2.06435525e-01 -4.75925060e-03 9.78448631e-01 -7.95360338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.646875 meters 0.01793401520483054 Centerline is valid? [True, True] Translation: X:130.21, Y:-34.66, Z:-7.96 [[ 9.16879056e-01 3.48320013e-01 1.94951184e-01 1.30206683e+02] [-3.41808203e-01 9.37362345e-01 -6.72234036e-02 -3.46606377e+01] [-2.06155156e-01 -5.00018306e-03 9.78506540e-01 -7.96077235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.676875 meters 0.019544577800412164 Centerline is valid? [True, True] Translation: X:130.24, Y:-34.67, Z:-7.97 [[ 9.16268548e-01 3.49998679e-01 1.94814972e-01 1.30235205e+02] [-3.43522066e-01 9.36735077e-01 -6.72308464e-02 -3.46702321e+01] [-2.06020725e-01 -5.32173150e-03 9.78533157e-01 -7.96922129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.706875 meters 0.020440064998598503 Centerline is valid? [True, True] Translation: X:130.26, Y:-34.68, Z:-7.98 [[ 9.15694643e-01 3.51540688e-01 1.94736914e-01 1.30264427e+02] [-3.45098023e-01 9.36155614e-01 -6.72311067e-02 -3.46804919e+01] [-2.05938525e-01 -5.64015992e-03 9.78548677e-01 -7.97660946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.736875 meters 0.019673993248227942 Centerline is valid? [True, True] Translation: X:130.29, Y:-34.69, Z:-7.98 [[ 9.15265684e-01 3.52822755e-01 1.94434645e-01 1.30293305e+02] [-3.46418030e-01 9.35671763e-01 -6.71781202e-02 -3.46940601e+01] [-2.05628976e-01 -5.86983844e-03 9.78612420e-01 -7.98278574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.766875 meters 0.019347839498438203 Centerline is valid? [True, True] Translation: X:130.32, Y:-34.71, Z:-7.99 [[ 9.15977956e-01 3.51655632e-01 1.93190841e-01 1.30321197e+02] [-3.45296545e-01 9.36113162e-01 -6.68015262e-02 -3.47078719e+01] [-2.04339622e-01 -5.51940450e-03 9.78884495e-01 -7.99084131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.796875 meters 0.018724105365138244 Centerline is valid? [True, True] Translation: X:130.35, Y:-34.72, Z:-8.00 [[ 9.16513843e-01 3.50503177e-01 1.92743092e-01 1.30349616e+02] [-3.44137528e-01 9.36547113e-01 -6.66998219e-02 -3.47200526e+01] [-2.03891486e-01 -5.19882124e-03 9.78979690e-01 -7.99821086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.826875 meters 0.0192930186298636 Centerline is valid? [True, True] Translation: X:130.38, Y:-34.73, Z:-8.01 [[ 9.16837027e-01 3.49821130e-01 1.92444909e-01 1.30378356e+02] [-3.43449224e-01 9.36803237e-01 -6.66507708e-02 -3.47302165e+01] [-2.03598861e-01 -4.98716008e-03 9.79041691e-01 -8.00629137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.856875 meters 0.018458007688411396 Centerline is valid? [True, True] Translation: X:130.41, Y:-34.74, Z:-8.01 [[ 9.17715629e-01 3.47942982e-01 1.91660389e-01 1.30406743e+02] [-3.41576938e-01 9.37504784e-01 -6.64076489e-02 -3.47440150e+01] [-2.02788607e-01 -4.52343148e-03 9.79212091e-01 -8.01440034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.886875 meters 0.017199862696155598 Centerline is valid? [True, True] Translation: X:130.44, Y:-34.76, Z:-8.02 [[ 9.18017190e-01 3.47036235e-01 1.91860081e-01 1.30435678e+02] [-3.40626658e-01 9.37841960e-01 -6.65277301e-02 -3.47579594e+01] [-2.03021968e-01 -4.27905845e-03 9.79164833e-01 -8.02039032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.916875 meters 0.01692069734735569 Centerline is valid? [True, True] Translation: X:130.46, Y:-34.77, Z:-8.03 [[ 9.18290052e-01 3.46261574e-01 1.91953906e-01 1.30464676e+02] [-3.39817922e-01 9.38129227e-01 -6.66133094e-02 -3.47698034e+01] [-2.03143199e-01 -4.05903822e-03 9.79140626e-01 -8.02684361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.946875 meters 0.01651037985220329 Centerline is valid? [True, True] Translation: X:130.49, Y:-34.78, Z:-8.03 [[ 9.18563161e-01 3.45355371e-01 1.92279450e-01 1.30493386e+02] [-3.38858979e-01 9.38464233e-01 -6.67793061e-02 -3.47818897e+01] [-2.03509979e-01 -3.81460761e-03 9.79065441e-01 -8.03314491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.976875 meters 0.015179074874467421 Centerline is valid? [True, True] Translation: X:130.52, Y:-34.80, Z:-8.04 [[ 9.20542401e-01 3.40200317e-01 1.92003731e-01 1.30520322e+02] [-3.33600517e-01 9.40349343e-01 -6.67368509e-02 -3.47965982e+01] [-2.03254481e-01 -2.61844316e-03 9.79122444e-01 -8.04034346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.006875 meters 0.014465960903890353 Centerline is valid? [True, True] Translation: X:130.55, Y:-34.81, Z:-8.05 [[ 9.21637889e-01 3.37442890e-01 1.91613931e-01 1.30548931e+02] [-3.30800909e-01 9.41343965e-01 -6.66505631e-02 -3.48097973e+01] [-2.02865376e-01 -1.95837832e-03 9.79204679e-01 -8.04747225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03687499999998 meters 0.01409733469217007 Centerline is valid? [True, True] Translation: X:130.58, Y:-34.82, Z:-8.05 [[ 9.22486770e-01 3.34981099e-01 1.91848435e-01 1.30577371e+02] [-3.28258943e-01 9.42223855e-01 -6.67852737e-02 -3.48223293e+01] [-2.03135977e-01 -1.36743324e-03 9.79149583e-01 -8.05399027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06687499999998 meters 0.013788383639440072 Centerline is valid? [True, True] Translation: X:130.61, Y:-34.84, Z:-8.06 [[ 9.25324447e-01 3.27208744e-01 1.91596202e-01 1.30605391e+02] [-3.20327669e-01 9.44952000e-01 -6.67525472e-02 -3.48384743e+01] [-2.02891231e-01 3.94199221e-04 9.79201201e-01 -8.06133504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09687499999998 meters 0.014045681401760015 Centerline is valid? [True, True] Translation: X:130.63, Y:-34.85, Z:-8.07 [[ 9.26223786e-01 3.23900732e-01 1.92867347e-01 1.30633753e+02] [-3.16852395e-01 9.46090380e-01 -6.72127371e-02 -3.48514985e+01] [-2.04240197e-01 1.14355499e-03 9.78920137e-01 -8.06655079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12687499999998 meters 0.014296970578166202 Centerline is valid? [True, True] Translation: X:130.66, Y:-34.86, Z:-8.07 [[ 9.26684184e-01 3.21893367e-01 1.94013101e-01 1.30663589e+02] [-3.14704541e-01 9.46774490e-01 -6.76691808e-02 -3.48645060e+01] [-2.05468915e-01 1.65115574e-03 9.78662250e-01 -8.07095679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15687499999999 meters 0.014574779461017373 Centerline is valid? [True, True] Translation: X:130.69, Y:-34.88, Z:-8.08 [[ 9.27043564e-01 3.20084208e-01 1.95285252e-01 1.30693937e+02] [-3.12747007e-01 9.47386712e-01 -6.81742451e-02 -3.48764904e+01] [-2.06832152e-01 2.12561697e-03 9.78374132e-01 -8.07661790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.186875 meters 0.014995878746278389 Centerline is valid? [True, True] Translation: X:130.72, Y:-34.89, Z:-8.08 [[ 9.27694924e-01 3.17982879e-01 1.95624682e-01 1.30723643e+02] [-3.10560737e-01 9.48092730e-01 -6.83535211e-02 -3.48871100e+01] [-2.07205588e-01 2.65786907e-03 9.78293811e-01 -8.08287819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.216875 meters 0.015068658331673543 Centerline is valid? [True, True] Translation: X:130.75, Y:-34.90, Z:-8.09 [[ 9.27741287e-01 3.17837350e-01 1.95641312e-01 1.30754313e+02] [-3.10399574e-01 9.48141288e-01 -6.84120045e-02 -3.48972690e+01] [-2.07239495e-01 2.74166135e-03 9.78286397e-01 -8.09079422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.246875 meters 0.015179371963202347 Centerline is valid? [True, True] Translation: X:130.78, Y:-34.91, Z:-8.10 [[ 9.27434348e-01 3.18606751e-01 1.95845012e-01 1.30782816e+02] [-3.11157338e-01 9.47883333e-01 -6.85441293e-02 -3.49064990e+01] [-2.07476845e-01 2.63156735e-03 9.78236390e-01 -8.09871873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.276875 meters 0.014635625540913553 Centerline is valid? [True, True] Translation: X:130.81, Y:-34.91, Z:-8.11 [[ 9.26666354e-01 3.20882175e-01 1.95765416e-01 1.30813267e+02] [-3.13478727e-01 9.47116639e-01 -6.85650081e-02 -3.49128986e+01] [-2.07413972e-01 2.16859252e-03 9.78250858e-01 -8.10667237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.306875 meters 0.014515218287640254 Centerline is valid? [True, True] Translation: X:130.84, Y:-34.92, Z:-8.11 [[ 9.26269738e-01 3.22136125e-01 1.95582946e-01 1.30843412e+02] [-3.14763115e-01 9.46691378e-01 -6.85537514e-02 -3.49224529e+01] [-2.07240329e-01 1.93696809e-03 9.78288145e-01 -8.11351970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.336875 meters 0.014359270000037384 Centerline is valid? [True, True] Translation: X:130.87, Y:-34.93, Z:-8.12 [[ 9.25859862e-01 3.23477762e-01 1.95309123e-01 1.30872949e+02] [-3.16144043e-01 9.46234273e-01 -6.85101840e-02 -3.49320715e+01] [-2.06969707e-01 1.68501366e-03 9.78345901e-01 -8.12040066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.366875 meters 0.014229105222843463 Centerline is valid? [True, True] Translation: X:130.90, Y:-34.94, Z:-8.13 [[ 9.25736847e-01 3.23982680e-01 1.95055152e-01 1.30903548e+02] [-3.16668322e-01 9.46061625e-01 -6.84731789e-02 -3.49416112e+01] [-2.06718318e-01 1.62035705e-03 9.78399158e-01 -8.12676717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.396875 meters 0.014405390598127473 Centerline is valid? [True, True] Translation: X:130.93, Y:-34.95, Z:-8.13 [[ 9.25714842e-01 3.23494075e-01 1.95968402e-01 1.30934564e+02] [-3.16086308e-01 9.46228488e-01 -6.88556067e-02 -3.49514000e+01] [-2.07705266e-01 1.79772825e-03 9.78189803e-01 -8.13374945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.426875 meters 0.014573230924633617 Centerline is valid? [True, True] Translation: X:130.96, Y:-34.96, Z:-8.14 [[ 9.25853219e-01 3.22511070e-01 1.96932543e-01 1.30963473e+02] [-3.14994216e-01 9.46563389e-01 -6.92560117e-02 -3.49618238e+01] [-2.08744965e-01 2.08828939e-03 9.77967882e-01 -8.14014907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.456875 meters 0.01480996693068727 Centerline is valid? [True, True] Translation: X:130.99, Y:-34.97, Z:-8.15 [[ 9.25849593e-01 3.21747713e-01 1.98194200e-01 1.30993786e+02] [-3.14104214e-01 9.46822576e-01 -6.97535052e-02 -3.49734004e+01] [-2.10097774e-01 2.32762078e-03 9.77677609e-01 -8.14562223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.486875 meters 0.01534362486581798 Centerline is valid? [True, True] Translation: X:131.02, Y:-34.98, Z:-8.15 [[ 9.26184204e-01 3.19517767e-01 2.00227913e-01 1.31022337e+02] [-3.11649652e-01 9.47575774e-01 -7.05311744e-02 -3.49840941e+01] [-2.12267083e-01 2.92390029e-03 9.77207315e-01 -8.14966506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.516875 meters 0.015703663712247136 Centerline is valid? [True, True] Translation: X:131.05, Y:-34.99, Z:-8.16 [[ 9.26355381e-01 3.18607423e-01 2.00885584e-01 1.31051624e+02] [-3.10654841e-01 9.47881386e-01 -7.08127613e-02 -3.49938320e+01] [-2.12977177e-01 3.19170339e-03 9.77051961e-01 -8.15661918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.546875 meters 0.01589144240497661 Centerline is valid? [True, True] Translation: X:131.08, Y:-35.00, Z:-8.16 [[ 9.26405433e-01 3.18108150e-01 2.01445223e-01 1.31081453e+02] [-3.10092589e-01 9.48048532e-01 -7.10391917e-02 -3.50032717e+01] [-2.13577994e-01 3.34442244e-03 9.76920291e-01 -8.16342962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.576875 meters 0.015741509303497096 Centerline is valid? [True, True] Translation: X:131.11, Y:-35.01, Z:-8.17 [[ 9.26582635e-01 3.17351374e-01 2.01823504e-01 1.31111693e+02] [-3.09275940e-01 9.48301275e-01 -7.12255845e-02 -3.50113187e+01] [-2.13993024e-01 3.57723573e-03 9.76828639e-01 -8.17071254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.606875 meters 0.0159732300927117 Centerline is valid? [True, True] Translation: X:131.14, Y:-35.02, Z:-8.18 [[ 9.27229019e-01 3.16346345e-01 2.00427883e-01 1.31141412e+02] [-3.08348751e-01 9.48636017e-01 -7.07866931e-02 -3.50187066e+01] [-2.12526220e-01 3.83378872e-03 9.77147843e-01 -8.18038457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.636875 meters 0.016096826418317705 Centerline is valid? [True, True] Translation: X:131.17, Y:-35.03, Z:-8.19 [[ 9.27768595e-01 3.15805513e-01 1.98777041e-01 1.31171104e+02] [-3.07917081e-01 9.48815618e-01 -7.02566334e-02 -3.50282449e+01] [-2.10790193e-01 3.97505185e-03 9.77523244e-01 -8.18828979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.666875 meters 0.016434890249360026 Centerline is valid? [True, True] Translation: X:131.20, Y:-35.04, Z:-8.20 [[ 9.28389732e-01 3.15073938e-01 1.97030249e-01 1.31200098e+02] [-3.07297706e-01 9.49058036e-01 -6.96919261e-02 -3.50380034e+01] [-2.08951251e-01 4.15432484e-03 9.77917234e-01 -8.19636053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.696875 meters 0.016973042471425222 Centerline is valid? [True, True] Translation: X:131.23, Y:-35.05, Z:-8.21 [[ 9.29253146e-01 3.13569386e-01 1.95353095e-01 1.31229607e+02] [-3.05883473e-01 9.49554628e-01 -6.91470093e-02 -3.50455290e+01] [-2.07180820e-01 4.49979291e-03 9.78292318e-01 -8.20526634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.726875 meters 0.017350761162518158 Centerline is valid? [True, True] Translation: X:131.26, Y:-35.05, Z:-8.21 [[ 9.29439203e-01 3.13154206e-01 1.95133831e-01 1.31259788e+02] [-3.05466398e-01 9.49690985e-01 -6.91181059e-02 -3.50548669e+01] [-2.06961466e-01 4.63424864e-03 9.78338119e-01 -8.21316403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.756875 meters 0.017130278098009488 Centerline is valid? [True, True] Translation: X:131.29, Y:-35.06, Z:-8.22 [[ 9.29211994e-01 3.13485348e-01 1.95683437e-01 1.31290854e+02] [-3.05749799e-01 9.49581776e-01 -6.93650605e-02 -3.50636098e+01] [-2.07562356e-01 4.62467468e-03 9.78210857e-01 -8.21988634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78687499999998 meters 0.016543525012236944 Centerline is valid? [True, True] Translation: X:131.32, Y:-35.07, Z:-8.23 [[ 9.28123033e-01 3.15852484e-01 1.97040210e-01 1.31322467e+02] [-3.08047477e-01 9.48799080e-01 -6.99074963e-02 -3.50691570e+01] [-2.09032026e-01 4.18501812e-03 9.77899840e-01 -8.22553805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81687499999998 meters 0.016039855257317864 Centerline is valid? [True, True] Translation: X:131.35, Y:-35.08, Z:-8.23 [[ 9.27583831e-01 3.17768321e-01 1.96498167e-01 1.31352623e+02] [-3.10037948e-01 9.48160799e-01 -6.97679669e-02 -3.50759888e+01] [-2.08481909e-01 3.79374941e-03 9.78018865e-01 -8.23338138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84687499999998 meters 0.015520491936735265 Centerline is valid? [True, True] Translation: X:131.38, Y:-35.08, Z:-8.24 [[ 9.26717684e-01 3.20377619e-01 1.96347943e-01 1.31383023e+02] [-3.12705733e-01 9.47284318e-01 -6.97677884e-02 -3.50826769e+01] [-2.08349365e-01 3.25591575e-03 9.78049048e-01 -8.24054788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87687499999998 meters 0.014518801127727306 Centerline is valid? [True, True] Translation: X:131.41, Y:-35.08, Z:-8.25 [[ 9.24645642e-01 3.26202278e-01 1.96526107e-01 1.31414734e+02] [-3.18634735e-01 9.45297879e-01 -6.98843679e-02 -3.50848309e+01] [-2.08572152e-01 1.99823218e-03 9.78004941e-01 -8.24770136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90687499999999 meters 0.013887642749614905 Centerline is valid? [True, True] Translation: X:131.45, Y:-35.09, Z:-8.25 [[ 9.23461006e-01 3.29480018e-01 1.96628299e-01 1.31446438e+02] [-3.21966625e-01 9.44161640e-01 -6.99734988e-02 -3.50902284e+01] [-2.08703767e-01 1.31004779e-03 9.77978027e-01 -8.25411613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.936875 meters 0.013700814018097232 Centerline is valid? [True, True] Translation: X:131.48, Y:-35.10, Z:-8.26 [[ 9.22167652e-01 3.32930159e-01 1.96886591e-01 1.31476971e+02] [-3.25462811e-01 9.42951308e-01 -7.01198210e-02 -3.50961230e+01] [-2.08999472e-01 5.82967223e-04 9.77915580e-01 -8.26107790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.966875 meters 0.013741780293686138 Centerline is valid? [True, True] Translation: X:131.51, Y:-35.10, Z:-8.27 [[ 9.20836013e-01 3.36523500e-01 1.97010078e-01 1.31509225e+02] [-3.29117218e-01 9.41675050e-01 -7.02136491e-02 -3.51023788e+01] [-2.09148018e-01 -1.84152051e-04 9.77883977e-01 -8.26768736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.996875 meters 0.014202800799224164 Centerline is valid? [True, True] Translation: X:131.54, Y:-35.10, Z:-8.27 [[ 9.18131584e-01 3.43533018e-01 1.97533438e-01 1.31541806e+02] [-3.36233504e-01 9.39139017e-01 -7.04623075e-02 -3.51031121e+01] [-2.09717488e-01 -1.72368989e-03 9.77760505e-01 -8.27450729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.026875 meters 0.014548861256150989 Centerline is valid? [True, True] Translation: X:131.57, Y:-35.11, Z:-8.28 [[ 9.17075131e-01 3.46321423e-01 1.97571949e-01 1.31572824e+02] [-3.39076802e-01 9.38113012e-01 -7.05045956e-02 -3.51101479e+01] [-2.09762069e-01 -2.33405353e-03 9.77749675e-01 -8.28207081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.056875 meters 0.015415110436971474 Centerline is valid? [True, True] Translation: X:131.60, Y:-35.11, Z:-8.29 [[ 9.15607504e-01 3.50207460e-01 1.97528816e-01 1.31604156e+02] [-3.43043635e-01 9.36666793e-01 -7.05434877e-02 -3.51149421e+01] [-2.09723539e-01 -3.17085648e-03 9.77755585e-01 -8.28871537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.086875 meters 0.015619878495698172 Centerline is valid? [True, True] Translation: X:131.63, Y:-35.12, Z:-8.30 [[ 9.14979508e-01 3.51798159e-01 1.97612135e-01 1.31634634e+02] [-3.44653288e-01 9.36069393e-01 -7.06272054e-02 -3.51237672e+01] [-2.09825193e-01 -3.48522664e-03 9.77732705e-01 -8.29609054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.116875 meters 0.015811092044546577 Centerline is valid? [True, True] Translation: X:131.66, Y:-35.13, Z:-8.30 [[ 9.14543612e-01 3.52961173e-01 1.97556050e-01 1.31664565e+02] [-3.45835540e-01 9.35630658e-01 -7.06615197e-02 -3.51323371e+01] [-2.09780270e-01 -3.69886186e-03 9.77741559e-01 -8.30351985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.146875 meters 0.016115351325520087 Centerline is valid? [True, True] Translation: X:131.69, Y:-35.14, Z:-8.31 [[ 9.14236854e-01 3.53836253e-01 1.97410439e-01 1.31693962e+02] [-3.46729747e-01 9.35299484e-01 -7.06636960e-02 -3.51417956e+01] [-2.09641259e-01 -3.84471639e-03 9.77770812e-01 -8.31114045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.176875 meters 0.016115351325520087 Centerline is valid? [True, True] Translation: X:131.72, Y:-35.15, Z:-8.32 [[ 9.14140477e-01 3.54094728e-01 1.97393295e-01 1.31723722e+02] [-3.46983847e-01 9.35201629e-01 -7.07115547e-02 -3.51525365e+01] [-2.09641119e-01 -3.85199041e-03 9.77770813e-01 -8.31809730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.206875 meters 0.01642603426541289 Centerline is valid? [True, True] Translation: X:131.75, Y:-35.16, Z:-8.33 [[ 9.13777530e-01 3.55589499e-01 1.96384148e-01 1.31752641e+02] [-3.48572826e-01 9.34633183e-01 -7.04116389e-02 -3.51623323e+01] [-2.08584780e-01 -4.11360388e-03 9.77995638e-01 -8.32611737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.236875 meters 0.016604231384828774 Centerline is valid? [True, True] Translation: X:131.78, Y:-35.17, Z:-8.33 [[ 9.13530813e-01 3.56683266e-01 1.95546676e-01 1.31781383e+02] [-3.49741024e-01 9.34215495e-01 -7.01614162e-02 -3.51726937e+01] [-2.07708138e-01 -4.29607919e-03 9.78181411e-01 -8.33436632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.266875 meters 0.016934390125938427 Centerline is valid? [True, True] Translation: X:131.81, Y:-35.18, Z:-8.34 [[ 9.13521766e-01 3.57426957e-01 1.94226554e-01 1.31810035e+02] [-3.50589554e-01 9.33930702e-01 -6.97166280e-02 -3.51827253e+01] [-2.06312744e-01 -4.40614379e-03 9.78476181e-01 -8.34291982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.296875 meters 0.016613302753487946 Centerline is valid? [True, True] Translation: X:131.84, Y:-35.20, Z:-8.35 [[ 9.13199450e-01 3.58639365e-01 1.93505998e-01 1.31838788e+02] [-3.51874168e-01 9.33464685e-01 -6.94856251e-02 -3.51950645e+01] [-2.05551296e-01 -4.63552723e-03 9.78635365e-01 -8.35059148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.326875 meters 0.01761387539467313 Centerline is valid? [True, True] Translation: X:131.87, Y:-35.21, Z:-8.36 [[ 9.12593093e-01 3.60540295e-01 1.92832941e-01 1.31866501e+02] [-3.53852918e-01 9.32730276e-01 -6.92989485e-02 -3.52055047e+01] [-2.04846185e-01 -4.99275699e-03 9.78781443e-01 -8.35847502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.356875 meters 0.01822469378218528 Centerline is valid? [True, True] Translation: X:131.89, Y:-35.22, Z:-8.37 [[ 9.12103572e-01 3.61851868e-01 1.92692243e-01 1.31894858e+02] [-3.55196645e-01 9.32220805e-01 -6.92799645e-02 -3.52160066e+01] [-2.04700802e-01 -5.25313499e-03 9.78810496e-01 -8.36552036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.386875 meters 0.017954741658784003 Centerline is valid? [True, True] Translation: X:131.92, Y:-35.23, Z:-8.37 [[ 9.11366602e-01 3.63223804e-01 1.93595934e-01 1.31923775e+02] [-3.56525629e-01 9.31685441e-01 -6.96542442e-02 -3.52287809e+01] [-2.05670593e-01 -5.54136060e-03 9.78605590e-01 -8.37168780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.416875 meters 0.019261132664398405 Centerline is valid? [True, True] Translation: X:131.95, Y:-35.24, Z:-8.38 [[ 9.09970498e-01 3.66136139e-01 1.94674139e-01 1.31951747e+02] [-3.59416441e-01 9.30540762e-01 -7.00978785e-02 -3.52408201e+01] [-2.06817588e-01 -6.18208462e-03 9.78359989e-01 -8.37661002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.446875 meters 0.02015893294070815 Centerline is valid? [True, True] Translation: X:131.98, Y:-35.25, Z:-8.38 [[ 9.08993989e-01 3.68225494e-01 1.95294430e-01 1.31981334e+02] [-3.61504497e-01 9.29712701e-01 -7.03476460e-02 -3.52518919e+01] [-2.07471508e-01 -6.65422726e-03 9.78218429e-01 -8.38288355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.476875 meters 0.02088861648701968 Centerline is valid? [True, True] Translation: X:132.01, Y:-35.26, Z:-8.39 [[ 9.08120147e-01 3.70109013e-01 1.95798665e-01 1.32010248e+02] [-3.63384437e-01 9.28961571e-01 -7.05843496e-02 -3.52626678e+01] [-2.08013339e-01 -7.05111760e-03 9.78100574e-01 -8.38950058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.506875 meters 0.021800183941838563 Centerline is valid? [True, True] Translation: X:132.04, Y:-35.27, Z:-8.40 [[ 9.07197137e-01 3.72166663e-01 1.96176782e-01 1.32039459e+02] [-3.65457488e-01 9.28135522e-01 -7.07479868e-02 -3.52734879e+01] [-2.08408682e-01 -7.51190298e-03 9.78012982e-01 -8.39617043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53687499999998 meters 0.02260279729915524 Centerline is valid? [True, True] Translation: X:132.07, Y:-35.29, Z:-8.40 [[ 9.05641915e-01 3.75505564e-01 1.96998204e-01 1.32068307e+02] [-3.68805483e-01 9.26783307e-01 -7.11000567e-02 -3.52860470e+01] [-2.09273114e-01 -8.26282643e-03 9.77822320e-01 -8.40300975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56687499999998 meters 0.024669710872989473 Centerline is valid? [True, True] Translation: X:132.10, Y:-35.30, Z:-8.41 [[ 9.04882332e-01 3.77099969e-01 1.97442595e-01 1.32097386e+02] [-3.70403718e-01 9.26132277e-01 -7.12747606e-02 -3.52950119e+01] [-2.09735671e-01 -8.63819975e-03 9.77719965e-01 -8.40933128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59687499999998 meters 0.024855677645535788 Centerline is valid? [True, True] Translation: X:132.13, Y:-35.31, Z:-8.42 [[ 9.04224091e-01 3.78406183e-01 1.97958467e-01 1.32126356e+02] [-3.71694218e-01 9.25596708e-01 -7.15132363e-02 -3.53071547e+01] [-2.10290756e-01 -8.91602654e-03 9.77598232e-01 -8.41571655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62687499999998 meters 0.025930707900040137 Centerline is valid? [True, True] Translation: X:132.15, Y:-35.32, Z:-8.42 [[ 9.03530585e-01 3.80080093e-01 1.97918177e-01 1.32154637e+02] [-3.73398499e-01 9.24907317e-01 -7.15542947e-02 -3.53193113e+01] [-2.10252333e-01 -9.25085643e-03 9.77603385e-01 -8.42314362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65687499999999 meters 0.025405815864916904 Centerline is valid? [True, True] Translation: X:132.18, Y:-35.33, Z:-8.43 [[ 9.03237018e-01 3.80841787e-01 1.97793889e-01 1.32182977e+02] [-3.74175577e-01 9.24592708e-01 -7.15608904e-02 -3.53323082e+01] [-2.10132165e-01 -9.37319742e-03 9.77628056e-01 -8.43069713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.686875 meters 0.023496472138139008 Centerline is valid? [True, True] Translation: X:132.21, Y:-35.35, Z:-8.44 [[ 9.03180432e-01 3.81322102e-01 1.97125753e-01 1.32211545e+02] [-3.74700491e-01 9.24394463e-01 -7.13751957e-02 -3.53478434e+01] [-2.09438894e-01 -9.39843614e-03 9.77776569e-01 -8.43821070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.716875 meters 0.025769222676169344 Centerline is valid? [True, True] Translation: X:132.24, Y:-35.36, Z:-8.45 [[ 9.03981680e-01 3.80878175e-01 1.94290862e-01 1.32238752e+02] [-3.74423132e-01 9.24580512e-01 -7.04144605e-02 -3.53583761e+01] [-2.06456876e-01 -9.09361061e-03 9.78413443e-01 -8.44871993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.746875 meters 0.02566059091939945 Centerline is valid? [True, True] Translation: X:132.27, Y:-35.37, Z:-8.46 [[ 9.04452065e-01 3.80100949e-01 1.93622652e-01 1.32267559e+02] [-3.73661515e-01 9.24902836e-01 -7.02268932e-02 -3.53718219e+01] [-2.05775449e-01 -8.83247485e-03 9.78559376e-01 -8.45669290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.776875 meters 0.024639955218641558 Centerline is valid? [True, True] Translation: X:132.30, Y:-35.39, Z:-8.46 [[ 9.05103299e-01 3.78530847e-01 1.93655404e-01 1.32296064e+02] [-3.72049596e-01 9.25550028e-01 -7.02584043e-02 -3.53868283e+01] [-2.05832738e-01 -8.45830128e-03 9.78550633e-01 -8.46292093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.806875 meters 0.02017583241725843 Centerline is valid? [True, True] Translation: X:132.32, Y:-35.41, Z:-8.47 [[ 9.07868752e-01 3.71449572e-01 1.94421050e-01 1.32321679e+02] [-3.64751530e-01 9.28427789e-01 -7.05560878e-02 -3.54094788e+01] [-2.06713934e-01 -6.85970793e-03 9.78377378e-01 -8.46852621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.836875 meters 0.020539900987570647 Centerline is valid? [True, True] Translation: X:132.35, Y:-35.42, Z:-8.47 [[ 9.08770682e-01 3.68350219e-01 1.96096821e-01 1.32348745e+02] [-3.61460336e-01 9.29666470e-01 -7.11806121e-02 -3.54215708e+01] [-2.08524034e-01 -6.19436940e-03 9.77997626e-01 -8.47357417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.866875 meters 0.018754378422853556 Centerline is valid? [True, True] Translation: X:132.38, Y:-35.44, Z:-8.48 [[ 9.09829753e-01 3.64674139e-01 1.98046947e-01 1.32376497e+02] [-3.57550907e-01 9.31119716e-01 -7.19265214e-02 -3.54380034e+01] [-2.10635159e-01 -5.37097636e-03 9.77549990e-01 -8.47824607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.896875 meters 0.016359645060694605 Centerline is valid? [True, True] Translation: X:132.40, Y:-35.46, Z:-8.48 [[ 9.12104356e-01 3.57654402e-01 2.00372084e-01 1.32402389e+02] [-3.50190847e-01 9.33846357e-01 -7.27829090e-02 -3.54592133e+01] [-2.13147868e-01 -3.78286146e-03 9.77012628e-01 -8.48162537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.926875 meters 0.015164121109180006 Centerline is valid? [True, True] Translation: X:132.43, Y:-35.48, Z:-8.49 [[ 9.13328729e-01 3.54051942e-01 2.01191091e-01 1.32430599e+02] [-3.46430898e-01 9.35221221e-01 -7.31225087e-02 -3.54755765e+01] [-2.14047344e-01 -2.91392237e-03 9.76818941e-01 -8.48764058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.956875 meters 0.014526007990562216 Centerline is valid? [True, True] Translation: X:132.46, Y:-35.49, Z:-8.49 [[ 9.14299257e-01 3.51235587e-01 2.01718693e-01 1.32458923e+02] [-3.43501840e-01 9.36284433e-01 -7.33344756e-02 -3.54905607e+01] [-2.14623750e-01 -2.24108571e-03 9.76694232e-01 -8.49418105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.986875 meters 0.01383312490968598 Centerline is valid? [True, True] Translation: X:132.49, Y:-35.51, Z:-8.50 [[ 9.15980367e-01 3.46740177e-01 2.01869308e-01 1.32485077e+02] [-3.38874410e-01 9.37960534e-01 -7.34450226e-02 -3.55072277e+01] [-2.14811784e-01 -1.13414379e-03 9.76654807e-01 -8.50099509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.016875 meters 0.013638381412068015 Centerline is valid? [True, True] Translation: X:132.51, Y:-35.52, Z:-8.51 [[ 9.16534113e-01 3.45637017e-01 2.01246792e-01 1.32513936e+02] [-3.37787022e-01 9.38367914e-01 -7.32501561e-02 -3.55206940e+01] [-2.14161498e-01 -8.42287663e-04 9.76797903e-01 -8.50852039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.046875 meters 0.013533786758934047 Centerline is valid? [True, True] Translation: X:132.54, Y:-35.53, Z:-8.52 [[ 9.17009614e-01 3.44872566e-01 2.00390322e-01 1.32543578e+02] [-3.37058221e-01 9.38649324e-01 -7.30013867e-02 -3.55339003e+01] [-2.13272416e-01 -6.00231956e-04 9.76992588e-01 -8.51613339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.076875 meters 0.013446947414560964 Centerline is valid? [True, True] Translation: X:132.57, Y:-35.55, Z:-8.52 [[ 9.17316366e-01 3.44418153e-01 1.99766916e-01 1.32573098e+02] [-3.36636350e-01 9.38816232e-01 -7.28014416e-02 -3.55465344e+01] [-2.12618561e-01 -4.66851490e-04 9.77135164e-01 -8.52366557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.106875 meters 0.013378129905775232 Centerline is valid? [True, True] Translation: X:132.60, Y:-35.56, Z:-8.53 [[ 9.17721574e-01 3.44588302e-01 1.97600644e-01 1.32602565e+02] [-3.36966748e-01 9.38753806e-01 -7.20742846e-02 -3.55594077e+01] [-2.10334312e-01 -4.40720513e-04 9.77629420e-01 -8.53120178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.136875 meters 0.013591013242869595 Centerline is valid? [True, True] Translation: X:132.63, Y:-35.57, Z:-8.54 [[ 9.17807977e-01 3.44723012e-01 1.96963350e-01 1.32631220e+02] [-3.37140765e-01 9.38704361e-01 -7.19042985e-02 -3.55699885e+01] [-2.09677422e-01 -4.10035578e-04 9.77770531e-01 -8.53841827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.166875 meters 0.013380806800203567 Centerline is valid? [True, True] Translation: X:132.66, Y:-35.58, Z:-8.55 [[ 9.17474930e-01 3.45650822e-01 1.96888961e-01 1.32661271e+02] [-3.38082972e-01 9.38363037e-01 -7.19354903e-02 -3.55804299e+01] [-2.09617885e-01 -5.65796288e-04 9.77783218e-01 -8.54553558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.196875 meters 0.013343585685106102 Centerline is valid? [True, True] Translation: X:132.69, Y:-35.59, Z:-8.55 [[ 9.17271563e-01 3.46392127e-01 1.96533390e-01 1.32691992e+02] [-3.38855512e-01 9.38089569e-01 -7.18672575e-02 -3.55910254e+01] [-2.09260175e-01 -6.74630872e-04 9.77859767e-01 -8.55268388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.226875 meters 0.013524002201343957 Centerline is valid? [True, True] Translation: X:132.72, Y:-35.60, Z:-8.56 [[ 9.16886665e-01 3.47886754e-01 1.95687632e-01 1.32721490e+02] [-3.40435817e-01 9.37536080e-01 -7.16208921e-02 -3.55995000e+01] [-2.08380176e-01 -9.50838174e-04 9.78047442e-01 -8.56126600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.256875 meters 0.013412631056224028 Centerline is valid? [True, True] Translation: X:132.75, Y:-35.61, Z:-8.57 [[ 9.16898203e-01 3.48383397e-01 1.94747770e-01 1.32751943e+02] [-3.41003489e-01 9.37351590e-01 -7.13345480e-02 -3.56103212e+01] [-2.07398904e-01 -1.00315005e-03 9.78255942e-01 -8.56759448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28687499999998 meters 0.013367246663338645 Centerline is valid? [True, True] Translation: X:132.78, Y:-35.62, Z:-8.57 [[ 9.17030371e-01 3.48360170e-01 1.94166143e-01 1.32782986e+02] [-3.41011108e-01 9.37360292e-01 -7.11836181e-02 -3.56204049e+01] [-2.06801170e-01 -9.35271906e-04 9.78382543e-01 -8.57426427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31687499999998 meters 0.013398669344978164 Centerline is valid? [True, True] Translation: X:132.81, Y:-35.63, Z:-8.58 [[ 9.17267139e-01 3.47817575e-01 1.94020436e-01 1.32812705e+02] [-3.40454425e-01 9.37561928e-01 -7.11928084e-02 -3.56309309e+01] [-2.06668284e-01 -7.52292221e-04 9.78410780e-01 -8.58091493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34687499999998 meters 0.013346803191704715 Centerline is valid? [True, True] Translation: X:132.84, Y:-35.64, Z:-8.59 [[ 9.17760827e-01 3.46622762e-01 1.93823956e-01 1.32842937e+02] [-3.39236257e-01 9.38004519e-01 -7.11778364e-02 -3.56425340e+01] [-2.06479605e-01 -4.27883138e-04 9.78450811e-01 -8.58727512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37687499999998 meters 0.013713478858070073 Centerline is valid? [True, True] Translation: X:132.87, Y:-35.66, Z:-8.59 [[ 9.20616453e-01 3.38880040e-01 1.93973360e-01 1.32870338e+02] [-3.31298344e-01 9.40828590e-01 -7.12949633e-02 -3.56557481e+01] [-2.06656123e-01 1.37226322e-03 9.78412676e-01 -8.59373499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40687499999999 meters 0.014180236733174643 Centerline is valid? [True, True] Translation: X:132.90, Y:-35.67, Z:-8.60 [[ 9.21834205e-01 3.35174021e-01 1.94628042e-01 1.32899497e+02] [-3.27452678e-01 9.42153578e-01 -7.15638099e-02 -3.56678648e+01] [-2.07355836e-01 2.23849410e-03 9.78263025e-01 -8.59890928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.436875 meters 0.01598699178877344 Centerline is valid? [True, True] Translation: X:132.93, Y:-35.68, Z:-8.60 [[ 9.24528129e-01 3.27097084e-01 1.95589460e-01 1.32928136e+02] [-3.19107582e-01 9.44981734e-01 -7.19713319e-02 -3.56805410e+01] [-2.08370080e-01 4.12544111e-03 9.78041354e-01 -8.60422269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.466875 meters 0.017395882592734276 Centerline is valid? [True, True] Translation: X:132.96, Y:-35.69, Z:-8.61 [[ 9.25833798e-01 3.23239494e-01 1.95826477e-01 1.32955790e+02] [-3.15134415e-01 9.46303727e-01 -7.21079470e-02 -3.56919236e+01] [-2.08619461e-01 5.04831205e-03 9.77983862e-01 -8.61081072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.496875 meters 0.018609370471104936 Centerline is valid? [True, True] Translation: X:132.99, Y:-35.70, Z:-8.62 [[ 9.27095745e-01 3.19320404e-01 1.96285400e-01 1.32985145e+02] [-3.11080791e-01 9.47627903e-01 -7.23194247e-02 -3.57028736e+01] [-2.09098590e-01 5.98641332e-03 9.77876241e-01 -8.61754976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.526875 meters 0.01988845435523072 Centerline is valid? [True, True] Translation: X:133.01, Y:-35.71, Z:-8.62 [[ 9.28408853e-01 3.15878567e-01 1.95646961e-01 1.33014072e+02] [-3.07614551e-01 9.48775596e-01 -7.20982466e-02 -3.57133454e+01] [-2.08399352e-01 6.75279835e-03 9.78020506e-01 -8.62480493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.556875 meters 0.021625366255980598 Centerline is valid? [True, True] Translation: X:133.04, Y:-35.72, Z:-8.63 [[ 9.30265017e-01 3.11011008e-01 1.94625667e-01 1.33043713e+02] [-3.02718473e-01 9.50373901e-01 -7.17702864e-02 -3.57225211e+01] [-2.07288504e-01 7.84860203e-03 9.78248371e-01 -8.63109835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.586875 meters 0.02221029854358058 Centerline is valid? [True, True] Translation: X:133.07, Y:-35.73, Z:-8.64 [[ 9.30440909e-01 3.10342711e-01 1.94851527e-01 1.33073955e+02] [-3.02012555e-01 9.50590880e-01 -7.18706911e-02 -3.57315246e+01] [-2.07528629e-01 8.02382370e-03 9.78196037e-01 -8.63753603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.616875 meters 0.022054282842271188 Centerline is valid? [True, True] Translation: X:133.10, Y:-35.74, Z:-8.64 [[ 9.30157034e-01 3.10966286e-01 1.95212349e-01 1.33104645e+02] [-3.02607266e-01 9.50387685e-01 -7.20561582e-02 -3.57393997e+01] [-2.07934448e-01 7.95086719e-03 9.78110448e-01 -8.64344560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.646875 meters 0.020060617989039308 Centerline is valid? [True, True] Translation: X:133.14, Y:-35.74, Z:-8.65 [[ 9.29324363e-01 3.13208218e-01 1.95593557e-01 1.33137825e+02] [-3.04853684e-01 9.49654733e-01 -7.22503920e-02 -3.57388840e+01] [-2.08375764e-01 7.51663321e-03 9.78019960e-01 -8.65067920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.676875 meters 0.019014514376481027 Centerline is valid? [True, True] Translation: X:133.17, Y:-35.74, Z:-8.66 [[ 9.28502341e-01 3.15947791e-01 1.95090741e-01 1.33168516e+02] [-3.07694163e-01 9.48751533e-01 -7.20751763e-02 -3.57435930e+01] [-2.07864632e-01 6.89368765e-03 9.78133310e-01 -8.65783797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.706875 meters 0.0182144472120045 Centerline is valid? [True, True] Translation: X:133.20, Y:-35.74, Z:-8.67 [[ 9.26618654e-01 3.21653778e-01 1.94722156e-01 1.33200145e+02] [-3.13546155e-01 9.46840505e-01 -7.19851839e-02 -3.57440864e+01] [-2.07525131e-01 5.64843107e-03 9.78213379e-01 -8.66544664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.736875 meters 0.016821442590449785 Centerline is valid? [True, True] Translation: X:133.23, Y:-35.75, Z:-8.67 [[ 9.25557364e-01 3.24877605e-01 1.94417357e-01 1.33232014e+02] [-3.16857473e-01 9.45743082e-01 -7.19122012e-02 -3.57493231e+01] [-2.07231534e-01 4.95627501e-03 9.78279370e-01 -8.67148107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.766875 meters 0.016122765303852774 Centerline is valid? [True, True] Translation: X:133.26, Y:-35.76, Z:-8.68 [[ 9.24714781e-01 3.27221587e-01 1.94495774e-01 1.33263857e+02] [-3.19234667e-01 9.44936990e-01 -7.19952229e-02 -3.57551689e+01] [-2.07344642e-01 4.48525331e-03 9.78257677e-01 -8.67862863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.796875 meters 0.015170149260097859 Centerline is valid? [True, True] Translation: X:133.30, Y:-35.76, Z:-8.69 [[ 9.23869565e-01 3.29888078e-01 1.94007429e-01 1.33295302e+02] [-3.21996038e-01 9.44012020e-01 -7.18321540e-02 -3.57604073e+01] [-2.06841916e-01 3.89391750e-03 9.78366628e-01 -8.68588298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.826875 meters 0.013971728393627087 Centerline is valid? [True, True] Translation: X:133.33, Y:-35.76, Z:-8.69 [[ 9.22147658e-01 3.35011759e-01 1.93418765e-01 1.33327965e+02] [-3.27268072e-01 9.42209820e-01 -7.16677273e-02 -3.57606389e+01] [-2.06250591e-01 2.78844037e-03 9.78495232e-01 -8.69408490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.856875 meters 0.013586785676021722 Centerline is valid? [True, True] Translation: X:133.36, Y:-35.77, Z:-8.70 [[ 9.21193780e-01 3.37459575e-01 1.93708687e-01 1.33358092e+02] [-3.29734501e-01 9.41337221e-01 -7.18289304e-02 -3.57663371e+01] [-2.06584557e-01 2.29592678e-03 9.78426057e-01 -8.70112297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.886875 meters 0.013151491906357112 Centerline is valid? [True, True] Translation: X:133.39, Y:-35.77, Z:-8.71 [[ 9.20213141e-01 3.40050405e-01 1.93838842e-01 1.33389389e+02] [-3.32361185e-01 9.40405558e-01 -7.19265549e-02 -3.57721881e+01] [-2.06745778e-01 1.76325378e-03 9.78393108e-01 -8.70839626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.916875 meters 0.012629116263546864 Centerline is valid? [True, True] Translation: X:133.42, Y:-35.77, Z:-8.72 [[ 9.18217058e-01 3.45390866e-01 1.93862280e-01 1.33422152e+02] [-3.37805930e-01 9.38458722e-01 -7.19887530e-02 -3.57737187e+01] [-2.06796005e-01 6.13473298e-04 9.78383890e-01 -8.71606708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.946875 meters 0.012496541059415929 Centerline is valid? [True, True] Translation: X:133.45, Y:-35.78, Z:-8.72 [[ 9.17215243e-01 3.48380023e-01 1.93255160e-01 1.33454160e+02] [-3.40897401e-01 9.37353380e-01 -7.18164502e-02 -3.57809031e+01] [-2.06167794e-01 -9.03887989e-06 9.78516653e-01 -8.72353329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.976875 meters 0.012688516420332686 Centerline is valid? [True, True] Translation: X:133.48, Y:-35.79, Z:-8.73 [[ 9.16128213e-01 3.51498916e-01 1.92763090e-01 1.33484629e+02] [-3.44110114e-01 9.36188063e-01 -7.16947737e-02 -3.57876211e+01] [-2.05663139e-01 -6.50123777e-04 9.78622629e-01 -8.73130820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.006875 meters 0.013283551583503193 Centerline is valid? [True, True] Translation: X:133.52, Y:-35.79, Z:-8.74 [[ 9.13858381e-01 3.57428354e-01 1.92633933e-01 1.33516623e+02] [-3.50167541e-01 9.33938573e-01 -7.17038009e-02 -3.57908027e+01] [-2.05537232e-01 -1.92703102e-03 9.78647400e-01 -8.73853716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03687499999998 meters 0.013670460097977247 Centerline is valid? [True, True] Translation: X:133.55, Y:-35.80, Z:-8.75 [[ 9.12838394e-01 3.60146968e-01 1.92406416e-01 1.33546884e+02] [-3.52952040e-01 9.32892269e-01 -7.16719813e-02 -3.57983063e+01] [-2.05306904e-01 -2.48530049e-03 9.78694487e-01 -8.74540029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06687499999998 meters 0.013670460097977247 Centerline is valid? [True, True] Translation: X:133.58, Y:-35.81, Z:-8.75 [[ 9.12739568e-01 3.60406659e-01 1.92388984e-01 1.33576508e+02] [-3.53207582e-01 9.32791952e-01 -7.17187409e-02 -3.58094256e+01] [-2.05306808e-01 -2.49271540e-03 9.78694488e-01 -8.75235683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09687499999998 meters 0.01419062533323372 Centerline is valid? [True, True] Translation: X:133.61, Y:-35.82, Z:-8.76 [[ 9.11647206e-01 3.63313442e-01 1.92100795e-01 1.33606983e+02] [-3.56186990e-01 9.31661867e-01 -7.16728178e-02 -3.58173429e+01] [-2.05012684e-01 -3.08348009e-03 9.78754459e-01 -8.75891896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12687499999998 meters 0.014987157055831521 Centerline is valid? [True, True] Translation: X:133.64, Y:-35.82, Z:-8.76 [[ 9.09802266e-01 3.67468171e-01 1.92942946e-01 1.33638402e+02] [-3.60359236e-01 9.30027559e-01 -7.20413816e-02 -3.58239947e+01] [-2.05915172e-01 -3.98536037e-03 9.78561730e-01 -8.76415556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15687499999999 meters 0.015587042590084501 Centerline is valid? [True, True] Translation: X:133.67, Y:-35.83, Z:-8.77 [[ 9.08876874e-01 3.69231234e-01 1.93935878e-01 1.33667685e+02] [-3.62076177e-01 9.29327350e-01 -7.24673584e-02 -3.58326430e+01] [-2.06987128e-01 -4.35565511e-03 9.78333970e-01 -8.76979150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.186875 meters 0.016250870480370987 Centerline is valid? [True, True] Translation: X:133.70, Y:-35.84, Z:-8.78 [[ 9.08203324e-01 3.70504974e-01 1.94660698e-01 1.33697100e+02] [-3.63313895e-01 9.28819014e-01 -7.27891028e-02 -3.58412903e+01] [-2.07773282e-01 -4.61563116e-03 9.78166120e-01 -8.77608054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.216875 meters 0.01615776928043114 Centerline is valid? [True, True] Translation: X:133.73, Y:-35.85, Z:-8.78 [[ 9.07334224e-01 3.72003243e-01 1.95852480e-01 1.33727098e+02] [-3.64746584e-01 9.28218273e-01 -7.32855133e-02 -3.58505097e+01] [-2.09056299e-01 -4.94206860e-03 9.77891119e-01 -8.78243300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.246875 meters 0.01667705374927593 Centerline is valid? [True, True] Translation: X:133.76, Y:-35.86, Z:-8.79 [[ 9.07045219e-01 3.72536147e-01 1.96177954e-01 1.33756712e+02] [-3.65255589e-01 9.28004098e-01 -7.34625602e-02 -3.58597160e+01] [-2.09421404e-01 -5.02123010e-03 9.77812591e-01 -8.78967258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.276875 meters 0.016239826720782564 Centerline is valid? [True, True] Translation: X:133.79, Y:-35.87, Z:-8.80 [[ 9.06941959e-01 3.73068923e-01 1.95642179e-01 1.33786857e+02] [-3.65828239e-01 9.27789756e-01 -7.33203102e-02 -3.58717555e+01] [-2.08868339e-01 -5.07416826e-03 9.77930606e-01 -8.79699687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.306875 meters 0.015970485093710775 Centerline is valid? [True, True] Translation: X:133.82, Y:-35.88, Z:-8.80 [[ 9.06784023e-01 3.73687273e-01 1.95193643e-01 1.33816179e+02] [-3.66480735e-01 9.27540490e-01 -7.32155064e-02 -3.58832048e+01] [-2.08409710e-01 -5.14405814e-03 9.78028083e-01 -8.80453266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.336875 meters 0.017142710531616284 Centerline is valid? [True, True] Translation: X:133.84, Y:-35.89, Z:-8.81 [[ 9.06275220e-01 3.75775699e-01 1.93540307e-01 1.33844443e+02] [-3.68726990e-01 9.26694201e-01 -7.26516715e-02 -3.58917434e+01] [-2.06653413e-01 -5.52112525e-03 9.78398633e-01 -8.81280798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.366875 meters 0.01718349438036688 Centerline is valid? [True, True] Translation: X:133.87, Y:-35.90, Z:-8.82 [[ 9.05821228e-01 3.77063810e-01 1.93160001e-01 1.33873238e+02] [-3.70066344e-01 9.26169261e-01 -7.25355137e-02 -3.59027262e+01] [-2.06249372e-01 -5.77780709e-03 9.78482403e-01 -8.82007733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.396875 meters 0.01771543710374735 Centerline is valid? [True, True] Translation: X:133.90, Y:-35.91, Z:-8.83 [[ 9.05457413e-01 3.78366084e-01 1.92317395e-01 1.33902958e+02] [-3.71447626e-01 9.25636628e-01 -7.22737501e-02 -3.59133928e+01] [-2.05361961e-01 -5.99503709e-03 9.78667729e-01 -8.82777699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.426875 meters 0.01869000994078454 Centerline is valid? [True, True] Translation: X:133.93, Y:-35.92, Z:-8.84 [[ 9.05042888e-01 3.79594368e-01 1.91847562e-01 1.33931399e+02] [-3.72725810e-01 9.25132207e-01 -7.21517206e-02 -3.59238616e+01] [-2.04872745e-01 -6.20613624e-03 9.78768942e-01 -8.83588880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.456875 meters 0.017929422885722617 Centerline is valid? [True, True] Translation: X:133.96, Y:-35.94, Z:-8.84 [[ 9.04946510e-01 3.79789105e-01 1.91916777e-01 1.33960934e+02] [-3.72909462e-01 9.25052283e-01 -7.22274672e-02 -3.59382012e+01] [-2.04964258e-01 -6.20558775e-03 9.78749786e-01 -8.84242240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.486875 meters 0.019600925389796096 Centerline is valid? [True, True] Translation: X:133.99, Y:-35.95, Z:-8.85 [[ 9.04953982e-01 3.79610433e-01 1.92234777e-01 1.33989674e+02] [-3.72690262e-01 9.25126223e-01 -7.24116076e-02 -3.59477195e+01] [-2.05329634e-01 -6.11485652e-03 9.78673771e-01 -8.84945031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.516875 meters 0.016834803699665318 Centerline is valid? [True, True] Translation: X:134.02, Y:-35.97, Z:-8.85 [[ 9.05465157e-01 3.78134643e-01 1.92735679e-01 1.34016286e+02] [-3.71138630e-01 9.25732645e-01 -7.26304851e-02 -3.59669372e+01] [-2.05885812e-01 -5.76728216e-03 9.78559028e-01 -8.85388256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.546875 meters 0.01575729744148213 Centerline is valid? [True, True] Translation: X:134.04, Y:-35.98, Z:-8.86 [[ 9.05934278e-01 3.77038365e-01 1.92678893e-01 1.34044032e+02] [-3.70010318e-01 9.26181526e-01 -7.26646140e-02 -3.59821571e+01] [-2.05852978e-01 -5.46381392e-03 9.78567677e-01 -8.86040083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.576875 meters 0.016722922088931374 Centerline is valid? [True, True] Translation: X:134.07, Y:-35.99, Z:-8.87 [[ 9.06635141e-01 3.75015387e-01 1.93329205e-01 1.34071518e+02] [-3.67881533e-01 9.27005282e-01 -7.29683789e-02 -3.59947160e+01] [-2.06581459e-01 -4.96654790e-03 9.78416800e-01 -8.86843685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.606875 meters 0.015414665615281988 Centerline is valid? [True, True] Translation: X:134.10, Y:-36.01, Z:-8.87 [[ 9.06901119e-01 3.74508415e-01 1.93064258e-01 1.34099140e+02] [-3.67376242e-01 9.27211018e-01 -7.29000988e-02 -3.60095240e+01] [-2.06313007e-01 -4.81404026e-03 9.78474204e-01 -8.87492688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.636875 meters 0.015291115149292205 Centerline is valid? [True, True] Translation: X:134.13, Y:-36.02, Z:-8.88 [[ 9.06836548e-01 3.74727876e-01 1.92941688e-01 1.34128581e+02] [-3.67598065e-01 9.27122376e-01 -7.29092728e-02 -3.60226025e+01] [-2.06201693e-01 -4.80819808e-03 9.78497697e-01 -8.88221278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.666875 meters 0.016006316078819905 Centerline is valid? [True, True] Translation: X:134.16, Y:-36.04, Z:-8.89 [[ 9.06174109e-01 3.76033226e-01 1.93513557e-01 1.34156151e+02] [-3.68876300e-01 9.26592369e-01 -7.31905555e-02 -3.60350881e+01] [-2.06830266e-01 -5.05917869e-03 9.78363759e-01 -8.88902124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.696875 meters 0.016405309681294875 Centerline is valid? [True, True] Translation: X:134.18, Y:-36.05, Z:-8.90 [[ 9.05990641e-01 3.76751505e-01 1.92974771e-01 1.34184314e+02] [-3.69639952e-01 9.26299999e-01 -7.30384699e-02 -3.60468733e+01] [-2.06269884e-01 -5.15901490e-03 9.78481538e-01 -8.89575080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.726875 meters 0.016618760060997183 Centerline is valid? [True, True] Translation: X:134.21, Y:-36.06, Z:-8.90 [[ 9.05710667e-01 3.77620012e-01 1.92591054e-01 1.34212973e+02] [-3.70545711e-01 9.25945496e-01 -7.29439197e-02 -3.60591790e+01] [-2.05873903e-01 -5.29770291e-03 9.78564188e-01 -8.90281096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.756875 meters 0.017045638470743852 Centerline is valid? [True, True] Translation: X:134.24, Y:-36.07, Z:-8.91 [[ 9.05103145e-01 3.78990862e-01 1.92754310e-01 1.34241537e+02] [-3.71923642e-01 9.25383695e-01 -7.30603983e-02 -3.60723955e+01] [-2.06060919e-01 -5.56268855e-03 9.78523354e-01 -8.91071128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78687499999998 meters 0.01735338242368013 Centerline is valid? [True, True] Translation: X:134.27, Y:-36.09, Z:-8.92 [[ 9.04847010e-01 3.79564252e-01 1.92828596e-01 1.34271131e+02] [-3.72493012e-01 9.25148160e-01 -7.31425805e-02 -3.60850102e+01] [-2.06157330e-01 -5.64445943e-03 9.78502578e-01 -8.91790307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81687499999998 meters 0.017656135191010135 Centerline is valid? [True, True] Translation: X:134.30, Y:-36.10, Z:-8.92 [[ 9.04553182e-01 3.80201445e-01 1.92951813e-01 1.34300911e+02] [-3.73122302e-01 9.24885924e-01 -7.32514492e-02 -3.60978108e+01] [-2.06308723e-01 -5.73479306e-03 9.78470144e-01 -8.92498091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84687499999998 meters 0.017609755401073436 Centerline is valid? [True, True] Translation: X:134.33, Y:-36.11, Z:-8.93 [[ 9.04450520e-01 3.80576587e-01 1.92693329e-01 1.34329872e+02] [-3.73512027e-01 9.24731503e-01 -7.32148440e-02 -3.61115066e+01] [-2.06053447e-01 -5.75407225e-03 9.78523821e-01 -8.93211316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87687499999998 meters 0.01721922618362376 Centerline is valid? [True, True] Translation: X:134.36, Y:-36.13, Z:-8.94 [[ 9.04818390e-01 3.79654618e-01 1.92784992e-01 1.34357475e+02] [-3.72549493e-01 9.25112022e-01 -7.33118213e-02 -3.61276082e+01] [-2.06180885e-01 -5.48806701e-03 9.78498505e-01 -8.93898344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90687499999999 meters 0.016906922895733676 Centerline is valid? [True, True] Translation: X:134.39, Y:-36.14, Z:-8.95 [[ 9.04939301e-01 3.79099186e-01 1.93309775e-01 1.34386259e+02] [-3.71930740e-01 9.25340725e-01 -7.35667488e-02 -3.61420034e+01] [-2.06766502e-01 -5.32440549e-03 9.78375830e-01 -8.94545299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.936875 meters 0.01530746155528348 Centerline is valid? [True, True] Translation: X:134.41, Y:-36.16, Z:-8.95 [[ 9.05666349e-01 3.77777288e-01 1.92491002e-01 1.34412727e+02] [-3.70636732e-01 9.25883085e-01 -7.32729599e-02 -3.61617771e+01] [-2.05905022e-01 -4.98338168e-03 9.78559292e-01 -8.95204828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.966875 meters 0.015852250287448005 Centerline is valid? [True, True] Translation: X:134.44, Y:-36.17, Z:-8.96 [[ 9.06054732e-01 3.77073139e-01 1.92043408e-01 1.34439856e+02] [-3.69938605e-01 9.26171262e-01 -7.31588839e-02 -3.61740040e+01] [-2.05451335e-01 -4.75831743e-03 9.78655765e-01 -8.95950847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.996875 meters 0.015506046012167906 Centerline is valid? [True, True] Translation: X:134.47, Y:-36.19, Z:-8.97 [[ 9.06281604e-01 3.76303556e-01 1.92481914e-01 1.34467666e+02] [-3.69108039e-01 9.26485278e-01 -7.33776961e-02 -3.61880279e+01] [-2.05943948e-01 -4.54576568e-03 9.78553231e-01 -8.96721225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.026875 meters 0.015500428510987664 Centerline is valid? [True, True] Translation: X:134.50, Y:-36.20, Z:-8.97 [[ 9.06264682e-01 3.76046856e-01 1.93062396e-01 1.34496088e+02] [-3.68790233e-01 9.26589962e-01 -7.36532847e-02 -3.62016253e+01] [-2.06586764e-01 -4.45015530e-03 9.78418165e-01 -8.97416447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.056875 meters 0.01564892617112705 Centerline is valid? [True, True] Translation: X:134.52, Y:-36.22, Z:-8.98 [[ 9.06194993e-01 3.75763636e-01 1.93938971e-01 1.34523193e+02] [-3.68422356e-01 9.26705307e-01 -7.40421663e-02 -3.62173737e+01] [-2.07546627e-01 -4.35481215e-03 9.78215433e-01 -8.97947089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.086875 meters 0.01631509790532778 Centerline is valid? [True, True] Translation: X:134.55, Y:-36.23, Z:-8.99 [[ 9.06122330e-01 3.75722799e-01 1.94357152e-01 1.34551443e+02] [-3.68337754e-01 9.26722088e-01 -7.42527479e-02 -3.62294221e+01] [-2.08013516e-01 -4.30700386e-03 9.78116469e-01 -8.98616058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.116875 meters 0.015938106301965894 Centerline is valid? [True, True] Translation: X:134.58, Y:-36.25, Z:-8.99 [[ 9.05668932e-01 3.76562933e-01 1.94843895e-01 1.34579448e+02] [-3.69153423e-01 9.26380188e-01 -7.44681000e-02 -3.62456125e+01] [-2.08541450e-01 -4.48384611e-03 9.78003251e-01 -8.99248645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.146875 meters 0.015676418739813486 Centerline is valid? [True, True] Translation: X:134.61, Y:-36.26, Z:-9.00 [[ 9.05414939e-01 3.77273543e-01 1.94649590e-01 1.34607679e+02] [-3.69882171e-01 9.26090521e-01 -7.44548666e-02 -3.62591949e+01] [-2.08352991e-01 -4.58486442e-03 9.78042949e-01 -8.99936950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.176875 meters 0.016089012941431276 Centerline is valid? [True, True] Translation: X:134.64, Y:-36.27, Z:-9.01 [[ 9.05233712e-01 3.77757901e-01 1.94553063e-01 1.34636143e+02] [-3.70373183e-01 9.25892772e-01 -7.44733534e-02 -3.62714942e+01] [-2.08268172e-01 -4.64144679e-03 9.78060747e-01 -9.00634283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.206875 meters 0.01569800953475311 Centerline is valid? [True, True] Translation: X:134.66, Y:-36.29, Z:-9.01 [[ 9.04986260e-01 3.78844940e-01 1.93588171e-01 1.34663361e+02] [-3.71554765e-01 9.25447457e-01 -7.41219301e-02 -3.62868505e+01] [-2.07236399e-01 -4.84927908e-03 9.78278876e-01 -9.01375782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.236875 meters 0.0164672667144088 Centerline is valid? [True, True] Translation: X:134.69, Y:-36.30, Z:-9.02 [[ 9.04840849e-01 3.79410896e-01 1.93159025e-01 1.34692075e+02] [-3.72154313e-01 9.25215227e-01 -7.40131825e-02 -3.62982289e+01] [-2.06795079e-01 -4.91481326e-03 9.78371933e-01 -9.02186718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.266875 meters 0.01663151985290771 Centerline is valid? [True, True] Translation: X:134.72, Y:-36.31, Z:-9.03 [[ 9.04772306e-01 3.79781433e-01 1.92751491e-01 1.34721220e+02] [-3.72551557e-01 9.25063097e-01 -7.39161973e-02 -3.63108764e+01] [-2.06379290e-01 -4.93253970e-03 9.78459636e-01 -9.02997635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.296875 meters 0.01736014829745466 Centerline is valid? [True, True] Translation: X:134.75, Y:-36.32, Z:-9.04 [[ 9.04334831e-01 3.81220468e-01 1.91962153e-01 1.34748925e+02] [-3.74069267e-01 9.24469644e-01 -7.36753725e-02 -3.63243010e+01] [-2.05549743e-01 -5.17993620e-03 9.78632961e-01 -9.03726343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.326875 meters 0.017077598919962855 Centerline is valid? [True, True] Translation: X:134.78, Y:-36.34, Z:-9.04 [[ 9.04100706e-01 3.82026715e-01 1.91461489e-01 1.34777001e+02] [-3.74920570e-01 9.24136073e-01 -7.35328874e-02 -3.63374114e+01] [-2.05027996e-01 -5.30171526e-03 9.78741750e-01 -9.04387458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.356875 meters 0.017737434745302906 Centerline is valid? [True, True] Translation: X:134.81, Y:-36.35, Z:-9.05 [[ 9.03808391e-01 3.82818129e-01 1.91260747e-01 1.34805038e+02] [-3.75733838e-01 9.23807787e-01 -7.35068421e-02 -3.63485118e+01] [-2.04827919e-01 -5.42703381e-03 9.78782954e-01 -9.05115468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.386875 meters 0.017069458961642074 Centerline is valid? [True, True] Translation: X:134.83, Y:-36.36, Z:-9.06 [[ 9.05018771e-01 3.80701486e-01 1.89756166e-01 1.34831771e+02] [-3.73672849e-01 9.24685222e-01 -7.29783706e-02 -3.63641858e+01] [-2.03247696e-01 -4.85993174e-03 9.79115292e-01 -9.05971672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.416875 meters 0.016388436039258856 Centerline is valid? [True, True] Translation: X:134.86, Y:-36.38, Z:-9.07 [[ 9.05662365e-01 3.79360513e-01 1.89370752e-01 1.34859902e+02] [-3.72320615e-01 9.25238003e-01 -7.28834563e-02 -3.63788274e+01] [-2.02862122e-01 -4.49883147e-03 9.79196977e-01 -9.06625978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.446875 meters 0.01580419708646138 Centerline is valid? [True, True] Translation: X:134.89, Y:-36.39, Z:-9.07 [[ 9.06451450e-01 3.77405377e-01 1.89501849e-01 1.34887463e+02] [-3.70302255e-01 9.26039456e-01 -7.29874331e-02 -3.63927298e+01] [-2.03032039e-01 -4.01339755e-03 9.79163870e-01 -9.07335177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.476875 meters 0.014995270178724292 Centerline is valid? [True, True] Translation: X:134.92, Y:-36.41, Z:-9.08 [[ 9.06831445e-01 3.76123009e-01 1.90231998e-01 1.34915432e+02] [-3.68925523e-01 9.26562389e-01 -7.33218858e-02 -3.64071497e+01] [-2.03839863e-01 -3.69084767e-03 9.78997287e-01 -9.07908833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.506875 meters 0.014038070905760489 Centerline is valid? [True, True] Translation: X:134.94, Y:-36.42, Z:-9.08 [[ 9.07765017e-01 3.72933375e-01 1.92050440e-01 1.34942365e+02] [-3.65513927e-01 9.27853430e-01 -7.40782189e-02 -3.64232717e+01] [-2.05820899e-01 -2.95149477e-03 9.78585227e-01 -9.08389828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53687499999998 meters 0.013603078142254702 Centerline is valid? [True, True] Translation: X:134.97, Y:-36.44, Z:-9.09 [[ 9.08128943e-01 3.71606182e-01 1.92900669e-01 1.34970629e+02] [-3.64084210e-01 9.28386722e-01 -7.44364250e-02 -3.64372724e+01] [-2.06747456e-01 -2.63421592e-03 9.78390796e-01 -9.08961713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56687499999998 meters 0.012969234495310502 Centerline is valid? [True, True] Translation: X:135.00, Y:-36.45, Z:-9.09 [[ 9.09021595e-01 3.68908479e-01 1.93871799e-01 1.34998470e+02] [-3.61237592e-01 9.29463617e-01 -7.48651285e-02 -3.64536419e+01] [-2.07815164e-01 -1.97976314e-03 9.78166110e-01 -9.09435484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59687499999998 meters 0.01268724232330146 Centerline is valid? [True, True] Translation: X:135.03, Y:-36.47, Z:-9.10 [[ 9.09205523e-01 3.68127055e-01 1.94493673e-01 1.35027418e+02] [-3.60376884e-01 9.29773840e-01 -7.51605526e-02 -3.64666234e+01] [-2.08503762e-01 -1.75463451e-03 9.78019991e-01 -9.10074204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62687499999998 meters 0.012421155262191652 Centerline is valid? [True, True] Translation: X:135.05, Y:-36.48, Z:-9.11 [[ 9.09700535e-01 3.66713689e-01 1.94848676e-01 1.35054578e+02] [-3.58891018e-01 9.30332824e-01 -7.53529937e-02 -3.64795558e+01] [-2.08907093e-01 -1.38078088e-03 9.77934517e-01 -9.10753916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65687499999999 meters 0.012330424994701451 Centerline is valid? [True, True] Translation: X:135.08, Y:-36.49, Z:-9.11 [[ 9.10068157e-01 3.66079802e-01 1.94323257e-01 1.35083835e+02] [-3.58274601e-01 9.30582709e-01 -7.52006142e-02 -3.64923378e+01] [-2.08363289e-01 -1.18340303e-03 9.78050786e-01 -9.11497374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.686875 meters 0.0122601978282878 Centerline is valid? [True, True] Translation: X:135.11, Y:-36.50, Z:-9.12 [[ 9.10203627e-01 3.65838060e-01 1.94143946e-01 1.35113270e+02] [-3.58036362e-01 9.30677871e-01 -7.51575913e-02 -3.65049051e+01] [-2.08180982e-01 -1.10187986e-03 9.78089702e-01 -9.12214596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.716875 meters 0.012366363422450616 Centerline is valid? [True, True] Translation: X:135.14, Y:-36.52, Z:-9.13 [[ 9.10382248e-01 3.65806265e-01 1.93364783e-01 1.35142459e+02] [-3.58053859e-01 9.30690450e-01 -7.49180933e-02 -3.65172420e+01] [-2.07368265e-01 -1.03090448e-03 9.78262409e-01 -9.12961427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.746875 meters 0.012369444892610526 Centerline is valid? [True, True] Translation: X:135.17, Y:-36.53, Z:-9.14 [[ 9.10399458e-01 3.65894620e-01 1.93116427e-01 1.35172435e+02] [-3.58151018e-01 9.30655762e-01 -7.48845899e-02 -3.65291978e+01] [-2.07124784e-01 -9.89954975e-04 9.78314031e-01 -9.13672829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.776875 meters 0.01248582201653154 Centerline is valid? [True, True] Translation: X:135.20, Y:-36.54, Z:-9.14 [[ 9.10330352e-01 3.66339932e-01 1.92597258e-01 1.35201350e+02] [-3.58634784e-01 9.30480520e-01 -7.47468645e-02 -3.65401246e+01] [-2.06590758e-01 -1.02773666e-03 9.78426902e-01 -9.14436272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.806875 meters 0.012575556712293655 Centerline is valid? [True, True] Translation: X:135.23, Y:-36.55, Z:-9.15 [[ 9.09858829e-01 3.67830320e-01 1.91983769e-01 1.35231303e+02] [-3.60199498e-01 9.29891982e-01 -7.45467821e-02 -3.65495690e+01] [-2.05944734e-01 -1.32540923e-03 9.78562727e-01 -9.15164906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.836875 meters 0.012758545307068844 Centerline is valid? [True, True] Translation: X:135.26, Y:-36.56, Z:-9.16 [[ 9.09474574e-01 3.68762093e-01 1.92016976e-01 1.35260867e+02] [-3.61137643e-01 9.29522627e-01 -7.46142646e-02 -3.65595790e+01] [-2.05999036e-01 -1.48478150e-03 9.78551068e-01 -9.15920515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.866875 meters 0.01305929774686712 Centerline is valid? [True, True] Translation: X:135.29, Y:-36.57, Z:-9.17 [[ 9.08905446e-01 3.70464994e-01 1.91432958e-01 1.35290151e+02] [-3.62912459e-01 9.28844666e-01 -7.44455077e-02 -3.65686945e+01] [-2.05390937e-01 -1.80947811e-03 9.78678338e-01 -9.16668441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.896875 meters 0.013073201790885296 Centerline is valid? [True, True] Translation: X:135.32, Y:-36.58, Z:-9.17 [[ 9.08617105e-01 3.71354780e-01 1.91077429e-01 1.35320443e+02] [-3.63839762e-01 9.28488979e-01 -7.43561908e-02 -3.65801383e+01] [-2.05025814e-01 -1.96025954e-03 9.78754603e-01 -9.17307872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.926875 meters 0.013184848293210592 Centerline is valid? [True, True] Translation: X:135.35, Y:-36.59, Z:-9.18 [[ 9.08255826e-01 3.72037522e-01 1.91466543e-01 1.35350452e+02] [-3.64493391e-01 9.28215407e-01 -7.45702816e-02 -3.65908835e+01] [-2.05465137e-01 -2.05939656e-03 9.78662269e-01 -9.18000143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.956875 meters 0.013159034643859622 Centerline is valid? [True, True] Translation: X:135.38, Y:-36.60, Z:-9.19 [[ 9.07928564e-01 3.72603105e-01 1.91918338e-01 1.35380499e+02] [-3.65022244e-01 9.27988349e-01 -7.48089951e-02 -3.66017468e+01] [-2.05972045e-01 -2.13323886e-03 9.78555551e-01 -9.18687210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.986875 meters 0.013159034643859622 Centerline is valid? [True, True] Translation: X:135.41, Y:-36.61, Z:-9.19 [[ 9.07826072e-01 3.72863618e-01 1.91897223e-01 1.35409922e+02] [-3.65277074e-01 9.27883706e-01 -7.48631191e-02 -3.66133116e+01] [-2.05972040e-01 -2.13296484e-03 9.78555552e-01 -9.19383198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.016875 meters 0.013306382085871926 Centerline is valid? [True, True] Translation: X:135.44, Y:-36.62, Z:-9.20 [[ 9.07524626e-01 3.73414689e-01 1.92251197e-01 1.35440569e+02] [-3.65798926e-01 9.27661908e-01 -7.50635075e-02 -3.66236168e+01] [-2.06373929e-01 -2.20329967e-03 9.78470719e-01 -9.20069515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.046875 meters 0.013579656955876606 Centerline is valid? [True, True] Translation: X:135.47, Y:-36.63, Z:-9.21 [[ 9.07140169e-01 3.74128842e-01 1.92676734e-01 1.35470373e+02] [-3.66481452e-01 9.27373856e-01 -7.52932662e-02 -3.66335718e+01] [-2.06852749e-01 -2.31090312e-03 9.78369358e-01 -9.20786047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.076875 meters 0.013701438089898842 Centerline is valid? [True, True] Translation: X:135.50, Y:-36.64, Z:-9.21 [[ 9.06730897e-01 3.74972468e-01 1.92963026e-01 1.35500884e+02] [-3.67312837e-01 9.27032655e-01 -7.54435937e-02 -3.66442926e+01] [-2.07172297e-01 -2.47075903e-03 9.78301352e-01 -9.21448848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.106875 meters 0.013999029179155131 Centerline is valid? [True, True] Translation: X:135.53, Y:-36.65, Z:-9.22 [[ 9.05879640e-01 3.76494880e-01 1.93994027e-01 1.35531668e+02] [-3.68773522e-01 9.26414541e-01 -7.59090706e-02 -3.66534379e+01] [-2.08298264e-01 -2.77537883e-03 9.78061415e-01 -9.22079080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.136875 meters 0.014036180176916206 Centerline is valid? [True, True] Translation: X:135.56, Y:-36.66, Z:-9.23 [[ 9.05659082e-01 3.77024457e-01 1.93995325e-01 1.35561677e+02] [-3.69301780e-01 9.26198954e-01 -7.59716612e-02 -3.66644345e+01] [-2.08321442e-01 -2.83839395e-03 9.78056297e-01 -9.22781780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.166875 meters 0.014233242309607493 Centerline is valid? [True, True] Translation: X:135.59, Y:-36.68, Z:-9.24 [[ 9.05704628e-01 3.77341258e-01 1.93164960e-01 1.35591412e+02] [-3.69678983e-01 9.26069931e-01 -7.57095239e-02 -3.66750219e+01] [-2.07452588e-01 -2.83855965e-03 9.78240955e-01 -9.23553638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.196875 meters 0.01414148541300325 Centerline is valid? [True, True] Translation: X:135.62, Y:-36.68, Z:-9.24 [[ 9.05594753e-01 3.77460209e-01 1.93447498e-01 1.35620871e+02] [-3.69774073e-01 9.26021410e-01 -7.58385375e-02 -3.66849422e+01] [-2.07762555e-01 -2.85288742e-03 9.78175128e-01 -9.24251528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.226875 meters 0.01434428210006666 Centerline is valid? [True, True] Translation: X:135.65, Y:-36.70, Z:-9.25 [[ 9.05539962e-01 3.77797858e-01 1.93044438e-01 1.35651187e+02] [-3.70139425e-01 9.25883656e-01 -7.57381112e-02 -3.66959088e+01] [-2.07350387e-01 -2.86947115e-03 9.78262533e-01 -9.25009596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.256875 meters 0.01436850068280593 Centerline is valid? [True, True] Translation: X:135.68, Y:-36.71, Z:-9.26 [[ 9.05501813e-01 3.78233948e-01 1.92368262e-01 1.35680962e+02] [-3.70626584e-01 9.25705495e-01 -7.55332506e-02 -3.67069190e+01] [-2.06645596e-01 -2.90129634e-03 9.78411560e-01 -9.25755130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28687499999998 meters 0.01440382027404743 Centerline is valid? [True, True] Translation: X:135.71, Y:-36.72, Z:-9.27 [[ 9.05334351e-01 3.78935617e-01 1.91774636e-01 1.35711020e+02] [-3.71378541e-01 9.25418191e-01 -7.53601412e-02 -3.67182193e+01] [-2.06028378e-01 -2.99485968e-03 9.78541434e-01 -9.26557276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31687499999998 meters 0.015261033515528368 Centerline is valid? [True, True] Translation: X:135.74, Y:-36.73, Z:-9.28 [[ 9.05387065e-01 3.79763777e-01 1.89878212e-01 1.35740213e+02] [-3.72362255e-01 9.25078324e-01 -7.46756012e-02 -3.67255236e+01] [-2.04011306e-01 -3.09315567e-03 9.78963646e-01 -9.27501180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34687499999998 meters 0.015361413319259875 Centerline is valid? [True, True] Translation: X:135.77, Y:-36.74, Z:-9.28 [[ 9.05396354e-01 3.80095215e-01 1.89169421e-01 1.35769941e+02] [-3.72746554e-01 9.24942136e-01 -7.44449593e-02 -3.67363762e+01] [-2.03266941e-01 -3.11005489e-03 9.79118419e-01 -9.28228930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37687499999998 meters 0.013974754649784604 Centerline is valid? [True, True] Translation: X:135.80, Y:-36.75, Z:-9.29 [[ 9.05509941e-01 3.79146473e-01 1.90524798e-01 1.35798502e+02] [-3.71658024e-01 9.25332239e-01 -7.50370546e-02 -3.67500949e+01] [-2.04748773e-01 -2.86327114e-03 9.78810371e-01 -9.28577726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40687499999999 meters 0.014064117983212112 Centerline is valid? [True, True] Translation: X:135.83, Y:-36.76, Z:-9.29 [[ 9.05436681e-01 3.78689592e-01 1.91777500e-01 1.35827464e+02] [-3.71079413e-01 9.25519725e-01 -7.55864211e-02 -3.67608586e+01] [-2.06117650e-01 -2.72596377e-03 9.78523420e-01 -9.29181628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.436875 meters 0.013806996340257123 Centerline is valid? [True, True] Translation: X:135.86, Y:-36.77, Z:-9.30 [[ 9.05493292e-01 3.78222563e-01 1.92430743e-01 1.35856294e+02] [-3.70538671e-01 9.25711096e-01 -7.58950538e-02 -3.67724898e+01] [-2.06840496e-01 -2.58056966e-03 9.78371274e-01 -9.29767089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.466875 meters 0.013894351588555558 Centerline is valid? [True, True] Translation: X:135.88, Y:-36.78, Z:-9.30 [[ 9.05635918e-01 3.77693333e-01 1.92798676e-01 1.35884794e+02] [-3.69955932e-01 9.25927606e-01 -7.60964979e-02 -3.67832563e+01] [-2.07258757e-01 -2.41129213e-03 9.78283187e-01 -9.30428295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.496875 meters 0.013506012186561812 Centerline is valid? [True, True] Translation: X:135.91, Y:-36.80, Z:-9.31 [[ 9.06219523e-01 3.76247389e-01 1.92883589e-01 1.35913431e+02] [-3.68459751e-01 9.26517011e-01 -7.61816299e-02 -3.67963217e+01] [-2.07373066e-01 -2.03255894e-03 9.78259823e-01 -9.31121147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.526875 meters 0.013493209244557358 Centerline is valid? [True, True] Translation: X:135.94, Y:-36.81, Z:-9.32 [[ 9.06339505e-01 3.76010562e-01 1.92781633e-01 1.35943110e+02] [-3.68214334e-01 9.26613377e-01 -7.61961544e-02 -3.68084723e+01] [-2.07284599e-01 -1.92537581e-03 9.78278788e-01 -9.31842244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.556875 meters 0.013677129911749953 Centerline is valid? [True, True] Translation: X:135.97, Y:-36.82, Z:-9.33 [[ 9.06312070e-01 3.76017552e-01 1.92896946e-01 1.35972423e+02] [-3.68198786e-01 9.26610656e-01 -7.63043009e-02 -3.68199838e+01] [-2.07432122e-01 -1.86891231e-03 9.78247628e-01 -9.32563279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.586875 meters 0.01378781744768305 Centerline is valid? [True, True] Translation: X:136.00, Y:-36.83, Z:-9.33 [[ 9.06267152e-01 3.76439809e-01 1.92283437e-01 1.36002398e+02] [-3.68668401e-01 9.26439121e-01 -7.61194173e-02 -3.68322511e+01] [-2.06793277e-01 -1.90429998e-03 9.78382805e-01 -9.33200673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.616875 meters 0.01392832360856285 Centerline is valid? [True, True] Translation: X:136.03, Y:-36.84, Z:-9.34 [[ 9.05993926e-01 3.77394028e-01 1.91699645e-01 1.36031395e+02] [-3.69678505e-01 9.26050492e-01 -7.59492549e-02 -3.68429429e+01] [-2.06186346e-01 -2.05767452e-03 9.78510581e-01 -9.33924180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.646875 meters 0.013918179300444491 Centerline is valid? [True, True] Translation: X:136.06, Y:-36.85, Z:-9.35 [[ 9.05783467e-01 3.78318686e-01 1.90869805e-01 1.36060745e+02] [-3.70679736e-01 9.25672780e-01 -7.56732263e-02 -3.68542787e+01] [-2.05311579e-01 -2.20801166e-03 9.78694171e-01 -9.34698125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.676875 meters 0.014621160088750172 Centerline is valid? [True, True] Translation: X:136.09, Y:-36.86, Z:-9.36 [[ 9.05459180e-01 3.80122981e-01 1.88812588e-01 1.36088834e+02] [-3.72677119e-01 9.24932474e-01 -7.49111661e-02 -3.68636105e+01] [-2.03114350e-01 -2.53712826e-03 9.79151737e-01 -9.35662056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.706875 meters 0.014730670185844955 Centerline is valid? [True, True] Translation: X:136.12, Y:-36.88, Z:-9.36 [[ 9.05250168e-01 3.80703321e-01 1.88645471e-01 1.36118638e+02] [-3.73273086e-01 9.24693530e-01 -7.48937897e-02 -3.68756672e+01] [-2.02951560e-01 -2.61866120e-03 9.79185277e-01 -9.36383680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.736875 meters 0.015293640642654868 Centerline is valid? [True, True] Translation: X:136.15, Y:-36.89, Z:-9.37 [[ 9.05099932e-01 3.81374548e-01 1.88009487e-01 1.36146550e+02] [-3.73996614e-01 9.24416655e-01 -7.47019443e-02 -3.68861228e+01] [-2.02288521e-01 -2.70218673e-03 9.79322241e-01 -9.37149879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.766875 meters 0.014890737079462991 Centerline is valid? [True, True] Translation: X:136.17, Y:-36.90, Z:-9.38 [[ 9.05143462e-01 3.81135165e-01 1.88285153e-01 1.36174913e+02] [-3.73720217e-01 9.24515651e-01 -7.48599349e-02 -3.68991998e+01] [-2.02604325e-01 -2.60698772e-03 9.79257214e-01 -9.37748485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.796875 meters 0.014874694416938039 Centerline is valid? [True, True] Translation: X:136.20, Y:-36.91, Z:-9.38 [[ 9.05439771e-01 3.80439609e-01 1.88267165e-01 1.36203626e+02] [-3.73000325e-01 9.24802648e-01 -7.49054078e-02 -3.69119493e+01] [-2.02606957e-01 -2.40137853e-03 9.79257195e-01 -9.38361067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.826875 meters 0.014605984166603025 Centerline is valid? [True, True] Translation: X:136.23, Y:-36.93, Z:-9.39 [[ 9.05699424e-01 3.79438016e-01 1.89037945e-01 1.36232680e+02] [-3.71904543e-01 9.25214692e-01 -7.52647671e-02 -3.69251476e+01] [-2.03458998e-01 -2.13681415e-03 9.79081136e-01 -9.38878426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.856875 meters 0.014227235129719882 Centerline is valid? [True, True] Translation: X:136.26, Y:-36.94, Z:-9.39 [[ 9.06791598e-01 3.76101577e-01 1.90464173e-01 1.36261027e+02] [-3.68368883e-01 9.26577457e-01 -7.58853192e-02 -3.69411357e+01] [-2.05020397e-01 -1.34890494e-03 9.78756771e-01 -9.39298939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.886875 meters 0.013914743554227015 Centerline is valid? [True, True] Translation: X:136.29, Y:-36.96, Z:-9.40 [[ 9.07484558e-01 3.74014056e-01 1.91272744e-01 1.36289195e+02] [-3.66157599e-01 9.27422664e-01 -7.62614903e-02 -3.69552531e+01] [-2.05913547e-01 -8.29843830e-04 9.78569835e-01 -9.39827899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.916875 meters 0.013919620289098355 Centerline is valid? [True, True] Translation: X:136.32, Y:-36.97, Z:-9.40 [[ 9.08583336e-01 3.71246784e-01 1.91447502e-01 1.36316913e+02] [-3.63303702e-01 9.28534222e-01 -7.63846712e-02 -3.69693381e+01] [-2.06123121e-01 -1.51746718e-04 9.78526053e-01 -9.40451612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.946875 meters 0.014165261478815793 Centerline is valid? [True, True] Translation: X:136.34, Y:-36.99, Z:-9.41 [[ 9.10815406e-01 3.65300342e-01 1.92278329e-01 1.36344291e+02] [-3.57144566e-01 9.30888872e-01 -7.67702230e-02 -3.69864752e+01] [-2.07033945e-01 1.25234169e-03 9.78332958e-01 -9.41046384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.976875 meters 0.014612385545455126 Centerline is valid? [True, True] Translation: X:136.37, Y:-37.00, Z:-9.42 [[ 9.11879938e-01 3.62539530e-01 1.92457966e-01 1.36372116e+02] [-3.54296074e-01 9.31966391e-01 -7.68956251e-02 -3.70005155e+01] [-2.07242060e-01 1.93247619e-03 9.78287787e-01 -9.41679564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00687499999998 meters 0.01509986839824888 Centerline is valid? [True, True] Translation: X:136.40, Y:-37.01, Z:-9.42 [[ 9.12821869e-01 3.60091614e-01 1.92588331e-01 1.36399047e+02] [-3.51771303e-01 9.32913482e-01 -7.70025007e-02 -3.70137620e+01] [-2.07396205e-01 2.54251845e-03 9.78253725e-01 -9.42348119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03687499999998 meters 0.01589370862950749 Centerline is valid? [True, True] Translation: X:136.43, Y:-37.03, Z:-9.43 [[ 9.14512574e-01 3.56358139e-01 1.91508824e-01 1.36427267e+02] [-3.48045469e-01 9.34343274e-01 -7.65963254e-02 -3.70272484e+01] [-2.06230706e-01 3.39452403e-03 9.78497508e-01 -9.43124808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06687499999998 meters 0.016204074973990044 Centerline is valid? [True, True] Translation: X:136.45, Y:-37.04, Z:-9.44 [[ 9.14853217e-01 3.55620494e-01 1.91252855e-01 1.36454969e+02] [-3.47303273e-01 9.34623486e-01 -7.65465681e-02 -3.70397964e+01] [-2.05970938e-01 3.60613165e-03 9.78551464e-01 -9.43861226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09687499999998 meters 0.016221479962605007 Centerline is valid? [True, True] Translation: X:136.48, Y:-37.05, Z:-9.45 [[ 9.15041274e-01 3.55295184e-01 1.90957585e-01 1.36484794e+02] [-3.46986565e-01 9.34746752e-01 -7.64776667e-02 -3.70507499e+01] [-2.05669129e-01 3.72050518e-03 9.78614514e-01 -9.44517642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12687499999998 meters 0.01608854772378243 Centerline is valid? [True, True] Translation: X:136.51, Y:-37.06, Z:-9.45 [[ 9.14676986e-01 3.56308552e-01 1.90814638e-01 1.36514143e+02] [-3.48023159e-01 9.34361643e-01 -7.64735376e-02 -3.70610805e+01] [-2.05538054e-01 3.54067182e-03 9.78642719e-01 -9.45268163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15687499999999 meters 0.01573548279397178 Centerline is valid? [True, True] Translation: X:136.54, Y:-37.07, Z:-9.46 [[ 9.14231690e-01 3.57774615e-01 1.90204473e-01 1.36543576e+02] [-3.49563095e-01 9.33802312e-01 -7.62816143e-02 -3.70708655e+01] [-2.04905002e-01 3.25060489e-03 9.78776468e-01 -9.46039580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.186875 meters 0.01561800602315714 Centerline is valid? [True, True] Translation: X:136.57, Y:-37.08, Z:-9.47 [[ 9.13758523e-01 3.59111960e-01 1.89957790e-01 1.36572672e+02] [-3.50939531e-01 9.33289675e-01 -7.62353405e-02 -3.70805480e+01] [-2.04662667e-01 2.99699429e-03 9.78827978e-01 -9.46863276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.216875 meters 0.015375324615533422 Centerline is valid? [True, True] Translation: X:136.60, Y:-37.09, Z:-9.48 [[ 9.13264265e-01 3.61119850e-01 1.88522774e-01 1.36601640e+02] [-3.53103293e-01 9.32515852e-01 -7.57116236e-02 -3.70897469e+01] [-2.03141446e-01 2.57670794e-03 9.79146012e-01 -9.47634785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.246875 meters 0.015193599340733378 Centerline is valid? [True, True] Translation: X:136.63, Y:-37.10, Z:-9.48 [[ 9.12863439e-01 3.61781895e-01 1.89193556e-01 1.36632027e+02] [-3.53711133e-01 9.32259448e-01 -7.60312837e-02 -3.71000085e+01] [-2.03884222e-01 2.48631213e-03 9.78991850e-01 -9.48250661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.276875 meters 0.015158809947155547 Centerline is valid? [True, True] Translation: X:136.66, Y:-37.11, Z:-9.49 [[ 9.12462797e-01 3.62610249e-01 1.89540104e-01 1.36661781e+02] [-3.54523589e-01 9.31937988e-01 -7.61879948e-02 -3.71102605e+01] [-2.04266171e-01 2.32227293e-03 9.78912631e-01 -9.48878229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.306875 meters 0.01481784681007598 Centerline is valid? [True, True] Translation: X:136.69, Y:-37.12, Z:-9.50 [[ 9.11536657e-01 3.64685428e-01 1.90014370e-01 1.36691379e+02] [-3.56591035e-01 9.31128818e-01 -7.64326983e-02 -3.71190151e+01] [-2.04801747e-01 1.91378541e-03 9.78801605e-01 -9.49501400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.336875 meters 0.014654180858894271 Centerline is valid? [True, True] Translation: X:136.72, Y:-37.13, Z:-9.50 [[ 9.10787385e-01 3.66369086e-01 1.90368150e-01 1.36721608e+02] [-3.58270129e-01 9.30468258e-01 -7.66246421e-02 -3.71288718e+01] [-2.05204421e-01 1.58553575e-03 9.78717851e-01 -9.50199100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.366875 meters 0.014420404807711933 Centerline is valid? [True, True] Translation: X:136.75, Y:-37.14, Z:-9.51 [[ 9.09987613e-01 3.68399583e-01 1.90274255e-01 1.36751070e+02] [-3.60341362e-01 9.29666800e-01 -7.66403485e-02 -3.71380320e+01] [-2.05125930e-01 1.17808368e-03 9.78734880e-01 -9.50959280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.396875 meters 0.014157481360549952 Centerline is valid? [True, True] Translation: X:136.78, Y:-37.15, Z:-9.52 [[ 9.08432957e-01 3.72726804e-01 1.89273064e-01 1.36782451e+02] [-3.64835854e-01 9.27941090e-01 -7.62897977e-02 -3.71458053e+01] [-2.04069506e-01 2.50566497e-04 9.78956370e-01 -9.51759462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.426875 meters 0.014233904024039986 Centerline is valid? [True, True] Translation: X:136.81, Y:-37.16, Z:-9.53 [[ 9.07761064e-01 3.74800254e-01 1.88400161e-01 1.36813203e+02] [-3.67014220e-01 9.27105574e-01 -7.59987969e-02 -3.71561769e+01] [-2.03151208e-01 -1.56789601e-04 9.79147365e-01 -9.52531677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.456875 meters 0.014213126386473124 Centerline is valid? [True, True] Translation: X:136.84, Y:-37.17, Z:-9.53 [[ 9.06813866e-01 3.77366797e-01 1.87837465e-01 1.36844009e+02] [-3.69669617e-01 9.26063631e-01 -7.58322181e-02 -3.71665886e+01] [-2.02566006e-01 -6.72096776e-04 9.79268381e-01 -9.53204730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.486875 meters 0.014396312584655735 Centerline is valid? [True, True] Translation: X:136.87, Y:-37.18, Z:-9.54 [[ 9.05830678e-01 3.79642688e-01 1.87995243e-01 1.36874709e+02] [-3.71968302e-01 9.25132512e-01 -7.59566794e-02 -3.71767062e+01] [-2.02756909e-01 -1.12438081e-03 9.79228457e-01 -9.53885064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.516875 meters 0.014893365391809462 Centerline is valid? [True, True] Translation: X:136.91, Y:-37.19, Z:-9.54 [[ 9.03739509e-01 3.84201346e-01 1.88796782e-01 1.36905765e+02] [-3.76545951e-01 9.23246949e-01 -7.63427629e-02 -3.71851740e+01] [-2.03637045e-01 -2.09669279e-03 9.79044206e-01 -9.54481499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.546875 meters 0.01543285423512625 Centerline is valid? [True, True] Translation: X:136.93, Y:-37.19, Z:-9.55 [[ 9.02577484e-01 3.86478922e-01 1.89704843e-01 1.36934940e+02] [-3.78787200e-01 9.22294654e-01 -7.67647535e-02 -3.71947011e+01] [-2.04631722e-01 -2.57162824e-03 9.78835658e-01 -9.55077685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.576875 meters 0.0158859694357303 Centerline is valid? [True, True] Translation: X:136.96, Y:-37.21, Z:-9.56 [[ 9.01590665e-01 3.88476189e-01 1.90316902e-01 1.36964854e+02] [-3.80767631e-01 9.21453920e-01 -7.70628643e-02 -3.72052984e+01] [-2.05305343e-01 -2.98735687e-03 9.78693410e-01 -9.55680038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.606875 meters 0.015661004089578302 Centerline is valid? [True, True] Translation: X:136.99, Y:-37.22, Z:-9.56 [[ 9.01022955e-01 3.89423989e-01 1.91066981e-01 1.36994772e+02] [-3.81663681e-01 9.21053166e-01 -7.74202879e-02 -3.72163573e+01] [-2.06132165e-01 -3.16587065e-03 9.78519038e-01 -9.56330472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.636875 meters 0.0162520480817203 Centerline is valid? [True, True] Translation: X:137.02, Y:-37.23, Z:-9.57 [[ 9.00683177e-01 3.89656928e-01 1.92190772e-01 1.37023240e+02] [-3.81795750e-01 9.20954600e-01 -7.79399081e-02 -3.72264807e+01] [-2.07368800e-01 -3.17845584e-03 9.78257675e-01 -9.56903021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.666875 meters 0.016068531368690818 Centerline is valid? [True, True] Translation: X:137.05, Y:-37.24, Z:-9.57 [[ 9.00368808e-01 3.89892848e-01 1.93182754e-01 1.37053235e+02] [-3.81943890e-01 9.20854666e-01 -7.83935551e-02 -3.72386647e+01] [-2.08458327e-01 -3.20186093e-03 9.78026009e-01 -9.57437514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.696875 meters 0.016285664228665245 Centerline is valid? [True, True] Translation: X:137.08, Y:-37.25, Z:-9.58 [[ 8.99421554e-01 3.91269290e-01 1.94805570e-01 1.37083689e+02] [-3.83203029e-01 9.20269607e-01 -7.91156655e-02 -3.72495968e+01] [-2.10229176e-01 -3.49174968e-03 9.77645898e-01 -9.57891710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.726875 meters 0.016657099079468614 Centerline is valid? [True, True] Translation: X:137.11, Y:-37.26, Z:-9.59 [[ 8.98960078e-01 3.92378601e-01 1.94704421e-01 1.37112843e+02] [-3.84332880e-01 9.19796402e-01 -7.91379515e-02 -3.72601994e+01] [-2.10140465e-01 -3.68945178e-03 9.77664244e-01 -9.58568981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75687499999998 meters 0.017175044080484238 Centerline is valid? [True, True] Translation: X:137.14, Y:-37.27, Z:-9.59 [[ 8.98133682e-01 3.94827863e-01 1.93563550e-01 1.37142341e+02] [-3.86921614e-01 9.18745582e-01 -7.87287787e-02 -3.72691334e+01] [-2.08919972e-01 -4.18495316e-03 9.77923786e-01 -9.59365995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78687499999998 meters 0.017234713560182923 Centerline is valid? [True, True] Translation: X:137.17, Y:-37.28, Z:-9.60 [[ 8.97606569e-01 3.96329023e-01 1.92939766e-01 1.37171147e+02] [-3.88497645e-01 9.18097659e-01 -7.85255915e-02 -3.72798277e+01] [-2.08259519e-01 -4.47155806e-03 9.78063381e-01 -9.60178755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81687499999998 meters 0.018404977034495593 Centerline is valid? [True, True] Translation: X:137.20, Y:-37.29, Z:-9.61 [[ 8.97059685e-01 3.97940168e-01 1.92165411e-01 1.37200324e+02] [-3.90196727e-01 9.17398957e-01 -7.82666461e-02 -3.72885497e+01] [-2.07437790e-01 -4.77246148e-03 9.78236570e-01 -9.61049435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84687499999998 meters 0.018452130851762664 Centerline is valid? [True, True] Translation: X:137.23, Y:-37.30, Z:-9.62 [[ 8.96760096e-01 3.99129466e-01 1.91094214e-01 1.37229593e+02] [-3.91493674e-01 9.16880991e-01 -7.78585381e-02 -3.72996741e+01] [-2.06286289e-01 -4.99174579e-03 9.78478947e-01 -9.61871625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87687499999998 meters 0.018452130851762664 Centerline is valid? [True, True] Translation: X:137.26, Y:-37.31, Z:-9.63 [[ 8.96650442e-01 3.99384836e-01 1.91075214e-01 1.37258855e+02] [-3.91744849e-01 9.16769743e-01 -7.79051392e-02 -3.73116930e+01] [-2.06286106e-01 -4.99905340e-03 9.78478948e-01 -9.62567383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90687499999999 meters 0.01924514256635306 Centerline is valid? [True, True] Translation: X:137.29, Y:-37.32, Z:-9.64 [[ 8.95902804e-01 4.02053811e-01 1.88973274e-01 1.37288135e+02] [-3.94628278e-01 9.15599574e-01 -7.71099328e-02 -3.73214182e+01] [-2.04026192e-01 -5.49119278e-03 9.78950029e-01 -9.63557510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.936875 meters 0.019992215441249184 Centerline is valid? [True, True] Translation: X:137.32, Y:-37.33, Z:-9.64 [[ 8.95585094e-01 4.03674988e-01 1.87012947e-01 1.37317352e+02] [-3.96429755e-01 9.14884354e-01 -7.63548793e-02 -3.73317894e+01] [-2.01917775e-01 -5.75520531e-03 9.79385568e-01 -9.64427482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.966875 meters 0.020199486998763307 Centerline is valid? [True, True] Translation: X:137.35, Y:-37.34, Z:-9.65 [[ 8.95302332e-01 4.04775550e-01 1.85985183e-01 1.37346198e+02] [-3.97623069e-01 9.14396911e-01 -7.59880536e-02 -3.73432286e+01] [-2.00822383e-01 -5.91971768e-03 9.79609783e-01 -9.65210694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.996875 meters 0.020623363361597452 Centerline is valid? [True, True] Translation: X:137.37, Y:-37.35, Z:-9.66 [[ 8.95235654e-01 4.05509532e-01 1.84702853e-01 1.37374804e+02] [-3.98460595e-01 9.14071189e-01 -7.55183158e-02 -3.73544770e+01] [-1.99454953e-01 -5.99011991e-03 9.79888688e-01 -9.65952966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.026875 meters 0.02068461161161343 Centerline is valid? [True, True] Translation: X:137.40, Y:-37.37, Z:-9.67 [[ 8.94872304e-01 4.06496283e-01 1.84294146e-01 1.37403686e+02] [-3.99494143e-01 9.13631592e-01 -7.53773381e-02 -3.73668408e+01] [-1.99017562e-01 -6.17133992e-03 9.79976492e-01 -9.66624946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.056875 meters 0.02120737617341104 Centerline is valid? [True, True] Translation: X:137.43, Y:-37.38, Z:-9.67 [[ 8.94621706e-01 4.06783595e-01 1.84875932e-01 1.37433886e+02] [-3.99732104e-01 9.13503468e-01 -7.56680852e-02 -3.73789981e+01] [-1.99665340e-01 -6.20653366e-03 9.79844493e-01 -9.67274669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.086875 meters 0.02139019111883905 Centerline is valid? [True, True] Translation: X:137.46, Y:-37.39, Z:-9.68 [[ 8.94104961e-01 4.07199986e-01 1.86452378e-01 1.37462713e+02] [-4.00023000e-01 9.13317307e-01 -7.63747094e-02 -3.73919431e+01] [-2.01389965e-01 -6.29823311e-03 9.79490896e-01 -9.67712294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.116875 meters 0.020812276784424454 Centerline is valid? [True, True] Translation: X:137.49, Y:-37.41, Z:-9.68 [[ 8.93684783e-01 4.07519675e-01 1.87763745e-01 1.37491150e+02] [-4.00236377e-01 9.13174230e-01 -7.69653691e-02 -3.74052579e+01] [-2.02825916e-01 -6.36710193e-03 9.79194111e-01 -9.68199614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.146875 meters 0.02138840035316633 Centerline is valid? [True, True] Translation: X:137.52, Y:-37.42, Z:-9.69 [[ 8.92574995e-01 4.08893679e-01 1.90041673e-01 1.37520892e+02] [-4.01450031e-01 9.12557347e-01 -7.79548586e-02 -3.74166211e+01] [-2.05299174e-01 -6.71167789e-03 9.78676250e-01 -9.68554537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.176875 meters 0.021509495768206082 Centerline is valid? [True, True] Translation: X:137.55, Y:-37.43, Z:-9.69 [[ 8.92029113e-01 4.09665548e-01 1.90940305e-01 1.37550677e+02] [-4.02156504e-01 9.12209909e-01 -7.83787495e-02 -3.74293137e+01] [-2.06286711e-01 -6.87175902e-03 9.78467461e-01 -9.69067957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.206875 meters 0.021735965143165493 Centerline is valid? [True, True] Translation: X:137.58, Y:-37.44, Z:-9.70 [[ 8.91631775e-01 4.10160692e-01 1.91731542e-01 1.37581070e+02] [-4.02586442e-01 9.11986738e-01 -7.87676757e-02 -3.74416940e+01] [-2.07164028e-01 -6.95675671e-03 9.78281488e-01 -9.69649390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.236875 meters 0.021539668672390554 Centerline is valid? [True, True] Translation: X:137.61, Y:-37.45, Z:-9.70 [[ 8.91455631e-01 4.10604157e-01 1.91601368e-01 1.37610823e+02] [-4.03036966e-01 9.11786865e-01 -7.87776415e-02 -3.74542835e+01] [-2.07046038e-01 -6.99566193e-03 9.78306189e-01 -9.70375028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.266875 meters 0.021929575901634538 Centerline is valid? [True, True] Translation: X:137.64, Y:-37.47, Z:-9.71 [[ 8.91411874e-01 4.11029727e-01 1.90891157e-01 1.37639393e+02] [-4.03515218e-01 9.11595007e-01 -7.85494244e-02 -3.74650163e+01] [-2.06301574e-01 -7.00759696e-03 9.78463364e-01 -9.71211125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.296875 meters 0.022117039796079995 Centerline is valid? [True, True] Translation: X:137.67, Y:-37.48, Z:-9.72 [[ 8.91462535e-01 4.11521613e-01 1.89590377e-01 1.37668198e+02] [-4.04110483e-01 9.11372936e-01 -7.80646444e-02 -3.74771105e+01] [-2.04912827e-01 -7.02375299e-03 9.78755026e-01 -9.71999189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.326875 meters 0.02108572510392043 Centerline is valid? [True, True] Translation: X:137.70, Y:-37.49, Z:-9.73 [[ 8.91779800e-01 4.11681191e-01 1.87742869e-01 1.37696379e+02] [-4.04407395e-01 9.11301516e-01 -7.73576519e-02 -3.74910661e+01] [-2.02937051e-01 -6.93861301e-03 9.79167202e-01 -9.72803489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.356875 meters 0.021560606898324806 Centerline is valid? [True, True] Translation: X:137.72, Y:-37.50, Z:-9.74 [[ 8.92955487e-01 4.10488896e-01 1.84741346e-01 1.37723166e+02] [-4.03411431e-01 9.11842389e-01 -7.61752887e-02 -3.75028234e+01] [-1.99724101e-01 -6.50562884e-03 9.79830577e-01 -9.73822730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.386875 meters 0.01996476937281054 Centerline is valid? [True, True] Translation: X:137.75, Y:-37.52, Z:-9.74 [[ 8.93566545e-01 4.09464524e-01 1.84058774e-01 1.37750414e+02] [-4.02407965e-01 9.12304936e-01 -7.59442818e-02 -3.75179293e+01] [-1.99014217e-01 -6.20544706e-03 9.79976956e-01 -9.74468437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.416875 meters 0.020332341022688306 Centerline is valid? [True, True] Translation: X:137.78, Y:-37.53, Z:-9.75 [[ 8.94231260e-01 4.08011552e-01 1.84057131e-01 1.37778204e+02] [-4.00913419e-01 9.12958149e-01 -7.59990061e-02 -3.75295644e+01] [-1.99044930e-01 -5.83028655e-03 9.79973022e-01 -9.75254681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.446875 meters 0.019240250818133124 Centerline is valid? [True, True] Translation: X:137.81, Y:-37.54, Z:-9.76 [[ 8.95021867e-01 4.06122993e-01 1.84390815e-01 1.37806015e+02] [-3.98948855e-01 9.13802630e-01 -7.61876897e-02 -3.75443751e+01] [-1.99438384e-01 -5.37285610e-03 9.79895639e-01 -9.75878362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.476875 meters 0.017789329160059035 Centerline is valid? [True, True] Translation: X:137.83, Y:-37.56, Z:-9.76 [[ 8.97253581e-01 4.00471032e-01 1.85900413e-01 1.37831575e+02] [-3.93046111e-01 9.16300256e-01 -7.68673828e-02 -3.75605487e+01] [-2.01123756e-01 -4.09789979e-03 9.79557268e-01 -9.76343662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50687499999998 meters 0.016684588698506454 Centerline is valid? [True, True] Translation: X:137.86, Y:-37.58, Z:-9.77 [[ 8.98291989e-01 3.97563903e-01 1.87121472e-01 1.37860153e+02] [-3.89970331e-01 9.17568053e-01 -7.74080717e-02 -3.75759774e+01] [-2.02471340e-01 -3.43677184e-03 9.79282158e-01 -9.76845114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53687499999998 meters 0.015714373404704118 Centerline is valid? [True, True] Translation: X:137.89, Y:-37.59, Z:-9.77 [[ 8.99418889e-01 3.94622932e-01 1.87931911e-01 1.37887821e+02] [-3.86893457e-01 9.18839006e-01 -7.77710359e-02 -3.75915861e+01] [-2.03369405e-01 -2.76088808e-03 9.79098188e-01 -9.77337191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56687499999998 meters 0.014662636657583395 Centerline is valid? [True, True] Translation: X:137.91, Y:-37.61, Z:-9.78 [[ 9.01913332e-01 3.88596348e-01 1.88534397e-01 1.37914758e+02] [-3.80674963e-01 9.21407100e-01 -7.80738696e-02 -3.76097236e+01] [-2.04056153e-01 -1.35446087e-03 9.78958248e-01 -9.77834789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59687499999998 meters 0.014375000013727062 Centerline is valid? [True, True] Translation: X:137.94, Y:-37.62, Z:-9.78 [[ 9.03131913e-01 3.85976254e-01 1.88082638e-01 1.37942122e+02] [-3.78025565e-01 9.22508444e-01 -7.79412802e-02 -3.76233287e+01] [-2.03591305e-01 -7.08788197e-04 9.79055707e-01 -9.78481964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62687499999998 meters 0.014247493782266918 Centerline is valid? [True, True] Translation: X:137.97, Y:-37.64, Z:-9.79 [[ 9.04068171e-01 3.83918239e-01 1.87796506e-01 1.37970634e+02] [-3.75937772e-01 9.23367070e-01 -7.78719809e-02 -3.76371424e+01] [-2.03301583e-01 -1.98220465e-04 9.79116146e-01 -9.79238233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65687499999999 meters 0.014205738947197816 Centerline is valid? [True, True] Translation: X:138.00, Y:-37.65, Z:-9.80 [[ 9.04957585e-01 3.81823279e-01 1.87783793e-01 1.38000440e+02] [-3.73786428e-01 9.24235291e-01 -7.79283812e-02 -3.76501417e+01] [-2.03311279e-01 3.30846368e-04 9.79114097e-01 -9.79900334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.686875 meters 0.01420913359575157 Centerline is valid? [True, True] Translation: X:138.03, Y:-37.66, Z:-9.81 [[ 9.05111868e-01 3.81627958e-01 1.87436941e-01 1.38029926e+02] [-3.73604236e-01 9.24315917e-01 -7.78457448e-02 -3.76624314e+01] [-2.02959061e-01 4.31872286e-04 9.79187129e-01 -9.80618192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.716875 meters 0.014346972676562708 Centerline is valid? [True, True] Translation: X:138.06, Y:-37.67, Z:-9.81 [[ 9.05650380e-01 3.80974978e-01 1.86159758e-01 1.38057513e+02] [-3.73034827e-01 9.24585131e-01 -7.73779883e-02 -3.76742425e+01] [-2.01599622e-01 6.33331473e-04 9.79467810e-01 -9.81395238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.746875 meters 0.014408046992452921 Centerline is valid? [True, True] Translation: X:138.08, Y:-37.69, Z:-9.82 [[ 9.06347129e-01 3.80394995e-01 1.83941646e-01 1.38084538e+02] [-3.72627475e-01 9.24823789e-01 -7.64834884e-02 -3.76853515e+01] [-1.99207546e-01 7.78879006e-04 9.79957013e-01 -9.82347495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.776875 meters 0.014428046964012875 Centerline is valid? [True, True] Translation: X:138.11, Y:-37.70, Z:-9.83 [[ 9.06337686e-01 3.80848446e-01 1.83047698e-01 1.38113544e+02] [-3.73158203e-01 9.24637201e-01 -7.61511812e-02 -3.76970985e+01] [-1.98254770e-01 7.12935292e-04 9.80150263e-01 -9.83032831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.806875 meters 0.01441375638229985 Centerline is valid? [True, True] Translation: X:138.14, Y:-37.71, Z:-9.84 [[ 9.06012994e-01 3.81593922e-01 1.83102522e-01 1.38142563e+02] [-3.73903321e-01 9.24329875e-01 -7.62272148e-02 -3.77089310e+01] [-1.98334973e-01 6.00206157e-04 9.80134112e-01 -9.83722098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.836875 meters 0.014284875150055172 Centerline is valid? [True, True] Translation: X:138.17, Y:-37.72, Z:-9.84 [[ 9.05292092e-01 3.83205130e-01 1.83303184e-01 1.38173039e+02] [-3.75522986e-01 9.23663223e-01 -7.63461704e-02 -3.77207423e+01] [-1.98566653e-01 2.81025432e-04 9.80087346e-01 -9.84362280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.866875 meters 0.01445800355080425 Centerline is valid? [True, True] Translation: X:138.20, Y:-37.73, Z:-9.85 [[ 9.03301754e-01 3.87792832e-01 1.83473867e-01 1.38203854e+02] [-3.80177616e-01 9.21746315e-01 -7.64768652e-02 -3.77293616e+01] [-1.98773541e-01 -6.70971015e-04 9.80045218e-01 -9.85121356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.896875 meters 0.01452692474890048 Centerline is valid? [True, True] Translation: X:138.23, Y:-37.74, Z:-9.86 [[ 9.02150899e-01 3.90462832e-01 1.83473520e-01 1.38234218e+02] [-3.82890224e-01 9.20617906e-01 -7.65359233e-02 -3.77396317e+01] [-1.98793441e-01 -1.20326486e-03 9.80040673e-01 -9.85776588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.926875 meters 0.015051816330657965 Centerline is valid? [True, True] Translation: X:138.26, Y:-37.75, Z:-9.86 [[ 8.99680136e-01 3.95605986e-01 1.84584825e-01 1.38264561e+02] [-3.88034727e-01 9.18417463e-01 -7.70611026e-02 -3.77485503e+01] [-2.00011760e-01 -2.29497893e-03 9.79790809e-01 -9.86276224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.956875 meters 0.015536165094072357 Centerline is valid? [True, True] Translation: X:138.29, Y:-37.76, Z:-9.87 [[ 8.98401521e-01 3.98124829e-01 1.85395058e-01 1.38294398e+02] [-3.90528266e-01 9.17326921e-01 -7.74531746e-02 -3.77587865e+01] [-2.00903909e-01 -2.81796045e-03 9.79606900e-01 -9.86901898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.986875 meters 0.016468905116260982 Centerline is valid? [True, True] Translation: X:138.32, Y:-37.77, Z:-9.88 [[ 8.97067382e-01 4.00868839e-01 1.85941619e-01 1.38323134e+02] [-3.93274152e-01 9.16129176e-01 -7.77352878e-02 -3.77674912e+01] [-2.01508197e-01 -3.39224126e-03 9.79480954e-01 -9.87585563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.016875 meters 0.01707249560135077 Centerline is valid? [True, True] Translation: X:138.35, Y:-37.78, Z:-9.88 [[ 8.95808087e-01 4.03432911e-01 1.86466507e-01 1.38352846e+02] [-3.95839495e-01 9.15000771e-01 -7.80043781e-02 -3.77780632e+01] [-2.02086531e-01 -3.93385507e-03 9.79359770e-01 -9.88237129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.046875 meters 0.018264465649664042 Centerline is valid? [True, True] Translation: X:138.38, Y:-37.79, Z:-9.89 [[ 8.93802037e-01 4.07591071e-01 1.87049291e-01 1.38382701e+02] [-4.00028361e-01 9.13151744e-01 -7.83019996e-02 -3.77872236e+01] [-2.02719582e-01 -4.83853467e-03 9.79224877e-01 -9.88754599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.076875 meters 0.01901292713898845 Centerline is valid? [True, True] Translation: X:138.41, Y:-37.80, Z:-9.90 [[ 8.93163432e-01 4.09217513e-01 1.86547877e-01 1.38412433e+02] [-4.01720180e-01 9.12422353e-01 -7.81431092e-02 -3.77975946e+01] [-2.02187982e-01 -5.14547907e-03 9.79333214e-01 -9.89539703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.106875 meters 0.019389983865476468 Centerline is valid? [True, True] Translation: X:138.44, Y:-37.81, Z:-9.90 [[ 8.92381220e-01 4.11126818e-01 1.86092714e-01 1.38441977e+02] [-4.03703889e-01 9.11561276e-01 -7.79692928e-02 -3.78084574e+01] [-2.01690179e-01 -5.54801981e-03 9.79433658e-01 -9.90305062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.136875 meters 0.019075113248489355 Centerline is valid? [True, True] Translation: X:138.47, Y:-37.82, Z:-9.91 [[ 8.91833484e-01 4.12774777e-01 1.85067613e-01 1.38470508e+02] [-4.05458305e-01 9.10814421e-01 -7.75928688e-02 -3.78210897e+01] [-2.00590630e-01 -5.83728207e-03 9.79657759e-01 -9.91009756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.166875 meters 0.020746889686530517 Centerline is valid? [True, True] Translation: X:138.50, Y:-37.83, Z:-9.92 [[ 8.91173106e-01 4.14350584e-01 1.84727067e-01 1.38499736e+02] [-4.07083408e-01 9.10096716e-01 -7.75052682e-02 -3.78298478e+01] [-2.00233850e-01 -6.12871329e-03 9.79728965e-01 -9.91785472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.196875 meters 0.020900420288135952 Centerline is valid? [True, True] Translation: X:138.53, Y:-37.84, Z:-9.92 [[ 8.90601810e-01 4.15884727e-01 1.84033449e-01 1.38528470e+02] [-4.08694593e-01 9.09394807e-01 -7.72645779e-02 -3.78414783e+01] [-1.99492221e-01 -6.40150263e-03 9.79878500e-01 -9.92439717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.226875 meters 0.021639525129868425 Centerline is valid? [True, True] Translation: X:138.56, Y:-37.85, Z:-9.93 [[ 8.90057692e-01 4.17761741e-01 1.82407328e-01 1.38557699e+02] [-4.10728222e-01 9.08531810e-01 -7.66307895e-02 -3.78518110e+01] [-1.97736272e-01 -6.71401388e-03 9.80232263e-01 -9.93325063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25687499999998 meters 0.02176629731860415 Centerline is valid? [True, True] Translation: X:138.59, Y:-37.86, Z:-9.94 [[ 8.89703246e-01 4.18492431e-01 1.82461558e-01 1.38586602e+02] [-4.11460816e-01 9.08194551e-01 -7.66984679e-02 -3.78633850e+01] [-1.97808321e-01 -6.83690555e-03 9.80216877e-01 -9.94072385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28687499999998 meters 0.022377893985701926 Centerline is valid? [True, True] Translation: X:138.62, Y:-37.87, Z:-9.95 [[ 8.89247823e-01 4.19445503e-01 1.82493230e-01 1.38615091e+02] [-4.12420383e-01 9.07753527e-01 -7.67656253e-02 -3.78742910e+01] [-1.97857869e-01 -7.00026252e-03 9.80205723e-01 -9.94734578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31687499999998 meters 0.022149765450494192 Centerline is valid? [True, True] Translation: X:138.64, Y:-37.89, Z:-9.95 [[ 8.89012255e-01 4.19747283e-01 1.82946518e-01 1.38644374e+02] [-4.12683384e-01 9.07613711e-01 -7.70050373e-02 -3.78877303e+01] [-1.98367424e-01 -7.04056646e-03 9.80102441e-01 -9.95397878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34687499999998 meters 0.02240985688587258 Centerline is valid? [True, True] Translation: X:138.67, Y:-37.90, Z:-9.96 [[ 8.88980685e-01 4.19745477e-01 1.83104002e-01 1.38671794e+02] [-4.12656649e-01 9.07614947e-01 -7.71336428e-02 -3.78998486e+01] [-1.98564427e-01 -6.98876531e-03 9.80062919e-01 -9.96018924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37687499999998 meters 0.022361032981670845 Centerline is valid? [True, True] Translation: X:138.70, Y:-37.91, Z:-9.97 [[ 8.89117458e-01 4.19356725e-01 1.83330530e-01 1.38699978e+02] [-4.12232065e-01 9.07795574e-01 -7.72781981e-02 -3.79128010e+01] [-1.98833775e-01 -6.86532774e-03 9.80009182e-01 -9.96650245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40687499999999 meters 0.02113427651167368 Centerline is valid? [True, True] Translation: X:138.73, Y:-37.93, Z:-9.97 [[ 8.89791468e-01 4.17846626e-01 1.83508422e-01 1.38728143e+02] [-4.10664952e-01 9.08494453e-01 -7.74088261e-02 -3.79284642e+01] [-1.99061400e-01 -6.48276441e-03 9.79965577e-01 -9.97269213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.436875 meters 0.02042286336048907 Centerline is valid? [True, True] Translation: X:138.76, Y:-37.94, Z:-9.98 [[ 8.90106615e-01 4.16988699e-01 1.83931070e-01 1.38756870e+02] [-4.09751725e-01 9.08889915e-01 -7.76057143e-02 -3.79424442e+01] [-1.99533801e-01 -6.28871374e-03 9.79870764e-01 -9.97914936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.466875 meters 0.02038134457585485 Centerline is valid? [True, True] Translation: X:138.79, Y:-37.96, Z:-9.99 [[ 8.90272178e-01 4.16456771e-01 1.84334496e-01 1.38786022e+02] [-4.09170501e-01 9.09134674e-01 -7.78051755e-02 -3.79558075e+01] [-1.99987374e-01 -6.15645506e-03 9.79779132e-01 -9.98521577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.496875 meters 0.020112925941179666 Centerline is valid? [True, True] Translation: X:138.81, Y:-37.97, Z:-9.99 [[ 8.90396101e-01 4.15865463e-01 1.85069446e-01 1.38814344e+02] [-4.08502173e-01 9.09406202e-01 -7.81430358e-02 -3.79692197e+01] [-2.00800291e-01 -6.02301626e-03 9.79613682e-01 -9.99060292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.526875 meters 0.02042771252257349 Centerline is valid? [True, True] Translation: X:138.84, Y:-37.98, Z:-10.00 [[ 8.91195288e-01 4.13789577e-01 1.85874003e-01 1.38841815e+02] [-4.06305660e-01 9.10355760e-01 -7.85372645e-02 -3.79817241e+01] [-2.01709371e-01 -5.52961945e-03 9.79429810e-01 -9.99672981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.556875 meters 0.019067350353921514 Centerline is valid? [True, True] Translation: X:138.87, Y:-38.00, Z:-10.00 [[ 8.91405453e-01 4.13057918e-01 1.86492557e-01 1.38869839e+02] [-4.05497580e-01 9.10689122e-01 -7.88481796e-02 -3.79969015e+01] [-2.02405608e-01 -5.33658332e-03 9.79287236e-01 -1.00020637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.586875 meters 0.018368993379132427 Centerline is valid? [True, True] Translation: X:138.90, Y:-38.01, Z:-10.01 [[ 8.91746077e-01 4.12128554e-01 1.86919739e-01 1.38897739e+02] [-4.04501810e-01 9.11111504e-01 -7.90829492e-02 -3.80106107e+01] [-2.02897066e-01 -5.08746300e-03 9.79186856e-01 -1.00092517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.616875 meters 0.018155344240208093 Centerline is valid? [True, True] Translation: X:138.93, Y:-38.02, Z:-10.02 [[ 8.92291825e-01 4.10869924e-01 1.87086089e-01 1.38925258e+02] [-4.03190802e-01 9.11681577e-01 -7.92078285e-02 -3.80241568e+01] [-2.03107055e-01 -4.75489233e-03 9.79144992e-01 -1.00169357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.646875 meters 0.017727088923749388 Centerline is valid? [True, True] Translation: X:138.95, Y:-38.04, Z:-10.02 [[ 8.92593156e-01 4.10495195e-01 1.86470249e-01 1.38953791e+02] [-4.02847976e-01 9.11851137e-01 -7.90000747e-02 -3.80383907e+01] [-2.02462260e-01 -4.60423662e-03 9.79279242e-01 -1.00236434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.676875 meters 0.017504581550698766 Centerline is valid? [True, True] Translation: X:138.98, Y:-38.05, Z:-10.03 [[ 8.92872674e-01 4.10161004e-01 1.85866455e-01 1.38982802e+02] [-4.02544027e-01 9.12002242e-01 -7.88049366e-02 -3.80523943e+01] [-2.01833335e-01 -4.45665674e-03 9.79409742e-01 -1.00312009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.706875 meters 0.017154929098713727 Centerline is valid? [True, True] Translation: X:139.01, Y:-38.07, Z:-10.04 [[ 8.93152969e-01 4.09908782e-01 1.85074484e-01 1.39011427e+02] [-4.02339416e-01 9.12116273e-01 -7.85296085e-02 -3.80665003e+01] [-2.00999424e-01 -4.32380674e-03 9.79581817e-01 -1.00381546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.736875 meters 0.016667723659893538 Centerline is valid? [True, True] Translation: X:139.04, Y:-38.08, Z:-10.04 [[ 8.93546178e-01 4.09075242e-01 1.85020738e-01 1.39038834e+02] [-4.01479983e-01 9.12491545e-01 -7.85684672e-02 -3.80815587e+01] [-2.00970274e-01 -4.07756897e-03 9.79588854e-01 -1.00444545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.766875 meters 0.01681092104488416 Centerline is valid? [True, True] Translation: X:139.07, Y:-38.09, Z:-10.05 [[ 8.93741045e-01 4.08554067e-01 1.85230988e-01 1.39066612e+02] [-4.00919295e-01 9.12725723e-01 -7.87113270e-02 -3.80942827e+01] [-2.01222920e-01 -3.91513353e-03 9.79537650e-01 -1.00515983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.796875 meters 0.01681092104488416 Centerline is valid? [True, True] Translation: X:139.10, Y:-38.11, Z:-10.06 [[ 8.93631230e-01 4.08802094e-01 1.85213587e-01 1.39095684e+02] [-4.01164113e-01 9.12614616e-01 -7.87522517e-02 -3.81067433e+01] [-2.01222712e-01 -3.92557278e-03 9.79537651e-01 -1.00585537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.826875 meters 0.016597513595314774 Centerline is valid? [True, True] Translation: X:139.12, Y:-38.12, Z:-10.07 [[ 8.93691123e-01 4.08520800e-01 1.85544961e-01 1.39123573e+02] [-4.00836733e-01 9.12741046e-01 -7.89537637e-02 -3.81204549e+01] [-2.01608757e-01 -3.81295833e-03 9.79458713e-01 -1.00654704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.856875 meters 0.016312194911775824 Centerline is valid? [True, True] Translation: X:139.15, Y:-38.14, Z:-10.07 [[ 8.93708588e-01 4.08519831e-01 1.85462955e-01 1.39151528e+02] [-4.00831830e-01 9.12741690e-01 -7.89712012e-02 -3.81351456e+01] [-2.01541073e-01 -3.76221498e-03 9.79472839e-01 -1.00733818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.886875 meters 0.01639091868210649 Centerline is valid? [True, True] Translation: X:139.18, Y:-38.15, Z:-10.08 [[ 8.93522840e-01 4.09069176e-01 1.85146816e-01 1.39180445e+02] [-4.01406766e-01 9.12495369e-01 -7.88974679e-02 -3.81488923e+01] [-2.01220134e-01 -3.82249491e-03 9.79538588e-01 -1.00807325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.916875 meters 0.016739482142964217 Centerline is valid? [True, True] Translation: X:139.21, Y:-38.16, Z:-10.09 [[ 8.93114284e-01 4.10022014e-01 1.85010332e-01 1.39208836e+02] [-4.02378504e-01 9.12066958e-01 -7.89012264e-02 -3.81616102e+01] [-2.01093051e-01 -3.97636831e-03 9.79564073e-01 -1.00879004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.946875 meters 0.017480473652160433 Centerline is valid? [True, True] Translation: X:139.24, Y:-38.17, Z:-10.10 [[ 8.92569563e-01 4.11676244e-01 1.83962620e-01 1.39236853e+02] [-4.04143437e-01 9.11320150e-01 -7.85090226e-02 -3.81721208e+01] [-1.99969142e-01 -4.27252141e-03 9.79792880e-01 -1.00961684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.976875 meters 0.01776072353855799 Centerline is valid? [True, True] Translation: X:139.27, Y:-38.18, Z:-10.10 [[ 8.92328246e-01 4.12345987e-01 1.83633024e-01 1.39265456e+02] [-4.04849154e-01 9.11016746e-01 -7.83941999e-02 -3.81838120e+01] [-1.99618294e-01 -4.39031563e-03 9.79863900e-01 -1.01037699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00687499999998 meters 0.0174502783354889 Centerline is valid? [True, True] Translation: X:139.29, Y:-38.20, Z:-10.11 [[ 8.92749798e-01 4.11544194e-01 1.83382590e-01 1.39293481e+02] [-4.04040592e-01 9.11380328e-01 -7.83396378e-02 -3.81968936e+01] [-1.99371508e-01 -4.15631443e-03 9.79915163e-01 -1.01107986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03687499999998 meters 0.016673867860395857 Centerline is valid? [True, True] Translation: X:139.32, Y:-38.21, Z:-10.12 [[ 8.93878723e-01 4.09295991e-01 1.82914243e-01 1.39320954e+02] [-4.01773838e-01 9.12394574e-01 -7.81915876e-02 -3.82108250e+01] [-1.98893467e-01 -3.59636126e-03 9.80014518e-01 -1.01174835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06687499999998 meters 0.016398974937230446 Centerline is valid? [True, True] Translation: X:139.35, Y:-38.22, Z:-10.12 [[ 8.94075175e-01 4.08320077e-01 1.84131191e-01 1.39348954e+02] [-4.00665297e-01 9.12832662e-01 -7.87645335e-02 -3.82239319e+01] [-2.00242105e-01 -3.35356400e-03 9.79740707e-01 -1.01228188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09687499999998 meters 0.016369554868091267 Centerline is valid? [True, True] Translation: X:139.38, Y:-38.24, Z:-10.13 [[ 8.93914091e-01 4.08629439e-01 1.84226977e-01 1.39378223e+02] [-4.00963475e-01 9.12694117e-01 -7.88526485e-02 -3.82362879e+01] [-2.00364392e-01 -3.38079533e-03 9.79715612e-01 -1.01292381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12687499999998 meters 0.015915916549035538 Centerline is valid? [True, True] Translation: X:139.41, Y:-38.25, Z:-10.14 [[ 8.93786197e-01 4.08650702e-01 1.84799452e-01 1.39407278e+02] [-4.00924817e-01 9.12684743e-01 -7.91571270e-02 -3.82486129e+01] [-2.01011256e-01 -3.34113881e-03 9.79583234e-01 -1.01355910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15687499999999 meters 0.015543375034271986 Centerline is valid? [True, True] Translation: X:139.44, Y:-38.26, Z:-10.14 [[ 8.93595192e-01 4.08861683e-01 1.85255923e-01 1.39437326e+02] [-4.01090856e-01 9.12590222e-01 -7.94053639e-02 -3.82611316e+01] [-2.01528555e-01 -3.34820548e-03 9.79476917e-01 -1.01421380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.186875 meters 0.015864587342591812 Centerline is valid? [True, True] Translation: X:139.47, Y:-38.27, Z:-10.15 [[ 8.93138991e-01 4.09381210e-01 1.86305575e-01 1.39465932e+02] [-4.01519394e-01 9.12356990e-01 -7.99180714e-02 -3.82719990e+01] [-2.02694151e-01 -3.42735610e-03 9.79236097e-01 -1.01493051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.216875 meters 0.015919059772015055 Centerline is valid? [True, True] Translation: X:139.50, Y:-38.28, Z:-10.16 [[ 8.92756300e-01 4.10120937e-01 1.86512748e-01 1.39495400e+02] [-4.02247247e-01 9.12024226e-01 -8.00560076e-02 -3.82842550e+01] [-2.02936790e-01 -3.55373428e-03 9.79185391e-01 -1.01552793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.246875 meters 0.014683760614472942 Centerline is valid? [True, True] Translation: X:139.52, Y:-38.30, Z:-10.16 [[ 8.94469386e-01 4.05867301e-01 1.87606641e-01 1.39522216e+02] [-3.97794321e-01 9.13928474e-01 -8.05879873e-02 -3.82993427e+01] [-2.04167080e-01 -2.54536894e-03 9.78932748e-01 -1.01598430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.276875 meters 0.014157532715576132 Centerline is valid? [True, True] Translation: X:139.55, Y:-38.31, Z:-10.17 [[ 8.95198887e-01 4.04360002e-01 1.87381807e-01 1.39550698e+02] [-3.96263912e-01 9.14597370e-01 -8.05392010e-02 -3.83128590e+01] [-2.03945740e-01 -2.15404493e-03 9.78979824e-01 -1.01658313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.306875 meters 0.014152324841177266 Centerline is valid? [True, True] Translation: X:139.58, Y:-38.32, Z:-10.17 [[ 8.95635293e-01 4.03454983e-01 1.87247158e-01 1.39578296e+02] [-3.95339614e-01 9.14997533e-01 -8.05363534e-02 -3.83238430e+01] [-2.03823481e-01 -1.89501890e-03 9.79005821e-01 -1.01735869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.336875 meters 0.013608606432373454 Centerline is valid? [True, True] Translation: X:139.61, Y:-38.34, Z:-10.18 [[ 8.96591394e-01 4.02193343e-01 1.85376341e-01 1.39607257e+02] [-3.94208557e-01 9.15553420e-01 -7.97593210e-02 -3.83351978e+01] [-2.01800611e-01 -1.56541904e-03 9.79425374e-01 -1.01832339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.366875 meters 0.013755194559949781 Centerline is valid? [True, True] Translation: X:139.64, Y:-38.35, Z:-10.19 [[ 8.96941829e-01 4.01934561e-01 1.84238878e-01 1.39635222e+02] [-3.94030188e-01 9.15667264e-01 -7.93326744e-02 -3.83457799e+01] [-2.00588053e-01 -1.43888580e-03 9.79674621e-01 -1.01928648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.396875 meters 0.013512663203603881 Centerline is valid? [True, True] Translation: X:139.67, Y:-38.36, Z:-10.20 [[ 8.97333945e-01 4.01383392e-01 1.83529733e-01 1.39665088e+02] [-3.93518939e-01 9.15909261e-01 -7.90763597e-02 -3.83583242e+01] [-1.99836520e-01 -1.26452425e-03 9.79828437e-01 -1.02008934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.426875 meters 0.013478910127328577 Centerline is valid? [True, True] Translation: X:139.69, Y:-38.37, Z:-10.21 [[ 8.97496204e-01 4.01096061e-01 1.83364428e-01 1.39694656e+02] [-3.93227664e-01 9.16035285e-01 -7.90655476e-02 -3.83712639e+01] [-1.99681166e-01 -1.14293680e-03 9.79860258e-01 -1.02080928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.456875 meters 0.013263610373183075 Centerline is valid? [True, True] Translation: X:139.72, Y:-38.38, Z:-10.21 [[ 8.97877790e-01 4.00054891e-01 1.83770396e-01 1.39723147e+02] [-3.92117150e-01 9.16490781e-01 -7.93018872e-02 -3.83848090e+01] [-2.00148982e-01 -8.56120810e-04 9.79765100e-01 -1.02129524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.486875 meters 0.01334107670591413 Centerline is valid? [True, True] Translation: X:139.75, Y:-38.40, Z:-10.22 [[ 8.97735564e-01 3.99863117e-01 1.84879273e-01 1.39751270e+02] [-3.91813274e-01 9.16574545e-01 -7.98339584e-02 -3.83969476e+01] [-2.01378291e-01 -7.68369504e-04 9.79513243e-01 -1.02185936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.516875 meters 0.01321841790507039 Centerline is valid? [True, True] Translation: X:139.78, Y:-38.41, Z:-10.22 [[ 8.97495973e-01 3.99752835e-01 1.86275736e-01 1.39780500e+02] [-3.91567022e-01 9.16622701e-01 -8.04865853e-02 -3.84092336e+01] [-2.02919309e-01 -7.03049037e-04 9.79195210e-01 -1.02241729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.546875 meters 0.013231535598728226 Centerline is valid? [True, True] Translation: X:139.81, Y:-38.42, Z:-10.23 [[ 8.96728135e-01 4.00523895e-01 1.88306297e-01 1.39809991e+02] [-3.92162263e-01 9.16285932e-01 -8.14177541e-02 -3.84208048e+01] [-2.05152167e-01 -8.37032797e-04 9.78729732e-01 -1.02288336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.576875 meters 0.013272432679363705 Centerline is valid? [True, True] Translation: X:139.84, Y:-38.43, Z:-10.24 [[ 8.96013286e-01 4.01789043e-01 1.89012585e-01 1.39838762e+02] [-3.93380305e-01 9.15731619e-01 -8.17773640e-02 -3.84323526e+01] [-2.05942049e-01 -1.08022365e-03 9.78563593e-01 -1.02350440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.606875 meters 0.013510627784316546 Centerline is valid? [True, True] Translation: X:139.87, Y:-38.44, Z:-10.24 [[ 8.95008547e-01 4.03755350e-01 1.89581957e-01 1.39869191e+02] [-3.95326774e-01 9.14865792e-01 -8.20812115e-02 -3.84439181e+01] [-2.06582775e-01 -1.48343746e-03 9.78428003e-01 -1.02419749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.636875 meters 0.013797099548842675 Centerline is valid? [True, True] Translation: X:139.90, Y:-38.45, Z:-10.25 [[ 8.93983815e-01 4.06053761e-01 1.89507998e-01 1.39898887e+02] [-3.97669816e-01 9.13847098e-01 -8.21108966e-02 -3.84546447e+01] [-2.06522772e-01 -1.95579808e-03 9.78439839e-01 -1.02487444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.666875 meters 0.015211912750124991 Centerline is valid? [True, True] Translation: X:139.93, Y:-38.46, Z:-10.26 [[ 8.91836255e-01 4.11288906e-01 1.88333562e-01 1.39928153e+02] [-4.03113590e-01 9.11499779e-01 -8.16552912e-02 -3.84619141e+01] [-2.05249916e-01 -3.09666946e-03 9.78704696e-01 -1.02573040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.696875 meters 0.015454969356166992 Centerline is valid? [True, True] Translation: X:139.96, Y:-38.47, Z:-10.26 [[ 8.90715065e-01 4.13794311e-01 1.88151379e-01 1.39957387e+02] [-4.05679915e-01 9.10363187e-01 -8.16252083e-02 -3.84729331e+01] [-2.05062136e-01 -3.62443293e-03 9.78742246e-01 -1.02645354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.726875 meters 0.016406708982233363 Centerline is valid? [True, True] Translation: X:139.99, Y:-38.48, Z:-10.27 [[ 8.89574738e-01 4.16522330e-01 1.87525822e-01 1.39986438e+02] [-4.08510816e-01 9.09115841e-01 -8.14082339e-02 -3.84822577e+01] [-2.04391043e-01 -4.18761836e-03 9.78880363e-01 -1.02724983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75687499999998 meters 0.017251469679224432 Centerline is valid? [True, True] Translation: X:140.02, Y:-38.49, Z:-10.28 [[ 8.88533442e-01 4.18823120e-01 1.87337975e-01 1.40016246e+02] [-4.10867516e-01 9.08055859e-01 -8.13783788e-02 -3.84919605e+01] [-2.04196493e-01 -4.66367746e-03 9.78918813e-01 -1.02800846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78687499999998 meters 0.017987426626690343 Centerline is valid? [True, True] Translation: X:140.05, Y:-38.50, Z:-10.29 [[ 8.87060019e-01 4.22226234e-01 1.86680288e-01 1.40046098e+02] [-4.14397581e-01 9.06474345e-01 -8.11104540e-02 -3.85025811e+01] [-2.03467853e-01 -5.41001881e-03 9.79066680e-01 -1.02870814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81687499999998 meters 0.018987411556436014 Centerline is valid? [True, True] Translation: X:140.07, Y:-38.51, Z:-10.29 [[ 8.86624040e-01 4.23393082e-01 1.86107791e-01 1.40074506e+02] [-4.15628852e-01 9.05928661e-01 -8.09068531e-02 -3.85128413e+01] [-2.02855784e-01 -5.61780662e-03 9.79192510e-01 -1.02943863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84687499999998 meters 0.021619598643061764 Centerline is valid? [True, True] Translation: X:140.10, Y:-38.52, Z:-10.30 [[ 8.86752624e-01 4.23513995e-01 1.85217924e-01 1.40103983e+02] [-4.15816469e-01 9.05872439e-01 -8.05716350e-02 -3.85208952e+01] [-2.01907028e-01 -5.56955428e-03 9.79388857e-01 -1.03039339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87687499999998 meters 0.01736072593537929 Centerline is valid? [True, True] Translation: X:140.13, Y:-38.54, Z:-10.31 [[ 8.88395147e-01 4.20079009e-01 1.85169352e-01 1.40129547e+02] [-4.12305794e-01 9.07475049e-01 -8.05789543e-02 -3.85416088e+01] [-2.01886094e-01 -4.76044478e-03 9.79397439e-01 -1.03080982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90687499999999 meters 0.017158319057934433 Centerline is valid? [True, True] Translation: X:140.16, Y:-38.56, Z:-10.31 [[ 8.88996074e-01 4.18615326e-01 1.85599537e-01 1.40156894e+02] [-4.10763114e-01 9.08153038e-01 -8.08190807e-02 -3.85550250e+01] [-2.02384889e-01 -4.38959852e-03 9.79296221e-01 -1.03135778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.936875 meters 0.016537757259353542 Centerline is valid? [True, True] Translation: X:140.19, Y:-38.57, Z:-10.32 [[ 8.89679493e-01 4.16942360e-01 1.86089949e-01 1.40185526e+02] [-4.09005421e-01 9.08924169e-01 -8.10643030e-02 -3.85694709e+01] [-2.02940794e-01 -3.99055009e-03 9.79182879e-01 -1.03197358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.966875 meters 0.016134807509197893 Centerline is valid? [True, True] Translation: X:140.21, Y:-38.58, Z:-10.33 [[ 8.89985709e-01 4.16054999e-01 1.86611030e-01 1.40213574e+02] [-4.08050172e-01 9.09331583e-01 -8.13088547e-02 -3.85830234e+01] [-2.03520259e-01 -3.78294420e-03 9.79063427e-01 -1.03266323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.996875 meters 0.015458140144743737 Centerline is valid? [True, True] Translation: X:140.24, Y:-38.60, Z:-10.33 [[ 8.90388998e-01 4.14839845e-01 1.87390860e-01 1.40241891e+02] [-4.06729382e-01 9.09887829e-01 -8.17028074e-02 -3.85972473e+01] [-2.04398243e-01 -3.47008796e-03 9.78881666e-01 -1.03332906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.026875 meters 0.015785829821965032 Centerline is valid? [True, True] Translation: X:140.27, Y:-38.61, Z:-10.34 [[ 8.90258418e-01 4.15023715e-01 1.87604012e-01 1.40270110e+02] [-4.06887190e-01 9.09803993e-01 -8.18505274e-02 -3.86092015e+01] [-2.04652789e-01 -3.46554820e-03 9.78828497e-01 -1.03403152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.056875 meters 0.015819958263858847 Centerline is valid? [True, True] Translation: X:140.30, Y:-38.62, Z:-10.35 [[ 8.89896362e-01 4.15523114e-01 1.88215319e-01 1.40299507e+02] [-4.07331596e-01 9.09575740e-01 -8.21762966e-02 -3.86220919e+01] [-2.05342239e-01 -3.53765890e-03 9.78683836e-01 -1.03467674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.086875 meters 0.016000270737482638 Centerline is valid? [True, True] Translation: X:140.33, Y:-38.64, Z:-10.35 [[ 8.89420822e-01 4.16427907e-01 1.88463259e-01 1.40328676e+02] [-4.08221551e-01 9.09161237e-01 -8.23468920e-02 -3.86351492e+01] [-2.05635034e-01 -3.69372368e-03 9.78621780e-01 -1.03527912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.116875 meters 0.0169490493485951 Centerline is valid? [True, True] Translation: X:140.36, Y:-38.65, Z:-10.36 [[ 8.88347372e-01 4.18507463e-01 1.88919162e-01 1.40357190e+02] [-4.10294070e-01 9.08203983e-01 -8.26093342e-02 -3.86463853e+01] [-2.06149759e-01 -4.12662701e-03 9.78511752e-01 -1.03583865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.146875 meters 0.01764567745872219 Centerline is valid? [True, True] Translation: X:140.39, Y:-38.66, Z:-10.36 [[ 8.87768861e-01 4.19720476e-01 1.88947535e-01 1.40385509e+02] [-4.11521178e-01 9.07642931e-01 -8.26718153e-02 -3.86569050e+01] [-2.06195948e-01 -4.36244902e-03 9.78500996e-01 -1.03648404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.176875 meters 0.019349350399987572 Centerline is valid? [True, True] Translation: X:140.41, Y:-38.67, Z:-10.37 [[ 8.86108603e-01 4.23180547e-01 1.89023197e-01 1.40414384e+02] [-4.15041642e-01 9.06030897e-01 -8.27553529e-02 -3.86655817e+01] [-2.06281312e-01 -5.12226781e-03 9.78479322e-01 -1.03715027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.206875 meters 0.020466685690025146 Centerline is valid? [True, True] Translation: X:140.44, Y:-38.68, Z:-10.38 [[ 8.85287390e-01 4.25076959e-01 1.88615523e-01 1.40444122e+02] [-4.17010586e-01 9.05140333e-01 -8.26023570e-02 -3.86759251e+01] [-2.05835876e-01 -5.52784483e-03 9.78570915e-01 -1.03789297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.236875 meters 0.020970609718092375 Centerline is valid? [True, True] Translation: X:140.47, Y:-38.69, Z:-10.39 [[ 8.84435711e-01 4.27058475e-01 1.88134344e-01 1.40473084e+02] [-4.19066916e-01 9.04204599e-01 -8.24437004e-02 -3.86869304e+01] [-2.05320220e-01 -5.92472641e-03 9.78676915e-01 -1.03866857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.266875 meters 0.020563596475801752 Centerline is valid? [True, True] Translation: X:140.50, Y:-38.70, Z:-10.39 [[ 8.83483340e-01 4.28941558e-01 1.88325056e-01 1.40501633e+02] [-4.20964620e-01 9.03310137e-01 -8.25807777e-02 -3.86984365e+01] [-2.05538260e-01 -6.31944432e-03 9.78628677e-01 -1.03937066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.296875 meters 0.02264269213955849 Centerline is valid? [True, True] Translation: X:140.53, Y:-38.71, Z:-10.40 [[ 8.83551470e-01 4.28962681e-01 1.87956957e-01 1.40531871e+02] [-4.21006752e-01 9.03300497e-01 -8.24713749e-02 -3.87074892e+01] [-2.05158755e-01 -6.26344357e-03 9.78708667e-01 -1.04014970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.326875 meters 0.021911193151062075 Centerline is valid? [True, True] Translation: X:140.56, Y:-38.72, Z:-10.41 [[ 8.84667835e-01 4.26904701e-01 1.87390496e-01 1.40559177e+02] [-4.18943128e-01 9.04278459e-01 -8.22625280e-02 -3.87206913e+01] [-2.04571449e-01 -5.73094805e-03 9.78834858e-01 -1.04084242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.356875 meters 0.02107947775575201 Centerline is valid? [True, True] Translation: X:140.59, Y:-38.73, Z:-10.41 [[ 8.85144931e-01 4.25962129e-01 1.87282447e-01 1.40587721e+02] [-4.17983052e-01 9.04724375e-01 -8.22433788e-02 -3.87346421e+01] [-2.04471560e-01 -5.48357884e-03 9.78857146e-01 -1.04149707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.386875 meters 0.020439709631126537 Centerline is valid? [True, True] Translation: X:140.62, Y:-38.75, Z:-10.42 [[ 8.85618129e-01 4.24762969e-01 1.87768341e-01 1.40616733e+02] [-4.16704282e-01 9.05289828e-01 -8.25098033e-02 -3.87482969e+01] [-2.05031878e-01 -5.17169410e-03 9.78741632e-01 -1.04213071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.416875 meters 0.019744086904335156 Centerline is valid? [True, True] Translation: X:140.64, Y:-38.76, Z:-10.43 [[ 8.85983043e-01 4.23758463e-01 1.88315728e-01 1.40644922e+02] [-4.15626226e-01 9.05761767e-01 -8.27675161e-02 -3.87620944e+01] [-2.05642622e-01 -4.93833980e-03 9.78614697e-01 -1.04270798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.446875 meters 0.019316263159430677 Centerline is valid? [True, True] Translation: X:140.67, Y:-38.78, Z:-10.43 [[ 8.86416061e-01 4.22707732e-01 1.88639178e-01 1.40673087e+02] [-4.14512922e-01 9.06254104e-01 -8.29610574e-02 -3.87753112e+01] [-2.06023310e-01 -4.65536313e-03 9.78536010e-01 -1.04337235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.476875 meters 0.01704151387597697 Centerline is valid? [True, True] Translation: X:140.70, Y:-38.79, Z:-10.44 [[ 8.86829103e-01 4.21688626e-01 1.88978427e-01 1.40700480e+02] [-4.13430445e-01 9.06730125e-01 -8.31609734e-02 -3.87917269e+01] [-2.06420469e-01 -4.37986364e-03 9.78453579e-01 -1.04389993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50687499999998 meters 0.016757679730202618 Centerline is valid? [True, True] Translation: X:140.73, Y:-38.80, Z:-10.44 [[ 8.86998407e-01 4.20553673e-01 1.90705100e-01 1.40728699e+02] [-4.12104507e-01 9.07258382e-01 -8.39767970e-02 -3.88042143e+01] [-2.08335551e-01 -4.10314616e-03 9.78048804e-01 -1.04443227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53687499999998 meters 0.016145179976957764 Centerline is valid? [True, True] Translation: X:140.76, Y:-38.82, Z:-10.45 [[ 8.87236910e-01 4.19838265e-01 1.91171381e-01 1.40757221e+02] [-4.11319976e-01 9.07590568e-01 -8.42332390e-02 -3.88177707e+01] [-2.08869679e-01 -3.89776924e-03 9.77935716e-01 -1.04507908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56687499999998 meters 0.015732292655335066 Centerline is valid? [True, True] Translation: X:140.79, Y:-38.83, Z:-10.46 [[ 8.87346832e-01 4.19496643e-01 1.91410990e-01 1.40785652e+02] [-4.10936995e-01 9.07749056e-01 -8.43945343e-02 -3.88306042e+01] [-2.09156369e-01 -3.77063431e-03 9.77874939e-01 -1.04570974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59687499999998 meters 0.016049086871463947 Centerline is valid? [True, True] Translation: X:140.81, Y:-38.84, Z:-10.46 [[ 8.87075673e-01 4.19915020e-01 1.91750166e-01 1.40814891e+02] [-4.11322227e-01 9.07555372e-01 -8.46006612e-02 -3.88421064e+01] [-2.09548982e-01 -3.82391700e-03 9.77790674e-01 -1.04638889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62687499999998 meters 0.015939425481976757 Centerline is valid? [True, True] Translation: X:140.84, Y:-38.85, Z:-10.47 [[ 8.86847691e-01 4.20304690e-01 1.91950879e-01 1.40844904e+02] [-4.11689754e-01 9.07374805e-01 -8.47496927e-02 -3.88549642e+01] [-2.09792084e-01 -3.86414072e-03 9.77738385e-01 -1.04703987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65687499999999 meters 0.016104388547026408 Centerline is valid? [True, True] Translation: X:140.87, Y:-38.87, Z:-10.48 [[ 8.86613270e-01 4.21275096e-01 1.90903648e-01 1.40873901e+02] [-4.12763464e-01 9.06924034e-01 -8.43511669e-02 -3.88666889e+01] [-2.08670152e-01 -4.01118694e-03 9.77977851e-01 -1.04777726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.686875 meters 0.016104388547026408 Centerline is valid? [True, True] Translation: X:140.90, Y:-38.88, Z:-10.48 [[ 8.86498001e-01 4.21526899e-01 1.90883124e-01 1.40902792e+02] [-4.13011045e-01 9.06806994e-01 -8.43975849e-02 -3.88795593e+01] [-2.08670005e-01 -4.01854837e-03 9.77977853e-01 -1.04847292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.716875 meters 0.01621068765492626 Centerline is valid? [True, True] Translation: X:140.93, Y:-38.89, Z:-10.49 [[ 8.86336343e-01 4.22143778e-01 1.90269593e-01 1.40931552e+02] [-4.13683658e-01 9.06519661e-01 -8.41898800e-02 -3.88916644e+01] [-2.08023361e-01 -4.09087066e-03 9.78115303e-01 -1.04925001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.746875 meters 0.016305470263469467 Centerline is valid? [True, True] Translation: X:140.96, Y:-38.90, Z:-10.50 [[ 8.86198730e-01 4.22615929e-01 1.89862021e-01 1.40960988e+02] [-4.14191403e-01 9.06299413e-01 -8.40645918e-02 -3.89035981e+01] [-2.07598873e-01 -4.14128213e-03 9.78205274e-01 -1.05004978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.776875 meters 0.016445730096437006 Centerline is valid? [True, True] Translation: X:140.99, Y:-38.92, Z:-10.51 [[ 8.85914046e-01 4.23239088e-01 1.89802469e-01 1.40990863e+02] [-4.14820638e-01 9.06008169e-01 -8.41013396e-02 -3.89157876e+01] [-2.07557561e-01 -4.22742299e-03 9.78213672e-01 -1.05081776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.806875 meters 0.016824267995121715 Centerline is valid? [True, True] Translation: X:141.02, Y:-38.93, Z:-10.51 [[ 8.85446468e-01 4.24487970e-01 1.89194385e-01 1.41020273e+02] [-4.16138708e-01 9.05422659e-01 -8.38950806e-02 -3.89277201e+01] [-2.06913335e-01 -4.44650386e-03 9.78349171e-01 -1.05148838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.836875 meters 0.017598874841905164 Centerline is valid? [True, True] Translation: X:141.05, Y:-38.94, Z:-10.52 [[ 8.84967546e-01 4.25307182e-01 1.89594945e-01 1.41049170e+02] [-4.16928989e-01 9.05037386e-01 -8.41281709e-02 -3.89383112e+01] [-2.07370829e-01 -4.59692788e-03 9.78251607e-01 -1.05210773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.866875 meters 0.01719765005437595 Centerline is valid? [True, True] Translation: X:141.08, Y:-38.95, Z:-10.53 [[ 8.84555408e-01 4.26295179e-01 1.89299107e-01 1.41077522e+02] [-4.17955047e-01 9.04571517e-01 -8.40473038e-02 -3.89518814e+01] [-2.07063541e-01 -4.77401997e-03 9.78315848e-01 -1.05277152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.896875 meters 0.018016768655596812 Centerline is valid? [True, True] Translation: X:141.11, Y:-38.96, Z:-10.53 [[ 8.83951549e-01 4.27527753e-01 1.89340118e-01 1.41106255e+02] [-4.19200029e-01 9.03988330e-01 -8.41215490e-02 -3.89627968e+01] [-2.07125553e-01 -5.01200930e-03 9.78301531e-01 -1.05341349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.926875 meters 0.01810845718757642 Centerline is valid? [True, True] Translation: X:141.14, Y:-38.98, Z:-10.54 [[ 8.82798384e-01 4.30157320e-01 1.88763591e-01 1.41135008e+02] [-4.21929265e-01 9.02736798e-01 -8.39164416e-02 -3.89754052e+01] [-2.06501112e-01 -5.56358421e-03 9.78430548e-01 -1.05403536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.956875 meters 0.01974664188522123 Centerline is valid? [True, True] Translation: X:141.16, Y:-38.98, Z:-10.55 [[ 8.82044037e-01 4.31892779e-01 1.88326695e-01 1.41163792e+02] [-4.23730640e-01 9.01905628e-01 -8.37769856e-02 -3.89847639e+01] [-2.06035581e-01 -5.90480042e-03 9.78526685e-01 -1.05481582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.986875 meters 0.01948142175295845 Centerline is valid? [True, True] Translation: X:141.19, Y:-39.00, Z:-10.55 [[ 8.81095843e-01 4.33933210e-01 1.88074678e-01 1.41192039e+02] [-4.25828082e-01 9.00922840e-01 -8.37166738e-02 -3.89975012e+01] [-2.05768218e-01 -6.32506620e-03 9.78580316e-01 -1.05546466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.016875 meters 0.021209989115384544 Centerline is valid? [True, True] Translation: X:141.22, Y:-39.01, Z:-10.56 [[ 8.79158706e-01 4.37860045e-01 1.88038695e-01 1.41222160e+02] [-4.29835511e-01 8.99014369e-01 -8.37531930e-02 -3.90064944e+01] [-2.05721665e-01 -7.19335961e-03 9.78584106e-01 -1.05609419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.046875 meters 0.021957371329960597 Centerline is valid? [True, True] Translation: X:141.25, Y:-39.02, Z:-10.57 [[ 8.78560868e-01 4.39167793e-01 1.87782988e-01 1.41251692e+02] [-4.31183918e-01 8.98374239e-01 -8.36908342e-02 -3.90176816e+01] [-2.05453718e-01 -7.44151257e-03 9.78638541e-01 -1.05683648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.076875 meters 0.021287073241348094 Centerline is valid? [True, True] Translation: X:141.28, Y:-39.03, Z:-10.58 [[ 8.78086875e-01 4.40305282e-01 1.87335792e-01 1.41280072e+02] [-4.32373557e-01 8.97815645e-01 -8.35474399e-02 -3.90304855e+01] [-2.04979384e-01 -7.63713240e-03 9.78736495e-01 -1.05754936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.106875 meters 0.023553557151854875 Centerline is valid? [True, True] Translation: X:141.31, Y:-39.04, Z:-10.58 [[ 8.77168418e-01 4.42080616e-01 1.87457448e-01 1.41310023e+02] [-4.34166321e-01 8.96939610e-01 -8.36596781e-02 -3.90383825e+01] [-2.05122332e-01 -8.00408309e-03 9.78703614e-01 -1.05829211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.136875 meters 0.022579253044822233 Centerline is valid? [True, True] Translation: X:141.34, Y:-39.05, Z:-10.59 [[ 8.76815049e-01 4.42743500e-01 1.87546160e-01 1.41338329e+02] [-4.34825109e-01 8.96611607e-01 -8.37541121e-02 -3.90523045e+01] [-2.05237653e-01 -8.11291352e-03 9.78678541e-01 -1.05888324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.166875 meters 0.023526049640913163 Centerline is valid? [True, True] Translation: X:141.37, Y:-39.06, Z:-10.60 [[ 8.76734501e-01 4.43044675e-01 1.87211194e-01 1.41367077e+02] [-4.35157651e-01 8.96462479e-01 -8.36232178e-02 -3.90630392e+01] [-2.04876632e-01 -8.15102321e-03 9.78753864e-01 -1.05963281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.196875 meters 0.024028332927786274 Centerline is valid? [True, True] Translation: X:141.40, Y:-39.08, Z:-10.60 [[ 8.76556570e-01 4.43417624e-01 1.87161400e-01 1.41396025e+02] [-4.35530322e-01 8.96277807e-01 -8.36626061e-02 -3.90750759e+01] [-2.04846083e-01 -8.17945756e-03 9.78760021e-01 -1.06033876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.226875 meters 0.02379424710757791 Centerline is valid? [True, True] Translation: X:141.43, Y:-39.09, Z:-10.61 [[ 8.76554599e-01 4.43573519e-01 1.86800879e-01 1.41425345e+02] [-4.35707884e-01 8.96200979e-01 -8.35610239e-02 -3.90884913e+01] [-2.04476588e-01 -8.14481594e-03 9.78837569e-01 -1.06102853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25687499999998 meters 0.023631933401382137 Centerline is valid? [True, True] Translation: X:141.45, Y:-39.10, Z:-10.62 [[ 8.76540439e-01 4.43603058e-01 1.86797179e-01 1.41453874e+02] [-4.35724968e-01 8.96186831e-01 -8.36236600e-02 -3.91013741e+01] [-2.04500883e-01 -8.09267525e-03 9.78832926e-01 -1.06166785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28687499999998 meters 0.023412414698156903 Centerline is valid? [True, True] Translation: X:141.48, Y:-39.11, Z:-10.62 [[ 8.76373852e-01 4.43834345e-01 1.87029264e-01 1.41483278e+02] [-4.35930033e-01 8.96072187e-01 -8.37833035e-02 -3.91144853e+01] [-2.04777630e-01 -8.10617694e-03 9.78774955e-01 -1.06234985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31687499999998 meters 0.024145206833541256 Centerline is valid? [True, True] Translation: X:141.51, Y:-39.13, Z:-10.63 [[ 8.76320618e-01 4.44092341e-01 1.86665922e-01 1.41511876e+02] [-4.36211212e-01 8.95944494e-01 -8.36853797e-02 -3.91258169e+01] [-2.04406341e-01 -8.09054430e-03 9.78852691e-01 -1.06308421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34687499999998 meters 0.023243257838976517 Centerline is valid? [True, True] Translation: X:141.54, Y:-39.14, Z:-10.64 [[ 8.76436066e-01 4.43879311e-01 1.86630595e-01 1.41539797e+02] [-4.35988363e-01 8.96050832e-01 -8.37081412e-02 -3.91395316e+01] [-2.04386812e-01 -8.00393381e-03 9.78857481e-01 -1.06378353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37687499999998 meters 0.02374412581476429 Centerline is valid? [True, True] Translation: X:141.57, Y:-39.15, Z:-10.65 [[ 8.76749368e-01 4.43443918e-01 1.86193548e-01 1.41567590e+02] [-4.35568807e-01 8.96267905e-01 -8.35682829e-02 -3.91508848e+01] [-2.03937148e-01 -7.83166245e-03 9.78952657e-01 -1.06456353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40687499999999 meters 0.0217839585093027 Centerline is valid? [True, True] Translation: X:141.60, Y:-39.17, Z:-10.65 [[ 8.76888419e-01 4.43526052e-01 1.85341152e-01 1.41595100e+02] [-4.35714824e-01 8.96227826e-01 -8.32362670e-02 -3.91671368e+01] [-2.03025350e-01 -7.76696870e-03 9.79142677e-01 -1.06521403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.436875 meters 0.02225067516643853 Centerline is valid? [True, True] Translation: X:141.62, Y:-39.18, Z:-10.66 [[ 8.77760093e-01 4.42095110e-01 1.84632426e-01 1.41623220e+02] [-4.34299234e-01 8.96938095e-01 -8.29833093e-02 -3.91786178e+01] [-2.02290372e-01 -7.34628406e-03 9.79298033e-01 -1.06607237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.466875 meters 0.02210151137944117 Centerline is valid? [True, True] Translation: X:141.65, Y:-39.19, Z:-10.67 [[ 8.77993569e-01 4.41750343e-01 1.84347302e-01 1.41651274e+02] [-4.33959567e-01 8.97109105e-01 -8.29116905e-02 -3.91920167e+01] [-2.02005911e-01 -7.20334431e-03 9.79357812e-01 -1.06674094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.496875 meters 0.021157331900655593 Centerline is valid? [True, True] Translation: X:141.68, Y:-39.21, Z:-10.67 [[ 8.78334529e-01 4.41331028e-01 1.83726369e-01 1.41679022e+02] [-4.33572857e-01 8.97316819e-01 -8.26867868e-02 -3.92067802e+01] [-2.01353006e-01 -7.03210690e-03 9.79493500e-01 -1.06731666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.526875 meters 0.02127779145860989 Centerline is valid? [True, True] Translation: X:141.71, Y:-39.22, Z:-10.68 [[ 8.78305745e-01 4.41221480e-01 1.84126651e-01 1.41706855e+02] [-4.33414977e-01 8.97371172e-01 -8.29242901e-02 -3.92189384e+01] [-2.01817926e-01 -6.97036785e-03 9.79398253e-01 -1.06795173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.556875 meters 0.021575680919781303 Centerline is valid? [True, True] Translation: X:141.73, Y:-39.23, Z:-10.69 [[ 8.78377232e-01 4.41065208e-01 1.84160039e-01 1.41734757e+02] [-4.33245977e-01 8.97448481e-01 -8.29707629e-02 -3.92306205e+01] [-2.01869664e-01 -6.90696702e-03 9.79388040e-01 -1.06870550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.586875 meters 0.020752577704908674 Centerline is valid? [True, True] Translation: X:141.76, Y:-39.25, Z:-10.69 [[ 8.78649710e-01 4.40060059e-01 1.85261521e-01 1.41762774e+02] [-4.32117852e-01 8.97943421e-01 -8.34971499e-02 -3.92451011e+01] [-2.03098125e-01 -6.69006409e-03 9.79135534e-01 -1.06928070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.616875 meters 0.02036967372507501 Centerline is valid? [True, True] Translation: X:141.79, Y:-39.26, Z:-10.70 [[ 8.78882250e-01 4.39451114e-01 1.85603635e-01 1.41791197e+02] [-4.31454348e-01 8.98242909e-01 -8.37067558e-02 -3.92590519e+01] [-2.03502177e-01 -6.51111372e-03 9.79052843e-01 -1.06993567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.646875 meters 0.020216601481697155 Centerline is valid? [True, True] Translation: X:141.82, Y:-39.27, Z:-10.71 [[ 8.79371171e-01 4.38462686e-01 1.85625476e-01 1.41818147e+02] [-4.30430564e-01 8.98727791e-01 -8.37728360e-02 -3.92721859e+01] [-2.03558036e-01 -6.23146125e-03 9.79043050e-01 -1.07063757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.676875 meters 0.019022514666360138 Centerline is valid? [True, True] Translation: X:141.85, Y:-39.29, Z:-10.71 [[ 8.79761035e-01 4.37639937e-01 1.85719699e-01 1.41845990e+02] [-4.29575186e-01 8.99130183e-01 -8.38455308e-02 -3.92875230e+01] [-2.03680340e-01 -6.01654353e-03 9.79018958e-01 -1.07130538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.706875 meters 0.017890752162919993 Centerline is valid? [True, True] Translation: X:141.87, Y:-39.30, Z:-10.72 [[ 8.81071595e-01 4.34743110e-01 1.86309617e-01 1.41872824e+02] [-4.26550339e-01 9.00538853e-01 -8.41699670e-02 -3.93042458e+01] [-2.04371362e-01 -5.31066295e-03 9.78879024e-01 -1.07197344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.736875 meters 0.01822566763392005 Centerline is valid? [True, True] Translation: X:141.90, Y:-39.32, Z:-10.73 [[ 8.81719555e-01 4.33464635e-01 1.86223084e-01 1.41899992e+02] [-4.25248824e-01 9.01156703e-01 -8.41429400e-02 -3.93172079e+01] [-2.04289169e-01 -5.00067198e-03 9.78897813e-01 -1.07272933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.766875 meters 0.01783829251634721 Centerline is valid? [True, True] Translation: X:141.93, Y:-39.33, Z:-10.73 [[ 8.82015901e-01 4.32765614e-01 1.86445365e-01 1.41927625e+02] [-4.24508167e-01 9.01493607e-01 -8.42739161e-02 -3.93313724e+01] [-2.04550158e-01 -4.81664633e-03 9.78844233e-01 -1.07345757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.796875 meters 0.017097775169954896 Centerline is valid? [True, True] Translation: X:141.96, Y:-39.35, Z:-10.74 [[ 8.82049111e-01 4.32583930e-01 1.86709691e-01 1.41955520e+02] [-4.24287576e-01 9.01581250e-01 -8.44470399e-02 -3.93462095e+01] [-2.04864389e-01 -4.73216558e-03 9.78778928e-01 -1.07419319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.826875 meters 0.017266510380247475 Centerline is valid? [True, True] Translation: X:141.98, Y:-39.36, Z:-10.75 [[ 8.82130126e-01 4.32436426e-01 1.86668631e-01 1.41982425e+02] [-4.24128966e-01 9.01652456e-01 -8.44835453e-02 -3.93594293e+01] [-2.04843992e-01 -4.64609268e-03 9.78783609e-01 -1.07506797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.856875 meters 0.017121115543393142 Centerline is valid? [True, True] Translation: X:142.01, Y:-39.37, Z:-10.76 [[ 8.81984642e-01 4.33014106e-01 1.86015792e-01 1.42010052e+02] [-4.24767495e-01 9.01374803e-01 -8.42379982e-02 -3.93735962e+01] [-2.04146189e-01 -4.71684108e-03 9.78929050e-01 -1.07572506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.886875 meters 0.01723173164975456 Centerline is valid? [True, True] Translation: X:142.04, Y:-39.39, Z:-10.76 [[ 8.81483170e-01 4.33887151e-01 1.86358155e-01 1.42038539e+02] [-4.25617754e-01 9.00954018e-01 -8.44475278e-02 -3.93870298e+01] [-2.04540826e-01 -4.87826497e-03 9.78845878e-01 -1.07644050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.916875 meters 0.017879883140163377 Centerline is valid? [True, True] Translation: X:142.07, Y:-39.40, Z:-10.77 [[ 8.81024697e-01 4.34722698e-01 1.86578829e-01 1.42065989e+02] [-4.26440435e-01 9.00550332e-01 -8.46029275e-02 -3.93985622e+01] [-2.04802440e-01 -5.02748864e-03 9.78790419e-01 -1.07713879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.946875 meters 0.017264650921557323 Centerline is valid? [True, True] Translation: X:142.09, Y:-39.41, Z:-10.78 [[ 8.80594978e-01 4.35707898e-01 1.86309183e-01 1.42093665e+02] [-4.27462747e-01 9.00073044e-01 -8.45228653e-02 -3.94131076e+01] [-2.04519154e-01 -5.20982442e-03 9.78848698e-01 -1.07775928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.976875 meters 0.018115769411287005 Centerline is valid? [True, True] Translation: X:142.12, Y:-39.42, Z:-10.79 [[ 8.79728525e-01 4.37481249e-01 1.86246822e-01 1.42121602e+02] [-4.29269046e-01 8.99210296e-01 -8.45513437e-02 -3.94240769e+01] [-2.04464687e-01 -5.56776662e-03 9.78858106e-01 -1.07850888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00687499999998 meters 0.018553333407170143 Centerline is valid? [True, True] Translation: X:142.15, Y:-39.44, Z:-10.79 [[ 8.79382240e-01 4.38138352e-01 1.86337492e-01 1.42149109e+02] [-4.29921687e-01 8.98889635e-01 -8.46449476e-02 -3.94355618e+01] [-2.04583038e-01 -5.67526542e-03 9.78832760e-01 -1.07922568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03687499999998 meters 0.01757639640566725 Centerline is valid? [True, True] Translation: X:142.18, Y:-39.45, Z:-10.80 [[ 8.79331122e-01 4.37889869e-01 1.87161000e-01 1.42176573e+02] [-4.29583335e-01 8.99011205e-01 -8.50706272e-02 -3.94501557e+01] [-2.05511402e-01 -5.59599659e-03 9.78638722e-01 -1.07989700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06687499999998 meters 0.01836229257142279 Centerline is valid? [True, True] Translation: X:142.20, Y:-39.46, Z:-10.81 [[ 8.79324207e-01 4.37706056e-01 1.87622886e-01 1.42204308e+02] [-4.29341589e-01 8.99101224e-01 -8.53392602e-02 -3.94623285e+01] [-2.06045477e-01 -5.51343049e-03 9.78526884e-01 -1.08052534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09687499999998 meters 0.01791754315221792 Centerline is valid? [True, True] Translation: X:142.23, Y:-39.48, Z:-10.81 [[ 8.79601450e-01 4.36772273e-01 1.88497401e-01 1.42232909e+02] [-4.28300646e-01 8.99556557e-01 -8.57703754e-02 -3.94768664e+01] [-2.07026195e-01 -5.28981198e-03 9.78321099e-01 -1.08116194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12687499999998 meters 0.017541126202686497 Centerline is valid? [True, True] Translation: X:142.26, Y:-39.49, Z:-10.82 [[ 8.79751287e-01 4.36097372e-01 1.89358800e-01 1.42261091e+02] [-4.27527855e-01 8.99884817e-01 -8.61814911e-02 -3.94912196e+01] [-2.07984631e-01 -5.13788365e-03 9.78118600e-01 -1.08177129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15687499999999 meters 0.017675504199305386 Centerline is valid? [True, True] Translation: X:142.29, Y:-39.50, Z:-10.82 [[ 8.79874174e-01 4.35489664e-01 1.90184624e-01 1.42288305e+02] [-4.26818234e-01 9.00180042e-01 -8.66145900e-02 -3.95041737e+01] [-2.08920161e-01 -4.96432430e-03 9.77920100e-01 -1.08234653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.186875 meters 0.017002255715052133 Centerline is valid? [True, True] Translation: X:142.32, Y:-39.52, Z:-10.83 [[ 8.80297341e-01 4.34777590e-01 1.89855309e-01 1.42315481e+02] [-4.26113394e-01 9.00525298e-01 -8.64960299e-02 -3.95194089e+01] [-2.08576044e-01 -4.75766509e-03 9.77994580e-01 -1.08311469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.216875 meters 0.01678767020586266 Centerline is valid? [True, True] Translation: X:142.34, Y:-39.53, Z:-10.84 [[ 8.80255930e-01 4.34935518e-01 1.89685510e-01 1.42344153e+02] [-4.26278717e-01 9.00449129e-01 -8.64743957e-02 -3.95331770e+01] [-2.08412939e-01 -4.73929629e-03 9.78029440e-01 -1.08391048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.246875 meters 0.016977708251894905 Centerline is valid? [True, True] Translation: X:142.37, Y:-39.55, Z:-10.85 [[ 8.80227790e-01 4.35268441e-01 1.89051372e-01 1.42373198e+02] [-4.26663962e-01 9.00288229e-01 -8.62494546e-02 -3.95466355e+01] [-2.07742390e-01 -4.74224037e-03 9.78172076e-01 -1.08473401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.276875 meters 0.016927313178792168 Centerline is valid? [True, True] Translation: X:142.40, Y:-39.56, Z:-10.86 [[ 8.80132495e-01 4.35532463e-01 1.88886910e-01 1.42401570e+02] [-4.26935550e-01 9.00160537e-01 -8.62382962e-02 -3.95609417e+01] [-2.07588120e-01 -4.74140988e-03 9.78204831e-01 -1.08555905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.306875 meters 0.01678120540162869 Centerline is valid? [True, True] Translation: X:142.43, Y:-39.57, Z:-10.86 [[ 8.80241602e-01 4.35371524e-01 1.88749460e-01 1.42429310e+02] [-4.26769972e-01 9.00238912e-01 -8.62397326e-02 -3.95749496e+01] [-2.07465932e-01 -4.64080137e-03 9.78231235e-01 -1.08630053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.336875 meters 0.016519591214229752 Centerline is valid? [True, True] Translation: X:142.46, Y:-39.59, Z:-10.87 [[ 8.80860314e-01 4.34597257e-01 1.87644163e-01 1.42455841e+02] [-4.26068087e-01 9.00614257e-01 -8.57901281e-02 -3.95890701e+01] [-2.06279162e-01 -4.38007021e-03 9.78483379e-01 -1.08697167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.366875 meters 0.016328967206363038 Centerline is valid? [True, True] Translation: X:142.48, Y:-39.60, Z:-10.88 [[ 8.81173540e-01 4.34147529e-01 1.87214090e-01 1.42483091e+02] [-4.25637027e-01 9.00831913e-01 -8.56445295e-02 -3.96035282e+01] [-2.05830788e-01 -4.21755558e-03 9.78578509e-01 -1.08772550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.396875 meters 0.016390948770709776 Centerline is valid? [True, True] Translation: X:142.51, Y:-39.62, Z:-10.88 [[ 8.80839888e-01 4.34793942e-01 1.87284060e-01 1.42512253e+02] [-4.26279899e-01 9.00519610e-01 -8.57314432e-02 -3.96171727e+01] [-2.05928481e-01 -4.31975534e-03 9.78557510e-01 -1.08845740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.426875 meters 0.01612763606094029 Centerline is valid? [True, True] Translation: X:142.54, Y:-39.63, Z:-10.89 [[ 8.80595067e-01 4.35263731e-01 1.87344099e-01 1.42541228e+02] [-4.26741454e-01 9.00292374e-01 -8.58217523e-02 -3.96316602e+01] [-2.06019560e-01 -4.37328141e-03 9.78538101e-01 -1.08915818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.456875 meters 0.016446440067912835 Centerline is valid? [True, True] Translation: X:142.57, Y:-39.64, Z:-10.90 [[ 8.80222702e-01 4.35785071e-01 1.87881259e-01 1.42569128e+02] [-4.27211385e-01 9.00039765e-01 -8.61327687e-02 -3.96447116e+01] [-2.06635979e-01 -4.44899461e-03 9.78407777e-01 -1.08977886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.486875 meters 0.01698126207857486 Centerline is valid? [True, True] Translation: X:142.60, Y:-39.66, Z:-10.91 [[ 8.80212887e-01 4.35747379e-01 1.88014613e-01 1.42597256e+02] [-4.27147708e-01 9.00058315e-01 -8.62546488e-02 -3.96574023e+01] [-2.06809353e-01 -4.38755772e-03 9.78371423e-01 -1.09050170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.516875 meters 0.016295811063921407 Centerline is valid? [True, True] Translation: X:142.62, Y:-39.67, Z:-10.91 [[ 8.80401088e-01 4.35369547e-01 1.88008725e-01 1.42623959e+02] [-4.26749334e-01 9.00241826e-01 -8.63114114e-02 -3.96733424e+01] [-2.06830678e-01 -4.24393755e-03 9.78367548e-01 -1.09115050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.546875 meters 0.016111711437275758 Centerline is valid? [True, True] Translation: X:142.65, Y:-39.69, Z:-10.92 [[ 8.80332410e-01 4.35414162e-01 1.88226872e-01 1.42652991e+02] [-4.26762959e-01 9.00220416e-01 -8.64672171e-02 -3.96879682e+01] [-2.07094724e-01 -4.20836337e-03 9.78311844e-01 -1.09181807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.576875 meters 0.01641908303616134 Centerline is valid? [True, True] Translation: X:142.68, Y:-39.70, Z:-10.93 [[ 8.79918367e-01 4.36073637e-01 1.88635760e-01 1.42681596e+02] [-4.27385697e-01 8.99900646e-01 -8.67196244e-02 -3.97007307e+01] [-2.07569584e-01 -4.31403558e-03 9.78210743e-01 -1.09251582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.606875 meters 0.01641908303616134 Centerline is valid? [True, True] Translation: X:142.71, Y:-39.71, Z:-10.93 [[ 8.79799305e-01 4.36323591e-01 1.88613112e-01 1.42710292e+02] [-4.27630780e-01 8.99779463e-01 -8.67688550e-02 -3.97140258e+01] [-2.07569503e-01 -4.31759399e-03 9.78210744e-01 -1.09321170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.636875 meters 0.016324791636596808 Centerline is valid? [True, True] Translation: X:142.74, Y:-39.73, Z:-10.94 [[ 8.79640669e-01 4.36524829e-01 1.88887183e-01 1.42739221e+02] [-4.27797494e-01 8.99681873e-01 -8.69587935e-02 -3.97269634e+01] [-2.07898047e-01 -4.31297216e-03 9.78140992e-01 -1.09393017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.666875 meters 0.014532469405160772 Centerline is valid? [True, True] Translation: X:142.77, Y:-39.74, Z:-10.94 [[ 8.82015980e-01 4.31298533e-01 1.89814085e-01 1.42765637e+02] [-4.22350619e-01 9.02204169e-01 -8.74505135e-02 -3.97424469e+01] [-2.08968337e-01 -3.03534618e-03 9.77917696e-01 -1.09448246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.696875 meters 0.013039819046146107 Centerline is valid? [True, True] Translation: X:142.79, Y:-39.76, Z:-10.95 [[ 8.85014821e-01 4.24485093e-01 1.91209762e-01 1.42792472e+02] [-4.15234550e-01 9.05433865e-01 -8.81463777e-02 -3.97600964e+01] [-2.10544617e-01 -1.38604870e-03 9.77583267e-01 -1.09492833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.726875 meters 0.012948445860245811 Centerline is valid? [True, True] Translation: X:142.82, Y:-39.77, Z:-10.96 [[ 8.85984305e-01 4.22953113e-01 1.90111743e-01 1.42821284e+02] [-4.13763249e-01 9.06151053e-01 -8.76940253e-02 -3.97740526e+01] [-2.09360417e-01 -9.65722397e-04 9.77838066e-01 -1.09579744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75687499999998 meters 0.012759113330961695 Centerline is valid? [True, True] Translation: X:142.85, Y:-39.79, Z:-10.97 [[ 8.86989632e-01 4.21704919e-01 1.88187021e-01 1.42849507e+02] [-4.12661217e-01 9.06732923e-01 -8.68684412e-02 -3.97864088e+01] [-2.07268217e-01 -6.06078445e-04 9.78283966e-01 -1.09682628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78687499999998 meters 0.012769173177534142 Centerline is valid? [True, True] Translation: X:142.88, Y:-39.80, Z:-10.98 [[ 8.88204525e-01 4.20534218e-01 1.85050517e-01 1.42877787e+02] [-4.11755675e-01 9.07276637e-01 -8.54772930e-02 -3.97966881e+01] [-2.03838137e-01 -2.74281975e-04 9.79004565e-01 -1.09806034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81687499999998 meters 0.012821225195035622 Centerline is valid? [True, True] Translation: X:142.91, Y:-39.81, Z:-10.99 [[ 8.88191980e-01 4.20872974e-01 1.84339215e-01 1.42907291e+02] [-4.12158472e-01 9.07119534e-01 -8.52029604e-02 -3.98088178e+01] [-2.03077326e-01 -3.00383131e-04 9.79162657e-01 -1.09887389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84687499999998 meters 0.01287189591879634 Centerline is valid? [True, True] Translation: X:142.94, Y:-39.82, Z:-11.00 [[ 8.87524990e-01 4.22153835e-01 1.84622676e-01 1.42936502e+02] [-4.13426571e-01 9.06524049e-01 -8.53968270e-02 -3.98215054e+01] [-2.03415493e-01 -5.36101702e-04 9.79092360e-01 -1.09950813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87687499999998 meters 0.013244365619380775 Centerline is valid? [True, True] Translation: X:142.97, Y:-39.83, Z:-11.00 [[ 8.85793992e-01 4.25387886e-01 1.85510509e-01 1.42967519e+02] [-4.16632470e-01 9.05010300e-01 -8.58704992e-02 -3.98335951e+01] [-2.04417192e-01 -1.22612929e-03 9.78883092e-01 -1.09981533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90687499999999 meters 0.013527265916320788 Centerline is valid? [True, True] Translation: X:143.00, Y:-39.84, Z:-11.00 [[ 8.84603647e-01 4.27455162e-01 1.86436242e-01 1.42996486e+02] [-4.18643250e-01 9.04035038e-01 -8.63624883e-02 -3.98444390e+01] [-2.05460986e-01 -1.65370210e-03 9.78663910e-01 -1.10040726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.936875 meters 0.013810116158183389 Centerline is valid? [True, True] Translation: X:143.03, Y:-39.86, Z:-11.01 [[ 8.83528333e-01 4.29681875e-01 1.86416659e-01 1.43026484e+02] [-4.20909294e-01 9.02977846e-01 -8.64081971e-02 -3.98552112e+01] [-2.05458149e-01 -2.12041397e-03 9.78663605e-01 -1.10110304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.966875 meters 0.014165289566034984 Centerline is valid? [True, True] Translation: X:143.06, Y:-39.87, Z:-11.02 [[ 8.82527381e-01 4.31734755e-01 1.86414924e-01 1.43056023e+02] [-4.22996165e-01 9.01997012e-01 -8.64617568e-02 -3.98661042e+01] [-2.05474249e-01 -2.54792994e-03 9.78659206e-01 -1.10184324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.996875 meters 0.014769299623262093 Centerline is valid? [True, True] Translation: X:143.08, Y:-39.88, Z:-11.03 [[ 8.81420537e-01 4.33782869e-01 1.86896390e-01 1.43084405e+02] [-4.25032177e-01 9.01012506e-01 -8.67416413e-02 -3.98760207e+01] [-2.06023023e-01 -2.98111543e-03 9.78542604e-01 -1.10261528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.026875 meters 0.015615708262794379 Centerline is valid? [True, True] Translation: X:143.11, Y:-39.89, Z:-11.03 [[ 8.79826667e-01 4.36946990e-01 1.87035728e-01 1.43113653e+02] [-4.28247552e-01 8.99479658e-01 -8.68353506e-02 -3.98867587e+01] [-2.06177277e-01 -3.69753543e-03 9.78507669e-01 -1.10338493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.056875 meters 0.015761820529449678 Centerline is valid? [True, True] Translation: X:143.14, Y:-39.90, Z:-11.04 [[ 8.79322414e-01 4.38010380e-01 1.86919766e-01 1.43141850e+02] [-4.29333979e-01 8.98961482e-01 -8.68365620e-02 -3.99004338e+01] [-2.06068986e-01 -3.89367158e-03 9.78529720e-01 -1.10402488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.086875 meters 0.016101705961813068 Centerline is valid? [True, True] Translation: X:143.17, Y:-39.91, Z:-11.05 [[ 8.79208399e-01 4.38222957e-01 1.86957830e-01 1.43170164e+02] [-4.29535993e-01 8.98857877e-01 -8.69099950e-02 -3.99138110e+01] [-2.06134473e-01 -3.89311945e-03 9.78515929e-01 -1.10469821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.116875 meters 0.0162236437857587 Centerline is valid? [True, True] Translation: X:143.20, Y:-39.93, Z:-11.05 [[ 8.78851539e-01 4.38728709e-01 1.87448908e-01 1.43198727e+02] [-4.29998812e-01 8.98610717e-01 -8.71768315e-02 -3.99285498e+01] [-2.06690576e-01 -3.98731516e-03 9.78398235e-01 -1.10531345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.146875 meters 0.016239133129965874 Centerline is valid? [True, True] Translation: X:143.23, Y:-39.94, Z:-11.06 [[ 8.78472222e-01 4.39272521e-01 1.87952674e-01 1.43227163e+02] [-4.30494021e-01 8.98344644e-01 -8.74745568e-02 -3.99423882e+01] [-2.07271447e-01 -4.06853402e-03 9.78275010e-01 -1.10604908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.176875 meters 0.01736301405214645 Centerline is valid? [True, True] Translation: X:143.26, Y:-39.95, Z:-11.07 [[ 8.78251580e-01 4.39725633e-01 1.87924265e-01 1.43255500e+02] [-4.30946576e-01 8.98122722e-01 -8.75249969e-02 -3.99539903e+01] [-2.07266037e-01 -4.11635180e-03 9.78275956e-01 -1.10684437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.206875 meters 0.016900480730979484 Centerline is valid? [True, True] Translation: X:143.28, Y:-39.97, Z:-11.07 [[ 8.77424316e-01 4.41020994e-01 1.88751296e-01 1.43282612e+02] [-4.32180618e-01 8.97486061e-01 -8.79697872e-02 -3.99701402e+01] [-2.08198180e-01 -4.38782136e-03 9.78076819e-01 -1.10735130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.236875 meters 0.01780664925955158 Centerline is valid? [True, True] Translation: X:143.31, Y:-39.98, Z:-11.08 [[ 8.76744303e-01 4.42025527e-01 1.89559651e-01 1.43311027e+02] [-4.33119522e-01 8.96990703e-01 -8.84033851e-02 -3.99820217e+01] [-2.09109797e-01 -4.59482103e-03 9.77881373e-01 -1.10796877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.266875 meters 0.01794336691995223 Centerline is valid? [True, True] Translation: X:143.34, Y:-40.00, Z:-11.08 [[ 8.75908687e-01 4.43436540e-01 1.90126294e-01 1.43339222e+02] [-4.34502946e-01 8.96292273e-01 -8.86980897e-02 -3.99960386e+01] [-2.09740703e-01 -4.91900781e-03 9.77744671e-01 -1.10848929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.296875 meters 0.019126756018585368 Centerline is valid? [True, True] Translation: X:143.37, Y:-40.01, Z:-11.09 [[ 8.75288631e-01 4.44758200e-01 1.89894589e-01 1.43366859e+02] [-4.35865364e-01 8.95635714e-01 -8.86456556e-02 -4.00074951e+01] [-2.09502258e-01 -5.17793939e-03 9.77794453e-01 -1.10917129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.326875 meters 0.01840071210338567 Centerline is valid? [True, True] Translation: X:143.39, Y:-40.02, Z:-11.10 [[ 8.74753515e-01 4.45945391e-01 1.89575830e-01 1.43394426e+02] [-4.37099295e-01 8.95043845e-01 -8.85478552e-02 -4.00224024e+01] [-2.09166188e-01 -5.40591416e-03 9.77865165e-01 -1.10973483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.356875 meters 0.018404707421988457 Centerline is valid? [True, True] Translation: X:143.42, Y:-40.03, Z:-11.11 [[ 8.75271486e-01 4.45232593e-01 1.88859111e-01 1.43421903e+02] [-4.36425541e-01 8.95400066e-01 -8.82692946e-02 -4.00346159e+01] [-2.08404827e-01 -5.16334312e-03 9.78029022e-01 -1.11061519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.386875 meters 0.01859381588353739 Centerline is valid? [True, True] Translation: X:143.45, Y:-40.05, Z:-11.11 [[ 8.74907481e-01 4.45600471e-01 1.89676357e-01 1.43450960e+02] [-4.36713641e-01 8.95216677e-01 -8.87034244e-02 -4.00479624e+01] [-2.09327726e-01 -5.22696276e-03 9.77831571e-01 -1.11131466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.416875 meters 0.01839759626418327 Centerline is valid? [True, True] Translation: X:143.48, Y:-40.06, Z:-11.12 [[ 8.75197157e-01 4.45420079e-01 1.88761464e-01 1.43479204e+02] [-4.36602014e-01 8.95307179e-01 -8.83387557e-02 -4.00623217e+01] [-2.08347350e-01 -5.09980773e-03 9.78041601e-01 -1.11214828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.446875 meters 0.01755202387831578 Centerline is valid? [True, True] Translation: X:143.51, Y:-40.08, Z:-11.13 [[ 8.75366522e-01 4.45193759e-01 1.88509867e-01 1.43506943e+02] [-4.36380678e-01 8.95420410e-01 -8.82847237e-02 -4.00772891e+01] [-2.08099391e-01 -4.98057236e-03 9.78095004e-01 -1.11288240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.476875 meters 0.018209098838535737 Centerline is valid? [True, True] Translation: X:143.53, Y:-40.09, Z:-11.14 [[ 8.75639605e-01 4.44566705e-01 1.88721292e-01 1.43534617e+02] [-4.35707042e-01 8.95732969e-01 -8.84410650e-02 -4.00890982e+01] [-2.08361836e-01 -4.78469656e-03 9.78040108e-01 -1.11361295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50687499999998 meters 0.0177631761437753 Centerline is valid? [True, True] Translation: X:143.56, Y:-40.10, Z:-11.14 [[ 8.76018255e-01 4.43951524e-01 1.88411947e-01 1.43562104e+02] [-4.35095712e-01 8.96039093e-01 -8.83496766e-02 -4.01045116e+01] [-2.08047444e-01 -4.58130082e-03 9.78108007e-01 -1.11419197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53687499999998 meters 0.018244939644405 Centerline is valid? [True, True] Translation: X:143.59, Y:-40.12, Z:-11.15 [[ 8.75900033e-01 4.44161007e-01 1.88467857e-01 1.43590862e+02] [-4.35300716e-01 8.95935097e-01 -8.83945037e-02 -4.01172775e+01] [-2.08116360e-01 -4.61544463e-03 9.78093185e-01 -1.11486682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56687499999998 meters 0.017669045695597442 Centerline is valid? [True, True] Translation: X:143.62, Y:-40.13, Z:-11.16 [[ 8.75656607e-01 4.44595757e-01 1.88573910e-01 1.43619557e+02] [-4.35722768e-01 8.95719168e-01 -8.85033388e-02 -4.01321655e+01] [-2.08257475e-01 -4.66741268e-03 9.78062902e-01 -1.11550903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59687499999998 meters 0.018849847467378462 Centerline is valid? [True, True] Translation: X:143.65, Y:-40.14, Z:-11.16 [[ 8.75550109e-01 4.44973158e-01 1.88177827e-01 1.43648735e+02] [-4.36132792e-01 8.95531635e-01 -8.83814342e-02 -4.01433101e+01] [-2.07846563e-01 -4.68814679e-03 9.78150207e-01 -1.11629411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62687499999998 meters 0.017519718290803687 Centerline is valid? [True, True] Translation: X:143.68, Y:-40.16, Z:-11.17 [[ 8.75843682e-01 4.44692060e-01 1.87474844e-01 1.43676404e+02] [-4.35899416e-01 8.95671969e-01 -8.81102916e-02 -4.01590428e+01] [-2.07097909e-01 -4.54933257e-03 9.78309644e-01 -1.11697355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65687499999999 meters 0.017227789567987425 Centerline is valid? [True, True] Translation: X:143.70, Y:-40.17, Z:-11.18 [[ 8.76046518e-01 4.44414489e-01 1.87185094e-01 1.43704632e+02] [-4.35629531e-01 8.95810383e-01 -8.80378874e-02 -4.01725250e+01] [-2.06807664e-01 -4.41807005e-03 9.78371643e-01 -1.11765973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.686875 meters 0.016849721497247498 Centerline is valid? [True, True] Translation: X:143.73, Y:-40.19, Z:-11.18 [[ 8.76186535e-01 4.43898569e-01 1.87753074e-01 1.43732723e+02] [-4.35036035e-01 8.96066921e-01 -8.83613140e-02 -4.01861013e+01] [-2.07462780e-01 -4.25835931e-03 9.78233644e-01 -1.11836325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.716875 meters 0.016661618407681888 Centerline is valid? [True, True] Translation: X:143.76, Y:-40.20, Z:-11.19 [[ 8.76396939e-01 4.43428303e-01 1.87882267e-01 1.43761390e+02] [-4.34530800e-01 8.96300476e-01 -8.84784729e-02 -4.01995529e+01] [-2.07632825e-01 -4.09836911e-03 9.78198249e-01 -1.11900220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.746875 meters 0.016024702532644316 Centerline is valid? [True, True] Translation: X:143.79, Y:-40.21, Z:-11.20 [[ 8.77068081e-01 4.41643121e-01 1.88952204e-01 1.43789652e+02] [-4.32589879e-01 8.97183405e-01 -8.90389442e-02 -4.02140765e+01] [-2.08848219e-01 -3.64559503e-03 9.77941272e-01 -1.11953186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.776875 meters 0.015536777417890876 Centerline is valid? [True, True] Translation: X:143.82, Y:-40.23, Z:-11.20 [[ 8.77526635e-01 4.40743065e-01 1.88924735e-01 1.43817603e+02] [-4.31659829e-01 8.97626945e-01 -8.90823223e-02 -4.02286766e+01] [-2.08846348e-01 -3.37910829e-03 9.77942628e-01 -1.12017188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.806875 meters 0.015304642282125894 Centerline is valid? [True, True] Translation: X:143.84, Y:-40.24, Z:-11.21 [[ 8.78186762e-01 4.39553901e-01 1.88627617e-01 1.43844398e+02] [-4.30460308e-01 8.98211073e-01 -8.89988298e-02 -4.02419793e+01] [-2.08547197e-01 -3.03910786e-03 9.78007582e-01 -1.12090326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.836875 meters 0.014680753812344094 Centerline is valid? [True, True] Translation: X:143.87, Y:-40.26, Z:-11.22 [[ 8.79759801e-01 4.36631937e-01 1.88083077e-01 1.43871709e+02] [-4.27514190e-01 8.99637317e-01 -8.87936641e-02 -4.02575988e+01] [-2.07976705e-01 -2.29108822e-03 9.78131096e-01 -1.12171543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.866875 meters 0.014342123817610833 Centerline is valid? [True, True] Translation: X:143.90, Y:-40.27, Z:-11.22 [[ 8.80221300e-01 4.35765393e-01 1.87933463e-01 1.43899538e+02] [-4.26630982e-01 9.00057991e-01 -8.87784748e-02 -4.02722145e+01] [-2.07837602e-01 -2.03353330e-03 9.78161232e-01 -1.12238729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.896875 meters 0.01413077605955362 Centerline is valid? [True, True] Translation: X:143.93, Y:-40.29, Z:-11.23 [[ 8.80600802e-01 4.34984655e-01 1.87964295e-01 1.43927261e+02] [-4.25817806e-01 9.00436070e-01 -8.88486410e-02 -4.02863161e+01] [-2.07897627e-01 -1.79835914e-03 9.78148937e-01 -1.12309987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.926875 meters 0.01405434377193437 Centerline is valid? [True, True] Translation: X:143.96, Y:-40.30, Z:-11.24 [[ 8.80888119e-01 4.34447189e-01 1.87861015e-01 1.43955658e+02] [-4.25266736e-01 9.00695851e-01 -8.88548665e-02 -4.03008693e+01] [-2.07808383e-01 -1.61984430e-03 9.78168212e-01 -1.12380804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.956875 meters 0.01397477847161153 Centerline is valid? [True, True] Translation: X:143.98, Y:-40.32, Z:-11.24 [[ 8.80817972e-01 4.34472301e-01 1.88131657e-01 1.43984718e+02] [-4.25251916e-01 9.00683828e-01 -8.90474556e-02 -4.03159450e+01] [-2.08135794e-01 -1.56874822e-03 9.78098681e-01 -1.12439781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.986875 meters 0.014088832274511154 Centerline is valid? [True, True] Translation: X:144.01, Y:-40.33, Z:-11.25 [[ 8.80437553e-01 4.35265280e-01 1.88079375e-01 1.44014178e+02] [-4.26062108e-01 9.00300584e-01 -8.90501977e-02 -4.03295868e+01] [-2.08088430e-01 -1.73035680e-03 9.78108486e-01 -1.12508566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.016875 meters 0.014455560512879995 Centerline is valid? [True, True] Translation: X:144.04, Y:-40.34, Z:-11.26 [[ 8.79695942e-01 4.36805940e-01 1.87977714e-01 1.44041920e+02] [-4.27633547e-01 8.99553466e-01 -8.90680129e-02 -4.03409179e+01] [-2.08001441e-01 -2.03280705e-03 9.78126407e-01 -1.12579639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.046875 meters 0.014910071525633554 Centerline is valid? [True, True] Translation: X:144.07, Y:-40.35, Z:-11.27 [[ 8.78297733e-01 4.39652209e-01 1.87880353e-01 1.44071336e+02] [-4.30541639e-01 8.98164182e-01 -8.90786164e-02 -4.03525251e+01] [-2.07911014e-01 -2.65276829e-03 9.78144147e-01 -1.12655674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.076875 meters 0.015447062195881343 Centerline is valid? [True, True] Translation: X:144.10, Y:-40.36, Z:-11.27 [[ 8.77272905e-01 4.41674913e-01 1.87924245e-01 1.44100047e+02] [-4.32593800e-01 8.97169873e-01 -8.91561707e-02 -4.03642899e+01] [-2.07978015e-01 -3.08057043e-03 9.78128650e-01 -1.12725843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.106875 meters 0.01602904354617434 Centerline is valid? [True, True] Translation: X:144.13, Y:-40.38, Z:-11.28 [[ 8.76215226e-01 4.43783862e-01 1.87890291e-01 1.44128986e+02] [-4.34747794e-01 8.96126807e-01 -8.91689464e-02 -4.03763314e+01] [-2.07945266e-01 -3.55370119e-03 9.78134008e-01 -1.12798861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.136875 meters 0.016973803031357242 Centerline is valid? [True, True] Translation: X:144.16, Y:-40.39, Z:-11.29 [[ 8.74573661e-01 4.47287446e-01 1.87229412e-01 1.44157654e+02] [-4.38382914e-01 8.94379833e-01 -8.89108252e-02 -4.03875930e+01] [-2.07222906e-01 -4.31910920e-03 9.78284219e-01 -1.12876020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.166875 meters 0.016973803031357242 Centerline is valid? [True, True] Translation: X:144.19, Y:-40.40, Z:-11.29 [[ 8.74451082e-01 4.47535413e-01 1.87209399e-01 1.44186183e+02] [-4.38627485e-01 8.94255726e-01 -8.89529427e-02 -4.04012454e+01] [-2.07222669e-01 -4.33019095e-03 9.78284220e-01 -1.12945569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.196875 meters 0.017609926480861352 Centerline is valid? [True, True] Translation: X:144.21, Y:-40.41, Z:-11.30 [[ 8.73409162e-01 4.49812772e-01 1.86614325e-01 1.44214527e+02] [-4.40999725e-01 8.93110000e-01 -8.87342623e-02 -4.04144487e+01] [-2.06580925e-01 -4.79554855e-03 9.78417766e-01 -1.13022184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.226875 meters 0.017639830133044872 Centerline is valid? [True, True] Translation: X:144.24, Y:-40.43, Z:-11.31 [[ 8.73311701e-01 4.50098381e-01 1.86381651e-01 1.44243398e+02] [-4.41302182e-01 8.92966041e-01 -8.86793813e-02 -4.04284069e+01] [-2.06346931e-01 -4.80588816e-03 9.78467091e-01 -1.13099420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25687499999998 meters 0.018194341490141874 Centerline is valid? [True, True] Translation: X:144.27, Y:-40.44, Z:-11.32 [[ 8.72796557e-01 4.51200835e-01 1.86128925e-01 1.44270524e+02] [-4.42439851e-01 8.92408429e-01 -8.86237851e-02 -4.04405708e+01] [-2.06090147e-01 -5.00031907e-03 9.78520234e-01 -1.13176014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28687499999998 meters 0.018485660247384406 Centerline is valid? [True, True] Translation: X:144.30, Y:-40.45, Z:-11.33 [[ 8.72459909e-01 4.51988833e-01 1.85795052e-01 1.44298594e+02] [-4.43266348e-01 8.92008846e-01 -8.85164545e-02 -4.04531415e+01] [-2.05739279e-01 -5.12963626e-03 9.78593397e-01 -1.13251783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31687499999998 meters 0.018552455452567142 Centerline is valid? [True, True] Translation: X:144.33, Y:-40.47, Z:-11.33 [[ 8.72324361e-01 4.52333041e-01 1.85593723e-01 1.44327179e+02] [-4.43625761e-01 8.91834205e-01 -8.84756199e-02 -4.04668822e+01] [-2.05539277e-01 -5.15471822e-03 9.78635292e-01 -1.13327733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34687499999998 meters 0.019187602922899154 Centerline is valid? [True, True] Translation: X:144.35, Y:-40.48, Z:-11.34 [[ 8.72060528e-01 4.53160948e-01 1.84812313e-01 1.44354096e+02] [-4.44532330e-01 8.91413154e-01 -8.81679956e-02 -4.04795613e+01] [-2.04698419e-01 -5.26721944e-03 9.78810918e-01 -1.13398882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37687499999998 meters 0.019247553540913554 Centerline is valid? [True, True] Translation: X:144.38, Y:-40.49, Z:-11.35 [[ 8.71887887e-01 4.53492231e-01 1.84814256e-01 1.44382954e+02] [-4.44865349e-01 8.91244343e-01 -8.81949105e-02 -4.04937943e+01] [-2.04710367e-01 -5.32138411e-03 9.78808127e-01 -1.13471384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40687499999999 meters 0.01838122070137541 Centerline is valid? [True, True] Translation: X:144.41, Y:-40.51, Z:-11.35 [[ 8.71710196e-01 4.53835439e-01 1.84809980e-01 1.44410853e+02] [-4.45203492e-01 8.91069485e-01 -8.82554473e-02 -4.05091318e+01] [-2.04731983e-01 -5.34487509e-03 9.78803477e-01 -1.13534890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.436875 meters 0.01723859456007836 Centerline is valid? [True, True] Translation: X:144.44, Y:-40.52, Z:-11.36 [[ 8.73004361e-01 4.51089567e-01 1.85422729e-01 1.44438072e+02] [-4.42324684e-01 8.92466534e-01 -8.86135366e-02 -4.05248604e+01] [-2.05456222e-01 -4.65704600e-03 9.78655227e-01 -1.13596274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.466875 meters 0.016456307374019565 Centerline is valid? [True, True] Translation: X:144.47, Y:-40.54, Z:-11.37 [[ 8.73369815e-01 4.50054470e-01 1.86215306e-01 1.44465714e+02] [-4.41178674e-01 8.92990353e-01 -8.90483383e-02 -4.05401960e+01] [-2.06365075e-01 -4.38209132e-03 9.78465254e-01 -1.13651050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.496875 meters 0.016456307374019565 Centerline is valid? [True, True] Translation: X:144.49, Y:-40.55, Z:-11.37 [[ 8.73242816e-01 4.50310042e-01 1.86193046e-01 1.44494207e+02] [-4.41430074e-01 8.92861465e-01 -8.90948595e-02 -4.05539120e+01] [-2.06364906e-01 -4.38976391e-03 9.78465255e-01 -1.13720617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.526875 meters 0.017020769996100492 Centerline is valid? [True, True] Translation: X:144.52, Y:-40.57, Z:-11.38 [[ 8.73580231e-01 4.49380666e-01 1.86854482e-01 1.44522340e+02] [-4.40401696e-01 8.93330848e-01 -8.94781641e-02 -4.05659604e+01] [-2.07132630e-01 -4.12467557e-03 9.78304176e-01 -1.13787588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.556875 meters 0.01647114610136924 Centerline is valid? [True, True] Translation: X:144.55, Y:-40.58, Z:-11.39 [[ 8.73818593e-01 4.48921674e-01 1.86843243e-01 1.44550260e+02] [-4.39922164e-01 8.93562305e-01 -8.95259538e-02 -4.05806559e+01] [-2.07146220e-01 -3.96704083e-03 9.78301950e-01 -1.13851695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.586875 meters 0.01595112026314633 Centerline is valid? [True, True] Translation: X:144.58, Y:-40.59, Z:-11.39 [[ 8.74565414e-01 4.47639570e-01 1.86424655e-01 1.44577568e+02] [-4.38640185e-01 8.94206815e-01 -8.93809851e-02 -4.05949036e+01] [-2.06712663e-01 -3.60382709e-03 9.78395057e-01 -1.13926511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.616875 meters 0.015451076980269731 Centerline is valid? [True, True] Translation: X:144.61, Y:-40.61, Z:-11.40 [[ 8.74778404e-01 4.47394840e-01 1.86012369e-01 1.44605853e+02] [-4.38418503e-01 8.94329747e-01 -8.92385569e-02 -4.06095899e+01] [-2.06281265e-01 -3.48730222e-03 9.78486524e-01 -1.13999433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.646875 meters 0.01587813298457535 Centerline is valid? [True, True] Translation: X:144.63, Y:-40.62, Z:-11.41 [[ 8.74637709e-01 4.47377813e-01 1.86713605e-01 1.44633264e+02] [-4.38318629e-01 8.94338460e-01 -8.96409426e-02 -4.06214550e+01] [-2.07088527e-01 -3.43670246e-03 9.78316171e-01 -1.14073269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.676875 meters 0.015649395968581097 Centerline is valid? [True, True] Translation: X:144.66, Y:-40.64, Z:-11.41 [[ 8.74505322e-01 4.47584935e-01 1.86837273e-01 1.44662570e+02] [-4.38507266e-01 8.94234806e-01 -8.97523769e-02 -4.06352438e+01] [-2.07248205e-01 -3.44057077e-03 9.78282344e-01 -1.14135778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.706875 meters 0.015579162630177536 Centerline is valid? [True, True] Translation: X:144.69, Y:-40.65, Z:-11.42 [[ 8.74216643e-01 4.47988971e-01 1.87219507e-01 1.44691839e+02] [-4.38869166e-01 8.94032291e-01 -9.00006482e-02 -4.06490614e+01] [-2.07699583e-01 -3.48480435e-03 9.78186454e-01 -1.14198137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.736875 meters 0.015804859667965035 Centerline is valid? [True, True] Translation: X:144.72, Y:-40.66, Z:-11.43 [[ 8.73834612e-01 4.48506897e-01 1.87762174e-01 1.44720423e+02] [-4.39331402e-01 8.93772286e-01 -9.03272945e-02 -4.06615510e+01] [-2.08329042e-01 -3.55870280e-03 9.78052323e-01 -1.14265655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.766875 meters 0.017080558410665327 Centerline is valid? [True, True] Translation: X:144.75, Y:-40.67, Z:-11.44 [[ 8.73126972e-01 4.49967192e-01 1.87560168e-01 1.44749654e+02] [-4.40836416e-01 8.93036717e-01 -9.02700147e-02 -4.06703074e+01] [-2.08116661e-01 -3.86616749e-03 9.78096369e-01 -1.14350736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.796875 meters 0.0166335757441287 Centerline is valid? [True, True] Translation: X:144.78, Y:-40.68, Z:-11.44 [[ 8.72849593e-01 4.50801548e-01 1.86846334e-01 1.44777557e+02] [-4.41748698e-01 8.92615232e-01 -8.99785225e-02 -4.06835420e+01] [-2.07344341e-01 -4.00140795e-03 9.78259839e-01 -1.14425587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.826875 meters 0.016699742430346616 Centerline is valid? [True, True] Translation: X:144.81, Y:-40.70, Z:-11.45 [[ 8.72519112e-01 4.51584966e-01 1.86497766e-01 1.44806258e+02] [-4.42577771e-01 8.92218454e-01 -8.98395585e-02 -4.06966267e+01] [-2.06966942e-01 -4.15303354e-03 9.78339122e-01 -1.14498918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.856875 meters 0.0172648346023725 Centerline is valid? [True, True] Translation: X:144.83, Y:-40.71, Z:-11.46 [[ 8.72254543e-01 4.52260193e-01 1.86098712e-01 1.44833698e+02] [-4.43295193e-01 8.91875908e-01 -8.97036016e-02 -4.07079809e+01] [-2.06546326e-01 -4.25229052e-03 9.78427582e-01 -1.14576530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.886875 meters 0.016689021060204007 Centerline is valid? [True, True] Translation: X:144.86, Y:-40.72, Z:-11.46 [[ 8.71829505e-01 4.53005883e-01 1.86276633e-01 1.44862760e+02] [-4.44029563e-01 8.91496734e-01 -8.98405267e-02 -4.07217080e+01] [-2.06763297e-01 -4.38670997e-03 9.78381161e-01 -1.14638772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.916875 meters 0.017023595535426313 Centerline is valid? [True, True] Translation: X:144.89, Y:-40.73, Z:-11.47 [[ 8.71627273e-01 4.52996456e-01 1.87243443e-01 1.44891171e+02] [-4.43911372e-01 8.91501716e-01 -9.03735764e-02 -4.07334834e+01] [-2.07866761e-01 -4.34741986e-03 9.78147489e-01 -1.14706451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.946875 meters 0.016779429212202948 Centerline is valid? [True, True] Translation: X:144.92, Y:-40.75, Z:-11.48 [[ 8.71420023e-01 4.53218137e-01 1.87671158e-01 1.44919978e+02] [-4.44089505e-01 8.91388869e-01 -9.06112376e-02 -4.07476277e+01] [-2.08354637e-01 -4.38234477e-03 9.78043527e-01 -1.14766821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.976875 meters 0.01666514683194017 Centerline is valid? [True, True] Translation: X:144.95, Y:-40.76, Z:-11.48 [[ 8.71065351e-01 4.53191472e-01 1.89374348e-01 1.44948576e+02] [-4.43879969e-01 8.91402546e-01 -9.14990384e-02 -4.07606470e+01] [-2.10275359e-01 -4.35783747e-03 9.77632488e-01 -1.14817369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00687499999998 meters 0.016431956046330912 Centerline is valid? [True, True] Translation: X:144.98, Y:-40.77, Z:-11.49 [[ 8.71001877e-01 4.53327038e-01 1.89341825e-01 1.44977130e+02] [-4.44009760e-01 8.91333707e-01 -9.15399129e-02 -4.07747192e+01] [-2.10264268e-01 -4.33818219e-03 9.77634961e-01 -1.14892251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03687499999998 meters 0.016644245597700946 Centerline is valid? [True, True] Translation: X:145.01, Y:-40.79, Z:-11.50 [[ 8.70876317e-01 4.53434523e-01 1.89661733e-01 1.45005547e+02] [-4.44073543e-01 8.91279164e-01 -9.17613187e-02 -4.07873083e+01] [-2.10649301e-01 -4.31099862e-03 9.77552192e-01 -1.14962263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06687499999998 meters 0.01657742564434018 Centerline is valid? [True, True] Translation: X:145.03, Y:-40.80, Z:-11.50 [[ 8.70919894e-01 4.53334700e-01 1.89700258e-01 1.45034422e+02] [-4.43954231e-01 8.91330323e-01 -9.18416912e-02 -4.08009021e+01] [-2.10720618e-01 -4.23147625e-03 9.77537169e-01 -1.15038458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09687499999998 meters 0.01634720895888296 Centerline is valid? [True, True] Translation: X:145.06, Y:-40.81, Z:-11.51 [[ 8.71351802e-01 4.52907814e-01 1.88734069e-01 1.45062577e+02] [-4.43599958e-01 8.91548164e-01 -9.14382204e-02 -4.08143486e+01] [-2.09678597e-01 -4.04756696e-03 9.77761987e-01 -1.15115196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12687499999998 meters 0.01621688514745616 Centerline is valid? [True, True] Translation: X:145.09, Y:-40.83, Z:-11.52 [[ 8.71557897e-01 4.52675251e-01 1.88339983e-01 1.45091249e+02] [-4.43389332e-01 8.91666785e-01 -9.13030364e-02 -4.08283918e+01] [-2.09267132e-01 -3.93205669e-03 9.77850605e-01 -1.15185566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15687499999999 meters 0.01608734855705435 Centerline is valid? [True, True] Translation: X:145.12, Y:-40.84, Z:-11.53 [[ 8.71783965e-01 4.52543228e-01 1.87609554e-01 1.45119514e+02] [-4.43313492e-01 8.91734254e-01 -9.10119114e-02 -4.08424374e+01] [-2.08484689e-01 -3.82712123e-03 9.78018143e-01 -1.15260009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.186875 meters 0.0151748852013295 Centerline is valid? [True, True] Translation: X:145.15, Y:-40.86, Z:-11.53 [[ 8.72258687e-01 4.51797636e-01 1.87199568e-01 1.45146594e+02] [-4.42578203e-01 8.92113254e-01 -9.08761556e-02 -4.08576880e+01] [-2.08060848e-01 -3.58293211e-03 9.78109322e-01 -1.15320822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.216875 meters 0.015472863733463692 Centerline is valid? [True, True] Translation: X:145.17, Y:-40.87, Z:-11.54 [[ 8.72475010e-01 4.51080606e-01 1.87919248e-01 1.45173871e+02] [-4.41760392e-01 8.92476844e-01 -9.12843846e-02 -4.08697215e+01] [-2.08890193e-01 -3.37193645e-03 9.77933289e-01 -1.15393723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.246875 meters 0.01513553334245553 Centerline is valid? [True, True] Translation: X:145.20, Y:-40.88, Z:-11.55 [[ 8.72650900e-01 4.50625790e-01 1.88193528e-01 1.45201846e+02] [-4.41260647e-01 8.92707069e-01 -9.14501569e-02 -4.08836936e+01] [-2.09211492e-01 -3.23833635e-03 9.77865054e-01 -1.15463318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.276875 meters 0.014993518388764893 Centerline is valid? [True, True] Translation: X:145.23, Y:-40.90, Z:-11.55 [[ 8.72696882e-01 4.50577097e-01 1.88096866e-01 1.45230478e+02] [-4.41208625e-01 8.92731878e-01 -9.14589756e-02 -4.08976647e+01] [-2.09129388e-01 -3.17399673e-03 9.77882828e-01 -1.15533766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.306875 meters 0.015200606968762555 Centerline is valid? [True, True] Translation: X:145.26, Y:-40.91, Z:-11.56 [[ 8.72374468e-01 4.51353640e-01 1.87730336e-01 1.45259248e+02] [-4.42026025e-01 8.92339083e-01 -9.13452483e-02 -4.09100346e+01] [-2.08748126e-01 -3.29443195e-03 9.77963888e-01 -1.15621210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.336875 meters 0.015968730441504788 Centerline is valid? [True, True] Translation: X:145.29, Y:-40.92, Z:-11.57 [[ 8.71848080e-01 4.52397652e-01 1.87662700e-01 1.45287673e+02] [-4.43086982e-01 8.91809522e-01 -9.13767091e-02 -4.09215123e+01] [-2.08697991e-01 -3.48429073e-03 9.77973930e-01 -1.15694353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.366875 meters 0.01557393358596255 Centerline is valid? [True, True] Translation: X:145.32, Y:-40.94, Z:-11.58 [[ 8.71339050e-01 4.53499165e-01 1.87367998e-01 1.45315825e+02] [-4.44232221e-01 8.91249041e-01 -9.12846103e-02 -4.09363468e+01] [-2.08389043e-01 -3.69505605e-03 9.78039035e-01 -1.15757394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.396875 meters 0.01627402271548751 Centerline is valid? [True, True] Translation: X:145.34, Y:-40.95, Z:-11.58 [[ 8.70799030e-01 4.54635734e-01 1.87124021e-01 1.45343851e+02] [-4.45407111e-01 8.90668883e-01 -9.12219657e-02 -4.09483758e+01] [-2.08138308e-01 -3.91037017e-03 9.78091588e-01 -1.15829399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.426875 meters 0.017207595283012227 Centerline is valid? [True, True] Translation: X:145.37, Y:-40.96, Z:-11.59 [[ 8.69349709e-01 4.57712717e-01 1.86360274e-01 1.45372475e+02] [-4.48618030e-01 8.89088368e-01 -9.09050999e-02 -4.09598423e+01] [-2.07299172e-01 -4.57625688e-03 9.78266892e-01 -1.15902947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.456875 meters 0.017967551584449667 Centerline is valid? [True, True] Translation: X:145.40, Y:-40.97, Z:-11.60 [[ 8.68692062e-01 4.59286161e-01 1.85554101e-01 1.45400428e+02] [-4.50295349e-01 8.88274948e-01 -9.05633218e-02 -4.09717961e+01] [-2.06417540e-01 -4.88251015e-03 9.78451818e-01 -1.15977886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.486875 meters 0.017766525242752563 Centerline is valid? [True, True] Translation: X:145.43, Y:-40.99, Z:-11.61 [[ 8.68224311e-01 4.60519634e-01 1.84684089e-01 1.45428372e+02] [-4.51630700e-01 8.87634841e-01 -9.01892447e-02 -4.09858602e+01] [-2.05465950e-01 -5.10450931e-03 9.78650953e-01 -1.16053760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.516875 meters 0.017318769267990863 Centerline is valid? [True, True] Translation: X:145.46, Y:-41.00, Z:-11.61 [[ 8.67550537e-01 4.62365086e-01 1.83233709e-01 1.45455206e+02] [-4.53645754e-01 8.86672919e-01 -8.95358342e-02 -4.10006694e+01] [-2.03866611e-01 -5.44633280e-03 9.78983525e-01 -1.16129650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.546875 meters 0.01780422026920836 Centerline is valid? [True, True] Translation: X:145.48, Y:-41.01, Z:-11.62 [[ 8.67970047e-01 4.62121341e-01 1.81856710e-01 1.45483561e+02] [-4.53516715e-01 8.86800895e-01 -8.89199733e-02 -4.10134243e+01] [-2.02362511e-01 -5.29518442e-03 9.79296367e-01 -1.16222156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.576875 meters 0.017817332068639315 Centerline is valid? [True, True] Translation: X:145.51, Y:-41.03, Z:-11.63 [[ 8.68323430e-01 4.61543276e-01 1.81637621e-01 1.45510287e+02] [-4.52934177e-01 8.87103050e-01 -8.88752564e-02 -4.10266771e+01] [-2.02151065e-01 -5.09741904e-03 9.79341086e-01 -1.16298553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.606875 meters 0.017574052476145383 Centerline is valid? [True, True] Translation: X:145.54, Y:-41.04, Z:-11.64 [[ 8.68387552e-01 4.61240351e-01 1.82099967e-01 1.45538017e+02] [-4.52569620e-01 8.87261183e-01 -8.91534190e-02 -4.10417199e+01] [-2.02691386e-01 -4.99319344e-03 9.79229937e-01 -1.16362672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.636875 meters 0.017255146943025466 Centerline is valid? [True, True] Translation: X:145.57, Y:-41.06, Z:-11.64 [[ 8.68467008e-01 4.60664113e-01 1.83176501e-01 1.45565005e+02] [-4.51865215e-01 8.87561361e-01 -8.97365977e-02 -4.10585174e+01] [-2.03918815e-01 -4.83781455e-03 9.78975849e-01 -1.16397258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.666875 meters 0.017238156489909926 Centerline is valid? [True, True] Translation: X:145.59, Y:-41.07, Z:-11.65 [[ 8.68555519e-01 4.60290140e-01 1.83696211e-01 1.45592691e+02] [-4.51420772e-01 8.87756032e-01 -9.00472862e-02 -4.10729280e+01] [-2.04525297e-01 -4.71321781e-03 9.78849932e-01 -1.16457693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.696875 meters 0.01703973989323873 Centerline is valid? [True, True] Translation: X:145.62, Y:-41.09, Z:-11.65 [[ 8.68744542e-01 4.59905011e-01 1.83766978e-01 1.45620187e+02] [-4.51008628e-01 8.87956338e-01 -9.01374437e-02 -4.10871677e+01] [-2.04631715e-01 -4.57408034e-03 9.78828350e-01 -1.16524309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.726875 meters 0.016462409330440027 Centerline is valid? [True, True] Translation: X:145.65, Y:-41.10, Z:-11.66 [[ 8.68804545e-01 4.59402668e-01 1.84737247e-01 1.45647973e+02] [-4.50388193e-01 8.88217072e-01 -9.06692259e-02 -4.11026427e+01] [-2.05740461e-01 -4.42963951e-03 9.78596567e-01 -1.16589605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75687499999998 meters 0.016770504151941534 Centerline is valid? [True, True] Translation: X:145.68, Y:-41.12, Z:-11.67 [[ 8.68692163e-01 4.59402061e-01 1.85266491e-01 1.45675658e+02] [-4.50323365e-01 8.88217577e-01 -9.09857349e-02 -4.11161985e+01] [-2.06355988e-01 -4.39123456e-03 9.78467129e-01 -1.16654527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78687499999998 meters 0.016567065980914585 Centerline is valid? [True, True] Translation: X:145.70, Y:-41.13, Z:-11.67 [[ 8.68614484e-01 4.59303602e-01 1.85873827e-01 1.45703358e+02] [-4.50151383e-01 8.88268769e-01 -9.13363385e-02 -4.11309309e+01] [-2.07057025e-01 -4.33529364e-03 9.78319270e-01 -1.16711005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81687499999998 meters 0.016537972154155225 Centerline is valid? [True, True] Translation: X:145.73, Y:-41.15, Z:-11.68 [[ 8.68918655e-01 4.58242310e-01 1.87067786e-01 1.45730840e+02] [-4.48934332e-01 8.88818048e-01 -9.19806655e-02 -4.11451652e+01] [-2.08418657e-01 -4.05743527e-03 9.78031288e-01 -1.16759753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84687499999998 meters 0.016035264354270943 Centerline is valid? [True, True] Translation: X:145.76, Y:-41.16, Z:-11.68 [[ 8.68863206e-01 4.58201854e-01 1.87424091e-01 1.45759279e+02] [-4.48850333e-01 8.88839043e-01 -9.21874959e-02 -4.11608169e+01] [-2.08830331e-01 -4.02704247e-03 9.77943595e-01 -1.16821752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87687499999998 meters 0.015452512613537696 Centerline is valid? [True, True] Translation: X:145.79, Y:-41.18, Z:-11.69 [[ 8.69406524e-01 4.56989315e-01 1.87864480e-01 1.45787085e+02] [-4.47551362e-01 8.89464549e-01 -9.24694288e-02 -4.11753777e+01] [-2.09356336e-01 -3.68547909e-03 9.77832471e-01 -1.16888926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90687499999999 meters 0.015299074582598495 Centerline is valid? [True, True] Translation: X:145.81, Y:-41.19, Z:-11.70 [[ 8.69719421e-01 4.56368096e-01 1.87926291e-01 1.45814053e+02] [-4.46897222e-01 8.89784253e-01 -9.25573108e-02 -4.11883587e+01] [-2.09454058e-01 -3.48484672e-03 9.77812279e-01 -1.16960701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.936875 meters 0.015147856631801277 Centerline is valid? [True, True] Translation: X:145.84, Y:-41.20, Z:-11.70 [[ 8.69891106e-01 4.55974044e-01 1.88088102e-01 1.45841782e+02] [-4.46466221e-01 8.89986788e-01 -9.26899708e-02 -4.12015923e+01] [-2.09660146e-01 -3.34480265e-03 9.77768600e-01 -1.17031173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.966875 meters 0.014478364770836137 Centerline is valid? [True, True] Translation: X:145.87, Y:-41.22, Z:-11.71 [[ 8.70783677e-01 4.54288001e-01 1.88037762e-01 1.45869039e+02] [-4.44735268e-01 8.90850188e-01 -9.27172216e-02 -4.12169459e+01] [-2.09633797e-01 -2.89038160e-03 9.77775699e-01 -1.17102083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.996875 meters 0.014441639044442534 Centerline is valid? [True, True] Translation: X:145.90, Y:-41.23, Z:-11.72 [[ 8.71190503e-01 4.53664678e-01 1.87657848e-01 1.45895953e+02] [-4.44124294e-01 8.91168428e-01 -9.25874988e-02 -4.12302181e+01] [-2.09238427e-01 -2.68205968e-03 9.77860975e-01 -1.17166091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.026875 meters 0.014001285884744013 Centerline is valid? [True, True] Translation: X:145.92, Y:-41.24, Z:-11.72 [[ 8.71684440e-01 4.52684297e-01 1.87731628e-01 1.45923737e+02] [-4.43102438e-01 8.91667635e-01 -9.26771719e-02 -4.12449486e+01] [-2.09347717e-01 -2.39909330e-03 9.77838319e-01 -1.17235361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.056875 meters 0.013986118693503281 Centerline is valid? [True, True] Translation: X:145.95, Y:-41.26, Z:-11.73 [[ 8.72047979e-01 4.52075263e-01 1.87510746e-01 1.45951985e+02] [-4.42489941e-01 8.91977089e-01 -9.26257213e-02 -4.12586360e+01] [-2.09129086e-01 -2.19754573e-03 9.77885574e-01 -1.17308797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.086875 meters 0.013745254913784925 Centerline is valid? [True, True] Translation: X:145.98, Y:-41.27, Z:-11.74 [[ 8.72782843e-01 4.51054251e-01 1.86548042e-01 1.45980554e+02] [-4.41533018e-01 8.92494531e-01 -9.22068648e-02 -4.12721092e+01] [-2.08083406e-01 -1.89055041e-03 9.78109259e-01 -1.17394889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.116875 meters 0.014046300604333605 Centerline is valid? [True, True] Translation: X:146.01, Y:-41.28, Z:-11.75 [[ 8.72775265e-01 4.50942496e-01 1.86853423e-01 1.46009473e+02] [-4.41373000e-01 8.92551177e-01 -9.24244111e-02 -4.12842113e+01] [-2.08454337e-01 -1.80631583e-03 9.78030432e-01 -1.17478823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.146875 meters 0.013770939230271409 Centerline is valid? [True, True] Translation: X:146.04, Y:-41.30, Z:-11.75 [[ 8.72768123e-01 4.51099421e-01 1.86507681e-01 1.46037930e+02] [-4.41560727e-01 8.92471881e-01 -9.22933652e-02 -4.12982442e+01] [-2.08086345e-01 -1.80376026e-03 9.78108797e-01 -1.17546890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.176875 meters 0.013747485558129708 Centerline is valid? [True, True] Translation: X:146.07, Y:-41.31, Z:-11.76 [[ 8.72794179e-01 4.51104102e-01 1.86374381e-01 1.46066199e+02] [-4.41565454e-01 8.92469634e-01 -9.22924870e-02 -4.13113200e+01] [-2.07966995e-01 -1.74414294e-03 9.78134289e-01 -1.17618354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.206875 meters 0.014072247722085419 Centerline is valid? [True, True] Translation: X:146.10, Y:-41.32, Z:-11.77 [[ 8.72662965e-01 4.51358165e-01 1.86373703e-01 1.46095219e+02] [-4.41812450e-01 8.92341160e-01 -9.23526546e-02 -4.13239578e+01] [-2.07993051e-01 -1.74948083e-03 9.78128739e-01 -1.17684653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.236875 meters 0.014244648572515247 Centerline is valid? [True, True] Translation: X:146.12, Y:-41.34, Z:-11.78 [[ 8.72036017e-01 4.52395066e-01 1.86793706e-01 1.46123889e+02] [-4.42816459e-01 8.91815517e-01 -9.26210993e-02 -4.13363115e+01] [-2.08486854e-01 -1.94639291e-03 9.78023233e-01 -1.17751373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.266875 meters 0.014397859534431285 Centerline is valid? [True, True] Translation: X:146.15, Y:-41.35, Z:-11.78 [[ 8.71427182e-01 4.53448924e-01 1.87079502e-01 1.46152713e+02] [-4.43851991e-01 8.91279675e-01 -9.28221421e-02 -4.13494021e+01] [-2.08830258e-01 -2.14787169e-03 9.77949544e-01 -1.17821432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.296875 meters 0.0150263418373281 Centerline is valid? [True, True] Translation: X:146.18, Y:-41.36, Z:-11.79 [[ 8.69930701e-01 4.55900467e-01 1.88083332e-01 1.46182242e+02] [-4.46241523e-01 8.90026698e-01 -9.33861890e-02 -4.13586360e+01] [-2.09973994e-01 -2.69107948e-03 9.77703268e-01 -1.17881328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.326875 meters 0.015516920625181847 Centerline is valid? [True, True] Translation: X:146.21, Y:-41.37, Z:-11.80 [[ 8.69046326e-01 4.57430129e-01 1.88457318e-01 1.46210283e+02] [-4.47756460e-01 8.89240442e-01 -9.36247232e-02 -4.13691671e+01] [-2.10410638e-01 -3.01875956e-03 9.77608434e-01 -1.17951141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.356875 meters 0.01569902079874899 Centerline is valid? [True, True] Translation: X:146.24, Y:-41.38, Z:-11.80 [[ 8.67872850e-01 4.59684407e-01 1.88379832e-01 1.46239074e+02] [-4.50061766e-01 8.88075351e-01 -9.36300023e-02 -4.13815856e+01] [-2.10335737e-01 -3.52362268e-03 9.77622863e-01 -1.18022335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.386875 meters 0.01687066310949597 Centerline is valid? [True, True] Translation: X:146.27, Y:-41.39, Z:-11.81 [[ 8.66601774e-01 4.62145013e-01 1.88210924e-01 1.46267637e+02] [-4.52584621e-01 8.86795056e-01 -9.36039013e-02 -4.13912252e+01] [-2.10163093e-01 -4.06406284e-03 9.77657894e-01 -1.18093262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.416875 meters 0.018529185610802183 Centerline is valid? [True, True] Translation: X:146.30, Y:-41.40, Z:-11.82 [[ 8.64217233e-01 4.66830303e-01 1.87611416e-01 1.46297997e+02] [-4.57428711e-01 8.84331999e-01 -9.33589239e-02 -4.13988980e+01] [-2.09493553e-01 -5.13645738e-03 9.77796537e-01 -1.18161480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.446875 meters 0.018529185610802183 Centerline is valid? [True, True] Translation: X:146.33, Y:-41.41, Z:-11.82 [[ 8.64092315e-01 4.67069817e-01 1.87590663e-01 1.46326285e+02] [-4.57664758e-01 8.84205460e-01 -9.34006055e-02 -4.14130752e+01] [-2.09493292e-01 -5.14688999e-03 9.77796538e-01 -1.18231041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.476875 meters 0.01893903176038977 Centerline is valid? [True, True] Translation: X:146.36, Y:-41.43, Z:-11.83 [[ 8.62908090e-01 4.69414831e-01 1.87187993e-01 1.46355274e+02] [-4.60091279e-01 8.82959708e-01 -9.32639715e-02 -4.14252411e+01] [-2.09058947e-01 -5.64532775e-03 9.77886745e-01 -1.18299564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50687499999998 meters 0.01915433456135266 Centerline is valid? [True, True] Translation: X:146.38, Y:-41.44, Z:-11.84 [[ 8.61967263e-01 4.71455999e-01 1.86391196e-01 1.46383763e+02] [-4.62247511e-01 8.81868750e-01 -9.29233340e-02 -4.14370042e+01] [-2.08181834e-01 -6.06199430e-03 9.78071355e-01 -1.18376253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53687499999998 meters 0.019849887770684468 Centerline is valid? [True, True] Translation: X:146.41, Y:-41.45, Z:-11.85 [[ 8.60962443e-01 4.73555957e-01 1.85710602e-01 1.46412727e+02] [-4.64452213e-01 8.80739773e-01 -9.26368983e-02 -4.14484817e+01] [-2.07431468e-01 -6.49680957e-03 9.78227978e-01 -1.18455530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56687499999998 meters 0.021531234388107678 Centerline is valid? [True, True] Translation: X:146.44, Y:-41.46, Z:-11.85 [[ 8.59484885e-01 4.76855249e-01 1.84105414e-01 1.46442374e+02] [-4.67972360e-01 8.78952547e-01 -9.18928225e-02 -4.14565888e+01] [-2.05639498e-01 -7.17575323e-03 9.78601505e-01 -1.18534968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59687499999998 meters 0.02292600794033415 Centerline is valid? [True, True] Translation: X:146.47, Y:-41.47, Z:-11.86 [[ 8.58832989e-01 4.78122257e-01 1.83861373e-01 1.46470682e+02] [-4.69280870e-01 8.78261931e-01 -9.18229032e-02 -4.14669561e+01] [-2.05381019e-01 -7.42208681e-03 9.78653948e-01 -1.18611673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62687499999998 meters 0.022381581632224437 Centerline is valid? [True, True] Translation: X:146.50, Y:-41.48, Z:-11.87 [[ 8.58070338e-01 4.79741753e-01 1.83202472e-01 1.46498443e+02] [-4.70989818e-01 8.77375652e-01 -9.15453846e-02 -4.14809643e+01] [-2.04655532e-01 -7.73411998e-03 9.78803503e-01 -1.18668883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65687499999999 meters 0.02272948920350974 Centerline is valid? [True, True] Translation: X:146.53, Y:-41.49, Z:-11.87 [[ 8.57681654e-01 4.80633721e-01 1.82683898e-01 1.46527119e+02] [-4.71940793e-01 8.76886072e-01 -9.13384042e-02 -4.14928169e+01] [-2.04093282e-01 -7.87670981e-03 9.78919756e-01 -1.18737001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.686875 meters 0.023255968921281234 Centerline is valid? [True, True] Translation: X:146.56, Y:-41.51, Z:-11.88 [[ 8.57898510e-01 4.80350304e-01 1.82410889e-01 1.46555117e+02] [-4.71665459e-01 8.77042519e-01 -9.12585113e-02 -4.15052204e+01] [-2.03818159e-01 -7.74637469e-03 9.78978116e-01 -1.18810302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.716875 meters 0.022335261039113 Centerline is valid? [True, True] Translation: X:146.58, Y:-41.52, Z:-11.89 [[ 8.58441655e-01 4.79531122e-01 1.82010518e-01 1.46582876e+02] [-4.70855804e-01 8.77492922e-01 -9.11097309e-02 -4.15204152e+01] [-2.03402893e-01 -7.48832086e-03 9.79066488e-01 -1.18884409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.746875 meters 0.020871002434408495 Centerline is valid? [True, True] Translation: X:146.61, Y:-41.54, Z:-11.90 [[ 8.60118379e-01 4.76828069e-01 1.81194280e-01 1.46608798e+02] [-4.68160181e-01 8.78970541e-01 -9.07569998e-02 -4.15364261e+01] [-2.02539920e-01 -6.76618366e-03 9.79250632e-01 -1.18951784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.776875 meters 0.019892411280482896 Centerline is valid? [True, True] Translation: X:146.64, Y:-41.55, Z:-11.90 [[ 8.61242525e-01 4.74976353e-01 1.80717396e-01 1.46636257e+02] [-4.66303962e-01 8.79976231e-01 -9.05673702e-02 -4.15525153e+01] [-2.02044372e-01 -6.26876699e-03 9.79356306e-01 -1.19023873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.806875 meters 0.019284904688515337 Centerline is valid? [True, True] Translation: X:146.66, Y:-41.57, Z:-11.91 [[ 8.62145311e-01 4.73333771e-01 1.80722448e-01 1.46663259e+02] [-4.64621525e-01 8.80863616e-01 -9.05876854e-02 -4.15680150e+01] [-2.02070040e-01 -5.86779117e-03 9.79353495e-01 -1.19089655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.836875 meters 0.018766871097105384 Centerline is valid? [True, True] Translation: X:146.69, Y:-41.58, Z:-11.92 [[ 8.63093126e-01 4.71720419e-01 1.80416469e-01 1.46690504e+02] [-4.62991682e-01 8.81731453e-01 -9.04894818e-02 -4.15837359e+01] [-2.01764611e-01 -5.43047460e-03 9.79418987e-01 -1.19154476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.866875 meters 0.017357092794613244 Centerline is valid? [True, True] Translation: X:146.72, Y:-41.60, Z:-11.92 [[ 8.64797241e-01 4.68410350e-01 1.80879727e-01 1.46716676e+02] [-4.59552694e-01 8.83498963e-01 -9.07794209e-02 -4.16015174e+01] [-2.02329072e-01 -4.61797306e-03 9.79306704e-01 -1.19214098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.896875 meters 0.016378660079439958 Centerline is valid? [True, True] Translation: X:146.74, Y:-41.62, Z:-11.93 [[ 8.65560665e-01 4.66777206e-01 1.81449097e-01 1.46744012e+02] [-4.57825211e-01 8.84364782e-01 -9.10769377e-02 -4.16183199e+01] [-2.02979830e-01 -4.23935631e-03 9.79173742e-01 -1.19276996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.926875 meters 0.016397211840415114 Centerline is valid? [True, True] Translation: X:146.77, Y:-41.63, Z:-11.93 [[ 8.66196067e-01 4.65538655e-01 1.81598826e-01 1.46770560e+02] [-4.56540959e-01 8.85018797e-01 -9.11706192e-02 -4.16324789e+01] [-2.03161822e-01 -3.93567042e-03 9.79137265e-01 -1.19341562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.956875 meters 0.01513239672768572 Centerline is valid? [True, True] Translation: X:146.80, Y:-41.65, Z:-11.94 [[ 8.66766340e-01 4.64511268e-01 1.81508662e-01 1.46797004e+02] [-4.55489557e-01 8.85559704e-01 -9.11771590e-02 -4.16494910e+01] [-2.03089575e-01 -3.64600791e-03 9.79153375e-01 -1.19392770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.986875 meters 0.015732955927449055 Centerline is valid? [True, True] Translation: X:146.82, Y:-41.66, Z:-11.95 [[ 8.67080786e-01 4.64154806e-01 1.80917734e-01 1.46824881e+02] [-4.55172749e-01 8.85747186e-01 -9.09378431e-02 -4.16623560e+01] [-2.02456611e-01 -3.49836587e-03 9.79284985e-01 -1.19479607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.016875 meters 0.01563004163109253 Centerline is valid? [True, True] Translation: X:146.85, Y:-41.68, Z:-11.96 [[ 8.67103306e-01 4.64208563e-01 1.80671710e-01 1.46853099e+02] [-4.55239609e-01 8.85719202e-01 -9.08757010e-02 -4.16766206e+01] [-2.02209682e-01 -3.45029802e-03 9.79336173e-01 -1.19551088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.046875 meters 0.015583418298962065 Centerline is valid? [True, True] Translation: X:146.88, Y:-41.69, Z:-11.96 [[ 8.66946589e-01 4.64623896e-01 1.80355893e-01 1.46881621e+02] [-4.55682631e-01 8.85501267e-01 -9.07791055e-02 -4.16908669e+01] [-2.01883513e-01 -3.48441183e-03 9.79403342e-01 -1.19626305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.076875 meters 0.015921685068942024 Centerline is valid? [True, True] Translation: X:146.91, Y:-41.70, Z:-11.97 [[ 8.66614198e-01 4.65522463e-01 1.79634819e-01 1.46909484e+02] [-4.56659515e-01 8.85028654e-01 -9.04785578e-02 -4.17040717e+01] [-2.01101763e-01 -3.62194654e-03 9.79563659e-01 -1.19701724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.106875 meters 0.015820855708363883 Centerline is valid? [True, True] Translation: X:146.94, Y:-41.72, Z:-11.98 [[ 8.66286887e-01 4.66233655e-01 1.79368916e-01 1.46937074e+02] [-4.57401213e-01 8.84653744e-01 -9.03984701e-02 -4.17182437e+01] [-2.00826192e-01 -3.73255056e-03 9.79619778e-01 -1.19767953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.136875 meters 0.016272395524922587 Centerline is valid? [True, True] Translation: X:146.97, Y:-41.73, Z:-11.98 [[ 8.65856584e-01 4.67074254e-01 1.79259635e-01 1.46965019e+02] [-4.58259159e-01 8.84209604e-01 -9.03986675e-02 -4.17308049e+01] [-2.00725981e-01 -3.87508781e-03 9.79639763e-01 -1.19839010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.166875 meters 0.016380793795784814 Centerline is valid? [True, True] Translation: X:146.99, Y:-41.74, Z:-11.99 [[ 8.65360539e-01 4.68062118e-01 1.79078171e-01 1.46993596e+02] [-4.59275595e-01 8.83686266e-01 -9.03576870e-02 -4.17449875e+01] [-2.00541931e-01 -4.05425699e-03 9.79676731e-01 -1.19901808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.196875 meters 0.01657137788567285 Centerline is valid? [True, True] Translation: X:147.02, Y:-41.76, Z:-12.00 [[ 8.64497067e-01 4.69488250e-01 1.79514911e-01 1.47022484e+02] [-4.60677612e-01 8.82928019e-01 -9.06325073e-02 -4.17579473e+01] [-2.01049642e-01 -4.34696363e-03 9.79571409e-01 -1.19963956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.226875 meters 0.01697090326338672 Centerline is valid? [True, True] Translation: X:147.05, Y:-41.77, Z:-12.00 [[ 8.64077922e-01 4.70440386e-01 1.79039626e-01 1.47050473e+02] [-4.61685465e-01 8.82420278e-01 -9.04487971e-02 -4.17709645e+01] [-2.00538963e-01 -4.50518419e-03 9.79675368e-01 -1.20031797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25687499999998 meters 0.01703224920042679 Centerline is valid? [True, True] Translation: X:147.08, Y:-41.79, Z:-12.01 [[ 8.63848261e-01 4.71115234e-01 1.78372135e-01 1.47078048e+02] [-4.62434693e-01 8.82059579e-01 -9.01390822e-02 -4.17851080e+01] [-1.99800745e-01 -4.61897408e-03 9.79825662e-01 -1.20103141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28687499999998 meters 0.01680932075602795 Centerline is valid? [True, True] Translation: X:147.11, Y:-41.80, Z:-12.02 [[ 8.63776604e-01 4.71498140e-01 1.77706170e-01 1.47105896e+02] [-4.62879877e-01 8.81854847e-01 -8.98568212e-02 -4.18000399e+01] [-1.99078372e-01 -4.64039042e-03 9.79972586e-01 -1.20167718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31687499999998 meters 0.017037665848632807 Centerline is valid? [True, True] Translation: X:147.13, Y:-41.81, Z:-12.02 [[ 8.63962628e-01 4.71493658e-01 1.76811502e-01 1.47134299e+02] [-4.62951735e-01 8.81857629e-01 -8.94584415e-02 -4.18148641e+01] [-1.98101660e-01 -4.56644137e-03 9.80170842e-01 -1.20245733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34687499999998 meters 0.017290114009083653 Centerline is valid? [True, True] Translation: X:147.16, Y:-41.83, Z:-12.03 [[ 8.64026430e-01 4.71556703e-01 1.76330948e-01 1.47161739e+02] [-4.63050260e-01 8.81824201e-01 -8.92778609e-02 -4.18293870e+01] [-1.97592471e-01 -4.51165998e-03 9.80273870e-01 -1.20321318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37687499999998 meters 0.01731117346496524 Centerline is valid? [True, True] Translation: X:147.19, Y:-41.84, Z:-12.04 [[ 8.64244664e-01 4.71358544e-01 1.75790455e-01 1.47189792e+02] [-4.62888958e-01 8.81930702e-01 -8.90620551e-02 -4.18446718e+01] [-1.97015160e-01 -4.40005483e-03 9.80390568e-01 -1.20392347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40687499999999 meters 0.01693766577320932 Centerline is valid? [True, True] Translation: X:147.22, Y:-41.86, Z:-12.05 [[ 8.64307750e-01 4.71299015e-01 1.75639836e-01 1.47217577e+02] [-4.62830648e-01 8.81962872e-01 -8.90465237e-02 -4.18611195e+01] [-1.96875353e-01 -4.32789858e-03 9.80418974e-01 -1.20455269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.436875 meters 0.01700775270486253 Centerline is valid? [True, True] Translation: X:147.24, Y:-41.88, Z:-12.05 [[ 8.63845518e-01 4.72128118e-01 1.75687108e-01 1.47244496e+02] [-4.63659579e-01 8.81518650e-01 -8.91328497e-02 -4.18772588e+01] [-1.96953587e-01 -4.46199777e-03 9.80402660e-01 -1.20502916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.466875 meters 0.017388488023066886 Centerline is valid? [True, True] Translation: X:147.27, Y:-41.89, Z:-12.06 [[ 8.63431748e-01 4.72826147e-01 1.75843829e-01 1.47272181e+02] [-4.64345841e-01 8.81143851e-01 -8.92662013e-02 -4.18918449e+01] [-1.97151102e-01 -4.57707829e-03 9.80362430e-01 -1.20567429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.496875 meters 0.0176030105230449 Centerline is valid? [True, True] Translation: X:147.30, Y:-41.91, Z:-12.06 [[ 8.62890392e-01 4.73852166e-01 1.75739284e-01 1.47300025e+02] [-4.65391413e-01 8.80591563e-01 -8.92711100e-02 -4.19069033e+01] [-1.97055839e-01 -4.75637052e-03 9.80380729e-01 -1.20634213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.526875 meters 0.018030646812755576 Centerline is valid? [True, True] Translation: X:147.33, Y:-41.92, Z:-12.07 [[ 8.62416698e-01 4.74886537e-01 1.75271836e-01 1.47327706e+02] [-4.66481518e-01 8.80033218e-01 -8.90871962e-02 -4.19211946e+01] [-1.96551348e-01 -4.93078670e-03 9.80481134e-01 -1.20708648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.556875 meters 0.01861208854306049 Centerline is valid? [True, True] Translation: X:147.36, Y:-41.94, Z:-12.08 [[ 8.61388062e-01 4.77089317e-01 1.74345604e-01 1.47355443e+02] [-4.68807614e-01 8.78838496e-01 -8.86697197e-02 -4.19359975e+01] [-1.95525005e-01 -5.35550878e-03 9.80684093e-01 -1.20777599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.586875 meters 0.018160514006647803 Centerline is valid? [True, True] Translation: X:147.38, Y:-41.95, Z:-12.08 [[ 8.60682661e-01 4.78370010e-01 1.74320080e-01 1.47382485e+02] [-4.70106959e-01 8.78140510e-01 -8.87056473e-02 -4.19516613e+01] [-1.95511645e-01 -5.60166998e-03 9.80685382e-01 -1.20834388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.616875 meters 0.01970202439647526 Centerline is valid? [True, True] Translation: X:147.41, Y:-41.96, Z:-12.09 [[ 8.60125576e-01 4.79482852e-01 1.74012036e-01 1.47410055e+02] [-4.71260675e-01 8.77532121e-01 -8.86044766e-02 -4.19638895e+01] [-1.95185478e-01 -5.79405281e-03 9.80749233e-01 -1.20911671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.646875 meters 0.019930659058047362 Centerline is valid? [True, True] Translation: X:147.44, Y:-41.98, Z:-12.10 [[ 8.59689067e-01 4.80453719e-01 1.73490437e-01 1.47437610e+02] [-4.72290770e-01 8.76999892e-01 -8.83890100e-02 -4.19784749e+01] [-1.94617923e-01 -5.95086633e-03 9.80861076e-01 -1.20979615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.676875 meters 0.020140665865472276 Centerline is valid? [True, True] Translation: X:147.46, Y:-41.99, Z:-12.10 [[ 8.59079438e-01 4.81629430e-01 1.73250141e-01 1.47464904e+02] [-4.73502297e-01 8.76353320e-01 -8.83200571e-02 -4.19941177e+01] [-1.94365875e-01 -6.16039476e-03 9.80909759e-01 -1.21048573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.706875 meters 0.020617887875925 Centerline is valid? [True, True] Translation: X:147.49, Y:-42.01, Z:-12.11 [[ 8.59015630e-01 4.81871427e-01 1.72893247e-01 1.47492508e+02] [-4.73772319e-01 8.76220323e-01 -8.81914730e-02 -4.20085893e+01] [-1.93989528e-01 -6.15418101e-03 9.80984296e-01 -1.21119337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.736875 meters 0.020524321770165076 Centerline is valid? [True, True] Translation: X:147.52, Y:-42.02, Z:-12.12 [[ 8.58947606e-01 4.82017689e-01 1.72823487e-01 1.47520548e+02] [-4.73916826e-01 8.76140015e-01 -8.82129057e-02 -4.20245948e+01] [-1.93937753e-01 -6.13369414e-03 9.80994661e-01 -1.21186318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.766875 meters 0.02008243700577781 Centerline is valid? [True, True] Translation: X:147.55, Y:-42.04, Z:-12.12 [[ 8.59214346e-01 4.81613699e-01 1.72623733e-01 1.47547208e+02] [-4.73511444e-01 8.76363215e-01 -8.81727187e-02 -4.20417388e+01] [-1.93746279e-01 -5.98004814e-03 9.81033444e-01 -1.21245863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.796875 meters 0.018523198818406448 Centerline is valid? [True, True] Translation: X:147.57, Y:-42.06, Z:-12.13 [[ 8.59232418e-01 4.81551982e-01 1.72705934e-01 1.47574108e+02] [-4.73430102e-01 8.76397529e-01 -8.82683955e-02 -4.20596783e+01] [-1.93864875e-01 -5.92112115e-03 9.81010372e-01 -1.21293400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.826875 meters 0.019829113027806985 Centerline is valid? [True, True] Translation: X:147.60, Y:-42.07, Z:-12.14 [[ 8.59275851e-01 4.81299976e-01 1.73191643e-01 1.47601704e+02] [-4.73115749e-01 8.76536554e-01 -8.85728894e-02 -4.20725044e+01] [-1.94438936e-01 -5.83114918e-03 9.80897292e-01 -1.21377242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.856875 meters 0.019942075464891976 Centerline is valid? [True, True] Translation: X:147.63, Y:-42.09, Z:-12.14 [[ 8.59404993e-01 4.81017658e-01 1.73335142e-01 1.47628192e+02] [-4.72802983e-01 8.76692231e-01 -8.87021466e-02 -4.20869678e+01] [-1.94628871e-01 -5.72230438e-03 9.80860264e-01 -1.21441849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.886875 meters 0.01922732927745958 Centerline is valid? [True, True] Translation: X:147.65, Y:-42.10, Z:-12.15 [[ 8.59885137e-01 4.80196801e-01 1.73229858e-01 1.47654234e+02] [-4.71966004e-01 8.77143603e-01 -8.86971800e-02 -4.21042702e+01] [-1.94539564e-01 -5.48921720e-03 9.80879313e-01 -1.21502113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.916875 meters 0.01905594363118201 Centerline is valid? [True, True] Translation: X:147.68, Y:-42.12, Z:-12.16 [[ 8.60116026e-01 4.80005524e-01 1.72612626e-01 1.47682401e+02] [-4.71819587e-01 8.77248976e-01 -8.84336612e-02 -4.21205188e+01] [-1.93872895e-01 -5.37880855e-03 9.81011911e-01 -1.21571640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.946875 meters 0.019101129190439284 Centerline is valid? [True, True] Translation: X:147.71, Y:-42.14, Z:-12.16 [[ 8.60357000e-01 4.79409172e-01 1.73068422e-01 1.47709955e+02] [-4.71154775e-01 8.77576092e-01 -8.87320688e-02 -4.21359148e+01] [-1.94419677e-01 -5.20075707e-03 9.80904654e-01 -1.21640049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.976875 meters 0.018784857486678037 Centerline is valid? [True, True] Translation: X:147.74, Y:-42.15, Z:-12.17 [[ 8.60478934e-01 4.79065202e-01 1.73414351e-01 1.47737062e+02] [-4.70765321e-01 8.77764445e-01 -8.89358885e-02 -4.21515920e+01] [-1.94823040e-01 -5.11000381e-03 9.80825097e-01 -1.21696897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00687499999998 meters 0.018282253823427946 Centerline is valid? [True, True] Translation: X:147.76, Y:-42.17, Z:-12.18 [[ 8.61116707e-01 4.77775591e-01 1.73805933e-01 1.47763686e+02] [-4.69401117e-01 8.78468910e-01 -8.91906171e-02 -4.21682880e+01] [-1.95296208e-01 -4.78116849e-03 9.80732650e-01 -1.21757084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03687499999998 meters 0.018321055717853453 Centerline is valid? [True, True] Translation: X:147.79, Y:-42.18, Z:-12.18 [[ 8.61408896e-01 4.77322372e-01 1.73603190e-01 1.47790504e+02] [-4.68947463e-01 8.78716098e-01 -8.91420007e-02 -4.21835640e+01] [-1.95097389e-01 -4.62306302e-03 9.80772979e-01 -1.21823965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06687499999998 meters 0.018001103823228407 Centerline is valid? [True, True] Translation: X:147.82, Y:-42.20, Z:-12.19 [[ 8.61851550e-01 4.76698757e-01 1.73119037e-01 1.47817084e+02] [-4.68352970e-01 8.79055485e-01 -8.89210316e-02 -4.21996936e+01] [-1.94569784e-01 -4.44408634e-03 9.80878611e-01 -1.21888985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09687499999998 meters 0.018067147616144773 Centerline is valid? [True, True] Translation: X:147.84, Y:-42.22, Z:-12.20 [[ 8.62261556e-01 4.76088894e-01 1.72755240e-01 1.47844623e+02] [-4.67755977e-01 8.79386889e-01 -8.87865119e-02 -4.22153029e+01] [-1.94188965e-01 -4.25009999e-03 9.80954934e-01 -1.21961437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12687499999998 meters 0.01694604915212613 Centerline is valid? [True, True] Translation: X:147.87, Y:-42.23, Z:-12.20 [[ 8.62995399e-01 4.74762185e-01 1.72742032e-01 1.47870893e+02] [-4.66393966e-01 8.80105461e-01 -8.88315644e-02 -4.22324347e+01] [-1.94205073e-01 -3.90460999e-03 9.80953181e-01 -1.22022578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15687499999999 meters 0.017480970078307 Centerline is valid? [True, True] Translation: X:147.90, Y:-42.25, Z:-12.21 [[ 8.63213883e-01 4.74278570e-01 1.72978701e-01 1.47897404e+02] [-4.65866946e-01 8.80366829e-01 -8.90069428e-02 -4.22455628e+01] [-1.94498796e-01 -3.75303029e-03 9.80895577e-01 -1.22103870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.186875 meters 0.016515776031901054 Centerline is valid? [True, True] Translation: X:147.92, Y:-42.26, Z:-12.22 [[ 8.63426755e-01 4.73793402e-01 1.73245638e-01 1.47924568e+02] [-4.65336227e-01 8.80628645e-01 -8.91929715e-02 -4.22621528e+01] [-1.94824113e-01 -3.60587362e-03 9.80831567e-01 -1.22157581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.216875 meters 0.01603371947825665 Centerline is valid? [True, True] Translation: X:147.95, Y:-42.28, Z:-12.22 [[ 8.63849977e-01 4.72794046e-01 1.73864908e-01 1.47951620e+02] [-4.64245062e-01 8.81166613e-01 -8.95651816e-02 -4.22788181e+01] [-1.95549837e-01 -3.34504496e-03 9.80688061e-01 -1.22215943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.246875 meters 0.015863486395623315 Centerline is valid? [True, True] Translation: X:147.98, Y:-42.29, Z:-12.23 [[ 8.64050151e-01 4.72495990e-01 1.73680388e-01 1.47979896e+02] [-4.63948937e-01 8.81326912e-01 -8.95223865e-02 -4.22947800e+01] [-1.95368168e-01 -3.22699968e-03 9.80724663e-01 -1.22275070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.276875 meters 0.015613920597025283 Centerline is valid? [True, True] Translation: X:148.01, Y:-42.31, Z:-12.23 [[ 8.64175784e-01 4.72131600e-01 1.74045876e-01 1.48007058e+02] [-4.63528456e-01 8.81522643e-01 -8.97730493e-02 -4.23100263e+01] [-1.95810074e-01 -3.09552089e-03 9.80636953e-01 -1.22334684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.306875 meters 0.015613920597025283 Centerline is valid? [True, True] Translation: X:148.04, Y:-42.32, Z:-12.24 [[ 8.64046606e-01 4.72375979e-01 1.74024129e-01 1.48035126e+02] [-4.63769257e-01 8.81391688e-01 -8.98151859e-02 -4.23246056e+01] [-1.95809957e-01 -3.10253435e-03 9.80636954e-01 -1.22404258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.336875 meters 0.015649757940296993 Centerline is valid? [True, True] Translation: X:148.06, Y:-42.34, Z:-12.25 [[ 8.64080420e-01 4.72158742e-01 1.74445261e-01 1.48062871e+02] [-4.63493032e-01 8.81508419e-01 -9.00950397e-02 -4.23388781e+01] [-1.96314127e-01 -3.00480321e-03 9.80536453e-01 -1.22473583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.366875 meters 0.015604241657773861 Centerline is valid? [True, True] Translation: X:148.09, Y:-42.35, Z:-12.25 [[ 8.64121777e-01 4.71897230e-01 1.74947306e-01 1.48090852e+02] [-4.63165002e-01 8.81648774e-01 -9.04080752e-02 -4.23534704e+01] [-1.96905398e-01 -2.90588292e-03 9.80418186e-01 -1.22543038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.396875 meters 0.015214120852575537 Centerline is valid? [True, True] Translation: X:148.12, Y:-42.37, Z:-12.26 [[ 8.64148671e-01 4.71617768e-01 1.75566955e-01 1.48118817e+02] [-4.62806395e-01 8.81798627e-01 -9.07822821e-02 -4.23691969e+01] [-1.97629237e-01 -2.80412098e-03 9.80272830e-01 -1.22596564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.426875 meters 0.01540626108036098 Centerline is valid? [True, True] Translation: X:148.15, Y:-42.38, Z:-12.27 [[ 8.64323855e-01 4.71200431e-01 1.75824992e-01 1.48146321e+02] [-4.62342977e-01 8.82022146e-01 -9.09720029e-02 -4.23826715e+01] [-1.97947584e-01 -2.66217815e-03 9.80208991e-01 -1.22666500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.456875 meters 0.01440151269062483 Centerline is valid? [True, True] Translation: X:148.17, Y:-42.40, Z:-12.27 [[ 8.66443417e-01 4.67436863e-01 1.75438262e-01 1.48173160e+02] [-4.58531874e-01 8.84024724e-01 -9.08229485e-02 -4.23978361e+01] [-1.97545755e-01 -1.75108899e-03 9.80292104e-01 -1.22746241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.486875 meters 0.01430646900114929 Centerline is valid? [True, True] Translation: X:148.20, Y:-42.41, Z:-12.28 [[ 8.66904200e-01 4.66450759e-01 1.75786227e-01 1.48199589e+02] [-4.57478556e-01 8.84545931e-01 -9.10596885e-02 -4.24126514e+01] [-1.97965852e-01 -1.47840270e-03 9.80207802e-01 -1.22806226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.516875 meters 0.014250415865101021 Centerline is valid? [True, True] Translation: X:148.23, Y:-42.43, Z:-12.29 [[ 8.67308882e-01 4.65647336e-01 1.75920041e-01 1.48227024e+02] [-4.56639110e-01 8.84969460e-01 -9.11579819e-02 -4.24277976e+01] [-1.98131335e-01 -1.26984340e-03 9.80174659e-01 -1.22865019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.546875 meters 0.01443938779350521 Centerline is valid? [True, True] Translation: X:148.26, Y:-42.44, Z:-12.29 [[ 8.67728170e-01 4.65178913e-01 1.75089694e-01 1.48255147e+02] [-4.56236391e-01 8.85215989e-01 -9.07800013e-02 -4.24422973e+01] [-1.97221139e-01 -1.10992558e-03 9.80358399e-01 -1.22937318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.576875 meters 0.014334310048713762 Centerline is valid? [True, True] Translation: X:148.28, Y:-42.46, Z:-12.30 [[ 8.68022764e-01 4.64867561e-01 1.74455242e-01 1.48284333e+02] [-4.55972154e-01 8.85379686e-01 -9.05108098e-02 -4.24556216e+01] [-1.96534666e-01 -9.81289028e-04 9.80496386e-01 -1.23000630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.606875 meters 0.014458987858398668 Centerline is valid? [True, True] Translation: X:148.31, Y:-42.47, Z:-12.31 [[ 8.67887658e-01 4.65228179e-01 1.74165881e-01 1.48312386e+02] [-4.56357173e-01 8.85190224e-01 -9.04234391e-02 -4.24687517e+01] [-1.96237467e-01 -1.00446237e-03 9.80555887e-01 -1.23082642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.636875 meters 0.014517024282016771 Centerline is valid? [True, True] Translation: X:148.34, Y:-42.48, Z:-12.32 [[ 8.67591294e-01 4.65766710e-01 1.74203092e-01 1.48340814e+02] [-4.56891050e-01 8.84906898e-01 -9.05005583e-02 -4.24829036e+01] [-1.96305665e-01 -1.07433720e-03 9.80542162e-01 -1.23153149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.666875 meters 0.014706581037691664 Centerline is valid? [True, True] Translation: X:148.37, Y:-42.50, Z:-12.32 [[ 8.66734546e-01 4.67206159e-01 1.74612805e-01 1.48370607e+02] [-4.58304699e-01 8.84147380e-01 -9.07756238e-02 -4.24967190e+01] [-1.96794385e-01 -1.34749997e-03 9.80443856e-01 -1.23210624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.696875 meters 0.014843757208583863 Centerline is valid? [True, True] Translation: X:148.40, Y:-42.51, Z:-12.33 [[ 8.66126301e-01 4.68155857e-01 1.75086618e-01 1.48398825e+02] [-4.59212147e-01 8.83644617e-01 -9.10845438e-02 -4.25098051e+01] [-1.97356110e-01 -1.51118293e-03 9.80330700e-01 -1.23277289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.726875 meters 0.01494277366980233 Centerline is valid? [True, True] Translation: X:148.43, Y:-42.52, Z:-12.33 [[ 8.65491467e-01 4.69258715e-01 1.75273441e-01 1.48428248e+02] [-4.60306418e-01 8.83059073e-01 -9.12396565e-02 -4.25237827e+01] [-1.97591806e-01 -1.71234573e-03 9.80282891e-01 -1.23340807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75687499999998 meters 0.015136608186386765 Centerline is valid? [True, True] Translation: X:148.46, Y:-42.54, Z:-12.34 [[ 8.64663506e-01 4.70750920e-01 1.75358470e-01 1.48456931e+02] [-4.61807570e-01 8.82263895e-01 -9.13465293e-02 -4.25367097e+01] [-1.97713910e-01 -1.99785872e-03 9.80257731e-01 -1.23409964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78687499999998 meters 0.015575678238075156 Centerline is valid? [True, True] Translation: X:148.49, Y:-42.55, Z:-12.35 [[ 8.62811330e-01 4.74137646e-01 1.75357067e-01 1.48486790e+02] [-4.65251742e-01 8.80446529e-01 -9.14041883e-02 -4.25470717e+01] [-1.97730688e-01 -2.72061162e-03 9.80252607e-01 -1.23471690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81687499999998 meters 0.01626253347952865 Centerline is valid? [True, True] Translation: X:148.52, Y:-42.56, Z:-12.35 [[ 8.61344987e-01 4.76486631e-01 1.76196777e-01 1.48515339e+02] [-4.67551606e-01 8.79175804e-01 -9.18988687e-02 -4.25581755e+01] [-1.98696526e-01 -3.22445641e-03 9.80055760e-01 -1.23539104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84687499999998 meters 0.016705446902267423 Centerline is valid? [True, True] Translation: X:148.54, Y:-42.57, Z:-12.36 [[ 8.60056202e-01 4.78677359e-01 1.76554000e-01 1.48543917e+02] [-4.69745553e-01 8.77983031e-01 -9.21135832e-02 -4.25703831e+01] [-1.99104103e-01 -3.71259807e-03 9.79971312e-01 -1.23598473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87687499999998 meters 0.017122257531474776 Centerline is valid? [True, True] Translation: X:148.57, Y:-42.58, Z:-12.37 [[ 8.58973604e-01 4.80472436e-01 1.76947974e-01 1.48572796e+02] [-4.71527678e-01 8.77000278e-01 -9.23696993e-02 -4.25826249e+01] [-1.99564517e-01 -4.09273379e-03 9.79876142e-01 -1.23664753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90687499999999 meters 0.017680222664168257 Centerline is valid? [True, True] Translation: X:148.60, Y:-42.59, Z:-12.37 [[ 8.57419870e-01 4.83123153e-01 1.77265862e-01 1.48602662e+02] [-4.74190731e-01 8.75539958e-01 -9.25901364e-02 -4.25932270e+01] [-1.99935784e-01 -4.66920590e-03 9.79797878e-01 -1.23745636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.936875 meters 0.017588487851103476 Centerline is valid? [True, True] Translation: X:148.63, Y:-42.61, Z:-12.38 [[ 8.56838675e-01 4.84020916e-01 1.77626680e-01 1.48630347e+02] [-4.75059581e-01 8.75043044e-01 -9.28335365e-02 -4.26065860e+01] [-2.00364364e-01 -4.83989185e-03 9.79709496e-01 -1.23818160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.966875 meters 0.018135779561326112 Centerline is valid? [True, True] Translation: X:148.66, Y:-42.62, Z:-12.39 [[ 8.56287414e-01 4.84748904e-01 1.78298528e-01 1.48658356e+02] [-4.75723769e-01 8.74639167e-01 -9.32374560e-02 -4.26194373e+01] [-2.01143631e-01 -4.98278771e-03 9.79549086e-01 -1.23889912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.996875 meters 0.01804985899480932 Centerline is valid? [True, True] Translation: X:148.69, Y:-42.63, Z:-12.40 [[ 8.55974057e-01 4.85062662e-01 1.78948674e-01 1.48687034e+02] [-4.75969757e-01 8.74464865e-01 -9.36161809e-02 -4.26346297e+01] [-2.01894042e-01 -5.04113489e-03 9.79394396e-01 -1.23958386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.026875 meters 0.018100244094475172 Centerline is valid? [True, True] Translation: X:148.71, Y:-42.65, Z:-12.40 [[ 8.55700393e-01 4.85121992e-01 1.80093005e-01 1.48714735e+02] [-4.75899162e-01 8.74432011e-01 -9.42796171e-02 -4.26486578e+01] [-2.03216204e-01 -5.03100449e-03 9.79120965e-01 -1.24026482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.056875 meters 0.017977873707758094 Centerline is valid? [True, True] Translation: X:148.74, Y:-42.66, Z:-12.41 [[ 8.55503724e-01 4.85169050e-01 1.80898787e-01 1.48742794e+02] [-4.75852047e-01 8.74405991e-01 -9.47575473e-02 -4.26632546e+01] [-2.04152412e-01 -5.01562328e-03 9.78926267e-01 -1.24098048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.086875 meters 0.018008965656341136 Centerline is valid? [True, True] Translation: X:148.77, Y:-42.68, Z:-12.42 [[ 8.55756589e-01 4.84592646e-01 1.81247420e-01 1.48769455e+02] [-4.75214785e-01 8.74726566e-01 -9.49965407e-02 -4.26782513e+01] [-2.04576559e-01 -4.83753828e-03 9.78838613e-01 -1.24174466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.116875 meters 0.017119163126933245 Centerline is valid? [True, True] Translation: X:148.80, Y:-42.70, Z:-12.42 [[ 8.55908496e-01 4.84387364e-01 1.81078792e-01 1.48795996e+02] [-4.75011852e-01 8.74840805e-01 -9.49594990e-02 -4.26954243e+01] [-2.04412298e-01 -4.73793039e-03 9.78873416e-01 -1.24237536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.146875 meters 0.01742095748839515 Centerline is valid? [True, True] Translation: X:148.82, Y:-42.71, Z:-12.43 [[ 8.55709426e-01 4.84470984e-01 1.81794509e-01 1.48822702e+02] [-4.75010176e-01 8.74794567e-01 -9.53928653e-02 -4.27100245e+01] [-2.05247924e-01 -4.72566759e-03 9.78698604e-01 -1.24304193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.176875 meters 0.01768502730600439 Centerline is valid? [True, True] Translation: X:148.85, Y:-42.72, Z:-12.44 [[ 8.55861692e-01 4.84180301e-01 1.81852140e-01 1.48849146e+02] [-4.74695666e-01 8.74956107e-01 -9.54768859e-02 -4.27244421e+01] [-2.05340668e-01 -4.60941341e-03 9.78679704e-01 -1.24374363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.206875 meters 0.01727086730779387 Centerline is valid? [True, True] Translation: X:148.88, Y:-42.74, Z:-12.44 [[ 8.56097718e-01 4.83555549e-01 1.82402652e-01 1.48875225e+02] [-4.73992294e-01 8.75302385e-01 -9.57968736e-02 -4.27418125e+01] [-2.05980586e-01 -4.44596671e-03 9.78545978e-01 -1.24445284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.236875 meters 0.01712442912696364 Centerline is valid? [True, True] Translation: X:148.90, Y:-42.76, Z:-12.45 [[ 8.56064497e-01 4.83400262e-01 1.82969299e-01 1.48902011e+02] [-4.73761486e-01 8.75388524e-01 -9.61508519e-02 -4.27572972e+01] [-2.06648572e-01 -4.37247642e-03 9.78405463e-01 -1.24514349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.266875 meters 0.01737370280810709 Centerline is valid? [True, True] Translation: X:148.93, Y:-42.77, Z:-12.46 [[ 8.55792932e-01 4.83729804e-01 1.83368302e-01 1.48930473e+02] [-4.74044097e-01 8.75206268e-01 -9.64167088e-02 -4.27729098e+01] [-2.07124723e-01 -4.41192336e-03 9.78304597e-01 -1.24589799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.296875 meters 0.01732041633031451 Centerline is valid? [True, True] Translation: X:148.96, Y:-42.79, Z:-12.47 [[ 8.55942231e-01 4.83429342e-01 1.83463807e-01 1.48956095e+02] [-4.73712800e-01 8.75372906e-01 -9.65321624e-02 -4.27890829e+01] [-2.07265726e-01 -4.28319929e-03 9.78275305e-01 -1.24656653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.326875 meters 0.016700992988410625 Centerline is valid? [True, True] Translation: X:148.98, Y:-42.81, Z:-12.47 [[ 8.55861127e-01 4.83599252e-01 1.83394369e-01 1.48983549e+02] [-4.73887508e-01 8.75278992e-01 -9.65262415e-02 -4.28064089e+01] [-2.07201256e-01 -4.29524250e-03 9.78288909e-01 -1.24727096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.356875 meters 0.01698611091509097 Centerline is valid? [True, True] Translation: X:149.01, Y:-42.82, Z:-12.48 [[ 8.55707030e-01 4.83795063e-01 1.83596883e-01 1.49011160e+02] [-4.74052052e-01 8.75170810e-01 -9.66990485e-02 -4.28213612e+01] [-2.07461155e-01 -4.28842339e-03 9.78233857e-01 -1.24800269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.386875 meters 0.017440037069815506 Centerline is valid? [True, True] Translation: X:149.04, Y:-42.83, Z:-12.49 [[ 8.55996761e-01 4.83276594e-01 1.83611760e-01 1.49038175e+02] [-4.73507115e-01 8.75458085e-01 -9.67685558e-02 -4.28345827e+01] [-2.07510378e-01 -4.10790452e-03 9.78224191e-01 -1.24878918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.416875 meters 0.01692048315588051 Centerline is valid? [True, True] Translation: X:149.07, Y:-42.85, Z:-12.49 [[ 8.55826314e-01 4.83318618e-01 1.84294421e-01 1.49065163e+02] [-4.73464379e-01 8.75435002e-01 -9.71855882e-02 -4.28515170e+01] [-2.08309391e-01 -4.08285982e-03 9.78054461e-01 -1.24946550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.446875 meters 0.016807770926008065 Centerline is valid? [True, True] Translation: X:149.09, Y:-42.87, Z:-12.50 [[ 8.55650823e-01 4.83568506e-01 1.84453705e-01 1.49093488e+02] [-4.73690663e-01 8.75296932e-01 -9.73264435e-02 -4.28670696e+01] [-2.08515765e-01 -4.09654623e-03 9.78010426e-01 -1.25019266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.476875 meters 0.01670325580591255 Centerline is valid? [True, True] Translation: X:149.12, Y:-42.88, Z:-12.51 [[ 8.55268330e-01 4.84115577e-01 1.84792293e-01 1.49122068e+02] [-4.74199691e-01 8.74994080e-01 -9.75705523e-02 -4.28824232e+01] [-2.08927587e-01 -4.17944518e-03 9.77922183e-01 -1.25096320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50687499999998 meters 0.016460602726668692 Centerline is valid? [True, True] Translation: X:149.15, Y:-42.90, Z:-12.52 [[ 8.54998674e-01 4.84632222e-01 1.84685886e-01 1.49150202e+02] [-4.74725815e-01 8.74707719e-01 -9.75797481e-02 -4.28980933e+01] [-2.08836460e-01 -4.24460233e-03 9.77941367e-01 -1.25164888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53687499999998 meters 0.016264956706168402 Centerline is valid? [True, True] Translation: X:149.18, Y:-42.91, Z:-12.52 [[ 8.54864817e-01 4.84522640e-01 1.85590827e-01 1.49177563e+02] [-4.74500952e-01 8.74768737e-01 -9.81249383e-02 -4.29138217e+01] [-2.09892807e-01 -4.17946660e-03 9.77715471e-01 -1.25236762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56687499999998 meters 0.016278608666582612 Centerline is valid? [True, True] Translation: X:149.21, Y:-42.93, Z:-12.53 [[ 8.54661657e-01 4.84693163e-01 1.86080601e-01 1.49206131e+02] [-4.74609170e-01 8.74674263e-01 -9.84432283e-02 -4.29294380e+01] [-2.10474673e-01 -4.17990725e-03 9.77590375e-01 -1.25307032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59687499999998 meters 0.016361690802507604 Centerline is valid? [True, True] Translation: X:149.23, Y:-42.94, Z:-12.54 [[ 8.54756716e-01 4.84820904e-01 1.85309597e-01 1.49233214e+02] [-4.74809642e-01 8.74603689e-01 -9.81029631e-02 -4.29441186e+01] [-2.09634825e-01 -4.13261694e-03 9.77771017e-01 -1.25388904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62687499999998 meters 0.016490408950730173 Centerline is valid? [True, True] Translation: X:149.26, Y:-42.96, Z:-12.55 [[ 8.54849963e-01 4.84827319e-01 1.84862144e-01 1.49260749e+02] [-4.74851397e-01 8.74600441e-01 -9.79296646e-02 -4.29590631e+01] [-2.09159489e-01 -4.06687722e-03 9.77873084e-01 -1.25466825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65687499999999 meters 0.016525040064568477 Centerline is valid? [True, True] Translation: X:149.29, Y:-42.97, Z:-12.55 [[ 8.54740513e-01 4.84990411e-01 1.84940414e-01 1.49288472e+02] [-4.75001023e-01 8.74509987e-01 -9.80117866e-02 -4.29745649e+01] [-2.09267016e-01 -4.07224088e-03 9.77850057e-01 -1.25540573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.686875 meters 0.016193946252750353 Centerline is valid? [True, True] Translation: X:149.32, Y:-42.99, Z:-12.56 [[ 8.54769809e-01 4.84732760e-01 1.85479716e-01 1.49315918e+02] [-4.74664255e-01 8.74653332e-01 -9.83635809e-02 -4.29901154e+01] [-2.09910501e-01 -3.96237187e-03 9.77712576e-01 -1.25610508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.716875 meters 0.015997936779402627 Centerline is valid? [True, True] Translation: X:149.34, Y:-43.01, Z:-12.57 [[ 8.54875277e-01 4.84289977e-01 1.86149077e-01 1.49343342e+02] [-4.74125018e-01 8.74899225e-01 -9.87765844e-02 -4.30054284e+01] [-2.10698193e-01 -3.81627450e-03 9.77543711e-01 -1.25679581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.746875 meters 0.015751119805841863 Centerline is valid? [True, True] Translation: X:149.37, Y:-43.02, Z:-12.58 [[ 8.55343142e-01 4.83477391e-01 1.86112124e-01 1.49369958e+02] [-4.73285092e-01 8.75349594e-01 -9.88145232e-02 -4.30213528e+01] [-2.10687761e-01 -3.56376913e-03 9.77546913e-01 -1.25752055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.776875 meters 0.015572036109800156 Centerline is valid? [True, True] Translation: X:149.40, Y:-43.04, Z:-12.58 [[ 8.55462715e-01 4.83090164e-01 1.86567515e-01 1.49396917e+02] [-4.72825833e-01 8.75563909e-01 -9.91139386e-02 -4.30370655e+01] [-2.11232752e-01 -3.42566188e-03 9.77429787e-01 -1.25820208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.806875 meters 0.015612680965346548 Centerline is valid? [True, True] Translation: X:149.42, Y:-43.05, Z:-12.59 [[ 8.55409019e-01 4.83286662e-01 1.86304622e-01 1.49424774e+02] [-4.73043719e-01 8.75455495e-01 -9.90318997e-02 -4.30526209e+01] [-2.10962202e-01 -3.41745122e-03 9.77488246e-01 -1.25886227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.836875 meters 0.015656356017348366 Centerline is valid? [True, True] Translation: X:149.45, Y:-43.07, Z:-12.60 [[ 8.55077871e-01 4.83741861e-01 1.86643100e-01 1.49453341e+02] [-4.73462150e-01 8.75203743e-01 -9.92572482e-02 -4.30679182e+01] [-2.11365626e-01 -3.49576699e-03 9.77400814e-01 -1.25957652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.866875 meters 0.01575359491239655 Centerline is valid? [True, True] Translation: X:149.48, Y:-43.08, Z:-12.60 [[ 8.54005282e-01 4.85584797e-01 1.86768261e-01 1.49481106e+02] [-4.75320203e-01 8.74180894e-01 -9.93904859e-02 -4.30823045e+01] [-2.11531754e-01 -3.89472767e-03 9.77363365e-01 -1.26031307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.896875 meters 0.016670876988401855 Centerline is valid? [True, True] Translation: X:149.51, Y:-43.09, Z:-12.61 [[ 8.53231111e-01 4.86987206e-01 1.86655119e-01 1.49508818e+02] [-4.76755329e-01 8.73399072e-01 -9.93902292e-02 -4.30939977e+01] [-2.11426178e-01 -4.18598691e-03 9.77385006e-01 -1.26108049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.926875 meters 0.01717227638031965 Centerline is valid? [True, True] Translation: X:149.54, Y:-43.11, Z:-12.62 [[ 8.51173635e-01 4.90282352e-01 1.87421072e-01 1.49537237e+02] [-4.80032121e-01 8.71549459e-01 -9.98534096e-02 -4.31071379e+01] [-2.12303098e-01 -4.97554506e-03 9.77191198e-01 -1.26189603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.956875 meters 0.018334699637982052 Centerline is valid? [True, True] Translation: X:149.56, Y:-43.12, Z:-12.63 [[ 8.50361974e-01 4.91834299e-01 1.87038860e-01 1.49564934e+02] [-4.81650392e-01 8.70672700e-01 -9.97093276e-02 -4.31195033e+01] [-2.11890097e-01 -5.29831979e-03 9.77279139e-01 -1.26262362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.986875 meters 0.018914029436626924 Centerline is valid? [True, True] Translation: X:149.59, Y:-43.13, Z:-12.63 [[ 8.49555651e-01 4.93512537e-01 1.86280893e-01 1.49592257e+02] [-4.83438897e-01 8.69720396e-01 -9.93643108e-02 -4.31333924e+01] [-2.11049825e-01 -5.63991752e-03 9.77459034e-01 -1.26340971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.016875 meters 0.01880231888061985 Centerline is valid? [True, True] Translation: X:149.62, Y:-43.15, Z:-12.64 [[ 8.48946511e-01 4.94742533e-01 1.85794639e-01 1.49619883e+02] [-4.84739250e-01 8.69019702e-01 -9.91595537e-02 -4.31484652e+01] [-2.10517651e-01 -5.88079680e-03 9.77572368e-01 -1.26419575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.046875 meters 0.018420964929344117 Centerline is valid? [True, True] Translation: X:149.65, Y:-43.16, Z:-12.65 [[ 8.50430457e-01 4.92516866e-01 1.84919372e-01 1.49645592e+02] [-4.82543802e-01 8.70287063e-01 -9.87517431e-02 -4.31645137e+01] [-2.09569837e-01 -5.25020697e-03 9.77779586e-01 -1.26494625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.076875 meters 0.019661754783576846 Centerline is valid? [True, True] Translation: X:149.67, Y:-43.18, Z:-12.66 [[ 8.50600993e-01 4.92117899e-01 1.85196985e-01 1.49673608e+02] [-4.82093296e-01 8.70513558e-01 -9.89555401e-02 -4.31775710e+01] [-2.09914279e-01 -5.11054438e-03 9.77706437e-01 -1.26560181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.106875 meters 0.01785649362385019 Centerline is valid? [True, True] Translation: X:149.70, Y:-43.20, Z:-12.66 [[ 8.50346001e-01 4.92431189e-01 1.85534907e-01 1.49699929e+02] [-4.82370009e-01 8.70336030e-01 -9.91683915e-02 -4.31959924e+01] [-2.10311324e-01 -5.16902969e-03 9.77620800e-01 -1.26620015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.136875 meters 0.01803917757676798 Centerline is valid? [True, True] Translation: X:149.73, Y:-43.21, Z:-12.67 [[ 8.50277670e-01 4.92651858e-01 1.85262056e-01 1.49726932e+02] [-4.82611227e-01 8.70211220e-01 -9.90900416e-02 -4.32104509e+01] [-2.10034013e-01 -5.15549861e-03 9.77680487e-01 -1.26697318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.166875 meters 0.01750754021570978 Centerline is valid? [True, True] Translation: X:149.75, Y:-43.23, Z:-12.68 [[ 8.50444710e-01 4.92488742e-01 1.84928727e-01 1.49753949e+02] [-4.82467417e-01 8.70304162e-01 -9.89740193e-02 -4.32265779e+01] [-2.09687831e-01 -5.05015440e-03 9.77755342e-01 -1.26779124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.196875 meters 0.017485446385498156 Centerline is valid? [True, True] Translation: X:149.78, Y:-43.24, Z:-12.69 [[ 8.50399273e-01 4.92739059e-01 1.84470313e-01 1.49781677e+02] [-4.82761266e-01 8.70162484e-01 -9.87867027e-02 -4.32420098e+01] [-2.09195212e-01 -5.04698141e-03 9.77860875e-01 -1.26851239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.226875 meters 0.017801126336573735 Centerline is valid? [True, True] Translation: X:149.81, Y:-43.26, Z:-12.69 [[ 8.50505794e-01 4.92655185e-01 1.84203047e-01 1.49809268e+02] [-4.82690158e-01 8.70210482e-01 -9.87113397e-02 -4.32567629e+01] [-2.08926076e-01 -4.95843145e-03 9.77918866e-01 -1.26921906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25687499999998 meters 0.017801126336573735 Centerline is valid? [True, True] Translation: X:149.84, Y:-43.27, Z:-12.70 [[ 8.50371658e-01 4.92893126e-01 1.84185801e-01 1.49837104e+02] [-4.82926650e-01 8.70075612e-01 -9.87435082e-02 -4.32717878e+01] [-2.08925570e-01 -4.97955118e-03 9.77918867e-01 -1.26991406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28687499999998 meters 0.018488847043386242 Centerline is valid? [True, True] Translation: X:149.86, Y:-43.29, Z:-12.71 [[ 8.50646165e-01 4.92448766e-01 1.84106804e-01 1.49864329e+02] [-4.82466496e-01 8.70328147e-01 -9.87673839e-02 -4.32859940e+01] [-2.08871210e-01 -4.80926846e-03 9.77931331e-01 -1.27062535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31687499999998 meters 0.017522317902706808 Centerline is valid? [True, True] Translation: X:149.89, Y:-43.30, Z:-12.71 [[ 8.50693726e-01 4.92311045e-01 1.84255314e-01 1.49890806e+02] [-4.82297952e-01 8.70406481e-01 -9.89001734e-02 -4.33031133e+01] [-2.09066667e-01 -4.73220356e-03 9.77889940e-01 -1.27126214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34687499999998 meters 0.017204365235474323 Centerline is valid? [True, True] Translation: X:149.92, Y:-43.32, Z:-12.72 [[ 8.51148417e-01 4.91765549e-01 1.83611049e-01 1.49917900e+02] [-4.81798403e-01 8.70715865e-01 -9.86112666e-02 -4.33191602e+01] [-2.08366677e-01 -4.53068682e-03 9.78040286e-01 -1.27195370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37687499999998 meters 0.0168275773156749 Centerline is valid? [True, True] Translation: X:149.95, Y:-43.33, Z:-12.73 [[ 8.51444461e-01 4.91374424e-01 1.83285312e-01 1.49945001e+02] [-4.81421931e-01 8.70937440e-01 -9.84931435e-02 -4.33349284e+01] [-2.08027053e-01 -4.37612752e-03 9.78113283e-01 -1.27266679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40687499999999 meters 0.01587951896726352 Centerline is valid? [True, True] Translation: X:149.97, Y:-43.35, Z:-12.73 [[ 8.52290583e-01 4.89722153e-01 1.83774248e-01 1.49971455e+02] [-4.79665734e-01 8.71869685e-01 -9.88131389e-02 -4.33512888e+01] [-2.08618179e-01 -3.93270203e-03 9.77989258e-01 -1.27347564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.436875 meters 0.01548783832580648 Centerline is valid? [True, True] Translation: X:150.00, Y:-43.37, Z:-12.74 [[ 8.52634423e-01 4.89085818e-01 1.83873878e-01 1.49998529e+02] [-4.78991284e-01 8.72227706e-01 -9.89251116e-02 -4.33667153e+01] [-2.08762760e-01 -3.72702952e-03 9.77959211e-01 -1.27414161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.466875 meters 0.015502039178230516 Centerline is valid? [True, True] Translation: X:150.03, Y:-43.38, Z:-12.75 [[ 8.52973923e-01 4.88322469e-01 1.84327567e-01 1.50025076e+02] [-4.78147201e-01 8.72656256e-01 -9.92285886e-02 -4.33816646e+01] [-2.09310154e-01 -3.49631163e-03 9.77843052e-01 -1.27477403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.496875 meters 0.014756310603377872 Centerline is valid? [True, True] Translation: X:150.05, Y:-43.40, Z:-12.75 [[ 8.54109557e-01 4.86272974e-01 1.84487019e-01 1.50051402e+02] [-4.76025575e-01 8.73801918e-01 -9.93471742e-02 -4.33986302e+01] [-2.09514957e-01 -2.96716842e-03 9.77800940e-01 -1.27533456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.526875 meters 0.014441805018665745 Centerline is valid? [True, True] Translation: X:150.08, Y:-43.41, Z:-12.76 [[ 8.54397802e-01 4.85644223e-01 1.84808237e-01 1.50078848e+02] [-4.75333712e-01 8.74152182e-01 -9.95782380e-02 -4.34148296e+01] [-2.09910119e-01 -2.76615741e-03 9.77716774e-01 -1.27598096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.556875 meters 0.014337529417178535 Centerline is valid? [True, True] Translation: X:150.10, Y:-43.43, Z:-12.77 [[ 8.54741605e-01 4.85051049e-01 1.84776268e-01 1.50104769e+02] [-4.74717930e-01 8.74482067e-01 -9.96192779e-02 -4.34298043e+01] [-2.09903968e-01 -2.56786623e-03 9.77718635e-01 -1.27663385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.586875 meters 0.014239822421644103 Centerline is valid? [True, True] Translation: X:150.13, Y:-43.45, Z:-12.77 [[ 8.55101076e-01 4.84406243e-01 1.84804604e-01 1.50132562e+02] [-4.74043430e-01 8.74839994e-01 -9.96885750e-02 -4.34453546e+01] [-2.09964227e-01 -2.36160086e-03 9.77706217e-01 -1.27732795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.616875 meters 0.01407376859403501 Centerline is valid? [True, True] Translation: X:150.16, Y:-43.46, Z:-12.78 [[ 8.55264637e-01 4.84644698e-01 1.83417330e-01 1.50160982e+02] [-4.74439945e-01 8.74707855e-01 -9.89591169e-02 -4.34606527e+01] [-2.08396591e-01 -2.38427479e-03 9.78041500e-01 -1.27810165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.646875 meters 0.014255317935097298 Centerline is valid? [True, True] Translation: X:150.19, Y:-43.48, Z:-12.79 [[ 8.54647594e-01 4.85590038e-01 1.83792834e-01 1.50189678e+02] [-4.75350533e-01 8.74182907e-01 -9.92276014e-02 -4.34750805e+01] [-2.08852488e-01 -2.56139057e-03 9.77943801e-01 -1.27876728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.676875 meters 0.014305794888110776 Centerline is valid? [True, True] Translation: X:150.22, Y:-43.49, Z:-12.79 [[ 8.54066313e-01 4.86762822e-01 1.83392167e-01 1.50217342e+02] [-4.76581100e-01 8.73529742e-01 -9.90769638e-02 -4.34889141e+01] [-2.08425495e-01 -2.78294362e-03 9.78034288e-01 -1.27941639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.706875 meters 0.015930576965010153 Centerline is valid? [True, True] Translation: X:150.25, Y:-43.50, Z:-12.80 [[ 8.52714702e-01 4.89042596e-01 1.83616384e-01 1.50246480e+02] [-4.78876306e-01 8.72253677e-01 -9.92522373e-02 -4.34991126e+01] [-2.08698638e-01 -3.29569391e-03 9.77974446e-01 -1.28019081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.736875 meters 0.01585164279571797 Centerline is valid? [True, True] Translation: X:150.27, Y:-43.51, Z:-12.81 [[ 8.52055252e-01 4.90404319e-01 1.83044943e-01 1.50274319e+02] [-4.80326561e-01 8.71487642e-01 -9.89731472e-02 -4.35135114e+01] [-2.08058265e-01 -3.59075817e-03 9.78109843e-01 -1.28093086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.766875 meters 0.01669554893199156 Centerline is valid? [True, True] Translation: X:150.30, Y:-43.53, Z:-12.82 [[ 8.51071912e-01 4.92193984e-01 1.82815980e-01 1.50301754e+02] [-4.82170412e-01 8.70476480e-01 -9.89059754e-02 -4.35255090e+01] [-2.07817937e-01 -3.97235890e-03 9.78159458e-01 -1.28167549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.796875 meters 0.01738031223785604 Centerline is valid? [True, True] Translation: X:150.33, Y:-43.54, Z:-12.82 [[ 8.50307774e-01 4.93657916e-01 1.82424099e-01 1.50330002e+02] [-4.83699955e-01 8.69645672e-01 -9.87459344e-02 -4.35386349e+01] [-2.07391040e-01 -4.27409276e-03 9.78248787e-01 -1.28241136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.826875 meters 0.017861315708559783 Centerline is valid? [True, True] Translation: X:150.36, Y:-43.55, Z:-12.83 [[ 8.48187883e-01 4.97381958e-01 1.82177122e-01 1.50358450e+02] [-4.87524171e-01 8.67516513e-01 -9.86675361e-02 -4.35522353e+01] [-2.07117114e-01 -5.12714166e-03 9.78302721e-01 -1.28299958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.856875 meters 0.019059992011321535 Centerline is valid? [True, True] Translation: X:150.39, Y:-43.56, Z:-12.84 [[ 8.47413165e-01 4.98846932e-01 1.81776418e-01 1.50385964e+02] [-4.89053760e-01 8.66673155e-01 -9.85092049e-02 -4.35643100e+01] [-2.06681756e-01 -5.42044345e-03 9.78393209e-01 -1.28368630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.886875 meters 0.018927443466667554 Centerline is valid? [True, True] Translation: X:150.41, Y:-43.58, Z:-12.84 [[ 8.46655125e-01 5.00229267e-01 1.81509723e-01 1.50413444e+02] [-4.90490266e-01 8.65874083e-01 -9.83939602e-02 -4.35786143e+01] [-2.06384104e-01 -5.72300165e-03 9.78454316e-01 -1.28442054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.916875 meters 0.01967480467328024 Centerline is valid? [True, True] Translation: X:150.44, Y:-43.59, Z:-12.85 [[ 8.45814829e-01 5.01777571e-01 1.81153372e-01 1.50441637e+02] [-4.92100035e-01 8.64975620e-01 -9.82585019e-02 -4.35918574e+01] [-2.05997163e-01 -6.03708274e-03 9.78533966e-01 -1.28514817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.946875 meters 0.02077412626032116 Centerline is valid? [True, True] Translation: X:150.47, Y:-43.60, Z:-12.86 [[ 8.44688314e-01 5.03933876e-01 1.80422564e-01 1.50470588e+02] [-4.94371470e-01 8.63717896e-01 -9.79195882e-02 -4.36041341e+01] [-2.05179195e-01 -6.48423642e-03 9.78702944e-01 -1.28586415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.976875 meters 0.02114142564077333 Centerline is valid? [True, True] Translation: X:150.50, Y:-43.62, Z:-12.87 [[ 8.44232674e-01 5.04717230e-01 1.80365493e-01 1.50498338e+02] [-4.95166494e-01 8.63259332e-01 -9.79462592e-02 -4.36177169e+01] [-2.05137359e-01 -6.62151643e-03 9.78710795e-01 -1.28661685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00687499999998 meters 0.02073616222291002 Centerline is valid? [True, True] Translation: X:150.53, Y:-43.63, Z:-12.87 [[ 8.44174866e-01 5.04905125e-01 1.80109998e-01 1.50526726e+02] [-4.95374003e-01 8.63149559e-01 -9.78643803e-02 -4.36330999e+01] [-2.04874092e-01 -6.60716049e-03 9.78766035e-01 -1.28730097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03687499999998 meters 0.0208193903435226 Centerline is valid? [True, True] Translation: X:150.55, Y:-43.65, Z:-12.88 [[ 8.44482448e-01 5.04455585e-01 1.79927646e-01 1.50553814e+02] [-4.94919872e-01 8.63413684e-01 -9.78321562e-02 -4.36473089e+01] [-2.04703970e-01 -6.43222908e-03 9.78802795e-01 -1.28798747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06687499999998 meters 0.0211733638760684 Centerline is valid? [True, True] Translation: X:150.58, Y:-43.66, Z:-12.89 [[ 8.44763756e-01 5.03971079e-01 1.79964849e-01 1.50580773e+02] [-4.94409324e-01 8.63697778e-01 -9.79059149e-02 -4.36613011e+01] [-2.04776990e-01 -6.26893116e-03 9.78788580e-01 -1.28863609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09687499999998 meters 0.020569520188384427 Centerline is valid? [True, True] Translation: X:150.61, Y:-43.68, Z:-12.89 [[ 8.45355861e-01 5.03013639e-01 1.79863136e-01 1.50608386e+02] [-4.93429977e-01 8.64257748e-01 -9.79050664e-02 -4.36774479e+01] [-2.04695692e-01 -5.98524129e-03 9.78807361e-01 -1.28929042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12687499999998 meters 0.01939806043917428 Centerline is valid? [True, True] Translation: X:150.63, Y:-43.69, Z:-12.90 [[ 8.45828547e-01 5.02310909e-01 1.79604622e-01 1.50634641e+02] [-4.92735532e-01 8.64667696e-01 -9.77827684e-02 -4.36941706e+01] [-2.04415666e-01 -5.79012198e-03 9.78867054e-01 -1.28990259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15687499999999 meters 0.018948253819636635 Centerline is valid? [True, True] Translation: X:150.66, Y:-43.71, Z:-12.91 [[ 8.46919807e-01 5.00725637e-01 1.78887333e-01 1.50661353e+02] [-4.91180375e-01 8.65589618e-01 -9.74497425e-02 -4.37085530e+01] [-2.03638602e-01 -5.33382998e-03 9.79031598e-01 -1.29070934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.186875 meters 0.018818769445056987 Centerline is valid? [True, True] Translation: X:150.69, Y:-43.72, Z:-12.91 [[ 8.47415425e-01 5.00072771e-01 1.78365694e-01 1.50687617e+02] [-4.90558448e-01 8.65968281e-01 -9.72180309e-02 -4.37226653e+01] [-2.03075124e-01 -5.11473904e-03 9.79149801e-01 -1.29149773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.216875 meters 0.018384838872654213 Centerline is valid? [True, True] Translation: X:150.71, Y:-43.74, Z:-12.92 [[ 8.48165454e-01 4.99151482e-01 1.77378580e-01 1.50714347e+02] [-4.89712680e-01 8.66501334e-01 -9.67312268e-02 -4.37379375e+01] [-2.01982312e-01 -4.82045508e-03 9.79377307e-01 -1.29224129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.246875 meters 0.01858643870599073 Centerline is valid? [True, True] Translation: X:150.74, Y:-43.75, Z:-12.93 [[ 8.48566454e-01 4.98604846e-01 1.76997686e-01 1.50740732e+02] [-4.89183728e-01 8.66817031e-01 -9.65790628e-02 -4.37520687e+01] [-2.01579397e-01 -4.63063495e-03 9.79461231e-01 -1.29297028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.276875 meters 0.017252826218938096 Centerline is valid? [True, True] Translation: X:150.77, Y:-43.77, Z:-12.93 [[ 8.49873996e-01 4.96460264e-01 1.76752361e-01 1.50767342e+02] [-4.87009232e-01 8.68049902e-01 -9.64954658e-02 -4.37700843e+01] [-2.01336034e-01 -4.07104441e-03 9.79513771e-01 -1.29346315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.306875 meters 0.016583903561709096 Centerline is valid? [True, True] Translation: X:150.79, Y:-43.79, Z:-12.94 [[ 8.50400135e-01 4.95270029e-01 1.77559028e-01 1.50793854e+02] [-4.85694545e-01 8.68730957e-01 -9.69914037e-02 -4.37869841e+01] [-2.02287960e-01 -3.75794855e-03 9.79318875e-01 -1.29396108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.336875 meters 0.015611315226002625 Centerline is valid? [True, True] Translation: X:150.82, Y:-43.81, Z:-12.94 [[ 8.51832288e-01 4.92427985e-01 1.78595724e-01 1.50820536e+02] [-4.82665506e-01 8.70347846e-01 -9.76147314e-02 -4.38052193e+01] [-2.03508629e-01 -3.05061546e-03 9.79068400e-01 -1.29423848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.366875 meters 0.015719750975699047 Centerline is valid? [True, True] Translation: X:150.85, Y:-43.82, Z:-12.95 [[ 8.52298347e-01 4.91433022e-01 1.79112011e-01 1.50847291e+02] [-4.81579503e-01 8.70910969e-01 -9.79554331e-02 -4.38197451e+01] [-2.04129150e-01 -2.76941953e-03 9.78940050e-01 -1.29488027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.396875 meters 0.01536390399979743 Centerline is valid? [True, True] Translation: X:150.87, Y:-43.84, Z:-12.95 [[ 8.52595080e-01 4.90539407e-01 1.80146387e-01 1.50874663e+02] [-4.80539513e-01 8.71415358e-01 -9.85750984e-02 -4.38352178e+01] [-2.05337299e-01 -2.52281332e-03 9.78688014e-01 -1.29548020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.426875 meters 0.014977096321612728 Centerline is valid? [True, True] Translation: X:150.90, Y:-43.85, Z:-12.96 [[ 8.52831751e-01 4.89903184e-01 1.80756395e-01 1.50901959e+02] [-4.79808677e-01 8.71773739e-01 -9.89655530e-02 -4.38508474e+01] [-2.06062218e-01 -2.32752093e-03 9.78536124e-01 -1.29608347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.456875 meters 0.01504585845340027 Centerline is valid? [True, True] Translation: X:150.93, Y:-43.87, Z:-12.97 [[ 8.53115924e-01 4.89209459e-01 1.81293481e-01 1.50928857e+02] [-4.79026308e-01 8.72163766e-01 -9.93184837e-02 -4.38652099e+01] [-2.06705147e-01 -2.11416673e-03 9.78400998e-01 -1.29662217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.486875 meters 0.01500507153804159 Centerline is valid? [True, True] Translation: X:150.96, Y:-43.88, Z:-12.97 [[ 8.53071367e-01 4.89310743e-01 1.81229796e-01 1.50956873e+02] [-4.79125744e-01 8.72107005e-01 -9.93372729e-02 -4.38799140e+01] [-2.06658569e-01 -2.09007753e-03 9.78410889e-01 -1.29731133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.516875 meters 0.014972976309452485 Centerline is valid? [True, True] Translation: X:150.99, Y:-43.90, Z:-12.98 [[ 8.52794578e-01 4.89651424e-01 1.81611924e-01 1.50985011e+02] [-4.79417772e-01 8.71915692e-01 -9.96073563e-02 -4.38960759e+01] [-2.07123170e-01 -2.12337068e-03 9.78312569e-01 -1.29788859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.546875 meters 0.014993765913495943 Centerline is valid? [True, True] Translation: X:151.01, Y:-43.91, Z:-12.98 [[ 8.52507339e-01 4.89929403e-01 1.82209819e-01 1.51013524e+02] [-4.79619880e-01 8.71759486e-01 -1.00000850e-01 -4.39119430e+01] [-2.07836494e-01 -2.13999310e-03 9.78161240e-01 -1.29848268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.576875 meters 0.014947340044723053 Centerline is valid? [True, True] Translation: X:151.04, Y:-43.93, Z:-12.99 [[ 8.52182559e-01 4.90327244e-01 1.82658370e-01 1.51042336e+02] [-4.79961378e-01 8.71535669e-01 -1.00312775e-01 -4.39272496e+01] [-2.08379371e-01 -2.18416566e-03 9.78045636e-01 -1.29910571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.606875 meters 0.015061055442450405 Centerline is valid? [True, True] Translation: X:151.07, Y:-43.94, Z:-13.00 [[ 8.51856351e-01 4.90991283e-01 1.82396045e-01 1.51070408e+02] [-4.80656670e-01 8.71161489e-01 -1.00233859e-01 -4.39422972e+01] [-2.08110361e-01 -2.28502623e-03 9.78102682e-01 -1.29980731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.636875 meters 0.01527594942153411 Centerline is valid? [True, True] Translation: X:151.10, Y:-43.96, Z:-13.01 [[ 8.51621176e-01 4.91527833e-01 1.82048790e-01 1.51097364e+02] [-4.81231182e-01 8.70858687e-01 -1.00108426e-01 -4.39565940e+01] [-2.07744847e-01 -2.35309876e-03 9.78180219e-01 -1.30055673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.666875 meters 0.015622482427760206 Centerline is valid? [True, True] Translation: X:151.12, Y:-43.97, Z:-13.01 [[ 8.51173817e-01 4.92711541e-01 1.80937755e-01 1.51124853e+02] [-4.82555138e-01 8.70188903e-01 -9.95580835e-02 -4.39710685e+01] [-2.06503444e-01 -2.57120963e-03 9.78442495e-01 -1.30125704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.696875 meters 0.015834147283836655 Centerline is valid? [True, True] Translation: X:151.15, Y:-43.99, Z:-13.02 [[ 8.50606354e-01 4.93572735e-01 1.81258892e-01 1.51152557e+02] [-4.83387431e-01 8.69700218e-01 -9.97903872e-02 -4.39853944e+01] [-2.06894712e-01 -2.73593260e-03 9.78359388e-01 -1.30196449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.726875 meters 0.015958683852010987 Centerline is valid? [True, True] Translation: X:151.18, Y:-44.00, Z:-13.03 [[ 8.50100327e-01 4.94412729e-01 1.81343561e-01 1.51181053e+02] [-4.84224112e-01 8.69222473e-01 -9.98964551e-02 -4.40006104e+01] [-2.07017978e-01 -2.88891592e-03 9.78332873e-01 -1.30260443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75687499999998 meters 0.015764117704739167 Centerline is valid? [True, True] Translation: X:151.21, Y:-44.02, Z:-13.03 [[ 8.49911670e-01 4.94671174e-01 1.81522957e-01 1.51209122e+02] [-4.84454664e-01 8.69075386e-01 -1.00058248e-01 -4.40166615e+01] [-2.07253065e-01 -2.89897012e-03 9.78283069e-01 -1.30329363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78687499999998 meters 0.01572087625202946 Centerline is valid? [True, True] Translation: X:151.24, Y:-44.03, Z:-13.04 [[ 8.49169636e-01 4.95743520e-01 1.82069471e-01 1.51237450e+02] [-4.85475312e-01 8.68463397e-01 -1.00424347e-01 -4.40323279e+01] [-2.07905390e-01 -3.11292712e-03 9.78143987e-01 -1.30392492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81687499999998 meters 0.01585462562089345 Centerline is valid? [True, True] Translation: X:151.27, Y:-44.05, Z:-13.05 [[ 8.48813244e-01 4.96229459e-01 1.82407240e-01 1.51265577e+02] [-4.85919694e-01 8.68185588e-01 -1.00676889e-01 -4.40478336e+01] [-2.08322175e-01 -3.17939385e-03 9.78055092e-01 -1.30459898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84687499999998 meters 0.016040550185985547 Centerline is valid? [True, True] Translation: X:151.29, Y:-44.06, Z:-13.05 [[ 8.48534616e-01 4.96757183e-01 1.82267127e-01 1.51292625e+02] [-4.86461433e-01 8.67883490e-01 -1.00665395e-01 -4.40625364e+01] [-2.08192889e-01 -3.24785615e-03 9.78082396e-01 -1.30526506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87687499999998 meters 0.016034810293871177 Centerline is valid? [True, True] Translation: X:151.32, Y:-44.08, Z:-13.06 [[ 8.48060073e-01 4.97579274e-01 1.82233308e-01 1.51321167e+02] [-4.87293141e-01 8.67411864e-01 -1.00707763e-01 -4.40776760e+01] [-2.08181429e-01 -3.39480785e-03 9.78084336e-01 -1.30596325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90687499999999 meters 0.01608907122713109 Centerline is valid? [True, True] Translation: X:151.35, Y:-44.09, Z:-13.07 [[ 8.47619130e-01 4.98331312e-01 1.82229838e-01 1.51349906e+02] [-4.88048780e-01 8.66979529e-01 -1.00771447e-01 -4.40924461e+01] [-2.08207107e-01 -3.52124348e-03 9.78078423e-01 -1.30671569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.936875 meters 0.01639061559754965 Centerline is valid? [True, True] Translation: X:151.38, Y:-44.11, Z:-13.07 [[ 8.47110520e-01 4.99197227e-01 1.82224851e-01 1.51377542e+02] [-4.88920915e-01 8.66480596e-01 -1.00835092e-01 -4.41061918e+01] [-2.08230896e-01 -3.67507431e-03 9.78072793e-01 -1.30741548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.966875 meters 0.01601070436459027 Centerline is valid? [True, True] Translation: X:151.41, Y:-44.12, Z:-13.08 [[ 8.46503676e-01 5.00244334e-01 1.82173359e-01 1.51405009e+02] [-4.89985622e-01 8.65875596e-01 -1.00863985e-01 -4.41218010e+01] [-2.08196103e-01 -3.88059262e-03 9.78079406e-01 -1.30800224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.996875 meters 0.017243879375204323 Centerline is valid? [True, True] Translation: X:151.43, Y:-44.13, Z:-13.09 [[ 8.45230862e-01 5.02785261e-01 1.81084983e-01 1.51432893e+02] [-4.92694937e-01 8.64400022e-01 -1.00320985e-01 -4.41326033e+01] [-2.06969776e-01 -4.42526130e-03 9.78337329e-01 -1.30872607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.026875 meters 0.017620223192141148 Centerline is valid? [True, True] Translation: X:151.46, Y:-44.15, Z:-13.10 [[ 8.44642701e-01 5.03861418e-01 1.80837990e-01 1.51460713e+02] [-4.93813515e-01 8.63772034e-01 -1.00230165e-01 -4.41456652e+01] [-2.06704911e-01 -4.64156656e-03 9.78392322e-01 -1.30954153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.056875 meters 0.017605188711672153 Centerline is valid? [True, True] Translation: X:151.49, Y:-44.16, Z:-13.10 [[ 8.43967398e-01 5.05273993e-01 1.80047838e-01 1.51488327e+02] [-4.95334330e-01 8.62944981e-01 -9.98491891e-02 -4.41596873e+01] [-2.05822577e-01 -4.91441492e-03 9.78576985e-01 -1.31030174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.086875 meters 0.018150681963883333 Centerline is valid? [True, True] Translation: X:151.52, Y:-44.17, Z:-13.11 [[ 8.43337393e-01 5.06416332e-01 1.79790265e-01 1.51515320e+02] [-4.96518732e-01 8.62273821e-01 -9.97647571e-02 -4.41727649e+01] [-2.05550941e-01 -5.13388423e-03 9.78632952e-01 -1.31103282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.116875 meters 0.018150681963883333 Centerline is valid? [True, True] Translation: X:151.54, Y:-44.19, Z:-13.12 [[ 8.43198209e-01 5.06656084e-01 1.79767610e-01 1.51542940e+02] [-4.96755175e-01 8.62132905e-01 -9.98055623e-02 -4.41881890e+01] [-2.05550667e-01 -5.14461933e-03 9.78632953e-01 -1.31172842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.146875 meters 0.018588233925972985 Centerline is valid? [True, True] Translation: X:151.57, Y:-44.20, Z:-13.12 [[ 8.42394673e-01 5.08131696e-01 1.79369435e-01 1.51571078e+02] [-4.98294209e-01 8.61262245e-01 -9.96505251e-02 -4.42021969e+01] [-2.05119713e-01 -5.43367914e-03 9.78721809e-01 -1.31242536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.176875 meters 0.01874484632329751 Centerline is valid? [True, True] Translation: X:151.60, Y:-44.22, Z:-13.13 [[ 8.42114778e-01 5.08522389e-01 1.79576390e-01 1.51598133e+02] [-4.98658627e-01 8.61031299e-01 -9.98232244e-02 -4.42173240e+01] [-2.05383237e-01 -5.48470351e-03 9.78666258e-01 -1.31303414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.206875 meters 0.01886757725297002 Centerline is valid? [True, True] Translation: X:151.63, Y:-44.23, Z:-13.14 [[ 8.42217676e-01 5.08278174e-01 1.79785102e-01 1.51625860e+02] [-4.98372662e-01 8.61176164e-01 -1.00001520e-01 -4.42329262e+01] [-2.05655235e-01 -5.37693194e-03 9.78609735e-01 -1.31366082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.236875 meters 0.018454828617114272 Centerline is valid? [True, True] Translation: X:151.65, Y:-44.25, Z:-13.14 [[ 8.42600501e-01 5.07529761e-01 1.80105351e-01 1.51652728e+02] [-4.97559634e-01 8.61618815e-01 -1.00236857e-01 -4.42496597e+01] [-2.06055348e-01 -5.15352651e-03 9.78526768e-01 -1.31425876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.266875 meters 0.01837611656207191 Centerline is valid? [True, True] Translation: X:151.68, Y:-44.27, Z:-13.15 [[ 8.42759770e-01 5.07380559e-01 1.79780251e-01 1.51680184e+02] [-4.97431479e-01 8.61707253e-01 -1.00112606e-01 -4.42653591e+01] [-2.05713136e-01 -5.05747888e-03 9.78599268e-01 -1.31500004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.296875 meters 0.017977279666271762 Centerline is valid? [True, True] Translation: X:151.71, Y:-44.28, Z:-13.16 [[ 8.43065777e-01 5.06995156e-01 1.79432460e-01 1.51707251e+02] [-4.97062645e-01 8.61934997e-01 -9.99839385e-02 -4.42808765e+01] [-2.05350490e-01 -4.89613651e-03 9.78676251e-01 -1.31575074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.326875 meters 0.017334981216213775 Centerline is valid? [True, True] Translation: X:151.73, Y:-44.30, Z:-13.16 [[ 8.43084690e-01 5.07184193e-01 1.78808276e-01 1.51734838e+02] [-4.97313764e-01 8.61823898e-01 -9.96924663e-02 -4.42982526e+01] [-2.04663688e-01 -4.87462467e-03 9.78820215e-01 -1.31642494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.356875 meters 0.01748330696276169 Centerline is valid? [True, True] Translation: X:151.76, Y:-44.31, Z:-13.17 [[ 8.43685726e-01 5.06346500e-01 1.78346901e-01 1.51760631e+02] [-4.96494748e-01 8.62317849e-01 -9.95032283e-02 -4.43139426e+01] [-2.04174828e-01 -4.59884641e-03 9.78923639e-01 -1.31711217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.386875 meters 0.0171398876908408 Centerline is valid? [True, True] Translation: X:151.79, Y:-44.33, Z:-13.18 [[ 8.44309159e-01 5.05483016e-01 1.77845337e-01 1.51787341e+02] [-4.95661280e-01 8.62825601e-01 -9.92566276e-02 -4.43305209e+01] [-2.03622049e-01 -4.34776773e-03 9.79039916e-01 -1.31774955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.416875 meters 0.01683341636974534 Centerline is valid? [True, True] Translation: X:151.81, Y:-44.35, Z:-13.18 [[ 8.45013381e-01 5.04440579e-01 1.77460102e-01 1.51813169e+02] [-4.94635146e-01 8.63436814e-01 -9.90602919e-02 -4.43465629e+01] [-2.03195616e-01 -4.07073135e-03 9.79129701e-01 -1.31844149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.446875 meters 0.016022457515048667 Centerline is valid? [True, True] Translation: X:151.84, Y:-44.36, Z:-13.19 [[ 8.46610255e-01 5.01949790e-01 1.76910948e-01 1.51838586e+02] [-4.92140793e-01 8.64890021e-01 -9.88063308e-02 -4.43644104e+01] [-2.02604331e-01 -3.41464142e-03 9.79254730e-01 -1.31916490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.476875 meters 0.015709157062649925 Centerline is valid? [True, True] Translation: X:151.86, Y:-44.38, Z:-13.20 [[ 8.47525107e-01 5.00525312e-01 1.76566150e-01 1.51864386e+02] [-4.90712672e-01 8.65716642e-01 -9.86700011e-02 -4.43805326e+01] [-2.02243087e-01 -3.01794402e-03 9.79330703e-01 -1.31990066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50687499999998 meters 0.015133675465836063 Centerline is valid? [True, True] Translation: X:151.89, Y:-44.40, Z:-13.21 [[ 8.48491595e-01 4.99121132e-01 1.75898004e-01 1.51890979e+02] [-4.89342935e-01 8.66528242e-01 -9.83478457e-02 -4.43982149e+01] [-2.01508077e-01 -2.62712521e-03 9.79483330e-01 -1.32054234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53687499999998 meters 0.015110244890492463 Centerline is valid? [True, True] Translation: X:151.92, Y:-44.41, Z:-13.21 [[ 8.49027222e-01 4.98201471e-01 1.75920639e-01 1.51916599e+02] [-4.88389535e-01 8.67058089e-01 -9.84171347e-02 -4.44138249e+01] [-2.01564974e-01 -2.35897266e-03 9.79472305e-01 -1.32124677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56687499999998 meters 0.014562198148522418 Centerline is valid? [True, True] Translation: X:151.94, Y:-44.43, Z:-13.22 [[ 8.50518049e-01 4.95676966e-01 1.75850486e-01 1.51943000e+02] [-4.85808509e-01 8.68505276e-01 -9.84310845e-02 -4.44321822e+01] [-2.01517096e-01 -1.71224842e-03 9.79483501e-01 -1.32189173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59687499999998 meters 0.014403639560943331 Centerline is valid? [True, True] Translation: X:151.97, Y:-44.45, Z:-13.23 [[ 8.51030993e-01 4.94751118e-01 1.75976077e-01 1.51970133e+02] [-4.84842537e-01 8.69033474e-01 -9.85319008e-02 -4.44490250e+01] [-2.01677869e-01 -1.46698602e-03 9.79450808e-01 -1.32257341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62687499999998 meters 0.014362953337142312 Centerline is valid? [True, True] Translation: X:152.00, Y:-44.47, Z:-13.23 [[ 8.51628181e-01 4.93647761e-01 1.76185496e-01 1.51997473e+02] [-4.83686923e-01 8.69661131e-01 -9.86735934e-02 -4.44657853e+01] [-2.01931676e-01 -1.18540753e-03 9.79398894e-01 -1.32318240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65687499999999 meters 0.014064627114029796 Centerline is valid? [True, True] Translation: X:152.02, Y:-44.48, Z:-13.24 [[ 8.51805764e-01 4.93019874e-01 1.77082875e-01 1.52024544e+02] [-4.82938983e-01 8.70017444e-01 -9.91946918e-02 -4.44817572e+01] [-2.02970145e-01 -1.02561342e-03 9.79184389e-01 -1.32375028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.686875 meters 0.013897340044353133 Centerline is valid? [True, True] Translation: X:152.05, Y:-44.50, Z:-13.24 [[ 8.52377345e-01 4.91760443e-01 1.77832868e-01 1.52051877e+02] [-4.81554102e-01 8.70730272e-01 -9.96716601e-02 -4.44973579e+01] [-2.03859041e-01 -6.78282199e-04 9.79000016e-01 -1.32437194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.716875 meters 0.013869557175006203 Centerline is valid? [True, True] Translation: X:152.08, Y:-44.51, Z:-13.25 [[ 8.52445124e-01 4.91760298e-01 1.77508082e-01 1.52080172e+02] [-4.81580103e-01 8.70730392e-01 -9.95449099e-02 -4.45134425e+01] [-2.03513916e-01 -6.27787386e-04 9.79071852e-01 -1.32501098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.746875 meters 0.013884223028032588 Centerline is valid? [True, True] Translation: X:152.11, Y:-44.53, Z:-13.26 [[ 8.52524348e-01 4.91853451e-01 1.76868365e-01 1.52108049e+02] [-4.81735748e-01 8.70677802e-01 -9.92513662e-02 -4.45289857e+01] [-2.02812486e-01 -5.89607660e-04 9.79217416e-01 -1.32573519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.776875 meters 0.01400060298599446 Centerline is valid? [True, True] Translation: X:152.13, Y:-44.54, Z:-13.27 [[ 8.52473202e-01 4.92377455e-01 1.75652734e-01 1.52134944e+02] [-4.82397435e-01 8.70381536e-01 -9.86341574e-02 -4.45426509e+01] [-2.01450131e-01 -6.51452146e-04 9.79498555e-01 -1.32651201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.806875 meters 0.014014905075064896 Centerline is valid? [True, True] Translation: X:152.16, Y:-44.56, Z:-13.27 [[ 8.52292373e-01 4.92694601e-01 1.75640943e-01 1.52163433e+02] [-4.82711950e-01 8.70202027e-01 -9.86793059e-02 -4.45576537e+01] [-2.01461866e-01 -6.80362195e-04 9.79496122e-01 -1.32718656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.836875 meters 0.014068662736554941 Centerline is valid? [True, True] Translation: X:152.19, Y:-44.57, Z:-13.28 [[ 8.51832003e-01 4.93407741e-01 1.75872224e-01 1.52191683e+02] [-4.83400441e-01 8.69797776e-01 -9.88728559e-02 -4.45723222e+01] [-2.01757902e-01 -7.93648035e-04 9.79435102e-01 -1.32787121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.866875 meters 0.014036690902610081 Centerline is valid? [True, True] Translation: X:152.22, Y:-44.59, Z:-13.28 [[ 8.51360096e-01 4.94096393e-01 1.76223554e-01 1.52220609e+02] [-4.84050120e-01 8.69406660e-01 -9.91339572e-02 -4.45877392e+01] [-2.02191662e-01 -9.02337038e-04 9.79345556e-01 -1.32845670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.896875 meters 0.01410560424079839 Centerline is valid? [True, True] Translation: X:152.25, Y:-44.60, Z:-13.29 [[ 8.50574148e-01 4.94916860e-01 1.77710214e-01 1.52248771e+02] [-4.84702266e-01 8.68939702e-01 -1.00037532e-01 -4.46000763e+01] [-2.03929722e-01 -1.04720500e-03 9.78984970e-01 -1.32907864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.926875 meters 0.014219517195599182 Centerline is valid? [True, True] Translation: X:152.28, Y:-44.61, Z:-13.30 [[ 8.49996938e-01 4.95683789e-01 1.78333356e-01 1.52277370e+02] [-4.85402218e-01 8.68502256e-01 -1.00441612e-01 -4.46147340e+01] [-2.04670201e-01 -1.18834376e-03 9.78830270e-01 -1.32975546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.956875 meters 0.014255734448433588 Centerline is valid? [True, True] Translation: X:152.31, Y:-44.63, Z:-13.30 [[ 8.49472049e-01 4.96604260e-01 1.78273517e-01 1.52306271e+02] [-4.86336503e-01 8.67976023e-01 -1.00471040e-01 -4.46303230e+01] [-2.04631484e-01 -1.35357870e-03 9.78838150e-01 -1.33032989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.986875 meters 0.014576988013841706 Centerline is valid? [True, True] Translation: X:152.33, Y:-44.64, Z:-13.31 [[ 8.48634380e-01 4.98033314e-01 1.78276493e-01 1.52334664e+02] [-4.87782883e-01 8.67156345e-01 -1.00537223e-01 -4.46433828e+01] [-2.04664478e-01 -1.64087752e-03 9.78830812e-01 -1.33102039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.016875 meters 0.01487115440697489 Centerline is valid? [True, True] Translation: X:152.36, Y:-44.66, Z:-13.32 [[ 8.48019440e-01 4.99168067e-01 1.78028848e-01 1.52361679e+02] [-4.88958555e-01 8.66503195e-01 -1.00457679e-01 -4.46562134e+01] [-2.04407831e-01 -1.85866335e-03 9.78884050e-01 -1.33173454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.046875 meters 0.015113304919627443 Centerline is valid? [True, True] Translation: X:152.39, Y:-44.67, Z:-13.32 [[ 8.47214732e-01 5.00560104e-01 1.77951623e-01 1.52390110e+02] [-4.90379439e-01 8.65699118e-01 -1.00464134e-01 -4.46703066e+01] [-2.04340901e-01 -2.14912276e-03 9.78897430e-01 -1.33246333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.076875 meters 0.01622040097661453 Centerline is valid? [True, True] Translation: X:152.42, Y:-44.68, Z:-13.33 [[ 8.45353880e-01 5.03708178e-01 1.77918210e-01 1.52418213e+02] [-4.93588844e-01 8.63869138e-01 -1.00499579e-01 -4.46816373e+01] [-2.04320511e-01 -2.86073419e-03 9.78899865e-01 -1.33312084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.106875 meters 0.01676548799906089 Centerline is valid? [True, True] Translation: X:152.45, Y:-44.70, Z:-13.34 [[ 8.44369770e-01 5.05291105e-01 1.78102754e-01 1.52446530e+02] [-4.95174900e-01 8.62943011e-01 -1.00653757e-01 -4.46952987e+01] [-2.04551975e-01 -3.20302360e-03 9.78850464e-01 -1.33379889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.136875 meters 0.016094447061045986 Centerline is valid? [True, True] Translation: X:152.47, Y:-44.71, Z:-13.34 [[ 8.43195365e-01 5.07249081e-01 1.78100944e-01 1.52473896e+02] [-4.97165185e-01 8.61791845e-01 -1.00705482e-01 -4.47119461e+01] [-2.04568704e-01 -3.63119283e-03 9.78845473e-01 -1.33429383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.166875 meters 0.01677345779937425 Centerline is valid? [True, True] Translation: X:152.50, Y:-44.72, Z:-13.35 [[ 8.42328281e-01 5.08692001e-01 1.78088503e-01 1.52500903e+02] [-4.98629031e-01 8.60939609e-01 -1.00757529e-01 -4.47247134e+01] [-2.04577995e-01 -3.92918134e-03 9.78842380e-01 -1.33499971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.196875 meters 0.017301415511789493 Centerline is valid? [True, True] Translation: X:152.53, Y:-44.74, Z:-13.36 [[ 8.41131671e-01 5.10685931e-01 1.78037615e-01 1.52528830e+02] [-5.00667136e-01 8.59756141e-01 -1.00756126e-01 -4.47385864e+01] [-2.04523669e-01 -4.38841441e-03 9.78851782e-01 -1.33571965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.226875 meters 0.01744221642115715 Centerline is valid? [True, True] Translation: X:152.56, Y:-44.75, Z:-13.36 [[ 8.40605262e-01 5.11440211e-01 1.78358359e-01 1.52556565e+02] [-5.01389731e-01 8.59306922e-01 -1.00994804e-01 -4.47541705e+01] [-2.04917377e-01 -4.53028590e-03 9.78768791e-01 -1.33636795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25687499999998 meters 0.017533587808630947 Centerline is valid? [True, True] Translation: X:152.58, Y:-44.77, Z:-13.37 [[ 8.40318005e-01 5.12009436e-01 1.78078599e-01 1.52584278e+02] [-5.01989721e-01 8.58967485e-01 -1.00901830e-01 -4.47701980e+01] [-2.04626416e-01 -4.60400245e-03 9.78829318e-01 -1.33706682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28687499999998 meters 0.017479110095338313 Centerline is valid? [True, True] Translation: X:152.61, Y:-44.79, Z:-13.38 [[ 8.40257934e-01 5.12324277e-01 1.77455455e-01 1.52611523e+02] [-5.02368617e-01 8.58779725e-01 -1.00613901e-01 -4.47869074e+01] [-2.03942091e-01 -4.60642288e-03 9.78972116e-01 -1.33770457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31687499999998 meters 0.016842389418407502 Centerline is valid? [True, True] Translation: X:152.64, Y:-44.80, Z:-13.38 [[ 8.40357837e-01 5.12347486e-01 1.76914555e-01 1.52638526e+02] [-5.02440002e-01 8.58766231e-01 -1.00372333e-01 -4.48045769e+01] [-2.03353758e-01 -4.54027303e-03 9.79094804e-01 -1.33840452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34687499999998 meters 0.017576562711639567 Centerline is valid? [True, True] Translation: X:152.67, Y:-44.82, Z:-13.39 [[ 8.40523582e-01 5.12233000e-01 1.76458102e-01 1.52665805e+02] [-5.02360713e-01 8.58835039e-01 -1.00180288e-01 -4.48187378e+01] [-2.02864050e-01 -4.44172355e-03 9.79196838e-01 -1.33922349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37687499999998 meters 0.017430572835796247 Centerline is valid? [True, True] Translation: X:152.69, Y:-44.84, Z:-13.40 [[ 8.40610145e-01 5.12165767e-01 1.76240777e-01 1.52693306e+02] [-5.02302742e-01 8.58875548e-01 -1.00123667e-01 -4.48358533e+01] [-2.02648809e-01 -4.36125501e-03 9.79241768e-01 -1.33997425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40687499999999 meters 0.017212883954176583 Centerline is valid? [True, True] Translation: X:152.72, Y:-44.85, Z:-13.41 [[ 8.41311320e-01 5.11235045e-01 1.75596106e-01 1.52718785e+02] [-5.01410928e-01 8.59431337e-01 -9.98241312e-02 -4.48530019e+01] [-2.01946390e-01 -4.06263494e-03 9.79388151e-01 -1.34065207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.436875 meters 0.017176559429092478 Centerline is valid? [True, True] Translation: X:152.75, Y:-44.87, Z:-13.41 [[ 8.41166847e-01 5.11369037e-01 1.75897822e-01 1.52745940e+02] [-5.01507463e-01 8.59351556e-01 -1.00025837e-01 -4.48696204e+01] [-2.02308183e-01 -4.07565263e-03 9.79313427e-01 -1.34131096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.466875 meters 0.01666012130764672 Centerline is valid? [True, True] Translation: X:152.77, Y:-44.89, Z:-13.42 [[ 8.40904417e-01 5.11793459e-01 1.75918208e-01 1.52773363e+02] [-5.01925568e-01 8.59098634e-01 -1.00101259e-01 -4.48871114e+01] [-2.02362262e-01 -4.12225560e-03 9.79302059e-01 -1.34195610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.496875 meters 0.016823930468741467 Centerline is valid? [True, True] Translation: X:152.80, Y:-44.90, Z:-13.43 [[ 8.40585123e-01 5.12301343e-01 1.75965864e-01 1.52800948e+02] [-5.02425034e-01 8.58795557e-01 -1.00196185e-01 -4.49030138e+01] [-2.02449343e-01 -4.18623249e-03 9.79283789e-01 -1.34257980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.526875 meters 0.017891211307469273 Centerline is valid? [True, True] Translation: X:152.83, Y:-44.92, Z:-13.43 [[ 8.39680197e-01 5.13586552e-01 1.76539004e-01 1.52828600e+02] [-5.03664447e-01 8.58026128e-01 -1.00564850e-01 -4.49167538e+01] [-2.03123833e-01 -4.47410658e-03 9.79142835e-01 -1.34323950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.556875 meters 0.01820494646192466 Centerline is valid? [True, True] Translation: X:152.86, Y:-44.93, Z:-13.44 [[ 8.39067463e-01 5.14736181e-01 1.76103540e-01 1.52856289e+02] [-5.04882279e-01 8.57335665e-01 -1.00346611e-01 -4.49317968e+01] [-2.02631877e-01 -4.71398010e-03 9.79243637e-01 -1.34391990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.586875 meters 0.01769616034056175 Centerline is valid? [True, True] Translation: X:152.88, Y:-44.95, Z:-13.45 [[ 8.38318715e-01 5.16180090e-01 1.75441863e-01 1.52882417e+02] [-5.06420575e-01 8.56465510e-01 -1.00025152e-01 -4.49482564e+01] [-2.01890897e-01 -4.99441200e-03 9.79395284e-01 -1.34458901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.616875 meters 0.019032203774385196 Centerline is valid? [True, True] Translation: X:152.91, Y:-44.96, Z:-13.45 [[ 8.37598117e-01 5.17824305e-01 1.74032710e-01 1.52909445e+02] [-5.08246563e-01 8.55470578e-01 -9.92749746e-02 -4.49605559e+01] [-2.00286858e-01 -5.29899500e-03 9.79722969e-01 -1.34549117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.646875 meters 0.018826516653785878 Centerline is valid? [True, True] Translation: X:152.94, Y:-44.98, Z:-13.46 [[ 8.37370350e-01 5.18372080e-01 1.73497215e-01 1.52936745e+02] [-5.08854589e-01 8.55138344e-01 -9.90223224e-02 -4.49767289e+01] [-1.99694528e-01 -5.36649718e-03 9.79843506e-01 -1.34615981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.676875 meters 0.01915561274386483 Centerline is valid? [True, True] Translation: X:152.96, Y:-44.99, Z:-13.47 [[ 8.37380642e-01 5.18471145e-01 1.73151181e-01 1.52964107e+02] [-5.08982307e-01 8.55078521e-01 -9.88824259e-02 -4.49920696e+01] [-1.99325541e-01 -5.32865839e-03 9.79918841e-01 -1.34692314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.706875 meters 0.019035402542623134 Centerline is valid? [True, True] Translation: X:152.99, Y:-45.01, Z:-13.48 [[ 8.37266012e-01 5.18686280e-01 1.73061167e-01 1.52991525e+02] [-5.09204143e-01 8.54947946e-01 -9.88693616e-02 -4.50082267e+01] [-1.99240470e-01 -5.34350703e-03 9.79936060e-01 -1.34760640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.736875 meters 0.019324091931434896 Centerline is valid? [True, True] Translation: X:153.02, Y:-45.02, Z:-13.48 [[ 8.37206775e-01 5.18854207e-01 1.72844231e-01 1.53018245e+02] [-5.09386553e-01 8.54846187e-01 -9.88095932e-02 -4.50237002e+01] [-1.99023005e-01 -5.32046609e-03 9.79980375e-01 -1.34836105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.766875 meters 0.01942443593606229 Centerline is valid? [True, True] Translation: X:153.04, Y:-45.04, Z:-13.49 [[ 8.37333039e-01 5.18704533e-01 1.72681756e-01 1.53044605e+02] [-5.09239574e-01 8.54937588e-01 -9.87763991e-02 -4.50390425e+01] [-1.98867890e-01 -5.22764127e-03 9.80012364e-01 -1.34895233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.796875 meters 0.019272786762220783 Centerline is valid? [True, True] Translation: X:153.07, Y:-45.06, Z:-13.50 [[ 8.37428084e-01 5.18669407e-01 1.72326000e-01 1.53072217e+02] [-5.09232917e-01 8.54959282e-01 -9.86228308e-02 -4.50557876e+01] [-1.98484358e-01 -5.16454324e-03 9.80090448e-01 -1.34962923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.826875 meters 0.019324656790042437 Centerline is valid? [True, True] Translation: X:153.10, Y:-45.07, Z:-13.50 [[ 8.37633709e-01 5.18257029e-01 1.72567151e-01 1.53098262e+02] [-5.08772321e-01 8.55210187e-01 -9.88243964e-02 -4.50703802e+01] [-1.98797623e-01 -5.01874400e-03 9.80027712e-01 -1.35033860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.856875 meters 0.01944970008741032 Centerline is valid? [True, True] Translation: X:153.12, Y:-45.09, Z:-13.51 [[ 8.37546711e-01 5.18314090e-01 1.72817853e-01 1.53124950e+02] [-5.08792518e-01 8.55175739e-01 -9.90183309e-02 -4.50856248e+01] [-1.99112231e-01 -4.99595290e-03 9.79963959e-01 -1.35103312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.886875 meters 0.01946019649447945 Centerline is valid? [True, True] Translation: X:153.15, Y:-45.10, Z:-13.52 [[ 8.37351267e-01 5.18526329e-01 1.73127990e-01 1.53152523e+02] [-5.08964680e-01 8.55046968e-01 -9.92453390e-02 -4.51020955e+01] [-1.99493884e-01 -5.01282156e-03 9.79886249e-01 -1.35172123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.916875 meters 0.020315497688868596 Centerline is valid? [True, True] Translation: X:153.18, Y:-45.12, Z:-13.52 [[ 8.36868918e-01 5.19230849e-01 1.73348607e-01 1.53179400e+02] [-5.09646753e-01 8.54618616e-01 -9.94344455e-02 -4.51172150e+01] [-1.99776378e-01 -5.13295799e-03 9.79828072e-01 -1.35223037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.946875 meters 0.020383837685777912 Centerline is valid? [True, True] Translation: X:153.21, Y:-45.13, Z:-13.53 [[ 8.36540810e-01 5.19791815e-01 1.73251097e-01 1.53206694e+02] [-5.10220365e-01 8.54277013e-01 -9.94281842e-02 -4.51328549e+01] [-1.99686386e-01 -5.22050435e-03 9.79845954e-01 -1.35285661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.976875 meters 0.018791988458816678 Centerline is valid? [True, True] Translation: X:153.23, Y:-45.15, Z:-13.53 [[ 8.35905927e-01 5.20602657e-01 1.73879713e-01 1.53233788e+02] [-5.10967517e-01 8.53782078e-01 -9.98416769e-02 -4.51518112e+01] [-2.00433225e-01 -5.38863578e-03 9.79692546e-01 -1.35331158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00687499999998 meters 0.021374642868389523 Centerline is valid? [True, True] Translation: X:153.26, Y:-45.16, Z:-13.54 [[ 8.35571233e-01 5.20954542e-01 1.74433600e-01 1.53262767e+02] [-5.11251435e-01 8.53567125e-01 -1.00225409e-01 -4.51631069e+01] [-2.01103669e-01 -5.43395947e-03 9.79554892e-01 -1.35420124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03687499999998 meters 0.021374642868389523 Centerline is valid? [True, True] Translation: X:153.29, Y:-45.18, Z:-13.55 [[ 8.35438544e-01 5.21176113e-01 1.74407277e-01 1.53290150e+02] [-5.11468230e-01 8.53431859e-01 -1.00271195e-01 -4.51789742e+01] [-2.01103678e-01 -5.43335982e-03 9.79554893e-01 -1.35489747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06687499999998 meters 0.019425663307178046 Centerline is valid? [True, True] Translation: X:153.32, Y:-45.20, Z:-13.55 [[ 8.34898307e-01 5.21880405e-01 1.74887566e-01 1.53316775e+02] [-5.12121325e-01 8.53000502e-01 -1.00607612e-01 -4.51989046e+01] [-2.01684323e-01 -5.56652714e-03 9.79434759e-01 -1.35538287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09687499999998 meters 0.018999139254444724 Centerline is valid? [True, True] Translation: X:153.34, Y:-45.22, Z:-13.56 [[ 8.34943461e-01 5.21736287e-01 1.75101869e-01 1.53343228e+02] [-5.11936362e-01 8.53089210e-01 -1.00796631e-01 -4.52156933e+01] [-2.01966775e-01 -5.48152561e-03 9.79377034e-01 -1.35599483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12687499999998 meters 0.01865020539409948 Centerline is valid? [True, True] Translation: X:153.37, Y:-45.23, Z:-13.57 [[ 8.35110721e-01 5.21311810e-01 1.75567880e-01 1.53369801e+02] [-5.11437879e-01 8.53349546e-01 -1.01122942e-01 -4.52323142e+01] [-2.02537355e-01 -5.34321074e-03 9.79259960e-01 -1.35658268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15687499999999 meters 0.01863630685516033 Centerline is valid? [True, True] Translation: X:153.40, Y:-45.25, Z:-13.57 [[ 8.35301890e-01 5.20934396e-01 1.75778575e-01 1.53395859e+02] [-5.11016176e-01 8.53580833e-01 -1.01302664e-01 -4.52486255e+01] [-2.02813265e-01 -5.20738827e-03 9.79203586e-01 -1.35720675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.186875 meters 0.01923233163861932 Centerline is valid? [True, True] Translation: X:153.42, Y:-45.26, Z:-13.58 [[ 8.36181307e-01 5.19221644e-01 1.76662688e-01 1.53422520e+02] [-5.09153381e-01 8.54626312e-01 -1.01866100e-01 -4.52639186e+01] [-2.03871665e-01 -4.76987678e-03 9.78986002e-01 -1.35795157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.216875 meters 0.01754802550223927 Centerline is valid? [True, True] Translation: X:153.45, Y:-45.28, Z:-13.58 [[ 8.36490491e-01 5.18671951e-01 1.76813646e-01 1.53447832e+02] [-5.08562232e-01 8.54961016e-01 -1.02010381e-01 -4.52835486e+01] [-2.04078698e-01 -4.59002846e-03 9.78943725e-01 -1.35844793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.246875 meters 0.017632855587928372 Centerline is valid? [True, True] Translation: X:153.47, Y:-45.30, Z:-13.59 [[ 8.37018062e-01 5.17835125e-01 1.76769755e-01 1.53473902e+02] [-5.07699688e-01 8.55469466e-01 -1.02044204e-01 -4.52994408e+01] [-2.04063201e-01 -4.33310723e-03 9.78948126e-01 -1.35915305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.276875 meters 0.016515474423128694 Centerline is valid? [True, True] Translation: X:153.50, Y:-45.32, Z:-13.60 [[ 8.38048782e-01 5.16408081e-01 1.76059459e-01 1.53498579e+02] [-5.06317068e-01 8.56333557e-01 -1.01665462e-01 -4.53190388e+01] [-2.03266489e-01 -3.94129212e-03 9.79115520e-01 -1.35980365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.306875 meters 0.016833530049820494 Centerline is valid? [True, True] Translation: X:153.52, Y:-45.33, Z:-13.61 [[ 8.38431134e-01 5.15839465e-01 1.75905886e-01 1.53524429e+02] [-5.05741625e-01 8.56677067e-01 -1.01635685e-01 -4.53338390e+01] [-2.03122236e-01 -3.74840637e-03 9.79146213e-01 -1.36058508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.336875 meters 0.01608516143951073 Centerline is valid? [True, True] Translation: X:153.55, Y:-45.35, Z:-13.61 [[ 8.38557524e-01 5.15562477e-01 1.76115339e-01 1.53550200e+02] [-5.05423103e-01 8.56844264e-01 -1.01810581e-01 -4.53515935e+01] [-2.03393133e-01 -3.63873226e-03 9.79090391e-01 -1.36119409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.366875 meters 0.01623408853204425 Centerline is valid? [True, True] Translation: X:153.58, Y:-45.37, Z:-13.62 [[ 8.38808704e-01 5.15027139e-01 1.76485138e-01 1.53576330e+02] [-5.04820663e-01 8.57166869e-01 -1.02083576e-01 -4.53669469e+01] [-2.03853025e-01 -3.46475228e-03 9.78995373e-01 -1.36189594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.396875 meters 0.01613052741819914 Centerline is valid? [True, True] Translation: X:153.60, Y:-45.39, Z:-13.62 [[ 8.38791395e-01 5.14932974e-01 1.76841816e-01 1.53602059e+02] [-5.04671412e-01 8.57223693e-01 -1.02344056e-01 -4.53853570e+01] [-2.04293324e-01 -3.40169558e-03 9.78903809e-01 -1.36243290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.426875 meters 0.015923134777804663 Centerline is valid? [True, True] Translation: X:153.63, Y:-45.40, Z:-13.63 [[ 8.38722498e-01 5.15012559e-01 1.76936811e-01 1.53629480e+02] [-5.04729666e-01 8.57175996e-01 -1.02456221e-01 -4.54026152e+01] [-2.04432228e-01 -3.37291995e-03 9.78874909e-01 -1.36312416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.456875 meters 0.015926751217952662 Centerline is valid? [True, True] Translation: X:153.66, Y:-45.42, Z:-13.64 [[ 8.38549660e-01 5.15375136e-01 1.76700133e-01 1.53656546e+02] [-5.05113989e-01 8.56957948e-01 -1.02386198e-01 -4.54192411e+01] [-2.04191884e-01 -3.39779777e-03 9.78924987e-01 -1.36379335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.486875 meters 0.01637580642884859 Centerline is valid? [True, True] Translation: X:153.68, Y:-45.43, Z:-13.65 [[ 8.38523001e-01 5.15527953e-01 1.76380572e-01 1.53683473e+02] [-5.05293665e-01 8.56866135e-01 -1.02267974e-01 -4.54345876e+01] [-2.03856538e-01 -3.36993662e-03 9.78994972e-01 -1.36463889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.516875 meters 0.016138978732101416 Centerline is valid? [True, True] Translation: X:153.71, Y:-45.45, Z:-13.65 [[ 8.38750108e-01 5.15133921e-01 1.76451973e-01 1.53709113e+02] [-5.04869620e-01 8.57103651e-01 -1.02371857e-01 -4.54526269e+01] [-2.03972846e-01 -3.22083454e-03 9.78971248e-01 -1.36528391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.546875 meters 0.016023754792358538 Centerline is valid? [True, True] Translation: X:153.74, Y:-45.47, Z:-13.66 [[ 8.38769298e-01 5.15013045e-01 1.76713404e-01 1.53735662e+02] [-5.04703503e-01 8.57176564e-01 -1.02580277e-01 -4.54699809e+01] [-2.04304769e-01 -3.14668698e-03 9.78902273e-01 -1.36591963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.576875 meters 0.015875469348748214 Centerline is valid? [True, True] Translation: X:153.76, Y:-45.49, Z:-13.67 [[ 8.39060007e-01 5.14363911e-01 1.77223226e-01 1.53762502e+02] [-5.03967482e-01 8.57566959e-01 -1.02935360e-01 -4.54870399e+01] [-2.04927017e-01 -2.94579905e-03 9.78772823e-01 -1.36666512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.606875 meters 0.015545049642451757 Centerline is valid? [True, True] Translation: X:153.79, Y:-45.51, Z:-13.67 [[ 8.39521348e-01 5.13495823e-01 1.77555474e-01 1.53788824e+02] [-5.03036452e-01 8.58087778e-01 -1.03148887e-01 -4.55056488e+01] [-2.05324705e-01 -2.72118277e-03 9.78690125e-01 -1.36723597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.636875 meters 0.015329870876630744 Centerline is valid? [True, True] Translation: X:153.82, Y:-45.52, Z:-13.68 [[ 8.39470808e-01 5.13634416e-01 1.77393489e-01 1.53815930e+02] [-5.03193540e-01 8.58004778e-01 -1.03073089e-01 -4.55236488e+01] [-2.05146347e-01 -2.73640819e-03 9.78727484e-01 -1.36792665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.666875 meters 0.015297500768181324 Centerline is valid? [True, True] Translation: X:153.84, Y:-45.54, Z:-13.69 [[ 8.39345452e-01 5.13879438e-01 1.77277003e-01 1.53843385e+02] [-5.03443802e-01 8.57858053e-01 -1.03072301e-01 -4.55404099e+01] [-2.05045241e-01 -2.73574142e-03 9.78748673e-01 -1.36863421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.696875 meters 0.015266694450135261 Centerline is valid? [True, True] Translation: X:153.87, Y:-45.56, Z:-13.69 [[ 8.39096090e-01 5.14409911e-01 1.76918611e-01 1.53870978e+02] [-5.04014544e-01 8.57539853e-01 -1.02930754e-01 -4.55566478e+01] [-2.04663360e-01 -2.80075948e-03 9.78828414e-01 -1.36938124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.726875 meters 0.015497228048778091 Centerline is valid? [True, True] Translation: X:153.90, Y:-45.57, Z:-13.70 [[ 8.39007835e-01 5.14709751e-01 1.76464518e-01 1.53897905e+02] [-5.04360801e-01 8.57359896e-01 -1.02733597e-01 -4.55722258e+01] [-2.04171584e-01 -2.80749306e-03 9.78931092e-01 -1.37008732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75687499999998 meters 0.015385802431708905 Centerline is valid? [True, True] Translation: X:153.93, Y:-45.59, Z:-13.71 [[ 8.38913894e-01 5.15053419e-01 1.75907515e-01 1.53925518e+02] [-5.04765030e-01 8.57153417e-01 -1.02470897e-01 -4.55882443e+01] [-2.03557714e-01 -2.82770334e-03 9.79058865e-01 -1.37082681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78687499999998 meters 0.01537968629424447 Centerline is valid? [True, True] Translation: X:153.95, Y:-45.60, Z:-13.72 [[ 8.38945232e-01 5.15088924e-01 1.75653917e-01 1.53953040e+02] [-5.04817593e-01 8.57132255e-01 -1.02388940e-01 -4.56047222e+01] [-2.03298047e-01 -2.77447455e-03 9.79112969e-01 -1.37152660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81687499999998 meters 0.015392044212722184 Centerline is valid? [True, True] Translation: X:153.98, Y:-45.62, Z:-13.72 [[ 8.39474286e-01 5.14270824e-01 1.75523337e-01 1.53978910e+02] [-5.03983306e-01 8.57624155e-01 -1.02379862e-01 -4.56199848e+01] [-2.03184029e-01 -2.51557050e-03 9.79137336e-01 -1.37227008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84687499999998 meters 0.01492953669043451 Centerline is valid? [True, True] Translation: X:154.01, Y:-45.64, Z:-13.73 [[ 8.39607432e-01 5.14100698e-01 1.75384813e-01 1.54006319e+02] [-5.03814943e-01 8.57726405e-01 -1.02351927e-01 -4.56373708e+01] [-2.03051382e-01 -2.42605090e-03 9.79165078e-01 -1.37288557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87687499999998 meters 0.015064775469985732 Centerline is valid? [True, True] Translation: X:154.03, Y:-45.65, Z:-13.74 [[ 8.39576134e-01 5.14110582e-01 1.75505628e-01 1.54033155e+02] [-5.03796982e-01 8.57720632e-01 -1.02488627e-01 -4.56529093e+01] [-2.03225286e-01 -2.37220061e-03 9.79129131e-01 -1.37355374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90687499999999 meters 0.014808167599438872 Centerline is valid? [True, True] Translation: X:154.06, Y:-45.67, Z:-13.74 [[ 8.39606382e-01 5.13962983e-01 1.75792993e-01 1.54060493e+02] [-5.03599193e-01 8.57809317e-01 -1.02718194e-01 -4.56690058e+01] [-2.03590216e-01 -2.28635832e-03 9.79053521e-01 -1.37425036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.936875 meters 0.014956525602759962 Centerline is valid? [True, True] Translation: X:154.09, Y:-45.68, Z:-13.75 [[ 8.39233644e-01 5.14726233e-01 1.75339089e-01 1.54088126e+02] [-5.04421048e-01 8.57351196e-01 -1.02510160e-01 -4.56840911e+01] [-2.03091846e-01 -2.41475223e-03 9.79156714e-01 -1.37496567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.966875 meters 0.015188147297767251 Centerline is valid? [True, True] Translation: X:154.12, Y:-45.70, Z:-13.76 [[ 8.38692339e-01 5.15574073e-01 1.75438127e-01 1.54116270e+02] [-5.05263663e-01 8.56841153e-01 -1.02624898e-01 -4.56993143e+01] [-2.03233344e-01 -2.57179514e-03 9.79126955e-01 -1.37570948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.996875 meters 0.015285947084547127 Centerline is valid? [True, True] Translation: X:154.14, Y:-45.72, Z:-13.76 [[ 8.37914561e-01 5.16772901e-01 1.75627326e-01 1.54144070e+02] [-5.06452417e-01 8.56117913e-01 -1.02801105e-01 -4.57150792e+01] [-2.03482525e-01 -2.80834117e-03 9.79074550e-01 -1.37631231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.026875 meters 0.015746897544844225 Centerline is valid? [True, True] Translation: X:154.17, Y:-45.73, Z:-13.77 [[ 8.37135720e-01 5.17906607e-01 1.76001514e-01 1.54171964e+02] [-5.07552416e-01 8.55431794e-01 -1.03087300e-01 -4.57294061e+01] [-2.03946885e-01 -3.03193281e-03 9.78977260e-01 -1.37694540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.056875 meters 0.016601470029334355 Centerline is valid? [True, True] Translation: X:154.20, Y:-45.74, Z:-13.78 [[ 8.34973019e-01 5.21161203e-01 1.76666519e-01 1.54200677e+02] [-5.10786275e-01 8.53449866e-01 -1.03540848e-01 -4.57418582e+01] [-2.04737489e-01 -3.78501893e-03 9.78809601e-01 -1.37754059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.086875 meters 0.01701421643052794 Centerline is valid? [True, True] Translation: X:154.23, Y:-45.76, Z:-13.78 [[ 8.34012033e-01 5.22629411e-01 1.76868391e-01 1.54228295e+02] [-5.12257008e-01 8.52549990e-01 -1.03688345e-01 -4.57557522e+01] [-2.04979724e-01 -4.12474569e-03 9.78757528e-01 -1.37821041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.116875 meters 0.017855136205411022 Centerline is valid? [True, True] Translation: X:154.26, Y:-45.77, Z:-13.79 [[ 8.32862758e-01 5.24351374e-01 1.77187087e-01 1.54255660e+02] [-5.13968219e-01 8.51490048e-01 -1.03929629e-01 -4.57689211e+01] [-2.05368685e-01 -4.50941474e-03 9.78674291e-01 -1.37886284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.146875 meters 0.018251169778071834 Centerline is valid? [True, True] Translation: X:154.28, Y:-45.78, Z:-13.80 [[ 8.31808779e-01 5.25952605e-01 1.77392255e-01 1.54283208e+02] [-5.15569704e-01 8.50499974e-01 -1.04104155e-01 -4.57833216e+01] [-2.05625959e-01 -4.86332200e-03 9.78618574e-01 -1.37950552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.176875 meters 0.01884712253484667 Centerline is valid? [True, True] Translation: X:154.31, Y:-45.80, Z:-13.80 [[ 8.29986230e-01 5.28798519e-01 1.77468261e-01 1.54311283e+02] [-5.18458565e-01 8.48729438e-01 -1.04206804e-01 -4.57966043e+01] [-2.05726942e-01 -5.51972747e-03 9.78593868e-01 -1.38010552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.206875 meters 0.020886774502788634 Centerline is valid? [True, True] Translation: X:154.34, Y:-45.81, Z:-13.81 [[ 8.29120627e-01 5.30251504e-01 1.77178804e-01 1.54339181e+02] [-5.19966768e-01 8.47820407e-01 -1.04091874e-01 -4.58084143e+01] [-2.05410679e-01 -5.82236991e-03 9.78658548e-01 -1.38086926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.236875 meters 0.020023533928121527 Centerline is valid? [True, True] Translation: X:154.37, Y:-45.82, Z:-13.81 [[ 8.28587878e-01 5.31247622e-01 1.76686426e-01 1.54365766e+02] [-5.21031502e-01 8.47195320e-01 -1.03856942e-01 -4.58249300e+01] [-2.04861666e-01 -6.00459088e-03 9.78772518e-01 -1.38149307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.266875 meters 0.02052372342716114 Centerline is valid? [True, True] Translation: X:154.39, Y:-45.84, Z:-13.82 [[ 8.27978421e-01 5.32272471e-01 1.76458924e-01 1.54393532e+02] [-5.22093555e-01 8.46550408e-01 -1.03782112e-01 -4.58396839e+01] [-2.04621735e-01 -6.19871777e-03 9.78821496e-01 -1.38220993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.296875 meters 0.020909056369573943 Centerline is valid? [True, True] Translation: X:154.42, Y:-45.85, Z:-13.83 [[ 8.27295945e-01 5.33457179e-01 1.76081964e-01 1.54420938e+02] [-5.23336350e-01 8.45802660e-01 -1.03619134e-01 -4.58540304e+01] [-2.04206964e-01 -6.42640327e-03 9.78906644e-01 -1.38294484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.326875 meters 0.020772932252682612 Centerline is valid? [True, True] Translation: X:154.45, Y:-45.87, Z:-13.84 [[ 8.27136795e-01 5.33719515e-01 1.76034662e-01 1.54448719e+02] [-5.23597809e-01 8.45637051e-01 -1.03649951e-01 -4.58701424e+01] [-2.04181434e-01 -6.43867510e-03 9.78911888e-01 -1.38366394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.356875 meters 0.020110666703349087 Centerline is valid? [True, True] Translation: X:154.48, Y:-45.89, Z:-13.84 [[ 8.27523267e-01 5.33103120e-01 1.76086076e-01 1.54475870e+02] [-5.22947069e-01 8.46027349e-01 -1.03750121e-01 -4.58869851e+01] [-2.04283149e-01 -6.22805812e-03 9.78892030e-01 -1.38432773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.386875 meters 0.019267149053050252 Centerline is valid? [True, True] Translation: X:154.50, Y:-45.90, Z:-13.85 [[ 8.29465322e-01 5.29965270e-01 1.76420214e-01 1.54501571e+02] [-5.19695830e-01 8.48001847e-01 -1.03966880e-01 -4.59029764e+01] [-2.04703503e-01 -5.44792826e-03 9.78808866e-01 -1.38507790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.416875 meters 0.016784020071094367 Centerline is valid? [True, True] Translation: X:154.53, Y:-45.92, Z:-13.86 [[ 8.32195710e-01 5.25345297e-01 1.77377053e-01 1.54526595e+02] [-5.14847307e-01 8.50878340e-01 -1.04586331e-01 -4.59225713e+01] [-2.05870230e-01 -4.28580204e-03 9.78569916e-01 -1.38552911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.446875 meters 0.01658869650260673 Centerline is valid? [True, True] Translation: X:154.55, Y:-45.94, Z:-13.86 [[ 8.33283464e-01 5.23672416e-01 1.77217014e-01 1.54552867e+02] [-5.13143906e-01 8.51911159e-01 -1.04550028e-01 -4.59383787e+01] [-2.05723118e-01 -3.81802115e-03 9.78602790e-01 -1.38621235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.476875 meters 0.01616086099425221 Centerline is valid? [True, True] Translation: X:154.58, Y:-45.95, Z:-13.87 [[ 8.34147138e-01 5.22497202e-01 1.76621700e-01 1.54580157e+02] [-5.12002180e-01 8.52633952e-01 -1.04255034e-01 -4.59545403e+01] [-2.05066622e-01 -3.46665694e-03 9.78741878e-01 -1.38696148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50687499999998 meters 0.01569206718567035 Centerline is valid? [True, True] Translation: X:154.61, Y:-45.97, Z:-13.88 [[ 8.35054291e-01 5.21378309e-01 1.75638805e-01 1.54607201e+02] [-5.10972577e-01 8.53319807e-01 -1.03693457e-01 -4.59683033e+01] [-2.03939590e-01 -3.15694686e-03 9.78978384e-01 -1.38791471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53687499999998 meters 0.01571843679296848 Centerline is valid? [True, True] Translation: X:154.64, Y:-45.98, Z:-13.89 [[ 8.35059297e-01 5.21394443e-01 1.75567099e-01 1.54635531e+02] [-5.10985775e-01 8.53310122e-01 -1.03708120e-01 -4.59839325e+01] [-2.03886020e-01 -3.10986019e-03 9.78989693e-01 -1.38870808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56687499999998 meters 0.01547499759264535 Centerline is valid? [True, True] Translation: X:154.66, Y:-46.00, Z:-13.89 [[ 8.34897664e-01 5.21868008e-01 1.74927622e-01 1.54662659e+02] [-5.11532569e-01 8.53020409e-01 -1.03395421e-01 -4.59998773e+01] [-2.03175594e-01 -3.15657980e-03 9.79137229e-01 -1.38934052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59687499999998 meters 0.016026081775523515 Centerline is valid? [True, True] Translation: X:154.69, Y:-46.01, Z:-13.90 [[ 8.33998198e-01 5.23167495e-01 1.75336186e-01 1.54689953e+02] [-5.12799422e-01 8.52222978e-01 -1.03695457e-01 -4.60137270e+01] [-2.03675619e-01 -3.43047020e-03 9.79032417e-01 -1.38986174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62687499999998 meters 0.016085022305246686 Centerline is valid? [True, True] Translation: X:154.72, Y:-46.03, Z:-13.90 [[ 8.33636620e-01 5.23751127e-01 1.75313269e-01 1.54717959e+02] [-5.13387485e-01 8.51864028e-01 -1.03735087e-01 -4.60294049e+01] [-2.03674436e-01 -3.52627088e-03 9.79032323e-01 -1.39047475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65687499999999 meters 0.01635545432298322 Centerline is valid? [True, True] Translation: X:154.75, Y:-46.04, Z:-13.91 [[ 8.33099949e-01 5.24814126e-01 1.74684311e-01 1.54745878e+02] [-5.14534585e-01 8.51208755e-01 -1.03430252e-01 -4.60438299e+01] [-2.02974472e-01 -3.71338204e-03 9.79176988e-01 -1.39122648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.686875 meters 0.016572037959303936 Centerline is valid? [True, True] Translation: X:154.77, Y:-46.06, Z:-13.92 [[ 8.32825291e-01 5.25156713e-01 1.74964171e-01 1.54773069e+02] [-5.14847444e-01 8.50997113e-01 -1.03614784e-01 -4.60582306e+01] [-2.03308003e-01 -3.78684355e-03 9.79107510e-01 -1.39203480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.716875 meters 0.01678102115913224 Centerline is valid? [True, True] Translation: X:154.80, Y:-46.07, Z:-13.93 [[ 8.32231599e-01 5.26011060e-01 1.75222519e-01 1.54800592e+02] [-5.15676572e-01 8.50468570e-01 -1.03831037e-01 -4.60735391e+01] [-2.03637520e-01 -3.94667788e-03 9.79038398e-01 -1.39270669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.746875 meters 0.016898361632439383 Centerline is valid? [True, True] Translation: X:154.83, Y:-46.09, Z:-13.93 [[ 8.31784777e-01 5.26610313e-01 1.75543907e-01 1.54828482e+02] [-5.16237780e-01 8.50097169e-01 -1.04083418e-01 -4.60901134e+01] [-2.04040780e-01 -4.04739401e-03 9.78954023e-01 -1.39338400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.776875 meters 0.016647893754763745 Centerline is valid? [True, True] Translation: X:154.86, Y:-46.11, Z:-13.94 [[ 8.31924654e-01 5.26543122e-01 1.75082011e-01 1.54855794e+02] [-5.16210650e-01 8.50139184e-01 -1.03874601e-01 -4.61071668e+01] [-2.03538535e-01 -3.96335732e-03 9.79058914e-01 -1.39404448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.806875 meters 0.01656185173585705 Centerline is valid? [True, True] Translation: X:154.88, Y:-46.12, Z:-13.95 [[ 8.31942534e-01 5.26563713e-01 1.74935064e-01 1.54883461e+02] [-5.16235475e-01 8.50126689e-01 -1.03853489e-01 -4.61235764e+01] [-2.03402445e-01 -3.90755087e-03 9.79087420e-01 -1.39473902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.836875 meters 0.017023885804782066 Centerline is valid? [True, True] Translation: X:154.91, Y:-46.14, Z:-13.95 [[ 8.31871238e-01 5.26536516e-01 1.75355468e-01 1.54909959e+02] [-5.16143421e-01 8.50143787e-01 -1.04170579e-01 -4.61377439e+01] [-2.03926976e-01 -3.85206248e-03 9.78978524e-01 -1.39542215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.866875 meters 0.01622727397470247 Centerline is valid? [True, True] Translation: X:154.94, Y:-46.16, Z:-13.96 [[ 8.31865501e-01 5.26358010e-01 1.75917692e-01 1.54936652e+02] [-5.15882338e-01 8.50254667e-01 -1.04558189e-01 -4.61553153e+01] [-2.04609879e-01 -3.77447955e-03 9.78836325e-01 -1.39601753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.896875 meters 0.016222884910710746 Centerline is valid? [True, True] Translation: X:154.96, Y:-46.17, Z:-13.97 [[ 8.31652570e-01 5.26147543e-01 1.77546521e-01 1.54963179e+02] [-5.15457473e-01 8.50385223e-01 -1.05586770e-01 -4.61700536e+01] [-2.06537157e-01 -3.70617259e-03 9.78431739e-01 -1.39650253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.926875 meters 0.016222884910710746 Centerline is valid? [True, True] Translation: X:154.99, Y:-46.19, Z:-13.97 [[ 8.31508023e-01 5.26383997e-01 1.77522660e-01 1.54990321e+02] [-5.15690696e-01 8.50238831e-01 -1.05626871e-01 -4.61862902e+01] [-2.06536954e-01 -3.71719321e-03 9.78431740e-01 -1.39719799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.956875 meters 0.01624405847035488 Centerline is valid? [True, True] Translation: X:155.02, Y:-46.20, Z:-13.98 [[ 8.31483682e-01 5.26265034e-01 1.77988766e-01 1.55017351e+02] [-5.15497814e-01 8.50312810e-01 -1.05972306e-01 -4.62023864e+01] [-2.07115647e-01 -3.63857710e-03 9.78309700e-01 -1.39787722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.986875 meters 0.016112405395756018 Centerline is valid? [True, True] Translation: X:155.05, Y:-46.22, Z:-13.99 [[ 8.31701632e-01 5.26014471e-01 1.77710921e-01 1.55045252e+02] [-5.15263169e-01 8.50468336e-01 -1.05865370e-01 -4.62191350e+01] [-2.06824228e-01 -3.51949106e-03 9.78371786e-01 -1.39860188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.016875 meters 0.015891967574267002 Centerline is valid? [True, True] Translation: X:155.07, Y:-46.24, Z:-13.99 [[ 8.31910374e-01 5.25718984e-01 1.77608217e-01 1.55071866e+02] [-5.14959280e-01 8.50651569e-01 -1.05871851e-01 -4.62355879e+01] [-2.06741551e-01 -3.38510850e-03 9.78389734e-01 -1.39935308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.046875 meters 0.01612750158395343 Centerline is valid? [True, True] Translation: X:155.10, Y:-46.25, Z:-14.00 [[ 8.31957104e-01 5.25690831e-01 1.77472610e-01 1.55098585e+02] [-5.14934497e-01 8.50669209e-01 -1.05850652e-01 -4.62508990e+01] [-2.06615202e-01 -3.32356702e-03 9.78416635e-01 -1.40008214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.076875 meters 0.016067551494452246 Centerline is valid? [True, True] Translation: X:155.13, Y:-46.27, Z:-14.01 [[ 8.32014345e-01 5.25671591e-01 1.77261128e-01 1.55125580e+02] [-5.14927291e-01 8.50681348e-01 -1.05788136e-01 -4.62673277e+01] [-2.06402553e-01 -3.25934530e-03 9.78461733e-01 -1.40081378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.106875 meters 0.01600146240077741 Centerline is valid? [True, True] Translation: X:155.15, Y:-46.28, Z:-14.02 [[ 8.31934553e-01 5.25800604e-01 1.77252993e-01 1.55152956e+02] [-5.15046145e-01 8.50601711e-01 -1.05849884e-01 -4.62844454e+01] [-2.06427632e-01 -3.23329476e-03 9.78456529e-01 -1.40163490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.136875 meters 0.01619784471904945 Centerline is valid? [True, True] Translation: X:155.18, Y:-46.30, Z:-14.02 [[ 8.31670589e-01 5.26236558e-01 1.77197958e-01 1.55180012e+02] [-5.15484379e-01 8.50331886e-01 -1.05884556e-01 -4.63008742e+01] [-2.06397398e-01 -3.28170823e-03 9.78462746e-01 -1.40233490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.166875 meters 0.015643886674902647 Centerline is valid? [True, True] Translation: X:155.21, Y:-46.32, Z:-14.03 [[ 8.31376639e-01 5.26631351e-01 1.77404355e-01 1.55206877e+02] [-5.15854135e-01 8.50087177e-01 -1.06048589e-01 -4.63193666e+01] [-2.06657679e-01 -3.34845063e-03 9.78407580e-01 -1.40300604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.196875 meters 0.01581367638329757 Centerline is valid? [True, True] Translation: X:155.23, Y:-46.34, Z:-14.04 [[ 8.31052061e-01 5.27160217e-01 1.77354385e-01 1.55233618e+02] [-5.16386240e-01 8.49759038e-01 -1.06088777e-01 -4.63355698e+01] [-2.06634274e-01 -3.41806748e-03 9.78412282e-01 -1.40372681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.226875 meters 0.0164654409837905 Centerline is valid? [True, True] Translation: X:155.26, Y:-46.35, Z:-14.04 [[ 8.30444389e-01 5.28057334e-01 1.77531882e-01 1.55259382e+02] [-5.17267949e-01 8.49201141e-01 -1.06260491e-01 -4.63503322e+01] [-2.06871908e-01 -3.58812426e-03 9.78361456e-01 -1.40445794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25687499999998 meters 0.016949521353036828 Centerline is valid? [True, True] Translation: X:155.29, Y:-46.37, Z:-14.05 [[ 8.29020260e-01 5.29779187e-01 1.79051452e-01 1.55286571e+02] [-5.18831795e-01 8.48126122e-01 -1.07217769e-01 -4.63665613e+01] [-2.08659956e-01 -4.01188310e-03 9.77980024e-01 -1.40513510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28687499999998 meters 0.01712444284380855 Centerline is valid? [True, True] Translation: X:155.31, Y:-46.38, Z:-14.06 [[ 8.27965934e-01 5.31160606e-01 1.79835544e-01 1.55313563e+02] [-5.20135421e-01 8.47260102e-01 -1.07747217e-01 -4.63830340e+01] [-2.09598559e-01 -4.32781155e-03 9.77777947e-01 -1.40570912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31687499999998 meters 0.01738797473176942 Centerline is valid? [True, True] Translation: X:155.34, Y:-46.40, Z:-14.06 [[ 8.27075320e-01 5.32157787e-01 1.80982056e-01 1.55340706e+02] [-5.21000565e-01 8.46632925e-01 -1.08494704e-01 -4.63995124e+01] [-2.10961669e-01 -4.55846121e-03 9.77483706e-01 -1.40628458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34687499999998 meters 0.018511057432718914 Centerline is valid? [True, True] Translation: X:155.37, Y:-46.42, Z:-14.07 [[ 8.25272579e-01 5.34481811e-01 1.82357789e-01 1.55367451e+02] [-5.23195059e-01 8.45164349e-01 -1.09380771e-01 -4.64150111e+01] [-2.12584335e-01 -5.13974296e-03 9.77129205e-01 -1.40682726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37687499999998 meters 0.017961640160647614 Centerline is valid? [True, True] Translation: X:155.39, Y:-46.43, Z:-14.08 [[ 8.24530177e-01 5.35450008e-01 1.82875028e-01 1.55393224e+02] [-5.24109627e-01 8.44549938e-01 -1.09747447e-01 -4.64324575e+01] [-2.13211365e-01 -5.35648034e-03 9.76991413e-01 -1.40754740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40687499999999 meters 0.018351011790152513 Centerline is valid? [True, True] Translation: X:155.42, Y:-46.45, Z:-14.08 [[ 8.23806388e-01 5.36532987e-01 1.82962808e-01 1.55420507e+02] [-5.25194129e-01 8.43860868e-01 -1.09863382e-01 -4.64483478e+01] [-2.13340483e-01 -5.58483693e-03 9.76961948e-01 -1.40827857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.436875 meters 0.01919665805797163 Centerline is valid? [True, True] Translation: X:155.45, Y:-46.46, Z:-14.09 [[ 8.22808201e-01 5.38315770e-01 1.82216346e-01 1.55445910e+02] [-5.27099701e-01 8.42722094e-01 -1.09477754e-01 -4.64636327e+01] [-2.12491342e-01 -5.96698785e-03 9.77144731e-01 -1.40909563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.466875 meters 0.018714788287356936 Centerline is valid? [True, True] Translation: X:155.47, Y:-46.48, Z:-14.10 [[ 8.24087649e-01 5.36461287e-01 1.81903364e-01 1.55470934e+02] [-5.25232729e-01 8.43907320e-01 -1.09320699e-01 -4.64811540e+01] [-2.12155904e-01 -5.45176239e-03 9.77220625e-01 -1.40987957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.496875 meters 0.017637620856144655 Centerline is valid? [True, True] Translation: X:155.50, Y:-46.50, Z:-14.11 [[ 8.25710254e-01 5.34003898e-01 1.81775722e-01 1.55496260e+02] [-5.22718954e-01 8.45468600e-01 -1.09305726e-01 -4.64998663e+01] [-2.12055349e-01 -4.76275615e-03 9.77246052e-01 -1.41050618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.526875 meters 0.017352751388247618 Centerline is valid? [True, True] Translation: X:155.52, Y:-46.52, Z:-14.11 [[ 8.26547705e-01 5.32621564e-01 1.82025167e-01 1.55521961e+02] [-5.21258874e-01 8.46342276e-01 -1.09516837e-01 -4.65170943e+01] [-2.12386623e-01 -4.36134383e-03 9.77175983e-01 -1.41115256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.556875 meters 0.016863948221027176 Centerline is valid? [True, True] Translation: X:155.55, Y:-46.53, Z:-14.12 [[ 8.27259479e-01 5.31777930e-01 1.81256690e-01 1.55547441e+02] [-5.20479013e-01 8.46874036e-01 -1.09114453e-01 -4.65342618e+01] [-2.11526243e-01 -4.07433799e-03 9.77363826e-01 -1.41202077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.586875 meters 0.016849108155902986 Centerline is valid? [True, True] Translation: X:155.57, Y:-46.55, Z:-14.13 [[ 8.27308686e-01 5.31975479e-01 1.80450624e-01 1.55574447e+02] [-5.20769742e-01 8.46750054e-01 -1.08688649e-01 -4.65501827e+01] [-2.10616272e-01 -4.05416181e-03 9.77560407e-01 -1.41294057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.616875 meters 0.016700574708157893 Centerline is valid? [True, True] Translation: X:155.60, Y:-46.57, Z:-14.14 [[ 8.26966199e-01 5.32673658e-01 1.79960218e-01 1.55600682e+02] [-5.21530969e-01 8.46310501e-01 -1.08461903e-01 -4.65659310e+01] [-2.10077021e-01 -4.16049893e-03 9.77675987e-01 -1.41374707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.646875 meters 0.01706054834614003 Centerline is valid? [True, True] Translation: X:155.63, Y:-46.58, Z:-14.15 [[ 8.26502719e-01 5.33644561e-01 1.79211433e-01 1.55626875e+02] [-5.22604967e-01 8.45697750e-01 -1.08071107e-01 -4.65808105e+01] [-2.09230264e-01 -4.33572182e-03 9.77856788e-01 -1.41451596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.676875 meters 0.01748156221473239 Centerline is valid? [True, True] Translation: X:155.65, Y:-46.60, Z:-14.15 [[ 8.25298336e-01 5.35817930e-01 1.78274518e-01 1.55653810e+02] [-5.24932927e-01 8.44319839e-01 -1.07561292e-01 -4.65966351e+01] [-2.08153981e-01 -4.81200877e-03 9.78084232e-01 -1.41516138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.706875 meters 0.01827200042212018 Centerline is valid? [True, True] Translation: X:155.68, Y:-46.61, Z:-14.16 [[ 8.24347618e-01 5.37359204e-01 1.78033960e-01 1.55680592e+02] [-5.26526500e-01 8.43337803e-01 -1.07476488e-01 -4.66112111e+01] [-2.07896249e-01 -5.14161126e-03 9.78137370e-01 -1.41578767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.736875 meters 0.01901738195507043 Centerline is valid? [True, True] Translation: X:155.71, Y:-46.63, Z:-14.16 [[ 8.23108398e-01 5.39004579e-01 1.78792138e-01 1.55708542e+02] [-5.28104799e-01 8.42284659e-01 -1.07990161e-01 -4.66262402e+01] [-2.08801066e-01 -5.53337807e-03 9.77942481e-01 -1.41639770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.766875 meters 0.020086647677263012 Centerline is valid? [True, True] Translation: X:155.74, Y:-46.64, Z:-14.17 [[ 8.21059817e-01 5.41915336e-01 1.79411662e-01 1.55737483e+02] [-5.30994648e-01 8.40409892e-01 -1.08424617e-01 -4.66394768e+01] [-2.09536298e-01 -6.24353599e-03 9.77780936e-01 -1.41701721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.796875 meters 0.02065535663768828 Centerline is valid? [True, True] Translation: X:155.77, Y:-46.65, Z:-14.18 [[ 8.20257399e-01 5.43030110e-01 1.79711154e-01 1.55765298e+02] [-5.32085983e-01 8.39688162e-01 -1.08665993e-01 -4.66538524e+01] [-2.09910235e-01 -6.48770160e-03 9.77699137e-01 -1.41774572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.826875 meters 0.02009668319669345 Centerline is valid? [True, True] Translation: X:155.79, Y:-46.67, Z:-14.18 [[ 8.19608854e-01 5.44098218e-01 1.79439279e-01 1.55791745e+02] [-5.33199899e-01 8.38994787e-01 -1.08561575e-01 -4.66705697e+01] [-2.09616779e-01 -6.69897741e-03 9.77760671e-01 -1.41847068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.856875 meters 0.021047380942639148 Centerline is valid? [True, True] Translation: X:155.82, Y:-46.68, Z:-14.19 [[ 8.19109143e-01 5.44794094e-01 1.79609596e-01 1.55819168e+02] [-5.33877866e-01 8.38542037e-01 -1.08727532e-01 -4.66844286e+01] [-2.09844314e-01 -6.82987210e-03 9.77710958e-01 -1.41916029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.886875 meters 0.021428533210741937 Centerline is valid? [True, True] Translation: X:155.85, Y:-46.70, Z:-14.20 [[ 8.18817281e-01 5.45392811e-01 1.79122700e-01 1.55846759e+02] [-5.34543329e-01 8.38151887e-01 -1.08465867e-01 -4.66990654e+01] [-2.09288533e-01 -6.93511773e-03 9.77829338e-01 -1.41989688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.916875 meters 0.02116977150589566 Centerline is valid? [True, True] Translation: X:155.87, Y:-46.72, Z:-14.21 [[ 8.18684237e-01 5.45566782e-01 1.79201024e-01 1.55873885e+02] [-5.34698875e-01 8.38038691e-01 -1.08573773e-01 -4.67157649e+01] [-2.09411636e-01 -6.93094963e-03 9.77803011e-01 -1.42057995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.946875 meters 0.020816342222075533 Centerline is valid? [True, True] Translation: X:155.90, Y:-46.73, Z:-14.21 [[ 8.18848778e-01 5.45367443e-01 1.79055944e-01 1.55900214e+02] [-5.34497619e-01 8.38169386e-01 -1.08555866e-01 -4.67322495e+01] [-2.09282046e-01 -6.81413740e-03 9.77831577e-01 -1.42126073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.976875 meters 0.020612985201387456 Centerline is valid? [True, True] Translation: X:155.93, Y:-46.75, Z:-14.22 [[ 8.19466827e-01 5.44570584e-01 1.78653292e-01 1.55927151e+02] [-5.33718143e-01 8.38689503e-01 -1.08373710e-01 -4.67491701e+01] [-2.08851775e-01 -6.54184344e-03 9.77925427e-01 -1.42197051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00687499999998 meters 0.01950235388563491 Centerline is valid? [True, True] Translation: X:155.95, Y:-46.77, Z:-14.23 [[ 8.20959796e-01 5.42195880e-01 1.79021344e-01 1.55952216e+02] [-5.31237885e-01 8.40231182e-01 -1.08617996e-01 -4.67668918e+01] [-2.09311546e-01 -5.93191241e-03 9.77831013e-01 -1.42263535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03687499999998 meters 0.019352269510289233 Centerline is valid? [True, True] Translation: X:155.98, Y:-46.78, Z:-14.23 [[ 8.21533329e-01 5.41193531e-01 1.79422826e-01 1.55978370e+02] [-5.30149660e-01 8.40879158e-01 -1.08920064e-01 -4.67831349e+01] [-2.09819749e-01 -5.63948752e-03 9.77723821e-01 -1.42326833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06687499999998 meters 0.01854356145402908 Centerline is valid? [True, True] Translation: X:156.00, Y:-46.80, Z:-14.24 [[ 8.22394380e-01 5.39734776e-01 1.79871774e-01 1.56004916e+02] [-5.28588418e-01 8.41818859e-01 -1.09248765e-01 -4.68005669e+01] [-2.10384810e-01 -5.23256627e-03 9.77604650e-01 -1.42400170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09687499999998 meters 0.017275195645335407 Centerline is valid? [True, True] Translation: X:156.03, Y:-46.82, Z:-14.25 [[ 8.23795544e-01 5.37775013e-01 1.79329132e-01 1.56030384e+02] [-5.26646191e-01 8.43075296e-01 -1.08939596e-01 -4.68193935e+01] [-2.09772953e-01 -4.69905075e-03 9.77738834e-01 -1.42468279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12687499999998 meters 0.016462340292300114 Centerline is valid? [True, True] Translation: X:156.06, Y:-46.84, Z:-14.25 [[ 8.24285002e-01 5.37053970e-01 1.79240815e-01 1.56055969e+02] [-5.25906521e-01 8.43536086e-01 -1.08945869e-01 -4.68373352e+01] [-2.09705907e-01 -4.46146721e-03 9.77754329e-01 -1.42532532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15687499999999 meters 0.016145940972070633 Centerline is valid? [True, True] Translation: X:156.08, Y:-46.85, Z:-14.26 [[ 8.24753227e-01 5.36449321e-01 1.78897292e-01 1.56081781e+02] [-5.25317816e-01 8.43921855e-01 -1.08798416e-01 -4.68544675e+01] [-2.09340171e-01 -4.24608984e-03 9.77833658e-01 -1.42599229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.186875 meters 0.017338087391851987 Centerline is valid? [True, True] Translation: X:156.11, Y:-46.87, Z:-14.27 [[ 8.25237935e-01 5.35765565e-01 1.78710968e-01 1.56109312e+02] [-5.24628362e-01 8.44357236e-01 -1.08747137e-01 -4.68678353e+01] [-2.09158870e-01 -4.01457985e-03 9.77873433e-01 -1.42679703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.216875 meters 0.016136485401066186 Centerline is valid? [True, True] Translation: X:156.13, Y:-46.89, Z:-14.28 [[ 8.25514745e-01 5.35474613e-01 1.78304080e-01 1.56134449e+02] [-5.24369798e-01 8.44542400e-01 -1.08556207e-01 -4.68865417e+01] [-2.08714449e-01 -3.88252517e-03 9.77968918e-01 -1.42753754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.246875 meters 0.015975051458242802 Centerline is valid? [True, True] Translation: X:156.16, Y:-46.90, Z:-14.28 [[ 8.26375297e-01 5.34346664e-01 1.77700622e-01 1.56159773e+02] [-5.23279069e-01 8.45258045e-01 -1.08249035e-01 -4.69028201e+01] [-2.08045391e-01 -3.53268703e-03 9.78112793e-01 -1.42833864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.276875 meters 0.015837205730378105 Centerline is valid? [True, True] Translation: X:156.19, Y:-46.92, Z:-14.29 [[ 8.26498656e-01 5.34202225e-01 1.77561128e-01 1.56186685e+02] [-5.23141939e-01 8.45349617e-01 -1.08196749e-01 -4.69200400e+01] [-2.07900176e-01 -3.46520540e-03 9.78143910e-01 -1.42903584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.306875 meters 0.015733616358741865 Centerline is valid? [True, True] Translation: X:156.21, Y:-46.94, Z:-14.30 [[ 8.26631177e-01 5.33875013e-01 1.77927984e-01 1.56212852e+02] [-5.22746455e-01 8.45556842e-01 -1.08488575e-01 -4.69356012e+01] [-2.08367564e-01 -3.33118489e-03 9.78044918e-01 -1.42975282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.336875 meters 0.015231557816722195 Centerline is valid? [True, True] Translation: X:156.24, Y:-46.95, Z:-14.30 [[ 8.26608039e-01 5.33816161e-01 1.78211832e-01 1.56239881e+02] [-5.22638736e-01 8.45594218e-01 -1.08716006e-01 -4.69537724e+01] [-2.08729255e-01 -3.27488216e-03 9.77967982e-01 -1.43048057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.366875 meters 0.015624155986898307 Centerline is valid? [True, True] Translation: X:156.27, Y:-46.97, Z:-14.31 [[ 8.26599755e-01 5.34026273e-01 1.77619779e-01 1.56266806e+02] [-5.22913776e-01 8.45461612e-01 -1.08424380e-01 -4.69690781e+01] [-2.08072172e-01 -3.25626340e-03 9.78108055e-01 -1.43110789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.396875 meters 0.015373130581246704 Centerline is valid? [True, True] Translation: X:156.29, Y:-46.99, Z:-14.32 [[ 8.26276777e-01 5.34430862e-01 1.77905428e-01 1.56293882e+02] [-5.23277627e-01 8.45205723e-01 -1.08663757e-01 -4.69858760e+01] [-2.08439951e-01 -3.30759160e-03 9.78029574e-01 -1.43170024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.426875 meters 0.015337512260660399 Centerline is valid? [True, True] Translation: X:156.32, Y:-47.00, Z:-14.32 [[ 8.26002310e-01 5.34819775e-01 1.78011215e-01 1.56322413e+02] [-5.23647228e-01 8.44959526e-01 -1.08797882e-01 -4.70018423e+01] [-2.08599530e-01 -3.34777702e-03 9.77995413e-01 -1.43236897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.456875 meters 0.01567433696630793 Centerline is valid? [True, True] Translation: X:156.35, Y:-47.02, Z:-14.33 [[ 8.25615105e-01 5.35268358e-01 1.78458633e-01 1.56349687e+02] [-5.24034408e-01 8.44675179e-01 -1.09141111e-01 -4.70162207e+01] [-2.09159361e-01 -3.40991437e-03 9.77875623e-01 -1.43310561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.486875 meters 0.015806094436533587 Centerline is valid? [True, True] Translation: X:156.38, Y:-47.03, Z:-14.34 [[ 8.25408979e-01 5.35776988e-01 1.77884896e-01 1.56377677e+02] [-5.24613922e-01 8.44352395e-01 -1.08854334e-01 -4.70310422e+01] [-2.08519185e-01 -3.47154853e-03 9.78012115e-01 -1.43381737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.516875 meters 0.0159359244729031 Centerline is valid? [True, True] Translation: X:156.40, Y:-47.05, Z:-14.35 [[ 8.25413004e-01 5.35783202e-01 1.77847500e-01 1.56404606e+02] [-5.24611511e-01 8.44348672e-01 -1.08894825e-01 -4.70465819e+01] [-2.08509319e-01 -3.41764143e-03 9.78014409e-01 -1.43453157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.546875 meters 0.015639751329431396 Centerline is valid? [True, True] Translation: X:156.43, Y:-47.06, Z:-14.35 [[ 8.25513407e-01 5.35730322e-01 1.77540523e-01 1.56431599e+02] [-5.24583057e-01 8.44382519e-01 -1.08769378e-01 -4.70633544e+01] [-2.08183168e-01 -3.34417036e-03 9.78084140e-01 -1.43516014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.576875 meters 0.015280200863607532 Centerline is valid? [True, True] Translation: X:156.46, Y:-47.08, Z:-14.36 [[ 8.26307674e-01 5.34585861e-01 1.77295190e-01 1.56458765e+02] [-5.23429243e-01 8.45108869e-01 -1.08686827e-01 -4.70798845e+01] [-2.07936179e-01 -2.99272764e-03 9.78137817e-01 -1.43578972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.606875 meters 0.015094877821634206 Centerline is valid? [True, True] Translation: X:156.48, Y:-47.10, Z:-14.37 [[ 8.26895981e-01 5.33850508e-01 1.76767283e-01 1.56484778e+02] [-5.22731849e-01 8.45574410e-01 -1.08422003e-01 -4.70955224e+01] [-2.07351033e-01 -2.74817033e-03 9.78262744e-01 -1.43656307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.636875 meters 0.01466443106901526 Centerline is valid? [True, True] Translation: X:156.51, Y:-47.11, Z:-14.37 [[ 8.27535061e-01 5.33026688e-01 1.76261944e-01 1.56510746e+02] [-5.21942369e-01 8.46094771e-01 -1.08165624e-01 -4.71125576e+01] [-2.06789473e-01 -2.48773058e-03 9.78382300e-01 -1.43727733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.666875 meters 0.014486444305714125 Centerline is valid? [True, True] Translation: X:156.54, Y:-47.13, Z:-14.38 [[ 8.28018024e-01 5.32319913e-01 1.76129672e-01 1.56537477e+02] [-5.21223949e-01 8.46540261e-01 -1.08144262e-01 -4.71291106e+01] [-2.06668203e-01 -2.25760537e-03 9.78408482e-01 -1.43798063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.696875 meters 0.01420565231222371 Centerline is valid? [True, True] Translation: X:156.56, Y:-47.15, Z:-14.39 [[ 8.29258846e-01 5.30727844e-01 1.75093469e-01 1.56563627e+02] [-5.19715774e-01 8.47540397e-01 -1.07567605e-01 -4.71454167e+01] [-2.05487911e-01 -1.79745030e-03 9.78658003e-01 -1.43870107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.726875 meters 0.014277674506661179 Centerline is valid? [True, True] Translation: X:156.59, Y:-47.16, Z:-14.39 [[ 8.29724885e-01 5.30157032e-01 1.74614250e-01 1.56589908e+02] [-5.19180830e-01 8.47897967e-01 -1.07332677e-01 -4.71612348e+01] [-2.04958241e-01 -1.59977834e-03 9.78769411e-01 -1.43942732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75687499999998 meters 0.01425974459267216 Centerline is valid? [True, True] Translation: X:156.62, Y:-47.18, Z:-14.40 [[ 8.30149743e-01 5.29676275e-01 1.74053005e-01 1.56617153e+02] [-5.18747613e-01 8.48198693e-01 -1.07050878e-01 -4.71778901e+01] [-2.04333842e-01 -1.42132225e-03 9.78900230e-01 -1.44011704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78687499999998 meters 0.014277846572867231 Centerline is valid? [True, True] Translation: X:156.64, Y:-47.19, Z:-14.41 [[ 8.30239629e-01 5.29642700e-01 1.73726130e-01 1.56644527e+02] [-5.18740575e-01 8.48219773e-01 -1.06917875e-01 -4.71922630e+01] [-2.03986211e-01 -1.35133551e-03 9.78972829e-01 -1.44078163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81687499999998 meters 0.014164119389564238 Centerline is valid? [True, True] Translation: X:156.67, Y:-47.21, Z:-14.41 [[ 8.29866918e-01 5.30227161e-01 1.73724083e-01 1.56672986e+02] [-5.19324816e-01 8.47854400e-01 -1.06979678e-01 -4.72083339e+01] [-2.04016259e-01 -1.44033194e-03 9.78966440e-01 -1.44141052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84687499999998 meters 0.014164119389564238 Centerline is valid? [True, True] Translation: X:156.70, Y:-47.22, Z:-14.42 [[ 8.29720582e-01 5.30465951e-01 1.73694074e-01 1.56699870e+02] [-5.19558588e-01 8.47705019e-01 -1.07028380e-01 -4.72249868e+01] [-2.04016249e-01 -1.44059769e-03 9.78966442e-01 -1.44210646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87687499999998 meters 0.01428221191012987 Centerline is valid? [True, True] Translation: X:156.73, Y:-47.24, Z:-14.43 [[ 8.29195784e-01 5.31088530e-01 1.74296659e-01 1.56727985e+02] [-5.20103922e-01 8.47314935e-01 -1.07467719e-01 -4.72398175e+01] [-2.04759035e-01 -1.54059665e-03 9.78811199e-01 -1.44282182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90687499999999 meters 0.014231124894204741 Centerline is valid? [True, True] Translation: X:156.76, Y:-47.26, Z:-14.43 [[ 8.28340546e-01 5.32176733e-01 1.75042465e-01 1.56757024e+02] [-5.21106623e-01 8.46631462e-01 -1.07995627e-01 -4.72553018e+01] [-2.05669218e-01 -1.75863136e-03 9.78619988e-01 -1.44341303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.936875 meters 0.014811455716671286 Centerline is valid? [True, True] Translation: X:156.79, Y:-47.27, Z:-14.44 [[ 8.26609743e-01 5.34599715e-01 1.75839351e-01 1.56785806e+02] [-5.23467131e-01 8.45102240e-01 -1.08555824e-01 -4.72671208e+01] [-2.06636142e-01 -2.31281842e-03 9.78415124e-01 -1.44393443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.966875 meters 0.01500714664532243 Centerline is valid? [True, True] Translation: X:156.81, Y:-47.28, Z:-14.45 [[ 8.25883093e-01 5.35737362e-01 1.75791342e-01 1.56813683e+02] [-5.24624901e-01 8.44380825e-01 -1.08580547e-01 -4.72817759e+01] [-2.06605495e-01 -2.54967772e-03 9.78421008e-01 -1.44460320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.996875 meters 0.015170810569249193 Centerline is valid? [True, True] Translation: X:156.84, Y:-47.30, Z:-14.45 [[ 8.25114728e-01 5.36955910e-01 1.75681632e-01 1.56841743e+02] [-5.25872297e-01 8.43605654e-01 -1.08571761e-01 -4.72961684e+01] [-2.06504267e-01 -2.80194442e-03 9.78441688e-01 -1.44527561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.026875 meters 0.015509945455084278 Centerline is valid? [True, True] Translation: X:156.87, Y:-47.31, Z:-14.46 [[ 8.23556488e-01 5.39300413e-01 1.75811762e-01 1.56871080e+02] [-5.28240468e-01 8.42106823e-01 -1.08711118e-01 -4.73090846e+01] [-2.06680235e-01 -3.34114093e-03 9.78402840e-01 -1.44594182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.056875 meters 0.01609957737749222 Centerline is valid? [True, True] Translation: X:156.90, Y:-47.32, Z:-14.47 [[ 8.22588063e-01 5.40717190e-01 1.75993746e-01 1.56898779e+02] [-5.29653256e-01 8.41196533e-01 -1.08884439e-01 -4.73223855e+01] [-2.06921017e-01 -3.64862120e-03 9.78350847e-01 -1.44664377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.086875 meters 0.016239799233485345 Centerline is valid? [True, True] Translation: X:156.93, Y:-47.34, Z:-14.47 [[ 8.21934708e-01 5.41798018e-01 1.75722061e-01 1.56926622e+02] [-5.30781161e-01 8.40499827e-01 -1.08772237e-01 -4.73370068e+01] [-2.06626945e-01 -3.86628327e-03 9.78412161e-01 -1.44735879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.116875 meters 0.016563665113699822 Centerline is valid? [True, True] Translation: X:156.95, Y:-47.35, Z:-14.48 [[ 8.21438153e-01 5.42755659e-01 1.75087565e-01 1.56954822e+02] [-5.31827988e-01 8.39880925e-01 -1.08439025e-01 -4.73511401e+01] [-2.05908600e-01 -4.04051495e-03 9.78562886e-01 -1.44809808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.146875 meters 0.016278032818775205 Centerline is valid? [True, True] Translation: X:156.98, Y:-47.36, Z:-14.49 [[ 8.20858089e-01 5.43905573e-01 1.74237552e-01 1.56982791e+02] [-5.33098129e-01 8.39135631e-01 -1.07971188e-01 -4.73645364e+01] [-2.04935069e-01 -4.25669022e-03 9.78766314e-01 -1.44884704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.176875 meters 0.01622265839010551 Centerline is valid? [True, True] Translation: X:157.01, Y:-47.38, Z:-14.50 [[ 8.20776421e-01 5.44208617e-01 1.73675123e-01 1.57009702e+02] [-5.33465384e-01 8.38939087e-01 -1.07684227e-01 -4.73796575e+01] [-2.04305533e-01 -4.26499144e-03 9.78897880e-01 -1.44953520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.206875 meters 0.016991858879763812 Centerline is valid? [True, True] Translation: X:157.04, Y:-47.39, Z:-14.50 [[ 8.20766531e-01 5.44384008e-01 1.73171457e-01 1.57037915e+02] [-5.33700808e-01 8.38825271e-01 -1.07403970e-01 -4.73934839e+01] [-2.03729598e-01 -4.26816262e-03 9.79017892e-01 -1.45038888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.236875 meters 0.016861285124652046 Centerline is valid? [True, True] Translation: X:157.07, Y:-47.41, Z:-14.51 [[ 8.20920401e-01 5.44119323e-01 1.73273936e-01 1.57065461e+02] [-5.33403931e-01 8.38997584e-01 -1.07532786e-01 -4.74087895e+01] [-2.03887081e-01 -4.14914077e-03 9.78985619e-01 -1.45108020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.266875 meters 0.016046440026408957 Centerline is valid? [True, True] Translation: X:157.09, Y:-47.42, Z:-14.52 [[ 8.21747508e-01 5.42955067e-01 1.73005282e-01 1.57093002e+02] [-5.32235575e-01 8.39753133e-01 -1.07424243e-01 -4.74240958e+01] [-2.03608265e-01 -3.80396190e-03 9.79045047e-01 -1.45177701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.296875 meters 0.01609824077138405 Centerline is valid? [True, True] Translation: X:157.12, Y:-47.44, Z:-14.52 [[ 8.22145186e-01 5.42323198e-01 1.73097782e-01 1.57119339e+02] [-5.31565743e-01 8.40162249e-01 -1.07541878e-01 -4.74385545e+01] [-2.03752677e-01 -3.59781407e-03 9.79015783e-01 -1.45246200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.326875 meters 0.015780808109793255 Centerline is valid? [True, True] Translation: X:157.15, Y:-47.45, Z:-14.53 [[ 8.22375598e-01 5.42005499e-01 1.72998305e-01 1.57145993e+02] [-5.31242191e-01 8.40367775e-01 -1.07534815e-01 -4.74545449e+01] [-2.03666662e-01 -3.46999103e-03 9.79034141e-01 -1.45307730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.356875 meters 0.015847352449891647 Centerline is valid? [True, True] Translation: X:157.17, Y:-47.47, Z:-14.54 [[ 8.22707896e-01 5.41538810e-01 1.72879829e-01 1.57172745e+02] [-5.30767819e-01 8.40669270e-01 -1.07520704e-01 -4.74689332e+01] [-2.03561394e-01 -3.30091730e-03 9.79056619e-01 -1.45376044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.386875 meters 0.015501128199567593 Centerline is valid? [True, True] Translation: X:157.20, Y:-47.48, Z:-14.54 [[ 8.22880976e-01 5.41305616e-01 1.72786369e-01 1.57201480e+02] [-5.30530074e-01 8.40819851e-01 -1.07516596e-01 -4.74832295e+01] [-2.03481546e-01 -3.19500406e-03 9.79073568e-01 -1.45437534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.416875 meters 0.015432123498777043 Centerline is valid? [True, True] Translation: X:157.23, Y:-47.50, Z:-14.55 [[ 8.22753126e-01 5.41335514e-01 1.73300763e-01 1.57228879e+02] [-5.30481532e-01 8.40800758e-01 -1.07904729e-01 -4.74979433e+01] [-2.04124075e-01 -3.15390141e-03 9.78939945e-01 -1.45506380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.446875 meters 0.01569251693701877 Centerline is valid? [True, True] Translation: X:157.26, Y:-47.51, Z:-14.56 [[ 8.22560855e-01 5.41695086e-01 1.73089785e-01 1.57256338e+02] [-5.30863452e-01 8.40569013e-01 -1.07831947e-01 -4.75119934e+01] [-2.03905946e-01 -3.18870255e-03 9.78985290e-01 -1.45574902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.476875 meters 0.015700269089356404 Centerline is valid? [True, True] Translation: X:157.28, Y:-47.53, Z:-14.56 [[ 8.22375502e-01 5.41935990e-01 1.73216385e-01 1.57284789e+02] [-5.31080579e-01 8.40413684e-01 -1.07973410e-01 -4.75272483e+01] [-2.04088097e-01 -3.19717107e-03 9.78947305e-01 -1.45648278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50687499999998 meters 0.015478817656784353 Centerline is valid? [True, True] Translation: X:157.31, Y:-47.54, Z:-14.57 [[ 8.22610854e-01 5.41702053e-01 1.72830172e-01 1.57314423e+02] [-5.30876325e-01 8.40564951e-01 -1.07800231e-01 -4.75413268e+01] [-2.03670592e-01 -3.07380674e-03 9.79034648e-01 -1.45722377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53687499999998 meters 0.015305424368943488 Centerline is valid? [True, True] Translation: X:157.34, Y:-47.56, Z:-14.58 [[ 8.22657382e-01 5.41610726e-01 1.72894920e-01 1.57342718e+02] [-5.30764995e-01 8.40624024e-01 -1.07887766e-01 -4.75576562e+01] [-2.03772794e-01 -3.01190401e-03 9.79013573e-01 -1.45788369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56687499999998 meters 0.015040164616219253 Centerline is valid? [True, True] Translation: X:157.37, Y:-47.57, Z:-14.59 [[ 8.22758179e-01 5.41466096e-01 1.72868289e-01 1.57370771e+02] [-5.30615093e-01 8.40717400e-01 -1.07897527e-01 -4.75737669e+01] [-2.03756231e-01 -2.95294979e-03 9.79017200e-01 -1.45855363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59687499999998 meters 0.015276184226019304 Centerline is valid? [True, True] Translation: X:157.40, Y:-47.59, Z:-14.59 [[ 8.22673364e-01 5.41636610e-01 1.72737719e-01 1.57398720e+02] [-5.30791462e-01 8.40607624e-01 -1.07885338e-01 -4.75877196e+01] [-2.03639292e-01 -2.93331267e-03 9.79041590e-01 -1.45932409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62687499999998 meters 0.014860213444185002 Centerline is valid? [True, True] Translation: X:157.43, Y:-47.60, Z:-14.60 [[ 8.22549916e-01 5.41766187e-01 1.72919156e-01 1.57427426e+02] [-5.30887471e-01 8.40524188e-01 -1.08062867e-01 -4.76021246e+01] [-2.03887541e-01 -2.91351117e-03 9.78989981e-01 -1.45997622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65687499999999 meters 0.015029031413809011 Centerline is valid? [True, True] Translation: X:157.45, Y:-47.62, Z:-14.61 [[ 8.22257690e-01 5.42276436e-01 1.72709464e-01 1.57454996e+02] [-5.31420992e-01 8.40194863e-01 -1.08001484e-01 -4.76165959e+01] [-2.03676264e-01 -2.97638438e-03 9.79033769e-01 -1.46066161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.686875 meters 0.01475846201235283 Centerline is valid? [True, True] Translation: X:157.48, Y:-47.63, Z:-14.61 [[ 8.22044731e-01 5.42632913e-01 1.72603538e-01 1.57482517e+02] [-5.31785288e-01 8.39964569e-01 -1.07999679e-01 -4.76329320e+01] [-2.03585037e-01 -3.00745490e-03 9.79052648e-01 -1.46133546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.716875 meters 0.015212615943087147 Centerline is valid? [True, True] Translation: X:157.51, Y:-47.65, Z:-14.62 [[ 8.21889701e-01 5.43028597e-01 1.72096666e-01 1.57510168e+02] [-5.32239152e-01 8.39708717e-01 -1.07753216e-01 -4.76464173e+01] [-2.03024149e-01 -3.03532501e-03 9.79169026e-01 -1.46211182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.746875 meters 0.015455911255562785 Centerline is valid? [True, True] Translation: X:157.54, Y:-47.66, Z:-14.63 [[ 8.21175744e-01 5.44253497e-01 1.71634873e-01 1.57538714e+02] [-5.33535280e-01 8.38914431e-01 -1.07529910e-01 -4.76596790e+01] [-2.02510501e-01 -3.27230602e-03 9.79274624e-01 -1.46282491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.776875 meters 0.015363983469219342 Centerline is valid? [True, True] Translation: X:157.57, Y:-47.68, Z:-14.64 [[ 8.20769280e-01 5.44822731e-01 1.71773051e-01 1.57567034e+02] [-5.34087321e-01 8.38544492e-01 -1.07674831e-01 -4.76754513e+01] [-2.02703042e-01 -3.36561529e-03 9.79234471e-01 -1.46353697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.806875 meters 0.015111001054278156 Centerline is valid? [True, True] Translation: X:157.59, Y:-47.69, Z:-14.64 [[ 8.20405579e-01 5.45410161e-01 1.71646270e-01 1.57594427e+02] [-5.34689506e-01 8.38162187e-01 -1.07662809e-01 -4.76917376e+01] [-2.02587803e-01 -3.45028983e-03 9.79258024e-01 -1.46414184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.836875 meters 0.015544963925752327 Centerline is valid? [True, True] Translation: X:157.62, Y:-47.70, Z:-14.65 [[ 8.19653632e-01 5.46299137e-01 1.72409908e-01 1.57623146e+02] [-5.35486650e-01 8.37582296e-01 -1.08212505e-01 -4.77045683e+01] [-2.03523884e-01 -3.62643114e-03 9.79063265e-01 -1.46483601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.866875 meters 0.015276297647794044 Centerline is valid? [True, True] Translation: X:157.65, Y:-47.72, Z:-14.65 [[ 8.19326797e-01 5.46698578e-01 1.72697029e-01 1.57650603e+02] [-5.35844861e-01 8.37321413e-01 -1.08457990e-01 -4.77214221e+01] [-2.03896749e-01 -3.67627762e-03 9.78985496e-01 -1.46542313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.896875 meters 0.015947800830890122 Centerline is valid? [True, True] Translation: X:157.68, Y:-47.74, Z:-14.66 [[ 8.19097063e-01 5.46943938e-01 1.73009624e-01 1.57678570e+02] [-5.36041164e-01 8.37161129e-01 -1.08724944e-01 -4.77360619e+01] [-2.04303381e-01 -3.68399810e-03 9.78900688e-01 -1.46618073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.926875 meters 0.015604488535072621 Centerline is valid? [True, True] Translation: X:157.71, Y:-47.75, Z:-14.67 [[ 8.18706359e-01 5.47405872e-01 1.73397546e-01 1.57705802e+02] [-5.36450167e-01 8.36858849e-01 -1.09034329e-01 -4.77533877e+01] [-2.04795303e-01 -3.75204460e-03 9.78797633e-01 -1.46675650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.956875 meters 0.015660985125418393 Centerline is valid? [True, True] Translation: X:157.73, Y:-47.77, Z:-14.67 [[ 8.18174786e-01 5.48150398e-01 1.73554488e-01 1.57734498e+02] [-5.37176711e-01 8.36370769e-01 -1.09202184e-01 -4.77684464e+01] [-2.05015121e-01 -3.88295614e-03 9.78751104e-01 -1.46749269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.986875 meters 0.015643596864648623 Centerline is valid? [True, True] Translation: X:157.76, Y:-47.78, Z:-14.68 [[ 8.17780012e-01 5.48729190e-01 1.73586084e-01 1.57761899e+02] [-5.37749783e-01 8.35990741e-01 -1.09291588e-01 -4.77846898e+01] [-2.05087843e-01 -3.96940302e-03 9.78735521e-01 -1.46821233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.016875 meters 0.015521016477747724 Centerline is valid? [True, True] Translation: X:157.79, Y:-47.80, Z:-14.69 [[ 8.17377429e-01 5.49400935e-01 1.73357293e-01 1.57789575e+02] [-5.38450994e-01 8.35548938e-01 -1.09217669e-01 -4.78010945e+01] [-2.04852791e-01 -4.07234917e-03 9.78784322e-01 -1.46889415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.046875 meters 0.016285923528570116 Centerline is valid? [True, True] Translation: X:157.82, Y:-47.82, Z:-14.70 [[ 8.17021032e-01 5.49949974e-01 1.73296450e-01 1.57817380e+02] [-5.39005122e-01 8.35187298e-01 -1.09250430e-01 -4.78154195e+01] [-2.04817265e-01 -4.14777562e-03 9.78791440e-01 -1.46967270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.076875 meters 0.01634483551290686 Centerline is valid? [True, True] Translation: X:157.84, Y:-47.83, Z:-14.70 [[ 8.16169078e-01 5.51244365e-01 1.73198403e-01 1.57844676e+02] [-5.40326938e-01 8.34332172e-01 -1.09254875e-01 -4.78305674e+01] [-2.04731134e-01 -4.41331186e-03 9.78808299e-01 -1.47034189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.106875 meters 0.016703661593562066 Centerline is valid? [True, True] Translation: X:157.87, Y:-47.85, Z:-14.71 [[ 8.15590047e-01 5.52213345e-01 1.72838934e-01 1.57872083e+02] [-5.41350620e-01 8.33690173e-01 -1.09088043e-01 -4.78464634e+01] [-2.04333993e-01 -4.59534219e-03 9.78890444e-01 -1.47104703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.136875 meters 0.016605318334542846 Centerline is valid? [True, True] Translation: X:157.90, Y:-47.86, Z:-14.72 [[ 8.15061333e-01 5.53060933e-01 1.72622790e-01 1.57898491e+02] [-5.42231922e-01 8.33127263e-01 -1.09011495e-01 -4.78623148e+01] [-2.04106752e-01 -4.75053270e-03 9.78937111e-01 -1.47177170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.166875 meters 0.01669167379252822 Centerline is valid? [True, True] Translation: X:157.93, Y:-47.88, Z:-14.72 [[ 8.13722095e-01 5.54876264e-01 1.73114656e-01 1.57925633e+02] [-5.44013546e-01 8.31916807e-01 -1.09378649e-01 -4.78775346e+01] [-2.04708608e-01 -5.17289471e-03 9.78809290e-01 -1.47247455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.196875 meters 0.017539045789927144 Centerline is valid? [True, True] Translation: X:157.95, Y:-47.89, Z:-14.73 [[ 8.13178471e-01 5.55881106e-01 1.72444109e-01 1.57951819e+02] [-5.45112534e-01 8.31244587e-01 -1.09017254e-01 -4.78917655e+01] [-2.03943864e-01 -5.35096113e-03 9.78967960e-01 -1.47323232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.226875 meters 0.0176196611182865 Centerline is valid? [True, True] Translation: X:157.98, Y:-47.91, Z:-14.74 [[ 8.12572785e-01 5.56863425e-01 1.72129587e-01 1.57978519e+02] [-5.46146311e-01 8.30585555e-01 -1.08866168e-01 -4.79086514e+01] [-2.03591936e-01 -5.54625320e-03 9.79040123e-01 -1.47397458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25687499999998 meters 0.018247637220332458 Centerline is valid? [True, True] Translation: X:158.00, Y:-47.92, Z:-14.75 [[ 8.12211623e-01 5.57468766e-01 1.71874530e-01 1.58004375e+02] [-5.46784363e-01 8.30178774e-01 -1.08766098e-01 -4.79235649e+01] [-2.03320289e-01 -5.63721602e-03 9.79096053e-01 -1.47466985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28687499999998 meters 0.018306348116660723 Centerline is valid? [True, True] Translation: X:158.03, Y:-47.94, Z:-14.75 [[ 8.11799339e-01 5.57960665e-01 1.72225810e-01 1.58031526e+02] [-5.47233334e-01 8.29847593e-01 -1.09035083e-01 -4.79409040e+01] [-2.03758462e-01 -5.73309620e-03 9.79004403e-01 -1.47541029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31687499999998 meters 0.018502066766871085 Centerline is valid? [True, True] Translation: X:158.06, Y:-47.96, Z:-14.76 [[ 8.11832765e-01 5.57895238e-01 1.72280194e-01 1.58057597e+02] [-5.47145153e-01 8.29892084e-01 -1.09138949e-01 -4.79572601e+01] [-2.03862069e-01 -5.65969867e-03 9.78983261e-01 -1.47611206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34687499999998 meters 0.018596694008560635 Centerline is valid? [True, True] Translation: X:158.08, Y:-47.97, Z:-14.77 [[ 8.12057076e-01 5.57560347e-01 1.72307181e-01 1.58082813e+02] [-5.46787648e-01 8.30118000e-01 -1.09212520e-01 -4.79739337e+01] [-2.03927863e-01 -5.52863849e-03 9.78970307e-01 -1.47676966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37687499999998 meters 0.017359844166689786 Centerline is valid? [True, True] Translation: X:158.11, Y:-47.99, Z:-14.77 [[ 8.12741920e-01 5.56503828e-01 1.72493653e-01 1.58107185e+02] [-5.45677319e-01 8.30828508e-01 -1.09362942e-01 -4.79937936e+01] [-2.04173541e-01 -5.24202656e-03 9.78920674e-01 -1.47736854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40687499999999 meters 0.01710810534120455 Centerline is valid? [True, True] Translation: X:158.13, Y:-48.01, Z:-14.78 [[ 8.13073336e-01 5.56158551e-01 1.72044809e-01 1.58132923e+02] [-5.45368686e-01 8.31060621e-01 -1.09138626e-01 -4.80119479e+01] [-2.03678046e-01 -5.09014446e-03 9.79024690e-01 -1.47808416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.436875 meters 0.016806399173439728 Centerline is valid? [True, True] Translation: X:158.16, Y:-48.03, Z:-14.79 [[ 8.13357999e-01 5.55805739e-01 1.71839303e-01 1.58158763e+02] [-5.45021571e-01 8.31297500e-01 -1.09068570e-01 -4.80301103e+01] [-2.03470520e-01 -4.94433264e-03 9.79068589e-01 -1.47876312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.466875 meters 0.01701544947358937 Centerline is valid? [True, True] Translation: X:158.18, Y:-48.05, Z:-14.79 [[ 8.13744836e-01 5.55213530e-01 1.71922303e-01 1.58184052e+02] [-5.44393159e-01 8.31694295e-01 -1.09181899e-01 -4.80466209e+01] [-2.03606066e-01 -4.74711933e-03 9.79041386e-01 -1.47943407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.496875 meters 0.016822382463244395 Centerline is valid? [True, True] Translation: X:158.21, Y:-48.06, Z:-14.80 [[ 8.13752642e-01 5.54954486e-01 1.72719876e-01 1.58209972e+02] [-5.44015012e-01 8.31867674e-01 -1.09744428e-01 -4.80646304e+01] [-2.04583244e-01 -4.65738661e-03 9.78838089e-01 -1.48019930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.526875 meters 0.017039529655295968 Centerline is valid? [True, True] Translation: X:158.24, Y:-48.08, Z:-14.81 [[ 8.13562390e-01 5.55301432e-01 1.72500888e-01 1.58236457e+02] [-5.44385268e-01 8.31635944e-01 -1.09664659e-01 -4.80815992e+01] [-2.04354881e-01 -4.68790030e-03 9.78885645e-01 -1.48095448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.556875 meters 0.017104968727295777 Centerline is valid? [True, True] Translation: X:158.26, Y:-48.10, Z:-14.82 [[ 8.13103420e-01 5.55865667e-01 1.72847299e-01 1.58263257e+02] [-5.44904452e-01 8.31258358e-01 -1.09948540e-01 -4.80996760e+01] [-2.04797381e-01 -4.78572877e-03 9.78792690e-01 -1.48164191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.586875 meters 0.017182746286050883 Centerline is valid? [True, True] Translation: X:158.29, Y:-48.12, Z:-14.82 [[ 8.12373814e-01 5.56987162e-01 1.72667568e-01 1.58288677e+02] [-5.46059736e-01 8.30506021e-01 -1.09902293e-01 -4.81185196e+01] [-2.04615621e-01 -5.00506186e-03 9.78829606e-01 -1.48225773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.616875 meters 0.017129384596173632 Centerline is valid? [True, True] Translation: X:158.31, Y:-48.14, Z:-14.83 [[ 8.11603894e-01 5.58122217e-01 1.72623028e-01 1.58314852e+02] [-5.47213323e-01 8.29742215e-01 -1.09933777e-01 -4.81366777e+01] [-2.04589096e-01 -5.23893923e-03 9.78833926e-01 -1.48291124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.646875 meters 0.017673893152555346 Centerline is valid? [True, True] Translation: X:158.34, Y:-48.15, Z:-14.84 [[ 8.10696753e-01 5.59422115e-01 1.72677942e-01 1.58341217e+02] [-5.48522565e-01 8.28864561e-01 -1.10029702e-01 -4.81532831e+01] [-2.04679675e-01 -5.51702591e-03 9.78813462e-01 -1.48355523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.676875 meters 0.018974088341273856 Centerline is valid? [True, True] Translation: X:158.37, Y:-48.17, Z:-14.84 [[ 8.08479992e-01 5.62701448e-01 1.72415725e-01 1.58367933e+02] [-5.51896076e-01 8.26636306e-01 -1.09923332e-01 -4.81688945e+01] [-2.04379116e-01 -6.28474745e-03 9.78871636e-01 -1.48426021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.706875 meters 0.018719813292547256 Centerline is valid? [True, True] Translation: X:158.39, Y:-48.19, Z:-14.85 [[ 8.07045982e-01 5.64642236e-01 1.72788678e-01 1.58394332e+02] [-5.53821701e-01 8.25308226e-01 -1.10217312e-01 -4.81863419e+01] [-2.04837267e-01 -6.74368077e-03 9.78772812e-01 -1.48491249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.736875 meters 0.018719813292547256 Centerline is valid? [True, True] Translation: X:158.42, Y:-48.20, Z:-14.86 [[ 8.06883444e-01 5.64883082e-01 1.72760560e-01 1.58420989e+02] [-5.54058578e-01 8.25143334e-01 -1.10261369e-01 -4.82034234e+01] [-2.04837006e-01 -6.75139718e-03 9.78772813e-01 -1.48560846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.766875 meters 0.022569167269216334 Centerline is valid? [True, True] Translation: X:158.45, Y:-48.21, Z:-14.86 [[ 8.05542608e-01 5.66755991e-01 1.72883639e-01 1.58449892e+02] [-5.55943082e-01 8.23854492e-01 -1.10413159e-01 -4.82143033e+01] [-2.05008282e-01 -7.17095920e-03 9.78733969e-01 -1.48645725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.796875 meters 0.020662111004062653 Centerline is valid? [True, True] Translation: X:158.47, Y:-48.23, Z:-14.87 [[ 8.04492132e-01 5.68345430e-01 1.72556895e-01 1.58474172e+02] [-5.57603506e-01 8.22755545e-01 -1.10234487e-01 -4.82341265e+01] [-2.04623409e-01 -7.53555226e-03 9.78811767e-01 -1.48710561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.826875 meters 0.0206176334718564 Centerline is valid? [True, True] Translation: X:158.50, Y:-48.25, Z:-14.88 [[ 8.03464302e-01 5.69812154e-01 1.72508621e-01 1.58499902e+02] [-5.59096769e-01 8.21737433e-01 -1.10265106e-01 -4.82517627e+01] [-2.04587189e-01 -7.85493603e-03 9.78816828e-01 -1.48776083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.856875 meters 0.021950945028950324 Centerline is valid? [True, True] Translation: X:158.53, Y:-48.27, Z:-14.88 [[ 8.02072150e-01 5.71612886e-01 1.73028825e-01 1.58525574e+02] [-5.60860151e-01 8.20481588e-01 -1.10660989e-01 -4.82676905e+01] [-2.05222212e-01 -8.28687544e-03 9.78680321e-01 -1.48830820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.886875 meters 0.022388356279069446 Centerline is valid? [True, True] Translation: X:158.55, Y:-48.28, Z:-14.89 [[ 8.01467591e-01 5.72535511e-01 1.72779598e-01 1.58551934e+02] [-5.61826164e-01 8.19836127e-01 -1.10544498e-01 -4.82848550e+01] [-2.04941607e-01 -8.47426621e-03 9.78737516e-01 -1.48897941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.916875 meters 0.02228147355648109 Centerline is valid? [True, True] Translation: X:158.58, Y:-48.30, Z:-14.90 [[ 8.00983916e-01 5.73216999e-01 1.72762954e-01 1.58578025e+02] [-5.62512503e-01 8.19358514e-01 -1.10595246e-01 -4.83020057e+01] [-2.04949872e-01 -8.59630871e-03 9.78734721e-01 -1.48968124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.946875 meters 0.024289054850177256 Centerline is valid? [True, True] Translation: X:158.61, Y:-48.32, Z:-14.90 [[ 8.00168541e-01 5.74257533e-01 1.73085505e-01 1.58605049e+02] [-5.63523588e-01 8.18627115e-01 -1.10863935e-01 -4.83164014e+01] [-2.05356937e-01 -8.82793181e-03 9.78647330e-01 -1.49046133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.976875 meters 0.023365164507419836 Centerline is valid? [True, True] Translation: X:158.63, Y:-48.34, Z:-14.91 [[ 7.99928306e-01 5.74638736e-01 1.72930704e-01 1.58630655e+02] [-5.63921128e-01 8.18359115e-01 -1.10821119e-01 -4.83355366e+01] [-2.05201526e-01 -8.87032806e-03 9.78679545e-01 -1.49115240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00687499999998 meters 0.024159781015340526 Centerline is valid? [True, True] Translation: X:158.66, Y:-48.35, Z:-14.92 [[ 7.99848856e-01 5.74809609e-01 1.72730197e-01 1.58656991e+02] [-5.64106081e-01 8.18239391e-01 -1.10763846e-01 -4.83519871e+01] [-2.05002775e-01 -8.84381891e-03 9.78721436e-01 -1.49183722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03687499999998 meters 0.025522009191711787 Centerline is valid? [True, True] Translation: X:158.68, Y:-48.37, Z:-14.93 [[ 8.00020451e-01 5.74657158e-01 1.72442537e-01 1.58683569e+02] [-5.63977152e-01 8.18347434e-01 -1.10622101e-01 -4.83673582e+01] [-2.04687690e-01 -8.75370823e-03 9.78788191e-01 -1.49260233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06687499999998 meters 0.024151826860061152 Centerline is valid? [True, True] Translation: X:158.71, Y:-48.39, Z:-14.93 [[ 7.99913549e-01 5.74773149e-01 1.72551850e-01 1.58708735e+02] [-5.64069747e-01 8.18266121e-01 -1.10751420e-01 -4.83877611e+01] [-2.04850275e-01 -8.73971693e-03 9.78754301e-01 -1.49325350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09687499999998 meters 0.023979849215764005 Centerline is valid? [True, True] Translation: X:158.73, Y:-48.41, Z:-14.94 [[ 8.00010295e-01 5.74714443e-01 1.72298686e-01 1.58734190e+02] [-5.64026968e-01 8.18308269e-01 -1.10657837e-01 -4.84053177e+01] [-2.04590096e-01 -8.65369669e-03 9.78809484e-01 -1.49393147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12687499999998 meters 0.024158481986865963 Centerline is valid? [True, True] Translation: X:158.76, Y:-48.42, Z:-14.95 [[ 7.99934291e-01 5.74895096e-01 1.72048711e-01 1.58760624e+02] [-5.64230668e-01 8.18181536e-01 -1.10556443e-01 -4.84230353e+01] [-2.04325435e-01 -8.63726941e-03 9.78864911e-01 -1.49466239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15687499999999 meters 0.024722361877636902 Centerline is valid? [True, True] Translation: X:158.79, Y:-48.44, Z:-14.95 [[ 7.99860366e-01 5.75137222e-01 1.71582549e-01 1.58787093e+02] [-5.64522399e-01 8.18011559e-01 -1.10324753e-01 -4.84402742e+01] [-2.03808380e-01 -8.61779476e-03 9.78972869e-01 -1.49538459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.186875 meters 0.025097954120863086 Centerline is valid? [True, True] Translation: X:158.81, Y:-48.46, Z:-14.96 [[ 7.99913118e-01 5.75254141e-01 1.70943487e-01 1.58813811e+02] [-5.64708635e-01 8.17929929e-01 -1.09976312e-01 -4.84578738e+01] [-2.03084123e-01 -8.56176855e-03 9.79123861e-01 -1.49620548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.216875 meters 0.025569346634721383 Centerline is valid? [True, True] Translation: X:158.84, Y:-48.48, Z:-14.97 [[ 8.00043863e-01 5.75208683e-01 1.70483981e-01 1.58839442e+02] [-5.64705554e-01 8.17962845e-01 -1.09747077e-01 -4.84763496e+01] [-2.02577034e-01 -8.47077547e-03 9.79229693e-01 -1.49691542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.246875 meters 0.02568660344719941 Centerline is valid? [True, True] Translation: X:158.86, Y:-48.49, Z:-14.98 [[ 8.00071889e-01 5.75071168e-01 1.70816057e-01 1.58864988e+02] [-5.64510695e-01 8.18060251e-01 -1.10023179e-01 -4.84941102e+01] [-2.03008985e-01 -8.40103835e-03 9.79140835e-01 -1.49754370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.276875 meters 0.02605449858804758 Centerline is valid? [True, True] Translation: X:158.89, Y:-48.51, Z:-14.98 [[ 8.00126327e-01 5.74925397e-01 1.71051596e-01 1.58890456e+02] [-5.64320285e-01 8.18163451e-01 -1.10232408e-01 -4.85111273e+01] [-2.03323575e-01 -8.32803393e-03 9.79076181e-01 -1.49817726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.306875 meters 0.026023482757499595 Centerline is valid? [True, True] Translation: X:158.92, Y:-48.53, Z:-14.99 [[ 8.00023061e-01 5.74947488e-01 1.71459872e-01 1.58916233e+02] [-5.64280739e-01 8.18148107e-01 -1.10548285e-01 -4.85291564e+01] [-2.03839028e-01 -8.31032536e-03 9.78969146e-01 -1.49877084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.336875 meters 0.02196508236428949 Centerline is valid? [True, True] Translation: X:158.94, Y:-48.55, Z:-14.99 [[ 8.00297283e-01 5.74544309e-01 1.71531618e-01 1.58938581e+02] [-5.63847620e-01 8.18432763e-01 -1.10651135e-01 -4.85534761e+01] [-2.03961076e-01 -8.16389210e-03 9.78944958e-01 -1.49932683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.366875 meters 0.026300137388653756 Centerline is valid? [True, True] Translation: X:158.97, Y:-48.57, Z:-15.00 [[ 8.00449528e-01 5.74414657e-01 1.71255232e-01 1.58967131e+02] [-5.63737078e-01 8.18524734e-01 -1.10534003e-01 -4.85650736e+01] [-2.03668995e-01 -8.06603362e-03 9.79006578e-01 -1.50022048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.396875 meters 0.02185001337678288 Centerline is valid? [True, True] Translation: X:158.99, Y:-48.59, Z:-15.01 [[ 8.00319023e-01 5.74607888e-01 1.71216925e-01 1.58989669e+02] [-5.63927933e-01 8.18389089e-01 -1.10564851e-01 -4.85896070e+01] [-2.03653499e-01 -8.06685265e-03 9.79009795e-01 -1.50072992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.426875 meters 0.027060169095744505 Centerline is valid? [True, True] Translation: X:159.02, Y:-48.60, Z:-15.02 [[ 8.00419503e-01 5.74444282e-01 1.71296193e-01 1.59018154e+02] [-5.63735983e-01 8.18504883e-01 -1.10686485e-01 -4.86004588e+01] [-2.03789989e-01 -7.97020595e-03 9.78982184e-01 -1.50162055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.456875 meters 0.02265623358667526 Centerline is valid? [True, True] Translation: X:159.04, Y:-48.62, Z:-15.02 [[ 8.00315668e-01 5.74665117e-01 1.71040450e-01 1.59041689e+02] [-5.63982537e-01 8.18349876e-01 -1.10576570e-01 -4.86245674e+01] [-2.03515429e-01 -7.96766576e-03 9.79039318e-01 -1.50217718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.486875 meters 0.02082797077517053 Centerline is valid? [True, True] Translation: X:159.07, Y:-48.65, Z:-15.03 [[ 7.99922497e-01 5.75144070e-01 1.71269662e-01 1.59066497e+02] [-5.64429142e-01 8.18012591e-01 -1.10793247e-01 -4.86453244e+01] [-2.03822819e-01 -8.04357711e-03 9.78974749e-01 -1.50282711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.516875 meters 0.022777092448749182 Centerline is valid? [True, True] Translation: X:159.09, Y:-48.66, Z:-15.04 [[ 7.99691511e-01 5.75426083e-01 1.71401023e-01 1.59093506e+02] [-5.64685940e-01 8.17814056e-01 -1.10950251e-01 -4.86604516e+01] [-2.04017834e-01 -8.06177454e-03 9.78933977e-01 -1.50354636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.546875 meters 0.023913240580737252 Centerline is valid? [True, True] Translation: X:159.12, Y:-48.68, Z:-15.04 [[ 7.99340598e-01 5.75796076e-01 1.71794901e-01 1.59119682e+02] [-5.65000453e-01 8.17553026e-01 -1.11272361e-01 -4.86771069e+01] [-2.04521630e-01 -8.11968096e-03 9.78828368e-01 -1.50426274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.576875 meters 0.02231111557294496 Centerline is valid? [True, True] Translation: X:159.14, Y:-48.70, Z:-15.05 [[ 7.98773242e-01 5.76485676e-01 1.72120810e-01 1.59144632e+02] [-5.65650982e-01 8.17065515e-01 -1.11547792e-01 -4.86964124e+01] [-2.04939683e-01 -8.25891406e-03 9.78739759e-01 -1.50487019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.606875 meters 0.022379894921548193 Centerline is valid? [True, True] Translation: X:159.17, Y:-48.71, Z:-15.06 [[ 7.97940839e-01 5.77504960e-01 1.72564302e-01 1.59170411e+02] [-5.66624385e-01 8.16343007e-01 -1.11896833e-01 -4.87137689e+01] [-2.05492637e-01 -8.49208853e-03 9.78621817e-01 -1.50556605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.636875 meters 0.026705501517144573 Centerline is valid? [True, True] Translation: X:159.20, Y:-48.73, Z:-15.06 [[ 7.97067638e-01 5.78919848e-01 1.71857472e-01 1.59199047e+02] [-5.68148538e-01 8.15337318e-01 -1.11500207e-01 -4.87251822e+01] [-2.04671493e-01 -8.76736511e-03 9.78791455e-01 -1.50646875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.666875 meters 0.027319106335161242 Centerline is valid? [True, True] Translation: X:159.23, Y:-48.74, Z:-15.07 [[ 7.96409019e-01 5.79806797e-01 1.71920773e-01 1.59225340e+02] [-5.69035910e-01 8.14704826e-01 -1.11598295e-01 -4.87417523e+01] [-2.04770134e-01 -8.95120464e-03 9.78769160e-01 -1.50723116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.696875 meters 0.023620889005838766 Centerline is valid? [True, True] Translation: X:159.25, Y:-48.76, Z:-15.08 [[ 7.95887289e-01 5.80589388e-01 1.71695620e-01 1.59248128e+02] [-5.69853012e-01 8.14145740e-01 -1.11509009e-01 -4.87641148e+01] [-2.04526205e-01 -9.09266313e-03 9.78818857e-01 -1.50782162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.726875 meters 0.024017990227699876 Centerline is valid? [True, True] Translation: X:159.27, Y:-48.78, Z:-15.09 [[ 7.95404725e-01 5.81354103e-01 1.71343899e-01 1.59274174e+02] [-5.70666782e-01 8.13598443e-01 -1.11341800e-01 -4.87809927e+01] [-2.04134141e-01 -9.21847752e-03 9.78899521e-01 -1.50854987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75687499999998 meters 0.02415774904914904 Centerline is valid? [True, True] Translation: X:159.30, Y:-48.80, Z:-15.09 [[ 7.94466220e-01 5.82691638e-01 1.71154548e-01 1.59299641e+02] [-5.72045927e-01 8.12637806e-01 -1.11280064e-01 -4.87985791e+01] [-2.03928620e-01 -9.50001036e-03 9.78939665e-01 -1.50930379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78687499999998 meters 0.026481110354675597 Centerline is valid? [True, True] Translation: X:159.33, Y:-48.81, Z:-15.10 [[ 7.93802278e-01 5.83493856e-01 1.71501787e-01 1.59326294e+02] [-5.72809837e-01 8.12059927e-01 -1.11568661e-01 -4.88121357e+01] [-2.04369357e-01 -9.67445312e-03 9.78846040e-01 -1.51002232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81687499999998 meters 0.026344059327126947 Centerline is valid? [True, True] Translation: X:159.35, Y:-48.83, Z:-15.11 [[ 7.93315556e-01 5.84172271e-01 1.71444411e-01 1.59352127e+02] [-5.73501063e-01 8.11570453e-01 -1.11579256e-01 -4.88296658e+01] [-2.04320726e-01 -9.80599280e-03 9.78854884e-01 -1.51070706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84687499999998 meters 0.02615774122634047 Centerline is valid? [True, True] Translation: X:159.38, Y:-48.85, Z:-15.11 [[ 7.92819861e-01 5.84748452e-01 1.71772863e-01 1.59378177e+02] [-5.74036597e-01 8.11153968e-01 -1.11853593e-01 -4.88477599e+01] [-2.04740455e-01 -9.92416015e-03 9.78765987e-01 -1.51140393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87687499999998 meters 0.024718217182611964 Centerline is valid? [True, True] Translation: X:159.40, Y:-48.87, Z:-15.12 [[ 7.92626464e-01 5.84827416e-01 1.72395424e-01 1.59402638e+02] [-5.74026020e-01 8.11096949e-01 -1.12320375e-01 -4.88678792e+01] [-2.05517437e-01 -9.93135739e-03 9.78603061e-01 -1.51195520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90687499999999 meters 0.024745571721803375 Centerline is valid? [True, True] Translation: X:159.43, Y:-48.89, Z:-15.13 [[ 7.92633372e-01 5.84705555e-01 1.72776596e-01 1.59428246e+02] [-5.73839823e-01 8.11185544e-01 -1.12631571e-01 -4.88855310e+01] [-2.06010182e-01 -9.87054977e-03 9.78500065e-01 -1.51263628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.936875 meters 0.026601549492651443 Centerline is valid? [True, True] Translation: X:159.46, Y:-48.90, Z:-15.13 [[ 7.93107007e-01 5.84038065e-01 1.72860677e-01 1.59455116e+02] [-5.73132805e-01 8.11668908e-01 -1.12749153e-01 -4.89001548e+01] [-2.06155434e-01 -9.64998117e-03 9.78471673e-01 -1.51338935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.966875 meters 0.02376630593452893 Centerline is valid? [True, True] Translation: X:159.48, Y:-48.92, Z:-15.14 [[ 7.94153643e-01 5.82417899e-01 1.73520551e-01 1.59478414e+02] [-5.71377750e-01 8.12837279e-01 -1.13238797e-01 -4.89220819e+01] [-2.06996275e-01 -9.21677827e-03 9.78298315e-01 -1.51411769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.996875 meters 0.02512487112280182 Centerline is valid? [True, True] Translation: X:159.50, Y:-48.94, Z:-15.15 [[ 7.94707066e-01 5.81710090e-01 1.73361040e-01 1.59504270e+02] [-5.70669979e-01 8.13346308e-01 -1.13152809e-01 -4.89376669e+01] [-2.06824693e-01 -9.00860407e-03 9.78336543e-01 -1.51484521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.026875 meters 0.02344016599190997 Centerline is valid? [True, True] Translation: X:159.53, Y:-48.96, Z:-15.15 [[ 7.95426145e-01 5.80697355e-01 1.73458436e-01 1.59528908e+02] [-5.69608491e-01 8.14073013e-01 -1.13275316e-01 -4.89585181e+01] [-2.06986508e-01 -8.70125032e-03 9.78305103e-01 -1.51545494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.056875 meters 0.023817675456276895 Centerline is valid? [True, True] Translation: X:159.55, Y:-48.98, Z:-15.16 [[ 7.96165079e-01 5.79661493e-01 1.73533050e-01 1.59553993e+02] [-5.68534089e-01 8.14813905e-01 -1.13345886e-01 -4.89760452e+01] [-2.07099388e-01 -8.41741779e-03 9.78283696e-01 -1.51617333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.086875 meters 0.02260075349124884 Centerline is valid? [True, True] Translation: X:159.58, Y:-49.00, Z:-15.17 [[ 7.97969156e-01 5.77204467e-01 1.73436531e-01 1.59576035e+02] [-5.66024711e-01 8.16562930e-01 -1.13318168e-01 -4.89964402e+01] [-2.07029595e-01 -7.74495934e-03 9.78304023e-01 -1.51677388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.116875 meters 0.020759793655576453 Centerline is valid? [True, True] Translation: X:159.60, Y:-49.02, Z:-15.17 [[ 7.98839316e-01 5.75976214e-01 1.73514113e-01 1.59599928e+02] [-5.64749547e-01 8.17432980e-01 -1.13407550e-01 -4.90171230e+01] [-2.07156209e-01 -7.39760736e-03 9.78279909e-01 -1.51739787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.146875 meters 0.019971941820262577 Centerline is valid? [True, True] Translation: X:159.62, Y:-49.04, Z:-15.18 [[ 7.99625727e-01 5.74914193e-01 1.73413863e-01 1.59624767e+02] [-5.63662759e-01 8.18183197e-01 -1.13404366e-01 -4.90361623e+01] [-2.07082088e-01 -7.06588769e-03 9.78298054e-01 -1.51816812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.176875 meters 0.020698955259823848 Centerline is valid? [True, True] Translation: X:159.65, Y:-49.05, Z:-15.19 [[ 8.00446471e-01 5.73766946e-01 1.73427039e-01 1.59650458e+02] [-5.62473893e-01 8.18991071e-01 -1.13475747e-01 -4.90528229e+01] [-2.07143829e-01 -6.71692024e-03 9.78287441e-01 -1.51896426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.206875 meters 0.019685130491732854 Centerline is valid? [True, True] Translation: X:159.67, Y:-49.07, Z:-15.20 [[ 8.01619312e-01 5.72423466e-01 1.72446668e-01 1.59674198e+02] [-5.61215020e-01 8.19934111e-01 -1.12897094e-01 -4.90746788e+01] [-2.06019852e-01 -6.27916896e-03 9.78527666e-01 -1.51966037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.236875 meters 0.019505275410061574 Centerline is valid? [True, True] Translation: X:159.70, Y:-49.09, Z:-15.20 [[ 8.01900402e-01 5.72139135e-01 1.72082989e-01 1.59699355e+02] [-5.60967698e-01 8.20133326e-01 -1.12679058e-01 -4.90930967e+01] [-2.05599093e-01 -6.17561625e-03 9.78616817e-01 -1.52028959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.266875 meters 0.019261726268302314 Centerline is valid? [True, True] Translation: X:159.72, Y:-49.11, Z:-15.21 [[ 8.02135044e-01 5.71807379e-01 1.72092102e-01 1.59724663e+02] [-5.60614516e-01 8.20365672e-01 -1.12745412e-01 -4.91119648e+01] [-2.05647112e-01 -6.04028449e-03 9.78607572e-01 -1.52095046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.296875 meters 0.018893782147865225 Centerline is valid? [True, True] Translation: X:159.75, Y:-49.13, Z:-15.22 [[ 8.02513621e-01 5.71176526e-01 1.72421761e-01 1.59749351e+02] [-5.59913083e-01 8.20806481e-01 -1.13022385e-01 -4.91317157e+01] [-2.06080632e-01 -5.83919611e-03 9.78517591e-01 -1.52156150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.326875 meters 0.019427637271080034 Centerline is valid? [True, True] Translation: X:159.77, Y:-49.15, Z:-15.22 [[ 8.02739424e-01 5.70789815e-01 1.72651107e-01 1.59774555e+02] [-5.59474336e-01 8.21076450e-01 -1.13233962e-01 -4.91480183e+01] [-2.06392550e-01 -5.69649817e-03 9.78452689e-01 -1.52229001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.356875 meters 0.018602624210977702 Centerline is valid? [True, True] Translation: X:159.80, Y:-49.17, Z:-15.23 [[ 8.02920326e-01 5.70580244e-01 1.72502568e-01 1.59799738e+02] [-5.59267874e-01 8.21222826e-01 -1.13192382e-01 -4.91676371e+01] [-2.06248383e-01 -5.59068023e-03 9.78483699e-01 -1.52293272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.386875 meters 0.018379688492047516 Centerline is valid? [True, True] Translation: X:159.83, Y:-49.19, Z:-15.24 [[ 8.03300485e-01 5.69945049e-01 1.72832207e-01 1.59825367e+02] [-5.58561535e-01 8.21665151e-01 -1.13469783e-01 -4.91860381e+01] [-2.06681742e-01 -5.38709066e-03 9.78393396e-01 -1.52368442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.416875 meters 0.01725939547133697 Centerline is valid? [True, True] Translation: X:159.85, Y:-49.21, Z:-15.24 [[ 8.04185175e-01 5.68718374e-01 1.72758836e-01 1.59849405e+02] [-5.57303803e-01 8.22517007e-01 -1.13482352e-01 -4.92073162e+01] [-2.06636580e-01 -5.01833162e-03 9.78404896e-01 -1.52431812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.446875 meters 0.01742579324028873 Centerline is valid? [True, True] Translation: X:159.88, Y:-49.22, Z:-15.25 [[ 8.04575284e-01 5.68026810e-01 1.73217074e-01 1.59875121e+02] [-5.56521929e-01 8.22996043e-01 -1.13845754e-01 -4.92245863e+01] [-2.07224407e-01 -4.80162026e-03 9.78281652e-01 -1.52491373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.476875 meters 0.016368404346068288 Centerline is valid? [True, True] Translation: X:159.90, Y:-49.24, Z:-15.26 [[ 8.04948847e-01 5.67370985e-01 1.73630410e-01 1.59900224e+02] [-5.55782199e-01 8.23449502e-01 -1.14179970e-01 -4.92447774e+01] [-2.07758277e-01 -4.59165610e-03 9.78169420e-01 -1.52550203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50687499999998 meters 0.01676440198840631 Centerline is valid? [True, True] Translation: X:159.93, Y:-49.26, Z:-15.26 [[ 8.05352094e-01 5.66582423e-01 1.74334054e-01 1.59925688e+02] [-5.54872940e-01 8.23993442e-01 -1.14677061e-01 -4.92623163e+01] [-2.08624125e-01 -4.37783788e-03 9.77986099e-01 -1.52604670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53687499999998 meters 0.016828477035658172 Centerline is valid? [True, True] Translation: X:159.95, Y:-49.28, Z:-15.27 [[ 8.05333914e-01 5.66580007e-01 1.74425862e-01 1.59952333e+02] [-5.54850477e-01 8.23995251e-01 -1.14772710e-01 -4.92809459e+01] [-2.08754005e-01 -4.34991685e-03 9.77958508e-01 -1.52672668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56687499999998 meters 0.016484595949071548 Centerline is valid? [True, True] Translation: X:159.98, Y:-49.30, Z:-15.27 [[ 8.05697388e-01 5.66179180e-01 1.74048428e-01 1.59977675e+02] [-5.54476860e-01 8.24271607e-01 -1.14593762e-01 -4.92996175e+01] [-2.08343780e-01 -4.17793132e-03 9.78046734e-01 -1.52740329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59687499999998 meters 0.016485909996453895 Centerline is valid? [True, True] Translation: X:160.00, Y:-49.32, Z:-15.28 [[ 8.05754589e-01 5.66193169e-01 1.73737841e-01 1.60004041e+02] [-5.54520428e-01 8.24262276e-01 -1.14449971e-01 -4.93179765e+01] [-2.08006340e-01 -4.12259272e-03 9.78118790e-01 -1.52817181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62687499999998 meters 0.016415367808217018 Centerline is valid? [True, True] Translation: X:160.03, Y:-49.34, Z:-15.29 [[ 8.05961296e-01 5.66208756e-01 1.72725313e-01 1.60029571e+02] [-5.54658980e-01 8.24251959e-01 -1.13851322e-01 -4.93361833e+01] [-2.06832793e-01 -4.04388691e-03 9.78367949e-01 -1.52901168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65687499999999 meters 0.016415367808217018 Centerline is valid? [True, True] Translation: X:160.06, Y:-49.35, Z:-15.30 [[ 8.05807197e-01 5.66437679e-01 1.72693709e-01 1.60055938e+02] [-5.54882836e-01 8.24094656e-01 -1.13899240e-01 -4.93536640e+01] [-2.06832784e-01 -4.04394814e-03 9.78367950e-01 -1.52970772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.686875 meters 0.0162275222342341 Centerline is valid? [True, True] Translation: X:160.08, Y:-49.37, Z:-15.31 [[ 8.05896321e-01 5.66535385e-01 1.71955745e-01 1.60082325e+02] [-5.55067928e-01 8.24027736e-01 -1.13480766e-01 -4.93720940e+01] [-2.05987173e-01 -3.99338713e-03 9.78546543e-01 -1.53054653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.716875 meters 0.016333798731884338 Centerline is valid? [True, True] Translation: X:160.11, Y:-49.39, Z:-15.31 [[ 8.05730901e-01 5.66856377e-01 1.71672839e-01 1.60109093e+02] [-5.55419743e-01 8.23806873e-01 -1.13362889e-01 -4.93903422e+01] [-2.05685741e-01 -4.01050117e-03 9.78609877e-01 -1.53131726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.746875 meters 0.01613359036408563 Centerline is valid? [True, True] Translation: X:160.13, Y:-49.41, Z:-15.32 [[ 8.06043752e-01 5.66487638e-01 1.71421196e-01 1.60134304e+02] [-5.55062180e-01 8.24061232e-01 -1.13265447e-01 -4.94084337e+01] [-2.05425037e-01 -3.85251677e-03 9.78665271e-01 -1.53200147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.776875 meters 0.015809452251415747 Centerline is valid? [True, True] Translation: X:160.16, Y:-49.43, Z:-15.33 [[ 8.06769778e-01 5.65683529e-01 1.70659518e-01 1.60159005e+02] [-5.54330195e-01 8.24614652e-01 -1.12821592e-01 -4.94287637e+01] [-2.04549655e-01 -3.58067339e-03 9.78849640e-01 -1.53265292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.806875 meters 0.0156428789616378 Centerline is valid? [True, True] Translation: X:160.19, Y:-49.45, Z:-15.33 [[ 8.07149463e-01 5.65296603e-01 1.70145513e-01 1.60185102e+02] [-5.53991498e-01 8.24880622e-01 -1.12540568e-01 -4.94478945e+01] [-2.03968537e-01 -3.42210836e-03 9.78971463e-01 -1.53335279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.836875 meters 0.015577080726984384 Centerline is valid? [True, True] Translation: X:160.21, Y:-49.47, Z:-15.34 [[ 8.07079471e-01 5.65375798e-01 1.70214377e-01 1.60211439e+02] [-5.54049011e-01 8.24826491e-01 -1.12654130e-01 -4.94671296e+01] [-2.04089246e-01 -3.38627130e-03 9.78946430e-01 -1.53400182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.866875 meters 0.015338250134077674 Centerline is valid? [True, True] Translation: X:160.24, Y:-49.49, Z:-15.35 [[ 8.07072579e-01 5.65385308e-01 1.70215467e-01 1.60237071e+02] [-5.54044448e-01 8.24820195e-01 -1.12722650e-01 -4.94858475e+01] [-2.04128884e-01 -3.33157464e-03 9.78938353e-01 -1.53467506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.896875 meters 0.015697010858777397 Centerline is valid? [True, True] Translation: X:160.26, Y:-49.50, Z:-15.35 [[ 8.06262734e-01 5.66454916e-01 1.70497015e-01 1.60262541e+02] [-5.55085198e-01 8.24085085e-01 -1.12978741e-01 -4.95033651e+01] [-2.04501410e-01 -3.54982103e-03 9.78859833e-01 -1.53524368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.926875 meters 0.016018305590196406 Centerline is valid? [True, True] Translation: X:160.29, Y:-49.52, Z:-15.36 [[ 8.05531206e-01 5.67395391e-01 1.70827240e-01 1.60288591e+02] [-5.55990385e-01 8.23436951e-01 -1.13253163e-01 -4.95202302e+01] [-2.04924785e-01 -3.74934588e-03 9.78770543e-01 -1.53593436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.956875 meters 0.015963708968997917 Centerline is valid? [True, True] Translation: X:160.31, Y:-49.54, Z:-15.37 [[ 8.04801579e-01 5.68371089e-01 1.71022582e-01 1.60314278e+02] [-5.56948910e-01 8.22762838e-01 -1.13442606e-01 -4.95374787e+01] [-2.05188523e-01 -3.95205206e-03 9.78714489e-01 -1.53657657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.986875 meters 0.016511763032030852 Centerline is valid? [True, True] Translation: X:160.34, Y:-49.55, Z:-15.37 [[ 8.03873988e-01 5.69804226e-01 1.70615815e-01 1.60340201e+02] [-5.58456953e-01 8.21769432e-01 -1.13229113e-01 -4.95535906e+01] [-2.04725288e-01 -4.25964951e-03 9.78810202e-01 -1.53728220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.016875 meters 0.016355451300385525 Centerline is valid? [True, True] Translation: X:160.37, Y:-49.57, Z:-15.38 [[ 8.02304197e-01 5.72258495e-01 1.69788663e-01 1.60365761e+02] [-5.61064726e-01 8.20059168e-01 -1.12735686e-01 -4.95713461e+01] [-2.03750704e-01 -4.81411610e-03 9.79010968e-01 -1.53794951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.046875 meters 0.017980624244874774 Centerline is valid? [True, True] Translation: X:160.39, Y:-49.59, Z:-15.39 [[ 8.01464017e-01 5.73363937e-01 1.70027131e-01 1.60392262e+02] [-5.62149730e-01 8.19285237e-01 -1.12957434e-01 -4.95851180e+01] [-2.04066437e-01 -5.04938652e-03 9.78944019e-01 -1.53867575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.076875 meters 0.018069881507965617 Centerline is valid? [True, True] Translation: X:160.42, Y:-49.60, Z:-15.39 [[ 8.00824591e-01 5.74336351e-01 1.69757859e-01 1.60418148e+02] [-5.63169530e-01 8.18602598e-01 -1.12826708e-01 -4.96027900e+01] [-2.03764704e-01 -5.24805117e-03 9.79005824e-01 -1.53934329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.106875 meters 0.018261641594307626 Centerline is valid? [True, True] Translation: X:160.44, Y:-49.62, Z:-15.40 [[ 8.00246696e-01 5.75228863e-01 1.69460856e-01 1.60444640e+02] [-5.64108816e-01 8.17974590e-01 -1.12689013e-01 -4.96204564e+01] [-2.03436647e-01 -5.41535259e-03 9.79073136e-01 -1.54000260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.136875 meters 0.018968214819604545 Centerline is valid? [True, True] Translation: X:160.47, Y:-49.64, Z:-15.41 [[ 7.99157803e-01 5.76794808e-01 1.69276565e-01 1.60470766e+02] [-5.65721412e-01 8.16868780e-01 -1.12626282e-01 -4.96375027e+01] [-2.03238996e-01 -5.75720524e-03 9.79112233e-01 -1.54073145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.166875 meters 0.0188798818872428 Centerline is valid? [True, True] Translation: X:160.50, Y:-49.66, Z:-15.41 [[ 7.98674593e-01 5.77695135e-01 1.68485089e-01 1.60496205e+02] [-5.66733561e-01 8.16231236e-01 -1.12158991e-01 -4.96553627e+01] [-2.02316496e-01 -5.90761824e-03 9.79302372e-01 -1.54144853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.196875 meters 0.019303067900521824 Centerline is valid? [True, True] Translation: X:160.52, Y:-49.67, Z:-15.42 [[ 7.98169146e-01 5.78593301e-01 1.67796920e-01 1.60522130e+02] [-5.67729113e-01 8.15593700e-01 -1.11761227e-01 -4.96726845e+01] [-2.01518408e-01 -6.05883297e-03 9.79465988e-01 -1.54217937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.226875 meters 0.02052427771252059 Centerline is valid? [True, True] Translation: X:160.55, Y:-49.69, Z:-15.43 [[ 7.96940256e-01 5.80561395e-01 1.66837331e-01 1.60548232e+02] [-5.69852521e-01 8.14190790e-01 -1.11182113e-01 -4.96888186e+01] [-2.00385461e-01 -6.46717245e-03 9.79695791e-01 -1.54296664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25687499999998 meters 0.021116628111305005 Centerline is valid? [True, True] Translation: X:160.57, Y:-49.70, Z:-15.44 [[ 7.96053556e-01 5.81646842e-01 1.67289232e-01 1.60574060e+02] [-5.70891565e-01 8.13413724e-01 -1.11538936e-01 -4.97047826e+01] [-2.00951627e-01 -6.71304528e-03 9.79578164e-01 -1.54365952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28687499999998 meters 0.02118714778063617 Centerline is valid? [True, True] Translation: X:160.60, Y:-49.72, Z:-15.44 [[ 7.95115291e-01 5.82898995e-01 1.67393057e-01 1.60599731e+02] [-5.72146281e-01 8.12514571e-01 -1.11663357e-01 -4.97227928e+01] [-2.01097756e-01 -6.98807249e-03 9.79546252e-01 -1.54422055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31687499999998 meters 0.02170986443354124 Centerline is valid? [True, True] Translation: X:160.63, Y:-49.74, Z:-15.45 [[ 7.94240100e-01 5.83989016e-01 1.67748300e-01 1.60625619e+02] [-5.73201722e-01 8.11729363e-01 -1.11960831e-01 -4.97401233e+01] [-2.01550116e-01 -7.22983235e-03 9.79451520e-01 -1.54481697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34687499999998 meters 0.022759407788242803 Centerline is valid? [True, True] Translation: X:160.65, Y:-49.76, Z:-15.45 [[ 7.93625433e-01 5.84728058e-01 1.68082630e-01 1.60651008e+02] [-5.73901192e-01 8.11195780e-01 -1.12244503e-01 -4.97567645e+01] [-2.01980430e-01 -7.38272912e-03 9.79361731e-01 -1.54541810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37687499999998 meters 0.023017601531132977 Centerline is valid? [True, True] Translation: X:160.68, Y:-49.78, Z:-15.46 [[ 7.93159221e-01 5.85223504e-01 1.68558297e-01 1.60677896e+02] [-5.74333353e-01 8.10837516e-01 -1.12622032e-01 -4.97754084e+01] [-2.02582451e-01 -7.48144929e-03 9.79236630e-01 -1.54607899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40687499999999 meters 0.022823821625235705 Centerline is valid? [True, True] Translation: X:160.70, Y:-49.79, Z:-15.47 [[ 7.93323776e-01 5.84965759e-01 1.68678535e-01 1.60703684e+02] [-5.74039779e-01 8.11024561e-01 -1.12771867e-01 -4.97940124e+01] [-2.02770115e-01 -7.36358571e-03 9.79198682e-01 -1.54676602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.436875 meters 0.02297391542570904 Centerline is valid? [True, True] Translation: X:160.73, Y:-49.81, Z:-15.47 [[ 7.93440763e-01 5.84754856e-01 1.68859450e-01 1.60729019e+02] [-5.73788008e-01 8.11177499e-01 -1.12953031e-01 -4.98116756e+01] [-2.03024820e-01 -7.26798808e-03 9.79146618e-01 -1.54740496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.466875 meters 0.02213621684421952 Centerline is valid? [True, True] Translation: X:160.75, Y:-49.83, Z:-15.48 [[ 7.94797493e-01 5.82893066e-01 1.68916014e-01 1.60752453e+02] [-5.71864736e-01 8.12520884e-01 -1.13051038e-01 -4.98311608e+01] [-2.03144455e-01 -6.74442971e-03 9.79125550e-01 -1.54803635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.496875 meters 0.021527782644997155 Centerline is valid? [True, True] Translation: X:160.78, Y:-49.85, Z:-15.49 [[ 7.95677316e-01 5.81664861e-01 1.69007687e-01 1.60777409e+02] [-5.70586121e-01 8.13403436e-01 -1.13165049e-01 -4.98502614e+01] [-2.03295566e-01 -6.39057762e-03 9.79096560e-01 -1.54871014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.526875 meters 0.020358793719184396 Centerline is valid? [True, True] Translation: X:160.80, Y:-49.87, Z:-15.50 [[ 7.98043640e-01 5.78732396e-01 1.67914150e-01 1.60799872e+02] [-5.67721584e-01 8.15498589e-01 -1.12491134e-01 -4.98701675e+01] [-2.02036016e-01 -5.55565287e-03 9.79362335e-01 -1.54950227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.556875 meters 0.019633918176652245 Centerline is valid? [True, True] Translation: X:160.82, Y:-49.89, Z:-15.50 [[ 7.99271989e-01 5.77139001e-01 1.67555547e-01 1.60823941e+02] [-5.66130899e-01 8.16630002e-01 -1.12299797e-01 -4.98892272e+01] [-2.01643479e-01 -5.10029010e-03 9.79445708e-01 -1.55020996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.586875 meters 0.018700692376334746 Centerline is valid? [True, True] Translation: X:160.85, Y:-49.91, Z:-15.51 [[ 8.00616963e-01 5.75352368e-01 1.67278604e-01 1.60848316e+02] [-5.64331640e-01 8.17892724e-01 -1.12166362e-01 -4.99089066e+01] [-2.01351135e-01 -4.59831680e-03 9.79508334e-01 -1.55094538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.616875 meters 0.01794190303864228 Centerline is valid? [True, True] Translation: X:160.87, Y:-49.93, Z:-15.52 [[ 8.01864074e-01 5.73664207e-01 1.67102918e-01 1.60873143e+02] [-5.62618585e-01 8.19080214e-01 -1.12106781e-01 -4.99289616e+01] [-2.01182342e-01 -4.12080732e-03 9.79545142e-01 -1.55167819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.646875 meters 0.016569241272512233 Centerline is valid? [True, True] Translation: X:160.90, Y:-49.95, Z:-15.52 [[ 8.04360240e-01 5.70242867e-01 1.66816297e-01 1.60895719e+02] [-5.59158891e-01 8.21469753e-01 -1.11932031e-01 -4.99503546e+01] [-2.00862984e-01 -3.24313992e-03 9.79613977e-01 -1.55245138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.676875 meters 0.015241020588658411 Centerline is valid? [True, True] Translation: X:160.92, Y:-49.97, Z:-15.53 [[ 8.05415990e-01 5.68801886e-01 1.66641824e-01 1.60919564e+02] [-5.57699571e-01 8.22469683e-01 -1.11869608e-01 -4.99716125e+01] [-2.00689492e-01 -2.83450237e-03 9.79650802e-01 -1.55296130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.706875 meters 0.014660913073051498 Centerline is valid? [True, True] Translation: X:160.94, Y:-49.99, Z:-15.54 [[ 8.06186782e-01 5.67611883e-01 1.66971921e-01 1.60944351e+02] [-5.56427861e-01 8.23292492e-01 -1.12149489e-01 -4.99913191e+01] [-2.01124112e-01 -2.49439315e-03 9.79562591e-01 -1.55360026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.736875 meters 0.015209021942188011 Centerline is valid? [True, True] Translation: X:160.97, Y:-50.01, Z:-15.54 [[ 8.06890572e-01 5.66593668e-01 1.67030596e-01 1.60969286e+02] [-5.55367654e-01 8.23994428e-01 -1.12249504e-01 -5.00078841e+01] [-2.01232139e-01 -2.19032380e-03 9.79541132e-01 -1.55445679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.766875 meters 0.013877231499559753 Centerline is valid? [True, True] Translation: X:160.99, Y:-50.03, Z:-15.55 [[ 8.08668415e-01 5.64019284e-01 1.67145568e-01 1.60992431e+02] [-5.52716599e-01 8.25760211e-01 -1.12358509e-01 -5.00307505e+01] [-2.01394525e-01 -1.52335296e-03 9.79509022e-01 -1.55474258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.796875 meters 0.013757670774094318 Centerline is valid? [True, True] Translation: X:161.02, Y:-50.05, Z:-15.55 [[ 8.09558249e-01 5.62726148e-01 1.67196659e-01 1.61016714e+02] [-5.51376523e-01 8.26642583e-01 -1.12454302e-01 -5.00490964e+01] [-2.01492854e-01 -1.15000510e-03 9.79489309e-01 -1.55546226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.826875 meters 0.013690721103415612 Centerline is valid? [True, True] Translation: X:161.04, Y:-50.07, Z:-15.56 [[ 8.10011224e-01 5.62031195e-01 1.67340228e-01 1.61042636e+02] [-5.50640599e-01 8.27115489e-01 -1.12582857e-01 -5.00688859e+01] [-2.01684773e-01 -9.50945447e-04 9.79450023e-01 -1.55615220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.856875 meters 0.013872239532811253 Centerline is valid? [True, True] Translation: X:161.07, Y:-50.09, Z:-15.57 [[ 8.10677709e-01 5.60936624e-01 1.67784851e-01 1.61066248e+02] [-5.49447473e-01 8.27858512e-01 -1.12950249e-01 -5.00869830e+01] [-2.02260049e-01 -6.22713519e-04 9.79331652e-01 -1.55697616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.886875 meters 0.013715051898354546 Centerline is valid? [True, True] Translation: X:161.09, Y:-50.11, Z:-15.57 [[ 8.10602094e-01 5.61089302e-01 1.67639615e-01 1.61092186e+02] [-5.49612421e-01 8.27755047e-01 -1.12906021e-01 -5.01063359e+01] [-2.02114898e-01 -6.14957303e-04 9.79361624e-01 -1.55749074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.916875 meters 0.01359313507163171 Centerline is valid? [True, True] Translation: X:161.12, Y:-50.13, Z:-15.58 [[ 8.10603723e-01 5.61227648e-01 1.67167971e-01 1.61118114e+02] [-5.49805957e-01 8.27661267e-01 -1.12650950e-01 -5.01252944e+01] [-2.01581283e-01 -5.94666906e-04 9.79471609e-01 -1.55805375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.946875 meters 0.013488266247024695 Centerline is valid? [True, True] Translation: X:161.14, Y:-50.14, Z:-15.59 [[ 8.10169309e-01 5.61796393e-01 1.67363387e-01 1.61144851e+02] [-5.50345715e-01 8.27275257e-01 -1.12850535e-01 -5.01437112e+01] [-2.01854612e-01 -6.79682768e-04 9.79415261e-01 -1.55875636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.976875 meters 0.01367516873169217 Centerline is valid? [True, True] Translation: X:161.17, Y:-50.16, Z:-15.59 [[ 8.08916890e-01 5.63475674e-01 1.67775534e-01 1.61170176e+02] [-5.51989352e-01 8.26131998e-01 -1.13197519e-01 -5.01608374e+01] [-2.02388785e-01 -1.04292281e-03 9.79304698e-01 -1.55947571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00687499999998 meters 0.013679681691097314 Centerline is valid? [True, True] Translation: X:161.20, Y:-50.18, Z:-15.60 [[ 8.08289307e-01 5.64267422e-01 1.68138849e-01 1.61196594e+02] [-5.52733942e-01 8.25591222e-01 -1.13509135e-01 -5.01785679e+01] [-2.02863465e-01 -1.18782834e-03 9.79206313e-01 -1.56016637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03687499999998 meters 0.013865992037768017 Centerline is valid? [True, True] Translation: X:161.22, Y:-50.20, Z:-15.61 [[ 8.07528188e-01 5.65478687e-01 1.67726207e-01 1.61222249e+02] [-5.54022319e-01 8.24761608e-01 -1.13258819e-01 -5.01958679e+01] [-2.02379585e-01 -1.46437301e-03 9.79306060e-01 -1.56083757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06687499999998 meters 0.014022212447557544 Centerline is valid? [True, True] Translation: X:161.25, Y:-50.21, Z:-15.62 [[ 8.06752308e-01 5.66484218e-01 1.68066488e-01 1.61248171e+02] [-5.54989560e-01 8.24070900e-01 -1.13550602e-01 -5.02126728e+01] [-2.02823327e-01 -1.66793599e-03 9.79213928e-01 -1.56153573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09687499999998 meters 0.014271004089124687 Centerline is valid? [True, True] Translation: X:161.27, Y:-50.23, Z:-15.62 [[ 8.05585319e-01 5.68197027e-01 1.67882197e-01 1.61274394e+02] [-5.56751123e-01 8.22890011e-01 -1.13491048e-01 -5.02305667e+01] [-2.02633859e-01 -2.04187954e-03 9.79252444e-01 -1.56215643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12687499999998 meters 0.014383599928465295 Centerline is valid? [True, True] Translation: X:161.30, Y:-50.25, Z:-15.63 [[ 8.04957762e-01 5.69122151e-01 1.67758694e-01 1.61300827e+02] [-5.57700831e-01 8.22249983e-01 -1.13466948e-01 -5.02486649e+01] [-2.02516137e-01 -2.22306224e-03 9.79276402e-01 -1.56277244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15687499999999 meters 0.014738957973384103 Centerline is valid? [True, True] Translation: X:161.33, Y:-50.27, Z:-15.63 [[ 8.04197773e-01 5.70128670e-01 1.67985834e-01 1.61326489e+02] [-5.58683645e-01 8.21551843e-01 -1.13688852e-01 -5.02656181e+01] [-2.02826345e-01 -2.42261676e-03 9.79211726e-01 -1.56341186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.186875 meters 0.014807653904984954 Centerline is valid? [True, True] Translation: X:161.35, Y:-50.28, Z:-15.64 [[ 8.04055665e-01 5.70431411e-01 1.67637983e-01 1.61353055e+02] [-5.59027339e-01 8.21341619e-01 -1.13518185e-01 -5.02840027e+01] [-2.02442391e-01 -2.43927607e-03 9.79291136e-01 -1.56421601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.216875 meters 0.014818121676011164 Centerline is valid? [True, True] Translation: X:161.38, Y:-50.30, Z:-15.65 [[ 8.03717402e-01 5.70855614e-01 1.67815990e-01 1.61379332e+02] [-5.59430753e-01 8.21046578e-01 -1.13665076e-01 -5.03026479e+01] [-2.02671091e-01 -2.52682661e-03 9.79243608e-01 -1.56491579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.246875 meters 0.014796406238660242 Centerline is valid? [True, True] Translation: X:161.41, Y:-50.32, Z:-15.66 [[ 8.03435234e-01 5.71166063e-01 1.68110541e-01 1.61405402e+02] [-5.59693221e-01 8.20830562e-01 -1.13932814e-01 -5.03207405e+01] [-2.03064827e-01 -2.55269325e-03 9.79161968e-01 -1.56559257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.276875 meters 0.014964775364141347 Centerline is valid? [True, True] Translation: X:161.43, Y:-50.34, Z:-15.66 [[ 8.03250984e-01 5.71461704e-01 1.67986240e-01 1.61430642e+02] [-5.59998376e-01 8.20624715e-01 -1.13916182e-01 -5.03381466e+01] [-2.02952396e-01 -2.56873666e-03 9.79185236e-01 -1.56628576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.306875 meters 0.014570471767913566 Centerline is valid? [True, True] Translation: X:161.46, Y:-50.36, Z:-15.67 [[ 8.03258463e-01 5.71569950e-01 1.67581726e-01 1.61455899e+02] [-5.60151751e-01 8.20549423e-01 -1.13704268e-01 -5.03577810e+01] [-2.02499031e-01 -2.53728173e-03 9.79279176e-01 -1.56690557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.336875 meters 0.014915257912544938 Centerline is valid? [True, True] Translation: X:161.48, Y:-50.38, Z:-15.68 [[ 8.03241422e-01 5.71785614e-01 1.66926417e-01 1.61481705e+02] [-5.60447995e-01 8.20399196e-01 -1.13327859e-01 -5.03752296e+01] [-2.01745538e-01 -2.52394490e-03 9.79434718e-01 -1.56774999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.366875 meters 0.014601041562904968 Centerline is valid? [True, True] Translation: X:161.51, Y:-50.39, Z:-15.68 [[ 8.03375199e-01 5.71723846e-01 1.66493644e-01 1.61507795e+02] [-5.60431241e-01 8.20442470e-01 -1.13097203e-01 -5.03942903e+01] [-2.01258825e-01 -2.44875161e-03 9.79535037e-01 -1.56842843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.396875 meters 0.014239402659928345 Centerline is valid? [True, True] Translation: X:161.53, Y:-50.41, Z:-15.69 [[ 8.04374242e-01 5.70255144e-01 1.66706777e-01 1.61532530e+02] [-5.58887838e-01 8.21465134e-01 -1.13311157e-01 -5.04139095e+01] [-2.01560075e-01 -2.02581440e-03 9.79474059e-01 -1.56912646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.426875 meters 0.013589510336987527 Centerline is valid? [True, True] Translation: X:161.55, Y:-50.44, Z:-15.70 [[ 8.10111115e-01 5.61992851e-01 1.66985078e-01 1.61553208e+02] [-5.50399646e-01 8.27142084e-01 -1.13561448e-01 -5.04386676e+01] [-2.01941107e-01 8.88635530e-05 9.79397663e-01 -1.56952847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.456875 meters 0.013825795768008898 Centerline is valid? [True, True] Translation: X:161.58, Y:-50.46, Z:-15.70 [[ 8.12219216e-01 5.58859855e-01 1.67259103e-01 1.61577019e+02] [-5.47150787e-01 8.29261612e-01 -1.13803318e-01 -5.04592873e+01] [-2.02301659e-01 9.17292002e-04 9.79322826e-01 -1.57024169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.486875 meters 0.014090577120835225 Centerline is valid? [True, True] Translation: X:161.60, Y:-50.48, Z:-15.71 [[ 8.13820872e-01 5.56472718e-01 1.67432680e-01 1.61601670e+02] [-5.44675811e-01 8.30864405e-01 -1.13985095e-01 -5.04791871e+01] [-2.02543450e-01 1.56691894e-03 9.79272023e-01 -1.57089922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.516875 meters 0.014832248197502416 Centerline is valid? [True, True] Translation: X:161.63, Y:-50.50, Z:-15.72 [[ 8.16216541e-01 5.53437620e-01 1.65823277e-01 1.61625484e+02] [-5.41794811e-01 8.32887322e-01 -1.12947293e-01 -5.04988744e+01] [-2.00621386e-01 2.34725790e-03 9.79666040e-01 -1.57191930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.546875 meters 0.014832248197502416 Centerline is valid? [True, True] Translation: X:161.65, Y:-50.52, Z:-15.73 [[ 8.16068291e-01 5.53664190e-01 1.65796590e-01 1.61651565e+02] [-5.42018054e-01 8.32736747e-01 -1.12986454e-01 -5.05167463e+01] [-2.00621466e-01 2.33991726e-03 9.79666041e-01 -1.57261489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.576875 meters 0.014978696805898082 Centerline is valid? [True, True] Translation: X:161.68, Y:-50.53, Z:-15.73 [[ 8.16700479e-01 5.52916406e-01 1.65178012e-01 1.61677252e+02] [-5.41329214e-01 8.33232765e-01 -1.12631442e-01 -5.05349635e+01] [-1.99907504e-01 2.57046971e-03 9.79811402e-01 -1.57342609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.606875 meters 0.015059156424123548 Centerline is valid? [True, True] Translation: X:161.70, Y:-50.55, Z:-15.74 [[ 8.16491250e-01 5.53196399e-01 1.65274868e-01 1.61703225e+02] [-5.41589407e-01 8.33046955e-01 -1.12754979e-01 -5.05533023e+01] [-2.00057374e-01 2.55233602e-03 9.79780860e-01 -1.57416212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.636875 meters 0.014634700948105433 Centerline is valid? [True, True] Translation: X:161.73, Y:-50.57, Z:-15.75 [[ 8.15243028e-01 5.54870414e-01 1.65824088e-01 1.61729474e+02] [-5.43205781e-01 8.31933865e-01 -1.13196838e-01 -5.05717228e+01] [-2.00764251e-01 2.20632907e-03 9.79637100e-01 -1.57463119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.666875 meters 0.014232973258582004 Centerline is valid? [True, True] Translation: X:161.76, Y:-50.59, Z:-15.75 [[ 8.13909616e-01 5.56627507e-01 1.66484099e-01 1.61756401e+02] [-5.44893154e-01 8.30760176e-01 -1.13705679e-01 -5.05889919e+01] [-2.01600068e-01 1.83009978e-03 9.79466213e-01 -1.57516089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.696875 meters 0.01387281319459587 Centerline is valid? [True, True] Translation: X:161.78, Y:-50.61, Z:-15.76 [[ 8.12165170e-01 5.59103218e-01 1.66707312e-01 1.61783091e+02] [-5.47376407e-01 8.29097090e-01 -1.13917010e-01 -5.06052915e+01] [-2.01907914e-01 1.26777792e-03 9.79403690e-01 -1.57580517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.726875 meters 0.013764059326970704 Centerline is valid? [True, True] Translation: X:161.81, Y:-50.62, Z:-15.77 [[ 8.10485491e-01 5.61598920e-01 1.66493007e-01 1.61809457e+02] [-5.49942482e-01 8.27409312e-01 -1.13829243e-01 -5.06203806e+01] [-2.01684244e-01 6.95371942e-04 9.79450347e-01 -1.57652399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75687499999998 meters 0.01356894202812494 Centerline is valid? [True, True] Translation: X:161.84, Y:-50.64, Z:-15.77 [[ 8.08276196e-01 5.64803818e-01 1.66391824e-01 1.61837420e+02] [-5.53217757e-01 8.25225208e-01 -1.13813311e-01 -5.06354845e+01] [-2.01592920e-01 -5.83219565e-05 9.79469393e-01 -1.57729021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78687499999998 meters 0.014098597413656133 Centerline is valid? [True, True] Translation: X:161.87, Y:-50.65, Z:-15.78 [[ 8.03469543e-01 5.71366739e-01 1.67262496e-01 1.61866840e+02] [-5.59783408e-01 8.20693196e-01 -1.14478006e-01 -5.06461396e+01] [-2.02680118e-01 -1.65117856e-03 9.79243608e-01 -1.57809886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81687499999998 meters 0.014468396425726868 Centerline is valid? [True, True] Translation: X:161.89, Y:-50.66, Z:-15.79 [[ 8.02467162e-01 5.72897246e-01 1.66838842e-01 1.61894301e+02] [-5.61394599e-01 8.19624791e-01 -1.14242310e-01 -5.06615316e+01] [-2.02194356e-01 -1.98672293e-03 9.79343400e-01 -1.57897847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84687499999998 meters 0.014724489976560376 Centerline is valid? [True, True] Translation: X:161.92, Y:-50.68, Z:-15.80 [[ 8.01438280e-01 5.74325430e-01 1.66874154e-01 1.61921459e+02] [-5.62836408e-01 8.18623855e-01 -1.14324809e-01 -5.06779847e+01] [-2.02266809e-01 -2.29857157e-03 9.79327757e-01 -1.57967601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87687499999998 meters 0.015120629482318218 Centerline is valid? [True, True] Translation: X:161.95, Y:-50.69, Z:-15.80 [[ 8.00550400e-01 5.75435204e-01 1.67312234e-01 1.61947934e+02] [-5.63896927e-01 8.17843439e-01 -1.14683760e-01 -5.06940650e+01] [-2.02828286e-01 -2.53672467e-03 9.79211035e-01 -1.58026879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90687499999999 meters 0.015560534018562203 Centerline is valid? [True, True] Translation: X:161.98, Y:-50.71, Z:-15.81 [[ 7.98958232e-01 5.77534649e-01 1.67688619e-01 1.61976033e+02] [-5.65976384e-01 8.16360574e-01 -1.15004982e-01 -5.07097821e+01] [-2.03313739e-01 -3.02362102e-03 9.79108973e-01 -1.58081415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.936875 meters 0.015445243182986887 Centerline is valid? [True, True] Translation: X:162.00, Y:-50.73, Z:-15.81 [[ 7.97754150e-01 5.79160837e-01 1.67812516e-01 1.62002898e+02] [-5.67608582e-01 8.15206246e-01 -1.15148919e-01 -5.07267587e+01] [-2.03491555e-01 -3.39129581e-03 9.79070828e-01 -1.58135840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.966875 meters 0.016166065704072002 Centerline is valid? [True, True] Translation: X:162.03, Y:-50.74, Z:-15.82 [[ 7.96718369e-01 5.80574826e-01 1.67847289e-01 1.62029641e+02] [-5.69035617e-01 8.14198487e-01 -1.15235800e-01 -5.07416228e+01] [-2.03564013e-01 -3.70060693e-03 9.79054645e-01 -1.58205383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.996875 meters 0.017330136193839253 Centerline is valid? [True, True] Translation: X:162.06, Y:-50.75, Z:-15.83 [[ 7.94359532e-01 5.83591922e-01 1.68562758e-01 1.62058304e+02] [-5.72012884e-01 8.12034816e-01 -1.15761466e-01 -5.07540112e+01] [-2.04436284e-01 -4.46384570e-03 9.78869695e-01 -1.58279644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.026875 meters 0.017561482538630862 Centerline is valid? [True, True] Translation: X:162.08, Y:-50.77, Z:-15.84 [[ 7.93308039e-01 5.85032717e-01 1.68520253e-01 1.62084683e+02] [-5.73479973e-01 8.10995562e-01 -1.15788248e-01 -5.07701096e+01] [-2.04409091e-01 -4.78724163e-03 9.78873846e-01 -1.58353168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.056875 meters 0.018364798121847027 Centerline is valid? [True, True] Translation: X:162.11, Y:-50.78, Z:-15.84 [[ 7.92758995e-01 5.85782935e-01 1.68497859e-01 1.62110787e+02] [-5.74237215e-01 8.10452995e-01 -1.15834208e-01 -5.07849312e+01] [-2.04413297e-01 -4.92913143e-03 9.78872263e-01 -1.58429864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.086875 meters 0.017967230611746234 Centerline is valid? [True, True] Translation: X:162.14, Y:-50.80, Z:-15.85 [[ 7.92165466e-01 5.86699029e-01 1.68101530e-01 1.62136399e+02] [-5.75216897e-01 8.09788966e-01 -1.15617263e-01 -5.08033596e+01] [-2.03959300e-01 -5.10683758e-03 9.78966049e-01 -1.58492279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.116875 meters 0.017824721719035864 Centerline is valid? [True, True] Translation: X:162.16, Y:-50.82, Z:-15.86 [[ 7.91738210e-01 5.87294229e-01 1.68035992e-01 1.62163307e+02] [-5.75821699e-01 8.09356762e-01 -1.15633051e-01 -5.08214537e+01] [-2.03911690e-01 -5.20766506e-03 9.78975435e-01 -1.58559221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.146875 meters 0.018335239570443588 Centerline is valid? [True, True] Translation: X:162.19, Y:-50.84, Z:-15.86 [[ 7.91982897e-01 5.86974388e-01 1.68000469e-01 1.62188838e+02] [-5.75484646e-01 8.09589660e-01 -1.15680619e-01 -5.08373311e+01] [-2.03913003e-01 -5.06461910e-03 9.78975912e-01 -1.58635506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.176875 meters 0.017313859504823483 Centerline is valid? [True, True] Translation: X:162.21, Y:-50.86, Z:-15.87 [[ 7.93373801e-01 5.84956786e-01 1.68474240e-01 1.62213478e+02] [-5.73344361e-01 8.11051915e-01 -1.16064787e-01 -5.08569270e+01] [-2.04534240e-01 -4.51099382e-03 9.78849016e-01 -1.58689163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.206875 meters 0.016489983367970112 Centerline is valid? [True, True] Translation: X:162.24, Y:-50.88, Z:-15.88 [[ 7.94511294e-01 5.83417089e-01 1.68452674e-01 1.62238135e+02] [-5.71760729e-01 8.12162538e-01 -1.16110639e-01 -5.08760516e+01] [-2.04551882e-01 -4.06341002e-03 9.78847289e-01 -1.58754314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.236875 meters 0.015487540588626666 Centerline is valid? [True, True] Translation: X:162.26, Y:-50.90, Z:-15.88 [[ 7.96330474e-01 5.81193532e-01 1.67546574e-01 1.62262635e+02] [-5.69602201e-01 8.13758177e-01 -1.15546364e-01 -5.08953447e+01] [-2.03497194e-01 -3.42180619e-03 9.79069550e-01 -1.58831432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.266875 meters 0.015137299800866012 Centerline is valid? [True, True] Translation: X:162.29, Y:-50.91, Z:-15.89 [[ 7.96907938e-01 5.80529559e-01 1.67102271e-01 1.62288480e+02] [-5.68972936e-01 8.14232918e-01 -1.15302009e-01 -5.09135348e+01] [-2.02996394e-01 -3.19158357e-03 9.79174284e-01 -1.58912057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.296875 meters 0.01494475890253263 Centerline is valid? [True, True] Translation: X:162.31, Y:-50.93, Z:-15.90 [[ 7.97474548e-01 5.79920747e-01 1.66512079e-01 1.62314581e+02] [-5.68426108e-01 8.14667385e-01 -1.14929593e-01 -5.09314728e+01] [-2.02302015e-01 -2.99638748e-03 9.79318598e-01 -1.58995829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.326875 meters 0.014508843180260498 Centerline is valid? [True, True] Translation: X:162.34, Y:-50.95, Z:-15.91 [[ 7.98600738e-01 5.78376684e-01 1.66485053e-01 1.62340097e+02] [-5.66838043e-01 8.15765854e-01 -1.14981320e-01 -5.09498375e+01] [-2.02315336e-01 -2.54589456e-03 9.79317121e-01 -1.59067497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.356875 meters 0.014532462788908736 Centerline is valid? [True, True] Translation: X:162.37, Y:-50.97, Z:-15.91 [[ 7.98798247e-01 5.77997048e-01 1.66855546e-01 1.62365179e+02] [-5.66385604e-01 8.16035313e-01 -1.15298377e-01 -5.09672649e+01] [-2.02802139e-01 -2.40443802e-03 9.79216784e-01 -1.59129012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.386875 meters 0.014044894732193494 Centerline is valid? [True, True] Translation: X:162.39, Y:-50.99, Z:-15.92 [[ 7.99142890e-01 5.77515896e-01 1.66871304e-01 1.62390474e+02] [-5.65880361e-01 8.16376377e-01 -1.15364762e-01 -5.09862560e+01] [-2.02854775e-01 -2.23626446e-03 9.79206280e-01 -1.59173853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.416875 meters 0.01414494932276469 Centerline is valid? [True, True] Translation: X:162.42, Y:-51.00, Z:-15.92 [[ 7.99260747e-01 5.77322291e-01 1.66976736e-01 1.62416286e+02] [-5.65654939e-01 8.16513567e-01 -1.15499289e-01 -5.10037880e+01] [-2.03019085e-01 -2.13716707e-03 9.79172448e-01 -1.59235590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.446875 meters 0.013943389205568785 Centerline is valid? [True, True] Translation: X:162.44, Y:-51.02, Z:-15.93 [[ 7.99965415e-01 5.76213704e-01 1.67430889e-01 1.62441990e+02] [-5.64444362e-01 8.17297074e-01 -1.15879489e-01 -5.10211991e+01] [-2.03612125e-01 -1.80583732e-03 9.79049969e-01 -1.59298365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.476875 meters 0.013912167832815975 Centerline is valid? [True, True] Translation: X:162.47, Y:-51.04, Z:-15.94 [[ 7.99933430e-01 5.76142722e-01 1.67827505e-01 1.62467617e+02] [-5.64302446e-01 8.17347255e-01 -1.16216236e-01 -5.10384549e+01] [-2.04130489e-01 -1.74021914e-03 9.78942141e-01 -1.59362501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50687499999998 meters 0.013844669945071981 Centerline is valid? [True, True] Translation: X:162.49, Y:-51.06, Z:-15.94 [[ 7.99836629e-01 5.76267725e-01 1.67859694e-01 1.62494092e+02] [-5.64418734e-01 8.17259117e-01 -1.16271360e-01 -5.10564464e+01] [-2.04188297e-01 -1.74506331e-03 9.78930076e-01 -1.59431016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53687499999998 meters 0.014025914662975899 Centerline is valid? [True, True] Translation: X:162.52, Y:-51.07, Z:-15.95 [[ 7.99475889e-01 5.76804390e-01 1.67734905e-01 1.62520547e+02] [-5.64970174e-01 8.16880271e-01 -1.16255431e-01 -5.10721020e+01] [-2.04075978e-01 -1.82180421e-03 9.78953358e-01 -1.59511328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56687499999998 meters 0.014146106885267472 Centerline is valid? [True, True] Translation: X:162.55, Y:-51.09, Z:-15.96 [[ 7.98914702e-01 5.77658773e-01 1.67468331e-01 1.62547419e+02] [-5.65867543e-01 8.16275941e-01 -1.16135745e-01 -5.10894717e+01] [-2.03787202e-01 -1.98233954e-03 9.79013201e-01 -1.59587531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59687499999998 meters 0.014116883763106262 Centerline is valid? [True, True] Translation: X:162.57, Y:-51.11, Z:-15.97 [[ 7.98522662e-01 5.78229676e-01 1.67367858e-01 1.62574283e+02] [-5.66450527e-01 8.15871414e-01 -1.16136279e-01 -5.11072151e+01] [-2.03704094e-01 -2.06816100e-03 9.79030319e-01 -1.59652124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62687499999998 meters 0.014634736613575249 Centerline is valid? [True, True] Translation: X:162.60, Y:-51.12, Z:-15.97 [[ 7.97337104e-01 5.79916483e-01 1.67183777e-01 1.62600393e+02] [-5.68194077e-01 8.14672181e-01 -1.16037615e-01 -5.11218569e+01] [-2.03492098e-01 -2.47173526e-03 9.79073468e-01 -1.59722946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65687499999999 meters 0.014675307837311446 Centerline is valid? [True, True] Translation: X:162.63, Y:-51.14, Z:-15.98 [[ 7.96867298e-01 5.80597776e-01 1.67059066e-01 1.62627295e+02] [-5.68895660e-01 8.14186397e-01 -1.16009651e-01 -5.11390532e+01] [-2.03372164e-01 -2.59488008e-03 9.79098069e-01 -1.59797783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.686875 meters 0.01485412073257091 Centerline is valid? [True, True] Translation: X:162.65, Y:-51.16, Z:-15.99 [[ 7.95989727e-01 5.81730028e-01 1.67303707e-01 1.62653390e+02] [-5.70013242e-01 8.13376875e-01 -1.16202250e-01 -5.11556211e+01] [-2.03679304e-01 -2.86953063e-03 9.79033455e-01 -1.59862378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.716875 meters 0.01519981007909546 Centerline is valid? [True, True] Translation: X:162.68, Y:-51.17, Z:-15.99 [[ 7.94611941e-01 5.83622139e-01 1.67263452e-01 1.62681297e+02] [-5.71940520e-01 8.12018639e-01 -1.16231540e-01 -5.11710359e+01] [-2.03656341e-01 -3.30577595e-03 9.79036857e-01 -1.59932844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.746875 meters 0.015823811100228402 Centerline is valid? [True, True] Translation: X:162.71, Y:-51.19, Z:-16.00 [[ 7.93851576e-01 5.84713669e-01 1.67061667e-01 1.62707466e+02] [-5.73071713e-01 8.11232063e-01 -1.16152280e-01 -5.11871820e+01] [-2.03441606e-01 -3.53064533e-03 9.79080715e-01 -1.60000595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.776875 meters 0.015957877305429302 Centerline is valid? [True, True] Translation: X:162.73, Y:-51.20, Z:-16.01 [[ 7.93264998e-01 5.85627708e-01 1.66645826e-01 1.62733410e+02] [-5.74052534e-01 8.10571670e-01 -1.15919179e-01 -5.12040532e+01] [-2.02963868e-01 -3.70883120e-03 9.79179204e-01 -1.60062721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.806875 meters 0.016665582888368058 Centerline is valid? [True, True] Translation: X:162.76, Y:-51.22, Z:-16.01 [[ 7.92552604e-01 5.86561701e-01 1.66750531e-01 1.62759087e+02] [-5.74980770e-01 8.09895131e-01 -1.16047364e-01 -5.12195825e+01] [-2.03119383e-01 -3.90470804e-03 9.79146194e-01 -1.60133587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.836875 meters 0.016682157595544648 Centerline is valid? [True, True] Translation: X:162.78, Y:-51.24, Z:-16.02 [[ 7.91678273e-01 5.87981919e-01 1.65899896e-01 1.62784553e+02] [-5.76539540e-01 8.08863161e-01 -1.15509937e-01 -5.12367971e+01] [-2.02108068e-01 -4.20114229e-03 9.79354215e-01 -1.60203845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.866875 meters 0.017011217259943017 Centerline is valid? [True, True] Translation: X:162.81, Y:-51.25, Z:-16.03 [[ 7.90957044e-01 5.89000739e-01 1.65725929e-01 1.62810283e+02] [-5.77593252e-01 8.08120458e-01 -1.15444188e-01 -5.12538492e+01] [-2.01923226e-01 -4.41078472e-03 9.79391421e-01 -1.60274722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.896875 meters 0.01747102335333861 Centerline is valid? [True, True] Translation: X:162.84, Y:-51.27, Z:-16.03 [[ 7.90332781e-01 5.89902963e-01 1.65494986e-01 1.62835345e+02] [-5.78534821e-01 8.07461126e-01 -1.15342931e-01 -5.12704651e+01] [-2.01671904e-01 -4.58531228e-03 9.79442402e-01 -1.60344260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.926875 meters 0.017738906603032907 Centerline is valid? [True, True] Translation: X:162.86, Y:-51.29, Z:-16.04 [[ 7.89217569e-01 5.91502987e-01 1.65105556e-01 1.62861155e+02] [-5.80212184e-01 8.06287693e-01 -1.15125919e-01 -5.12881737e+01] [-2.01219903e-01 -4.93685790e-03 9.79533653e-01 -1.60411511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.956875 meters 0.018139677849283047 Centerline is valid? [True, True] Translation: X:162.89, Y:-51.31, Z:-16.05 [[ 7.88694278e-01 5.92366363e-01 1.64509657e-01 1.62887060e+02] [-5.81164122e-01 8.05652651e-01 -1.14769633e-01 -5.13060417e+01] [-2.00523311e-01 -5.08895757e-03 9.79675714e-01 -1.60482833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.986875 meters 0.018425859042216153 Centerline is valid? [True, True] Translation: X:162.91, Y:-51.32, Z:-16.05 [[ 7.87921599e-01 5.93282084e-01 1.64911866e-01 1.62912826e+02] [-5.82032034e-01 8.04977281e-01 -1.15109896e-01 -5.13244595e+01] [-2.01042944e-01 -5.28641571e-03 9.79568164e-01 -1.60547436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.016875 meters 0.01854357876859672 Centerline is valid? [True, True] Translation: X:162.94, Y:-51.34, Z:-16.06 [[ 7.87450345e-01 5.93919143e-01 1.64869665e-01 1.62938253e+02] [-5.82676431e-01 8.04506624e-01 -1.15140211e-01 -5.13425401e+01] [-2.01022713e-01 -5.39846873e-03 9.79571705e-01 -1.60611731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.046875 meters 0.01897980562613893 Centerline is valid? [True, True] Translation: X:162.96, Y:-51.36, Z:-16.07 [[ 7.87115554e-01 5.94441267e-01 1.64586402e-01 1.62964434e+02] [-5.83236585e-01 8.04120405e-01 -1.15001998e-01 -5.13605979e+01] [-2.00709218e-01 -5.47294978e-03 9.79635573e-01 -1.60679639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.076875 meters 0.01850871689865013 Centerline is valid? [True, True] Translation: X:162.99, Y:-51.38, Z:-16.07 [[ 7.86727883e-01 5.94852184e-01 1.64954895e-01 1.62990052e+02] [-5.83593602e-01 8.03816000e-01 -1.15318456e-01 -5.13815075e+01] [-2.01190819e-01 -5.54237726e-03 9.79536388e-01 -1.60730858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.106875 meters 0.019164594821869756 Centerline is valid? [True, True] Translation: X:163.02, Y:-51.40, Z:-16.08 [[ 7.86720149e-01 5.94859718e-01 1.64964614e-01 1.63015585e+02] [-5.83585650e-01 8.03810801e-01 -1.15394911e-01 -5.13987597e+01] [-2.01244123e-01 -5.48747947e-03 9.79525748e-01 -1.60807052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.136875 meters 0.018732907605631396 Centerline is valid? [True, True] Translation: X:163.04, Y:-51.42, Z:-16.09 [[ 7.86551066e-01 5.95210091e-01 1.64506439e-01 1.63039939e+02] [-5.83993574e-01 8.03551247e-01 -1.15138610e-01 -5.14183469e+01] [-2.00721017e-01 -5.50830701e-03 9.79632958e-01 -1.60874385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.166875 meters 0.017852402224680236 Centerline is valid? [True, True] Translation: X:163.06, Y:-51.44, Z:-16.09 [[ 7.86057085e-01 5.95701132e-01 1.65089128e-01 1.63064838e+02] [-5.84402558e-01 8.03186619e-01 -1.15606682e-01 -5.14396962e+01] [-2.01464410e-01 -5.60505713e-03 9.79479798e-01 -1.60929239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.196875 meters 0.018948921888965485 Centerline is valid? [True, True] Translation: X:163.09, Y:-51.46, Z:-16.10 [[ 7.85523174e-01 5.96326263e-01 1.65373311e-01 1.63091000e+02] [-5.84987171e-01 8.02721814e-01 -1.15877948e-01 -5.14565295e+01] [-2.01849828e-01 -5.71645200e-03 9.79399801e-01 -1.61004614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.226875 meters 0.019107796537549026 Centerline is valid? [True, True] Translation: X:163.12, Y:-51.48, Z:-16.11 [[ 7.84959207e-01 5.97077699e-01 1.65339845e-01 1.63116625e+02] [-5.85745818e-01 8.02162054e-01 -1.15921851e-01 -5.14750115e+01] [-2.01843702e-01 -5.85319878e-03 9.79400255e-01 -1.61067232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25687499999998 meters 0.018809698359891117 Centerline is valid? [True, True] Translation: X:163.14, Y:-51.49, Z:-16.11 [[ 7.84564831e-01 5.97593713e-01 1.65347456e-01 1.63141853e+02] [-5.86259559e-01 8.01777097e-01 -1.15987999e-01 -5.14945114e+01] [-2.01885503e-01 -5.93642193e-03 9.79391139e-01 -1.61133452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28687499999998 meters 0.019922378820589313 Centerline is valid? [True, True] Translation: X:163.17, Y:-51.51, Z:-16.12 [[ 7.84384174e-01 5.97970089e-01 1.64843078e-01 1.63166560e+02] [-5.86699140e-01 8.01496291e-01 -1.15705726e-01 -5.15124238e+01] [-2.01309679e-01 -5.95555134e-03 9.79509543e-01 -1.61212964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31687499999998 meters 0.019645476659632278 Centerline is valid? [True, True] Translation: X:163.19, Y:-51.53, Z:-16.13 [[ 7.84228135e-01 5.98267131e-01 1.64507359e-01 1.63191683e+02] [-5.87037433e-01 8.01274461e-01 -1.15526147e-01 -5.15324849e+01] [-2.00931042e-01 -5.97312265e-03 9.79587178e-01 -1.61279026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34687499999998 meters 0.019491482988678584 Centerline is valid? [True, True] Translation: X:163.22, Y:-51.55, Z:-16.13 [[ 7.84452327e-01 5.97997729e-01 1.64417951e-01 1.63216671e+02] [-5.86760137e-01 8.01476494e-01 -1.15533423e-01 -5.15517412e+01] [-2.00865847e-01 -5.84343734e-03 9.79601330e-01 -1.61347781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37687499999998 meters 0.01882755167444311 Centerline is valid? [True, True] Translation: X:163.24, Y:-51.57, Z:-16.14 [[ 7.85142916e-01 5.97151028e-01 1.64198814e-01 1.63240917e+02] [-5.85912985e-01 8.02109488e-01 -1.15439782e-01 -5.15715912e+01] [-2.00640412e-01 -5.56948994e-03 9.79649124e-01 -1.61420190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40687499999999 meters 0.017575181318250987 Centerline is valid? [True, True] Translation: X:163.26, Y:-51.59, Z:-16.15 [[ 7.86049830e-01 5.95673735e-01 1.65222478e-01 1.63264074e+02] [-5.84248899e-01 8.03209818e-01 -1.16220533e-01 -5.15941458e+01] [-2.01937836e-01 -5.17592061e-03 9.79384664e-01 -1.61468430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.436875 meters 0.018398998340260757 Centerline is valid? [True, True] Translation: X:163.29, Y:-51.61, Z:-16.15 [[ 7.86544910e-01 5.94958129e-01 1.65444640e-01 1.63288981e+02] [-5.83473791e-01 8.03741463e-01 -1.16438806e-01 -5.16118084e+01] [-2.02250931e-01 -4.94826115e-03 9.79321232e-01 -1.61531948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.466875 meters 0.018398998340260757 Centerline is valid? [True, True] Translation: X:163.31, Y:-51.63, Z:-16.16 [[ 7.86385521e-01 5.95176148e-01 1.65418154e-01 1.63314788e+02] [-5.83688672e-01 8.03579976e-01 -1.16476421e-01 -5.16301015e+01] [-2.02250704e-01 -4.95733202e-03 9.79321233e-01 -1.61601514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.496875 meters 0.018113235908181497 Centerline is valid? [True, True] Translation: X:163.34, Y:-51.65, Z:-16.17 [[ 7.86678969e-01 5.94690398e-01 1.65769510e-01 1.63339643e+02] [-5.83128765e-01 8.03940555e-01 -1.16792243e-01 -5.16501816e+01] [-2.02724057e-01 -4.78696872e-03 9.79224204e-01 -1.61662763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.526875 meters 0.016333833457800477 Centerline is valid? [True, True] Translation: X:163.36, Y:-51.67, Z:-16.17 [[ 7.87307726e-01 5.93857781e-01 1.65769360e-01 1.63363211e+02] [-5.82265694e-01 8.04557313e-01 -1.16851156e-01 -5.16718882e+01] [-2.02763919e-01 -4.52399360e-03 9.79217201e-01 -1.61720704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.556875 meters 0.016399006872401135 Centerline is valid? [True, True] Translation: X:163.39, Y:-51.69, Z:-16.18 [[ 7.88408336e-01 5.92189485e-01 1.66504984e-01 1.63386912e+02] [-5.80443189e-01 8.05788508e-01 -1.17433322e-01 -5.16912713e+01] [-2.03710581e-01 -4.06127385e-03 9.79022730e-01 -1.61798381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.586875 meters 0.015994373409557495 Centerline is valid? [True, True] Translation: X:163.41, Y:-51.71, Z:-16.19 [[ 7.89153072e-01 5.91222078e-01 1.66414790e-01 1.63410912e+02] [-5.79454242e-01 8.06500054e-01 -1.17432726e-01 -5.17107967e+01] [-2.03642357e-01 -3.75735984e-03 9.79038136e-01 -1.61869408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.616875 meters 0.01538222060158482 Centerline is valid? [True, True] Translation: X:163.43, Y:-51.73, Z:-16.19 [[ 7.89761569e-01 5.90503181e-01 1.66080276e-01 1.63434947e+02] [-5.78754788e-01 8.07027659e-01 -1.17257210e-01 -5.17313256e+01] [-2.03272132e-01 -3.51451642e-03 9.79115973e-01 -1.61938627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.646875 meters 0.015326169298490682 Centerline is valid? [True, True] Translation: X:163.46, Y:-51.75, Z:-16.20 [[ 7.90417032e-01 5.89628853e-01 1.66068456e-01 1.63458396e+02] [-5.77850149e-01 8.07667835e-01 -1.17311015e-01 -5.17502241e+01] [-2.03298110e-01 -3.23805786e-03 9.79111533e-01 -1.62006712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.676875 meters 0.01470020995402194 Centerline is valid? [True, True] Translation: X:163.48, Y:-51.77, Z:-16.21 [[ 7.92375708e-01 5.87043714e-01 1.65892780e-01 1.63480777e+02] [-5.75222229e-01 8.09551299e-01 -1.17243684e-01 -5.17732418e+01] [-2.03125883e-01 -2.52416741e-03 9.79149378e-01 -1.62067541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.706875 meters 0.01430949080783014 Centerline is valid? [True, True] Translation: X:163.51, Y:-51.79, Z:-16.21 [[ 7.93356011e-01 5.85955109e-01 1.65054080e-01 1.63505068e+02] [-5.74218613e-01 8.10340568e-01 -1.16709671e-01 -5.17939416e+01] [-2.02136645e-01 -2.18480593e-03 9.79354892e-01 -1.62136119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.736875 meters 0.013981263563962015 Centerline is valid? [True, True] Translation: X:163.53, Y:-51.81, Z:-16.22 [[ 7.94267322e-01 5.84793799e-01 1.64789665e-01 1.63529389e+02] [-5.73056175e-01 8.11179924e-01 -1.16592243e-01 -5.18141982e+01] [-2.01856489e-01 -1.82832630e-03 9.79413404e-01 -1.62208902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.766875 meters 0.013720446296664001 Centerline is valid? [True, True] Translation: X:163.55, Y:-51.84, Z:-16.23 [[ 7.95218405e-01 5.83730126e-01 1.63972036e-01 1.63553418e+02] [-5.72075376e-01 8.11946357e-01 -1.16072727e-01 -5.18352273e+01] [-2.00891645e-01 -1.50119562e-03 9.79612318e-01 -1.62287052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.796875 meters 0.013861288783006393 Centerline is valid? [True, True] Translation: X:163.58, Y:-51.85, Z:-16.24 [[ 7.94999899e-01 5.83902262e-01 1.64418090e-01 1.63578381e+02] [-5.72172562e-01 8.11822595e-01 -1.16458718e-01 -5.18535602e+01] [-2.01478830e-01 -1.49085085e-03 9.79491735e-01 -1.62357498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.826875 meters 0.013816839973121355 Centerline is valid? [True, True] Translation: X:163.60, Y:-51.87, Z:-16.24 [[ 7.94660270e-01 5.84263194e-01 1.64777348e-01 1.63604623e+02] [-5.72476454e-01 8.11562792e-01 -1.16775611e-01 -5.18724731e+01] [-2.01954856e-01 -1.53421357e-03 9.79393630e-01 -1.62430871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.856875 meters 0.013880144383623297 Centerline is valid? [True, True] Translation: X:163.63, Y:-51.89, Z:-16.25 [[ 7.93941508e-01 5.85260275e-01 1.64703650e-01 1.63631004e+02] [-5.73491407e-01 8.10843644e-01 -1.16791227e-01 -5.18912894e+01] [-2.01902174e-01 -1.73072550e-03 9.79404164e-01 -1.62499603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.886875 meters 0.014307604622584348 Centerline is valid? [True, True] Translation: X:163.66, Y:-51.91, Z:-16.26 [[ 7.91838525e-01 5.88100011e-01 1.64712256e-01 1.63657824e+02] [-5.76376253e-01 8.08784664e-01 -1.16866513e-01 -5.19076956e+01] [-2.01945944e-01 -2.39682592e-03 9.79393736e-01 -1.62566505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.916875 meters 0.014583198337023413 Centerline is valid? [True, True] Translation: X:163.68, Y:-51.92, Z:-16.26 [[ 7.90880519e-01 5.89178391e-01 1.65459445e-01 1.63684607e+02] [-5.77357193e-01 8.07998696e-01 -1.17459688e-01 -5.19245744e+01] [-2.02895726e-01 -2.63262154e-03 9.79196811e-01 -1.62634426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.946875 meters 0.014963085798078986 Centerline is valid? [True, True] Translation: X:163.71, Y:-51.94, Z:-16.27 [[ 7.90374332e-01 5.89749397e-01 1.65843493e-01 1.63710916e+02] [-5.77876159e-01 8.07581627e-01 -1.17775469e-01 -5.19419119e+01] [-2.03390170e-01 -2.75029349e-03 9.79093905e-01 -1.62702841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97687499999998 meters 0.014696606504560328 Centerline is valid? [True, True] Translation: X:163.74, Y:-51.96, Z:-16.28 [[ 7.90090077e-01 5.90201040e-01 1.65591071e-01 1.63737231e+02] [-5.78360732e-01 8.07251412e-01 -1.17660620e-01 -5.19608370e+01] [-2.03117046e-01 -2.80888504e-03 9.79150436e-01 -1.62765162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00687499999998 meters 0.015720527031825162 Centerline is valid? [True, True] Translation: X:163.76, Y:-51.97, Z:-16.29 [[ 7.89604355e-01 5.91078144e-01 1.64777394e-01 1.63763524e+02] [-5.79359185e-01 8.06608868e-01 -1.17154040e-01 -5.19748307e+01] [-2.02158099e-01 -2.95995667e-03 9.79348427e-01 -1.62876200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03687499999998 meters 0.015584465000588302 Centerline is valid? [True, True] Translation: X:163.79, Y:-51.99, Z:-16.30 [[ 7.88953890e-01 5.92118825e-01 1.64155589e-01 1.63789650e+02] [-5.80499706e-01 8.05844442e-01 -1.16768264e-01 -5.19926452e+01] [-2.01424556e-01 -3.16749515e-03 9.79498910e-01 -1.62951838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06687499999998 meters 0.016140039123908118 Centerline is valid? [True, True] Translation: X:163.82, Y:-52.01, Z:-16.30 [[ 7.88256972e-01 5.93261833e-01 1.63374857e-01 1.63815648e+02] [-5.81766008e-01 8.05002414e-01 -1.16273066e-01 -5.20084298e+01] [-2.00497526e-01 -3.39288378e-03 9.79688333e-01 -1.63036843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09687499999998 meters 0.016300896128599397 Centerline is valid? [True, True] Translation: X:163.84, Y:-52.02, Z:-16.31 [[ 7.87602594e-01 5.94173993e-01 1.63215869e-01 1.63841663e+02] [-5.82708828e-01 8.04328588e-01 -1.16215074e-01 -5.20249208e+01] [-2.00331164e-01 -3.57603446e-03 9.79721714e-01 -1.63117003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12687499999998 meters 0.01690032216181892 Centerline is valid? [True, True] Translation: X:163.87, Y:-52.04, Z:-16.32 [[ 7.86407671e-01 5.95786885e-01 1.63098017e-01 1.63869112e+02] [-5.84360597e-01 8.03132930e-01 -1.16190319e-01 -5.20408571e+01] [-2.00214056e-01 -3.93509628e-03 9.79744276e-01 -1.63184360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15687499999999 meters 0.017116655065792092 Centerline is valid? [True, True] Translation: X:163.90, Y:-52.06, Z:-16.33 [[ 7.85804854e-01 5.96490534e-01 1.63431250e-01 1.63895957e+02] [-5.85020044e-01 8.02609767e-01 -1.16486522e-01 -5.20590812e+01] [-2.00654625e-01 -4.07488299e-03 9.79653570e-01 -1.63250326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.186875 meters 0.017258777022357688 Centerline is valid? [True, True] Translation: X:163.92, Y:-52.08, Z:-16.33 [[ 7.85412177e-01 5.96938252e-01 1.63683954e-01 1.63922434e+02] [-5.85427457e-01 8.02276502e-01 -1.16735199e-01 -5.20772237e+01] [-2.01003495e-01 -4.13983418e-03 9.79581776e-01 -1.63316198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.216875 meters 0.017382009647743567 Centerline is valid? [True, True] Translation: X:163.95, Y:-52.10, Z:-16.34 [[ 7.84750156e-01 5.97702234e-01 1.64070812e-01 1.63948926e+02] [-5.86138716e-01 8.01706704e-01 -1.17080173e-01 -5.20951803e+01] [-2.01515751e-01 -4.28957109e-03 9.79475881e-01 -1.63383004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.246875 meters 0.018388631761806228 Centerline is valid? [True, True] Translation: X:163.97, Y:-52.11, Z:-16.35 [[ 7.84160540e-01 5.98395187e-01 1.64363769e-01 1.63974770e+02] [-5.86790259e-01 8.01188920e-01 -1.17360579e-01 -5.21102327e+01] [-2.01914436e-01 -4.41752392e-03 9.79393203e-01 -1.63460412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.276875 meters 0.018525780076003136 Centerline is valid? [True, True] Translation: X:164.00, Y:-52.13, Z:-16.35 [[ 7.82921016e-01 5.99878760e-01 1.64864053e-01 1.64001686e+02] [-5.88228297e-01 8.00076582e-01 -1.17749453e-01 -5.21261685e+01] [-2.02539264e-01 -4.78917972e-03 9.79262432e-01 -1.63531061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.306875 meters 0.01840035707708907 Centerline is valid? [True, True] Translation: X:164.03, Y:-52.14, Z:-16.36 [[ 7.82265742e-01 6.00670596e-01 1.65091321e-01 1.64027318e+02] [-5.88992680e-01 7.99481275e-01 -1.17971665e-01 -5.21439276e+01] [-2.02849530e-01 -4.95238788e-03 9.79197397e-01 -1.63593775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.336875 meters 0.018523947502338354 Centerline is valid? [True, True] Translation: X:164.05, Y:-52.16, Z:-16.37 [[ 7.81886076e-01 6.01132163e-01 1.65209826e-01 1.64053848e+02] [-5.89434951e-01 7.99133817e-01 -1.18116813e-01 -5.21613275e+01] [-2.03028574e-01 -5.02655424e-03 9.79159911e-01 -1.63667993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.366875 meters 0.01858682814872721 Centerline is valid? [True, True] Translation: X:164.08, Y:-52.18, Z:-16.37 [[ 7.81732601e-01 6.01337269e-01 1.65189675e-01 1.64080409e+02] [-5.89633111e-01 7.98979512e-01 -1.18171625e-01 -5.21787519e+01] [-2.03044168e-01 -5.02269043e-03 9.79156698e-01 -1.63736117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.396875 meters 0.018169661291778348 Centerline is valid? [True, True] Translation: X:164.11, Y:-52.20, Z:-16.38 [[ 7.81701131e-01 6.01367266e-01 1.65229397e-01 1.64106165e+02] [-5.89643752e-01 7.98957231e-01 -1.18269135e-01 -5.21981452e+01] [-2.03134407e-01 -4.97536499e-03 9.79138222e-01 -1.63801646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.426875 meters 0.018189400506093745 Centerline is valid? [True, True] Translation: X:164.13, Y:-52.22, Z:-16.39 [[ 7.81594505e-01 6.01514899e-01 1.65196420e-01 1.64131774e+02] [-5.89784646e-01 7.98846216e-01 -1.18316503e-01 -5.22160444e+01] [-2.03135675e-01 -4.95478360e-03 9.79138064e-01 -1.63864595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.456875 meters 0.017504733381505783 Centerline is valid? [True, True] Translation: X:164.16, Y:-52.24, Z:-16.39 [[ 7.81807965e-01 6.01170965e-01 1.65438135e-01 1.64157009e+02] [-5.89384575e-01 7.99105908e-01 -1.18556188e-01 -5.22350173e+01] [-2.03475129e-01 -4.81851286e-03 9.79068258e-01 -1.63925457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.486875 meters 0.01731899059794232 Centerline is valid? [True, True] Translation: X:164.18, Y:-52.25, Z:-16.40 [[ 7.82441495e-01 6.00280938e-01 1.65674690e-01 1.64181917e+02] [-5.88427598e-01 7.99776321e-01 -1.18788879e-01 -5.22520188e+01] [-2.03809393e-01 -4.54221191e-03 9.79000051e-01 -1.63995429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.516875 meters 0.017064170832027454 Centerline is valid? [True, True] Translation: X:164.21, Y:-52.27, Z:-16.41 [[ 7.83058113e-01 5.99382603e-01 1.66013515e-01 1.64206620e+02] [-5.87448131e-01 8.00451287e-01 -1.19090008e-01 -5.22696509e+01] [-2.04266211e-01 -4.26993223e-03 9.78906064e-01 -1.64065817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.546875 meters 0.016982964193423614 Centerline is valid? [True, True] Translation: X:164.23, Y:-52.29, Z:-16.41 [[ 7.83749573e-01 5.98503569e-01 1.65921927e-01 1.64230985e+02] [-5.86550988e-01 8.01110195e-01 -1.19081455e-01 -5.22879099e+01] [-2.04192423e-01 -3.99163074e-03 9.78922633e-01 -1.64131095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.576875 meters 0.015740175686624457 Centerline is valid? [True, True] Translation: X:164.25, Y:-52.31, Z:-16.42 [[ 7.84829934e-01 5.97103794e-01 1.65858479e-01 1.64254659e+02] [-5.85116776e-01 8.02156016e-01 -1.19096957e-01 -5.23086586e+01] [-2.04157621e-01 -3.57572157e-03 9.78931499e-01 -1.64190863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.606875 meters 0.014950375141506822 Centerline is valid? [True, True] Translation: X:164.28, Y:-52.33, Z:-16.43 [[ 7.87191275e-01 5.93841564e-01 1.66379367e-01 1.64278234e+02] [-5.81692747e-01 8.04577522e-01 -1.19534763e-01 -5.23283312e+01] [-2.04849809e-01 -2.68494861e-03 9.78789736e-01 -1.64254648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.636875 meters 0.014657861476912521 Centerline is valid? [True, True] Translation: X:164.30, Y:-52.35, Z:-16.43 [[ 7.88430599e-01 5.92094783e-01 1.66736198e-01 1.64303494e+02] [-5.79842289e-01 8.05865363e-01 -1.19849642e-01 -5.23478394e+01] [-2.05329274e-01 -2.18757308e-03 9.78690505e-01 -1.64321943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.666875 meters 0.014127123301715304 Centerline is valid? [True, True] Translation: X:164.33, Y:-52.37, Z:-16.44 [[ 7.90764258e-01 5.88869102e-01 1.67107956e-01 1.64327624e+02] [-5.76483057e-01 8.08227335e-01 -1.20149324e-01 -5.23685907e+01] [-2.05813443e-01 -1.32511426e-03 9.78590349e-01 -1.64378522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.696875 meters 0.01389919831620854 Centerline is valid? [True, True] Translation: X:164.35, Y:-52.39, Z:-16.44 [[ 7.91777950e-01 5.87470107e-01 1.67232027e-01 1.64351822e+02] [-5.75021160e-01 8.09245356e-01 -1.20302202e-01 -5.23871732e+01] [-2.06005689e-01 -9.09323743e-04 9.78550371e-01 -1.64444227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72687499999998 meters 0.013830977842949494 Centerline is valid? [True, True] Translation: X:164.38, Y:-52.41, Z:-16.45 [[ 7.92573769e-01 5.86320970e-01 1.67494897e-01 1.64376671e+02] [-5.73799681e-01 8.10078626e-01 -1.20526118e-01 -5.24062979e+01] [-2.06351026e-01 -5.82678581e-04 9.78477856e-01 -1.64508860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75687499999998 meters 0.013795479278577107 Centerline is valid? [True, True] Translation: X:164.40, Y:-52.43, Z:-16.46 [[ 7.93231512e-01 5.85436972e-01 1.67473340e-01 1.64402313e+02] [-5.72887011e-01 8.10717867e-01 -1.20569537e-01 -5.24262950e+01] [-2.06359494e-01 -3.03745373e-04 9.78476196e-01 -1.64583019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78687499999998 meters 0.013798916783032992 Centerline is valid? [True, True] Translation: X:164.43, Y:-52.45, Z:-16.46 [[ 7.94028585e-01 5.84316465e-01 1.67609291e-01 1.64427738e+02] [-5.71706671e-01 8.11525888e-01 -1.20736140e-01 -5.24457024e+01] [-2.06567393e-01 4.45969351e-05 9.78432374e-01 -1.64641248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81687499999998 meters 0.013886541153712172 Centerline is valid? [True, True] Translation: X:164.45, Y:-52.46, Z:-16.47 [[ 7.94650086e-01 5.83388626e-01 1.67895659e-01 1.64453045e+02] [-5.70706315e-01 8.12193086e-01 -1.20982198e-01 -5.24643082e+01] [-2.06943332e-01 3.19401169e-04 9.78352879e-01 -1.64719806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84687499999998 meters 0.01386200712213054 Centerline is valid? [True, True] Translation: X:164.48, Y:-52.48, Z:-16.48 [[ 7.94449704e-01 5.83642790e-01 1.67960595e-01 1.64479760e+02] [-5.70941988e-01 8.12010467e-01 -1.21096027e-01 -5.24827058e+01] [-2.07062584e-01 3.08947205e-04 9.78327650e-01 -1.64777308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87687499999998 meters 0.014009546172237385 Centerline is valid? [True, True] Translation: X:164.51, Y:-52.50, Z:-16.49 [[ 7.94150359e-01 5.84101919e-01 1.67780082e-01 1.64505250e+02] [-5.71423698e-01 8.11680286e-01 -1.21037475e-01 -5.25003714e+01] [-2.06882006e-01 2.48439406e-04 9.78365869e-01 -1.64853417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90687499999999 meters 0.013939152365931243 Centerline is valid? [True, True] Translation: X:164.53, Y:-52.52, Z:-16.49 [[ 7.93578610e-01 5.84842527e-01 1.67905356e-01 1.64531360e+02] [-5.72147528e-01 8.11146846e-01 -1.21194058e-01 -5.25184257e+01] [-2.07075339e-01 1.10378129e-04 9.78324993e-01 -1.64928866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.936875 meters 0.013830389309356336 Centerline is valid? [True, True] Translation: X:164.56, Y:-52.54, Z:-16.50 [[ 7.93212279e-01 5.85528751e-01 1.67243424e-01 1.64557409e+02] [-5.72935144e-01 8.10651640e-01 -1.20785920e-01 -5.25367753e+01] [-2.06299785e-01 -1.07603880e-05 9.78488834e-01 -1.64999362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.966875 meters 0.013983525911645547 Centerline is valid? [True, True] Translation: X:164.58, Y:-52.55, Z:-16.51 [[ 7.92391107e-01 5.86718878e-01 1.66964941e-01 1.64583347e+02] [-5.74178832e-01 8.09790646e-01 -1.20655621e-01 -5.25538095e+01] [-2.05997578e-01 -2.61293319e-04 9.78552466e-01 -1.65082488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.996875 meters 0.01405814625320956 Centerline is valid? [True, True] Translation: X:164.61, Y:-52.57, Z:-16.51 [[ 7.92198237e-01 5.86942677e-01 1.67093531e-01 1.64609336e+02] [-5.74374127e-01 8.09628448e-01 -1.20814482e-01 -5.25721115e+01] [-2.06194851e-01 -2.65181412e-04 9.78510916e-01 -1.65148023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.026875 meters 0.014081424087264907 Centerline is valid? [True, True] Translation: X:164.63, Y:-52.59, Z:-16.52 [[ 7.91641612e-01 5.87775911e-01 1.66802386e-01 1.64634414e+02] [-5.75254676e-01 8.09023671e-01 -1.20676253e-01 -5.25899240e+01] [-2.05877673e-01 -4.21509310e-04 9.78577644e-01 -1.65218931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.056875 meters 0.014087686672450599 Centerline is valid? [True, True] Translation: X:164.66, Y:-52.61, Z:-16.53 [[ 7.91545764e-01 5.88009496e-01 1.66433582e-01 1.64660047e+02] [-5.75535247e-01 8.08853912e-01 -1.20476255e-01 -5.26088468e+01] [-2.05461636e-01 -4.25923643e-04 9.78665078e-01 -1.65291707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.086875 meters 0.014209391464758744 Centerline is valid? [True, True] Translation: X:164.69, Y:-52.63, Z:-16.54 [[ 7.91091656e-01 5.88778140e-01 1.65874332e-01 1.64685274e+02] [-5.76390906e-01 8.08294488e-01 -1.20139685e-01 -5.26273904e+01] [-2.04810928e-01 -5.66954074e-04 9.78801391e-01 -1.65360465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.116875 meters 0.01418571963072912 Centerline is valid? [True, True] Translation: X:164.71, Y:-52.65, Z:-16.54 [[ 7.90888358e-01 5.89118372e-01 1.65635592e-01 1.64710892e+02] [-5.76761257e-01 8.08046522e-01 -1.20030291e-01 -5.26463975e+01] [-2.04553314e-01 -6.01632608e-04 9.78855240e-01 -1.65424933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.146875 meters 0.014154610948890157 Centerline is valid? [True, True] Translation: X:164.74, Y:-52.67, Z:-16.55 [[ 7.90348524e-01 5.89922538e-01 1.65349963e-01 1.64736464e+02] [-5.77611258e-01 8.07459495e-01 -1.19893280e-01 -5.26651269e+01] [-2.04241146e-01 -7.50523645e-04 9.78920319e-01 -1.65502846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.176875 meters 0.014139277717885215 Centerline is valid? [True, True] Translation: X:164.76, Y:-52.68, Z:-16.56 [[ 7.90129741e-01 5.90077390e-01 1.65842295e-01 1.64760950e+02] [-5.77680124e-01 8.07346355e-01 -1.20322642e-01 -5.26832297e+01] [-2.04891843e-01 -7.33299256e-04 9.78784346e-01 -1.65572606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.206875 meters 0.01413456967940786 Centerline is valid? [True, True] Translation: X:164.79, Y:-52.70, Z:-16.56 [[ 7.90102106e-01 5.90111700e-01 1.65851871e-01 1.64786398e+02] [-5.77706680e-01 8.07321293e-01 -1.20363287e-01 -5.27028373e+01] [-2.04923531e-01 -7.14447741e-04 9.78777726e-01 -1.65636474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.236875 meters 0.014084363758003383 Centerline is valid? [True, True] Translation: X:164.81, Y:-52.72, Z:-16.57 [[ 7.89556937e-01 5.90756837e-01 1.66151146e-01 1.64811652e+02] [-5.78305730e-01 8.06849229e-01 -1.20651579e-01 -5.27219126e+01] [-2.05334670e-01 -8.24868334e-04 9.78691470e-01 -1.65704004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.266875 meters 0.014124077715461456 Centerline is valid? [True, True] Translation: X:164.84, Y:-52.74, Z:-16.58 [[ 7.89317431e-01 5.90999853e-01 1.66424660e-01 1.64836941e+02] [-5.78498743e-01 8.06671232e-01 -1.20916203e-01 -5.27412223e+01] [-2.05711444e-01 -8.35189723e-04 9.78612336e-01 -1.65770019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.296875 meters 0.014281046659601039 Centerline is valid? [True, True] Translation: X:164.86, Y:-52.76, Z:-16.58 [[ 7.88805073e-01 5.91669608e-01 1.66474120e-01 1.64862098e+02] [-5.79160858e-01 8.06179985e-01 -1.21022853e-01 -5.27600175e+01] [-2.05813648e-01 -9.51853460e-04 9.78590740e-01 -1.65839077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.326875 meters 0.014229421941795514 Centerline is valid? [True, True] Translation: X:164.89, Y:-52.78, Z:-16.59 [[ 7.88016748e-01 5.92898685e-01 1.65833512e-01 1.64887215e+02] [-5.80500266e-01 8.05276148e-01 -1.20622410e-01 -5.27786079e+01] [-2.05058640e-01 -1.21391829e-03 9.78748936e-01 -1.65899085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.356875 meters 0.014229421941795514 Centerline is valid? [True, True] Translation: X:164.91, Y:-52.80, Z:-16.60 [[ 7.87854254e-01 5.93122801e-01 1.65804151e-01 1.64912733e+02] [-5.80720801e-01 8.05111080e-01 -1.20662755e-01 -5.27972731e+01] [-2.05058591e-01 -1.22125434e-03 9.78748938e-01 -1.65968638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.386875 meters 0.014481070930463122 Centerline is valid? [True, True] Translation: X:164.94, Y:-52.81, Z:-16.60 [[ 7.86707799e-01 5.94707022e-01 1.65572937e-01 1.64937858e+02] [-5.82359657e-01 8.03940971e-01 -1.20565936e-01 -5.28143796e+01] [-2.04812276e-01 -1.57283633e-03 9.78800009e-01 -1.66040719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.416875 meters 0.014652855943610047 Centerline is valid? [True, True] Translation: X:164.96, Y:-52.83, Z:-16.61 [[ 7.85739610e-01 5.96097656e-01 1.65169157e-01 1.64963409e+02] [-5.83829600e-01 8.02909731e-01 -1.20328557e-01 -5.28321761e+01] [-2.04343494e-01 -1.88372963e-03 9.78897435e-01 -1.66115929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.446875 meters 0.014939207880924388 Centerline is valid? [True, True] Translation: X:164.99, Y:-52.85, Z:-16.62 [[ 7.84761541e-01 5.97483274e-01 1.64812203e-01 1.64988154e+02] [-5.85285856e-01 8.01878389e-01 -1.20131244e-01 -5.28490290e+01] [-2.03935753e-01 -2.18787106e-03 9.78981829e-01 -1.66193372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47687499999998 meters 0.01555848638620832 Centerline is valid? [True, True] Translation: X:165.01, Y:-52.87, Z:-16.63 [[ 7.83448666e-01 5.99455211e-01 1.63895205e-01 1.65012971e+02] [-5.87430189e-01 8.00403890e-01 -1.19496387e-01 -5.28660417e+01] [-2.02815092e-01 -2.65770651e-03 9.79213447e-01 -1.66270228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50687499999998 meters 0.015515685829995471 Centerline is valid? [True, True] Translation: X:165.04, Y:-52.89, Z:-16.63 [[ 7.82772572e-01 6.00298328e-01 1.64039686e-01 1.65038909e+02] [-5.88258673e-01 7.99771148e-01 -1.19657196e-01 -5.28851417e+01] [-2.03024223e-01 -2.83339692e-03 9.79169616e-01 -1.66334259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53687499999998 meters 0.015729791778816168 Centerline is valid? [True, True] Translation: X:165.07, Y:-52.90, Z:-16.64 [[ 7.82163263e-01 6.01083247e-01 1.64071813e-01 1.65065258e+02] [-5.89041414e-01 7.99180859e-01 -1.19750437e-01 -5.29042029e+01] [-2.03103034e-01 -2.98070047e-03 9.79152834e-01 -1.66404242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56687499999998 meters 0.015815457920713986 Centerline is valid? [True, True] Translation: X:165.09, Y:-52.92, Z:-16.65 [[ 7.81423932e-01 6.01972125e-01 1.64335630e-01 1.65090803e+02] [-5.89896067e-01 7.98510848e-01 -1.20012734e-01 -5.29235293e+01] [-2.03468104e-01 -3.16011961e-03 9.79076475e-01 -1.66463725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59687499999998 meters 0.016302147717233584 Centerline is valid? [True, True] Translation: X:165.12, Y:-52.94, Z:-16.65 [[ 7.80851151e-01 6.02674149e-01 1.64485103e-01 1.65115849e+02] [-5.90576376e-01 7.97980614e-01 -1.20193525e-01 -5.29427496e+01] [-2.03693454e-01 -3.28776343e-03 9.79029196e-01 -1.66523847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62687499999998 meters 0.01650539581739657 Centerline is valid? [True, True] Translation: X:165.14, Y:-52.96, Z:-16.66 [[ 7.80889239e-01 6.02603587e-01 1.64562791e-01 1.65140994e+02] [-5.90478841e-01 7.98034191e-01 -1.20316952e-01 -5.29612362e+01] [-2.03830161e-01 -3.21663292e-03 9.79000980e-01 -1.66595588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65687499999999 meters 0.0159677265068695 Centerline is valid? [True, True] Translation: X:165.16, Y:-52.98, Z:-16.67 [[ 7.80899910e-01 6.02500989e-01 1.64887506e-01 1.65164894e+02] [-5.90311851e-01 7.98111948e-01 -1.20620216e-01 -5.29811725e+01] [-2.04272488e-01 -3.14273291e-03 9.78909022e-01 -1.66659714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.686875 meters 0.015762718147933112 Centerline is valid? [True, True] Translation: X:165.19, Y:-53.00, Z:-16.67 [[ 7.81222098e-01 6.02146620e-01 1.64655642e-01 1.65190036e+02] [-5.89971592e-01 7.98379905e-01 -1.20511608e-01 -5.30015443e+01] [-2.04023413e-01 -2.99581965e-03 9.78961425e-01 -1.66729864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.716875 meters 0.015388384663761669 Centerline is valid? [True, True] Translation: X:165.21, Y:-53.02, Z:-16.68 [[ 7.82157509e-01 6.01014846e-01 1.64349585e-01 1.65212929e+02] [-5.88845912e-01 7.99233509e-01 -1.20359005e-01 -5.30224603e+01] [-2.03691245e-01 -2.63688176e-03 9.79031625e-01 -1.66802711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.746875 meters 0.015271940640847637 Centerline is valid? [True, True] Translation: X:165.24, Y:-53.04, Z:-16.69 [[ 7.82828735e-01 6.00136656e-01 1.64362910e-01 1.65236843e+02] [-5.87933406e-01 7.99894018e-01 -1.20432014e-01 -5.30420331e+01] [-2.03748575e-01 -2.35680436e-03 9.79020410e-01 -1.66868668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.776875 meters 0.015068035785519773 Centerline is valid? [True, True] Translation: X:165.26, Y:-53.06, Z:-16.69 [[ 7.83537280e-01 5.99254498e-01 1.64205291e-01 1.65260849e+02] [-5.87048660e-01 8.00555837e-01 -1.20350417e-01 -5.30622494e+01] [-2.03576033e-01 -2.09745709e-03 9.79056893e-01 -1.66937672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.806875 meters 0.014670030769627774 Centerline is valid? [True, True] Translation: X:165.28, Y:-53.08, Z:-16.70 [[ 7.84906883e-01 5.97471750e-01 1.64160572e-01 1.65284082e+02] [-5.85221342e-01 8.01888395e-01 -1.20378501e-01 -5.30845786e+01] [-2.03561211e-01 -1.58435603e-03 9.79060940e-01 -1.66996682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.836875 meters 0.014567761598345825 Centerline is valid? [True, True] Translation: X:165.31, Y:-53.11, Z:-16.71 [[ 7.85304152e-01 5.97066932e-01 1.63732915e-01 1.65309225e+02] [-5.84859736e-01 8.02190155e-01 -1.20125122e-01 -5.31051762e+01] [-2.03067670e-01 -1.42603220e-03 9.79163667e-01 -1.67065470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.866875 meters 0.014463519249913924 Centerline is valid? [True, True] Translation: X:165.33, Y:-53.13, Z:-16.71 [[ 7.85686374e-01 5.96532714e-01 1.63846398e-01 1.65334931e+02] [-5.84282201e-01 8.02587818e-01 -1.20279273e-01 -5.31251261e+01] [-2.03251645e-01 -1.23074823e-03 9.79125760e-01 -1.67138692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.896875 meters 0.01445484959718361 Centerline is valid? [True, True] Translation: X:165.36, Y:-53.14, Z:-16.72 [[ 7.85621607e-01 5.96686763e-01 1.63595833e-01 1.65360794e+02] [-5.84462636e-01 8.02473328e-01 -1.20166489e-01 -5.31446559e+01] [-2.02983046e-01 -1.21026185e-03 9.79181504e-01 -1.67211752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.926875 meters 0.014442724398414139 Centerline is valid? [True, True] Translation: X:165.38, Y:-53.16, Z:-16.73 [[ 7.86214840e-01 5.95998157e-01 1.63255694e-01 1.65384717e+02] [-5.83795888e-01 8.02985213e-01 -1.19987950e-01 -5.31637340e+01] [-2.02604505e-01 -9.71695963e-04 9.79260165e-01 -1.67283742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.956875 meters 0.01438627525972484 Centerline is valid? [True, True] Translation: X:165.41, Y:-53.18, Z:-16.74 [[ 7.86600743e-01 5.95610279e-01 1.62811751e-01 1.65409780e+02] [-5.83453184e-01 8.03273136e-01 -1.19727405e-01 -5.31834459e+01] [-2.02093179e-01 -8.15368547e-04 9.79365959e-01 -1.67352300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.986875 meters 0.014330118485796097 Centerline is valid? [True, True] Translation: X:165.44, Y:-53.20, Z:-16.74 [[ 7.86994568e-01 5.95107150e-01 1.62748363e-01 1.65435157e+02] [-5.82934472e-01 8.03646119e-01 -1.19751059e-01 -5.32035587e+01] [-2.02056802e-01 -6.28197896e-04 9.79373603e-01 -1.67424853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.016875 meters 0.014278913077785553 Centerline is valid? [True, True] Translation: X:165.46, Y:-53.22, Z:-16.75 [[ 7.87510059e-01 5.94342512e-01 1.63048721e-01 1.65460288e+02] [-5.82093701e-01 8.04211936e-01 -1.20042014e-01 -5.32234587e+01] [-2.02471800e-01 -3.75339636e-04 9.79288022e-01 -1.67488590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.046875 meters 0.014265182300445746 Centerline is valid? [True, True] Translation: X:165.48, Y:-53.24, Z:-16.75 [[ 7.88882770e-01 5.92256107e-01 1.64002070e-01 1.65484123e+02] [-5.79802443e-01 8.05749747e-01 -1.20815863e-01 -5.32435240e+01] [-2.03698559e-01 2.20751256e-04 9.79033630e-01 -1.67546272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.076875 meters 0.014265999875687035 Centerline is valid? [True, True] Translation: X:165.51, Y:-53.26, Z:-16.76 [[ 7.89367808e-01 5.91619868e-01 1.63964620e-01 1.65509426e+02] [-5.79145566e-01 8.06216933e-01 -1.20849785e-01 -5.32636863e+01] [-2.03688187e-01 4.35547455e-04 9.79035716e-01 -1.67603863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.106875 meters 0.014315489376436301 Centerline is valid? [True, True] Translation: X:165.53, Y:-53.28, Z:-16.77 [[ 7.90124056e-01 5.90673976e-01 1.63732189e-01 1.65534134e+02] [-5.78200195e-01 8.06909975e-01 -1.20751091e-01 -5.32829448e+01] [-2.03441664e-01 7.38358334e-04 9.79086791e-01 -1.67673620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.136875 meters 0.014505175731344105 Centerline is valid? [True, True] Translation: X:165.56, Y:-53.30, Z:-16.77 [[ 7.91516577e-01 5.88649653e-01 1.64295753e-01 1.65559011e+02] [-5.76036713e-01 8.08387221e-01 -1.21209762e-01 -5.33033032e+01] [-2.04164671e-01 1.29915067e-03 9.78935697e-01 -1.67737873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.166875 meters 0.01478445666704051 Centerline is valid? [True, True] Translation: X:165.58, Y:-53.32, Z:-16.78 [[ 7.92534355e-01 5.87190664e-01 1.64609903e-01 1.65583776e+02] [-5.74482840e-01 8.09446789e-01 -1.21512804e-01 -5.33230202e+01] [-2.04594142e-01 1.73750708e-03 9.78845350e-01 -1.67806808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.196875 meters 0.015080566886779334 Centerline is valid? [True, True] Translation: X:165.61, Y:-53.34, Z:-16.79 [[ 7.93627687e-01 5.85781403e-01 1.64363139e-01 1.65608157e+02] [-5.73068061e-01 8.10466230e-01 -1.21398054e-01 -5.33431165e+01] [-2.04323496e-01 2.15359165e-03 9.78901053e-01 -1.67877926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22687499999998 meters 0.015423598337227592 Centerline is valid? [True, True] Translation: X:165.63, Y:-53.36, Z:-16.79 [[ 7.94730133e-01 5.84297439e-01 1.64318343e-01 1.65632605e+02] [-5.71546793e-01 8.11535468e-01 -1.21426713e-01 -5.33625362e+01] [-2.04299481e-01 2.58584549e-03 9.78905019e-01 -1.67945033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25687499999998 meters 0.015708481697670505 Centerline is valid? [True, True] Translation: X:165.66, Y:-53.38, Z:-16.80 [[ 7.95670855e-01 5.83033907e-01 1.64253931e-01 1.65656871e+02] [-5.70253825e-01 8.12442428e-01 -1.21440835e-01 -5.33816004e+01] [-2.04250987e-01 2.96050100e-03 9.78914077e-01 -1.68010816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28687499999998 meters 0.01622469544667441 Centerline is valid? [True, True] Translation: X:165.68, Y:-53.40, Z:-16.81 [[ 7.96471754e-01 5.82008431e-01 1.64008935e-01 1.65681517e+02] [-5.69233530e-01 8.13176193e-01 -1.21316393e-01 -5.34000782e+01] [-2.03975325e-01 3.26569501e-03 9.78970583e-01 -1.68077163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31687499999998 meters 0.01600604083418812 Centerline is valid? [True, True] Translation: X:165.71, Y:-53.42, Z:-16.81 [[ 7.96605635e-01 5.81965224e-01 1.63511286e-01 1.65707647e+02] [-5.69256210e-01 8.13206928e-01 -1.21003554e-01 -5.34182644e+01] [-2.03388371e-01 3.31229807e-03 9.79092539e-01 -1.68141930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34687499999998 meters 0.01642688152374853 Centerline is valid? [True, True] Translation: X:165.73, Y:-53.44, Z:-16.82 [[ 7.96943844e-01 5.81537611e-01 1.63384565e-01 1.65732138e+02] [-5.68824872e-01 8.13512085e-01 -1.20980794e-01 -5.34366207e+01] [-2.03270200e-01 3.47769436e-03 9.79116505e-01 -1.68216564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37687499999998 meters 0.01633841124524056 Centerline is valid? [True, True] Translation: X:165.76, Y:-53.45, Z:-16.83 [[ 7.97055921e-01 5.81628780e-01 1.62510986e-01 1.65757727e+02] [-5.69043399e-01 8.13446888e-01 -1.20390079e-01 -5.34547997e+01] [-2.02216391e-01 3.48182170e-03 9.79334676e-01 -1.68288130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40687499999999 meters 0.01651016637452952 Centerline is valid? [True, True] Translation: X:165.78, Y:-53.47, Z:-16.84 [[ 7.97327278e-01 5.81540708e-01 1.61491850e-01 1.65782097e+02] [-5.69100260e-01 8.13509641e-01 -1.19695273e-01 -5.34717183e+01] [-2.00982851e-01 3.53125206e-03 9.79588395e-01 -1.68374482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.436875 meters 0.016606359265126762 Centerline is valid? [True, True] Translation: X:165.81, Y:-53.49, Z:-16.85 [[ 7.97220941e-01 5.81875199e-01 1.60810522e-01 1.65807968e+02] [-5.69536272e-01 8.13270659e-01 -1.19244584e-01 -5.34903741e+01] [-2.00167945e-01 3.47685439e-03 9.79755431e-01 -1.68450673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.466875 meters 0.01705151914667002 Centerline is valid? [True, True] Translation: X:165.83, Y:-53.51, Z:-16.85 [[ 7.97095224e-01 5.82065428e-01 1.60745270e-01 1.65832286e+02] [-5.69726524e-01 8.13134490e-01 -1.19264366e-01 -5.35087719e+01] [-2.00127187e-01 3.48421296e-03 9.79763731e-01 -1.68526892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.496875 meters 0.017140232953862522 Centerline is valid? [True, True] Translation: X:165.86, Y:-53.53, Z:-16.86 [[ 7.96603760e-01 5.82615464e-01 1.61188308e-01 1.65857237e+02] [-5.70205750e-01 8.12740796e-01 -1.19657015e-01 -5.35269964e+01] [-2.00718341e-01 3.40872741e-03 9.79643062e-01 -1.68592006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.526875 meters 0.01606355472387145 Centerline is valid? [True, True] Translation: X:165.89, Y:-53.54, Z:-16.86 [[ 7.95303993e-01 5.84129224e-01 1.62125285e-01 1.65885226e+02] [-5.71592312e-01 8.11654778e-01 -1.20410752e-01 -5.35432434e+01] [-2.01925201e-01 3.09358536e-03 9.79396060e-01 -1.68635463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.556875 meters 0.01586415642785423 Centerline is valid? [True, True] Translation: X:165.91, Y:-53.56, Z:-16.87 [[ 7.94499075e-01 5.85045892e-01 1.62765241e-01 1.65911098e+02] [-5.72415224e-01 8.10994921e-01 -1.20946471e-01 -5.35610086e+01] [-2.02761020e-01 2.92255732e-03 9.79223890e-01 -1.68695869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.586875 meters 0.015546946727460662 Centerline is valid? [True, True] Translation: X:165.94, Y:-53.58, Z:-16.88 [[ 7.93436679e-01 5.86261989e-01 1.63569917e-01 1.65937478e+02] [-5.73517558e-01 8.10117102e-01 -1.21605474e-01 -5.35784990e+01] [-2.03803454e-01 2.67602389e-03 9.79008167e-01 -1.68753543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.616875 meters 0.015000167026892212 Centerline is valid? [True, True] Translation: X:165.96, Y:-53.59, Z:-16.88 [[ 7.91080905e-01 5.89265252e-01 1.64187285e-01 1.65964109e+02] [-5.76474081e-01 8.07937257e-01 -1.22127074e-01 -5.35938166e+01] [-2.04618266e-01 1.96268201e-03 9.78839881e-01 -1.68824396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.646875 meters 0.014783975343392982 Centerline is valid? [True, True] Translation: X:165.99, Y:-53.61, Z:-16.89 [[ 7.89752100e-01 5.91021284e-01 1.64272527e-01 1.65990616e+02] [-5.78247164e-01 8.06654499e-01 -1.22224124e-01 -5.36110157e+01] [-2.04748232e-01 1.53663573e-03 9.78813466e-01 -1.68899319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.676875 meters 0.014552812584520123 Centerline is valid? [True, True] Translation: X:166.02, Y:-53.63, Z:-16.90 [[ 7.88173874e-01 5.93262800e-01 1.63771776e-01 1.66016600e+02] [-5.80602609e-01 8.05008229e-01 -1.21911285e-01 -5.36281857e+01] [-2.04163058e-01 1.00096913e-03 9.78936384e-01 -1.68962647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.706875 meters 0.014410827902471586 Centerline is valid? [True, True] Translation: X:166.04, Y:-53.65, Z:-16.90 [[ 7.86616190e-01 5.95480223e-01 1.63212360e-01 1.66043337e+02] [-5.82941943e-01 8.03369828e-01 -1.21554970e-01 -5.36455017e+01] [-2.03503467e-01 4.73777058e-04 9.79074111e-01 -1.69036949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.736875 meters 0.014545019238490524 Centerline is valid? [True, True] Translation: X:166.07, Y:-53.66, Z:-16.91 [[ 7.83089650e-01 6.00323544e-01 1.62426114e-01 1.66070191e+02] [-5.87995211e-01 7.99756915e-01 -1.21039289e-01 -5.36588156e+01] [-2.02564142e-01 -7.21162925e-04 9.79268731e-01 -1.69130504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.766875 meters 0.014779489914602711 Centerline is valid? [True, True] Translation: X:166.10, Y:-53.68, Z:-16.92 [[ 7.81186368e-01 6.02935479e-01 1.61915616e-01 1.66096880e+02] [-5.90728720e-01 7.97788817e-01 -1.20716955e-01 -5.36758691e+01] [-2.01959003e-01 -1.34576426e-03 9.79393052e-01 -1.69209027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.796875 meters 0.01503270265470671 Centerline is valid? [True, True] Translation: X:166.12, Y:-53.69, Z:-16.93 [[ 7.79687929e-01 6.04923903e-01 1.61721378e-01 1.66122036e+02] [-5.92784820e-01 7.96281156e-01 -1.20592196e-01 -5.36920452e+01] [-2.01724788e-01 -1.84169876e-03 9.79440513e-01 -1.69279448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.826875 meters 0.01562243027168536 Centerline is valid? [True, True] Translation: X:166.15, Y:-53.71, Z:-16.94 [[ 7.78126574e-01 6.07072674e-01 1.61188720e-01 1.66148377e+02] [-5.95047575e-01 7.94642866e-01 -1.20254311e-01 -5.37091462e+01] [-2.01090572e-01 -2.34188165e-03 9.79569853e-01 -1.69358639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.856875 meters 0.01656072046594719 Centerline is valid? [True, True] Translation: X:166.17, Y:-53.73, Z:-16.94 [[ 7.75714345e-01 6.10127821e-01 1.61280181e-01 1.66174448e+02] [-5.98150051e-01 7.92296861e-01 -1.20342019e-01 -5.37250967e+01] [-2.01205796e-01 -3.11871796e-03 9.79544027e-01 -1.69427725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.886875 meters 0.017139689035868502 Centerline is valid? [True, True] Translation: X:166.20, Y:-53.74, Z:-16.95 [[ 7.74504011e-01 6.11550103e-01 1.61709644e-01 1.66199865e+02] [-5.99526771e-01 7.91198178e-01 -1.20719073e-01 -5.37427240e+01] [-2.01770137e-01 -3.45185466e-03 9.79426820e-01 -1.69490156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.916875 meters 0.01692949971687067 Centerline is valid? [True, True] Translation: X:166.22, Y:-53.76, Z:-16.95 [[ 7.73567014e-01 6.12714888e-01 1.61785477e-01 1.66224580e+02] [-6.00693880e-01 7.90295314e-01 -1.20831205e-01 -5.37621325e+01] [-2.01893383e-01 -3.71251190e-03 9.79400469e-01 -1.69543204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.946875 meters 0.01755203195257123 Centerline is valid? [True, True] Translation: X:166.25, Y:-53.78, Z:-16.96 [[ 7.72956384e-01 6.13406803e-01 1.62081840e-01 1.66250311e+02] [-6.01343611e-01 7.89757725e-01 -1.21113984e-01 -5.37796355e+01] [-2.02297527e-01 -3.85105240e-03 9.79316537e-01 -1.69621745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97687499999998 meters 0.01771204767984493 Centerline is valid? [True, True] Translation: X:166.28, Y:-53.80, Z:-16.97 [[ 7.72104871e-01 6.14376957e-01 1.62465454e-01 1.66275276e+02] [-6.02263515e-01 7.89002190e-01 -1.21466877e-01 -5.37975759e+01] [-2.02812049e-01 -4.06184776e-03 9.79209260e-01 -1.69698591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00687499999998 meters 0.017381192956389138 Centerline is valid? [True, True] Translation: X:166.30, Y:-53.82, Z:-16.98 [[ 7.71788206e-01 6.14770631e-01 1.62480878e-01 1.66300265e+02] [-6.02650837e-01 7.88695204e-01 -1.21539470e-01 -5.38177160e+01] [-2.02866786e-01 -4.11650789e-03 9.79197693e-01 -1.69769399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03687499999998 meters 0.017855058496558697 Centerline is valid? [True, True] Translation: X:166.33, Y:-53.84, Z:-16.98 [[ 7.71853242e-01 6.14629524e-01 1.62705625e-01 1.66325037e+02] [-6.02457658e-01 7.88805637e-01 -1.21780281e-01 -5.38357809e+01] [-2.03192870e-01 -4.02674499e-03 9.79130452e-01 -1.69842343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06687499999998 meters 0.016841260568746096 Centerline is valid? [True, True] Translation: X:166.35, Y:-53.86, Z:-16.99 [[ 7.72093348e-01 6.14368670e-01 1.62551528e-01 1.66348405e+02] [-6.02202520e-01 7.89009419e-01 -1.21722069e-01 -5.38569096e+01] [-2.03036912e-01 -3.90813961e-03 9.79163285e-01 -1.69897004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09687499999998 meters 0.01695525453797905 Centerline is valid? [True, True] Translation: X:166.37, Y:-53.88, Z:-17.00 [[ 7.72625180e-01 6.13683073e-01 1.62614320e-01 1.66372222e+02] [-6.01479118e-01 7.89543893e-01 -1.21833128e-01 -5.38753795e+01] [-2.03158072e-01 -3.67777474e-03 9.79139046e-01 -1.69974792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12687499999998 meters 0.016288502428111664 Centerline is valid? [True, True] Translation: X:166.40, Y:-53.90, Z:-17.00 [[ 7.73940158e-01 6.12119633e-01 1.62253462e-01 1.66395372e+02] [-5.99924345e-01 7.90758644e-01 -1.21620506e-01 -5.38967833e+01] [-2.02749627e-01 -3.21280828e-03 9.79225340e-01 -1.70044091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15687499999999 meters 0.015760829035561905 Centerline is valid? [True, True] Translation: X:166.42, Y:-53.92, Z:-17.01 [[ 7.74398554e-01 6.11660774e-01 1.61796097e-01 1.66419973e+02] [-5.99512262e-01 7.91114336e-01 -1.21339011e-01 -5.39181656e+01] [-2.02217525e-01 -3.03398946e-03 9.79335932e-01 -1.70116885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.186875 meters 0.015443233234854711 Centerline is valid? [True, True] Translation: X:166.44, Y:-53.94, Z:-17.02 [[ 7.75436334e-01 6.10316897e-01 1.61900516e-01 1.66443805e+02] [-5.98108158e-01 7.92153012e-01 -1.21491714e-01 -5.39376241e+01] [-2.02398427e-01 -2.62492982e-03 9.79299743e-01 -1.70184221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.216875 meters 0.014895118010654596 Centerline is valid? [True, True] Translation: X:166.47, Y:-53.96, Z:-17.03 [[ 7.77866187e-01 6.07307659e-01 1.61559905e-01 1.66465974e+02] [-5.95073936e-01 7.94464733e-01 -1.21296330e-01 -5.39588669e+01] [-2.02017837e-01 -1.78777534e-03 9.79380211e-01 -1.70260493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.246875 meters 0.014518615905043766 Centerline is valid? [True, True] Translation: X:166.49, Y:-53.98, Z:-17.03 [[ 7.79177810e-01 6.05610616e-01 1.61609784e-01 1.66489984e+02] [-5.93325699e-01 7.95760041e-01 -1.21369569e-01 -5.39799650e+01] [-2.02105307e-01 -1.31876338e-03 9.79362908e-01 -1.70328271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.276875 meters 0.014518615905043766 Centerline is valid? [True, True] Translation: X:166.52, Y:-54.00, Z:-17.04 [[ 7.79014510e-01 6.05824465e-01 1.61595515e-01 1.66515208e+02] [-5.93540160e-01 7.95597194e-01 -1.21388563e-01 -5.39990323e+01] [-2.02105100e-01 -1.34997577e-03 9.79362908e-01 -1.70397694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.306875 meters 0.014318601198162672 Centerline is valid? [True, True] Translation: X:166.54, Y:-54.02, Z:-17.05 [[ 7.80047424e-01 6.04524021e-01 1.61482891e-01 1.66539097e+02] [-5.92214949e-01 7.96586339e-01 -1.21374046e-01 -5.40199416e+01] [-2.02008591e-01 -9.55070178e-04 9.79383284e-01 -1.70459289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.336875 meters 0.014187547380239385 Centerline is valid? [True, True] Translation: X:166.56, Y:-54.04, Z:-17.05 [[ 7.81747264e-01 6.02274868e-01 1.61666936e-01 1.66563016e+02] [-5.89876994e-01 7.98288719e-01 -1.21574067e-01 -5.40407735e+01] [-2.02277896e-01 -3.23411927e-04 9.79328111e-01 -1.70533774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.366875 meters 0.014051438185460794 Centerline is valid? [True, True] Translation: X:166.59, Y:-54.06, Z:-17.06 [[ 7.82107067e-01 6.01687587e-01 1.62112871e-01 1.66587610e+02] [-5.89195133e-01 7.98731515e-01 -1.21971567e-01 -5.40606774e+01] [-2.02873437e-01 -1.21289752e-04 9.79204960e-01 -1.70607381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.396875 meters 0.014161557547021952 Centerline is valid? [True, True] Translation: X:166.61, Y:-54.08, Z:-17.07 [[ 7.82735081e-01 6.00808876e-01 1.62340650e-01 1.66612159e+02] [-5.88247388e-01 7.99392686e-01 -1.22214335e-01 -5.40810048e+01] [-2.03201386e-01 1.64983660e-04 9.79136951e-01 -1.70672378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.426875 meters 0.014038368449256204 Centerline is valid? [True, True] Translation: X:166.64, Y:-54.10, Z:-17.07 [[ 7.83211922e-01 6.00069058e-01 1.62776566e-01 1.66637194e+02] [-5.87408418e-01 7.99948093e-01 -1.22614838e-01 -5.41017576e+01] [-2.03790174e-01 4.17077733e-04 9.79014500e-01 -1.70733744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.456875 meters 0.014133913306400223 Centerline is valid? [True, True] Translation: X:166.66, Y:-54.12, Z:-17.08 [[ 7.83723252e-01 5.99359896e-01 1.62928142e-01 1.66660856e+02] [-5.86645090e-01 8.00479404e-01 -1.22801715e-01 -5.41215353e+01] [-2.04023045e-01 6.61564519e-04 9.78965862e-01 -1.70798867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.486875 meters 0.014177022970308466 Centerline is valid? [True, True] Translation: X:166.69, Y:-54.14, Z:-17.09 [[ 7.84258852e-01 5.98471459e-01 1.63615299e-01 1.66685232e+02] [-5.85614704e-01 8.01143562e-01 -1.23387242e-01 -5.41427952e+01] [-2.04923086e-01 9.52012279e-04 9.78777616e-01 -1.70856444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.516875 meters 0.014088583984208475 Centerline is valid? [True, True] Translation: X:166.71, Y:-54.16, Z:-17.09 [[ 7.84120833e-01 5.98573759e-01 1.63902331e-01 1.66710765e+02] [-5.85658475e-01 8.01067090e-01 -1.23675656e-01 -5.41628111e+01] [-2.05325766e-01 9.85869520e-04 9.78693189e-01 -1.70924345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.546875 meters 0.014077182033592374 Centerline is valid? [True, True] Translation: X:166.74, Y:-54.18, Z:-17.10 [[ 7.83777246e-01 5.98918752e-01 1.64284986e-01 1.66735759e+02] [-5.85934636e-01 8.00809223e-01 -1.24037052e-01 -5.41825559e+01] [-2.05849048e-01 9.57155752e-04 9.78583289e-01 -1.71000722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.576875 meters 0.01406957141426383 Centerline is valid? [True, True] Translation: X:166.76, Y:-54.20, Z:-17.11 [[ 7.83312516e-01 5.99529877e-01 1.64272420e-01 1.66760859e+02] [-5.86545970e-01 8.00351919e-01 -1.24099275e-01 -5.42023534e+01] [-2.05876970e-01 8.55189163e-04 9.78577509e-01 -1.71078623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.606875 meters 0.014025858769438997 Centerline is valid? [True, True] Translation: X:166.79, Y:-54.22, Z:-17.12 [[ 7.82720342e-01 6.00360751e-01 1.64060462e-01 1.66785252e+02] [-5.87413424e-01 7.99729007e-01 -1.24012034e-01 -5.42206482e+01] [-2.05655868e-01 6.95423940e-04 9.78624126e-01 -1.71155338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.636875 meters 0.014075406927723536 Centerline is valid? [True, True] Translation: X:166.81, Y:-54.24, Z:-17.12 [[ 7.82961995e-01 6.00184708e-01 1.63550699e-01 1.66809969e+02] [-5.87305750e-01 7.99861061e-01 -1.23669880e-01 -5.42409985e+01] [-2.05042606e-01 7.74550154e-04 9.78752742e-01 -1.71230505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.666875 meters 0.013994988220173657 Centerline is valid? [True, True] Translation: X:166.84, Y:-54.26, Z:-17.13 [[ 7.82901463e-01 6.00066156e-01 1.64273880e-01 1.66835131e+02] [-5.87054181e-01 7.99949908e-01 -1.24288106e-01 -5.42610349e+01] [-2.05991961e-01 8.67672076e-04 9.78553299e-01 -1.71297171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.696875 meters 0.014066249249926775 Centerline is valid? [True, True] Translation: X:166.86, Y:-54.28, Z:-17.14 [[ 7.82453077e-01 6.00471521e-01 1.64927666e-01 1.66859048e+02] [-5.87347933e-01 7.99645717e-01 -1.24856447e-01 -5.42789279e+01] [-2.06856442e-01 8.24387114e-04 9.78370959e-01 -1.71366626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72687499999998 meters 0.014007192161768293 Centerline is valid? [True, True] Translation: X:166.89, Y:-54.30, Z:-17.14 [[ 7.82051436e-01 6.00923415e-01 1.65186565e-01 1.66885110e+02] [-5.87760718e-01 7.99306268e-01 -1.25087280e-01 -5.42977373e+01] [-2.07202532e-01 7.34512364e-04 9.78297793e-01 -1.71435778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75687499999998 meters 0.014061188584112067 Centerline is valid? [True, True] Translation: X:166.91, Y:-54.32, Z:-17.15 [[ 7.81829957e-01 6.01294842e-01 1.64883084e-01 1.66910582e+02] [-5.88174018e-01 7.99026929e-01 -1.24929149e-01 -5.43165067e+01] [-2.06865277e-01 6.93405092e-04 9.78369192e-01 -1.71507351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78687499999998 meters 0.014301535309439737 Centerline is valid? [True, True] Translation: X:166.93, Y:-54.34, Z:-17.16 [[ 7.82858880e-01 5.99823874e-01 1.65358079e-01 1.66933815e+02] [-5.86578309e-01 8.00131244e-01 -1.25362993e-01 -5.43365163e+01] [-2.07503882e-01 1.14606998e-03 9.78233523e-01 -1.71582852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81687499999998 meters 0.014590036251045014 Centerline is valid? [True, True] Translation: X:166.96, Y:-54.36, Z:-17.17 [[ 7.84727852e-01 5.97520881e-01 1.64836269e-01 1.66957813e+02] [-5.84295038e-01 8.01851319e-01 -1.25035080e-01 -5.43564119e+01] [-2.06885251e-01 1.80549579e-03 9.78363549e-01 -1.71652074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84687499999998 meters 0.014903550068098396 Centerline is valid? [True, True] Translation: X:166.98, Y:-54.38, Z:-17.17 [[ 7.84740311e-01 5.97560231e-01 1.64634185e-01 1.66981982e+02] [-5.84354804e-01 8.01821906e-01 -1.24944363e-01 -5.43758236e+01] [-2.06669078e-01 1.84410087e-03 9.78409164e-01 -1.71732393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87687499999998 meters 0.01457988527544088 Centerline is valid? [True, True] Translation: X:167.01, Y:-54.39, Z:-17.18 [[ 7.84484303e-01 5.97940762e-01 1.64472563e-01 1.67008482e+02] [-5.84755762e-01 8.01538282e-01 -1.24888278e-01 -5.43943026e+01] [-2.06506848e-01 1.79661420e-03 9.78443506e-01 -1.71800833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90687499999999 meters 0.014743204866755462 Centerline is valid? [True, True] Translation: X:167.03, Y:-54.41, Z:-17.19 [[ 7.84399968e-01 5.98108057e-01 1.64266379e-01 1.67034569e+02] [-5.84944992e-01 8.01413427e-01 -1.24803348e-01 -5.44129236e+01] [-2.06291169e-01 1.80894679e-03 9.78488979e-01 -1.71883634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.936875 meters 0.014311508168184366 Centerline is valid? [True, True] Translation: X:167.06, Y:-54.43, Z:-17.20 [[ 7.82674422e-01 6.00429750e-01 1.64027024e-01 1.67060805e+02] [-5.87340744e-01 7.99676523e-01 -1.24692859e-01 -5.44294068e+01] [-2.06037862e-01 1.25415691e-03 9.78543216e-01 -1.71955387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.966875 meters 0.01409033679910963 Centerline is valid? [True, True] Translation: X:167.09, Y:-54.45, Z:-17.20 [[ 7.81510352e-01 6.02013767e-01 1.63771166e-01 1.67087058e+02] [-5.88987338e-01 7.98485215e-01 -1.24560333e-01 -5.44472158e+01] [-2.05755890e-01 8.86046346e-04 9.78602947e-01 -1.72025655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.996875 meters 0.014026370754679924 Centerline is valid? [True, True] Translation: X:167.11, Y:-54.46, Z:-17.21 [[ 7.80167489e-01 6.03863377e-01 1.63363738e-01 1.67112839e+02] [-5.90927023e-01 7.97087707e-01 -1.24323936e-01 -5.44647695e+01] [-2.05289899e-01 4.57445091e-04 9.78701103e-01 -1.72100279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.026875 meters 0.013987981620084628 Centerline is valid? [True, True] Translation: X:167.14, Y:-54.48, Z:-17.22 [[ 7.78616121e-01 6.05997953e-01 1.62860117e-01 1.67139823e+02] [-5.93179101e-01 7.95466201e-01 -1.23984180e-01 -5.44828050e+01] [-2.04683878e-01 -6.91363495e-05 9.78828129e-01 -1.72174416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.056875 meters 0.014046076228310344 Centerline is valid? [True, True] Translation: X:167.17, Y:-54.50, Z:-17.22 [[ 7.75875875e-01 6.09553621e-01 1.62668402e-01 1.67167854e+02] [-5.96827232e-01 7.92744277e-01 -1.23910319e-01 -5.44988406e+01] [-2.04484428e-01 -9.45905284e-04 9.78869360e-01 -1.72241869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.086875 meters 0.014201904459537102 Centerline is valid? [True, True] Translation: X:167.19, Y:-54.52, Z:-17.23 [[ 7.74707186e-01 6.11014793e-01 1.62756563e-01 1.67194393e+02] [-5.98291157e-01 7.91618154e-01 -1.24049950e-01 -5.45168504e+01] [-2.04637404e-01 -1.27342495e-03 9.78837020e-01 -1.72307369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.116875 meters 0.014250184463233954 Centerline is valid? [True, True] Translation: X:167.22, Y:-54.54, Z:-17.24 [[ 7.73902999e-01 6.12024063e-01 1.62790341e-01 1.67221025e+02] [-5.99301958e-01 7.90837752e-01 -1.24148347e-01 -5.45350664e+01] [-2.04722523e-01 -1.48179222e-03 9.78818928e-01 -1.72385299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.146875 meters 0.014367900778207352 Centerline is valid? [True, True] Translation: X:167.25, Y:-54.55, Z:-17.25 [[ 7.73058926e-01 6.13106392e-01 1.62728148e-01 1.67247219e+02] [-6.00402555e-01 7.89998502e-01 -1.24173825e-01 -5.45531509e+01] [-2.04686759e-01 -1.70871175e-03 9.78826037e-01 -1.72454581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.176875 meters 0.014200810306180657 Centerline is valid? [True, True] Translation: X:167.27, Y:-54.57, Z:-17.25 [[ 7.73737006e-01 6.12511111e-01 1.61744198e-01 1.67272658e+02] [-5.99934265e-01 7.90460586e-01 -1.23494694e-01 -5.45722418e+01] [-2.03494285e-01 -1.48347184e-03 9.79075010e-01 -1.72538161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.206875 meters 0.014061481578896244 Centerline is valid? [True, True] Translation: X:167.30, Y:-54.59, Z:-17.26 [[ 7.74163161e-01 6.11838569e-01 1.62249700e-01 1.67297509e+02] [-5.99152161e-01 7.90981668e-01 -1.23954382e-01 -5.45910743e+01] [-2.04176610e-01 -1.25134228e-03 9.78933269e-01 -1.72607899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.236875 meters 0.013889232886460962 Centerline is valid? [True, True] Translation: X:167.32, Y:-54.61, Z:-17.27 [[ 7.74102494e-01 6.11652055e-01 1.63239374e-01 1.67323000e+02] [-5.98791209e-01 7.91126047e-01 -1.24774455e-01 -5.46102240e+01] [-2.05461473e-01 -1.15808527e-03 9.78664520e-01 -1.72667223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.266875 meters 0.01383623332727073 Centerline is valid? [True, True] Translation: X:167.35, Y:-54.63, Z:-17.27 [[ 7.74184770e-01 6.11162179e-01 1.64677665e-01 1.67348599e+02] [-5.98046440e-01 7.91504783e-01 -1.25939010e-01 -5.46292565e+01] [-2.07312319e-01 -9.84827428e-04 9.78274314e-01 -1.72723577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.296875 meters 0.013830537977385482 Centerline is valid? [True, True] Translation: X:167.37, Y:-54.65, Z:-17.28 [[ 7.74382980e-01 6.10797181e-01 1.65099376e-01 1.67373179e+02] [-5.97591508e-01 7.91786652e-01 -1.26326110e-01 -5.46482920e+01] [-2.07883114e-01 -8.37196071e-04 9.78153316e-01 -1.72786588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.326875 meters 0.013789142173712871 Centerline is valid? [True, True] Translation: X:167.40, Y:-54.67, Z:-17.28 [[ 7.74375785e-01 6.10668737e-01 1.65607478e-01 1.67398996e+02] [-5.97363116e-01 7.91885807e-01 -1.26783973e-01 -5.46685426e+01] [-2.08565220e-01 -7.49360545e-04 9.78008174e-01 -1.72847509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.356875 meters 0.01372257136963753 Centerline is valid? [True, True] Translation: X:167.42, Y:-54.69, Z:-17.29 [[ 7.74238770e-01 6.10812181e-01 1.65719059e-01 1.67424329e+02] [-5.97475866e-01 7.91775188e-01 -1.26943457e-01 -5.46878319e+01] [-2.08750849e-01 -7.28591732e-04 9.77968585e-01 -1.72917181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.386875 meters 0.013854443973031937 Centerline is valid? [True, True] Translation: X:167.45, Y:-54.71, Z:-17.30 [[ 7.73374186e-01 6.11874266e-01 1.65838024e-01 1.67450618e+02] [-5.98526929e-01 7.90954466e-01 -1.27108409e-01 -5.47055234e+01] [-2.08944690e-01 -9.56160504e-04 9.77926992e-01 -1.72991319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.416875 meters 0.013941453318555409 Centerline is valid? [True, True] Translation: X:167.48, Y:-54.72, Z:-17.31 [[ 7.72505592e-01 6.12919381e-01 1.66026935e-01 1.67476601e+02] [-5.99549193e-01 7.90144569e-01 -1.27327632e-01 -5.47237811e+01] [-2.09226854e-01 -1.18000696e-03 9.77866418e-01 -1.73062825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.446875 meters 0.01400918257383614 Centerline is valid? [True, True] Translation: X:167.50, Y:-54.74, Z:-17.31 [[ 7.71692748e-01 6.13975654e-01 1.65904184e-01 1.67502763e+02] [-6.00633554e-01 7.89323712e-01 -1.27308331e-01 -5.47422315e+01] [-2.09116322e-01 -1.40470409e-03 9.77889764e-01 -1.73138317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47687499999998 meters 0.014059514909054438 Centerline is valid? [True, True] Translation: X:167.53, Y:-54.76, Z:-17.32 [[ 7.71071773e-01 6.14935095e-01 1.65236650e-01 1.67528409e+02] [-6.01707452e-01 7.88576105e-01 -1.26869495e-01 -5.47605193e+01] [-2.08318179e-01 -1.59863797e-03 9.78059804e-01 -1.73212672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50687499999998 meters 0.014339172944852653 Centerline is valid? [True, True] Translation: X:167.55, Y:-54.78, Z:-17.33 [[ 7.70456687e-01 6.16047342e-01 1.63957817e-01 1.67553227e+02] [-6.03036445e-01 7.87707005e-01 -1.25955231e-01 -5.47770205e+01] [-2.06745106e-01 -1.82948901e-03 9.78393129e-01 -1.73295579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53687499999998 meters 0.01408527827562133 Centerline is valid? [True, True] Translation: X:167.58, Y:-54.80, Z:-17.34 [[ 7.70199036e-01 6.16482582e-01 1.63531864e-01 1.67578424e+02] [-6.03537531e-01 7.87366265e-01 -1.25685376e-01 -5.47967723e+01] [-2.06242318e-01 -1.89486160e-03 9.78499114e-01 -1.73363459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56687499999998 meters 0.014156754047733684 Centerline is valid? [True, True] Translation: X:167.60, Y:-54.82, Z:-17.34 [[ 7.69434315e-01 6.17163225e-01 1.64561201e-01 1.67604294e+02] [-6.04052289e-01 7.86832531e-01 -1.26551968e-01 -5.48156834e+01] [-2.07585327e-01 -2.03014275e-03 9.78214808e-01 -1.73423350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59687499999998 meters 0.014510042856700888 Centerline is valid? [True, True] Translation: X:167.63, Y:-54.83, Z:-17.35 [[ 7.69220648e-01 6.17335453e-01 1.64913714e-01 1.67629122e+02] [-6.04155744e-01 7.86697434e-01 -1.26897537e-01 -5.48337209e+01] [-2.08075544e-01 -2.02136207e-03 9.78110670e-01 -1.73492603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62687499999998 meters 0.014023193390682254 Centerline is valid? [True, True] Translation: X:167.65, Y:-54.85, Z:-17.36 [[ 7.69445552e-01 6.16844088e-01 1.65701278e-01 1.67653751e+02] [-6.03510358e-01 7.87083212e-01 -1.27574544e-01 -5.48542361e+01] [-2.09114297e-01 -1.84077258e-03 9.77889473e-01 -1.73552704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65687499999999 meters 0.014020618529941988 Centerline is valid? [True, True] Translation: X:167.68, Y:-54.87, Z:-17.36 [[ 7.69711771e-01 6.16356084e-01 1.66279787e-01 1.67677423e+02] [-6.02908308e-01 7.87465775e-01 -1.28059460e-01 -5.48727505e+01] [-2.09869869e-01 -1.68259127e-03 9.77727880e-01 -1.73614106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.686875 meters 0.013836637330756898 Centerline is valid? [True, True] Translation: X:167.70, Y:-54.89, Z:-17.37 [[ 7.70058736e-01 6.15791932e-01 1.66762822e-01 1.67700616e+02] [-6.02243822e-01 7.87907378e-01 -1.28469225e-01 -5.48923034e+01] [-2.10503970e-01 -1.50303044e-03 9.77591847e-01 -1.73674793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.716875 meters 0.0138086000518602 Centerline is valid? [True, True] Translation: X:167.73, Y:-54.91, Z:-17.37 [[ 7.70050120e-01 6.15801677e-01 1.66766626e-01 1.67725661e+02] [-6.02245307e-01 7.87899813e-01 -1.28508656e-01 -5.49126882e+01] [-2.10531239e-01 -1.47631229e-03 9.77586016e-01 -1.73741138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.746875 meters 0.013785562206202947 Centerline is valid? [True, True] Translation: X:167.75, Y:-54.93, Z:-17.38 [[ 7.70016437e-01 6.15848920e-01 1.66747700e-01 1.67750715e+02] [-6.02280799e-01 7.87862973e-01 -1.28568172e-01 -5.49327846e+01] [-2.10552908e-01 -1.42933241e-03 9.77581419e-01 -1.73812463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.776875 meters 0.013851708829209051 Centerline is valid? [True, True] Translation: X:167.78, Y:-54.95, Z:-17.39 [[ 7.69992485e-01 6.15816373e-01 1.66978344e-01 1.67775468e+02] [-6.02193237e-01 7.87888533e-01 -1.28821446e-01 -5.49514777e+01] [-2.10890678e-01 -1.36168408e-03 9.77508705e-01 -1.73892695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.806875 meters 0.013908211370731227 Centerline is valid? [True, True] Translation: X:167.80, Y:-54.97, Z:-17.40 [[ 7.69489777e-01 6.16274539e-01 1.67604223e-01 1.67800058e+02] [-6.02543384e-01 7.87530082e-01 -1.29374805e-01 -5.49698183e+01] [-2.11723765e-01 -1.43622546e-03 9.77328494e-01 -1.73970747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.836875 meters 0.013791972144281158 Centerline is valid? [True, True] Translation: X:167.82, Y:-54.99, Z:-17.40 [[ 7.69503869e-01 6.16398226e-01 1.67083879e-01 1.67824684e+02] [-6.02740177e-01 7.87433330e-01 -1.29046620e-01 -5.49898959e+01] [-2.11111523e-01 -1.40629374e-03 9.77460970e-01 -1.74047195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.866875 meters 0.013746527546338719 Centerline is valid? [True, True] Translation: X:167.85, Y:-55.01, Z:-17.41 [[ 7.69016579e-01 6.17020887e-01 1.67029117e-01 1.67849408e+02] [-6.03370292e-01 7.86945313e-01 -1.29078910e-01 -5.50106772e+01] [-2.11087165e-01 -1.51658567e-03 9.77466065e-01 -1.74111601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.896875 meters 0.013738578288167387 Centerline is valid? [True, True] Translation: X:167.87, Y:-55.03, Z:-17.42 [[ 7.68797937e-01 6.17446545e-01 1.66461694e-01 1.67873216e+02] [-6.03882964e-01 7.86611284e-01 -1.28716952e-01 -5.50310738e+01] [-2.10416485e-01 -1.56605411e-03 9.77610582e-01 -1.74180473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.926875 meters 0.013867958399448885 Centerline is valid? [True, True] Translation: X:167.90, Y:-55.05, Z:-17.43 [[ 7.68481234e-01 6.17931668e-01 1.66123588e-01 1.67897945e+02] [-6.04419590e-01 7.86230101e-01 -1.28526992e-01 -5.50508091e+01] [-2.10032264e-01 -1.63776954e-03 9.77693084e-01 -1.74258935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.956875 meters 0.013862029777348399 Centerline is valid? [True, True] Translation: X:167.92, Y:-55.07, Z:-17.43 [[ 7.68276305e-01 6.18264182e-01 1.65834015e-01 1.67922174e+02] [-6.04791079e-01 7.85968594e-01 -1.28378812e-01 -5.50698169e+01] [-2.09712349e-01 -1.66453334e-03 9.77761709e-01 -1.74333176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.986875 meters 0.014058885947923497 Centerline is valid? [True, True] Translation: X:167.95, Y:-55.09, Z:-17.44 [[ 7.67506426e-01 6.19289106e-01 1.65574425e-01 1.67947260e+02] [-6.05867075e-01 7.85160781e-01 -1.28248335e-01 -5.50898819e+01] [-2.09425341e-01 -1.88467165e-03 9.77822824e-01 -1.74411297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.016875 meters 0.014189328353801005 Centerline is valid? [True, True] Translation: X:167.97, Y:-55.11, Z:-17.45 [[ 7.67114638e-01 6.19769006e-01 1.65594418e-01 1.67971947e+02] [-6.06338731e-01 7.84781851e-01 -1.28338577e-01 -5.51091140e+01] [-2.09495767e-01 -1.95590812e-03 9.77807598e-01 -1.74485181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.046875 meters 0.014288355786356769 Centerline is valid? [True, True] Translation: X:168.00, Y:-55.13, Z:-17.45 [[ 7.67156149e-01 6.19597252e-01 1.66044236e-01 1.67995427e+02] [-6.06073861e-01 7.84917700e-01 -1.28758222e-01 -5.51289788e+01] [-2.10109300e-01 -1.85740965e-03 9.77676139e-01 -1.74548658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.076875 meters 0.014193754111654364 Centerline is valid? [True, True] Translation: X:168.02, Y:-55.15, Z:-17.46 [[ 7.66856592e-01 6.20025137e-01 1.65830625e-01 1.68020254e+02] [-6.06539132e-01 7.84579539e-01 -1.28628258e-01 -5.51492749e+01] [-2.09860068e-01 -1.94333559e-03 9.77729500e-01 -1.74608224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.106875 meters 0.014454875068161337 Centerline is valid? [True, True] Translation: X:168.04, Y:-55.17, Z:-17.47 [[ 7.66283336e-01 6.20575393e-01 1.66421242e-01 1.68044694e+02] [-6.06988840e-01 7.84144127e-01 -1.29160895e-01 -5.51681043e+01] [-2.10652313e-01 -2.04199513e-03 9.77558916e-01 -1.74669431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.136875 meters 0.014525178425892857 Centerline is valid? [True, True] Translation: X:168.07, Y:-55.19, Z:-17.47 [[ 7.66070189e-01 6.20724779e-01 1.66844881e-01 1.68069831e+02] [-6.07056702e-01 7.84025902e-01 -1.29559039e-01 -5.51876232e+01] [-2.11231214e-01 -2.03298640e-03 9.77434009e-01 -1.74734477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.166875 meters 0.014561998641102905 Centerline is valid? [True, True] Translation: X:168.09, Y:-55.21, Z:-17.48 [[ 7.65965238e-01 6.20859566e-01 1.66825219e-01 1.68094764e+02] [-6.07182059e-01 7.83919227e-01 -1.29617100e-01 -5.52059697e+01] [-2.11251514e-01 -2.01108721e-03 9.77429667e-01 -1.74819435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.196875 meters 0.014561998641102905 Centerline is valid? [True, True] Translation: X:168.12, Y:-55.23, Z:-17.49 [[ 7.65801740e-01 6.21070064e-01 1.66792298e-01 1.68119666e+02] [-6.07388268e-01 7.83752460e-01 -1.29659450e-01 -5.52254547e+01] [-2.11251477e-01 -2.01425199e-03 9.77429668e-01 -1.74889009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22687499999998 meters 0.014502245057019674 Centerline is valid? [True, True] Translation: X:168.14, Y:-55.25, Z:-17.50 [[ 7.66057582e-01 6.20799894e-01 1.66623144e-01 1.68144705e+02] [-6.07124297e-01 7.83966809e-01 -1.29599885e-01 -5.52453087e+01] [-2.11082610e-01 -1.87998439e-03 9.77466418e-01 -1.74970234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25687499999998 meters 0.014288580870681227 Centerline is valid? [True, True] Translation: X:168.17, Y:-55.27, Z:-17.50 [[ 7.66044972e-01 6.20828915e-01 1.66572983e-01 1.68169255e+02] [-6.07146793e-01 7.83943946e-01 -1.29632795e-01 -5.52654818e+01] [-2.11063669e-01 -1.82970205e-03 9.77470603e-01 -1.75045178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28687499999998 meters 0.014316060488247333 Centerline is valid? [True, True] Translation: X:168.19, Y:-55.28, Z:-17.51 [[ 7.66352688e-01 6.20576134e-01 1.66098825e-01 1.68193594e+02] [-6.06950858e-01 7.84144366e-01 -1.29337810e-01 -5.52842696e+01] [-2.10509415e-01 -1.69544598e-03 9.77590360e-01 -1.75116030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31687499999998 meters 0.013809034492598942 Centerline is valid? [True, True] Translation: X:168.22, Y:-55.31, Z:-17.52 [[ 7.69431753e-01 6.17201502e-01 1.64429570e-01 1.68215510e+02] [-6.03760662e-01 7.86804808e-01 -1.28106424e-01 -5.53054760e+01] [-2.08441454e-01 -7.06955335e-04 9.78034591e-01 -1.75205168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34687499999998 meters 0.013712704620473158 Centerline is valid? [True, True] Translation: X:168.24, Y:-55.33, Z:-17.53 [[ 7.71083039e-01 6.15166568e-01 1.64319933e-01 1.68239229e+02] [-6.01690936e-01 7.88397157e-01 -1.28054444e-01 -5.53273388e+01] [-2.08324180e-01 -1.29204532e-04 9.78059824e-01 -1.75266272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37687499999998 meters 0.013805858145109765 Centerline is valid? [True, True] Translation: X:168.26, Y:-55.35, Z:-17.53 [[ 7.72458744e-01 6.13498950e-01 1.64093045e-01 1.68263232e+02] [-6.00008068e-01 7.89695444e-01 -1.27950864e-01 -5.53493587e+01] [-2.08081250e-01 3.79612766e-04 9.78111471e-01 -1.75326935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40687499999999 meters 0.014122956884454734 Centerline is valid? [True, True] Translation: X:168.29, Y:-55.37, Z:-17.54 [[ 7.75360550e-01 6.09741746e-01 1.64411131e-01 1.68285825e+02] [-5.96098090e-01 7.92598821e-01 -1.28273834e-01 -5.53718157e+01] [-2.08525980e-01 1.45330957e-03 9.78015748e-01 -1.75391810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.436875 meters 0.01445317964707021 Centerline is valid? [True, True] Translation: X:168.31, Y:-55.39, Z:-17.55 [[ 7.76406071e-01 6.08341050e-01 1.64665659e-01 1.68309005e+02] [-5.94607602e-01 7.93673474e-01 -1.28546553e-01 -5.53920425e+01] [-2.08890910e-01 1.89287161e-03 9.77937117e-01 -1.75461411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.466875 meters 0.0146940816838765 Centerline is valid? [True, True] Translation: X:168.33, Y:-55.41, Z:-17.55 [[ 7.76952624e-01 6.07456470e-01 1.65351921e-01 1.68334174e+02] [-5.93573957e-01 7.94349949e-01 -1.29143784e-01 -5.54129028e+01] [-2.09796517e-01 2.19000788e-03 9.77742617e-01 -1.75525198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.496875 meters 0.014763909593333693 Centerline is valid? [True, True] Translation: X:168.36, Y:-55.43, Z:-17.56 [[ 7.77444305e-01 6.06737533e-01 1.65680170e-01 1.68359599e+02] [-5.92767120e-01 7.94898464e-01 -1.29474220e-01 -5.54333222e+01] [-2.10255782e-01 2.44923784e-03 9.77643344e-01 -1.75589566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.526875 meters 0.014989203760412384 Centerline is valid? [True, True] Translation: X:168.38, Y:-55.45, Z:-17.57 [[ 7.77285669e-01 6.06924160e-01 1.65740923e-01 1.68383495e+02] [-5.92931391e-01 7.94755943e-01 -1.29596902e-01 -5.54529280e+01] [-2.10379074e-01 2.46081868e-03 9.77616791e-01 -1.75660260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.556875 meters 0.014864140645608068 Centerline is valid? [True, True] Translation: X:168.41, Y:-55.47, Z:-17.57 [[ 7.77156944e-01 6.07179400e-01 1.65409370e-01 1.68408314e+02] [-5.93233897e-01 7.94561014e-01 -1.29407644e-01 -5.54726661e+01] [-2.10001492e-01 2.44360414e-03 9.77698012e-01 -1.75727002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.586875 meters 0.014968174173792384 Centerline is valid? [True, True] Translation: X:168.43, Y:-55.49, Z:-17.58 [[ 7.77018424e-01 6.07450877e-01 1.65063021e-01 1.68433532e+02] [-5.93554769e-01 7.94353544e-01 -1.29209840e-01 -5.54924131e+01] [-2.09607027e-01 2.42448315e-03 9.77782704e-01 -1.75805056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.616875 meters 0.0149331116974935 Centerline is valid? [True, True] Translation: X:168.46, Y:-55.51, Z:-17.59 [[ 7.76973067e-01 6.07683991e-01 1.64417212e-01 1.68458586e+02] [-5.93887308e-01 7.94175267e-01 -1.28776981e-01 -5.55118879e+01] [-2.08831793e-01 2.41095046e-03 9.77948603e-01 -1.75884232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.646875 meters 0.014808646388696755 Centerline is valid? [True, True] Translation: X:168.48, Y:-55.53, Z:-17.60 [[ 7.76669948e-01 6.08097268e-01 1.64321344e-01 1.68484195e+02] [-5.94310434e-01 7.93859027e-01 -1.28774819e-01 -5.55315488e+01] [-2.08755598e-01 2.35764313e-03 9.77965000e-01 -1.75961723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.676875 meters 0.014873374437354295 Centerline is valid? [True, True] Translation: X:168.51, Y:-55.55, Z:-17.60 [[ 7.76138789e-01 6.08794648e-01 1.64248763e-01 1.68508667e+02] [-5.95019939e-01 7.93324719e-01 -1.28791156e-01 -5.55510160e+01] [-2.08709971e-01 2.22852274e-03 9.77975042e-01 -1.76033407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.706875 meters 0.014445976039762007 Centerline is valid? [True, True] Translation: X:168.53, Y:-55.57, Z:-17.61 [[ 7.74661594e-01 6.10625469e-01 1.64426127e-01 1.68534940e+02] [-5.96846587e-01 7.91917495e-01 -1.28999351e-01 -5.55691110e+01] [-2.08982216e-01 1.79367011e-03 9.77917796e-01 -1.76102611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.736875 meters 0.014205129565628572 Centerline is valid? [True, True] Translation: X:168.56, Y:-55.59, Z:-17.62 [[ 7.72966843e-01 6.12806541e-01 1.64287562e-01 1.68561186e+02] [-5.99091801e-01 7.90232005e-01 -1.28927859e-01 -5.55863171e+01] [-2.08833125e-01 1.23362822e-03 9.77950512e-01 -1.76173434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.766875 meters 0.014212832136201007 Centerline is valid? [True, True] Translation: X:168.59, Y:-55.61, Z:-17.63 [[ 7.71935996e-01 6.14209338e-01 1.63895417e-01 1.68587513e+02] [-6.00578258e-01 7.89142618e-01 -1.28684435e-01 -5.56050966e+01] [-2.08376040e-01 9.04123359e-04 9.78048367e-01 -1.76250614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.796875 meters 0.014053494779642116 Centerline is valid? [True, True] Translation: X:168.61, Y:-55.62, Z:-17.63 [[ 7.70975987e-01 6.15782404e-01 1.62505564e-01 1.68613443e+02] [-6.02403211e-01 7.87916078e-01 -1.27666069e-01 -5.56243441e+01] [-2.06655266e-01 5.33600317e-04 9.78413674e-01 -1.76332102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.826875 meters 0.014096291258406496 Centerline is valid? [True, True] Translation: X:168.64, Y:-55.64, Z:-17.64 [[ 7.70541995e-01 6.16477735e-01 1.61926640e-01 1.68637973e+02] [-6.03194415e-01 7.87372236e-01 -1.27284951e-01 -5.56434226e+01] [-2.05964879e-01 4.05155462e-04 9.78559300e-01 -1.76410887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.856875 meters 0.014115754117396217 Centerline is valid? [True, True] Translation: X:168.66, Y:-55.66, Z:-17.65 [[ 7.69852318e-01 6.17333629e-01 1.61946284e-01 1.68663287e+02] [-6.04051339e-01 7.86701428e-01 -1.27368923e-01 -5.56629767e+01] [-2.06032493e-01 2.31391011e-04 9.78545123e-01 -1.76481368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.886875 meters 0.01402217215949873 Centerline is valid? [True, True] Translation: X:168.69, Y:-55.68, Z:-17.66 [[ 7.68633040e-01 6.18884217e-01 1.61819579e-01 1.68688815e+02] [-6.05641683e-01 7.85482215e-01 -1.27341437e-01 -5.56817282e+01] [-2.05916007e-01 -1.25846614e-04 9.78569662e-01 -1.76552130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.916875 meters 0.0140453719505941 Centerline is valid? [True, True] Translation: X:168.71, Y:-55.70, Z:-17.66 [[ 7.67786050e-01 6.19860414e-01 1.62103821e-01 1.68714399e+02] [-6.06577113e-01 7.84712022e-01 -1.27637173e-01 -5.57010171e+01] [-2.06322049e-01 -3.30426592e-04 9.78484084e-01 -1.76627382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.946875 meters 0.014133009438149867 Centerline is valid? [True, True] Translation: X:168.74, Y:-55.72, Z:-17.67 [[ 7.67151272e-01 6.20663238e-01 1.62037252e-01 1.68740104e+02] [-6.07393455e-01 7.84077105e-01 -1.27656901e-01 -5.57199624e+01] [-2.06281645e-01 -4.88211847e-04 9.78492537e-01 -1.76695479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97687499999998 meters 0.014263813793379135 Centerline is valid? [True, True] Translation: X:168.77, Y:-55.74, Z:-17.68 [[ 7.65711662e-01 6.22490653e-01 1.61836452e-01 1.68765580e+02] [-6.09278843e-01 7.82626693e-01 -1.27572532e-01 -5.57368761e+01] [-2.06070235e-01 -9.19750841e-04 9.78536771e-01 -1.76773747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00687499999998 meters 0.014232194768082018 Centerline is valid? [True, True] Translation: X:168.79, Y:-55.76, Z:-17.68 [[ 7.65311150e-01 6.23068648e-01 1.61506359e-01 1.68790882e+02] [-6.09909619e-01 7.82166493e-01 -1.27380665e-01 -5.57562486e+01] [-2.05691761e-01 -1.01843924e-03 9.78616300e-01 -1.76841910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03687499999998 meters 0.01434185168678607 Centerline is valid? [True, True] Translation: X:168.82, Y:-55.77, Z:-17.69 [[ 7.64503397e-01 6.24073676e-01 1.61451550e-01 1.68815469e+02] [-6.10930240e-01 7.81364535e-01 -1.27411562e-01 -5.57746838e+01] [-2.05666717e-01 -1.22906228e-03 9.78621322e-01 -1.76912041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.06687499999998 meters 0.014406824442273702 Centerline is valid? [True, True] Translation: X:168.84, Y:-55.80, Z:-17.70 [[ 7.63838919e-01 6.24846046e-01 1.61609175e-01 1.68841056e+02] [-6.11679368e-01 7.80746761e-01 -1.27604257e-01 -5.57950364e+01] [-2.05908855e-01 -1.38390035e-03 9.78570196e-01 -1.76970713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09687499999998 meters 0.014582805189543933 Centerline is valid? [True, True] Translation: X:168.87, Y:-55.81, Z:-17.70 [[ 7.63079881e-01 6.25812345e-01 1.61455886e-01 1.68866696e+02] [-6.12676582e-01 7.79972052e-01 -1.27557849e-01 -5.58129603e+01] [-2.05758355e-01 -1.58341202e-03 9.78601549e-01 -1.77039458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12687499999998 meters 0.014550793828556194 Centerline is valid? [True, True] Translation: X:168.89, Y:-55.83, Z:-17.71 [[ 7.62679203e-01 6.26226937e-01 1.61741328e-01 1.68892367e+02] [-6.13038828e-01 7.79639098e-01 -1.27852537e-01 -5.58329401e+01] [-2.06164566e-01 -1.64324319e-03 9.78515954e-01 -1.77111652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15687499999999 meters 0.01453540753636357 Centerline is valid? [True, True] Translation: X:168.92, Y:-55.85, Z:-17.72 [[ 7.62311115e-01 6.26699718e-01 1.61645378e-01 1.68917468e+02] [-6.13522536e-01 7.79258964e-01 -1.27849772e-01 -5.58525345e+01] [-2.06087026e-01 -1.71177972e-03 9.78532170e-01 -1.77183185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.186875 meters 0.014578088884519561 Centerline is valid? [True, True] Translation: X:168.94, Y:-55.87, Z:-17.73 [[ 7.62035571e-01 6.27163889e-01 1.61143551e-01 1.68942727e+02] [-6.14063960e-01 7.78885303e-01 -1.27527012e-01 -5.58720485e+01] [-2.05492680e-01 -1.77232712e-03 9.78657048e-01 -1.77261321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.216875 meters 0.014838276658076273 Centerline is valid? [True, True] Translation: X:168.97, Y:-55.89, Z:-17.73 [[ 7.61425055e-01 6.28005740e-01 1.60750352e-01 1.68968048e+02] [-6.14973446e-01 7.78206298e-01 -1.27289503e-01 -5.58920302e+01] [-2.05035476e-01 -1.93578119e-03 9.78752628e-01 -1.77338746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.246875 meters 0.01489413147454507 Centerline is valid? [True, True] Translation: X:168.99, Y:-55.91, Z:-17.74 [[ 7.61166713e-01 6.28417138e-01 1.60365629e-01 1.68993113e+02] [-6.15441453e-01 7.77874005e-01 -1.27058450e-01 -5.59123526e+01] [-2.04589962e-01 -1.98299310e-03 9.78845757e-01 -1.77411102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.276875 meters 0.015042537124405326 Centerline is valid? [True, True] Translation: X:169.02, Y:-55.93, Z:-17.75 [[ 7.60225227e-01 6.29654928e-01 1.59975861e-01 1.69018054e+02] [-6.16754764e-01 7.76871675e-01 -1.26822557e-01 -5.59321833e+01] [-2.04135163e-01 -2.25216780e-03 9.78940122e-01 -1.77472539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.306875 meters 0.015455437575720394 Centerline is valid? [True, True] Translation: X:169.04, Y:-55.95, Z:-17.76 [[ 7.59630994e-01 6.30457410e-01 1.59637740e-01 1.69042428e+02] [-6.17616186e-01 7.76220100e-01 -1.26619915e-01 -5.59499010e+01] [-2.03742486e-01 -2.41044026e-03 9.79021547e-01 -1.77551795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.336875 meters 0.015494279392640956 Centerline is valid? [True, True] Translation: X:169.07, Y:-55.97, Z:-17.76 [[ 7.58982460e-01 6.31258935e-01 1.59554948e-01 1.69067973e+02] [-6.18441474e-01 7.75567801e-01 -1.26588820e-01 -5.59692198e+01] [-2.03656004e-01 -2.59670322e-03 9.79039064e-01 -1.77628141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.366875 meters 0.015882663104680894 Centerline is valid? [True, True] Translation: X:169.09, Y:-55.99, Z:-17.77 [[ 7.58165508e-01 6.32322662e-01 1.59226614e-01 1.69092746e+02] [-6.19566637e-01 7.74700009e-01 -1.26400467e-01 -5.59877311e+01] [-2.03278739e-01 -2.81902394e-03 9.79116851e-01 -1.77702377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.396875 meters 0.015865923269380015 Centerline is valid? [True, True] Translation: X:169.12, Y:-56.01, Z:-17.78 [[ 7.57964302e-01 6.32572390e-01 1.59192616e-01 1.69118111e+02] [-6.19814447e-01 7.74496047e-01 -1.26435458e-01 -5.60080865e+01] [-2.03273631e-01 -2.83631963e-03 9.79117861e-01 -1.77772175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.426875 meters 0.01596247494113821 Centerline is valid? [True, True] Translation: X:169.14, Y:-56.03, Z:-17.78 [[ 7.57755995e-01 6.32778525e-01 1.59364958e-01 1.69143308e+02] [-6.19982266e-01 7.74327632e-01 -1.26644018e-01 -5.60288293e+01] [-2.03538306e-01 -2.83818436e-03 9.79062870e-01 -1.77835731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.456875 meters 0.015674643973270883 Centerline is valid? [True, True] Translation: X:169.17, Y:-56.05, Z:-17.79 [[ 7.57817912e-01 6.32772716e-01 1.59093376e-01 1.69167839e+02] [-6.20005511e-01 7.74332609e-01 -1.26499711e-01 -5.60497881e+01] [-2.03236755e-01 -2.77502356e-03 9.79125692e-01 -1.77900337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.486875 meters 0.015603498916685032 Centerline is valid? [True, True] Translation: X:169.19, Y:-56.07, Z:-17.80 [[ 7.57901932e-01 6.32593946e-01 1.59403768e-01 1.69191684e+02] [-6.19757078e-01 7.74479018e-01 -1.26820405e-01 -5.60692031e+01] [-2.03680694e-01 -2.67418355e-03 9.79033719e-01 -1.77967622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.516875 meters 0.014725593930280327 Centerline is valid? [True, True] Translation: X:169.21, Y:-56.09, Z:-17.80 [[ 7.60388935e-01 6.29532826e-01 1.59678077e-01 1.69214799e+02] [-6.16571663e-01 7.76971783e-01 -1.27099301e-01 -5.60917220e+01] [-2.04078542e-01 -1.80807526e-03 9.78952848e-01 -1.78029370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.546875 meters 0.014727733052717502 Centerline is valid? [True, True] Translation: X:169.24, Y:-56.11, Z:-17.81 [[ 7.60565971e-01 6.29094617e-01 1.60559545e-01 1.69239133e+02] [-6.15974015e-01 7.77326915e-01 -1.27823625e-01 -5.61102893e+01] [-2.05220410e-01 -1.68220830e-03 9.78714337e-01 -1.78089620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.576875 meters 0.014131797411268333 Centerline is valid? [True, True] Translation: X:169.26, Y:-56.13, Z:-17.82 [[ 7.64259617e-01 6.24738447e-01 1.60028470e-01 1.69261571e+02] [-6.11603259e-01 7.80833940e-01 -1.27435518e-01 -5.61332052e+01] [-2.04569528e-01 -4.80113809e-04 9.78851918e-01 -1.78162675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.606875 meters 0.014151947313704793 Centerline is valid? [True, True] Translation: X:169.28, Y:-56.15, Z:-17.82 [[ 7.66393066e-01 6.22114011e-01 1.60049444e-01 1.69284423e+02] [-6.08903400e-01 7.82926611e-01 -1.27524786e-01 -5.61549486e+01] [-2.04641925e-01 2.79460758e-04 9.78836863e-01 -1.78240275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.636875 meters 0.014372132510207436 Centerline is valid? [True, True] Translation: X:169.31, Y:-56.18, Z:-17.83 [[ 7.68519457e-01 6.19439193e-01 1.60227741e-01 1.69307983e+02] [-6.06127256e-01 7.85043941e-01 -1.27733159e-01 -5.61767298e+01] [-2.04908742e-01 1.04701686e-03 9.78780522e-01 -1.78306280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.666875 meters 0.01498857339903236 Centerline is valid? [True, True] Translation: X:169.33, Y:-56.20, Z:-17.84 [[ 7.72370023e-01 6.14602834e-01 1.60336843e-01 1.69330884e+02] [-6.01153906e-01 7.88833081e-01 -1.27891951e-01 -5.61996381e+01] [-2.05081762e-01 2.39279002e-03 9.78741920e-01 -1.78364611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.696875 meters 0.01575625276523833 Centerline is valid? [True, True] Translation: X:169.35, Y:-56.22, Z:-17.84 [[ 7.74194377e-01 6.12319679e-01 1.60273755e-01 1.69353412e+02] [-5.98817773e-01 7.90604373e-01 -1.27914038e-01 -5.62213820e+01] [-2.05037414e-01 3.05555552e-03 9.78749366e-01 -1.78428007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72687499999998 meters 0.016392829000485647 Centerline is valid? [True, True] Translation: X:169.38, Y:-56.24, Z:-17.85 [[ 7.75527117e-01 6.10576940e-01 1.60478945e-01 1.69375686e+02] [-5.96994203e-01 7.91948962e-01 -1.28120110e-01 -5.62419520e+01] [-2.05318319e-01 3.55561990e-03 9.78688789e-01 -1.78490139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75687499999998 meters 0.01673338815897613 Centerline is valid? [True, True] Translation: X:169.40, Y:-56.26, Z:-17.85 [[ 7.77330013e-01 6.08297526e-01 1.60412505e-01 1.69399289e+02] [-5.94665755e-01 7.93697956e-01 -1.28125695e-01 -5.62628125e+01] [-2.05257621e-01 4.20412478e-03 9.78698950e-01 -1.78543929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78687499999998 meters 0.017077440040568416 Centerline is valid? [True, True] Translation: X:169.42, Y:-56.28, Z:-17.86 [[ 7.77726324e-01 6.07741204e-01 1.60600106e-01 1.69423093e+02] [-5.94051984e-01 7.94122910e-01 -1.28339565e-01 -5.62830803e+01] [-2.05533465e-01 4.40824672e-03 9.78640160e-01 -1.78613796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81687499999998 meters 0.017545134843348898 Centerline is valid? [True, True] Translation: X:169.45, Y:-56.30, Z:-17.87 [[ 7.77717771e-01 6.07680967e-01 1.60869234e-01 1.69446900e+02] [-5.93930622e-01 7.94168584e-01 -1.28618339e-01 -5.63034650e+01] [-2.05916209e-01 4.48360356e-03 9.78559356e-01 -1.78685461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84687499999998 meters 0.01696217424390133 Centerline is valid? [True, True] Translation: X:169.47, Y:-56.32, Z:-17.88 [[ 7.77302041e-01 6.08276369e-01 1.60628131e-01 1.69472804e+02] [-5.94566009e-01 7.93713252e-01 -1.28493325e-01 -5.63223031e+01] [-2.05652129e-01 4.37409741e-03 9.78615384e-01 -1.78752026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87687499999998 meters 0.017059566262687186 Centerline is valid? [True, True] Translation: X:169.50, Y:-56.34, Z:-17.88 [[ 7.76412644e-01 6.09530832e-01 1.60173566e-01 1.69496344e+02] [-5.95909665e-01 7.92751812e-01 -1.28203880e-01 -5.63404994e+01] [-2.05122102e-01 4.09013732e-03 9.78727845e-01 -1.78829294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90687499999999 meters 0.016739964104608672 Centerline is valid? [True, True] Translation: X:169.52, Y:-56.36, Z:-17.89 [[ 7.75505655e-01 6.10656669e-01 1.60279167e-01 1.69520850e+02] [-5.97028630e-01 7.91886142e-01 -1.28347778e-01 -5.63592702e+01] [-2.05299278e-01 3.84317641e-03 9.78691696e-01 -1.78898895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.936875 meters 0.016099187676506126 Centerline is valid? [True, True] Translation: X:169.55, Y:-56.38, Z:-17.90 [[ 7.74728789e-01 6.11682781e-01 1.60123323e-01 1.69546218e+02] [-5.98090154e-01 7.91094865e-01 -1.28285163e-01 -5.63772838e+01] [-2.05142564e-01 3.61802642e-03 9.78725415e-01 -1.78963878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.966875 meters 0.015600296918124115 Centerline is valid? [True, True] Translation: X:169.57, Y:-56.40, Z:-17.90 [[ 7.73579108e-01 6.13155289e-01 1.60049853e-01 1.69571401e+02] [-5.99593010e-01 7.89955599e-01 -1.28290197e-01 -5.63955781e+01] [-2.05094090e-01 3.27784334e-03 9.78736773e-01 -1.79030738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.996875 meters 0.015638337077457244 Centerline is valid? [True, True] Translation: X:169.60, Y:-56.41, Z:-17.91 [[ 7.71035734e-01 6.16425468e-01 1.59760883e-01 1.69595638e+02] [-6.02968146e-01 7.87409425e-01 -1.28124208e-01 -5.64136554e+01] [-2.04776249e-01 2.45761937e-03 9.78805725e-01 -1.79110134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.026875 meters 0.014644567955244629 Centerline is valid? [True, True] Translation: X:169.62, Y:-56.43, Z:-17.92 [[ 7.69302261e-01 6.18560248e-01 1.59866355e-01 1.69622472e+02] [-6.05123030e-01 7.85735028e-01 -1.28244238e-01 -5.64307785e+01] [-2.04939382e-01 1.91976905e-03 9.78772785e-01 -1.79173180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.056875 meters 0.014175291769755792 Centerline is valid? [True, True] Translation: X:169.65, Y:-56.45, Z:-17.92 [[ 7.67439018e-01 6.20896460e-01 1.59765264e-01 1.69647992e+02] [-6.07513200e-01 7.83891429e-01 -1.28226122e-01 -5.64481654e+01] [-2.04853766e-01 1.34622198e-03 9.78791664e-01 -1.79245052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.086875 meters 0.014175291769755792 Centerline is valid? [True, True] Translation: X:169.67, Y:-56.47, Z:-17.93 [[ 7.67270411e-01 6.21112740e-01 1.59734404e-01 1.69672594e+02] [-6.07726117e-01 7.83720085e-01 -1.28264554e-01 -5.64680194e+01] [-2.04853809e-01 1.33882829e-03 9.78791666e-01 -1.79314604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.116875 meters 0.01395660695698349 Centerline is valid? [True, True] Translation: X:169.70, Y:-56.48, Z:-17.94 [[ 7.63676617e-01 6.25630861e-01 1.59323730e-01 1.69699822e+02] [-6.12395311e-01 7.80119216e-01 -1.28007784e-01 -5.64836992e+01] [-2.04377123e-01 1.87446523e-04 9.78892209e-01 -1.79398066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.146875 meters 0.014021195729299172 Centerline is valid? [True, True] Translation: X:169.73, Y:-56.50, Z:-17.95 [[ 7.61580320e-01 6.28255688e-01 1.59028950e-01 1.69726126e+02] [-6.15112912e-01 7.78006796e-01 -1.27834001e-01 -5.65016733e+01] [-2.04038042e-01 -4.64901510e-04 9.78962850e-01 -1.79475341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.176875 meters 0.014145334161594119 Centerline is valid? [True, True] Translation: X:169.75, Y:-56.52, Z:-17.95 [[ 7.59795337e-01 6.30463682e-01 1.58828811e-01 1.69752862e+02] [-6.17386849e-01 7.76218107e-01 -1.27745568e-01 -5.65200589e+01] [-2.03824740e-01 -9.98332110e-04 9.79006884e-01 -1.79548921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.206875 meters 0.014606204833268716 Centerline is valid? [True, True] Translation: X:169.78, Y:-56.54, Z:-17.96 [[ 7.56564112e-01 6.34330575e-01 1.58856747e-01 1.69779063e+02] [-6.21317622e-01 7.73059378e-01 -1.27842131e-01 -5.65369717e+01] [-2.03899870e-01 -1.97972799e-03 9.78989746e-01 -1.79605927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.236875 meters 0.01491082227373267 Centerline is valid? [True, True] Translation: X:169.80, Y:-56.55, Z:-17.97 [[ 7.55788641e-01 6.35353504e-01 1.58459633e-01 1.69803783e+02] [-6.22415981e-01 7.72218281e-01 -1.27582413e-01 -5.65548456e+01] [-2.03425358e-01 -2.20246895e-03 9.79087980e-01 -1.79684113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.266875 meters 0.015294055114255812 Centerline is valid? [True, True] Translation: X:169.83, Y:-56.57, Z:-17.98 [[ 7.54993156e-01 6.36350955e-01 1.58249158e-01 1.69828611e+02] [-6.23457432e-01 7.71395878e-01 -1.27472467e-01 -5.65724697e+01] [-2.03189974e-01 -2.42077366e-03 9.79136341e-01 -1.79759687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.296875 meters 0.015070110885136068 Centerline is valid? [True, True] Translation: X:169.85, Y:-56.59, Z:-17.98 [[ 7.54226843e-01 6.37195420e-01 1.58505095e-01 1.69853777e+02] [-6.24266069e-01 7.70697866e-01 -1.27736737e-01 -5.65929898e+01] [-2.03552802e-01 -2.60687687e-03 9.79060499e-01 -1.79828505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.326875 meters 0.015490184195206919 Centerline is valid? [True, True] Translation: X:169.88, Y:-56.61, Z:-17.99 [[ 7.53561408e-01 6.37986843e-01 1.58486570e-01 1.69878866e+02] [-6.25062349e-01 7.70042312e-01 -1.27796318e-01 -5.66112813e+01] [-2.03573734e-01 -2.76161481e-03 9.79055723e-01 -1.79908308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.356875 meters 0.0154047838211606 Centerline is valid? [True, True] Translation: X:169.90, Y:-56.63, Z:-18.00 [[ 7.53135579e-01 6.38513682e-01 1.58389011e-01 1.69903623e+02] [-6.25602424e-01 7.69605203e-01 -1.27786692e-01 -5.66319346e+01] [-2.03490558e-01 -2.84784525e-03 9.79072767e-01 -1.79969195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.386875 meters 0.015265402348787526 Centerline is valid? [True, True] Translation: X:169.93, Y:-56.65, Z:-18.00 [[ 7.52830635e-01 6.38813768e-01 1.58628509e-01 1.69928780e+02] [-6.25854179e-01 7.69356031e-01 -1.28054068e-01 -5.66524663e+01] [-2.03844502e-01 -2.87529010e-03 9.78999056e-01 -1.80033182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.416875 meters 0.01574181870259338 Centerline is valid? [True, True] Translation: X:169.95, Y:-56.67, Z:-18.01 [[ 7.52288668e-01 6.39203308e-01 1.59627351e-01 1.69953454e+02] [-6.26070767e-01 7.69032177e-01 -1.28937602e-01 -5.66701949e+01] [-2.05175911e-01 -2.93972162e-03 9.78720697e-01 -1.80098221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.446875 meters 0.01563380824642728 Centerline is valid? [True, True] Translation: X:169.98, Y:-56.69, Z:-18.02 [[ 7.52270426e-01 6.39173851e-01 1.59831141e-01 1.69977833e+02] [-6.25999192e-01 7.69056783e-01 -1.29138204e-01 -5.66906431e+01] [-2.05460986e-01 -2.90731306e-03 9.78660989e-01 -1.80161010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47687499999998 meters 0.015490339404359005 Centerline is valid? [True, True] Translation: X:170.00, Y:-56.71, Z:-18.02 [[ 7.52190043e-01 6.39183797e-01 1.60169325e-01 1.70002809e+02] [-6.25937538e-01 7.69048698e-01 -1.29484740e-01 -5.67115748e+01] [-2.05942558e-01 -2.85886109e-03 9.78559906e-01 -1.80228700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50687499999998 meters 0.01552041019030641 Centerline is valid? [True, True] Translation: X:170.03, Y:-56.73, Z:-18.03 [[ 7.51949782e-01 6.39420155e-01 1.60353955e-01 1.70028014e+02] [-6.26132550e-01 7.68852157e-01 -1.29708870e-01 -5.67314479e+01] [-2.06226949e-01 -2.86827424e-03 9.78499984e-01 -1.80301931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53687499999998 meters 0.01525139492822014 Centerline is valid? [True, True] Translation: X:170.05, Y:-56.75, Z:-18.04 [[ 7.51848726e-01 6.39357424e-01 1.61076310e-01 1.70052173e+02] [-6.25931256e-01 7.68904554e-01 -1.30368136e-01 -5.67517334e+01] [-2.07204144e-01 -2.80558039e-03 9.78293704e-01 -1.80363313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.56687499999998 meters 0.01586963262675535 Centerline is valid? [True, True] Translation: X:170.08, Y:-56.77, Z:-18.04 [[ 7.51875253e-01 6.39379542e-01 1.60864556e-01 1.70077205e+02] [-6.25975627e-01 7.68886340e-01 -1.30262465e-01 -5.67704416e+01] [-2.06973715e-01 -2.75616765e-03 9.78342621e-01 -1.80442386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59687499999998 meters 0.015274668528416453 Centerline is valid? [True, True] Translation: X:170.10, Y:-56.79, Z:-18.05 [[ 7.51937961e-01 6.39343488e-01 1.60714679e-01 1.70101147e+02] [-6.25949183e-01 7.68916560e-01 -1.30211150e-01 -5.67927935e+01] [-2.06825829e-01 -2.68851552e-03 9.78374084e-01 -1.80505359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62687499999998 meters 0.014974889302463691 Centerline is valid? [True, True] Translation: X:170.12, Y:-56.81, Z:-18.06 [[ 7.52600092e-01 6.38717670e-01 1.60102592e-01 1.70124980e+02] [-6.25396588e-01 7.69437292e-01 -1.29789681e-01 -5.68134760e+01] [-2.06087868e-01 -2.44788901e-03 9.78530428e-01 -1.80584601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65687499999999 meters 0.01501262490809539 Centerline is valid? [True, True] Translation: X:170.15, Y:-56.83, Z:-18.07 [[ 7.52670621e-01 6.38743488e-01 1.59667447e-01 1.70149111e+02] [-6.25480394e-01 7.69416043e-01 -1.29511499e-01 -5.68339312e+01] [-2.05575322e-01 -2.38935770e-03 9.78638380e-01 -1.80665647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.686875 meters 0.014715672979272384 Centerline is valid? [True, True] Translation: X:170.17, Y:-56.86, Z:-18.08 [[ 7.53928565e-01 6.37596144e-01 1.58312589e-01 1.70172179e+02] [-6.24519213e-01 7.70368196e-01 -1.28485780e-01 -5.68556332e+01] [-2.03881022e-01 -2.00015348e-03 9.78993630e-01 -1.80761658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.716875 meters 0.014536268239868285 Centerline is valid? [True, True] Translation: X:170.20, Y:-56.88, Z:-18.08 [[ 7.54178011e-01 6.37383879e-01 1.57978853e-01 1.70195801e+02] [-6.24342734e-01 7.70544128e-01 -1.28288334e-01 -5.68767683e+01] [-2.03498593e-01 -1.88070845e-03 9.79073432e-01 -1.80831973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.746875 meters 0.014468374894425602 Centerline is valid? [True, True] Translation: X:170.22, Y:-56.90, Z:-18.09 [[ 7.54520999e-01 6.36950583e-01 1.58088635e-01 1.70218544e+02] [-6.23866108e-01 7.70902746e-01 -1.28452460e-01 -5.68971877e+01] [-2.03688832e-01 -1.70606272e-03 9.79034192e-01 -1.80895407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.776875 meters 0.014396902109210711 Centerline is valid? [True, True] Translation: X:170.24, Y:-56.92, Z:-18.10 [[ 7.54671757e-01 6.36625053e-01 1.58679178e-01 1.70240436e+02] [-6.23421610e-01 7.71171874e-01 -1.28993944e-01 -5.69184638e+01] [-2.04489695e-01 -1.57594200e-03 9.78867448e-01 -1.80954785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.806875 meters 0.014293378027152004 Centerline is valid? [True, True] Translation: X:170.27, Y:-56.94, Z:-18.10 [[ 7.54360248e-01 6.36972421e-01 1.58766341e-01 1.70265018e+02] [-6.23754595e-01 7.70884838e-01 -1.29099851e-01 -5.69394929e+01] [-2.04623610e-01 -1.64343923e-03 9.78839352e-01 -1.81017147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.836875 meters 0.01446172322646777 Centerline is valid? [True, True] Translation: X:170.29, Y:-56.96, Z:-18.11 [[ 7.53589021e-01 6.37800279e-01 1.59104969e-01 1.70289702e+02] [-6.24528134e-01 7.70199658e-01 -1.29449204e-01 -5.69596783e+01] [-2.05105331e-01 -1.81403072e-03 9.78738225e-01 -1.81089260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.866875 meters 0.014297194478145911 Centerline is valid? [True, True] Translation: X:170.31, Y:-56.98, Z:-18.11 [[ 7.53426722e-01 6.37698821e-01 1.60275973e-01 1.70314356e+02] [-6.24209424e-01 7.70283840e-01 -1.30481418e-01 -5.69812489e+01] [-2.06665838e-01 -1.73758555e-03 9.78410043e-01 -1.81148929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.896875 meters 0.014288751198164504 Centerline is valid? [True, True] Translation: X:170.34, Y:-57.00, Z:-18.12 [[ 7.53000455e-01 6.38016398e-01 1.61013634e-01 1.70339379e+02] [-6.24390082e-01 7.70020752e-01 -1.31168090e-01 -5.70019815e+01] [-2.07671232e-01 -1.76568515e-03 9.78197087e-01 -1.81211913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.926875 meters 0.014338938327047806 Centerline is valid? [True, True] Translation: X:170.36, Y:-57.02, Z:-18.13 [[ 7.52486851e-01 6.38462150e-01 1.61646593e-01 1.70363854e+02] [-6.24721172e-01 7.69651032e-01 -1.31760185e-01 -5.70215132e+01] [-2.08535358e-01 -1.83624273e-03 9.78013105e-01 -1.81278486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.956875 meters 0.014280596616968077 Centerline is valid? [True, True] Translation: X:170.39, Y:-57.04, Z:-18.13 [[ 7.52183656e-01 6.38749788e-01 1.61921139e-01 1.70388675e+02] [-6.24953102e-01 7.69412265e-01 -1.32054483e-01 -5.70420502e+01] [-2.08933884e-01 -1.86389428e-03 9.77927992e-01 -1.81349066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.986875 meters 0.014135845053294628 Centerline is valid? [True, True] Translation: X:170.41, Y:-57.06, Z:-18.14 [[ 7.52546370e-01 6.38431876e-01 1.61489012e-01 1.70413296e+02] [-6.24686103e-01 7.69676434e-01 -1.31778069e-01 -5.70622118e+01] [-2.08425607e-01 -1.71083436e-03 9.78036727e-01 -1.81438179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.016875 meters 0.014106734345357185 Centerline is valid? [True, True] Translation: X:170.44, Y:-57.08, Z:-18.15 [[ 7.52372133e-01 6.38712626e-01 1.61190432e-01 1.70437842e+02] [-6.25008445e-01 7.69443438e-01 -1.31610177e-01 -5.70825554e+01] [-2.08088002e-01 -1.72555191e-03 9.78108586e-01 -1.81516056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.046875 meters 0.014194556148589877 Centerline is valid? [True, True] Translation: X:170.46, Y:-57.10, Z:-18.16 [[ 7.52287528e-01 6.38948326e-01 1.60650278e-01 1.70461901e+02] [-6.25326129e-01 7.69247724e-01 -1.31244700e-01 -5.71027376e+01] [-2.07438443e-01 -1.72506549e-03 9.78246552e-01 -1.81595663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.076875 meters 0.01402616985263382 Centerline is valid? [True, True] Translation: X:170.49, Y:-57.12, Z:-18.17 [[ 7.52400420e-01 6.38918818e-01 1.60238424e-01 1.70486067e+02] [-6.25350525e-01 7.69272391e-01 -1.30983624e-01 -5.71228539e+01] [-2.06954897e-01 -1.65304879e-03 9.78349088e-01 -1.81674006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.106875 meters 0.0142077338850711 Centerline is valid? [True, True] Translation: X:170.51, Y:-57.14, Z:-18.18 [[ 7.52732222e-01 6.38752002e-01 1.59342654e-01 1.70510407e+02] [-6.25317216e-01 7.69411145e-01 -1.30326012e-01 -5.71444612e+01] [-2.05846015e-01 -1.53911666e-03 9.78583185e-01 -1.81760462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.136875 meters 0.014070134685900576 Centerline is valid? [True, True] Translation: X:170.54, Y:-57.17, Z:-18.18 [[ 7.52679812e-01 6.38950669e-01 1.58792771e-01 1.70535115e+02] [-6.25594969e-01 7.69246216e-01 -1.29966123e-01 -5.71658240e+01] [-2.05192679e-01 -1.51708215e-03 9.78720421e-01 -1.81823828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.166875 meters 0.014101787858293816 Centerline is valid? [True, True] Translation: X:170.56, Y:-57.19, Z:-18.19 [[ 7.52419444e-01 6.39125109e-01 1.59323810e-01 1.70559374e+02] [-6.25666845e-01 7.69101303e-01 -1.30476761e-01 -5.71858593e+01] [-2.05927123e-01 -1.51037358e-03 9.78566165e-01 -1.81882619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.196875 meters 0.014038871593244538 Centerline is valid? [True, True] Translation: X:170.58, Y:-57.21, Z:-18.19 [[ 7.51976893e-01 6.39502470e-01 1.59897912e-01 1.70584600e+02] [-6.25939618e-01 7.68787449e-01 -1.31016994e-01 -5.72064873e+01] [-2.06713199e-01 -1.56468608e-03 9.78400330e-01 -1.81949173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22687499999998 meters 0.013906275790456843 Centerline is valid? [True, True] Translation: X:170.61, Y:-57.23, Z:-18.20 [[ 7.52246876e-01 6.39057240e-01 1.60407235e-01 1.70608561e+02] [-6.25380652e-01 7.69157929e-01 -1.31510910e-01 -5.72265743e+01] [-2.07421496e-01 -1.38691026e-03 9.78250683e-01 -1.82015926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25687499999998 meters 0.013741120795933044 Centerline is valid? [True, True] Translation: X:170.63, Y:-57.25, Z:-18.21 [[ 7.52405286e-01 6.38685517e-01 1.61143092e-01 1.70631949e+02] [-6.24858791e-01 7.69466881e-01 -1.32182487e-01 -5.72465280e+01] [-2.08417312e-01 -1.23687530e-03 9.78039209e-01 -1.82075012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28687499999998 meters 0.013708059288732597 Centerline is valid? [True, True] Translation: X:170.65, Y:-57.27, Z:-18.21 [[ 7.52732154e-01 6.38153267e-01 1.61724185e-01 1.70654863e+02] [-6.24199917e-01 7.69908642e-01 -1.32722065e-01 -5.72672928e+01] [-2.09209867e-01 -1.04405734e-03 9.77870207e-01 -1.82131562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31687499999998 meters 0.013679101883360837 Centerline is valid? [True, True] Translation: X:170.68, Y:-57.29, Z:-18.22 [[ 7.52987904e-01 6.37786211e-01 1.61981374e-01 1.70679523e+02] [-6.23764744e-01 7.70212931e-01 -1.33002202e-01 -5.72884599e+01] [-2.09587120e-01 -8.89220585e-04 9.77789573e-01 -1.82202219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34687499999998 meters 0.013655958890561294 Centerline is valid? [True, True] Translation: X:170.70, Y:-57.31, Z:-18.23 [[ 7.53226261e-01 6.37590974e-01 1.61641422e-01 1.70703723e+02] [-6.23608469e-01 7.70374682e-01 -1.32798068e-01 -5.73093921e+01] [-2.09195309e-01 -7.73966871e-04 9.77873573e-01 -1.82273165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37687499999998 meters 0.013611628858051016 Centerline is valid? [True, True] Translation: X:170.73, Y:-57.33, Z:-18.23 [[ 7.53593219e-01 6.37110353e-01 1.61826009e-01 1.70726765e+02] [-6.23068142e-01 7.70772379e-01 -1.33026424e-01 -5.73299001e+01] [-2.09483530e-01 -5.80819573e-04 9.77812003e-01 -1.82343664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40687499999999 meters 0.013534075257613342 Centerline is valid? [True, True] Translation: X:170.75, Y:-57.35, Z:-18.24 [[ 7.53618707e-01 6.37183168e-01 1.61420121e-01 1.70751653e+02] [-6.23198557e-01 7.70712213e-01 -1.32763861e-01 -5.73507851e+01] [-2.09003356e-01 -5.43457413e-04 9.77914772e-01 -1.82416511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.436875 meters 0.013550981948691325 Centerline is valid? [True, True] Translation: X:170.78, Y:-57.37, Z:-18.25 [[ 7.53688503e-01 6.37111360e-01 1.61377681e-01 1.70775731e+02] [-6.23116304e-01 7.70771626e-01 -1.32805014e-01 -5.73708771e+01] [-2.08996921e-01 -4.63451531e-04 9.77916189e-01 -1.82495946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.466875 meters 0.013684724202704376 Centerline is valid? [True, True] Translation: X:170.80, Y:-57.39, Z:-18.26 [[ 7.53865494e-01 6.36990246e-01 1.61028706e-01 1.70799923e+02] [-6.23038607e-01 7.70871771e-01 -1.32588111e-01 -5.73917259e+01] [-2.08589817e-01 -3.73498949e-04 9.78003144e-01 -1.82568334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.496875 meters 0.013735121113505114 Centerline is valid? [True, True] Translation: X:170.82, Y:-57.41, Z:-18.26 [[ 7.53933431e-01 6.37000497e-01 1.60669689e-01 1.70824255e+02] [-6.23095746e-01 7.70863326e-01 -1.32368518e-01 -5.74120705e+01] [-2.08173182e-01 -3.15548236e-04 9.78091932e-01 -1.82643403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.526875 meters 0.013638204943647139 Centerline is valid? [True, True] Translation: X:170.85, Y:-57.43, Z:-18.27 [[ 7.53816946e-01 6.37287929e-01 1.60075321e-01 1.70848214e+02] [-6.23476397e-01 7.70625711e-01 -1.31959068e-01 -5.74315319e+01] [-2.07454079e-01 -3.30202916e-04 9.78244702e-01 -1.82717480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.556875 meters 0.013712016632374997 Centerline is valid? [True, True] Translation: X:170.87, Y:-57.45, Z:-18.28 [[ 7.53490783e-01 6.37761105e-01 1.59726055e-01 1.70872772e+02] [-6.24006275e-01 7.70234126e-01 -1.31740500e-01 -5.74517492e+01] [-2.07045425e-01 -4.04807578e-04 9.78331247e-01 -1.82788718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.586875 meters 0.013702196151763955 Centerline is valid? [True, True] Translation: X:170.90, Y:-57.47, Z:-18.29 [[ 7.53212956e-01 6.38149971e-01 1.59483095e-01 1.70897631e+02] [-6.24430271e-01 7.69911950e-01 -1.31614687e-01 -5.74718777e+01] [-2.06777849e-01 -4.52185203e-04 9.78387815e-01 -1.82865002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.616875 meters 0.013734780649925298 Centerline is valid? [True, True] Translation: X:170.92, Y:-57.49, Z:-18.29 [[ 7.52674962e-01 6.38798799e-01 1.59425519e-01 1.70922071e+02] [-6.25087637e-01 7.69373621e-01 -1.31642230e-01 -5.74919123e+01] [-2.06750688e-01 -5.71110728e-04 9.78393493e-01 -1.82930898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.646875 meters 0.013816316636847164 Centerline is valid? [True, True] Translation: X:170.95, Y:-57.51, Z:-18.30 [[ 7.51735108e-01 6.39884817e-01 1.59504700e-01 1.70947178e+02] [-6.26169317e-01 7.68470401e-01 -1.31777199e-01 -5.75114568e+01] [-2.06896869e-01 -8.15402325e-04 9.78362418e-01 -1.82998968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.676875 meters 0.013670683282531522 Centerline is valid? [True, True] Translation: X:170.97, Y:-57.53, Z:-18.31 [[ 7.51410852e-01 6.40265700e-01 1.59504125e-01 1.70972281e+02] [-6.26542882e-01 7.68153039e-01 -1.31851907e-01 -5.75318098e+01] [-2.06943832e-01 -8.61220540e-04 9.78352446e-01 -1.83067686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.706875 meters 0.013769488622910005 Centerline is valid? [True, True] Translation: X:171.00, Y:-57.55, Z:-18.31 [[ 7.51369503e-01 6.40143084e-01 1.60189583e-01 1.70997081e+02] [-6.26281919e-01 7.68255320e-01 -1.32494233e-01 -5.75529767e+01] [-2.07881766e-01 -7.71713370e-04 9.78153657e-01 -1.83135911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.736875 meters 0.013729198774174476 Centerline is valid? [True, True] Translation: X:171.02, Y:-57.58, Z:-18.32 [[ 7.51642048e-01 6.39597060e-01 1.61089519e-01 1.71021327e+02] [-6.25549199e-01 7.68710142e-01 -1.33315106e-01 -5.75757344e+01] [-2.09099096e-01 -5.64180286e-04 9.77894294e-01 -1.83178862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.766875 meters 0.013671063079674443 Centerline is valid? [True, True] Translation: X:171.05, Y:-57.60, Z:-18.32 [[ 7.51853165e-01 6.39307858e-01 1.61252229e-01 1.71045194e+02] [-6.25206247e-01 7.68950772e-01 -1.33535985e-01 -5.75968494e+01] [-2.09365631e-01 -4.16447549e-04 9.77837338e-01 -1.83245713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.796875 meters 0.013641423876497074 Centerline is valid? [True, True] Translation: X:171.07, Y:-57.62, Z:-18.33 [[ 7.52093441e-01 6.39043799e-01 1.61178411e-01 1.71069174e+02] [-6.24940297e-01 7.69170285e-01 -1.33516657e-01 -5.76183142e+01] [-2.09296636e-01 -3.09882012e-04 9.77852147e-01 -1.83313078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.826875 meters 0.013631028562037035 Centerline is valid? [True, True] Translation: X:171.09, Y:-57.64, Z:-18.34 [[ 7.52754900e-01 6.38382263e-01 1.60711376e-01 1.71092282e+02] [-6.24330362e-01 7.69719483e-01 -1.33204795e-01 -5.76399479e+01] [-2.08738256e-01 -6.64295889e-05 9.77971542e-01 -1.83390992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.856875 meters 0.013708886777207963 Centerline is valid? [True, True] Translation: X:171.12, Y:-57.66, Z:-18.35 [[ 7.53079909e-01 6.38135995e-01 1.60165857e-01 1.71116358e+02] [-6.24158927e-01 7.69923664e-01 -1.32827656e-01 -5.76608673e+01] [-2.08077591e-01 6.08894769e-05 9.78112321e-01 -1.83470744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.886875 meters 0.013762765674275704 Centerline is valid? [True, True] Translation: X:171.14, Y:-57.68, Z:-18.36 [[ 7.53558245e-01 6.37750154e-01 1.59451283e-01 1.71141425e+02] [-6.23874743e-01 7.70243267e-01 -1.32308786e-01 -5.76831980e+01] [-2.07196225e-01 2.24748425e-04 9.78299378e-01 -1.83558907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.916875 meters 0.013680808310859046 Centerline is valid? [True, True] Translation: X:171.17, Y:-57.70, Z:-18.36 [[ 7.54099026e-01 6.37262422e-01 1.58843522e-01 1.71165284e+02] [-6.23463346e-01 7.70646754e-01 -1.31897829e-01 -5.77046344e+01] [-2.06465774e-01 4.30910570e-04 9.78453728e-01 -1.83631686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.946875 meters 0.013729854333379006 Centerline is valid? [True, True] Translation: X:171.19, Y:-57.72, Z:-18.37 [[ 7.54174270e-01 6.37282960e-01 1.58403280e-01 1.71189960e+02] [-6.23545958e-01 7.70629740e-01 -1.31606391e-01 -5.77249557e+01] [-2.05940789e-01 4.82429374e-04 9.78564336e-01 -1.83704670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97687499999998 meters 0.013729854333379006 Centerline is valid? [True, True] Translation: X:171.21, Y:-57.75, Z:-18.38 [[ 7.54001927e-01 6.37496006e-01 1.58366464e-01 1.71214221e+02] [-6.23754350e-01 7.70453509e-01 -1.31650677e-01 -5.77452196e+01] [-2.05940779e-01 4.83093392e-04 9.78564337e-01 -1.83774265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00687499999998 meters 0.013886344526350331 Centerline is valid? [True, True] Translation: X:171.24, Y:-57.77, Z:-18.39 [[ 7.55419741e-01 6.35949434e-01 1.57826905e-01 1.71238153e+02] [-6.22253405e-01 7.71730131e-01 -1.31275682e-01 -5.77668996e+01] [-2.05284474e-01 9.59912709e-04 9.78701877e-01 -1.83853586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03687499999998 meters 0.014103135966606064 Centerline is valid? [True, True] Translation: X:171.26, Y:-57.79, Z:-18.39 [[ 7.56206157e-01 6.35154513e-01 1.57260906e-01 1.71262164e+02] [-6.21525399e-01 7.72384124e-01 -1.30877591e-01 -5.77878618e+01] [-2.04593320e-01 1.22879228e-03 9.78846292e-01 -1.83926849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06687499999998 meters 0.013955817400076195 Centerline is valid? [True, True] Translation: X:171.29, Y:-57.81, Z:-18.40 [[ 7.55960025e-01 6.35368882e-01 1.57577992e-01 1.71288642e+02] [-6.21672161e-01 7.72207780e-01 -1.31220684e-01 -5.78072189e+01] [-2.05056491e-01 1.23574051e-03 9.78749359e-01 -1.83986268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09687499999998 meters 0.01403452585342788 Centerline is valid? [True, True] Translation: X:171.31, Y:-57.83, Z:-18.41 [[ 7.55458728e-01 6.35885138e-01 1.57899342e-01 1.71313316e+02] [-6.22127310e-01 7.71782840e-01 -1.31563129e-01 -5.78266421e+01] [-2.05523042e-01 1.15702121e-03 9.78651593e-01 -1.84055336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12687499999998 meters 0.014032500819047763 Centerline is valid? [True, True] Translation: X:171.34, Y:-57.85, Z:-18.41 [[ 7.55346841e-01 6.35925621e-01 1.58271144e-01 1.71338845e+02] [-6.22088538e-01 7.71749413e-01 -1.31942010e-01 -5.78458009e+01] [-2.06050968e-01 1.20331584e-03 9.78540521e-01 -1.84127207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15687499999999 meters 0.013896321002680087 Centerline is valid? [True, True] Translation: X:171.37, Y:-57.86, Z:-18.42 [[ 7.54956673e-01 6.36233134e-01 1.58895630e-01 1.71365777e+02] [-6.22276358e-01 7.71495950e-01 -1.32537290e-01 -5.78643407e+01] [-2.06911951e-01 1.18291786e-03 9.78358853e-01 -1.84197156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.186875 meters 0.013834728754236837 Centerline is valid? [True, True] Translation: X:171.39, Y:-57.88, Z:-18.43 [[ 7.54726684e-01 6.36412774e-01 1.59268370e-01 1.71390953e+02] [-6.22377781e-01 7.71347750e-01 -1.32923085e-01 -5.78842349e+01] [-2.07445248e-01 1.19550446e-03 9.78245899e-01 -1.84266858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.216875 meters 0.013839856594752736 Centerline is valid? [True, True] Translation: X:171.42, Y:-57.90, Z:-18.43 [[ 7.54747181e-01 6.36355373e-01 1.59400541e-01 1.71415919e+02] [-6.22279545e-01 7.71394985e-01 -1.33108774e-01 -5.79041273e+01] [-2.07665261e-01 1.27177549e-03 9.78199122e-01 -1.84330732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.246875 meters 0.01388911223163766 Centerline is valid? [True, True] Translation: X:171.44, Y:-57.92, Z:-18.44 [[ 7.54174247e-01 6.36926531e-01 1.59830533e-01 1.71440568e+02] [-6.22770072e-01 7.70923605e-01 -1.33544869e-01 -5.79234904e+01] [-2.08275400e-01 1.17842834e-03 9.78069511e-01 -1.84402999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.276875 meters 0.013764926726478811 Centerline is valid? [True, True] Translation: X:171.47, Y:-57.94, Z:-18.45 [[ 7.53717937e-01 6.37430551e-01 1.59973638e-01 1.71465372e+02] [-6.23244465e-01 7.70507035e-01 -1.33735733e-01 -5.79435448e+01] [-2.08508055e-01 1.09633586e-03 9.78020035e-01 -1.84471670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.306875 meters 0.013644916900865759 Centerline is valid? [True, True] Translation: X:171.49, Y:-57.96, Z:-18.45 [[ 7.53086167e-01 6.38184370e-01 1.59943537e-01 1.71490965e+02] [-6.24004585e-01 7.69882987e-01 -1.33785139e-01 -5.79621580e+01] [-2.08517392e-01 9.46237019e-04 9.78018201e-01 -1.84545116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.336875 meters 0.01356538433319102 Centerline is valid? [True, True] Translation: X:171.52, Y:-57.98, Z:-18.46 [[ 7.52356649e-01 6.39132477e-01 1.59590570e-01 1.71516288e+02] [-6.25021060e-01 7.69096306e-01 -1.33564767e-01 -5.79818848e+01] [-2.08106098e-01 7.40873665e-04 9.78105977e-01 -1.84622978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.366875 meters 0.013415774534960555 Centerline is valid? [True, True] Translation: X:171.54, Y:-58.00, Z:-18.47 [[ 7.51521999e-01 6.40196329e-01 1.59258736e-01 1.71541754e+02] [-6.26151999e-01 7.68211173e-01 -1.33361415e-01 -5.80013778e+01] [-2.07721829e-01 5.03860635e-04 9.78187808e-01 -1.84708277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.396875 meters 0.013299151913106152 Centerline is valid? [True, True] Translation: X:171.57, Y:-58.02, Z:-18.48 [[ 7.50712811e-01 6.41228513e-01 1.58922212e-01 1.71567109e+02] [-6.27251151e-01 7.67349932e-01 -1.33154331e-01 -5.80206300e+01] [-2.07331302e-01 2.76521983e-04 9.78270747e-01 -1.84785439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.426875 meters 0.013403615161406677 Centerline is valid? [True, True] Translation: X:171.59, Y:-58.04, Z:-18.49 [[ 7.49875458e-01 6.42274934e-01 1.58649637e-01 1.71591599e+02] [-6.28353205e-01 7.66474336e-01 -1.33001285e-01 -5.80397324e+01] [-2.07024267e-01 4.63920726e-05 9.78335807e-01 -1.84859307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.456875 meters 0.013322657051330667 Centerline is valid? [True, True] Translation: X:171.62, Y:-58.06, Z:-18.49 [[ 7.48452646e-01 6.43976259e-01 1.58471497e-01 1.71617100e+02] [-6.30109035e-01 7.65045386e-01 -1.32921637e-01 -5.80590657e+01] [-2.06836266e-01 -3.68770928e-04 9.78375502e-01 -1.84927630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.486875 meters 0.013486322177844777 Centerline is valid? [True, True] Translation: X:171.64, Y:-58.08, Z:-18.50 [[ 7.47650802e-01 6.44861301e-01 1.58657433e-01 1.71641712e+02] [-6.30964660e-01 7.64299414e-01 -1.33154059e-01 -5.80788716e+01] [-2.07127683e-01 -5.54494225e-04 9.78313761e-01 -1.84997682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.516875 meters 0.013607972256197443 Centerline is valid? [True, True] Translation: X:171.67, Y:-58.10, Z:-18.51 [[ 7.45792300e-01 6.46711944e-01 1.59867155e-01 1.71667615e+02] [-6.32626773e-01 7.62733650e-01 -1.34241368e-01 -5.80989857e+01] [-2.08751555e-01 -1.02006370e-03 9.77968173e-01 -1.85051901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.546875 meters 0.013668740378223588 Centerline is valid? [True, True] Translation: X:171.69, Y:-58.12, Z:-18.51 [[ 7.44886325e-01 6.47691904e-01 1.60123578e-01 1.71692527e+02] [-6.33567267e-01 7.61901348e-01 -1.34531982e-01 -5.81194996e+01] [-2.09133645e-01 -1.23802361e-03 9.77886285e-01 -1.85114209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.576875 meters 0.013846337229096011 Centerline is valid? [True, True] Translation: X:171.72, Y:-58.14, Z:-18.52 [[ 7.44120825e-01 6.48553372e-01 1.60195884e-01 1.71716804e+02] [-6.34419200e-01 7.61167855e-01 -1.34669134e-01 -5.81388646e+01] [-2.09276078e-01 -1.42123742e-03 9.77855564e-01 -1.85178168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.606875 meters 0.013841301350230279 Centerline is valid? [True, True] Translation: X:171.74, Y:-58.16, Z:-18.53 [[ 7.43332914e-01 6.49429215e-01 1.60305561e-01 1.71741757e+02] [-6.35280433e-01 7.60420337e-01 -1.34832049e-01 -5.81594780e+01] [-2.09463480e-01 -1.61388653e-03 9.77815139e-01 -1.85252385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.636875 meters 0.014136802001883296 Centerline is valid? [True, True] Translation: X:171.77, Y:-58.18, Z:-18.53 [[ 7.42487997e-01 6.50462500e-01 1.60031595e-01 1.71765234e+02] [-6.36369759e-01 7.59536138e-01 -1.34678825e-01 -5.81775602e+01] [-2.09153305e-01 -1.84185682e-03 9.77881129e-01 -1.85337179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.666875 meters 0.014342435265677713 Centerline is valid? [True, True] Translation: X:171.79, Y:-58.20, Z:-18.54 [[ 7.41690779e-01 6.51289553e-01 1.60364293e-01 1.71789772e+02] [-6.37148596e-01 7.58826537e-01 -1.34996124e-01 -5.81982316e+01] [-2.09610246e-01 -2.05050415e-03 9.77782870e-01 -1.85402599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.696875 meters 0.01437311680606796 Centerline is valid? [True, True] Translation: X:171.81, Y:-58.22, Z:-18.55 [[ 7.41400796e-01 6.51597743e-01 1.60453236e-01 1.71813898e+02] [-6.37431866e-01 7.58561833e-01 -1.35146448e-01 -5.82190971e+01] [-2.09774821e-01 -2.08032179e-03 9.77747512e-01 -1.85471754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72687499999998 meters 0.014152805931425993 Centerline is valid? [True, True] Translation: X:171.84, Y:-58.24, Z:-18.55 [[ 7.41521744e-01 6.51550980e-01 1.60083802e-01 1.71837725e+02] [-6.37433843e-01 7.58602205e-01 -1.34910306e-01 -5.82406780e+01] [-2.09340867e-01 -2.00390778e-03 9.77840675e-01 -1.85546946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75687499999998 meters 0.014352175670606229 Centerline is valid? [True, True] Translation: X:171.86, Y:-58.26, Z:-18.56 [[ 7.41432843e-01 6.51871423e-01 1.59188525e-01 1.71861006e+02] [-6.37904278e-01 7.58326815e-01 -1.34233283e-01 -5.82606144e+01] [-2.08219768e-01 -2.02207648e-03 9.78079976e-01 -1.85626037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78687499999998 meters 0.014402647556749795 Centerline is valid? [True, True] Translation: X:171.89, Y:-58.28, Z:-18.57 [[ 7.41187370e-01 6.52301925e-01 1.58566960e-01 1.71885082e+02] [-6.38444731e-01 7.57956328e-01 -1.33755486e-01 -5.82812203e+01] [-2.07435792e-01 -2.09836355e-03 9.78246385e-01 -1.85702238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81687499999998 meters 0.014416613352884099 Centerline is valid? [True, True] Translation: X:171.91, Y:-58.30, Z:-18.58 [[ 7.41007403e-01 6.52634480e-01 1.58038804e-01 1.71909150e+02] [-6.38862010e-01 7.57669926e-01 -1.33385212e-01 -5.83013200e+01] [-2.06793038e-01 -2.12555892e-03 9.78382400e-01 -1.85779602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84687499999998 meters 0.014382951629452315 Centerline is valid? [True, True] Translation: X:171.93, Y:-58.32, Z:-18.59 [[ 7.41007359e-01 6.52882681e-01 1.57010508e-01 1.71933015e+02] [-6.39281749e-01 7.57456060e-01 -1.32586432e-01 -5.83227367e+01] [-2.05491946e-01 -2.12642992e-03 9.78656497e-01 -1.85860017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87687499999998 meters 0.014271106089178174 Centerline is valid? [True, True] Translation: X:171.96, Y:-58.34, Z:-18.59 [[ 7.41239264e-01 6.52707363e-01 1.56644349e-01 1.71956560e+02] [-6.39150775e-01 7.57607445e-01 -1.32352733e-01 -5.83436616e+01] [-2.05062528e-01 -2.01431501e-03 9.78746802e-01 -1.85930542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90687499999999 meters 0.014279248682994567 Centerline is valid? [True, True] Translation: X:171.98, Y:-58.36, Z:-18.60 [[ 7.41599430e-01 6.52358515e-01 1.56392626e-01 1.71979670e+02] [-6.38823513e-01 7.57908245e-01 -1.32210477e-01 -5.83643022e+01] [-2.04779891e-01 -1.86007184e-03 9.78806281e-01 -1.86003685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.936875 meters 0.014018386779141205 Centerline is valid? [True, True] Translation: X:172.01, Y:-58.39, Z:-18.61 [[ 7.41908590e-01 6.51986551e-01 1.56477413e-01 1.72005296e+02] [-6.38414289e-01 7.58228612e-01 -1.32350170e-01 -5.83880842e+01] [-2.04936183e-01 -1.70568810e-03 9.78773851e-01 -1.86076427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.966875 meters 0.01369330542595766 Centerline is valid? [True, True] Translation: X:172.03, Y:-58.41, Z:-18.61 [[ 7.43029789e-01 6.50638267e-01 1.56769185e-01 1.72027539e+02] [-6.36962930e-01 7.59386774e-01 -1.32702501e-01 -5.84108814e+01] [-2.05389771e-01 -1.25424847e-03 9.78679452e-01 -1.86127468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.996875 meters 0.013571087213656829 Centerline is valid? [True, True] Translation: X:172.05, Y:-58.43, Z:-18.62 [[ 7.43489476e-01 6.50078095e-01 1.56913571e-01 1.72051501e+02] [-6.36351069e-01 7.59866679e-01 -1.32890735e-01 -5.84323721e+01] [-2.05622750e-01 -1.04925564e-03 9.78630770e-01 -1.86204180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.026875 meters 0.013431932160579352 Centerline is valid? [True, True] Translation: X:172.08, Y:-58.45, Z:-18.63 [[ 7.43864674e-01 6.49561130e-01 1.57275827e-01 1.72075557e+02] [-6.35739222e-01 7.60308910e-01 -1.33289174e-01 -5.84541644e+01] [-2.06157679e-01 -8.37303445e-04 9.78518426e-01 -1.86262623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.056875 meters 0.01335626963725859 Centerline is valid? [True, True] Translation: X:172.10, Y:-58.48, Z:-18.63 [[ 7.44144857e-01 6.49220568e-01 1.57356554e-01 1.72101355e+02] [-6.35361056e-01 7.60599884e-01 -1.33432174e-01 -5.84771158e+01] [-2.06312288e-01 -6.85360311e-04 9.78485958e-01 -1.86336670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.086875 meters 0.01323411739130225 Centerline is valid? [True, True] Translation: X:172.13, Y:-58.50, Z:-18.64 [[ 7.44367527e-01 6.48842810e-01 1.57860675e-01 1.72125622e+02] [-6.34862454e-01 7.60922307e-01 -1.33966064e-01 -5.84987271e+01] [-2.07042626e-01 -4.99827597e-04 9.78331795e-01 -1.86403756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.116875 meters 0.013184296298947478 Centerline is valid? [True, True] Translation: X:172.15, Y:-58.52, Z:-18.65 [[ 7.44248015e-01 6.48774389e-01 1.58703136e-01 1.72149972e+02] [-6.34624956e-01 7.60980691e-01 -1.34757383e-01 -5.85196440e+01] [-2.08197161e-01 -4.24055891e-04 9.78086787e-01 -1.86469537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.146875 meters 0.013134587928368304 Centerline is valid? [True, True] Translation: X:172.17, Y:-58.54, Z:-18.65 [[ 7.44110622e-01 6.48915774e-01 1.58769332e-01 1.72174492e+02] [-6.34741339e-01 7.60860142e-01 -1.34889871e-01 -5.85410454e+01] [-2.08333421e-01 -4.04472323e-04 9.78057780e-01 -1.86541606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.176875 meters 0.013113283693473678 Centerline is valid? [True, True] Translation: X:172.20, Y:-58.56, Z:-18.66 [[ 7.43980510e-01 6.49197988e-01 1.58224442e-01 1.72198008e+02] [-6.35111926e-01 7.60619349e-01 -1.34502963e-01 -5.85614517e+01] [-2.07667625e-01 -4.22647195e-04 9.78199355e-01 -1.86606522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.206875 meters 0.013164935167177611 Centerline is valid? [True, True] Translation: X:172.22, Y:-58.58, Z:-18.67 [[ 7.43513484e-01 6.49808846e-01 1.57911884e-01 1.72224464e+02] [-6.35777844e-01 7.60097477e-01 -1.34306954e-01 -5.85843314e+01] [-2.07302271e-01 -5.37846302e-04 9.78276791e-01 -1.86682912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.236875 meters 0.013158549940615065 Centerline is valid? [True, True] Translation: X:172.25, Y:-58.60, Z:-18.68 [[ 7.43105229e-01 6.50376866e-01 1.57494603e-01 1.72248276e+02] [-6.36410902e-01 7.59611451e-01 -1.34058222e-01 -5.86038213e+01] [-2.06823070e-01 -6.11917017e-04 9.78378170e-01 -1.86768197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.266875 meters 0.013091188849920622 Centerline is valid? [True, True] Translation: X:172.27, Y:-58.62, Z:-18.68 [[ 7.42978305e-01 6.50624371e-01 1.57070575e-01 1.72272434e+02] [-6.36724984e-01 7.59399459e-01 -1.33767546e-01 -5.86244322e+01] [-2.06311735e-01 -6.24374978e-04 9.78486116e-01 -1.86833794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.296875 meters 0.01309870535658404 Centerline is valid? [True, True] Translation: X:172.30, Y:-58.65, Z:-18.69 [[ 7.42715896e-01 6.51002988e-01 1.56742489e-01 1.72297079e+02] [-6.37154751e-01 7.59074872e-01 -1.33563326e-01 -5.86454485e+01] [-2.05929409e-01 -6.69616358e-04 9.78566620e-01 -1.86909608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.326875 meters 0.013112560316843857 Centerline is valid? [True, True] Translation: X:172.32, Y:-58.67, Z:-18.70 [[ 7.42325853e-01 6.51544026e-01 1.56341647e-01 1.72321083e+02] [-6.37763343e-01 7.58610444e-01 -1.33297082e-01 -5.86659614e+01] [-2.05451324e-01 -7.59101704e-04 9.78667041e-01 -1.86982871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.356875 meters 0.013196757544892137 Centerline is valid? [True, True] Translation: X:172.35, Y:-58.69, Z:-18.71 [[ 7.42111012e-01 6.51939635e-01 1.55711134e-01 1.72345789e+02] [-6.38263947e-01 7.58270441e-01 -1.32834756e-01 -5.86869600e+01] [-2.04671392e-01 -8.06667800e-04 9.78830409e-01 -1.87053599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.386875 meters 0.013166809674644227 Centerline is valid? [True, True] Translation: X:172.37, Y:-58.71, Z:-18.71 [[ 7.41694714e-01 6.52449038e-01 1.55560934e-01 1.72370190e+02] [-6.38795414e-01 7.57832081e-01 -1.32781607e-01 -5.87075977e+01] [-2.04522298e-01 -8.88195656e-04 9.78861502e-01 -1.87123268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.416875 meters 0.01318856652575369 Centerline is valid? [True, True] Translation: X:172.39, Y:-58.73, Z:-18.72 [[ 7.41305815e-01 6.52876568e-01 1.55620933e-01 1.72393994e+02] [-6.39205698e-01 7.57463721e-01 -1.32908943e-01 -5.87276906e+01] [-2.04650345e-01 -9.47614583e-04 9.78834684e-01 -1.87188471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.446875 meters 0.013250839049304889 Centerline is valid? [True, True] Translation: X:172.42, Y:-58.75, Z:-18.72 [[ 7.40739687e-01 6.53484236e-01 1.55766073e-01 1.72419292e+02] [-6.39785015e-01 7.56939386e-01 -1.33108604e-01 -5.87483095e+01] [-2.04889850e-01 -1.05797343e-03 9.78784466e-01 -1.87246556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47687499999998 meters 0.01347923104042096 Centerline is valid? [True, True] Translation: X:172.44, Y:-58.77, Z:-18.73 [[ 7.40124236e-01 6.54193704e-01 1.55713564e-01 1.72444154e+02] [-6.40503316e-01 7.56326101e-01 -1.33140271e-01 -5.87686345e+01] [-2.04869760e-01 -1.19471224e-03 9.78788514e-01 -1.87319196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50687499999998 meters 0.013531201661569821 Centerline is valid? [True, True] Translation: X:172.47, Y:-58.79, Z:-18.74 [[ 7.39348830e-01 6.55114314e-01 1.55526664e-01 1.72469255e+02] [-6.41461510e-01 7.55528493e-01 -1.33055726e-01 -5.87887722e+01] [-2.04671537e-01 -1.38977325e-03 9.78829725e-01 -1.87385527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53687499999998 meters 0.013717870205922076 Centerline is valid? [True, True] Translation: X:172.49, Y:-58.81, Z:-18.74 [[ 7.38839025e-01 6.55691319e-01 1.55517809e-01 1.72493981e+02] [-6.42036912e-01 7.55027596e-01 -1.33123751e-01 -5.88097763e+01] [-2.04708325e-01 -1.49115186e-03 9.78821883e-01 -1.87449772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56687499999998 meters 0.013756992069707666 Centerline is valid? [True, True] Translation: X:172.52, Y:-58.83, Z:-18.75 [[ 7.38323774e-01 6.56268426e-01 1.55530568e-01 1.72517766e+02] [-6.42608591e-01 7.54525821e-01 -1.33210297e-01 -5.88293091e+01] [-2.04773541e-01 -1.59295004e-03 9.78808081e-01 -1.87512274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59687499999998 meters 0.013741786944700386 Centerline is valid? [True, True] Translation: X:172.54, Y:-58.85, Z:-18.76 [[ 7.37840200e-01 6.56814902e-01 1.55518566e-01 1.72542189e+02] [-6.43154562e-01 7.54049950e-01 -1.33269963e-01 -5.88499487e+01] [-2.04802464e-01 -1.69053924e-03 9.78801866e-01 -1.87577179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62687499999998 meters 0.013673732683491884 Centerline is valid? [True, True] Translation: X:172.57, Y:-58.87, Z:-18.76 [[ 7.37609455e-01 6.56975134e-01 1.55935774e-01 1.72566822e+02] [-6.43228205e-01 7.53910370e-01 -1.33703517e-01 -5.88714386e+01] [-2.05401483e-01 -1.68130961e-03 9.78676353e-01 -1.87638579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65687499999999 meters 0.013639489710360166 Centerline is valid? [True, True] Translation: X:172.59, Y:-58.89, Z:-18.77 [[ 7.38115785e-01 6.56482661e-01 1.55613634e-01 1.72590090e+02] [-6.42766014e-01 7.54339659e-01 -1.33504792e-01 -5.88925020e+01] [-2.05029116e-01 -1.48116077e-03 9.78754754e-01 -1.87707154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.686875 meters 0.01354161044309757 Centerline is valid? [True, True] Translation: X:172.61, Y:-58.91, Z:-18.78 [[ 7.38644219e-01 6.55878134e-01 1.55655359e-01 1.72612713e+02] [-6.42131046e-01 7.54865710e-01 -1.33586973e-01 -5.89132028e+01] [-2.05115668e-01 -1.27789370e-03 9.78736905e-01 -1.87776083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.716875 meters 0.01342471102881953 Centerline is valid? [True, True] Translation: X:172.64, Y:-58.93, Z:-18.78 [[ 7.39355995e-01 6.55221909e-01 1.55038586e-01 1.72636304e+02] [-6.41555896e-01 7.55435751e-01 -1.33127228e-01 -5.89348648e+01] [-2.04349567e-01 -1.03750462e-03 9.78897430e-01 -1.87847990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.746875 meters 0.013427326498780688 Centerline is valid? [True, True] Translation: X:172.66, Y:-58.96, Z:-18.79 [[ 7.40520765e-01 6.54059911e-01 1.54384680e-01 1.72658803e+02] [-6.40469329e-01 7.56442466e-01 -1.32641751e-01 -5.89565456e+01] [-2.03538780e-01 -6.54681402e-04 9.79066666e-01 -1.87922158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.776875 meters 0.013389076681698312 Centerline is valid? [True, True] Translation: X:172.68, Y:-58.98, Z:-18.80 [[ 7.41019655e-01 6.53547584e-01 1.54160392e-01 1.72682809e+02] [-6.39976632e-01 7.56885280e-01 -1.32493714e-01 -5.89784789e+01] [-2.03272678e-01 -4.78602667e-04 9.79122050e-01 -1.87988377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.806875 meters 0.0134446862000483 Centerline is valid? [True, True] Translation: X:172.71, Y:-59.00, Z:-18.81 [[ 7.41230869e-01 6.53367491e-01 1.53908154e-01 1.72706371e+02] [-6.39822116e-01 7.57040807e-01 -1.32351336e-01 -5.89992959e+01] [-2.02988813e-01 -3.70945546e-04 9.79180986e-01 -1.88066638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.836875 meters 0.013635505872217065 Centerline is valid? [True, True] Translation: X:172.73, Y:-59.02, Z:-18.81 [[ 7.41383672e-01 6.53344041e-01 1.53270396e-01 1.72732677e+02] [-6.39895528e-01 7.57061075e-01 -1.31879647e-01 -5.90220104e+01] [-2.02197833e-01 -3.03624297e-04 9.79344650e-01 -1.88148960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.866875 meters 0.013591620755899538 Centerline is valid? [True, True] Translation: X:172.76, Y:-59.04, Z:-18.82 [[ 7.41022993e-01 6.53843693e-01 1.52883448e-01 1.72756303e+02] [-6.40451419e-01 7.56629566e-01 -1.31657435e-01 -5.90422485e+01] [-2.01759520e-01 -3.53234656e-04 9.79435027e-01 -1.88217693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.896875 meters 0.013591620755899538 Centerline is valid? [True, True] Translation: X:172.78, Y:-59.06, Z:-18.83 [[ 7.40851964e-01 6.54045175e-01 1.52850501e-01 1.72780198e+02] [-6.40649255e-01 7.56455406e-01 -1.31695674e-01 -5.90629574e+01] [-2.01759508e-01 -3.56560979e-04 9.79435028e-01 -1.88287269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.926875 meters 0.013677003600459259 Centerline is valid? [True, True] Translation: X:172.80, Y:-59.08, Z:-18.84 [[ 7.40344393e-01 6.54685395e-01 1.52568717e-01 1.72804378e+02] [-6.41338218e-01 7.55901321e-01 -1.31523695e-01 -5.90834746e+01] [-2.01433536e-01 -4.75319020e-04 9.79502070e-01 -1.88356072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.956875 meters 0.013667029842035666 Centerline is valid? [True, True] Translation: X:172.83, Y:-59.10, Z:-18.84 [[ 7.39812318e-01 6.55428798e-01 1.51956655e-01 1.72828299e+02] [-6.42190391e-01 7.55256716e-01 -1.31067903e-01 -5.91037954e+01] [-2.00671962e-01 -6.19454912e-04 9.79658297e-01 -1.88423791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.986875 meters 0.013913302979270795 Centerline is valid? [True, True] Translation: X:172.85, Y:-59.12, Z:-18.85 [[ 7.38150744e-01 6.57276318e-01 1.52056966e-01 1.72853251e+02] [-6.44044652e-01 7.53648924e-01 -1.31224178e-01 -5.91230578e+01] [-2.00848113e-01 -1.06825120e-03 9.79621812e-01 -1.88494312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.016875 meters 0.014002492336561508 Centerline is valid? [True, True] Translation: X:172.88, Y:-59.14, Z:-18.86 [[ 7.37009906e-01 6.58566662e-01 1.52007729e-01 1.72878511e+02] [-6.45354624e-01 7.52521166e-01 -1.31260443e-01 -5.91436569e+01] [-2.00832785e-01 -1.35864401e-03 9.79624595e-01 -1.88561690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.046875 meters 0.014422277739205881 Centerline is valid? [True, True] Translation: X:172.90, Y:-59.16, Z:-18.86 [[ 7.35074235e-01 6.60697299e-01 1.52134641e-01 1.72903216e+02] [-6.47492521e-01 7.50650072e-01 -1.31445445e-01 -5.91620010e+01] [-2.01045530e-01 -1.88388174e-03 9.79580087e-01 -1.88632023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.076875 meters 0.014650708928187282 Centerline is valid? [True, True] Translation: X:172.93, Y:-59.18, Z:-18.87 [[ 7.33976066e-01 6.61878792e-01 1.52301016e-01 1.72928291e+02] [-6.48656039e-01 7.49607769e-01 -1.31656884e-01 -5.91825388e+01] [-2.01306924e-01 -2.15797219e-03 9.79525837e-01 -1.88702266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.106875 meters 0.015006199646621842 Centerline is valid? [True, True] Translation: X:172.95, Y:-59.20, Z:-18.88 [[ 7.33210674e-01 6.62714104e-01 1.52355256e-01 1.72952795e+02] [-6.49484617e-01 7.48868866e-01 -1.31776913e-01 -5.92025628e+01] [-2.01424527e-01 -2.33215614e-03 9.79501261e-01 -1.88778131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.136875 meters 0.014961405777045498 Centerline is valid? [True, True] Translation: X:172.98, Y:-59.22, Z:-18.88 [[ 7.33031191e-01 6.63053618e-01 1.51740480e-01 1.72976240e+02] [-6.49924206e-01 7.48568186e-01 -1.31317165e-01 -5.92242893e+01] [-2.00658417e-01 -2.36023304e-03 9.79658425e-01 -1.88848221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.166875 meters 0.01504807824817537 Centerline is valid? [True, True] Translation: X:173.00, Y:-59.25, Z:-18.89 [[ 7.33015700e-01 6.63150098e-01 1.51393302e-01 1.73000128e+02] [-6.50068291e-01 7.48482828e-01 -1.31090328e-01 -5.92454326e+01] [-2.00247851e-01 -2.32471625e-03 9.79742514e-01 -1.88921251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.196875 meters 0.015153889476885648 Centerline is valid? [True, True] Translation: X:173.02, Y:-59.27, Z:-18.90 [[ 7.32644410e-01 6.63594450e-01 1.51243428e-01 1.73023866e+02] [-6.50533063e-01 7.48088703e-01 -1.31034450e-01 -5.92662533e+01] [-2.00097233e-01 -2.38719328e-03 9.79773136e-01 -1.88993860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22687499999998 meters 0.015389823288739548 Centerline is valid? [True, True] Translation: X:173.05, Y:-59.29, Z:-18.91 [[ 7.32160580e-01 6.64106403e-01 1.51339257e-01 1.73047616e+02] [-6.51023723e-01 7.47633987e-01 -1.31192734e-01 -5.92863218e+01] [-2.00272307e-01 -2.47129836e-03 9.79737156e-01 -1.89073948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25687499999998 meters 0.015454944295036615 Centerline is valid? [True, True] Translation: X:173.07, Y:-59.31, Z:-18.91 [[ 7.32099026e-01 6.64253985e-01 1.50988942e-01 1.73072022e+02] [-6.51221236e-01 7.47502930e-01 -1.30959046e-01 -5.93076199e+01] [-1.99854744e-01 -2.45221509e-03 9.79822467e-01 -1.89142153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28687499999998 meters 0.015177079489629604 Centerline is valid? [True, True] Translation: X:173.10, Y:-59.33, Z:-18.92 [[ 7.32106213e-01 6.64286276e-01 1.50811927e-01 1.73097010e+02] [-6.51272234e-01 7.47474371e-01 -1.30868412e-01 -5.93312332e+01] [-1.99662141e-01 -2.41004323e-03 9.79861838e-01 -1.89203962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31687499999998 meters 0.015124871443819162 Centerline is valid? [True, True] Translation: X:173.12, Y:-59.35, Z:-18.93 [[ 7.32161762e-01 6.64221686e-01 1.50826744e-01 1.73120651e+02] [-6.51184181e-01 7.47532054e-01 -1.30977062e-01 -5.93529061e+01] [-1.99745631e-01 -2.31959338e-03 9.79845040e-01 -1.89272056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34687499999998 meters 0.014752130939056227 Centerline is valid? [True, True] Translation: X:173.14, Y:-59.38, Z:-18.93 [[ 7.33712218e-01 6.62363067e-01 1.51464677e-01 1.73142529e+02] [-6.49159063e-01 7.49180926e-01 -1.31607184e-01 -5.93757798e+01] [-2.00646185e-01 -1.76286902e-03 9.79662187e-01 -1.89335556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37687499999998 meters 0.014595514456193111 Centerline is valid? [True, True] Translation: X:173.16, Y:-59.40, Z:-18.94 [[ 7.35783346e-01 6.60003105e-01 1.51719380e-01 1.73163873e+02] [-6.46690878e-01 7.51262110e-01 -1.31894470e-01 -5.93978770e+01] [-2.01031781e-01 -1.06978473e-03 9.79584136e-01 -1.89404546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40687499999999 meters 0.014274574705962086 Centerline is valid? [True, True] Translation: X:173.19, Y:-59.42, Z:-18.95 [[ 7.37598427e-01 6.57897902e-01 1.52049041e-01 1.73186519e+02] [-6.44470445e-01 7.53106996e-01 -1.32241061e-01 -5.94216589e+01] [-2.01510313e-01 -4.50314882e-04 9.79486289e-01 -1.89451513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.436875 meters 0.014271849681780061 Centerline is valid? [True, True] Translation: X:173.21, Y:-59.44, Z:-18.95 [[ 7.38797438e-01 6.56512504e-01 1.52215890e-01 1.73208659e+02] [-6.43011353e-01 7.54315141e-01 -1.32457801e-01 -5.94436325e+01] [-2.01778954e-01 -1.70610557e-05 9.79431087e-01 -1.89517392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.466875 meters 0.014427929369964738 Centerline is valid? [True, True] Translation: X:173.23, Y:-59.47, Z:-18.96 [[ 7.41106367e-01 6.53949027e-01 1.52026390e-01 1.73231928e+02] [-6.40414243e-01 7.56538255e-01 -1.32361120e-01 -5.94652468e+01] [-2.01571205e-01 7.33803564e-04 9.79473589e-01 -1.89592065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.496875 meters 0.014543399304885499 Centerline is valid? [True, True] Translation: X:173.26, Y:-59.49, Z:-18.97 [[ 7.42056124e-01 6.52920542e-01 1.51813947e-01 1.73256075e+02] [-6.39387761e-01 7.57425657e-01 -1.32248497e-01 -5.94861758e+01] [-2.01335539e-01 1.06782749e-03 9.79521751e-01 -1.89658205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.526875 meters 0.014568172065610457 Centerline is valid? [True, True] Translation: X:173.28, Y:-59.51, Z:-18.97 [[ 7.42488458e-01 6.52486178e-01 1.51567400e-01 1.73279160e+02] [-6.38973482e-01 7.57799608e-01 -1.32108451e-01 -5.95070961e+01] [-2.01056654e-01 1.24145114e-03 9.79578828e-01 -1.89731471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.556875 meters 0.014890175175580653 Centerline is valid? [True, True] Translation: X:173.30, Y:-59.53, Z:-18.98 [[ 7.44031422e-01 6.50697927e-01 1.51688666e-01 1.73302681e+02] [-6.37112232e-01 7.59334602e-01 -1.32283655e-01 -5.95275333e+01] [-2.01259153e-01 1.78049128e-03 9.79536412e-01 -1.89793604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.586875 meters 0.015022944782197659 Centerline is valid? [True, True] Translation: X:173.33, Y:-59.55, Z:-18.99 [[ 7.44744238e-01 6.49756312e-01 1.52226000e-01 1.73326691e+02] [-6.36040326e-01 7.60139695e-01 -1.32816972e-01 -5.95485060e+01] [-2.02011691e-01 2.09280005e-03 9.79380874e-01 -1.89865007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.616875 meters 0.015255812994489016 Centerline is valid? [True, True] Translation: X:173.35, Y:-59.57, Z:-18.99 [[ 7.45333057e-01 6.49053543e-01 1.52342158e-01 1.73350035e+02] [-6.35286309e-01 7.60739118e-01 -1.32993609e-01 -5.95700061e+01] [-2.02212612e-01 2.34364575e-03 9.79338842e-01 -1.89925757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.646875 meters 0.015594914220676779 Centerline is valid? [True, True] Translation: X:173.37, Y:-59.59, Z:-19.00 [[ 7.45945345e-01 6.48319165e-01 1.52472299e-01 1.73374823e+02] [-6.34498716e-01 7.61364241e-01 -1.33176097e-01 -5.95921500e+01] [-2.02427572e-01 2.59861137e-03 9.79293789e-01 -1.90001446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.676875 meters 0.015692206335460635 Centerline is valid? [True, True] Translation: X:173.40, Y:-59.61, Z:-19.01 [[ 7.46232263e-01 6.47840059e-01 1.53103453e-01 1.73399624e+02] [-6.33876263e-01 7.61771216e-01 -1.33811426e-01 -5.96124992e+01] [-2.03318205e-01 2.80575854e-03 9.79108694e-01 -1.90059763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.706875 meters 0.015671547701390866 Centerline is valid? [True, True] Translation: X:173.42, Y:-59.63, Z:-19.01 [[ 7.45921537e-01 6.48208242e-01 1.53059256e-01 1.73424459e+02] [-6.34244799e-01 7.61458104e-01 -1.33847267e-01 -5.96334324e+01] [-2.03309112e-01 2.76252207e-03 9.79110705e-01 -1.90124328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.736875 meters 0.015713056430821486 Centerline is valid? [True, True] Translation: X:173.45, Y:-59.65, Z:-19.02 [[ 7.45075492e-01 6.49169324e-01 1.53106823e-01 1.73448389e+02] [-6.35201684e-01 7.60639625e-01 -1.33963355e-01 -5.96525693e+01] [-2.03424017e-01 2.55910053e-03 9.79087391e-01 -1.90192266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.766875 meters 0.015020733823526809 Centerline is valid? [True, True] Translation: X:173.48, Y:-59.67, Z:-19.03 [[ 7.42915820e-01 6.51790220e-01 1.52465056e-01 1.73475316e+02] [-6.37982979e-01 7.58396977e-01 -1.33460646e-01 -5.96693300e+01] [-2.02617382e-01 1.87991452e-03 9.79256178e-01 -1.90268806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.796875 meters 0.01475058083531411 Centerline is valid? [True, True] Translation: X:173.50, Y:-59.69, Z:-19.03 [[ 7.41434198e-01 6.53413738e-01 1.52727915e-01 1.73500408e+02] [-6.39578947e-01 7.56999517e-01 -1.33755379e-01 -5.96876231e+01] [-2.03012560e-01 1.48925272e-03 9.79175001e-01 -1.90341838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.826875 meters 0.014248357915399914 Centerline is valid? [True, True] Translation: X:173.53, Y:-59.70, Z:-19.04 [[ 7.38443808e-01 6.56790111e-01 1.52733402e-01 1.73527500e+02] [-6.43012073e-01 7.54073189e-01 -1.33824884e-01 -5.97046735e+01] [-2.03067024e-01 6.12736094e-04 9.79164648e-01 -1.90406235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.856875 meters 0.014275449687957752 Centerline is valid? [True, True] Translation: X:173.55, Y:-59.72, Z:-19.05 [[ 7.36602449e-01 6.58852430e-01 1.52742615e-01 1.73552343e+02] [-6.45102452e-01 7.52272202e-01 -1.33900563e-01 -5.97236062e+01] [-2.03124735e-01 9.68468764e-05 9.79152865e-01 -1.90483188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.886875 meters 0.0143697803269667 Centerline is valid? [True, True] Translation: X:173.58, Y:-59.74, Z:-19.06 [[ 7.34976176e-01 6.60701564e-01 1.52589199e-01 1.73577659e+02] [-6.47004005e-01 7.50648596e-01 -1.33837599e-01 -5.97427340e+01] [-2.02967579e-01 -3.58376031e-04 9.79185393e-01 -1.90560023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.916875 meters 0.014714608984466401 Centerline is valid? [True, True] Translation: X:173.60, Y:-59.76, Z:-19.06 [[ 7.31729675e-01 6.64212332e-01 1.52949862e-01 1.73604702e+02] [-6.50508121e-01 7.47542882e-01 -1.34234214e-01 -5.97609298e+01] [-2.03496601e-01 -1.27196897e-03 9.79074826e-01 -1.90620468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.946875 meters 0.014844910604112237 Centerline is valid? [True, True] Translation: X:173.63, Y:-59.78, Z:-19.07 [[ 7.30006499e-01 6.66128775e-01 1.52849493e-01 1.73630013e+02] [-6.52468552e-01 7.45834703e-01 -1.34221404e-01 -5.97807979e+01] [-2.03409195e-01 -1.74699024e-03 9.79092257e-01 -1.90685683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97687499999998 meters 0.015047883747524653 Centerline is valid? [True, True] Translation: X:173.66, Y:-59.80, Z:-19.08 [[ 7.28813971e-01 6.67413903e-01 1.52934229e-01 1.73655329e+02] [-6.53750421e-01 7.44684152e-01 -1.34372248e-01 -5.98008337e+01] [-2.03569603e-01 -2.04844451e-03 9.79058334e-01 -1.90763453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00687499999998 meters 0.015405701848009667 Centerline is valid? [True, True] Translation: X:173.68, Y:-59.82, Z:-19.08 [[ 7.27099825e-01 6.69106351e-01 1.53696244e-01 1.73679843e+02] [-6.55326163e-01 7.43162539e-01 -1.35118692e-01 -5.98197578e+01] [-2.04630066e-01 -2.47639283e-03 9.78836250e-01 -1.90835148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03687499999998 meters 0.015580942676383432 Centerline is valid? [True, True] Translation: X:173.70, Y:-59.84, Z:-19.09 [[ 7.26601699e-01 6.69718986e-01 1.53383345e-01 1.73704235e+02] [-6.55994198e-01 7.42610108e-01 -1.34914194e-01 -5.98407867e+01] [-2.04258620e-01 -2.58970193e-03 9.78913535e-01 -1.90902542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06687499999998 meters 0.015596187177949862 Centerline is valid? [True, True] Translation: X:173.73, Y:-59.86, Z:-19.10 [[ 7.25937210e-01 6.70388519e-01 1.53604689e-01 1.73728568e+02] [-6.56622703e-01 7.42005261e-01 -1.35184384e-01 -5.98625713e+01] [-2.04601547e-01 -2.72495175e-03 9.78841551e-01 -1.90969770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09687499999998 meters 0.015841956654455532 Centerline is valid? [True, True] Translation: X:173.75, Y:-59.88, Z:-19.10 [[ 7.25567443e-01 6.70841392e-01 1.53374421e-01 1.73752605e+02] [-6.57111233e-01 7.41595606e-01 -1.35058450e-01 -5.98829591e+01] [-2.04344596e-01 -2.79004051e-03 9.78895041e-01 -1.91039815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12687499999998 meters 0.015680913360071026 Centerline is valid? [True, True] Translation: X:173.78, Y:-59.90, Z:-19.11 [[ 7.25344482e-01 6.71149445e-01 1.53081043e-01 1.73776006e+02] [-6.57464356e-01 7.41316724e-01 -1.34870814e-01 -5.99045699e+01] [-2.04000009e-01 -2.81752877e-03 9.78966832e-01 -1.91108297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15687499999999 meters 0.015852953083060804 Centerline is valid? [True, True] Translation: X:173.80, Y:-59.93, Z:-19.12 [[ 7.25044682e-01 6.71506989e-01 1.52933229e-01 1.73799659e+02] [-6.57840529e-01 7.40992712e-01 -1.34817058e-01 -5.99257200e+01] [-2.03853005e-01 -2.85728528e-03 9.78997338e-01 -1.91185181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.186875 meters 0.015843485812115 Centerline is valid? [True, True] Translation: X:173.82, Y:-59.95, Z:-19.13 [[ 7.25097445e-01 6.71489250e-01 1.52760867e-01 1.73823448e+02] [-6.57837741e-01 7.41009038e-01 -1.34740908e-01 -5.99474584e+01] [-2.03674255e-01 -2.79157566e-03 9.79034731e-01 -1.91267866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.216875 meters 0.01578729860312447 Centerline is valid? [True, True] Translation: X:173.85, Y:-59.97, Z:-19.13 [[ 7.25334003e-01 6.71406340e-01 1.52000362e-01 1.73846381e+02] [-6.57874427e-01 7.41084511e-01 -1.34145391e-01 -5.99678204e+01] [-2.02711180e-01 -2.69693770e-03 9.79234856e-01 -1.91348177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.246875 meters 0.01548294067676279 Centerline is valid? [True, True] Translation: X:173.87, Y:-59.99, Z:-19.14 [[ 7.25350822e-01 6.71361403e-01 1.52118541e-01 1.73869699e+02] [-6.57792747e-01 7.41125449e-01 -1.34319661e-01 -5.99894717e+01] [-2.02915958e-01 -2.63359652e-03 9.79192615e-01 -1.91415330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.276875 meters 0.01578728314113353 Centerline is valid? [True, True] Translation: X:173.89, Y:-60.01, Z:-19.15 [[ 7.25435763e-01 6.71430833e-01 1.51405387e-01 1.73892934e+02] [-6.57976193e-01 7.41062729e-01 -1.33766069e-01 -6.00105578e+01] [-2.02015552e-01 -2.58245011e-03 9.79378909e-01 -1.91491469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.306875 meters 0.015782318533567822 Centerline is valid? [True, True] Translation: X:173.92, Y:-60.03, Z:-19.16 [[ 7.25415784e-01 6.71516670e-01 1.51120159e-01 1.73916973e+02] [-6.58100512e-01 7.40985068e-01 -1.33584602e-01 -6.00322946e+01] [-2.01682068e-01 -2.54787497e-03 9.79447728e-01 -1.91567883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.336875 meters 0.015669300242351136 Centerline is valid? [True, True] Translation: X:173.94, Y:-60.05, Z:-19.16 [[ 7.25389762e-01 6.71630332e-01 1.50739474e-01 1.73940477e+02] [-6.58269651e-01 7.40882151e-01 -1.33321808e-01 -6.00536055e+01] [-2.01223156e-01 -2.51694625e-03 9.79542192e-01 -1.91633465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.366875 meters 0.01563901593192012 Centerline is valid? [True, True] Translation: X:173.96, Y:-60.07, Z:-19.17 [[ 7.25377073e-01 6.71623876e-01 1.50829278e-01 1.73963620e+02] [-6.58231601e-01 7.40888195e-01 -1.33475998e-01 -6.00741168e+01] [-2.01393299e-01 -2.46016892e-03 9.79507369e-01 -1.91703203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.396875 meters 0.015535478387202274 Centerline is valid? [True, True] Translation: X:173.99, Y:-60.10, Z:-19.18 [[ 7.25589605e-01 6.71317661e-01 1.51169848e-01 1.73986329e+02] [-6.57843214e-01 7.41166094e-01 -1.33847402e-01 -6.00953411e+01] [-2.01896090e-01 -2.32777555e-03 9.79404181e-01 -1.91768214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.426875 meters 0.0153088022997525 Centerline is valid? [True, True] Translation: X:174.01, Y:-60.12, Z:-19.18 [[ 7.26456312e-01 6.70188975e-01 1.52013041e-01 1.74008608e+02] [-6.56524099e-01 7.42187870e-01 -1.34659842e-01 -6.01159481e+01] [-2.03069777e-01 -1.97573232e-03 9.79162276e-01 -1.91826397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.456875 meters 0.015063659141200496 Centerline is valid? [True, True] Translation: X:174.03, Y:-60.14, Z:-19.19 [[ 7.26659931e-01 6.69921989e-01 1.52216535e-01 1.74032267e+02] [-6.56202047e-01 7.42429170e-01 -1.34899226e-01 -6.01386228e+01] [-2.03381954e-01 -1.85893984e-03 9.79097710e-01 -1.91886599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.486875 meters 0.014732272997906937 Centerline is valid? [True, True] Translation: X:174.06, Y:-60.16, Z:-19.20 [[ 7.27325432e-01 6.69238852e-01 1.52043007e-01 1.74055647e+02] [-6.55518472e-01 7.43045618e-01 -1.34828566e-01 -6.01602915e+01] [-2.03207405e-01 -1.60275476e-03 9.79134404e-01 -1.91956843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.516875 meters 0.014462329319161393 Centerline is valid? [True, True] Translation: X:174.08, Y:-60.18, Z:-19.20 [[ 7.28028179e-01 6.68215345e-01 1.53177101e-01 1.74079189e+02] [-6.54249220e-01 7.43966827e-01 -1.35909228e-01 -6.01832514e+01] [-2.04775313e-01 -1.27025110e-03 9.78808182e-01 -1.92008898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.546875 meters 0.014316818316232887 Centerline is valid? [True, True] Translation: X:174.10, Y:-60.20, Z:-19.21 [[ 7.28507923e-01 6.67659934e-01 1.53318029e-01 1.74102723e+02] [-6.53639532e-01 7.44465645e-01 -1.36111227e-01 -6.02044524e+01] [-2.05016018e-01 -1.05661769e-03 9.78758048e-01 -1.92073735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.576875 meters 0.014251024969971089 Centerline is valid? [True, True] Translation: X:174.13, Y:-60.23, Z:-19.22 [[ 7.29125017e-01 6.66935962e-01 1.53535444e-01 1.74127137e+02] [-6.52844689e-01 7.45114610e-01 -1.36374599e-01 -6.02271469e+01] [-2.05354627e-01 -8.00667401e-04 9.78687302e-01 -1.92154800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.606875 meters 0.014112405341058523 Centerline is valid? [True, True] Translation: X:174.15, Y:-60.25, Z:-19.22 [[ 7.30698651e-01 6.65239708e-01 1.53413208e-01 1.74149348e+02] [-6.51113830e-01 7.46629807e-01 -1.36362427e-01 -6.02501241e+01] [-2.05256575e-01 -2.49620228e-04 9.78708167e-01 -1.92219338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.636875 meters 0.014037537731448977 Centerline is valid? [True, True] Translation: X:174.17, Y:-60.27, Z:-19.23 [[ 7.31727600e-01 6.64067341e-01 1.53588040e-01 1.74171601e+02] [-6.49866959e-01 7.47672754e-01 -1.36595715e-01 -6.02717526e+01] [-2.05542346e-01 1.39062022e-04 9.78648213e-01 -1.92287757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.666875 meters 0.014168383464120441 Centerline is valid? [True, True] Translation: X:174.19, Y:-60.29, Z:-19.24 [[ 7.32575459e-01 6.63144275e-01 1.53534580e-01 1.74194696e+02] [-6.48918716e-01 7.48491460e-01 -1.36620039e-01 -6.02942092e+01] [-2.05518118e-01 4.53025277e-04 9.78653206e-01 -1.92360689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.696875 meters 0.014165688484421 Centerline is valid? [True, True] Translation: X:174.22, Y:-60.32, Z:-19.24 [[ 7.34299731e-01 6.61396250e-01 1.52836206e-01 1.74216936e+02] [-6.47247733e-01 7.50036004e-01 -1.36074851e-01 -6.03164180e+01] [-2.04632054e-01 9.96838730e-04 9.78838459e-01 -1.92437441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72687499999998 meters 0.014331064536169323 Centerline is valid? [True, True] Translation: X:174.24, Y:-60.34, Z:-19.25 [[ 7.34973178e-01 6.60639285e-01 1.52873029e-01 1.74239893e+02] [-6.46453854e-01 7.50702439e-01 -1.36173651e-01 -6.03380059e+01] [-2.04723819e-01 1.25862246e-03 9.78818969e-01 -1.92516148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75687499999998 meters 0.01447051500528681 Centerline is valid? [True, True] Translation: X:174.26, Y:-60.36, Z:-19.26 [[ 7.36028407e-01 6.59511287e-01 1.52666456e-01 1.74263114e+02] [-6.45324796e-01 7.51692897e-01 -1.36065042e-01 -6.03605134e+01] [-2.04494721e-01 1.62828634e-03 9.78866312e-01 -1.92589289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78687499999998 meters 0.01447051500528681 Centerline is valid? [True, True] Translation: X:174.29, Y:-60.38, Z:-19.27 [[ 7.35851066e-01 6.59717836e-01 1.52628916e-01 1.74286660e+02] [-6.45527011e-01 7.51511627e-01 -1.36107138e-01 -6.03816139e+01] [-2.04494712e-01 1.62849437e-03 9.78866314e-01 -1.92658884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81687499999998 meters 0.014522115774686676 Centerline is valid? [True, True] Translation: X:174.31, Y:-60.40, Z:-19.27 [[ 7.36204737e-01 6.59328819e-01 1.52604366e-01 1.74309731e+02] [-6.45118272e-01 7.51852568e-01 -1.36162150e-01 -6.04034896e+01] [-2.04511614e-01 1.79535459e-03 9.78862491e-01 -1.92725543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84687499999998 meters 0.014577872198409393 Centerline is valid? [True, True] Translation: X:174.33, Y:-60.43, Z:-19.28 [[ 7.36741201e-01 6.58665663e-01 1.52878865e-01 1.74332885e+02] [-6.44381039e-01 7.52433048e-01 -1.36446273e-01 -6.04254610e+01] [-2.04903585e-01 2.01334947e-03 9.78780091e-01 -1.92789702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87687499999998 meters 0.015223643406815862 Centerline is valid? [True, True] Translation: X:174.35, Y:-60.45, Z:-19.29 [[ 7.38127631e-01 6.57209591e-01 1.52457059e-01 1.74353832e+02] [-6.42957612e-01 7.53703821e-01 -1.36147194e-01 -6.04479283e+01] [-2.04384710e-01 2.47057925e-03 9.78887525e-01 -1.92863621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90687499999999 meters 0.015224126951311999 Centerline is valid? [True, True] Translation: X:174.38, Y:-60.47, Z:-19.29 [[ 7.38539011e-01 6.56698848e-01 1.52665491e-01 1.74377092e+02] [-6.42382320e-01 7.54148197e-01 -1.36401803e-01 -6.04697252e+01] [-2.04707312e-01 2.66844020e-03 9.78819593e-01 -1.92929441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.936875 meters 0.015267056445311872 Centerline is valid? [True, True] Translation: X:174.40, Y:-60.49, Z:-19.30 [[ 7.39071816e-01 6.56065347e-01 1.52810703e-01 1.74400877e+02] [-6.41692144e-01 7.54698498e-01 -1.36606623e-01 -6.04914841e+01] [-2.04948879e-01 2.90467712e-03 9.78768369e-01 -1.92997192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.966875 meters 0.016017755367099554 Centerline is valid? [True, True] Translation: X:174.42, Y:-60.51, Z:-19.31 [[ 7.40003177e-01 6.54960903e-01 1.53040886e-01 1.74423069e+02] [-6.40504581e-01 7.55655672e-01 -1.36888229e-01 -6.05146998e+01] [-2.05302652e-01 3.27433618e-03 9.78693057e-01 -1.93067222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.996875 meters 0.01593837189103182 Centerline is valid? [True, True] Translation: X:174.45, Y:-60.54, Z:-19.31 [[ 7.39940387e-01 6.54980384e-01 1.53260957e-01 1.74446931e+02] [-6.40464190e-01 7.55638496e-01 -1.37171733e-01 -6.05359150e+01] [-2.05654673e-01 3.34075012e-03 9.78618922e-01 -1.93133376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.026875 meters 0.015935366415910597 Centerline is valid? [True, True] Translation: X:174.47, Y:-60.56, Z:-19.32 [[ 7.40031758e-01 6.54916620e-01 1.53092186e-01 1.74471349e+02] [-6.40415317e-01 7.55693435e-01 -1.37097244e-01 -6.05570738e+01] [-2.05478023e-01 3.41373401e-03 9.78655776e-01 -1.93204730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.056875 meters 0.015728319292720082 Centerline is valid? [True, True] Translation: X:174.50, Y:-60.58, Z:-19.33 [[ 7.40125390e-01 6.54873037e-01 1.52825758e-01 1.74496064e+02] [-6.40405831e-01 7.55730908e-01 -1.36934899e-01 -6.05781063e+01] [-2.05170122e-01 3.47848883e-03 9.78720145e-01 -1.93272110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.086875 meters 0.0161568051657498 Centerline is valid? [True, True] Translation: X:174.52, Y:-60.60, Z:-19.33 [[ 7.40058208e-01 6.54984856e-01 1.52671826e-01 1.74518317e+02] [-6.40533274e-01 7.55633882e-01 -1.36874253e-01 -6.05997290e+01] [-2.05014567e-01 3.50352967e-03 9.78752651e-01 -1.93349006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.116875 meters 0.01649633025201947 Centerline is valid? [True, True] Translation: X:174.54, Y:-60.62, Z:-19.34 [[ 7.40601210e-01 6.54454204e-01 1.52313962e-01 1.74541747e+02] [-6.40045017e-01 7.56092606e-01 -1.36624840e-01 -6.06213885e+01] [-2.04578161e-01 3.69672943e-03 9.78843251e-01 -1.93413514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.146875 meters 0.01646103194393848 Centerline is valid? [True, True] Translation: X:174.57, Y:-60.64, Z:-19.35 [[ 7.40812431e-01 6.54277450e-01 1.52045917e-01 1.74565909e+02] [-6.39900281e-01 7.56245071e-01 -1.36458869e-01 -6.06426809e+01] [-2.04265936e-01 3.79620145e-03 9.78908073e-01 -1.93477353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.176875 meters 0.016388695060108094 Centerline is valid? [True, True] Translation: X:174.59, Y:-60.66, Z:-19.35 [[ 7.40714906e-01 6.54472923e-01 1.51679336e-01 1.74589560e+02] [-6.40154236e-01 7.56075938e-01 -1.36204734e-01 -6.06637319e+01] [-2.03823406e-01 3.79070732e-03 9.79000332e-01 -1.93549691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.206875 meters 0.016339929116599827 Centerline is valid? [True, True] Translation: X:174.62, Y:-60.69, Z:-19.36 [[ 7.40229146e-01 6.54985549e-01 1.51837881e-01 1.74615602e+02] [-6.40631837e-01 7.55632293e-01 -1.36420996e-01 -6.06861487e+01] [-2.04087388e-01 3.71061645e-03 9.78945642e-01 -1.93625910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.236875 meters 0.0157855265047423 Centerline is valid? [True, True] Translation: X:174.64, Y:-60.70, Z:-19.37 [[ 7.39115212e-01 6.56144408e-01 1.52260367e-01 1.74641241e+02] [-6.41711911e-01 7.54627317e-01 -1.36906670e-01 -6.07042869e+01] [-2.04730378e-01 3.48251151e-03 9.78812211e-01 -1.93692945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.266875 meters 0.015793960485814305 Centerline is valid? [True, True] Translation: X:174.67, Y:-60.72, Z:-19.38 [[ 7.38023722e-01 6.57291393e-01 1.52607372e-01 1.74665109e+02] [-6.42802437e-01 7.53629638e-01 -1.37285817e-01 -6.07237412e+01] [-2.05246224e-01 3.22379883e-03 9.78705060e-01 -1.93760278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.296875 meters 0.014892346116104533 Centerline is valid? [True, True] Translation: X:174.69, Y:-60.74, Z:-19.38 [[ 7.35390674e-01 6.60002727e-01 1.53613011e-01 1.74691168e+02] [-6.45365171e-01 7.51258932e-01 -1.38252718e-01 -6.07420675e+01] [-2.06650318e-01 2.53327276e-03 9.78411585e-01 -1.93813965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.326875 meters 0.014494255218935999 Centerline is valid? [True, True] Translation: X:174.72, Y:-60.76, Z:-19.39 [[ 7.33787483e-01 6.61707295e-01 1.53946045e-01 1.74716020e+02] [-6.47028334e-01 7.49759298e-01 -1.38619375e-01 -6.07614109e+01] [-2.07147930e-01 2.10970927e-03 9.78307357e-01 -1.93874496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.356875 meters 0.01434036434929085 Centerline is valid? [True, True] Translation: X:174.74, Y:-60.78, Z:-19.39 [[ 7.32033422e-01 6.63698654e-01 1.53724316e-01 1.74739774e+02] [-6.49091410e-01 7.47998361e-01 -1.38487520e-01 -6.07799732e+01] [-2.06899517e-01 1.59636021e-03 9.78360895e-01 -1.93942290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.386875 meters 0.013779877508444217 Centerline is valid? [True, True] Translation: X:174.77, Y:-60.80, Z:-19.40 [[ 7.28003894e-01 6.68007653e-01 1.54195025e-01 1.74767621e+02] [-6.53391579e-01 7.44154282e-01 -1.38974277e-01 -6.07959934e+01] [-2.07580769e-01 4.24083482e-04 9.78217790e-01 -1.94010913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.416875 meters 0.013696214617238764 Centerline is valid? [True, True] Translation: X:174.79, Y:-60.81, Z:-19.41 [[ 7.25980687e-01 6.70160079e-01 1.54394009e-01 1.74792434e+02] [-6.55539258e-01 7.42216578e-01 -1.39222239e-01 -6.08143847e+01] [-2.07894980e-01 -1.38677123e-04 9.78151143e-01 -1.94080830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.446875 meters 0.013772999467006546 Centerline is valid? [True, True] Translation: X:174.82, Y:-60.83, Z:-19.42 [[ 7.24221646e-01 6.72079154e-01 1.54313380e-01 1.74817839e+02] [-6.57501326e-01 7.40479041e-01 -1.39222114e-01 -6.08336795e+01] [-2.07834104e-01 -6.33583813e-04 9.78163884e-01 -1.94153347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47687499999998 meters 0.013976705592537147 Centerline is valid? [True, True] Translation: X:174.84, Y:-60.85, Z:-19.42 [[ 7.22760996e-01 6.73652083e-01 1.54302996e-01 1.74842769e+02] [-6.59094759e-01 7.39047914e-01 -1.39292065e-01 -6.08526482e+01] [-2.07871697e-01 -1.02542395e-03 9.78155563e-01 -1.94232908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50687499999998 meters 0.014051607070321995 Centerline is valid? [True, True] Translation: X:174.87, Y:-60.87, Z:-19.43 [[ 7.21287027e-01 6.75338355e-01 1.53828250e-01 1.74867006e+02] [-6.60899125e-01 7.37506573e-01 -1.38911487e-01 -6.08721095e+01] [-2.07261601e-01 -1.46990191e-03 9.78284452e-01 -1.94307075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53687499999998 meters 0.014356887888026247 Centerline is valid? [True, True] Translation: X:174.89, Y:-60.89, Z:-19.44 [[ 7.19895881e-01 6.77013959e-01 1.52977187e-01 1.74891014e+02] [-6.62759016e-01 7.35967748e-01 -1.38209844e-01 -6.08902361e+01] [-2.06156269e-01 -1.89031260e-03 9.78517255e-01 -1.94380643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56687499999998 meters 0.014472278117410189 Centerline is valid? [True, True] Translation: X:174.92, Y:-60.91, Z:-19.45 [[ 7.19041206e-01 6.78008844e-01 1.52590141e-01 1.74915307e+02] [-6.63835988e-01 7.35050676e-01 -1.37921299e-01 -6.09105192e+01] [-2.05673347e-01 -2.12373019e-03 9.78618396e-01 -1.94450946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59687499999998 meters 0.014467954323790892 Centerline is valid? [True, True] Translation: X:174.94, Y:-60.93, Z:-19.45 [[ 7.18399051e-01 6.78688050e-01 1.52595330e-01 1.74939303e+02] [-6.64515147e-01 7.34423168e-01 -1.37993587e-01 -6.09312781e+01] [-2.05724144e-01 -2.26744619e-03 9.78607396e-01 -1.94524379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62687499999998 meters 0.014435651313480638 Centerline is valid? [True, True] Translation: X:174.96, Y:-60.95, Z:-19.46 [[ 7.18079134e-01 6.78950420e-01 1.52933592e-01 1.74963562e+02] [-6.64703315e-01 7.34180554e-01 -1.38377803e-01 -6.09529871e+01] [-2.06232537e-01 -2.28925252e-03 9.78500332e-01 -1.94593696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65687499999999 meters 0.014818532708191418 Centerline is valid? [True, True] Translation: X:174.99, Y:-60.97, Z:-19.46 [[ 7.17260695e-01 6.79538909e-01 1.54155660e-01 1.74987846e+02] [-6.65054901e-01 7.33635508e-01 -1.39574065e-01 -6.09734834e+01] [-2.07940074e-01 -2.41098636e-03 9.78138596e-01 -1.94644602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.686875 meters 0.014888217317688066 Centerline is valid? [True, True] Translation: X:175.01, Y:-60.99, Z:-19.47 [[ 7.16746347e-01 6.80029595e-01 1.54384015e-01 1.75012272e+02] [-6.65497587e-01 7.33180395e-01 -1.39855174e-01 -6.09946290e+01] [-2.08296990e-01 -2.50150445e-03 9.78062425e-01 -1.94715672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.716875 meters 0.014844655846215733 Centerline is valid? [True, True] Translation: X:175.04, Y:-61.02, Z:-19.48 [[ 7.16085187e-01 6.80775439e-01 1.54164867e-01 1.75035901e+02] [-6.66285947e-01 7.32487366e-01 -1.39732948e-01 -6.10165118e+01] [-2.08050576e-01 -2.65719025e-03 9.78114460e-01 -1.94781194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.746875 meters 0.015439785444340536 Centerline is valid? [True, True] Translation: X:175.06, Y:-61.04, Z:-19.49 [[ 7.15236050e-01 6.81612430e-01 1.54408185e-01 1.75060313e+02] [-6.67078854e-01 7.31707865e-01 -1.40033578e-01 -6.10363825e+01] [-2.08430311e-01 -2.84537181e-03 9.78033082e-01 -1.94854813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.776875 meters 0.01573025342261441 Centerline is valid? [True, True] Translation: X:175.08, Y:-61.06, Z:-19.49 [[ 7.13956218e-01 6.82895426e-01 1.54662073e-01 1.75084439e+02] [-6.68327163e-01 7.30509271e-01 -1.40338905e-01 -6.10568980e+01] [-2.08818874e-01 -3.16903027e-03 9.77949199e-01 -1.94917817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.806875 meters 0.015764670111161474 Centerline is valid? [True, True] Translation: X:175.11, Y:-61.08, Z:-19.50 [[ 7.13282835e-01 6.83628190e-01 1.54531857e-01 1.75107474e+02] [-6.69087230e-01 7.29822862e-01 -1.40288521e-01 -6.10775246e+01] [-2.08686070e-01 -3.32989865e-03 9.77977012e-01 -1.94990157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.836875 meters 0.015886581451445937 Centerline is valid? [True, True] Translation: X:175.13, Y:-61.10, Z:-19.51 [[ 7.12789529e-01 6.84166068e-01 1.54427586e-01 1.75131653e+02] [-6.69642879e-01 7.29318174e-01 -1.40261953e-01 -6.10989535e+01] [-2.08589314e-01 -3.43408234e-03 9.77997293e-01 -1.95071130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.866875 meters 0.01592662960217562 Centerline is valid? [True, True] Translation: X:175.15, Y:-61.12, Z:-19.52 [[ 7.12631983e-01 6.84540441e-01 1.53492806e-01 1.75154049e+02] [-6.70186615e-01 7.28966658e-01 -1.39490193e-01 -6.11202080e+01] [-2.07377816e-01 -3.46365142e-03 9.78254795e-01 -1.95153296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.896875 meters 0.015608170333586496 Centerline is valid? [True, True] Translation: X:175.18, Y:-61.14, Z:-19.52 [[ 7.12638984e-01 6.84560913e-01 1.53368951e-01 1.75176379e+02] [-6.70216702e-01 7.28947655e-01 -1.39444927e-01 -6.11429735e+01] [-2.07256484e-01 -3.41654124e-03 9.78280674e-01 -1.95218729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.926875 meters 0.01564249463849949 Centerline is valid? [True, True] Translation: X:175.20, Y:-61.16, Z:-19.53 [[ 7.12972771e-01 6.84186056e-01 1.53490288e-01 1.75198433e+02] [-6.69793389e-01 7.29300262e-01 -1.39635035e-01 -6.11641254e+01] [-2.07476851e-01 -3.25080279e-03 9.78234526e-01 -1.95290941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.956875 meters 0.015495490444933998 Centerline is valid? [True, True] Translation: X:175.22, Y:-61.19, Z:-19.54 [[ 7.13321981e-01 6.83851295e-01 1.53359570e-01 1.75219581e+02] [-6.69462241e-01 7.29614815e-01 -1.39579834e-01 -6.11855591e+01] [-2.07345265e-01 -3.10307771e-03 9.78262905e-01 -1.95351735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.986875 meters 0.015115439861738756 Centerline is valid? [True, True] Translation: X:175.24, Y:-61.21, Z:-19.54 [[ 7.14233055e-01 6.82802183e-01 1.53793115e-01 1.75241850e+02] [-6.68293131e-01 7.30598089e-01 -1.40038292e-01 -6.12083532e+01] [-2.07979407e-01 -2.75890532e-03 9.78129314e-01 -1.95420801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.016875 meters 0.01448342768087254 Centerline is valid? [True, True] Translation: X:175.26, Y:-61.23, Z:-19.55 [[ 7.15358680e-01 6.81252544e-01 1.55425001e-01 1.75264278e+02] [-6.66385611e-01 7.32044852e-01 -1.41564658e-01 -6.12329573e+01] [-2.10219355e-01 -2.30347785e-03 9.77651531e-01 -1.95486121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.046875 meters 0.01454889496083022 Centerline is valid? [True, True] Translation: X:175.29, Y:-61.25, Z:-19.56 [[ 7.15650551e-01 6.80821515e-01 1.55969080e-01 1.75286736e+02] [-6.65819434e-01 7.32446301e-01 -1.42150966e-01 -6.12547417e+01] [-2.11018412e-01 -2.11682804e-03 9.77479795e-01 -1.95552814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.076875 meters 0.014410046102093265 Centerline is valid? [True, True] Translation: X:175.31, Y:-61.28, Z:-19.56 [[ 7.15864616e-01 6.80485612e-01 1.56451854e-01 1.75309156e+02] [-6.65365628e-01 7.32758796e-01 -1.42664387e-01 -6.12775031e+01] [-2.11722535e-01 -1.96929952e-03 9.77327831e-01 -1.95619301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.106875 meters 0.014272351687186675 Centerline is valid? [True, True] Translation: X:175.33, Y:-61.30, Z:-19.57 [[ 7.16516815e-01 6.79756566e-01 1.56635449e-01 1.75331538e+02] [-6.64566561e-01 7.33435838e-01 -1.42909611e-01 -6.13022212e+01] [-2.12025799e-01 -1.69754280e-03 9.77262595e-01 -1.95686128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.136875 meters 0.014356662747944478 Centerline is valid? [True, True] Translation: X:175.35, Y:-61.32, Z:-19.58 [[ 7.16700181e-01 6.79651212e-01 1.56253260e-01 1.75353124e+02] [-6.64514446e-01 7.33533697e-01 -1.42649453e-01 -6.13239923e+01] [-2.11568905e-01 -1.59565957e-03 9.77361782e-01 -1.95760849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.166875 meters 0.014184669591216817 Centerline is valid? [True, True] Translation: X:175.37, Y:-61.35, Z:-19.59 [[ 7.17329692e-01 6.79274597e-01 1.54997210e-01 1.75374677e+02] [-6.64358758e-01 7.33882832e-01 -1.41574819e-01 -6.13474156e+01] [-2.09917970e-01 -1.41793274e-03 9.77717973e-01 -1.95856221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.196875 meters 0.014075182767839447 Centerline is valid? [True, True] Translation: X:175.40, Y:-61.37, Z:-19.59 [[ 7.17415829e-01 6.79271729e-01 1.54610631e-01 1.75397152e+02] [-6.64414079e-01 7.33885607e-01 -1.41300557e-01 -6.13695219e+01] [-2.09447990e-01 -1.35422367e-03 9.77818851e-01 -1.95931161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22687499999998 meters 0.014074594136963534 Centerline is valid? [True, True] Translation: X:175.42, Y:-61.39, Z:-19.60 [[ 7.17691107e-01 6.78981860e-01 1.54606303e-01 1.75420059e+02] [-6.64101268e-01 7.34154051e-01 -1.41376572e-01 -6.13919566e+01] [-2.09496971e-01 -1.20953347e-03 9.77808548e-01 -1.96009137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25687499999998 meters 0.014193846979034887 Centerline is valid? [True, True] Translation: X:175.44, Y:-61.41, Z:-19.61 [[ 7.17844158e-01 6.78831895e-01 1.54554275e-01 1.75441836e+02] [-6.63940786e-01 7.34292883e-01 -1.41409316e-01 -6.14134898e+01] [-2.09481258e-01 -1.10503521e-03 9.77812038e-01 -1.96087310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28687499999998 meters 0.014200201818723893 Centerline is valid? [True, True] Translation: X:175.46, Y:-61.44, Z:-19.62 [[ 7.17499962e-01 6.79191977e-01 1.54570578e-01 1.75463133e+02] [-6.64289998e-01 7.33959758e-01 -1.41498666e-01 -6.14360816e+01] [-2.09553343e-01 -1.15440171e-03 9.77796535e-01 -1.96153335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31687499999998 meters 0.014423696663718148 Centerline is valid? [True, True] Translation: X:175.49, Y:-61.46, Z:-19.62 [[ 7.16952131e-01 6.79876824e-01 1.54101089e-01 1.75486231e+02] [-6.65066153e-01 7.33325185e-01 -1.41142427e-01 -6.14580180e+01] [-2.08965675e-01 -1.29505496e-03 9.77922118e-01 -1.96219935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34687499999998 meters 0.014630819389065788 Centerline is valid? [True, True] Translation: X:175.51, Y:-61.48, Z:-19.63 [[ 7.16263279e-01 6.80518844e-01 1.54470117e-01 1.75510470e+02] [-6.65634298e-01 7.32729190e-01 -1.41558877e-01 -6.14794372e+01] [-2.09518247e-01 -1.42718271e-03 9.77803696e-01 -1.96286129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37687499999998 meters 0.01483397389902234 Centerline is valid? [True, True] Translation: X:175.54, Y:-61.50, Z:-19.63 [[ 7.13945246e-01 6.82784367e-01 1.55202108e-01 1.75535820e+02] [-6.67792479e-01 7.30617095e-01 -1.42309051e-01 -6.14992964e+01] [-2.10559709e-01 -2.04192953e-03 9.77578866e-01 -1.96349441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40687499999999 meters 0.01543657435116677 Centerline is valid? [True, True] Translation: X:175.56, Y:-61.52, Z:-19.64 [[ 7.12341397e-01 6.84383984e-01 1.55525869e-01 1.75560204e+02] [-6.69348531e-01 7.29117631e-01 -1.42688556e-01 -6.15188674e+01] [-2.11050415e-01 -2.45804678e-03 9.77472087e-01 -1.96416318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.436875 meters 0.01583235221728507 Centerline is valid? [True, True] Translation: X:175.58, Y:-61.54, Z:-19.65 [[ 7.11288455e-01 6.85652009e-01 1.54758057e-01 1.75583911e+02] [-6.70785206e-01 7.27924159e-01 -1.42033889e-01 -6.15389820e+01] [-2.10037950e-01 -2.78234944e-03 9.77689275e-01 -1.96485418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.466875 meters 0.015736824315042582 Centerline is valid? [True, True] Translation: X:175.61, Y:-61.56, Z:-19.66 [[ 7.10199410e-01 6.86788226e-01 1.54721463e-01 1.75607522e+02] [-6.71940477e-01 7.26851105e-01 -1.42068528e-01 -6.15598297e+01] [-2.10030459e-01 -3.06662925e-03 9.77690034e-01 -1.96554281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.496875 meters 0.01686366291611835 Centerline is valid? [True, True] Translation: X:175.63, Y:-61.58, Z:-19.66 [[ 7.08221556e-01 6.88726554e-01 1.55170750e-01 1.75632326e+02] [-6.73821323e-01 7.25012274e-01 -1.42555345e-01 -6.15783250e+01] [-2.10682350e-01 -3.59659166e-03 9.77547959e-01 -1.96637503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.526875 meters 0.017047994492976327 Centerline is valid? [True, True] Translation: X:175.66, Y:-61.60, Z:-19.67 [[ 7.07194244e-01 6.89796146e-01 1.55105055e-01 1.75656129e+02] [-6.74913430e-01 7.23993356e-01 -1.42567465e-01 -6.15983672e+01] [-2.10637517e-01 -3.85959419e-03 9.77556617e-01 -1.96705274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.556875 meters 0.017347272074190206 Centerline is valid? [True, True] Translation: X:175.68, Y:-61.62, Z:-19.68 [[ 7.06620854e-01 6.90409617e-01 1.54988801e-01 1.75679871e+02] [-6.75549122e-01 7.23407669e-01 -1.42529744e-01 -6.16190927e+01] [-2.10523994e-01 -3.98805919e-03 9.77580556e-01 -1.96779750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.586875 meters 0.01788009355453 Centerline is valid? [True, True] Translation: X:175.70, Y:-61.64, Z:-19.68 [[ 7.05264109e-01 6.91907680e-01 1.54487214e-01 1.75702913e+02] [-6.77164922e-01 7.21972766e-01 -1.42137237e-01 -6.16399908e+01] [-2.09881407e-01 -4.36903062e-03 9.77717089e-01 -1.96841987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.616875 meters 0.017426092859503823 Centerline is valid? [True, True] Translation: X:175.73, Y:-61.66, Z:-19.69 [[ 7.04815130e-01 6.92378013e-01 1.54429012e-01 1.75725630e+02] [-6.77642778e-01 7.21521191e-01 -1.42152862e-01 -6.16623387e+01] [-2.09847321e-01 -4.45621680e-03 9.77724012e-01 -1.96912003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.646875 meters 0.0178817999240745 Centerline is valid? [True, True] Translation: X:175.75, Y:-61.68, Z:-19.70 [[ 7.04344528e-01 6.92888382e-01 1.54286990e-01 1.75749122e+02] [-6.78175012e-01 7.21030546e-01 -1.42104204e-01 -6.16820612e+01] [-2.09707984e-01 -4.54326298e-03 9.77753507e-01 -1.96991152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.676875 meters 0.01734515764699629 Centerline is valid? [True, True] Translation: X:175.77, Y:-61.70, Z:-19.71 [[ 7.03685407e-01 6.93604571e-01 1.54076432e-01 1.75771590e+02] [-6.78932368e-01 7.20340661e-01 -1.41986518e-01 -6.17042790e+01] [-2.09470017e-01 -4.69363626e-03 9.77803805e-01 -1.97055788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.706875 meters 0.01734515764699629 Centerline is valid? [True, True] Translation: X:175.79, Y:-61.73, Z:-19.71 [[ 7.03490477e-01 6.93810200e-01 1.54040758e-01 1.75794792e+02] [-6.79134399e-01 7.20142561e-01 -1.42025210e-01 -6.17257666e+01] [-2.09469845e-01 -4.70099449e-03 9.77803807e-01 -1.97125356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.736875 meters 0.01680398147504235 Centerline is valid? [True, True] Translation: X:175.82, Y:-61.75, Z:-19.72 [[ 7.06448091e-01 6.91085626e-01 1.52747344e-01 1.75815614e+02] [-6.76577495e-01 7.22762920e-01 -1.40913643e-01 -6.17468188e+01] [-2.07783509e-01 -3.79724104e-03 9.78167467e-01 -1.97215640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.766875 meters 0.016182938693168353 Centerline is valid? [True, True] Translation: X:175.84, Y:-61.77, Z:-19.73 [[ 7.08217737e-01 6.89248262e-01 1.52854408e-01 1.75836430e+02] [-6.74663244e-01 7.24518130e-01 -1.41077945e-01 -6.17686859e+01] [-2.07983518e-01 -3.21134828e-03 9.78127059e-01 -1.97284985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.796875 meters 0.015717899908703193 Centerline is valid? [True, True] Translation: X:175.86, Y:-61.79, Z:-19.73 [[ 7.09936861e-01 6.87509578e-01 1.52709636e-01 1.75858344e+02] [-6.72898842e-01 7.26170472e-01 -1.41009200e-01 -6.17921824e+01] [-2.07838404e-01 -2.65050847e-03 9.78159584e-01 -1.97347381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.826875 meters 0.015181364465011064 Centerline is valid? [True, True] Translation: X:175.88, Y:-61.82, Z:-19.74 [[ 7.12311778e-01 6.85314856e-01 1.51510656e-01 1.75879360e+02] [-6.70878418e-01 7.28244246e-01 -1.39937365e-01 -6.18156479e+01] [-2.06237918e-01 -1.96619621e-03 9.78499900e-01 -1.97427612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.856875 meters 0.01504303906236931 Centerline is valid? [True, True] Translation: X:175.90, Y:-61.84, Z:-19.75 [[ 7.13265684e-01 6.84495127e-01 1.50726528e-01 1.75902371e+02] [-6.70177160e-01 7.29015524e-01 -1.39280080e-01 -6.18382364e+01] [-2.05218515e-01 -1.66977441e-03 9.78714756e-01 -1.97513064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.886875 meters 0.014869199111519424 Centerline is valid? [True, True] Translation: X:175.92, Y:-61.86, Z:-19.76 [[ 7.14301341e-01 6.83423201e-01 1.50686170e-01 1.75924589e+02] [-6.69072668e-01 7.30021255e-01 -1.39322401e-01 -6.18589022e+01] [-2.05220268e-01 -1.30181963e-03 9.78714947e-01 -1.97589609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.916875 meters 0.01475002931082857 Centerline is valid? [True, True] Translation: X:175.95, Y:-61.88, Z:-19.77 [[ 7.14497480e-01 6.83227922e-01 1.50641816e-01 1.75947403e+02] [-6.68872340e-01 7.30204175e-01 -1.39325719e-01 -6.18820525e+01] [-2.05190504e-01 -1.21226890e-03 9.78721302e-01 -1.97652243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.946875 meters 0.014885265060331089 Centerline is valid? [True, True] Translation: X:175.97, Y:-61.90, Z:-19.77 [[ 7.14742090e-01 6.82901247e-01 1.50962352e-01 1.75969848e+02] [-6.68459964e-01 7.30509931e-01 -1.39701526e-01 -6.19048592e+01] [-2.05681843e-01 -1.06172773e-03 9.78618338e-01 -1.97718012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97687499999998 meters 0.014733209616526603 Centerline is valid? [True, True] Translation: X:175.99, Y:-61.93, Z:-19.78 [[ 7.15424710e-01 6.81925859e-01 1.52133518e-01 1.75991142e+02] [-6.67221854e-01 7.31420929e-01 -1.40848931e-01 -6.19290049e+01] [-2.07322167e-01 -7.40002025e-04 9.78272442e-01 -1.97762950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00687499999998 meters 0.014910106867575296 Centerline is valid? [True, True] Translation: X:176.01, Y:-61.95, Z:-19.78 [[ 7.15707773e-01 6.81634930e-01 1.52105901e-01 1.76013726e+02] [-6.66915337e-01 7.31692187e-01 -1.40891722e-01 -6.19520447e+01] [-2.07331418e-01 -6.04457513e-04 9.78270575e-01 -1.97833427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03687499999998 meters 0.014821782056150883 Centerline is valid? [True, True] Translation: X:176.04, Y:-61.97, Z:-19.79 [[ 7.15948430e-01 6.81388610e-01 1.52076982e-01 1.76036417e+02] [-6.66652595e-01 7.31921675e-01 -1.40943181e-01 -6.19747018e+01] [-2.07345517e-01 -4.74465513e-04 9.78267658e-01 -1.97903741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06687499999998 meters 0.014864400146003098 Centerline is valid? [True, True] Translation: X:176.06, Y:-62.00, Z:-19.80 [[ 7.15903586e-01 6.81533042e-01 1.51640258e-01 1.76059249e+02] [-6.66869230e-01 7.31787198e-01 -1.40616237e-01 -6.19965265e+01] [-2.06803012e-01 -4.56553723e-04 9.78382495e-01 -1.97986178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09687499999998 meters 0.01496039628260108 Centerline is valid? [True, True] Translation: X:176.08, Y:-62.02, Z:-19.81 [[ 7.15212404e-01 6.82268408e-01 1.51594976e-01 1.76083643e+02] [-6.67613161e-01 7.31101530e-01 -1.40652837e-01 -6.20189500e+01] [-2.06794306e-01 -6.10147052e-04 9.78384251e-01 -1.98065179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12687499999998 meters 0.015055079536075747 Centerline is valid? [True, True] Translation: X:176.11, Y:-62.04, Z:-19.81 [[ 7.14342646e-01 6.83172105e-01 1.51626052e-01 1.76106980e+02] [-6.68511703e-01 7.30256960e-01 -1.40772424e-01 -6.20397076e+01] [-2.06897773e-01 -8.04044552e-04 9.78362236e-01 -1.98141149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15687499999999 meters 0.014991976176970232 Centerline is valid? [True, True] Translation: X:176.13, Y:-62.06, Z:-19.82 [[ 7.13423487e-01 6.84302329e-01 1.50855063e-01 1.76129650e+02] [-6.69807093e-01 7.29197596e-01 -1.40104687e-01 -6.20604639e+01] [-2.05877113e-01 -1.08981687e-03 9.78577246e-01 -1.98216528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.186875 meters 0.015131180989305486 Centerline is valid? [True, True] Translation: X:176.15, Y:-62.08, Z:-19.83 [[ 7.13069840e-01 6.84804829e-01 1.50245630e-01 1.76153011e+02] [-6.70424849e-01 7.28725568e-01 -1.39605049e-01 -6.20823153e+01] [-2.05090044e-01 -1.18025395e-03 9.78742398e-01 -1.98295934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.216875 meters 0.015107961269747268 Centerline is valid? [True, True] Translation: X:176.18, Y:-62.10, Z:-19.84 [[ 7.12719494e-01 6.85160311e-01 1.50287296e-01 1.76176568e+02] [-6.70764010e-01 7.28391272e-01 -1.39720426e-01 -6.21041500e+01] [-2.05198845e-01 -1.22583773e-03 9.78719537e-01 -1.98370033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.246875 meters 0.015216060474418713 Centerline is valid? [True, True] Translation: X:176.20, Y:-62.12, Z:-19.84 [[ 7.12259703e-01 6.85562225e-01 1.50633833e-01 1.76199318e+02] [-6.71090891e-01 7.28012901e-01 -1.40122205e-01 -6.21249974e+01] [-2.05725865e-01 -1.28559283e-03 9.78608817e-01 -1.98438994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.276875 meters 0.01509965632621157 Centerline is valid? [True, True] Translation: X:176.22, Y:-62.15, Z:-19.85 [[ 7.11697215e-01 6.86009869e-01 1.51253213e-01 1.76223110e+02] [-6.71412425e-01 7.27590952e-01 -1.40772023e-01 -6.21466733e+01] [-2.06621466e-01 -1.36623022e-03 9.78420003e-01 -1.98501374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.306875 meters 0.015151210143000604 Centerline is valid? [True, True] Translation: X:176.25, Y:-62.17, Z:-19.86 [[ 7.11019242e-01 6.86582017e-01 1.51844562e-01 1.76246085e+02] [-6.71864935e-01 7.27050855e-01 -1.41402136e-01 -6.21675590e+01] [-2.07482882e-01 -1.47939684e-03 9.78237530e-01 -1.98565378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.336875 meters 0.015232990805256004 Centerline is valid? [True, True] Translation: X:176.27, Y:-62.19, Z:-19.86 [[ 7.10674178e-01 6.87045323e-01 1.51363593e-01 1.76269312e+02] [-6.72417268e-01 7.26612900e-01 -1.41027340e-01 -6.21893576e+01] [-2.06874914e-01 -1.55500466e-03 9.78366165e-01 -1.98634272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.366875 meters 0.015238379890834574 Centerline is valid? [True, True] Translation: X:176.29, Y:-62.21, Z:-19.87 [[ 7.10088326e-01 6.87685306e-01 1.51206777e-01 1.76292865e+02] [-6.73085544e-01 7.26006952e-01 -1.40960118e-01 -6.22105344e+01] [-2.06713374e-01 -1.68096144e-03 9.78400100e-01 -1.98712007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.396875 meters 0.015380143727420716 Centerline is valid? [True, True] Translation: X:176.32, Y:-62.23, Z:-19.88 [[ 7.09721726e-01 6.88292979e-01 1.50159402e-01 1.76316398e+02] [-6.73894144e-01 7.25430618e-01 -1.40061063e-01 -6.22323334e+01] [-2.05333274e-01 -1.78716210e-03 9.78690478e-01 -1.98785900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.426875 meters 0.01556632233376547 Centerline is valid? [True, True] Translation: X:176.34, Y:-62.25, Z:-19.89 [[ 7.08716032e-01 6.89503570e-01 1.49353315e-01 1.76340135e+02] [-6.75270936e-01 7.24279330e-01 -1.39386566e-01 -6.22528663e+01] [-2.04281054e-01 -2.06845920e-03 9.78910094e-01 -1.98872501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.456875 meters 0.016058520665218116 Centerline is valid? [True, True] Translation: X:176.36, Y:-62.27, Z:-19.90 [[ 7.08081599e-01 6.90246056e-01 1.48932308e-01 1.76363886e+02] [-6.76096225e-01 7.23571305e-01 -1.39062797e-01 -6.22730021e+01] [-2.03750691e-01 -2.22476295e-03 9.79020279e-01 -1.98958133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.486875 meters 0.016084010482181072 Centerline is valid? [True, True] Translation: X:176.39, Y:-62.29, Z:-19.90 [[ 7.07261434e-01 6.91235658e-01 1.48238081e-01 1.76386867e+02] [-6.77230926e-01 7.22625209e-01 -1.38459672e-01 -6.22947982e+01] [-2.02828837e-01 -2.46422718e-03 9.79211106e-01 -1.99030174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.516875 meters 0.016261172009759777 Centerline is valid? [True, True] Translation: X:176.41, Y:-62.32, Z:-19.91 [[ 7.06118607e-01 6.92492420e-01 1.47820032e-01 1.76411006e+02] [-6.78580761e-01 7.21419843e-01 -1.38136022e-01 -6.23158368e+01] [-2.02298452e-01 -2.76741387e-03 9.79320008e-01 -1.99108110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.546875 meters 0.016403293823966048 Centerline is valid? [True, True] Translation: X:176.44, Y:-62.34, Z:-19.92 [[ 7.05089288e-01 6.93466345e-01 1.48167218e-01 1.76435432e+02] [-6.79494034e-01 7.20482783e-01 -1.38536700e-01 -6.23370922e+01] [-2.02822469e-01 -2.99799796e-03 9.79210937e-01 -1.99174710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.576875 meters 0.016812707507464317 Centerline is valid? [True, True] Translation: X:176.46, Y:-62.36, Z:-19.92 [[ 7.04076232e-01 6.94384266e-01 1.48684733e-01 1.76458942e+02] [-6.80316914e-01 7.19597213e-01 -1.39099775e-01 -6.23570398e+01] [-2.03581815e-01 -3.21589392e-03 9.79052656e-01 -1.99237567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.606875 meters 0.01728244551041308 Centerline is valid? [True, True] Translation: X:176.48, Y:-62.38, Z:-19.93 [[ 7.02269638e-01 6.96019744e-01 1.49578983e-01 1.76483030e+02] [-6.81801768e-01 7.18013328e-01 -1.40011464e-01 -6.23772134e+01] [-2.04850447e-01 -3.65741524e-03 9.78786452e-01 -1.99280321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.636875 meters 0.01765518579935956 Centerline is valid? [True, True] Translation: X:176.51, Y:-62.40, Z:-19.93 [[ 7.00873047e-01 6.97352454e-01 1.49921734e-01 1.76507338e+02] [-6.83085495e-01 7.16717149e-01 -1.40394926e-01 -6.23981834e+01] [-2.05356225e-01 -4.01034221e-03 9.78679078e-01 -1.99344349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.666875 meters 0.017700244839735466 Centerline is valid? [True, True] Translation: X:176.53, Y:-62.42, Z:-19.94 [[ 6.99579547e-01 6.98633327e-01 1.49999771e-01 1.76530891e+02] [-6.84364311e-01 7.15466774e-01 -1.40544601e-01 -6.24190236e+01] [-2.05508994e-01 -4.33236176e-03 9.78645638e-01 -1.99412735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.696875 meters 0.017923064039280453 Centerline is valid? [True, True] Translation: X:176.56, Y:-62.44, Z:-19.95 [[ 7.00294626e-01 6.98050002e-01 1.49377481e-01 1.76556326e+02] [-6.83872258e-01 7.16037332e-01 -1.40033118e-01 -6.24387218e+01] [-2.04709971e-01 -4.09067510e-03 9.78814127e-01 -1.99512755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72687499999998 meters 0.016100248796502983 Centerline is valid? [True, True] Translation: X:176.58, Y:-62.46, Z:-19.96 [[ 7.04245285e-01 6.94110639e-01 1.49160983e-01 1.76577803e+02] [-6.79866594e-01 7.19862624e-01 -1.39925755e-01 -6.24618773e+01] [-2.04499372e-01 -2.86751616e-03 9.78862495e-01 -1.99587784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75687499999998 meters 0.015896129015731272 Centerline is valid? [True, True] Translation: X:176.60, Y:-62.48, Z:-19.96 [[ 7.05298152e-01 6.92904650e-01 1.49792064e-01 1.76599527e+02] [-6.78495402e-01 7.21024990e-01 -1.40595000e-01 -6.24837460e+01] [-2.05422751e-01 -2.47183229e-03 9.78670212e-01 -1.99628758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78687499999998 meters 0.015634807968674072 Centerline is valid? [True, True] Translation: X:176.62, Y:-62.51, Z:-19.97 [[ 7.06224626e-01 6.92152339e-01 1.48902373e-01 1.76622952e+02] [-6.77891169e-01 7.21748052e-01 -1.39797397e-01 -6.25063990e+01] [-2.04231093e-01 -2.21123899e-03 9.78920207e-01 -1.99696843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81687499999998 meters 0.015319976858544661 Centerline is valid? [True, True] Translation: X:176.65, Y:-62.53, Z:-19.98 [[ 7.07048292e-01 6.91574108e-01 1.47675208e-01 1.76646418e+02] [-6.77521175e-01 7.22302826e-01 -1.38721612e-01 -6.25270406e+01] [-2.02602495e-01 -1.97020175e-03 9.79259081e-01 -1.99789886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84687499999998 meters 0.015166396992912988 Centerline is valid? [True, True] Translation: X:176.67, Y:-62.55, Z:-19.99 [[ 7.08250801e-01 6.90576345e-01 1.46578016e-01 1.76669791e+02] [-6.76696824e-01 7.23257701e-01 -1.37766852e-01 -6.25481748e+01] [-2.01152208e-01 -1.61539471e-03 9.79558666e-01 -1.99877548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87687499999998 meters 0.014944094948706705 Centerline is valid? [True, True] Translation: X:176.69, Y:-62.57, Z:-20.00 [[ 7.10048542e-01 6.88928296e-01 1.45632659e-01 1.76692640e+02] [-6.75178728e-01 7.24828691e-01 -1.36956392e-01 -6.25690971e+01] [-1.99911863e-01 -1.08238701e-03 9.79813286e-01 -1.99975112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90687499999999 meters 0.014858517843437589 Centerline is valid? [True, True] Translation: X:176.72, Y:-62.59, Z:-20.00 [[ 7.10131165e-01 6.88808850e-01 1.45794709e-01 1.76716080e+02] [-6.75011193e-01 7.24942325e-01 -1.37180592e-01 -6.25916953e+01] [-2.00183962e-01 -9.96846913e-04 9.79757821e-01 -2.00044411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.936875 meters 0.014802985096381402 Centerline is valid? [True, True] Translation: X:176.74, Y:-62.61, Z:-20.01 [[ 7.09730925e-01 6.88985902e-01 1.46902830e-01 1.76738017e+02] [-6.74963112e-01 7.24774057e-01 -1.38301716e-01 -6.26138262e+01] [-2.01759293e-01 -9.96986205e-04 9.79434630e-01 -2.00092259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.966875 meters 0.014814951815831309 Centerline is valid? [True, True] Translation: X:176.76, Y:-62.64, Z:-20.01 [[ 7.09724384e-01 6.88973244e-01 1.46993768e-01 1.76760910e+02] [-6.74920007e-01 7.24786154e-01 -1.38448598e-01 -6.26367258e+01] [-2.01926428e-01 -9.48688604e-04 9.79400234e-01 -2.00138796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.996875 meters 0.014708126469734758 Centerline is valid? [True, True] Translation: X:176.78, Y:-62.66, Z:-20.02 [[ 7.09964505e-01 6.88705138e-01 1.47090569e-01 1.76783591e+02] [-6.74611115e-01 7.25041082e-01 -1.38619165e-01 -6.26579353e+01] [-2.02114436e-01 -8.14245811e-04 9.79361574e-01 -2.00204272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.026875 meters 0.014724040110951684 Centerline is valid? [True, True] Translation: X:176.81, Y:-62.68, Z:-20.03 [[ 7.09636098e-01 6.89030805e-01 1.47150123e-01 1.76807513e+02] [-6.74922583e-01 7.24731528e-01 -1.38721735e-01 -6.26796661e+01] [-2.02227882e-01 -8.72990417e-04 9.79338104e-01 -2.00277743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.056875 meters 0.014680291901524964 Centerline is valid? [True, True] Translation: X:176.83, Y:-62.70, Z:-20.03 [[ 7.08899009e-01 6.89566896e-01 1.48188026e-01 1.76831074e+02] [-6.75252180e-01 7.24221337e-01 -1.39778212e-01 -6.27005101e+01] [-2.03707358e-01 -9.75651334e-04 9.79031338e-01 -2.00341633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.086875 meters 0.01467405142036545 Centerline is valid? [True, True] Translation: X:176.85, Y:-62.72, Z:-20.04 [[ 7.08273301e-01 6.90038968e-01 1.48980382e-01 1.76853573e+02] [-6.75565102e-01 7.23771431e-01 -1.40594127e-01 -6.27224607e+01] [-2.04843170e-01 -1.06688059e-03 9.78794226e-01 -2.00401451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.116875 meters 0.014642218222894706 Centerline is valid? [True, True] Translation: X:176.88, Y:-62.75, Z:-20.05 [[ 7.07777796e-01 6.90506219e-01 1.49170216e-01 1.76879237e+02] [-6.75991409e-01 7.23325534e-01 -1.40839580e-01 -6.27473649e+01] [-2.05149232e-01 -1.15465726e-03 9.78730024e-01 -2.00475005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.146875 meters 0.014733850799445834 Centerline is valid? [True, True] Translation: X:176.90, Y:-62.77, Z:-20.05 [[ 7.07434512e-01 6.90819302e-01 1.49348932e-01 1.76901931e+02] [-6.76248576e-01 7.23026535e-01 -1.41139975e-01 -6.27686414e+01] [-2.05485460e-01 -1.14971365e-03 9.78659493e-01 -2.00542955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.176875 meters 0.014608985467375194 Centerline is valid? [True, True] Translation: X:176.93, Y:-62.79, Z:-20.06 [[ 7.07486610e-01 6.90828328e-01 1.49060116e-01 1.76925271e+02] [-6.76299483e-01 7.23017994e-01 -1.40939668e-01 -6.27901512e+01] [-2.05138261e-01 -1.09635098e-03 9.78732390e-01 -2.00616844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.206875 meters 0.014726973727719058 Centerline is valid? [True, True] Translation: X:176.95, Y:-62.81, Z:-20.07 [[ 7.07229573e-01 6.91126574e-01 1.48897246e-01 1.76948653e+02] [-6.76619624e-01 7.22732868e-01 -1.40865490e-01 -6.28118347e+01] [-2.04968817e-01 -1.12255844e-03 9.78767860e-01 -2.00693184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.236875 meters 0.01469801998133715 Centerline is valid? [True, True] Translation: X:176.97, Y:-62.83, Z:-20.08 [[ 7.07037401e-01 6.91249406e-01 1.49239311e-01 1.76972239e+02] [-6.76661109e-01 7.22615418e-01 -1.41268189e-01 -6.28345011e+01] [-2.05494178e-01 -1.10254440e-03 9.78657717e-01 -2.00759604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.266875 meters 0.014663228804435706 Centerline is valid? [True, True] Translation: X:176.99, Y:-62.86, Z:-20.08 [[ 7.07511119e-01 6.90769899e-01 1.49214488e-01 1.76994717e+02] [-6.76156698e-01 7.23074094e-01 -1.41336386e-01 -6.28567718e+01] [-2.05524052e-01 -8.95311157e-04 9.78651655e-01 -2.00817131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.296875 meters 0.014658967042824836 Centerline is valid? [True, True] Translation: X:177.02, Y:-62.88, Z:-20.09 [[ 7.08065579e-01 6.90312283e-01 1.48701338e-01 1.77017310e+02] [-6.75774610e-01 7.23511201e-01 -1.40926291e-01 -6.28785689e+01] [-2.04870233e-01 -7.03532347e-04 9.78788891e-01 -2.00890259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.326875 meters 0.014608891639953537 Centerline is valid? [True, True] Translation: X:177.04, Y:-62.90, Z:-20.10 [[ 7.08633287e-01 6.89793828e-01 1.48402627e-01 1.77040731e+02] [-6.75293859e-01 7.24005668e-01 -1.40691137e-01 -6.29006830e+01] [-2.04492221e-01 -5.16960032e-04 9.78868053e-01 -2.00964309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.356875 meters 0.014607873064038056 Centerline is valid? [True, True] Translation: X:177.06, Y:-62.92, Z:-20.10 [[ 7.09994236e-01 6.88471180e-01 1.48039251e-01 1.77064443e+02] [-6.73998205e-01 7.25263696e-01 -1.40424325e-01 -6.29224501e+01] [-2.04045595e-01 -7.77276114e-05 9.78961383e-01 -2.01049271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.386875 meters 0.0147110946592894 Centerline is valid? [True, True] Translation: X:177.09, Y:-62.95, Z:-20.11 [[ 7.10453127e-01 6.88099186e-01 1.47566477e-01 1.77089786e+02] [-6.73695529e-01 7.25616636e-01 -1.40052961e-01 -6.29468789e+01] [-2.03447019e-01 8.61883919e-05 9.79085953e-01 -2.01135889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.416875 meters 0.014774247752666527 Centerline is valid? [True, True] Translation: X:177.11, Y:-62.97, Z:-20.12 [[ 7.10749832e-01 6.87720158e-01 1.47904227e-01 1.77112582e+02] [-6.73215078e-01 7.25975826e-01 -1.40501097e-01 -6.29692055e+01] [-2.04000330e-01 2.89776040e-04 9.78970777e-01 -2.01197680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.446875 meters 0.014849837155488996 Centerline is valid? [True, True] Translation: X:177.14, Y:-62.99, Z:-20.13 [[ 7.11972467e-01 6.86410717e-01 1.48106495e-01 1.77135715e+02] [-6.71821306e-01 7.27213726e-01 -1.40770483e-01 -6.29911479e+01] [-2.04331444e-01 7.23608890e-04 9.78901495e-01 -2.01258870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47687499999998 meters 0.014811807370080933 Centerline is valid? [True, True] Translation: X:177.16, Y:-63.01, Z:-20.13 [[ 7.12347945e-01 6.86087681e-01 1.47797497e-01 1.77159482e+02] [-6.71536586e-01 7.27518339e-01 -1.40554904e-01 -6.30130421e+01] [-2.03958378e-01 8.72570811e-04 9.78979172e-01 -2.01330531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50687499999998 meters 0.014939047044279329 Centerline is valid? [True, True] Translation: X:177.18, Y:-63.03, Z:-20.14 [[ 7.12620295e-01 6.85759402e-01 1.48007968e-01 1.77182818e+02] [-6.71142977e-01 7.27827582e-01 -1.40833642e-01 -6.30345247e+01] [-2.04302276e-01 1.02640259e-03 9.78907313e-01 -2.01404582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53687499999998 meters 0.015003057971292269 Centerline is valid? [True, True] Translation: X:177.21, Y:-63.06, Z:-20.15 [[ 7.12522875e-01 6.85766295e-01 1.48444402e-01 1.77206707e+02] [-6.71046232e-01 7.27821000e-01 -1.41327795e-01 -6.30566357e+01] [-2.04958792e-01 1.08623025e-03 9.78770000e-01 -2.01469865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56687499999998 meters 0.015059675795432803 Centerline is valid? [True, True] Translation: X:177.23, Y:-63.08, Z:-20.15 [[ 7.12384938e-01 6.85794348e-01 1.48975880e-01 1.77229934e+02] [-6.70951446e-01 7.27794484e-01 -1.41913166e-01 -6.30781661e+01] [-2.05747071e-01 1.14121959e-03 9.78604537e-01 -2.01533351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59687499999998 meters 0.015059675795432803 Centerline is valid? [True, True] Translation: X:177.25, Y:-63.10, Z:-20.16 [[ 7.12202255e-01 6.85991978e-01 1.48939433e-01 1.77252773e+02] [-6.71145354e-01 7.27608213e-01 -1.41951408e-01 -6.31000405e+01] [-2.05747082e-01 1.13810462e-03 9.78604539e-01 -2.01602926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62687499999998 meters 0.014843620480716167 Centerline is valid? [True, True] Translation: X:177.28, Y:-63.12, Z:-20.17 [[ 7.11215066e-01 6.86948076e-01 1.49249691e-01 1.77278010e+02] [-6.72043273e-01 7.26705918e-01 -1.42324794e-01 -6.31207355e+01] [-2.06230377e-01 9.21286528e-04 9.78503032e-01 -2.01661411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65687499999999 meters 0.014833231079277441 Centerline is valid? [True, True] Translation: X:177.30, Y:-63.14, Z:-20.17 [[ 7.10493618e-01 6.87706110e-01 1.49194920e-01 1.77301803e+02] [-6.72812104e-01 7.25988793e-01 -1.42352187e-01 -6.31414992e+01] [-2.06210309e-01 7.60172348e-04 9.78507399e-01 -2.01731526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.686875 meters 0.014532586082289332 Centerline is valid? [True, True] Translation: X:177.33, Y:-63.16, Z:-20.18 [[ 7.07912092e-01 6.90392910e-01 1.49057368e-01 1.77330318e+02] [-6.75570029e-01 7.23434605e-01 -1.42293737e-01 -6.31626185e+01] [-2.06071846e-01 3.27663330e-05 9.78536864e-01 -2.01812948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.716875 meters 0.01454671907841528 Centerline is valid? [True, True] Translation: X:177.36, Y:-63.18, Z:-20.19 [[ 7.06013786e-01 6.92369418e-01 1.48892991e-01 1.77355277e+02] [-6.77597296e-01 7.21543057e-01 -1.42258641e-01 -6.31827187e+01] [-2.05928236e-01 -4.52925771e-04 9.78566991e-01 -2.01889819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.746875 meters 0.014689714053298273 Centerline is valid? [True, True] Translation: X:177.38, Y:-63.20, Z:-20.20 [[ 7.03888840e-01 6.94509382e-01 1.48987315e-01 1.77379868e+02] [-6.79748175e-01 7.19482927e-01 -1.42431512e-01 -6.32018466e+01] [-2.06113851e-01 -1.01790427e-03 9.78527488e-01 -2.01969627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.776875 meters 0.015314560704296532 Centerline is valid? [True, True] Translation: X:177.41, Y:-63.22, Z:-20.20 [[ 6.99517552e-01 6.99108647e-01 1.48061791e-01 1.77405700e+02] [-6.84623186e-01 7.15011698e-01 -1.41595781e-01 -6.32198207e+01] [-2.04856748e-01 -2.31780089e-03 9.78789222e-01 -2.02035089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.806875 meters 0.01570874420389205 Centerline is valid? [True, True] Translation: X:177.43, Y:-63.24, Z:-20.21 [[ 6.97383871e-01 7.01254330e-01 1.47980072e-01 1.77430511e+02] [-6.86818125e-01 7.12905313e-01 -1.41586997e-01 -6.32403294e+01] [-2.04784274e-01 -2.89490730e-03 9.78802851e-01 -2.02110960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.836875 meters 0.016442039967216174 Centerline is valid? [True, True] Translation: X:177.45, Y:-63.26, Z:-20.22 [[ 6.95517927e-01 7.03099119e-01 1.48008252e-01 1.77454213e+02] [-6.88682247e-01 7.11083817e-01 -1.41691806e-01 -6.32596983e+01] [-2.04869656e-01 -3.38146450e-03 9.78783423e-01 -2.02185849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.866875 meters 0.01656565884773741 Centerline is valid? [True, True] Translation: X:177.48, Y:-63.28, Z:-20.23 [[ 6.94090437e-01 7.04614264e-01 1.47503237e-01 1.77477368e+02] [-6.90317090e-01 7.09580537e-01 -1.41271997e-01 -6.32810512e+01] [-2.04207691e-01 -3.76846308e-03 9.78920333e-01 -2.02263593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.896875 meters 0.017361483242009337 Centerline is valid? [True, True] Translation: X:177.50, Y:-63.30, Z:-20.23 [[ 6.92198501e-01 7.06334733e-01 1.48163697e-01 1.77500025e+02] [-6.91931845e-01 7.07865266e-01 -1.41975653e-01 -6.33016889e+01] [-2.05162270e-01 -4.24384568e-03 9.78718771e-01 -2.02328203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.926875 meters 0.017663589427457594 Centerline is valid? [True, True] Translation: X:177.52, Y:-63.32, Z:-20.24 [[ 6.91588636e-01 7.06959325e-01 1.48032666e-01 1.77522391e+02] [-6.92582744e-01 7.07240654e-01 -1.41914763e-01 -6.33233356e+01] [-2.05022685e-01 -4.37823278e-03 9.78747429e-01 -2.02397138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.956875 meters 0.017692228686980796 Centerline is valid? [True, True] Translation: X:177.55, Y:-63.35, Z:-20.25 [[ 6.91102028e-01 7.07446673e-01 1.47976996e-01 1.77545420e+02] [-6.93077673e-01 7.06752581e-01 -1.41930014e-01 -6.33463363e+01] [-2.04991040e-01 -4.47143176e-03 9.78753636e-01 -2.02466879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.986875 meters 0.017443249279015912 Centerline is valid? [True, True] Translation: X:177.57, Y:-63.37, Z:-20.25 [[ 6.91540670e-01 7.07113911e-01 1.47517519e-01 1.77565905e+02] [-6.92810975e-01 7.07086567e-01 -1.41568146e-01 -6.33697097e+01] [-2.04412462e-01 -4.30162520e-03 9.78875396e-01 -2.02541016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.016875 meters 0.016473551286604885 Centerline is valid? [True, True] Translation: X:177.59, Y:-63.39, Z:-20.26 [[ 6.91979258e-01 7.06754369e-01 1.47183452e-01 1.77585702e+02] [-6.92494605e-01 7.07446925e-01 -1.41315496e-01 -6.33945903e+01] [-2.03999824e-01 -4.13635447e-03 9.78962186e-01 -2.02604736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.046875 meters 0.017245402836193864 Centerline is valid? [True, True] Translation: X:177.61, Y:-63.42, Z:-20.27 [[ 6.92308017e-01 7.06517643e-01 1.46773394e-01 1.77608359e+02] [-6.92317763e-01 7.07684110e-01 -1.40994026e-01 -6.34164416e+01] [-2.03483966e-01 -4.00253318e-03 9.79070097e-01 -2.02693401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.076875 meters 0.01673169161367465 Centerline is valid? [True, True] Translation: X:177.63, Y:-63.44, Z:-20.28 [[ 6.92746075e-01 7.06207593e-01 1.46197508e-01 1.77629617e+02] [-6.92099989e-01 7.07994364e-01 -1.40504754e-01 -6.34410722e+01] [-2.02732536e-01 -3.84917708e-03 9.79226584e-01 -2.02763761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.106875 meters 0.016625559486280896 Centerline is valid? [True, True] Translation: X:177.65, Y:-63.46, Z:-20.28 [[ 6.93231723e-01 7.05733294e-01 1.46185825e-01 1.77650361e+02] [-6.91600924e-01 7.08468193e-01 -1.40573761e-01 -6.34649933e+01] [-2.02775591e-01 -3.65206119e-03 9.79218424e-01 -2.02834695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.136875 meters 0.016400734157340415 Centerline is valid? [True, True] Translation: X:177.67, Y:-63.49, Z:-20.29 [[ 6.93050909e-01 7.05817489e-01 1.46635980e-01 1.77671878e+02] [-6.91582964e-01 7.08384411e-01 -1.41083413e-01 -6.34885975e+01] [-2.03453782e-01 -3.63295775e-03 9.79077811e-01 -2.02894368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.166875 meters 0.016954024508575832 Centerline is valid? [True, True] Translation: X:177.69, Y:-63.51, Z:-20.30 [[ 6.92818468e-01 7.06026460e-01 1.46728345e-01 1.77694000e+02] [-6.91761755e-01 7.08176106e-01 -1.41252532e-01 -6.35102578e+01] [-2.03637533e-01 -3.63869414e-03 9.79039588e-01 -2.02966108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.196875 meters 0.017179316790047906 Centerline is valid? [True, True] Translation: X:177.71, Y:-63.53, Z:-20.30 [[ 6.92935580e-01 7.05785608e-01 1.47332811e-01 1.77714529e+02] [-6.91380617e-01 7.08416705e-01 -1.41910590e-01 -6.35327065e+01] [-2.04531476e-01 -3.52815278e-03 9.78853629e-01 -2.03025139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22687499999998 meters 0.016805270109600562 Centerline is valid? [True, True] Translation: X:177.74, Y:-63.56, Z:-20.31 [[ 6.92851812e-01 7.05824667e-01 1.47539507e-01 1.77736860e+02] [-6.91366603e-01 7.08377930e-01 -1.42172178e-01 -6.35569087e+01] [-2.04862361e-01 -3.49963687e-03 9.78784535e-01 -2.03084109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25687499999998 meters 0.0164146566648937 Centerline is valid? [True, True] Translation: X:177.76, Y:-63.58, Z:-20.31 [[ 6.92647809e-01 7.05944448e-01 1.47923796e-01 1.77759049e+02] [-6.91394063e-01 7.08258658e-01 -1.42632124e-01 -6.35805755e+01] [-2.05458666e-01 -3.47980609e-03 9.78659608e-01 -2.03147954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28687499999998 meters 0.016853178933980063 Centerline is valid? [True, True] Translation: X:177.78, Y:-63.60, Z:-20.32 [[ 6.92654692e-01 7.05912060e-01 1.48046082e-01 1.77780945e+02] [-6.91319618e-01 7.08291257e-01 -1.42830953e-01 -6.36029483e+01] [-2.05685838e-01 -3.41463128e-03 9.78612117e-01 -2.03210303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31687499999998 meters 0.016453646739731778 Centerline is valid? [True, True] Translation: X:177.80, Y:-63.63, Z:-20.33 [[ 6.92554113e-01 7.06024334e-01 1.47981214e-01 1.77802706e+02] [-6.91431561e-01 7.08179450e-01 -1.42843490e-01 -6.36261778e+01] [-2.05648235e-01 -3.39203513e-03 9.78620099e-01 -2.03274221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34687499999998 meters 0.01665942453640079 Centerline is valid? [True, True] Translation: X:177.83, Y:-63.65, Z:-20.33 [[ 6.92534833e-01 7.05996675e-01 1.48203239e-01 1.77825150e+02] [-6.91341894e-01 7.08207317e-01 -1.43139029e-01 -6.36475196e+01] [-2.06014297e-01 -3.33034433e-03 9.78543314e-01 -2.03349841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37687499999998 meters 0.016266499633139978 Centerline is valid? [True, True] Translation: X:177.85, Y:-63.67, Z:-20.34 [[ 6.93184220e-01 7.05454785e-01 1.47747025e-01 1.77847150e+02] [-6.90863160e-01 7.08748126e-01 -1.42773204e-01 -6.36702688e+01] [-2.05435467e-01 -3.10484411e-03 9.78665739e-01 -2.03431239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40687499999999 meters 0.01610369180578124 Centerline is valid? [True, True] Translation: X:177.87, Y:-63.69, Z:-20.35 [[ 6.93773569e-01 7.05025608e-01 1.47027639e-01 1.77869555e+02] [-6.90551338e-01 7.09175893e-01 -1.42156258e-01 -6.36928036e+01] [-2.04492260e-01 -2.90587864e-03 9.78863868e-01 -2.03512395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.436875 meters 0.01590626315653128 Centerline is valid? [True, True] Translation: X:177.89, Y:-63.72, Z:-20.36 [[ 6.94296615e-01 7.04616150e-01 1.46520618e-01 1.77891515e+02] [-6.90217150e-01 7.09583465e-01 -1.41744815e-01 -6.37156555e+01] [-2.03844294e-01 -2.71809802e-03 9.78999548e-01 -2.03587283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.466875 meters 0.01555275198132989 Centerline is valid? [True, True] Translation: X:177.91, Y:-63.74, Z:-20.37 [[ 6.96086222e-01 7.03031571e-01 1.45638536e-01 1.77911547e+02] [-6.88756412e-01 7.11155293e-01 -1.40970757e-01 -6.37386999e+01] [-2.02678509e-01 -2.18167344e-03 9.79242903e-01 -2.03658056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.496875 meters 0.01545807901603338 Centerline is valid? [True, True] Translation: X:177.93, Y:-63.76, Z:-20.37 [[ 6.97114284e-01 7.01994333e-01 1.45724503e-01 1.77933399e+02] [-6.87666524e-01 7.12180167e-01 -1.41117547e-01 -6.37617490e+01] [-2.02845819e-01 -1.83480413e-03 9.79208970e-01 -2.03725399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.526875 meters 0.015193686520032513 Centerline is valid? [True, True] Translation: X:177.95, Y:-63.78, Z:-20.38 [[ 6.98155676e-01 7.00932682e-01 1.45849333e-01 1.77954587e+02] [-6.86542882e-01 7.13225906e-01 -1.41307036e-01 -6.37840991e+01] [-2.03070242e-01 -1.47751279e-03 9.79163058e-01 -2.03787856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.556875 meters 0.014887138107954306 Centerline is valid? [True, True] Translation: X:177.98, Y:-63.81, Z:-20.38 [[ 6.99347796e-01 6.99648439e-01 1.46303529e-01 1.77976459e+02] [-6.85126951e-01 7.14486483e-01 -1.41810177e-01 -6.38074502e+01] [-2.03749163e-01 -1.06185600e-03 9.79022549e-01 -2.03847225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.586875 meters 0.014860833864443783 Centerline is valid? [True, True] Translation: X:178.00, Y:-63.83, Z:-20.39 [[ 7.01455114e-01 6.97347693e-01 1.47196867e-01 1.77997952e+02] [-6.82581606e-01 7.16732919e-01 -1.42745488e-01 -6.38319256e+01] [-2.05044077e-01 -3.44321453e-04 9.78752680e-01 -2.03910358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.616875 meters 0.014845254180185863 Centerline is valid? [True, True] Translation: X:178.02, Y:-63.85, Z:-20.40 [[ 7.02421445e-01 6.96365277e-01 1.47239649e-01 1.78019111e+02] [-6.81552230e-01 7.17687537e-01 -1.42867623e-01 -6.38542233e+01] [-2.05160113e-01 1.77116799e-06 9.78728424e-01 -2.03980225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.646875 meters 0.014771656733137333 Centerline is valid? [True, True] Translation: X:178.04, Y:-63.88, Z:-20.40 [[ 7.04396389e-01 6.94328080e-01 1.47425387e-01 1.78040738e+02] [-6.79417291e-01 7.19658316e-01 -1.43122510e-01 -6.38788655e+01] [-2.05469883e-01 6.51622289e-04 9.78663222e-01 -2.04042877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.676875 meters 0.014826617285790267 Centerline is valid? [True, True] Translation: X:178.06, Y:-63.90, Z:-20.41 [[ 7.04848227e-01 6.93830357e-01 1.47608984e-01 1.78062643e+02] [-6.78854430e-01 7.20137974e-01 -1.43380479e-01 -6.39011875e+01] [-2.05780564e-01 8.56463427e-04 9.78597786e-01 -2.04110015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.706875 meters 0.014861513920903957 Centerline is valid? [True, True] Translation: X:178.09, Y:-63.92, Z:-20.42 [[ 7.04951041e-01 6.93761425e-01 1.47441903e-01 1.78085886e+02] [-6.78802752e-01 7.20204290e-01 -1.43292022e-01 -6.39242381e+01] [-2.05598768e-01 9.29890369e-04 9.78635929e-01 -2.04171427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.736875 meters 0.014876396654201209 Centerline is valid? [True, True] Translation: X:178.11, Y:-63.95, Z:-20.42 [[ 7.04538583e-01 6.94177657e-01 1.47454285e-01 1.78108535e+02] [-6.79208803e-01 7.19803188e-01 -1.43383305e-01 -6.39463886e+01] [-2.05671552e-01 8.66822044e-04 9.78620693e-01 -2.04238777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.766875 meters 0.014663106291889444 Centerline is valid? [True, True] Translation: X:178.13, Y:-63.97, Z:-20.43 [[ 7.03408620e-01 6.95341385e-01 1.47365775e-01 1.78131791e+02] [-6.80399199e-01 7.18679355e-01 -1.43376825e-01 -6.39677749e+01] [-2.05604580e-01 5.84939091e-04 9.78634975e-01 -2.04311444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.796875 meters 0.014684560529620104 Centerline is valid? [True, True] Translation: X:178.16, Y:-63.99, Z:-20.44 [[ 7.02518576e-01 6.96344985e-01 1.46871752e-01 1.78155553e+02] [-6.81508987e-01 7.17707141e-01 -1.42975383e-01 -6.39898163e+01] [-2.04971096e-01 3.48444099e-04 9.78767964e-01 -2.04390223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.826875 meters 0.01468177743662897 Centerline is valid? [True, True] Translation: X:178.18, Y:-64.01, Z:-20.45 [[ 7.01521750e-01 6.97411682e-01 1.46574829e-01 1.78178112e+02] [-6.82640135e-01 7.16670730e-01 -1.42777837e-01 -6.40107960e+01] [-2.04620821e-01 1.03896851e-04 9.78841309e-01 -2.04478920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.856875 meters 0.014742344863408054 Centerline is valid? [True, True] Translation: X:178.20, Y:-64.03, Z:-20.46 [[ 6.99438692e-01 6.99683381e-01 1.45700661e-01 1.78201643e+02] [-6.85122508e-01 7.14452878e-01 -1.42000825e-01 -6.40314715e+01] [-2.03451874e-01 -5.01931146e-04 9.79084819e-01 -2.04555233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.886875 meters 0.014758534409866457 Centerline is valid? [True, True] Translation: X:178.22, Y:-64.05, Z:-20.46 [[ 6.98150594e-01 7.01033060e-01 1.45390498e-01 1.78224824e+02] [-6.86549430e-01 7.13128276e-01 -1.41767210e-01 -6.40531888e+01] [-2.03065576e-01 -8.42901831e-04 9.79164777e-01 -2.04628933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.916875 meters 0.014902323958426568 Centerline is valid? [True, True] Translation: X:178.25, Y:-64.08, Z:-20.47 [[ 6.96598414e-01 7.02587185e-01 1.45333744e-01 1.78248586e+02] [-6.88131882e-01 7.11596597e-01 -1.41791385e-01 -6.40753745e+01] [-2.03039807e-01 -1.23712870e-03 9.79169702e-01 -2.04696271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.946875 meters 0.015196995935658035 Centerline is valid? [True, True] Translation: X:178.27, Y:-64.10, Z:-20.48 [[ 6.94826816e-01 7.04262815e-01 1.45703751e-01 1.78271967e+02] [-6.89752794e-01 7.09937384e-01 -1.42232188e-01 -6.40968431e+01] [-2.03609381e-01 -1.67283107e-03 9.79050776e-01 -2.04762218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97687499999998 meters 0.01576685495273639 Centerline is valid? [True, True] Translation: X:178.30, Y:-64.12, Z:-20.48 [[ 6.91237526e-01 7.07692393e-01 1.46157996e-01 1.78296343e+02] [-6.93149448e-01 7.06515786e-01 -1.42756042e-01 -6.41171968e+01] [-2.04290296e-01 -2.63100057e-03 9.78906815e-01 -2.04817396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00687499999998 meters 0.01618507694795557 Centerline is valid? [True, True] Translation: X:178.32, Y:-64.14, Z:-20.49 [[ 6.89363154e-01 7.09489197e-01 1.46299421e-01 1.78320235e+02] [-6.94942910e-01 7.04709426e-01 -1.42964946e-01 -6.41377175e+01] [-2.04530666e-01 -3.11497948e-03 9.78855201e-01 -2.04888944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03687499999998 meters 0.016845526997641604 Centerline is valid? [True, True] Translation: X:178.34, Y:-64.16, Z:-20.50 [[ 6.87843883e-01 7.10963782e-01 1.46291807e-01 1.78343641e+02] [-6.96436638e-01 7.03219915e-01 -1.43030627e-01 -6.41574453e+01] [-2.04564908e-01 -3.50023224e-03 9.78846743e-01 -2.04966261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.06687499999998 meters 0.016839180171863203 Centerline is valid? [True, True] Translation: X:178.37, Y:-64.18, Z:-20.50 [[ 6.86810282e-01 7.11889712e-01 1.46644723e-01 1.78366675e+02] [-6.97297210e-01 7.02281356e-01 -1.43448590e-01 -6.41792783e+01] [-2.05105430e-01 -3.73299008e-03 9.78732766e-01 -2.05032465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09687499999998 meters 0.018987536901484685 Centerline is valid? [True, True] Translation: X:178.39, Y:-64.20, Z:-20.51 [[ 6.85799434e-01 7.12829479e-01 1.46810318e-01 1.78390809e+02] [-6.98207809e-01 7.01326208e-01 -1.43692049e-01 -6.41970985e+01] [-2.05389852e-01 -3.96018448e-03 9.78672226e-01 -2.05113158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12687499999998 meters 0.016996155116218697 Centerline is valid? [True, True] Translation: X:178.41, Y:-64.22, Z:-20.52 [[ 6.86001376e-01 7.12680944e-01 1.46587805e-01 1.78410464e+02] [-6.98086101e-01 7.01477708e-01 -1.43543792e-01 -6.42238095e+01] [-2.05129003e-01 -3.85967057e-03 9.78727334e-01 -2.05160253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15687499999999 meters 0.01680489132547441 Centerline is valid? [True, True] Translation: X:178.43, Y:-64.25, Z:-20.52 [[ 6.87699175e-01 7.11075934e-01 1.46426980e-01 1.78431495e+02] [-6.96459882e-01 7.03107401e-01 -1.43469911e-01 -6.42452886e+01] [-2.04971894e-01 -3.31637787e-03 9.78762241e-01 -2.05235055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.186875 meters 0.016202012651024014 Centerline is valid? [True, True] Translation: X:178.45, Y:-64.27, Z:-20.53 [[ 6.88946008e-01 7.09877036e-01 1.46383031e-01 1.78452873e+02] [-6.95228929e-01 7.04319619e-01 -1.43494285e-01 -6.42689890e+01] [-2.04963738e-01 -2.90990325e-03 9.78765242e-01 -2.05306447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.216875 meters 0.01609007988972219 Centerline is valid? [True, True] Translation: X:178.47, Y:-64.29, Z:-20.54 [[ 6.90502825e-01 7.08490813e-01 1.45762191e-01 1.78474085e+02] [-6.93929537e-01 7.05715749e-01 -1.42923333e-01 -6.42907867e+01] [-2.04126542e-01 -2.45972414e-03 9.78941420e-01 -2.05384714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.246875 meters 0.015457040261797948 Centerline is valid? [True, True] Translation: X:178.50, Y:-64.32, Z:-20.55 [[ 6.92014290e-01 7.07012839e-01 1.45770601e-01 1.78495283e+02] [-6.92404158e-01 7.07197946e-01 -1.42994922e-01 -6.43159011e+01] [-2.04187915e-01 -1.97764058e-03 9.78929714e-01 -2.05451916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.276875 meters 0.01496086593988658 Centerline is valid? [True, True] Translation: X:178.52, Y:-64.34, Z:-20.55 [[ 6.94008584e-01 7.05088031e-01 1.45612339e-01 1.78516094e+02] [-6.90451404e-01 7.09118506e-01 -1.42925866e-01 -6.43390123e+01] [-2.04031722e-01 -1.34646636e-03 9.78963351e-01 -2.05524132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.306875 meters 0.014767598683465475 Centerline is valid? [True, True] Translation: X:178.54, Y:-64.37, Z:-20.56 [[ 6.98101339e-01 7.01218621e-01 1.44730668e-01 1.78538051e+02] [-6.86664641e-01 7.12946294e-01 -1.42124075e-01 -6.43670664e+01] [-2.02845241e-01 -1.64425066e-04 9.79210795e-01 -2.05618771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.336875 meters 0.014896686007518641 Centerline is valid? [True, True] Translation: X:178.56, Y:-64.39, Z:-20.57 [[ 7.00422437e-01 6.98918818e-01 1.44640572e-01 1.78559050e+02] [-6.84296698e-01 7.15200728e-01 -1.42217960e-01 -6.43911843e+01] [-2.02845851e-01 6.35584727e-04 9.79210476e-01 -2.05686062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.366875 meters 0.015244746617680594 Centerline is valid? [True, True] Translation: X:178.58, Y:-64.41, Z:-20.58 [[ 7.02369382e-01 6.96940682e-01 1.44744382e-01 1.78579524e+02] [-6.82239247e-01 7.17127661e-01 -1.42399189e-01 -6.44145892e+01] [-2.03043988e-01 1.26653198e-03 9.79168798e-01 -2.05752793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.396875 meters 0.01597547706190323 Centerline is valid? [True, True] Translation: X:178.60, Y:-64.44, Z:-20.58 [[ 7.06532538e-01 6.92600728e-01 1.45313467e-01 1.78600028e+02] [-6.77676231e-01 7.21316559e-01 -1.43029184e-01 -6.44399841e+01] [-2.03879127e-01 2.57928966e-03 9.78992670e-01 -2.05819282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.426875 meters 0.016447930620311933 Centerline is valid? [True, True] Translation: X:178.62, Y:-64.46, Z:-20.59 [[ 7.07967317e-01 6.91091337e-01 1.45516466e-01 1.78621316e+02] [-6.76076411e-01 7.22760882e-01 -1.43308734e-01 -6.44629145e+01] [-2.04213034e-01 3.07764977e-03 9.78921634e-01 -2.05880889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.456875 meters 0.016965303867075388 Centerline is valid? [True, True] Translation: X:178.64, Y:-64.49, Z:-20.59 [[ 7.08837801e-01 6.90139609e-01 1.45795374e-01 1.78643809e+02] [-6.75032204e-01 7.23668223e-01 -1.43651756e-01 -6.44871459e+01] [-2.04647246e-01 3.40922176e-03 9.78829853e-01 -2.05944041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.486875 meters 0.017105760215064374 Centerline is valid? [True, True] Translation: X:178.67, Y:-64.51, Z:-20.60 [[ 7.09098052e-01 6.89627437e-01 1.46948806e-01 1.78667231e+02] [-6.74246142e-01 7.24155108e-01 -1.44884505e-01 -6.45100047e+01] [-2.06330059e-01 3.65765453e-03 9.78475615e-01 -2.05990582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.516875 meters 0.017105760215064374 Centerline is valid? [True, True] Translation: X:178.69, Y:-64.53, Z:-20.61 [[ 7.08914308e-01 6.89824744e-01 1.46909246e-01 1.78689690e+02] [-6.74439334e-01 7.23967156e-01 -1.44924607e-01 -6.45322657e+01] [-2.06330049e-01 3.65775348e-03 9.78475616e-01 -2.06060184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.546875 meters 0.01711433477180425 Centerline is valid? [True, True] Translation: X:178.71, Y:-64.55, Z:-20.61 [[ 7.08431672e-01 6.90295174e-01 1.47027682e-01 1.78713841e+02] [-6.74877968e-01 7.23518998e-01 -1.45120598e-01 -6.45542302e+01] [-2.06553369e-01 3.58228485e-03 9.78428778e-01 -2.06126127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.576875 meters 0.016708996019155948 Centerline is valid? [True, True] Translation: X:178.74, Y:-64.58, Z:-20.62 [[ 7.07323292e-01 6.91418421e-01 1.47086123e-01 1.78739001e+02] [-6.75996131e-01 7.22446942e-01 -1.45257176e-01 -6.45757742e+01] [-2.06695407e-01 3.31413389e-03 9.78399727e-01 -2.06195962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.606875 meters 0.015705958989354434 Centerline is valid? [True, True] Translation: X:178.77, Y:-64.59, Z:-20.63 [[ 7.03965604e-01 6.94802890e-01 1.47245962e-01 1.78766488e+02] [-6.79400353e-01 7.19196233e-01 -1.45505803e-01 -6.45928915e+01] [-2.06996593e-01 2.39212180e-03 9.78338739e-01 -2.06273589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.636875 meters 0.015173232447489067 Centerline is valid? [True, True] Translation: X:178.79, Y:-64.61, Z:-20.63 [[ 7.01535596e-01 6.97281532e-01 1.47126724e-01 1.78791082e+02] [-6.81941813e-01 7.16795312e-01 -1.45464240e-01 -6.46118466e+01] [-2.06889274e-01 1.71647675e-03 9.78362858e-01 -2.06349610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.666875 meters 0.014657903939077045 Centerline is valid? [True, True] Translation: X:178.82, Y:-64.63, Z:-20.64 [[ 6.96845085e-01 7.02006216e-01 1.46949655e-01 1.78819085e+02] [-6.86792222e-01 7.12170722e-01 -1.45359234e-01 -6.46274517e+01] [-2.06696328e-01 3.68987752e-04 9.78405076e-01 -2.06428714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.696875 meters 0.014561365496558547 Centerline is valid? [True, True] Translation: X:178.84, Y:-64.65, Z:-20.65 [[ 6.94262098e-01 7.04585417e-01 1.46831634e-01 1.78844072e+02] [-6.89437907e-01 7.09619102e-01 -1.45313807e-01 -6.46465784e+01] [-2.06580522e-01 -3.45426492e-04 9.78429542e-01 -2.06498937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72687499999998 meters 0.014588095859035023 Centerline is valid? [True, True] Translation: X:178.87, Y:-64.67, Z:-20.66 [[ 6.91769352e-01 7.07049936e-01 1.46749963e-01 1.78869617e+02] [-6.91958072e-01 7.07162880e-01 -1.45308938e-01 -6.46662947e+01] [-2.06516802e-01 -1.02455189e-03 9.78442518e-01 -2.06566600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75687499999998 meters 0.014943750667436015 Centerline is valid? [True, True] Translation: X:178.89, Y:-64.69, Z:-20.66 [[ 6.89424053e-01 7.09370059e-01 1.46589887e-01 1.78894172e+02] [-6.94345823e-01 7.04834288e-01 -1.45232590e-01 -6.46854367e+01] [-2.06345229e-01 -1.65723446e-03 9.78477848e-01 -2.06637138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78687499999998 meters 0.015058786921803397 Centerline is valid? [True, True] Translation: X:178.92, Y:-64.71, Z:-20.67 [[ 6.87313060e-01 7.11317038e-01 1.47067427e-01 1.78919028e+02] [-6.96222110e-01 7.02867875e-01 -1.45779026e-01 -6.47052119e+01] [-2.07064075e-01 -2.19576644e-03 9.78324919e-01 -2.06705482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81687499999998 meters 0.01602720568654623 Centerline is valid? [True, True] Translation: X:178.95, Y:-64.72, Z:-20.68 [[ 6.84077646e-01 7.14440755e-01 1.47010822e-01 1.78945819e+02] [-6.99412749e-01 6.99689141e-01 -1.45797504e-01 -6.47212795e+01] [-2.07025554e-01 -3.08442993e-03 9.78330673e-01 -2.06787241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84687499999998 meters 0.016414302800612655 Centerline is valid? [True, True] Translation: X:178.97, Y:-64.74, Z:-20.69 [[ 6.82950040e-01 7.15544724e-01 1.46884280e-01 1.78969725e+02] [-7.00553617e-01 6.98558810e-01 -1.45740243e-01 -6.47413119e+01] [-2.06890970e-01 -3.36700878e-03 9.78358211e-01 -2.06858953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87687499999998 meters 0.016515725168201923 Centerline is valid? [True, True] Translation: X:178.99, Y:-64.76, Z:-20.69 [[ 6.81181337e-01 7.17132798e-01 1.47351744e-01 1.78993408e+02] [-7.02066695e-01 6.96926127e-01 -1.46274844e-01 -6.47614474e+01] [-2.07591768e-01 -3.81105759e-03 9.78208124e-01 -2.06928680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90687499999999 meters 0.016876609744697388 Centerline is valid? [True, True] Translation: X:179.02, Y:-64.78, Z:-20.70 [[ 6.80898761e-01 7.17504943e-01 1.46845272e-01 1.79016869e+02] [-7.02536543e-01 6.96542724e-01 -1.45844570e-01 -6.47819961e+01] [-2.06928206e-01 -3.85878282e-03 9.78348520e-01 -2.07000805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.936875 meters 0.016916358736214856 Centerline is valid? [True, True] Translation: X:179.04, Y:-64.80, Z:-20.71 [[ 6.80949112e-01 7.17564053e-01 1.46322032e-01 1.79040276e+02] [-7.02688458e-01 6.96482111e-01 -1.45401513e-01 -6.48041303e+01] [-2.06245577e-01 -3.80777215e-03 9.78492853e-01 -2.07080358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.966875 meters 0.01625090690335399 Centerline is valid? [True, True] Translation: X:179.06, Y:-64.83, Z:-20.71 [[ 6.80950611e-01 7.17587906e-01 1.46198027e-01 1.79062536e+02] [-7.02721626e-01 6.96457820e-01 -1.45357559e-01 -6.48275815e+01] [-2.06127586e-01 -3.75519682e-03 9.78517919e-01 -2.07146890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.996875 meters 0.016489469704912156 Centerline is valid? [True, True] Translation: X:179.08, Y:-64.85, Z:-20.72 [[ 6.81226479e-01 7.17306099e-01 1.46295748e-01 1.79084966e+02] [-7.02395654e-01 6.96748813e-01 -1.45538439e-01 -6.48470933e+01] [-2.06326998e-01 -3.61285930e-03 9.78476426e-01 -2.07224078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.026875 meters 0.016013411935317176 Centerline is valid? [True, True] Translation: X:179.11, Y:-64.87, Z:-20.73 [[ 6.81207949e-01 7.17241563e-01 1.46697892e-01 1.79107194e+02] [-7.02232476e-01 6.96815540e-01 -1.46005660e-01 -6.48698543e+01] [-2.06942699e-01 -3.55580752e-03 9.78346603e-01 -2.07286401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.056875 meters 0.016223218244366722 Centerline is valid? [True, True] Translation: X:179.13, Y:-64.89, Z:-20.74 [[ 6.81198467e-01 7.17321494e-01 1.46350685e-01 1.79129602e+02] [-7.02370482e-01 6.96733443e-01 -1.45733369e-01 -6.48909853e+01] [-2.06505095e-01 -3.51905338e-03 9.78439197e-01 -2.07360593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.086875 meters 0.01620002024871442 Centerline is valid? [True, True] Translation: X:179.15, Y:-64.91, Z:-20.74 [[ 6.81178476e-01 7.17380577e-01 1.46153999e-01 1.79152668e+02] [-7.02460867e-01 6.96672724e-01 -1.45587929e-01 -6.49137814e+01] [-2.06263457e-01 -3.49610154e-03 9.78490247e-01 -2.07434864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.116875 meters 0.016044278959769127 Centerline is valid? [True, True] Translation: X:179.18, Y:-64.94, Z:-20.75 [[ 6.81274295e-01 7.17331204e-01 1.45949573e-01 1.79176015e+02] [-7.02435242e-01 6.96723951e-01 -1.45466378e-01 -6.49358864e+01] [-2.06034135e-01 -3.41761928e-03 9.78538837e-01 -2.07509079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.146875 meters 0.016271665545036555 Centerline is valid? [True, True] Translation: X:179.20, Y:-64.96, Z:-20.76 [[ 6.81370743e-01 7.17297770e-01 1.45663374e-01 1.79198667e+02] [-7.02442685e-01 6.96758740e-01 -1.45263666e-01 -6.49574046e+01] [-2.05689533e-01 -3.34175988e-03 9.78611592e-01 -2.07587031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.176875 meters 0.016105973659559115 Centerline is valid? [True, True] Translation: X:179.22, Y:-64.98, Z:-20.77 [[ 6.81610512e-01 7.17010934e-01 1.45953523e-01 1.79220333e+02] [-7.02078952e-01 6.97054454e-01 -1.45602998e-01 -6.49793956e+01] [-2.06136495e-01 -3.22636262e-03 9.78517928e-01 -2.07660221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.206875 meters 0.01564117253619182 Centerline is valid? [True, True] Translation: X:179.24, Y:-65.00, Z:-20.77 [[ 6.82171480e-01 7.16332353e-01 1.46662986e-01 1.79242775e+02] [-7.01222920e-01 6.97752850e-01 -1.46380927e-01 -6.50044719e+01] [-2.07191910e-01 -2.98655375e-03 9.78295759e-01 -2.07720442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.236875 meters 0.015669008438894415 Centerline is valid? [True, True] Translation: X:179.26, Y:-65.03, Z:-20.78 [[ 6.82670873e-01 7.15757090e-01 1.47147091e-01 1.79264673e+02] [-7.00510866e-01 6.98343933e-01 -1.46970332e-01 -6.50262563e+01] [-2.07954335e-01 -2.74577176e-03 9.78134682e-01 -2.07781872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.266875 meters 0.01534101757770005 Centerline is valid? [True, True] Translation: X:179.29, Y:-65.05, Z:-20.78 [[ 6.83060666e-01 7.15268711e-01 1.47711876e-01 1.79286025e+02] [-6.99883933e-01 6.98844778e-01 -1.47575257e-01 -6.50492020e+01] [-2.08783637e-01 -2.57831535e-03 9.77958458e-01 -2.07845127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.296875 meters 0.015313164887579585 Centerline is valid? [True, True] Translation: X:179.31, Y:-65.07, Z:-20.79 [[ 6.83325808e-01 7.15006671e-01 1.47754189e-01 1.79307687e+02] [-6.99591289e-01 6.99113349e-01 -1.47690735e-01 -6.50714496e+01] [-2.08896787e-01 -2.44665307e-03 9.77934633e-01 -2.07908833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.326875 meters 0.015110213352686539 Centerline is valid? [True, True] Translation: X:179.33, Y:-65.09, Z:-20.80 [[ 6.83510511e-01 7.14723596e-01 1.48268550e-01 1.79329730e+02] [-6.99182108e-01 6.99403131e-01 -1.48255321e-01 -6.50932689e+01] [-2.09661065e-01 -2.33264735e-03 9.77771342e-01 -2.07976348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.356875 meters 0.01532830959771281 Centerline is valid? [True, True] Translation: X:180.17, Y:-64.57, Z:-20.32 [[ 7.49811946e-01 -6.43430604e-01 -1.54204747e-01 1.80166705e+02] [-6.25056912e-01 -7.65269523e-01 1.53838920e-01 -6.45701690e+01] [-2.16992862e-01 -1.89635168e-02 -9.75988977e-01 -2.03247674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.386875 meters 0.015487004454014134 Centerline is valid? [True, True] Translation: X:180.18, Y:-64.58, Z:-20.34 [[ 7.97159844e-01 -5.80835269e-01 -1.64822855e-01 1.80180790e+02] [-5.63955043e-01 -8.13802163e-01 1.40288090e-01 -6.45806211e+01] [-2.15617466e-01 -1.88793518e-02 -9.76295385e-01 -2.03367613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.416875 meters 0.015471056078211184 Centerline is valid? [True, True] Translation: X:180.18, Y:-64.58, Z:-20.35 [[ 8.39667541e-01 -5.14197606e-01 -1.74812022e-01 1.80184666e+02] [-4.98780666e-01 -8.57462666e-01 1.26394711e-01 -6.45805945e+01] [-2.14886641e-01 -1.89366795e-02 -9.76455393e-01 -2.03463839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.446875 meters 0.015293889371998503 Centerline is valid? [True, True] Translation: X:180.18, Y:-64.58, Z:-20.35 [[ 8.76834857e-01 -4.44211490e-01 -1.83947783e-01 1.80182568e+02] [-4.30318542e-01 -8.95722471e-01 1.11835631e-01 -6.45781506e+01] [-2.14444835e-01 -1.89052378e-02 -9.76553124e-01 -2.03543904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47687499999998 meters 0.015339422196052634 Centerline is valid? [True, True] Translation: X:180.18, Y:-64.57, Z:-20.36 [[ 9.08482069e-01 -3.71456422e-01 -1.91521428e-01 1.80176267e+02] [-3.59213262e-01 -9.28259791e-01 9.64343922e-02 -6.45744136e+01] [-2.13602815e-01 -1.88118790e-02 -9.76739449e-01 -2.03606157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50687499999998 meters 0.015253737037327087 Centerline is valid? [True, True] Translation: X:180.17, Y:-64.57, Z:-20.37 [[ 9.34274938e-01 -2.96439051e-01 -1.98126800e-01 1.80168972e+02] [-2.85878979e-01 -9.54869240e-01 8.06098230e-02 -6.45701130e+01] [-2.13081086e-01 -1.86714501e-02 -9.76856094e-01 -2.03667323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53687499999998 meters 0.01484216463119471 Centerline is valid? [True, True] Translation: X:180.16, Y:-64.57, Z:-20.37 [[ 9.53710832e-01 -2.20814381e-01 -2.04148616e-01 1.80161239e+02] [-2.11969173e-01 -9.75145152e-01 6.45058345e-02 -6.45674830e+01] [-2.13318349e-01 -1.82466997e-02 -9.76812336e-01 -2.03724478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56687499999998 meters 0.01473763797336782 Centerline is valid? [True, True] Translation: X:180.15, Y:-64.57, Z:-20.38 [[ 9.67504565e-01 -1.43151312e-01 -2.08428931e-01 1.80150457e+02] [-1.36093010e-01 -9.89537583e-01 4.78963975e-02 -6.45667088e+01] [-2.13104693e-01 -1.79742626e-02 -9.76864021e-01 -2.03778564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59687499999998 meters 0.014706149895174391 Centerline is valid? [True, True] Translation: X:180.14, Y:-64.57, Z:-20.38 [[ 9.75233977e-01 -6.45995299e-02 -2.11531537e-01 1.80137721e+02] [-5.93681742e-02 -9.97754814e-01 3.09959988e-02 -6.45675520e+01] [-2.13058936e-01 -1.76701101e-02 -9.76879551e-01 -2.03828510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62687499999998 meters 0.01456177445701949 Centerline is valid? [True, True] Translation: X:180.12, Y:-64.57, Z:-20.39 [[ 9.77037436e-01 1.48707440e-02 -2.12548133e-01 1.80124212e+02] [ 1.82450339e-02 -9.99736603e-01 1.39227480e-02 -6.45678424e+01] [-2.12285107e-01 -1.74809939e-02 -9.77051405e-01 -2.03879884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65687499999999 meters 0.014398765394200022 Centerline is valid? [True, True] Translation: X:180.11, Y:-64.57, Z:-20.39 [[ 9.72763773e-01 9.31240684e-02 -2.12269992e-01 1.80112422e+02] [ 9.46196550e-02 -9.95508593e-01 -3.12450043e-03 -6.45706660e+01] [-2.11607568e-01 -1.70455126e-02 -9.77206062e-01 -2.03942094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.686875 meters 0.014446850846245326 Centerline is valid? [True, True] Translation: X:180.10, Y:-64.57, Z:-20.40 [[ 9.62255006e-01 1.72598937e-01 -2.10416042e-01 1.80099344e+02] [ 1.72281056e-01 -9.84845108e-01 -1.99837889e-02 -6.45747640e+01] [-2.10676391e-01 -1.70211971e-02 -9.77407662e-01 -2.04001292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.716875 meters 0.014554407558104625 Centerline is valid? [True, True] Translation: X:180.09, Y:-64.58, Z:-20.41 [[ 9.45713881e-01 2.51086895e-01 -2.06350736e-01 1.80088614e+02] [ 2.49024537e-01 -9.67814994e-01 -3.63444320e-02 -6.45806791e+01] [-2.08834946e-01 -1.70149624e-02 -9.77802872e-01 -2.04070792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.746875 meters 0.014406247351307005 Centerline is valid? [True, True] Translation: X:180.08, Y:-64.59, Z:-20.41 [[ 9.22634904e-01 3.28451222e-01 -2.02150014e-01 1.80077701e+02] [ 3.24668035e-01 -9.44365689e-01 -5.25748287e-02 -6.45865614e+01] [-2.08171804e-01 -1.71242759e-02 -9.77942360e-01 -2.04132180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.776875 meters 0.014519136063313884 Centerline is valid? [True, True] Translation: X:180.07, Y:-64.59, Z:-20.42 [[ 8.93525341e-01 4.03739025e-01 -1.96487315e-01 1.80068050e+02] [ 3.98296762e-01 -9.14711584e-01 -6.82818293e-02 -6.45947355e+01] [-2.07297263e-01 -1.72487167e-02 -9.78125926e-01 -2.04190525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.806875 meters 0.014696857206349404 Centerline is valid? [True, True] Translation: X:180.06, Y:-64.60, Z:-20.42 [[ 8.58085012e-01 4.77158176e-01 -1.89763507e-01 1.80058694e+02] [ 4.70125196e-01 -8.78641788e-01 -8.34919646e-02 -6.46045765e+01] [-2.06573021e-01 -1.75694025e-02 -9.78273430e-01 -2.04231403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.836875 meters 0.014730748141863918 Centerline is valid? [True, True] Translation: X:180.05, Y:-64.61, Z:-20.43 [[ 8.17403740e-01 5.46663985e-01 -1.81685479e-01 1.80048578e+02] [ 5.38108382e-01 -8.37164941e-01 -9.79501423e-02 -6.46106075e+01] [-2.05646529e-01 -1.77016668e-02 -9.78466226e-01 -2.04281895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.866875 meters 0.014810967049375082 Centerline is valid? [True, True] Translation: X:180.04, Y:-64.62, Z:-20.43 [[ 7.71218889e-01 6.12547507e-01 -1.73225220e-01 1.80039118e+02] [ 6.02450180e-01 -7.90232488e-01 -1.12189104e-01 -6.46181974e+01] [-2.05609352e-01 -1.78372092e-02 -9.78471578e-01 -2.04337885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.896875 meters 0.014882348412075122 Centerline is valid? [True, True] Translation: X:180.03, Y:-64.63, Z:-20.44 [[ 7.19217811e-01 6.75018320e-01 -1.64547890e-01 1.80030844e+02] [ 6.63304180e-01 -7.37577653e-01 -1.26517867e-01 -6.46270947e+01] [-2.06768724e-01 -1.81513999e-02 -9.78221458e-01 -2.04380305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.926875 meters 0.01516551012117043 Centerline is valid? [True, True] Translation: X:180.02, Y:-64.64, Z:-20.44 [[ 6.63273717e-01 7.32391037e-01 -1.53854951e-01 1.80022387e+02] [ 7.19253893e-01 -6.80639161e-01 -1.39298852e-01 -6.46370091e+01] [-2.06740936e-01 -1.82675051e-02 -9.78225170e-01 -2.04425302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.956875 meters 0.015261941200811861 Centerline is valid? [True, True] Translation: X:180.02, Y:-64.65, Z:-20.45 [[ 6.02830883e-01 7.85062480e-01 -1.42379176e-01 1.80015114e+02] [ 7.70540317e-01 -6.19142520e-01 -1.51427078e-01 -6.46474017e+01] [-2.07032719e-01 -1.84239769e-02 -9.78160524e-01 -2.04471453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.986875 meters 0.015190588223556494 Centerline is valid? [True, True] Translation: X:180.01, Y:-64.66, Z:-20.45 [[ 5.38698046e-01 8.32473766e-01 -1.29583346e-01 1.80010701e+02] [ 8.16756590e-01 -5.53754371e-01 -1.62064090e-01 -6.46592807e+01] [-2.06671447e-01 -1.85344436e-02 -9.78234832e-01 -2.04517722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.016875 meters 0.015719585359746074 Centerline is valid? [True, True] Translation: X:180.01, Y:-64.67, Z:-20.46 [[ 4.69349339e-01 8.75286418e-01 -1.16554216e-01 1.80006884e+02] [ 8.58311469e-01 -4.83230274e-01 -1.72597578e-01 -6.46723313e+01] [-2.07394841e-01 -1.90312611e-02 -9.78072181e-01 -2.04558124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.046875 meters 0.01633021221208269 Centerline is valid? [True, True] Translation: X:180.00, Y:-64.68, Z:-20.46 [[ 3.98212655e-01 9.11596167e-01 -1.02074040e-01 1.80001964e+02] [ 8.93695326e-01 -4.10636905e-01 -1.80792688e-01 -6.46848410e+01] [-2.06725290e-01 -1.92291565e-02 -9.78210046e-01 -2.04603464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.076875 meters 0.016157782158365743 Centerline is valid? [True, True] Translation: X:180.00, Y:-64.70, Z:-20.47 [[ 3.24373441e-01 9.41908382e-01 -8.71233057e-02 1.79997110e+02] [ 9.23156564e-01 -3.35306855e-01 -1.88019338e-01 -6.46971589e+01] [-2.06310033e-01 -1.94399717e-02 -9.78293544e-01 -2.04662042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.106875 meters 0.017356553415098203 Centerline is valid? [True, True] Translation: X:180.00, Y:-64.71, Z:-20.47 [[ 2.47908013e-01 9.66137663e-01 -7.15516154e-02 1.79996285e+02] [ 9.46747196e-01 -2.57270513e-01 -1.93601731e-01 -6.47116882e+01] [-2.05454045e-01 -1.97458709e-02 -9.78467545e-01 -2.04713217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.136875 meters 0.01756394580597528 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.72, Z:-20.48 [[ 1.70707116e-01 9.83750221e-01 -5.56289708e-02 1.79990893e+02] [ 9.63859557e-01 -1.78441918e-01 -1.97821223e-01 -6.47238262e+01] [-2.04533212e-01 -1.98490246e-02 -9.78658358e-01 -2.04768244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.166875 meters 0.01741239453951311 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.74, Z:-20.48 [[ 9.23869342e-02 9.94939772e-01 -3.94905573e-02 1.79987467e+02] [ 9.74683708e-01 -9.84734849e-02 -2.00735252e-01 -6.47361864e+01] [-2.03608259e-01 -1.99454883e-02 -9.78849250e-01 -2.04825597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.196875 meters 0.017652189255712603 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.75, Z:-20.49 [[ 1.29746163e-02 9.99645295e-01 -2.32581801e-02 1.79985638e+02] [ 9.79113520e-01 -1.74211316e-02 -2.02566581e-01 -6.47491735e+01] [-2.02899914e-01 -2.01441749e-02 -9.78992256e-01 -2.04871149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22687499999998 meters 0.017440172169085114 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.76, Z:-20.49 [[-6.56102028e-02 9.97820904e-01 -6.98180501e-03 1.79985182e+02] [ 9.77121869e-01 6.28274487e-02 -2.03188494e-01 -6.47631547e+01] [-2.02307078e-01 -2.01533127e-02 -9.79114748e-01 -2.04928311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25687499999998 meters 0.018235818374265484 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.78, Z:-20.50 [[-1.43428970e-01 9.89617098e-01 9.28060059e-03 1.79987703e+02] [ 9.68809450e-01 1.42315707e-01 -2.02865693e-01 -6.47773198e+01] [-2.02080134e-01 -2.01056840e-02 -9.79162592e-01 -2.04971712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28687499999998 meters 0.018161125520104637 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.79, Z:-20.50 [[-2.19936229e-01 9.75183380e-01 2.54053229e-02 1.79985813e+02] [ 9.54444816e-01 2.20496414e-01 -2.01038367e-01 -6.47921760e+01] [-2.01651057e-01 -1.99676416e-02 -9.79253871e-01 -2.05020660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31687499999998 meters 0.01754943392109971 Centerline is valid? [True, True] Translation: X:179.98, Y:-64.81, Z:-20.51 [[-2.94251017e-01 9.54840415e-01 4.11839995e-02 1.79984206e+02] [ 9.34392611e-01 2.96469305e-01 -1.97525692e-01 -6.48072826e+01] [-2.00815305e-01 -1.96401109e-02 -9.79432223e-01 -2.05064540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34687499999998 meters 0.017116892649494585 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.82, Z:-20.51 [[-3.67173148e-01 9.28418997e-01 5.67630649e-02 1.79986438e+02] [ 9.08281584e-01 3.71027187e-01 -1.93296123e-01 -6.48213936e+01] [-2.00520433e-01 -1.94162996e-02 -9.79497097e-01 -2.05119583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37687499999998 meters 0.017056263423714427 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.84, Z:-20.52 [[-4.37192856e-01 8.96494132e-01 7.18378616e-02 1.79987585e+02] [ 8.76839597e-01 4.42645688e-01 -1.87662240e-01 -6.48378957e+01] [-2.00036817e-01 -1.90543091e-02 -9.79603086e-01 -2.05167729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40687499999999 meters 0.017056263423714427 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.85, Z:-20.52 [[-5.05877667e-01 8.58273368e-01 8.63400898e-02 1.79992535e+02] [ 8.39230882e-01 5.12840963e-01 -1.80791797e-01 -6.48527103e+01] [-1.99447520e-01 -1.89992631e-02 -9.79724306e-01 -2.05216518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.436875 meters 0.01664381500267327 Centerline is valid? [True, True] Translation: X:180.00, Y:-64.87, Z:-20.53 [[-5.70594753e-01 8.15083270e-01 1.00303993e-01 1.79997033e+02] [ 7.96744397e-01 5.79039775e-01 -1.72948851e-01 -6.48673145e+01] [-1.99047717e-01 -1.87670621e-02 -9.79810086e-01 -2.05269960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.466875 meters 0.01677394998258805 Centerline is valid? [True, True] Translation: X:180.00, Y:-64.88, Z:-20.53 [[-6.32189672e-01 7.66447495e-01 1.13553759e-01 1.80004522e+02] [ 7.48922967e-01 6.42036103e-01 -1.64024490e-01 -6.48819453e+01] [-1.98621772e-01 -1.86515703e-02 -9.79898725e-01 -2.05311189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.496875 meters 0.01634373199326861 Centerline is valid? [True, True] Translation: X:180.01, Y:-64.90, Z:-20.54 [[-6.89682432e-01 7.13068172e-01 1.25983828e-01 1.80012319e+02] [ 6.96471680e-01 7.00850262e-01 -1.54065275e-01 -6.48953767e+01] [-1.98154843e-01 -1.85119448e-02 -9.79995901e-01 -2.05360151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.526875 meters 0.01658465660306016 Centerline is valid? [True, True] Translation: X:180.02, Y:-64.91, Z:-20.54 [[-7.42910224e-01 6.54959837e-01 1.38246200e-01 1.80021447e+02] [ 6.39245406e-01 7.55438250e-01 -1.43799724e-01 -6.49079545e+01] [-1.98619511e-01 -1.84570364e-02 -9.79902866e-01 -2.05401561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.556875 meters 0.016724222606165167 Centerline is valid? [True, True] Translation: X:180.04, Y:-64.90, Z:-20.55 [[-7.86907666e-01 5.98804774e-01 1.49027406e-01 1.80041383e+02] [ 5.84282521e-01 8.00716114e-01 -1.32165200e-01 -6.48969013e+01] [-1.98469798e-01 -1.69277004e-02 -9.79960812e-01 -2.05460276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.586875 meters 0.016545697565758317 Centerline is valid? [True, True] Translation: X:180.76, Y:-64.18, Z:-21.07 [[-7.24121224e-01 -6.75567113e-01 -1.38771499e-01 1.80759881e+02] [ 6.66450663e-01 -7.37202046e-01 1.11250426e-01 -6.41796082e+01] [-1.77459762e-01 -1.19255627e-02 9.84055798e-01 -2.10710908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.616875 meters 0.016628395654281 Centerline is valid? [True, True] Translation: X:180.02, Y:-64.89, Z:-20.55 [[-7.89134404e-01 5.95618979e-01 1.50016415e-01 1.80017514e+02] [ 5.81060014e-01 8.03087520e-01 -1.31983694e-01 -6.48862111e+01] [-1.99088304e-01 -1.69843332e-02 -9.79834363e-01 -2.05520371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.646875 meters 0.016764457080097436 Centerline is valid? [True, True] Translation: X:180.72, Y:-64.14, Z:-21.08 [[-7.26423065e-01 -6.72995345e-01 -1.39236475e-01 1.80717920e+02] [ 6.63859733e-01 -7.39554084e-01 1.11130607e-01 -6.41405454e+01] [-1.77763284e-01 -1.17056530e-02 9.84003655e-01 -2.10807061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.676875 meters 0.01751221186642679 Centerline is valid? [True, True] Translation: X:179.96, Y:-64.85, Z:-20.57 [[-7.91641606e-01 5.92525072e-01 1.49055717e-01 1.79964175e+02] [ 5.78271320e-01 8.05373697e-01 -1.30290017e-01 -6.48512093e+01] [-1.97245655e-01 -1.69483520e-02 -9.80207583e-01 -2.05653548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.706875 meters 0.017217153370046295 Centerline is valid? [True, True] Translation: X:180.00, Y:-64.85, Z:-20.57 [[-8.30794669e-01 5.33916516e-01 1.57204871e-01 1.80001676e+02] [ 5.20841536e-01 8.45373001e-01 -1.18611055e-01 -6.48516276e+01] [-1.96225155e-01 -1.66626056e-02 -9.80417282e-01 -2.05679091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.736875 meters 0.01698526061142365 Centerline is valid? [True, True] Translation: X:180.00, Y:-64.83, Z:-20.58 [[-8.66135065e-01 4.72077773e-01 1.64172546e-01 1.80004698e+02] [ 4.60211451e-01 8.81398991e-01 -1.06495258e-01 -6.48301965e+01] [-1.94975560e-01 -1.66851922e-02 -9.80666169e-01 -2.05777131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.766875 meters 0.017274111168218743 Centerline is valid? [True, True] Translation: X:180.03, Y:-64.82, Z:-20.58 [[-8.97108773e-01 4.07289290e-01 1.71205386e-01 1.80033381e+02] [ 3.96581646e-01 9.13147122e-01 -9.42620414e-02 -6.48196583e+01] [-1.94727625e-01 -1.66663906e-02 -9.80715751e-01 -2.05811687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.796875 meters 0.017090294083678778 Centerline is valid? [True, True] Translation: X:180.07, Y:-64.81, Z:-20.58 [[-9.23492735e-01 3.40208037e-01 1.77255919e-01 1.80066897e+02] [ 3.30714079e-01 9.40202341e-01 -8.15337744e-02 -6.48106667e+01] [-1.94394875e-01 -1.66748204e-02 -9.80781618e-01 -2.05837756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.826875 meters 0.01713848039982626 Centerline is valid? [True, True] Translation: X:180.08, Y:-64.79, Z:-20.59 [[-9.44263931e-01 2.74473848e-01 1.81740844e-01 1.80082589e+02] [ 2.65857160e-01 9.61418122e-01 -7.06764863e-02 -6.47897726e+01] [-1.94127788e-01 -1.84201521e-02 -9.80803293e-01 -2.05885298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.856875 meters 0.017418507763606914 Centerline is valid? [True, True] Translation: X:180.10, Y:-64.77, Z:-20.59 [[-9.61152856e-01 2.04125690e-01 1.85789910e-01 1.80102606e+02] [ 1.97135773e-01 9.78801084e-01 -5.55511095e-02 -6.47713973e+01] [-1.93190774e-01 -1.67672701e-02 -9.81017932e-01 -2.05934762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.886875 meters 0.01724921031732132 Centerline is valid? [True, True] Translation: X:180.11, Y:-64.75, Z:-20.60 [[-9.72965276e-01 1.32676769e-01 1.89038213e-01 1.80110622e+02] [ 1.26991855e-01 9.91017145e-01 -4.19295521e-02 -6.47505753e+01] [-1.92903188e-01 -1.67896847e-02 -9.81074139e-01 -2.05993767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.916875 meters 0.017199713225899423 Centerline is valid? [True, True] Translation: X:180.12, Y:-64.73, Z:-20.60 [[-9.79698765e-01 6.03550463e-02 1.91174261e-01 1.80124719e+02] [ 5.59979728e-02 9.98034892e-01 -2.81172651e-02 -6.47306472e+01] [-1.92495602e-01 -1.68410789e-02 -9.81153312e-01 -2.06047223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.946875 meters 0.017255309987958135 Centerline is valid? [True, True] Translation: X:180.33, Y:-63.70, Z:-21.13 [[-9.71277231e-01 -1.62018483e-01 -1.74271489e-01 1.80328836e+02] [ 1.62063426e-01 -9.86680039e-01 1.40693559e-02 -6.36998680e+01] [-1.74229695e-01 -1.45777895e-02 9.84597126e-01 -2.11254767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97687499999998 meters 0.01751095451921307 Centerline is valid? [True, True] Translation: X:180.02, Y:-64.72, Z:-20.62 [[-9.80233628e-01 5.40509164e-02 1.90316930e-01 1.80020601e+02] [ 4.97625014e-02 9.98389433e-01 -2.72439583e-02 -6.47225058e+01] [-1.91482973e-01 -1.72347976e-02 -9.81344605e-01 -2.06247710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00687499999998 meters 0.01744675558162262 Centerline is valid? [True, True] Translation: X:180.20, Y:-63.69, Z:-21.15 [[-9.72526646e-01 -1.55417562e-01 -1.73312733e-01 1.80197373e+02] [ 1.55426290e-01 -9.87753789e-01 1.36059082e-02 -6.36867842e+01] [-1.73304906e-01 -1.37052469e-02 9.84772855e-01 -2.11498047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03687499999998 meters 0.016747265742499507 Centerline is valid? [True, True] Translation: X:179.93, Y:-64.72, Z:-20.64 [[-9.80519062e-01 4.79251390e-02 1.90487665e-01 1.79926536e+02] [ 4.37787175e-02 9.98704982e-01 -2.59187807e-02 -6.47183398e+01] [-1.91483141e-01 -1.70745528e-02 -9.81347373e-01 -2.06432580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06687499999998 meters 0.01642968301345053 Centerline is valid? [True, True] Translation: X:179.94, Y:-64.70, Z:-20.65 [[-9.81119085e-01 -2.26011579e-02 1.92079486e-01 1.79935273e+02] [-2.52457569e-02 9.99617049e-01 -1.13317213e-02 -6.46970706e+01] [-1.91749819e-01 -1.59669601e-02 -9.81313947e-01 -2.06487747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09687499999998 meters 0.01566991044353067 Centerline is valid? [True, True] Translation: X:179.95, Y:-64.68, Z:-20.65 [[-9.76899440e-01 -9.26226737e-02 1.92583813e-01 1.79950636e+02] [-9.38700827e-02 9.95580909e-01 2.65720419e-03 -6.46759996e+01] [-1.91978885e-01 -1.54820372e-02 -9.81276930e-01 -2.06521398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12687499999998 meters 0.015183456406455343 Centerline is valid? [True, True] Translation: X:179.93, Y:-64.66, Z:-20.66 [[-9.68011819e-01 -1.63045222e-01 1.90707561e-01 1.79926713e+02] [-1.62882956e-01 9.86505162e-01 1.66345088e-02 -6.46584854e+01] [-1.90846171e-01 -1.49606102e-02 -9.81505945e-01 -2.06641197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15687499999999 meters 0.015064201719305554 Centerline is valid? [True, True] Translation: X:179.87, Y:-64.65, Z:-20.68 [[-9.53546031e-01 -2.35310225e-01 1.88093236e-01 1.79874421e+02] [-2.33780602e-01 9.71807721e-01 3.06003967e-02 -6.46460994e+01] [-1.89991045e-01 -1.47936631e-02 -9.81674361e-01 -2.06816685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.186875 meters 0.014935814304039494 Centerline is valid? [True, True] Translation: X:179.81, Y:-64.64, Z:-20.70 [[-9.33460424e-01 -3.07310770e-01 1.84964126e-01 1.79813467e+02] [-3.04424378e-01 9.51495046e-01 4.45306189e-02 -6.46396566e+01] [-1.89677189e-01 -1.47400187e-02 -9.81735859e-01 -2.06996472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.216875 meters 0.01482386907087795 Centerline is valid? [True, True] Translation: X:179.75, Y:-64.64, Z:-20.72 [[-9.07649120e-01 -3.78816597e-01 1.80751376e-01 1.79751810e+02] [-3.74588447e-01 9.25354100e-01 5.83376876e-02 -6.46378082e+01] [-1.89358311e-01 -1.47572264e-02 -9.81797155e-01 -2.07180258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.246875 meters 0.014770632492733943 Centerline is valid? [True, True] Translation: X:179.66, Y:-64.66, Z:-20.74 [[-8.76522736e-01 -4.48370210e-01 1.75134372e-01 1.79655364e+02] [-4.42831384e-01 8.93727919e-01 7.17688864e-02 -6.46559110e+01] [-1.88701509e-01 -1.46479357e-02 -9.81925241e-01 -2.07430902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.276875 meters 0.014929472027686224 Centerline is valid? [True, True] Translation: X:179.57, Y:-64.68, Z:-20.77 [[-8.39091798e-01 -5.17224496e-01 1.68534195e-01 1.79566001e+02] [-5.10460035e-01 8.55719133e-01 8.47072546e-02 -6.46789275e+01] [-1.88030602e-01 -1.49528085e-02 -9.82049340e-01 -2.07684966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.306875 meters 0.015151821256464209 Centerline is valid? [True, True] Translation: X:179.49, Y:-64.70, Z:-20.79 [[-7.96030658e-01 -5.83358367e-01 1.61332599e-01 1.79493057e+02] [-5.75360340e-01 8.12071925e-01 9.74662397e-02 -6.46983516e+01] [-1.87871421e-01 -1.52382644e-02 -9.82075417e-01 -2.07891041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.336875 meters 0.015226169192837343 Centerline is valid? [True, True] Translation: X:179.40, Y:-64.74, Z:-20.81 [[-7.48148046e-01 -6.45620601e-01 1.53129162e-01 1.79400805e+02] [-6.36409970e-01 7.63504083e-01 1.09744543e-01 -6.47395951e+01] [-1.87768079e-01 -1.53477598e-02 -9.82093476e-01 -2.08143359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.366875 meters 0.015522811310393646 Centerline is valid? [True, True] Translation: X:179.28, Y:-64.81, Z:-20.84 [[-6.95518268e-01 -7.03821980e-01 1.44530134e-01 1.79284123e+02] [-6.93369526e-01 7.10207820e-01 1.21834122e-01 -6.48122593e+01] [-1.88395964e-01 -1.54749329e-02 -9.81971225e-01 -2.08436343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.396875 meters 0.015467348053319209 Centerline is valid? [True, True] Translation: X:179.22, Y:-64.85, Z:-20.86 [[-6.38522044e-01 -7.57753862e-01 1.34531351e-01 1.79215623e+02] [-7.46189619e-01 6.52354179e-01 1.32797133e-01 -6.48516780e+01] [-1.88389630e-01 -1.55920009e-02 -9.81970589e-01 -2.08646224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.426875 meters 0.015685721752681993 Centerline is valid? [True, True] Translation: X:179.15, Y:-64.90, Z:-20.89 [[-5.77400244e-01 -8.07108348e-01 1.23227725e-01 1.79148475e+02] [-7.94576649e-01 5.90196813e-01 1.42533050e-01 -6.48977439e+01] [-1.87768225e-01 -1.56152545e-02 -9.82089231e-01 -2.08862496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.456875 meters 0.015703302483876556 Centerline is valid? [True, True] Translation: X:179.06, Y:-64.98, Z:-20.92 [[-5.13288202e-01 -8.51031955e-01 1.10814406e-01 1.79062453e+02] [-8.37729949e-01 5.24885352e-01 1.50678131e-01 -6.49834876e+01] [-1.86396763e-01 -1.54912399e-02 -9.82352416e-01 -2.09161259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.486875 meters 0.015362860878063597 Centerline is valid? [True, True] Translation: X:178.99, Y:-65.06, Z:-20.94 [[-4.45931259e-01 -8.89676168e-01 9.80899046e-02 1.78990932e+02] [-8.75643975e-01 4.56333194e-01 1.58138060e-01 -6.50642995e+01] [-1.85453342e-01 -1.53731298e-02 -9.82532811e-01 -2.09448171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.516875 meters 0.015203305245323043 Centerline is valid? [True, True] Translation: X:178.92, Y:-65.16, Z:-20.97 [[-3.75750795e-01 -9.22823064e-01 8.49054354e-02 1.78918875e+02] [-9.08138204e-01 3.84923001e-01 1.64679342e-01 -6.51633833e+01] [-1.84651950e-01 -1.52274761e-02 -9.82686004e-01 -2.09741818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.546875 meters 0.015063584874689225 Centerline is valid? [True, True] Translation: X:178.86, Y:-65.26, Z:-21.00 [[-3.03097909e-01 -9.50285893e-01 7.13328755e-02 1.78859273e+02] [-9.35028996e-01 3.11012887e-01 1.70269670e-01 -6.52554484e+01] [-1.83990309e-01 -1.50899259e-02 -9.82812220e-01 -2.10006287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.576875 meters 0.014952274911140907 Centerline is valid? [True, True] Translation: X:178.81, Y:-65.35, Z:-21.03 [[-2.28211845e-01 -9.71917004e-01 5.74168256e-02 1.78808442e+02] [-9.56169681e-01 2.34846113e-01 1.74890949e-01 -6.53461291e+01] [-1.83463606e-01 -1.49880416e-02 -9.82912236e-01 -2.10260140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.606875 meters 0.014985157634168514 Centerline is valid? [True, True] Translation: X:178.76, Y:-65.44, Z:-21.05 [[-1.51635201e-01 -9.87496986e-01 4.30867591e-02 1.78764272e+02] [-9.71493192e-01 1.56930757e-01 1.77689941e-01 -6.54419298e+01] [-1.82229919e-01 -1.49144432e-02 -9.83142826e-01 -2.10520125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.636875 meters 0.014984427119690273 Centerline is valid? [True, True] Translation: X:178.72, Y:-65.61, Z:-21.09 [[-7.42773149e-02 -9.96822733e-01 2.87631646e-02 1.78719876e+02] [-9.80499350e-01 7.82625539e-02 1.80266460e-01 -6.56089353e+01] [-1.81944784e-01 -1.48125555e-02 -9.83197174e-01 -2.10898082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.666875 meters 0.014890787376689496 Centerline is valid? [True, True] Translation: X:178.69, Y:-65.65, Z:-21.11 [[ 3.70482503e-03 -9.99889878e-01 1.43703361e-02 1.78693522e+02] [-9.83432828e-01 -1.03865084e-03 1.81269949e-01 -6.56544792e+01] [-1.81235062e-01 -1.48038337e-02 -9.83328378e-01 -2.11050563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.696875 meters 0.014955584250855709 Centerline is valid? [True, True] Translation: X:178.67, Y:-65.78, Z:-21.13 [[ 8.18778854e-02 -9.96642357e-01 -1.52981744e-04 1.78673924e+02] [-9.79945824e-01 -8.05341801e-02 1.82264718e-01 -6.57801554e+01] [-1.81665058e-01 -1.47735358e-02 -9.83249485e-01 -2.11332142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72687499999998 meters 0.014819375014429988 Centerline is valid? [True, True] Translation: X:178.66, Y:-65.89, Z:-21.16 [[ 1.59076579e-01 -9.87159290e-01 -1.45319423e-02 1.78662847e+02] [-9.70585557e-01 -1.59066242e-01 1.80725223e-01 -6.58932996e+01] [-1.80716125e-01 -1.46446569e-02 -9.83426264e-01 -2.11604260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75687499999998 meters 0.014839861912690823 Centerline is valid? [True, True] Translation: X:178.67, Y:-66.03, Z:-21.19 [[ 2.36155193e-01 -9.71295919e-01 -2.85475510e-02 1.78665186e+02] [-9.55042206e-01 -2.37421870e-01 1.77553489e-01 -6.60335097e+01] [-1.79234792e-01 -1.46660623e-02 -9.83697004e-01 -2.11922819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78687499999998 meters 0.015011180163375503 Centerline is valid? [True, True] Translation: X:178.67, Y:-66.15, Z:-21.22 [[ 3.11692855e-01 -9.49245737e-01 -4.21911684e-02 1.78673959e+02] [-9.33379570e-01 -3.14192501e-01 1.73452157e-01 -6.61529759e+01] [-1.77904869e-01 -1.46834234e-02 -9.83938136e-01 -2.12210665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81687499999998 meters 0.01515975854644512 Centerline is valid? [True, True] Translation: X:178.69, Y:-66.27, Z:-21.25 [[ 3.85650872e-01 -9.20984947e-01 -5.53184530e-02 1.78690340e+02] [-9.05609914e-01 -3.89317617e-01 1.68233402e-01 -6.62677517e+01] [-1.76476879e-01 -1.47824186e-02 -9.84193777e-01 -2.12488668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84687499999998 meters 0.015360366726775791 Centerline is valid? [True, True] Translation: X:178.72, Y:-66.39, Z:-21.28 [[ 4.57453556e-01 -8.86606515e-01 -6.83017644e-02 1.78718773e+02] [-8.71652000e-01 -4.62282556e-01 1.62842342e-01 -6.63881427e+01] [-1.75951795e-01 -1.49574388e-02 -9.84285142e-01 -2.12769421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87687499999998 meters 0.016029979501390953 Centerline is valid? [True, True] Translation: X:178.75, Y:-66.50, Z:-21.30 [[ 5.27994600e-01 -8.45359328e-01 -8.11745572e-02 1.78752875e+02] [-8.30774300e-01 -5.33972542e-01 1.57122205e-01 -6.65046587e+01] [-1.76169706e-01 -1.55219398e-02 -9.84237423e-01 -2.13028703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90687499999999 meters 0.016349957209345133 Centerline is valid? [True, True] Translation: X:178.80, Y:-66.62, Z:-21.33 [[ 5.94011260e-01 -7.99045969e-01 -9.31459219e-02 1.78798664e+02] [-7.85031810e-01 -6.01060103e-01 1.49839279e-01 -6.66178431e+01] [-1.75714769e-01 -1.58837072e-02 -9.84312972e-01 -2.13298864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.936875 meters 0.017021842407102573 Centerline is valid? [True, True] Translation: X:178.85, Y:-66.72, Z:-21.35 [[ 6.56023703e-01 -7.47417032e-01 -1.04884133e-01 1.78846973e+02] [-7.33955459e-01 -6.64155833e-01 1.42149270e-01 -6.67200423e+01] [-1.75904194e-01 -1.62730090e-02 -9.84272779e-01 -2.13546602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.966875 meters 0.01790950735575407 Centerline is valid? [True, True] Translation: X:178.90, Y:-66.81, Z:-21.38 [[ 7.13480131e-01 -6.91060754e-01 -1.15676870e-01 1.78897906e+02] [-6.78294825e-01 -7.22605749e-01 1.33255622e-01 -6.68125210e+01] [-1.75676501e-01 -1.66122162e-02 -9.84307778e-01 -2.13784709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.996875 meters 0.01868182476765395 Centerline is valid? [True, True] Translation: X:178.12, Y:-67.51, Z:-21.92 [[ 6.83423437e-01 7.21554862e-01 1.10864726e-01 1.78120271e+02] [-7.13134840e-01 6.92346283e-01 -1.09978746e-01 -6.75149624e+01] [-1.56112480e-01 -3.89944648e-03 9.87731587e-01 -2.19181800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.026875 meters 0.019216904755718453 Centerline is valid? [True, True] Translation: X:178.14, Y:-67.54, Z:-21.92 [[ 6.82634574e-01 7.22290300e-01 1.10935841e-01 1.78143330e+02] [-7.13859132e-01 6.91578275e-01 -1.10111893e-01 -6.75356768e+01] [-1.56253570e-01 -4.02637786e-03 9.87708768e-01 -2.19232866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.056875 meters 0.018976943489244856 Centerline is valid? [True, True] Translation: X:178.17, Y:-67.56, Z:-21.93 [[ 6.83373091e-01 7.21559371e-01 1.11145367e-01 1.78165873e+02] [-7.13078657e-01 6.92341961e-01 -1.10369554e-01 -6.75581114e+01] [-1.56588788e-01 -3.83180590e-03 9.87656453e-01 -2.19289288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.086875 meters 0.018724568116363895 Centerline is valid? [True, True] Translation: X:178.19, Y:-67.58, Z:-21.93 [[ 6.83685717e-01 7.20971087e-01 1.13024472e-01 1.78188536e+02] [-7.12181804e-01 6.92955163e-01 -1.12295234e-01 -6.75804101e+01] [-1.59282508e-01 -3.71932541e-03 9.87226038e-01 -2.19315708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.116875 meters 0.019051166644997855 Centerline is valid? [True, True] Translation: X:178.21, Y:-67.60, Z:-21.94 [[ 6.83480221e-01 7.21035433e-01 1.13853821e-01 1.78211069e+02] [-7.12107866e-01 6.92888184e-01 -1.13173984e-01 -6.76017884e+01] [-1.60490420e-01 -3.72402165e-03 9.87030373e-01 -2.19352548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.146875 meters 0.017974291791675118 Centerline is valid? [True, True] Translation: X:178.23, Y:-67.63, Z:-21.94 [[ 6.83830620e-01 7.20569058e-01 1.14699240e-01 1.78232503e+02] [-7.11492764e-01 6.93373799e-01 -1.14064988e-01 -6.76250717e+01] [-1.61721148e-01 -3.60654785e-03 9.86829906e-01 -2.19399383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.176875 meters 0.017393363101284157 Centerline is valid? [True, True] Translation: X:178.26, Y:-67.65, Z:-21.95 [[ 6.83967627e-01 7.20557125e-01 1.13954881e-01 1.78255732e+02] [-7.11589932e-01 6.93386536e-01 -1.13379361e-01 -6.76476719e+01] [-1.60711087e-01 -3.54133359e-03 9.86995140e-01 -2.19462204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.206875 meters 0.01782747263722973 Centerline is valid? [True, True] Translation: X:178.28, Y:-67.67, Z:-21.95 [[ 6.84080780e-01 7.20564299e-01 1.13227987e-01 1.78278791e+02] [-7.11701478e-01 6.93379420e-01 -1.12720835e-01 -6.76682159e+01] [-1.59732565e-01 -3.47436935e-03 9.87154211e-01 -2.19532740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.236875 meters 0.018007806145851814 Centerline is valid? [True, True] Translation: X:178.30, Y:-67.69, Z:-21.96 [[ 6.83976871e-01 7.20790061e-01 1.12415870e-01 1.78301658e+02] [-7.12051564e-01 6.93144730e-01 -1.11950670e-01 -6.76900832e+01] [-1.58613398e-01 -3.47422669e-03 9.87334654e-01 -2.19603301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.266875 meters 0.01799239156106767 Centerline is valid? [True, True] Translation: X:178.32, Y:-67.71, Z:-21.97 [[ 6.83799796e-01 7.21110743e-01 1.11432200e-01 1.78323787e+02] [-7.12520516e-01 6.92811093e-01 -1.11028395e-01 -6.77121207e+01] [-1.57265233e-01 -3.47653493e-03 9.87550282e-01 -2.19669397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.296875 meters 0.018114418727998596 Centerline is valid? [True, True] Translation: X:178.35, Y:-67.73, Z:-21.97 [[ 6.83600559e-01 7.21499874e-01 1.10128142e-01 1.78346529e+02] [-7.13107428e-01 6.92405790e-01 -1.09781685e-01 -6.77332187e+01] [-1.55460835e-01 -3.48637482e-03 9.87835904e-01 -2.19743075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.326875 meters 0.018114418727998596 Centerline is valid? [True, True] Translation: X:178.37, Y:-67.76, Z:-21.98 [[ 6.83403257e-01 7.21690766e-01 1.10101891e-01 1.78369077e+02] [-7.13296543e-01 6.92206792e-01 -1.09808006e-01 -6.77558324e+01] [-1.55460701e-01 -3.49214963e-03 9.87835905e-01 -2.19797068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.356875 meters 0.018038446706007565 Centerline is valid? [True, True] Translation: X:178.39, Y:-67.78, Z:-21.99 [[ 6.83662463e-01 7.21512823e-01 1.09658030e-01 1.78391137e+02] [-7.13174764e-01 6.92392750e-01 -1.09425933e-01 -6.77777897e+01] [-1.54878639e-01 -3.39493663e-03 9.87927670e-01 -2.19850270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.386875 meters 0.017649921263496113 Centerline is valid? [True, True] Translation: X:178.42, Y:-67.80, Z:-21.99 [[ 6.84128455e-01 7.21094173e-01 1.09505483e-01 1.78416300e+02] [-7.12765780e-01 6.92829401e-01 -1.09326874e-01 -6.78042992e+01] [-1.54703589e-01 -3.25813562e-03 9.87955558e-01 -2.19910633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.416875 meters 0.01688773491965491 Centerline is valid? [True, True] Translation: X:178.44, Y:-67.83, Z:-22.00 [[ 6.84816452e-01 7.20434055e-01 1.09549988e-01 1.78437248e+02] [-7.12074524e-01 6.93516790e-01 -1.09472981e-01 -6.78283735e+01] [-1.54842819e-01 -3.03885730e-03 9.87934445e-01 -2.19955129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.446875 meters 0.016052944807202575 Centerline is valid? [True, True] Translation: X:178.46, Y:-67.85, Z:-22.00 [[ 6.86901822e-01 7.18253976e-01 1.10802130e-01 1.78457958e+02] [-7.09664095e-01 6.95776391e-01 -1.10779451e-01 -6.78529972e+01] [-1.56661287e-01 -2.53768704e-03 9.87649129e-01 -2.19987890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47687499999998 meters 0.015812690442707923 Centerline is valid? [True, True] Translation: X:179.33, Y:-67.27, Z:-21.49 [[ 7.57937981e-01 -6.40447578e-01 -1.23923029e-01 1.79327643e+02] [-6.28710235e-01 -7.67849037e-01 1.23009338e-01 -6.72717090e+01] [-1.73935211e-01 -1.53217723e-02 -9.84637896e-01 -2.14931421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50687499999998 meters 0.01525734326951561 Centerline is valid? [True, True] Translation: X:179.35, Y:-67.29, Z:-21.51 [[ 8.03211596e-01 -5.80866989e-01 -1.32078289e-01 1.79350122e+02] [-5.70153768e-01 -8.13866424e-01 1.12009483e-01 -6.72874561e+01] [-1.72556696e-01 -1.46623818e-02 -9.84890451e-01 -2.15053586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53687499999998 meters 0.014462756204600434 Centerline is valid? [True, True] Translation: X:179.36, Y:-67.29, Z:-21.51 [[ 8.42804070e-01 -5.19697868e-01 -1.39983664e-01 1.79355436e+02] [-5.09955507e-01 -8.54238219e-01 1.01106114e-01 -6.72899413e+01] [-1.72124027e-01 -1.38272037e-02 -9.84978237e-01 -2.15128056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56687499999998 meters 0.01427680255324241 Centerline is valid? [True, True] Translation: X:179.35, Y:-67.29, Z:-21.52 [[ 8.79187473e-01 -4.53313941e-01 -1.46751006e-01 1.79348116e+02] [-4.44622818e-01 -8.91251788e-01 8.93353248e-02 -6.72862628e+01] [-1.71289044e-01 -1.32936528e-02 -9.85131129e-01 -2.15175430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59687499999998 meters 0.014214884768544496 Centerline is valid? [True, True] Translation: X:179.34, Y:-67.28, Z:-21.52 [[ 9.10390906e-01 -3.84511692e-01 -1.52771584e-01 1.79340310e+02] [-3.76904329e-01 -9.23033314e-01 7.71532716e-02 -6.72778031e+01] [-1.70679596e-01 -1.26593655e-02 -9.85245257e-01 -2.15231890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62687499999998 meters 0.014266842465880595 Centerline is valid? [True, True] Translation: X:179.33, Y:-67.27, Z:-21.53 [[ 9.36483917e-01 -3.13326551e-01 -1.57557437e-01 1.79330271e+02] [-3.06854757e-01 -9.49569052e-01 6.44885487e-02 -6.72724262e+01] [-1.69817641e-01 -1.20452396e-02 -9.85401888e-01 -2.15297828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65687499999999 meters 0.01511134957815787 Centerline is valid? [True, True] Translation: X:179.32, Y:-67.27, Z:-21.54 [[ 9.56467787e-01 -2.43309050e-01 -1.61152347e-01 1.79319255e+02] [-2.38043358e-01 -9.69887454e-01 5.15139337e-02 -6.72670527e+01] [-1.68833446e-01 -1.09101723e-02 -9.85584210e-01 -2.15353033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.686875 meters 0.015172692125431504 Centerline is valid? [True, True] Translation: X:179.30, Y:-67.27, Z:-21.54 [[ 9.72063222e-01 -1.67994182e-01 -1.63923908e-01 1.79303845e+02] [-1.63877048e-01 -9.85732214e-01 3.84228638e-02 -6.72663495e+01] [-1.68039894e-01 -1.04860868e-02 -9.85724422e-01 -2.15397803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.716875 meters 0.015855046603265078 Centerline is valid? [True, True] Translation: X:179.29, Y:-67.27, Z:-21.54 [[ 9.81864210e-01 -9.12443917e-02 -1.66184039e-01 1.79287550e+02] [-8.82658697e-02 -9.95777199e-01 2.52369987e-02 -6.72663373e+01] [-1.67785012e-01 -1.01109270e-02 -9.85771758e-01 -2.15433775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.746875 meters 0.015849541345000842 Centerline is valid? [True, True] Translation: X:179.27, Y:-67.27, Z:-21.55 [[ 9.85767309e-01 -1.31616826e-02 -1.67599468e-01 1.79272824e+02] [-1.13202152e-02 -9.99864659e-01 1.19380043e-02 -6.72693536e+01] [-1.67733910e-01 -9.87083229e-03 -9.85782888e-01 -2.15472447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.776875 meters 0.016450824995547505 Centerline is valid? [True, True] Translation: X:179.26, Y:-67.27, Z:-21.55 [[ 9.83633515e-01 6.49355472e-02 -1.68072852e-01 1.79257183e+02] [ 6.56286003e-02 -9.97843089e-01 -1.43387937e-03 -6.72726614e+01] [-1.67803444e-01 -9.61997424e-03 -9.85773534e-01 -2.15507288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.806875 meters 0.016063019871238392 Centerline is valid? [True, True] Translation: X:179.24, Y:-67.28, Z:-21.56 [[ 9.75256517e-01 1.44663665e-01 -1.67174011e-01 1.79242901e+02] [ 1.44237429e-01 -9.89433108e-01 -1.47542547e-02 -6.72785082e+01] [-1.67541906e-01 -9.72356635e-03 -9.85817002e-01 -2.15559331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.836875 meters 0.015691297462429907 Centerline is valid? [True, True] Translation: X:179.23, Y:-67.29, Z:-21.56 [[ 9.60334438e-01 2.25012268e-01 -1.64703513e-01 1.79227675e+02] [ 2.23515043e-01 -9.74303551e-01 -2.78139684e-02 -6.72855209e+01] [-1.66729702e-01 -1.01030011e-02 -9.85950879e-01 -2.15618734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.866875 meters 0.015236416728658003 Centerline is valid? [True, True] Translation: X:179.21, Y:-67.29, Z:-21.57 [[ 9.39057461e-01 3.03500013e-01 -1.61427466e-01 1.79214680e+02] [ 3.00946383e-01 -9.52774528e-01 -4.06444748e-02 -6.72934776e+01] [-1.66139576e-01 -1.04135147e-02 -9.86047260e-01 -2.15663886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.896875 meters 0.014819276701053138 Centerline is valid? [True, True] Translation: X:179.20, Y:-67.30, Z:-21.57 [[ 9.11320594e-01 3.80258147e-01 -1.57792641e-01 1.79202692e+02] [ 3.76645179e-01 -9.24817635e-01 -5.33924274e-02 -6.73025914e+01] [-1.66232322e-01 -1.07742188e-02 -9.86027754e-01 -2.15703906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.926875 meters 0.014479552312106486 Centerline is valid? [True, True] Translation: X:179.19, Y:-67.31, Z:-21.57 [[ 8.77408886e-01 4.54622235e-01 -1.53206628e-01 1.79192027e+02] [ 4.49964797e-01 -8.90614536e-01 -6.58591583e-02 -6.73130473e+01] [-1.66389088e-01 -1.11521788e-02 -9.85997110e-01 -2.15736561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.956875 meters 0.014066176410718008 Centerline is valid? [True, True] Translation: X:179.18, Y:-67.33, Z:-21.58 [[ 8.35949725e-01 5.28901049e-01 -1.46464120e-01 1.79183823e+02] [ 5.23377690e-01 -8.48596885e-01 -7.71953341e-02 -6.73261141e+01] [-1.65117690e-01 -1.21246347e-02 -9.86199342e-01 -2.15782588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.986875 meters 0.014032673415027858 Centerline is valid? [True, True] Translation: X:179.18, Y:-67.34, Z:-21.58 [[ 7.90157656e-01 5.96935456e-01 -1.38992591e-01 1.79175037e+02] [ 5.90555942e-01 -8.02190424e-01 -8.79443187e-02 -6.73381206e+01] [-1.63995607e-01 -1.25930237e-02 -9.86380685e-01 -2.15833075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.016875 meters 0.014072355589120308 Centerline is valid? [True, True] Translation: X:179.17, Y:-67.35, Z:-21.59 [[ 7.38953169e-01 6.60930123e-01 -1.30841841e-01 1.79168068e+02] [ 6.53742135e-01 -7.50333837e-01 -9.80834039e-02 -6.73505951e+01] [-1.63001337e-01 -1.30577824e-02 -9.86539436e-01 -2.15883318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.046875 meters 0.014386761321120716 Centerline is valid? [True, True] Translation: X:179.16, Y:-67.36, Z:-21.59 [[ 6.82358086e-01 7.20762611e-01 -1.22019263e-01 1.79161884e+02] [ 7.12823308e-01 -6.93048704e-01 -1.07547317e-01 -6.73636946e+01] [-1.62081377e-01 -1.35923931e-02 -9.86683776e-01 -2.15930081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.076875 meters 0.01590963624869228 Centerline is valid? [True, True] Translation: X:179.16, Y:-67.38, Z:-21.60 [[ 6.18343035e-01 7.77685541e-01 -1.13389108e-01 1.79158747e+02] [ 7.68932475e-01 -6.28482207e-01 -1.17273031e-01 -6.73797899e+01] [-1.62464578e-01 -1.46736053e-02 -9.86605264e-01 -2.15960264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.106875 meters 0.016470496721569645 Centerline is valid? [True, True] Translation: X:179.15, Y:-67.39, Z:-21.60 [[ 5.52809660e-01 8.26886438e-01 -1.03248720e-01 1.79152832e+02] [ 8.17481674e-01 -5.62164845e-01 -1.25277292e-01 -6.73916834e+01] [-1.61632894e-01 -1.51494392e-02 -9.86734666e-01 -2.16000776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.136875 meters 0.017279218379560157 Centerline is valid? [True, True] Translation: X:179.15, Y:-67.40, Z:-21.60 [[ 4.83831492e-01 8.70236441e-01 -9.27125878e-02 1.79148765e+02] [ 8.60206015e-01 -4.92388312e-01 -1.32662588e-01 -6.74043295e+01] [-1.61098413e-01 -1.55655877e-02 -9.86815593e-01 -2.16047031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.166875 meters 0.01882669932770108 Centerline is valid? [True, True] Translation: X:179.15, Y:-67.42, Z:-21.61 [[ 4.09995331e-01 9.08406150e-01 -8.18663233e-02 1.79145656e+02] [ 8.97762863e-01 -4.17772465e-01 -1.39599462e-01 -6.74172189e+01] [-1.61014505e-01 -1.62614172e-02 -9.86818066e-01 -2.16075502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.196875 meters 0.01795141030381473 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.43, Z:-21.61 [[ 3.35886745e-01 9.39246781e-01 -7.06794113e-02 1.79142708e+02] [ 9.27960449e-01 -3.42845161e-01 -1.46104758e-01 -6.74294199e+01] [-1.61460518e-01 -1.65130467e-02 -9.86741010e-01 -2.16113392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22687499999998 meters 0.01933236861934927 Centerline is valid? [True, True] Translation: X:179.15, Y:-67.44, Z:-21.61 [[ 2.60197194e-01 9.63753679e-01 -5.89598636e-02 1.79145190e+02] [ 9.51891034e-01 -2.66272922e-01 -1.51664732e-01 -6.74444138e+01] [-1.61866858e-01 -1.66606278e-02 -9.86671953e-01 -2.16136228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25687499999998 meters 0.019808350593793485 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.46, Z:-21.62 [[ 1.83368784e-01 9.81934214e-01 -4.67021222e-02 1.79142444e+02] [ 9.69640227e-01 -1.88482794e-01 -1.55794949e-01 -6.74576383e+01] [-1.61782938e-01 -1.67163260e-02 -9.86684775e-01 -2.16165913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28687499999998 meters 0.01936646818676483 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.47, Z:-21.62 [[ 1.05588286e-01 9.93822791e-01 -3.41668555e-02 1.79140530e+02] [ 9.81169118e-01 -1.09709125e-01 -1.58968769e-01 -6.74697605e+01] [-1.61735201e-01 -1.67382236e-02 -9.86692230e-01 -2.16203193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31687499999998 meters 0.01958770089879775 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.48, Z:-21.62 [[ 2.81434539e-02 9.99374488e-01 -2.14144592e-02 1.79139603e+02] [ 9.86444301e-01 -3.12312907e-02 -1.61097013e-01 -6.74835608e+01] [-1.61665047e-01 -1.65903448e-02 -9.86706224e-01 -2.16239351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34687499999998 meters 0.018515181502122075 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.50, Z:-21.63 [[-4.86299433e-02 9.98780208e-01 -8.55715952e-03 1.79138108e+02] [ 9.85795984e-01 4.66153805e-02 -1.61348330e-01 -6.74964287e+01] [-1.60752623e-01 -1.62819736e-02 -9.86860421e-01 -2.16287655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37687499999998 meters 0.01875115394672887 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.51, Z:-21.63 [[-1.25144326e-01 9.92129724e-01 4.18429227e-03 1.79139224e+02] [ 9.79200472e-01 1.24190151e-01 -1.60447006e-01 -6.75108017e+01] [-1.59703892e-01 -1.59817715e-02 -9.87035587e-01 -2.16322067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40687499999999 meters 0.017431706701693868 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.52, Z:-21.64 [[-1.98204445e-01 9.80016254e-01 1.68267774e-02 1.79135113e+02] [ 9.67141986e-01 1.98331763e-01 -1.59062537e-01 -6.75249310e+01] [-1.59221156e-01 -1.52530191e-02 -9.87125103e-01 -2.16376779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.436875 meters 0.016442193484991215 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.54, Z:-21.64 [[-2.72026735e-01 9.61848493e-01 2.91364496e-02 1.79136471e+02] [ 9.49199295e-01 2.73180450e-01 -1.56183031e-01 -6.75391509e+01] [-1.58183922e-01 -1.48296626e-02 -9.87298297e-01 -2.16426558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.466875 meters 0.016473832159364245 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.55, Z:-21.65 [[-3.44709538e-01 9.37804470e-01 4.12081298e-02 1.79140401e+02] [ 9.25410142e-01 3.46861513e-01 -1.52653727e-01 -6.75536414e+01] [-1.57452862e-01 -1.44867747e-02 -9.87420240e-01 -2.16460416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.496875 meters 0.015496712729248872 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.57, Z:-21.65 [[-4.13889690e-01 9.08808105e-01 5.25657051e-02 1.79141625e+02] [ 8.96874967e-01 4.16983379e-01 -1.47445432e-01 -6.75694816e+01] [-1.55918629e-01 -1.38812790e-02 -9.87672360e-01 -2.16509962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.526875 meters 0.014963308490061045 Centerline is valid? [True, True] Translation: X:179.15, Y:-67.58, Z:-21.66 [[-4.81850924e-01 8.73928084e-01 6.37917802e-02 1.79146506e+02] [ 8.62386963e-01 4.85867537e-01 -1.42202188e-01 -6.75830751e+01] [-1.55268841e-01 -1.35070562e-02 -9.87779908e-01 -2.16556897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.556875 meters 0.014685315027884276 Centerline is valid? [True, True] Translation: X:179.15, Y:-67.60, Z:-21.66 [[-5.47039652e-01 8.33762841e-01 7.47472017e-02 1.79153366e+02] [ 8.22623019e-01 5.51965693e-01 -1.36474328e-01 -6.75959074e+01] [-1.55045114e-01 -1.31681002e-02 -9.87819626e-01 -2.16593880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.586875 meters 0.014505946561365037 Centerline is valid? [True, True] Translation: X:179.16, Y:-67.61, Z:-21.66 [[-6.08998188e-01 7.88554214e-01 8.54602789e-02 1.79160222e+02] [ 7.77828743e-01 6.14830995e-01 -1.30250890e-01 -6.76087585e+01] [-1.55253517e-01 -1.28490948e-02 -9.87791094e-01 -2.16623332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.616875 meters 0.013952029023869366 Centerline is valid? [True, True] Translation: X:179.17, Y:-67.62, Z:-21.67 [[-6.65821441e-01 7.39922959e-01 9.58948556e-02 1.79169515e+02] [ 7.29654653e-01 6.72580536e-01 -1.23448411e-01 -6.76207787e+01] [-1.55839327e-01 -1.22244712e-02 -9.87706772e-01 -2.16668952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.646875 meters 0.014051777804218998 Centerline is valid? [True, True] Translation: X:179.18, Y:-67.63, Z:-21.67 [[-7.20317875e-01 6.85654536e-01 1.04976270e-01 1.79182171e+02] [ 6.76037754e-01 7.27829727e-01 -1.15051479e-01 -6.76307846e+01] [-1.55290418e-01 -1.19057156e-02 -9.87797115e-01 -2.16700366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.676875 meters 0.013949150158883424 Centerline is valid? [True, True] Translation: X:179.20, Y:-67.62, Z:-21.68 [[-7.65847835e-01 6.32920360e-01 1.13529346e-01 1.79200673e+02] [ 6.24030579e-01 7.74145581e-01 -1.06228319e-01 -6.76164154e+01] [-1.55122307e-01 -1.05089445e-02 -9.87839376e-01 -2.16759933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.706875 meters 0.01396247053352254 Centerline is valid? [True, True] Translation: X:179.22, Y:-67.60, Z:-21.68 [[-8.07562023e-01 5.77372363e-01 1.20352537e-01 1.79215570e+02] [ 5.69176646e-01 8.16417065e-01 -9.74736935e-02 -6.75982346e+01] [-1.54536482e-01 -1.02141997e-02 -9.87934282e-01 -2.16813540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.736875 meters 0.014036073566071483 Centerline is valid? [True, True] Translation: X:179.26, Y:-67.60, Z:-21.68 [[-8.45347722e-01 5.19377615e-01 1.25036482e-01 1.79260748e+02] [ 5.12059210e-01 8.54487566e-01 -8.74434986e-02 -6.75993095e+01] [-1.52258315e-01 -9.89408036e-03 -9.88291209e-01 -2.16824072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.766875 meters 0.014206818610704245 Centerline is valid? [True, True] Translation: X:179.28, Y:-67.58, Z:-21.69 [[-8.79900810e-01 4.57061943e-01 1.29880497e-01 1.79280190e+02] [ 4.50519002e-01 8.89380406e-01 -7.76860437e-02 -6.75817304e+01] [-1.51020504e-01 -9.84238072e-03 -9.88481631e-01 -2.16873809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.796875 meters 0.014037000756135376 Centerline is valid? [True, True] Translation: X:179.31, Y:-67.57, Z:-21.69 [[-9.10211414e-01 3.91906851e-01 1.33881300e-01 1.79312722e+02] [ 3.86148615e-01 9.19951768e-01 -6.76608605e-02 -6.75687086e+01] [-1.49681093e-01 -9.88760894e-03 -9.88684887e-01 -2.16910034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.826875 meters 0.013948168861804016 Centerline is valid? [True, True] Translation: X:179.78, Y:-66.67, Z:-22.22 [[-8.84103781e-01 -4.48984352e-01 -1.29512763e-01 1.79783056e+02] [ 4.45498775e-01 -8.93505164e-01 5.63858385e-02 -6.66697092e+01] [-1.41036682e-01 -7.84684439e-03 9.89973273e-01 -2.22158485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.856875 meters 0.014109787369344264 Centerline is valid? [True, True] Translation: X:179.27, Y:-67.55, Z:-21.70 [[-9.13750745e-01 3.84065874e-01 1.32487663e-01 1.79271039e+02] [ 3.78419414e-01 9.23244882e-01 -6.64652954e-02 -6.75462551e+01] [-1.47845609e-01 -1.05968093e-02 -9.88953681e-01 -2.16995610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.886875 meters 0.014155165986080508 Centerline is valid? [True, True] Translation: X:179.74, Y:-66.66, Z:-22.22 [[-8.83831946e-01 -4.49409657e-01 -1.29892458e-01 1.79739746e+02] [ 4.45977635e-01 -8.93286499e-01 5.60640572e-02 -6.66586825e+01] [-1.41226908e-01 -8.37792667e-03 9.89941802e-01 -2.22231326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.916875 meters 0.0144731863184545 Centerline is valid? [True, True] Translation: X:179.22, Y:-67.52, Z:-21.71 [[-9.17308310e-01 3.75620766e-01 1.32115500e-01 1.79215377e+02] [ 3.70012846e-01 9.26704109e-01 -6.56505010e-02 -6.75163646e+01] [-1.47091668e-01 -1.13373178e-02 -9.89057888e-01 -2.17080069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.946875 meters 0.015512814775679836 Centerline is valid? [True, True] Translation: X:179.24, Y:-67.49, Z:-21.71 [[-9.43270955e-01 3.02476431e-01 1.36923023e-01 1.79235953e+02] [ 2.97475494e-01 9.53078741e-01 -5.61181196e-02 -6.74903213e+01] [-1.47472831e-01 -1.22033482e-02 -9.88990820e-01 -2.17094804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97687499999998 meters 0.0164087853205338 Centerline is valid? [True, True] Translation: X:179.25, Y:-67.46, Z:-21.71 [[-9.62791369e-01 2.30739685e-01 1.40683961e-01 1.79246979e+02] [ 2.26424063e-01 9.72933964e-01 -4.61697426e-02 -6.74642015e+01] [-1.47529395e-01 -1.25975957e-02 -9.88977441e-01 -2.17130420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00687499999998 meters 0.016413952911048874 Centerline is valid? [True, True] Translation: X:179.59, Y:-66.55, Z:-22.24 [[-9.35481860e-01 -3.27067984e-01 -1.33791718e-01 1.79590186e+02] [ 3.25392643e-01 -9.44937335e-01 3.48290209e-02 -6.65545613e+01] [-1.37816247e-01 -1.09529233e-02 9.90397251e-01 -2.22436848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03687499999998 meters 0.017787468429640057 Centerline is valid? [True, True] Translation: X:179.20, Y:-67.45, Z:-21.72 [[-9.65029887e-01 2.20415514e-01 1.41895453e-01 1.79201013e+02] [ 2.16016959e-01 9.75310860e-01 -4.58846455e-02 -6.74470706e+01] [-1.48505864e-01 -1.36282301e-02 -9.88817617e-01 -2.17181500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06687499999998 meters 0.01856524099667826 Centerline is valid? [True, True] Translation: X:179.52, Y:-66.54, Z:-22.26 [[-9.35108250e-01 -3.28753845e-01 -1.32262882e-01 1.79515803e+02] [ 3.27175042e-01 -9.44347311e-01 3.41269466e-02 -6.65428033e+01] [-1.36121461e-01 -1.13607245e-02 9.90627014e-01 -2.22567454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09687499999998 meters 0.018638812505689994 Centerline is valid? [True, True] Translation: X:179.15, Y:-67.43, Z:-21.73 [[-9.66842024e-01 2.12973651e-01 1.40920989e-01 1.79154286e+02] [ 2.08647311e-01 9.76956563e-01 -4.49685861e-02 -6.74327577e+01] [-1.47250809e-01 -1.40747334e-02 -9.88999040e-01 -2.17256897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12687499999998 meters 0.019648984550141416 Centerline is valid? [True, True] Translation: X:179.14, Y:-67.40, Z:-21.73 [[-9.79505167e-01 1.41205589e-01 1.43633597e-01 1.79138246e+02] [ 1.37632060e-01 9.89879992e-01 -3.45690256e-02 -6.74028426e+01] [-1.47061363e-01 -1.40919514e-02 -9.89026983e-01 -2.17338522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15687499999999 meters 0.01935999949541835 Centerline is valid? [True, True] Translation: X:179.41, Y:-66.49, Z:-22.27 [[-9.56515859e-01 -2.58955693e-01 -1.34236211e-01 1.79413956e+02] [ 2.58187443e-01 -9.65811265e-01 2.34060651e-02 -6.64912926e+01] [-1.35707979e-01 -1.22698317e-02 9.90672900e-01 -2.22680894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.186875 meters 0.018583613480999107 Centerline is valid? [True, True] Translation: X:179.10, Y:-67.40, Z:-21.74 [[-9.80415956e-01 1.35897453e-01 1.42535733e-01 1.79098792e+02] [ 1.32396557e-01 9.90620047e-01 -3.38093811e-02 -6.73988998e+01] [-1.45793363e-01 -1.42760165e-02 -9.89212055e-01 -2.17398931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.216875 meters 0.018583613480999107 Centerline is valid? [True, True] Translation: X:179.11, Y:-67.38, Z:-21.74 [[-9.87436906e-01 6.44848085e-02 1.44256942e-01 1.79110246e+02] [ 6.17625494e-02 9.97819454e-01 -2.32749680e-02 -6.73758912e+01] [-1.45443265e-01 -1.40728859e-02 -9.89266501e-01 -2.17439098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.246875 meters 0.01863996409162373 Centerline is valid? [True, True] Translation: X:179.29, Y:-66.44, Z:-22.28 [[-9.73507435e-01 -1.84147522e-01 -1.35546909e-01 1.79285560e+02] [ 1.84078159e-01 -9.82823579e-01 1.31546336e-02 -6.64395808e+01] [-1.35641091e-01 -1.21450919e-02 9.90683598e-01 -2.22824566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.276875 meters 0.018753761766935554 Centerline is valid? [True, True] Translation: X:179.01, Y:-67.37, Z:-21.76 [[-9.87969643e-01 5.88805949e-02 1.43000210e-01 1.79009890e+02] [ 5.62211456e-02 9.98163180e-01 -2.25709922e-02 -6.73658349e+01] [-1.44066537e-01 -1.42598195e-02 -9.89465255e-01 -2.17584140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.306875 meters 0.018951866317999874 Centerline is valid? [True, True] Translation: X:179.04, Y:-67.34, Z:-21.76 [[-9.89517328e-01 -1.20474576e-02 1.43910791e-01 1.79037079e+02] [-1.39063293e-02 9.99832275e-01 -1.19179176e-02 -6.73432772e+01] [-1.43743073e-01 -1.37942569e-02 -9.89518897e-01 -2.17595854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.336875 meters 0.01882448092875218 Centerline is valid? [True, True] Translation: X:179.14, Y:-66.40, Z:-22.30 [[-9.85174938e-01 -1.04830196e-01 -1.35797540e-01 1.79142772e+02] [ 1.05484965e-01 -9.94418038e-01 2.38512448e-03 -6.63956063e+01] [-1.35289556e-01 -1.19748339e-02 9.90733738e-01 -2.22992762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.366875 meters 0.017234672874257433 Centerline is valid? [True, True] Translation: X:178.93, Y:-67.35, Z:-21.78 [[-9.89572486e-01 -1.69730298e-02 1.43032204e-01 1.78932976e+02] [-1.87802082e-02 9.99759844e-01 -1.12941254e-02 -6.73450551e+01] [-1.42806158e-01 -1.38625303e-02 -9.89653592e-01 -2.17750495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.396875 meters 0.017119632040423254 Centerline is valid? [True, True] Translation: X:178.93, Y:-67.32, Z:-21.78 [[-9.85858954e-01 -8.75210450e-02 1.42906227e-01 1.78925662e+02] [-8.85113539e-02 9.96075002e-01 -5.75102488e-04 -6.73216615e+01] [-1.42294986e-01 -1.32157935e-02 -9.89736066e-01 -2.17807800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.426875 meters 0.017122160607847898 Centerline is valid? [True, True] Translation: X:178.92, Y:-67.30, Z:-21.79 [[-9.77410789e-01 -1.56374487e-01 1.42180061e-01 1.78916330e+02] [-1.56599866e-01 9.87614757e-01 9.67331411e-03 -6.72993636e+01] [-1.41931786e-01 -1.28105770e-02 -9.89793543e-01 -2.17869226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.456875 meters 0.01661727353734602 Centerline is valid? [True, True] Translation: X:178.88, Y:-67.28, Z:-21.80 [[-9.63641652e-01 -2.27080042e-01 1.40816974e-01 1.78880433e+02] [-2.26557017e-01 9.73793568e-01 1.99500516e-02 -6.72828434e+01] [-1.41656922e-01 -1.26783729e-02 -9.89834620e-01 -2.17966433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.486875 meters 0.01609365127196708 Centerline is valid? [True, True] Translation: X:178.83, Y:-67.27, Z:-21.81 [[-9.44727376e-01 -2.97168743e-01 1.38495213e-01 1.78831046e+02] [-2.95890758e-01 9.54743948e-01 3.02101419e-02 -6.72719703e+01] [-1.41204976e-01 -1.24391055e-02 -9.89902229e-01 -2.18081418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.516875 meters 0.01508533768104132 Centerline is valid? [True, True] Translation: X:178.77, Y:-67.27, Z:-21.82 [[-9.20924569e-01 -3.65185394e-01 1.36152732e-01 1.78767284e+02] [-3.63119941e-01 9.30856950e-01 4.06109184e-02 -6.72715025e+01] [-1.41569231e-01 -1.20401795e-02 -9.89855134e-01 -2.18225727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.546875 meters 0.014873773668699084 Centerline is valid? [True, True] Translation: X:178.68, Y:-67.28, Z:-21.84 [[-8.91386014e-01 -4.33417283e-01 1.32591226e-01 1.78678672e+02] [-4.30601997e-01 9.01115116e-01 5.07293623e-02 -6.72833608e+01] [-1.41466941e-01 -1.18746027e-02 -9.89871759e-01 -2.18397415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.576875 meters 0.01463430939177608 Centerline is valid? [True, True] Translation: X:178.61, Y:-67.29, Z:-21.85 [[-8.56409478e-01 -5.00114652e-01 1.28250305e-01 1.78614040e+02] [-4.96570660e-01 8.65878880e-01 6.05916243e-02 -6.72905732e+01] [-1.41351989e-01 -1.17940972e-02 -9.89889142e-01 -2.18535715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.606875 meters 0.014423763948097778 Centerline is valid? [True, True] Translation: X:178.52, Y:-67.32, Z:-21.87 [[-8.16461117e-01 -5.64115878e-01 1.23144305e-01 1.78524729e+02] [-5.59847442e-01 8.25614111e-01 7.02294886e-02 -6.73175979e+01] [-1.41287245e-01 -1.16023774e-02 -9.89900651e-01 -2.18714217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.636875 meters 0.01430450742049248 Centerline is valid? [True, True] Translation: X:178.44, Y:-67.35, Z:-21.89 [[-7.71499360e-01 -6.25257207e-01 1.17652717e-01 1.78437129e+02] [-6.20256591e-01 7.80334739e-01 7.97461941e-02 -6.73515349e+01] [-1.41670385e-01 -1.14507355e-02 -9.89847656e-01 -2.18885239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.666875 meters 0.014076172477622894 Centerline is valid? [True, True] Translation: X:178.34, Y:-67.40, Z:-21.91 [[-7.22677846e-01 -6.82230359e-01 1.10898461e-01 1.78342137e+02] [-6.76568862e-01 7.31052474e-01 8.84129887e-02 -6.74019273e+01] [-1.41390619e-01 -1.11363374e-02 -9.89891244e-01 -2.19082618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.696875 meters 0.014041597322355827 Centerline is valid? [True, True] Translation: X:178.26, Y:-67.45, Z:-21.93 [[-6.68699726e-01 -7.36383248e-01 1.02861015e-01 1.78257404e+02] [-7.30200583e-01 6.76475058e-01 9.58572112e-02 -6.74522402e+01] [-1.40170555e-01 -1.10094820e-02 -9.90066163e-01 -2.19273495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72687499999998 meters 0.01403751470290027 Centerline is valid? [True, True] Translation: X:178.16, Y:-67.52, Z:-21.95 [[-6.10283120e-01 -7.86546356e-01 9.43363336e-02 1.78164787e+02] [-7.79893865e-01 6.17434713e-01 1.02664182e-01 -6.75224506e+01] [-1.38996666e-01 -1.09181103e-02 -9.90232660e-01 -2.19489444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75687499999998 meters 0.014013819345311353 Centerline is valid? [True, True] Translation: X:178.07, Y:-67.60, Z:-21.97 [[-5.47000057e-01 -8.32786266e-01 8.51937382e-02 1.78074929e+02] [-8.25763087e-01 5.53485205e-01 1.08487105e-01 -6.76009543e+01] [-1.37500044e-01 -1.10073919e-02 -9.90440596e-01 -2.19721021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78687499999998 meters 0.014168254586839372 Centerline is valid? [True, True] Translation: X:178.00, Y:-67.68, Z:-21.99 [[-4.79346485e-01 -8.74326482e-01 7.60273029e-02 1.77996743e+02] [-8.66922003e-01 4.85208614e-01 1.14100139e-01 -6.76789489e+01] [-1.36649875e-01 -1.12162412e-02 -9.90555908e-01 -2.19931018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81687499999998 meters 0.014338953378778713 Centerline is valid? [True, True] Translation: X:177.92, Y:-67.77, Z:-22.01 [[-4.08273512e-01 -9.10422755e-01 6.66569316e-02 1.77922791e+02] [-9.02640043e-01 4.13520768e-01 1.19337869e-01 -6.77658431e+01] [-1.36211937e-01 -1.14447248e-02 -9.90613611e-01 -2.20138140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84687499999998 meters 0.014836320332547347 Centerline is valid? [True, True] Translation: X:177.85, Y:-67.87, Z:-22.04 [[-3.33786259e-01 -9.40926382e-01 5.69585619e-02 1.77852071e+02] [-9.32805992e-01 3.38406528e-01 1.23911271e-01 -6.78655277e+01] [-1.35866533e-01 -1.17714082e-02 -9.90657216e-01 -2.20359062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87687499999998 meters 0.01584874259699496 Centerline is valid? [True, True] Translation: X:177.78, Y:-67.97, Z:-22.06 [[-2.53936774e-01 -9.66072896e-01 4.71091841e-02 1.77784638e+02] [-9.57600238e-01 2.57965096e-01 1.28280137e-01 -6.79734135e+01] [-1.36080489e-01 -1.25367217e-02 -9.90618459e-01 -2.20566138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90687499999999 meters 0.016763283538969123 Centerline is valid? [True, True] Translation: X:177.73, Y:-68.08, Z:-22.08 [[-1.75370242e-01 -9.83809004e-01 3.69475699e-02 1.77728965e+02] [-9.74997357e-01 1.78757143e-01 1.32007717e-01 -6.80831022e+01] [-1.36475022e-01 -1.28735578e-02 -9.90559862e-01 -2.20759540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.936875 meters 0.01719368017508453 Centerline is valid? [True, True] Translation: X:177.68, Y:-68.20, Z:-22.10 [[-9.54324740e-02 -9.95082419e-01 2.65258879e-02 1.77684545e+02] [-9.85928567e-01 9.81615740e-02 1.35311368e-01 -6.81960908e+01] [-1.37249787e-01 -1.32395320e-02 -9.90447985e-01 -2.20962873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.966875 meters 0.01820412038173026 Centerline is valid? [True, True] Translation: X:177.65, Y:-68.33, Z:-22.12 [[-1.52086426e-02 -9.99759610e-01 1.57929982e-02 1.77647068e+02] [-9.90353979e-01 1.72373691e-02 1.37484070e-01 -6.83321573e+01] [-1.37723250e-01 -1.35497125e-02 -9.90378065e-01 -2.21193233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.996875 meters 0.019138574558391117 Centerline is valid? [True, True] Translation: X:177.62, Y:-68.44, Z:-22.14 [[ 6.59544323e-02 -9.97810893e-01 4.84087866e-03 1.77620125e+02] [-9.88069103e-01 -6.46323023e-02 1.39793109e-01 -6.84412439e+01] [-1.39174210e-01 -1.40030978e-02 -9.90168901e-01 -2.21376907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.026875 meters 0.018699356724634866 Centerline is valid? [True, True] Translation: X:177.60, Y:-68.55, Z:-22.16 [[ 1.44368263e-01 -9.89504403e-01 -6.23233723e-03 1.77604794e+02] [-9.79654655e-01 -1.43812850e-01 1.39980786e-01 -6.85538566e+01] [-1.39407894e-01 -1.41032447e-02 -9.90134606e-01 -2.21573764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.056875 meters 0.019919853066350416 Centerline is valid? [True, True] Translation: X:177.60, Y:-68.68, Z:-22.18 [[ 2.21161592e-01 -9.75084789e-01 -1.72396457e-02 1.77597769e+02] [-9.65236532e-01 -2.21384553e-01 1.38950775e-01 -6.86841307e+01] [-1.39305378e-01 -1.40902387e-02 -9.90149219e-01 -2.21779493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.086875 meters 0.018800109557195008 Centerline is valid? [True, True] Translation: X:177.60, Y:-68.79, Z:-22.20 [[ 2.95614142e-01 -9.54902040e-01 -2.78275537e-02 1.77601294e+02] [-9.45264389e-01 -2.96594986e-01 1.36039142e-01 -6.87944010e+01] [-1.38157567e-01 -1.39106986e-02 -9.90312566e-01 -2.21987530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.116875 meters 0.018678378465176886 Centerline is valid? [True, True] Translation: X:177.61, Y:-68.91, Z:-22.22 [[ 3.67926744e-01 -9.29072694e-01 -3.81292614e-02 1.77614066e+02] [-9.19679375e-01 -3.69644168e-01 1.32487877e-01 -6.89115250e+01] [-1.37185128e-01 -1.36791378e-02 -9.90450969e-01 -2.22196593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.146875 meters 0.01820156709915964 Centerline is valid? [True, True] Translation: X:177.64, Y:-69.03, Z:-22.24 [[ 4.37992989e-01 -8.97704580e-01 -4.78396098e-02 1.77637409e+02] [-8.88672697e-01 -4.40393122e-01 1.27729151e-01 -6.90285933e+01] [-1.35731279e-01 -1.34307176e-02 -9.90654650e-01 -2.22411983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.176875 meters 0.017847446052390754 Centerline is valid? [True, True] Translation: X:177.67, Y:-69.14, Z:-22.26 [[ 5.05016997e-01 -8.61205662e-01 -5.72943423e-02 1.77669322e+02] [-8.52516546e-01 -5.08086811e-01 1.22732762e-01 -6.91433825e+01] [-1.34808649e-01 -1.31377558e-02 -9.90784552e-01 -2.22617849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.206875 meters 0.017066612218513508 Centerline is valid? [True, True] Translation: X:177.71, Y:-69.26, Z:-22.28 [[ 5.68276066e-01 -8.20145010e-01 -6.65167253e-02 1.77713513e+02] [-8.11789868e-01 -5.72013543e-01 1.17463688e-01 -6.92589353e+01] [-1.34385725e-01 -1.27541987e-02 -9.90847015e-01 -2.22830284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.236875 meters 0.016571783526409294 Centerline is valid? [True, True] Translation: X:177.77, Y:-69.37, Z:-22.30 [[ 6.29315924e-01 -7.73491946e-01 -7.53105396e-02 1.77766917e+02] [-7.65505604e-01 -6.33681571e-01 1.11574354e-01 -6.93717198e+01] [-1.34024765e-01 -1.25648775e-02 -9.90898323e-01 -2.23042501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.266875 meters 0.016515105973761178 Centerline is valid? [True, True] Translation: X:177.82, Y:-69.47, Z:-22.32 [[ 6.86686600e-01 -7.22154785e-01 -8.33905259e-02 1.77820529e+02] [-7.14612494e-01 -6.91620416e-01 1.04834073e-01 -6.94714400e+01] [-1.33381017e-01 -1.23962413e-02 -9.90987304e-01 -2.23233544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.296875 meters 0.01578677190718087 Centerline is valid? [True, True] Translation: X:177.88, Y:-69.56, Z:-22.34 [[ 7.39987079e-01 -6.66380813e-01 -9.14097127e-02 1.77876334e+02] [-6.59246194e-01 -7.45510534e-01 9.80229535e-02 -6.95585820e+01] [-1.33467519e-01 -1.22742138e-02 -9.90977177e-01 -2.23413676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.326875 meters 0.01599140169274824 Centerline is valid? [True, True] Translation: X:177.90, Y:-69.59, Z:-22.35 [[ 7.87836854e-01 -6.07802223e-01 -9.94462152e-02 1.77901104e+02] [-6.01055237e-01 -7.93997714e-01 9.11056122e-02 -6.95855464e+01] [-1.34334261e-01 -1.20036904e-02 -9.90863370e-01 -2.23494966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.356875 meters 0.016401095101706526 Centerline is valid? [True, True] Translation: X:177.91, Y:-69.59, Z:-22.36 [[ 8.32599723e-01 -5.43596356e-01 -1.06210660e-01 1.77905948e+02] [-5.37331219e-01 -8.39258172e-01 8.31918393e-02 -6.95895597e+01] [-1.34360945e-01 -1.21951991e-02 -9.90857413e-01 -2.23550403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.386875 meters 0.0162387494061451 Centerline is valid? [True, True] Translation: X:177.90, Y:-69.59, Z:-22.36 [[ 8.72561727e-01 -4.75551052e-01 -1.11746268e-01 1.77904657e+02] [-4.69883917e-01 -8.79602827e-01 7.42157015e-02 -6.95888481e+01] [-1.33585688e-01 -1.22500067e-02 -9.90961554e-01 -2.23594724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.416875 meters 0.016571608347141362 Centerline is valid? [True, True] Translation: X:177.90, Y:-69.59, Z:-22.36 [[ 9.07436870e-01 -4.03060506e-01 -1.18745763e-01 1.77898857e+02] [-3.97839515e-01 -9.15087575e-01 6.58669143e-02 -6.95886408e+01] [-1.35211124e-01 -1.25283096e-02 -9.90737601e-01 -2.23623788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.446875 meters 0.017128365179619506 Centerline is valid? [True, True] Translation: X:177.89, Y:-69.59, Z:-22.36 [[ 9.36276786e-01 -3.28653180e-01 -1.23987372e-01 1.77890894e+02] [-3.24019240e-01 -9.44365776e-01 5.64341527e-02 -6.95875815e+01] [-1.35636695e-01 -1.26636930e-02 -9.90677706e-01 -2.23648757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47687499999998 meters 0.017225152382076055 Centerline is valid? [True, True] Translation: X:177.88, Y:-69.59, Z:-22.37 [[ 9.59276562e-01 -2.51842090e-01 -1.27922007e-01 1.77883763e+02] [-2.47858558e-01 -9.67683349e-01 4.64227526e-02 -6.95861188e+01] [-1.35479199e-01 -1.28256942e-02 -9.90697173e-01 -2.23686725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50687499999998 meters 0.017720498952587208 Centerline is valid? [True, True] Translation: X:177.88, Y:-69.59, Z:-22.37 [[ 9.76013186e-01 -1.73640351e-01 -1.31328935e-01 1.77876776e+02] [-1.70319029e-01 -9.84723797e-01 3.62004541e-02 -6.95866216e+01] [-1.35608587e-01 -1.29643038e-02 -9.90677666e-01 -2.23724469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53687499999998 meters 0.018250751979016763 Centerline is valid? [True, True] Translation: X:177.87, Y:-69.59, Z:-22.38 [[ 9.86662552e-01 -9.32818861e-02 -1.33399770e-01 1.77865611e+02] [-9.06522936e-02 -9.95551837e-01 2.56651843e-02 -6.95868877e+01] [-1.35200483e-01 -1.32298811e-02 -9.90729933e-01 -2.23757541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.56687499999998 meters 0.018284379598472022 Centerline is valid? [True, True] Translation: X:177.86, Y:-69.59, Z:-22.38 [[ 9.90853523e-01 -1.37535618e-02 -1.34239096e-01 1.77855011e+02] [-1.18456333e-02 -9.99817304e-01 1.50013043e-02 -6.95873811e+01] [-1.34420893e-01 -1.32739481e-02 -9.90835418e-01 -2.23798273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59687499999998 meters 0.018551423795698456 Centerline is valid? [True, True] Translation: X:177.84, Y:-69.59, Z:-22.38 [[ 9.88810023e-01 6.56612786e-02 -1.33952733e-01 1.77844458e+02] [ 6.68484326e-02 -9.97753531e-01 4.37936289e-03 -6.95892489e+01] [-1.33364258e-01 -1.32848882e-02 -9.90978045e-01 -2.23839322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62687499999998 meters 0.01854274910814772 Centerline is valid? [True, True] Translation: X:177.83, Y:-69.59, Z:-22.39 [[ 9.80645890e-01 1.43987058e-01 -1.32670134e-01 1.77832445e+02] [ 1.44462548e-01 -9.89491555e-01 -6.08557943e-03 -6.95900494e+01] [-1.32152222e-01 -1.31980672e-02 -9.91141565e-01 -2.23884316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65687499999999 meters 0.019207534402883215 Centerline is valid? [True, True] Translation: X:177.82, Y:-69.59, Z:-22.39 [[ 9.66495060e-01 2.21179581e-01 -1.30257023e-01 1.77821190e+02] [ 2.20968403e-01 -9.75145487e-01 -1.62555524e-02 -6.95926034e+01] [-1.30614944e-01 -1.30717753e-02 -9.91346995e-01 -2.23922560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.686875 meters 0.01782930909595712 Centerline is valid? [True, True] Translation: X:177.81, Y:-69.59, Z:-22.40 [[ 9.46840232e-01 2.95637535e-01 -1.26854336e-01 1.77810302e+02] [ 2.94766337e-01 -9.55215028e-01 -2.60203158e-02 -6.95932046e+01] [-1.28865751e-01 -1.27553062e-02 -9.91580012e-01 -2.23979064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.716875 meters 0.016968376925273063 Centerline is valid? [True, True] Translation: X:177.80, Y:-69.60, Z:-22.40 [[ 9.21409553e-01 3.68287373e-01 -1.23971155e-01 1.77799403e+02] [ 3.66753338e-01 -9.29628455e-01 -3.58179459e-02 -6.95950074e+01] [-1.28438410e-01 -1.24638372e-02 -9.91639162e-01 -2.24015569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.746875 meters 0.016464489817623832 Centerline is valid? [True, True] Translation: X:177.79, Y:-69.60, Z:-22.41 [[ 8.90700069e-01 4.38506495e-01 -1.19855914e-01 1.77788864e+02] [ 4.36349596e-01 -8.98646185e-01 -4.51006004e-02 -6.95985167e+01] [-1.27484966e-01 -1.21279716e-02 -9.91766351e-01 -2.24051472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.776875 meters 0.014861942417249141 Centerline is valid? [True, True] Translation: X:177.78, Y:-69.60, Z:-22.41 [[ 8.55783348e-01 5.04202764e-01 -1.15820696e-01 1.77779282e+02] [ 5.01393050e-01 -8.63508386e-01 -5.43900349e-02 -6.96032922e+01] [-1.27435748e-01 -1.15256057e-02 -9.91779860e-01 -2.24094267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.806875 meters 0.014654052154060163 Centerline is valid? [True, True] Translation: X:177.77, Y:-69.61, Z:-22.41 [[ 8.14780359e-01 5.69118792e-01 -1.10619922e-01 1.77769767e+02] [ 5.65730651e-01 -8.22178550e-01 -6.30179426e-02 -6.96121239e+01] [-1.26814022e-01 -1.12352984e-02 -9.91862880e-01 -2.24121759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.836875 meters 0.014277222217303504 Centerline is valid? [True, True] Translation: X:177.76, Y:-69.62, Z:-22.41 [[ 7.68991064e-01 6.30551791e-01 -1.05153139e-01 1.77760321e+02] [ 6.26585162e-01 -7.76070113e-01 -7.14577762e-02 -6.96199526e+01] [-1.26664038e-01 -1.09370055e-02 -9.91885378e-01 -2.24149879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.866875 meters 0.013954352374646128 Centerline is valid? [True, True] Translation: X:177.75, Y:-69.63, Z:-22.42 [[ 7.18376889e-01 6.88553272e-01 -9.91415010e-02 1.77752828e+02] [ 6.84029451e-01 -7.25106973e-01 -7.95209878e-02 -6.96296940e+01] [-1.26642630e-01 -1.06896667e-02 -9.91890808e-01 -2.24176131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.896875 meters 0.013521251043172134 Centerline is valid? [True, True] Translation: X:177.75, Y:-69.64, Z:-22.42 [[ 6.64550206e-01 7.41458450e-01 -9.28029704e-02 1.77746546e+02] [ 7.36360265e-01 -6.70920450e-01 -8.74031437e-02 -6.96401177e+01] [-1.27069210e-01 -1.02526427e-02 -9.91840864e-01 -2.24206973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.926875 meters 0.013412801042337863 Centerline is valid? [True, True] Translation: X:177.74, Y:-69.65, Z:-22.42 [[ 6.05176930e-01 7.91439406e-01 -8.59334018e-02 1.77741815e+02] [ 7.85794955e-01 -6.11164194e-01 -9.48926563e-02 -6.96515596e+01] [-1.27621206e-01 -1.00991872e-02 -9.91771564e-01 -2.24235498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.956875 meters 0.01338452061147325 Centerline is valid? [True, True] Translation: X:177.74, Y:-69.66, Z:-22.43 [[ 5.42024871e-01 8.36709589e-01 -7.82694187e-02 1.77736834e+02] [ 8.30583134e-01 -5.47556213e-01 -1.01557136e-01 -6.96644351e+01] [-1.27830736e-01 -9.96276572e-03 -9.91745959e-01 -2.24263318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.986875 meters 0.013370353983283281 Centerline is valid? [True, True] Translation: X:177.73, Y:-69.68, Z:-22.43 [[ 4.75360368e-01 8.76994791e-01 -7.00903525e-02 1.77734190e+02] [ 8.70423123e-01 -4.80398843e-01 -1.07612912e-01 -6.96778879e+01] [-1.28047287e-01 -9.85335011e-03 -9.91719115e-01 -2.24292773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.016875 meters 0.013343407849647927 Centerline is valid? [True, True] Translation: X:177.73, Y:-69.69, Z:-22.43 [[ 4.05443885e-01 9.12065168e-01 -6.12567173e-02 1.77732598e+02] [ 9.05140321e-01 -4.09928362e-01 -1.12604338e-01 -6.96924387e+01] [-1.27813360e-01 -9.79118451e-03 -9.91749907e-01 -2.24312149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.046875 meters 0.013314708260516978 Centerline is valid? [True, True] Translation: X:177.73, Y:-69.71, Z:-22.43 [[ 3.32485090e-01 9.41670132e-01 -5.20675272e-02 1.77732965e+02] [ 9.34442778e-01 -3.36394560e-01 -1.16856297e-01 -6.97061015e+01] [-1.27555317e-01 -9.80114846e-03 -9.91783030e-01 -2.24349093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.076875 meters 0.013569800077754626 Centerline is valid? [True, True] Translation: X:177.73, Y:-69.72, Z:-22.44 [[ 2.56792010e-01 9.65535050e-01 -4.24255817e-02 1.77734208e+02] [ 9.58130918e-01 -2.60084810e-01 -1.19754061e-01 -6.97200502e+01] [-1.26660993e-01 -9.89737557e-03 -9.91896686e-01 -2.24375683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.106875 meters 0.01367835399482529 Centerline is valid? [True, True] Translation: X:177.74, Y:-69.73, Z:-22.44 [[ 1.79166021e-01 9.83273800e-01 -3.27440173e-02 1.77736197e+02] [ 9.75685454e-01 -1.81857200e-01 -1.22335008e-01 -6.97329897e+01] [-1.26243543e-01 -1.00295848e-02 -9.91948575e-01 -2.24413975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.136875 meters 0.01367835399482529 Centerline is valid? [True, True] Translation: X:177.74, Y:-69.75, Z:-22.44 [[ 1.01666142e-01 9.94554407e-01 -2.29243592e-02 1.77737471e+02] [ 9.86821625e-01 -1.03738085e-01 -1.24183296e-01 -6.97462332e+01] [-1.25885174e-01 -9.99701672e-03 -9.91994447e-01 -2.24444449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.166875 meters 0.013836192357451389 Centerline is valid? [True, True] Translation: X:177.74, Y:-69.76, Z:-22.45 [[ 2.18515766e-02 9.99676461e-01 -1.30185426e-02 1.77742100e+02] [ 9.91856896e-01 -2.33111758e-02 -1.25205781e-01 -6.97591651e+01] [-1.25468750e-01 -1.01765876e-02 -9.92045377e-01 -2.24477732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.196875 meters 0.014394938956115499 Centerline is valid? [True, True] Translation: X:177.75, Y:-69.77, Z:-22.45 [[-6.10124266e-02 9.98132233e-01 -3.08705966e-03 1.77751870e+02] [ 9.90264097e-01 6.01432055e-02 -1.25538090e-01 -6.97716158e+01] [-1.25117949e-01 -1.07163879e-02 -9.92083997e-01 -2.24513997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22687499999998 meters 0.015202675996981042 Centerline is valid? [True, True] Translation: X:177.76, Y:-69.78, Z:-22.45 [[-1.41291833e-01 9.89944855e-01 6.76769679e-03 1.77761141e+02] [ 9.82118943e-01 1.41027465e-01 -1.24714216e-01 -6.97831347e+01] [-1.24414627e-01 -1.09744169e-02 -9.92169624e-01 -2.24537074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25687499999998 meters 0.015538236797604826 Centerline is valid? [True, True] Translation: X:177.77, Y:-69.79, Z:-22.46 [[-2.20461605e-01 9.75254545e-01 1.65907614e-02 1.77767729e+02] [ 9.67444666e-01 2.20800241e-01 -1.23685377e-01 -6.97942142e+01] [-1.24287971e-01 -1.12172332e-02 -9.92182783e-01 -2.24568076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28687499999998 meters 0.015836653415385867 Centerline is valid? [True, True] Translation: X:177.78, Y:-69.80, Z:-22.46 [[-2.97994870e-01 9.54205960e-01 2.62686691e-02 1.77776033e+02] [ 9.46469459e-01 2.98931872e-01 -1.21800240e-01 -6.98039277e+01] [-1.24075057e-01 -1.14333535e-02 -9.92206964e-01 -2.24596980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31687499999998 meters 0.017317038470498963 Centerline is valid? [True, True] Translation: X:177.79, Y:-69.81, Z:-22.46 [[-3.74876217e-01 9.26387588e-01 3.56911527e-02 1.77786830e+02] [ 9.18786822e-01 3.76385768e-01 -1.19014826e-01 -6.98124746e+01] [-1.23687500e-01 -1.18232670e-02 -9.92250781e-01 -2.24612096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34687499999998 meters 0.017702327371568256 Centerline is valid? [True, True] Translation: X:177.79, Y:-69.82, Z:-22.46 [[-4.47176444e-01 8.93322822e-01 4.48058315e-02 1.77793273e+02] [ 8.85914049e-01 4.49257347e-01 -1.15430217e-01 -6.98216257e+01] [-1.23245797e-01 -1.19235587e-02 -9.92304541e-01 -2.24643466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37687499999998 meters 0.01686719811817757 Centerline is valid? [True, True] Translation: X:177.80, Y:-69.83, Z:-22.47 [[-5.16212774e-01 8.54774941e-01 5.37044825e-02 1.77801588e+02] [ 8.47572697e-01 5.18860696e-01 -1.11373707e-01 -6.98290104e+01] [-1.23064599e-01 -1.19740774e-02 -9.92326421e-01 -2.24682245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40687499999999 meters 0.018055364063786692 Centerline is valid? [True, True] Translation: X:177.81, Y:-69.83, Z:-22.47 [[-5.81705813e-01 8.11009058e-01 6.23109614e-02 1.77814197e+02] [ 8.04044840e-01 5.84910832e-01 -1.06729625e-01 -6.98346100e+01] [-1.23005049e-01 -1.19844365e-02 -9.92333679e-01 -2.24703852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.436875 meters 0.01711942634403443 Centerline is valid? [True, True] Translation: X:177.82, Y:-69.84, Z:-22.47 [[-6.43380496e-01 7.62294103e-01 7.04928281e-02 1.77823289e+02] [ 7.55615920e-01 6.47120146e-01 -1.01390820e-01 -6.98407004e+01] [-1.22906953e-01 -1.19673727e-02 -9.92346040e-01 -2.24744082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.466875 meters 0.017836724219235635 Centerline is valid? [True, True] Translation: X:177.84, Y:-69.84, Z:-22.48 [[-7.00901594e-01 7.08967530e-01 7.81152786e-02 1.77835512e+02] [ 7.02632480e-01 7.05140398e-01 -9.53132587e-02 -6.98446727e+01] [-1.22656244e-01 -1.19188830e-02 -9.92377643e-01 -2.24759276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.496875 meters 0.01774176576490119 Centerline is valid? [True, True] Translation: X:177.84, Y:-69.85, Z:-22.48 [[-7.53987661e-01 6.51363354e-01 8.50199233e-02 1.77844444e+02] [ 6.45433040e-01 7.58673469e-01 -8.84915727e-02 -6.98504928e+01] [-1.22142528e-01 -1.18468863e-02 -9.92441864e-01 -2.24785646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.526875 meters 0.01763270936906643 Centerline is valid? [True, True] Translation: X:177.87, Y:-69.84, Z:-22.48 [[-7.97789433e-01 5.95907286e-01 9.17961193e-02 1.77874170e+02] [ 5.90390451e-01 8.02978840e-01 -8.16339310e-02 -6.98430873e+01] [-1.22356596e-01 -1.09311352e-02 -9.92426004e-01 -2.24804753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.556875 meters 0.017589001903334282 Centerline is valid? [True, True] Translation: X:177.90, Y:-69.83, Z:-22.48 [[-8.37567473e-01 5.37650380e-01 9.70195726e-02 1.77896376e+02] [ 5.32556288e-01 8.43098237e-01 -7.46268243e-02 -6.98277081e+01] [-1.21920171e-01 -1.08366171e-02 -9.92480750e-01 -2.24830325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.586875 meters 0.01687925128634907 Centerline is valid? [True, True] Translation: X:178.45, Y:-69.12, Z:-23.03 [[-7.73065858e-01 -6.28848729e-01 -8.31772590e-02 1.78448005e+02] [ 6.26222887e-01 -7.77492968e-01 5.78755683e-02 -6.91199170e+01] [-1.01064711e-01 -7.34587737e-03 9.94852734e-01 -2.30314128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.616875 meters 0.016916510785101563 Centerline is valid? [True, True] Translation: X:178.44, Y:-69.15, Z:-23.03 [[-7.29502872e-01 -6.79237569e-01 -8.03858518e-02 1.78439777e+02] [ 6.76490522e-01 -7.33859007e-01 6.17376007e-02 -6.91532488e+01] [-1.00926379e-01 -9.34250985e-03 9.94850031e-01 -2.30322455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.646875 meters 0.016635284100983003 Centerline is valid? [True, True] Translation: X:177.81, Y:-69.80, Z:-22.49 [[-7.99675583e-01 5.93397378e-01 9.16434065e-02 1.77809799e+02] [ 5.88021891e-01 8.04842763e-01 -8.03640661e-02 -6.98016061e+01] [-1.21446359e-01 -1.03768522e-02 -9.92543754e-01 -2.24901611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.676875 meters 0.016363244155006333 Centerline is valid? [True, True] Translation: X:177.83, Y:-69.79, Z:-22.49 [[-8.39038739e-01 5.35324614e-01 9.71676477e-02 1.77829806e+02] [ 5.30334616e-01 8.44584152e-01 -7.36397014e-02 -6.97859084e+01] [-1.21487400e-01 -1.02551950e-02 -9.92539995e-01 -2.24935078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.706875 meters 0.01568204232881615 Centerline is valid? [True, True] Translation: X:177.85, Y:-69.77, Z:-22.50 [[-8.73758863e-01 4.75528340e-01 1.02069818e-01 1.77854654e+02] [ 4.70966823e-01 8.79643537e-01 -6.64642640e-02 -6.97731555e+01] [-1.21390697e-01 -1.00022415e-02 -9.92554408e-01 -2.24953177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.736875 meters 0.015616054296849691 Centerline is valid? [True, True] Translation: X:177.88, Y:-69.76, Z:-22.50 [[-9.04755589e-01 4.12447146e-01 1.06323449e-01 1.77875431e+02] [ 4.08338864e-01 9.10927988e-01 -5.89030816e-02 -6.97556995e+01] [-1.21147413e-01 -9.87689587e-03 -9.92585387e-01 -2.24978364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.766875 meters 0.015548200439411032 Centerline is valid? [True, True] Translation: X:177.89, Y:-69.73, Z:-22.50 [[-9.31263928e-01 3.47278820e-01 1.10203980e-01 1.77885317e+02] [ 3.43631086e-01 9.37711165e-01 -5.11414575e-02 -6.97323235e+01] [-1.21099847e-01 -9.75668138e-03 -9.92592381e-01 -2.25014949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.796875 meters 0.015164849327664978 Centerline is valid? [True, True] Translation: X:178.28, Y:-68.92, Z:-23.05 [[-8.94819090e-01 -4.36931654e-01 -9.15943585e-02 1.78283135e+02] [ 4.35457598e-01 -8.99466186e-01 3.65685873e-02 -6.89192123e+01] [-9.83640016e-02 -7.16318930e-03 9.95124722e-01 -2.30471265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.826875 meters 0.015171352830649134 Centerline is valid? [True, True] Translation: X:177.85, Y:-69.72, Z:-22.51 [[-9.32252738e-01 3.44768006e-01 1.09726268e-01 1.77850991e+02] [ 3.41190004e-01 9.38638750e-01 -5.04646290e-02 -6.97200823e+01] [-1.20391916e-01 -9.60828284e-03 -9.92679942e-01 -2.25070678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.856875 meters 0.014648064823749566 Centerline is valid? [True, True] Translation: X:177.86, Y:-69.70, Z:-22.51 [[-9.54385024e-01 2.76702640e-01 1.12182330e-01 1.77863772e+02] [ 2.73633663e-01 9.60907874e-01 -4.21980467e-02 -6.96988798e+01] [-1.19473195e-01 -9.57632207e-03 -9.92791242e-01 -2.25122557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.886875 meters 0.015142903522047571 Centerline is valid? [True, True] Translation: X:177.88, Y:-69.67, Z:-22.52 [[-9.71533524e-01 2.07512767e-01 1.14285008e-01 1.77876659e+02] [ 2.04941277e-01 9.78185683e-01 -3.39388065e-02 -6.96747271e+01] [-1.18834694e-01 -9.55097290e-03 -9.92868115e-01 -2.25153577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.916875 meters 0.01494574038030554 Centerline is valid? [True, True] Translation: X:178.15, Y:-68.82, Z:-23.05 [[-9.47998010e-01 -3.02718634e-01 -9.82914165e-02 1.78154451e+02] [ 3.01972811e-01 -9.53045330e-01 2.27380624e-02 -6.88163403e+01] [-1.00559411e-01 -8.12569742e-03 9.94897873e-01 -2.30526840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.946875 meters 0.01563089327797915 Centerline is valid? [True, True] Translation: X:177.83, Y:-69.66, Z:-22.52 [[-9.73120856e-01 2.01262845e-01 1.11933310e-01 1.77829804e+02] [ 1.98784698e-01 9.79487696e-01 -3.29923719e-02 -6.96607047e+01] [-1.16277439e-01 -9.85493597e-03 -9.93167880e-01 -2.25218813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97687499999998 meters 0.015300909151041509 Centerline is valid? [True, True] Translation: X:177.85, Y:-69.64, Z:-22.52 [[-9.85005727e-01 1.29923111e-01 1.13506402e-01 1.77847903e+02] [ 1.27922464e-01 9.91474896e-01 -2.47663830e-02 -6.96383048e+01] [-1.15756474e-01 -9.87501036e-03 -9.93228535e-01 -2.25243477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00687499999998 meters 0.015566140627720939 Centerline is valid? [True, True] Translation: X:178.05, Y:-68.77, Z:-23.06 [[-9.67362060e-01 -2.33029211e-01 -9.95391003e-02 1.78046391e+02] [ 2.32679966e-01 -9.72433524e-01 1.52668274e-02 -6.87670780e+01] [-1.00352775e-01 -8.39220479e-03 9.94916525e-01 -2.30624664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03687499999998 meters 0.0154662933478073 Centerline is valid? [True, True] Translation: X:177.78, Y:-69.63, Z:-22.53 [[-9.85844272e-01 1.23734088e-01 1.13141272e-01 1.77779364e+02] [ 1.21756980e-01 9.92263716e-01 -2.42477835e-02 -6.96274252e+01] [-1.15266256e-01 -1.01287989e-02 -9.93282990e-01 -2.25323591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.06687499999998 meters 0.016190093532081364 Centerline is valid? [True, True] Translation: X:177.79, Y:-69.60, Z:-22.54 [[-9.92058535e-01 5.25912676e-02 1.14254197e-01 1.77786523e+02] [ 5.11035175e-02 9.98566566e-01 -1.59136450e-02 -6.96008836e+01] [-1.14927340e-01 -9.94847602e-03 -9.93324083e-01 -2.25352596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09687499999998 meters 0.015844819943310266 Centerline is valid? [True, True] Translation: X:177.92, Y:-68.72, Z:-23.07 [[-9.82408081e-01 -1.57739922e-01 -9.99623862e-02 1.77917449e+02] [ 1.57783865e-01 -9.87445064e-01 7.51645749e-03 -6.87213549e+01] [-9.98930103e-02 -8.38822305e-03 9.94962826e-01 -2.30735675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12687499999998 meters 0.01634588057126604 Centerline is valid? [True, True] Translation: X:177.69, Y:-69.59, Z:-22.55 [[-9.92438064e-01 4.65218204e-02 1.13588772e-01 1.77692762e+02] [ 4.50611759e-02 9.98865609e-01 -1.53943064e-02 -6.95914579e+01] [-1.14176089e-01 -1.01594521e-02 -9.93408580e-01 -2.25452863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15687499999999 meters 0.015485110368831587 Centerline is valid? [True, True] Translation: X:177.82, Y:-68.71, Z:-23.09 [[-9.83356232e-01 -1.52163983e-01 -9.92806270e-02 1.77816680e+02] [ 1.52219461e-01 -9.88321498e-01 7.06059000e-03 -6.87146403e+01] [-9.91955455e-02 -8.16936839e-03 9.95034424e-01 -2.30852082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.186875 meters 0.016332335438567453 Centerline is valid? [True, True] Translation: X:177.59, Y:-69.58, Z:-22.56 [[-9.92660585e-01 3.89368801e-02 1.14494024e-01 1.77594766e+02] [ 3.74968991e-02 9.99188549e-01 -1.47046188e-02 -6.95827681e+01] [-1.14973669e-01 -1.03035247e-02 -9.93315102e-01 -2.25552258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.216875 meters 0.017205650610846453 Centerline is valid? [True, True] Translation: X:177.72, Y:-68.71, Z:-23.10 [[-9.84156781e-01 -1.48490760e-01 -9.68809775e-02 1.77717823e+02] [ 1.48606288e-01 -9.88877858e-01 6.06247542e-03 -6.87124762e+01] [-9.67036751e-02 -8.43069621e-03 9.95277510e-01 -2.30985267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.246875 meters 0.016333958107184743 Centerline is valid? [True, True] Translation: X:177.50, Y:-69.58, Z:-22.56 [[-9.92777384e-01 3.00544553e-02 1.16145580e-01 1.77501112e+02] [ 2.86122468e-02 9.99491629e-01 -1.40649772e-02 -6.95750922e+01] [-1.16509250e-01 -1.06402052e-02 -9.93132610e-01 -2.25645660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.276875 meters 0.017711033773868606 Centerline is valid? [True, True] Translation: X:177.61, Y:-68.71, Z:-23.11 [[-9.84783430e-01 -1.45364023e-01 -9.52412608e-02 1.77613535e+02] [ 1.45529765e-01 -9.89339993e-01 5.24079728e-03 -6.87075197e+01] [-9.49878117e-02 -8.69938803e-03 9.95440423e-01 -2.31105579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.306875 meters 0.018485147647469505 Centerline is valid? [True, True] Translation: X:177.40, Y:-69.56, Z:-22.57 [[-9.93002668e-01 1.93118120e-02 1.16502167e-01 1.77402359e+02] [ 1.78794913e-02 9.99751326e-01 -1.33270232e-02 -6.95620250e+01] [-1.16730565e-01 -1.11507701e-02 -9.93101020e-01 -2.25738172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.336875 meters 0.018822676351357558 Centerline is valid? [True, True] Translation: X:177.40, Y:-69.54, Z:-22.58 [[-9.91788732e-01 -5.33528839e-02 1.16226421e-01 1.77404148e+02] [-5.42684237e-02 9.98515205e-01 -4.72478902e-03 -6.95353689e+01] [-1.15801768e-01 -1.09934172e-02 -9.93211506e-01 -2.25769941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.366875 meters 0.019307221346159874 Centerline is valid? [True, True] Translation: X:177.41, Y:-69.51, Z:-22.58 [[-9.85237729e-01 -1.26173169e-01 1.15701980e-01 1.77409745e+02] [-1.26613518e-01 9.91945717e-01 3.56536785e-03 -6.95087196e+01] [-1.15219938e-01 -1.11366998e-02 -9.93277574e-01 -2.25801786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.396875 meters 0.020516859224689595 Centerline is valid? [True, True] Translation: X:177.38, Y:-68.65, Z:-23.13 [[-9.95452656e-01 -4.15730143e-03 -9.51668360e-02 1.77384174e+02] [ 5.08479942e-03 -9.99941893e-01 -9.50559319e-03 -6.86535902e+01] [-9.51217885e-02 -9.94627225e-03 9.95415952e-01 -2.31274635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.426875 meters 0.01976344579690411 Centerline is valid? [True, True] Translation: X:177.29, Y:-69.52, Z:-22.60 [[-9.84121148e-01 -1.35811240e-01 1.14284175e-01 1.77286953e+02] [-1.36257120e-01 9.90665681e-01 3.93773790e-03 -6.95181026e+01] [-1.13752199e-01 -1.16968214e-02 -9.93440296e-01 -2.25955645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.456875 meters 0.021578063345400373 Centerline is valid? [True, True] Translation: X:177.27, Y:-69.49, Z:-22.60 [[-9.71633183e-01 -2.07711497e-01 1.13070293e-01 1.77270402e+02] [-2.07657230e-01 9.78123202e-01 1.23885750e-02 -6.94921568e+01] [-1.13169927e-01 -1.14427133e-02 -9.93509754e-01 -2.26005173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.486875 meters 0.02070068941442094 Centerline is valid? [True, True] Translation: X:177.24, Y:-69.48, Z:-22.61 [[-9.53790612e-01 -2.79092238e-01 1.11314832e-01 1.77235230e+02] [-2.78584289e-01 9.60194903e-01 2.04093684e-02 -6.94752556e+01] [-1.12580030e-01 -1.15442992e-02 -9.93575596e-01 -2.26078749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.516875 meters 0.019571182312431847 Centerline is valid? [True, True] Translation: X:177.18, Y:-69.47, Z:-22.62 [[-9.30559103e-01 -3.49611529e-01 1.08772858e-01 1.77183428e+02] [-3.48659398e-01 9.36822811e-01 2.82779977e-02 -6.94663052e+01] [-1.11787209e-01 -1.16103311e-02 -9.93664340e-01 -2.26165976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.546875 meters 0.02091427518953357 Centerline is valid? [True, True] Translation: X:177.12, Y:-69.46, Z:-22.63 [[-9.01904403e-01 -4.18602922e-01 1.06489633e-01 1.77116569e+02] [-4.17186302e-01 9.08094521e-01 3.63308349e-02 -6.94631861e+01] [-1.11910846e-01 -1.16590763e-02 -9.93649852e-01 -2.26256367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.576875 meters 0.021380780501700385 Centerline is valid? [True, True] Translation: X:177.03, Y:-69.47, Z:-22.64 [[-8.68095472e-01 -4.85446811e-01 1.03690140e-01 1.77032446e+02] [-4.83560220e-01 8.74188356e-01 4.43196584e-02 -6.94745728e+01] [-1.12159550e-01 -1.16667320e-02 -9.93621720e-01 -2.26370503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.606875 meters 0.02085707380767797 Centerline is valid? [True, True] Translation: X:176.96, Y:-69.49, Z:-22.65 [[-8.28723747e-01 -5.50618143e-01 1.00182891e-01 1.76959003e+02] [-5.48277118e-01 8.34674169e-01 5.20695033e-02 -6.94888812e+01] [-1.12290484e-01 -1.17767526e-02 -9.93605634e-01 -2.26474203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.636875 meters 0.02171699205704178 Centerline is valid? [True, True] Translation: X:176.88, Y:-69.51, Z:-22.66 [[-7.84300219e-01 -6.12984686e-01 9.55140905e-02 1.76876578e+02] [-6.10228966e-01 7.90006423e-01 5.92491362e-02 -6.95124536e+01] [-1.11775558e-01 -1.18163541e-02 -9.93663222e-01 -2.26591166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.666875 meters 0.022240903653249388 Centerline is valid? [True, True] Translation: X:176.79, Y:-69.55, Z:-22.67 [[-7.35046965e-01 -6.71942632e-01 9.05486544e-02 1.76785146e+02] [-6.68775069e-01 7.40508108e-01 6.62393340e-02 -6.95519293e+01] [-1.11561045e-01 -1.18676612e-02 -9.93686717e-01 -2.26723474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.696875 meters 0.022406698589527277 Centerline is valid? [True, True] Translation: X:176.70, Y:-69.60, Z:-22.69 [[-6.81346755e-01 -7.26963208e-01 8.53878988e-02 1.76699053e+02] [-7.23370746e-01 6.86572946e-01 7.31597840e-02 -6.95992059e+01] [-1.11809493e-01 -1.19199266e-02 -9.93658167e-01 -2.26861364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72687499999998 meters 0.021546106577821963 Centerline is valid? [True, True] Translation: X:176.61, Y:-69.66, Z:-22.70 [[-6.23912808e-01 -7.77459247e-01 7.93090541e-02 1.76612278e+02] [-7.73496133e-01 6.28821247e-01 7.92942091e-02 -6.96587992e+01] [-1.11519234e-01 -1.18725739e-02 -9.93691352e-01 -2.27008212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75687499999998 meters 0.02180913906656162 Centerline is valid? [True, True] Translation: X:176.53, Y:-69.73, Z:-22.72 [[-5.62684109e-01 -8.23468941e-01 7.27014156e-02 1.76525558e+02] [-8.19170841e-01 5.67238411e-01 8.48511488e-02 -6.97280589e+01] [-1.11111321e-01 -1.18104867e-02 -9.93737786e-01 -2.27157390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78687499999998 meters 0.020512312750499626 Centerline is valid? [True, True] Translation: X:176.45, Y:-69.80, Z:-22.73 [[-4.98256505e-01 -8.64583561e-01 6.50824177e-02 1.76453460e+02] [-8.60077268e-01 5.02353593e-01 8.89267146e-02 -6.97987316e+01] [-1.09578962e-01 -1.16675940e-02 -9.93909613e-01 -2.27314280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81687499999998 meters 0.019908605173214588 Centerline is valid? [True, True] Translation: X:176.38, Y:-69.89, Z:-22.75 [[-4.30375742e-01 -9.00806288e-01 5.76606716e-02 1.76376474e+02] [-8.96052662e-01 4.34066732e-01 9.31434333e-02 -6.98875869e+01] [-1.08932770e-01 -1.15803241e-02 -9.93981664e-01 -2.27478812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84687499999998 meters 0.019907765550625078 Centerline is valid? [True, True] Translation: X:176.31, Y:-69.97, Z:-22.76 [[-3.60067507e-01 -9.31586727e-01 4.99756089e-02 1.76309555e+02] [-9.26619424e-01 3.63338164e-01 9.67565052e-02 -6.99730534e+01] [-1.08295122e-01 -1.14694964e-02 -9.94052623e-01 -2.27623865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87687499999998 meters 0.02039596013478383 Centerline is valid? [True, True] Translation: X:176.24, Y:-70.09, Z:-22.78 [[-2.87076143e-01 -9.56979395e-01 4.21630893e-02 1.76238446e+02] [-9.51810020e-01 2.89930797e-01 9.99890954e-02 -7.00890162e+01] [-1.07911882e-01 -1.14267671e-02 -9.94094792e-01 -2.27788300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90687499999999 meters 0.020226433965370414 Centerline is valid? [True, True] Translation: X:176.19, Y:-70.18, Z:-22.79 [[-2.12945118e-01 -9.76460512e-01 3.43401382e-02 1.76187646e+02] [-9.71033653e-01 2.15398922e-01 1.03426058e-01 -7.01811474e+01] [-1.08388290e-01 -1.13213557e-02 -9.94044167e-01 -2.27911645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.936875 meters 0.020119363371714636 Centerline is valid? [True, True] Translation: X:176.14, Y:-70.30, Z:-22.81 [[-1.36802923e-01 -9.90255866e-01 2.60437910e-02 1.76138827e+02] [-9.84706914e-01 1.38805396e-01 1.05287017e-01 -7.02950986e+01] [-1.07876105e-01 -1.12419294e-02 -9.94100782e-01 -2.28063490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.966875 meters 0.02039723882099985 Centerline is valid? [True, True] Translation: X:176.10, Y:-70.40, Z:-22.82 [[-5.99018936e-02 -9.98047637e-01 1.76826611e-02 1.76100945e+02] [-9.92391826e-01 6.14526310e-02 1.06686634e-01 -7.03950178e+01] [-1.07564989e-01 -1.11573970e-02 -9.94135446e-01 -2.28200000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.996875 meters 0.020585829258363577 Centerline is valid? [True, True] Translation: X:176.07, Y:-70.51, Z:-22.84 [[ 1.78234844e-02 -9.99798303e-01 9.25621496e-03 1.76070228e+02] [-9.94074254e-01 -1.67270446e-02 1.07408493e-01 -7.05135208e+01] [-1.07232000e-01 -1.11157586e-02 -9.94171886e-01 -2.28357413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.026875 meters 0.020585829258363577 Centerline is valid? [True, True] Translation: X:176.05, Y:-70.63, Z:-22.85 [[ 9.55597937e-02 -9.95423352e-01 8.22797528e-04 1.76048114e+02] [-9.89663483e-01 -9.49179919e-02 1.07502397e-01 -7.06341463e+01] [-1.06932298e-01 -1.10871995e-02 -9.94204485e-01 -2.28513621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.056875 meters 0.018589482777416656 Centerline is valid? [True, True] Translation: X:176.04, Y:-70.77, Z:-22.87 [[ 1.71784136e-01 -9.85105199e-01 -7.61300547e-03 1.76041892e+02] [-9.79314308e-01 -1.71602913e-01 1.07219062e-01 -7.07672636e+01] [-1.06928469e-01 -1.09630087e-02 -9.94206274e-01 -2.28691143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.086875 meters 0.02011925414373295 Centerline is valid? [True, True] Translation: X:176.03, Y:-70.88, Z:-22.88 [[ 2.47229958e-01 -9.68826451e-01 -1.58951249e-02 1.76034752e+02] [-9.63090704e-01 -2.47502498e-01 1.05824426e-01 -7.08782757e+01] [-1.06459586e-01 -1.08545212e-02 -9.94257781e-01 -2.28823173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.116875 meters 0.01856970170229206 Centerline is valid? [True, True] Translation: X:176.05, Y:-71.00, Z:-22.90 [[ 3.21440229e-01 -9.46620445e-01 -2.42056375e-02 1.76045463e+02] [-9.40904649e-01 -3.22169620e-01 1.04427861e-01 -7.10016942e+01] [-1.06651869e-01 -1.07921188e-02 -9.94237853e-01 -2.28985045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.146875 meters 0.018969432634324063 Centerline is valid? [True, True] Translation: X:176.06, Y:-71.13, Z:-22.91 [[ 3.93207435e-01 -9.18879393e-01 -3.23816869e-02 1.76063922e+02] [-9.13224341e-01 -3.94394205e-01 1.02345071e-01 -7.11288326e+01] [-1.06813927e-01 -1.06710984e-02 -9.94221762e-01 -2.29137395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.176875 meters 0.017597867012670645 Centerline is valid? [True, True] Translation: X:176.09, Y:-71.24, Z:-22.93 [[ 4.61872483e-01 -8.86015977e-01 -4.06140009e-02 1.76091192e+02] [-8.80403650e-01 -4.63536136e-01 1.00118250e-01 -7.12399751e+01] [-1.07532426e-01 -1.04851501e-02 -9.94146287e-01 -2.29286949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.206875 meters 0.017311886892814734 Centerline is valid? [True, True] Translation: X:176.12, Y:-71.35, Z:-22.94 [[ 5.28557363e-01 -8.47505743e-01 -4.85914577e-02 1.76122080e+02] [-8.41991295e-01 -5.30684337e-01 9.70813774e-02 -7.13461320e+01] [-1.08063750e-01 -1.03994924e-02 -9.94089572e-01 -2.29424787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.236875 meters 0.01820120667933909 Centerline is valid? [True, True] Translation: X:176.17, Y:-71.46, Z:-22.96 [[ 5.92144464e-01 -8.03865122e-01 -5.62654347e-02 1.76165499e+02] [-7.98499234e-01 -5.94722121e-01 9.32982973e-02 -7.14608416e+01] [-1.08461546e-01 -1.03181637e-02 -9.94047096e-01 -2.29564341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.266875 meters 0.017608867440531605 Centerline is valid? [True, True] Translation: X:176.21, Y:-71.56, Z:-22.97 [[ 6.52034791e-01 -7.55529292e-01 -6.34517123e-02 1.76211756e+02] [-7.50375211e-01 -6.55035200e-01 8.86900776e-02 -7.15598490e+01] [-1.08571057e-01 -1.02164242e-02 -9.94036192e-01 -2.29701745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.296875 meters 0.01793323120227254 Centerline is valid? [True, True] Translation: X:176.27, Y:-71.66, Z:-22.98 [[ 7.07949741e-01 -7.02836643e-01 -6.94824981e-02 1.76266137e+02] [-6.98021114e-01 -7.11279831e-01 8.27497793e-02 -7.16579704e+01] [-1.07581077e-01 -1.00824341e-02 -9.94145189e-01 -2.29839421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.326875 meters 0.01659414129574124 Centerline is valid? [True, True] Translation: X:176.33, Y:-71.75, Z:-23.00 [[ 7.59635880e-01 -6.46092774e-01 -7.42795882e-02 1.76331213e+02] [-6.41705628e-01 -7.63194311e-01 7.58177450e-02 -7.17475813e+01] [-1.05675056e-01 -9.92824966e-03 -9.94351151e-01 -2.30009838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.356875 meters 0.017303957942659248 Centerline is valid? [True, True] Translation: X:176.34, Y:-71.76, Z:-23.01 [[ 8.07139291e-01 -5.85052107e-01 -7.89949211e-02 1.76342178e+02] [-5.81042748e-01 -8.10935757e-01 6.90834467e-02 -7.17638625e+01] [-1.04477222e-01 -9.86053815e-03 -9.94478396e-01 -2.30064166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.386875 meters 0.017519894029520953 Centerline is valid? [True, True] Translation: X:176.34, Y:-71.77, Z:-23.01 [[ 8.50151173e-01 -5.19880987e-01 -8.34670162e-02 1.76342678e+02] [-5.16229878e-01 -8.54181680e-01 6.22926181e-02 -7.17650138e+01] [-1.03680744e-01 -9.86997472e-03 -9.94561656e-01 -2.30103485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.416875 meters 0.016776289880056017 Centerline is valid? [True, True] Translation: X:176.34, Y:-71.76, Z:-23.01 [[ 8.87740691e-01 -4.51862209e-01 -8.79602754e-02 1.76340564e+02] [-4.48550564e-01 -8.92033965e-01 5.54778893e-02 -7.17631975e+01] [-1.03531915e-01 -9.79534867e-03 -9.94577897e-01 -2.30139098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.446875 meters 0.017286919702903882 Centerline is valid? [True, True] Translation: X:176.33, Y:-71.76, Z:-23.02 [[ 9.20166942e-01 -3.80448061e-01 -9.24774169e-02 1.76333097e+02] [-3.77460791e-01 -9.24750414e-01 4.85800719e-02 -7.17624095e+01] [-1.04000724e-01 -9.79517725e-03 -9.94528986e-01 -2.30162442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47687499999998 meters 0.017578649460788433 Centerline is valid? [True, True] Translation: X:176.33, Y:-71.76, Z:-23.02 [[ 9.47082338e-01 -3.06419589e-01 -9.56142281e-02 1.76327009e+02] [-3.03820734e-01 -9.51846206e-01 4.10092978e-02 -7.17597457e+01] [-1.03576092e-01 -9.78959664e-03 -9.94573354e-01 -2.30184941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50687499999998 meters 0.017621529734801543 Centerline is valid? [True, True] Translation: X:176.32, Y:-71.76, Z:-23.02 [[ 9.68170522e-01 -2.30108494e-01 -9.84678697e-02 1.76321096e+02] [-2.27893233e-01 -9.73115279e-01 3.33365766e-02 -7.17565413e+01] [-1.03491618e-01 -9.83532955e-03 -9.94581697e-01 -2.30200912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53687499999998 meters 0.01753977844094748 Centerline is valid? [True, True] Translation: X:176.31, Y:-71.76, Z:-23.02 [[ 9.83098098e-01 -1.52561279e-01 -1.01208625e-01 1.76314304e+02] [-1.50729099e-01 -9.88244746e-01 2.55550501e-02 -7.17561704e+01] [-1.03917603e-01 -9.86803617e-03 -9.94536954e-01 -2.30227411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.56687499999998 meters 0.017684625303256103 Centerline is valid? [True, True] Translation: X:176.30, Y:-71.75, Z:-23.02 [[ 9.91877293e-01 -7.43887538e-02 -1.03178243e-01 1.76302446e+02] [-7.29631035e-02 -9.97180591e-01 1.75286564e-02 -7.17537843e+01] [-1.04191276e-01 -9.85807147e-03 -9.94508419e-01 -2.30245233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59687499999998 meters 0.01908582489017206 Centerline is valid? [True, True] Translation: X:176.29, Y:-71.75, Z:-23.03 [[ 9.94556906e-01 4.70636124e-03 -1.04088474e-01 1.76290902e+02] [ 5.70930164e-03 -9.99940086e-01 9.33961344e-03 -7.17549767e+01] [-1.04038282e-01 -9.88304954e-03 -9.94524188e-01 -2.30254951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62687499999998 meters 0.01799044590412253 Centerline is valid? [True, True] Translation: X:176.28, Y:-71.75, Z:-23.03 [[ 9.91029780e-01 8.33994337e-02 -1.04424658e-01 1.76280381e+02] [ 8.39737419e-02 -9.96467352e-01 1.10765050e-03 -7.17510671e+01] [-1.03963385e-01 -9.86664391e-03 -9.94532183e-01 -2.30279501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65687499999999 meters 0.01825972228656596 Centerline is valid? [True, True] Translation: X:176.27, Y:-71.75, Z:-23.03 [[ 9.81434707e-01 1.61282142e-01 -1.03797817e-01 1.76268200e+02] [ 1.61425105e-01 -9.86859587e-01 -7.07748604e-03 -7.17501825e+01] [-1.03575343e-01 -9.80948310e-03 -9.94573236e-01 -2.30301966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.686875 meters 0.01709244315194253 Centerline is valid? [True, True] Translation: X:176.26, Y:-71.75, Z:-23.03 [[ 9.65914048e-01 2.37755554e-01 -1.02383336e-01 1.76256880e+02] [ 2.37472780e-01 -9.71276505e-01 -1.51205211e-02 -7.17504282e+01] [-1.03037516e-01 -9.70813162e-03 -9.94630093e-01 -2.30340666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.716875 meters 0.017587912803836477 Centerline is valid? [True, True] Translation: X:176.25, Y:-71.75, Z:-23.04 [[ 9.44504666e-01 3.12760535e-01 -1.00457873e-01 1.76245172e+02] [ 3.12060167e-01 -9.49783426e-01 -2.30194792e-02 -7.17549509e+01] [-1.02612808e-01 -9.60689526e-03 -9.94674982e-01 -2.30362776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.746875 meters 0.017215136398639336 Centerline is valid? [True, True] Translation: X:176.23, Y:-71.75, Z:-23.04 [[ 9.17867066e-01 3.85067972e-01 -9.61389931e-02 1.76231244e+02] [ 3.84011653e-01 -9.22840572e-01 -3.00054930e-02 -7.17546750e+01] [-1.00275118e-01 -9.37743982e-03 -9.94915556e-01 -2.30402518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.776875 meters 0.01696038689183765 Centerline is valid? [True, True] Translation: X:176.22, Y:-71.76, Z:-23.04 [[ 8.85351885e-01 4.55736112e-01 -9.19599696e-02 1.76219087e+02] [ 4.54345628e-01 -8.90066960e-01 -3.67540092e-02 -7.17575337e+01] [-9.86006598e-02 -9.24137878e-03 -9.95084171e-01 -2.30437025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.806875 meters 0.01708665404197797 Centerline is valid? [True, True] Translation: X:176.21, Y:-71.76, Z:-23.05 [[ 8.47191973e-01 5.23982295e-01 -8.77970164e-02 1.76206259e+02] [ 5.22269402e-01 -8.51679905e-01 -4.33129399e-02 -7.17616390e+01] [-9.74701683e-02 -9.15932023e-03 -9.95196299e-01 -2.30466731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.836875 meters 0.017699619029282042 Centerline is valid? [True, True] Translation: X:176.19, Y:-71.77, Z:-23.05 [[ 8.03864078e-01 5.88899120e-01 -8.36682183e-02 1.76193806e+02] [ 5.86860353e-01 -8.08155609e-01 -4.97939418e-02 -7.17667742e+01] [-9.69405484e-02 -9.07399906e-03 -9.95248809e-01 -2.30491096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.866875 meters 0.017031352560844478 Centerline is valid? [True, True] Translation: X:176.76, Y:-72.62, Z:-23.60 [[ 8.27538451e-01 -5.57187270e-01 6.87201452e-02 1.76761262e+02] [ 5.55111200e-01 8.30385240e-01 4.80823073e-02 -7.26168873e+01] [-8.38550438e-02 -1.64263588e-03 9.96476610e-01 -2.36010871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.896875 meters 0.016610100345579006 Centerline is valid? [True, True] Translation: X:176.79, Y:-72.60, Z:-23.60 [[ 8.27370049e-01 -5.57457865e-01 6.85531163e-02 1.76785182e+02] [ 5.55390500e-01 8.30203624e-01 4.79930680e-02 -7.26016245e+01] [-8.36671588e-02 -1.63427749e-03 9.96492416e-01 -2.36041428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.926875 meters 0.016450311271887168 Centerline is valid? [True, True] Translation: X:176.81, Y:-72.59, Z:-23.61 [[ 8.27323256e-01 -5.57561476e-01 6.82746619e-02 1.76808550e+02] [ 5.55508908e-01 8.30134031e-01 4.78261958e-02 -7.25861181e+01] [-8.33431646e-02 -1.64054121e-03 9.96519556e-01 -2.36066810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.956875 meters 0.017702253466479034 Centerline is valid? [True, True] Translation: X:176.83, Y:-72.57, Z:-23.61 [[ 8.27387039e-01 -5.57480010e-01 6.81668948e-02 1.76829402e+02] [ 5.55431145e-01 8.30188681e-01 4.77807302e-02 -7.25683375e+01] [-8.32281864e-02 -1.67114049e-03 9.96529115e-01 -2.36106954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.986875 meters 0.016898450052627186 Centerline is valid? [True, True] Translation: X:176.85, Y:-72.55, Z:-23.61 [[ 8.27251538e-01 -5.57683569e-01 6.81463865e-02 1.76853806e+02] [ 5.55635765e-01 8.30051978e-01 4.77766820e-02 -7.25536532e+01] [-8.32093134e-02 -1.65876412e-03 9.96530711e-01 -2.36132070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.016875 meters 0.01633495417977365 Centerline is valid? [True, True] Translation: X:176.88, Y:-72.54, Z:-23.62 [[ 8.26744198e-01 -5.58474239e-01 6.78273933e-02 1.76878709e+02] [ 5.56445936e-01 8.29520332e-01 4.75808746e-02 -7.25391633e+01] [-8.28368945e-02 -1.59493474e-03 9.96561842e-01 -2.36155754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.046875 meters 0.01634034405203496 Centerline is valid? [True, True] Translation: X:176.90, Y:-72.52, Z:-23.62 [[ 8.25990087e-01 -5.59611514e-01 6.76411908e-02 1.76901759e+02] [ 5.57595969e-01 8.28753707e-01 4.74765981e-02 -7.25235162e+01] [-8.26263386e-02 -1.49874401e-03 9.96579471e-01 -2.36191952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.076875 meters 0.015294090146041318 Centerline is valid? [True, True] Translation: X:176.93, Y:-72.51, Z:-23.62 [[ 8.23971163e-01 -5.62624154e-01 6.72724633e-02 1.76926648e+02] [ 5.60639977e-01 8.26711939e-01 4.72248422e-02 -7.25095538e+01] [-8.21847855e-02 -1.19627591e-03 9.96616391e-01 -2.36221931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.106875 meters 0.015235986936249408 Centerline is valid? [True, True] Translation: X:176.95, Y:-72.49, Z:-23.62 [[ 8.22512575e-01 -5.64776939e-01 6.70825909e-02 1.76950039e+02] [ 5.62809001e-01 8.25243001e-01 4.71170745e-02 -7.24947111e+01] [-8.19700757e-02 -9.99700270e-04 9.96634290e-01 -2.36248449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.136875 meters 0.014397066162942583 Centerline is valid? [True, True] Translation: X:176.98, Y:-72.48, Z:-23.63 [[ 8.20393313e-01 -5.67779953e-01 6.76811456e-02 1.76976510e+02] [ 5.65785866e-01 8.23180061e-01 4.75493590e-02 -7.24820935e+01] [-8.27113423e-02 -7.16140559e-04 9.96573289e-01 -2.36252016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.166875 meters 0.01423062537298571 Centerline is valid? [True, True] Translation: X:177.00, Y:-72.47, Z:-23.63 [[ 8.19599682e-01 -5.68955380e-01 6.74250485e-02 1.76999326e+02] [ 5.66978253e-01 8.22368163e-01 4.73947758e-02 -7.24673631e+01] [-8.24137259e-02 -6.16206944e-04 9.96598012e-01 -2.36275170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.196875 meters 0.014342921264408202 Centerline is valid? [True, True] Translation: X:177.02, Y:-72.45, Z:-23.63 [[ 8.18911093e-01 -5.69973257e-01 6.71945504e-02 1.77021592e+02] [ 5.68012145e-01 8.21663078e-01 4.72439358e-02 -7.24520821e+01] [-8.21390611e-02 -5.21262446e-04 9.96620742e-01 -2.36311661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22687499999998 meters 0.01407183851867989 Centerline is valid? [True, True] Translation: X:177.04, Y:-72.44, Z:-23.64 [[ 8.17237959e-01 -5.72529162e-01 6.58215628e-02 1.77044010e+02] [ 5.70654864e-01 8.19884313e-01 4.62897325e-02 -7.24367243e+01] [-8.04682885e-02 -2.68331586e-04 9.96757133e-01 -2.36363979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25687499999998 meters 0.01400823016804435 Centerline is valid? [True, True] Translation: X:177.07, Y:-72.42, Z:-23.64 [[ 8.15249958e-01 -5.75530301e-01 6.42835747e-02 1.77067862e+02] [ 5.73751288e-01 8.17780455e-01 4.52171123e-02 -7.24204619e+01] [-7.85936692e-02 1.95349068e-05 9.96906733e-01 -2.36418535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28687499999998 meters 0.014007533464747061 Centerline is valid? [True, True] Translation: X:177.09, Y:-72.41, Z:-23.64 [[ 8.12703999e-01 -5.78885188e-01 6.63637576e-02 1.77093478e+02] [ 5.76998162e-01 8.15408993e-01 4.67043328e-02 -7.24057813e+01] [-8.11500513e-02 3.34968080e-04 9.96701840e-01 -2.36405708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31687499999998 meters 0.014033307021452838 Centerline is valid? [True, True] Translation: X:177.12, Y:-72.39, Z:-23.64 [[ 8.12471320e-01 -5.79117214e-01 6.71833822e-02 1.77116723e+02] [ 5.77182048e-01 8.15244218e-01 4.73048447e-02 -7.23893991e+01] [-8.21659137e-02 3.43212493e-04 9.96618606e-01 -2.36399801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34687499999998 meters 0.014004701807387318 Centerline is valid? [True, True] Translation: X:177.14, Y:-72.37, Z:-23.64 [[ 8.12375763e-01 -5.79235782e-01 6.73166385e-02 1.77139223e+02] [ 5.77291067e-01 8.15159983e-01 4.74260045e-02 -7.23723214e+01] [-8.23446686e-02 3.33557523e-04 9.96603855e-01 -2.36420643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37687499999998 meters 0.013957387134532618 Centerline is valid? [True, True] Translation: X:177.16, Y:-72.35, Z:-23.64 [[ 8.12193272e-01 -5.79519638e-01 6.70751600e-02 1.77161158e+02] [ 5.77587613e-01 8.14958204e-01 4.72829267e-02 -7.23542934e+01] [-8.20648365e-02 3.38906576e-04 9.96626935e-01 -2.36449957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40687499999999 meters 0.013962133668614143 Centerline is valid? [True, True] Translation: X:177.18, Y:-72.34, Z:-23.65 [[ 8.12303139e-01 -5.79410774e-01 6.66840671e-02 1.77182211e+02] [ 5.77498674e-01 8.15035620e-01 4.70342380e-02 -7.23362920e+01] [-8.16020343e-02 3.03901194e-04 9.96664947e-01 -2.36485019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.436875 meters 0.013967322130644538 Centerline is valid? [True, True] Translation: X:177.20, Y:-72.32, Z:-23.65 [[ 8.14981121e-01 -5.75692571e-01 6.62105433e-02 1.77200536e+02] [ 5.73792921e-01 8.17666225e-01 4.67293212e-02 -7.23152590e+01] [-8.10398480e-02 -9.23735370e-05 9.96710858e-01 -2.36522238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.466875 meters 0.014108585139380719 Centerline is valid? [True, True] Translation: X:177.22, Y:-72.30, Z:-23.65 [[ 8.16814444e-01 -5.73061930e-01 6.64393560e-02 1.77222019e+02] [ 5.71139533e-01 8.19511984e-01 4.69014132e-02 -7.22956908e+01] [-8.13252628e-02 -3.63609007e-04 9.96687549e-01 -2.36545356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.496875 meters 0.014884194848827923 Centerline is valid? [True, True] Translation: X:177.24, Y:-72.27, Z:-23.66 [[ 8.20324431e-01 -5.67989971e-01 6.67474328e-02 1.77241641e+02] [ 5.66030888e-01 8.23034992e-01 4.71427165e-02 -7.22736310e+01] [-8.17120630e-02 -8.91213484e-04 9.96655580e-01 -2.36557436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.526875 meters 0.015336168271053807 Centerline is valid? [True, True] Translation: X:177.26, Y:-72.25, Z:-23.66 [[ 8.21345328e-01 -5.66602739e-01 6.59786935e-02 1.77262926e+02] [ 5.64682222e-01 8.23990450e-01 4.66232445e-02 -7.22545375e+01] [-8.07826713e-02 -1.03678876e-03 9.96731200e-01 -2.36587628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.556875 meters 0.01576519465010349 Centerline is valid? [True, True] Translation: X:177.28, Y:-72.24, Z:-23.66 [[ 8.22412979e-01 -5.65168445e-01 6.49732305e-02 1.77283804e+02] [ 5.63299708e-01 8.24974689e-01 4.59369368e-02 -7.22354872e+01] [-7.95633777e-02 -1.17973135e-03 9.96829111e-01 -2.36631548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.586875 meters 0.016096829718662168 Centerline is valid? [True, True] Translation: X:177.31, Y:-72.22, Z:-23.67 [[ 8.23047375e-01 -5.64287183e-01 6.45987129e-02 1.77305634e+02] [ 5.62436415e-01 8.25577599e-01 4.56826900e-02 -7.22171636e+01] [-7.91094067e-02 -1.26634960e-03 9.96865135e-01 -2.36668774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.616875 meters 0.016102341194885614 Centerline is valid? [True, True] Translation: X:177.33, Y:-72.20, Z:-23.67 [[ 8.23504758e-01 -5.63626955e-01 6.45334758e-02 1.77328271e+02] [ 5.61776094e-01 8.26028354e-01 4.56593807e-02 -7.21998993e+01] [-7.90413385e-02 -1.34735330e-03 9.96870429e-01 -2.36696289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.646875 meters 0.01609452098682892 Centerline is valid? [True, True] Translation: X:177.35, Y:-72.18, Z:-23.67 [[ 8.23499538e-01 -5.63578703e-01 6.50196627e-02 1.77351263e+02] [ 5.61697819e-01 8.26061219e-01 4.60263153e-02 -7.21833231e+01] [-7.96496730e-02 -1.38124665e-03 9.96821961e-01 -2.36708252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.676875 meters 0.016402039095877386 Centerline is valid? [True, True] Translation: X:177.37, Y:-72.17, Z:-23.67 [[ 8.23363719e-01 -5.63685134e-01 6.58122768e-02 1.77373447e+02] [ 5.61755957e-01 8.25988544e-01 4.66172653e-02 -7.21669197e+01] [-8.06376461e-02 -1.41252639e-03 9.96742482e-01 -2.36709576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.706875 meters 0.016332653343394347 Centerline is valid? [True, True] Translation: X:177.40, Y:-72.15, Z:-23.67 [[ 8.22968469e-01 -5.64182603e-01 6.64897759e-02 1.77396648e+02] [ 5.62214494e-01 8.25648882e-01 4.71040015e-02 -7.21489959e+01] [-8.14724673e-02 -1.38359227e-03 9.96674632e-01 -2.36734198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.736875 meters 0.016137181221299028 Centerline is valid? [True, True] Translation: X:177.42, Y:-72.13, Z:-23.68 [[ 8.22747805e-01 -5.64459345e-01 6.68707515e-02 1.77419366e+02] [ 5.62467550e-01 8.25459711e-01 4.73974808e-02 -7.21322745e+01] [-8.19530621e-02 -1.38354555e-03 9.96635230e-01 -2.36759831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.766875 meters 0.015848990569765214 Centerline is valid? [True, True] Translation: X:177.44, Y:-72.12, Z:-23.68 [[ 8.22430267e-01 -5.64892167e-01 6.71214988e-02 1.77442547e+02] [ 5.62884538e-01 8.25163600e-01 4.76028357e-02 -7.21159654e+01] [-8.22766866e-02 -1.36835908e-03 9.96608586e-01 -2.36783964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.796875 meters 0.015818322173638433 Centerline is valid? [True, True] Translation: X:177.47, Y:-72.10, Z:-23.68 [[ 8.22116730e-01 -5.65321515e-01 6.73473691e-02 1.77465594e+02] [ 5.63299457e-01 8.24869538e-01 4.77908703e-02 -7.20993932e+01] [-8.25700004e-02 -1.35293761e-03 9.96584349e-01 -2.36801985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.826875 meters 0.01589332614085365 Centerline is valid? [True, True] Translation: X:177.49, Y:-72.08, Z:-23.68 [[ 8.22020525e-01 -5.65478114e-01 6.72068398e-02 1.77488137e+02] [ 5.63462735e-01 8.24762184e-01 4.77188205e-02 -7.20832275e+01] [-8.24136086e-02 -1.35730007e-03 9.96597288e-01 -2.36831491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.856875 meters 0.015904897419715295 Centerline is valid? [True, True] Translation: X:177.51, Y:-72.07, Z:-23.69 [[ 8.21841574e-01 -5.65798472e-01 6.66971964e-02 1.77509637e+02] [ 5.63812275e-01 8.24542477e-01 4.73858849e-02 -7.20674690e+01] [-8.18055328e-02 -1.33899220e-03 9.96647411e-01 -2.36862677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.886875 meters 0.015507348138692567 Centerline is valid? [True, True] Translation: X:177.53, Y:-72.05, Z:-23.69 [[ 8.21600618e-01 -5.66182087e-01 6.64098578e-02 1.77533536e+02] [ 5.64213435e-01 8.24279167e-01 4.71916805e-02 -7.20518440e+01] [-8.14593464e-02 -1.30337985e-03 9.96675813e-01 -2.36884485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.916875 meters 0.015152403969774545 Centerline is valid? [True, True] Translation: X:177.56, Y:-72.04, Z:-23.69 [[ 8.21390899e-01 -5.66636429e-01 6.51164225e-02 1.77557609e+02] [ 5.64743089e-01 8.23966977e-01 4.62997192e-02 -7.20354495e+01] [-7.98888893e-02 -1.25611835e-03 9.96802983e-01 -2.36918344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.946875 meters 0.015613146713595306 Centerline is valid? [True, True] Translation: X:177.58, Y:-72.02, Z:-23.70 [[ 8.21261899e-01 -5.66852512e-01 6.48623428e-02 1.77578606e+02] [ 5.64972612e-01 8.23818345e-01 4.61441536e-02 -7.20190631e+01] [-7.95917173e-02 -1.25098802e-03 9.96826762e-01 -2.36955109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97687499999998 meters 0.015613146713595306 Centerline is valid? [True, True] Translation: X:177.60, Y:-72.00, Z:-23.70 [[ 8.21106826e-01 -5.67078089e-01 6.48538465e-02 1.77600972e+02] [ 5.65197949e-01 8.23663095e-01 4.61560916e-02 -7.20030423e+01] [-7.95918281e-02 -1.24382088e-03 9.96826762e-01 -2.36980141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00687499999998 meters 0.015435057926901813 Centerline is valid? [True, True] Translation: X:177.62, Y:-71.99, Z:-23.70 [[ 8.20991301e-01 -5.67281427e-01 6.45373250e-02 1.77624200e+02] [ 5.65418145e-01 8.23523069e-01 4.59573314e-02 -7.19873028e+01] [-7.92187165e-02 -1.23999464e-03 9.96856488e-01 -2.37001899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03687499999998 meters 0.015845035678281463 Centerline is valid? [True, True] Translation: X:177.65, Y:-71.97, Z:-23.70 [[ 8.20995228e-01 -5.67318542e-01 6.41600157e-02 1.77646133e+02] [ 5.65474830e-01 8.23497481e-01 4.57177754e-02 -7.19708744e+01] [-7.87721530e-02 -1.25320148e-03 9.96891858e-01 -2.37033491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.06687499999998 meters 0.0156442544315336 Centerline is valid? [True, True] Translation: X:177.67, Y:-71.96, Z:-23.71 [[ 8.21085585e-01 -5.67175881e-01 6.42649352e-02 1.77669037e+02] [ 5.65325013e-01 8.23595709e-01 4.58010728e-02 -7.19552560e+01] [-7.89055887e-02 -1.27602536e-03 9.96881277e-01 -2.37055284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09687499999998 meters 0.016032077396414025 Centerline is valid? [True, True] Translation: X:177.69, Y:-71.94, Z:-23.71 [[ 8.21254604e-01 -5.66888988e-01 6.46355199e-02 1.77690720e+02] [ 5.65013476e-01 8.23793113e-01 4.60942437e-02 -7.19385972e+01] [-7.93766153e-02 -1.33517015e-03 9.96843804e-01 -2.37078400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12687499999998 meters 0.015993863000569913 Centerline is valid? [True, True] Translation: X:177.71, Y:-71.92, Z:-23.71 [[ 8.21408712e-01 -5.66616087e-01 6.50687207e-02 1.77713236e+02] [ 5.64713670e-01 8.23980770e-01 4.64129548e-02 -7.19224223e+01] [-7.99137014e-02 -1.37880938e-03 9.96800832e-01 -2.37098780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15687499999999 meters 0.015827728652531983 Centerline is valid? [True, True] Translation: X:177.74, Y:-71.91, Z:-23.71 [[ 8.21761064e-01 -5.66046610e-01 6.55743049e-02 1.77736795e+02] [ 5.64110440e-01 8.24371931e-01 4.68009790e-02 -7.19064093e+01] [-8.05491519e-02 -1.46807232e-03 9.96749557e-01 -2.37116295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.186875 meters 0.016988253719799184 Centerline is valid? [True, True] Translation: X:177.76, Y:-71.89, Z:-23.71 [[ 8.22336116e-01 -5.65139498e-01 6.61865519e-02 1.77757752e+02] [ 5.63161883e-01 8.24993824e-01 4.72639838e-02 -7.18887485e+01] [-8.13142406e-02 -1.59313770e-03 9.96687241e-01 -2.37137036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.216875 meters 0.017075422757057538 Centerline is valid? [True, True] Translation: X:177.78, Y:-71.87, Z:-23.72 [[ 8.22455040e-01 -5.64992073e-01 6.59671437e-02 1.77780814e+02] [ 5.63026396e-01 8.25094762e-01 4.71159289e-02 -7.18717649e+01] [-8.10492711e-02 -1.60949004e-03 9.96708797e-01 -2.37168839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.246875 meters 0.016591085359423323 Centerline is valid? [True, True] Translation: X:177.80, Y:-71.86, Z:-23.72 [[ 8.22584500e-01 -5.64855520e-01 6.55208482e-02 1.77804511e+02] [ 5.62913972e-01 8.25188207e-01 4.68218204e-02 -7.18563441e+01] [-8.05145950e-02 -1.63230286e-03 9.96752093e-01 -2.37194953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.276875 meters 0.016762752015123658 Centerline is valid? [True, True] Translation: X:177.83, Y:-71.84, Z:-23.72 [[ 8.22727592e-01 -5.64736705e-01 6.47438345e-02 1.77827792e+02] [ 5.62840157e-01 8.25269532e-01 4.62726500e-02 -7.18398487e+01] [-7.95629778e-02 -1.62935598e-03 9.96828510e-01 -2.37221216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.306875 meters 0.016077359859635296 Centerline is valid? [True, True] Translation: X:177.85, Y:-71.82, Z:-23.73 [[ 8.23086520e-01 -5.64309017e-01 6.39055054e-02 1.77851411e+02] [ 5.62458095e-01 8.25561957e-01 4.56984293e-02 -7.18244610e+01] [-7.85459899e-02 -1.66959232e-03 9.96909093e-01 -2.37262009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.336875 meters 0.017289992083152333 Centerline is valid? [True, True] Translation: X:177.87, Y:-71.81, Z:-23.73 [[ 8.23243676e-01 -5.64152031e-01 6.32640223e-02 1.77872181e+02] [ 5.62337077e-01 8.25669234e-01 4.52474110e-02 -7.18066278e+01] [-7.77615757e-02 -1.67393960e-03 9.96970579e-01 -2.37307999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.366875 meters 0.017378043462131638 Centerline is valid? [True, True] Translation: X:177.90, Y:-71.79, Z:-23.73 [[ 8.23209331e-01 -5.64234557e-01 6.29742964e-02 1.77895768e+02] [ 5.62435621e-01 8.25612854e-01 4.50509422e-02 -7.17893323e+01] [-7.74116870e-02 -1.66736847e-03 9.96997819e-01 -2.37339329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.396875 meters 0.017160907909153682 Centerline is valid? [True, True] Translation: X:177.92, Y:-71.77, Z:-23.74 [[ 8.23051223e-01 -5.64510756e-01 6.25642957e-02 1.77918597e+02] [ 5.62734338e-01 8.25424066e-01 4.47791846e-02 -7.17737062e+01] [-7.69204067e-02 -1.64848507e-03 9.97035874e-01 -2.37361328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.426875 meters 0.018041175373118442 Centerline is valid? [True, True] Translation: X:177.94, Y:-71.76, Z:-23.74 [[ 8.23358827e-01 -5.64168705e-01 6.15947654e-02 1.77940838e+02] [ 5.62443886e-01 8.25657833e-01 4.41136958e-02 -7.17571934e+01] [-7.57437672e-02 -1.67780164e-03 9.97125903e-01 -2.37390234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.456875 meters 0.017442358156529485 Centerline is valid? [True, True] Translation: X:177.97, Y:-71.74, Z:-23.74 [[ 8.23342780e-01 -5.64245365e-01 6.11051169e-02 1.77965533e+02] [ 5.62547753e-01 8.25605480e-01 4.37677680e-02 -7.17416150e+01] [-7.51444796e-02 -1.66132952e-03 9.97171273e-01 -2.37408355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.486875 meters 0.01762602621917723 Centerline is valid? [True, True] Translation: X:177.99, Y:-71.72, Z:-23.74 [[ 8.23307935e-01 -5.64334340e-01 6.07519324e-02 1.77989109e+02] [ 5.62654927e-01 8.25544663e-01 4.35366759e-02 -7.17244267e+01] [-7.47226748e-02 -1.66171664e-03 9.97202969e-01 -2.37438065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.516875 meters 0.017635360571636297 Centerline is valid? [True, True] Translation: X:178.01, Y:-71.71, Z:-23.75 [[ 8.23116707e-01 -5.64601083e-01 6.08646379e-02 1.78011673e+02] [ 5.62914549e-01 8.25362265e-01 4.36387690e-02 -7.17083384e+01] [-7.48738716e-02 -1.65820965e-03 9.97191633e-01 -2.37461515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.546875 meters 0.016970386648368217 Centerline is valid? [True, True] Translation: X:178.04, Y:-71.69, Z:-23.75 [[ 8.22111096e-01 -5.65940730e-01 6.20035127e-02 1.78036572e+02] [ 5.64192111e-01 8.24444401e-01 4.44824883e-02 -7.16926123e+01] [-7.62929008e-02 -1.58765449e-03 9.97084185e-01 -2.37483511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.576875 meters 0.016785635217391938 Centerline is valid? [True, True] Translation: X:178.06, Y:-71.68, Z:-23.75 [[ 8.21436227e-01 -5.66915458e-01 6.20434420e-02 1.78061168e+02] [ 5.65165780e-01 8.23774585e-01 4.45317154e-02 -7.16765878e+01] [-7.63555285e-02 -1.51513403e-03 9.97079504e-01 -2.37503614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.606875 meters 0.016209248042671057 Centerline is valid? [True, True] Translation: X:178.09, Y:-71.66, Z:-23.75 [[ 8.20661714e-01 -5.68037958e-01 6.20260438e-02 1.78086606e+02] [ 5.66290610e-01 8.23001113e-01 4.45433742e-02 -7.16616675e+01] [-7.63498304e-02 -1.43027562e-03 9.97080066e-01 -2.37520001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.636875 meters 0.01567938519645919 Centerline is valid? [True, True] Translation: X:178.11, Y:-71.65, Z:-23.75 [[ 8.18980001e-01 -5.70378064e-01 6.27743753e-02 1.78110176e+02] [ 5.68594043e-01 8.21381355e-01 4.50941577e-02 -7.16472094e+01] [-7.72824199e-02 -1.23807748e-03 9.97008473e-01 -2.37541830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.666875 meters 0.015420830369332407 Centerline is valid? [True, True] Translation: X:178.13, Y:-71.63, Z:-23.76 [[ 8.18505078e-01 -5.71015387e-01 6.31732954e-02 1.78133856e+02] [ 5.69210029e-01 8.20938494e-01 4.53864768e-02 -7.16308616e+01] [-7.77777667e-02 -1.19018842e-03 9.96970011e-01 -2.37560020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.696875 meters 0.01574612383132135 Centerline is valid? [True, True] Translation: X:178.16, Y:-71.61, Z:-23.76 [[ 8.18430513e-01 -5.71044333e-01 6.38738210e-02 1.78155723e+02] [ 5.69196696e-01 8.20918313e-01 4.59156292e-02 -7.16138577e+01] [-7.86550493e-02 -1.22198407e-03 9.96901144e-01 -2.37587634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72687499999998 meters 0.015461262869780125 Centerline is valid? [True, True] Translation: X:178.18, Y:-71.60, Z:-23.76 [[ 8.18356043e-01 -5.71112052e-01 6.42215754e-02 1.78178656e+02] [ 5.69243976e-01 8.20871195e-01 4.61711682e-02 -7.15979595e+01] [-7.90865520e-02 -1.22670965e-03 9.96866998e-01 -2.37602871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75687499999998 meters 0.015876111587475487 Centerline is valid? [True, True] Translation: X:178.20, Y:-71.58, Z:-23.76 [[ 8.18237758e-01 -5.71268663e-01 6.43357334e-02 1.78199743e+02] [ 5.69392082e-01 8.20762196e-01 4.62825425e-02 -7.15815601e+01] [-7.92441040e-02 -1.23786660e-03 9.96854473e-01 -2.37629365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78687499999998 meters 0.01568353339487877 Centerline is valid? [True, True] Translation: X:178.22, Y:-71.56, Z:-23.76 [[ 8.18390336e-01 -5.71138461e-01 6.35461770e-02 1.78223698e+02] [ 5.69306592e-01 8.20852796e-01 4.57240746e-02 -7.15648900e+01] [-7.82768347e-02 -1.24288327e-03 9.96930886e-01 -2.37648350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81687499999998 meters 0.015747238886218748 Centerline is valid? [True, True] Translation: X:178.25, Y:-71.55, Z:-23.77 [[ 8.18434617e-01 -5.71063155e-01 6.36525779e-02 1.78246115e+02] [ 5.69223112e-01 8.20905145e-01 4.58234845e-02 -7.15479918e+01] [-7.84208324e-02 -1.27100752e-03 9.96919534e-01 -2.37674676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84687499999998 meters 0.015907592847925207 Centerline is valid? [True, True] Translation: X:178.27, Y:-71.53, Z:-23.77 [[ 8.18640264e-01 -5.70797982e-01 6.33859786e-02 1.78268523e+02] [ 5.68970444e-01 8.21089483e-01 4.56584520e-02 -7.15305492e+01] [-7.81073127e-02 -1.31309882e-03 9.96944092e-01 -2.37703436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87687499999998 meters 0.015987208037968954 Centerline is valid? [True, True] Translation: X:178.29, Y:-71.51, Z:-23.77 [[ 8.18715712e-01 -5.70703290e-01 6.32640272e-02 1.78291289e+02] [ 5.68880710e-01 8.21155261e-01 4.55935800e-02 -7.15131521e+01] [-7.79699949e-02 -1.33849560e-03 9.96954808e-01 -2.37732359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90687499999999 meters 0.016052458997887393 Centerline is valid? [True, True] Translation: X:178.31, Y:-71.50, Z:-23.78 [[ 8.19254412e-01 -5.70004887e-01 6.25830379e-02 1.78314798e+02] [ 5.68217628e-01 8.21640095e-01 4.51251748e-02 -7.14958018e+01] [-7.71423033e-02 -1.40821320e-03 9.97019098e-01 -2.37753995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.936875 meters 0.01630292734865592 Centerline is valid? [True, True] Translation: X:178.34, Y:-71.48, Z:-23.78 [[ 8.19429659e-01 -5.69772810e-01 6.24017603e-02 1.78336440e+02] [ 5.67993259e-01 8.21800980e-01 4.50200721e-02 -7.14789987e+01] [-7.69330408e-02 -1.44700316e-03 9.97035212e-01 -2.37780548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.966875 meters 0.016610199806386304 Centerline is valid? [True, True] Translation: X:178.36, Y:-71.46, Z:-23.78 [[ 8.19405370e-01 -5.69827091e-01 6.22248021e-02 1.78358632e+02] [ 5.68057418e-01 8.21763353e-01 4.48972387e-02 -7.14619394e+01] [-7.67177250e-02 -1.44177811e-03 9.97051810e-01 -2.37801670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.996875 meters 0.016665717637022428 Centerline is valid? [True, True] Translation: X:178.38, Y:-71.44, Z:-23.78 [[ 8.19365619e-01 -5.69814114e-01 6.28638029e-02 1.78380622e+02] [ 5.68005587e-01 8.21772280e-01 4.53869195e-02 -7.14448363e+01] [-7.75218379e-02 -1.48149015e-03 9.96989554e-01 -2.37826776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.026875 meters 0.016398096915641938 Centerline is valid? [True, True] Translation: X:178.40, Y:-71.43, Z:-23.78 [[ 8.19012873e-01 -5.70231697e-01 6.36688800e-02 1.78404220e+02] [ 5.68376880e-01 8.21482594e-01 4.59790136e-02 -7.14276991e+01] [-7.85215677e-02 -1.46948469e-03 9.96911332e-01 -2.37847483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.056875 meters 0.016122415204067847 Centerline is valid? [True, True] Translation: X:178.43, Y:-71.41, Z:-23.79 [[ 8.17957945e-01 -5.71617508e-01 6.47937096e-02 1.78427462e+02] [ 5.69698880e-01 8.20519055e-01 4.68152316e-02 -7.14107423e+01] [-7.99248794e-02 -1.37998684e-03 9.96799934e-01 -2.37868270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.086875 meters 0.015309278112835244 Centerline is valid? [True, True] Translation: X:178.45, Y:-71.40, Z:-23.79 [[ 8.17208463e-01 -5.72661137e-01 6.50349966e-02 1.78452296e+02] [ 5.70729590e-01 8.19791149e-01 4.70128448e-02 -7.13952887e+01] [-8.02375437e-02 -1.30189769e-03 9.96774920e-01 -2.37880477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.116875 meters 0.01518165547713574 Centerline is valid? [True, True] Translation: X:178.47, Y:-71.38, Z:-23.79 [[ 8.16343993e-01 -5.73844291e-01 6.54615564e-02 1.78474981e+02] [ 5.71888918e-01 8.18963523e-01 4.73477828e-02 -7.13793369e+01] [-8.07808817e-02 -1.21533941e-03 9.96731143e-01 -2.37905924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.146875 meters 0.015082655398715797 Centerline is valid? [True, True] Translation: X:178.50, Y:-71.36, Z:-23.79 [[ 8.16119955e-01 -5.74141434e-01 6.56493187e-02 1.78497006e+02] [ 5.72175096e-01 8.18755264e-01 4.74918589e-02 -7.13629898e+01] [-8.10177692e-02 -1.19614853e-03 9.96711939e-01 -2.37933991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.176875 meters 0.015066397880238258 Centerline is valid? [True, True] Translation: X:178.52, Y:-71.35, Z:-23.80 [[ 8.15975229e-01 -5.74335604e-01 6.57498291e-02 1.78519144e+02] [ 5.72363055e-01 8.18619085e-01 4.75744338e-02 -7.13461785e+01] [-8.11477561e-02 -1.18678648e-03 9.96701376e-01 -2.37960292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.206875 meters 0.01511469085099705 Centerline is valid? [True, True] Translation: X:178.54, Y:-71.33, Z:-23.80 [[ 8.16115525e-01 -5.74134355e-01 6.57661966e-02 1.78542046e+02] [ 5.72157955e-01 8.18760179e-01 4.76134745e-02 -7.13296092e+01] [-8.11832744e-02 -1.22944312e-03 9.96698432e-01 -2.37983400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.236875 meters 0.015547733197848702 Centerline is valid? [True, True] Translation: X:178.56, Y:-71.31, Z:-23.80 [[ 8.16877203e-01 -5.73058174e-01 6.56960040e-02 1.78564206e+02] [ 5.71080242e-01 8.19513566e-01 4.75906727e-02 -7.13112295e+01] [-8.11109905e-02 -1.35804568e-03 9.96704150e-01 -2.38018587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.266875 meters 0.01556248335907745 Centerline is valid? [True, True] Translation: X:178.59, Y:-71.29, Z:-23.81 [[ 8.17186065e-01 -5.72715248e-01 6.48396555e-02 1.78586994e+02] [ 5.70785680e-01 8.19753197e-01 4.69936526e-02 -7.12943094e+01] [-8.00664963e-02 -1.39301126e-03 9.96788551e-01 -2.38053604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.296875 meters 0.016123915291434667 Centerline is valid? [True, True] Translation: X:178.61, Y:-71.28, Z:-23.81 [[ 8.17718805e-01 -5.72015608e-01 6.42969722e-02 1.78608995e+02] [ 5.70114052e-01 8.20241417e-01 4.66260171e-02 -7.12768921e+01] [-7.94098491e-02 -1.47036362e-03 9.96840967e-01 -2.38092712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.326875 meters 0.016256967542495147 Centerline is valid? [True, True] Translation: X:178.63, Y:-71.26, Z:-23.81 [[ 8.18203003e-01 -5.71431403e-01 6.33245431e-02 1.78632575e+02] [ 5.69584832e-01 8.20648449e-01 4.59264970e-02 -7.12599025e+01] [-7.82110307e-02 -1.50849856e-03 9.96935685e-01 -2.38129266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.356875 meters 0.01608074844322678 Centerline is valid? [True, True] Translation: X:178.66, Y:-71.24, Z:-23.81 [[ 8.19074330e-01 -5.70270802e-01 6.25176385e-02 1.78657353e+02] [ 5.68465945e-01 8.21455171e-01 4.53637720e-02 -7.12443162e+01] [-7.72250720e-02 -1.61715265e-03 9.97012374e-01 -2.38149380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.386875 meters 0.016495802038777683 Centerline is valid? [True, True] Translation: X:178.68, Y:-71.23, Z:-23.82 [[ 8.19641039e-01 -5.69483508e-01 6.22663774e-02 1.78679230e+02] [ 5.67688849e-01 8.22000987e-01 4.52078307e-02 -7.12277879e+01] [-7.69281377e-02 -1.70626521e-03 9.97035180e-01 -2.38178184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.416875 meters 0.017431362108124772 Centerline is valid? [True, True] Translation: X:178.70, Y:-71.21, Z:-23.82 [[ 8.20201144e-01 -5.68664935e-01 6.23720715e-02 1.78701169e+02] [ 5.66861159e-01 8.22567308e-01 4.52929339e-02 -7.12104397e+01] [-7.70617303e-02 -1.79301146e-03 9.97024711e-01 -2.38216468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44687499999998 meters 0.017003862681420314 Centerline is valid? [True, True] Translation: X:178.73, Y:-71.19, Z:-23.82 [[ 8.20723541e-01 -5.67940576e-01 6.20996977e-02 1.78725356e+02] [ 5.66150059e-01 8.23067466e-01 4.51005231e-02 -7.11948707e+01] [-7.67266579e-02 -1.85731343e-03 9.97050435e-01 -2.38241150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47687499999998 meters 0.01838218345359827 Centerline is valid? [True, True] Translation: X:178.75, Y:-71.18, Z:-23.83 [[ 8.22032895e-01 -5.65926110e-01 6.31629378e-02 1.78747521e+02] [ 5.64065614e-01 8.24453283e-01 4.58995422e-02 -7.11778370e+01] [-7.80506408e-02 -2.10289233e-03 9.96947178e-01 -2.38254556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50687499999998 meters 0.018659460418116953 Centerline is valid? [True, True] Translation: X:178.77, Y:-71.16, Z:-23.83 [[ 8.22791856e-01 -5.64705427e-01 6.41976873e-02 1.78771032e+02] [ 5.62779142e-01 8.25289446e-01 4.66579870e-02 -7.11612264e+01] [-7.93296923e-02 -2.26069236e-03 9.96845870e-01 -2.38261242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53687499999998 meters 0.0202687488036157 Centerline is valid? [True, True] Translation: X:178.79, Y:-71.14, Z:-23.83 [[ 8.23315157e-01 -5.63823202e-01 6.52345712e-02 1.78792461e+02] [ 5.61829186e-01 8.25892008e-01 4.74379159e-02 -7.11429908e+01] [-8.06233087e-02 -2.40566909e-03 9.96741739e-01 -2.38282368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.56687499999998 meters 0.02047858681220647 Centerline is valid? [True, True] Translation: X:178.82, Y:-71.13, Z:-23.83 [[ 8.23912385e-01 -5.62879111e-01 6.58444263e-02 1.78815932e+02] [ 5.60843587e-01 8.26535358e-01 4.78933469e-02 -7.11266033e+01] [-8.13809110e-02 -2.53149736e-03 9.96679858e-01 -2.38294980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59687499999998 meters 0.01982927450788947 Centerline is valid? [True, True] Translation: X:178.84, Y:-71.11, Z:-23.83 [[ 8.23863003e-01 -5.62846473e-01 6.67352995e-02 1.78839548e+02] [ 5.60753255e-01 8.26557403e-01 4.85658967e-02 -7.11115158e+01] [-8.24956995e-02 -2.58960910e-03 9.96588056e-01 -2.38308492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62687499999998 meters 0.01971123227964446 Centerline is valid? [True, True] Translation: X:178.86, Y:-71.10, Z:-23.84 [[ 8.22957648e-01 -5.64217743e-01 6.63253166e-02 1.78862908e+02] [ 5.62152126e-01 8.25622356e-01 4.82981630e-02 -7.10964281e+01] [-8.20103447e-02 -2.46242490e-03 9.96628436e-01 -2.38350944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65687499999999 meters 0.01951386849404988 Centerline is valid? [True, True] Translation: X:178.89, Y:-71.08, Z:-23.84 [[ 8.22201710e-01 -5.65276246e-01 6.66866763e-02 1.78886953e+02] [ 5.63190877e-01 8.24898248e-01 4.85686697e-02 -7.10804420e+01] [-8.24644377e-02 -2.37591561e-03 9.96591176e-01 -2.38374484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.686875 meters 0.01906853149095997 Centerline is valid? [True, True] Translation: X:178.91, Y:-71.06, Z:-23.84 [[ 8.21476609e-01 -5.66322350e-01 6.67471161e-02 1.78911859e+02] [ 5.64234581e-01 8.24180645e-01 4.86374516e-02 -7.10647762e+01] [-8.25561571e-02 -2.29349767e-03 9.96583775e-01 -2.38401606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.716875 meters 0.018555668544219514 Centerline is valid? [True, True] Translation: X:178.94, Y:-71.05, Z:-23.84 [[ 8.20332792e-01 -5.68002304e-01 6.65394123e-02 1.78935856e+02] [ 5.65931175e-01 8.23024191e-01 4.85086293e-02 -7.10493469e+01] [-8.23165591e-02 -2.13649153e-03 9.96603943e-01 -2.38436692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.746875 meters 0.01678987685922882 Centerline is valid? [True, True] Translation: X:178.96, Y:-71.04, Z:-23.85 [[ 8.17421444e-01 -5.72244081e-01 6.60219264e-02 1.78962508e+02] [ 5.70216894e-01 8.20081561e-01 4.81552476e-02 -7.10367946e+01] [-8.16999199e-02 -1.71631422e-03 9.96655496e-01 -2.38468908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.776875 meters 0.0160338096811347 Centerline is valid? [True, True] Translation: X:178.99, Y:-71.02, Z:-23.85 [[ 8.15796217e-01 -5.74564378e-01 6.59720229e-02 1.78986947e+02] [ 5.72545702e-01 8.18458009e-01 4.81446335e-02 -7.10226256e+01] [-8.16575220e-02 -1.50421173e-03 9.96659313e-01 -2.38491574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.806875 meters 0.014919707948494185 Centerline is valid? [True, True] Translation: X:179.01, Y:-71.01, Z:-23.85 [[ 8.13984897e-01 -5.77096919e-01 6.62399718e-02 1.79012784e+02] [ 5.75069564e-01 8.16674694e-01 4.83470935e-02 -7.10086235e+01] [-8.19974674e-02 -1.26121221e-03 9.96631740e-01 -2.38510134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.836875 meters 0.014919707948494185 Centerline is valid? [True, True] Translation: X:179.03, Y:-70.99, Z:-23.85 [[ 8.13829188e-01 -5.77317775e-01 6.62286920e-02 1.79034950e+02] [ 5.75289893e-01 8.16518587e-01 4.83625399e-02 -7.09923206e+01] [-8.19975120e-02 -1.25814941e-03 9.96631740e-01 -2.38535145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.866875 meters 0.013803768358041974 Centerline is valid? [True, True] Translation: X:179.06, Y:-70.98, Z:-23.85 [[ 8.11911945e-01 -5.79954926e-01 6.67178913e-02 1.79060761e+02] [ 5.77903449e-01 8.14647923e-01 4.87479882e-02 -7.09781542e+01] [-8.26232274e-02 -1.02257449e-03 9.96580331e-01 -2.38547112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.896875 meters 0.012917397748084165 Centerline is valid? [True, True] Translation: X:179.09, Y:-70.97, Z:-23.86 [[ 8.08471017e-01 -5.84558072e-01 6.83116039e-02 1.79086276e+02] [ 5.82421242e-01 8.11351659e-01 4.99397908e-02 -7.09655741e+01] [-8.46174410e-02 -5.88744213e-04 9.96413339e-01 -2.38567868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.926875 meters 0.012616602111369498 Centerline is valid? [True, True] Translation: X:179.11, Y:-70.95, Z:-23.86 [[ 8.06909642e-01 -5.86711674e-01 6.83098977e-02 1.79111376e+02] [ 5.84581978e-01 8.09795823e-01 4.99463324e-02 -7.09504168e+01] [-8.46211661e-02 -3.69442070e-04 9.96413128e-01 -2.38591834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.956875 meters 0.012440850671879338 Centerline is valid? [True, True] Translation: X:179.14, Y:-70.94, Z:-23.86 [[ 8.05380888e-01 -5.88776682e-01 6.85831163e-02 1.79135265e+02] [ 5.86635208e-01 8.08295731e-01 5.01711545e-02 -7.09353131e+01] [-8.49750460e-02 -1.73618275e-04 9.96383065e-01 -2.38617144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.986875 meters 0.012375915579174604 Centerline is valid? [True, True] Translation: X:179.16, Y:-70.92, Z:-23.86 [[ 8.03548715e-01 -5.91311650e-01 6.82641562e-02 1.79158475e+02] [ 5.89196668e-01 8.06443133e-01 4.99675860e-02 -7.09222370e+01] [-8.45975757e-02 6.96238125e-05 9.96415197e-01 -2.38649525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.016875 meters 0.012437639662455442 Centerline is valid? [True, True] Translation: X:179.18, Y:-70.91, Z:-23.87 [[ 8.02572091e-01 -5.92648934e-01 6.81562911e-02 1.79181997e+02] [ 5.90544503e-01 8.05460862e-01 4.98998017e-02 -7.09066732e+01] [-8.44702893e-02 2.01134837e-04 9.96425978e-01 -2.38678840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.046875 meters 0.01243918829035745 Centerline is valid? [True, True] Translation: X:179.21, Y:-70.89, Z:-23.87 [[ 8.01915846e-01 -5.93558117e-01 6.79686576e-02 1.79205204e+02] [ 5.91466146e-01 8.04791083e-01 4.97906628e-02 -7.08910667e+01] [-8.42542216e-02 2.73238536e-04 9.96444254e-01 -2.38703135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.076875 meters 0.012375355940296357 Centerline is valid? [True, True] Translation: X:179.23, Y:-70.87, Z:-23.87 [[ 8.00920934e-01 -5.94834393e-01 6.85397899e-02 1.79228272e+02] [ 5.92709274e-01 8.03848179e-01 5.02376461e-02 -7.08746480e+01] [-8.49786650e-02 3.87786660e-04 9.96382696e-01 -2.38725473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.106875 meters 0.012457706344278374 Centerline is valid? [True, True] Translation: X:179.25, Y:-70.86, Z:-23.88 [[ 8.00630398e-01 -5.95214872e-01 6.86310631e-02 1.79249472e+02] [ 5.93082871e-01 8.03566483e-01 5.03350254e-02 -7.08587491e+01] [-8.51097777e-02 4.04156576e-04 9.96371498e-01 -2.38756052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.136875 meters 0.012397886457992028 Centerline is valid? [True, True] Translation: X:179.27, Y:-70.84, Z:-23.88 [[ 8.00699890e-01 -5.95127440e-01 6.85785487e-02 1.79271108e+02] [ 5.92997302e-01 8.03631248e-01 5.03092082e-02 -7.08420690e+01] [-8.50522550e-02 3.84316966e-04 9.96376418e-01 -2.38783346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.166875 meters 0.012260273475477299 Centerline is valid? [True, True] Translation: X:179.29, Y:-70.82, Z:-23.88 [[ 8.00909903e-01 -5.94819013e-01 6.88016637e-02 1.79293062e+02] [ 5.92672833e-01 8.03859580e-01 5.04845343e-02 -7.08247441e+01] [-8.53360373e-02 3.43313471e-04 9.96352168e-01 -2.38809263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19687499999998 meters 0.012181899140587175 Centerline is valid? [True, True] Translation: X:179.31, Y:-70.81, Z:-23.88 [[ 8.02121780e-01 -5.93231131e-01 6.83920744e-02 1.79313827e+02] [ 5.91102281e-01 8.05032175e-01 5.02124570e-02 -7.08058644e+01] [-8.48454131e-02 1.50205803e-04 9.96394115e-01 -2.38844031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22687499999998 meters 0.012152668433570359 Centerline is valid? [True, True] Translation: X:179.33, Y:-70.79, Z:-23.89 [[ 8.03138608e-01 -5.91935773e-01 6.76787813e-02 1.79334823e+02] [ 5.89844084e-01 8.05985137e-01 4.97183611e-02 -7.07885092e+01] [-8.39781683e-02 -1.08065233e-05 9.96467595e-01 -2.38873220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25687499999998 meters 0.012200568075398679 Centerline is valid? [True, True] Translation: X:179.36, Y:-70.77, Z:-23.89 [[ 8.03931336e-01 -5.90865082e-01 6.76229307e-02 1.79355871e+02] [ 5.88772176e-01 8.06770375e-01 4.96878995e-02 -7.07703068e+01] [-8.39150220e-02 -1.31159397e-04 9.96472906e-01 -2.38905697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28687499999998 meters 0.012272316158004695 Centerline is valid? [True, True] Translation: X:179.38, Y:-70.75, Z:-23.89 [[ 8.04887807e-01 -5.89620980e-01 6.71023059e-02 1.79377860e+02] [ 5.87553556e-01 8.07680024e-01 4.93335357e-02 -7.07512719e+01] [-8.32852797e-02 -2.81762900e-04 9.96525706e-01 -2.38938003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31687499999998 meters 0.012567671876358905 Centerline is valid? [True, True] Translation: X:179.40, Y:-70.73, Z:-23.90 [[ 8.07124451e-01 -5.86574463e-01 6.69366869e-02 1.79398634e+02] [ 5.84504730e-01 8.09895068e-01 4.92361516e-02 -7.07307543e+01] [-8.30923617e-02 -6.14891691e-04 9.96541661e-01 -2.38965896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34687499999998 meters 0.01282766337941533 Centerline is valid? [True, True] Translation: X:179.42, Y:-70.71, Z:-23.90 [[ 8.08026902e-01 -5.85357330e-01 6.67032347e-02 1.79419525e+02] [ 5.83295773e-01 8.10775075e-01 4.90899072e-02 -7.07131457e+01] [-8.28164571e-02 -7.58250827e-04 9.96564529e-01 -2.38991940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37687499999998 meters 0.013267660698591135 Centerline is valid? [True, True] Translation: X:179.44, Y:-70.69, Z:-23.90 [[ 8.09018526e-01 -5.84032355e-01 6.62965564e-02 1.79442114e+02] [ 5.81990284e-01 8.11729880e-01 4.88048257e-02 -7.06945675e+01] [-8.23184930e-02 -9.00056442e-04 9.96605667e-01 -2.39013740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40687499999999 meters 0.013869190495364617 Centerline is valid? [True, True] Translation: X:179.46, Y:-70.67, Z:-23.90 [[ 8.10402415e-01 -5.82063557e-01 6.67078829e-02 1.79463641e+02] [ 5.79987302e-01 8.13142512e-01 4.91323177e-02 -7.06743475e+01] [-8.28411471e-02 -1.12722386e-03 9.96562127e-01 -2.39033921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.436875 meters 0.014185733702499637 Centerline is valid? [True, True] Translation: X:179.49, Y:-70.66, Z:-23.91 [[ 8.10972933e-01 -5.81172780e-01 6.75359361e-02 1.79485365e+02] [ 5.79039355e-01 8.13779225e-01 4.97674382e-02 -7.06559163e+01] [-8.38828222e-02 -1.25408043e-03 9.96474836e-01 -2.39053018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.466875 meters 0.014538669355713327 Centerline is valid? [True, True] Translation: X:179.51, Y:-70.64, Z:-23.91 [[ 8.11566139e-01 -5.80301796e-01 6.78986658e-02 1.79507083e+02] [ 5.78140159e-01 8.14400358e-01 5.00600980e-02 -7.06374841e+01] [-8.43466625e-02 -1.37213497e-03 9.96435526e-01 -2.39074920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.496875 meters 0.014946542151454394 Centerline is valid? [True, True] Translation: X:179.53, Y:-70.62, Z:-23.91 [[ 8.12600632e-01 -5.78728077e-01 6.89494491e-02 1.79528497e+02] [ 5.76490994e-01 8.15519046e-01 5.08607886e-02 -7.06185013e+01] [-8.56641553e-02 -1.58077254e-03 9.96322816e-01 -2.39096709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.526875 meters 0.01566692218702498 Centerline is valid? [True, True] Translation: X:179.55, Y:-70.60, Z:-23.91 [[ 8.13292006e-01 -5.77730992e-01 6.91593341e-02 1.79549960e+02] [ 5.75474307e-01 8.16225438e-01 5.10426898e-02 -7.06002354e+01] [-8.59385516e-02 -1.71319170e-03 9.96298966e-01 -2.39122082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.556875 meters 0.015848496102778598 Centerline is valid? [True, True] Translation: X:179.57, Y:-70.58, Z:-23.92 [[ 8.13783766e-01 -5.77052565e-01 6.90385374e-02 1.79572948e+02] [ 5.74800635e-01 8.16705050e-01 5.09616639e-02 -7.05825482e+01] [-8.57916810e-02 -1.78837968e-03 9.96311492e-01 -2.39150233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.586875 meters 0.016113276441140224 Centerline is valid? [True, True] Translation: X:179.60, Y:-70.56, Z:-23.92 [[ 8.14392552e-01 -5.76270500e-01 6.83891989e-02 1.79596031e+02] [ 5.74055904e-01 8.17256875e-01 5.05076185e-02 -7.05647905e+01] [-8.49975935e-02 -1.87380492e-03 9.96379395e-01 -2.39178802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.616875 meters 0.016462075701030435 Centerline is valid? [True, True] Translation: X:179.62, Y:-70.55, Z:-23.92 [[ 8.14830115e-01 -5.75681154e-01 6.81402414e-02 1.79618808e+02] [ 5.73478623e-01 8.17671949e-01 5.03473259e-02 -7.05471652e+01] [-8.47003706e-02 -1.94754556e-03 9.96404564e-01 -2.39209239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.646875 meters 0.017619253126671224 Centerline is valid? [True, True] Translation: X:179.64, Y:-70.53, Z:-23.92 [[ 8.15699938e-01 -5.74457622e-01 6.80591712e-02 1.79640223e+02] [ 5.72253817e-01 8.18531645e-01 5.03141571e-02 -7.05289192e+01] [-8.46119365e-02 -2.09413437e-03 9.96411780e-01 -2.39242644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.676875 meters 0.01705140979394106 Centerline is valid? [True, True] Translation: X:179.66, Y:-70.51, Z:-23.93 [[ 8.15161713e-01 -5.75317094e-01 6.72430081e-02 1.79664588e+02] [ 5.73167802e-01 8.17928039e-01 4.97231647e-02 -7.05127473e+01] [-8.36065283e-02 -1.99089297e-03 9.96496856e-01 -2.39274654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.706875 meters 0.017080496257344018 Centerline is valid? [True, True] Translation: X:179.69, Y:-70.50, Z:-23.93 [[ 8.14849695e-01 -5.75783327e-01 6.70338294e-02 1.79686638e+02] [ 5.73646802e-01 8.17599979e-01 4.95945654e-02 -7.04960973e+01] [-8.33625813e-02 -1.95837460e-03 9.96517358e-01 -2.39311552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.736875 meters 0.017172793459588866 Centerline is valid? [True, True] Translation: X:179.71, Y:-70.48, Z:-23.93 [[ 8.14834853e-01 -5.75866492e-01 6.64977211e-02 1.79709605e+02] [ 5.73763345e-01 8.17541439e-01 4.92099523e-02 -7.04789625e+01] [-8.27030052e-02 -1.94402940e-03 9.96572342e-01 -2.39347415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.766875 meters 0.017425770041079418 Centerline is valid? [True, True] Translation: X:179.73, Y:-70.46, Z:-23.94 [[ 8.15164065e-01 -5.75528865e-01 6.53763950e-02 1.79732989e+02] [ 5.73493162e-01 8.17779107e-01 4.84037722e-02 -7.04619812e+01] [-8.13212180e-02 -1.96410021e-03 9.96686010e-01 -2.39389122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.796875 meters 0.017740125929785383 Centerline is valid? [True, True] Translation: X:179.76, Y:-70.44, Z:-23.94 [[ 8.15278634e-01 -5.75441405e-01 6.47142875e-02 1.79755652e+02] [ 5.73444606e-01 8.17840632e-01 4.79372879e-02 -7.04446605e+01] [-8.05110741e-02 -1.97218748e-03 9.96751763e-01 -2.39423153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.826875 meters 0.01788240214672376 Centerline is valid? [True, True] Translation: X:179.78, Y:-70.43, Z:-23.95 [[ 8.15461855e-01 -5.75140345e-01 6.50810735e-02 1.79778527e+02] [ 5.73117887e-01 8.18052229e-01 4.82331680e-02 -7.04273112e+01] [-8.09805582e-02 -2.03318133e-03 9.96713608e-01 -2.39452529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.856875 meters 0.01823340778719481 Centerline is valid? [True, True] Translation: X:179.80, Y:-70.41, Z:-23.95 [[ 8.15767574e-01 -5.74698750e-01 6.51506920e-02 1.79801094e+02] [ 5.72668587e-01 8.18362353e-01 4.83088836e-02 -7.04096327e+01] [-8.10799286e-02 -2.09906599e-03 9.96705392e-01 -2.39479654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.886875 meters 0.017776507897381905 Centerline is valid? [True, True] Translation: X:179.82, Y:-70.39, Z:-23.95 [[ 8.15744156e-01 -5.74695364e-01 6.54729748e-02 1.79824250e+02] [ 5.72643068e-01 8.18364652e-01 4.85717262e-02 -7.03933352e+01] [-8.14947142e-02 -2.12945665e-03 9.96671499e-01 -2.39497503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.916875 meters 0.017341786347277517 Centerline is valid? [True, True] Translation: X:179.85, Y:-70.38, Z:-23.95 [[ 8.14602810e-01 -5.76239983e-01 6.61040345e-02 1.79847370e+02] [ 5.74150532e-01 8.17278049e-01 4.90689054e-02 -7.03770654e+01] [-8.23008415e-02 -2.01800168e-03 9.96605488e-01 -2.39518967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94687499999998 meters 0.01800762277161167 Centerline is valid? [True, True] Translation: X:179.87, Y:-70.36, Z:-23.95 [[ 8.13690527e-01 -5.77421677e-01 6.70218791e-02 1.79869642e+02] [ 5.75275570e-01 8.16443765e-01 4.97754808e-02 -7.03596091e+01] [-8.34610369e-02 -1.94578759e-03 9.96509142e-01 -2.39539909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97687499999998 meters 0.016441502403279486 Centerline is valid? [True, True] Translation: X:179.89, Y:-70.34, Z:-23.95 [[ 8.12870824e-01 -5.78440950e-01 6.81695776e-02 1.79894435e+02] [ 5.76221980e-01 8.15722061e-01 5.06532149e-02 -7.03449634e+01] [-8.49073221e-02 -1.89371148e-03 9.96387054e-01 -2.39548034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00687499999998 meters 0.014833103675948716 Centerline is valid? [True, True] Translation: X:179.92, Y:-70.33, Z:-23.96 [[ 8.10634561e-01 -5.81467233e-01 6.90468340e-02 1.79919832e+02] [ 5.79199335e-01 8.13568212e-01 5.13312225e-02 -7.03308285e+01] [-8.60217332e-02 -1.61898268e-03 9.96291945e-01 -2.39555963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03687499999998 meters 0.014572023605168892 Centerline is valid? [True, True] Translation: X:179.94, Y:-70.31, Z:-23.96 [[ 8.09446902e-01 -5.83137406e-01 6.88946927e-02 1.79942582e+02] [ 5.80883324e-01 8.12372228e-01 5.12438026e-02 -7.03145456e+01] [-8.58503131e-02 -1.45935916e-03 9.96306978e-01 -2.39583379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.06687499999998 meters 0.014695052995028017 Centerline is valid? [True, True] Translation: X:179.96, Y:-70.30, Z:-23.96 [[ 8.08522209e-01 -5.84452245e-01 6.86105739e-02 1.79964682e+02] [ 5.82220681e-01 8.11427030e-01 5.10416756e-02 -7.02977964e+01] [-8.55038962e-02 -1.32183319e-03 9.96336959e-01 -2.39619161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09687499999998 meters 0.013535920224472461 Centerline is valid? [True, True] Translation: X:179.99, Y:-70.28, Z:-23.97 [[ 8.06821655e-01 -5.86991319e-01 6.69328559e-02 1.79989471e+02] [ 5.84875859e-01 8.09592567e-01 4.98006612e-02 -7.02834893e+01] [-8.34208984e-02 -1.03284037e-03 9.96513867e-01 -2.39654228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12687499999998 meters 0.012991221772546005 Centerline is valid? [True, True] Translation: X:180.01, Y:-70.27, Z:-23.97 [[ 8.05793968e-01 -5.88461336e-01 6.64028318e-02 1.80013674e+02] [ 5.86382290e-01 8.08524865e-01 4.94302811e-02 -7.02677317e+01] [-8.27761498e-02 -8.93177809e-04 9.96567766e-01 -2.39676896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15687499999999 meters 0.012831529463961905 Centerline is valid? [True, True] Translation: X:180.04, Y:-70.25, Z:-23.97 [[ 8.04668601e-01 -5.90045899e-01 6.59869696e-02 1.80036721e+02] [ 5.87996011e-01 8.07369358e-01 4.91468365e-02 -7.02515995e+01] [-8.22747466e-02 -7.46841299e-04 9.96609406e-01 -2.39706304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.186875 meters 0.012431902923950605 Centerline is valid? [True, True] Translation: X:180.06, Y:-70.24, Z:-23.97 [[ 8.03436914e-01 -5.91737205e-01 6.58498786e-02 1.80060178e+02] [ 5.89700928e-01 8.06130725e-01 4.90517057e-02 -7.02354133e+01] [-8.21093296e-02 -5.78216579e-04 9.96623160e-01 -2.39733337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.216875 meters 0.01200607193553644 Centerline is valid? [True, True] Translation: X:180.08, Y:-70.22, Z:-23.98 [[ 8.01180490e-01 -5.94790811e-01 6.58309391e-02 1.80083846e+02] [ 5.92763837e-01 8.03880469e-01 4.90634740e-02 -7.02200826e+01] [-8.21027097e-02 -2.86498059e-04 9.96623832e-01 -2.39759750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.246875 meters 0.011956492105977613 Centerline is valid? [True, True] Translation: X:180.11, Y:-70.20, Z:-23.98 [[ 8.00076940e-01 -5.96264239e-01 6.59230421e-02 1.80107306e+02] [ 5.94235613e-01 8.02788227e-01 4.91436621e-02 -7.02037883e+01] [-8.22248503e-02 -1.44891515e-04 9.96613793e-01 -2.39777688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.276875 meters 0.011886360243804458 Centerline is valid? [True, True] Translation: X:180.13, Y:-70.19, Z:-23.98 [[ 7.99523435e-01 -5.96966114e-01 6.62852575e-02 1.80129851e+02] [ 5.94915162e-01 8.02266446e-01 4.94418808e-02 -7.01872846e+01] [-8.26935654e-02 -9.58376363e-05 9.96575017e-01 -2.39798338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.306875 meters 0.011836464293884689 Centerline is valid? [True, True] Translation: X:180.15, Y:-70.17, Z:-23.98 [[ 7.99217616e-01 -5.97309978e-01 6.68729665e-02 1.80151436e+02] [ 5.95221276e-01 8.02010464e-01 4.99084103e-02 -7.01694429e+01] [-8.34436103e-02 -8.34682820e-05 9.96512497e-01 -2.39822041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.336875 meters 0.011780085356958722 Centerline is valid? [True, True] Translation: X:180.17, Y:-70.15, Z:-23.98 [[ 7.99626739e-01 -5.96741774e-01 6.70547053e-02 1.80173384e+02] [ 5.94637298e-01 8.02433317e-01 5.00725062e-02 -7.01512826e+01] [-8.36872858e-02 -1.66086070e-04 9.96492052e-01 -2.39848507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.366875 meters 0.011936129530059656 Centerline is valid? [True, True] Translation: X:180.19, Y:-70.13, Z:-23.99 [[ 8.00349447e-01 -5.95793157e-01 6.68676090e-02 1.80193661e+02] [ 5.93694611e-01 8.03137866e-01 4.99627583e-02 -7.01337812e+01] [-8.34713783e-02 -2.88726859e-04 9.96510133e-01 -2.39874818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.396875 meters 0.012029680387138815 Centerline is valid? [True, True] Translation: X:180.22, Y:-70.11, Z:-23.99 [[ 8.01570007e-01 -5.94145397e-01 6.69086807e-02 1.80215426e+02] [ 5.92037632e-01 8.04357524e-01 5.00041494e-02 -7.01147057e+01] [-8.35282360e-02 -4.69369490e-04 9.96505300e-01 -2.39903311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.426875 meters 0.0129295615159173 Centerline is valid? [True, True] Translation: X:180.23, Y:-70.09, Z:-23.99 [[ 8.05059216e-01 -5.89486673e-01 6.62202418e-02 1.80234757e+02] [ 5.87404182e-01 8.07777526e-01 4.95156213e-02 -7.00934702e+01] [-8.26800219e-02 -9.64960352e-04 9.96575678e-01 -2.39935450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.456875 meters 0.013692744456410586 Centerline is valid? [True, True] Translation: X:180.26, Y:-70.07, Z:-24.00 [[ 8.06864907e-01 -5.87030803e-01 6.60595038e-02 1.80255723e+02] [ 5.84949599e-01 8.09563678e-01 4.94026134e-02 -7.00736537e+01] [-8.24802306e-02 -1.21975483e-03 9.96591954e-01 -2.39965017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.486875 meters 0.015029620950937394 Centerline is valid? [True, True] Translation: X:180.28, Y:-70.05, Z:-24.00 [[ 8.08757278e-01 -5.84503937e-01 6.53208438e-02 1.80275331e+02] [ 5.82458734e-01 8.11389519e-01 4.88760980e-02 -7.00536721e+01] [-8.15689197e-02 -1.48220400e-03 9.96666601e-01 -2.40002414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.516875 meters 0.016434268893148692 Centerline is valid? [True, True] Translation: X:180.30, Y:-70.03, Z:-24.00 [[ 8.12560392e-01 -5.79289777e-01 6.45675039e-02 1.80295579e+02] [ 5.77274498e-01 8.15119253e-01 4.83193290e-02 -7.00327335e+01] [-8.06211089e-02 -1.98919953e-03 9.96742835e-01 -2.40041477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.546875 meters 0.017372800424748352 Centerline is valid? [True, True] Translation: X:180.32, Y:-70.01, Z:-24.01 [[ 8.14094415e-01 -5.77109716e-01 6.47661907e-02 1.80316789e+02] [ 5.75073316e-01 8.16663580e-01 4.84899945e-02 -7.00139155e+01] [-8.08762361e-02 -2.23012566e-03 9.96721657e-01 -2.40063672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.576875 meters 0.018610442865186438 Centerline is valid? [True, True] Translation: X:180.34, Y:-70.00, Z:-24.01 [[ 8.15592904e-01 -5.74962756e-01 6.50080304e-02 1.80337352e+02] [ 5.72903556e-01 8.18175885e-01 4.86799355e-02 -6.99955271e+01] [-8.11771527e-02 -2.45967818e-03 9.96696654e-01 -2.40085597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.606875 meters 0.019491023559797763 Centerline is valid? [True, True] Translation: X:180.36, Y:-69.98, Z:-24.01 [[ 8.16691414e-01 -5.73374389e-01 6.52452689e-02 1.80359367e+02] [ 5.71294474e-01 8.19289252e-01 4.88645721e-02 -6.99771251e+01] [-8.14724417e-02 -2.63301491e-03 9.96672117e-01 -2.40107530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.636875 meters 0.01891154747644232 Centerline is valid? [True, True] Translation: X:180.38, Y:-69.96, Z:-24.01 [[ 8.18052032e-01 -5.71381318e-01 6.56830495e-02 1.80383534e+02] [ 5.69264879e-01 8.20679685e-01 4.92174100e-02 -6.99606142e+01] [-8.20266529e-02 -2.87134908e-03 9.96626000e-01 -2.40111399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.666875 meters 0.021370520798210498 Centerline is valid? [True, True] Translation: X:180.40, Y:-69.94, Z:-24.01 [[ 8.18411753e-01 -5.70838256e-01 6.59233560e-02 1.80403626e+02] [ 5.68702240e-01 8.21057202e-01 4.94250321e-02 -6.99408995e+01] [-8.23405453e-02 -2.95926688e-03 9.96599858e-01 -2.40140186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69687499999998 meters 0.020765351400922682 Centerline is valid? [True, True] Translation: X:180.43, Y:-69.92, Z:-24.02 [[ 8.18435969e-01 -5.70838025e-01 6.56240359e-02 1.80427386e+02] [ 5.68720374e-01 8.21057374e-01 4.92130504e-02 -6.99244073e+01] [-8.19737791e-02 -2.95600431e-03 9.96630103e-01 -2.40164218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72687499999998 meters 0.021786390745562694 Centerline is valid? [True, True] Translation: X:180.45, Y:-69.91, Z:-24.02 [[ 8.18389548e-01 -5.70945482e-01 6.52671782e-02 1.80447595e+02] [ 5.68849012e-01 8.20982672e-01 4.89719692e-02 -6.99073818e+01] [-8.15435469e-02 -2.95097791e-03 9.96665411e-01 -2.40197478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75687499999998 meters 0.021786390745562694 Centerline is valid? [True, True] Translation: X:180.47, Y:-69.89, Z:-24.02 [[ 8.18231518e-01 -5.71172525e-01 6.52620027e-02 1.80469551e+02] [ 5.69076225e-01 8.20824781e-01 4.89788655e-02 -6.98907809e+01] [-8.15440513e-02 -2.93699734e-03 9.96665411e-01 -2.40222556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78687499999998 meters 0.02000326652194369 Centerline is valid? [True, True] Translation: X:180.49, Y:-69.88, Z:-24.02 [[ 8.17840355e-01 -5.71774845e-01 6.48897536e-02 1.80494882e+02] [ 5.69702020e-01 8.20405516e-01 4.87278003e-02 -6.98761929e+01] [-8.10972422e-02 -2.88373775e-03 9.96702022e-01 -2.40244481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81687499999998 meters 0.020654105126308324 Centerline is valid? [True, True] Translation: X:180.52, Y:-69.86, Z:-24.03 [[ 8.17028174e-01 -5.72928673e-01 6.49438113e-02 1.80516482e+02] [ 5.70853750e-01 8.19600468e-01 4.87962071e-02 -6.98589807e+01] [-8.11847243e-02 -2.79445776e-03 9.96695155e-01 -2.40277768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84687499999998 meters 0.01912172469045626 Centerline is valid? [True, True] Translation: X:180.54, Y:-69.84, Z:-24.03 [[ 8.15812885e-01 -5.74717925e-01 6.44099648e-02 1.80541240e+02] [ 5.72682017e-01 8.18347447e-01 4.84021051e-02 -6.98437037e+01] [-8.05272876e-02 -2.60063238e-03 9.96749012e-01 -2.40295396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87687499999998 meters 0.01881767305990435 Centerline is valid? [True, True] Translation: X:180.56, Y:-69.83, Z:-24.03 [[ 8.14621345e-01 -5.76422532e-01 6.42582945e-02 1.80564175e+02] [ 5.74399508e-01 8.17148137e-01 4.83128070e-02 -6.98272254e+01] [-8.03571362e-02 -2.44671109e-03 9.96763133e-01 -2.40322788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90687499999999 meters 0.01809249047706868 Centerline is valid? [True, True] Translation: X:180.59, Y:-69.81, Z:-24.03 [[ 8.12206685e-01 -5.79862658e-01 6.38717369e-02 1.80587377e+02] [ 5.77872408e-01 8.14711496e-01 4.80485004e-02 -6.98118345e+01] [-7.98985695e-02 -2.11559879e-03 9.96800754e-01 -2.40349813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.936875 meters 0.017079917046271553 Centerline is valid? [True, True] Translation: X:180.61, Y:-69.80, Z:-24.04 [[ 8.11193908e-01 -5.81255572e-01 6.40812278e-02 1.80611627e+02] [ 5.79256030e-01 8.13718624e-01 4.82125789e-02 -6.97959751e+01] [-8.01679186e-02 -1.99031276e-03 9.96779386e-01 -2.40359099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.966875 meters 0.016599419443892025 Centerline is valid? [True, True] Translation: X:180.64, Y:-69.78, Z:-24.04 [[ 8.10467493e-01 -5.82286012e-01 6.39174648e-02 1.80635066e+02] [ 5.80297978e-01 8.12981782e-01 4.81131765e-02 -6.97795164e+01] [-7.99793641e-02 -1.90298995e-03 9.96794703e-01 -2.40376479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.996875 meters 0.016070009223809023 Centerline is valid? [True, True] Translation: X:180.66, Y:-69.76, Z:-24.04 [[ 8.09644192e-01 -5.83447117e-01 6.37631961e-02 1.80658260e+02] [ 5.81470365e-01 8.12149130e-01 4.80208837e-02 -6.97623766e+01] [-7.98028703e-02 -1.80342067e-03 9.96809034e-01 -2.40404570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.026875 meters 0.01605789457654217 Centerline is valid? [True, True] Translation: X:180.68, Y:-69.74, Z:-24.05 [[ 8.08521504e-01 -5.85154216e-01 6.23499862e-02 1.80680053e+02] [ 5.83267517e-01 8.10920420e-01 4.69795215e-02 -6.97447125e+01] [-7.80511421e-02 -1.61723171e-03 9.96948045e-01 -2.40459971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.056875 meters 0.016115964815744305 Centerline is valid? [True, True] Translation: X:180.70, Y:-69.73, Z:-24.05 [[ 8.07889062e-01 -5.86133763e-01 6.13390236e-02 1.80700782e+02] [ 5.84308753e-01 8.10212878e-01 4.62425500e-02 -6.97284224e+01] [-7.68019867e-02 -1.51792200e-03 9.97045210e-01 -2.40499825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.086875 meters 0.015587093077166374 Centerline is valid? [True, True] Translation: X:180.72, Y:-69.71, Z:-24.05 [[ 8.07352563e-01 -5.86945412e-01 6.06376311e-02 1.80723827e+02] [ 5.85163650e-01 8.09625244e-01 4.57216136e-02 -6.97121327e+01] [-7.59298483e-02 -1.43052434e-03 9.97112136e-01 -2.40526686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.116875 meters 0.01572525234799956 Centerline is valid? [True, True] Translation: X:180.75, Y:-69.69, Z:-24.06 [[ 8.06822287e-01 -5.87704750e-01 6.03400618e-02 1.80746140e+02] [ 5.85940383e-01 8.09074307e-01 4.55261932e-02 -6.96949948e+01] [-7.55755536e-02 -1.37586841e-03 9.97139129e-01 -2.40557829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.146875 meters 0.015013120095786276 Centerline is valid? [True, True] Translation: X:180.77, Y:-69.68, Z:-24.06 [[ 8.06075516e-01 -5.88794751e-01 5.96909076e-02 1.80769935e+02] [ 5.87070885e-01 8.08281601e-01 4.50403144e-02 -6.96792115e+01] [-7.47665630e-02 -1.26310072e-03 9.97200264e-01 -2.40570792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.176875 meters 0.014511307277144433 Centerline is valid? [True, True] Translation: X:180.79, Y:-69.66, Z:-24.06 [[ 8.04189223e-01 -5.91274385e-01 6.06159736e-02 1.80792759e+02] [ 5.89501335e-01 8.06469746e-01 4.57681692e-02 -6.96629148e+01] [-7.59464949e-02 -1.07307102e-03 9.97111317e-01 -2.40580384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.206875 meters 0.013997014712916808 Centerline is valid? [True, True] Translation: X:180.82, Y:-69.65, Z:-24.06 [[ 8.02634029e-01 -5.93322653e-01 6.12114775e-02 1.80816648e+02] [ 5.91520053e-01 8.04964243e-01 4.62233034e-02 -6.96460523e+01] [-7.66983836e-02 -8.92579757e-04 9.97053941e-01 -2.40592298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.236875 meters 0.01344720525454522 Centerline is valid? [True, True] Translation: X:180.84, Y:-69.63, Z:-24.06 [[ 8.01005748e-01 -5.95444821e-01 6.19294548e-02 1.80840794e+02] [ 5.93604132e-01 8.03395888e-01 4.67887005e-02 -6.96298584e+01] [-7.76139586e-02 -7.16437789e-04 9.96983230e-01 -2.40600461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.266875 meters 0.01295441955836794 Centerline is valid? [True, True] Translation: X:180.87, Y:-69.62, Z:-24.06 [[ 7.97078912e-01 -6.00440476e-01 6.43151828e-02 1.80865025e+02] [ 5.98468957e-01 7.99669411e-01 4.86183139e-02 -6.96150131e+01] [-8.06232879e-02 -2.61992346e-04 9.96744610e-01 -2.40594889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.296875 meters 0.012934396909498224 Centerline is valid? [True, True] Translation: X:180.89, Y:-69.60, Z:-24.06 [[ 7.94986987e-01 -6.03102928e-01 6.52881993e-02 1.80888331e+02] [ 6.01079020e-01 7.97663374e-01 4.93675370e-02 -6.95993216e+01] [-8.18517115e-02 -3.18268948e-06 9.96644519e-01 -2.40602031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.326875 meters 0.012930924404377415 Centerline is valid? [True, True] Translation: X:180.91, Y:-69.58, Z:-24.06 [[ 7.92544490e-01 -6.06203541e-01 6.62608347e-02 1.80911390e+02] [ 6.04128979e-01 7.95309479e-01 5.01099704e-02 -6.95833490e+01] [-8.30747114e-02 3.15709444e-04 9.96543272e-01 -2.40607583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.356875 meters 0.013278741146990724 Centerline is valid? [True, True] Translation: X:180.93, Y:-69.57, Z:-24.06 [[ 7.90319411e-01 -6.09049778e-01 6.67352693e-02 1.80934438e+02] [ 6.06952870e-01 7.93131777e-01 5.04994894e-02 -6.95673288e+01] [-8.36865655e-02 5.94436476e-04 9.96491950e-01 -2.40627652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.386875 meters 0.013800616095255333 Centerline is valid? [True, True] Translation: X:180.96, Y:-69.55, Z:-24.06 [[ 7.88071403e-01 -6.11946766e-01 6.68178096e-02 1.80957269e+02] [ 6.09854271e-01 7.90898447e-01 5.05708948e-02 -6.95506266e+01] [-8.37927973e-02 8.95650571e-04 9.96482797e-01 -2.40645238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.416875 meters 0.015331117797683348 Centerline is valid? [True, True] Translation: X:180.98, Y:-69.53, Z:-24.07 [[ 7.83772758e-01 -6.17368592e-01 6.75002602e-02 1.80979303e+02] [ 6.15252264e-01 7.86672629e-01 5.10962436e-02 -6.95340694e+01] [-8.46458231e-02 1.48184410e-03 9.96410000e-01 -2.40673991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44687499999998 meters 0.016101306867942432 Centerline is valid? [True, True] Translation: X:181.00, Y:-69.52, Z:-24.07 [[ 7.81803844e-01 -6.19913752e-01 6.70051560e-02 1.81001870e+02] [ 6.17836709e-01 7.84668039e-01 5.07333138e-02 -6.95164374e+01] [-8.40270832e-02 1.73474539e-03 9.96461961e-01 -2.40698665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47687499999998 meters 0.017636452248545036 Centerline is valid? [True, True] Translation: X:181.02, Y:-69.50, Z:-24.07 [[ 7.78720143e-01 -6.23939569e-01 6.55313102e-02 1.81023283e+02] [ 6.21965232e-01 7.81469767e-01 4.96412431e-02 -6.94976838e+01] [-8.21838736e-02 2.10156056e-03 9.96614968e-01 -2.40738149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50687499999998 meters 0.01761348483612299 Centerline is valid? [True, True] Translation: X:181.04, Y:-69.48, Z:-24.08 [[ 7.77557358e-01 -6.25402846e-01 6.53898772e-02 1.81044870e+02] [ 6.23440337e-01 7.80298847e-01 4.95565785e-02 -6.94777971e+01] [-8.20164710e-02 2.23360492e-03 9.96628471e-01 -2.40762741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53687499999998 meters 0.018451140747479857 Centerline is valid? [True, True] Translation: X:181.07, Y:-69.46, Z:-24.08 [[ 7.76839190e-01 -6.26326744e-01 6.50821253e-02 1.81065874e+02] [ 6.24383789e-01 7.79557260e-01 4.93493905e-02 -6.94591601e+01] [-8.16440863e-02 2.29968351e-03 9.96658896e-01 -2.40791219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.56687499999998 meters 0.018374769515678888 Centerline is valid? [True, True] Translation: X:181.09, Y:-69.44, Z:-24.08 [[ 7.76523413e-01 -6.26714391e-01 6.51188264e-02 1.81085991e+02] [ 6.24770067e-01 7.79245540e-01 4.93837199e-02 -6.94389200e+01] [-8.16930430e-02 2.33667879e-03 9.96654798e-01 -2.40814035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59687499999998 meters 0.01821634094376987 Centerline is valid? [True, True] Translation: X:181.11, Y:-69.42, Z:-24.08 [[ 7.76493100e-01 -6.26733954e-01 6.52917861e-02 1.81105753e+02] [ 6.24777055e-01 7.79229847e-01 4.95426837e-02 -6.94181488e+01] [-8.19273905e-02 2.32325784e-03 9.96635593e-01 -2.40835443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62687499999998 meters 0.017411071915721926 Centerline is valid? [True, True] Translation: X:181.13, Y:-69.40, Z:-24.09 [[ 7.76915078e-01 -6.26164204e-01 6.57369907e-02 1.81125423e+02] [ 6.24176091e-01 7.79687949e-01 4.99090027e-02 -6.93958359e+01] [-8.25055704e-02 2.25640116e-03 9.96588049e-01 -2.40854440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65687499999999 meters 0.016053666256375228 Centerline is valid? [True, True] Translation: X:181.14, Y:-69.37, Z:-24.09 [[ 7.79260256e-01 -6.23230490e-01 6.58574959e-02 1.81141646e+02] [ 6.21222507e-01 7.82035827e-01 5.00256215e-02 -6.93686436e+01] [-8.26804138e-02 1.92918012e-03 9.96574246e-01 -2.40874872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.686875 meters 0.016143358539991465 Centerline is valid? [True, True] Translation: X:181.16, Y:-69.35, Z:-24.09 [[ 7.80513830e-01 -6.21694528e-01 6.55291913e-02 1.81161322e+02] [ 6.19699091e-01 7.83257872e-01 4.98010349e-02 -6.93482276e+01] [-8.22872858e-02 1.73798385e-03 9.96607135e-01 -2.40904106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.716875 meters 0.01538697840361663 Centerline is valid? [True, True] Translation: X:181.18, Y:-69.33, Z:-24.09 [[ 7.81730651e-01 -6.20200221e-01 6.51833977e-02 1.81180469e+02] [ 6.18220050e-01 7.84441988e-01 4.95453132e-02 -6.93256038e+01] [-8.18606083e-02 1.56659341e-03 9.96642557e-01 -2.40930748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.746875 meters 0.015114194192815067 Centerline is valid? [True, True] Translation: X:181.20, Y:-69.30, Z:-24.10 [[ 7.83070352e-01 -6.18533132e-01 6.49429649e-02 1.81199700e+02] [ 6.16559824e-01 7.85757529e-01 4.93871356e-02 -6.93040557e+01] [-8.15770033e-02 1.36762138e-03 9.96666104e-01 -2.40956097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.776875 meters 0.013987132154027268 Centerline is valid? [True, True] Translation: X:181.22, Y:-69.28, Z:-24.10 [[ 7.85556529e-01 -6.15310851e-01 6.55247838e-02 1.81215288e+02] [ 6.13288691e-01 7.88283903e-01 4.98544829e-02 -6.92768753e+01] [-8.23281366e-02 1.02209430e-03 9.96604753e-01 -2.40970140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.806875 meters 0.01406443903522945 Centerline is valid? [True, True] Translation: X:181.23, Y:-69.26, Z:-24.10 [[ 7.87002602e-01 -6.13479964e-01 6.53394049e-02 1.81234770e+02] [ 6.11460725e-01 7.89709872e-01 4.97403124e-02 -6.92561923e+01] [-8.21138582e-02 8.06724631e-04 9.96622628e-01 -2.41002833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.836875 meters 0.013563626861011766 Centerline is valid? [True, True] Translation: X:181.25, Y:-69.23, Z:-24.10 [[ 7.87934719e-01 -6.12336509e-01 6.48296086e-02 1.81253151e+02] [ 6.10344314e-01 7.90596952e-01 4.93586606e-02 -6.92340044e+01] [-8.14782009e-02 6.76980672e-04 9.96674894e-01 -2.41021091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.866875 meters 0.013513278427989614 Centerline is valid? [True, True] Translation: X:181.27, Y:-69.21, Z:-24.11 [[ 7.88881452e-01 -6.11160482e-01 6.44121054e-02 1.81271900e+02] [ 6.09187560e-01 7.91506529e-01 4.90706761e-02 -6.92139532e+01] [-8.09726601e-02 5.28107100e-04 9.96716183e-01 -2.41054942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.896875 meters 0.013447771234284249 Centerline is valid? [True, True] Translation: X:181.29, Y:-69.19, Z:-24.11 [[ 7.90916235e-01 -6.08701001e-01 6.27264010e-02 1.81289044e+02] [ 6.06820997e-01 7.93399664e-01 4.78042910e-02 -6.91897036e+01] [-7.88656252e-02 2.54507384e-04 9.96885223e-01 -2.41091148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.926875 meters 0.013279565604001899 Centerline is valid? [True, True] Translation: X:181.31, Y:-69.17, Z:-24.11 [[ 7.91773685e-01 -6.07638767e-01 6.22057875e-02 1.81309131e+02] [ 6.05784787e-01 7.94213518e-01 4.74307821e-02 -6.91692165e+01] [-7.82254593e-02 1.28874642e-04 9.96935685e-01 -2.41119973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.956875 meters 0.013306444154739895 Centerline is valid? [True, True] Translation: X:181.33, Y:-69.15, Z:-24.12 [[ 7.93009909e-01 -6.06062454e-01 6.18351486e-02 1.81327763e+02] [ 6.04223394e-01 7.95417060e-01 4.71782953e-02 -6.91497901e+01] [-7.77777256e-02 -5.06123383e-05 9.96970723e-01 -2.41150125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.986875 meters 0.013338837165478897 Centerline is valid? [True, True] Translation: X:181.35, Y:-69.13, Z:-24.12 [[ 7.94126871e-01 -6.04694809e-01 6.08826841e-02 1.81348338e+02] [ 6.02907360e-01 7.96457251e-01 4.64603276e-02 -6.91292624e+01] [-7.65847741e-02 -1.88776226e-04 9.97063056e-01 -2.41176476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.016875 meters 0.013786908581375832 Centerline is valid? [True, True] Translation: X:181.37, Y:-69.11, Z:-24.12 [[ 7.97071024e-01 -6.00971397e-01 5.92550650e-02 1.81365518e+02] [ 5.99266131e-01 7.99270339e-01 4.52441093e-02 -6.91057466e+01] [-7.45512314e-02 -5.53214947e-04 9.97217031e-01 -2.41225790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.046875 meters 0.013920135396340133 Centerline is valid? [True, True] Translation: X:181.39, Y:-69.09, Z:-24.12 [[ 7.98278084e-01 -5.99389088e-01 5.90323794e-02 1.81386716e+02] [ 5.97691952e-01 8.00457511e-01 4.50788514e-02 -6.90859421e+01] [-7.42726832e-02 -7.02280974e-04 9.97237723e-01 -2.41249320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.076875 meters 0.01467457175132508 Centerline is valid? [True, True] Translation: X:181.41, Y:-69.07, Z:-24.13 [[ 8.00084536e-01 -5.96955969e-01 5.92309524e-02 1.81406265e+02] [ 5.95238697e-01 8.02273434e-01 4.52573898e-02 -6.90655695e+01] [-7.45360886e-02 -9.53182822e-04 9.97217861e-01 -2.41287047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.106875 meters 0.014763380680028894 Centerline is valid? [True, True] Translation: X:181.43, Y:-69.05, Z:-24.13 [[ 8.01418581e-01 -5.95189270e-01 5.89744943e-02 1.81427705e+02] [ 5.93481710e-01 8.03584772e-01 4.50663286e-02 -6.90457679e+01] [-7.42140008e-02 -1.11670934e-03 9.97241713e-01 -2.41306832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.136875 meters 0.016226770734356227 Centerline is valid? [True, True] Translation: X:181.45, Y:-69.02, Z:-24.13 [[ 8.04243767e-01 -5.91268402e-01 5.99469790e-02 1.81445982e+02] [ 5.89491019e-01 8.06473403e-01 4.58365403e-02 -6.90236580e+01] [-7.54473421e-02 -1.52554608e-03 9.97148620e-01 -2.41335875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.166875 meters 0.01603709490601502 Centerline is valid? [True, True] Translation: X:181.47, Y:-69.01, Z:-24.14 [[ 8.05205675e-01 -5.89960468e-01 5.99205049e-02 1.81468361e+02] [ 5.88180650e-01 8.07430442e-01 4.58214382e-02 -6.90053313e+01] [-7.54144768e-02 -1.65160058e-03 9.97150906e-01 -2.41355787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19687499999998 meters 0.016849237111724365 Centerline is valid? [True, True] Translation: X:181.49, Y:-68.99, Z:-24.14 [[ 8.06355234e-01 -5.88332116e-01 6.04694779e-02 1.81488728e+02] [ 5.86512839e-01 8.08617293e-01 4.62683856e-02 -6.89868500e+01] [-7.61178427e-02 -1.84262978e-03 9.97097126e-01 -2.41384326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22687499999998 meters 0.01781948644803695 Centerline is valid? [True, True] Translation: X:181.51, Y:-68.97, Z:-24.14 [[ 8.07143535e-01 -5.87178583e-01 6.11606541e-02 1.81510022e+02] [ 5.85313436e-01 8.09454994e-01 4.68059141e-02 -6.89685118e+01] [-7.69902272e-02 -1.98093842e-03 9.97029880e-01 -2.41408109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25687499999998 meters 0.017943052466065958 Centerline is valid? [True, True] Translation: X:181.53, Y:-68.95, Z:-24.14 [[ 8.07905009e-01 -5.85946523e-01 6.28980815e-02 1.81533562e+02] [ 5.83969467e-01 8.10346833e-01 4.81422072e-02 -6.89512219e+01] [-7.91780201e-02 -2.16377119e-03 9.96858144e-01 -2.41406993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28687499999998 meters 0.018045873263489175 Centerline is valid? [True, True] Translation: X:181.56, Y:-68.93, Z:-24.14 [[ 8.08020217e-01 -5.85752231e-01 6.32269960e-02 1.81556837e+02] [ 5.83751835e-01 8.10487150e-01 4.84187481e-02 -6.89338620e+01] [-7.96060575e-02 -2.21445240e-03 9.96823942e-01 -2.41421252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31687499999998 meters 0.018342778691137627 Centerline is valid? [True, True] Translation: X:181.58, Y:-68.92, Z:-24.14 [[ 8.08006493e-01 -5.85706108e-01 6.38268223e-02 1.81579168e+02] [ 5.83665369e-01 8.10520355e-01 4.89028694e-02 -6.89164472e+01] [-8.03756479e-02 -2.26033018e-03 9.96762081e-01 -2.41444074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34687499999998 meters 0.01814427533577971 Centerline is valid? [True, True] Translation: X:181.60, Y:-68.90, Z:-24.15 [[ 8.08301368e-01 -5.85359800e-01 6.32677089e-02 1.81602316e+02] [ 5.83351389e-01 8.10770390e-01 4.85028952e-02 -6.88997007e+01] [-7.96872300e-02 -2.29765064e-03 9.96817268e-01 -2.41482984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37687499999998 meters 0.019377115933413035 Centerline is valid? [True, True] Translation: X:181.62, Y:-68.88, Z:-24.15 [[ 8.08335587e-01 -5.85372897e-01 6.27068636e-02 1.81622937e+02] [ 5.83397907e-01 8.10760934e-01 4.80997845e-02 -6.88820135e+01] [-7.89965855e-02 -2.29771456e-03 9.96872239e-01 -2.41525408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40687499999999 meters 0.018480380990998937 Centerline is valid? [True, True] Translation: X:181.65, Y:-68.87, Z:-24.16 [[ 8.08317799e-01 -5.85415301e-01 6.25400712e-02 1.81647542e+02] [ 5.83450453e-01 8.10730331e-01 4.79781109e-02 -6.88666596e+01] [-7.87902529e-02 -2.29252809e-03 9.96888580e-01 -2.41551479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.436875 meters 0.018069246628509866 Centerline is valid? [True, True] Translation: X:181.67, Y:-68.85, Z:-24.16 [[ 8.08100905e-01 -5.85745216e-01 6.22532659e-02 1.81670873e+02] [ 5.83797492e-01 8.10492069e-01 4.77817491e-02 -6.88517037e+01] [-7.84437092e-02 -2.26917424e-03 9.96915962e-01 -2.41580729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.466875 meters 0.018960428655477354 Centerline is valid? [True, True] Translation: X:181.69, Y:-68.83, Z:-24.16 [[ 8.07980765e-01 -5.85989192e-01 6.15121982e-02 1.81693144e+02] [ 5.84085942e-01 8.10315761e-01 4.72438404e-02 -6.88346100e+01] [-7.75286835e-02 -2.24370408e-03 9.96987597e-01 -2.41620298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.496875 meters 0.017725074731505638 Centerline is valid? [True, True] Translation: X:181.72, Y:-68.82, Z:-24.16 [[ 8.07013569e-01 -5.87380495e-01 6.09364676e-02 1.81719838e+02] [ 5.85516252e-01 8.09308201e-01 4.68076272e-02 -6.88213862e+01] [-7.68102702e-02 -2.09509809e-03 9.97043526e-01 -2.41649975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.526875 meters 0.016664852322835138 Centerline is valid? [True, True] Translation: X:181.75, Y:-68.81, Z:-24.17 [[ 8.05991676e-01 -5.88737536e-01 6.13639283e-02 1.81745362e+02] [ 5.86849204e-01 8.08321794e-01 4.71581298e-02 -6.88065935e+01] [-7.73655618e-02 -1.99768763e-03 9.97000792e-01 -2.41665139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.556875 meters 0.017296342260349738 Centerline is valid? [True, True] Translation: X:181.77, Y:-68.79, Z:-24.17 [[ 8.04970555e-01 -5.90147008e-01 6.12283747e-02 1.81767756e+02] [ 5.88268952e-01 8.07293610e-01 4.70814967e-02 -6.87902233e+01] [-7.72142800e-02 -1.88046675e-03 9.97012748e-01 -2.41697440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.586875 meters 0.015916914128714023 Centerline is valid? [True, True] Translation: X:181.80, Y:-68.78, Z:-24.17 [[ 8.01803324e-01 -5.94408771e-01 6.15600708e-02 1.81795970e+02] [ 5.92522098e-01 8.04161679e-01 4.73450930e-02 -6.87786701e+01] [-7.76465884e-02 -1.48575067e-03 9.96979839e-01 -2.41707509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.616875 meters 0.014862824907397851 Centerline is valid? [True, True] Translation: X:181.82, Y:-68.77, Z:-24.17 [[ 7.99601968e-01 -5.97303850e-01 6.21675408e-02 1.81821996e+02] [ 5.95387720e-01 8.02014098e-01 4.78210167e-02 -6.87655662e+01] [-7.84229215e-02 -1.22398867e-03 9.96919429e-01 -2.41712333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.646875 meters 0.014862824907397851 Centerline is valid? [True, True] Translation: X:181.84, Y:-68.75, Z:-24.17 [[ 7.99431867e-01 -5.97532710e-01 6.21558597e-02 1.81843745e+02] [ 5.95616092e-01 8.01843607e-01 4.78361940e-02 -6.87487443e+01] [-7.84229693e-02 -1.22074762e-03 9.96919429e-01 -2.41737343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.676875 meters 0.014477883610102407 Centerline is valid? [True, True] Translation: X:181.87, Y:-68.73, Z:-24.18 [[ 7.97009077e-01 -6.00663103e-01 6.30901496e-02 1.81868564e+02] [ 5.98695721e-01 7.99501678e-01 4.85849853e-02 -6.87345352e+01] [-7.96238885e-02 -9.50871693e-04 9.96824524e-01 -2.41755010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.706875 meters 0.013732853693746482 Centerline is valid? [True, True] Translation: X:181.89, Y:-68.72, Z:-24.18 [[ 7.92606721e-01 -6.06283172e-01 6.47711496e-02 1.81894494e+02] [ 6.04225720e-01 7.95248728e-01 4.99073127e-02 -6.87229014e+01] [-8.17671382e-02 -4.20476907e-04 9.96651373e-01 -2.41768094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.736875 meters 0.01355492918460256 Centerline is valid? [True, True] Translation: X:181.92, Y:-68.71, Z:-24.18 [[ 7.90290054e-01 -6.09207683e-01 6.56325325e-02 1.81919712e+02] [ 6.07104128e-01 7.93010707e-01 5.05825701e-02 -6.87085178e+01] [-8.28625914e-02 -1.29120609e-04 9.96560974e-01 -2.41784613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.766875 meters 0.013664170149029018 Centerline is valid? [True, True] Translation: X:181.94, Y:-68.69, Z:-24.18 [[ 7.87746495e-01 -6.12420139e-01 6.63101343e-02 1.81944235e+02] [ 6.10282071e-01 7.90532439e-01 5.11297922e-02 -6.86945288e+01] [-8.37332266e-02 1.90571566e-04 9.96488189e-01 -2.41799011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.796875 meters 0.013798340355408898 Centerline is valid? [True, True] Translation: X:181.97, Y:-68.68, Z:-24.18 [[ 7.85463957e-01 -6.15305481e-01 6.66748655e-02 1.81969603e+02] [ 6.13151596e-01 7.88288613e-01 5.14410573e-02 -6.86793798e+01] [-8.42110017e-02 4.76703773e-04 9.96447831e-01 -2.41817587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.826875 meters 0.014125812007167447 Centerline is valid? [True, True] Translation: X:181.99, Y:-68.67, Z:-24.18 [[ 7.83615052e-01 -6.17650399e-01 6.67490454e-02 1.81993127e+02] [ 6.15497868e-01 7.86452467e-01 5.15256324e-02 -6.86650521e+01] [-8.43197788e-02 7.07634092e-04 9.96438495e-01 -2.41838375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.856875 meters 0.01470011536213518 Centerline is valid? [True, True] Translation: X:182.02, Y:-68.65, Z:-24.19 [[ 7.80922497e-01 -6.21028064e-01 6.69641500e-02 1.82018118e+02] [ 6.18873284e-01 7.83787600e-01 5.16996764e-02 -6.86502699e+01] [-8.45926203e-02 1.06888306e-03 9.96415047e-01 -2.41860729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.886875 meters 0.014908464613183584 Centerline is valid? [True, True] Translation: X:182.04, Y:-68.63, Z:-24.19 [[ 7.80307379e-01 -6.21777599e-01 6.71789534e-02 1.82040949e+02] [ 6.19609397e-01 7.83193038e-01 5.18927681e-02 -6.86341181e+01] [-8.48798493e-02 1.13240091e-03 9.96390550e-01 -2.41887827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.916875 meters 0.014992353984364066 Centerline is valid? [True, True] Translation: X:182.06, Y:-68.62, Z:-24.19 [[ 7.80094820e-01 -6.22075754e-01 6.68866877e-02 1.82063389e+02] [ 6.19926859e-01 7.82956209e-01 5.16746043e-02 -6.86168798e+01] [-8.45148658e-02 1.15376303e-03 9.96421550e-01 -2.41915182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94687499999998 meters 0.014786020782982657 Centerline is valid? [True, True] Translation: X:182.09, Y:-68.60, Z:-24.19 [[ 7.80554816e-01 -6.21541038e-01 6.64899754e-02 1.82085019e+02] [ 6.19413242e-01 7.83380878e-01 5.13968413e-02 -6.85987542e+01] [-8.40322214e-02 1.06671923e-03 9.96462467e-01 -2.41946735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97687499999998 meters 0.01416196322730785 Centerline is valid? [True, True] Translation: X:182.10, Y:-68.58, Z:-24.20 [[ 7.82998140e-01 -6.18638400e-01 6.48108239e-02 1.82104910e+02] [ 6.16604650e-01 7.85675519e-01 5.01266810e-02 -6.85781008e+01] [-8.19305675e-02 7.13557400e-04 9.96637784e-01 -2.41996447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00687499999998 meters 0.01416281967202198 Centerline is valid? [True, True] Translation: X:182.13, Y:-68.56, Z:-24.20 [[ 7.84503290e-01 -6.16808034e-01 6.40502729e-02 1.82125328e+02] [ 6.14813584e-01 7.87113463e-01 4.95646382e-02 -6.85603123e+01] [-8.09866992e-02 4.95356139e-04 9.96715059e-01 -2.42039959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03687499999998 meters 0.014000921296672854 Centerline is valid? [True, True] Translation: X:182.15, Y:-68.54, Z:-24.21 [[ 7.85934172e-01 -6.15057305e-01 6.33402650e-02 1.82146008e+02] [ 6.13100461e-01 7.88482352e-01 4.90245371e-02 -6.85415262e+01] [-8.00955808e-02 3.03886671e-04 9.96787142e-01 -2.42072033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06687499999998 meters 0.013901537910026464 Centerline is valid? [True, True] Translation: X:182.17, Y:-68.52, Z:-24.21 [[ 7.87675661e-01 -6.12910024e-01 6.25168447e-02 1.82165779e+02] [ 6.10994774e-01 7.90152706e-01 4.84157707e-02 -6.85233190e+01] [-7.90723652e-02 6.15411947e-05 9.96868877e-01 -2.42101698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09687499999998 meters 0.014094065762213892 Centerline is valid? [True, True] Translation: X:182.19, Y:-68.50, Z:-24.21 [[ 7.90393316e-01 -6.09453382e-01 6.20079225e-02 1.82185563e+02] [ 6.07557894e-01 7.92821854e-01 4.80303412e-02 -6.85020992e+01] [-7.84334900e-02 -2.89457833e-04 9.96919307e-01 -2.42138693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12687499999998 meters 0.01421940514965673 Centerline is valid? [True, True] Translation: X:182.21, Y:-68.48, Z:-24.22 [[ 7.91386794e-01 -6.08118242e-01 6.24431387e-02 1.82206302e+02] [ 6.06190027e-01 7.93846337e-01 4.83905429e-02 -6.84833346e+01] [-7.89974289e-02 -4.43228696e-04 9.96874721e-01 -2.42163316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15687499999999 meters 0.014232402547698137 Centerline is valid? [True, True] Translation: X:182.23, Y:-68.47, Z:-24.22 [[ 7.92299118e-01 -6.06893994e-01 6.27836595e-02 1.82228002e+02] [ 6.04938648e-01 7.94782569e-01 4.86816153e-02 -6.84650108e+01] [-7.94439381e-02 -5.90138721e-04 9.96839161e-01 -2.42183996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.186875 meters 0.01452157594821199 Centerline is valid? [True, True] Translation: X:182.25, Y:-68.45, Z:-24.22 [[ 7.92931660e-01 -6.06098188e-01 6.24849582e-02 1.82248925e+02] [ 6.04156559e-01 7.95389533e-01 4.84803322e-02 -6.84474372e+01] [-7.90837232e-02 -6.90892957e-04 9.96867738e-01 -2.42212249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.216875 meters 0.014687470805876774 Centerline is valid? [True, True] Translation: X:182.27, Y:-68.43, Z:-24.22 [[ 7.94070511e-01 -6.04554414e-01 6.29760616e-02 1.82271775e+02] [ 6.02576724e-01 7.96563386e-01 4.88678314e-02 -6.84292213e+01] [-7.97076880e-02 -8.56594948e-04 9.96817913e-01 -2.42228027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.246875 meters 0.014804194442561562 Centerline is valid? [True, True] Translation: X:182.29, Y:-68.41, Z:-24.23 [[ 7.94348432e-01 -6.04205256e-01 6.28217904e-02 1.82293910e+02] [ 6.02234052e-01 7.96828199e-01 4.87746540e-02 -6.84116185e+01] [-7.95280765e-02 -9.10648523e-04 9.96832210e-01 -2.42251180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.276875 meters 0.014708014680509402 Centerline is valid? [True, True] Translation: X:182.32, Y:-68.39, Z:-24.23 [[ 7.94585076e-01 -6.03904046e-01 6.27252810e-02 1.82316953e+02] [ 6.01937466e-01 7.97056467e-01 4.87060059e-02 -6.83943077e+01] [-7.94093449e-02 -9.44368617e-04 9.96841644e-01 -2.42272032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.306875 meters 0.014787610603408951 Centerline is valid? [True, True] Translation: X:182.34, Y:-68.38, Z:-24.23 [[ 7.94704238e-01 -6.03745627e-01 6.27406713e-02 1.82338240e+02] [ 6.01775525e-01 7.97176427e-01 4.87438439e-02 -6.83770593e+01] [-7.94442668e-02 -9.81138907e-04 9.96838826e-01 -2.42296902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.336875 meters 0.015123778421497305 Centerline is valid? [True, True] Translation: X:182.36, Y:-68.36, Z:-24.23 [[ 7.95585662e-01 -6.02521995e-01 6.33300837e-02 1.82360178e+02] [ 6.00509225e-01 7.98101479e-01 4.92209270e-02 -6.83582751e+01] [-8.02005246e-02 -1.12916426e-03 9.96778110e-01 -2.42323826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.366875 meters 0.01529896207706881 Centerline is valid? [True, True] Translation: X:182.38, Y:-68.34, Z:-24.23 [[ 7.96187312e-01 -6.01729118e-01 6.33074529e-02 1.82382285e+02] [ 5.99713269e-01 7.98699292e-01 4.92284077e-02 -6.83402672e+01] [-8.01857842e-02 -1.22871408e-03 9.96779178e-01 -2.42347646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.396875 meters 0.01580458405786904 Centerline is valid? [True, True] Translation: X:182.40, Y:-68.32, Z:-24.24 [[ 7.96890129e-01 -6.00839533e-01 6.29124605e-02 1.82403370e+02] [ 5.98843876e-01 7.99368553e-01 4.89482272e-02 -6.83223397e+01] [-7.97002724e-02 -1.33161738e-03 9.96817984e-01 -2.42383835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.426875 meters 0.016304397914374654 Centerline is valid? [True, True] Translation: X:182.43, Y:-68.30, Z:-24.24 [[ 7.98645331e-01 -5.98591538e-01 6.20790329e-02 1.82425826e+02] [ 5.96641215e-01 8.01052931e-01 4.83059200e-02 -6.83041324e+01] [-7.86441062e-02 -1.54038780e-03 9.96901566e-01 -2.42415452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.456875 meters 0.01816492282420489 Centerline is valid? [True, True] Translation: X:182.44, Y:-68.28, Z:-24.25 [[ 7.99556658e-01 -5.97397272e-01 6.18518455e-02 1.82444790e+02] [ 5.95455589e-01 8.01943702e-01 4.81553704e-02 -6.82844812e+01] [-7.83695849e-02 -1.67291995e-03 9.96922971e-01 -2.42466135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.486875 meters 0.01769142804273198 Centerline is valid? [True, True] Translation: X:182.47, Y:-68.27, Z:-24.25 [[ 8.00501625e-01 -5.96138805e-01 6.17711398e-02 1.82468280e+02] [ 5.94197817e-01 8.02879371e-01 4.81006305e-02 -6.82677935e+01] [-7.82694262e-02 -1.80035645e-03 9.96930617e-01 -2.42487766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.516875 meters 0.017311273136331774 Centerline is valid? [True, True] Translation: X:182.49, Y:-68.25, Z:-24.25 [[ 8.01402609e-01 -5.94914360e-01 6.18931611e-02 1.82492133e+02] [ 5.92960184e-01 8.03786744e-01 4.82191878e-02 -6.82514461e+01] [-7.84351897e-02 -1.94280273e-03 9.96917322e-01 -2.42502692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.546875 meters 0.018632972296688623 Centerline is valid? [True, True] Translation: X:182.51, Y:-68.23, Z:-24.25 [[ 8.02462711e-01 -5.93459740e-01 6.21219343e-02 1.82513175e+02] [ 5.91484557e-01 8.04860897e-01 4.84247331e-02 -6.82335307e+01] [-7.87376453e-02 -2.11487777e-03 9.96893129e-01 -2.42528043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.576875 meters 0.019324544385520778 Centerline is valid? [True, True] Translation: X:182.54, Y:-68.22, Z:-24.25 [[ 8.04554448e-01 -5.90525968e-01 6.30176239e-02 1.82537156e+02] [ 5.88483759e-01 8.07014940e-01 4.91299462e-02 -6.82164568e+01] [-7.98686730e-02 -2.44286854e-03 9.96802401e-01 -2.42532124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.606875 meters 0.019731822233062433 Centerline is valid? [True, True] Translation: X:182.56, Y:-68.20, Z:-24.26 [[ 8.05435420e-01 -5.89321477e-01 6.30395239e-02 1.82560460e+02] [ 5.87272283e-01 8.07894503e-01 4.91704877e-02 -6.81990619e+01] [-7.99065093e-02 -2.58228724e-03 9.96799018e-01 -2.42559358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.636875 meters 0.0201503249002618 Centerline is valid? [True, True] Translation: X:182.58, Y:-68.18, Z:-24.26 [[ 8.06043380e-01 -5.88521611e-01 6.27406031e-02 1.82583503e+02] [ 5.86487452e-01 8.08477081e-01 4.89620047e-02 -6.81818904e+01] [-7.95395376e-02 -2.66892329e-03 9.96828139e-01 -2.42588157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.666875 meters 0.02351679321910516 Centerline is valid? [True, True] Translation: X:182.60, Y:-68.16, Z:-24.26 [[ 8.06709568e-01 -5.87655337e-01 6.22966912e-02 1.82603083e+02] [ 5.85645205e-01 8.09106672e-01 4.86424443e-02 -6.81616919e+01] [-7.89896605e-02 -2.75656669e-03 9.96871624e-01 -2.42638355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69687499999998 meters 0.021835198554369318 Centerline is valid? [True, True] Translation: X:182.63, Y:-68.15, Z:-24.27 [[ 8.06996051e-01 -5.87301883e-01 6.19182611e-02 1.82628506e+02] [ 5.85314612e-01 8.09363191e-01 4.83531898e-02 -6.81471184e+01] [-7.85122808e-02 -2.77917029e-03 9.96909273e-01 -2.42659240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72687499999998 meters 0.020873654575527312 Centerline is valid? [True, True] Translation: X:182.65, Y:-68.13, Z:-24.27 [[ 8.07130275e-01 -5.87081507e-01 6.22577128e-02 1.82654601e+02] [ 5.85069790e-01 8.09522862e-01 4.86423391e-02 -6.81335841e+01] [-7.89560596e-02 -2.83559762e-03 9.96874064e-01 -2.42679145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75687499999998 meters 0.02137966977524353 Centerline is valid? [True, True] Translation: X:182.68, Y:-68.12, Z:-24.27 [[ 8.06946799e-01 -5.87315083e-01 6.24328198e-02 1.82676876e+02] [ 5.85290669e-01 8.09353395e-01 4.88048633e-02 -6.81177196e+01] [-7.91940470e-02 -2.84158133e-03 9.96855169e-01 -2.42701935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78687499999998 meters 0.022637355650360978 Centerline is valid? [True, True] Translation: X:182.70, Y:-68.10, Z:-24.27 [[ 8.06282820e-01 -5.88189867e-01 6.27749515e-02 1.82700216e+02] [ 5.86144123e-01 8.08718064e-01 4.90933751e-02 -6.81021107e+01] [-7.96434630e-02 -2.78797603e-03 9.96819515e-01 -2.42739502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81687499999998 meters 0.02056591669323544 Centerline is valid? [True, True] Translation: X:182.73, Y:-68.09, Z:-24.28 [[ 8.05784889e-01 -5.88906086e-01 6.24526607e-02 1.82725986e+02] [ 5.86882974e-01 8.08196936e-01 4.88475979e-02 -6.80884443e+01] [-7.92406967e-02 -2.70825300e-03 9.96851833e-01 -2.42756950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84687499999998 meters 0.02007201591043912 Centerline is valid? [True, True] Translation: X:182.75, Y:-68.07, Z:-24.28 [[ 8.05339312e-01 -5.89466671e-01 6.29097499e-02 1.82750873e+02] [ 5.87413491e-01 8.07788210e-01 4.92300563e-02 -6.80727151e+01] [-7.98372316e-02 -2.69286389e-03 9.96804276e-01 -2.42777286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87687499999998 meters 0.02064472254459091 Centerline is valid? [True, True] Translation: X:182.77, Y:-68.06, Z:-24.28 [[ 8.04985061e-01 -5.89899666e-01 6.33832541e-02 1.82773604e+02] [ 5.87814527e-01 8.07472065e-01 4.96280740e-02 -6.80566688e+01] [-8.04557913e-02 -2.69226064e-03 9.96754542e-01 -2.42801273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90687499999999 meters 0.01909395981015269 Centerline is valid? [True, True] Translation: X:182.80, Y:-68.04, Z:-24.28 [[ 8.04482171e-01 -5.90464332e-01 6.45004651e-02 1.82800838e+02] [ 5.88306108e-01 8.07059257e-01 5.05101804e-02 -6.80446864e+01] [-8.18801573e-02 -2.68852195e-03 9.96638556e-01 -2.42800101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.936875 meters 0.020174688357953646 Centerline is valid? [True, True] Translation: X:182.82, Y:-68.03, Z:-24.28 [[ 8.04463576e-01 -5.90476116e-01 6.46243921e-02 1.82821589e+02] [ 5.88307340e-01 8.07050547e-01 5.06348538e-02 -6.80279644e+01] [-8.20538228e-02 -2.71489133e-03 9.96624202e-01 -2.42836102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.966875 meters 0.018882431802636254 Centerline is valid? [True, True] Translation: X:182.85, Y:-68.01, Z:-24.29 [[ 8.04408768e-01 -5.90565156e-01 6.44928784e-02 1.82846269e+02] [ 5.88404594e-01 8.06985413e-01 5.05428249e-02 -6.80134548e+01] [-8.18936434e-02 -2.70918558e-03 9.96637392e-01 -2.42860215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.996875 meters 0.019582796083525266 Centerline is valid? [True, True] Translation: X:182.87, Y:-68.00, Z:-24.29 [[ 8.04577846e-01 -5.90381764e-01 6.40614001e-02 1.82868639e+02] [ 5.88246863e-01 8.07119502e-01 5.02368198e-02 -6.79965461e+01] [-8.13641076e-02 -2.73551463e-03 9.96680691e-01 -2.42898395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.026875 meters 0.020808399672116323 Centerline is valid? [True, True] Translation: X:182.89, Y:-67.98, Z:-24.29 [[ 8.04855833e-01 -5.90153812e-01 6.26543345e-02 1.82890925e+02] [ 5.88110505e-01 8.07286298e-01 4.91412984e-02 -6.79811497e+01] [-7.95809103e-02 -2.70398837e-03 9.96824742e-01 -2.42947286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.056875 meters 0.020480932756114442 Centerline is valid? [True, True] Translation: X:182.91, Y:-67.97, Z:-24.30 [[ 8.04950519e-01 -5.90053143e-01 6.23855053e-02 1.82914837e+02] [ 5.88025935e-01 8.07359848e-01 4.89446047e-02 -6.79656960e+01] [-7.92474699e-02 -2.71368983e-03 9.96851280e-01 -2.42980644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.086875 meters 0.0214693848485489 Centerline is valid? [True, True] Translation: X:182.94, Y:-67.95, Z:-24.30 [[ 8.04777063e-01 -5.90344368e-01 6.18660241e-02 1.82935545e+02] [ 5.88349635e-01 8.07147028e-01 4.85631847e-02 -6.79492873e+01] [-7.86039801e-02 -2.68368450e-03 9.96902308e-01 -2.43021472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.116875 meters 0.021719463731587355 Centerline is valid? [True, True] Translation: X:182.96, Y:-67.94, Z:-24.31 [[ 8.03976850e-01 -5.91480592e-01 6.14160790e-02 1.82959615e+02] [ 5.89517187e-01 8.06315161e-01 4.82218611e-02 -6.79357586e+01] [-7.80430105e-02 -2.56342583e-03 9.96946697e-01 -2.43051034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.146875 meters 0.01898668481661393 Centerline is valid? [True, True] Translation: X:182.99, Y:-67.92, Z:-24.31 [[ 8.02801465e-01 -5.93092293e-01 6.12481830e-02 1.82987155e+02] [ 5.91143496e-01 8.05130878e-01 4.81002759e-02 -6.79232929e+01] [-7.78407063e-02 -2.40850696e-03 9.96962900e-01 -2.43057838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.176875 meters 0.018441854032435933 Centerline is valid? [True, True] Translation: X:183.01, Y:-67.91, Z:-24.31 [[ 8.01550698e-01 -5.94743638e-01 6.16156043e-02 1.83011924e+02] [ 5.92774266e-01 8.03912183e-01 4.84135393e-02 -6.79079488e+01] [-7.83271794e-02 -2.28176162e-03 9.96925096e-01 -2.43082487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.206875 meters 0.018115699397313542 Centerline is valid? [True, True] Translation: X:183.04, Y:-67.89, Z:-24.31 [[ 8.00449642e-01 -5.96160559e-01 6.22330918e-02 1.83036188e+02] [ 5.94153729e-01 8.02862263e-01 4.89237480e-02 -6.78923591e+01] [-7.91310099e-02 -2.18497305e-03 9.96861831e-01 -2.43105310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.236875 meters 0.01819131669776156 Centerline is valid? [True, True] Translation: X:183.06, Y:-67.88, Z:-24.31 [[ 7.99049260e-01 -5.97897311e-01 6.35537932e-02 1.83060492e+02] [ 5.95807483e-01 8.01570013e-01 4.99895783e-02 -6.78782845e+01] [-8.08314493e-02 -2.07831006e-03 9.96725618e-01 -2.43129136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.266875 meters 0.018043383503194024 Centerline is valid? [True, True] Translation: X:183.08, Y:-67.86, Z:-24.32 [[ 7.98655006e-01 -5.98415225e-01 6.36348932e-02 1.83084823e+02] [ 5.96321125e-01 8.01183550e-01 5.00603192e-02 -6.78623693e+01] [-8.09400868e-02 -2.03409344e-03 9.96716893e-01 -2.43150760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.296875 meters 0.017960711590825938 Centerline is valid? [True, True] Translation: X:183.11, Y:-67.85, Z:-24.32 [[ 7.98183852e-01 -5.99073584e-01 6.33512329e-02 1.83108321e+02] [ 5.96998260e-01 8.00691532e-01 4.98612917e-02 -6.78463593e+01] [-8.05953784e-02 -1.97790207e-03 9.96744939e-01 -2.43179123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.326875 meters 0.017537731365530353 Centerline is valid? [True, True] Translation: X:183.13, Y:-67.83, Z:-24.32 [[ 7.98023023e-01 -5.99330996e-01 6.29413321e-02 1.83131830e+02] [ 5.97281420e-01 8.00498922e-01 4.95618906e-02 -6.78312499e+01] [-8.00884458e-02 -1.95784155e-03 9.96785838e-01 -2.43204064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.356875 meters 0.018712259347966186 Centerline is valid? [True, True] Translation: X:183.15, Y:-67.82, Z:-24.32 [[ 7.98192859e-01 -5.99099404e-01 6.29925718e-02 1.83154186e+02] [ 5.97043366e-01 8.00672141e-01 4.96320569e-02 -6.78153272e+01] [-8.01709330e-02 -2.00665625e-03 9.96779110e-01 -2.43236387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.386875 meters 0.01744585648251955 Centerline is valid? [True, True] Translation: X:183.18, Y:-67.80, Z:-24.32 [[ 7.98092317e-01 -5.99220189e-01 6.31175007e-02 1.83178561e+02] [ 5.97155467e-01 8.00581748e-01 4.97414494e-02 -6.78007467e+01] [-8.03367998e-02 -2.00730801e-03 9.96765754e-01 -2.43249090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.416875 meters 0.018088731885701134 Centerline is valid? [True, True] Translation: X:183.20, Y:-67.78, Z:-24.33 [[ 7.98522116e-01 -5.98622940e-01 6.33482925e-02 1.83201068e+02] [ 5.96538685e-01 8.01028193e-01 4.99542932e-02 -6.77840397e+01] [-8.06475541e-02 -2.09990081e-03 9.96740469e-01 -2.43271105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44687499999998 meters 0.018029132507037634 Centerline is valid? [True, True] Translation: X:183.23, Y:-67.77, Z:-24.33 [[ 7.98800068e-01 -5.98269398e-01 6.31836896e-02 1.83225574e+02] [ 5.96194338e-01 8.01292186e-01 4.98311447e-02 -6.77684830e+01] [-8.04410457e-02 -2.13536380e-03 9.96757081e-01 -2.43292787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47687499999998 meters 0.017713991245642713 Centerline is valid? [True, True] Translation: X:183.25, Y:-67.75, Z:-24.33 [[ 7.98833071e-01 -5.98225408e-01 6.31829611e-02 1.83249245e+02] [ 5.96148269e-01 8.01324964e-01 4.98552239e-02 -6.77518624e+01] [-8.04547456e-02 -2.15958868e-03 9.96755923e-01 -2.43319506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50687499999998 meters 0.017955343159233954 Centerline is valid? [True, True] Translation: X:183.27, Y:-67.73, Z:-24.33 [[ 7.98914711e-01 -5.98134754e-01 6.30087329e-02 1.83271900e+02] [ 5.96066779e-01 8.01392570e-01 4.97427807e-02 -6.77348243e+01] [-8.02476163e-02 -2.18282674e-03 9.96772570e-01 -2.43349021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53687499999998 meters 0.018377669696987647 Centerline is valid? [True, True] Translation: X:183.29, Y:-67.72, Z:-24.34 [[ 7.99033384e-01 -5.97957934e-01 6.31819647e-02 1.83293375e+02] [ 5.95875819e-01 8.01524387e-01 4.99065642e-02 -6.77188600e+01] [-8.04839115e-02 -2.22840588e-03 9.96753417e-01 -2.43376768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56687499999998 meters 0.018377669696987647 Centerline is valid? [True, True] Translation: X:183.31, Y:-67.70, Z:-24.34 [[ 7.98867174e-01 -5.98180446e-01 6.31774737e-02 1.83314914e+02] [ 5.96098576e-01 8.01358381e-01 4.99122489e-02 -6.77017266e+01] [-8.04843294e-02 -2.21325515e-03 9.96753417e-01 -2.43401846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59687499999998 meters 0.018775921818175688 Centerline is valid? [True, True] Translation: X:183.34, Y:-67.69, Z:-24.34 [[ 7.98761307e-01 -5.98274638e-01 6.36225679e-02 1.83338141e+02] [ 5.96161121e-01 8.01287978e-01 5.02940796e-02 -6.76870040e+01] [-8.10696711e-02 -2.24366330e-03 9.96705912e-01 -2.43414528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62687499999998 meters 0.018679906172744436 Centerline is valid? [True, True] Translation: X:183.36, Y:-67.67, Z:-24.34 [[ 7.98620928e-01 -5.98453773e-01 6.37000419e-02 1.83361288e+02] [ 5.96334153e-01 8.01154199e-01 5.03738856e-02 -6.76706942e+01] [-8.11799979e-02 -2.24312874e-03 9.96696933e-01 -2.43436570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65687499999999 meters 0.018888842478303615 Centerline is valid? [True, True] Translation: X:183.38, Y:-67.65, Z:-24.35 [[ 7.98685319e-01 -5.98367037e-01 6.37075353e-02 1.83384917e+02] [ 5.96244267e-01 8.01218890e-01 5.04089629e-02 -6.76535350e+01] [-8.12067425e-02 -2.27564590e-03 9.96694681e-01 -2.43462488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.686875 meters 0.019066183435177107 Centerline is valid? [True, True] Translation: X:183.41, Y:-67.64, Z:-24.35 [[ 7.99160362e-01 -5.97815287e-01 6.29253350e-02 1.83408648e+02] [ 5.95740738e-01 8.01630518e-01 4.98145101e-02 -6.76373470e+01] [-8.02227446e-02 -2.32259646e-03 9.96774256e-01 -2.43495878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.716875 meters 0.019002104980737504 Centerline is valid? [True, True] Translation: X:183.43, Y:-67.62, Z:-24.35 [[ 7.99329353e-01 -5.97638234e-01 6.24589957e-02 1.83431409e+02] [ 5.95591852e-01 8.01762466e-01 4.94701229e-02 -6.76203455e+01] [-7.96425153e-02 -2.34285243e-03 9.96820737e-01 -2.43528358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.746875 meters 0.019872409520178495 Centerline is valid? [True, True] Translation: X:183.45, Y:-67.60, Z:-24.36 [[ 7.99646027e-01 -5.97258271e-01 6.20386071e-02 1.83452795e+02] [ 5.95236085e-01 8.02045424e-01 4.91644281e-02 -6.76025425e+01] [-7.91216422e-02 -2.38652199e-03 9.96862112e-01 -2.43562307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.776875 meters 0.019922499592301413 Centerline is valid? [True, True] Translation: X:183.48, Y:-67.59, Z:-24.36 [[ 7.99328030e-01 -5.97750742e-01 6.13901558e-02 1.83475410e+02] [ 5.95771685e-01 8.01678663e-01 4.86561546e-02 -6.75855843e+01] [-7.82994305e-02 -2.31771168e-03 9.96927193e-01 -2.43599372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.806875 meters 0.019180130965123277 Centerline is valid? [True, True] Translation: X:183.50, Y:-67.57, Z:-24.36 [[ 7.99036211e-01 -5.98210583e-01 6.07061114e-02 1.83498966e+02] [ 5.96274700e-01 8.01335729e-01 4.81407428e-02 -6.75698913e+01] [-7.74442779e-02 -2.26867830e-03 9.96994101e-01 -2.43625627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.836875 meters 0.01923840987516076 Centerline is valid? [True, True] Translation: X:183.52, Y:-67.55, Z:-24.37 [[ 7.97830467e-01 -5.99776662e-01 6.11105705e-02 1.83521799e+02] [ 5.97816969e-01 8.00164550e-01 4.84929431e-02 -6.75541179e+01] [-7.79834476e-02 -2.15621141e-03 9.96952322e-01 -2.43655200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.866875 meters 0.01874410431731818 Centerline is valid? [True, True] Translation: X:183.55, Y:-67.54, Z:-24.37 [[ 7.97149388e-01 -6.00652845e-01 6.13922842e-02 1.83545522e+02] [ 5.98677106e-01 7.99507231e-01 4.87228010e-02 -6.75370486e+01] [-7.83490641e-02 -2.08519603e-03 9.96923807e-01 -2.43675509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.896875 meters 0.01869492918967253 Centerline is valid? [True, True] Translation: X:183.57, Y:-67.52, Z:-24.37 [[ 7.96427031e-01 -6.01517806e-01 6.22921613e-02 1.83567469e+02] [ 5.99484138e-01 7.98856760e-01 4.94635701e-02 -6.75206133e+01] [-7.95157323e-02 -2.05096165e-03 9.96831501e-01 -2.43701782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.926875 meters 0.018272128878903324 Centerline is valid? [True, True] Translation: X:183.59, Y:-67.50, Z:-24.37 [[ 7.95854796e-01 -6.02270185e-01 6.23359199e-02 1.83591258e+02] [ 6.00235061e-01 7.98289846e-01 4.95095229e-02 -6.75037009e+01] [-7.95802415e-02 -1.98618661e-03 9.96826485e-01 -2.43726618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.956875 meters 0.017623979197123635 Centerline is valid? [True, True] Translation: X:183.61, Y:-67.49, Z:-24.38 [[ 7.95443903e-01 -6.02847434e-01 6.19997448e-02 1.83614820e+02] [ 6.00834119e-01 7.97854135e-01 4.92660259e-02 -6.74881473e+01] [-7.91666500e-02 -1.93679793e-03 9.96859514e-01 -2.43751085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.986875 meters 0.016072036613997972 Centerline is valid? [True, True] Translation: X:183.64, Y:-67.47, Z:-24.38 [[ 7.92303246e-01 -6.07086248e-01 6.08428662e-02 1.83640914e+02] [ 6.05157751e-01 7.94634516e-01 4.83743947e-02 -6.74749162e+01] [-7.77152713e-02 -1.50765784e-03 9.96974455e-01 -2.43774556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.016875 meters 0.015097005533322706 Centerline is valid? [True, True] Translation: X:183.67, Y:-67.46, Z:-24.38 [[ 7.90383173e-01 -6.09547957e-01 6.12023578e-02 1.83665567e+02] [ 6.07601992e-01 7.92748142e-01 4.86847345e-02 -6.74588622e+01] [-7.81937359e-02 -1.29292040e-03 9.96937344e-01 -2.43790148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.046875 meters 0.014589479805989366 Centerline is valid? [True, True] Translation: X:183.69, Y:-67.44, Z:-24.38 [[ 7.89217325e-01 -6.11041017e-01 6.13586980e-02 1.83689305e+02] [ 6.09087635e-01 7.91598075e-01 4.88338060e-02 -6.74422066e+01] [-7.84108857e-02 -1.16766152e-03 9.96920443e-01 -2.43810493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.076875 meters 0.014009363004084058 Centerline is valid? [True, True] Translation: X:183.71, Y:-67.43, Z:-24.38 [[ 7.87351258e-01 -6.13365674e-01 6.21332899e-02 1.83713427e+02] [ 6.11367792e-01 7.89798463e-01 4.94753519e-02 -6.74258336e+01] [-7.94192595e-02 -9.68188290e-04 9.96840832e-01 -2.43830094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.106875 meters 0.013953045235763907 Centerline is valid? [True, True] Translation: X:183.74, Y:-67.41, Z:-24.39 [[ 7.86770856e-01 -6.14121342e-01 6.20209371e-02 1.83735355e+02] [ 6.12130957e-01 7.89211092e-01 4.94119846e-02 -6.74096422e+01] [-7.92925658e-02 -9.10973806e-04 9.96850971e-01 -2.43855944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.136875 meters 0.013736672136903803 Centerline is valid? [True, True] Translation: X:183.76, Y:-67.39, Z:-24.39 [[ 7.86261461e-01 -6.14857772e-01 6.11787195e-02 1.83758006e+02] [ 6.12922500e-01 7.88637575e-01 4.87522824e-02 -6.73928929e+01] [-7.82235567e-02 -8.34227087e-04 9.96935494e-01 -2.43883069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.166875 meters 0.01387664199990872 Centerline is valid? [True, True] Translation: X:183.78, Y:-67.38, Z:-24.39 [[ 7.86088855e-01 -6.15146725e-01 6.04881609e-02 1.83779826e+02] [ 6.13253510e-01 7.88412223e-01 4.82317094e-02 -6.73757345e+01] [-7.73591835e-02 -8.19832206e-04 9.97002951e-01 -2.43923371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19687499999998 meters 0.013631256661252507 Centerline is valid? [True, True] Translation: X:183.80, Y:-67.36, Z:-24.40 [[ 7.85229367e-01 -6.16330002e-01 5.96000900e-02 1.83802803e+02] [ 6.14494730e-01 7.87487675e-01 4.75330188e-02 -6.73593098e+01] [-7.62303619e-02 -7.00381026e-04 9.97089987e-01 -2.43964261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22687499999998 meters 0.013517791503223386 Centerline is valid? [True, True] Translation: X:183.83, Y:-67.34, Z:-24.40 [[ 7.84558641e-01 -6.17125698e-01 6.01964536e-02 1.83826038e+02] [ 6.15253659e-01 7.86864314e-01 4.80362933e-02 -6.73418938e+01] [-7.70108722e-02 -6.51200647e-04 9.97030040e-01 -2.43978328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25687499999998 meters 0.013460551412836466 Centerline is valid? [True, True] Translation: X:183.85, Y:-67.32, Z:-24.40 [[ 7.84191616e-01 -6.17512561e-01 6.10061234e-02 1.83848552e+02] [ 6.15588825e-01 7.86560757e-01 4.87090789e-02 -6.73247190e+01] [-7.80634906e-02 -6.42563510e-04 9.96948182e-01 -2.43991477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28687499999998 meters 0.0134370533427696 Centerline is valid? [True, True] Translation: X:183.87, Y:-67.31, Z:-24.40 [[ 7.83819608e-01 -6.17938613e-01 6.14710651e-02 1.83871090e+02] [ 6.15986257e-01 7.86226112e-01 4.90859724e-02 -6.73071737e+01] [-7.86622742e-02 -6.09216346e-04 9.96901136e-01 -2.44005358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31687499999998 meters 0.013288604911379473 Centerline is valid? [True, True] Translation: X:183.89, Y:-67.29, Z:-24.40 [[ 7.83572896e-01 -6.18185507e-01 6.21304728e-02 1.83894338e+02] [ 6.16189462e-01 7.86031999e-01 4.96411491e-02 -6.72891207e+01] [-7.95239787e-02 -6.13316374e-04 9.96832765e-01 -2.44017492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34687499999998 meters 0.013461938489407107 Centerline is valid? [True, True] Translation: X:183.91, Y:-67.27, Z:-24.41 [[ 7.83564525e-01 -6.18206869e-01 6.20234000e-02 1.83914930e+02] [ 6.16215900e-01 7.86015186e-01 4.95791479e-02 -6.72714276e+01] [-7.94015040e-02 -6.28656294e-04 9.96842518e-01 -2.44051330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37687499999998 meters 0.013367284484092279 Centerline is valid? [True, True] Translation: X:183.94, Y:-67.25, Z:-24.41 [[ 7.83369229e-01 -6.18420355e-01 6.23611710e-02 1.83936219e+02] [ 6.16407147e-01 7.85847236e-01 4.98633217e-02 -6.72529919e+01] [-7.98428470e-02 -6.21520315e-04 9.96807270e-01 -2.44083355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40687499999999 meters 0.013138327731968377 Centerline is valid? [True, True] Translation: X:183.96, Y:-67.24, Z:-24.41 [[ 7.83340951e-01 -6.18434814e-01 6.25726384e-02 1.83957748e+02] [ 6.16405762e-01 7.85835839e-01 5.00596594e-02 -6.72356215e+01] [-8.01304580e-02 -6.43646319e-04 9.96784177e-01 -2.44099274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.436875 meters 0.013339056742233337 Centerline is valid? [True, True] Translation: X:183.98, Y:-67.22, Z:-24.41 [[ 7.83560674e-01 -6.18104574e-01 6.30825236e-02 1.83978069e+02] [ 6.16038710e-01 7.86095564e-01 5.04982442e-02 -6.72176372e+01] [-8.08020876e-02 -7.07161792e-04 9.96729915e-01 -2.44125888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.466875 meters 0.013643293718142551 Centerline is valid? [True, True] Translation: X:184.00, Y:-67.20, Z:-24.42 [[ 7.83797091e-01 -6.17781994e-01 6.33050410e-02 1.83998049e+02] [ 6.15699174e-01 7.86349055e-01 5.06921095e-02 -6.71998175e+01] [-8.10965317e-02 -7.55466477e-04 9.96705966e-01 -2.44153537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.496875 meters 0.013457142430277859 Centerline is valid? [True, True] Translation: X:184.02, Y:-67.18, Z:-24.42 [[ 7.84334883e-01 -6.17086953e-01 6.34230589e-02 1.84020402e+02] [ 6.14992868e-01 7.86894521e-01 5.08014368e-02 -6.71817281e+01] [-8.12561614e-02 -8.40610124e-04 9.96692896e-01 -2.44161452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.526875 meters 0.013720010218138847 Centerline is valid? [True, True] Translation: X:184.04, Y:-67.16, Z:-24.42 [[ 7.84517660e-01 -6.16847092e-01 6.34957167e-02 1.84041430e+02] [ 6.14745390e-01 7.87082512e-01 5.08844311e-02 -6.71638666e+01] [-8.13642816e-02 -8.86035724e-04 9.96684037e-01 -2.44189262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.556875 meters 0.014123139981534343 Centerline is valid? [True, True] Translation: X:184.06, Y:-67.15, Z:-24.42 [[ 7.84717483e-01 -6.16601745e-01 6.34094652e-02 1.84060969e+02] [ 6.14502504e-01 7.87274676e-01 5.08454226e-02 -6.71458691e+01] [-8.12720425e-02 -9.34016905e-04 9.96691518e-01 -2.44226530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.586875 meters 0.01384937773891212 Centerline is valid? [True, True] Translation: X:184.08, Y:-67.13, Z:-24.42 [[ 7.84666188e-01 -6.16648626e-01 6.35880922e-02 1.84082818e+02] [ 6.14536426e-01 7.87237945e-01 5.10039150e-02 -6.71288232e+01] [-8.15104531e-02 -9.43848603e-04 9.96672040e-01 -2.44248222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.616875 meters 0.014229612425010002 Centerline is valid? [True, True] Translation: X:184.10, Y:-67.11, Z:-24.43 [[ 7.85112254e-01 -6.16125827e-01 6.31483489e-02 1.84103157e+02] [ 6.14038656e-01 7.87647088e-01 5.06813006e-02 -6.71106941e+01] [-8.09646714e-02 -1.01498287e-03 9.96716455e-01 -2.44283193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.646875 meters 0.0141086854445987 Centerline is valid? [True, True] Translation: X:184.13, Y:-67.09, Z:-24.43 [[ 7.85198182e-01 -6.16090183e-01 6.24235693e-02 1.84126218e+02] [ 6.14049320e-01 7.87674963e-01 5.01157218e-02 -6.70926272e+01] [-8.00452868e-02 -1.01962337e-03 9.96790706e-01 -2.44307777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.676875 meters 0.014296408097521543 Centerline is valid? [True, True] Translation: X:184.15, Y:-67.07, Z:-24.43 [[ 7.85432364e-01 -6.15809401e-01 6.22477532e-02 1.84147781e+02] [ 6.13777178e-01 7.87894439e-01 4.99992866e-02 -6.70742895e+01] [-7.98346894e-02 -1.06480760e-03 9.96807548e-01 -2.44340512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.706875 meters 0.014603016545261603 Centerline is valid? [True, True] Translation: X:184.17, Y:-67.06, Z:-24.44 [[ 7.86030050e-01 -6.15165805e-01 6.10556501e-02 1.84169614e+02] [ 6.13207007e-01 7.88396957e-01 4.90653146e-02 -6.70553406e+01] [-7.83193925e-02 -1.12705930e-03 9.96927682e-01 -2.44374321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.736875 meters 0.015023166519638816 Centerline is valid? [True, True] Translation: X:184.19, Y:-67.04, Z:-24.44 [[ 7.86231559e-01 -6.14953083e-01 6.06023128e-02 1.84190136e+02] [ 6.13020618e-01 7.88562844e-01 4.87274417e-02 -6.70371295e+01] [-7.77538226e-02 -1.16058523e-03 9.96971913e-01 -2.44413550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.766875 meters 0.015061132375392439 Centerline is valid? [True, True] Translation: X:184.21, Y:-67.02, Z:-24.44 [[ 7.86037112e-01 -6.15216783e-01 6.04480665e-02 1.84211489e+02] [ 6.13294175e-01 7.88357160e-01 4.86132027e-02 -6.70189256e+01] [-7.75623242e-02 -1.13933436e-03 9.96986854e-01 -2.44443000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.796875 meters 0.015020728864369394 Centerline is valid? [True, True] Translation: X:184.23, Y:-67.00, Z:-24.45 [[ 7.85827252e-01 -6.15478699e-01 6.05103466e-02 1.84233047e+02] [ 6.13550761e-01 7.88152701e-01 4.86906875e-02 -6.70009135e+01] [-7.76594741e-02 -1.13629992e-03 9.96979295e-01 -2.44469109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.826875 meters 0.014853940423039228 Centerline is valid? [True, True] Translation: X:184.26, Y:-66.98, Z:-24.45 [[ 7.85189828e-01 -6.16229874e-01 6.11365377e-02 1.84255352e+02] [ 6.14261782e-01 7.87565579e-01 4.92231792e-02 -6.69830706e+01] [-7.84818262e-02 -1.09570099e-03 9.96914942e-01 -2.44479928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.856875 meters 0.014675512545144554 Centerline is valid? [True, True] Translation: X:184.28, Y:-66.97, Z:-24.45 [[ 7.84654465e-01 -6.16840045e-01 6.18524780e-02 1.84278094e+02] [ 6.14825581e-01 7.87087812e-01 4.98224856e-02 -6.69654181e+01] [-7.94158358e-02 -1.06495002e-03 9.96841006e-01 -2.44496411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.886875 meters 0.014567667752179155 Centerline is valid? [True, True] Translation: X:184.30, Y:-66.95, Z:-24.45 [[ 7.84197644e-01 -6.17320714e-01 6.28425875e-02 1.84301053e+02] [ 6.15240583e-01 7.86710891e-01 5.06458119e-02 -6.69470977e+01] [-8.07036568e-02 -1.05301623e-03 9.96737584e-01 -2.44512419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.916875 meters 0.013622393288029609 Centerline is valid? [True, True] Translation: X:184.33, Y:-66.93, Z:-24.45 [[ 7.81107558e-01 -6.20995342e-01 6.50827797e-02 1.84325490e+02] [ 6.18774620e-01 7.83813926e-01 5.24757018e-02 -6.69306672e+01] [-8.35999554e-02 -7.17595027e-04 9.96499138e-01 -2.44513470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94687499999998 meters 0.013037247945621189 Centerline is valid? [True, True] Translation: X:184.35, Y:-66.92, Z:-24.44 [[ 7.73856618e-01 -6.29602949e-01 6.88916636e-02 1.84353479e+02] [ 6.27145330e-01 7.76917041e-01 5.55756018e-02 -6.69185350e+01] [-8.85136702e-02 1.97537809e-04 9.96074943e-01 -2.44446772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97687499999998 meters 0.014775541082351537 Centerline is valid? [True, True] Translation: X:184.38, Y:-66.91, Z:-24.44 [[ 7.65396244e-01 -6.39683051e-01 7.05278978e-02 1.84378608e+02] [ 6.37146681e-01 7.68637578e-01 5.69243491e-02 -6.69051004e+01] [-9.06239339e-02 1.36693299e-03 9.95884247e-01 -2.44425009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00687499999998 meters 0.0157215586820545 Centerline is valid? [True, True] Translation: X:184.40, Y:-66.89, Z:-24.45 [[ 7.63404921e-01 -6.42259800e-01 6.86678670e-02 1.84399436e+02] [ 6.39865132e-01 7.66485307e-01 5.54336361e-02 -6.68868561e+01] [-8.82357072e-02 1.61986314e-03 9.96098306e-01 -2.44501086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03687499999998 meters 0.016432996173619978 Centerline is valid? [True, True] Translation: X:184.42, Y:-66.87, Z:-24.46 [[ 7.62213896e-01 -6.43950777e-01 6.60104031e-02 1.84419718e+02] [ 6.41743454e-01 7.65064955e-01 5.33005935e-02 -6.68668477e+01] [-8.48252046e-02 1.73529110e-03 9.96394336e-01 -2.44600341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06687499999998 meters 0.016283614843592878 Centerline is valid? [True, True] Translation: X:184.44, Y:-66.85, Z:-24.47 [[ 7.61944954e-01 -6.44563093e-01 6.30738115e-02 1.84438769e+02] [ 6.42548325e-01 7.64549221e-01 5.09523196e-02 -6.68453110e+01] [-8.10650182e-02 1.70510915e-03 9.96707357e-01 -2.44694462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09687499999998 meters 0.015924849843039816 Centerline is valid? [True, True] Translation: X:184.46, Y:-66.82, Z:-24.48 [[ 7.63277025e-01 -6.43351298e-01 5.92223876e-02 1.84457610e+02] [ 6.41570110e-01 7.65569701e-01 4.78625843e-02 -6.68233485e+01] [-7.61313213e-02 1.46290282e-03 9.97096726e-01 -2.44783301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12687499999998 meters 0.015752487527872963 Centerline is valid? [True, True] Translation: X:184.48, Y:-66.81, Z:-24.48 [[ 7.64406865e-01 -6.42068728e-01 5.85652834e-02 1.84479369e+02] [ 6.40321193e-01 7.66645979e-01 4.73572894e-02 -6.68051455e+01] [-7.53054736e-02 1.30035499e-03 9.97159664e-01 -2.44791996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15687499999999 meters 0.015446295625853187 Centerline is valid? [True, True] Translation: X:184.50, Y:-66.79, Z:-24.48 [[ 7.65340007e-01 -6.40959077e-01 5.85331973e-02 1.84501893e+02] [ 6.39209805e-01 7.67574136e-01 4.73367775e-02 -6.67859264e+01] [-7.52695055e-02 1.18626401e-03 9.97162522e-01 -2.44781301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.186875 meters 0.01487972701521184 Centerline is valid? [True, True] Translation: X:184.52, Y:-66.77, Z:-24.48 [[ 7.66467943e-01 -6.39541395e-01 5.92764463e-02 1.84523228e+02] [ 6.37741482e-01 7.68755953e-01 4.79592243e-02 -6.67661133e+01] [-7.62410302e-02 1.04384069e-03 9.97088871e-01 -2.44761795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.216875 meters 0.013919397315249661 Centerline is valid? [True, True] Translation: X:184.54, Y:-66.74, Z:-24.48 [[ 7.70180660e-01 -6.34958879e-01 6.04067326e-02 1.84541085e+02] [ 6.33073534e-01 7.72545716e-01 4.88980250e-02 -6.67418870e+01] [-7.77151976e-02 5.81590531e-04 9.96975431e-01 -2.44754865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.246875 meters 0.013643047051115288 Centerline is valid? [True, True] Translation: X:184.56, Y:-66.72, Z:-24.48 [[ 7.72238069e-01 -6.32372588e-01 6.12639814e-02 1.84559485e+02] [ 6.30423181e-01 7.74664325e-01 4.96164992e-02 -6.67199995e+01] [-7.88351348e-02 3.06484534e-04 9.96887620e-01 -2.44801925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.276875 meters 0.013397125542419851 Centerline is valid? [True, True] Translation: X:184.58, Y:-66.70, Z:-24.48 [[ 7.74456989e-01 -6.29547268e-01 6.23426849e-02 1.84578807e+02] [ 6.27517336e-01 7.76962186e-01 5.05148982e-02 -6.66975431e+01] [-8.02394249e-02 -5.00324724e-07 9.96775619e-01 -2.44829542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.306875 meters 0.013887051597704867 Centerline is valid? [True, True] Translation: X:184.60, Y:-66.67, Z:-24.49 [[ 7.78540028e-01 -6.24373111e-01 6.35109733e-02 1.84595360e+02] [ 6.22246751e-01 7.81126045e-01 5.14886647e-02 -6.66746586e+01] [-8.17582131e-02 -5.66489654e-04 9.96652032e-01 -2.44861773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.336875 meters 0.014038855641134811 Centerline is valid? [True, True] Translation: X:184.62, Y:-66.66, Z:-24.49 [[ 7.80080590e-01 -6.22385977e-01 6.41090387e-02 1.84617058e+02] [ 6.20211610e-01 7.82710080e-01 5.19854693e-02 -6.66556032e+01] [-8.25338179e-02 -7.91685453e-04 9.96587950e-01 -2.44869258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.366875 meters 0.014345575477611604 Centerline is valid? [True, True] Translation: X:184.64, Y:-66.64, Z:-24.49 [[ 7.81399062e-01 -6.20697228e-01 6.44240407e-02 1.84638536e+02] [ 6.18493510e-01 7.84049718e-01 5.22668005e-02 -6.66358737e+01] [-8.29535091e-02 -9.95377767e-04 9.96552921e-01 -2.44875764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.396875 meters 0.01504872923252713 Centerline is valid? [True, True] Translation: X:184.66, Y:-66.62, Z:-24.49 [[ 7.82607693e-01 -6.19098390e-01 6.51335657e-02 1.84658471e+02] [ 6.16837888e-01 7.85312513e-01 5.28703769e-02 -6.66160126e+01] [-8.38821694e-02 -1.19991262e-03 9.96474958e-01 -2.44890986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.426875 meters 0.01573138288657594 Centerline is valid? [True, True] Translation: X:184.68, Y:-66.60, Z:-24.49 [[ 7.85186461e-01 -6.15803432e-01 6.53326489e-02 1.84678083e+02] [ 6.13516856e-01 7.87898271e-01 5.30413160e-02 -6.65952831e+01] [-8.41385055e-02 -1.56464183e-03 9.96452841e-01 -2.44915263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.456875 meters 0.01573138288657594 Centerline is valid? [True, True] Translation: X:184.70, Y:-66.58, Z:-24.49 [[ 7.85015128e-01 -6.16022234e-01 6.53288401e-02 1.84699391e+02] [ 6.13736024e-01 7.87727246e-01 5.30460069e-02 -6.65778775e+01] [-8.41388270e-02 -1.54725529e-03 9.96452841e-01 -2.44940346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.486875 meters 0.016440238562836693 Centerline is valid? [True, True] Translation: X:184.72, Y:-66.56, Z:-24.50 [[ 7.85832086e-01 -6.15006338e-01 6.50779252e-02 1.84718864e+02] [ 6.12731584e-01 7.88520387e-01 5.28734822e-02 -6.65587158e+01] [-8.38327974e-02 -1.67437855e-03 9.96478429e-01 -2.44975538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.516875 meters 0.01662264811668487 Centerline is valid? [True, True] Translation: X:184.74, Y:-66.54, Z:-24.50 [[ 7.86210490e-01 -6.14573911e-01 6.45908225e-02 1.84740843e+02] [ 6.12330403e-01 7.88857370e-01 5.24931145e-02 -6.65399015e+01] [-8.32138451e-02 -1.71971290e-03 9.96530230e-01 -2.45014827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.546875 meters 0.016878064461915348 Centerline is valid? [True, True] Translation: X:184.76, Y:-66.52, Z:-24.51 [[ 7.86695733e-01 -6.14036699e-01 6.37868019e-02 1.84761949e+02] [ 6.11844958e-01 7.89275481e-01 5.18648453e-02 -6.65221208e+01] [-8.21922771e-02 -1.77421931e-03 9.96614911e-01 -2.45057043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.576875 meters 0.017657714081390066 Centerline is valid? [True, True] Translation: X:184.78, Y:-66.50, Z:-24.51 [[ 7.87776240e-01 -6.12866954e-01 6.16659783e-02 1.84782339e+02] [ 6.10814586e-01 7.90183975e-01 5.01480397e-02 -6.65045491e+01] [-7.94615442e-02 -1.83895510e-03 9.96836236e-01 -2.45116808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.606875 meters 0.018209017047517338 Centerline is valid? [True, True] Translation: X:184.80, Y:-66.49, Z:-24.52 [[ 7.88398711e-01 -6.12162929e-01 6.06961327e-02 1.84804183e+02] [ 6.10171580e-01 7.90729394e-01 4.93727530e-02 -6.64862622e+01] [-7.82183853e-02 -1.89035970e-03 9.96934457e-01 -2.45157164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.636875 meters 0.018712577828026104 Centerline is valid? [True, True] Translation: X:184.83, Y:-66.47, Z:-24.52 [[ 7.88964605e-01 -6.11538109e-01 5.96321460e-02 1.84826318e+02] [ 6.09612529e-01 7.91212609e-01 4.85301127e-02 -6.64680600e+01] [-7.68597192e-02 -1.93603789e-03 9.97040037e-01 -2.45191789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.666875 meters 0.020274087158227358 Centerline is valid? [True, True] Translation: X:184.85, Y:-66.45, Z:-24.52 [[ 7.90505325e-01 -6.09590931e-01 5.91627269e-02 1.84847220e+02] [ 6.07688204e-01 7.92713293e-01 4.81734551e-02 -6.64501082e+01] [-7.62651814e-02 -2.12888149e-03 9.97085297e-01 -2.45215666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69687499999998 meters 0.01917015271302528 Centerline is valid? [True, True] Translation: X:184.87, Y:-66.43, Z:-24.52 [[ 7.91100775e-01 -6.08771595e-01 5.96381500e-02 1.84871446e+02] [ 6.06835247e-01 7.93342402e-01 4.85676552e-02 -6.64343007e+01] [-7.68800821e-02 -2.23137816e-03 9.97037850e-01 -2.45218614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72687499999998 meters 0.01845360688364689 Centerline is valid? [True, True] Translation: X:184.90, Y:-66.42, Z:-24.52 [[ 7.91742418e-01 -6.07897876e-01 6.00342930e-02 1.84895039e+02] [ 6.05931049e-01 7.94011734e-01 4.89175920e-02 -6.64182493e+01] [-7.74048334e-02 -2.35349041e-03 9.96996967e-01 -2.45224921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75687499999998 meters 0.020542054868234492 Centerline is valid? [True, True] Translation: X:184.91, Y:-66.40, Z:-24.53 [[ 7.92263597e-01 -6.07143562e-01 6.07872353e-02 1.84914651e+02] [ 6.05124062e-01 7.94588332e-01 4.95404070e-02 -6.63985895e+01] [-7.83789670e-02 -2.46524234e-03 9.96920589e-01 -2.45256882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78687499999998 meters 0.019743022848824322 Centerline is valid? [True, True] Translation: X:184.94, Y:-66.38, Z:-24.53 [[ 7.93084574e-01 -6.05898676e-01 6.24792189e-02 1.84938688e+02] [ 6.03760535e-01 7.95537355e-01 5.09267459e-02 -6.63827045e+01] [-8.05610005e-02 -2.66672987e-03 9.96746113e-01 -2.45264059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81687499999998 meters 0.020912270743903807 Centerline is valid? [True, True] Translation: X:184.96, Y:-66.36, Z:-24.53 [[ 7.93330771e-01 -6.05506401e-01 6.31528773e-02 1.84959848e+02] [ 6.03318239e-01 7.95835654e-01 5.15045117e-02 -6.63640394e+01] [-8.14456228e-02 -2.75883128e-03 9.96673968e-01 -2.45290890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84687499999998 meters 0.02185038909191166 Centerline is valid? [True, True] Translation: X:184.98, Y:-66.35, Z:-24.53 [[ 7.93419385e-01 -6.05320441e-01 6.38188277e-02 1.84980073e+02] [ 6.03084442e-01 7.95976910e-01 5.20568430e-02 -6.63469131e+01] [-8.23093845e-02 -2.81476629e-03 9.96602851e-01 -2.45315443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87687499999998 meters 0.02174918128651947 Centerline is valid? [True, True] Translation: X:185.00, Y:-66.33, Z:-24.53 [[ 7.93596932e-01 -6.05066783e-01 6.40163897e-02 1.85003765e+02] [ 6.02815114e-01 7.96169589e-01 5.22295349e-02 -6.63295491e+01] [-8.25702592e-02 -2.85915138e-03 9.96581144e-01 -2.45336439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90687499999999 meters 0.02159517897521855 Centerline is valid? [True, True] Translation: X:185.03, Y:-66.31, Z:-24.54 [[ 7.93602002e-01 -6.05048907e-01 6.41224037e-02 1.85027236e+02] [ 6.02787534e-01 7.96183074e-01 5.23421529e-02 -6.63119749e+01] [-8.27227349e-02 -2.88665171e-03 9.96568420e-01 -2.45360405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.936875 meters 0.020262260096793067 Centerline is valid? [True, True] Translation: X:185.05, Y:-66.30, Z:-24.54 [[ 7.90962253e-01 -6.08569263e-01 6.34205489e-02 1.85052570e+02] [ 6.06366217e-01 7.93496778e-01 5.17964667e-02 -6.62971484e+01] [-8.18457388e-02 -2.51297175e-03 9.96641841e-01 -2.45396125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.966875 meters 0.019173796375341456 Centerline is valid? [True, True] Translation: X:185.08, Y:-66.28, Z:-24.54 [[ 7.89409051e-01 -6.10601562e-01 6.32383043e-02 1.85076746e+02] [ 6.08416782e-01 7.91934607e-01 5.16584638e-02 -6.62811321e+01] [-8.16233404e-02 -2.30441328e-03 9.96660584e-01 -2.45421575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.996875 meters 0.019045137363812976 Centerline is valid? [True, True] Translation: X:185.10, Y:-66.26, Z:-24.55 [[ 7.88549299e-01 -6.11758781e-01 6.27789557e-02 1.85098878e+02] [ 6.09607095e-01 7.91041336e-01 5.13107643e-02 -6.62648500e+01] [-8.10505597e-02 -2.19057038e-03 9.96707584e-01 -2.45455972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.026875 meters 0.018498597616142788 Centerline is valid? [True, True] Translation: X:185.12, Y:-66.25, Z:-24.55 [[ 7.88016483e-01 -6.12531925e-01 6.19246572e-02 1.85121536e+02] [ 6.10440390e-01 7.90443094e-01 5.06186243e-02 -6.62482746e+01] [-7.99534411e-02 -2.08699842e-03 9.96796414e-01 -2.45494545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.056875 meters 0.01807231918629711 Centerline is valid? [True, True] Translation: X:185.14, Y:-66.23, Z:-24.56 [[ 7.87182830e-01 -6.13856103e-01 5.93622559e-02 1.85142653e+02] [ 6.11935894e-01 7.89415669e-01 4.85526850e-02 -6.62327103e+01] [-7.66658569e-02 -1.89394487e-03 9.97055043e-01 -2.45565864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.086875 meters 0.01805732874770033 Centerline is valid? [True, True] Translation: X:185.16, Y:-66.22, Z:-24.56 [[ 7.86705218e-01 -6.14509309e-01 5.89339331e-02 1.85163972e+02] [ 6.12617373e-01 7.88907448e-01 4.82181774e-02 -6.62164514e+01] [-7.61239377e-02 -1.82954049e-03 9.97096685e-01 -2.45603653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.116875 meters 0.017925600793938234 Centerline is valid? [True, True] Translation: X:185.19, Y:-66.20, Z:-24.56 [[ 7.85907180e-01 -6.15546855e-01 5.87534964e-02 1.85186859e+02] [ 6.13668562e-01 7.88098387e-01 4.80814821e-02 -6.61996026e+01] [-7.58999409e-02 -1.73240839e-03 9.97113934e-01 -2.45631799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.146875 meters 0.017292183491447493 Centerline is valid? [True, True] Translation: X:185.21, Y:-66.18, Z:-24.56 [[ 7.84521525e-01 -6.17192116e-01 5.99989001e-02 1.85211804e+02] [ 6.15236113e-01 7.86810808e-01 4.91251283e-02 -6.61845881e+01] [-7.75274249e-02 -1.62623050e-03 9.96988894e-01 -2.45628488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.176875 meters 0.01688433283513016 Centerline is valid? [True, True] Translation: X:185.24, Y:-66.17, Z:-24.56 [[ 7.83516603e-01 -6.18383443e-01 6.08576194e-02 1.85235633e+02] [ 6.16372582e-01 7.85875000e-01 4.98530313e-02 -6.61675911e+01] [-7.86547708e-02 -1.54970980e-03 9.96900710e-01 -2.45637357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.206875 meters 0.016727672280393933 Centerline is valid? [True, True] Translation: X:185.26, Y:-66.15, Z:-24.56 [[ 7.82605774e-01 -6.19422627e-01 6.19984797e-02 1.85258518e+02] [ 6.17336573e-01 7.85056289e-01 5.08151477e-02 -6.61510607e+01] [-8.01483486e-02 -1.49429904e-03 9.96781826e-01 -2.45647396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.236875 meters 0.015953707622201514 Centerline is valid? [True, True] Translation: X:185.28, Y:-66.14, Z:-24.57 [[ 7.81467628e-01 -6.20841175e-01 6.21657569e-02 1.85282807e+02] [ 6.18747759e-01 7.83935196e-01 5.09589915e-02 -6.61355081e+01] [-8.03713650e-02 -1.35787941e-03 9.96764064e-01 -2.45661872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.266875 meters 0.015047070525493521 Centerline is valid? [True, True] Translation: X:185.31, Y:-66.12, Z:-24.57 [[ 7.78841298e-01 -6.24092062e-01 6.25726075e-02 1.85306958e+02] [ 6.21979469e-01 7.81350111e-01 5.13180687e-02 -6.61204111e+01] [-8.09183131e-02 -1.04975400e-03 9.96720184e-01 -2.45683698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.296875 meters 0.01495864449375161 Centerline is valid? [True, True] Translation: X:185.33, Y:-66.10, Z:-24.57 [[ 7.77350923e-01 -6.25907066e-01 6.29752944e-02 1.85328918e+02] [ 6.23770838e-01 7.79897145e-01 5.16757729e-02 -6.61038250e+01] [-8.14584837e-02 -8.88057583e-04 9.96676340e-01 -2.45718335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.326875 meters 0.014274887794281845 Centerline is valid? [True, True] Translation: X:185.35, Y:-66.09, Z:-24.57 [[ 7.75900798e-01 -6.27690112e-01 6.31116114e-02 1.85353006e+02] [ 6.25549908e-01 7.78462987e-01 5.17946942e-02 -6.60878578e+01] [-8.16410709e-02 -7.08081856e-04 9.96661544e-01 -2.45733246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.356875 meters 0.014055431167822222 Centerline is valid? [True, True] Translation: X:185.38, Y:-66.07, Z:-24.58 [[ 7.74676865e-01 -6.29183845e-01 6.32727828e-02 1.85376341e+02] [ 6.27035554e-01 7.77256304e-01 5.19523979e-02 -6.60709110e+01] [-8.18667788e-02 -5.72036348e-04 9.96643117e-01 -2.45756370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.386875 meters 0.014000572148179494 Centerline is valid? [True, True] Translation: X:185.40, Y:-66.05, Z:-24.58 [[ 7.73735576e-01 -6.30425716e-01 6.24233572e-02 1.85396881e+02] [ 6.28336706e-01 7.76249451e-01 5.12813282e-02 -6.60544502e+01] [-8.07851648e-02 -4.55301384e-04 9.96731433e-01 -2.45805169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.416875 meters 0.014160754547580194 Centerline is valid? [True, True] Translation: X:185.42, Y:-66.04, Z:-24.58 [[ 7.73730180e-01 -6.30462238e-01 6.21206550e-02 1.85417216e+02] [ 6.28392288e-01 7.76219784e-01 5.10487976e-02 -6.60369343e+01] [-8.04036206e-02 -4.61854856e-04 9.96762281e-01 -2.45847299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44687499999998 meters 0.014040606040606599 Centerline is valid? [True, True] Translation: X:185.44, Y:-66.02, Z:-24.59 [[ 7.73700087e-01 -6.30552167e-01 6.15803528e-02 1.85439482e+02] [ 6.28517247e-01 7.76146735e-01 5.06193270e-02 -6.60189486e+01] [-7.97135160e-02 -4.59863894e-04 9.96817708e-01 -2.45875136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47687499999998 meters 0.014283390248016907 Centerline is valid? [True, True] Translation: X:185.46, Y:-66.00, Z:-24.59 [[ 7.74238276e-01 -6.29907645e-01 6.14121340e-02 1.85460601e+02] [ 6.27879736e-01 7.76669853e-01 5.05071871e-02 -6.60004327e+01] [-7.95118164e-02 -5.45162942e-04 9.96833774e-01 -2.45905849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50687499999998 meters 0.014281981329241302 Centerline is valid? [True, True] Translation: X:185.48, Y:-65.98, Z:-24.59 [[ 7.74242132e-01 -6.29895973e-01 6.14832039e-02 1.85482181e+02] [ 6.27862483e-01 7.76679313e-01 5.05761541e-02 -6.59821021e+01] [-7.96104483e-02 -5.55192339e-04 9.96825897e-01 -2.45921832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53687499999998 meters 0.014414512814575163 Centerline is valid? [True, True] Translation: X:185.50, Y:-65.96, Z:-24.59 [[ 7.74442453e-01 -6.29639522e-01 6.15870122e-02 1.85501915e+02] [ 6.27595943e-01 7.76887190e-01 5.06914842e-02 -6.59641845e+01] [-7.97635227e-02 -6.05878329e-04 9.96813630e-01 -2.45949399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56687499999998 meters 0.0144620674615901 Centerline is valid? [True, True] Translation: X:185.52, Y:-65.95, Z:-24.60 [[ 7.74866882e-01 -6.29075890e-01 6.20067769e-02 1.85523372e+02] [ 6.27001355e-01 7.77343594e-01 5.10513227e-02 -6.59453501e+01] [-8.03157271e-02 -6.79646069e-04 9.96769242e-01 -2.45967511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59687499999998 meters 0.014920341973174142 Centerline is valid? [True, True] Translation: X:185.54, Y:-65.93, Z:-24.60 [[ 7.75845959e-01 -6.27882332e-01 6.18613326e-02 1.85542637e+02] [ 6.25811286e-01 7.78307841e-01 5.09621273e-02 -6.59252725e+01] [-8.01453796e-02 -8.25240422e-04 9.96782844e-01 -2.45997885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62687499999998 meters 0.014978098710616347 Centerline is valid? [True, True] Translation: X:185.56, Y:-65.91, Z:-24.60 [[ 7.76029704e-01 -6.27658314e-01 6.18299202e-02 1.85563662e+02] [ 6.25588168e-01 7.78488480e-01 5.09424198e-02 -6.59067296e+01] [-8.01083139e-02 -8.52764441e-04 9.96785800e-01 -2.46019927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65687499999999 meters 0.01482487030090478 Centerline is valid? [True, True] Translation: X:185.59, Y:-65.89, Z:-24.60 [[ 7.76110323e-01 -6.27558560e-01 6.18305805e-02 1.85585280e+02] [ 6.25485851e-01 7.78568861e-01 5.09703794e-02 -6.58888951e+01] [-8.01262625e-02 -8.84484364e-04 9.96784330e-01 -2.46034060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.686875 meters 0.014884999861025015 Centerline is valid? [True, True] Translation: X:185.61, Y:-65.87, Z:-24.61 [[ 7.76178007e-01 -6.27417295e-01 6.24118433e-02 1.85606525e+02] [ 6.25302572e-01 7.78682652e-01 5.14783591e-02 -6.58702075e+01] [-8.08974325e-02 -9.30084120e-04 9.96721998e-01 -2.46054914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.716875 meters 0.01510562249526649 Centerline is valid? [True, True] Translation: X:185.63, Y:-65.85, Z:-24.61 [[ 7.76629742e-01 -6.26746107e-01 6.35260693e-02 1.85627643e+02] [ 6.24550370e-01 7.79222840e-01 5.24271140e-02 -6.58508106e+01] [-8.23594537e-02 -1.04122595e-03 9.96602145e-01 -2.46062926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.746875 meters 0.015059474376391685 Centerline is valid? [True, True] Translation: X:185.65, Y:-65.83, Z:-24.61 [[ 7.76750124e-01 -6.26552151e-01 6.39659817e-02 1.85648504e+02] [ 6.24322701e-01 7.79378732e-01 5.28200426e-02 -6.58323873e+01] [-8.29482370e-02 -1.09256013e-03 9.96553258e-01 -2.46082299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.776875 meters 0.01565794231838122 Centerline is valid? [True, True] Translation: X:185.67, Y:-65.81, Z:-24.61 [[ 7.77771332e-01 -6.25192358e-01 6.48557705e-02 1.85667434e+02] [ 6.22892912e-01 7.80469652e-01 5.35867765e-02 -6.58119326e+01] [-8.41200038e-02 -1.28005874e-03 9.96454809e-01 -2.46112325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.806875 meters 0.015714799094156344 Centerline is valid? [True, True] Translation: X:185.69, Y:-65.79, Z:-24.61 [[ 7.78336191e-01 -6.24478499e-01 6.49567355e-02 1.85689117e+02] [ 6.22168159e-01 7.81040796e-01 5.36847917e-02 -6.57925341e+01] [-8.42588585e-02 -1.37080379e-03 9.96442957e-01 -2.46139871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.836875 meters 0.016058161411708183 Centerline is valid? [True, True] Translation: X:185.71, Y:-65.77, Z:-24.62 [[ 7.78679500e-01 -6.24106547e-01 6.44147094e-02 1.85710772e+02] [ 6.21831232e-01 7.81337957e-01 5.32627024e-02 -6.57730629e+01] [-8.35712587e-02 -1.41949630e-03 9.96500793e-01 -2.46174499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.866875 meters 0.016485650837485086 Centerline is valid? [True, True] Translation: X:185.73, Y:-65.75, Z:-24.62 [[ 7.79286064e-01 -6.23352724e-01 6.43786696e-02 1.85731328e+02] [ 6.21075085e-01 7.81939300e-01 5.32603995e-02 -6.57539351e+01] [-8.35402269e-02 -1.52109934e-03 9.96503245e-01 -2.46203866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.896875 meters 0.016806046191987552 Centerline is valid? [True, True] Translation: X:185.75, Y:-65.73, Z:-24.62 [[ 7.79701370e-01 -6.22861007e-01 6.41088081e-02 1.85752287e+02] [ 6.20600161e-01 7.82330935e-01 5.30447811e-02 -6.57344651e+01] [-8.31938296e-02 -1.57315184e-03 9.96532143e-01 -2.46236058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.926875 meters 0.01774061909367417 Centerline is valid? [True, True] Translation: X:185.77, Y:-65.71, Z:-24.63 [[ 7.81078366e-01 -6.21091603e-01 6.45120632e-02 1.85770914e+02] [ 6.18793887e-01 7.83735926e-01 5.34052768e-02 -6.57141450e+01] [-8.37299906e-02 -1.79403605e-03 9.96486864e-01 -2.46265917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.956875 meters 0.018167670295516167 Centerline is valid? [True, True] Translation: X:185.79, Y:-65.69, Z:-24.63 [[ 7.81569160e-01 -6.20464277e-01 6.46044071e-02 1.85791971e+02] [ 6.18156535e-01 7.84232467e-01 5.34970701e-02 -6.56949743e+01] [-8.38578945e-02 -1.87602366e-03 9.96475958e-01 -2.46289235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.986875 meters 0.018595968562231606 Centerline is valid? [True, True] Translation: X:185.81, Y:-65.68, Z:-24.63 [[ 7.81932860e-01 -6.20017834e-01 6.44894359e-02 1.85813193e+02] [ 6.17714660e-01 7.84585317e-01 5.34273226e-02 -6.56759971e+01] [-8.37233574e-02 -1.94050919e-03 9.96487147e-01 -2.46317069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.016875 meters 0.019065830394631816 Centerline is valid? [True, True] Translation: X:185.83, Y:-65.66, Z:-24.63 [[ 7.82256871e-01 -6.19601870e-01 6.45578092e-02 1.85834532e+02] [ 6.17290251e-01 7.84913686e-01 5.35093652e-02 -6.56570999e+01] [-8.38268107e-02 -2.00716234e-03 9.96478317e-01 -2.46343279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.046875 meters 0.019976552631624202 Centerline is valid? [True, True] Translation: X:185.85, Y:-65.64, Z:-24.64 [[ 7.83052164e-01 -6.18588756e-01 6.46317233e-02 1.85854817e+02] [ 6.16266155e-01 7.85712019e-01 5.35971089e-02 -6.56388129e+01] [-8.39364907e-02 -2.13898843e-03 9.96468810e-01 -2.46372749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.076875 meters 0.017565125888425254 Centerline is valid? [True, True] Translation: X:185.88, Y:-65.62, Z:-24.64 [[ 7.82923473e-01 -6.18717603e-01 6.49566178e-02 1.85878938e+02] [ 6.16371206e-01 7.85610548e-01 5.38758112e-02 -6.56244111e+01] [-8.43645169e-02 -2.14324839e-03 9.96432654e-01 -2.46384722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.106875 meters 0.018839606250418375 Centerline is valid? [True, True] Translation: X:185.90, Y:-65.61, Z:-24.64 [[ 7.83159777e-01 -6.18384081e-01 6.52831626e-02 1.85899054e+02] [ 6.16009998e-01 7.85872900e-01 5.41799511e-02 -6.56052445e+01] [-8.48082877e-02 -2.21647759e-03 9.96394822e-01 -2.46417488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.136875 meters 0.018544204469604742 Centerline is valid? [True, True] Translation: X:185.92, Y:-65.59, Z:-24.64 [[ 7.83099593e-01 -6.18474393e-01 6.51494634e-02 1.85920987e+02] [ 6.16109658e-01 7.85801850e-01 5.40771879e-02 -6.55883072e+01] [-8.46399248e-02 -2.20861020e-03 9.96409156e-01 -2.46444785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.166875 meters 0.018612219934087217 Centerline is valid? [True, True] Translation: X:185.94, Y:-65.57, Z:-24.65 [[ 7.82599064e-01 -6.19111177e-01 6.51156999e-02 1.85943502e+02] [ 6.16748457e-01 7.85300370e-01 5.40802191e-02 -6.55702116e+01] [-8.46170513e-02 -2.16312147e-03 9.96411198e-01 -2.46471780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19687499999998 meters 0.018467063961699892 Centerline is valid? [True, True] Translation: X:185.97, Y:-65.55, Z:-24.65 [[ 7.81270059e-01 -6.20854046e-01 6.44775092e-02 1.85966098e+02] [ 6.18541115e-01 7.83923687e-01 5.35774438e-02 -6.55539744e+01] [-8.38092195e-02 -1.97646224e-03 9.96479858e-01 -2.46506157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22687499999998 meters 0.01759343905140422 Centerline is valid? [True, True] Translation: X:185.99, Y:-65.54, Z:-24.65 [[ 7.80944982e-01 -6.21282239e-01 6.42908642e-02 1.85989233e+02] [ 6.18983119e-01 7.83584480e-01 5.34346480e-02 -6.55377718e+01] [-8.35753211e-02 -1.93456057e-03 9.96499585e-01 -2.46528838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25687499999998 meters 0.017727482642906415 Centerline is valid? [True, True] Translation: X:186.01, Y:-65.52, Z:-24.66 [[ 7.80721119e-01 -6.21575951e-01 6.41706353e-02 1.86010962e+02] [ 6.19283880e-01 7.83351541e-01 5.33651523e-02 -6.55194834e+01] [-8.34386614e-02 -1.92346149e-03 9.96511059e-01 -2.46559828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28687499999998 meters 0.01748086584979467 Centerline is valid? [True, True] Translation: X:186.03, Y:-65.50, Z:-24.66 [[ 7.80334552e-01 -6.22077005e-01 6.40170816e-02 1.86033209e+02] [ 6.19795075e-01 7.82953786e-01 5.32675728e-02 -6.55028551e+01] [-8.32589486e-02 -1.88905567e-03 9.96526156e-01 -2.46588138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31687499999998 meters 0.017683091815598545 Centerline is valid? [True, True] Translation: X:186.05, Y:-65.49, Z:-24.66 [[ 7.80003110e-01 -6.22518792e-01 6.37612882e-02 1.86054213e+02] [ 6.20253963e-01 7.82602643e-01 5.30860071e-02 -6.54855159e+01] [-8.29467897e-02 -1.85905891e-03 9.96552243e-01 -2.46617991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34687499999998 meters 0.016955619174664847 Centerline is valid? [True, True] Translation: X:186.08, Y:-65.47, Z:-24.66 [[ 7.79498853e-01 -6.23169922e-01 6.35671785e-02 1.86077507e+02] [ 6.20919925e-01 7.82084411e-01 5.29378864e-02 -6.54689048e+01] [-8.27041980e-02 -1.79489404e-03 9.96572523e-01 -2.46637262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37687499999998 meters 0.016955619174664847 Centerline is valid? [True, True] Translation: X:186.10, Y:-65.45, Z:-24.67 [[ 7.79323858e-01 -6.23390276e-01 6.35522442e-02 1.86098599e+02] [ 6.21139550e-01 7.81908781e-01 5.29558087e-02 -6.54512214e+01] [-8.27041940e-02 -1.79491277e-03 9.96572524e-01 -2.46662259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40687499999999 meters 0.0174136189064114 Centerline is valid? [True, True] Translation: X:186.12, Y:-65.43, Z:-24.67 [[ 7.78867419e-01 -6.23948112e-01 6.36733702e-02 1.86120035e+02] [ 6.21687937e-01 7.81463781e-01 5.30892507e-02 -6.54335449e+01] [-8.28833704e-02 -1.76452151e-03 9.96557692e-01 -2.46691146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.436875 meters 0.016676585772952744 Centerline is valid? [True, True] Translation: X:186.14, Y:-65.42, Z:-24.67 [[ 7.77481799e-01 -6.25605534e-01 6.43410340e-02 1.86144782e+02] [ 6.23302585e-01 7.80137885e-01 5.36541408e-02 -6.54179792e+01] [-8.37612056e-02 -1.61118511e-03 9.96484553e-01 -2.46701946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.466875 meters 0.016202125090531268 Centerline is valid? [True, True] Translation: X:186.17, Y:-65.40, Z:-24.67 [[ 7.76715259e-01 -6.26472373e-01 6.51595903e-02 1.86168459e+02] [ 6.24111109e-01 7.79442069e-01 5.43634523e-02 -6.54010443e+01] [-8.48453268e-02 -1.55809878e-03 9.96392916e-01 -2.46723165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.496875 meters 0.015849226679627737 Centerline is valid? [True, True] Translation: X:186.19, Y:-65.38, Z:-24.67 [[ 7.75789832e-01 -6.27573498e-01 6.55868999e-02 1.86191735e+02] [ 6.25182703e-01 7.78555938e-01 5.47470520e-02 -6.53839455e+01] [-8.54208693e-02 -1.46841091e-03 9.96343876e-01 -2.46745607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.526875 meters 0.015038784187706064 Centerline is valid? [True, True] Translation: X:186.22, Y:-65.37, Z:-24.68 [[ 7.73059317e-01 -6.30863323e-01 6.62628155e-02 1.86216429e+02] [ 6.28432518e-01 7.75893144e-01 5.53389427e-02 -6.53686527e+01] [-8.63241735e-02 -1.13857725e-03 9.96266451e-01 -2.46774235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.556875 meters 0.014905511180778756 Centerline is valid? [True, True] Translation: X:186.24, Y:-65.35, Z:-24.68 [[ 7.72204161e-01 -6.31933821e-01 6.60331663e-02 1.86239954e+02] [ 6.29521434e-01 7.75021659e-01 5.51742081e-02 -6.53512150e+01] [-8.60435823e-02 -1.03645958e-03 9.96290835e-01 -2.46800465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.586875 meters 0.014713653150364235 Centerline is valid? [True, True] Translation: X:186.26, Y:-65.33, Z:-24.68 [[ 7.71609231e-01 -6.32633801e-01 6.62847538e-02 1.86262336e+02] [ 6.30203180e-01 7.74450455e-01 5.54115870e-02 -6.53341484e+01] [-8.63895006e-02 -9.83229424e-04 9.96260953e-01 -2.46820286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.616875 meters 0.014748375436691835 Centerline is valid? [True, True] Translation: X:186.28, Y:-65.32, Z:-24.69 [[ 7.71373517e-01 -6.32928975e-01 6.62103406e-02 1.86283437e+02] [ 6.30502154e-01 7.74209251e-01 5.53811391e-02 -6.53171562e+01] [-8.63129858e-02 -9.73781748e-04 9.96267595e-01 -2.46853106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.646875 meters 0.014669514297266087 Centerline is valid? [True, True] Translation: X:186.31, Y:-65.30, Z:-24.69 [[ 7.70876708e-01 -6.33623718e-01 6.53458841e-02 1.86306248e+02] [ 6.31260753e-01 7.73640856e-01 5.46780351e-02 -6.53002524e+01] [-8.51995456e-02 -8.99731634e-04 9.96363502e-01 -2.46892702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.676875 meters 0.014729789350703586 Centerline is valid? [True, True] Translation: X:186.33, Y:-65.28, Z:-24.69 [[ 7.70686473e-01 -6.33889880e-01 6.50075413e-02 1.86327309e+02] [ 6.31549652e-01 7.73422800e-01 5.44261872e-02 -6.52830263e+01] [-8.47785239e-02 -8.90036125e-04 9.96399423e-01 -2.46925664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.706875 meters 0.014705942831151701 Centerline is valid? [True, True] Translation: X:186.35, Y:-65.27, Z:-24.70 [[ 7.70730322e-01 -6.33850530e-01 6.48712336e-02 1.86348844e+02] [ 6.31518642e-01 7.73455033e-01 5.43278724e-02 -6.52653099e+01] [-8.46107328e-02 -9.04745248e-04 9.96413672e-01 -2.46953082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.736875 meters 0.014741969669047318 Centerline is valid? [True, True] Translation: X:186.37, Y:-65.25, Z:-24.70 [[ 7.70629745e-01 -6.33985570e-01 6.47463704e-02 1.86369747e+02] [ 6.31660562e-01 7.73344338e-01 5.42537528e-02 -6.52471456e+01] [-8.44673354e-02 -9.11826997e-04 9.96425832e-01 -2.46988679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.766875 meters 0.015034019301071552 Centerline is valid? [True, True] Translation: X:186.39, Y:-65.23, Z:-24.70 [[ 7.70731148e-01 -6.33885566e-01 6.45181090e-02 1.86389746e+02] [ 6.31573982e-01 7.73426272e-01 5.40934987e-02 -6.52291020e+01] [-8.41890886e-02 -9.43585383e-04 9.96449350e-01 -2.47019796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.796875 meters 0.014377205029239651 Centerline is valid? [True, True] Translation: X:186.41, Y:-65.21, Z:-24.70 [[ 7.68952953e-01 -6.36028832e-01 6.46427205e-02 1.86414012e+02] [ 6.33714427e-01 7.71664954e-01 5.42146132e-02 -6.52125122e+01] [-8.43645791e-02 -7.23462313e-04 9.96434691e-01 -2.47030775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.826875 meters 0.014208811243745874 Centerline is valid? [True, True] Translation: X:186.44, Y:-65.20, Z:-24.70 [[ 7.67683828e-01 -6.37542940e-01 6.48115734e-02 1.86435932e+02] [ 6.35219391e-01 7.70414605e-01 5.43843900e-02 -6.51950949e+01] [-8.46041666e-02 -5.80448551e-04 9.96414471e-01 -2.47049478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.856875 meters 0.014154686308427405 Centerline is valid? [True, True] Translation: X:186.46, Y:-65.18, Z:-24.71 [[ 7.66661073e-01 -6.38706583e-01 6.54576199e-02 1.86457922e+02] [ 6.36339888e-01 7.69450250e-01 5.49350548e-02 -6.51767998e+01] [-8.54537631e-02 -4.63273573e-04 9.96342030e-01 -2.47070669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.886875 meters 0.014050761338384185 Centerline is valid? [True, True] Translation: X:186.48, Y:-65.16, Z:-24.71 [[ 7.65761412e-01 -6.39729434e-01 6.59978142e-02 1.86477961e+02] [ 6.37324819e-01 7.68600099e-01 5.54162659e-02 -6.51583948e+01] [-8.61773430e-02 -3.73593031e-04 9.96279743e-01 -2.47097649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.916875 meters 0.0140362412729333 Centerline is valid? [True, True] Translation: X:186.50, Y:-65.14, Z:-24.71 [[ 7.65005923e-01 -6.40703011e-01 6.53114793e-02 1.86499114e+02] [ 6.38350665e-01 7.67788759e-01 5.48529822e-02 -6.51399209e+01] [-8.52898905e-02 -2.71230070e-04 9.96356142e-01 -2.47134216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94687499999998 meters 0.013980339240338459 Centerline is valid? [True, True] Translation: X:186.52, Y:-65.12, Z:-24.72 [[ 7.64358095e-01 -6.41526499e-01 6.48109147e-02 1.86520005e+02] [ 6.39210578e-01 7.67100848e-01 5.44621445e-02 -6.51218018e+01] [-8.46554165e-02 -2.00758709e-04 9.96410267e-01 -2.47173065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97687499999998 meters 0.013938523170313391 Centerline is valid? [True, True] Translation: X:186.54, Y:-65.10, Z:-24.72 [[ 7.63497701e-01 -6.42568374e-01 6.46308355e-02 1.86541020e+02] [ 6.40266566e-01 7.66228343e-01 5.43401429e-02 -6.51038285e+01] [-8.44392353e-02 -1.07611075e-04 9.96428625e-01 -2.47211252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00687499999998 meters 0.013923917667979605 Centerline is valid? [True, True] Translation: X:186.56, Y:-65.09, Z:-24.72 [[ 7.62947556e-01 -6.43255161e-01 6.42948206e-02 1.86562094e+02] [ 6.40977211e-01 7.65651876e-01 5.40871562e-02 -6.50857748e+01] [-8.40192924e-02 -5.41488162e-05 9.96464127e-01 -2.47239643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03687499999998 meters 0.013980639140646333 Centerline is valid? [True, True] Translation: X:186.58, Y:-65.07, Z:-24.73 [[ 7.62878377e-01 -6.43322114e-01 6.44456390e-02 1.86582907e+02] [ 6.41031122e-01 7.65595620e-01 5.42443312e-02 -6.50667070e+01] [-8.42358768e-02 -7.01671161e-05 9.96445840e-01 -2.47261097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06687499999998 meters 0.013949804475359913 Centerline is valid? [True, True] Translation: X:186.60, Y:-65.05, Z:-24.73 [[ 7.62871747e-01 -6.43301331e-01 6.47309345e-02 1.86603807e+02] [ 6.40987340e-01 7.65613080e-01 5.45146087e-02 -6.50472178e+01] [-8.46281704e-02 -9.59453066e-05 9.96412597e-01 -2.47280635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09687499999998 meters 0.014005886876578305 Centerline is valid? [True, True] Translation: X:186.62, Y:-65.03, Z:-24.73 [[ 7.63213152e-01 -6.42893750e-01 6.47557812e-02 1.86623634e+02] [ 6.40573947e-01 7.65955351e-01 5.45657329e-02 -6.50277902e+01] [-8.46800057e-02 -1.64418600e-04 9.96408184e-01 -2.47311314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12687499999998 meters 0.014045786624812387 Centerline is valid? [True, True] Translation: X:186.64, Y:-65.01, Z:-24.73 [[ 7.63681707e-01 -6.42342275e-01 6.47043396e-02 1.86643104e+02] [ 6.40021607e-01 7.66417863e-01 5.45527508e-02 -6.50081541e+01] [-8.46320997e-02 -2.48762507e-04 9.96412237e-01 -2.47347125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15687499999999 meters 0.014188944635929214 Centerline is valid? [True, True] Translation: X:186.66, Y:-64.99, Z:-24.74 [[ 7.65134068e-01 -6.40576349e-01 6.50522889e-02 1.86663187e+02] [ 6.38221752e-01 7.67894343e-01 5.48750764e-02 -6.49867885e+01] [-8.51049607e-02 -4.69004612e-04 9.96371881e-01 -2.47374452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.186875 meters 0.014352112337547615 Centerline is valid? [True, True] Translation: X:186.68, Y:-64.97, Z:-24.74 [[ 7.65492936e-01 -6.40132027e-01 6.52039295e-02 1.86683884e+02] [ 6.37762512e-01 7.68264730e-01 5.50298360e-02 -6.49674534e+01] [-8.53202398e-02 -5.40328818e-04 9.96353434e-01 -2.47399114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.216875 meters 0.014349879994767 Centerline is valid? [True, True] Translation: X:186.70, Y:-64.95, Z:-24.74 [[ 7.65844618e-01 -6.39709589e-01 6.52201145e-02 1.86704518e+02] [ 6.37334754e-01 7.68616464e-01 5.50739757e-02 -6.49485102e+01] [-8.53606041e-02 -6.11062191e-04 9.96349935e-01 -2.47423497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.246875 meters 0.014584216798542167 Centerline is valid? [True, True] Translation: X:186.72, Y:-64.93, Z:-24.75 [[ 7.67011982e-01 -6.38284219e-01 6.54665982e-02 1.86724223e+02] [ 6.35883410e-01 7.69800377e-01 5.53142736e-02 -6.49284680e+01] [-8.57024399e-02 -7.97586921e-04 9.96320458e-01 -2.47453487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.276875 meters 0.014708225938956713 Centerline is valid? [True, True] Translation: X:186.74, Y:-64.91, Z:-24.75 [[ 7.67177486e-01 -6.38108941e-01 6.52356114e-02 1.86744710e+02] [ 6.35723380e-01 7.69945648e-01 5.51315106e-02 -6.49098957e+01] [-8.54077849e-02 -8.23850319e-04 9.96345739e-01 -2.47482402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.306875 meters 0.014809079418818122 Centerline is valid? [True, True] Translation: X:186.77, Y:-64.89, Z:-24.75 [[ 7.67865124e-01 -6.37310730e-01 6.49475457e-02 1.86766182e+02] [ 6.34940775e-01 7.70606361e-01 5.49185580e-02 -6.48900808e+01] [-8.50491781e-02 -9.32200349e-04 9.96376319e-01 -2.47515576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.336875 meters 0.015040420708778542 Centerline is valid? [True, True] Translation: X:186.79, Y:-64.87, Z:-24.75 [[ 7.68734762e-01 -6.36289276e-01 6.46747457e-02 1.86787448e+02] [ 6.33933366e-01 7.71449824e-01 5.47143278e-02 -6.48705973e+01] [-8.47074612e-02 -1.06132659e-03 9.96405299e-01 -2.47543256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.366875 meters 0.016129171724827317 Centerline is valid? [True, True] Translation: X:186.81, Y:-64.85, Z:-24.76 [[ 7.71066968e-01 -6.33547570e-01 6.38216877e-02 1.86805777e+02] [ 6.31241784e-01 7.73702533e-01 5.40203735e-02 -6.48502384e+01] [-8.36034777e-02 -1.36640962e-03 9.96498164e-01 -2.47582348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.396875 meters 0.016725480049299007 Centerline is valid? [True, True] Translation: X:186.83, Y:-64.83, Z:-24.76 [[ 7.72250270e-01 -6.32132570e-01 6.35447529e-02 1.86826697e+02] [ 6.29841350e-01 7.74858766e-01 5.37937475e-02 -6.48300294e+01] [-8.32429886e-02 -1.51912303e-03 9.96528122e-01 -2.47613534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.426875 meters 0.017400961049403925 Centerline is valid? [True, True] Translation: X:186.85, Y:-64.81, Z:-24.77 [[ 7.73395981e-01 -6.30792790e-01 6.29214721e-02 1.86847013e+02] [ 6.28539825e-01 7.75949532e-01 5.32917557e-02 -6.48099960e+01] [-8.24399421e-02 -1.66697860e-03 9.96594640e-01 -2.47652535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.456875 meters 0.017912169638546468 Centerline is valid? [True, True] Translation: X:186.87, Y:-64.79, Z:-24.77 [[ 7.74553301e-01 -6.29419738e-01 6.24337780e-02 1.86867641e+02] [ 6.27195088e-01 7.77063372e-01 5.29040398e-02 -6.47899451e+01] [-8.18138490e-02 -1.81883982e-03 9.96645968e-01 -2.47686552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.486875 meters 0.01924762425908328 Centerline is valid? [True, True] Translation: X:186.89, Y:-64.77, Z:-24.77 [[ 7.76951053e-01 -6.26471677e-01 6.22920470e-02 1.86887181e+02] [ 6.24245549e-01 7.79441234e-01 5.28096405e-02 -6.47683533e+01] [-8.16367341e-02 -2.14497273e-03 9.96659843e-01 -2.47730623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.516875 meters 0.02027866328838386 Centerline is valid? [True, True] Translation: X:186.91, Y:-64.75, Z:-24.78 [[ 7.77955267e-01 -6.25241447e-01 6.21187203e-02 1.86906546e+02] [ 6.23021570e-01 7.80428019e-01 5.26899372e-02 -6.47487588e+01] [-8.14231224e-02 -2.28911156e-03 9.96676996e-01 -2.47758333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.546875 meters 0.02056178424527235 Centerline is valid? [True, True] Translation: X:186.93, Y:-64.73, Z:-24.78 [[ 7.78550587e-01 -6.24462365e-01 6.24959105e-02 1.86928503e+02] [ 6.22212285e-01 7.81051239e-01 5.30173024e-02 -6.47295605e+01] [-8.19198184e-02 -2.39092859e-03 9.96636055e-01 -2.47784462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.576875 meters 0.021425994821011266 Centerline is valid? [True, True] Translation: X:186.95, Y:-64.71, Z:-24.78 [[ 7.79133927e-01 -6.23714714e-01 6.26919311e-02 1.86949178e+02] [ 6.21445765e-01 7.81648073e-01 5.32113902e-02 -6.47107537e+01] [-8.21917541e-02 -2.49916434e-03 9.96613400e-01 -2.47808121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.606875 meters 0.019817700008723852 Centerline is valid? [True, True] Translation: X:186.97, Y:-64.69, Z:-24.78 [[ 7.78454456e-01 -6.24582703e-01 6.24908565e-02 1.86973260e+02] [ 6.22330507e-01 7.80954967e-01 5.30478976e-02 -6.46943345e+01] [-8.19353441e-02 -2.40540587e-03 9.96634744e-01 -2.47828068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.636875 meters 0.020240921419577486 Centerline is valid? [True, True] Translation: X:186.99, Y:-64.68, Z:-24.79 [[ 7.77333719e-01 -6.25971367e-01 6.25470724e-02 1.86994142e+02] [ 6.23717248e-01 7.79842698e-01 5.31240212e-02 -6.46760915e+01] [-8.20309938e-02 -2.28340512e-03 9.96627163e-01 -2.47856900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.666875 meters 0.0197105636672159 Centerline is valid? [True, True] Translation: X:187.02, Y:-64.66, Z:-24.79 [[ 7.76138741e-01 -6.27398506e-01 6.30854175e-02 1.87017799e+02] [ 6.25109384e-01 7.78695358e-01 5.35891541e-02 -6.46586979e+01] [-8.27460769e-02 -2.15733209e-03 9.96568328e-01 -2.47870488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69687499999998 meters 0.018406264869289247 Centerline is valid? [True, True] Translation: X:187.04, Y:-64.64, Z:-24.79 [[ 7.73581502e-01 -6.30474620e-01 6.38233012e-02 1.87043121e+02] [ 6.28139696e-01 7.76207609e-01 5.42426909e-02 -6.46429321e+01] [-8.37387720e-02 -1.87119325e-03 9.96485984e-01 -2.47877212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72687499999998 meters 0.017789483562329917 Centerline is valid? [True, True] Translation: X:187.07, Y:-64.63, Z:-24.79 [[ 7.72232606e-01 -6.32124020e-01 6.38437623e-02 1.87066117e+02] [ 6.29791173e-01 7.74865338e-01 5.42843027e-02 -6.46257657e+01] [-8.37847302e-02 -1.71187054e-03 9.96482408e-01 -2.47905786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75687499999998 meters 0.01678191650883448 Centerline is valid? [True, True] Translation: X:187.09, Y:-64.61, Z:-24.79 [[ 7.71024415e-01 -6.33625210e-01 6.35644927e-02 1.87090476e+02] [ 6.31315578e-01 7.73638579e-01 5.40739361e-02 -6.46092367e+01] [-8.34385529e-02 -1.56307052e-03 9.96511698e-01 -2.47933035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78687499999998 meters 0.016376419446528644 Centerline is valid? [True, True] Translation: X:187.11, Y:-64.59, Z:-24.80 [[ 7.69684418e-01 -6.35242051e-01 6.36665816e-02 1.87113996e+02] [ 6.32929292e-01 7.72311837e-01 5.41750749e-02 -6.45921692e+01] [-8.35847403e-02 -1.40126665e-03 9.96499688e-01 -2.47958348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81687499999998 meters 0.016073400625377432 Centerline is valid? [True, True] Translation: X:187.14, Y:-64.58, Z:-24.80 [[ 7.68565367e-01 -6.36601942e-01 6.36022416e-02 1.87137233e+02] [ 6.34296277e-01 7.71191512e-01 5.41468865e-02 -6.45753252e+01] [-8.35195220e-02 -1.27275664e-03 9.96505328e-01 -2.47984274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84687499999998 meters 0.015356855560852485 Centerline is valid? [True, True] Translation: X:187.16, Y:-64.56, Z:-24.80 [[ 7.66655809e-01 -6.38904832e-01 6.35569511e-02 1.87162253e+02] [ 6.36608131e-01 7.69285078e-01 5.41346173e-02 -6.45599254e+01] [-8.34802826e-02 -1.04174696e-03 9.96508885e-01 -2.48009622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87687499999998 meters 0.015279806387741663 Centerline is valid? [True, True] Translation: X:187.18, Y:-64.54, Z:-24.80 [[ 7.66063016e-01 -6.39571374e-01 6.39993190e-02 1.87184130e+02] [ 6.37242425e-01 7.68731072e-01 5.45401724e-02 -6.45433123e+01] [-8.40805981e-02 -9.98127773e-04 9.96458457e-01 -2.48029711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90687499999999 meters 0.015139361649001221 Centerline is valid? [True, True] Translation: X:187.21, Y:-64.53, Z:-24.80 [[ 7.65419537e-01 -6.40351628e-01 6.38962015e-02 1.87205622e+02] [ 6.38032129e-01 7.68081343e-01 5.44614839e-02 -6.45269253e+01] [-8.39519801e-02 -9.18054334e-04 9.96469378e-01 -2.48049229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.936875 meters 0.0146695053215468 Centerline is valid? [True, True] Translation: X:187.23, Y:-64.51, Z:-24.81 [[ 7.63404678e-01 -6.42821883e-01 6.31927470e-02 1.87229541e+02] [ 6.40560583e-01 7.66015407e-01 5.38751797e-02 -6.45103713e+01] [-8.30387623e-02 -6.49781380e-04 9.96546106e-01 -2.48073965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.966875 meters 0.014587891055023705 Centerline is valid? [True, True] Translation: X:187.25, Y:-64.49, Z:-24.81 [[ 7.62737404e-01 -6.43630550e-01 6.30187889e-02 1.87251233e+02] [ 6.41382320e-01 7.65336122e-01 5.37525813e-02 -6.44929612e+01] [-8.28273590e-02 -5.79967305e-04 9.96563742e-01 -2.48101151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.996875 meters 0.014417751980246663 Centerline is valid? [True, True] Translation: X:187.27, Y:-64.48, Z:-24.81 [[ 7.62167322e-01 -6.44289188e-01 6.31855646e-02 1.87272749e+02] [ 6.42028776e-01 7.64781772e-01 5.39248781e-02 -6.44756848e+01] [-8.30663839e-02 -5.32829272e-04 9.96543874e-01 -2.48125199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.026875 meters 0.014353673758620766 Centerline is valid? [True, True] Translation: X:187.29, Y:-64.46, Z:-24.82 [[ 7.61779677e-01 -6.44790671e-01 6.27432468e-02 1.87294524e+02] [ 6.42561105e-01 7.64359041e-01 5.35768868e-02 -6.44581207e+01] [-8.25042447e-02 -4.97413558e-04 9.96590589e-01 -2.48154176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.056875 meters 0.014323658872836872 Centerline is valid? [True, True] Translation: X:187.32, Y:-64.44, Z:-24.82 [[ 7.61536908e-01 -6.45133710e-01 6.21613618e-02 1.87316470e+02] [ 6.42944005e-01 7.64069543e-01 5.31106393e-02 -6.44401672e+01] [-8.17590671e-02 -4.79437060e-04 9.96652008e-01 -2.48187785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.086875 meters 0.014351661379371673 Centerline is valid? [True, True] Translation: X:187.34, Y:-64.42, Z:-24.82 [[ 7.61478211e-01 -6.45253099e-01 6.16390468e-02 1.87337447e+02] [ 6.43099469e-01 7.63968727e-01 5.26769234e-02 -6.44222933e+01] [-8.10802521e-02 -4.72291206e-04 9.96707464e-01 -2.48215964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.116875 meters 0.014259003690503372 Centerline is valid? [True, True] Translation: X:187.36, Y:-64.40, Z:-24.82 [[ 7.61447113e-01 -6.45316013e-01 6.13639728e-02 1.87358907e+02] [ 6.43179455e-01 7.63915576e-01 5.24707576e-02 -6.44036373e+01] [-8.07371147e-02 -4.85660282e-04 9.96735312e-01 -2.48243462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.146875 meters 0.014390368720893595 Centerline is valid? [True, True] Translation: X:187.38, Y:-64.39, Z:-24.83 [[ 7.61465988e-01 -6.45307203e-01 6.12222416e-02 1.87380492e+02] [ 6.43178140e-01 7.63923004e-01 5.23786660e-02 -6.43850080e+01] [-8.05694092e-02 -5.07765206e-04 9.96748871e-01 -2.48268409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.176875 meters 0.014396709117225936 Centerline is valid? [True, True] Translation: X:187.40, Y:-64.37, Z:-24.83 [[ 7.61419793e-01 -6.45393957e-01 6.08813468e-02 1.87402324e+02] [ 6.43286536e-01 7.63849705e-01 5.21158450e-02 -6.43672510e+01] [-8.01394502e-02 -5.17885236e-04 9.96783527e-01 -2.48287971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.206875 meters 0.014389578975492492 Centerline is valid? [True, True] Translation: X:187.42, Y:-64.35, Z:-24.83 [[ 7.61413420e-01 -6.45376076e-01 6.11500167e-02 1.87422829e+02] [ 6.43247449e-01 7.63864794e-01 5.23764855e-02 -6.43500602e+01] [-8.05128756e-02 -5.45566696e-04 9.96753419e-01 -2.48303718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.236875 meters 0.014337650349059716 Centerline is valid? [True, True] Translation: X:187.44, Y:-64.33, Z:-24.83 [[ 7.61037102e-01 -6.45824571e-01 6.10995355e-02 1.87444517e+02] [ 6.43699789e-01 7.63485668e-01 5.23470758e-02 -6.43317674e+01] [-8.04556474e-02 -5.08308752e-04 9.96758060e-01 -2.48323117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.266875 meters 0.014337650349059716 Centerline is valid? [True, True] Translation: X:187.47, Y:-64.31, Z:-24.83 [[ 7.60862883e-01 -6.46031161e-01 6.10852955e-02 1.87465351e+02] [ 6.43905710e-01 7.63310868e-01 5.23636871e-02 -6.43137907e+01] [-8.04556434e-02 -5.08415348e-04 9.96758060e-01 -2.48348110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.296875 meters 0.01424986778669351 Centerline is valid? [True, True] Translation: X:187.49, Y:-64.30, Z:-24.84 [[ 7.60735865e-01 -6.46149048e-01 6.14194667e-02 1.87486602e+02] [ 6.43998267e-01 7.63211069e-01 5.26791799e-02 -6.42951500e+01] [-8.09146188e-02 -5.20911370e-04 9.96720900e-01 -2.48374925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.326875 meters 0.014313643671481354 Centerline is valid? [True, True] Translation: X:187.51, Y:-64.28, Z:-24.84 [[ 7.60701504e-01 -6.46127138e-01 6.20720820e-02 1.87507682e+02] [ 6.43927842e-01 7.63229596e-01 5.32683577e-02 -6.42759231e+01] [-8.17933817e-02 -5.51377976e-04 9.96649155e-01 -2.48396694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.356875 meters 0.014229883201521838 Centerline is valid? [True, True] Translation: X:187.53, Y:-64.26, Z:-24.84 [[ 7.60326052e-01 -6.46488060e-01 6.29085294e-02 1.87529639e+02] [ 6.44227703e-01 7.62923911e-01 5.40164052e-02 -6.42572817e+01] [-8.29153823e-02 -5.42662668e-04 9.96556443e-01 -2.48416112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.386875 meters 0.014147166026042853 Centerline is valid? [True, True] Translation: X:187.55, Y:-64.24, Z:-24.84 [[ 7.59994074e-01 -6.46836194e-01 6.33399192e-02 1.87550713e+02] [ 6.44543442e-01 7.62628780e-01 5.44159484e-02 -6.42396954e+01] [-8.35030503e-02 -5.30468830e-04 9.96507380e-01 -2.48433818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.416875 meters 0.014103165439486054 Centerline is valid? [True, True] Translation: X:187.57, Y:-64.22, Z:-24.85 [[ 7.59762034e-01 -6.47121319e-01 6.32111505e-02 1.87572386e+02] [ 6.44837690e-01 7.62386870e-01 5.43195612e-02 -6.42218383e+01] [-8.33426972e-02 -5.09008091e-04 9.96520816e-01 -2.48451191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44687499999998 meters 0.01409030013759188 Centerline is valid? [True, True] Translation: X:187.59, Y:-64.20, Z:-24.85 [[ 7.59750018e-01 -6.47135423e-01 6.32111900e-02 1.87594365e+02] [ 6.44849307e-01 7.62374883e-01 5.43498718e-02 -6.42036245e+01] [-8.33623509e-02 -5.30624050e-04 9.96519160e-01 -2.48465848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47687499999998 meters 0.014140933836953582 Centerline is valid? [True, True] Translation: X:187.62, Y:-64.18, Z:-24.85 [[ 7.59751768e-01 -6.47159365e-01 6.29444793e-02 1.87615280e+02] [ 6.44890128e-01 7.62354547e-01 5.41504181e-02 -6.41849887e+01] [-8.30299602e-02 -5.48602558e-04 9.96546900e-01 -2.48493414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50687499999998 meters 0.014151370298712957 Centerline is valid? [True, True] Translation: X:187.64, Y:-64.17, Z:-24.85 [[ 7.60096934e-01 -6.46755261e-01 6.29307797e-02 1.87635667e+02] [ 6.44483109e-01 7.62697354e-01 5.41688906e-02 -6.41661054e+01] [-8.30311541e-02 -6.15783180e-04 9.96546762e-01 -2.48515336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53687499999998 meters 0.014187904768933253 Centerline is valid? [True, True] Translation: X:187.66, Y:-64.15, Z:-24.85 [[ 7.60443130e-01 -6.46352696e-01 6.28843255e-02 1.87655908e+02] [ 6.44080033e-01 7.63038483e-01 5.41588878e-02 -6.41469627e+01] [-8.29889035e-02 -6.82215710e-04 9.96550238e-01 -2.48544186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56687499999998 meters 0.01427086867213775 Centerline is valid? [True, True] Translation: X:187.68, Y:-64.13, Z:-24.86 [[ 7.60754765e-01 -6.45949433e-01 6.32575522e-02 1.87675423e+02] [ 6.43645628e-01 7.63379827e-01 5.45118873e-02 -6.41279033e+01] [-8.35014620e-02 -7.54731124e-04 9.96507369e-01 -2.48571608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59687499999998 meters 0.01414182086576044 Centerline is valid? [True, True] Translation: X:187.70, Y:-64.11, Z:-24.86 [[ 7.60487889e-01 -6.46272539e-01 6.31662571e-02 1.87695793e+02] [ 6.43974841e-01 7.63106328e-01 5.44530585e-02 -6.41090222e+01] [-8.33940869e-02 -7.33411109e-04 9.96516376e-01 -2.48598637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62687499999998 meters 0.013783598419522265 Centerline is valid? [True, True] Translation: X:187.72, Y:-64.09, Z:-24.86 [[ 7.59251008e-01 -6.47740723e-01 6.30068429e-02 1.87717805e+02] [ 6.45456984e-01 7.61860618e-01 5.43477781e-02 -6.40912763e+01] [-8.32057013e-02 -5.95398507e-04 9.96532216e-01 -2.48618827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65687499999999 meters 0.013538921179178312 Centerline is valid? [True, True] Translation: X:187.74, Y:-64.07, Z:-24.86 [[ 7.57932623e-01 -6.49250332e-01 6.33414948e-02 1.87740689e+02] [ 6.46946806e-01 7.60574660e-01 5.46444565e-02 -6.40729865e+01] [-8.36538674e-02 -4.38238561e-04 9.96494776e-01 -2.48628199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.686875 meters 0.013180257770374987 Centerline is valid? [True, True] Translation: X:187.76, Y:-64.05, Z:-24.86 [[ 7.56310311e-01 -6.50965551e-01 6.51042581e-02 1.87763493e+02] [ 6.48535637e-01 7.59107222e-01 5.61938877e-02 -6.40541426e+01] [-8.60013976e-02 -2.77585255e-04 9.96294978e-01 -2.48618864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.716875 meters 0.013154962084496279 Centerline is valid? [True, True] Translation: X:187.78, Y:-64.04, Z:-24.86 [[ 7.55585994e-01 -6.51717431e-01 6.59863251e-02 1.87783717e+02] [ 6.49222605e-01 7.58461830e-01 5.69707169e-02 -6.40352418e+01] [-8.71769182e-02 -2.06461907e-04 9.96192824e-01 -2.48640011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.746875 meters 0.013015992527910863 Centerline is valid? [True, True] Translation: X:187.80, Y:-64.02, Z:-24.87 [[ 7.55078783e-01 -6.52245361e-01 6.65734211e-02 1.87803763e+02] [ 6.49705006e-01 7.58007888e-01 5.75104034e-02 -6.40158700e+01] [-8.79740722e-02 -1.71800460e-04 9.96122750e-01 -2.48671050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.776875 meters 0.012986743980786915 Centerline is valid? [True, True] Translation: X:187.82, Y:-64.00, Z:-24.87 [[ 7.54792768e-01 -6.52565850e-01 6.66759950e-02 1.87823062e+02] [ 6.50015966e-01 7.57732001e-01 5.76320977e-02 -6.39973856e+01] [-8.81312740e-02 -1.59829217e-04 9.96108856e-01 -2.48703534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.806875 meters 0.012842745114757933 Centerline is valid? [True, True] Translation: X:187.84, Y:-63.98, Z:-24.87 [[ 7.54697352e-01 -6.52631842e-01 6.71087622e-02 1.87842800e+02] [ 6.50047369e-01 7.57675162e-01 5.80238460e-02 -6.39771329e+01] [-8.87148517e-02 -1.66568607e-04 9.96057050e-01 -2.48733085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.836875 meters 0.012867429080254317 Centerline is valid? [True, True] Translation: X:187.86, Y:-63.96, Z:-24.88 [[ 7.54683491e-01 -6.52586623e-01 6.77017582e-02 1.87862971e+02] [ 6.49953079e-01 7.57714102e-01 5.85690603e-02 -6.39580218e+01] [-8.95199622e-02 -1.98136624e-04 9.95985008e-01 -2.48755235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.866875 meters 0.012872172970663905 Centerline is valid? [True, True] Translation: X:187.88, Y:-63.94, Z:-24.88 [[ 7.54860179e-01 -6.52323451e-01 6.82658483e-02 1.87882988e+02] [ 6.49641712e-01 7.57940664e-01 5.90897297e-02 -6.39389784e+01] [-9.02870788e-02 -2.56141419e-04 9.95915748e-01 -2.48774109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.896875 meters 0.01291104151546023 Centerline is valid? [True, True] Translation: X:187.90, Y:-63.92, Z:-24.88 [[ 7.55054043e-01 -6.52049490e-01 6.87375791e-02 1.87902822e+02] [ 6.49326293e-01 7.58176340e-01 5.95315264e-02 -6.39199031e+01] [-9.09327076e-02 -3.16402338e-04 9.95856989e-01 -2.48791830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.926875 meters 0.012989798129327788 Centerline is valid? [True, True] Translation: X:187.92, Y:-63.90, Z:-24.88 [[ 7.55565664e-01 -6.51351372e-01 6.97274443e-02 1.87921527e+02] [ 6.48544249e-01 7.58776128e-01 6.04081505e-02 -6.38989297e+01] [-9.22544519e-02 -4.20991389e-04 9.95735376e-01 -2.48809031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.956875 meters 0.012961462012261601 Centerline is valid? [True, True] Translation: X:187.94, Y:-63.88, Z:-24.88 [[ 7.55586765e-01 -6.51295847e-01 7.00168615e-02 1.87941511e+02] [ 6.48461929e-01 7.58823769e-01 6.06927806e-02 -6.38790691e+01] [-9.26594147e-02 -4.55392579e-04 9.95697758e-01 -2.48842854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.986875 meters 0.012945931215352978 Centerline is valid? [True, True] Translation: X:187.96, Y:-63.86, Z:-24.89 [[ 7.55616310e-01 -6.51271545e-01 6.99240069e-02 1.87960526e+02] [ 6.48441944e-01 7.58844609e-01 6.06457304e-02 -6.38602804e+01] [-9.25582943e-02 -4.83244017e-04 9.95707150e-01 -2.48873625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.016875 meters 0.012927767433791799 Centerline is valid? [True, True] Translation: X:187.98, Y:-63.84, Z:-24.89 [[ 7.55595007e-01 -6.51296235e-01 6.99242421e-02 1.87980805e+02] [ 6.48464955e-01 7.58823411e-01 6.06649277e-02 -6.38412747e+01] [-9.25709909e-02 -4.94695927e-04 9.95705964e-01 -2.48909014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.046875 meters 0.012901099154725527 Centerline is valid? [True, True] Translation: X:188.00, Y:-63.82, Z:-24.89 [[ 7.55549972e-01 -6.51386651e-01 6.95677439e-02 1.88000175e+02] [ 6.48581511e-01 7.58745791e-01 6.03891447e-02 -6.38225293e+01] [-9.21209155e-02 -5.06664151e-04 9.95747699e-01 -2.48934330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.076875 meters 0.012935190584645182 Centerline is valid? [True, True] Translation: X:188.02, Y:-63.80, Z:-24.90 [[ 7.55525370e-01 -6.51368339e-01 7.00050171e-02 1.88018432e+02] [ 6.48525907e-01 7.58761497e-01 6.07876466e-02 -6.38029439e+01] [-9.27122600e-02 -5.26541953e-04 9.95692804e-01 -2.48966850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.106875 meters 0.0129680549625785 Centerline is valid? [True, True] Translation: X:188.04, Y:-63.78, Z:-24.90 [[ 7.55553417e-01 -6.51334237e-01 7.00196101e-02 1.88038451e+02] [ 6.48488690e-01 7.58790758e-01 6.08194415e-02 -6.37836291e+01] [-9.27440176e-02 -5.45411584e-04 9.95689836e-01 -2.48994003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.136875 meters 0.012875712905113364 Centerline is valid? [True, True] Translation: X:188.06, Y:-63.76, Z:-24.90 [[ 7.55346209e-01 -6.51568933e-01 7.00716125e-02 1.88058569e+02] [ 6.48717065e-01 7.58589238e-01 6.08977596e-02 -6.37647508e+01] [-9.28346594e-02 -5.42241030e-04 9.95681391e-01 -2.49022097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.166875 meters 0.012832587933883796 Centerline is valid? [True, True] Translation: X:188.08, Y:-63.74, Z:-24.91 [[ 7.55412074e-01 -6.51546227e-01 6.95709128e-02 1.88078645e+02] [ 6.48731889e-01 7.58608722e-01 6.04958131e-02 -6.37446510e+01] [-9.21929201e-02 -5.66397965e-04 9.95741003e-01 -2.49065937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19687499999998 meters 0.012814530188892672 Centerline is valid? [True, True] Translation: X:188.10, Y:-63.73, Z:-24.91 [[ 7.55497210e-01 -6.51518646e-01 6.89015225e-02 1.88099087e+02] [ 6.48755171e-01 7.58632393e-01 5.99468173e-02 -6.37256622e+01] [-9.13273961e-02 -5.89434164e-04 9.95820747e-01 -2.49100880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22687499999998 meters 0.012754019509414618 Centerline is valid? [True, True] Translation: X:188.12, Y:-63.71, Z:-24.91 [[ 7.55638757e-01 -6.51381251e-01 6.86479025e-02 1.88118814e+02] [ 6.48634517e-01 7.58750334e-01 5.97594668e-02 -6.37068110e+01] [-9.10128153e-02 -6.29170087e-04 9.95849523e-01 -2.49133188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25687499999998 meters 0.01272809027889264 Centerline is valid? [True, True] Translation: X:188.14, Y:-63.69, Z:-24.92 [[ 7.55812203e-01 -6.51226634e-01 6.82039946e-02 1.88138973e+02] [ 6.48513078e-01 7.58883021e-01 5.93914886e-02 -6.36879953e+01] [-9.04361727e-02 -6.57629416e-04 9.95902036e-01 -2.49165690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28687499999998 meters 0.012818064802055279 Centerline is valid? [True, True] Translation: X:188.16, Y:-63.67, Z:-24.92 [[ 7.56157338e-01 -6.50888338e-01 6.76051168e-02 1.88158819e+02] [ 6.48218023e-01 7.59173141e-01 5.89027680e-02 -6.36682989e+01] [-8.96631136e-02 -7.16905065e-04 9.95971893e-01 -2.49204026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31687499999998 meters 0.012753557382111879 Centerline is valid? [True, True] Translation: X:188.18, Y:-63.65, Z:-24.92 [[ 7.56267343e-01 -6.50813800e-01 6.70902641e-02 1.88179351e+02] [ 6.48180905e-01 7.59237014e-01 5.84865082e-02 -6.36498413e+01] [-8.90012384e-02 -7.44808099e-04 9.96031237e-01 -2.49235068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34687499999998 meters 0.012791377373226543 Centerline is valid? [True, True] Translation: X:188.20, Y:-63.63, Z:-24.93 [[ 7.56216976e-01 -6.50857987e-01 6.72292094e-02 1.88199759e+02] [ 6.48211359e-01 7.59199113e-01 5.86407721e-02 -6.36310480e+01] [-8.92071710e-02 -7.66410126e-04 9.96012798e-01 -2.49262506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37687499999998 meters 0.01280495921141048 Centerline is valid? [True, True] Translation: X:188.22, Y:-63.61, Z:-24.93 [[ 7.56140773e-01 -6.50984220e-01 6.68631147e-02 1.88220615e+02] [ 6.48363993e-01 7.59090870e-01 5.83539544e-02 -6.36123743e+01] [-8.87426834e-02 -7.72168163e-04 9.96054286e-01 -2.49286186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40687499999999 meters 0.012706369608225949 Centerline is valid? [True, True] Translation: X:188.24, Y:-63.59, Z:-24.93 [[ 7.56149037e-01 -6.51011663e-01 6.65015006e-02 1.88241078e+02] [ 6.48417000e-01 7.59067317e-01 5.80706603e-02 -6.35939377e+01] [-8.82837927e-02 -7.89370276e-04 9.96095050e-01 -2.49311049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.436875 meters 0.012917917920561106 Centerline is valid? [True, True] Translation: X:188.26, Y:-63.58, Z:-24.93 [[ 7.56339182e-01 -6.50854572e-01 6.58738799e-02 1.88260231e+02] [ 6.48305317e-01 7.59201980e-01 5.75549275e-02 -6.35755695e+01] [-8.74714678e-02 -8.24660156e-04 9.96166684e-01 -2.49339079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.466875 meters 0.01305697674064324 Centerline is valid? [True, True] Translation: X:188.28, Y:-63.55, Z:-24.94 [[ 7.57008752e-01 -6.50180399e-01 6.48320824e-02 1.88280092e+02] [ 6.47707325e-01 7.59779334e-01 5.66620200e-02 -6.35546783e+01] [-8.60986111e-02 -9.01430343e-04 9.96286212e-01 -2.49383986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.496875 meters 0.013340810903632741 Centerline is valid? [True, True] Translation: X:188.30, Y:-63.53, Z:-24.94 [[ 7.57553154e-01 -6.49627698e-01 6.40083751e-02 1.88300463e+02] [ 6.47212955e-01 7.60251872e-01 5.59685845e-02 -6.35344332e+01] [-8.50212297e-02 -9.72128213e-04 9.96378666e-01 -2.49419200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.526875 meters 0.013445313723963273 Centerline is valid? [True, True] Translation: X:188.32, Y:-63.51, Z:-24.94 [[ 7.57835301e-01 -6.49344462e-01 6.35407471e-02 1.88321394e+02] [ 6.46961717e-01 7.60493745e-01 5.55859702e-02 -6.35141629e+01] [-8.44167826e-02 -1.01657958e-03 9.96430014e-01 -2.49449791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.556875 meters 0.01357213352821365 Centerline is valid? [True, True] Translation: X:188.34, Y:-63.49, Z:-24.95 [[ 7.58181161e-01 -6.48992946e-01 6.30038435e-02 1.88342367e+02] [ 6.46646991e-01 7.60793677e-01 5.51420939e-02 -6.34941791e+01] [-8.37197557e-02 -1.06645099e-03 9.96488768e-01 -2.49475956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.586875 meters 0.013748909236651652 Centerline is valid? [True, True] Translation: X:188.36, Y:-63.48, Z:-24.95 [[ 7.58087459e-01 -6.49130129e-01 6.27174661e-02 1.88362086e+02] [ 6.46803690e-01 7.60676631e-01 5.49185680e-02 -6.34755391e+01] [-8.33570079e-02 -1.06718915e-03 9.96519177e-01 -2.49505820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.616875 meters 0.013711861522729457 Centerline is valid? [True, True] Translation: X:188.38, Y:-63.46, Z:-24.95 [[ 7.57743881e-01 -6.49537228e-01 6.26546078e-02 1.88383286e+02] [ 6.47215532e-01 7.60329088e-01 5.48792658e-02 -6.34564781e+01] [-8.32842469e-02 -1.03339259e-03 9.96525296e-01 -2.49528038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.646875 meters 0.013574271166244063 Centerline is valid? [True, True] Translation: X:188.40, Y:-63.44, Z:-24.95 [[ 7.57386648e-01 -6.49988928e-01 6.22885080e-02 1.88404837e+02] [ 6.47693453e-01 7.59943020e-01 5.45875257e-02 -6.34380069e+01] [-8.28170042e-02 -1.00000434e-03 9.96564270e-01 -2.49541965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.676875 meters 0.013784230217633874 Centerline is valid? [True, True] Translation: X:188.42, Y:-63.42, Z:-24.96 [[ 7.57379796e-01 -6.49996453e-01 6.22933071e-02 1.88424243e+02] [ 6.47698081e-01 7.59936553e-01 5.46226260e-02 -6.34190441e+01] [-8.28434743e-02 -1.02281785e-03 9.96562047e-01 -2.49552896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.706875 meters 0.01368222074203004 Centerline is valid? [True, True] Translation: X:188.45, Y:-63.40, Z:-24.96 [[ 7.57731031e-01 -6.49576986e-01 6.23973000e-02 1.88445659e+02] [ 6.47268201e-01 7.60295053e-01 5.47294203e-02 -6.34000105e+01] [-8.29913304e-02 -1.08239202e-03 9.96549681e-01 -2.49569837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.736875 meters 0.013761289456245527 Centerline is valid? [True, True] Translation: X:188.47, Y:-63.38, Z:-24.96 [[ 7.58082001e-01 -6.49209469e-01 6.19576138e-02 1.88466962e+02] [ 6.46929769e-01 7.60608821e-01 5.43699950e-02 -6.33799312e+01] [-8.24230231e-02 -1.13468986e-03 9.96596788e-01 -2.49593866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.766875 meters 0.014365692055137361 Centerline is valid? [True, True] Translation: X:188.49, Y:-63.36, Z:-24.96 [[ 7.58479198e-01 -6.48792929e-01 6.14576450e-02 1.88486351e+02] [ 6.46546304e-01 7.60964070e-01 5.39588847e-02 -6.33604260e+01] [-8.17752025e-02 -1.19147835e-03 9.96650087e-01 -2.49627837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.796875 meters 0.014947388650102913 Centerline is valid? [True, True] Translation: X:188.51, Y:-63.34, Z:-24.97 [[ 7.59018389e-01 -6.48219426e-01 6.08494931e-02 1.88505738e+02] [ 6.46014178e-01 7.61452566e-01 5.34384868e-02 -6.33408024e+01] [-8.09738679e-02 -1.25115892e-03 9.96715440e-01 -2.49660046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.826875 meters 0.014599327060392733 Centerline is valid? [True, True] Translation: X:188.53, Y:-63.32, Z:-24.97 [[ 7.59870962e-01 -6.47274490e-01 6.02648845e-02 1.88527180e+02] [ 6.45107994e-01 7.62255816e-01 5.29315287e-02 -6.33214718e+01] [-8.01984869e-02 -1.34377290e-03 9.96778008e-01 -2.49674175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.856875 meters 0.014419311963365688 Centerline is valid? [True, True] Translation: X:188.55, Y:-63.30, Z:-24.97 [[ 7.60106951e-01 -6.46987245e-01 6.03732388e-02 1.88548837e+02] [ 6.44809990e-01 7.62499545e-01 5.30520516e-02 -6.33028245e+01] [-8.03585678e-02 -1.39596564e-03 9.96765043e-01 -2.49689183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.886875 meters 0.014892996933503088 Centerline is valid? [True, True] Translation: X:188.57, Y:-63.28, Z:-24.97 [[ 7.60124671e-01 -6.46929581e-01 6.07667809e-02 1.88568311e+02] [ 6.44721379e-01 7.62548402e-01 5.34254438e-02 -6.32842791e+01] [-8.09001117e-02 -1.43235507e-03 9.96721185e-01 -2.49712754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.916875 meters 0.014467423008550204 Centerline is valid? [True, True] Translation: X:188.59, Y:-63.27, Z:-24.97 [[ 7.59939179e-01 -6.47086210e-01 6.14156460e-02 1.88589580e+02] [ 6.44829783e-01 7.62415475e-01 5.40110569e-02 -6.32665323e+01] [-8.17740490e-02 -1.44248047e-03 9.96649850e-01 -2.49722020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94687499999998 meters 0.016318861681926332 Centerline is valid? [True, True] Translation: X:188.61, Y:-63.25, Z:-24.97 [[ 7.59621570e-01 -6.47382066e-01 6.22216188e-02 1.88608610e+02] [ 6.45064158e-01 7.62164250e-01 5.47529738e-02 -6.32458974e+01] [-8.28691867e-02 -1.45460384e-03 9.96559372e-01 -2.49739511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97687499999998 meters 0.014882509360883962 Centerline is valid? [True, True] Translation: X:188.63, Y:-63.23, Z:-24.97 [[ 7.59375105e-01 -6.47614269e-01 6.28108976e-02 1.88632204e+02] [ 6.45252298e-01 7.61966967e-01 5.52794096e-02 -6.32293401e+01] [-8.36595636e-02 -1.44893141e-03 9.96493341e-01 -2.49737568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00687499999998 meters 0.014574986546432451 Centerline is valid? [True, True] Translation: X:188.65, Y:-63.21, Z:-24.97 [[ 7.59004484e-01 -6.47961051e-01 6.37076873e-02 1.88653997e+02] [ 6.45529563e-01 7.61672081e-01 5.61001236e-02 -6.32106597e+01] [-8.48750618e-02 -1.45504979e-03 9.96390539e-01 -2.49744353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03687499999998 meters 0.01487707966035964 Centerline is valid? [True, True] Translation: X:188.67, Y:-63.19, Z:-24.98 [[ 7.58747349e-01 -6.48111180e-01 6.52254498e-02 1.88674396e+02] [ 6.45560233e-01 7.61544262e-01 5.74658302e-02 -6.31915592e+01] [-8.69163141e-02 -1.49508970e-03 9.96214495e-01 -2.49756824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06687499999998 meters 0.0148484686074881 Centerline is valid? [True, True] Translation: X:188.69, Y:-63.17, Z:-24.98 [[ 7.58560226e-01 -6.48275794e-01 6.57638041e-02 1.88694866e+02] [ 6.45681647e-01 7.61404125e-01 5.79566178e-02 -6.31728186e+01] [-8.76447042e-02 -1.50110377e-03 9.96150668e-01 -2.49776902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09687499999998 meters 0.014459994619047335 Centerline is valid? [True, True] Translation: X:188.72, Y:-63.15, Z:-24.98 [[ 7.58584619e-01 -6.48247285e-01 6.57634620e-02 1.88716383e+02] [ 6.45650273e-01 7.61428342e-01 5.79879725e-02 -6.31547013e+01] [-8.76647096e-02 -1.52858688e-03 9.96148865e-01 -2.49805167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12687499999998 meters 0.014998798194247116 Centerline is valid? [True, True] Translation: X:188.74, Y:-63.14, Z:-24.98 [[ 7.58705899e-01 -6.48137678e-01 6.54439413e-02 1.88735694e+02] [ 6.45562581e-01 7.61521582e-01 5.77393637e-02 -6.31354426e+01] [-8.72600308e-02 -1.55903621e-03 9.96184349e-01 -2.49842086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15687499999999 meters 0.015153030372059345 Centerline is valid? [True, True] Translation: X:188.76, Y:-63.12, Z:-24.99 [[ 7.59001752e-01 -6.47861487e-01 6.47443681e-02 1.88756981e+02] [ 6.45338683e-01 7.61756505e-01 5.71402773e-02 -6.31160075e+01] [-8.63384286e-02 -1.58752539e-03 9.96264601e-01 -2.49877575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.186875 meters 0.015153030372059345 Centerline is valid? [True, True] Translation: X:188.78, Y:-63.10, Z:-24.99 [[ 7.58826562e-01 -6.48068024e-01 6.47308611e-02 1.88777544e+02] [ 6.45544665e-01 7.61580807e-01 5.71555743e-02 -6.30977370e+01] [-8.63384815e-02 -1.58450590e-03 9.96264601e-01 -2.49902586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.216875 meters 0.01535144793213162 Centerline is valid? [True, True] Translation: X:188.80, Y:-63.08, Z:-25.00 [[ 7.59282766e-01 -6.47656315e-01 6.34899931e-02 1.88798217e+02] [ 6.45224937e-01 7.61930878e-01 5.60902592e-02 -6.30783622e+01] [-8.47021968e-02 -1.62304031e-03 9.96404990e-01 -2.49953013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.246875 meters 0.015637682015529845 Centerline is valid? [True, True] Translation: X:188.82, Y:-63.06, Z:-25.00 [[ 7.59298504e-01 -6.47711210e-01 6.27373128e-02 1.88819289e+02] [ 6.45335151e-01 7.61884223e-01 5.54524507e-02 -6.30595266e+01] [-8.37157428e-02 -1.61836960e-03 9.96488362e-01 -2.49984540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.276875 meters 0.015309839023696347 Centerline is valid? [True, True] Translation: X:188.84, Y:-63.04, Z:-25.00 [[ 7.58830746e-01 -6.48248800e-01 6.28441874e-02 1.88841254e+02] [ 6.45865300e-01 7.61426963e-01 5.55607264e-02 -6.30416359e+01] [-8.38684330e-02 -1.57230756e-03 9.96475596e-01 -2.50006490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.306875 meters 0.014579710202440583 Centerline is valid? [True, True] Translation: X:188.86, Y:-63.02, Z:-25.00 [[ 7.58525141e-01 -6.48655195e-01 6.23381784e-02 1.88863267e+02] [ 6.46308862e-01 7.61080859e-01 5.51432754e-02 -6.30248330e+01] [-8.32133664e-02 -1.53784362e-03 9.96530567e-01 -2.50022567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.336875 meters 0.014408375404174542 Centerline is valid? [True, True] Translation: X:188.88, Y:-63.01, Z:-25.01 [[ 7.57625774e-01 -6.49660320e-01 6.28064876e-02 1.88884432e+02] [ 6.47279174e-01 7.60223208e-01 5.55908732e-02 -6.30068878e+01] [-8.38621339e-02 -1.46374696e-03 9.96476292e-01 -2.50054949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.366875 meters 0.014290147603128984 Centerline is valid? [True, True] Translation: X:188.91, Y:-62.99, Z:-25.01 [[ 7.57015632e-01 -6.50390438e-01 6.26067916e-02 1.88905525e+02] [ 6.48026276e-01 7.59598816e-01 5.54218713e-02 -6.29889284e+01] [-8.36018999e-02 -1.38437695e-03 9.96498272e-01 -2.50091546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.396875 meters 0.014106376074116881 Centerline is valid? [True, True] Translation: X:188.93, Y:-62.97, Z:-25.01 [[ 7.56325335e-01 -6.51220362e-01 6.23219727e-02 1.88927399e+02] [ 6.48877928e-01 7.58887557e-01 5.52006402e-02 -6.29710687e+01] [-8.32431504e-02 -1.31029015e-03 9.96528405e-01 -2.50122198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.426875 meters 0.0135573486010415 Centerline is valid? [True, True] Translation: X:188.95, Y:-62.95, Z:-25.01 [[ 7.55437228e-01 -6.52254265e-01 6.22813701e-02 1.88950341e+02] [ 6.49915986e-01 7.57999269e-01 5.51934666e-02 -6.29539915e+01] [-8.32094070e-02 -1.21754129e-03 9.96531340e-01 -2.50142711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.456875 meters 0.013632692123079085 Centerline is valid? [True, True] Translation: X:188.97, Y:-62.94, Z:-25.02 [[ 7.54358463e-01 -6.53530087e-01 6.19817383e-02 1.88971794e+02] [ 6.51216207e-01 7.56899749e-01 5.49565457e-02 -6.29362307e+01] [-8.28297183e-02 -1.09342286e-03 9.96563115e-01 -2.50170914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.486875 meters 0.012856345734111449 Centerline is valid? [True, True] Translation: X:189.00, Y:-62.92, Z:-25.02 [[ 7.52054459e-01 -6.56225702e-01 6.14973109e-02 1.88996674e+02] [ 6.53955648e-01 7.54564235e-01 5.45419590e-02 -6.29204275e+01] [-8.21955067e-02 -8.02009706e-04 9.96615902e-01 -2.50185030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.516875 meters 0.012769117458925469 Centerline is valid? [True, True] Translation: X:189.02, Y:-62.90, Z:-25.02 [[ 7.51188000e-01 -6.57228207e-01 6.13813707e-02 1.89018182e+02] [ 6.54967747e-01 7.53691300e-01 5.44671864e-02 -6.29033198e+01] [-8.20599764e-02 -7.12278770e-04 9.96627138e-01 -2.50211672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.546875 meters 0.012584608329909616 Centerline is valid? [True, True] Translation: X:189.04, Y:-62.89, Z:-25.02 [[ 7.49868087e-01 -6.58753786e-01 6.11661783e-02 1.89041104e+02] [ 6.56513021e-01 7.52358386e-01 5.42909888e-02 -6.28855448e+01] [-8.17832816e-02 -5.54687384e-04 9.96649982e-01 -2.50240944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.576875 meters 0.012450234705005073 Centerline is valid? [True, True] Translation: X:189.06, Y:-62.87, Z:-25.03 [[ 7.47795914e-01 -6.61136453e-01 6.08264860e-02 1.89064713e+02] [ 6.58926258e-01 7.50265615e-01 5.40156774e-02 -6.28687212e+01] [-8.13477543e-02 -3.12533997e-04 9.96685730e-01 -2.50273240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.606875 meters 0.012429744060273253 Centerline is valid? [True, True] Translation: X:189.09, Y:-62.85, Z:-25.03 [[ 7.46795768e-01 -6.62310445e-01 6.03403238e-02 1.89086178e+02] [ 6.60137261e-01 7.49229493e-01 5.36093541e-02 -6.28512707e+01] [-8.07147854e-02 -2.02342689e-04 9.96737218e-01 -2.50305290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.636875 meters 0.012318663838605873 Centerline is valid? [True, True] Translation: X:189.11, Y:-62.83, Z:-25.03 [[ 7.45851786e-01 -6.63399730e-01 6.00492432e-02 1.89107776e+02] [ 6.61248653e-01 7.48265185e-01 5.33800626e-02 -6.28339182e+01] [-8.03450771e-02 -1.06133803e-04 9.96767103e-01 -2.50332314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.666875 meters 0.012378140564434708 Centerline is valid? [True, True] Translation: X:189.13, Y:-62.82, Z:-25.04 [[ 7.45042915e-01 -6.64348711e-01 5.95973558e-02 1.89129712e+02] [ 6.62230627e-01 7.47422765e-01 5.30076143e-02 -6.28158370e+01] [-7.97599607e-02 -2.57531690e-05 9.96814099e-01 -2.50358258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69687499999998 meters 0.012434181793916232 Centerline is valid? [True, True] Translation: X:189.15, Y:-62.80, Z:-25.04 [[ 7.43704166e-01 -6.65909490e-01 5.88953725e-02 1.89153191e+02] [ 6.63843671e-01 7.46032531e-01 5.24122497e-02 -6.27985762e+01] [-7.88396783e-02 1.18111831e-04 9.96887301e-01 -2.50380309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72687499999998 meters 0.012557504472311805 Centerline is valid? [True, True] Translation: X:189.18, Y:-62.78, Z:-25.04 [[ 7.43309243e-01 -6.66345436e-01 5.89502260e-02 1.89175089e+02] [ 6.64275172e-01 7.45643171e-01 5.24857828e-02 -6.27804868e+01] [-7.89294953e-02 1.46003994e-04 9.96880190e-01 -2.50396680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75687499999998 meters 0.012570182142457751 Centerline is valid? [True, True] Translation: X:189.20, Y:-62.76, Z:-25.04 [[ 7.43135716e-01 -6.66499795e-01 5.93913439e-02 1.89195979e+02] [ 6.64396378e-01 7.45505200e-01 5.29098218e-02 -6.27630341e+01] [-7.95409411e-02 1.40215423e-04 9.96831590e-01 -2.50420442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78687499999998 meters 0.012603433040895597 Centerline is valid? [True, True] Translation: X:189.22, Y:-62.74, Z:-25.04 [[ 7.43194388e-01 -6.66469774e-01 5.89927267e-02 1.89217047e+02] [ 6.64393447e-01 7.45532041e-01 5.25673178e-02 -6.27445858e+01] [-7.90154963e-02 1.26645480e-04 9.96873380e-01 -2.50435497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81687499999998 meters 0.012583599050053412 Centerline is valid? [True, True] Translation: X:189.24, Y:-62.73, Z:-25.05 [[ 7.43569810e-01 -6.66090317e-01 5.85459495e-02 1.89237932e+02] [ 6.64041965e-01 7.45871092e-01 5.21975402e-02 -6.27257168e+01] [-7.84360074e-02 6.44522887e-05 9.96919148e-01 -2.50460255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84687499999998 meters 0.012626829044338482 Centerline is valid? [True, True] Translation: X:189.26, Y:-62.71, Z:-25.05 [[ 7.44667939e-01 -6.64852101e-01 5.86629620e-02 1.89258196e+02] [ 6.62789423e-01 7.46975017e-01 5.23307289e-02 -6.27064221e+01] [-7.86119621e-02 -8.78253377e-05 9.96905287e-01 -2.50481138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87687499999998 meters 0.01272268184059691 Centerline is valid? [True, True] Translation: X:189.28, Y:-62.69, Z:-25.05 [[ 7.45382938e-01 -6.64083300e-01 5.82893340e-02 1.89279557e+02] [ 6.62042226e-01 7.47658568e-01 5.20265008e-02 -6.26865439e+01] [-7.81304503e-02 -1.89665532e-04 9.96943126e-01 -2.50510824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90687499999999 meters 0.01283533813257836 Centerline is valid? [True, True] Translation: X:189.30, Y:-62.67, Z:-25.05 [[ 7.46053127e-01 -6.63344472e-01 5.81278192e-02 1.89300292e+02] [ 6.61310576e-01 7.48314125e-01 5.19065725e-02 -6.26677069e+01] [-7.79298061e-02 -2.84519143e-04 9.96958808e-01 -2.50534689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.936875 meters 0.013036343609603276 Centerline is valid? [True, True] Translation: X:189.32, Y:-62.65, Z:-25.06 [[ 7.46667744e-01 -6.62658903e-01 5.80556500e-02 1.89319773e+02] [ 6.60625594e-01 7.48921247e-01 5.18728206e-02 -6.26496797e+01] [-7.78530962e-02 -3.78713670e-04 9.96964770e-01 -2.50566629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.966875 meters 0.013156239381205047 Centerline is valid? [True, True] Translation: X:189.34, Y:-62.63, Z:-25.06 [[ 7.47659166e-01 -6.61492755e-01 5.85927156e-02 1.89341104e+02] [ 6.59416838e-01 7.49951378e-01 5.23675956e-02 -6.26314500e+01] [-7.85824729e-02 -5.16089673e-04 9.96907482e-01 -2.50574884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.996875 meters 0.013105100640104842 Centerline is valid? [True, True] Translation: X:189.36, Y:-62.61, Z:-25.06 [[ 7.47812487e-01 -6.61310789e-01 5.86900746e-02 1.89361292e+02] [ 6.59224912e-01 7.50111810e-01 5.24860741e-02 -6.26135387e+01] [-7.87337252e-02 -5.59782266e-04 9.96895525e-01 -2.50596655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.026875 meters 0.013265328622110821 Centerline is valid? [True, True] Translation: X:189.38, Y:-62.59, Z:-25.06 [[ 7.48058407e-01 -6.61023264e-01 5.87950938e-02 1.89382387e+02] [ 6.58927859e-01 7.50365165e-01 5.25946366e-02 -6.25947225e+01] [-7.88840687e-02 -6.02134881e-04 9.96883615e-01 -2.50628186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.056875 meters 0.013425694304823488 Centerline is valid? [True, True] Translation: X:189.40, Y:-62.58, Z:-25.07 [[ 7.48352700e-01 -6.60697557e-01 5.87109382e-02 1.89403043e+02] [ 6.58604883e-01 7.50651921e-01 5.25480873e-02 -6.25762292e+01] [-7.87898714e-02 -6.57192393e-04 9.96891029e-01 -2.50652033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.086875 meters 0.01340185792243103 Centerline is valid? [True, True] Translation: X:189.42, Y:-62.56, Z:-25.07 [[ 7.48566975e-01 -6.60430463e-01 5.89837859e-02 1.89424822e+02] [ 6.58315122e-01 7.50886875e-01 5.28214177e-02 -6.25589069e+01] [-7.91750240e-02 -7.10450648e-04 9.96860477e-01 -2.50672390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.116875 meters 0.013332990954903945 Centerline is valid? [True, True] Translation: X:189.45, Y:-62.54, Z:-25.07 [[ 7.48167052e-01 -6.60893960e-01 5.88662643e-02 1.89446820e+02] [ 6.58786181e-01 7.50478986e-01 5.27452237e-02 -6.25408876e+01] [-7.90368941e-02 -6.81957078e-04 9.96871458e-01 -2.50693180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.146875 meters 0.013428098135439449 Centerline is valid? [True, True] Translation: X:189.47, Y:-62.52, Z:-25.07 [[ 7.47814690e-01 -6.61273975e-01 5.90755401e-02 1.89467291e+02] [ 6.59149841e-01 7.50144176e-01 5.29641670e-02 -6.25241000e+01] [-7.93389976e-02 -6.67749287e-04 9.96847470e-01 -2.50724156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.176875 meters 0.013331892890493495 Centerline is valid? [True, True] Translation: X:189.49, Y:-62.51, Z:-25.08 [[ 7.46917014e-01 -6.62306495e-01 5.88649405e-02 1.89489026e+02] [ 6.60199674e-01 7.49232799e-01 5.27882944e-02 -6.25066483e+01] [-7.90655743e-02 -5.65860703e-04 9.96869257e-01 -2.50755481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.206875 meters 0.013066865802119092 Centerline is valid? [True, True] Translation: X:189.51, Y:-62.49, Z:-25.08 [[ 7.45506958e-01 -6.63898352e-01 5.88077680e-02 1.89513215e+02] [ 6.61798221e-01 7.47822708e-01 5.27665870e-02 -6.24902759e+01] [-7.90094345e-02 -4.18981477e-04 9.96873780e-01 -2.50788526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.236875 meters 0.01290574451956059 Centerline is valid? [True, True] Translation: X:189.54, Y:-62.47, Z:-25.08 [[ 7.44677888e-01 -6.64825055e-01 5.88429232e-02 1.89535687e+02] [ 6.62723309e-01 7.46999017e-01 5.28231453e-02 -6.24730180e+01] [-7.90737563e-02 -3.39651503e-04 9.96868710e-01 -2.50812397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.266875 meters 0.012947723280432677 Centerline is valid? [True, True] Translation: X:189.56, Y:-62.46, Z:-25.08 [[ 7.43885181e-01 -6.65715474e-01 5.88025985e-02 1.89557030e+02] [ 6.63616903e-01 7.46205626e-01 5.28182774e-02 -6.24563724e+01] [-7.90407743e-02 -2.68335573e-04 9.96871348e-01 -2.50848200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.296875 meters 0.012945573013300975 Centerline is valid? [True, True] Translation: X:189.58, Y:-62.44, Z:-25.09 [[ 7.43128519e-01 -6.66609032e-01 5.82443425e-02 1.89579674e+02] [ 6.64551862e-01 7.45407516e-01 5.23302716e-02 -6.24392225e+01] [-7.82996023e-02 -1.81730937e-04 9.96929857e-01 -2.50871354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.326875 meters 0.012850771867397146 Centerline is valid? [True, True] Translation: X:189.60, Y:-62.42, Z:-25.09 [[ 7.41682709e-01 -6.68227271e-01 5.81298052e-02 1.89603734e+02] [ 6.66180926e-01 7.43957199e-01 5.22557278e-02 -6.24242689e+01] [-7.81647894e-02 -3.22023253e-05 9.96940452e-01 -2.50893408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.356875 meters 0.012961749996167931 Centerline is valid? [True, True] Translation: X:189.62, Y:-62.41, Z:-25.09 [[ 7.41231263e-01 -6.68744382e-01 5.79410661e-02 1.89624680e+02] [ 6.66710526e-01 7.43492402e-01 5.21164323e-02 -6.24076927e+01] [-7.79313138e-02 -4.10220560e-07 9.96958731e-01 -2.50918556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.386875 meters 0.01282375886851021 Centerline is valid? [True, True] Translation: X:189.65, Y:-62.39, Z:-25.09 [[ 7.40939910e-01 -6.69039056e-01 5.82648320e-02 1.89646201e+02] [ 6.66982167e-01 7.43227247e-01 5.24218230e-02 -6.23896769e+01] [-7.83762577e-02 2.01831192e-05 9.96923850e-01 -2.50933888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.416875 meters 0.012918172074792449 Centerline is valid? [True, True] Translation: X:189.67, Y:-62.37, Z:-25.10 [[ 7.41068885e-01 -6.68902021e-01 5.81978793e-02 1.89667456e+02] [ 6.66847196e-01 7.43350581e-01 5.23901833e-02 -6.23714925e+01] [-7.83053269e-02 -1.56421118e-05 9.96929424e-01 -2.50956085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44687499999998 meters 0.012971033003001972 Centerline is valid? [True, True] Translation: X:189.69, Y:-62.35, Z:-25.10 [[ 7.41357548e-01 -6.68590531e-01 5.81006710e-02 1.89687432e+02] [ 6.66539206e-01 7.43630753e-01 5.23334518e-02 -6.23540418e+01] [-7.81950960e-02 -7.14243806e-05 9.96938073e-01 -2.50991228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47687499999998 meters 0.013073687162145872 Centerline is valid? [True, True] Translation: X:189.71, Y:-62.34, Z:-25.10 [[ 7.42042386e-01 -6.67893237e-01 5.73735260e-02 1.89709260e+02] [ 6.65889832e-01 7.44257080e-01 5.16926530e-02 -6.23354517e+01] [-7.72258263e-02 -1.53691961e-04 9.97013615e-01 -2.51033105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50687499999998 meters 0.013109290878374195 Centerline is valid? [True, True] Translation: X:189.73, Y:-62.32, Z:-25.11 [[ 7.42171001e-01 -6.67783532e-01 5.69856124e-02 1.89731237e+02] [ 6.65805006e-01 7.44355507e-01 5.13670398e-02 -6.23162945e+01] [-7.67196177e-02 -1.81821344e-04 9.97052690e-01 -2.51060186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53687499999998 meters 0.013165049837425025 Centerline is valid? [True, True] Translation: X:189.75, Y:-62.30, Z:-25.11 [[ 7.42765538e-01 -6.67170242e-01 5.64200645e-02 1.89753097e+02] [ 6.65227250e-01 7.44905229e-01 5.08812919e-02 -6.22970886e+01] [-7.59740849e-02 -2.60705850e-04 9.97109758e-01 -2.51087705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56687499999998 meters 0.013240585215571938 Centerline is valid? [True, True] Translation: X:189.77, Y:-62.28, Z:-25.11 [[ 7.43202173e-01 -6.66685198e-01 5.64036918e-02 1.89774193e+02] [ 6.64740138e-01 7.45339345e-01 5.08901664e-02 -6.22780739e+01] [-7.59676113e-02 -3.27884398e-04 9.97110232e-01 -2.51109932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59687499999998 meters 0.013661124325055986 Centerline is valid? [True, True] Translation: X:189.79, Y:-62.26, Z:-25.11 [[ 7.44313903e-01 -6.65425860e-01 5.66148314e-02 1.89793028e+02] [ 6.63460205e-01 7.46463793e-01 5.11112741e-02 -6.22594027e+01] [-7.62716853e-02 -4.81144217e-04 9.97086956e-01 -2.51142215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62687499999998 meters 0.013525480801867325 Centerline is valid? [True, True] Translation: X:189.81, Y:-62.24, Z:-25.12 [[ 7.44382084e-01 -6.65343440e-01 5.66870276e-02 1.89814128e+02] [ 6.63371461e-01 7.46537243e-01 5.11903188e-02 -6.22412165e+01] [-7.63781202e-02 -5.00599885e-04 9.97078799e-01 -2.51150003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65687499999999 meters 0.013523496433629533 Centerline is valid? [True, True] Translation: X:189.84, Y:-62.22, Z:-25.12 [[ 7.44173375e-01 -6.65570536e-01 5.67613473e-02 1.89835449e+02] [ 6.63591852e-01 7.46334786e-01 5.12858809e-02 -6.22225819e+01] [-7.64973392e-02 -4.99219499e-04 9.97069661e-01 -2.51170488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.686875 meters 0.013631522638258455 Centerline is valid? [True, True] Translation: X:189.86, Y:-62.21, Z:-25.12 [[ 7.44028731e-01 -6.65741848e-01 5.66483882e-02 1.89855665e+02] [ 6.63769249e-01 7.46181974e-01 5.12137213e-02 -6.22053235e+01] [-7.63651236e-02 -5.03021932e-04 9.97079794e-01 -2.51189229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.716875 meters 0.013397117145122822 Centerline is valid? [True, True] Translation: X:189.88, Y:-62.19, Z:-25.12 [[ 7.43659562e-01 -6.66137609e-01 5.68431337e-02 1.89876732e+02] [ 6.64151214e-01 7.45828706e-01 5.14072596e-02 -6.21869864e+01] [-7.66395498e-02 -4.77063906e-04 9.97058750e-01 -2.51205682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.746875 meters 0.013562833771141725 Centerline is valid? [True, True] Translation: X:189.90, Y:-62.17, Z:-25.12 [[ 7.43414896e-01 -6.66392427e-01 5.70563386e-02 1.89896723e+02] [ 6.64389428e-01 7.45601038e-01 5.16312024e-02 -6.21685598e+01] [-7.69479076e-02 -4.75776847e-04 9.97035001e-01 -2.51238510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.776875 meters 0.01352893964682208 Centerline is valid? [True, True] Translation: X:189.92, Y:-62.15, Z:-25.13 [[ 7.42998466e-01 -6.66841815e-01 5.72300015e-02 1.89918118e+02] [ 6.64826929e-01 7.45199168e-01 5.18011077e-02 -6.21501331e+01] [-7.71908942e-02 -4.40097440e-04 9.97016235e-01 -2.51257757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.806875 meters 0.013351769888853955 Centerline is valid? [True, True] Translation: X:189.94, Y:-62.13, Z:-25.13 [[ 7.42579522e-01 -6.67310602e-01 5.72032780e-02 1.89939713e+02] [ 6.65296821e-01 7.44779424e-01 5.18049075e-02 -6.21313816e+01] [-7.71737884e-02 -4.12104392e-04 9.97017571e-01 -2.51274250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.836875 meters 0.013259169408114353 Centerline is valid? [True, True] Translation: X:189.96, Y:-62.11, Z:-25.13 [[ 7.41946561e-01 -6.67981624e-01 5.75834330e-02 1.89960970e+02] [ 6.65940678e-01 7.44177678e-01 5.21785083e-02 -6.21126858e+01] [-7.77065902e-02 -3.66514353e-04 9.96976204e-01 -2.51296361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.866875 meters 0.01346656696399976 Centerline is valid? [True, True] Translation: X:189.98, Y:-62.09, Z:-25.13 [[ 7.41976101e-01 -6.67915062e-01 5.79735764e-02 1.89979934e+02] [ 6.65843765e-01 7.44237402e-01 5.25620554e-02 -6.20940238e+01] [-7.82530924e-02 -3.98444512e-04 9.96933446e-01 -2.51333415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.896875 meters 0.013212339384774688 Centerline is valid? [True, True] Translation: X:190.00, Y:-62.08, Z:-25.13 [[ 7.42125127e-01 -6.67751135e-01 5.79544441e-02 1.90000366e+02] [ 6.65679693e-01 7.44384471e-01 5.25576503e-02 -6.20752379e+01] [-7.82358188e-02 -4.25256374e-04 9.96934790e-01 -2.51347709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.926875 meters 0.01356486219085597 Centerline is valid? [True, True] Translation: X:190.02, Y:-62.06, Z:-25.14 [[ 7.42490619e-01 -6.67341955e-01 5.79861667e-02 1.90019503e+02] [ 6.65264556e-01 7.44751283e-01 5.26174564e-02 -6.20559854e+01] [-7.82991083e-02 -4.91826319e-04 9.96929791e-01 -2.51384900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.956875 meters 0.013063320168704307 Centerline is valid? [True, True] Translation: X:190.04, Y:-62.04, Z:-25.14 [[ 7.38718131e-01 -6.71578931e-01 5.72473821e-02 1.90042256e+02] [ 6.69565786e-01 7.40933018e-01 5.19607660e-02 -6.20386790e+01] [-7.73122312e-02 -5.34715776e-05 9.97006929e-01 -2.51404594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.986875 meters 0.012994178926337693 Centerline is valid? [True, True] Translation: X:190.06, Y:-62.02, Z:-25.14 [[ 7.36746096e-01 -6.73700004e-01 5.77364287e-02 1.90064394e+02] [ 6.71656477e-01 7.39004927e-01 5.24337112e-02 -6.20207211e+01] [-7.79920967e-02 1.48714347e-04 9.96953966e-01 -2.51412893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.016875 meters 0.013005020365762546 Centerline is valid? [True, True] Translation: X:190.09, Y:-62.00, Z:-25.14 [[ 7.34972727e-01 -6.75555432e-01 5.86510766e-02 1.90085836e+02] [ 6.73450057e-01 7.37309128e-01 5.32941854e-02 -6.20030607e+01] [-7.92471506e-02 3.28798109e-04 9.96854945e-01 -2.51426646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.046875 meters 0.013122660150315468 Centerline is valid? [True, True] Translation: X:190.11, Y:-61.98, Z:-25.15 [[ 7.33553584e-01 -6.77086065e-01 5.87673438e-02 1.90106400e+02] [ 6.74974895e-01 7.35903687e-01 5.34289650e-02 -6.19847279e+01] [-7.94231127e-02 4.73472900e-04 9.96840882e-01 -2.51452575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.076875 meters 0.013122660150315468 Centerline is valid? [True, True] Translation: X:190.13, Y:-61.97, Z:-25.15 [[ 7.33370474e-01 -6.77285660e-01 5.87527215e-02 1.90126703e+02] [ 6.75173843e-01 7.35719994e-01 5.34450389e-02 -6.19661479e+01] [-7.94231104e-02 4.73287215e-04 9.96840883e-01 -2.51477567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.106875 meters 0.013699722894839068 Centerline is valid? [True, True] Translation: X:190.15, Y:-61.95, Z:-25.15 [[ 7.30383573e-01 -6.80531997e-01 5.84468771e-02 1.90147426e+02] [ 6.78450029e-01 7.32717929e-01 5.31976880e-02 -6.19483109e+01] [-7.90278036e-02 7.98568002e-04 9.96872092e-01 -2.51522220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.136875 meters 0.013762037320365668 Centerline is valid? [True, True] Translation: X:190.17, Y:-61.93, Z:-25.15 [[ 7.28994515e-01 -6.82029256e-01 5.83360171e-02 1.90169042e+02] [ 6.79958879e-01 7.31324274e-01 5.31105288e-02 -6.19289691e+01] [-7.88854798e-02 9.48808647e-04 9.96883233e-01 -2.51548213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.166875 meters 0.014238108967133508 Centerline is valid? [True, True] Translation: X:190.19, Y:-61.91, Z:-25.16 [[ 7.28076510e-01 -6.83044531e-01 5.79203334e-02 1.90189741e+02] [ 6.81004637e-01 7.30376003e-01 5.27596304e-02 -6.19112561e+01] [-7.83407986e-02 1.03096806e-03 9.96926104e-01 -2.51577995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19687499999998 meters 0.014197452788985987 Centerline is valid? [True, True] Translation: X:190.21, Y:-61.89, Z:-25.16 [[ 7.27311453e-01 -6.83794582e-01 5.86772451e-02 1.90210055e+02] [ 6.81702709e-01 7.29673704e-01 5.34574792e-02 -6.18917244e+01] [-7.93691775e-02 1.12020005e-03 9.96844661e-01 -2.51583380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22687499999998 meters 0.014174219462955806 Centerline is valid? [True, True] Translation: X:190.23, Y:-61.87, Z:-25.16 [[ 7.27362276e-01 -6.83674313e-01 5.94437011e-02 1.90231483e+02] [ 6.81524473e-01 7.29786425e-01 5.41864099e-02 -6.18717550e+01] [-8.04270626e-02 1.09918663e-03 9.96759891e-01 -2.51595020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25687499999998 meters 0.014117740441372945 Centerline is valid? [True, True] Translation: X:190.25, Y:-61.85, Z:-25.16 [[ 7.27471241e-01 -6.83518675e-01 5.98983642e-02 1.90250982e+02] [ 6.81332980e-01 7.29932241e-01 5.46286971e-02 -6.18526848e+01] [-8.10614818e-02 1.06992486e-03 9.96708529e-01 -2.51614138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28687499999998 meters 0.014005892315790542 Centerline is valid? [True, True] Translation: X:190.27, Y:-61.83, Z:-25.16 [[ 7.27757967e-01 -6.83217978e-01 5.98459338e-02 1.90270228e+02] [ 6.81034238e-01 7.30213762e-01 5.45914723e-02 -6.18321110e+01] [-8.09981998e-02 1.02775099e-03 9.96713718e-01 -2.51644845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31687499999998 meters 0.013908753837606716 Centerline is valid? [True, True] Translation: X:190.29, Y:-61.81, Z:-25.17 [[ 7.28260416e-01 -6.82718775e-01 5.94292912e-02 1.90289231e+02] [ 6.80561369e-01 7.30680630e-01 5.42405774e-02 -6.18109835e+01] [-8.04548925e-02 9.44014286e-04 9.96757804e-01 -2.51684467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34687499999998 meters 0.01335728663002337 Centerline is valid? [True, True] Translation: X:190.31, Y:-61.79, Z:-25.17 [[ 7.30526360e-01 -6.80300784e-01 5.93471154e-02 1.90307193e+02] [ 6.78138948e-01 7.32932749e-01 5.41955076e-02 -6.17877578e+01] [-8.03666908e-02 6.54343500e-04 9.96765151e-01 -2.51722965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37687499999998 meters 0.013131047679774424 Centerline is valid? [True, True] Translation: X:190.33, Y:-61.77, Z:-25.17 [[ 7.31793006e-01 -6.78956061e-01 5.91410534e-02 1.90327479e+02] [ 6.76802789e-01 7.34178746e-01 5.40328937e-02 -6.17666867e+01] [-8.01060651e-02 4.85936166e-04 9.96786227e-01 -2.51740702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40687499999999 meters 0.01297006985495756 Centerline is valid? [True, True] Translation: X:190.35, Y:-61.75, Z:-25.18 [[ 7.32871059e-01 -6.77800731e-01 5.90438791e-02 1.90346832e+02] [ 6.75648789e-01 7.35245573e-01 5.39690791e-02 -6.17457813e+01] [-7.99920320e-02 3.40549176e-04 9.96795445e-01 -2.51760609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.436875 meters 0.013101173345600948 Centerline is valid? [True, True] Translation: X:190.37, Y:-61.72, Z:-25.18 [[ 7.34021720e-01 -6.76573913e-01 5.88205312e-02 1.90365548e+02] [ 6.74431971e-01 7.36374705e-01 5.37941472e-02 -6.17247760e+01] [-7.97096679e-02 1.84374330e-04 9.96818105e-01 -2.51789084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.466875 meters 0.013100363671472347 Centerline is valid? [True, True] Translation: X:190.38, Y:-61.70, Z:-25.18 [[ 7.36116914e-01 -6.74396039e-01 5.76356759e-02 1.90382727e+02] [ 6.72330720e-01 7.38369810e-01 5.27392217e-02 -6.17016127e+01] [-7.81235653e-02 -7.19975626e-05 9.96943681e-01 -2.51840197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.496875 meters 0.013190494927860633 Centerline is valid? [True, True] Translation: X:190.40, Y:-61.68, Z:-25.19 [[ 7.36538769e-01 -6.73992428e-01 5.69635756e-02 1.90402976e+02] [ 6.71971966e-01 7.38738241e-01 5.21487120e-02 -6.16806217e+01] [-7.72290087e-02 -1.31622267e-04 9.97013371e-01 -2.51873778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.526875 meters 0.013262866046480101 Centerline is valid? [True, True] Translation: X:190.42, Y:-61.66, Z:-25.19 [[ 7.36949321e-01 -6.73550487e-01 5.68809260e-02 1.90422531e+02] [ 6.71532695e-01 7.39141193e-01 5.20973760e-02 -6.16609633e+01] [-7.71332485e-02 -1.95724399e-04 9.97020774e-01 -2.51900364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.556875 meters 0.0132210311504904 Centerline is valid? [True, True] Translation: X:190.44, Y:-61.64, Z:-25.19 [[ 7.37220923e-01 -6.73281383e-01 5.65463509e-02 1.90443151e+02] [ 6.71284291e-01 7.39386313e-01 5.18196934e-02 -6.16405583e+01] [-7.66988327e-02 -2.43885126e-04 9.97054276e-01 -2.51927380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.586875 meters 0.01338313061557336 Centerline is valid? [True, True] Translation: X:190.46, Y:-61.62, Z:-25.20 [[ 7.37476399e-01 -6.73056487e-01 5.58885227e-02 1.90463228e+02] [ 6.71103188e-01 7.39591026e-01 5.12408561e-02 -6.16197783e+01] [-7.58226405e-02 -2.81956294e-04 9.97121280e-01 -2.51953837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.616875 meters 0.013447272925264072 Centerline is valid? [True, True] Translation: X:190.48, Y:-61.60, Z:-25.20 [[ 7.37561952e-01 -6.73007253e-01 5.53498378e-02 1.90484273e+02] [ 6.71089557e-01 7.39635820e-01 5.07706566e-02 -6.15994903e+01] [-7.51077428e-02 -3.01806431e-04 9.97175379e-01 -2.51985983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.646875 meters 0.01339682448269607 Centerline is valid? [True, True] Translation: X:190.50, Y:-61.58, Z:-25.20 [[ 7.37298971e-01 -6.73323382e-01 5.50077239e-02 1.90504095e+02] [ 6.71428542e-01 7.39348052e-01 5.04794221e-02 -6.15800428e+01] [-7.46588288e-02 -2.84670119e-04 9.97209095e-01 -2.52000743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.676875 meters 0.013404303300604306 Centerline is valid? [True, True] Translation: X:190.52, Y:-61.56, Z:-25.20 [[ 7.37066751e-01 -6.73554903e-01 5.52846975e-02 1.90524302e+02] [ 6.71639450e-01 7.39137140e-01 5.07615756e-02 -6.15603200e+01] [-7.50536813e-02 -2.83285795e-04 9.97179455e-01 -2.52023892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.706875 meters 0.013488139802036303 Centerline is valid? [True, True] Translation: X:190.54, Y:-61.54, Z:-25.21 [[ 7.36861573e-01 -6.73703912e-01 5.61966328e-02 1.90543575e+02] [ 6.71722614e-01 7.39001320e-01 5.16311794e-02 -6.15400270e+01] [-7.63135134e-02 -2.96483053e-04 9.97083828e-01 -2.52051745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.736875 meters 0.013188506998697471 Centerline is valid? [True, True] Translation: X:190.57, Y:-61.52, Z:-25.21 [[ 7.36283898e-01 -6.74293820e-01 5.66909766e-02 1.90565470e+02] [ 6.72278750e-01 7.38463124e-01 5.20912286e-02 -6.15205214e+01] [-7.69889892e-02 -2.41793925e-04 9.97031914e-01 -2.52059225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.766875 meters 0.0132649043355347 Centerline is valid? [True, True] Translation: X:190.59, Y:-61.50, Z:-25.21 [[ 7.35597353e-01 -6.75052881e-01 5.65697929e-02 1.90586509e+02] [ 6.73046793e-01 7.37769324e-01 5.20042188e-02 -6.15016430e+01] [-7.68410556e-02 -1.80048005e-04 9.97043339e-01 -2.52087131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.796875 meters 0.013091089587663463 Centerline is valid? [True, True] Translation: X:190.61, Y:-61.48, Z:-25.21 [[ 7.34736998e-01 -6.75966185e-01 5.68441734e-02 1.90607839e+02] [ 6.73941064e-01 7.36932633e-01 5.22851491e-02 -6.14830412e+01] [-7.72333191e-02 -1.06210792e-04 9.97013041e-01 -2.52102085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.826875 meters 0.01305942092511301 Centerline is valid? [True, True] Translation: X:190.63, Y:-61.46, Z:-25.21 [[ 7.33850016e-01 -6.76900991e-01 5.71769373e-02 1.90629005e+02] [ 6.74852626e-01 7.36074077e-01 5.26202072e-02 -6.14641565e+01] [-7.77051318e-02 -2.93335920e-05 9.96976385e-01 -2.52118530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.856875 meters 0.01309323114282773 Centerline is valid? [True, True] Translation: X:190.65, Y:-61.44, Z:-25.21 [[ 7.32932382e-01 -6.77828986e-01 5.79481633e-02 1.90650959e+02] [ 6.75725292e-01 7.35219602e-01 5.33616503e-02 -6.14446466e+01] [-7.87746989e-02 4.65581422e-05 9.96892444e-01 -2.52137162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.886875 meters 0.013060615362105689 Centerline is valid? [True, True] Translation: X:190.67, Y:-61.43, Z:-25.22 [[ 7.31200882e-01 -6.79646252e-01 5.85341092e-02 1.90671845e+02] [ 6.77504520e-01 7.33539990e-01 5.39138955e-02 -6.14261498e+01] [-7.95794868e-02 2.35235631e-04 9.96828496e-01 -2.52154815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.916875 meters 0.013215245527260909 Centerline is valid? [True, True] Translation: X:190.69, Y:-61.41, Z:-25.22 [[ 7.30390600e-01 -6.80522987e-01 5.84639668e-02 1.90692583e+02] [ 6.78386869e-01 7.32726668e-01 5.38784397e-02 -6.14071977e+01] [-7.95036243e-02 3.08881496e-04 9.96834529e-01 -2.52178141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94687499999998 meters 0.013185565884806159 Centerline is valid? [True, True] Translation: X:190.71, Y:-61.39, Z:-25.22 [[ 7.29550480e-01 -6.81420093e-01 5.85043103e-02 1.90713388e+02] [ 6.79281591e-01 7.31892416e-01 5.39445282e-02 -6.13879968e+01] [-7.95777464e-02 3.85644532e-04 9.96828588e-01 -2.52197720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97687499999998 meters 0.013325007695311418 Centerline is valid? [True, True] Translation: X:190.73, Y:-61.37, Z:-25.22 [[ 7.28549277e-01 -6.82490238e-01 5.85066303e-02 1.90733305e+02] [ 6.80352496e-01 7.30894551e-01 5.39781114e-02 -6.13701981e+01] [-7.96017114e-02 4.79417939e-04 9.96826634e-01 -2.52221112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00687499999998 meters 0.013367513083332989 Centerline is valid? [True, True] Translation: X:190.75, Y:-61.35, Z:-25.23 [[ 7.28018962e-01 -6.83098055e-01 5.80123944e-02 1.90754124e+02] [ 6.80997025e-01 7.30326479e-01 5.35376994e-02 -6.13509349e+01] [-7.89394861e-02 5.29807652e-04 9.96879269e-01 -2.52252162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03687499999998 meters 0.013385152918469671 Centerline is valid? [True, True] Translation: X:190.77, Y:-61.33, Z:-25.23 [[ 7.27482532e-01 -6.83686917e-01 5.78045329e-02 1.90774356e+02] [ 6.81600868e-01 7.29775219e-01 5.33702844e-02 -6.13316816e+01] [-7.86728809e-02 5.73670147e-04 9.96900320e-01 -2.52279717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06687499999998 meters 0.013452805825433305 Centerline is valid? [True, True] Translation: X:190.79, Y:-61.31, Z:-25.23 [[ 7.27005720e-01 -6.84202992e-01 5.76970434e-02 1.90794946e+02] [ 6.82124039e-01 7.29291367e-01 5.33000762e-02 -6.13121476e+01] [-7.85460272e-02 6.07080006e-04 9.96910303e-01 -2.52307706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09687499999998 meters 0.013529631047705928 Centerline is valid? [True, True] Translation: X:190.82, Y:-61.29, Z:-25.23 [[ 7.26319998e-01 -6.84831583e-01 5.88639370e-02 1.90815947e+02] [ 6.82667138e-01 7.28701076e-01 5.44088271e-02 -6.12919448e+01] [-8.01550974e-02 6.66256205e-04 9.96782181e-01 -2.52328331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12687499999998 meters 0.01359539026688827 Centerline is valid? [True, True] Translation: X:190.84, Y:-61.27, Z:-25.24 [[ 7.26084920e-01 -6.85025908e-01 5.94995266e-02 1.90835590e+02] [ 6.82812800e-01 7.28518393e-01 5.50239118e-02 -6.12737072e+01] [-8.10393047e-02 6.75005749e-04 9.96710678e-01 -2.52350041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15687499999999 meters 0.013662950296400946 Centerline is valid? [True, True] Translation: X:190.86, Y:-61.25, Z:-25.24 [[ 7.25690152e-01 -6.85396141e-01 6.00494205e-02 1.90855879e+02] [ 6.83142025e-01 7.28170050e-01 5.55459405e-02 -6.12548169e+01] [-8.17971628e-02 7.13140698e-04 9.96648742e-01 -2.52362639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.186875 meters 0.013411766874906965 Centerline is valid? [True, True] Translation: X:190.88, Y:-61.23, Z:-25.24 [[ 7.25482189e-01 -6.85567848e-01 6.05996670e-02 1.90875803e+02] [ 6.83270298e-01 7.28008387e-01 5.60846537e-02 -6.12348481e+01] [-8.25669011e-02 7.17535235e-04 9.96585266e-01 -2.52378118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.216875 meters 0.013474235160628326 Centerline is valid? [True, True] Translation: X:190.90, Y:-61.21, Z:-25.24 [[ 7.25448778e-01 -6.85613948e-01 6.04779783e-02 1.90896121e+02] [ 6.83323260e-01 7.27964990e-01 5.60026406e-02 -6.12148439e+01] [-8.24220424e-02 6.98962169e-04 9.96597270e-01 -2.52400472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.246875 meters 0.013725624235665373 Centerline is valid? [True, True] Translation: X:190.92, Y:-61.20, Z:-25.24 [[ 7.26485428e-01 -6.84516933e-01 6.04606666e-02 1.90915164e+02] [ 6.82221021e-01 7.28996753e-01 5.60197496e-02 -6.11953702e+01] [-8.24220968e-02 5.50005944e-04 9.96597359e-01 -2.52445979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.276875 meters 0.013524312416136636 Centerline is valid? [True, True] Translation: X:190.93, Y:-61.17, Z:-25.25 [[ 7.27271073e-01 -6.83713932e-01 6.01002955e-02 1.90934639e+02] [ 6.81441852e-01 7.29749996e-01 5.56951117e-02 -6.11745158e+01] [-8.19377142e-02 4.49413013e-04 9.96637351e-01 -2.52475494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.306875 meters 0.013724614995496983 Centerline is valid? [True, True] Translation: X:190.95, Y:-61.16, Z:-25.25 [[ 7.27821609e-01 -6.83159503e-01 5.97394217e-02 1.90953849e+02] [ 6.80910462e-01 7.30269102e-01 5.53893586e-02 -6.11555620e+01] [-8.14656205e-02 3.63625059e-04 9.96676086e-01 -2.52517482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.336875 meters 0.01344479512892367 Centerline is valid? [True, True] Translation: X:190.97, Y:-61.14, Z:-25.25 [[ 7.28696084e-01 -6.82257201e-01 5.93896368e-02 1.90973395e+02] [ 6.80029935e-01 7.31112201e-01 5.50839114e-02 -6.11351216e+01] [-8.10018833e-02 2.47300347e-04 9.96713918e-01 -2.52533181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.366875 meters 0.013709368469591702 Centerline is valid? [True, True] Translation: X:190.99, Y:-61.11, Z:-25.26 [[ 7.30824891e-01 -6.80024027e-01 5.88413286e-02 1.90990753e+02] [ 6.77828014e-01 7.33189827e-01 5.46064115e-02 -6.11146056e+01] [-8.02755354e-02 -2.34237636e-05 9.96772711e-01 -2.52574720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.396875 meters 0.013787369740230265 Centerline is valid? [True, True] Translation: X:191.01, Y:-61.09, Z:-25.26 [[ 7.31913589e-01 -6.78831709e-01 5.90762987e-02 1.91009524e+02] [ 6.76612943e-01 7.34293867e-01 5.48401556e-02 -6.10937779e+01] [-8.06066004e-02 -1.66466832e-04 9.96745980e-01 -2.52606027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.426875 meters 0.01382942336955236 Centerline is valid? [True, True] Translation: X:191.03, Y:-61.07, Z:-25.26 [[ 7.32885312e-01 -6.77811136e-01 5.87467682e-02 1.91029527e+02] [ 6.75611630e-01 7.35236000e-01 5.45614380e-02 -6.10729750e+01] [-8.01750892e-02 -2.97276741e-04 9.96780752e-01 -2.52619524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.456875 meters 0.014267247630086266 Centerline is valid? [True, True] Translation: X:191.05, Y:-61.05, Z:-25.26 [[ 7.34925546e-01 -6.75558479e-01 5.92045803e-02 1.91048638e+02] [ 6.73315034e-01 7.37306191e-01 5.50131443e-02 -6.10512720e+01] [-8.08164997e-02 -5.67231167e-04 9.96728836e-01 -2.52646143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.486875 meters 0.014493835638572495 Centerline is valid? [True, True] Translation: X:191.07, Y:-61.03, Z:-25.27 [[ 7.35880716e-01 -6.74471813e-01 5.97272605e-02 1.91068596e+02] [ 6.72182784e-01 7.38300255e-01 5.55251178e-02 -6.10312847e+01] [-8.15467785e-02 -7.12227211e-04 9.96669261e-01 -2.52662143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.516875 meters 0.014727870809324221 Centerline is valid? [True, True] Translation: X:191.09, Y:-61.01, Z:-25.27 [[ 7.36581124e-01 -6.73652002e-01 6.03425803e-02 1.91088414e+02] [ 6.71310177e-01 7.39048228e-01 5.61280943e-02 -6.10117421e+01] [-8.24068801e-02 -8.34306567e-04 9.96598420e-01 -2.52674543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.546875 meters 0.015020256509499726 Centerline is valid? [True, True] Translation: X:191.11, Y:-60.99, Z:-25.27 [[ 7.37429847e-01 -6.72662358e-01 6.10128879e-02 1.91108107e+02] [ 6.70261976e-01 7.39948911e-01 5.67846163e-02 -6.09917087e+01] [-8.33432939e-02 -9.80052164e-04 9.96520414e-01 -2.52691840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.576875 meters 0.016023153694853444 Centerline is valid? [True, True] Translation: X:191.13, Y:-60.97, Z:-25.27 [[ 7.39551319e-01 -6.70297018e-01 6.13657416e-02 1.91126990e+02] [ 6.67859287e-01 7.42091845e-01 5.71285073e-02 -6.09699049e+01] [-8.38320844e-02 -1.26578253e-03 9.96479091e-01 -2.52713383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.606875 meters 0.016309949808335035 Centerline is valid? [True, True] Translation: X:191.15, Y:-60.95, Z:-25.27 [[ 7.40762293e-01 -6.68924159e-01 6.17389275e-02 1.91147195e+02] [ 6.66449549e-01 7.43329245e-01 5.75033243e-02 -6.09491727e+01] [-8.43577132e-02 -1.45041391e-03 9.96434480e-01 -2.52740966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.636875 meters 0.01693003585992233 Centerline is valid? [True, True] Translation: X:191.17, Y:-60.93, Z:-25.28 [[ 7.41813709e-01 -6.67749744e-01 6.18279948e-02 1.91165720e+02] [ 6.65261424e-01 7.44384103e-01 5.76154843e-02 -6.09290448e+01] [-8.44965013e-02 -1.60817619e-03 9.96422478e-01 -2.52769801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.666875 meters 0.0170778743676058 Centerline is valid? [True, True] Translation: X:191.19, Y:-60.91, Z:-25.28 [[ 7.43075214e-01 -6.66357315e-01 6.17021494e-02 1.91186163e+02] [ 6.63873320e-01 7.45630464e-01 5.75102319e-02 -6.09095213e+01] [-8.43293660e-02 -1.77201714e-03 9.96436359e-01 -2.52789786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69687499999998 meters 0.018321673955675896 Centerline is valid? [True, True] Translation: X:191.20, Y:-60.89, Z:-25.28 [[ 7.44916551e-01 -6.64290664e-01 6.17838642e-02 1.91204361e+02] [ 6.61792148e-01 7.47471637e-01 5.75960421e-02 -6.08879314e+01] [-8.44421992e-02 -2.01616885e-03 9.96426340e-01 -2.52818823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72687499999998 meters 0.018781221110327834 Centerline is valid? [True, True] Translation: X:191.22, Y:-60.87, Z:-25.28 [[ 7.45231609e-01 -6.63901398e-01 6.21673823e-02 1.91223616e+02] [ 6.61369059e-01 7.47817216e-01 5.79687827e-02 -6.08677602e+01] [-8.49753946e-02 -2.08458603e-03 9.96380869e-01 -2.52848753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75687499999998 meters 0.018795011298064476 Centerline is valid? [True, True] Translation: X:191.24, Y:-60.85, Z:-25.29 [[ 7.45523934e-01 -6.63560680e-01 6.22999797e-02 1.91244065e+02] [ 6.61015191e-01 7.48119411e-01 5.81056260e-02 -6.08480198e+01] [-8.51644328e-02 -2.13790193e-03 9.96364616e-01 -2.52873133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78687499999998 meters 0.01891037362500154 Centerline is valid? [True, True] Translation: X:191.26, Y:-60.83, Z:-25.29 [[ 7.45630207e-01 -6.63328726e-01 6.34869641e-02 1.91263802e+02] [ 6.60681793e-01 7.48324822e-01 5.92412819e-02 -6.08286031e+01] [-8.68053152e-02 -2.22740805e-03 9.96222804e-01 -2.52890197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81687499999998 meters 0.018908047671695336 Centerline is valid? [True, True] Translation: X:191.28, Y:-60.81, Z:-25.29 [[ 7.45705970e-01 -6.63173459e-01 6.42150235e-02 1.91284673e+02] [ 6.60461840e-01 7.48462217e-01 5.99538749e-02 -6.08087877e+01] [-8.78223374e-02 -2.29638987e-03 9.96133507e-01 -2.52911273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84687499999998 meters 0.01925578587835185 Centerline is valid? [True, True] Translation: X:191.30, Y:-60.79, Z:-25.29 [[ 7.45885000e-01 -6.62876967e-01 6.51896687e-02 1.91304897e+02] [ 6.60078440e-01 7.48724527e-01 6.08936393e-02 -6.07883508e+01] [-8.91740948e-02 -2.38935729e-03 9.96013189e-01 -2.52931093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87687499999998 meters 0.01958371141577375 Centerline is valid? [True, True] Translation: X:191.32, Y:-60.77, Z:-25.30 [[ 7.46144664e-01 -6.62520313e-01 6.58405306e-02 1.91324863e+02] [ 6.59661412e-01 7.49039845e-01 6.15315514e-02 -6.07682070e+01] [-9.00830836e-02 -2.47898137e-03 9.95931169e-01 -2.52952198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90687499999999 meters 0.02007623658821649 Centerline is valid? [True, True] Translation: X:191.34, Y:-60.75, Z:-25.30 [[ 7.47168443e-01 -6.61293783e-01 6.65571193e-02 1.91344323e+02] [ 6.58365928e-01 7.50122269e-01 6.22164482e-02 -6.07476890e+01] [-9.10693277e-02 -2.66722717e-03 9.95840983e-01 -2.52976570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.936875 meters 0.019150607038780076 Centerline is valid? [True, True] Translation: X:191.37, Y:-60.73, Z:-25.30 [[ 7.47633167e-01 -6.60766008e-01 6.65802522e-02 1.91366408e+02] [ 6.57833050e-01 7.50586952e-01 6.22487412e-02 -6.07288972e+01] [-9.11061208e-02 -2.74053311e-03 9.95837419e-01 -2.53001172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.966875 meters 0.019575755491194134 Centerline is valid? [True, True] Translation: X:191.39, Y:-60.71, Z:-25.30 [[ 7.48181086e-01 -6.60157724e-01 6.64593324e-02 1.91386923e+02] [ 6.57230227e-01 7.51121665e-01 6.21664911e-02 -6.07082399e+01] [-9.09587337e-02 -2.83271064e-03 9.95850634e-01 -2.53029064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.996875 meters 0.019575755491194134 Centerline is valid? [True, True] Translation: X:191.41, Y:-60.69, Z:-25.31 [[ 7.47994465e-01 -6.60370713e-01 6.64439727e-02 1.91406966e+02] [ 6.57442598e-01 7.50934429e-01 6.21829034e-02 -6.06893801e+01] [-9.09588349e-02 -2.82936952e-03 9.95850634e-01 -2.53054084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.026875 meters 0.019748203982259464 Centerline is valid? [True, True] Translation: X:191.43, Y:-60.67, Z:-25.31 [[ 7.48095076e-01 -6.60287501e-01 6.61375317e-02 1.91425977e+02] [ 6.57382874e-01 7.51007508e-01 6.19312514e-02 -6.06698317e+01] [-9.05622141e-02 -2.85278361e-03 9.95886714e-01 -2.53087595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.056875 meters 0.02054927359877147 Centerline is valid? [True, True] Translation: X:191.44, Y:-60.65, Z:-25.31 [[ 7.48478366e-01 -6.59899997e-01 6.56668081e-02 1.91444221e+02] [ 6.57033532e-01 7.51347873e-01 6.15086279e-02 -6.06486825e+01] [-8.99281600e-02 -2.89258241e-03 9.95944054e-01 -2.53135604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.086875 meters 0.02033333377155536 Centerline is valid? [True, True] Translation: X:191.47, Y:-60.63, Z:-25.32 [[ 7.47994959e-01 -6.60492466e-01 6.52168936e-02 1.91465366e+02] [ 6.57666557e-01 7.50827416e-01 6.10973918e-02 -6.06288586e+01] [-8.93209987e-02 -2.80957129e-03 9.95998928e-01 -2.53174337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.116875 meters 0.02023757845449915 Centerline is valid? [True, True] Translation: X:191.49, Y:-60.61, Z:-25.32 [[ 7.47331795e-01 -6.61278585e-01 6.48523016e-02 1.91486359e+02] [ 6.58484598e-01 7.50135469e-01 6.07849712e-02 -6.06095607e+01] [-8.88438114e-02 -2.72229986e-03 9.96041850e-01 -2.53200569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.146875 meters 0.020047499489720847 Centerline is valid? [True, True] Translation: X:191.51, Y:-60.59, Z:-25.32 [[ 7.46424704e-01 -6.62323418e-01 6.46363003e-02 1.91507316e+02] [ 6.59549318e-01 7.49213501e-01 6.06121025e-02 -6.05910661e+01] [-8.85712037e-02 -2.61154286e-03 9.96066424e-01 -2.53225542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.176875 meters 0.018041234776603545 Centerline is valid? [True, True] Translation: X:191.53, Y:-60.57, Z:-25.33 [[ 7.43160598e-01 -6.65984733e-01 6.46270867e-02 1.91531927e+02] [ 6.63224284e-01 7.45962176e-01 6.06133712e-02 -6.05743265e+01] [-8.85769421e-02 -2.18321590e-03 9.96066945e-01 -2.53251519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.206875 meters 0.016765839497014108 Centerline is valid? [True, True] Translation: X:191.56, Y:-60.56, Z:-25.33 [[ 7.41352062e-01 -6.67969274e-01 6.49166348e-02 1.91555269e+02] [ 6.65189113e-01 7.44186231e-01 6.09122057e-02 -6.05567710e+01] [-8.89975476e-02 -1.97555056e-03 9.96029886e-01 -2.53271675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.236875 meters 0.016566935123738188 Centerline is valid? [True, True] Translation: X:191.58, Y:-60.54, Z:-25.33 [[ 7.39300302e-01 -6.70229584e-01 6.50182053e-02 1.91576352e+02] [ 6.67446686e-01 7.42151814e-01 6.10377502e-02 -6.05382062e+01] [-8.91626850e-02 -1.72904153e-03 9.96015575e-01 -2.53302917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.266875 meters 0.015563433444480647 Centerline is valid? [True, True] Translation: X:191.60, Y:-60.52, Z:-25.33 [[ 7.37784332e-01 -6.71868701e-01 6.53202033e-02 1.91599446e+02] [ 6.69064840e-01 7.40668649e-01 6.13367169e-02 -6.05202670e+01] [-8.95908470e-02 -1.54981731e-03 9.95977449e-01 -2.53315756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.296875 meters 0.016276407977797336 Centerline is valid? [True, True] Translation: X:191.62, Y:-60.50, Z:-25.33 [[ 7.35870868e-01 -6.73942536e-01 6.55402400e-02 1.91619092e+02] [ 6.71125170e-01 7.38782582e-01 6.15735511e-02 -6.05003034e+01] [-8.99170229e-02 -1.32447781e-03 9.95948380e-01 -2.53347088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.326875 meters 0.01503253062578779 Centerline is valid? [True, True] Translation: X:191.64, Y:-60.48, Z:-25.34 [[ 7.32668462e-01 -6.77378992e-01 6.59895874e-02 1.91643266e+02] [ 6.74535657e-01 7.35633645e-01 6.20063576e-02 -6.04847855e+01] [-9.05459646e-02 -9.17773007e-04 9.95891855e-01 -2.53368268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.356875 meters 0.014970448269263912 Centerline is valid? [True, True] Translation: X:191.67, Y:-60.47, Z:-25.34 [[ 7.31797128e-01 -6.78404149e-01 6.51212232e-02 1.91667529e+02] [ 6.75636996e-01 7.34688486e-01 6.12166571e-02 -6.04696038e+01] [-8.93734470e-02 -7.99866296e-04 9.95997865e-01 -2.53392040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.386875 meters 0.015127704857803657 Centerline is valid? [True, True] Translation: X:191.69, Y:-60.45, Z:-25.34 [[ 7.30367498e-01 -6.79957463e-01 6.49705001e-02 1.91689959e+02] [ 6.77206212e-01 7.33251285e-01 6.11089232e-02 -6.04513819e+01] [-8.91911711e-02 -6.33545140e-04 9.96014324e-01 -2.53420770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.416875 meters 0.016585251581228203 Centerline is valid? [True, True] Translation: X:191.71, Y:-60.44, Z:-25.35 [[ 7.29328640e-01 -6.81247491e-01 6.30998449e-02 1.91712473e+02] [ 6.78655083e-01 7.32053019e-01 5.93772309e-02 -6.04354897e+01] [-8.66430216e-02 -4.82484526e-04 9.96239306e-01 -2.53479231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44687499999998 meters 0.016271115055584578 Centerline is valid? [True, True] Translation: X:191.73, Y:-60.42, Z:-25.35 [[ 7.28902509e-01 -6.81746325e-01 6.26345002e-02 1.91732539e+02] [ 6.79191041e-01 7.31588512e-01 5.89726938e-02 -6.04167947e+01] [-8.60270980e-02 -4.44553121e-04 9.96292698e-01 -2.53504053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47687499999998 meters 0.016229238528061345 Centerline is valid? [True, True] Translation: X:191.75, Y:-60.40, Z:-25.35 [[ 7.28745712e-01 -6.81970177e-01 6.20190778e-02 1.91752008e+02] [ 6.79464276e-01 7.31379858e-01 5.84106264e-02 -6.03986240e+01] [-8.51938095e-02 -4.26745674e-04 9.96364307e-01 -2.53524714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50687499999998 meters 0.01677961949071465 Centerline is valid? [True, True] Translation: X:191.77, Y:-60.38, Z:-25.35 [[ 7.28848424e-01 -6.81912626e-01 6.14422055e-02 1.91772932e+02] [ 6.79451263e-01 7.31433505e-01 5.78878964e-02 -6.03803306e+01] [-8.44153752e-02 -4.44517981e-04 9.96430553e-01 -2.53547040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53687499999998 meters 0.01735541434675793 Centerline is valid? [True, True] Translation: X:191.79, Y:-60.36, Z:-25.36 [[ 7.29357152e-01 -6.81364136e-01 6.14903062e-02 1.91792593e+02] [ 6.78894096e-01 7.31944417e-01 5.79670330e-02 -6.03624480e+01] [-8.45041436e-02 -5.33264268e-04 9.96422985e-01 -2.53576252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56687499999998 meters 0.018013064098760072 Centerline is valid? [True, True] Translation: X:191.81, Y:-60.34, Z:-25.36 [[ 7.29604055e-01 -6.81083446e-01 6.16705939e-02 1.91812160e+02] [ 6.78596278e-01 7.32205573e-01 5.81557356e-02 -6.03442519e+01] [-8.47644614e-02 -5.81225042e-04 9.96400847e-01 -2.53606367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59687499999998 meters 0.01758375129685053 Centerline is valid? [True, True] Translation: X:191.83, Y:-60.33, Z:-25.36 [[ 7.29871301e-01 -6.80765298e-01 6.20201018e-02 1.91832976e+02] [ 6.78247166e-01 7.32501336e-01 5.85027754e-02 -6.03255098e+01] [-8.52564667e-02 -6.34538523e-04 9.96358837e-01 -2.53623910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62687499999998 meters 0.01723020064441843 Centerline is valid? [True, True] Translation: X:191.85, Y:-60.31, Z:-25.36 [[ 7.30139078e-01 -6.80447451e-01 6.23553758e-02 1.91853257e+02] [ 6.77897957e-01 7.32796545e-01 5.88522097e-02 -6.03063564e+01] [-8.57396401e-02 -6.99716245e-04 9.96317331e-01 -2.53642379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65687499999999 meters 0.018199911915522407 Centerline is valid? [True, True] Translation: X:191.87, Y:-60.29, Z:-25.37 [[ 7.31080895e-01 -6.79407093e-01 6.26635920e-02 1.91872600e+02] [ 6.76825513e-01 7.33761049e-01 5.91772536e-02 -6.02869039e+01] [-8.61855489e-02 -8.51041709e-04 9.96278740e-01 -2.53664298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.686875 meters 0.017682332366563126 Centerline is valid? [True, True] Translation: X:191.89, Y:-60.27, Z:-25.37 [[ 7.31802574e-01 -6.78607684e-01 6.29015492e-02 1.91893514e+02] [ 6.76002254e-01 7.34500301e-01 5.94160049e-02 -6.02674572e+01] [-8.65213642e-02 -9.59196294e-04 9.96249534e-01 -2.53672543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.716875 meters 0.018209497225604172 Centerline is valid? [True, True] Translation: X:191.91, Y:-60.25, Z:-25.37 [[ 7.32613439e-01 -6.77731386e-01 6.29103951e-02 1.91912404e+02] [ 6.75119440e-01 7.35308773e-01 5.94537650e-02 -6.02475727e+01] [-8.65522480e-02 -1.08459652e-03 9.96246722e-01 -2.53699770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.746875 meters 0.018266096553141726 Centerline is valid? [True, True] Translation: X:191.93, Y:-60.23, Z:-25.37 [[ 7.33547913e-01 -6.76697933e-01 6.31456045e-02 1.91932165e+02] [ 6.74061338e-01 7.36259747e-01 5.96900095e-02 -6.02266123e+01] [-8.68836728e-02 -1.22147122e-03 9.96217715e-01 -2.53724015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.776875 meters 0.018715183902245885 Centerline is valid? [True, True] Translation: X:191.95, Y:-60.20, Z:-25.38 [[ 7.34857154e-01 -6.75253162e-01 6.33887218e-02 1.91951289e+02] [ 6.72588307e-01 7.37584675e-01 5.99484387e-02 -6.02046326e+01] [-8.72349226e-02 -1.41902591e-03 9.96186757e-01 -2.53758890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.806875 meters 0.019243989494447094 Centerline is valid? [True, True] Translation: X:191.97, Y:-60.18, Z:-25.38 [[ 7.35470564e-01 -6.74625804e-01 6.29529433e-02 1.91970674e+02] [ 6.71992725e-01 7.38158357e-01 5.95652307e-02 -6.01845282e+01] [-8.66534829e-02 -1.50455393e-03 9.96237376e-01 -2.53793107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.836875 meters 0.019625845456216137 Centerline is valid? [True, True] Translation: X:191.99, Y:-60.16, Z:-25.38 [[ 7.35758533e-01 -6.74311868e-01 6.29514622e-02 1.91990525e+02] [ 6.71676977e-01 7.38445061e-01 5.95729082e-02 -6.01641810e+01] [-8.66569153e-02 -1.54822777e-03 9.96237011e-01 -2.53818552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.866875 meters 0.019760517855477694 Centerline is valid? [True, True] Translation: X:192.01, Y:-60.14, Z:-25.38 [[ 7.36252599e-01 -6.73823849e-01 6.23981586e-02 1.92010404e+02] [ 6.71231073e-01 7.38890265e-01 5.90764173e-02 -6.01437750e+01] [-8.59124908e-02 -1.61158283e-03 9.96301383e-01 -2.53849410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.896875 meters 0.019321124993308566 Centerline is valid? [True, True] Translation: X:192.03, Y:-60.12, Z:-25.39 [[ 7.36708514e-01 -6.73424677e-01 6.13169574e-02 1.92030795e+02] [ 6.70917523e-01 7.39254006e-01 5.80791909e-02 -6.01240200e+01] [-8.44407668e-02 -1.64881334e-03 9.96427136e-01 -2.53880418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.926875 meters 0.02003829920439934 Centerline is valid? [True, True] Translation: X:192.05, Y:-60.10, Z:-25.39 [[ 7.36990873e-01 -6.73174311e-01 6.06696039e-02 1.92050049e+02] [ 6.70716685e-01 7.39481928e-01 5.74943974e-02 -6.01036799e+01] [-8.35678270e-02 -1.68073051e-03 9.96500674e-01 -2.53919650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.956875 meters 0.019764068130564288 Centerline is valid? [True, True] Translation: X:192.07, Y:-60.08, Z:-25.39 [[ 7.37151857e-01 -6.73049153e-01 6.00997313e-02 1.92070617e+02] [ 6.70636135e-01 7.39595828e-01 5.69665345e-02 -6.00839993e+01] [-8.27907883e-02 -1.68793517e-03 9.96565520e-01 -2.53946853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.986875 meters 0.020916506459365766 Centerline is valid? [True, True] Translation: X:192.09, Y:-60.06, Z:-25.40 [[ 7.37595613e-01 -6.72609767e-01 5.95719200e-02 1.92088459e+02] [ 6.70235241e-01 7.39995313e-01 5.64947697e-02 -6.00628250e+01] [-8.20818755e-02 -1.74309407e-03 9.96624065e-01 -2.53983475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.016875 meters 0.020159005336435516 Centerline is valid? [True, True] Translation: X:192.11, Y:-60.04, Z:-25.40 [[ 7.37981255e-01 -6.72283582e-01 5.84675314e-02 1.92110157e+02] [ 6.69994844e-01 7.40291644e-01 5.54544043e-02 -6.00443441e+01] [-8.05641105e-02 -1.75136629e-03 9.96747890e-01 -2.54005859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.046875 meters 0.02370077265034833 Centerline is valid? [True, True] Translation: X:192.13, Y:-60.02, Z:-25.41 [[ 7.38035880e-01 -6.72251755e-01 5.81430840e-02 1.92129124e+02] [ 6.69986083e-01 7.40320512e-01 5.51741573e-02 -6.00243961e+01] [-8.01354418e-02 -1.76545058e-03 9.96782421e-01 -2.54063408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.076875 meters 0.02261014073448618 Centerline is valid? [True, True] Translation: X:192.15, Y:-60.01, Z:-25.41 [[ 7.37744950e-01 -6.72629956e-01 5.74572120e-02 1.92149758e+02] [ 6.70417613e-01 7.39977031e-01 5.45363917e-02 -6.00050203e+01] [-7.91998279e-02 -1.71362065e-03 9.96857287e-01 -2.54084823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.106875 meters 0.021804668620946 Centerline is valid? [True, True] Translation: X:192.17, Y:-59.98, Z:-25.41 [[ 7.37762310e-01 -6.72665038e-01 5.68200703e-02 1.92167657e+02] [ 6.70499204e-01 7.39945139e-01 5.39630321e-02 -5.99837262e+01] [-7.83427799e-02 -1.71407929e-03 9.96925008e-01 -2.54113651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.136875 meters 0.019881500922563182 Centerline is valid? [True, True] Translation: X:192.19, Y:-59.97, Z:-25.41 [[ 7.36981578e-01 -6.73486460e-01 5.72201172e-02 1.92191491e+02] [ 6.71291562e-01 7.39197725e-01 5.43540371e-02 -5.99670478e+01] [-7.89036885e-02 -1.64654222e-03 9.96880884e-01 -2.54111011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.166875 meters 0.01961934227597576 Centerline is valid? [True, True] Translation: X:192.21, Y:-59.95, Z:-25.41 [[ 7.36948725e-01 -6.73535373e-01 5.70673056e-02 1.92212702e+02] [ 6.71350357e-01 7.39153137e-01 5.42341108e-02 -5.99479517e+01] [-7.87100700e-02 -1.65560287e-03 9.96896175e-01 -2.54124707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19687499999998 meters 0.01965207264340356 Centerline is valid? [True, True] Translation: X:192.23, Y:-59.93, Z:-25.41 [[ 7.36460938e-01 -6.74062994e-01 5.71346352e-02 1.92233330e+02] [ 6.71871992e-01 7.38672082e-01 5.43284597e-02 -5.99288291e+01] [-7.88245641e-02 -1.62362722e-03 9.96887181e-01 -2.54149346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22687499999998 meters 0.0199550423304098 Centerline is valid? [True, True] Translation: X:192.25, Y:-59.91, Z:-25.42 [[ 7.35786913e-01 -6.74802337e-01 5.70913746e-02 1.92252886e+02] [ 6.72614302e-01 7.37996849e-01 5.43198978e-02 -5.99095190e+01] [-7.87884486e-02 -1.56739477e-03 9.96890126e-01 -2.54175258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25687499999998 meters 0.01994316904504188 Centerline is valid? [True, True] Translation: X:192.27, Y:-59.89, Z:-25.42 [[ 7.35331386e-01 -6.75319599e-01 5.68435651e-02 1.92273647e+02] [ 6.73151037e-01 7.37523656e-01 5.40974905e-02 -5.98903264e+01] [-7.84565696e-02 -1.51527789e-03 9.96916381e-01 -2.54198319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28687499999998 meters 0.019926212120902183 Centerline is valid? [True, True] Translation: X:192.29, Y:-59.87, Z:-25.42 [[ 7.35080930e-01 -6.75604919e-01 5.66923183e-02 1.92294447e+02] [ 6.73446455e-01 7.37262325e-01 5.39827403e-02 -5.98712108e+01] [-7.82681153e-02 -1.50244215e-03 9.96931214e-01 -2.54227404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31687499999998 meters 0.02182748573400277 Centerline is valid? [True, True] Translation: X:192.31, Y:-59.85, Z:-25.43 [[ 7.34763586e-01 -6.75956008e-01 5.66210938e-02 1.92313661e+02] [ 6.73801689e-01 7.36940479e-01 5.39445463e-02 -5.98516824e+01] [-7.81905161e-02 -1.48509968e-03 9.96937329e-01 -2.54268862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34687499999998 meters 0.019952835535149566 Centerline is valid? [True, True] Translation: X:192.33, Y:-59.83, Z:-25.43 [[ 7.34964547e-01 -6.75710867e-01 5.69380303e-02 1.92334064e+02] [ 6.73529234e-01 7.37165143e-01 5.42763591e-02 -5.98320516e+01] [-7.86478569e-02 -1.54177176e-03 9.96901268e-01 -2.54272118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37687499999998 meters 0.021378632667099766 Centerline is valid? [True, True] Translation: X:192.35, Y:-59.81, Z:-25.43 [[ 7.35205321e-01 -6.75430204e-01 5.71592197e-02 1.92350954e+02] [ 6.73228160e-01 7.37422182e-01 5.45194546e-02 -5.98110099e+01] [-7.89745628e-02 -1.60179677e-03 9.96875345e-01 -2.54309220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40687499999999 meters 0.021722393089038814 Centerline is valid? [True, True] Translation: X:192.37, Y:-59.79, Z:-25.43 [[ 7.35198844e-01 -6.75410318e-01 5.74766221e-02 1.92371913e+02] [ 6.73182371e-01 7.37440345e-01 5.48382414e-02 -5.97928236e+01] [-7.94238941e-02 -1.62476302e-03 9.96839609e-01 -2.54334866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.436875 meters 0.019971556138374463 Centerline is valid? [True, True] Translation: X:192.39, Y:-59.77, Z:-25.43 [[ 7.34869008e-01 -6.75784743e-01 5.72933010e-02 1.92392977e+02] [ 6.73569987e-01 7.37097296e-01 5.46904812e-02 -5.97734260e+01] [-7.91897300e-02 -1.59929168e-03 9.96858279e-01 -2.54339821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.466875 meters 0.02016303344162656 Centerline is valid? [True, True] Translation: X:192.41, Y:-59.75, Z:-25.44 [[ 7.34460517e-01 -6.76227938e-01 5.73020474e-02 1.92413641e+02] [ 6.74011478e-01 7.36690776e-01 5.47286758e-02 -5.97540464e+01] [-7.92229493e-02 -1.57381386e-03 9.96855680e-01 -2.54371145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.496875 meters 0.01984193922512046 Centerline is valid? [True, True] Translation: X:192.44, Y:-59.73, Z:-25.44 [[ 7.34403988e-01 -6.76345007e-01 5.66410920e-02 1.92435666e+02] [ 6.74177520e-01 7.36583317e-01 5.41265988e-02 -5.97349540e+01] [-7.83291383e-02 -1.56463906e-03 9.96926325e-01 -2.54397600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.526875 meters 0.020198556928055854 Centerline is valid? [True, True] Translation: X:192.45, Y:-59.72, Z:-25.44 [[ 7.34095573e-01 -6.76702537e-01 5.63681314e-02 1.92454721e+02] [ 6.74554859e-01 7.36254920e-01 5.38928064e-02 -5.97160690e+01] [-7.79707129e-02 -1.53907370e-03 9.96954462e-01 -2.54436149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.556875 meters 0.019704580851424215 Centerline is valid? [True, True] Translation: X:192.48, Y:-59.70, Z:-25.45 [[ 7.33709588e-01 -6.77239578e-01 5.49253480e-02 1.92476026e+02] [ 6.75200705e-01 7.35761123e-01 5.25316858e-02 -5.96968024e+01] [-7.59884724e-02 -1.45736785e-03 9.97107631e-01 -2.54480082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.586875 meters 0.019741144719437047 Centerline is valid? [True, True] Translation: X:192.50, Y:-59.68, Z:-25.45 [[ 7.33567832e-01 -6.77469876e-01 5.39703947e-02 1.92497020e+02] [ 6.75500201e-01 7.35549137e-01 5.16424723e-02 -5.96775623e+01] [-7.46840966e-02 -1.42624396e-03 9.97206223e-01 -2.54512999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.616875 meters 0.020054392867692564 Centerline is valid? [True, True] Translation: X:192.52, Y:-59.66, Z:-25.45 [[ 7.33242302e-01 -6.77809675e-01 5.41273624e-02 1.92516947e+02] [ 6.75827389e-01 7.35236044e-01 5.18198871e-02 -5.96585918e+01] [-7.49204086e-02 -1.41577935e-03 9.97188512e-01 -2.54547813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.646875 meters 0.019911619571387786 Centerline is valid? [True, True] Translation: X:192.54, Y:-59.64, Z:-25.46 [[ 7.32724254e-01 -6.78434215e-01 5.33121326e-02 1.92538536e+02] [ 6.76512055e-01 7.34659935e-01 5.10511552e-02 -5.96400175e+01] [-7.38011383e-02 -1.34011919e-03 9.97272077e-01 -2.54579365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.676875 meters 0.0200333821197901 Centerline is valid? [True, True] Translation: X:192.56, Y:-59.62, Z:-25.46 [[ 7.32408094e-01 -6.78733078e-01 5.38497194e-02 1.92558628e+02] [ 6.76770399e-01 7.34383821e-01 5.15968139e-02 -5.96205999e+01] [-7.45668271e-02 -1.34602802e-03 9.97215110e-01 -2.54605210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.706875 meters 0.01918972638529376 Centerline is valid? [True, True] Translation: X:192.58, Y:-59.60, Z:-25.46 [[ 7.31974092e-01 -6.79181478e-01 5.40966596e-02 1.92581381e+02] [ 6.77201563e-01 7.33969212e-01 5.18385826e-02 -5.96024098e+01] [-7.49130877e-02 -1.31015703e-03 9.97189206e-01 -2.54610821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.736875 meters 0.019296293689605764 Centerline is valid? [True, True] Translation: X:192.60, Y:-59.58, Z:-25.46 [[ 7.31642746e-01 -6.79533522e-01 5.41579568e-02 1.92600485e+02] [ 6.77547986e-01 7.33643314e-01 5.19250857e-02 -5.95838093e+01] [-7.50174593e-02 -1.29599768e-03 9.97181378e-01 -2.54637413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.766875 meters 0.01929093312069863 Centerline is valid? [True, True] Translation: X:192.62, Y:-59.57, Z:-25.47 [[ 7.31320163e-01 -6.79859677e-01 5.44209438e-02 1.92621084e+02] [ 6.77854487e-01 7.33341108e-01 5.21930469e-02 -5.95654544e+01] [-7.53930632e-02 -1.28034658e-03 9.97153071e-01 -2.54658197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.796875 meters 0.01913307603214323 Centerline is valid? [True, True] Translation: X:192.64, Y:-59.55, Z:-25.47 [[ 7.31350291e-01 -6.79847445e-01 5.41682859e-02 1.92642082e+02] [ 6.77860292e-01 7.33352446e-01 5.19578128e-02 -5.95461986e+01] [-7.50478313e-02 -1.28083144e-03 9.97179113e-01 -2.54679853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.826875 meters 0.019409841994218382 Centerline is valid? [True, True] Translation: X:192.66, Y:-59.53, Z:-25.47 [[ 7.31266697e-01 -6.79943499e-01 5.40911776e-02 1.92661334e+02] [ 6.77960233e-01 7.33263375e-01 5.19109437e-02 -5.95267410e+01] [-7.49595881e-02 -1.28907698e-03 9.97185739e-01 -2.54709195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.856875 meters 0.01957722010875981 Centerline is valid? [True, True] Translation: X:192.68, Y:-59.51, Z:-25.47 [[ 7.31713014e-01 -6.79488622e-01 5.37706053e-02 1.92682474e+02] [ 6.77526557e-01 7.33684825e-01 5.16172673e-02 -5.95070017e+01] [-7.45240230e-02 -1.33801319e-03 9.97218321e-01 -2.54730737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.886875 meters 0.01957722010875981 Centerline is valid? [True, True] Translation: X:192.70, Y:-59.49, Z:-25.48 [[ 7.31526645e-01 -6.79690212e-01 5.37585692e-02 1.92702263e+02] [ 6.77727770e-01 7.33498080e-01 5.16297992e-02 -5.94878808e+01] [-7.45240764e-02 -1.33489856e-03 9.97218321e-01 -2.54755751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.916875 meters 0.019981184424872945 Centerline is valid? [True, True] Translation: X:192.72, Y:-59.47, Z:-25.48 [[ 7.32448003e-01 -6.78795888e-01 5.24982483e-02 1.92720694e+02] [ 6.76919896e-01 7.34325635e-01 5.04511217e-02 -5.94674870e+01] [-7.27968234e-02 -1.41571453e-03 9.97345787e-01 -2.54790363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94687499999998 meters 0.019933893573145685 Centerline is valid? [True, True] Translation: X:192.74, Y:-59.45, Z:-25.48 [[ 7.32841644e-01 -6.78371653e-01 5.24883375e-02 1.92741446e+02] [ 6.76494941e-01 7.34717474e-01 5.04462932e-02 -5.94471548e+01] [-7.27854340e-02 -1.46104966e-03 9.97346553e-01 -2.54822011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97687499999998 meters 0.02039255631373452 Centerline is valid? [True, True] Translation: X:192.76, Y:-59.43, Z:-25.49 [[ 7.33323556e-01 -6.77898761e-01 5.18635977e-02 1.92760161e+02] [ 6.76063340e-01 7.35153718e-01 4.98735540e-02 -5.94273246e+01] [-7.19369371e-02 -1.51037492e-03 9.97408039e-01 -2.54858208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00687499999998 meters 0.02002230370430921 Centerline is valid? [True, True] Translation: X:192.78, Y:-59.41, Z:-25.49 [[ 7.33691835e-01 -6.77519377e-01 5.16118723e-02 1.92781764e+02] [ 6.75700515e-01 7.35503306e-01 4.96356810e-02 -5.94082230e+01] [-7.15898383e-02 -1.54312512e-03 9.97432962e-01 -2.54870531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03687499999998 meters 0.02088500740661056 Centerline is valid? [True, True] Translation: X:192.80, Y:-59.39, Z:-25.49 [[ 7.33895745e-01 -6.77292689e-01 5.16880015e-02 1.92800348e+02] [ 6.75465973e-01 7.35711964e-01 4.97355534e-02 -5.93883635e+01] [-7.17130079e-02 -1.58722478e-03 9.97424045e-01 -2.54900337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06687499999998 meters 0.02102346964479495 Centerline is valid? [True, True] Translation: X:192.82, Y:-59.37, Z:-25.49 [[ 7.33816596e-01 -6.77334160e-01 5.22650930e-02 1.92820872e+02] [ 6.75465459e-01 7.35673732e-01 5.03048104e-02 -5.93684308e+01] [-7.25232224e-02 -1.61123971e-03 9.97365423e-01 -2.54917589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09687499999998 meters 0.02095497243318091 Centerline is valid? [True, True] Translation: X:192.84, Y:-59.35, Z:-25.49 [[ 7.33823825e-01 -6.77302664e-01 5.25708622e-02 1.92841128e+02] [ 6.75410200e-01 7.35702663e-01 5.06226651e-02 -5.93491928e+01] [-7.29633893e-02 -1.64122119e-03 9.97333269e-01 -2.54931367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12687499999998 meters 0.020839270607369474 Centerline is valid? [True, True] Translation: X:192.86, Y:-59.33, Z:-25.49 [[ 7.33537753e-01 -6.77609962e-01 5.26032723e-02 1.92861242e+02] [ 6.75713941e-01 7.35419660e-01 5.06812976e-02 -5.93302369e+01] [-7.30276328e-02 -1.63188071e-03 9.97328583e-01 -2.54945707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15687499999999 meters 0.020726604373081114 Centerline is valid? [True, True] Translation: X:192.88, Y:-59.31, Z:-25.50 [[ 7.33178615e-01 -6.77965164e-01 5.30316355e-02 1.92880303e+02] [ 6.76036583e-01 7.35092217e-01 5.11270202e-02 -5.93105497e+01] [-7.36454811e-02 -1.63391222e-03 9.97283146e-01 -2.54969423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.186875 meters 0.020058128362156504 Centerline is valid? [True, True] Translation: X:192.90, Y:-59.29, Z:-25.50 [[ 7.32172520e-01 -6.79027551e-01 5.33384145e-02 1.92902970e+02] [ 6.77078978e-01 7.34111173e-01 5.14280449e-02 -5.92926525e+01] [-7.40773854e-02 -1.53988213e-03 9.97251307e-01 -2.54967624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.216875 meters 0.019578403831520087 Centerline is valid? [True, True] Translation: X:192.93, Y:-59.27, Z:-25.50 [[ 7.31018236e-01 -6.80260010e-01 5.34664218e-02 1.92925137e+02] [ 6.78303482e-01 7.32969477e-01 5.15764702e-02 -5.92735837e+01] [-7.42746654e-02 -1.43688012e-03 9.97236787e-01 -2.54986205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.246875 meters 0.019606005309780246 Centerline is valid? [True, True] Translation: X:192.95, Y:-59.25, Z:-25.50 [[ 7.29967805e-01 -6.81391832e-01 5.34057563e-02 1.92945687e+02] [ 6.79440648e-01 7.31917600e-01 5.15464213e-02 -5.92549314e+01] [-7.42119234e-02 -1.34118643e-03 9.97241591e-01 -2.55010221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.276875 meters 0.01905656234633785 Centerline is valid? [True, True] Translation: X:192.97, Y:-59.24, Z:-25.50 [[ 7.27899578e-01 -6.83597923e-01 5.34423454e-02 1.92966233e+02] [ 6.81649317e-01 7.29857943e-01 5.15906095e-02 -5.92369132e+01] [-7.42725537e-02 -1.12384461e-03 9.97237346e-01 -2.55045775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.306875 meters 0.01855161345307914 Centerline is valid? [True, True] Translation: X:192.99, Y:-59.22, Z:-25.51 [[ 7.26763207e-01 -6.84792730e-01 5.36111727e-02 1.92987673e+02] [ 6.82834621e-01 7.28737195e-01 5.17588731e-02 -5.92178197e+01] [-7.45125556e-02 -1.00887983e-03 9.97219565e-01 -2.55062947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.336875 meters 0.01877331272382446 Centerline is valid? [True, True] Translation: X:193.01, Y:-59.20, Z:-25.51 [[ 7.25767389e-01 -6.85860420e-01 5.34526013e-02 1.93008213e+02] [ 6.83914703e-01 7.27732535e-01 5.16336749e-02 -5.91991619e+01] [-7.43126910e-02 -9.17017510e-04 9.97234568e-01 -2.55090854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.366875 meters 0.018377983109484276 Centerline is valid? [True, True] Translation: X:193.03, Y:-59.18, Z:-25.51 [[ 7.24775195e-01 -6.86911280e-01 5.34210639e-02 1.93030213e+02] [ 6.84970329e-01 7.26740830e-01 5.16082866e-02 -5.91797154e+01] [-7.42735825e-02 -8.12562275e-04 9.97237572e-01 -2.55107262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.396875 meters 0.01825872229728264 Centerline is valid? [True, True] Translation: X:193.05, Y:-59.16, Z:-25.51 [[ 7.23872828e-01 -6.87841713e-01 5.36834043e-02 1.93050221e+02] [ 6.85882149e-01 7.25860338e-01 5.18888034e-02 -5.91609718e+01] [-7.46579374e-02 -7.40406138e-04 9.97208927e-01 -2.55130287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.426875 meters 0.01819445552828827 Centerline is valid? [True, True] Translation: X:193.07, Y:-59.14, Z:-25.52 [[ 7.23157262e-01 -6.88636840e-01 5.31307639e-02 1.93071230e+02] [ 6.86718784e-01 7.25106108e-01 5.13657830e-02 -5.91421513e+01] [-7.38978118e-02 -6.59645399e-04 9.97265601e-01 -2.55154375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.456875 meters 0.018295896034245886 Centerline is valid? [True, True] Translation: X:193.09, Y:-59.12, Z:-25.52 [[ 7.22878185e-01 -6.88965343e-01 5.26676931e-02 1.93092355e+02] [ 6.87079455e-01 7.24794002e-01 5.09458245e-02 -5.91218651e+01] [-7.32731355e-02 -6.40735284e-04 9.97311705e-01 -2.55179378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.486875 meters 0.018867050689639543 Centerline is valid? [True, True] Translation: X:193.11, Y:-59.10, Z:-25.52 [[ 7.23817839e-01 -6.88009812e-01 5.22516470e-02 1.93110086e+02] [ 6.86149227e-01 7.25700995e-01 5.05697854e-02 -5.91008836e+01] [-7.27115808e-02 -7.50885495e-04 9.97352727e-01 -2.55233604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.516875 meters 0.018908564278653228 Centerline is valid? [True, True] Translation: X:193.13, Y:-59.08, Z:-25.53 [[ 7.24271607e-01 -6.87553857e-01 5.19647304e-02 1.93129652e+02] [ 6.85711707e-01 7.26132944e-01 5.03030937e-02 -5.90801689e+01] [-7.23193888e-02 -8.00278513e-04 9.97381204e-01 -2.55264902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.546875 meters 0.018558403738608162 Centerline is valid? [True, True] Translation: X:193.15, Y:-59.06, Z:-25.53 [[ 7.24859378e-01 -6.86979350e-01 5.13639344e-02 1.93150791e+02] [ 6.85176387e-01 7.26676422e-01 4.97463228e-02 -5.90604731e+01] [-7.14996566e-02 -8.65733600e-04 9.97440249e-01 -2.55267151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.576875 meters 0.019157809448914518 Centerline is valid? [True, True] Translation: X:193.17, Y:-59.04, Z:-25.53 [[ 7.25644682e-01 -6.86160096e-01 5.12261396e-02 1.93169452e+02] [ 6.84362754e-01 7.27449924e-01 4.96410062e-02 -5.90403401e+01] [-7.13261289e-02 -9.64470202e-04 9.97452582e-01 -2.55311170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.606875 meters 0.019056281126599035 Centerline is valid? [True, True] Translation: X:193.19, Y:-59.02, Z:-25.53 [[ 7.26907462e-01 -6.84854962e-01 5.07860425e-02 1.93189913e+02] [ 6.83084723e-01 7.28678596e-01 4.92215900e-02 -5.90206096e+01] [-7.07163523e-02 -1.08837134e-03 9.97495871e-01 -2.55315541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.636875 meters 0.019674163284177457 Centerline is valid? [True, True] Translation: X:193.21, Y:-59.00, Z:-25.54 [[ 7.27416761e-01 -6.84325766e-01 5.06270861e-02 1.93208722e+02] [ 6.82564353e-01 7.29175515e-01 4.90812752e-02 -5.89998488e+01] [-7.05036129e-02 -1.14629799e-03 9.97510865e-01 -2.55356850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.666875 meters 0.019539705959756286 Centerline is valid? [True, True] Translation: X:193.23, Y:-58.98, Z:-25.54 [[ 7.27892750e-01 -6.83798266e-01 5.09124338e-02 1.93230519e+02] [ 6.82015335e-01 7.29670113e-01 4.93620171e-02 -5.89801336e+01] [-7.09029430e-02 -1.20719379e-03 9.97482489e-01 -2.55359470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69687499999998 meters 0.019935608159131018 Centerline is valid? [True, True] Translation: X:193.25, Y:-58.96, Z:-25.54 [[ 7.28495686e-01 -6.83166566e-01 5.07688716e-02 1.93249515e+02] [ 6.81390167e-01 7.30261453e-01 4.92508960e-02 -5.89602280e+01] [-7.07211155e-02 -1.28565540e-03 9.97495299e-01 -2.55388542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72687499999998 meters 0.01997341749970192 Centerline is valid? [True, True] Translation: X:193.27, Y:-58.94, Z:-25.54 [[ 7.28718967e-01 -6.82920750e-01 5.08715735e-02 1.93270844e+02] [ 6.81136275e-01 7.30491287e-01 4.93543828e-02 -5.89404233e+01] [-7.08663733e-02 -1.31500080e-03 9.97484951e-01 -2.55398105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75687499999998 meters 0.02077179613306466 Centerline is valid? [True, True] Translation: X:193.29, Y:-58.92, Z:-25.54 [[ 7.29554615e-01 -6.81999423e-01 5.12528137e-02 1.93289316e+02] [ 6.80183784e-01 7.31351301e-01 4.97523325e-02 -5.89201054e+01] [-7.14148740e-02 -1.43571101e-03 9.97445665e-01 -2.55417769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78687499999998 meters 0.020558943143133494 Centerline is valid? [True, True] Translation: X:193.31, Y:-58.90, Z:-25.54 [[ 7.29885119e-01 -6.81664508e-01 5.10020832e-02 1.93309761e+02] [ 6.79864993e-01 7.31663406e-01 4.95202093e-02 -5.89001698e+01] [-7.10725269e-02 -1.46953289e-03 9.97470068e-01 -2.55438863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81687499999998 meters 0.020974954632313535 Centerline is valid? [True, True] Translation: X:193.33, Y:-58.88, Z:-25.55 [[ 7.30701693e-01 -6.80813569e-01 5.06746456e-02 1.93329096e+02] [ 6.79033444e-01 7.32455086e-01 4.92252826e-02 -5.88789661e+01] [-7.06301423e-02 -1.55921820e-03 9.97501354e-01 -2.55468385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84687499999998 meters 0.020546322707692702 Centerline is valid? [True, True] Translation: X:193.35, Y:-58.86, Z:-25.55 [[ 7.30633305e-01 -6.80870300e-01 5.08980207e-02 1.93348731e+02] [ 6.79072955e-01 7.32402313e-01 4.94648734e-02 -5.88595809e+01] [-7.09569912e-02 -1.57721461e-03 9.97478129e-01 -2.55486322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87687499999998 meters 0.02163583041996855 Centerline is valid? [True, True] Translation: X:193.37, Y:-58.84, Z:-25.55 [[ 7.30969770e-01 -6.80492869e-01 5.11140881e-02 1.93367186e+02] [ 6.78676980e-01 7.32752858e-01 4.97072033e-02 -5.88395895e+01] [-7.12793915e-02 -1.64450797e-03 9.97455034e-01 -2.55520563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90687499999999 meters 0.02213457548748418 Centerline is valid? [True, True] Translation: X:193.39, Y:-58.82, Z:-25.56 [[ 7.30539010e-01 -6.80911007e-01 5.17006236e-02 1.93385461e+02] [ 6.79053399e-01 7.32364351e-01 5.02885549e-02 -5.88185832e+01] [-7.21057242e-02 -1.63026689e-03 9.97395662e-01 -2.55552056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.936875 meters 0.020165531696539035 Centerline is valid? [True, True] Translation: X:193.41, Y:-58.80, Z:-25.55 [[ 7.29533905e-01 -6.81987805e-01 5.17002385e-02 1.93409490e+02] [ 6.80132612e-01 7.31361950e-01 5.02924350e-02 -5.88014290e+01] [-7.21104146e-02 -1.52701832e-03 9.97395486e-01 -2.55547046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.966875 meters 0.019897460667151014 Centerline is valid? [True, True] Translation: X:193.43, Y:-58.78, Z:-25.56 [[ 7.28646577e-01 -6.82950003e-01 5.15117422e-02 1.93431029e+02] [ 6.81108995e-01 7.30463693e-01 5.01331196e-02 -5.87816386e+01] [-7.18658717e-02 -1.44421504e-03 9.97413260e-01 -2.55569724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.996875 meters 0.019798119092529827 Centerline is valid? [True, True] Translation: X:193.45, Y:-58.76, Z:-25.56 [[ 7.27903969e-01 -6.83723071e-01 5.17549332e-02 1.93451550e+02] [ 6.81864791e-01 7.29740244e-01 5.03942866e-02 -5.87617748e+01] [-7.22233940e-02 -1.39233456e-03 9.97387509e-01 -2.55595897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.026875 meters 0.020026761333063522 Centerline is valid? [True, True] Translation: X:193.47, Y:-58.74, Z:-25.56 [[ 7.27473591e-01 -6.84205670e-01 5.14273814e-02 1.93470328e+02] [ 6.82370183e-01 7.29287848e-01 5.01015778e-02 -5.87423977e+01] [-7.17851479e-02 -1.35506310e-03 9.97419198e-01 -2.55632329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.056875 meters 0.019516358088324703 Centerline is valid? [True, True] Translation: X:193.49, Y:-58.72, Z:-25.57 [[ 7.26821753e-01 -6.84871653e-01 5.17779806e-02 1.93490927e+02] [ 6.83011766e-01 7.28662548e-01 5.04561082e-02 -5.87221119e+01] [-7.22846336e-02 -1.30762705e-03 9.97383187e-01 -2.55657173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.086875 meters 0.01947283028341615 Centerline is valid? [True, True] Translation: X:193.51, Y:-58.70, Z:-25.57 [[ 7.26657193e-01 -6.85076360e-01 5.13780672e-02 1.93511950e+02] [ 6.83243954e-01 7.28470113e-01 5.00898533e-02 -5.87028338e+01] [-7.17427608e-02 -1.29439841e-03 9.97422328e-01 -2.55674130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.116875 meters 0.019313934485666893 Centerline is valid? [True, True] Translation: X:193.53, Y:-58.68, Z:-25.57 [[ 7.26441649e-01 -6.85322284e-01 5.11458459e-02 1.93531278e+02] [ 6.83505367e-01 7.28238783e-01 4.98867551e-02 -5.86828025e+01] [-7.14348936e-02 -1.28135648e-03 9.97444442e-01 -2.55706623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.146875 meters 0.01993911256458816 Centerline is valid? [True, True] Translation: X:193.55, Y:-58.66, Z:-25.57 [[ 7.26222115e-01 -6.85560774e-01 5.10672531e-02 1.93548938e+02] [ 6.83747819e-01 7.28014279e-01 4.98410490e-02 -5.86626944e+01] [-7.13467576e-02 -1.27854905e-03 9.97450753e-01 -2.55744571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.176875 meters 0.019919459261149436 Centerline is valid? [True, True] Translation: X:193.57, Y:-58.64, Z:-25.58 [[ 7.26320753e-01 -6.85471876e-01 5.08573624e-02 1.93569357e+02] [ 6.83672697e-01 7.28097961e-01 4.96487990e-02 -5.86424447e+01] [-7.10619972e-02 -1.29116299e-03 9.97471065e-01 -2.55764467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.206875 meters 0.01942418910620222 Centerline is valid? [True, True] Translation: X:193.59, Y:-58.62, Z:-25.58 [[ 7.26454000e-01 -6.85298276e-01 5.12918909e-02 1.93589366e+02] [ 6.83466112e-01 7.28261277e-01 5.00957693e-02 -5.86225394e+01] [-7.16844423e-02 -1.33600272e-03 9.97426466e-01 -2.55778015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.236875 meters 0.020142075369374582 Centerline is valid? [True, True] Translation: X:193.61, Y:-58.60, Z:-25.58 [[ 7.26572557e-01 -6.85156347e-01 5.15082544e-02 1.93606423e+02] [ 6.83306053e-01 7.28394728e-01 5.03384409e-02 -5.86016126e+01] [-7.20080432e-02 -1.37862773e-03 9.97403099e-01 -2.55819412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.266875 meters 0.02003907360572262 Centerline is valid? [True, True] Translation: X:193.63, Y:-58.58, Z:-25.58 [[ 7.26898762e-01 -6.84764773e-01 5.21094532e-02 1.93625240e+02] [ 6.82869021e-01 7.28762734e-01 5.09389691e-02 -5.85808438e+01] [-7.28566392e-02 -1.44354230e-03 9.97341379e-01 -2.55831882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.296875 meters 0.020022860006507902 Centerline is valid? [True, True] Translation: X:193.65, Y:-58.56, Z:-25.59 [[ 7.27024443e-01 -6.84646358e-01 5.19117028e-02 1.93645182e+02] [ 6.82762622e-01 7.28873928e-01 5.07740000e-02 -5.85603904e+01] [-7.25993208e-02 -1.47056869e-03 9.97360104e-01 -2.55853853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.326875 meters 0.019348715376077703 Centerline is valid? [True, True] Translation: X:193.67, Y:-58.54, Z:-25.59 [[ 7.27272504e-01 -6.84372817e-01 5.20437556e-02 1.93666311e+02] [ 6.82477017e-01 7.29130674e-01 5.09272190e-02 -5.85403071e+01] [-7.27999029e-02 -1.51929901e-03 9.97345410e-01 -2.55864339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.356875 meters 0.020157306614944078 Centerline is valid? [True, True] Translation: X:193.68, Y:-58.52, Z:-25.59 [[ 7.27726342e-01 -6.83907979e-01 5.18097302e-02 1.93682687e+02] [ 6.82025944e-01 7.29566571e-01 5.07270198e-02 -5.85183030e+01] [-7.24912608e-02 -1.57980836e-03 9.97367796e-01 -2.55904791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.386875 meters 0.01996720797204399 Centerline is valid? [True, True] Translation: X:193.70, Y:-58.50, Z:-25.59 [[ 7.27723974e-01 -6.83915064e-01 5.17494227e-02 1.93702659e+02] [ 6.82036980e-01 7.29559925e-01 5.06741951e-02 -5.84984148e+01] [-7.24111503e-02 -1.58180668e-03 9.97373613e-01 -2.55921086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.416875 meters 0.019959098384221146 Centerline is valid? [True, True] Translation: X:193.72, Y:-58.48, Z:-25.60 [[ 7.27760645e-01 -6.83885555e-01 5.16235578e-02 1.93722136e+02] [ 6.82014433e-01 7.29587542e-01 5.05799620e-02 -5.84776347e+01] [-7.22548100e-02 -1.60209427e-03 9.97384919e-01 -2.55950723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44687499999998 meters 0.020467869884307016 Centerline is valid? [True, True] Translation: X:193.74, Y:-58.46, Z:-25.60 [[ 7.27520066e-01 -6.84183935e-01 5.10577735e-02 1.93741586e+02] [ 6.82352665e-01 7.29307801e-01 5.00496970e-02 -5.84564743e+01] [-7.14800312e-02 -1.57275104e-03 9.97440791e-01 -2.55979269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47687499999998 meters 0.020497145207651554 Centerline is valid? [True, True] Translation: X:193.76, Y:-58.44, Z:-25.60 [[ 7.27530579e-01 -6.84215713e-01 5.04788624e-02 1.93760432e+02] [ 6.82423878e-01 7.29277990e-01 4.95102369e-02 -5.84359299e+01] [-7.06888054e-02 -1.57223028e-03 9.97497178e-01 -2.56012312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50687499999998 meters 0.020838968505239017 Centerline is valid? [True, True] Translation: X:193.78, Y:-58.41, Z:-25.60 [[ 7.27599751e-01 -6.84166009e-01 5.01545069e-02 1.93780361e+02] [ 6.82396759e-01 7.29324625e-01 4.91960800e-02 -5.84146650e+01] [-7.02372026e-02 -1.56978266e-03 9.97529083e-01 -2.56039300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53687499999998 meters 0.02130640561502946 Centerline is valid? [True, True] Translation: X:193.80, Y:-58.39, Z:-25.61 [[ 7.27761246e-01 -6.84029072e-01 4.96769198e-02 1.93800072e+02] [ 6.82291479e-01 7.29453026e-01 4.87505904e-02 -5.83935834e+01] [-6.95838006e-02 -1.58465130e-03 9.97574851e-01 -2.56070850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56687499999998 meters 0.020285201521929853 Centerline is valid? [True, True] Translation: X:193.82, Y:-58.37, Z:-25.61 [[ 7.27451294e-01 -6.84323389e-01 5.01608850e-02 1.93821059e+02] [ 6.82550803e-01 7.29176917e-01 4.92486052e-02 -5.83738313e+01] [-7.02781318e-02 -1.58860925e-03 9.97526170e-01 -2.56069160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59687499999998 meters 0.020343031398149868 Centerline is valid? [True, True] Translation: X:193.84, Y:-58.35, Z:-25.61 [[ 7.27067862e-01 -6.84675618e-01 5.09079803e-02 1.93840348e+02] [ 6.82848515e-01 7.28846170e-01 5.00116516e-02 -5.83537038e+01] [-7.13458450e-02 -1.59942583e-03 9.97450356e-01 -2.56088304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62687499999998 meters 0.020373969761725938 Centerline is valid? [True, True] Translation: X:193.86, Y:-58.33, Z:-25.61 [[ 7.26444870e-01 -6.85300412e-01 5.13925633e-02 1.93859561e+02] [ 6.83439225e-01 7.28258823e-01 5.04966643e-02 -5.83339270e+01] [-7.20324725e-02 -1.55934915e-03 9.97401068e-01 -2.56104351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65687499999999 meters 0.019367319442824417 Centerline is valid? [True, True] Translation: X:193.88, Y:-58.31, Z:-25.61 [[ 7.25418483e-01 -6.86375460e-01 5.15436982e-02 1.93881901e+02] [ 6.84505672e-01 7.27245897e-01 5.06496690e-02 -5.83147751e+01] [-7.22496329e-02 -1.46025230e-03 9.97385511e-01 -2.56101254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.686875 meters 0.019759724677735693 Centerline is valid? [True, True] Translation: X:193.90, Y:-58.29, Z:-25.61 [[ 7.24868816e-01 -6.86944771e-01 5.16921756e-02 1.93900957e+02] [ 6.85063493e-01 7.26708222e-01 5.08249053e-02 -5.82947297e+01] [-7.24790319e-02 -1.42896658e-03 9.97368913e-01 -2.56133710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.716875 meters 0.019883103951169726 Centerline is valid? [True, True] Translation: X:193.92, Y:-58.27, Z:-25.62 [[ 7.24310370e-01 -6.87562261e-01 5.13091138e-02 1.93920684e+02] [ 6.85710078e-01 7.26124155e-01 5.04519622e-02 -5.82746833e+01] [-7.19456521e-02 -1.35970295e-03 9.97407627e-01 -2.56162134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.746875 meters 0.020186805518524087 Centerline is valid? [True, True] Translation: X:193.94, Y:-58.25, Z:-25.62 [[ 7.24032558e-01 -6.87839216e-01 5.15176411e-02 1.93939047e+02] [ 6.85970308e-01 7.25861805e-01 5.06890096e-02 -5.82547734e+01] [-7.22605766e-02 -1.36092113e-03 9.97384859e-01 -2.56195649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.776875 meters 0.020131461504717514 Centerline is valid? [True, True] Translation: X:193.96, Y:-58.23, Z:-25.62 [[ 7.23131387e-01 -6.88780788e-01 5.15948072e-02 1.93957651e+02] [ 6.86907775e-01 7.24968547e-01 5.07770989e-02 -5.82343791e+01] [-7.23789026e-02 -1.27763972e-03 9.97376389e-01 -2.56231762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.806875 meters 0.020131461504717514 Centerline is valid? [True, True] Translation: X:193.98, Y:-58.22, Z:-25.63 [[ 7.22947128e-01 -6.88974589e-01 5.15893954e-02 1.93977191e+02] [ 6.87101677e-01 7.24784391e-01 5.07825969e-02 -5.82150153e+01] [-7.23791074e-02 -1.26597243e-03 9.97376389e-01 -2.56256818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.836875 meters 0.019630632329509956 Centerline is valid? [True, True] Translation: X:194.00, Y:-58.20, Z:-25.63 [[ 7.22739643e-01 -6.89213657e-01 5.13024701e-02 1.93996999e+02] [ 6.87360212e-01 7.24557079e-01 5.05270111e-02 -5.81955036e+01] [-7.19954740e-02 -1.25459728e-03 9.97404170e-01 -2.56273137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.866875 meters 0.02006158591575469 Centerline is valid? [True, True] Translation: X:194.02, Y:-58.17, Z:-25.63 [[ 7.22369405e-01 -6.89586574e-01 5.15053464e-02 1.94017818e+02] [ 6.87717258e-01 7.24202190e-01 5.07558978e-02 -5.81748896e+01] [-7.23008703e-02 -1.24339210e-03 9.97382092e-01 -2.56298467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.896875 meters 0.020033833542068873 Centerline is valid? [True, True] Translation: X:194.04, Y:-58.16, Z:-25.63 [[ 7.21778550e-01 -6.90226295e-01 5.12189998e-02 1.94036254e+02] [ 6.88377607e-01 7.23592596e-01 5.04977692e-02 -5.81556600e+01] [-7.19165772e-02 -1.19019409e-03 9.97409940e-01 -2.56321085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.926875 meters 0.02002626996813399 Centerline is valid? [True, True] Translation: X:194.06, Y:-58.14, Z:-25.63 [[ 7.21722718e-01 -6.90259156e-01 5.15617615e-02 1.94056108e+02] [ 6.88384868e-01 7.23561228e-01 5.08470580e-02 -5.81362426e+01] [-7.24057388e-02 -1.20314050e-03 9.97374534e-01 -2.56328614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.956875 meters 0.020519436279556585 Centerline is valid? [True, True] Translation: X:194.07, Y:-58.12, Z:-25.64 [[ 7.21531299e-01 -6.90467028e-01 5.14574352e-02 1.94073136e+02] [ 6.88598676e-01 7.23362869e-01 5.07742468e-02 -5.81159601e+01] [-7.22803412e-02 -1.20168658e-03 9.97383631e-01 -2.56376719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.986875 meters 0.01943268422293967 Centerline is valid? [True, True] Translation: X:194.10, Y:-58.10, Z:-25.64 [[ 7.21691626e-01 -6.90320480e-01 5.11745289e-02 1.94095934e+02] [ 6.88471046e-01 7.23502690e-01 5.05121418e-02 -5.80971493e+01] [-7.18944752e-02 -1.22200830e-03 9.97411495e-01 -2.56372613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.016875 meters 0.020247151702528804 Centerline is valid? [True, True] Translation: X:194.11, Y:-58.08, Z:-25.64 [[ 7.21884242e-01 -6.90154172e-01 5.06987163e-02 1.94113928e+02] [ 6.88336524e-01 7.23661289e-01 5.00716420e-02 -5.80754857e+01] [-7.12458510e-02 -1.24815115e-03 9.97458005e-01 -2.56420084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.046875 meters 0.020332786566877734 Centerline is valid? [True, True] Translation: X:194.13, Y:-58.05, Z:-25.65 [[ 7.22897073e-01 -6.89143065e-01 5.00165782e-02 1.94133806e+02] [ 6.87371348e-01 7.24624082e-01 4.94021243e-02 -5.80547718e+01] [-7.02883484e-02 -1.33268827e-03 9.97525825e-01 -2.56452470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.076875 meters 0.02051148066056091 Centerline is valid? [True, True] Translation: X:194.15, Y:-58.03, Z:-25.65 [[ 7.23571177e-01 -6.88454282e-01 4.97539307e-02 1.94153893e+02] [ 6.86697887e-01 7.25278371e-01 4.91660063e-02 -5.80338972e+01] [-6.99339974e-02 -1.40918594e-03 9.97550625e-01 -2.56481221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.106875 meters 0.021184727958036064 Centerline is valid? [True, True] Translation: X:194.17, Y:-58.01, Z:-25.65 [[ 7.24232385e-01 -6.87772198e-01 4.95666948e-02 1.94172527e+02] [ 6.86025439e-01 7.25925054e-01 4.90093162e-02 -5.80130666e+01] [-6.96889507e-02 -1.49012032e-03 9.97567657e-01 -2.56516879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.136875 meters 0.021428320735314605 Centerline is valid? [True, True] Translation: X:194.19, Y:-57.99, Z:-25.65 [[ 7.24940881e-01 -6.87024368e-01 4.95806039e-02 1.94192285e+02] [ 6.85274608e-01 7.26632691e-01 4.90269780e-02 -5.79915442e+01] [-6.97096162e-02 -1.56533178e-03 9.97566098e-01 -2.56545250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.166875 meters 0.020965331843396447 Centerline is valid? [True, True] Translation: X:194.21, Y:-57.97, Z:-25.66 [[ 7.25829636e-01 -6.86087825e-01 4.95463009e-02 1.94212832e+02] [ 6.84336714e-01 7.27516808e-01 4.90158808e-02 -5.79717190e+01] [-6.96749657e-02 -1.67082617e-03 9.97568347e-01 -2.56557317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19687499999998 meters 0.022492760957359324 Centerline is valid? [True, True] Translation: X:194.23, Y:-57.95, Z:-25.66 [[ 7.27644755e-01 -6.84093759e-01 5.04860376e-02 1.94229519e+02] [ 6.82268597e-01 7.29391559e-01 4.99751428e-02 -5.79493061e+01] [-7.10117730e-02 -1.91911245e-03 9.97473631e-01 -2.56586412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22687499999998 meters 0.022932902785311748 Centerline is valid? [True, True] Translation: X:194.25, Y:-57.93, Z:-25.66 [[ 7.28435740e-01 -6.83222508e-01 5.08760879e-02 1.94249470e+02] [ 6.81366532e-01 7.30207444e-01 5.03660387e-02 -5.79280186e+01] [-7.15613094e-02 -2.02315903e-03 9.97434151e-01 -2.56607525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25687499999998 meters 0.023593970415761605 Centerline is valid? [True, True] Translation: X:194.27, Y:-57.91, Z:-25.66 [[ 7.29246072e-01 -6.82363805e-01 5.07917718e-02 1.94268725e+02] [ 6.80510200e-01 7.31009670e-01 5.03063699e-02 -5.79068846e+01] [-7.14565223e-02 -2.12140382e-03 9.97441459e-01 -2.56632503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28687499999998 meters 0.023337531543454495 Centerline is valid? [True, True] Translation: X:194.29, Y:-57.89, Z:-25.67 [[ 7.29858730e-01 -6.81679946e-01 5.11730854e-02 1.94289280e+02] [ 6.79794961e-01 7.31647122e-01 5.07079900e-02 -5.78862055e+01] [-7.20072606e-02 -2.22246358e-03 9.97401632e-01 -2.56654504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31687499999998 meters 0.024325364984542287 Centerline is valid? [True, True] Translation: X:194.31, Y:-57.86, Z:-25.67 [[ 7.31439484e-01 -6.80009309e-01 5.08293337e-02 1.94308393e+02] [ 6.78143849e-01 7.33199587e-01 5.03913204e-02 -5.78648463e+01] [-7.15346134e-02 -2.38860139e-03 9.97435258e-01 -2.56690088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34687499999998 meters 0.02494061162190408 Centerline is valid? [True, True] Translation: X:194.33, Y:-57.84, Z:-25.67 [[ 7.31851372e-01 -6.79574653e-01 5.07135201e-02 1.94327022e+02] [ 6.77714657e-01 7.33602282e-01 5.03044320e-02 -5.78446725e+01] [-7.13891710e-02 -2.44607173e-03 9.97445539e-01 -2.56720673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37687499999998 meters 0.025259230689915906 Centerline is valid? [True, True] Translation: X:194.35, Y:-57.82, Z:-25.68 [[ 7.31978214e-01 -6.79444070e-01 5.06324977e-02 1.94347197e+02] [ 6.77589398e-01 7.33723186e-01 5.02284176e-02 -5.78242453e+01] [-7.12776380e-02 -2.45806373e-03 9.97453486e-01 -2.56750855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40687499999999 meters 0.024542053523328503 Centerline is valid? [True, True] Translation: X:194.37, Y:-57.81, Z:-25.68 [[ 7.32096763e-01 -6.79276020e-01 5.11704765e-02 1.94368489e+02] [ 6.77379585e-01 7.33878565e-01 5.07853211e-02 -5.78054517e+01] [-7.20501667e-02 -2.51793305e-03 9.97397831e-01 -2.56768337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.436875 meters 0.025266788510476902 Centerline is valid? [True, True] Translation: X:194.39, Y:-57.79, Z:-25.68 [[ 7.32133486e-01 -6.79214535e-01 5.14604068e-02 1.94387398e+02] [ 6.77294135e-01 7.33935322e-01 5.11037999e-02 -5.77857225e+01] [-7.24790539e-02 -2.56097149e-03 9.97366647e-01 -2.56799786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.466875 meters 0.025171926962482348 Centerline is valid? [True, True] Translation: X:194.41, Y:-57.77, Z:-25.68 [[ 7.31757463e-01 -6.79588925e-01 5.18643288e-02 1.94408001e+02] [ 6.77637819e-01 7.33588682e-01 5.15231257e-02 -5.77662135e+01] [-7.30616302e-02 -2.55720104e-03 9.97324149e-01 -2.56823916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.496875 meters 0.024798142908646962 Centerline is valid? [True, True] Translation: X:194.43, Y:-57.75, Z:-25.68 [[ 7.31198056e-01 -6.80194836e-01 5.18110771e-02 1.94429417e+02] [ 6.78247480e-01 7.33027063e-01 5.14944658e-02 -5.77472956e+01] [-7.30051914e-02 -2.51192080e-03 9.97328397e-01 -2.56844492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.526875 meters 0.024806178878858193 Centerline is valid? [True, True] Translation: X:194.45, Y:-57.73, Z:-25.69 [[ 7.30659637e-01 -6.80741357e-01 5.22273787e-02 1.94450895e+02] [ 6.78761802e-01 7.32519599e-01 5.19370102e-02 -5.77296838e+01] [-7.36132494e-02 -2.49832730e-03 9.97283735e-01 -2.56870120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.556875 meters 0.02302126620222954 Centerline is valid? [True, True] Translation: X:194.47, Y:-57.71, Z:-25.69 [[ 7.30099094e-01 -6.81321505e-01 5.25006720e-02 1.94474275e+02] [ 6.79322266e-01 7.31980173e-01 5.22138404e-02 -5.77122956e+01] [-7.40038633e-02 -2.45640202e-03 9.97254929e-01 -2.56882626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.586875 meters 0.02339200313098677 Centerline is valid? [True, True] Translation: X:194.49, Y:-57.69, Z:-25.69 [[ 7.29515936e-01 -6.81926121e-01 5.27566494e-02 1.94494110e+02] [ 6.79906675e-01 7.31417027e-01 5.24980590e-02 -5.76933040e+01] [-7.43869094e-02 -2.42857260e-03 9.97226499e-01 -2.56913641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.616875 meters 0.02358802482959472 Centerline is valid? [True, True] Translation: X:194.52, Y:-57.67, Z:-25.69 [[ 7.28996166e-01 -6.82465966e-01 5.29603245e-02 1.94515489e+02] [ 6.80431600e-01 7.30913467e-01 5.27099763e-02 -5.76749394e+01] [-7.46821792e-02 -2.38949227e-03 9.97204524e-01 -2.56943010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.646875 meters 0.023820459335949187 Centerline is valid? [True, True] Translation: X:194.54, Y:-57.66, Z:-25.70 [[ 7.28769335e-01 -6.82700644e-01 5.30573981e-02 1.94536214e+02] [ 6.80659059e-01 7.30694326e-01 5.28114338e-02 -5.76557686e+01] [-7.48231396e-02 -2.37335488e-03 9.97193996e-01 -2.56968085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.676875 meters 0.023728779587303562 Centerline is valid? [True, True] Translation: X:194.56, Y:-57.64, Z:-25.70 [[ 7.28433611e-01 -6.83027467e-01 5.34598370e-02 1.94557593e+02] [ 6.80953354e-01 7.30388812e-01 5.32420185e-02 -5.76358647e+01] [-7.54122279e-02 -2.37962044e-03 9.97149604e-01 -2.56992508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.706875 meters 0.02336154779139506 Centerline is valid? [True, True] Translation: X:194.58, Y:-57.62, Z:-25.70 [[ 7.28175956e-01 -6.83320674e-01 5.32224918e-02 1.94578327e+02] [ 6.81263917e-01 7.30114583e-01 5.30299189e-02 -5.76173560e+01] [-7.50949572e-02 -2.35654871e-03 9.97173603e-01 -2.57011608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.736875 meters 0.023595153191328246 Centerline is valid? [True, True] Translation: X:194.60, Y:-57.60, Z:-25.70 [[ 7.27939422e-01 -6.83606582e-01 5.27848423e-02 1.94599717e+02] [ 6.81582183e-01 7.29846983e-01 5.26223193e-02 -5.75986600e+01] [-7.44978217e-02 -2.32865258e-03 9.97218457e-01 -2.57046383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.766875 meters 0.024253090481497493 Centerline is valid? [True, True] Translation: X:194.62, Y:-57.58, Z:-25.71 [[ 7.27916277e-01 -6.83654369e-01 5.24842684e-02 1.94618806e+02] [ 6.81650764e-01 7.29802205e-01 5.23543433e-02 -5.75784448e+01] [-7.40954103e-02 -2.33363702e-03 9.97248427e-01 -2.57086311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.796875 meters 0.022804345903386584 Centerline is valid? [True, True] Translation: X:194.64, Y:-57.56, Z:-25.71 [[ 7.27708562e-01 -6.83865512e-01 5.26137934e-02 1.94641138e+02] [ 6.81851845e-01 7.29604384e-01 5.24928973e-02 -5.75613139e+01] [-7.42853364e-02 -2.32471867e-03 9.97234318e-01 -2.57100966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.826875 meters 0.023614915596501022 Centerline is valid? [True, True] Translation: X:194.66, Y:-57.54, Z:-25.71 [[ 7.27487037e-01 -6.84140269e-01 5.21028111e-02 1.94659695e+02] [ 6.82163967e-01 7.29346841e-01 5.20144872e-02 -5.75418873e+01] [-7.35862260e-02 -2.29720488e-03 9.97286213e-01 -2.57138082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.856875 meters 0.023360185989966697 Centerline is valid? [True, True] Translation: X:194.68, Y:-57.52, Z:-25.72 [[ 7.27077946e-01 -6.84536125e-01 5.26113413e-02 1.94681873e+02] [ 6.82520924e-01 7.28975341e-01 5.25370333e-02 -5.75226162e+01] [-7.43158677e-02 -2.29017700e-03 9.97232123e-01 -2.57155895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.886875 meters 0.023526788526888446 Centerline is valid? [True, True] Translation: X:194.70, Y:-57.50, Z:-25.72 [[ 7.27044229e-01 -6.84542002e-01 5.29994111e-02 1.94701411e+02] [ 6.82494859e-01 7.28969707e-01 5.29521738e-02 -5.75035043e+01] [-7.48829522e-02 -2.32674675e-03 9.97189616e-01 -2.57179149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.916875 meters 0.022737415762192396 Centerline is valid? [True, True] Translation: X:194.72, Y:-57.49, Z:-25.72 [[ 7.26788281e-01 -6.84798540e-01 5.31954342e-02 1.94723024e+02] [ 6.82735938e-01 7.28728747e-01 5.31606252e-02 -5.74856191e+01] [-7.51693606e-02 -2.31808474e-03 9.97168087e-01 -2.57190280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94687499999998 meters 0.022714393097748763 Centerline is valid? [True, True] Translation: X:194.74, Y:-57.47, Z:-25.72 [[ 7.26691449e-01 -6.84919918e-01 5.29551181e-02 1.94744467e+02] [ 6.82874043e-01 7.28614671e-01 5.29499896e-02 -5.74666439e+01] [-7.48503785e-02 -2.31662899e-03 9.97192085e-01 -2.57212158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97687499999998 meters 0.02345909433241302 Centerline is valid? [True, True] Translation: X:194.76, Y:-57.45, Z:-25.72 [[ 7.26688940e-01 -6.84901946e-01 5.32213167e-02 1.94763211e+02] [ 6.82833252e-01 7.28631455e-01 5.32442679e-02 -5.74471492e+01] [-7.52458282e-02 -2.35073586e-03 9.97162243e-01 -2.57248111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00687499999998 meters 0.022792174815703052 Centerline is valid? [True, True] Translation: X:194.78, Y:-57.43, Z:-25.73 [[ 7.26505834e-01 -6.85093242e-01 5.32590160e-02 1.94784249e+02] [ 6.83020755e-01 7.28451609e-01 5.33001052e-02 -5.74285575e+01] [-7.53121578e-02 -2.34582411e-03 9.97157247e-01 -2.57273085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03687499999998 meters 0.022768225171269134 Centerline is valid? [True, True] Translation: X:194.81, Y:-57.41, Z:-25.73 [[ 7.25848035e-01 -6.85793683e-01 5.32132880e-02 1.94805644e+02] [ 6.83724380e-01 7.27792392e-01 5.32841969e-02 -5.74096979e+01] [-7.52701918e-02 -2.29300725e-03 9.97160539e-01 -2.57309370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06687499999998 meters 0.022708021835575902 Centerline is valid? [True, True] Translation: X:194.83, Y:-57.39, Z:-25.73 [[ 7.25522226e-01 -6.86163019e-01 5.28943349e-02 1.94826857e+02] [ 6.84117648e-01 7.27444300e-01 5.29890038e-02 -5.73911789e+01] [-7.48367773e-02 -2.25875206e-03 9.97193238e-01 -2.57335934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09687499999998 meters 0.02285876909300529 Centerline is valid? [True, True] Translation: X:194.85, Y:-57.37, Z:-25.74 [[ 7.25100636e-01 -6.86635557e-01 5.25421669e-02 1.94847485e+02] [ 6.84616473e-01 7.26998419e-01 5.26648308e-02 -5.73721829e+01] [-7.43596176e-02 -2.21606935e-03 9.97229029e-01 -2.57359849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12687499999998 meters 0.021586659658337178 Centerline is valid? [True, True] Translation: X:194.87, Y:-57.35, Z:-25.74 [[ 7.24607443e-01 -6.87166213e-01 5.24084876e-02 1.94869782e+02] [ 6.85156655e-01 7.26496976e-01 5.25595065e-02 -5.73543925e+01] [-7.41917248e-02 -2.17698554e-03 9.97241620e-01 -2.57375842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15687499999999 meters 0.022555015437668337 Centerline is valid? [True, True] Translation: X:194.89, Y:-57.33, Z:-25.74 [[ 7.24310519e-01 -6.87485545e-01 5.23249173e-02 1.94888337e+02] [ 6.85480974e-01 7.26194840e-01 5.25060714e-02 -5.73348874e+01] [-7.40952501e-02 -2.16296451e-03 9.97248823e-01 -2.57407071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.186875 meters 0.021537241914151524 Centerline is valid? [True, True] Translation: X:194.91, Y:-57.32, Z:-25.74 [[ 7.22913668e-01 -6.88934949e-01 5.25781696e-02 1.94911396e+02] [ 6.86913720e-01 7.24820322e-01 5.27735048e-02 -5.73173920e+01] [-7.44672377e-02 -2.03402188e-03 9.97221386e-01 -2.57430856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.216875 meters 0.02105282256803367 Centerline is valid? [True, True] Translation: X:194.93, Y:-57.30, Z:-25.75 [[ 7.21992211e-01 -6.89873877e-01 5.29271373e-02 1.94932629e+02] [ 6.87826246e-01 7.23926900e-01 5.31497735e-02 -5.72982721e+01] [-7.49820187e-02 -1.96904830e-03 9.97182942e-01 -2.57457287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.246875 meters 0.021082972538645606 Centerline is valid? [True, True] Translation: X:194.95, Y:-57.28, Z:-25.75 [[ 7.21265722e-01 -6.90615960e-01 5.31540536e-02 1.94954261e+02] [ 6.88550747e-01 7.23219132e-01 5.34037120e-02 -5.72786347e+01] [-7.53234843e-02 -1.91900359e-03 9.97157305e-01 -2.57482949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.276875 meters 0.01964983433793889 Centerline is valid? [True, True] Translation: X:194.98, Y:-57.26, Z:-25.75 [[ 7.19396098e-01 -6.92521601e-01 5.36943787e-02 1.94978418e+02] [ 6.90417207e-01 7.21394996e-01 5.39753569e-02 -5.72612484e+01] [-7.61139567e-02 -1.75813816e-03 9.97097575e-01 -2.57496362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.306875 meters 0.01954646649742567 Centerline is valid? [True, True] Translation: X:195.00, Y:-57.24, Z:-25.75 [[ 7.18620317e-01 -6.93313548e-01 5.38624659e-02 1.94998379e+02] [ 6.91197065e-01 7.20634074e-01 5.41585453e-02 -5.72424020e+01] [-7.63639814e-02 -1.68985262e-03 9.97078576e-01 -2.57519791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.336875 meters 0.019179221267991535 Centerline is valid? [True, True] Translation: X:195.02, Y:-57.22, Z:-25.75 [[ 7.17697955e-01 -6.94249468e-01 5.41047322e-02 1.95019980e+02] [ 6.92116033e-01 7.19732666e-01 5.44085198e-02 -5.72235659e+01] [-7.67140291e-02 -1.60213082e-03 9.97051850e-01 -2.57539996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.366875 meters 0.019501394059819852 Centerline is valid? [True, True] Translation: X:195.04, Y:-57.20, Z:-25.76 [[ 7.16935078e-01 -6.94993122e-01 5.46685828e-02 1.95039429e+02] [ 6.92814741e-01 7.19014691e-01 5.50055321e-02 -5.72034934e+01] [-7.75359806e-02 -1.56019542e-03 9.96988334e-01 -2.57564590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.396875 meters 0.018722343220555653 Centerline is valid? [True, True] Translation: X:195.06, Y:-57.19, Z:-25.76 [[ 7.15357120e-01 -6.96593271e-01 5.49727618e-02 1.95062672e+02] [ 6.94394696e-01 7.17464880e-01 5.53186399e-02 -5.71852342e+01] [-7.79756183e-02 -1.39978877e-03 9.96954284e-01 -2.57582312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.426875 meters 0.01839674523539772 Centerline is valid? [True, True] Translation: X:195.08, Y:-57.17, Z:-25.76 [[ 7.14544624e-01 -6.97455547e-01 5.46053116e-02 1.95083567e+02] [ 6.95287040e-01 7.16626845e-01 5.49717808e-02 -5.71665090e+01] [-7.74720056e-02 -1.31342494e-03 9.96993663e-01 -2.57609965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.456875 meters 0.01808617818264742 Centerline is valid? [True, True] Translation: X:195.10, Y:-57.15, Z:-25.76 [[ 7.13734016e-01 -6.98329294e-01 5.40365779e-02 1.95104372e+02] [ 6.96206058e-01 7.15775588e-01 5.44282331e-02 -5.71476516e+01] [-7.66868929e-02 -1.22668854e-03 9.97054470e-01 -2.57638831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.486875 meters 0.018180443879524725 Centerline is valid? [True, True] Translation: X:195.12, Y:-57.13, Z:-25.77 [[ 7.13162278e-01 -6.98964011e-01 5.33748636e-02 1.95124890e+02] [ 6.96892123e-01 7.15155895e-01 5.37904732e-02 -5.71280945e+01] [-7.57689533e-02 -1.16481443e-03 9.97124721e-01 -2.57680485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.516875 meters 0.017990797197016444 Centerline is valid? [True, True] Translation: X:195.15, Y:-57.11, Z:-25.77 [[ 7.12634863e-01 -6.99541872e-01 5.28462121e-02 1.95145811e+02] [ 6.97510327e-01 7.14590744e-01 5.32861312e-02 -5.71094934e+01] [-7.50392940e-02 -1.11277609e-03 9.97179957e-01 -2.57703681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.546875 meters 0.01692955764923428 Centerline is valid? [True, True] Translation: X:195.17, Y:-57.09, Z:-25.77 [[ 7.10647084e-01 -7.01575456e-01 5.26554919e-02 1.95168547e+02] [ 6.99561866e-01 7.12594582e-01 5.31239757e-02 -5.70915419e+01] [-7.47924957e-02 -9.16624284e-04 9.97198698e-01 -2.57729028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.576875 meters 0.016894923809468994 Centerline is valid? [True, True] Translation: X:195.19, Y:-57.07, Z:-25.78 [[ 7.09757693e-01 -7.02506904e-01 5.22309017e-02 1.95188839e+02] [ 7.00526122e-01 7.11676442e-01 5.27237609e-02 -5.70733997e+01] [-7.42103083e-02 -8.31983967e-04 9.97242266e-01 -2.57757755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.606875 meters 0.016771589510883422 Centerline is valid? [True, True] Translation: X:195.21, Y:-57.06, Z:-25.78 [[ 7.08517595e-01 -7.03762312e-01 5.21672911e-02 1.95209608e+02] [ 7.01788540e-01 7.10435150e-01 5.26758230e-02 -5.70553533e+01] [-7.41327362e-02 -7.11340325e-04 9.97248129e-01 -2.57782595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.636875 meters 0.01667357046856878 Centerline is valid? [True, True] Translation: X:195.23, Y:-57.04, Z:-25.78 [[ 7.07370120e-01 -7.04953917e-01 5.16477300e-02 1.95230043e+02] [ 7.03021580e-01 7.09252865e-01 5.21635005e-02 -5.70377655e+01] [-7.34041645e-02 -5.89432867e-04 9.97302101e-01 -2.57810289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.666875 meters 0.016085015259307195 Centerline is valid? [True, True] Translation: X:195.25, Y:-57.02, Z:-25.78 [[ 7.04621613e-01 -7.07666646e-01 5.21181371e-02 1.95253702e+02] [ 7.05704322e-01 7.06546396e-01 5.26649809e-02 -5.70207162e+01] [-7.40931324e-02 -3.28889246e-04 9.97251272e-01 -2.57813697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69687499999998 meters 0.016085015259307195 Centerline is valid? [True, True] Translation: X:195.27, Y:-57.00, Z:-25.78 [[ 7.04426732e-01 -7.07861549e-01 5.21057252e-02 1.95273003e+02] [ 7.05898849e-01 7.06351131e-01 5.26772575e-02 -5.70010918e+01] [-7.40931431e-02 -3.25896874e-04 9.97251272e-01 -2.57838708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72687499999998 meters 0.016312315024370395 Centerline is valid? [True, True] Translation: X:195.29, Y:-56.98, Z:-25.79 [[ 7.03121584e-01 -7.09130289e-01 5.24811554e-02 1.95293488e+02] [ 7.07140384e-01 7.05077433e-01 5.30875660e-02 -5.69826489e+01] [-7.46492794e-02 -2.15469087e-04 9.97209827e-01 -2.57866183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75687499999998 meters 0.01618325389271605 Centerline is valid? [True, True] Translation: X:195.32, Y:-56.97, Z:-25.79 [[ 7.00801640e-01 -7.11364786e-01 5.32654002e-02 1.95315614e+02] [ 7.09319487e-01 7.02822980e-01 5.39047694e-02 -5.69651304e+01] [-7.57821021e-02 5.63557031e-06 9.97124402e-01 -2.57880233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78687499999998 meters 0.016112393816510917 Centerline is valid? [True, True] Translation: X:195.34, Y:-56.95, Z:-25.79 [[ 6.99775582e-01 -7.12339104e-01 5.37320810e-02 1.95336257e+02] [ 7.10258409e-01 7.01835446e-01 5.44058758e-02 -5.69457279e+01] [-7.64665118e-02 9.17590247e-05 9.97072146e-01 -2.57909476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81687499999998 meters 0.0160492460378968 Centerline is valid? [True, True] Translation: X:195.36, Y:-56.93, Z:-25.79 [[ 6.99233441e-01 -7.12875063e-01 5.36818442e-02 1.95356855e+02] [ 7.10797582e-01 7.01291044e-01 5.43844585e-02 -5.69260937e+01] [-7.64159208e-02 1.29492981e-04 9.97076020e-01 -2.57931585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84687499999998 meters 0.016183484527151272 Centerline is valid? [True, True] Translation: X:195.38, Y:-56.91, Z:-25.80 [[ 6.99057223e-01 -7.13065361e-01 5.34489367e-02 1.95377015e+02] [ 7.11004204e-01 7.01097549e-01 5.41779286e-02 -5.69061455e+01] [-7.61053228e-02 1.28946361e-04 9.97099776e-01 -2.57962775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87687499999998 meters 0.01616220430794032 Centerline is valid? [True, True] Translation: X:195.40, Y:-56.89, Z:-25.80 [[ 6.98801214e-01 -7.13332390e-01 5.32331192e-02 1.95396543e+02] [ 7.11286440e-01 7.00825858e-01 5.39881200e-02 -5.68860663e+01] [-7.58186211e-02 1.37032024e-04 9.97121616e-01 -2.57992161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90687499999999 meters 0.016044126373585297 Centerline is valid? [True, True] Translation: X:195.42, Y:-56.87, Z:-25.80 [[ 6.99497677e-01 -7.12688132e-01 5.27126823e-02 1.95415395e+02] [ 7.10678053e-01 7.01481022e-01 5.34890636e-02 -5.68656095e+01] [-7.50979671e-02 4.62707372e-05 9.97176160e-01 -2.58017122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.936875 meters 0.01627802267544875 Centerline is valid? [True, True] Translation: X:195.43, Y:-56.85, Z:-25.80 [[ 6.99889406e-01 -7.12317401e-01 5.25237137e-02 1.95434629e+02] [ 7.10318546e-01 7.01857479e-01 5.33258225e-02 -5.68451782e+01] [-7.48490726e-02 -1.36103146e-05 9.97194874e-01 -2.58044494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.966875 meters 0.01618350486951969 Centerline is valid? [True, True] Translation: X:195.45, Y:-56.83, Z:-25.81 [[ 7.00537074e-01 -7.11713170e-01 5.20785052e-02 1.95452847e+02] [ 7.09744085e-01 7.02470179e-01 5.29053952e-02 -5.68254232e+01] [-7.42370635e-02 -9.97797518e-05 9.97240617e-01 -2.58082005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.996875 meters 0.016532323835654294 Centerline is valid? [True, True] Translation: X:195.47, Y:-56.80, Z:-25.81 [[ 7.01902153e-01 -7.10445678e-01 5.09931975e-02 1.95471516e+02] [ 7.08553361e-01 7.03752002e-01 5.18194335e-02 -5.68036748e+01] [-7.27014574e-02 -2.40770485e-04 9.97353719e-01 -2.58123647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.026875 meters 0.01648282510736724 Centerline is valid? [True, True] Translation: X:195.49, Y:-56.78, Z:-25.81 [[ 7.02920556e-01 -7.09434618e-01 5.10412924e-02 1.95490722e+02] [ 7.07534351e-01 7.04771162e-01 5.18917217e-02 -5.67825707e+01] [-7.27862148e-02 -3.62290135e-04 9.97347500e-01 -2.58147035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.056875 meters 0.0168637114443214 Centerline is valid? [True, True] Translation: X:195.51, Y:-56.76, Z:-25.82 [[ 7.03982367e-01 -7.08369696e-01 5.11976593e-02 1.95508185e+02] [ 7.06452803e-01 7.05841433e-01 5.20798211e-02 -5.67619630e+01] [-7.30291963e-02 -4.94545833e-04 9.97329681e-01 -2.58175404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.086875 meters 0.01723035698599753 Centerline is valid? [True, True] Translation: X:195.53, Y:-56.74, Z:-25.82 [[ 7.06733333e-01 -7.05579274e-01 5.18255206e-02 1.95525505e+02] [ 7.03605505e-01 7.08630530e-01 5.27452872e-02 -5.67389144e+01] [-7.39411276e-02 -8.12131049e-04 9.97262277e-01 -2.58189616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.116875 meters 0.01752587640462086 Centerline is valid? [True, True] Translation: X:195.54, Y:-56.72, Z:-25.82 [[ 7.07899508e-01 -7.04392825e-01 5.20483792e-02 1.95543510e+02] [ 7.02396967e-01 7.09809714e-01 5.29968945e-02 -5.67174151e+01] [-7.42750775e-02 -9.57851874e-04 9.97237332e-01 -2.58212419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.146875 meters 0.017971624726285666 Centerline is valid? [True, True] Translation: X:195.56, Y:-56.70, Z:-25.82 [[ 7.08752864e-01 -7.03508380e-01 5.23959711e-02 1.95560564e+02] [ 7.01481202e-01 7.10686146e-01 5.33790706e-02 -5.66966994e+01] [-7.47897142e-02 -1.07778031e-03 9.97198745e-01 -2.58240940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.176875 meters 0.01830700270955063 Centerline is valid? [True, True] Translation: X:195.58, Y:-56.68, Z:-25.83 [[ 7.09422714e-01 -7.02818535e-01 5.25882110e-02 1.95579097e+02] [ 7.00772601e-01 7.11368210e-01 5.36006606e-02 -5.66750259e+01] [-7.50811193e-02 -1.17314868e-03 9.97176739e-01 -2.58268433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.206875 meters 0.018242882484374258 Centerline is valid? [True, True] Translation: X:195.60, Y:-56.65, Z:-25.83 [[ 7.10688777e-01 -7.01517021e-01 5.28708919e-02 1.95598302e+02] [ 6.99443259e-01 7.12651443e-01 5.39170616e-02 -5.66535161e+01] [-7.55022538e-02 -1.33806165e-03 9.97144733e-01 -2.58277072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.236875 meters 0.01816623661128611 Centerline is valid? [True, True] Translation: X:195.62, Y:-56.63, Z:-25.83 [[ 7.10897053e-01 -7.01294210e-01 5.30265074e-02 1.95617337e+02] [ 6.99205636e-01 7.12870616e-01 5.41014292e-02 -5.66333482e+01] [-7.57420581e-02 -1.38411378e-03 9.97126484e-01 -2.58296570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.266875 meters 0.019332192933841762 Centerline is valid? [True, True] Translation: X:195.63, Y:-56.61, Z:-25.83 [[ 7.10864338e-01 -7.01331345e-01 5.29739401e-02 1.95634239e+02] [ 6.99244520e-01 7.12834047e-01 5.40807058e-02 -5.66117238e+01] [-7.56901223e-02 -1.40230777e-03 9.97130402e-01 -2.58339986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.296875 meters 0.018417166265619907 Centerline is valid? [True, True] Translation: X:195.65, Y:-56.59, Z:-25.83 [[ 7.10624362e-01 -7.01601427e-01 5.26160958e-02 1.95654458e+02] [ 6.99542420e-01 7.12568277e-01 5.37294517e-02 -5.65925138e+01] [-7.51892207e-02 -1.37426632e-03 9.97168337e-01 -2.58348946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.326875 meters 0.019605762253124444 Centerline is valid? [True, True] Translation: X:195.67, Y:-56.57, Z:-25.84 [[ 7.10658090e-01 -7.01551034e-01 5.28320641e-02 1.95670560e+02] [ 6.99472609e-01 7.12617827e-01 5.39805744e-02 -5.65707234e+01] [-7.55191985e-02 -1.40715014e-03 9.97143355e-01 -2.58391741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.356875 meters 0.018991725088345467 Centerline is valid? [True, True] Translation: X:195.69, Y:-56.55, Z:-25.84 [[ 7.10585184e-01 -7.01620654e-01 5.28881287e-02 1.95690538e+02] [ 6.99535998e-01 7.12549255e-01 5.40642925e-02 -5.65512044e+01] [-7.56180209e-02 -1.42013532e-03 9.97135847e-01 -2.58407804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.386875 meters 0.020069243637383896 Centerline is valid? [True, True] Translation: X:195.71, Y:-56.53, Z:-25.85 [[ 7.10745574e-01 -7.01504011e-01 5.22766810e-02 1.95707447e+02] [ 6.99464650e-01 7.12664053e-01 5.34710244e-02 -5.65292085e+01] [-7.47658494e-02 -1.43860356e-03 9.97200079e-01 -2.58452806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.416875 meters 0.019005220758356995 Centerline is valid? [True, True] Translation: X:195.73, Y:-56.51, Z:-25.85 [[ 7.10984133e-01 -7.01266261e-01 5.22225407e-02 1.95728465e+02] [ 6.99229772e-01 7.12897940e-01 5.34252160e-02 -5.65096053e+01] [-7.46946431e-02 -1.46892567e-03 9.97205371e-01 -2.58464017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44687499999998 meters 0.01916730991268264 Centerline is valid? [True, True] Translation: X:195.75, Y:-56.49, Z:-25.85 [[ 7.11547140e-01 -7.00741298e-01 5.15974852e-02 1.95746976e+02] [ 6.98749882e-01 7.13413838e-01 5.28137972e-02 -5.64871874e+01] [-7.38191688e-02 -1.52576965e-03 9.97270476e-01 -2.58494814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47687499999998 meters 0.019423985192150786 Centerline is valid? [True, True] Translation: X:195.77, Y:-56.47, Z:-25.85 [[ 7.11416494e-01 -7.00888091e-01 5.14048278e-02 1.95765021e+02] [ 6.98910063e-01 7.13269630e-01 5.26417907e-02 -5.64670304e+01] [-7.35615067e-02 -1.52288675e-03 9.97289519e-01 -2.58522736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50687499999998 meters 0.019273102452333334 Centerline is valid? [True, True] Translation: X:195.78, Y:-56.45, Z:-25.85 [[ 7.11079738e-01 -7.01230381e-01 5.13960926e-02 1.95784300e+02] [ 6.99251998e-01 7.12933156e-01 5.26588837e-02 -5.64467962e+01] [-7.35679876e-02 -1.50584481e-03 9.97289067e-01 -2.58543259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53687499999998 meters 0.018761565092417932 Centerline is valid? [True, True] Translation: X:195.81, Y:-56.43, Z:-25.86 [[ 7.09820297e-01 -7.02481567e-01 5.17184075e-02 1.95805146e+02] [ 7.00479338e-01 7.11700548e-01 5.30191272e-02 -5.64264549e+01] [-7.40529785e-02 -1.40637680e-03 9.97253317e-01 -2.58559266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56687499999998 meters 0.018556572893228363 Centerline is valid? [True, True] Translation: X:195.83, Y:-56.41, Z:-25.86 [[ 7.08770691e-01 -7.03497502e-01 5.23007938e-02 1.95825638e+02] [ 7.01450649e-01 7.10696480e-01 5.36423455e-02 -5.64063228e+01] [-7.49072461e-02 -1.33369657e-03 9.97189614e-01 -2.58577566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59687499999998 meters 0.017808838293078638 Centerline is valid? [True, True] Translation: X:195.85, Y:-56.39, Z:-25.86 [[ 7.07504771e-01 -7.04734513e-01 5.27850885e-02 1.95846826e+02] [ 7.02650760e-01 7.09470043e-01 5.41679521e-02 -5.63859821e+01] [-7.56234643e-02 -1.23460191e-03 9.97135682e-01 -2.58587127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62687499999998 meters 0.017518595479503397 Centerline is valid? [True, True] Translation: X:195.87, Y:-56.37, Z:-25.86 [[ 7.06160627e-01 -7.06037097e-01 5.33740309e-02 1.95868076e+02] [ 7.03909234e-01 7.08173969e-01 5.47852108e-02 -5.63665096e+01] [-7.64784905e-02 -1.11668561e-03 9.97070606e-01 -2.58591267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65687499999999 meters 0.016956741005800725 Centerline is valid? [True, True] Translation: X:195.89, Y:-56.35, Z:-25.86 [[ 7.04027570e-01 -7.08098530e-01 5.42370121e-02 1.95888471e+02] [ 7.05905110e-01 7.06113031e-01 5.56988582e-02 -5.63457755e+01] [-7.77377406e-02 -9.27347802e-04 9.96973412e-01 -2.58606017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.686875 meters 0.01706588951556406 Centerline is valid? [True, True] Translation: X:195.91, Y:-56.32, Z:-25.86 [[ 7.03003259e-01 -7.09104616e-01 5.43788692e-02 1.95907285e+02] [ 7.06900320e-01 7.05102786e-01 5.58748511e-02 -5.63249609e+01] [-7.79638070e-02 -8.39762469e-04 9.96955836e-01 -2.58645381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.716875 meters 0.016527378301297104 Centerline is valid? [True, True] Translation: X:195.93, Y:-56.30, Z:-25.87 [[ 7.01833469e-01 -7.10265558e-01 5.43380028e-02 1.95928563e+02] [ 7.08067525e-01 7.03933467e-01 5.58395367e-02 -5.63048454e+01] [-7.79112384e-02 -7.15080574e-04 9.96960043e-01 -2.58659561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.746875 meters 0.01640368259521943 Centerline is valid? [True, True] Translation: X:195.95, Y:-56.29, Z:-25.87 [[ 7.00964814e-01 -7.11119426e-01 5.43828223e-02 1.95947709e+02] [ 7.08917997e-01 7.03070943e-01 5.59153228e-02 -5.62853953e+01] [-7.79974544e-02 -6.41712480e-04 9.96953352e-01 -2.58688105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.776875 meters 0.016376970210704556 Centerline is valid? [True, True] Translation: X:195.97, Y:-56.27, Z:-25.87 [[ 6.98838638e-01 -7.13238112e-01 5.39995654e-02 1.95968239e+02] [ 7.11073081e-01 7.00921698e-01 5.55323983e-02 -5.62658645e+01] [-7.74572900e-02 -4.10548314e-04 9.96995587e-01 -2.58716790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.806875 meters 0.01628368479209641 Centerline is valid? [True, True] Translation: X:195.99, Y:-56.25, Z:-25.87 [[ 6.97944500e-01 -7.14135936e-01 5.36967387e-02 1.95988263e+02] [ 7.11995506e-01 7.00006968e-01 5.52507312e-02 -5.62458989e+01] [-7.70446239e-02 -3.30107271e-04 9.97027591e-01 -2.58740353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.836875 meters 0.016336940798265552 Centerline is valid? [True, True] Translation: X:196.01, Y:-56.23, Z:-25.88 [[ 6.97134326e-01 -7.14921341e-01 5.37699549e-02 1.96007506e+02] [ 7.12774957e-01 6.99204838e-01 5.53575284e-02 -5.62263696e+01] [-7.71724911e-02 -2.65756000e-04 9.97017721e-01 -2.58770132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.866875 meters 0.016421916129551736 Centerline is valid? [True, True] Translation: X:196.03, Y:-56.21, Z:-25.88 [[ 6.96073195e-01 -7.15964001e-01 5.36437887e-02 1.96027645e+02] [ 7.13828731e-01 6.98137179e-01 5.52541603e-02 -5.62062471e+01] [-7.70107130e-02 -1.68462198e-04 9.97030251e-01 -2.58796758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.896875 meters 0.01632036464224141 Centerline is valid? [True, True] Translation: X:196.05, Y:-56.19, Z:-25.88 [[ 6.96146071e-01 -7.15883975e-01 5.37659990e-02 1.96047146e+02] [ 7.13736369e-01 6.98219231e-01 5.54102951e-02 -5.61856667e+01] [-7.72077968e-02 -1.98910273e-04 9.97015003e-01 -2.58820144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.926875 meters 0.016478696637790165 Centerline is valid? [True, True] Translation: X:196.07, Y:-56.17, Z:-25.88 [[ 6.96317318e-01 -7.15722092e-01 5.37036368e-02 1.96065219e+02] [ 7.13576610e-01 6.98385159e-01 5.53768088e-02 -5.61660935e+01] [-7.71402284e-02 -2.38171849e-04 9.97020225e-01 -2.58848888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.956875 meters 0.01644661120812685 Centerline is valid? [True, True] Translation: X:196.08, Y:-56.15, Z:-25.89 [[ 6.96921597e-01 -7.15147504e-01 5.35194913e-02 1.96084200e+02] [ 7.13012974e-01 6.98973495e-01 5.52136959e-02 -5.61453689e+01] [-7.68946426e-02 -3.19525432e-04 9.97039173e-01 -2.58869971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.986875 meters 0.016730695247843038 Centerline is valid? [True, True] Translation: X:196.10, Y:-56.12, Z:-25.89 [[ 6.97852740e-01 -7.14244621e-01 5.34431898e-02 1.96102655e+02] [ 7.12111222e-01 6.99896013e-01 5.51650203e-02 -5.61244921e+01] [-7.68059945e-02 -4.39565397e-04 9.97045960e-01 -2.58901029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.016875 meters 0.016940677765858853 Centerline is valid? [True, True] Translation: X:196.12, Y:-56.10, Z:-25.89 [[ 7.00281979e-01 -7.11923729e-01 5.26284537e-02 1.96120923e+02] [ 7.09846198e-01 7.02256440e-01 5.43531670e-02 -5.61022491e+01] [-7.56539799e-02 -7.04435571e-04 9.97133882e-01 -2.58929296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.046875 meters 0.01740008422600685 Centerline is valid? [True, True] Translation: X:196.14, Y:-56.08, Z:-25.90 [[ 7.01507857e-01 -7.10709767e-01 5.27100943e-02 1.96138504e+02] [ 7.08620136e-01 7.03484820e-01 5.44666025e-02 -5.60810486e+01] [-7.57906975e-02 -8.57315370e-04 9.97123380e-01 -2.58964733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.076875 meters 0.01735910021936003 Centerline is valid? [True, True] Translation: X:196.16, Y:-56.06, Z:-25.90 [[ 7.02748998e-01 -7.09486669e-01 5.26546455e-02 1.96158194e+02] [ 7.07397188e-01 7.04718152e-01 5.44200684e-02 -5.60595817e+01] [-7.57169975e-02 -9.95900359e-04 9.97128850e-01 -2.58981733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.106875 meters 0.017782198648859413 Centerline is valid? [True, True] Translation: X:196.18, Y:-56.04, Z:-25.90 [[ 7.03914890e-01 -7.08318509e-01 5.28083077e-02 1.96177305e+02] [ 7.06211468e-01 7.05892046e-01 5.46056919e-02 -5.60377046e+01] [-7.59551867e-02 -1.14392712e-03 9.97110576e-01 -2.59010240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.136875 meters 0.018976988884001227 Centerline is valid? [True, True] Translation: X:196.19, Y:-56.02, Z:-25.90 [[ 7.06022490e-01 -7.06202934e-01 5.30062294e-02 1.96194392e+02] [ 7.04071904e-01 7.08008096e-01 5.48387635e-02 -5.60155466e+01] [-7.62561352e-02 -1.39720343e-03 9.97087283e-01 -2.59041816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.166875 meters 0.019255901067863075 Centerline is valid? [True, True] Translation: X:196.21, Y:-55.99, Z:-25.91 [[ 7.06736106e-01 -7.05447211e-01 5.35566028e-02 1.96213719e+02] [ 7.03268164e-01 7.08760865e-01 5.54249599e-02 -5.59947244e+01] [-7.70582075e-02 -1.50616662e-03 9.97025458e-01 -2.59061497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19687499999998 meters 0.01918313183035018 Centerline is valid? [True, True] Translation: X:196.23, Y:-55.97, Z:-25.91 [[ 7.06877613e-01 -7.05259423e-01 5.41589035e-02 1.96232758e+02] [ 7.03028164e-01 7.08947599e-01 5.60776465e-02 -5.59744410e+01] [-7.79451132e-02 -1.56479840e-03 9.96956424e-01 -2.59076535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22687499999998 meters 0.01864763587298796 Centerline is valid? [True, True] Translation: X:196.25, Y:-55.96, Z:-25.91 [[ 7.07161969e-01 -7.04933393e-01 5.46887628e-02 1.96252936e+02] [ 7.02654780e-01 7.09271617e-01 5.66571542e-02 -5.59552739e+01] [-7.87287072e-02 -1.63846410e-03 9.96894732e-01 -2.59091349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25687499999998 meters 0.018909047268089247 Centerline is valid? [True, True] Translation: X:196.27, Y:-55.94, Z:-25.91 [[ 7.07231112e-01 -7.04854049e-01 5.48171874e-02 1.96271050e+02] [ 7.02561743e-01 7.09350380e-01 5.68245973e-02 -5.59355675e+01] [-7.89376402e-02 -1.67566441e-03 9.96878148e-01 -2.59125769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28687499999998 meters 0.02005652773613122 Centerline is valid? [True, True] Translation: X:196.29, Y:-55.91, Z:-25.92 [[ 7.07314393e-01 -7.04811771e-01 5.42836725e-02 1.96288842e+02] [ 7.02562368e-01 7.09392385e-01 5.62899950e-02 -5.59142135e+01] [-7.81822750e-02 -1.67705816e-03 9.96937671e-01 -2.59170149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31687499999998 meters 0.019773984515052342 Centerline is valid? [True, True] Translation: X:196.31, Y:-55.90, Z:-25.92 [[ 7.07007026e-01 -7.05172670e-01 5.35963682e-02 1.96309365e+02] [ 7.02980165e-01 7.09033757e-01 5.55879396e-02 -5.58952217e+01] [-7.72007301e-02 -1.62388015e-03 9.97014248e-01 -2.59192122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34687499999998 meters 0.019582107902883488 Centerline is valid? [True, True] Translation: X:196.33, Y:-55.88, Z:-25.92 [[ 7.06625490e-01 -7.05536726e-01 5.38362828e-02 1.96329164e+02] [ 7.03323235e-01 7.08671523e-01 5.58667933e-02 -5.58751354e+01] [-7.75683150e-02 -1.61259161e-03 9.96985735e-01 -2.59215672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37687499999998 meters 0.019167787302027693 Centerline is valid? [True, True] Translation: X:196.35, Y:-55.86, Z:-25.92 [[ 7.06244978e-01 -7.05942147e-01 5.35136897e-02 1.96349122e+02] [ 7.03753998e-01 7.08267738e-01 5.55618770e-02 -5.58560614e+01] [-7.71254907e-02 -1.57982357e-03 9.97020142e-01 -2.59233195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40687499999999 meters 0.01948256192458883 Centerline is valid? [True, True] Translation: X:196.37, Y:-55.84, Z:-25.93 [[ 7.06169505e-01 -7.05988045e-01 5.39027927e-02 1.96367270e+02] [ 7.03765559e-01 7.08221923e-01 5.59977348e-02 -5.58359479e+01] [-7.77088708e-02 -1.60896362e-03 9.96974795e-01 -2.59257605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.436875 meters 0.019382700539240526 Centerline is valid? [True, True] Translation: X:196.39, Y:-55.82, Z:-25.93 [[ 7.05972060e-01 -7.06153582e-01 5.43191419e-02 1.96386322e+02] [ 7.03894901e-01 7.08056837e-01 5.64578075e-02 -5.58159548e+01] [-7.83289228e-02 -1.62266767e-03 9.96926249e-01 -2.59281147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.466875 meters 0.01894351960860165 Centerline is valid? [True, True] Translation: X:196.41, Y:-55.80, Z:-25.93 [[ 7.05710171e-01 -7.06370347e-01 5.49007099e-02 1.96406971e+02] [ 7.04061091e-01 7.07840553e-01 5.70940516e-02 -5.57962622e+01] [-7.91904938e-02 -1.63839918e-03 9.96858155e-01 -2.59295789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.496875 meters 0.019317351491296715 Centerline is valid? [True, True] Translation: X:196.43, Y:-55.78, Z:-25.93 [[ 7.05655380e-01 -7.06387028e-01 5.53881857e-02 1.96425193e+02] [ 7.04034121e-01 7.07823825e-01 5.76314840e-02 -5.57759029e+01] [-7.99152102e-02 -1.67279402e-03 9.96800261e-01 -2.59319658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.526875 meters 0.018705859848638103 Centerline is valid? [True, True] Translation: X:196.45, Y:-55.76, Z:-25.93 [[ 7.05422191e-01 -7.06607731e-01 5.55431993e-02 1.96446098e+02] [ 7.04241071e-01 7.07603525e-01 5.78080022e-02 -5.57567535e+01] [-8.01501449e-02 -1.66324545e-03 9.96781414e-01 -2.59326049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.556875 meters 0.018943897478999005 Centerline is valid? [True, True] Translation: X:196.47, Y:-55.74, Z:-25.94 [[ 7.05484039e-01 -7.06514890e-01 5.59372877e-02 1.96465466e+02] [ 7.04111514e-01 7.07696113e-01 5.82510735e-02 -5.57364110e+01] [-8.07418519e-02 -1.70911435e-03 9.96733581e-01 -2.59352006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.586875 meters 0.018945281441659027 Centerline is valid? [True, True] Translation: X:196.48, Y:-55.72, Z:-25.94 [[ 7.05399205e-01 -7.06613559e-01 5.57605651e-02 1.96484655e+02] [ 7.04223092e-01 7.07597581e-01 5.80990488e-02 -5.57165120e+01] [-8.05096166e-02 -1.71514521e-03 9.96752356e-01 -2.59383406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.616875 meters 0.018945281441659027 Centerline is valid? [True, True] Translation: X:196.50, Y:-55.70, Z:-25.94 [[ 7.05201486e-01 -7.06812170e-01 5.57442462e-02 1.96503651e+02] [ 7.04421086e-01 7.07399190e-01 5.81147015e-02 -5.56965919e+01] [-8.05096130e-02 -1.71515135e-03 9.96752357e-01 -2.59408404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.646875 meters 0.019208908212329675 Centerline is valid? [True, True] Translation: X:196.52, Y:-55.68, Z:-25.94 [[ 7.05403109e-01 -7.06606331e-01 5.58027445e-02 1.96523431e+02] [ 7.04206882e-01 7.07604678e-01 5.82089901e-02 -5.56751512e+01] [-8.06171240e-02 -1.76412584e-03 9.96743581e-01 -2.59445826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.676875 meters 0.019163223280456325 Centerline is valid? [True, True] Translation: X:196.54, Y:-55.66, Z:-25.95 [[ 7.05851367e-01 -7.06214871e-01 5.50854270e-02 1.96543907e+02] [ 7.03873424e-01 7.07995267e-01 5.74882994e-02 -5.56553062e+01] [-7.95993136e-02 -1.80502653e-03 9.96825306e-01 -2.59472619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.706875 meters 0.021097103189017058 Centerline is valid? [True, True] Translation: X:196.56, Y:-55.63, Z:-25.95 [[ 7.05700376e-01 -7.06381086e-01 5.48884378e-02 1.96559494e+02] [ 7.04054520e-01 7.07829441e-01 5.73124407e-02 -5.56334408e+01] [-7.93360764e-02 -1.80095820e-03 9.96846299e-01 -2.59523579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.736875 meters 0.01945956798638823 Centerline is valid? [True, True] Translation: X:196.58, Y:-55.62, Z:-25.95 [[ 7.05569179e-01 -7.06530789e-01 5.46477650e-02 1.96581774e+02] [ 7.04223793e-01 7.07680047e-01 5.70771410e-02 -5.56157645e+01] [-7.89998903e-02 -1.78761519e-03 9.96873022e-01 -2.59541235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.766875 meters 0.01981039120608808 Centerline is valid? [True, True] Translation: X:196.60, Y:-55.60, Z:-25.96 [[ 7.05592302e-01 -7.06515955e-01 5.45408861e-02 1.96600300e+02] [ 7.04215308e-01 7.07694801e-01 5.69988502e-02 -5.55954610e+01] [-7.88688986e-02 -1.80942304e-03 9.96883355e-01 -2.59570715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.796875 meters 0.019992607100496048 Centerline is valid? [True, True] Translation: X:196.62, Y:-55.57, Z:-25.96 [[ 7.05938141e-01 -7.06123495e-01 5.51448214e-02 1.96620052e+02] [ 7.03768709e-01 7.08086184e-01 5.76503223e-02 -5.55748875e+01] [-7.97555332e-02 -1.88836155e-03 9.96812665e-01 -2.59589006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.826875 meters 0.020160267993757853 Centerline is valid? [True, True] Translation: X:196.64, Y:-55.55, Z:-25.96 [[ 7.06242896e-01 -7.05808206e-01 5.52788127e-02 1.96638980e+02] [ 7.03438437e-01 7.08400288e-01 5.78221144e-02 -5.55541650e+01] [-7.99708497e-02 -1.95121600e-03 9.96795293e-01 -2.59617596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.856875 meters 0.020446125870190446 Centerline is valid? [True, True] Translation: X:196.66, Y:-55.53, Z:-25.96 [[ 7.06837152e-01 -7.05240618e-01 5.49264162e-02 1.96658539e+02] [ 7.02896867e-01 7.08965143e-01 5.74840922e-02 -5.55335590e+01] [-7.94810312e-02 -2.02428619e-03 9.96834323e-01 -2.59646922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.886875 meters 0.02133086135120055 Centerline is valid? [True, True] Translation: X:196.68, Y:-55.51, Z:-25.97 [[ 7.07361002e-01 -7.04781720e-01 5.40660659e-02 1.96676548e+02] [ 7.02507342e-01 7.09421221e-01 5.66124132e-02 -5.55126612e+01] [-7.82550084e-02 -2.06360510e-03 9.96931239e-01 -2.59685646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.916875 meters 0.021665061395115332 Centerline is valid? [True, True] Translation: X:196.70, Y:-55.49, Z:-25.97 [[ 7.08304824e-01 -7.03889366e-01 5.33295156e-02 1.96696309e+02] [ 7.01673057e-01 7.10306392e-01 5.58547211e-02 -5.54918172e+01] [-7.71958400e-02 -2.14228418e-03 9.97013647e-01 -2.59720220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94687499999998 meters 0.021773253166298325 Centerline is valid? [True, True] Translation: X:196.72, Y:-55.47, Z:-25.97 [[ 7.08618657e-01 -7.03595008e-01 5.30439697e-02 1.96716285e+02] [ 7.01399545e-01 7.10597850e-01 5.55821332e-02 -5.54709914e+01] [-7.68002424e-02 -2.18152039e-03 9.97044113e-01 -2.59746125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97687499999998 meters 0.02156796965101158 Centerline is valid? [True, True] Translation: X:196.74, Y:-55.45, Z:-25.98 [[ 7.08867991e-01 -7.03358680e-01 5.28463619e-02 1.96736834e+02] [ 7.01176891e-01 7.10831660e-01 5.54014329e-02 -5.54508243e+01] [-7.65319458e-02 -2.21765469e-03 9.97064664e-01 -2.59770646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00687499999998 meters 0.022262077260492796 Centerline is valid? [True, True] Translation: X:196.75, Y:-55.43, Z:-25.98 [[ 7.09033661e-01 -7.03159993e-01 5.32662402e-02 1.96754749e+02] [ 7.00940658e-01 7.11028018e-01 5.58690546e-02 -5.54305672e+01] [-7.71586732e-02 -2.27656687e-03 9.97016227e-01 -2.59794862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03687499999998 meters 0.022251213308659246 Centerline is valid? [True, True] Translation: X:196.77, Y:-55.41, Z:-25.98 [[ 7.08923040e-01 -7.03246613e-01 5.35940738e-02 1.96774624e+02] [ 7.00997855e-01 7.10942265e-01 5.62414645e-02 -5.54103644e+01] [-7.76539116e-02 -2.30153914e-03 9.96977719e-01 -2.59818560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06687499999998 meters 0.022437747990071144 Centerline is valid? [True, True] Translation: X:196.79, Y:-55.39, Z:-25.98 [[ 7.08304279e-01 -7.03853493e-01 5.38080702e-02 1.96793193e+02] [ 7.01585895e-01 7.10341551e-01 5.64987862e-02 -5.53909091e+01] [-7.79889760e-02 -2.26734890e-03 9.96951643e-01 -2.59843054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09687499999998 meters 0.020823086298338813 Centerline is valid? [True, True] Translation: X:196.82, Y:-55.37, Z:-25.99 [[ 7.07851188e-01 -7.04299144e-01 5.39389516e-02 1.96815971e+02] [ 7.02019917e-01 7.09899778e-01 5.66598760e-02 -5.53718824e+01] [-7.81967520e-02 -2.24054220e-03 9.96935428e-01 -2.59850247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12687499999998 meters 0.022061507756057593 Centerline is valid? [True, True] Translation: X:196.83, Y:-55.35, Z:-25.99 [[ 7.08064074e-01 -7.04083468e-01 5.39605069e-02 1.96833889e+02] [ 7.01799565e-01 7.10113545e-01 5.67108888e-02 -5.53507049e+01] [-7.82472861e-02 -2.28548272e-03 9.96931361e-01 -2.59883091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15687499999999 meters 0.021516791059050012 Centerline is valid? [True, True] Translation: X:196.85, Y:-55.33, Z:-25.99 [[ 7.07930377e-01 -7.04204795e-01 5.41312168e-02 1.96853779e+02] [ 7.01905833e-01 7.09993221e-01 5.69019174e-02 -5.53304266e+01] [-7.85034000e-02 -2.28757900e-03 9.96911221e-01 -2.59908125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.186875 meters 0.02185838124120017 Centerline is valid? [True, True] Translation: X:196.87, Y:-55.31, Z:-25.99 [[ 7.07649379e-01 -7.04489572e-01 5.40999015e-02 1.96871348e+02] [ 7.02191462e-01 7.09710681e-01 5.69025422e-02 -5.53101602e+01] [-7.84825256e-02 -2.27855967e-03 9.96912886e-01 -2.59941390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.216875 meters 0.02145315262819904 Centerline is valid? [True, True] Translation: X:196.89, Y:-55.29, Z:-26.00 [[ 7.07119296e-01 -7.05029898e-01 5.39920781e-02 1.96890936e+02] [ 7.02740954e-01 7.09174081e-01 5.68090936e-02 -5.52904976e+01] [-7.83418919e-02 -2.22836181e-03 9.96924061e-01 -2.59965805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.246875 meters 0.021491708828505957 Centerline is valid? [True, True] Translation: X:196.91, Y:-55.27, Z:-26.00 [[ 7.06085129e-01 -7.06055140e-01 5.41288288e-02 1.96909830e+02] [ 7.03754824e-01 7.08153612e-01 5.69877957e-02 -5.52704663e+01] [-7.85680517e-02 -2.14481066e-03 9.96906445e-01 -2.59995878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.276875 meters 0.021359987672448445 Centerline is valid? [True, True] Translation: X:196.93, Y:-55.25, Z:-26.00 [[ 7.05684303e-01 -7.06445037e-01 5.42685418e-02 1.96929522e+02] [ 7.04133441e-01 7.07764757e-01 5.71414526e-02 -5.52503301e+01] [-7.87766569e-02 -2.11153105e-03 9.96890054e-01 -2.60021030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.306875 meters 0.021157469919358768 Centerline is valid? [True, True] Translation: X:196.95, Y:-55.23, Z:-26.00 [[ 7.05331649e-01 -7.06801670e-01 5.42094487e-02 1.96948569e+02] [ 7.04493701e-01 7.07408669e-01 5.71104199e-02 -5.52300290e+01] [-7.87139741e-02 -2.09157150e-03 9.96895047e-01 -2.60047828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.336875 meters 0.021278643344884433 Centerline is valid? [True, True] Translation: X:196.97, Y:-55.21, Z:-26.01 [[ 7.05383226e-01 -7.06751977e-01 5.41862281e-02 1.96965542e+02] [ 7.04443150e-01 7.07458229e-01 5.71200617e-02 -5.52096507e+01] [-7.87042096e-02 -2.12041615e-03 9.96895757e-01 -2.60079509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.366875 meters 0.020679504719002404 Centerline is valid? [True, True] Translation: X:196.99, Y:-55.19, Z:-26.01 [[ 7.05527075e-01 -7.06613050e-01 5.41252707e-02 1.96985471e+02] [ 7.04307964e-01 7.07596923e-01 5.70691284e-02 -5.51893862e+01] [-7.86246658e-02 -2.14295598e-03 9.96901986e-01 -2.60110143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.396875 meters 0.021663573192760407 Centerline is valid? [True, True] Translation: X:197.00, Y:-55.17, Z:-26.01 [[ 7.05809422e-01 -7.06335958e-01 5.40608288e-02 1.97003077e+02] [ 7.04033189e-01 7.07873369e-01 5.70312353e-02 -5.51677545e+01] [-7.85514333e-02 -2.19256549e-03 9.96907651e-01 -2.60141728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.426875 meters 0.021258544630188832 Centerline is valid? [True, True] Translation: X:197.02, Y:-55.15, Z:-26.02 [[ 7.05796914e-01 -7.06398520e-01 5.34026836e-02 1.97022829e+02] [ 7.04150885e-01 7.07811017e-01 5.63479772e-02 -5.51474021e+01] [-7.76031355e-02 -2.16668150e-03 9.96981975e-01 -2.60167763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.456875 meters 0.02100013172063488 Centerline is valid? [True, True] Translation: X:197.04, Y:-55.13, Z:-26.02 [[ 7.05746691e-01 -7.06436203e-01 5.35677024e-02 1.97042512e+02] [ 7.04172403e-01 7.07773334e-01 5.65520548e-02 -5.51280068e+01] [-7.78642102e-02 -2.19052789e-03 9.96961567e-01 -2.60189724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.486875 meters 0.021681755480000862 Centerline is valid? [True, True] Translation: X:197.06, Y:-55.11, Z:-26.02 [[ 7.05374748e-01 -7.06823968e-01 5.33511183e-02 1.97059584e+02] [ 7.04576889e-01 7.07386172e-01 5.63578812e-02 -5.51076412e+01] [-7.75749446e-02 -2.16346131e-03 9.96984176e-01 -2.60224710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.516875 meters 0.020876679002043593 Centerline is valid? [True, True] Translation: X:197.08, Y:-55.09, Z:-26.02 [[ 7.04564934e-01 -7.07605747e-01 5.36876235e-02 1.97080307e+02] [ 7.05331308e-01 7.06604340e-01 5.67278831e-02 -5.50878712e+01] [-7.80768838e-02 -2.10091552e-03 9.96945127e-01 -2.60244855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.546875 meters 0.02099432343120921 Centerline is valid? [True, True] Translation: X:197.10, Y:-55.07, Z:-26.03 [[ 7.03842772e-01 -7.08310358e-01 5.38682526e-02 1.97100204e+02] [ 7.06020208e-01 7.05898172e-01 5.69494210e-02 -5.50673753e+01] [-7.83633658e-02 -2.05136345e-03 9.96922753e-01 -2.60273637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.576875 meters 0.020071606266388556 Centerline is valid? [True, True] Translation: X:197.12, Y:-55.05, Z:-26.03 [[ 7.02785112e-01 -7.09340486e-01 5.41217204e-02 1.97121304e+02] [ 7.07029285e-01 7.04863251e-01 5.72484736e-02 -5.50476289e+01] [-7.87570719e-02 -1.96773372e-03 9.96891896e-01 -2.60292401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.606875 meters 0.01910749983524575 Centerline is valid? [True, True] Translation: X:197.14, Y:-55.03, Z:-26.03 [[ 7.00535030e-01 -7.11515484e-01 5.47392781e-02 1.97143640e+02] [ 7.09155445e-01 7.02668205e-01 5.79305530e-02 -5.50284446e+01] [-7.96820357e-02 -1.76372452e-03 9.96818771e-01 -2.60308306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.636875 meters 0.01924383205669306 Centerline is valid? [True, True] Translation: X:197.16, Y:-55.01, Z:-26.03 [[ 6.99461901e-01 -7.12560825e-01 5.48645625e-02 1.97163172e+02] [ 7.10190759e-01 7.01608355e-01 5.80930531e-02 -5.50088677e+01] [-7.98882693e-02 -1.66957204e-03 9.96802426e-01 -2.60334342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.666875 meters 0.018102147303860058 Centerline is valid? [True, True] Translation: X:197.19, Y:-54.99, Z:-26.03 [[ 6.97708934e-01 -7.14267795e-01 5.49887368e-02 1.97185354e+02] [ 7.11891633e-01 6.99870929e-01 5.82321641e-02 -5.49901789e+01] [-8.00783778e-02 -1.48307949e-03 9.96787467e-01 -2.60349869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69687499999998 meters 0.01802151581870522 Centerline is valid? [True, True] Translation: X:197.21, Y:-54.97, Z:-26.04 [[ 6.96288827e-01 -7.15653141e-01 5.49768188e-02 1.97205169e+02] [ 7.13279797e-01 6.98454559e-01 5.82508415e-02 -5.49704071e+01] [-8.00862074e-02 -1.34555591e-03 9.96787033e-01 -2.60378855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72687499999998 meters 0.017031138796587027 Centerline is valid? [True, True] Translation: X:197.23, Y:-54.95, Z:-26.04 [[ 6.93215151e-01 -7.18593714e-01 5.54601598e-02 1.97227835e+02] [ 7.16186942e-01 6.95429385e-01 5.87727341e-02 -5.49514975e+01] [-8.08023421e-02 -1.02230745e-03 9.96729621e-01 -2.60403081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75687499999998 meters 0.016611501820136106 Centerline is valid? [True, True] Translation: X:197.25, Y:-54.93, Z:-26.04 [[ 6.91595090e-01 -7.20141495e-01 5.56098777e-02 1.97248468e+02] [ 7.17725596e-01 6.93826707e-01 5.89446401e-02 -5.49321588e+01] [-8.10320996e-02 -8.53191053e-04 9.96711127e-01 -2.60425073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78687499999998 meters 0.016308558655121097 Centerline is valid? [True, True] Translation: X:197.27, Y:-54.91, Z:-26.04 [[ 6.90218398e-01 -7.21441952e-01 5.58576182e-02 1.97269390e+02] [ 7.19006125e-01 6.92474536e-01 5.92385804e-02 -5.49128805e+01] [-8.14171753e-02 -7.25588468e-04 9.96679847e-01 -2.60447595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81687499999998 meters 0.016331674286646395 Centerline is valid? [True, True] Translation: X:197.29, Y:-54.89, Z:-26.05 [[ 6.88946690e-01 -7.22635865e-01 5.61236596e-02 1.97289488e+02] [ 7.20178027e-01 6.91228641e-01 5.95531275e-02 -5.48934439e+01] [-8.18295068e-02 -6.09903671e-04 9.96646156e-01 -2.60470955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84687499999998 meters 0.016126269984859148 Centerline is valid? [True, True] Translation: X:197.31, Y:-54.87, Z:-26.05 [[ 6.87875002e-01 -7.23626388e-01 5.65051532e-02 1.97309316e+02] [ 7.21135589e-01 6.90191700e-01 5.99906716e-02 -5.48741343e+01] [-8.24102207e-02 -5.18206474e-04 9.96598358e-01 -2.60493472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87687499999998 meters 0.01623787239376809 Centerline is valid? [True, True] Translation: X:197.33, Y:-54.85, Z:-26.05 [[ 6.87825788e-01 -7.23647811e-01 5.68289610e-02 1.97327660e+02] [ 7.21125598e-01 6.90169220e-01 6.03682010e-02 -5.48538137e+01] [-8.29069161e-02 -5.41986898e-04 9.96557148e-01 -2.60527027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90687499999999 meters 0.016124234932712627 Centerline is valid? [True, True] Translation: X:197.35, Y:-54.83, Z:-26.05 [[ 6.88646905e-01 -7.22850754e-01 5.70283139e-02 1.97346508e+02] [ 7.20305582e-01 6.91003872e-01 6.06095440e-02 -5.48327487e+01] [-8.32184403e-02 -6.60762076e-04 9.96531111e-01 -2.60544195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.936875 meters 0.016503178628337164 Centerline is valid? [True, True] Translation: X:197.36, Y:-54.81, Z:-26.06 [[ 6.89210007e-01 -7.22329664e-01 5.68280110e-02 1.97364344e+02] [ 7.19797822e-01 6.91548482e-01 6.04300719e-02 -5.48125341e+01] [-8.29497583e-02 -7.44331771e-04 9.96553452e-01 -2.60571204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.966875 meters 0.016353391806885182 Centerline is valid? [True, True] Translation: X:197.38, Y:-54.79, Z:-26.06 [[ 6.89814301e-01 -7.21748368e-01 5.68816647e-02 1.97383118e+02] [ 7.19207276e-01 6.92155037e-01 6.05169356e-02 -5.47920327e+01] [-8.30489302e-02 -8.35740530e-04 9.96545120e-01 -2.60587934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.996875 meters 0.01664908127879759 Centerline is valid? [True, True] Translation: X:197.40, Y:-54.77, Z:-26.06 [[ 6.90772865e-01 -7.20839534e-01 5.67733681e-02 1.97401390e+02] [ 7.18302171e-01 6.93101313e-01 6.04364215e-02 -5.47704519e+01] [-8.29146580e-02 -9.67406473e-04 9.96556182e-01 -2.60620806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.026875 meters 0.017511183374249388 Centerline is valid? [True, True] Translation: X:197.42, Y:-54.75, Z:-26.07 [[ 6.92351395e-01 -7.19343394e-01 5.65210326e-02 1.97418205e+02] [ 7.16822389e-01 6.94653694e-01 6.01822898e-02 -5.47476916e+01] [-8.25542767e-02 -1.15175071e-03 9.96585904e-01 -2.60658911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.056875 meters 0.017427775949987054 Centerline is valid? [True, True] Translation: X:197.44, Y:-54.73, Z:-26.07 [[ 6.92588597e-01 -7.19131427e-01 5.63118529e-02 1.97437278e+02] [ 7.16627157e-01 6.94873075e-01 5.99743920e-02 -5.47264548e+01] [-8.22590605e-02 -1.18297703e-03 9.96610279e-01 -2.60681911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.086875 meters 0.01771797437072134 Centerline is valid? [True, True] Translation: X:197.46, Y:-54.71, Z:-26.07 [[ 6.93199778e-01 -7.18559746e-01 5.60888569e-02 1.97456134e+02] [ 7.16070740e-01 6.95464077e-01 5.97696764e-02 -5.47050840e+01] [-8.19558686e-02 -1.26873713e-03 9.96635152e-01 -2.60712851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.116875 meters 0.017762275737851274 Centerline is valid? [True, True] Translation: X:197.48, Y:-54.68, Z:-26.07 [[ 6.94031264e-01 -7.17783958e-01 5.57386316e-02 1.97475607e+02] [ 7.15322101e-01 6.96264555e-01 5.94134763e-02 -5.46837524e+01] [-8.14548737e-02 -1.36373497e-03 9.96676098e-01 -2.60734760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.146875 meters 0.01845818258682739 Centerline is valid? [True, True] Translation: X:197.49, Y:-54.66, Z:-26.08 [[ 6.95601484e-01 -7.16262267e-01 5.57399312e-02 1.97491828e+02] [ 7.13792924e-01 6.97829435e-01 5.94452789e-02 -5.46608585e+01] [-8.14753750e-02 -1.56345577e-03 9.96674129e-01 -2.60775512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.176875 meters 0.0187210480356246 Centerline is valid? [True, True] Translation: X:197.51, Y:-54.64, Z:-26.08 [[ 6.96325368e-01 -7.15564350e-01 5.56654540e-02 1.97510232e+02] [ 7.13097879e-01 6.98544858e-01 5.93843109e-02 -5.46393319e+01] [-8.13781125e-02 -1.65588491e-03 9.96681926e-01 -2.60805040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.206875 meters 0.018870832865739977 Centerline is valid? [True, True] Translation: X:197.53, Y:-54.62, Z:-26.08 [[ 6.96984223e-01 -7.14960684e-01 5.51743881e-02 1.97529400e+02] [ 7.12534500e-01 6.99162540e-01 5.88755463e-02 -5.46175924e+01] [-8.06695661e-02 -1.72167193e-03 9.96739413e-01 -2.60832318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.236875 meters 0.01950114416526427 Centerline is valid? [True, True] Translation: X:197.55, Y:-54.59, Z:-26.09 [[ 6.98192971e-01 -7.13792898e-01 5.50115910e-02 1.97547751e+02] [ 7.11375095e-01 7.00354337e-01 5.87305426e-02 -5.45949813e+01] [-8.04490505e-02 -1.87137618e-03 9.96756965e-01 -2.60860240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.266875 meters 0.01899657002038672 Centerline is valid? [True, True] Translation: X:197.57, Y:-54.57, Z:-26.09 [[ 6.95662176e-01 -7.16223481e-01 5.54802815e-02 1.97567604e+02] [ 7.13769531e-01 6.97869103e-01 5.92602119e-02 -5.45748847e+01] [-8.11615295e-02 -1.62495347e-03 9.96699637e-01 -2.60878051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.296875 meters 0.01785528891719597 Centerline is valid? [True, True] Translation: X:197.59, Y:-54.56, Z:-26.09 [[ 6.92962266e-01 -7.18798207e-01 5.59681608e-02 1.97589742e+02] [ 7.16306638e-01 6.95217444e-01 5.98122516e-02 -5.45550476e+01] [-8.19029809e-02 -1.35726824e-03 9.96639383e-01 -2.60875171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.326875 meters 0.017692867000350252 Centerline is valid? [True, True] Translation: X:197.61, Y:-54.53, Z:-26.09 [[ 6.91337555e-01 -7.20344178e-01 5.61840680e-02 1.97608198e+02] [ 7.17836087e-01 6.93615764e-01 6.00709837e-02 -5.45344002e+01] [-8.22419386e-02 -1.19837548e-03 9.96611673e-01 -2.60897226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.356875 meters 0.016851962121440293 Centerline is valid? [True, True] Translation: X:197.63, Y:-54.51, Z:-26.09 [[ 6.88392783e-01 -7.23196121e-01 5.57023113e-02 1.97628041e+02] [ 7.20738566e-01 6.90642182e-01 5.95759747e-02 -5.45133837e+01] [-8.15554796e-02 -8.64867027e-04 9.96668428e-01 -2.60933281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.386875 meters 0.01695909362151802 Centerline is valid? [True, True] Translation: X:197.64, Y:-54.49, Z:-26.10 [[ 6.87491453e-01 -7.24104061e-01 5.50346285e-02 1.97644894e+02] [ 7.21705819e-01 6.89690307e-01 5.88896547e-02 -5.44931576e+01] [-8.05990879e-02 -7.67322668e-04 9.96746306e-01 -2.60982127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.416875 meters 0.016767302537924807 Centerline is valid? [True, True] Translation: X:197.66, Y:-54.47, Z:-26.10 [[ 6.86683715e-01 -7.24939502e-01 5.41128009e-02 1.97662621e+02] [ 7.22621456e-01 6.88812210e-01 5.79307456e-02 -5.44717026e+01] [-7.92698438e-02 -6.77028572e-04 9.96852965e-01 -2.61034434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44687499999998 meters 0.01691477386119009 Centerline is valid? [True, True] Translation: X:197.68, Y:-54.45, Z:-26.11 [[ 6.86145194e-01 -7.25522334e-01 5.31235977e-02 1.97681230e+02] [ 7.23287758e-01 6.88198343e-01 5.69021961e-02 -5.44507403e+01] [-7.78433860e-02 -6.19520454e-04 9.96965407e-01 -2.61080592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47687499999998 meters 0.016696928142274126 Centerline is valid? [True, True] Translation: X:197.70, Y:-54.43, Z:-26.11 [[ 6.85936667e-01 -7.25742366e-01 5.28100933e-02 1.97700288e+02] [ 7.23532485e-01 6.87966310e-01 5.65959350e-02 -5.44298257e+01] [-7.74056329e-02 -6.11409039e-04 9.96999496e-01 -2.61098787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50687499999998 meters 0.016696928142274126 Centerline is valid? [True, True] Translation: X:197.72, Y:-54.41, Z:-26.11 [[ 6.85737873e-01 -7.25931335e-01 5.27945711e-02 1.97718996e+02] [ 7.23720898e-01 6.87766910e-01 5.66104103e-02 -5.44096446e+01] [-7.74056298e-02 -6.11367914e-04 9.96999496e-01 -2.61123781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53687499999998 meters 0.01696725167527969 Centerline is valid? [True, True] Translation: X:197.74, Y:-54.39, Z:-26.11 [[ 6.85702784e-01 -7.25944656e-01 5.30664560e-02 1.97736857e+02] [ 7.23708891e-01 6.87752828e-01 5.69340693e-02 -5.43894837e+01] [-7.78275886e-02 -6.35183762e-04 9.96966631e-01 -2.61140861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56687499999998 meters 0.01666667375541834 Centerline is valid? [True, True] Translation: X:197.76, Y:-54.37, Z:-26.11 [[ 6.85785839e-01 -7.25844744e-01 5.33590681e-02 1.97755818e+02] [ 7.23581734e-01 6.87858241e-01 5.72757809e-02 -5.43685551e+01] [-7.82767993e-02 -6.69272480e-04 9.96931439e-01 -2.61149273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59687499999998 meters 0.017021994393454507 Centerline is valid? [True, True] Translation: X:197.77, Y:-54.35, Z:-26.12 [[ 6.87000495e-01 -7.24665994e-01 5.37542249e-02 1.97773136e+02] [ 7.22363148e-01 6.89099779e-01 5.77319497e-02 -5.43458588e+01] [-7.88784052e-02 -8.31806910e-04 9.96883898e-01 -2.61164054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62687499999998 meters 0.01697561768108721 Centerline is valid? [True, True] Translation: X:197.79, Y:-54.32, Z:-26.12 [[ 6.87626670e-01 -7.24070639e-01 5.37705515e-02 1.97790868e+02] [ 7.21762128e-01 6.89725206e-01 5.77803682e-02 -5.43238109e+01] [-7.89239728e-02 -9.21774516e-04 9.96880212e-01 -2.61195202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65687499999999 meters 0.017781111799858387 Centerline is valid? [True, True] Translation: X:197.81, Y:-54.30, Z:-26.12 [[ 6.88584677e-01 -7.23141671e-01 5.40117292e-02 1.97807451e+02] [ 7.20806838e-01 6.90698928e-01 5.80731745e-02 -5.43028077e+01] [-7.93009759e-02 -1.05627436e-03 9.96850159e-01 -2.61229655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.686875 meters 0.018030905684495717 Centerline is valid? [True, True] Translation: X:197.82, Y:-54.28, Z:-26.13 [[ 6.89342304e-01 -7.22383514e-01 5.44907892e-02 1.97824368e+02] [ 7.20003628e-01 6.91491654e-01 5.86009333e-02 -5.42817545e+01] [-8.00122740e-02 -1.16253655e-03 9.96793200e-01 -2.61257690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.716875 meters 0.017943136460657517 Centerline is valid? [True, True] Translation: X:197.84, Y:-54.26, Z:-26.13 [[ 6.90473203e-01 -7.21261375e-01 5.50343971e-02 1.97843765e+02] [ 7.18827772e-01 6.92661729e-01 5.92145521e-02 -5.42596934e+01] [-8.08293899e-02 -1.32580833e-03 9.96727070e-01 -2.61264850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.746875 meters 0.018519351699737518 Centerline is valid? [True, True] Translation: X:197.86, Y:-54.24, Z:-26.13 [[ 6.90963964e-01 -7.20783149e-01 5.51403000e-02 1.97860943e+02] [ 7.18336127e-01 6.93159200e-01 5.93593444e-02 -5.42382422e+01] [-8.10062214e-02 -1.40589832e-03 9.96712604e-01 -2.61292882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.776875 meters 0.01861003707873937 Centerline is valid? [True, True] Translation: X:197.88, Y:-54.22, Z:-26.13 [[ 6.91311034e-01 -7.20445789e-01 5.51989051e-02 1.97879578e+02] [ 7.17991455e-01 6.93509730e-01 5.94350444e-02 -5.42168497e+01] [-8.11007053e-02 -1.45575976e-03 9.96704849e-01 -2.61318579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.806875 meters 0.01833227949591079 Centerline is valid? [True, True] Translation: X:197.90, Y:-54.20, Z:-26.13 [[ 6.91552730e-01 -7.20180432e-01 5.56324265e-02 1.97898494e+02] [ 7.17683834e-01 6.93785149e-01 5.99339798e-02 -5.41965046e+01] [-8.17602307e-02 -1.52101425e-03 9.96650867e-01 -2.61337181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.836875 meters 0.018765492998634985 Centerline is valid? [True, True] Translation: X:197.92, Y:-54.18, Z:-26.14 [[ 6.92158319e-01 -7.19566652e-01 5.60418970e-02 1.97915983e+02] [ 7.17028114e-01 6.94421468e-01 6.04111676e-02 -5.41750039e+01] [-8.23865580e-02 -1.63047651e-03 9.96599115e-01 -2.61355470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.866875 meters 0.019341152101430274 Centerline is valid? [True, True] Translation: X:197.93, Y:-54.15, Z:-26.14 [[ 6.93083022e-01 -7.18646782e-01 5.64156664e-02 1.97934589e+02] [ 7.16069796e-01 6.95373061e-01 6.08305254e-02 -5.41528024e+01] [-8.29455959e-02 -1.76304965e-03 9.96552517e-01 -2.61372999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.896875 meters 0.019128577359216338 Centerline is valid? [True, True] Translation: X:197.95, Y:-54.13, Z:-26.14 [[ 6.93056992e-01 -7.18662968e-01 5.65291532e-02 1.97953045e+02] [ 7.16073223e-01 6.95356278e-01 6.09818514e-02 -5.41323754e+01] [-8.31332998e-02 -1.78488558e-03 9.96536838e-01 -2.61404290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.926875 meters 0.018997718198456717 Centerline is valid? [True, True] Translation: X:197.97, Y:-54.11, Z:-26.14 [[ 6.92962168e-01 -7.18759976e-01 5.64582237e-02 1.97972147e+02] [ 7.16174239e-01 6.95255979e-01 6.09391753e-02 -5.41117860e+01] [-8.30535578e-02 -1.79461771e-03 9.96543469e-01 -2.61438341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.956875 meters 0.019389438618497044 Centerline is valid? [True, True] Translation: X:197.99, Y:-54.09, Z:-26.15 [[ 6.93002916e-01 -7.18757579e-01 5.59866113e-02 1.97990713e+02] [ 7.16211998e-01 6.95258431e-01 6.04655874e-02 -5.40910542e+01] [-8.23852627e-02 -1.80454561e-03 9.96598922e-01 -2.61473206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.986875 meters 0.018948157742266433 Centerline is valid? [True, True] Translation: X:198.01, Y:-54.07, Z:-26.15 [[ 6.92637368e-01 -7.19155529e-01 5.53967664e-02 1.98010591e+02] [ 7.16663609e-01 6.94846941e-01 5.98414628e-02 -5.40719185e+01] [-8.15275925e-02 -1.74758679e-03 9.96669553e-01 -2.61499258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.016875 meters 0.019785036434998335 Centerline is valid? [True, True] Translation: X:198.03, Y:-54.05, Z:-26.15 [[ 6.92798202e-01 -7.19012507e-01 5.52418996e-02 1.98028912e+02] [ 7.16531119e-01 6.94994842e-01 5.97103400e-02 -5.40507131e+01] [-8.13253165e-02 -1.78467605e-03 9.96686013e-01 -2.61533835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.046875 meters 0.019708124402816524 Centerline is valid? [True, True] Translation: X:198.05, Y:-54.03, Z:-26.16 [[ 6.92432742e-01 -7.19367685e-01 5.51999337e-02 1.98047919e+02] [ 7.16890106e-01 6.94627287e-01 5.96783700e-02 -5.40307804e+01] [-8.12740711e-02 -1.75097109e-03 9.96690253e-01 -2.61559076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.076875 meters 0.019591459072405566 Centerline is valid? [True, True] Translation: X:198.07, Y:-54.01, Z:-26.16 [[ 6.92101658e-01 -7.19703388e-01 5.49756971e-02 1.98067331e+02] [ 7.17244364e-01 6.94279519e-01 5.94682453e-02 -5.40112162e+01] [-8.09679981e-02 -1.72706228e-03 9.96715205e-01 -2.61585564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.106875 meters 0.018752901135000038 Centerline is valid? [True, True] Translation: X:198.09, Y:-53.99, Z:-26.16 [[ 6.91229053e-01 -7.20552239e-01 5.48349047e-02 1.98088809e+02] [ 7.18105805e-01 6.93398702e-01 5.93489085e-02 -5.39923061e+01] [-8.07864406e-02 -1.64642644e-03 9.96730074e-01 -2.61612128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.136875 meters 0.018523483682748903 Centerline is valid? [True, True] Translation: X:198.11, Y:-53.97, Z:-26.16 [[ 6.90565683e-01 -7.21181465e-01 5.49211422e-02 1.98109240e+02] [ 7.18726914e-01 6.92744360e-01 5.94716273e-02 -5.39722750e+01] [-8.09361468e-02 -1.59576181e-03 9.96718011e-01 -2.61639440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.166875 meters 0.018445607796039928 Centerline is valid? [True, True] Translation: X:198.13, Y:-53.95, Z:-26.17 [[ 6.89868545e-01 -7.21880854e-01 5.44924135e-02 1.98129601e+02] [ 7.19464428e-01 6.92015691e-01 5.90357460e-02 -5.39532493e+01] [-8.03263800e-02 -1.52155105e-03 9.96767454e-01 -2.61665680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19687499999998 meters 0.018288185473433766 Centerline is valid? [True, True] Translation: X:198.15, Y:-53.93, Z:-26.17 [[ 6.88087984e-01 -7.23564513e-01 5.46746877e-02 1.98150829e+02] [ 7.21134378e-01 6.90255434e-01 5.92675694e-02 -5.39341519e+01] [-8.06234102e-02 -1.35350541e-03 9.96743715e-01 -2.61687465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22687499999998 meters 0.018004530081301744 Centerline is valid? [True, True] Translation: X:198.17, Y:-53.92, Z:-26.17 [[ 6.86906348e-01 -7.24662369e-01 5.49919967e-02 1.98171831e+02] [ 7.22205018e-01 6.89102955e-01 5.96408385e-02 -5.39151429e+01] [-8.11146188e-02 -1.25217462e-03 9.96703994e-01 -2.61707657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25687499999998 meters 0.017526202286682294 Centerline is valid? [True, True] Translation: X:198.19, Y:-53.90, Z:-26.17 [[ 6.85589918e-01 -7.25905709e-01 5.50215107e-02 1.98193065e+02] [ 7.23447139e-01 6.87793305e-01 5.97043223e-02 -5.38962709e+01] [-8.11831351e-02 -1.12752691e-03 9.96698564e-01 -2.61726237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28687499999998 meters 0.016952099740603244 Centerline is valid? [True, True] Translation: X:198.22, Y:-53.88, Z:-26.18 [[ 6.82946711e-01 -7.28416214e-01 5.47138858e-02 1.98216450e+02] [ 7.25990409e-01 6.85134367e-01 5.94039252e-02 -5.38796189e+01] [-8.07571458e-02 -8.47959062e-04 9.96733447e-01 -2.61751198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31687499999998 meters 0.01662233720590537 Centerline is valid? [True, True] Translation: X:198.24, Y:-53.86, Z:-26.18 [[ 6.81718075e-01 -7.29568148e-01 5.46880579e-02 1.98237854e+02] [ 7.27147134e-01 6.83907740e-01 5.93906413e-02 -5.38607160e+01] [-8.07311062e-02 -7.21409064e-04 9.96735656e-01 -2.61772089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34687499999998 meters 0.016367929815467565 Centerline is valid? [True, True] Translation: X:198.26, Y:-53.84, Z:-26.18 [[ 6.80906731e-01 -7.30349894e-01 5.43604308e-02 1.98258895e+02] [ 7.27957805e-01 6.83072921e-01 5.90662282e-02 -5.38415918e+01] [-8.02711517e-02 -6.46492469e-04 9.96772855e-01 -2.61791145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37687499999998 meters 0.016500042525780027 Centerline is valid? [True, True] Translation: X:198.28, Y:-53.82, Z:-26.18 [[ 6.80483809e-01 -7.30762568e-01 5.41096616e-02 1.98278137e+02] [ 7.28391180e-01 6.82631444e-01 5.88268715e-02 -5.38229305e+01] [-7.99254321e-02 -6.17733312e-04 9.96800654e-01 -2.61820613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40687499999999 meters 0.01673664062647624 Centerline is valid? [True, True] Translation: X:198.30, Y:-53.80, Z:-26.19 [[ 6.80379451e-01 -7.30903022e-01 5.35217203e-02 1.98297277e+02] [ 7.28581019e-01 6.82481057e-01 5.82177329e-02 -5.38033983e+01] [-7.90790772e-02 -6.15239602e-04 9.96868156e-01 -2.61860179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.436875 meters 0.016540074038229303 Centerline is valid? [True, True] Translation: X:198.32, Y:-53.78, Z:-26.19 [[ 6.80034364e-01 -7.31217588e-01 5.36106513e-02 1.98316969e+02] [ 7.28887292e-01 6.82144037e-01 5.83337708e-02 -5.37842804e+01] [-7.92248653e-02 -5.92846345e-04 9.96856594e-01 -2.61892269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.466875 meters 0.016555079391311293 Centerline is valid? [True, True] Translation: X:198.34, Y:-53.76, Z:-26.19 [[ 6.79321360e-01 -7.31869219e-01 5.37581310e-02 1.98336825e+02] [ 7.29525609e-01 6.81444902e-01 5.85254721e-02 -5.37649105e+01] [-7.94661959e-02 -5.39670024e-04 9.96837415e-01 -2.61913855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.496875 meters 0.016538714599794654 Centerline is valid? [True, True] Translation: X:198.36, Y:-53.75, Z:-26.19 [[ 6.78051724e-01 -7.33049884e-01 5.37003506e-02 1.98356416e+02] [ 7.30712419e-01 6.80174749e-01 5.84950583e-02 -5.37461508e+01] [-7.94054182e-02 -4.23162030e-04 9.96842315e-01 -2.61932994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.526875 meters 0.016022184314588583 Centerline is valid? [True, True] Translation: X:198.38, Y:-53.73, Z:-26.19 [[ 6.74736301e-01 -7.36040394e-01 5.45477892e-02 1.98379160e+02] [ 7.33636557e-01 6.76937612e-01 5.94379671e-02 -5.37278711e+01] [-8.06741949e-02 -8.67017857e-05 9.96740521e-01 -2.61923395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.556875 meters 0.016205618832390592 Centerline is valid? [True, True] Translation: X:198.40, Y:-53.71, Z:-26.19 [[ 6.72995563e-01 -7.37640865e-01 5.44327742e-02 1.98398481e+02] [ 7.35249773e-01 6.75193267e-01 5.93449580e-02 -5.37094373e+01] [-8.05279087e-02 8.27914416e-05 9.96752351e-01 -2.61943759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.586875 meters 0.016069534776861065 Centerline is valid? [True, True] Translation: X:198.42, Y:-53.69, Z:-26.20 [[ 6.72372196e-01 -7.38221645e-01 5.42626312e-02 1.98417728e+02] [ 7.35845034e-01 6.74558215e-01 5.91886845e-02 -5.36883391e+01] [-8.02976717e-02 1.32061882e-04 9.96770920e-01 -2.61962725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.616875 meters 0.01615676851969931 Centerline is valid? [True, True] Translation: X:198.44, Y:-53.67, Z:-26.20 [[ 6.72090514e-01 -7.38506128e-01 5.38798729e-02 1.98435420e+02] [ 7.36161256e-01 6.74246749e-01 5.88041344e-02 -5.36681042e+01] [-7.97555428e-02 1.42574004e-04 9.96814443e-01 -2.61995033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.646875 meters 0.01623371122038076 Centerline is valid? [True, True] Translation: X:198.45, Y:-53.65, Z:-26.20 [[ 6.72249192e-01 -7.38339820e-01 5.41787210e-02 1.98452002e+02] [ 7.35965877e-01 6.74428869e-01 5.91601959e-02 -5.36458599e+01] [-8.02200220e-02 1.03296027e-04 9.96777175e-01 -2.62029261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.676875 meters 0.01623414422868949 Centerline is valid? [True, True] Translation: X:198.47, Y:-53.62, Z:-26.21 [[ 6.72602172e-01 -7.38007378e-01 5.43270453e-02 1.98469616e+02] [ 7.35616716e-01 6.74792641e-01 5.93543439e-02 -5.36243358e+01] [-8.04634341e-02 4.20220480e-05 9.96757560e-01 -2.62050338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.706875 meters 0.016131121508842543 Centerline is valid? [True, True] Translation: X:198.49, Y:-53.60, Z:-26.21 [[ 6.73227267e-01 -7.37443196e-01 5.42455497e-02 1.98486931e+02] [ 7.35055183e-01 6.75409157e-01 5.92988062e-02 -5.36031009e+01] [-8.03674422e-02 -4.81007551e-05 9.96765304e-01 -2.62076525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.736875 meters 0.01609695136152176 Centerline is valid? [True, True] Translation: X:198.50, Y:-53.58, Z:-26.21 [[ 6.73818811e-01 -7.36886467e-01 5.44659973e-02 1.98504043e+02] [ 7.34474710e-01 6.76016506e-01 5.95699899e-02 -5.35815900e+01] [-8.07162326e-02 -1.35482205e-04 9.96737113e-01 -2.62104535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.766875 meters 0.0163067095266447 Centerline is valid? [True, True] Translation: X:198.52, Y:-53.56, Z:-26.21 [[ 6.75463691e-01 -7.35399141e-01 5.41932247e-02 1.98521028e+02] [ 7.33004418e-01 6.77634115e-01 5.93003334e-02 -5.35587418e+01] [-8.03325921e-02 -3.31348975e-04 9.96768060e-01 -2.62118595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.796875 meters 0.016549799579542952 Centerline is valid? [True, True] Translation: X:198.54, Y:-53.54, Z:-26.21 [[ 6.76035080e-01 -7.34866800e-01 5.42895601e-02 1.98537993e+02] [ 7.32459110e-01 6.78211332e-01 5.94393853e-02 -5.35375838e+01] [-8.04998258e-02 -4.18226776e-04 9.96754535e-01 -2.62146164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.826875 meters 0.016451568744919064 Centerline is valid? [True, True] Translation: X:198.56, Y:-53.52, Z:-26.22 [[ 6.76761492e-01 -7.34225344e-01 5.39168628e-02 1.98556683e+02] [ 7.31846912e-01 6.78905656e-01 5.90525841e-02 -5.35157022e+01] [-7.99623669e-02 -5.05625376e-04 9.96797755e-01 -2.62155140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.856875 meters 0.016670294850278978 Centerline is valid? [True, True] Translation: X:198.57, Y:-53.49, Z:-26.22 [[ 6.77532876e-01 -7.33517366e-01 5.38653456e-02 1.98573975e+02] [ 7.31138714e-01 6.79670436e-01 5.90277917e-02 -5.34935173e+01] [-7.99085932e-02 -6.10230043e-04 9.96802009e-01 -2.62188515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.886875 meters 0.01713714013173082 Centerline is valid? [True, True] Translation: X:198.59, Y:-53.47, Z:-26.22 [[ 6.79456944e-01 -7.31761014e-01 5.35170963e-02 1.98590073e+02] [ 7.29406551e-01 6.81560815e-01 5.86595203e-02 -5.34695443e+01] [-7.93999058e-02 -8.20897831e-04 9.96842506e-01 -2.62224491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.916875 meters 0.01710683020352197 Centerline is valid? [True, True] Translation: X:198.61, Y:-53.45, Z:-26.23 [[ 6.80068642e-01 -7.31185661e-01 5.36113048e-02 1.98607134e+02] [ 7.28818876e-01 6.82177912e-01 5.87906688e-02 -5.34476418e+01] [-7.95593420e-02 -9.08759367e-04 9.96829717e-01 -2.62251924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94687499999998 meters 0.017315452935290205 Centerline is valid? [True, True] Translation: X:198.63, Y:-53.43, Z:-26.23 [[ 6.80752063e-01 -7.30551493e-01 5.35830575e-02 1.98625650e+02] [ 7.28182685e-01 6.82856871e-01 5.87917550e-02 -5.34253871e+01] [-7.95399634e-02 -1.00435378e-03 9.96831172e-01 -2.62278222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97687499999998 meters 0.017118057709348173 Centerline is valid? [True, True] Translation: X:198.64, Y:-53.40, Z:-26.23 [[ 6.81188282e-01 -7.30137520e-01 5.36817240e-02 1.98644255e+02] [ 7.27756373e-01 6.83299384e-01 5.89288837e-02 -5.34027011e+01] [-7.97068779e-02 -1.07444824e-03 9.96817766e-01 -2.62300599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00687499999998 meters 0.017723096835203758 Centerline is valid? [True, True] Translation: X:198.66, Y:-53.38, Z:-26.23 [[ 6.82258151e-01 -7.29093269e-01 5.42846253e-02 1.98660765e+02] [ 7.26652369e-01 6.84413243e-01 5.96225370e-02 -5.33796123e+01] [-8.06235069e-02 -1.23191024e-03 9.96743865e-01 -2.62333115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03687499999998 meters 0.017784594763412723 Centerline is valid? [True, True] Translation: X:198.68, Y:-53.36, Z:-26.24 [[ 6.82477957e-01 -7.28876638e-01 5.44305524e-02 1.98678717e+02] [ 7.26420855e-01 6.84643875e-01 5.97955367e-02 -5.33586320e+01] [-8.08491140e-02 -1.26964732e-03 9.96725543e-01 -2.62354091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06687499999998 meters 0.0177660917329163 Centerline is valid? [True, True] Translation: X:198.70, Y:-53.34, Z:-26.24 [[ 6.82542411e-01 -7.28798593e-01 5.46668804e-02 1.98697401e+02] [ 7.26318451e-01 6.84726881e-01 6.00883224e-02 -5.33374111e+01] [-8.12241673e-02 -1.30726461e-03 9.96695001e-01 -2.62373267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09687499999998 meters 0.017737705721618813 Centerline is valid? [True, True] Translation: X:198.72, Y:-53.32, Z:-26.24 [[ 6.82913094e-01 -7.28443846e-01 5.47655797e-02 1.98716604e+02] [ 7.25950792e-01 6.85104132e-01 6.02310192e-02 -5.33154091e+01] [-8.13950402e-02 -1.37543575e-03 9.96680970e-01 -2.62393673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12687499999998 meters 0.018342212085735356 Centerline is valid? [True, True] Translation: X:198.73, Y:-53.29, Z:-26.24 [[ 6.83861477e-01 -7.27559118e-01 5.46919515e-02 1.98733960e+02] [ 7.25067535e-01 6.86043353e-01 6.01796310e-02 -5.32920373e+01] [-8.13052890e-02 -1.49917292e-03 9.96688117e-01 -2.62422706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15687499999999 meters 0.018720958682873084 Centerline is valid? [True, True] Translation: X:198.75, Y:-53.27, Z:-26.25 [[ 6.84236971e-01 -7.27199957e-01 5.47721627e-02 1.98750503e+02] [ 7.24697303e-01 6.86423899e-01 6.02996592e-02 -5.32703459e+01] [-8.14468311e-02 -1.56601750e-03 9.96676458e-01 -2.62458899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.186875 meters 0.018574898199972226 Centerline is valid? [True, True] Translation: X:198.77, Y:-53.25, Z:-26.25 [[ 6.84384388e-01 -7.27095732e-01 5.43121105e-02 1.98770211e+02] [ 7.24633845e-01 6.86534285e-01 5.98035696e-02 -5.32488550e+01] [-8.07700461e-02 -1.57223594e-03 9.96731522e-01 -2.62489682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.216875 meters 0.01841366727561977 Centerline is valid? [True, True] Translation: X:198.79, Y:-53.23, Z:-26.25 [[ 6.84716456e-01 -7.26835484e-01 5.36055494e-02 1.98788626e+02] [ 7.24434091e-01 6.86809733e-01 5.90562347e-02 -5.32273817e+01] [-7.97409800e-02 -1.60308823e-03 9.96814329e-01 -2.62515488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.246875 meters 0.018844875813029585 Centerline is valid? [True, True] Translation: X:198.81, Y:-53.21, Z:-26.25 [[ 6.84271113e-01 -7.27271427e-01 5.33789739e-02 1.98805787e+02] [ 7.24890472e-01 6.86348199e-01 5.88213696e-02 -5.32065633e+01] [-7.94156641e-02 -1.55585453e-03 9.96840374e-01 -2.62546452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.276875 meters 0.018556973672846876 Centerline is valid? [True, True] Translation: X:198.83, Y:-53.19, Z:-26.26 [[ 6.83802347e-01 -7.27694766e-01 5.36160271e-02 1.98825144e+02] [ 7.25292608e-01 6.85899413e-01 5.90984589e-02 -5.31856570e+01] [-7.97808407e-02 -1.52435669e-03 9.96811263e-01 -2.62565692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.306875 meters 0.01855262274303293 Centerline is valid? [True, True] Translation: X:198.84, Y:-53.16, Z:-26.26 [[ 6.83132638e-01 -7.28302385e-01 5.39020938e-02 1.98844037e+02] [ 7.25873691e-01 6.85254284e-01 5.94470399e-02 -5.31646930e+01] [-8.02320616e-02 -1.48410137e-03 9.96775107e-01 -2.62584472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.336875 meters 0.018061686529606217 Centerline is valid? [True, True] Translation: X:198.86, Y:-53.14, Z:-26.26 [[ 6.81393014e-01 -7.29869317e-01 5.47205697e-02 1.98862651e+02] [ 7.27368275e-01 6.83585381e-01 6.03855955e-02 -5.31439798e+01] [-8.14797748e-02 -1.34431652e-03 9.96674089e-01 -2.62600292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.366875 meters 0.01809315134927849 Centerline is valid? [True, True] Translation: X:198.88, Y:-53.12, Z:-26.26 [[ 6.80252015e-01 -7.30925877e-01 5.48138589e-02 1.98881208e+02] [ 7.28419049e-01 6.82455758e-01 6.04965086e-02 -5.31229204e+01] [-8.16264972e-02 -1.22541292e-03 9.96662236e-01 -2.62632628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.396875 meters 0.017261778865497807 Centerline is valid? [True, True] Translation: X:198.90, Y:-53.10, Z:-26.27 [[ 6.78461269e-01 -7.32568235e-01 5.50825449e-02 1.98901395e+02] [ 7.30039459e-01 6.80692785e-01 6.08253393e-02 -5.31023600e+01] [-8.20530024e-02 -1.05520567e-03 9.96627408e-01 -2.62653718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.426875 meters 0.017261778865497807 Centerline is valid? [True, True] Translation: X:198.92, Y:-53.08, Z:-26.27 [[ 6.78255825e-01 -7.32759557e-01 5.50678451e-02 1.98919804e+02] [ 7.30230330e-01 6.80486829e-01 6.08386444e-02 -5.30819040e+01] [-8.20530415e-02 -1.05195424e-03 9.96627409e-01 -2.62678729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.456875 meters 0.016906776153296436 Centerline is valid? [True, True] Translation: X:198.94, Y:-53.06, Z:-26.27 [[ 6.75271212e-01 -7.35483048e-01 5.54389482e-02 1.98938412e+02] [ 7.32925583e-01 6.77542708e-01 6.12859603e-02 -5.30612461e+01] [-8.26370399e-02 -7.52021254e-04 9.96579427e-01 -2.62710557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.486875 meters 0.01669953831331992 Centerline is valid? [True, True] Translation: X:198.96, Y:-53.04, Z:-26.27 [[ 6.73684799e-01 -7.36939039e-01 5.54043763e-02 1.98958795e+02] [ 7.34388949e-01 6.75958962e-01 6.12564575e-02 -5.30405567e+01] [-8.25933596e-02 -5.79182572e-04 9.96583163e-01 -2.62734389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.516875 meters 0.01670690003568705 Centerline is valid? [True, True] Translation: X:198.98, Y:-53.02, Z:-26.28 [[ 6.72181154e-01 -7.38333427e-01 5.51021492e-02 1.98976228e+02] [ 7.35813192e-01 6.74435741e-01 6.09539005e-02 -5.30207308e+01] [-8.21671610e-02 -4.27174926e-04 9.96618470e-01 -2.62772729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.546875 meters 0.016431610179377422 Centerline is valid? [True, True] Translation: X:198.99, Y:-53.00, Z:-26.28 [[ 6.69566851e-01 -7.40782174e-01 5.40555419e-02 1.98994924e+02] [ 7.38363673e-01 6.71745303e-01 5.98108255e-02 -5.30002540e+01] [-8.06183497e-02 -1.34697665e-04 9.96745034e-01 -2.62801775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.576875 meters 0.016316372511242516 Centerline is valid? [True, True] Translation: X:199.01, Y:-52.98, Z:-26.28 [[ 6.68715088e-01 -7.41561715e-01 5.39106103e-02 1.99013516e+02] [ 7.39156018e-01 6.70884654e-01 5.96838515e-02 -5.29794282e+01] [-8.04270604e-02 -6.31399611e-05 9.96760495e-01 -2.62825851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.606875 meters 0.016318344692899608 Centerline is valid? [True, True] Translation: X:199.03, Y:-52.96, Z:-26.29 [[ 6.67999812e-01 -7.42233474e-01 5.35324287e-02 1.99031162e+02] [ 7.39860925e-01 6.70141381e-01 5.92987441e-02 -5.29594339e+01] [-7.98878086e-02 -4.99768818e-06 9.96803861e-01 -2.62852939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.636875 meters 0.016518184678542117 Centerline is valid? [True, True] Translation: X:199.05, Y:-52.94, Z:-26.29 [[ 6.67636284e-01 -7.42555624e-01 5.35997948e-02 1.99049366e+02] [ 7.40175724e-01 6.69784402e-01 5.94033006e-02 -5.29384009e+01] [-8.00105615e-02 1.34680618e-05 9.96794016e-01 -2.62873091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.666875 meters 0.01654446911124288 Centerline is valid? [True, True] Translation: X:199.07, Y:-52.92, Z:-26.29 [[ 6.67421618e-01 -7.42748337e-01 5.36030936e-02 1.99067115e+02] [ 7.40366064e-01 6.69570689e-01 5.94405883e-02 -5.29168768e+01] [-8.00404584e-02 1.39778025e-05 9.96791616e-01 -2.62905500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69687499999998 meters 0.016179009786098913 Centerline is valid? [True, True] Translation: X:199.08, Y:-52.89, Z:-26.29 [[ 6.67645577e-01 -7.42552400e-01 5.35286508e-02 1.99084026e+02] [ 7.40173439e-01 6.69787975e-01 5.93914817e-02 -5.28945494e+01] [-7.99541340e-02 -3.19744813e-05 9.96798543e-01 -2.62933295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72687499999998 meters 0.01636511550545456 Centerline is valid? [True, True] Translation: X:199.10, Y:-52.87, Z:-26.30 [[ 6.67570327e-01 -7.42622370e-01 5.34964855e-02 1.99101458e+02] [ 7.40243789e-01 6.69710395e-01 5.93895556e-02 -5.28742862e+01] [-7.99311650e-02 -4.62639732e-05 9.96800385e-01 -2.62964949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75687499999998 meters 0.016644429449902073 Centerline is valid? [True, True] Translation: X:199.12, Y:-52.85, Z:-26.30 [[ 6.67490280e-01 -7.42698620e-01 5.34367453e-02 1.99119750e+02] [ 7.40323244e-01 6.69625833e-01 5.93526513e-02 -5.28536433e+01] [-7.98637573e-02 -5.68532282e-05 9.96805787e-01 -2.62992849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78687499999998 meters 0.01647019120876071 Centerline is valid? [True, True] Translation: X:199.14, Y:-52.83, Z:-26.30 [[ 6.67250262e-01 -7.42905310e-01 5.35610741e-02 1.99137606e+02] [ 7.40516824e-01 6.69396518e-01 5.95242409e-02 -5.28333245e+01] [-8.00744711e-02 -5.46888275e-05 9.96788882e-01 -2.63019141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81687499999998 meters 0.016428192533571067 Centerline is valid? [True, True] Translation: X:199.16, Y:-52.81, Z:-26.30 [[ 6.66888443e-01 -7.43163341e-01 5.44798359e-02 1.99156090e+02] [ 7.40690461e-01 6.69110041e-01 6.05755316e-02 -5.28117462e+01] [-8.14705197e-02 -4.44272403e-05 9.96675751e-01 -2.63033853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84687499999998 meters 0.016428348369000135 Centerline is valid? [True, True] Translation: X:199.17, Y:-52.79, Z:-26.31 [[ 6.67139214e-01 -7.42936530e-01 5.45030481e-02 1.99173851e+02] [ 7.40457997e-01 6.69361863e-01 6.06353903e-02 -5.27911413e+01] [-8.15305083e-02 -9.50288357e-05 9.96670842e-01 -2.63057586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87687499999998 meters 0.01635061153015397 Centerline is valid? [True, True] Translation: X:199.19, Y:-52.77, Z:-26.31 [[ 6.67297383e-01 -7.42779658e-01 5.47044956e-02 1.99192134e+02] [ 7.40280443e-01 6.69535931e-01 6.08810512e-02 -5.27698389e+01] [-8.18478318e-02 -1.29097913e-04 9.96644829e-01 -2.63070785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90687499999999 meters 0.016528549203231047 Centerline is valid? [True, True] Translation: X:199.21, Y:-52.75, Z:-26.31 [[ 6.67788267e-01 -7.42343341e-01 5.46369385e-02 1.99209313e+02] [ 7.39846064e-01 6.70019643e-01 6.08397848e-02 -5.27488060e+01] [-8.17718312e-02 -2.05170551e-04 9.96651055e-01 -2.63101066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.936875 meters 0.01644030348933278 Centerline is valid? [True, True] Translation: X:199.23, Y:-52.73, Z:-26.31 [[ 6.68634145e-01 -7.41594870e-01 5.44557563e-02 1.99226735e+02] [ 7.39109244e-01 6.70847933e-01 6.06677479e-02 -5.27273672e+01] [-8.15224222e-02 -3.15774919e-04 9.96671458e-01 -2.63123744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.966875 meters 0.01676569246647292 Centerline is valid? [True, True] Translation: X:199.24, Y:-52.71, Z:-26.32 [[ 6.70617897e-01 -7.39778394e-01 5.47682815e-02 1.99241870e+02] [ 7.37255218e-01 6.72850363e-01 6.10502458e-02 -5.27051480e+01] [-8.20145109e-02 -5.63186153e-04 9.96630976e-01 -2.63159226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.996875 meters 0.016882576621072957 Centerline is valid? [True, True] Translation: X:199.26, Y:-52.68, Z:-26.32 [[ 6.71570031e-01 -7.38912671e-01 5.47883018e-02 1.99259067e+02] [ 7.36382300e-01 6.73800853e-01 6.11025211e-02 -5.26831586e+01] [-8.20658315e-02 -6.89486291e-04 9.96626672e-01 -2.63182407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.026875 meters 0.017021160170305076 Centerline is valid? [True, True] Translation: X:199.28, Y:-52.66, Z:-26.32 [[ 6.72301699e-01 -7.38241383e-01 5.48642478e-02 1.99277064e+02] [ 7.35699128e-01 6.74536159e-01 6.12189809e-02 -5.26616766e+01] [-8.22023041e-02 -7.94045669e-04 9.96615347e-01 -2.63208463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.056875 meters 0.017817043904030844 Centerline is valid? [True, True] Translation: X:199.29, Y:-52.64, Z:-26.33 [[ 6.74126055e-01 -7.36595231e-01 5.46033725e-02 1.99292862e+02] [ 7.34068885e-01 6.76333082e-01 6.09625585e-02 -5.26389789e+01] [-8.18347971e-02 -1.01381221e-03 9.96645392e-01 -2.63251275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.086875 meters 0.018146413269561786 Centerline is valid? [True, True] Translation: X:199.31, Y:-52.62, Z:-26.33 [[ 6.75024613e-01 -7.35788356e-01 5.43807528e-02 1.99310328e+02] [ 7.33278588e-01 6.77210634e-01 6.07311180e-02 -5.26173957e+01] [-8.15124736e-02 -1.11875783e-03 9.96671694e-01 -2.63277747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.116875 meters 0.01830574448740575 Centerline is valid? [True, True] Translation: X:199.33, Y:-52.60, Z:-26.33 [[ 6.75525884e-01 -7.35319728e-01 5.44947524e-02 1.99328568e+02] [ 7.32796649e-01 6.77719327e-01 6.08735108e-02 -5.25965792e+01] [-8.16936403e-02 -1.18806025e-03 9.96656780e-01 -2.63299677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.146875 meters 0.018142938541470015 Centerline is valid? [True, True] Translation: X:199.35, Y:-52.57, Z:-26.33 [[ 6.75988765e-01 -7.34896420e-01 5.44650504e-02 1.99346880e+02] [ 7.32372316e-01 6.78178198e-01 6.08697292e-02 -5.25749482e+01] [-8.16699558e-02 -1.25855799e-03 9.96658635e-01 -2.63322854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.176875 meters 0.018204952285032223 Centerline is valid? [True, True] Translation: X:199.36, Y:-52.55, Z:-26.34 [[ 6.76699137e-01 -7.34275888e-01 5.40110910e-02 1.99364965e+02] [ 7.31789189e-01 6.78849846e-01 6.03942842e-02 -5.25528458e+01] [-8.10114875e-02 -1.34402755e-03 9.96712262e-01 -2.63350540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.206875 meters 0.01814341061609803 Centerline is valid? [True, True] Translation: X:199.38, Y:-52.53, Z:-26.34 [[ 6.76445101e-01 -7.34508904e-01 5.40249519e-02 1.99384040e+02] [ 7.32019351e-01 6.78597735e-01 6.04382621e-02 -5.25322315e+01] [-8.10536517e-02 -1.33585613e-03 9.96708845e-01 -2.63376712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.236875 meters 0.018080875142635972 Centerline is valid? [True, True] Translation: X:199.40, Y:-52.51, Z:-26.34 [[ 6.76108986e-01 -7.34788007e-01 5.44355069e-02 1.99402541e+02] [ 7.32258471e-01 6.78295511e-01 6.09321924e-02 -5.25117562e+01] [-8.16956042e-02 -1.33594175e-03 9.96656432e-01 -2.63399459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.266875 meters 0.01808848607700993 Centerline is valid? [True, True] Translation: X:199.42, Y:-52.49, Z:-26.34 [[ 6.75701010e-01 -7.35129451e-01 5.48892960e-02 1.99420564e+02] [ 7.32555495e-01 6.77925451e-01 6.14778755e-02 -5.24905549e+01] [-8.24050476e-02 -1.33120722e-03 9.96598031e-01 -2.63422115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.296875 meters 0.017939177561537654 Centerline is valid? [True, True] Translation: X:199.44, Y:-52.47, Z:-26.34 [[ 6.75110829e-01 -7.35659973e-01 5.50433679e-02 1.99439299e+02] [ 7.33072571e-01 6.77349818e-01 6.16589784e-02 -5.24697049e+01] [-8.26436577e-02 -1.27586074e-03 9.96578345e-01 -2.63442502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.326875 meters 0.018310402578065075 Centerline is valid? [True, True] Translation: X:199.46, Y:-52.45, Z:-26.35 [[ 6.74771020e-01 -7.35967660e-01 5.50969450e-02 1.99456655e+02] [ 7.33373349e-01 6.77015515e-01 6.17537232e-02 -5.24485911e+01] [-8.27502298e-02 -1.26299174e-03 9.96569518e-01 -2.63466526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.356875 meters 0.01774869118854581 Centerline is valid? [True, True] Translation: X:199.48, Y:-52.43, Z:-26.35 [[ 6.74648963e-01 -7.36099229e-01 5.48333954e-02 1.99475888e+02] [ 7.33527701e-01 6.76872466e-01 6.14880224e-02 -5.24281833e+01] [-8.23765014e-02 -1.26101616e-03 9.96600483e-01 -2.63480457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.386875 meters 0.0177236540789138 Centerline is valid? [True, True] Translation: X:199.49, Y:-52.41, Z:-26.35 [[ 6.74631020e-01 -7.36115549e-01 5.48350658e-02 1.99492536e+02] [ 7.33541032e-01 6.76854676e-01 6.15248136e-02 -5.24055470e+01] [-8.24047426e-02 -1.28277703e-03 9.96598120e-01 -2.63512846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41687499999998 meters 0.018202082832629165 Centerline is valid? [True, True] Translation: X:199.51, Y:-52.38, Z:-26.36 [[ 6.74461601e-01 -7.36295087e-01 5.45077427e-02 1.99508975e+02] [ 7.33748881e-01 6.76659377e-01 6.11936821e-02 -5.23843380e+01] [-8.19397827e-02 -1.27779355e-03 9.96636463e-01 -2.63550666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44687499999998 meters 0.01783163576704217 Centerline is valid? [True, True] Translation: X:199.53, Y:-52.36, Z:-26.36 [[ 6.74143937e-01 -7.36618176e-01 5.40704561e-02 1.99527861e+02] [ 7.34112350e-01 6.76307714e-01 6.07201227e-02 -5.23631483e+01] [-8.12958126e-02 -1.24031303e-03 9.96689246e-01 -2.63578366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47687499999998 meters 0.017928564417401517 Centerline is valid? [True, True] Translation: X:199.55, Y:-52.34, Z:-26.36 [[ 6.73826330e-01 -7.36963482e-01 5.33188773e-02 1.99546325e+02] [ 7.34525327e-01 6.75931487e-01 5.99096803e-02 -5.23419174e+01] [-8.01911546e-02 -1.20465426e-03 9.96778776e-01 -2.63611404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50687499999998 meters 0.017712470559666776 Centerline is valid? [True, True] Translation: X:199.56, Y:-52.32, Z:-26.37 [[ 6.72819211e-01 -7.37955309e-01 5.23093854e-02 1.99564515e+02] [ 7.35609156e-01 6.74848708e-01 5.88080799e-02 -5.23212307e+01] [-7.86986559e-02 -1.08794307e-03 9.96897857e-01 -2.63650262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53687499999998 meters 0.01775579781018277 Centerline is valid? [True, True] Translation: X:199.58, Y:-52.30, Z:-26.37 [[ 6.72356298e-01 -7.38408933e-01 5.18580420e-02 1.99582251e+02] [ 7.36101800e-01 6.74352391e-01 5.83351774e-02 -5.23009174e+01] [-7.80458107e-02 -1.04922585e-03 9.96949222e-01 -2.63683567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56687499999998 meters 0.017641266990460373 Centerline is valid? [True, True] Translation: X:199.60, Y:-52.28, Z:-26.37 [[ 6.71730697e-01 -7.38968909e-01 5.19886789e-02 1.99600297e+02] [ 7.36650018e-01 6.73738783e-01 5.85047343e-02 -5.22810315e+01] [-7.82599689e-02 -1.00196469e-03 9.96932482e-01 -2.63709787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59687499999998 meters 0.017372701300153153 Centerline is valid? [True, True] Translation: X:199.62, Y:-52.26, Z:-26.37 [[ 6.70856355e-01 -7.39742427e-01 5.22770824e-02 1.99620596e+02] [ 7.37398397e-01 6.72889497e-01 5.88500458e-02 -5.22604343e+01] [-7.87105754e-02 -9.30890405e-04 9.96897075e-01 -2.63726521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62687499999998 meters 0.017078504185802527 Centerline is valid? [True, True] Translation: X:199.64, Y:-52.24, Z:-26.37 [[ 6.69234141e-01 -7.41191868e-01 5.25383565e-02 1.99641631e+02] [ 7.38826203e-01 6.71292780e-01 5.91763928e-02 -5.22421441e+01] [-7.91296806e-02 -7.86147975e-04 9.96864021e-01 -2.63741426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65687499999999 meters 0.01678236721866802 Centerline is valid? [True, True] Translation: X:199.66, Y:-52.22, Z:-26.38 [[ 6.68143732e-01 -7.42137555e-01 5.30641339e-02 1.99662896e+02] [ 7.39726535e-01 6.70247251e-01 5.97768878e-02 -5.22217232e+01] [-7.99287632e-02 -6.86605010e-04 9.96800342e-01 -2.63755870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.686875 meters 0.01669039371252326 Centerline is valid? [True, True] Translation: X:199.68, Y:-52.20, Z:-26.38 [[ 6.67065571e-01 -7.43078848e-01 5.34541882e-02 1.99682123e+02] [ 7.40632970e-01 6.69203609e-01 6.02439512e-02 -5.22025743e+01] [-8.05377415e-02 -5.96731555e-04 9.96751381e-01 -2.63782012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.716875 meters 0.01622509305351559 Centerline is valid? [True, True] Translation: X:199.70, Y:-52.18, Z:-26.38 [[ 6.65691273e-01 -7.44284909e-01 5.38061643e-02 1.99704545e+02] [ 7.41808351e-01 6.67862074e-01 6.06681151e-02 -5.21835661e+01] [-8.10894591e-02 -4.72372760e-04 9.96706715e-01 -2.63800588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.746875 meters 0.016242458425755554 Centerline is valid? [True, True] Translation: X:199.72, Y:-52.16, Z:-26.38 [[ 6.65113829e-01 -7.44792220e-01 5.39272041e-02 1.99724563e+02] [ 7.42303754e-01 6.67296308e-01 6.08339964e-02 -5.21638552e+01] [-8.12941114e-02 -4.31166247e-04 9.96690063e-01 -2.63826339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.776875 meters 0.016269351086950264 Centerline is valid? [True, True] Translation: X:199.74, Y:-52.14, Z:-26.38 [[ 6.65041930e-01 -7.44862475e-01 5.38435282e-02 1.99744387e+02] [ 7.42379159e-01 6.67217878e-01 6.07740761e-02 -5.21437784e+01] [-8.11936933e-02 -4.44995659e-04 9.96698242e-01 -2.63849176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.806875 meters 0.016094872766470755 Centerline is valid? [True, True] Translation: X:199.76, Y:-52.12, Z:-26.39 [[ 6.64932501e-01 -7.44954278e-01 5.39248856e-02 1.99763562e+02] [ 7.42460884e-01 6.67115368e-01 6.09009160e-02 -5.21237390e+01] [-8.13425179e-02 -4.57880170e-04 9.96686102e-01 -2.63878452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.836875 meters 0.016069805418330002 Centerline is valid? [True, True] Translation: X:199.78, Y:-52.10, Z:-26.39 [[ 6.64925064e-01 -7.44976819e-01 5.37047375e-02 1.99781619e+02] [ 7.42501022e-01 6.67090183e-01 6.06870656e-02 -5.21042968e+01] [-8.10363602e-02 -4.76528516e-04 9.96711032e-01 -2.63915111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.866875 meters 0.016388747263271136 Centerline is valid? [True, True] Translation: X:199.80, Y:-52.08, Z:-26.39 [[ 6.65747157e-01 -7.44291876e-01 5.30125170e-02 1.99801831e+02] [ 7.41874949e-01 6.67854232e-01 5.99356724e-02 -5.20838652e+01] [-8.00142679e-02 -5.73345158e-04 9.96793553e-01 -2.63949159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.896875 meters 0.016276223467883936 Centerline is valid? [True, True] Translation: X:199.82, Y:-52.06, Z:-26.40 [[ 6.66339981e-01 -7.43756309e-01 5.30809042e-02 1.99820632e+02] [ 7.41329146e-01 6.68450537e-01 6.00414577e-02 -5.20634349e+01] [-8.01381719e-02 -6.57602314e-04 9.96783548e-01 -2.63968976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.926875 meters 0.016292173187175598 Centerline is valid? [True, True] Translation: X:199.84, Y:-52.04, Z:-26.40 [[ 6.66843136e-01 -7.43285842e-01 5.33515631e-02 1.99838177e+02] [ 7.40829503e-01 6.68973548e-01 6.03824429e-02 -5.20429919e+01] [-8.05721993e-02 -7.41205556e-04 9.96748500e-01 -2.63993946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.956875 meters 0.01700122594720481 Centerline is valid? [True, True] Translation: X:199.86, Y:-52.02, Z:-26.40 [[ 6.68484836e-01 -7.41821764e-01 5.31835853e-02 1.99856638e+02] [ 7.39373746e-01 6.70596446e-01 6.02234958e-02 -5.20207402e+01] [-8.03398232e-02 -9.35947034e-04 9.96767093e-01 -2.64023063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.986875 meters 0.017207030050732024 Centerline is valid? [True, True] Translation: X:199.87, Y:-52.00, Z:-26.41 [[ 6.69691727e-01 -7.40743496e-01 5.30289012e-02 1.99874557e+02] [ 7.38303855e-01 6.71787095e-01 6.00792608e-02 -5.19990461e+01] [-8.01274531e-02 -1.08314176e-03 9.96784038e-01 -2.64053378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.016875 meters 0.017407043184903794 Centerline is valid? [True, True] Translation: X:199.89, Y:-51.98, Z:-26.41 [[ 6.70316678e-01 -7.40200372e-01 5.27158453e-02 1.99892534e+02] [ 7.37786750e-01 6.72385370e-01 5.97379735e-02 -5.19771256e+01] [-7.96634334e-02 -1.15030775e-03 9.96821155e-01 -2.64084525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.046875 meters 0.017332960160032024 Centerline is valid? [True, True] Translation: X:199.91, Y:-51.96, Z:-26.41 [[ 6.70784730e-01 -7.39772808e-01 5.27639797e-02 1.99911419e+02] [ 7.37351209e-01 6.72855632e-01 5.98205066e-02 -5.19562236e+01] [-7.97561250e-02 -1.22109820e-03 9.96813658e-01 -2.64106266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.076875 meters 0.01769979100728069 Centerline is valid? [True, True] Translation: X:199.93, Y:-51.94, Z:-26.41 [[ 6.70635550e-01 -7.39910042e-01 5.27360254e-02 1.99928394e+02] [ 7.37488808e-01 6.72704709e-01 5.98216795e-02 -5.19352651e+01] [-7.97384341e-02 -1.22631646e-03 9.96815067e-01 -2.64143861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.106875 meters 0.01730481738979979 Centerline is valid? [True, True] Translation: X:199.95, Y:-51.91, Z:-26.42 [[ 6.70580632e-01 -7.39972204e-01 5.25619082e-02 1.99948366e+02] [ 7.37564805e-01 6.72636316e-01 5.96535479e-02 -5.19149104e+01] [-7.94970156e-02 -1.23470029e-03 9.96834339e-01 -2.64156670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.136875 meters 0.01752079772864508 Centerline is valid? [True, True] Translation: X:199.97, Y:-51.89, Z:-26.42 [[ 6.70196290e-01 -7.40302403e-01 5.28136861e-02 1.99965511e+02] [ 7.37870081e-01 6.72272900e-01 5.99740875e-02 -5.18944816e+01] [-7.99041710e-02 -1.22477213e-03 9.96801797e-01 -2.64181267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16687499999998 meters 0.017642650821384585 Centerline is valid? [True, True] Translation: X:199.98, Y:-51.87, Z:-26.42 [[ 6.69866743e-01 -7.40618124e-01 5.25674916e-02 1.99984181e+02] [ 7.38207104e-01 6.71925109e-01 5.97237035e-02 -5.18734167e+01] [-7.95538747e-02 -1.20122707e-03 9.96829844e-01 -2.64206927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19687499999998 meters 0.017618283616842412 Centerline is valid? [True, True] Translation: X:200.00, Y:-51.85, Z:-26.42 [[ 6.69433753e-01 -7.41014490e-01 5.24973843e-02 2.00002797e+02] [ 7.38608517e-01 6.71488009e-01 5.96767329e-02 -5.18524846e+01] [-7.94726878e-02 -1.17460415e-03 9.96836352e-01 -2.64228512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22687499999998 meters 0.017386813599442438 Centerline is valid? [True, True] Translation: X:200.02, Y:-51.83, Z:-26.42 [[ 6.69272403e-01 -7.41164211e-01 5.24410350e-02 2.00021575e+02] [ 7.38761243e-01 6.71322743e-01 5.96456268e-02 -5.18315051e+01] [-7.94120634e-02 -1.17776782e-03 9.96841179e-01 -2.64247799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25687499999998 meters 0.017531347962398275 Centerline is valid? [True, True] Translation: X:200.04, Y:-51.81, Z:-26.43 [[ 6.69184890e-01 -7.41249449e-01 5.23530053e-02 2.00039655e+02] [ 7.38852144e-01 6.71228607e-01 5.95790795e-02 -5.18102470e+01] [-7.93037946e-02 -1.18828956e-03 9.96849786e-01 -2.64275510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28687499999998 meters 0.018029729015435734 Centerline is valid? [True, True] Translation: X:200.06, Y:-51.79, Z:-26.43 [[ 6.69161636e-01 -7.41266302e-01 5.24115817e-02 2.00056174e+02] [ 7.38860945e-01 6.71209955e-01 5.96799830e-02 -5.17883055e+01] [-7.94179357e-02 -1.21068422e-03 9.96840672e-01 -2.64308824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31687499999998 meters 0.018029729015435734 Centerline is valid? [True, True] Translation: X:200.07, Y:-51.77, Z:-26.43 [[ 6.68962451e-01 -7.41447116e-01 5.23966931e-02 2.00074258e+02] [ 7.39041289e-01 6.71010218e-01 5.96930513e-02 -5.17675703e+01] [-7.94179572e-02 -1.20909035e-03 9.96840672e-01 -2.64333827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34687499999998 meters 0.01788436706377161 Centerline is valid? [True, True] Translation: X:200.09, Y:-51.75, Z:-26.44 [[ 6.68818291e-01 -7.41575184e-01 5.24246150e-02 2.00092372e+02] [ 7.39164589e-01 6.70868666e-01 5.97573655e-02 -5.17463651e+01] [-7.94846108e-02 -1.21640012e-03 9.96835351e-01 -2.64356359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37687499999998 meters 0.017948511521576112 Centerline is valid? [True, True] Translation: X:200.11, Y:-51.72, Z:-26.44 [[ 6.68787193e-01 -7.41595384e-01 5.25354794e-02 2.00110922e+02] [ 7.39172017e-01 6.70846295e-01 5.99164256e-02 -5.17248134e+01] [-7.96769764e-02 -1.23858180e-03 9.96819966e-01 -2.64377575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40687499999999 meters 0.018042596177010237 Centerline is valid? [True, True] Translation: X:200.13, Y:-51.70, Z:-26.44 [[ 6.68860319e-01 -7.41500422e-01 5.29433458e-02 2.00128983e+02] [ 7.39036214e-01 6.70951175e-01 6.04151871e-02 -5.17031678e+01] [-8.03202868e-02 -1.28227151e-03 9.96768282e-01 -2.64398759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.436875 meters 0.018376748080907643 Centerline is valid? [True, True] Translation: X:200.15, Y:-51.68, Z:-26.44 [[ 6.69118261e-01 -7.41256559e-01 5.30986464e-02 2.00145468e+02] [ 7.38774345e-01 6.71220472e-01 6.06262707e-02 -5.16822907e+01] [-8.05805194e-02 -1.33822706e-03 9.96747204e-01 -2.64423339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.466875 meters 0.018333801818810565 Centerline is valid? [True, True] Translation: X:200.16, Y:-51.66, Z:-26.44 [[ 6.70231720e-01 -7.40208120e-01 5.36784830e-02 2.00163201e+02] [ 7.37665413e-01 6.72376148e-01 6.13192844e-02 -5.16597316e+01] [-8.14811639e-02 -1.50136921e-03 9.96673751e-01 -2.64436091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.496875 meters 0.019440784315015242 Centerline is valid? [True, True] Translation: X:200.18, Y:-51.64, Z:-26.45 [[ 6.71022640e-01 -7.39491135e-01 5.36793968e-02 2.00178714e+02] [ 7.36943452e-01 6.73164370e-01 6.13520930e-02 -5.16360023e+01] [-8.15043863e-02 -1.60996339e-03 9.96671683e-01 -2.64471444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.526875 meters 0.020008947009985508 Centerline is valid? [True, True] Translation: X:200.20, Y:-51.61, Z:-26.45 [[ 6.72026397e-01 -7.38562916e-01 5.39012115e-02 2.00196393e+02] [ 7.35989929e-01 6.74182314e-01 6.16200604e-02 -5.16126265e+01] [-8.18495350e-02 -1.73955839e-03 9.96643180e-01 -2.64499346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.556875 meters 0.0203359964960066 Centerline is valid? [True, True] Translation: X:200.21, Y:-51.59, Z:-26.45 [[ 6.74409678e-01 -7.36399817e-01 5.37298416e-02 2.00212541e+02] [ 7.33833988e-01 6.76543603e-01 6.14526730e-02 -5.15889447e+01] [-8.16043177e-02 -2.01549345e-03 9.96662768e-01 -2.64524898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.586875 meters 0.02095896196492767 Centerline is valid? [True, True] Translation: X:200.23, Y:-51.57, Z:-26.46 [[ 6.75439911e-01 -7.35461207e-01 5.36445680e-02 2.00229370e+02] [ 7.32898191e-01 6.77563436e-01 6.13842943e-02 -5.15662555e+01] [-8.14933650e-02 -2.14539539e-03 9.96671575e-01 -2.64557313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.616875 meters 0.02132357091853594 Centerline is valid? [True, True] Translation: X:200.25, Y:-51.54, Z:-26.46 [[ 6.76496434e-01 -7.34520628e-01 5.32167476e-02 2.00246715e+02] [ 7.31994138e-01 6.78582623e-01 6.09114627e-02 -5.15432738e+01] [-8.08526859e-02 -2.25204004e-03 9.96723518e-01 -2.64591268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.646875 meters 0.024093516152058084 Centerline is valid? [True, True] Translation: X:200.26, Y:-51.52, Z:-26.46 [[ 6.78326282e-01 -7.32858476e-01 5.28385233e-02 2.00259344e+02] [ 7.30360341e-01 6.80376685e-01 6.05090010e-02 -5.15175761e+01] [-8.02946336e-02 -2.45368378e-03 9.96768153e-01 -2.64635600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.676875 meters 0.022121845658781454 Centerline is valid? [True, True] Translation: X:200.28, Y:-51.50, Z:-26.47 [[ 6.78879959e-01 -7.32333865e-01 5.30010412e-02 2.00280693e+02] [ 7.29817479e-01 6.80941031e-01 6.07104578e-02 -5.14975985e+01] [-8.05509079e-02 -2.53402687e-03 9.96747275e-01 -2.64650997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.706875 meters 0.022476312314947195 Centerline is valid? [True, True] Translation: X:200.30, Y:-51.48, Z:-26.47 [[ 6.79156351e-01 -7.32055550e-01 5.33040603e-02 2.00298498e+02] [ 7.29507006e-01 6.81239974e-01 6.10870354e-02 -5.14755343e+01] [-8.10319599e-02 -2.60196258e-03 9.96708107e-01 -2.64671099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.736875 meters 0.02415483291664402 Centerline is valid? [True, True] Translation: X:200.31, Y:-51.45, Z:-26.47 [[ 6.79108358e-01 -7.32089934e-01 5.34431237e-02 2.00313156e+02] [ 7.29525459e-01 6.81202926e-01 6.12795120e-02 -5.14526820e+01] [-8.12677261e-02 -2.62730939e-03 9.96688845e-01 -2.64705163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.766875 meters 0.022117305004482907 Centerline is valid? [True, True] Translation: X:200.33, Y:-51.43, Z:-26.47 [[ 6.79488422e-01 -7.31682838e-01 5.41821821e-02 2.00333387e+02] [ 7.29042870e-01 6.81639745e-01 6.21590841e-02 -5.14314770e+01] [-8.24134639e-02 -2.73524442e-03 9.96594471e-01 -2.64727305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.796875 meters 0.022359242574382043 Centerline is valid? [True, True] Translation: X:200.35, Y:-51.41, Z:-26.48 [[ 6.79461601e-01 -7.31695452e-01 5.43479319e-02 2.00350193e+02] [ 7.29036838e-01 6.81626095e-01 6.23791258e-02 -5.14100810e+01] [-8.26874913e-02 -2.76257629e-03 9.96571697e-01 -2.64755423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.826875 meters 0.022895206939728914 Centerline is valid? [True, True] Translation: X:200.37, Y:-51.39, Z:-26.48 [[ 6.79218086e-01 -7.31907640e-01 5.45343815e-02 2.00366427e+02] [ 7.29229695e-01 6.81398259e-01 6.26136092e-02 -5.13885155e+01] [-8.29870116e-02 -2.76020539e-03 9.96546806e-01 -2.64784517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.856875 meters 0.02187223825902299 Centerline is valid? [True, True] Translation: X:200.39, Y:-51.37, Z:-26.48 [[ 6.78721392e-01 -7.32353807e-01 5.47281806e-02 2.00386407e+02] [ 7.29656791e-01 6.80918839e-01 6.28530263e-02 -5.13673485e+01] [-8.32961023e-02 -2.72690489e-03 9.96521110e-01 -2.64806932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.886875 meters 0.02135481296224017 Centerline is valid? [True, True] Translation: X:200.41, Y:-51.35, Z:-26.48 [[ 6.77182119e-01 -7.33723539e-01 5.54449760e-02 2.00405286e+02] [ 7.30957122e-01 6.79443105e-01 6.37083341e-02 -5.13460498e+01] [-8.44160111e-02 -2.61424463e-03 9.96427169e-01 -2.64836471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91687499999998 meters 0.021180085690369808 Centerline is valid? [True, True] Translation: X:200.42, Y:-51.32, Z:-26.49 [[ 6.75906203e-01 -7.34923422e-01 5.51213888e-02 2.00424147e+02] [ 7.32190582e-01 6.78145600e-01 6.33679397e-02 -5.13247731e+01] [-8.39509104e-02 -2.47142179e-03 9.96466827e-01 -2.64865130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94687499999998 meters 0.020540016677234617 Centerline is valid? [True, True] Translation: X:200.44, Y:-51.30, Z:-26.49 [[ 6.74320179e-01 -7.36365707e-01 5.52977556e-02 2.00443356e+02] [ 7.33617460e-01 6.76579750e-01 6.36023856e-02 -5.13037807e+01] [-8.42479573e-02 -2.32097308e-03 9.96442118e-01 -2.64892504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97687499999998 meters 0.019357089831343016 Centerline is valid? [True, True] Translation: X:200.46, Y:-51.28, Z:-26.49 [[ 6.72742629e-01 -7.37786320e-01 5.55760866e-02 2.00463544e+02] [ 7.35012405e-01 6.75030823e-01 6.39543038e-02 -5.12836279e+01] [-8.47001819e-02 -2.17567340e-03 9.96404108e-01 -2.64918472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00687499999998 meters 0.019207696812901666 Centerline is valid? [True, True] Translation: X:200.48, Y:-51.26, Z:-26.50 [[ 6.70052714e-01 -7.40204178e-01 5.59207926e-02 2.00481979e+02] [ 7.37401136e-01 6.72379465e-01 6.43849364e-02 -5.12633197e+01] [-8.52579915e-02 -1.90524537e-03 9.96357087e-01 -2.64953503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03687499999998 meters 0.018656851008957167 Centerline is valid? [True, True] Translation: X:200.50, Y:-51.24, Z:-26.50 [[ 6.68916867e-01 -7.41199168e-01 5.63384268e-02 2.00501171e+02] [ 7.38356409e-01 6.71282765e-01 6.48788363e-02 -5.12423612e+01] [-8.59071544e-02 -1.80070946e-03 9.96301520e-01 -2.64985087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06687499999998 meters 0.018412343621241813 Centerline is valid? [True, True] Translation: X:200.52, Y:-51.22, Z:-26.50 [[ 6.67787166e-01 -7.42217326e-01 5.63359672e-02 2.00520065e+02] [ 7.39375651e-01 6.70157131e-01 6.49081358e-02 -5.12209176e+01] [-8.59298931e-02 -1.69137766e-03 9.96299750e-01 -2.65016584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09687499999998 meters 0.018298585502447253 Centerline is valid? [True, True] Translation: X:200.54, Y:-51.20, Z:-26.51 [[ 6.66506686e-01 -7.43412070e-01 5.57434482e-02 2.00538304e+02] [ 7.40631334e-01 6.68831902e-01 6.42581904e-02 -5.12000530e+01] [-8.50533108e-02 -1.54316912e-03 9.96375207e-01 -2.65062776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12687499999998 meters 0.018160242036554877 Centerline is valid? [True, True] Translation: X:200.56, Y:-51.18, Z:-26.51 [[ 6.65879113e-01 -7.43996896e-01 5.54402856e-02 2.00556531e+02] [ 7.41247612e-01 6.68181463e-01 6.39179971e-02 -5.11792426e+01] [-8.45989626e-02 -1.46667990e-03 9.96414003e-01 -2.65098706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15687499999999 meters 0.017748686388685462 Centerline is valid? [True, True] Translation: X:200.58, Y:-51.16, Z:-26.51 [[ 6.65215802e-01 -7.44595777e-01 5.53630313e-02 2.00575128e+02] [ 7.41853206e-01 6.67514145e-01 6.38646021e-02 -5.11578462e+01] [-8.45089195e-02 -1.41250032e-03 9.96421722e-01 -2.65125013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.186875 meters 0.017661231444375557 Centerline is valid? [True, True] Translation: X:200.59, Y:-51.14, Z:-26.51 [[ 6.64479188e-01 -7.45232876e-01 5.56360434e-02 2.00594327e+02] [ 7.42462284e-01 6.66802898e-01 6.42156652e-02 -5.11368583e+01] [-8.49538998e-02 -1.36230925e-03 9.96383952e-01 -2.65148356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.216875 meters 0.01796671825407017 Centerline is valid? [True, True] Translation: X:200.61, Y:-51.12, Z:-26.52 [[ 6.63810749e-01 -7.45794756e-01 5.60845103e-02 2.00611673e+02] [ 7.42978382e-01 6.66174476e-01 6.47664449e-02 -5.11154526e+01] [-8.56645442e-02 -1.32308357e-03 9.96323158e-01 -2.65177652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.246875 meters 0.01740684535814581 Centerline is valid? [True, True] Translation: X:200.63, Y:-51.09, Z:-26.52 [[ 6.62127888e-01 -7.47255320e-01 5.65344719e-02 2.00631900e+02] [ 7.44397166e-01 6.64536041e-01 6.53047464e-02 -5.10945820e+01] [-8.63685133e-02 -1.15599314e-03 9.96262588e-01 -2.65202907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.276875 meters 0.017354507730455895 Centerline is valid? [True, True] Translation: X:200.65, Y:-51.07, Z:-26.52 [[ 6.61100457e-01 -7.48117742e-01 5.71491849e-02 2.00650930e+02] [ 7.45197345e-01 6.63565133e-01 6.60471942e-02 -5.10736431e+01] [-8.73332842e-02 -1.07640942e-03 9.96178568e-01 -2.65226123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.306875 meters 0.017176073154167394 Centerline is valid? [True, True] Translation: X:200.67, Y:-51.05, Z:-26.52 [[ 6.60320025e-01 -7.48744028e-01 5.79641683e-02 2.00670067e+02] [ 7.45738692e-01 6.62858442e-01 6.70260361e-02 -5.10523792e+01] [-8.86073826e-02 -1.03251086e-03 9.96066095e-01 -2.65247965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.336875 meters 0.016913919091493004 Centerline is valid? [True, True] Translation: X:200.69, Y:-51.03, Z:-26.53 [[ 6.59748343e-01 -7.49198790e-01 5.85943456e-02 2.00688447e+02] [ 7.46126218e-01 6.62344444e-01 6.77901529e-02 -5.10311237e+01] [-8.95979398e-02 -1.00566363e-03 9.95977509e-01 -2.65263849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.366875 meters 0.017312994940656613 Centerline is valid? [True, True] Translation: X:200.70, Y:-51.01, Z:-26.53 [[ 6.59063224e-01 -7.49744776e-01 5.93164167e-02 2.00704937e+02] [ 7.46594514e-01 6.61726402e-01 6.86643984e-02 -5.10101214e+01] [-9.07320130e-02 -9.68868435e-04 9.95874873e-01 -2.65297686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.396875 meters 0.017002516547980642 Centerline is valid? [True, True] Translation: X:200.72, Y:-50.99, Z:-26.53 [[ 6.58983267e-01 -7.49809314e-01 5.93889422e-02 2.00723237e+02] [ 7.46648489e-01 6.61653251e-01 6.87823362e-02 -5.09888909e+01] [-9.08685230e-02 -9.83744634e-04 9.95862412e-01 -2.65317838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.426875 meters 0.01698773686707395 Centerline is valid? [True, True] Translation: X:200.74, Y:-50.97, Z:-26.53 [[ 6.58907211e-01 -7.49872702e-01 5.94324704e-02 2.00741835e+02] [ 7.46703980e-01 6.61581384e-01 6.88711670e-02 -5.09673749e+01] [-9.09640242e-02 -1.00124635e-03 9.95853676e-01 -2.65341766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.456875 meters 0.017133289530891903 Centerline is valid? [True, True] Translation: X:200.76, Y:-50.95, Z:-26.54 [[ 6.58952489e-01 -7.49856256e-01 5.91372409e-02 2.00759717e+02] [ 7.46715436e-01 6.61599990e-01 6.85675597e-02 -5.09460372e+01] [-9.05410116e-02 -1.02407351e-03 9.95892201e-01 -2.65367363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.486875 meters 0.01732952401440626 Centerline is valid? [True, True] Translation: X:200.78, Y:-50.92, Z:-26.54 [[ 6.60052318e-01 -7.48928735e-01 5.86232671e-02 2.00776906e+02] [ 7.45835269e-01 6.62649521e-01 6.80100255e-02 -5.09226943e+01] [-8.97813422e-02 -1.16687478e-03 9.95960817e-01 -2.65411305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.516875 meters 0.01703735278430802 Centerline is valid? [True, True] Translation: X:200.79, Y:-50.90, Z:-26.54 [[ 6.60631359e-01 -7.48445800e-01 5.82674095e-02 2.00794852e+02] [ 7.45385001e-01 6.63194789e-01 6.76304035e-02 -5.09007465e+01] [-8.92603339e-02 -1.24711232e-03 9.96007549e-01 -2.65442419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.546875 meters 0.01760384971959147 Centerline is valid? [True, True] Translation: X:200.81, Y:-50.88, Z:-26.55 [[ 6.61703993e-01 -7.47529352e-01 5.78592513e-02 2.00812003e+02] [ 7.44504877e-01 6.64227335e-01 6.71902880e-02 -5.08778089e+01] [-8.86584088e-02 -1.38358711e-03 9.96061129e-01 -2.65488048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.576875 meters 0.01789395781280523 Centerline is valid? [True, True] Translation: X:200.83, Y:-50.86, Z:-26.55 [[ 6.62536419e-01 -7.46796067e-01 5.78024936e-02 2.00828827e+02] [ 7.43771733e-01 6.65051409e-01 6.71582720e-02 -5.08559477e+01] [-8.85951631e-02 -1.50294023e-03 9.96066583e-01 -2.65516351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.606875 meters 0.01840779663151306 Centerline is valid? [True, True] Translation: X:200.85, Y:-50.83, Z:-26.55 [[ 6.62756356e-01 -7.46629246e-01 5.74350211e-02 2.00845192e+02] [ 7.43641239e-01 6.65238633e-01 6.67478007e-02 -5.08348941e+01] [-8.80438551e-02 -1.52647890e-03 9.96115430e-01 -2.65547609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.636875 meters 0.017780522142432875 Centerline is valid? [True, True] Translation: X:200.86, Y:-50.81, Z:-26.56 [[ 6.62597391e-01 -7.46762616e-01 5.75351465e-02 2.00864554e+02] [ 7.43761682e-01 6.65088898e-01 6.68978157e-02 -5.08141610e+01] [-8.82227751e-02 -1.53388080e-03 9.96099588e-01 -2.65569680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66687499999998 meters 0.01752853072529357 Centerline is valid? [True, True] Translation: X:200.88, Y:-50.79, Z:-26.56 [[ 6.62381698e-01 -7.46942563e-01 5.76826967e-02 2.00883890e+02] [ 7.43923528e-01 6.64886787e-01 6.71069660e-02 -5.07938531e+01] [-8.84775121e-02 -1.53891081e-03 9.96076986e-01 -2.65597654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69687499999998 meters 0.018208531047494158 Centerline is valid? [True, True] Translation: X:200.90, Y:-50.77, Z:-26.56 [[ 6.62224684e-01 -7.47070871e-01 5.78237086e-02 2.00899765e+02] [ 7.44033998e-01 6.64742585e-01 6.73105154e-02 -5.07717522e+01] [-8.87236070e-02 -1.55187975e-03 9.96055075e-01 -2.65624193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72687499999998 meters 0.018078748831329004 Centerline is valid? [True, True] Translation: X:200.92, Y:-50.75, Z:-26.57 [[ 6.61967423e-01 -7.47315704e-01 5.76052873e-02 2.00918299e+02] [ 7.44300859e-01 6.64467385e-01 6.70770093e-02 -5.07506650e+01] [-8.84045370e-02 -1.52713015e-03 9.96083483e-01 -2.65652564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75687499999998 meters 0.018395710565950962 Centerline is valid? [True, True] Translation: X:200.94, Y:-50.73, Z:-26.57 [[ 6.61904468e-01 -7.47388411e-01 5.73849932e-02 2.00936353e+02] [ 7.44393684e-01 6.64385584e-01 6.68568567e-02 -5.07296119e+01] [-8.80938021e-02 -1.53582570e-03 9.96110999e-01 -2.65685289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78687499999998 meters 0.01771093820066979 Centerline is valid? [True, True] Translation: X:200.96, Y:-50.71, Z:-26.57 [[ 6.61391114e-01 -7.47820488e-01 5.76741874e-02 2.00955061e+02] [ 7.44793806e-01 6.63899267e-01 6.72305813e-02 -5.07093426e+01] [-8.85662568e-02 -1.51033152e-03 9.96069143e-01 -2.65707317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81687499999998 meters 0.01728299549007615 Centerline is valid? [True, True] Translation: X:200.97, Y:-50.69, Z:-26.57 [[ 6.60772970e-01 -7.48336622e-01 5.80636053e-02 2.00974254e+02] [ 7.45267400e-01 6.63317511e-01 6.77228393e-02 -5.06877578e+01] [-8.91940869e-02 -1.47650953e-03 9.96013170e-01 -2.65732984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84687499999998 meters 0.017302792484007998 Centerline is valid? [True, True] Translation: X:200.99, Y:-50.67, Z:-26.58 [[ 6.60286917e-01 -7.48768255e-01 5.80283302e-02 2.00992786e+02] [ 7.45701400e-01 6.62830315e-01 6.77155491e-02 -5.06661727e+01] [-8.91661900e-02 -1.43988412e-03 9.96015721e-01 -2.65761015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87687499999998 meters 0.01713223431220353 Centerline is valid? [True, True] Translation: X:201.01, Y:-50.64, Z:-26.58 [[ 6.59664337e-01 -7.49311189e-01 5.81008112e-02 2.01010351e+02] [ 7.46235236e-01 6.62216579e-01 6.78393317e-02 -5.06448642e+01] [-8.93080907e-02 -1.39431523e-03 9.96003073e-01 -2.65792453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90687499999999 meters 0.017744321711856227 Centerline is valid? [True, True] Translation: X:201.03, Y:-50.62, Z:-26.58 [[ 6.58512976e-01 -7.50374915e-01 5.74294878e-02 2.01027547e+02] [ 7.47372481e-01 6.61011297e-01 6.70704042e-02 -5.06237849e+01] [-8.82894891e-02 -1.24551269e-03 9.96094079e-01 -2.65836103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.936875 meters 0.017063337075324772 Centerline is valid? [True, True] Translation: X:201.05, Y:-50.60, Z:-26.59 [[ 6.58276663e-01 -7.50630785e-01 5.67913769e-02 2.01047765e+02] [ 7.47693757e-01 6.60720784e-01 6.63482604e-02 -5.06039129e+01] [-8.73262898e-02 -1.21295349e-03 9.96179024e-01 -2.65861902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.966875 meters 0.0169764086801349 Centerline is valid? [True, True] Translation: X:201.07, Y:-50.58, Z:-26.59 [[ 6.58196932e-01 -7.50721132e-01 5.65206232e-02 2.01065768e+02] [ 7.47809238e-01 6.60618116e-01 6.60685066e-02 -5.05825992e+01] [-8.69375716e-02 -1.21944416e-03 9.96213015e-01 -2.65891252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.996875 meters 0.01766098577800387 Centerline is valid? [True, True] Translation: X:201.08, Y:-50.56, Z:-26.59 [[ 6.59593709e-01 -7.49539392e-01 5.59181454e-02 2.01082061e+02] [ 7.46681952e-01 6.61958293e-01 6.54009246e-02 -5.05602180e+01] [-8.60360493e-02 -1.38496845e-03 9.96291062e-01 -2.65930083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.026875 meters 0.017647102201856706 Centerline is valid? [True, True] Translation: X:201.10, Y:-50.54, Z:-26.60 [[ 6.60552221e-01 -7.48735170e-01 5.53751683e-02 2.01100580e+02] [ 7.45928787e-01 6.62867585e-01 6.47827837e-02 -5.05384406e+01] [-8.52115527e-02 -1.48647947e-03 9.96361772e-01 -2.65959691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.056875 meters 0.017666594428871574 Centerline is valid? [True, True] Translation: X:201.12, Y:-50.52, Z:-26.60 [[ 6.61572511e-01 -7.47859712e-01 5.50242058e-02 2.01118541e+02] [ 7.45083072e-01 6.63854846e-01 6.44046552e-02 -5.05166427e+01] [-8.46937326e-02 -1.61074519e-03 9.96405729e-01 -2.65989585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.086875 meters 0.018198205851526057 Centerline is valid? [True, True] Translation: X:201.14, Y:-50.49, Z:-26.60 [[ 6.62477244e-01 -7.47109071e-01 5.43317378e-02 2.01136437e+02] [ 7.44398120e-01 6.64699301e-01 6.36103713e-02 -5.04940891e+01] [-8.36381535e-02 -1.69598005e-03 9.96494748e-01 -2.66023859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.116875 meters 0.017960237936114242 Centerline is valid? [True, True] Translation: X:201.16, Y:-50.47, Z:-26.61 [[ 6.63529629e-01 -7.46210427e-01 5.38370742e-02 2.01155699e+02] [ 7.43543187e-01 6.65707676e-01 6.30620258e-02 -5.04724694e+01] [-8.28972948e-02 -1.81333284e-03 9.96556446e-01 -2.66051145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.146875 meters 0.018258468477410115 Centerline is valid? [True, True] Translation: X:201.17, Y:-50.45, Z:-26.61 [[ 6.63374857e-01 -7.46339480e-01 5.39553383e-02 2.01174023e+02] [ 7.43658129e-01 6.65562961e-01 6.32339476e-02 -5.04520802e+01] [-8.31046663e-02 -1.82348503e-03 9.96539156e-01 -2.66073536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.176875 meters 0.018221805400175328 Centerline is valid? [True, True] Translation: X:201.19, Y:-50.43, Z:-26.61 [[ 6.62789641e-01 -7.46855820e-01 5.40025503e-02 2.01193531e+02] [ 7.44169895e-01 6.64983639e-01 6.33081923e-02 -5.04308479e+01] [-8.31929043e-02 -1.77294192e-03 9.96531885e-01 -2.66093593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.206875 meters 0.01797477073565141 Centerline is valid? [True, True] Translation: X:201.21, Y:-50.41, Z:-26.61 [[ 6.61983318e-01 -7.47536674e-01 5.44702498e-02 2.01213256e+02] [ 7.44803517e-01 6.64218300e-01 6.38887351e-02 -5.04096467e+01] [-8.39393093e-02 -1.72364319e-03 9.96469378e-01 -2.66113642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.236875 meters 0.01797477073565141 Centerline is valid? [True, True] Translation: X:201.23, Y:-50.39, Z:-26.61 [[ 6.61774955e-01 -7.47722264e-01 5.44548001e-02 2.01231045e+02] [ 7.44988652e-01 6.64009379e-01 6.39019005e-02 -5.03886575e+01] [-8.39393717e-02 -1.72046919e-03 9.96469378e-01 -2.66138655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.266875 meters 0.017825388105698198 Centerline is valid? [True, True] Translation: X:201.25, Y:-50.37, Z:-26.62 [[ 6.60762506e-01 -7.48617214e-01 5.44534449e-02 2.01251430e+02] [ 7.45883682e-01 6.63000457e-01 6.39368973e-02 -5.03679641e+01] [-8.39669208e-02 -1.63116845e-03 9.96467207e-01 -2.66164687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.296875 meters 0.017655629602472682 Centerline is valid? [True, True] Translation: X:201.27, Y:-50.35, Z:-26.62 [[ 6.59831950e-01 -7.49438577e-01 5.44391212e-02 2.01270312e+02] [ 7.46706433e-01 6.62072067e-01 6.39537402e-02 -5.03480066e+01] [-8.39720215e-02 -1.54867912e-03 9.96466909e-01 -2.66188557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.326875 meters 0.01745803406438433 Centerline is valid? [True, True] Translation: X:201.29, Y:-50.33, Z:-26.62 [[ 6.58265244e-01 -7.50853792e-01 5.39022443e-02 2.01290983e+02] [ 7.48179280e-01 6.60467055e-01 6.33327246e-02 -5.03296069e+01] [-8.31542730e-02 -1.36118911e-03 9.96535757e-01 -2.66227303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.356875 meters 0.01755088638800082 Centerline is valid? [True, True] Translation: X:201.31, Y:-50.31, Z:-26.63 [[ 6.57569281e-01 -7.51486871e-01 5.35735407e-02 2.01309566e+02] [ 7.48844906e-01 6.59746784e-01 6.29721217e-02 -5.03101845e+01] [-8.26676939e-02 -1.29025973e-03 9.96576333e-01 -2.66261682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.386875 meters 0.01702702854272199 Centerline is valid? [True, True] Translation: X:201.33, Y:-50.29, Z:-26.63 [[ 6.56898303e-01 -7.52109465e-01 5.30657360e-02 2.01329890e+02] [ 7.49517025e-01 6.59037074e-01 6.24048407e-02 -5.02902829e+01] [-8.19075587e-02 -1.21996135e-03 9.96639184e-01 -2.66291256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41687499999998 meters 0.01724914677352919 Centerline is valid? [True, True] Translation: X:201.35, Y:-50.27, Z:-26.63 [[ 6.56190614e-01 -7.52812712e-01 5.18352976e-02 2.01350946e+02] [ 7.50338839e-01 6.58233810e-01 6.09908071e-02 -5.02714607e+01] [-8.00344004e-02 -1.12755818e-03 9.96791464e-01 -2.66330935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44687499999998 meters 0.017293674687052504 Centerline is valid? [True, True] Translation: X:201.37, Y:-50.25, Z:-26.64 [[ 6.55943295e-01 -7.53024032e-01 5.18960670e-02 2.01370710e+02] [ 7.50542301e-01 6.57992052e-01 6.10959362e-02 -5.02510747e+01] [-8.01539079e-02 -1.12527614e-03 9.96781864e-01 -2.66359506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47687499999998 meters 0.017623171038296418 Centerline is valid? [True, True] Translation: X:201.39, Y:-50.23, Z:-26.64 [[ 6.55991063e-01 -7.53016200e-01 5.14035837e-02 2.01388858e+02] [ 7.50578726e-01 6.58000995e-01 6.05497030e-02 -5.02306883e+01] [-7.94185164e-02 -1.13762769e-03 9.96840712e-01 -2.66394781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50687499999998 meters 0.01770669395731263 Centerline is valid? [True, True] Translation: X:201.41, Y:-50.21, Z:-26.64 [[ 6.57300320e-01 -7.51892429e-01 5.11279243e-02 2.01409387e+02] [ 7.49475327e-01 6.59284552e-01 6.02545726e-02 -5.02106439e+01] [-7.90128076e-02 -1.28623204e-03 9.96872771e-01 -2.66414364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53687499999998 meters 0.017948831563901875 Centerline is valid? [True, True] Translation: X:201.43, Y:-50.19, Z:-26.64 [[ 6.58156897e-01 -7.51133210e-01 5.12679190e-02 2.01428548e+02] [ 7.48698199e-01 6.60149179e-01 6.04488883e-02 -5.01885560e+01] [-7.92496422e-02 -1.40065410e-03 9.96853817e-01 -2.66436303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56687499999998 meters 0.018353076876772397 Centerline is valid? [True, True] Translation: X:201.45, Y:-50.17, Z:-26.65 [[ 6.59233621e-01 -7.50167842e-01 5.15678333e-02 2.01447332e+02] [ 7.47698880e-01 6.61245658e-01 6.08322680e-02 -5.01663399e+01] [-7.97334171e-02 -1.54546511e-03 9.96815025e-01 -2.66457759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59687499999998 meters 0.0188489001086579 Centerline is valid? [True, True] Translation: X:201.47, Y:-50.14, Z:-26.65 [[ 6.60468660e-01 -7.49068422e-01 5.17459984e-02 2.01465884e+02] [ 7.46576597e-01 6.62490450e-01 6.10719927e-02 -5.01437044e+01] [-8.00283310e-02 -1.70378581e-03 9.96791133e-01 -2.66478496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62687499999998 meters 0.020555429554267642 Centerline is valid? [True, True] Translation: X:201.48, Y:-50.12, Z:-26.65 [[ 6.63697416e-01 -7.46200217e-01 5.18746172e-02 2.01483342e+02] [ 7.43684815e-01 6.65718355e-01 6.12533094e-02 -5.01206891e+01] [-8.02411176e-02 -2.07529805e-03 9.96773322e-01 -2.66501729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65687499999999 meters 0.021885282907535063 Centerline is valid? [True, True] Translation: X:201.50, Y:-50.10, Z:-26.65 [[ 6.64766903e-01 -7.45248444e-01 5.18625265e-02 2.01499725e+02] [ 7.42728844e-01 6.66783226e-01 6.12698424e-02 -5.00979476e+01] [-8.02423175e-02 -2.21036903e-03 9.96772935e-01 -2.66532145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.686875 meters 0.020679526469398062 Centerline is valid? [True, True] Translation: X:201.52, Y:-50.08, Z:-26.65 [[ 6.64356219e-01 -7.45612339e-01 5.18946367e-02 2.01520242e+02] [ 7.43089356e-01 6.66376388e-01 6.13246929e-02 -5.00782264e+01] [-8.03058083e-02 -2.17908896e-03 9.96767891e-01 -2.66540579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.716875 meters 0.020221758365978983 Centerline is valid? [True, True] Translation: X:201.54, Y:-50.06, Z:-26.66 [[ 6.63940825e-01 -7.46002315e-01 5.16054995e-02 2.01539923e+02] [ 7.43505874e-01 6.65939904e-01 6.10168761e-02 -5.00576542e+01] [-7.98848922e-02 -2.14260303e-03 9.96801792e-01 -2.66558081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.746875 meters 0.02068723888891467 Centerline is valid? [True, True] Translation: X:201.56, Y:-50.04, Z:-26.66 [[ 6.63490796e-01 -7.46415580e-01 5.14173601e-02 2.01556955e+02] [ 7.43935762e-01 6.65476773e-01 6.08296565e-02 -5.00364145e+01] [-7.96212622e-02 -2.10870426e-03 9.96822957e-01 -2.66590524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.776875 meters 0.02084397865835113 Centerline is valid? [True, True] Translation: X:201.58, Y:-50.02, Z:-26.66 [[ 6.63088892e-01 -7.46842054e-01 5.03990846e-02 2.01575297e+02] [ 7.44458600e-01 6.64998348e-01 5.96539251e-02 -5.00153938e+01] [-7.80673678e-02 -2.03582316e-03 9.96946007e-01 -2.66637835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.806875 meters 0.021057443949321245 Centerline is valid? [True, True] Translation: X:201.59, Y:-49.99, Z:-26.67 [[ 6.62399581e-01 -7.47456446e-01 5.03553107e-02 2.01592667e+02] [ 7.45076256e-01 6.64307854e-01 5.96359618e-02 -4.99942342e+01] [-7.80267124e-02 -1.98428968e-03 9.96949294e-01 -2.66672610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.836875 meters 0.020590322512265506 Centerline is valid? [True, True] Translation: X:201.61, Y:-49.97, Z:-26.67 [[ 6.61750410e-01 -7.48058431e-01 4.99497523e-02 2.01611754e+02] [ 7.45716247e-01 6.63630106e-01 5.91807500e-02 -4.99734099e+01] [-7.74188184e-02 -1.91454382e-03 9.96996821e-01 -2.66697656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.866875 meters 0.020082558377737997 Centerline is valid? [True, True] Translation: X:201.63, Y:-49.95, Z:-26.67 [[ 6.60912019e-01 -7.48819962e-01 4.96383704e-02 2.01631099e+02] [ 7.46506564e-01 6.62770923e-01 5.88443181e-02 -4.99532597e+01] [-7.69626685e-02 -1.83554775e-03 9.97032286e-01 -2.66722290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.896875 meters 0.020095085625733443 Centerline is valid? [True, True] Translation: X:201.65, Y:-49.93, Z:-26.67 [[ 6.59924168e-01 -7.49690454e-01 4.96418744e-02 2.01648515e+02] [ 7.47376753e-01 6.61786327e-01 5.88799370e-02 -4.99328418e+01] [-7.69940404e-02 -1.75511054e-03 9.97030008e-01 -2.66749642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.926875 meters 0.01959714266164062 Centerline is valid? [True, True] Translation: X:201.67, Y:-49.91, Z:-26.68 [[ 6.58195049e-01 -7.51220676e-01 4.94648700e-02 2.01669111e+02] [ 7.48925890e-01 6.60049224e-01 5.86944059e-02 -4.99124264e+01] [-7.67417004e-02 -1.58684563e-03 9.97049745e-01 -2.66768159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.956875 meters 0.019166091713295433 Centerline is valid? [True, True] Translation: X:201.69, Y:-49.89, Z:-26.68 [[ 6.57351880e-01 -7.51967359e-01 4.93315063e-02 2.01688361e+02] [ 7.49684959e-01 6.59198605e-01 5.85633087e-02 -4.98923376e+01] [-7.65569567e-02 -1.51361276e-03 9.97064061e-01 -2.66784143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.986875 meters 0.018699328190047316 Centerline is valid? [True, True] Translation: X:201.71, Y:-49.87, Z:-26.68 [[ 6.56385378e-01 -7.52812126e-01 4.93167260e-02 2.01706659e+02] [ 7.50531029e-01 6.58233881e-01 5.85775803e-02 -4.98711139e+01] [-7.65598527e-02 -1.43573411e-03 9.97063954e-01 -2.66807200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.016875 meters 0.018408562210964537 Centerline is valid? [True, True] Translation: X:201.73, Y:-49.85, Z:-26.68 [[ 6.54862540e-01 -7.54113650e-01 4.96755128e-02 2.01725868e+02] [ 7.51800440e-01 6.56742625e-01 5.90357722e-02 -4.98497391e+01] [-7.71437083e-02 -1.31424331e-03 9.97019118e-01 -2.66830358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.046875 meters 0.01788505428503435 Centerline is valid? [True, True] Translation: X:201.75, Y:-49.83, Z:-26.68 [[ 6.53945890e-01 -7.54846089e-01 5.06177253e-02 2.01745413e+02] [ 7.52443973e-01 6.55900729e-01 6.01855625e-02 -4.98283617e+01] [-7.86310394e-02 -1.27109893e-03 9.96902976e-01 -2.66840326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.076875 meters 0.018238899773070055 Centerline is valid? [True, True] Translation: X:201.76, Y:-49.81, Z:-26.69 [[ 6.53348139e-01 -7.55343536e-01 5.09151457e-02 2.01762407e+02] [ 7.52912125e-01 6.55327863e-01 6.05699955e-02 -4.98067173e+01] [-7.91172682e-02 -1.23866324e-03 9.96864546e-01 -2.66870387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.106875 meters 0.017582002528986344 Centerline is valid? [True, True] Translation: X:201.78, Y:-49.79, Z:-26.69 [[ 6.52577142e-01 -7.55998862e-01 5.10763494e-02 2.01782294e+02] [ 7.53552345e-01 6.54571872e-01 6.07826285e-02 -4.97858322e+01] [-7.93847396e-02 -1.17665109e-03 9.96843357e-01 -2.66878519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.136875 meters 0.017392929500041114 Centerline is valid? [True, True] Translation: X:201.80, Y:-49.77, Z:-26.69 [[ 6.51288523e-01 -7.57132200e-01 5.07355180e-02 2.01800652e+02] [ 7.54719199e-01 6.53260840e-01 6.04086525e-02 -4.97660732e+01] [-7.88808630e-02 -1.05239249e-03 9.96883495e-01 -2.66912427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16687499999998 meters 0.01771995647441819 Centerline is valid? [True, True] Translation: X:201.82, Y:-49.75, Z:-26.70 [[ 6.50544970e-01 -7.57795372e-01 5.03727707e-02 2.01817224e+02] [ 7.55416655e-01 6.52491539e-01 6.00039146e-02 -4.97451985e+01] [-7.83384955e-02 -9.82814926e-04 9.96926333e-01 -2.66955600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19687499999998 meters 0.016989672476290355 Centerline is valid? [True, True] Translation: X:201.84, Y:-49.72, Z:-26.70 [[ 6.49757643e-01 -7.58501042e-01 4.99116608e-02 2.01836261e+02] [ 7.56165602e-01 6.51671193e-01 5.94830933e-02 -4.97249109e+01] [-7.76439798e-02 -9.08113463e-04 9.96980736e-01 -2.66975430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22687499999998 meters 0.016985241650832608 Centerline is valid? [True, True] Translation: X:201.85, Y:-49.70, Z:-26.70 [[ 6.48949365e-01 -7.59225973e-01 4.94028836e-02 2.01854077e+02] [ 7.56937578e-01 6.50826572e-01 5.89090462e-02 -4.97040456e+01] [-7.68779873e-02 -8.34089085e-04 9.97040159e-01 -2.67012399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25687499999998 meters 0.016381573279304347 Centerline is valid? [True, True] Translation: X:201.87, Y:-49.68, Z:-26.70 [[ 6.47557753e-01 -7.60412415e-01 4.94157351e-02 2.01873207e+02] [ 7.58123749e-01 6.49440103e-01 5.89570435e-02 -4.96833423e+01] [-7.69242279e-02 -7.14848303e-04 9.97036685e-01 -2.67033003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28687499999998 meters 0.016948382798361677 Centerline is valid? [True, True] Translation: X:201.89, Y:-49.66, Z:-26.71 [[ 6.46687935e-01 -7.61159600e-01 4.93029228e-02 2.01889965e+02] [ 7.58881055e-01 6.48564296e-01 5.88548947e-02 -4.96617982e+01] [-7.67740835e-02 -6.45696281e-04 9.97048305e-01 -2.67083668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31687499999998 meters 0.01625821121591627 Centerline is valid? [True, True] Translation: X:201.91, Y:-49.64, Z:-26.71 [[ 6.45888977e-01 -7.61836850e-01 4.93157581e-02 2.01910162e+02] [ 7.59556543e-01 6.47768686e-01 5.89032146e-02 -4.96415968e+01] [-7.68198432e-02 -5.86830327e-04 9.97044817e-01 -2.67076447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34687499999998 meters 0.016144507039887606 Centerline is valid? [True, True] Translation: X:201.93, Y:-49.62, Z:-26.71 [[ 6.44730458e-01 -7.62789204e-01 4.97520598e-02 2.01928416e+02] [ 7.60468427e-01 6.46647029e-01 5.94591594e-02 -4.96211429e+01] [-7.75268265e-02 -5.00260431e-04 9.96990141e-01 -2.67091537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37687499999998 meters 0.016080634750497588 Centerline is valid? [True, True] Translation: X:201.95, Y:-49.60, Z:-26.71 [[ 6.44398317e-01 -7.63041313e-01 5.01872928e-02 2.01945372e+02] [ 7.60678384e-01 6.46349529e-01 6.00056801e-02 -4.96003443e+01] [-7.82253460e-02 -4.91170497e-04 9.96935582e-01 -2.67110225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40687499999999 meters 0.015929016865944567 Centerline is valid? [True, True] Translation: X:201.96, Y:-49.58, Z:-26.71 [[ 6.44340745e-01 -7.63077506e-01 5.03758297e-02 2.01963361e+02] [ 7.60694707e-01 6.46306787e-01 6.02586088e-02 -4.95792795e+01] [-7.85402296e-02 -5.06449847e-04 9.96910816e-01 -2.67123420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.436875 meters 0.01589568095397093 Centerline is valid? [True, True] Translation: X:201.98, Y:-49.56, Z:-26.71 [[ 6.44218474e-01 -7.63133344e-01 5.10887144e-02 2.01980708e+02] [ 7.60679880e-01 6.46240837e-01 6.11465557e-02 -4.95576519e+01] [-7.96785890e-02 -5.29583666e-04 9.96820466e-01 -2.67142526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.466875 meters 0.016023403312845807 Centerline is valid? [True, True] Translation: X:202.00, Y:-49.54, Z:-26.72 [[ 6.44635771e-01 -7.62802609e-01 5.07631982e-02 2.01998172e+02] [ 7.60376642e-01 6.46631142e-01 6.07908610e-02 -4.95360083e+01] [-7.91964921e-02 -5.88813391e-04 9.96858851e-01 -2.67167626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.496875 meters 0.01642567623085683 Centerline is valid? [True, True] Translation: X:202.01, Y:-49.51, Z:-26.72 [[ 6.45723884e-01 -7.61867702e-01 5.09732348e-02 2.02013722e+02] [ 7.59415987e-01 6.47732255e-01 6.10760577e-02 -4.95142932e+01] [-7.95488840e-02 -7.28379752e-04 9.96830700e-01 -2.67198935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.526875 meters 0.016360479260098728 Centerline is valid? [True, True] Translation: X:202.03, Y:-49.49, Z:-26.72 [[ 6.46326152e-01 -7.61343197e-01 5.11765646e-02 2.02031260e+02] [ 7.58867781e-01 6.48348571e-01 6.13499925e-02 -4.94920436e+01] [-7.98886519e-02 -8.15858600e-04 9.96803460e-01 -2.67222165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.556875 meters 0.016274284341095395 Centerline is valid? [True, True] Translation: X:202.05, Y:-49.47, Z:-26.72 [[ 6.47116870e-01 -7.60647659e-01 5.15256709e-02 2.02048566e+02] [ 7.58133302e-01 6.49164288e-01 6.18031014e-02 -4.94704005e+01] [-8.04590099e-02 -9.30502505e-04 9.96757484e-01 -2.67242416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.586875 meters 0.016763497856441573 Centerline is valid? [True, True] Translation: X:202.06, Y:-49.45, Z:-26.73 [[ 6.47982917e-01 -7.59919401e-01 5.13871955e-02 2.02064347e+02] [ 7.57413348e-01 6.50016476e-01 6.16733425e-02 -4.94485681e+01] [-8.02692932e-02 -1.04192457e-03 9.96772670e-01 -2.67275275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.616875 meters 0.016985526364804517 Centerline is valid? [True, True] Translation: X:202.08, Y:-49.43, Z:-26.73 [[ 6.49332853e-01 -7.58773465e-01 5.12803499e-02 2.02081167e+02] [ 7.56272447e-01 6.51353512e-01 6.15677514e-02 -4.94258185e+01] [-8.01176121e-02 -1.19604795e-03 9.96784700e-01 -2.67305373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.646875 meters 0.017260455543369656 Centerline is valid? [True, True] Translation: X:202.10, Y:-49.40, Z:-26.73 [[ 6.50169064e-01 -7.58082733e-01 5.08994867e-02 2.02098919e+02] [ 7.55615458e-01 6.52157134e-01 6.11257161e-02 -4.94035093e+01] [-7.95328133e-02 -1.28161073e-03 9.96831425e-01 -2.67334038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.676875 meters 0.017347139086129833 Centerline is valid? [True, True] Translation: X:202.12, Y:-49.38, Z:-26.74 [[ 6.50667662e-01 -7.57675064e-01 5.05973452e-02 2.02117136e+02] [ 7.55233494e-01 6.52630596e-01 6.07920654e-02 -4.93808209e+01] [-7.90820076e-02 -1.34262131e-03 9.96867210e-01 -2.67362036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.706875 meters 0.017390090323119115 Centerline is valid? [True, True] Translation: X:202.13, Y:-49.36, Z:-26.74 [[ 6.50988857e-01 -7.57416256e-01 5.03400680e-02 2.02134983e+02] [ 7.54996424e-01 6.52930849e-01 6.05120349e-02 -4.93587535e+01] [-7.87013822e-02 -1.38608910e-03 9.96897272e-01 -2.67392852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.736875 meters 0.017860948796183752 Centerline is valid? [True, True] Translation: X:202.15, Y:-49.34, Z:-26.74 [[ 6.51660103e-01 -7.56880641e-01 4.97072041e-02 2.02151494e+02] [ 7.54517106e-01 6.53551511e-01 5.97859479e-02 -4.93363716e+01] [-7.77370449e-02 -1.45518114e-03 9.96972835e-01 -2.67430874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.766875 meters 0.017831766675706812 Centerline is valid? [True, True] Translation: X:202.17, Y:-49.31, Z:-26.75 [[ 6.51821908e-01 -7.56750704e-01 4.95638179e-02 2.02169223e+02] [ 7.54399385e-01 6.53701916e-01 5.96269438e-02 -4.93143862e+01] [-7.75226944e-02 -1.47523455e-03 9.96989496e-01 -2.67461227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.796875 meters 0.01783164924306579 Centerline is valid? [True, True] Translation: X:202.19, Y:-49.29, Z:-26.75 [[ 6.51886568e-01 -7.56695374e-01 4.95581767e-02 2.02186801e+02] [ 7.54341934e-01 6.53765900e-01 5.96522730e-02 -4.92927411e+01] [-7.75380451e-02 -1.50270470e-03 9.96988261e-01 -2.67485049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.826875 meters 0.017551787645566093 Centerline is valid? [True, True] Translation: X:202.20, Y:-49.27, Z:-26.75 [[ 6.51683299e-01 -7.56847486e-01 4.99075229e-02 2.02204535e+02] [ 7.54458474e-01 6.53589765e-01 6.01068205e-02 -4.92706500e+01] [-7.81107422e-02 -1.51745754e-03 9.96943534e-01 -2.67503883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.856875 meters 0.017076120302682525 Centerline is valid? [True, True] Translation: X:202.22, Y:-49.25, Z:-26.75 [[ 6.51148946e-01 -7.57292524e-01 5.01306618e-02 2.02223501e+02] [ 7.54880682e-01 6.53074118e-01 6.04098688e-02 -4.92501591e+01] [-7.84869797e-02 -1.49315422e-03 9.96914021e-01 -2.67517310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.886875 meters 0.017276430094836943 Centerline is valid? [True, True] Translation: X:202.24, Y:-49.23, Z:-26.75 [[ 6.50424650e-01 -7.57885608e-01 5.05685746e-02 2.02240171e+02] [ 7.55430250e-01 6.52385836e-01 6.09742415e-02 -4.92291168e+01] [-7.92017219e-02 -1.45811871e-03 9.96857543e-01 -2.67536464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91687499999998 meters 0.017406451319013937 Centerline is valid? [True, True] Translation: X:202.26, Y:-49.21, Z:-26.76 [[ 6.49441449e-01 -7.58682754e-01 5.12472738e-02 2.02257142e+02] [ 7.56161108e-01 6.51458767e-01 6.18211404e-02 -4.92078302e+01] [-8.02881188e-02 -1.39801571e-03 9.96770718e-01 -2.67562876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94687499999998 meters 0.0162734788852751 Centerline is valid? [True, True] Translation: X:202.28, Y:-49.19, Z:-26.76 [[ 6.46803358e-01 -7.60861124e-01 5.23045458e-02 2.02277685e+02] [ 7.58239109e-01 6.48913695e-01 6.31226517e-02 -4.91868601e+01] [-8.19687078e-02 -1.16859085e-03 9.96634218e-01 -2.67571658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97687499999998 meters 0.016131952271773286 Centerline is valid? [True, True] Translation: X:202.30, Y:-49.17, Z:-26.76 [[ 6.45459564e-01 -7.61980096e-01 5.26144864e-02 2.02295537e+02] [ 7.59327891e-01 6.47599585e-01 6.35289788e-02 -4.91664568e+01] [-8.24809369e-02 -1.05373988e-03 9.96592085e-01 -2.67593690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00687499999998 meters 0.015631564283956376 Centerline is valid? [True, True] Translation: X:202.31, Y:-49.15, Z:-26.76 [[ 6.43778204e-01 -7.63392230e-01 5.27439744e-02 2.02314686e+02] [ 7.60729440e-01 6.45934599e-01 6.37119473e-02 -4.91456739e+01] [-8.27063635e-02 -8.92468959e-04 9.96573560e-01 -2.67610440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03687499999998 meters 0.015498052638786328 Centerline is valid? [True, True] Translation: X:202.33, Y:-49.13, Z:-26.76 [[ 6.42468919e-01 -7.64494928e-01 5.27370218e-02 2.02331767e+02] [ 7.61833622e-01 6.44629279e-01 6.37387349e-02 -4.91252968e+01] [-8.27237679e-02 -7.73319731e-04 9.96572215e-01 -2.67638838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06687499999998 meters 0.0152666321094932 Centerline is valid? [True, True] Translation: X:202.35, Y:-49.10, Z:-26.77 [[ 6.41457848e-01 -7.65355080e-01 5.25683448e-02 2.02350729e+02] [ 7.62711331e-01 6.43607909e-01 6.35632386e-02 -4.91039709e+01] [-8.24818501e-02 -6.78666012e-04 9.96592336e-01 -2.67662504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09687499999998 meters 0.014915788198810478 Centerline is valid? [True, True] Translation: X:202.37, Y:-49.08, Z:-26.77 [[ 6.39357255e-01 -7.67162599e-01 5.18058557e-02 2.02368490e+02] [ 7.64598313e-01 6.41452519e-01 6.26744447e-02 -4.90835805e+01] [-8.13124865e-02 -4.60691053e-04 9.96688551e-01 -2.67705015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12687499999998 meters 0.014915788198810478 Centerline is valid? [True, True] Translation: X:202.39, Y:-49.06, Z:-26.77 [[ 6.39147697e-01 -7.67338216e-01 5.17907662e-02 2.02385951e+02] [ 7.64773495e-01 6.41242429e-01 6.26869110e-02 -4.90623144e+01] [-8.13124992e-02 -4.57989525e-04 9.96688551e-01 -2.67730021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15687499999999 meters 0.014971903016228348 Centerline is valid? [True, True] Translation: X:202.40, Y:-49.04, Z:-26.78 [[ 6.37988996e-01 -7.68338866e-01 5.12389388e-02 2.02404513e+02] [ 7.65829057e-01 6.40043175e-01 6.20531215e-02 -4.90409719e+01] [-8.04729580e-02 -3.48940468e-04 9.96756731e-01 -2.67762160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.186875 meters 0.014952928598482086 Centerline is valid? [True, True] Translation: X:202.42, Y:-49.02, Z:-26.78 [[ 6.36827708e-01 -7.69317956e-01 5.09936521e-02 2.02421689e+02] [ 7.66832435e-01 6.38866043e-01 6.17915435e-02 -4.90207513e+01] [-8.01154567e-02 -2.46980575e-04 9.96785560e-01 -2.67793267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.216875 meters 0.014766987686131331 Centerline is valid? [True, True] Translation: X:202.44, Y:-49.00, Z:-26.78 [[ 6.34421114e-01 -7.71293718e-01 5.11453907e-02 2.02441112e+02] [ 7.68797222e-01 6.36479380e-01 6.20066971e-02 -4.90001439e+01] [-8.03783625e-02 -1.79236059e-05 9.96764425e-01 -2.67806776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.246875 meters 0.014962254415881619 Centerline is valid? [True, True] Translation: X:202.46, Y:-48.98, Z:-26.78 [[ 6.33358644e-01 -7.72164528e-01 5.11739279e-02 2.02458828e+02] [ 7.69665102e-01 6.35422645e-01 6.20781255e-02 -4.89800151e+01] [-8.04515991e-02 6.90690363e-05 9.96758514e-01 -2.67833685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.276875 meters 0.014967786312747724 Centerline is valid? [True, True] Translation: X:202.48, Y:-48.96, Z:-26.79 [[ 6.32074851e-01 -7.73203090e-01 5.13650136e-02 2.02476937e+02] [ 7.70686503e-01 6.34158456e-01 6.23327131e-02 -4.89588140e+01] [-8.07694041e-02 1.87382358e-04 9.96732797e-01 -2.67852842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.306875 meters 0.014841750595910686 Centerline is valid? [True, True] Translation: X:202.49, Y:-48.94, Z:-26.79 [[ 6.31183931e-01 -7.73884022e-01 5.20611742e-02 2.02494985e+02] [ 7.71298009e-01 6.33327289e-01 6.32133394e-02 -4.89368095e+01] [-8.18915557e-02 2.55436003e-04 9.96641213e-01 -2.67871464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.336875 meters 0.0146817530370995 Centerline is valid? [True, True] Translation: X:202.51, Y:-48.92, Z:-26.79 [[ 6.30540639e-01 -7.74320438e-01 5.33513034e-02 2.02511778e+02] [ 7.71602729e-01 6.32793625e-01 6.48186497e-02 -4.89159009e+01] [-8.39507700e-02 2.95218520e-04 9.96469860e-01 -2.67884128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.366875 meters 0.014391463883691526 Centerline is valid? [True, True] Translation: X:202.53, Y:-48.89, Z:-26.79 [[ 6.30471643e-01 -7.74358657e-01 5.36113557e-02 2.02528804e+02] [ 7.71612511e-01 6.32746859e-01 6.51578399e-02 -4.88934679e+01] [-8.43779543e-02 2.87022419e-04 9.96433780e-01 -2.67898077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.396875 meters 0.014506827634327858 Centerline is valid? [True, True] Translation: X:202.55, Y:-48.87, Z:-26.79 [[ 6.30822086e-01 -7.74091400e-01 5.33479131e-02 2.02545621e+02] [ 7.71368135e-01 6.33073813e-01 6.48748635e-02 -4.88717931e+01] [-8.39922407e-02 2.26383537e-04 9.96466383e-01 -2.67926618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.426875 meters 0.014427941914901593 Centerline is valid? [True, True] Translation: X:202.56, Y:-48.85, Z:-26.79 [[ 6.31490255e-01 -7.73562748e-01 5.31105776e-02 2.02562285e+02] [ 7.70859054e-01 6.33719699e-01 6.46193648e-02 -4.88494067e+01] [-8.36443526e-02 1.34270422e-04 9.96495662e-01 -2.67948171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.456875 meters 0.014607841499065447 Centerline is valid? [True, True] Translation: X:202.58, Y:-48.83, Z:-26.80 [[ 6.33306784e-01 -7.72118281e-01 5.24964470e-02 2.02577646e+02] [ 7.69468974e-01 6.35478838e-01 6.39073078e-02 -4.88252319e+01] [-8.27043818e-02 -7.85443921e-05 9.96574121e-01 -2.67976880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.486875 meters 0.014506951387469469 Centerline is valid? [True, True] Translation: X:202.59, Y:-48.80, Z:-26.80 [[ 6.34129592e-01 -7.71450415e-01 5.23824153e-02 2.02593563e+02] [ 7.68807303e-01 6.36289416e-01 6.38052479e-02 -4.88028927e+01] [-8.25529614e-02 -1.88812365e-04 9.96586661e-01 -2.68007255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.516875 meters 0.01459931066894118 Centerline is valid? [True, True] Translation: X:202.61, Y:-48.78, Z:-26.80 [[ 6.34913983e-01 -7.70806873e-01 5.23545358e-02 2.02610020e+02] [ 7.68161702e-01 6.37068817e-01 6.38037794e-02 -4.87803440e+01] [-8.25338339e-02 -2.93162447e-04 9.96588220e-01 -2.68029886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.546875 meters 0.014756608072615187 Centerline is valid? [True, True] Translation: X:202.63, Y:-48.76, Z:-26.81 [[ 6.35705418e-01 -7.70163263e-01 5.22223077e-02 2.02625827e+02] [ 7.67526220e-01 6.37846681e-01 6.36797682e-02 -4.87578768e+01] [-8.23536437e-02 -3.99583152e-04 9.96603089e-01 -2.68064078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.576875 meters 0.014901144923615993 Centerline is valid? [True, True] Translation: X:202.64, Y:-48.73, Z:-26.81 [[ 6.37152415e-01 -7.68983840e-01 5.19678257e-02 2.02641419e+02] [ 7.66365823e-01 6.39267963e-01 6.34026568e-02 -4.87346411e+01] [-8.19769845e-02 -5.70790320e-04 9.96634059e-01 -2.68095119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.606875 meters 0.014772197153377065 Centerline is valid? [True, True] Translation: X:202.66, Y:-48.71, Z:-26.81 [[ 6.37720744e-01 -7.68530565e-01 5.17012916e-02 2.02657652e+02] [ 7.65935102e-01 6.39812747e-01 6.31115592e-02 -4.87126964e+01] [-8.15823076e-02 -6.47716454e-04 9.96666397e-01 -2.68120949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.636875 meters 0.01518608953208233 Centerline is valid? [True, True] Translation: X:202.67, Y:-48.69, Z:-26.82 [[ 6.38477033e-01 -7.67917061e-01 5.14826831e-02 2.02674058e+02] [ 7.65338973e-01 6.40548855e-01 6.28762301e-02 -4.86907355e+01] [-8.12609034e-02 -7.43324994e-04 9.96692587e-01 -2.68150161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66687499999998 meters 0.015391765032425021 Centerline is valid? [True, True] Translation: X:202.69, Y:-48.67, Z:-26.82 [[ 6.39384427e-01 -7.67154777e-01 5.15858776e-02 2.02690700e+02] [ 7.64561307e-01 6.41461461e-01 6.30333392e-02 -4.86678669e+01] [-8.14466796e-02 -8.61969483e-04 9.96677328e-01 -2.68173472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69687499999998 meters 0.015764296892188376 Centerline is valid? [True, True] Translation: X:202.71, Y:-48.64, Z:-26.82 [[ 6.41178727e-01 -7.65659045e-01 5.15370430e-02 2.02706877e+02] [ 7.63062885e-01 6.43245734e-01 6.30076086e-02 -4.86436852e+01] [-8.13933285e-02 -1.07313350e-03 9.96681481e-01 -2.68202633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72687499999998 meters 0.016153351910824627 Centerline is valid? [True, True] Translation: X:202.72, Y:-48.62, Z:-26.82 [[ 6.41945067e-01 -7.65034329e-01 5.12738398e-02 2.02724108e+02] [ 7.62460192e-01 6.43988443e-01 6.27163465e-02 -4.86203255e+01] [-8.09999183e-02 -1.16618749e-03 9.96713426e-01 -2.68229782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75687499999998 meters 0.01643440404685203 Centerline is valid? [True, True] Translation: X:202.74, Y:-48.60, Z:-26.83 [[ 6.42847557e-01 -7.64258117e-01 5.15417276e-02 2.02740608e+02] [ 7.61651813e-01 6.44909189e-01 6.30765758e-02 -4.85975195e+01] [-8.14465188e-02 -1.29177244e-03 9.96676876e-01 -2.68251649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78687499999998 meters 0.016753409502614697 Centerline is valid? [True, True] Translation: X:202.76, Y:-48.57, Z:-26.83 [[ 6.43896176e-01 -7.63371065e-01 5.15977836e-02 2.02758365e+02] [ 7.60755094e-01 6.45958679e-01 6.31591004e-02 -4.85744619e+01] [-8.15438659e-02 -1.41462647e-03 9.96668750e-01 -2.68270030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81687499999998 meters 0.017457353644884186 Centerline is valid? [True, True] Translation: X:202.78, Y:-48.55, Z:-26.83 [[ 6.45974877e-01 -7.61604922e-01 5.17146126e-02 2.02775171e+02] [ 7.58968909e-01 6.48039492e-01 6.33325585e-02 -4.85511454e+01] [-8.17474996e-02 -1.66145860e-03 9.96651687e-01 -2.68291040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84687499999998 meters 0.017608316442544753 Centerline is valid? [True, True] Translation: X:202.79, Y:-48.53, Z:-26.83 [[ 6.46756932e-01 -7.60952012e-01 5.15510126e-02 2.02793091e+02] [ 7.58328094e-01 6.48805783e-01 6.31629520e-02 -4.85281184e+01] [-8.15105705e-02 -1.75849596e-03 9.96670926e-01 -2.68318692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87687499999998 meters 0.018261054261376548 Centerline is valid? [True, True] Translation: X:202.81, Y:-48.51, Z:-26.84 [[ 6.47468294e-01 -7.60367571e-01 5.12441640e-02 2.02809006e+02] [ 7.57770354e-01 6.49490386e-01 6.28198158e-02 -4.85058586e+01] [-8.10487426e-02 -1.84253066e-03 9.96708436e-01 -2.68353569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90687499999999 meters 0.01881947076666182 Centerline is valid? [True, True] Translation: X:202.83, Y:-48.48, Z:-26.84 [[ 6.47957332e-01 -7.59971787e-01 5.09330826e-02 2.02825663e+02] [ 7.57403489e-01 6.49953310e-01 6.24551827e-02 -4.84831721e+01] [-8.05683024e-02 -1.89139906e-03 9.96747296e-01 -2.68384170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.936875 meters 0.018767227600223823 Centerline is valid? [True, True] Translation: X:202.84, Y:-48.46, Z:-26.84 [[ 6.48629916e-01 -7.59408524e-01 5.07732726e-02 2.02844506e+02] [ 7.56853328e-01 6.50611120e-01 6.22752768e-02 -4.84607747e+01] [-8.03260318e-02 -1.96568723e-03 9.96766705e-01 -2.68406570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.966875 meters 0.01918383007664084 Centerline is valid? [True, True] Translation: X:202.86, Y:-48.44, Z:-26.84 [[ 6.48476503e-01 -7.59521521e-01 5.10419870e-02 2.02861021e+02] [ 7.56937032e-01 6.50479155e-01 6.26354431e-02 -4.84387713e+01] [-8.07747156e-02 -1.98204295e-03 9.96730413e-01 -2.68429490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.996875 meters 0.018300990786591174 Centerline is valid? [True, True] Translation: X:202.88, Y:-48.42, Z:-26.84 [[ 6.48152268e-01 -7.59803942e-01 5.09569085e-02 2.02880179e+02] [ 7.57226475e-01 6.50149301e-01 6.25615797e-02 -4.84183454e+01] [-8.06641333e-02 -1.96350957e-03 9.96739405e-01 -2.68446245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.026875 meters 0.018002845214237576 Centerline is valid? [True, True] Translation: X:202.90, Y:-48.40, Z:-26.85 [[ 6.47455974e-01 -7.60396167e-01 5.09748110e-02 2.02898034e+02] [ 7.57815815e-01 6.49456702e-01 6.26193574e-02 -4.83964865e+01] [-8.07214519e-02 -1.91375914e-03 9.96734862e-01 -2.68474107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.056875 meters 0.018087619371258006 Centerline is valid? [True, True] Translation: X:202.92, Y:-48.37, Z:-26.85 [[ 6.45612620e-01 -7.62022507e-01 5.00604030e-02 2.02915190e+02] [ 7.59535972e-01 6.47548297e-01 6.15330105e-02 -4.83744505e+01] [-7.93060676e-02 -1.70381133e-03 9.96848858e-01 -2.68522401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.086875 meters 0.017952117835286226 Centerline is valid? [True, True] Translation: X:202.93, Y:-48.35, Z:-26.86 [[ 6.44086959e-01 -7.63321166e-01 4.99278144e-02 2.02933845e+02] [ 7.60851054e-01 6.46017345e-01 6.13780384e-02 -4.83531667e+01] [-7.91053899e-02 -1.54516394e-03 9.96865061e-01 -2.68557068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.116875 meters 0.016336308755869396 Centerline is valid? [True, True] Translation: X:202.96, Y:-48.33, Z:-26.86 [[ 6.42186009e-01 -7.64923049e-01 4.98984801e-02 2.02955298e+02] [ 7.62458384e-01 6.44120224e-01 6.13705925e-02 -4.83329429e+01] [-7.90844009e-02 -1.36582139e-03 9.96866988e-01 -2.68569619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.146875 meters 0.015627639180386153 Centerline is valid? [True, True] Translation: X:202.98, Y:-48.31, Z:-26.86 [[ 6.39787767e-01 -7.66919844e-01 5.00556336e-02 2.02975690e+02] [ 7.64443222e-01 6.41741885e-01 6.15947563e-02 -4.83115698e+01] [-7.93610375e-02 -1.14288180e-03 9.96845284e-01 -2.68589843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.176875 meters 0.014792001109617287 Centerline is valid? [True, True] Translation: X:203.00, Y:-48.29, Z:-26.86 [[ 6.34076664e-01 -7.71601024e-01 5.07803575e-02 2.02997588e+02] [ 7.69064571e-01 6.36106530e-01 6.25153521e-02 -4.82923300e+01] [-8.05386266e-02 -5.86152080e-04 9.96751316e-01 -2.68606874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.206875 meters 0.014513116120635864 Centerline is valid? [True, True] Translation: X:203.02, Y:-48.27, Z:-26.86 [[ 6.30667630e-01 -7.74373703e-01 5.10265536e-02 2.03017498e+02] [ 7.71818998e-01 6.32728460e-01 6.28500639e-02 -4.82713886e+01] [-8.09553894e-02 -2.54237365e-04 9.96717693e-01 -2.68627459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.236875 meters 0.014451893581781504 Centerline is valid? [True, True] Translation: X:203.04, Y:-48.25, Z:-26.86 [[ 6.27405903e-01 -7.77009818e-01 5.11622500e-02 2.03037410e+02] [ 7.74447602e-01 6.29488473e-01 6.30489809e-02 -4.82510716e+01] [-8.11957238e-02 6.51790435e-05 9.96698174e-01 -2.68644445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.266875 meters 0.015046781731206533 Centerline is valid? [True, True] Translation: X:203.06, Y:-48.23, Z:-26.87 [[ 6.21548000e-01 -7.81706150e-01 5.11231681e-02 2.03059038e+02] [ 7.79160617e-01 6.23646589e-01 6.30370113e-02 -4.82318614e+01] [-8.11592089e-02 6.52630890e-04 9.96700937e-01 -2.68658195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.296875 meters 0.015658566482583562 Centerline is valid? [True, True] Translation: X:203.08, Y:-48.21, Z:-26.87 [[ 6.18974692e-01 -7.83733398e-01 5.13058714e-02 2.03078131e+02] [ 7.81173855e-01 6.21096732e-01 6.32950126e-02 -4.82111612e+01] [-8.14723243e-02 9.00794393e-04 9.96675197e-01 -2.68684780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.326875 meters 0.015835806899736325 Centerline is valid? [True, True] Translation: X:203.10, Y:-48.19, Z:-26.87 [[ 6.16670797e-01 -7.85550543e-01 5.12588890e-02 2.03096200e+02] [ 7.83000463e-01 6.18796471e-01 6.32550610e-02 -4.81893509e+01] [-8.14088671e-02 1.12818501e-03 9.96680151e-01 -2.68703478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.356875 meters 0.016252325551215235 Centerline is valid? [True, True] Translation: X:203.12, Y:-48.17, Z:-26.87 [[ 6.14588729e-01 -7.87174934e-01 5.13450900e-02 2.03115159e+02] [ 7.84620500e-01 6.16728337e-01 6.33784582e-02 -4.81674029e+01] [-8.15559056e-02 1.33472414e-03 9.96667875e-01 -2.68729106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.386875 meters 0.017152819550396388 Centerline is valid? [True, True] Translation: X:203.13, Y:-48.15, Z:-26.88 [[ 6.12010503e-01 -7.89193745e-01 5.11505368e-02 2.03132485e+02] [ 7.86663047e-01 6.14142284e-01 6.31704498e-02 -4.81459734e+01] [-8.12674314e-02 1.57725833e-03 9.96691084e-01 -2.68766781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41687499999998 meters 0.01680022484557692 Centerline is valid? [True, True] Translation: X:203.15, Y:-48.12, Z:-26.88 [[ 6.11642104e-01 -7.89483301e-01 5.10886868e-02 2.03149028e+02] [ 7.86957922e-01 6.13769954e-01 6.31163421e-02 -4.81229392e+01] [-8.11859991e-02 1.60003451e-03 9.96697684e-01 -2.68792752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44687499999998 meters 0.0172371147262464 Centerline is valid? [True, True] Translation: X:203.17, Y:-48.10, Z:-26.88 [[ 6.11750590e-01 -7.89410430e-01 5.09155112e-02 2.03165232e+02] [ 7.86899013e-01 6.13863772e-01 6.29381678e-02 -4.81014284e+01] [-8.09392338e-02 1.56290428e-03 9.96717813e-01 -2.68825989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47687499999998 meters 0.016520295611150086 Centerline is valid? [True, True] Translation: X:203.18, Y:-48.08, Z:-26.88 [[ 6.12510659e-01 -7.88845744e-01 5.05280628e-02 2.03180175e+02] [ 7.86368078e-01 6.14589511e-01 6.24898298e-02 -4.80775797e+01] [-8.03488537e-02 1.45796887e-03 9.96765738e-01 -2.68848990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50687499999998 meters 0.015537365525123262 Centerline is valid? [True, True] Translation: X:203.19, Y:-48.05, Z:-26.89 [[ 6.16993842e-01 -7.85331201e-01 5.07297004e-02 2.03192404e+02] [ 7.82818893e-01 6.19075070e-01 6.27745088e-02 -4.80502951e+01] [-8.07042732e-02 9.80682466e-04 9.96737608e-01 -2.68873711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53687499999998 meters 0.014938087681463486 Centerline is valid? [True, True] Translation: X:203.21, Y:-48.02, Z:-26.89 [[ 6.19946972e-01 -7.82974548e-01 5.11527999e-02 2.03206336e+02] [ 7.80409416e-01 6.22053392e-01 6.33302466e-02 -4.80249941e+01] [-8.14057439e-02 6.58732152e-04 9.96680827e-01 -2.68900794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56687499999998 meters 0.014258705253896388 Centerline is valid? [True, True] Translation: X:203.22, Y:-48.00, Z:-26.89 [[ 6.26562773e-01 -7.77693934e-01 5.11002519e-02 2.03215134e+02] [ 7.75113726e-01 6.28643096e-01 6.32974687e-02 -4.79976838e+01] [-8.13498780e-02 -5.13308676e-05 9.96685605e-01 -2.68938500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59687499999998 meters 0.014587330307689897 Centerline is valid? [True, True] Translation: X:203.23, Y:-47.97, Z:-26.90 [[ 6.29671610e-01 -7.75176032e-01 5.11447251e-02 2.03229258e+02] [ 7.72581219e-01 6.31745175e-01 6.33742317e-02 -4.79727084e+01] [-8.14366188e-02 -3.91500492e-04 9.96678446e-01 -2.68971256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62687499999998 meters 0.014706540841900166 Centerline is valid? [True, True] Translation: X:203.24, Y:-47.95, Z:-26.90 [[ 6.32564237e-01 -7.72799676e-01 5.14115508e-02 2.03244191e+02] [ 7.70166877e-01 6.34649617e-01 6.37404597e-02 -4.79473082e+01] [-8.18869276e-02 -7.24461728e-04 9.96641363e-01 -2.68995308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65687499999999 meters 0.01503888047141501 Centerline is valid? [True, True] Translation: X:203.26, Y:-47.92, Z:-26.90 [[ 6.35022680e-01 -7.70793594e-01 5.12194398e-02 2.03259275e+02] [ 7.68171246e-01 6.37084165e-01 6.35350575e-02 -4.79231081e+01] [-8.16035093e-02 -1.00090155e-03 9.96664370e-01 -2.69019354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.686875 meters 0.015712775115800437 Centerline is valid? [True, True] Translation: X:203.27, Y:-47.90, Z:-26.90 [[ 6.37227572e-01 -7.68948872e-01 5.15621251e-02 2.03273769e+02] [ 7.66283598e-01 6.39309040e-01 6.39796787e-02 -4.78993008e+01] [-8.21612345e-02 -1.25840457e-03 9.96618256e-01 -2.69049759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.716875 meters 0.01650354648283184 Centerline is valid? [True, True] Translation: X:203.29, Y:-47.87, Z:-26.91 [[ 6.40953689e-01 -7.65817890e-01 5.19743002e-02 2.03287260e+02] [ 7.63097909e-01 6.43055298e-01 6.45094147e-02 -4.78731831e+01] [-8.28248129e-02 -1.68606749e-03 9.96562696e-01 -2.69071555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.746875 meters 0.017540666461218213 Centerline is valid? [True, True] Translation: X:203.30, Y:-47.85, Z:-26.91 [[ 6.42745843e-01 -7.64306025e-01 5.20968425e-02 2.03303100e+02] [ 7.61565506e-01 6.44850885e-01 6.46940196e-02 -4.78485295e+01] [-8.30407240e-02 -1.90665397e-03 9.96544331e-01 -2.69099190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.776875 meters 0.018100157160400653 Centerline is valid? [True, True] Translation: X:203.32, Y:-47.82, Z:-26.91 [[ 6.44326970e-01 -7.62956699e-01 5.23434012e-02 2.03319158e+02] [ 7.60182951e-01 6.46446143e-01 6.50328033e-02 -4.78242136e+01] [-8.34544027e-02 -2.11182788e-03 9.96509359e-01 -2.69128940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.806875 meters 0.018570889795089276 Centerline is valid? [True, True] Translation: X:203.33, Y:-47.80, Z:-26.92 [[ 6.45666167e-01 -7.61827395e-01 5.22897754e-02 2.03334532e+02] [ 7.59052838e-01 6.47776067e-01 6.49996575e-02 -4.78006588e+01] [-8.33905849e-02 -2.27737730e-03 9.96514337e-01 -2.69159913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.836875 meters 0.01996865617820165 Centerline is valid? [True, True] Translation: X:203.35, Y:-47.78, Z:-26.92 [[ 6.47270313e-01 -7.60480247e-01 5.20666461e-02 2.03349030e+02] [ 7.57723171e-01 6.49356425e-01 6.47443408e-02 -4.77764250e+01] [-8.30466035e-02 -2.45498559e-03 9.96542641e-01 -2.69204185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.866875 meters 0.020168158125518077 Centerline is valid? [True, True] Translation: X:203.37, Y:-47.75, Z:-26.92 [[ 6.47630903e-01 -7.60211545e-01 5.15035910e-02 2.03365966e+02] [ 7.57510655e-01 6.49670878e-01 6.40730586e-02 -4.77538029e+01] [-8.21694621e-02 -2.48117387e-03 9.96615284e-01 -2.69237479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.896875 meters 0.019161371910863874 Centerline is valid? [True, True] Translation: X:203.39, Y:-47.73, Z:-26.93 [[ 6.47656645e-01 -7.60188720e-01 5.15167959e-02 2.03385618e+02] [ 7.57485137e-01 6.49697536e-01 6.41044388e-02 -4.77321734e+01] [-8.22018066e-02 -2.49445855e-03 9.96612583e-01 -2.69262876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.926875 meters 0.02085689266980408 Centerline is valid? [True, True] Translation: X:203.40, Y:-47.71, Z:-26.93 [[ 6.47254845e-01 -7.60546750e-01 5.12816396e-02 2.03400454e+02] [ 7.57866188e-01 6.49278516e-01 6.38455109e-02 -4.77086057e+01] [-8.18535626e-02 -2.45969552e-03 9.96641332e-01 -2.69302144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.956875 meters 0.018653646944898655 Centerline is valid? [True, True] Translation: X:203.42, Y:-47.69, Z:-26.93 [[ 6.46870814e-01 -7.60895598e-01 5.09513346e-02 2.03420951e+02] [ 7.58249193e-01 6.48869845e-01 6.34514471e-02 -4.76893995e+01] [-8.13407114e-02 -2.41108095e-03 9.96683438e-01 -2.69313055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.986875 meters 0.01841207637895111 Centerline is valid? [True, True] Translation: X:203.44, Y:-47.67, Z:-26.93 [[ 6.45905095e-01 -7.61735601e-01 5.06505910e-02 2.03440136e+02] [ 7.59119951e-01 6.47883872e-01 6.31140908e-02 -4.76679599e+01] [-8.08919509e-02 -2.31583860e-03 9.96720186e-01 -2.69347030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.016875 meters 0.018108601061116985 Centerline is valid? [True, True] Translation: X:203.46, Y:-47.65, Z:-26.94 [[ 6.45345464e-01 -7.62211814e-01 5.06199895e-02 2.03458840e+02] [ 7.59598181e-01 6.47323700e-01 6.31080912e-02 -4.76464659e+01] [-8.08692515e-02 -2.27566846e-03 9.96722121e-01 -2.69371330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.046875 meters 0.018108601061116985 Centerline is valid? [True, True] Translation: X:203.48, Y:-47.62, Z:-26.94 [[ 6.45127514e-01 -7.62397324e-01 5.06044641e-02 2.03475997e+02] [ 7.59783286e-01 6.47105213e-01 6.31205377e-02 -4.76249531e+01] [-8.08693416e-02 -2.27236953e-03 9.96722121e-01 -2.69396347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.076875 meters 0.018898533263100155 Centerline is valid? [True, True] Translation: X:203.49, Y:-47.60, Z:-26.94 [[ 6.44889277e-01 -7.62599519e-01 5.05944146e-02 2.03492454e+02] [ 7.59983956e-01 6.46866920e-01 6.31472451e-02 -4.76032207e+01] [-8.08839119e-02 -2.27203783e-03 9.96720939e-01 -2.69423447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.106875 meters 0.018710546566670885 Centerline is valid? [True, True] Translation: X:203.51, Y:-47.58, Z:-26.95 [[ 6.43934872e-01 -7.63400886e-01 5.06652548e-02 2.03511545e+02] [ 7.60778965e-01 6.45921285e-01 6.32539331e-02 -4.75821212e+01] [-8.10138750e-02 -2.18635319e-03 9.96710576e-01 -2.69450717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.136875 meters 0.018498673480096726 Centerline is valid? [True, True] Translation: X:203.53, Y:-47.56, Z:-26.95 [[ 6.43436417e-01 -7.63835828e-01 5.04420956e-02 2.03530001e+02] [ 7.61235554e-01 6.45407027e-01 6.30095347e-02 -4.75615596e+01] [-8.06846230e-02 -2.14431274e-03 9.96737374e-01 -2.69476972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16687499999998 meters 0.017948712785869216 Centerline is valid? [True, True] Translation: X:203.55, Y:-47.54, Z:-26.95 [[ 6.42910141e-01 -7.64270570e-01 5.05672494e-02 2.03549613e+02] [ 7.61655711e-01 6.44892245e-01 6.32026134e-02 -4.75406742e+01] [-8.09143243e-02 -2.11876675e-03 9.96718808e-01 -2.69496858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19687499999998 meters 0.018526457650255585 Centerline is valid? [True, True] Translation: X:203.57, Y:-47.52, Z:-26.95 [[ 6.42669643e-01 -7.64474520e-01 5.05414506e-02 2.03566937e+02] [ 7.61860214e-01 6.44650478e-01 6.32042386e-02 -4.75194318e+01] [-8.08996003e-02 -2.11392501e-03 9.96720014e-01 -2.69524019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22687499999998 meters 0.018074144965307522 Centerline is valid? [True, True] Translation: X:203.59, Y:-47.50, Z:-26.95 [[ 6.42345340e-01 -7.64739259e-01 5.06589630e-02 2.03586494e+02] [ 7.62112114e-01 6.44336456e-01 6.33692199e-02 -4.74985411e+01] [-8.11023470e-02 -2.09711372e-03 9.96703573e-01 -2.69541472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25687499999998 meters 0.01870622659229187 Centerline is valid? [True, True] Translation: X:203.60, Y:-47.48, Z:-26.96 [[ 6.42444621e-01 -7.64662418e-01 5.05598217e-02 2.03603962e+02] [ 7.62042368e-01 6.44427549e-01 6.32816199e-02 -4.74773366e+01] [-8.09712184e-02 -2.12621002e-03 9.96714172e-01 -2.69571485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28687499999998 meters 0.01918451127299096 Centerline is valid? [True, True] Translation: X:203.62, Y:-47.46, Z:-26.96 [[ 6.42701959e-01 -7.64450083e-01 5.05001292e-02 2.03621564e+02] [ 7.61832975e-01 6.44679267e-01 6.32389284e-02 -4.74556083e+01] [-8.08993903e-02 -2.17111950e-03 9.96719908e-01 -2.69598258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31687499999998 meters 0.01855153787357825 Centerline is valid? [True, True] Translation: X:203.64, Y:-47.44, Z:-26.96 [[ 6.44014783e-01 -7.63359042e-01 5.02785598e-02 2.03642031e+02] [ 7.60758831e-01 6.45970271e-01 6.29953221e-02 -4.74350437e+01] [-8.05665036e-02 -2.32006028e-03 9.96746535e-01 -2.69616184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34687499999998 meters 0.01916369584535152 Centerline is valid? [True, True] Translation: X:203.66, Y:-47.41, Z:-26.96 [[ 6.44533885e-01 -7.62924250e-01 5.02260998e-02 2.03659791e+02] [ 7.60325561e-01 6.46483460e-01 6.29617148e-02 -4.74124932e+01] [-8.05053618e-02 -2.39277114e-03 9.96751304e-01 -2.69644899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37687499999998 meters 0.020138868575330884 Centerline is valid? [True, True] Translation: X:203.68, Y:-47.39, Z:-26.97 [[ 6.45202820e-01 -7.62360579e-01 5.01962975e-02 2.03676051e+02] [ 7.59760563e-01 6.47147726e-01 6.29579792e-02 -4.73904621e+01] [-8.04811013e-02 -2.48349845e-03 9.96753041e-01 -2.69673424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40687499999999 meters 0.019396474907546462 Centerline is valid? [True, True] Translation: X:203.70, Y:-47.37, Z:-26.97 [[ 6.45386207e-01 -7.62184582e-01 5.05104609e-02 2.03695587e+02] [ 7.59549995e-01 6.47354812e-01 6.33683850e-02 -4.73692154e+01] [-8.09965959e-02 -2.53186127e-03 9.96711162e-01 -2.69693225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.436875 meters 0.020799355063681007 Centerline is valid? [True, True] Translation: X:203.71, Y:-47.35, Z:-26.97 [[ 6.46256057e-01 -7.61461523e-01 5.02937253e-02 2.03713117e+02] [ 7.58844647e-01 6.48204765e-01 6.31299024e-02 -4.73472952e+01] [-8.06716240e-02 -2.63295757e-03 9.96737256e-01 -2.69721419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.466875 meters 0.020389324480888576 Centerline is valid? [True, True] Translation: X:203.73, Y:-47.33, Z:-26.97 [[ 6.46435340e-01 -7.61297146e-01 5.04777811e-02 2.03732057e+02] [ 7.58659193e-01 6.48397644e-01 6.33776364e-02 -4.73258149e+01] [-8.09788881e-02 -2.67411126e-03 9.96712230e-01 -2.69743518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.496875 meters 0.01985198948078555 Centerline is valid? [True, True] Translation: X:203.75, Y:-47.30, Z:-26.98 [[ 6.46976037e-01 -7.60821208e-01 5.07257014e-02 2.03751389e+02] [ 7.58152853e-01 6.48955632e-01 6.37247071e-02 -4.73041531e+01] [-8.14018383e-02 -2.77052316e-03 9.96677513e-01 -2.69762904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.526875 meters 0.02292986873465761 Centerline is valid? [True, True] Translation: X:203.77, Y:-47.28, Z:-26.98 [[ 6.48204211e-01 -7.59769554e-01 5.08087181e-02 2.03765968e+02] [ 7.57086455e-01 6.50185853e-01 6.38627925e-02 -4.72801806e+01] [-8.15561151e-02 -2.92953876e-03 9.96664446e-01 -2.69804411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.556875 meters 0.021324431503989997 Centerline is valid? [True, True] Translation: X:203.79, Y:-47.26, Z:-26.98 [[ 6.48561607e-01 -7.59503355e-01 5.02244453e-02 2.03786249e+02] [ 7.56878921e-01 6.50496719e-01 6.31531367e-02 -4.72596710e+01] [-8.06358561e-02 -2.94487587e-03 9.96739277e-01 -2.69825033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.586875 meters 0.02098332291173853 Centerline is valid? [True, True] Translation: X:203.80, Y:-47.24, Z:-26.99 [[ 6.48969333e-01 -7.59148578e-01 5.03213776e-02 2.03804890e+02] [ 7.56510315e-01 6.50910394e-01 6.33072043e-02 -4.72381794e+01] [-8.08142819e-02 -3.01579297e-03 9.96724614e-01 -2.69850402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.616875 meters 0.023022200226354164 Centerline is valid? [True, True] Translation: X:203.82, Y:-47.21, Z:-26.99 [[ 6.49095779e-01 -7.59044862e-01 5.02550213e-02 2.03820358e+02] [ 7.56410469e-01 6.51031192e-01 6.32581123e-02 -4.72148240e+01] [-8.07333315e-02 -3.04714948e-03 9.96731079e-01 -2.69890808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.646875 meters 0.02302029853322664 Centerline is valid? [True, True] Translation: X:203.84, Y:-47.19, Z:-26.99 [[ 6.48978786e-01 -7.59165409e-01 4.99441398e-02 2.03839368e+02] [ 7.56562559e-01 6.50890725e-01 6.28836877e-02 -4.71940715e+01] [-8.02472979e-02 -3.02431310e-03 9.96770397e-01 -2.69908200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.676875 meters 0.02210083586640315 Centerline is valid? [True, True] Translation: X:203.86, Y:-47.17, Z:-26.99 [[ 6.48360116e-01 -7.59698699e-01 4.98702939e-02 2.03858170e+02] [ 7.57102253e-01 6.50268424e-01 6.28263985e-02 -4.71733922e+01] [-8.01582106e-02 -2.97721915e-03 9.96777707e-01 -2.69930491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.706875 meters 0.020510666513492697 Centerline is valid? [True, True] Translation: X:203.88, Y:-47.15, Z:-27.00 [[ 6.47427380e-01 -7.60489647e-01 4.99328021e-02 2.03878739e+02] [ 7.57886127e-01 6.49343554e-01 6.29409876e-02 -4.71531799e+01] [-8.02895125e-02 -2.90634076e-03 9.96767349e-01 -2.69951328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.736875 meters 0.02184051345448393 Centerline is valid? [True, True] Translation: X:203.90, Y:-47.13, Z:-27.00 [[ 6.46504310e-01 -7.61296307e-01 4.95995017e-02 2.03895627e+02] [ 7.58727272e-01 6.48398062e-01 6.25530192e-02 -4.71304916e+01] [-7.97816033e-02 -2.80830190e-03 9.96808412e-01 -2.69986183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.766875 meters 0.019830838158115142 Centerline is valid? [True, True] Translation: X:203.92, Y:-47.11, Z:-27.00 [[ 6.43782637e-01 -7.63590512e-01 4.97337537e-02 2.03918358e+02] [ 7.61011770e-01 6.45695762e-01 6.27540434e-02 -4.71119432e+01] [-8.00312662e-02 -2.55199158e-03 9.96789087e-01 -2.69999011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.796875 meters 0.0189780915043169 Centerline is valid? [True, True] Translation: X:203.94, Y:-47.09, Z:-27.00 [[ 6.42225076e-01 -7.64894294e-01 4.98364385e-02 2.03938814e+02] [ 7.62305933e-01 6.44151282e-01 6.29189139e-02 -4.70909446e+01] [-8.02285240e-02 -2.41749149e-03 9.96773565e-01 -2.70019883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.826875 meters 0.019250086808513193 Centerline is valid? [True, True] Translation: X:203.96, Y:-47.07, Z:-27.01 [[ 6.40275255e-01 -7.66535437e-01 4.97093634e-02 2.03956973e+02] [ 7.63962608e-01 6.42198149e-01 6.27906884e-02 -4.70693500e+01] [-8.00545490e-02 -2.22722908e-03 9.96787996e-01 -2.70052307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.856875 meters 0.01899833598058848 Centerline is valid? [True, True] Translation: X:203.98, Y:-47.05, Z:-27.01 [[ 6.38267184e-01 -7.68211123e-01 4.96655927e-02 2.03975819e+02] [ 7.65645141e-01 6.40193345e-01 6.27694109e-02 -4.70485935e+01] [-8.00157415e-02 -2.03743545e-03 9.96791518e-01 -2.70084356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.886875 meters 0.01687751630377884 Centerline is valid? [True, True] Translation: X:204.00, Y:-47.03, Z:-27.01 [[ 6.34305386e-01 -7.71502230e-01 4.94063323e-02 2.03999169e+02] [ 7.68971630e-01 6.36224542e-01 6.24576977e-02 -4.70306007e+01] [-7.96197741e-02 -1.62518619e-03 9.96823982e-01 -2.70105100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91687499999998 meters 0.01619616332079999 Centerline is valid? [True, True] Translation: X:204.02, Y:-47.01, Z:-27.01 [[ 6.31934499e-01 -7.73459187e-01 4.91901934e-02 2.04019797e+02] [ 7.70953895e-01 6.33844572e-01 6.22185745e-02 -4.70102835e+01] [-7.93024651e-02 -1.39469253e-03 9.96849625e-01 -2.70131970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94687499999998 meters 0.015759195120608287 Centerline is valid? [True, True] Translation: X:204.04, Y:-46.99, Z:-27.02 [[ 6.29632973e-01 -7.75342270e-01 4.90579607e-02 2.04039544e+02] [ 7.72853409e-01 6.31540165e-01 6.20856517e-02 -4.69904266e+01] [-7.91197027e-02 -1.17656129e-03 9.96864428e-01 -2.70161423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97687499999998 meters 0.015205162513254888 Centerline is valid? [True, True] Translation: X:204.06, Y:-46.97, Z:-27.02 [[ 6.27179367e-01 -7.77358882e-01 4.85717119e-02 2.04060425e+02] [ 7.74924651e-01 6.29056696e-01 6.14773056e-02 -4.69710836e+01] [-7.83442901e-02 -9.17880669e-04 9.96925940e-01 -2.70184101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00687499999998 meters 0.014568886038716903 Centerline is valid? [True, True] Translation: X:204.08, Y:-46.95, Z:-27.02 [[ 6.24120482e-01 -7.79808419e-01 4.87078327e-02 2.04081706e+02] [ 7.77365132e-01 6.26017912e-01 6.16848970e-02 -4.69515339e+01] [-7.85943777e-02 -6.35036846e-04 9.96906475e-01 -2.70191567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03687499999998 meters 0.014730461909273733 Centerline is valid? [True, True] Translation: X:204.10, Y:-46.93, Z:-27.02 [[ 6.23112541e-01 -7.80587468e-01 4.91321343e-02 2.04099753e+02] [ 7.78101291e-01 6.25046311e-01 6.22534333e-02 -4.69293993e+01] [-7.93041091e-02 -5.61117860e-04 9.96850311e-01 -2.70214550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06687499999998 meters 0.014309684284135296 Centerline is valid? [True, True] Translation: X:204.12, Y:-46.91, Z:-27.02 [[ 6.22248440e-01 -7.81246002e-01 4.96141559e-02 2.04117591e+02] [ 7.78709958e-01 6.24223062e-01 6.28996847e-02 -4.69080140e+01] [-8.01104275e-02 -5.04193334e-04 9.96785867e-01 -2.70227904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09687499999998 meters 0.014489883385233935 Centerline is valid? [True, True] Translation: X:204.13, Y:-46.89, Z:-27.03 [[ 6.21561389e-01 -7.81788251e-01 4.96847048e-02 2.04134073e+02] [ 7.79243825e-01 6.23543841e-01 6.30249101e-02 -4.68869798e+01] [-8.02527259e-02 -4.57351196e-04 9.96774443e-01 -2.70257373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12687499999998 meters 0.014434693635623016 Centerline is valid? [True, True] Translation: X:204.15, Y:-46.86, Z:-27.03 [[ 6.21529668e-01 -7.81838358e-01 4.92915212e-02 2.04151059e+02] [ 7.79331793e-01 6.23481006e-01 6.25571052e-02 -4.68642995e+01] [-7.96418716e-02 -4.66647226e-04 9.96823432e-01 -2.70294609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15687499999999 meters 0.01458433104747811 Centerline is valid? [True, True] Translation: X:204.17, Y:-46.84, Z:-27.03 [[ 6.21716254e-01 -7.81709807e-01 4.89762845e-02 2.04167803e+02] [ 7.79232148e-01 6.23642145e-01 6.21911071e-02 -4.68422879e+01] [-7.91590735e-02 -5.01326729e-04 9.96861871e-01 -2.70324144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.186875 meters 0.0147080540117958 Centerline is valid? [True, True] Translation: X:204.18, Y:-46.82, Z:-27.04 [[ 6.22435520e-01 -7.81142403e-01 4.88934578e-02 2.04183826e+02] [ 7.78668559e-01 6.24352619e-01 6.21215190e-02 -4.68202297e+01] [-7.90525110e-02 -5.94841670e-04 9.96870276e-01 -2.70351723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.216875 meters 0.01491333409898282 Centerline is valid? [True, True] Translation: X:204.20, Y:-46.80, Z:-27.04 [[ 6.23096891e-01 -7.80644138e-01 4.84251486e-02 2.04199234e+02] [ 7.78213587e-01 6.24975423e-01 6.15575581e-02 -4.67981619e+01] [-7.83190747e-02 -6.71214432e-04 9.96928118e-01 -2.70388661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.246875 meters 0.015049871985321109 Centerline is valid? [True, True] Translation: X:204.22, Y:-46.78, Z:-27.04 [[ 6.24104281e-01 -7.79877995e-01 4.77928816e-02 2.04217169e+02] [ 7.77505824e-01 6.25931073e-01 6.07863957e-02 -4.67755136e+01] [-7.73210221e-02 -7.77805995e-04 9.97005945e-01 -2.70407419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.276875 meters 0.015040787243172222 Centerline is valid? [True, True] Translation: X:204.23, Y:-46.75, Z:-27.04 [[ 6.24152578e-01 -7.79831768e-01 4.79163109e-02 2.04233549e+02] [ 7.77444789e-01 6.25988631e-01 6.09740500e-02 -4.67544865e+01] [-7.75445670e-02 -8.04824330e-04 9.96988562e-01 -2.70439756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.306875 meters 0.01534936641182096 Centerline is valid? [True, True] Translation: X:204.25, Y:-46.73, Z:-27.05 [[ 6.24541097e-01 -7.79540542e-01 4.75916031e-02 2.04251432e+02] [ 7.77182656e-01 6.26351190e-01 6.05913136e-02 -4.67328517e+01] [-7.70424427e-02 -8.54397005e-04 9.97027448e-01 -2.70464881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.336875 meters 0.015523783196537607 Centerline is valid? [True, True] Translation: X:204.27, Y:-46.71, Z:-27.05 [[ 6.24845842e-01 -7.79290305e-01 4.76895631e-02 2.04268195e+02] [ 7.76919377e-01 6.26662426e-01 6.07493666e-02 -4.67117055e+01] [-7.72266497e-02 -9.08043536e-04 9.97013149e-01 -2.70499720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.366875 meters 0.015425814088327534 Centerline is valid? [True, True] Translation: X:204.29, Y:-46.69, Z:-27.05 [[ 6.24857357e-01 -7.79267780e-01 4.79062686e-02 2.04286086e+02] [ 7.76872777e-01 6.26690398e-01 6.10559883e-02 -4.66899301e+01] [-7.76013630e-02 -9.34207592e-04 9.96984030e-01 -2.70519491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.396875 meters 0.015323912688116888 Centerline is valid? [True, True] Translation: X:204.30, Y:-46.67, Z:-27.05 [[ 6.23754648e-01 -7.80114185e-01 4.84973950e-02 2.04304696e+02] [ 7.77659347e-01 6.25636568e-01 6.18451674e-02 -4.66682398e+01] [-7.85880361e-02 -8.61758083e-04 9.96906805e-01 -2.70539861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.426875 meters 0.01479874912494908 Centerline is valid? [True, True] Translation: X:204.32, Y:-46.65, Z:-27.05 [[ 6.22748859e-01 -7.80877385e-01 4.91362189e-02 2.04323607e+02] [ 7.78356942e-01 6.24683819e-01 6.26944732e-02 -4.66471999e+01] [-7.96512972e-02 -7.97394584e-04 9.96822469e-01 -2.70546593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.456875 meters 0.014929122161079675 Centerline is valid? [True, True] Translation: X:204.34, Y:-46.63, Z:-27.06 [[ 6.21873100e-01 -7.81542059e-01 4.96574004e-02 2.04341297e+02] [ 7.78966920e-01 6.23852113e-01 6.33962034e-02 -4.66264082e+01] [-8.05256735e-02 -7.42921294e-04 9.96752258e-01 -2.70565221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.486875 meters 0.014643094638367372 Centerline is valid? [True, True] Translation: X:204.36, Y:-46.60, Z:-27.06 [[ 6.21421740e-01 -7.81908796e-01 4.95343935e-02 2.04359242e+02] [ 7.79345317e-01 6.23392436e-01 6.32672728e-02 -4.66043488e+01] [-8.03486033e-02 -7.11261193e-04 9.96766571e-01 -2.70590106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.516875 meters 0.014663035411380044 Centerline is valid? [True, True] Translation: X:204.38, Y:-46.58, Z:-27.06 [[ 6.21156658e-01 -7.82125969e-01 4.94305103e-02 2.04376371e+02] [ 7.79571074e-01 6.23119951e-01 6.31701383e-02 -4.65819386e+01] [-8.02081428e-02 -7.03956000e-04 9.96777888e-01 -2.70624785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.546875 meters 0.014773574790319653 Centerline is valid? [True, True] Translation: X:204.39, Y:-46.56, Z:-27.07 [[ 6.20343788e-01 -7.82775570e-01 4.93557687e-02 2.04392858e+02] [ 7.80227569e-01 6.22303781e-01 6.31105777e-02 -4.65595322e+01] [-8.01156999e-02 -6.41523424e-04 9.96785365e-01 -2.70668902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.576875 meters 0.01446983996461488 Centerline is valid? [True, True] Translation: X:204.41, Y:-46.54, Z:-27.07 [[ 6.19864084e-01 -7.83156192e-01 4.93446720e-02 2.04410162e+02] [ 7.80607649e-01 6.21824735e-01 6.31323817e-02 -4.65375940e+01] [-8.01262533e-02 -6.14667527e-04 9.96784533e-01 -2.70691504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.606875 meters 0.014659271307449671 Centerline is valid? [True, True] Translation: X:204.43, Y:-46.52, Z:-27.07 [[ 6.19535434e-01 -7.83438853e-01 4.89837763e-02 2.04426851e+02] [ 7.80925388e-01 6.21468589e-01 6.27083000e-02 -4.65160276e+01] [-7.95699969e-02 -5.97339347e-04 9.96829102e-01 -2.70723491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.636875 meters 0.014845544530991116 Centerline is valid? [True, True] Translation: X:204.44, Y:-46.49, Z:-27.08 [[ 6.19051505e-01 -7.83852843e-01 4.84763298e-02 2.04443129e+02] [ 7.81390719e-01 6.20946387e-01 6.20816259e-02 -4.64948450e+01] [-7.87640608e-02 -5.52769726e-04 9.96893132e-01 -2.70761035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66687499999998 meters 0.014550987819640333 Centerline is valid? [True, True] Translation: X:204.46, Y:-46.47, Z:-27.08 [[ 6.18317678e-01 -7.84477806e-01 4.77265161e-02 2.04461326e+02] [ 7.82090909e-01 6.20156703e-01 6.11512285e-02 -4.64733688e+01] [-7.75697005e-02 -4.84411215e-04 9.96986814e-01 -2.70774150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69687499999998 meters 0.01462138038657663 Centerline is valid? [True, True] Translation: X:204.48, Y:-46.45, Z:-27.08 [[ 6.17999766e-01 -7.84725359e-01 4.77744727e-02 2.04477931e+02] [ 7.82331664e-01 6.19843436e-01 6.12477211e-02 -4.64519819e+01] [-7.76753332e-02 -4.75594593e-04 9.96978594e-01 -2.70798482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72687499999998 meters 0.014595698307330604 Centerline is valid? [True, True] Translation: X:204.50, Y:-46.43, Z:-27.08 [[ 6.17299200e-01 -7.85277109e-01 4.77656657e-02 2.04495443e+02] [ 7.82883533e-01 6.19144313e-01 6.12673918e-02 -4.64299301e+01] [-7.76857206e-02 -4.25358895e-04 9.96977807e-01 -2.70816400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75687499999998 meters 0.01451614145206383 Centerline is valid? [True, True] Translation: X:204.51, Y:-46.41, Z:-27.08 [[ 6.16410379e-01 -7.85960621e-01 4.80015299e-02 2.04513254e+02] [ 7.83542615e-01 6.18276452e-01 6.16051909e-02 -4.64079015e+01] [-7.80974696e-02 -3.62834830e-04 9.96945662e-01 -2.70837515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78687499999998 meters 0.014367218674657055 Centerline is valid? [True, True] Translation: X:204.53, Y:-46.39, Z:-27.09 [[ 6.14807386e-01 -7.87198451e-01 4.82750140e-02 2.04530547e+02] [ 7.84753732e-01 6.16699721e-01 6.19922152e-02 -4.63871886e+01] [-7.85713634e-02 -2.29274429e-04 9.96908465e-01 -2.70850969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81687499999998 meters 0.014460152065347854 Centerline is valid? [True, True] Translation: X:204.55, Y:-46.37, Z:-27.09 [[ 6.13887640e-01 -7.87912418e-01 4.83320408e-02 2.04548243e+02] [ 7.85461882e-01 6.15787298e-01 6.20937615e-02 -4.63651580e+01] [-7.86867026e-02 -1.55616967e-04 9.96899382e-01 -2.70864381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84687499999998 meters 0.014407250449025263 Centerline is valid? [True, True] Translation: X:204.57, Y:-46.34, Z:-27.09 [[ 6.12869442e-01 -7.88667147e-01 4.89405555e-02 2.04566035e+02] [ 7.86153901e-01 6.14820400e-01 6.29119988e-02 -4.63430700e+01] [-7.97062785e-02 -8.20330035e-05 9.96818390e-01 -2.70884860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87687499999998 meters 0.014690768748041177 Centerline is valid? [True, True] Translation: X:204.58, Y:-46.32, Z:-27.09 [[ 6.11532137e-01 -7.89666592e-01 4.95491619e-02 2.04583013e+02] [ 7.87090618e-01 6.13536204e-01 6.37313617e-02 -4.63216418e+01] [-8.07267319e-02 2.59045887e-05 9.96736271e-01 -2.70900636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90687499999999 meters 0.014462789271221814 Centerline is valid? [True, True] Translation: X:204.60, Y:-46.30, Z:-27.09 [[ 6.10435936e-01 -7.90465226e-01 5.03258852e-02 2.04600184e+02] [ 7.87807856e-01 6.12506909e-01 6.47616307e-02 -4.62995193e+01] [-8.20167694e-02 1.14301032e-04 9.96630943e-01 -2.70906220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.936875 meters 0.014462789271221814 Centerline is valid? [True, True] Translation: X:204.62, Y:-46.28, Z:-27.09 [[ 6.10217906e-01 -7.90634691e-01 5.03079856e-02 2.04617004e+02] [ 7.87976750e-01 6.12288145e-01 6.47755320e-02 -4.62777389e+01] [-8.20167659e-02 1.14333480e-04 9.96630943e-01 -2.70931212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.966875 meters 0.014510335391198169 Centerline is valid? [True, True] Translation: X:204.63, Y:-46.26, Z:-27.10 [[ 6.09435564e-01 -7.91192259e-01 5.10206165e-02 2.04634563e+02] [ 7.88457116e-01 6.11567479e-01 6.57312369e-02 -4.62554341e+01] [-8.32085956e-02 1.68614688e-04 9.96532138e-01 -2.70951022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.996875 meters 0.014544477232574208 Centerline is valid? [True, True] Translation: X:204.65, Y:-46.23, Z:-27.10 [[ 6.08870479e-01 -7.91619636e-01 5.11379608e-02 2.04651855e+02] [ 7.88870219e-01 6.11014165e-01 6.59201638e-02 -4.62333108e+01] [-8.34297146e-02 2.04372641e-04 9.96513643e-01 -2.70969371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.026875 meters 0.014518198389369174 Centerline is valid? [True, True] Translation: X:204.67, Y:-46.21, Z:-27.10 [[ 6.07878564e-01 -7.92392990e-01 5.09607776e-02 2.04669126e+02] [ 7.89662210e-01 6.10010874e-01 6.57291917e-02 -4.62107181e+01] [-8.31699792e-02 2.86433641e-04 9.96535334e-01 -2.70988105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.056875 meters 0.014547703745594633 Centerline is valid? [True, True] Translation: X:204.68, Y:-46.19, Z:-27.10 [[ 6.07813078e-01 -7.92466529e-01 5.05970646e-02 2.04684772e+02] [ 7.89771787e-01 6.09915344e-01 6.52977591e-02 -4.61887038e+01] [-8.26062146e-02 2.71302135e-04 9.96582229e-01 -2.71020089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.086875 meters 0.014594753779436911 Centerline is valid? [True, True] Translation: X:204.70, Y:-46.17, Z:-27.11 [[ 6.07788871e-01 -7.92505411e-01 5.02778415e-02 2.04700926e+02] [ 7.89842018e-01 6.09864828e-01 6.49190053e-02 -4.61654692e+01] [-8.21113501e-02 2.54502780e-04 9.96623129e-01 -2.71058293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.116875 meters 0.014789779826361434 Centerline is valid? [True, True] Translation: X:204.72, Y:-46.14, Z:-27.11 [[ 6.07928490e-01 -7.92420404e-01 4.99285045e-02 2.04716930e+02] [ 7.89790720e-01 6.09975291e-01 6.45039763e-02 -4.61423761e+01] [-8.15694210e-02 2.19264641e-04 9.96667638e-01 -2.71093280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.146875 meters 0.01470170430608052 Centerline is valid? [True, True] Translation: X:204.73, Y:-46.12, Z:-27.11 [[ 6.09037169e-01 -7.91627133e-01 4.89919205e-02 2.04732309e+02] [ 7.89089971e-01 6.11004479e-01 6.33288580e-02 -4.61181678e+01] [-8.00671252e-02 8.94047187e-05 9.96789470e-01 -2.71130135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.176875 meters 0.014717311296269863 Centerline is valid? [True, True] Translation: X:204.75, Y:-46.09, Z:-27.12 [[ 6.09717716e-01 -7.91128359e-01 4.85821507e-02 2.04748051e+02] [ 7.88629281e-01 6.11650161e-01 6.28326196e-02 -4.60949418e+01] [-7.94239475e-02 3.14520224e-06 9.96840928e-01 -2.71161471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.206875 meters 0.014831533887130701 Centerline is valid? [True, True] Translation: X:204.76, Y:-46.07, Z:-27.12 [[ 6.10239667e-01 -7.90731191e-01 4.84946583e-02 2.04763779e+02] [ 7.88237072e-01 6.12163523e-01 6.27546040e-02 -4.60713529e+01] [-7.93086836e-02 -7.00611719e-05 9.96850103e-01 -2.71195471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.236875 meters 0.014799431023950753 Centerline is valid? [True, True] Translation: X:204.78, Y:-46.05, Z:-27.12 [[ 6.11597070e-01 -7.89659657e-01 4.88533485e-02 2.04778493e+02] [ 7.87122184e-01 6.13545085e-01 6.32542167e-02 -4.60470626e+01] [-7.99230350e-02 -2.32539278e-04 9.96801010e-01 -2.71215209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.266875 meters 0.014909385858454156 Centerline is valid? [True, True] Translation: X:204.79, Y:-46.03, Z:-27.12 [[ 6.12083018e-01 -7.89271090e-01 4.90461660e-02 2.04793749e+02] [ 7.86709256e-01 6.14044830e-01 6.35412704e-02 -4.60252756e+01] [-8.02678324e-02 -3.07459800e-04 9.96773284e-01 -2.71238742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.296875 meters 0.015076909922169647 Centerline is valid? [True, True] Translation: X:204.81, Y:-46.00, Z:-27.13 [[ 6.12417829e-01 -7.88993261e-01 4.93359598e-02 2.04810016e+02] [ 7.86397436e-01 6.14401741e-01 6.39497625e-02 -4.60023605e+01] [-8.07680313e-02 -3.66302351e-04 9.96732858e-01 -2.71260495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.326875 meters 0.01490034479263235 Centerline is valid? [True, True] Translation: X:204.83, Y:-45.98, Z:-27.13 [[ 6.12712455e-01 -7.88755608e-01 4.94776582e-02 2.04826364e+02] [ 7.86141129e-01 6.14706771e-01 6.41693906e-02 -4.59800457e+01] [-8.10282182e-02 -4.20962794e-04 9.96711719e-01 -2.71272005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.356875 meters 0.01505385172331476 Centerline is valid? [True, True] Translation: X:204.84, Y:-45.96, Z:-27.13 [[ 6.13092309e-01 -7.88459999e-01 4.94838447e-02 2.04840844e+02] [ 7.85840858e-01 6.15085845e-01 6.42148698e-02 -4.59571170e+01] [-8.10676686e-02 -4.83215867e-04 9.96708483e-01 -2.71310571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.386875 meters 0.015169406151968446 Centerline is valid? [True, True] Translation: X:204.86, Y:-45.93, Z:-27.13 [[ 6.13151727e-01 -7.88445177e-01 4.89812411e-02 2.04857529e+02] [ 7.85876388e-01 6.15104830e-01 6.35952165e-02 -4.59348965e+01] [-8.02699397e-02 -5.00316048e-04 9.96773037e-01 -2.71333524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41687499999998 meters 0.015164778933939535 Centerline is valid? [True, True] Translation: X:204.87, Y:-45.91, Z:-27.14 [[ 6.13181484e-01 -7.88434048e-01 4.87874873e-02 2.04873936e+02] [ 7.85882780e-01 6.15119078e-01 6.33780402e-02 -4.59123818e+01] [-7.99795190e-02 -5.20994636e-04 9.96796371e-01 -2.71361408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44687499999998 meters 0.01526799341377887 Centerline is valid? [True, True] Translation: X:204.89, Y:-45.89, Z:-27.14 [[ 6.13146150e-01 -7.88479465e-01 4.84967204e-02 2.04889860e+02] [ 7.85955919e-01 6.15060849e-01 6.30352680e-02 -4.58890973e+01] [-7.95304484e-02 -5.33547405e-04 9.96832294e-01 -2.71402404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47687499999998 meters 0.015132123272708648 Centerline is valid? [True, True] Translation: X:204.91, Y:-45.87, Z:-27.14 [[ 6.13046127e-01 -7.88564811e-01 4.83733942e-02 2.04906991e+02] [ 7.86051605e-01 6.14951416e-01 6.29097021e-02 -4.58666105e+01] [-7.93556646e-02 -5.42565017e-04 9.96846219e-01 -2.71419818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50687499999998 meters 0.015091748037747247 Centerline is valid? [True, True] Translation: X:204.92, Y:-45.84, Z:-27.14 [[ 6.12924852e-01 -7.88667437e-01 4.82369040e-02 2.04923721e+02] [ 7.86165871e-01 6.14819787e-01 6.27682469e-02 -4.58438560e+01] [-7.91602755e-02 -5.50010771e-04 9.96861750e-01 -2.71448247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53687499999998 meters 0.015267242910961655 Centerline is valid? [True, True] Translation: X:204.94, Y:-45.82, Z:-27.15 [[ 6.13215227e-01 -7.88430685e-01 4.84163267e-02 2.04940293e+02] [ 7.85906789e-01 6.15123312e-01 6.30383193e-02 -4.58208647e+01] [-7.94833565e-02 -6.05337432e-04 9.96836009e-01 -2.71473440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56687499999998 meters 0.015443436606873409 Centerline is valid? [True, True] Translation: X:204.96, Y:-45.80, Z:-27.15 [[ 6.14031071e-01 -7.87776436e-01 4.87250600e-02 2.04955011e+02] [ 7.85215046e-01 6.15960852e-01 6.34788194e-02 -4.57982644e+01] [-8.00198476e-02 -7.18317214e-04 9.96793012e-01 -2.71498718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59687499999998 meters 0.015519666382740894 Centerline is valid? [True, True] Translation: X:204.97, Y:-45.78, Z:-27.15 [[ 6.14486801e-01 -7.87426035e-01 4.86437149e-02 2.04971367e+02] [ 7.84870233e-01 6.16408660e-01 6.33962301e-02 -4.57756205e+01] [-7.99042492e-02 -7.77142818e-04 9.96802241e-01 -2.71526945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62687499999998 meters 0.01571955121390636 Centerline is valid? [True, True] Translation: X:204.99, Y:-45.75, Z:-27.16 [[ 6.14557611e-01 -7.87393699e-01 4.82711615e-02 2.04986945e+02] [ 7.84874017e-01 6.16449939e-01 6.29464065e-02 -4.57540329e+01] [-7.93203584e-02 -7.97412815e-04 9.96848858e-01 -2.71559867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65687499999999 meters 0.015606616933942805 Centerline is valid? [True, True] Translation: X:205.00, Y:-45.73, Z:-27.16 [[ 6.14644298e-01 -7.87346257e-01 4.79401523e-02 2.05004718e+02] [ 7.84858425e-01 6.16510505e-01 6.25463863e-02 -4.57324001e+01] [-7.88012707e-02 -8.17547303e-04 9.96890010e-01 -2.71578685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.686875 meters 0.015867673108023297 Centerline is valid? [True, True] Translation: X:205.02, Y:-45.71, Z:-27.16 [[ 6.14392377e-01 -7.87570518e-01 4.74835435e-02 2.05021357e+02] [ 7.85127657e-01 6.16224011e-01 6.19881427e-02 -4.57110062e+01] [-7.80805333e-02 -8.04399000e-04 9.96946730e-01 -2.71619533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.716875 meters 0.015662344737889862 Centerline is valid? [True, True] Translation: X:205.04, Y:-45.69, Z:-27.16 [[ 6.13666460e-01 -7.88138123e-01 4.74528649e-02 2.05040109e+02] [ 7.85698382e-01 6.15497964e-01 6.19702326e-02 -4.56894785e+01] [-7.80482445e-02 -7.45414105e-04 9.96949305e-01 -2.71641495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.746875 meters 0.015605431567316712 Centerline is valid? [True, True] Translation: X:205.06, Y:-45.67, Z:-27.17 [[ 6.12694145e-01 -7.88896114e-01 4.74215763e-02 2.05057467e+02] [ 7.86458936e-01 6.14526216e-01 6.19666997e-02 -4.56686267e+01] [-7.80270904e-02 -6.71511570e-04 9.96951013e-01 -2.71673604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.776875 meters 0.015523655445811795 Centerline is valid? [True, True] Translation: X:205.08, Y:-45.65, Z:-27.17 [[ 6.11567145e-01 -7.89770927e-01 4.74079021e-02 2.05076545e+02] [ 7.87336078e-01 6.13401625e-01 6.19705253e-02 -4.56476157e+01] [-7.80226034e-02 -5.73185525e-04 9.96951426e-01 -2.71691467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.806875 meters 0.01517591609712913 Centerline is valid? [True, True] Translation: X:205.10, Y:-45.63, Z:-27.17 [[ 6.09611803e-01 -7.91256899e-01 4.78118160e-02 2.05096324e+02] [ 7.88781853e-01 6.11483730e-01 6.25366841e-02 -4.56279503e+01] [-7.87187303e-02 -4.10007902e-04 9.96896782e-01 -2.71713369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.836875 meters 0.015415370570225533 Centerline is valid? [True, True] Translation: X:205.11, Y:-45.61, Z:-27.17 [[ 6.09024877e-01 -7.91698786e-01 4.79763552e-02 2.05114442e+02] [ 7.89206329e-01 6.10911530e-01 6.27731940e-02 -4.56070043e+01] [-7.90067700e-02 -3.67193593e-04 9.96874012e-01 -2.71734311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.866875 meters 0.015302447526331626 Centerline is valid? [True, True] Translation: X:205.13, Y:-45.59, Z:-27.18 [[ 6.08535046e-01 -7.92043813e-01 4.84942904e-02 2.05132026e+02] [ 7.89495285e-01 6.10464149e-01 6.34879386e-02 -4.55854694e+01] [-7.98892547e-02 -3.48622001e-04 9.96803685e-01 -2.71754290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.896875 meters 0.015056068364014455 Centerline is valid? [True, True] Translation: X:205.15, Y:-45.56, Z:-27.18 [[ 6.08510603e-01 -7.92042943e-01 4.88141590e-02 2.05150067e+02] [ 7.89457625e-01 6.10465262e-01 6.39438995e-02 -4.55633020e+01] [-8.04456628e-02 -3.73830807e-04 9.96758926e-01 -2.71770467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.926875 meters 0.015295665373569247 Centerline is valid? [True, True] Translation: X:205.17, Y:-45.54, Z:-27.18 [[ 6.08750116e-01 -7.91857739e-01 4.88325468e-02 2.05166113e+02] [ 7.89266840e-01 6.10705447e-01 6.40055628e-02 -4.55414039e+01] [-8.05056026e-02 -4.21483808e-04 9.96754067e-01 -2.71802368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.956875 meters 0.015265156203728559 Centerline is valid? [True, True] Translation: X:205.18, Y:-45.52, Z:-27.18 [[ 6.09143120e-01 -7.91548165e-01 4.89506039e-02 2.05182938e+02] [ 7.88941027e-01 6.11106594e-01 6.41933645e-02 -4.55187923e+01] [-8.07261767e-02 -4.83806616e-04 9.96736199e-01 -2.71819843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.986875 meters 0.015051611585843153 Centerline is valid? [True, True] Translation: X:205.20, Y:-45.50, Z:-27.18 [[ 6.09293594e-01 -7.91409892e-01 4.93122657e-02 2.05198624e+02] [ 7.88760481e-01 6.11285615e-01 6.47054879e-02 -4.54965459e+01] [-8.13524419e-02 -5.29072819e-04 9.96685256e-01 -2.71838770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.016875 meters 0.015042886343907718 Centerline is valid? [True, True] Translation: X:205.22, Y:-45.47, Z:-27.19 [[ 6.09206068e-01 -7.91460441e-01 4.95816285e-02 2.05215373e+02] [ 7.88779415e-01 6.11220151e-01 6.50919428e-02 -4.54736168e+01] [-8.18229882e-02 -5.45438623e-04 9.96646728e-01 -2.71860752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.046875 meters 0.01519963857979559 Centerline is valid? [True, True] Translation: X:205.23, Y:-45.45, Z:-27.19 [[ 6.09317707e-01 -7.91373728e-01 4.95939027e-02 2.05231346e+02] [ 7.88688017e-01 6.11332386e-01 6.51454220e-02 -4.54510598e+01] [-8.18727343e-02 -5.80142425e-04 9.96642623e-01 -2.71884638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.076875 meters 0.014943047740117546 Centerline is valid? [True, True] Translation: X:205.25, Y:-45.43, Z:-27.19 [[ 6.08836162e-01 -7.91736467e-01 4.97181526e-02 2.05246834e+02] [ 7.89035257e-01 6.10862552e-01 6.53475780e-02 -4.54291957e+01] [-8.21090181e-02 -5.56593248e-04 9.96623198e-01 -2.71909412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.106875 meters 0.015011237875981966 Centerline is valid? [True, True] Translation: X:205.26, Y:-45.41, Z:-27.19 [[ 6.08484961e-01 -7.92012957e-01 4.96137831e-02 2.05262701e+02] [ 7.89321203e-01 6.10504042e-01 6.52445640e-02 -4.54069452e+01] [-8.19639552e-02 -5.39125049e-04 9.96635149e-01 -2.71938110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.136875 meters 0.015143861270300658 Centerline is valid? [True, True] Translation: X:205.28, Y:-45.38, Z:-27.20 [[ 6.07199637e-01 -7.93001761e-01 4.95661888e-02 2.05279099e+02] [ 7.90315686e-01 6.09219193e-01 6.52157269e-02 -4.53846932e+01] [-8.19128598e-02 -4.26029242e-04 9.96639404e-01 -2.71966504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16687499999998 meters 0.015087833049964167 Centerline is valid? [True, True] Translation: X:205.30, Y:-45.36, Z:-27.20 [[ 6.05738282e-01 -7.94120628e-01 4.95334341e-02 2.05295994e+02] [ 7.91438792e-01 6.07760100e-01 6.52096593e-02 -4.53628226e+01] [-8.18887805e-02 -2.97305727e-04 9.96641430e-01 -2.71991395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19687499999998 meters 0.014942403171730338 Centerline is valid? [True, True] Translation: X:205.31, Y:-45.34, Z:-27.20 [[ 6.04415577e-01 -7.95132439e-01 4.94592255e-02 2.05313377e+02] [ 7.92458999e-01 6.06435794e-01 6.51487759e-02 -4.53403708e+01] [-8.17957497e-02 -1.82526648e-04 9.96649097e-01 -2.72011797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22687499999998 meters 0.015009277989303797 Centerline is valid? [True, True] Translation: X:205.33, Y:-45.32, Z:-27.20 [[ 6.03208724e-01 -7.96036033e-01 4.96575143e-02 2.05329342e+02] [ 7.93340960e-01 6.05249227e-01 6.54484097e-02 -4.53188473e+01] [-8.21544646e-02 -8.37116496e-05 9.96619605e-01 -2.72044462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25687499999998 meters 0.014955623375937609 Centerline is valid? [True, True] Translation: X:205.35, Y:-45.30, Z:-27.21 [[ 6.01080202e-01 -7.97637497e-01 4.97696188e-02 2.05345817e+02] [ 7.94932924e-01 6.03137141e-01 6.56295395e-02 -4.52966388e+01] [-8.23664872e-02 1.14891785e-04 9.96602101e-01 -2.72063841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28687499999998 meters 0.014855273456089769 Centerline is valid? [True, True] Translation: X:205.36, Y:-45.28, Z:-27.21 [[ 6.00157020e-01 -7.98341719e-01 4.96190678e-02 2.05361897e+02] [ 7.95652824e-01 6.02204670e-01 6.54684585e-02 -4.52750488e+01] [-8.21470361e-02 1.88196481e-04 9.96620203e-01 -2.72082654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31687499999998 meters 0.01491035371793843 Centerline is valid? [True, True] Translation: X:205.38, Y:-45.25, Z:-27.21 [[ 5.99357562e-01 -7.98936034e-01 4.97164640e-02 2.05378219e+02] [ 7.96235846e-01 6.01415956e-01 6.56302161e-02 -4.52521583e+01] [-8.23346192e-02 2.50064432e-04 9.96604710e-01 -2.72105540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34687499999998 meters 0.015078237333771562 Centerline is valid? [True, True] Translation: X:205.39, Y:-45.23, Z:-27.21 [[ 5.98874464e-01 -7.99292281e-01 4.98119057e-02 2.05394439e+02] [ 7.96579802e-01 6.00942404e-01 6.57939619e-02 -4.52288882e+01] [-8.25226922e-02 2.76834239e-04 9.96589147e-01 -2.72136048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37687499999998 meters 0.01495397865927941 Centerline is valid? [True, True] Translation: X:205.41, Y:-45.21, Z:-27.22 [[ 5.99040863e-01 -7.99162186e-01 4.98983441e-02 2.05408611e+02] [ 7.96436636e-01 6.01115417e-01 6.59464961e-02 -4.52056326e+01] [-8.26966099e-02 2.36223375e-04 9.96574741e-01 -2.72171115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40687499999999 meters 0.014811343988956659 Centerline is valid? [True, True] Translation: X:205.42, Y:-45.18, Z:-27.22 [[ 5.99446020e-01 -7.98860911e-01 4.98569353e-02 2.05424283e+02] [ 7.96136074e-01 6.01515764e-01 6.59252425e-02 -4.51827969e+01] [-8.26548318e-02 1.74280436e-04 9.96578220e-01 -2.72191536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.436875 meters 0.01462469946497248 Centerline is valid? [True, True] Translation: X:205.44, Y:-45.16, Z:-27.22 [[ 6.00459213e-01 -7.98099355e-01 4.98613248e-02 2.05438887e+02] [ 7.95368333e-01 6.02525864e-01 6.59681623e-02 -4.51582046e+01] [-8.26918856e-02 4.69279580e-05 9.96575160e-01 -2.72217091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.466875 meters 0.01479443602480801 Centerline is valid? [True, True] Translation: X:205.45, Y:-45.13, Z:-27.22 [[ 6.01114752e-01 -7.97615654e-01 4.97023548e-02 2.05454554e+02] [ 7.94897309e-01 6.03166036e-01 6.57951452e-02 -4.51347881e+01] [-8.24580101e-02 -4.21643327e-05 9.96594539e-01 -2.72234936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.496875 meters 0.014928062221232516 Centerline is valid? [True, True] Translation: X:205.47, Y:-45.11, Z:-27.23 [[ 6.02066068e-01 -7.96884167e-01 4.99206808e-02 2.05469546e+02] [ 7.94136051e-01 6.04132102e-01 6.61236322e-02 -4.51120755e+01] [-8.28515614e-02 -1.66982964e-04 9.96561885e-01 -2.72265082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.526875 meters 0.014998201051126573 Centerline is valid? [True, True] Translation: X:205.49, Y:-45.09, Z:-27.23 [[ 6.03036281e-01 -7.96146128e-01 4.99858598e-02 2.05485222e+02] [ 7.93385423e-01 6.05104337e-01 6.62443405e-02 -4.50885187e+01] [-8.29868357e-02 -2.89688250e-04 9.96550601e-01 -2.72287461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.556875 meters 0.015176034955524038 Centerline is valid? [True, True] Translation: X:205.50, Y:-45.06, Z:-27.23 [[ 6.04345866e-01 -7.95143161e-01 5.01341018e-02 2.05500758e+02] [ 7.92359314e-01 6.06421593e-01 6.64798350e-02 -4.50649981e+01] [-8.32633880e-02 -4.52590914e-04 9.96527472e-01 -2.72315306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.586875 meters 0.015579713056746639 Centerline is valid? [True, True] Translation: X:205.51, Y:-45.04, Z:-27.23 [[ 6.07076009e-01 -7.93042677e-01 5.04185754e-02 2.05514708e+02] [ 7.90216382e-01 6.09165593e-01 6.68980665e-02 -4.50408763e+01] [-8.37662831e-02 -7.70626991e-04 9.96485131e-01 -2.72345066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.616875 meters 0.01573283715844964 Centerline is valid? [True, True] Translation: X:205.53, Y:-45.02, Z:-27.24 [[ 6.08283958e-01 -7.92118216e-01 5.03920413e-02 2.05530154e+02] [ 7.89290361e-01 6.10367027e-01 6.68791316e-02 -4.50175434e+01] [-8.37338189e-02 -9.07550452e-04 9.96487744e-01 -2.72372716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.646875 meters 0.016017061868087143 Centerline is valid? [True, True] Translation: X:205.54, Y:-45.00, Z:-27.24 [[ 6.09189030e-01 -7.91402841e-01 5.06978182e-02 2.05544945e+02] [ 7.88534827e-01 6.11294095e-01 6.73227660e-02 -4.49952383e+01] [-8.42707052e-02 -1.03529514e-03 9.96442360e-01 -2.72400390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.676875 meters 0.01628659500140324 Centerline is valid? [True, True] Translation: X:205.56, Y:-44.97, Z:-27.24 [[ 6.10264562e-01 -7.90594628e-01 5.03715935e-02 2.05561158e+02] [ 7.87758377e-01 6.12338792e-01 6.69174428e-02 -4.49717199e+01] [-8.37490515e-02 -1.15669920e-03 9.96486206e-01 -2.72430209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.706875 meters 0.01679486992358154 Centerline is valid? [True, True] Translation: X:205.58, Y:-44.95, Z:-27.25 [[ 6.11844479e-01 -7.89412737e-01 4.97379622e-02 2.05576100e+02] [ 7.86640799e-01 6.13861369e-01 6.61095511e-02 -4.49483602e+01] [-8.27199353e-02 -1.32285354e-03 9.96571955e-01 -2.72474513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.736875 meters 0.016950849084690713 Centerline is valid? [True, True] Translation: X:205.59, Y:-44.93, Z:-27.25 [[ 6.12171979e-01 -7.89201244e-01 4.90598021e-02 2.05593510e+02] [ 7.86502315e-01 6.14133202e-01 6.52266755e-02 -4.49251260e+01] [-8.16062268e-02 -1.34429510e-03 9.96663743e-01 -2.72511430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.766875 meters 0.016476140220070545 Centerline is valid? [True, True] Translation: X:205.61, Y:-44.90, Z:-27.26 [[ 6.11557533e-01 -7.89724636e-01 4.82947504e-02 2.05611670e+02] [ 7.87108553e-01 6.13460169e-01 6.42397570e-02 -4.49041145e+01] [-8.03586244e-02 -1.27309629e-03 9.96765203e-01 -2.72550910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.796875 meters 0.016288135648902663 Centerline is valid? [True, True] Translation: X:205.63, Y:-44.88, Z:-27.26 [[ 6.10704131e-01 -7.90390699e-01 4.81975816e-02 2.05629008e+02] [ 7.87784248e-01 6.12601900e-01 6.41474061e-02 -4.48827235e+01] [-8.02274432e-02 -1.20579033e-03 9.96775854e-01 -2.72580165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.826875 meters 0.016584128151387007 Centerline is valid? [True, True] Translation: X:205.65, Y:-44.86, Z:-27.26 [[ 6.09972940e-01 -7.90962506e-01 4.80762606e-02 2.05645296e+02] [ 7.88367937e-01 6.11863538e-01 6.40234866e-02 -4.48615689e+01] [-8.00562883e-02 -1.15081196e-03 9.96789680e-01 -2.72610632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.856875 meters 0.016584128151387007 Centerline is valid? [True, True] Translation: X:205.66, Y:-44.84, Z:-27.26 [[ 6.09761869e-01 -7.91126165e-01 4.80609332e-02 2.05661736e+02] [ 7.88531197e-01 6.11651920e-01 6.40349900e-02 -4.48395153e+01] [-8.00563182e-02 -1.14855009e-03 9.96789680e-01 -2.72635638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.886875 meters 0.016175809139408612 Centerline is valid? [True, True] Translation: X:205.68, Y:-44.82, Z:-27.27 [[ 6.08031631e-01 -7.92454859e-01 4.80919164e-02 2.05680194e+02] [ 7.89857784e-01 6.09929753e-01 6.41122228e-02 -4.48183696e+01] [-8.01387332e-02 -9.96484897e-04 9.96783221e-01 -2.72655625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91687499999998 meters 0.015599463321048808 Centerline is valid? [True, True] Translation: X:205.70, Y:-44.80, Z:-27.27 [[ 6.05755942e-01 -7.94169553e-01 4.85227656e-02 2.05699330e+02] [ 7.91528245e-01 6.07695715e-01 6.47221372e-02 -4.47967779e+01] [-8.08874276e-02 -7.98679665e-04 9.96722923e-01 -2.72672125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94687499999998 meters 0.015141663740495729 Centerline is valid? [True, True] Translation: X:205.72, Y:-44.78, Z:-27.27 [[ 6.01363449e-01 -7.97447567e-01 4.93900806e-02 2.05721726e+02] [ 7.94719024e-01 6.03388125e-01 6.59123880e-02 -4.47770072e+01] [-8.23630615e-02 -3.86064359e-04 9.96602316e-01 -2.72678849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97687499999998 meters 0.01486560772342993 Centerline is valid? [True, True] Translation: X:205.74, Y:-44.76, Z:-27.27 [[ 5.99038958e-01 -7.99171992e-01 4.97639854e-02 2.05740452e+02] [ 7.96405053e-01 6.01102402e-01 6.64446701e-02 -4.47564349e+01] [-8.30139705e-02 -1.70656504e-04 9.96548369e-01 -2.72701789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00687499999998 meters 0.014670537755512778 Centerline is valid? [True, True] Translation: X:205.76, Y:-44.74, Z:-27.27 [[ 5.96854965e-01 -8.00806788e-01 4.97256336e-02 2.05759329e+02] [ 7.98046660e-01 5.98922772e-01 6.64307251e-02 -4.47352823e+01] [-8.29799899e-02 3.38676873e-05 9.96551213e-01 -2.72723583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03687499999998 meters 0.014869609920147487 Centerline is valid? [True, True] Translation: X:205.78, Y:-44.71, Z:-27.28 [[ 5.93610629e-01 -8.03212693e-01 4.97573119e-02 2.05779216e+02] [ 8.00454269e-01 5.95692244e-01 6.65110098e-02 -4.47148167e+01] [-8.30625320e-02 3.46810352e-04 9.96544277e-01 -2.72755391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06687499999998 meters 0.015064925434425554 Centerline is valid? [True, True] Translation: X:205.80, Y:-44.69, Z:-27.28 [[ 5.92472836e-01 -8.04070993e-01 4.94548064e-02 2.05796461e+02] [ 8.01345863e-01 5.94533131e-01 6.61450158e-02 -4.46943848e+01] [-8.25878094e-02 4.41279479e-04 9.96583694e-01 -2.72785799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09687499999998 meters 0.014958006165498958 Centerline is valid? [True, True] Translation: X:205.81, Y:-44.67, Z:-27.28 [[ 5.91868374e-01 -8.04519273e-01 4.94020877e-02 2.05813424e+02] [ 8.01798694e-01 5.93926347e-01 6.61086115e-02 -4.46724431e+01] [-8.25268535e-02 4.82933054e-04 9.96588724e-01 -2.72810147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12687499999998 meters 0.014920306996134034 Centerline is valid? [True, True] Translation: X:205.83, Y:-44.65, Z:-27.28 [[ 5.91730206e-01 -8.04609679e-01 4.95845508e-02 2.05830167e+02] [ 8.01865927e-01 5.93803874e-01 6.63927277e-02 -4.46515858e+01] [-8.28637296e-02 4.73579337e-04 9.96560775e-01 -2.72840954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15687499999999 meters 0.014823045490686247 Centerline is valid? [True, True] Translation: X:205.85, Y:-44.63, Z:-27.29 [[ 5.91791012e-01 -8.04538038e-01 5.00194395e-02 2.05846494e+02] [ 8.01743456e-01 5.93900953e-01 6.70006635e-02 -4.46286529e+01] [-8.36111751e-02 4.52367857e-04 9.96498353e-01 -2.72857008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.186875 meters 0.014791312521568652 Centerline is valid? [True, True] Translation: X:205.86, Y:-44.61, Z:-27.29 [[ 5.92302647e-01 -8.04150368e-01 5.01972100e-02 2.05863188e+02] [ 8.01331197e-01 5.94425811e-01 6.72775498e-02 -4.46062431e+01] [-8.39397836e-02 3.75919534e-04 9.96470758e-01 -2.72879399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.216875 meters 0.014630872581679994 Centerline is valid? [True, True] Translation: X:205.88, Y:-44.58, Z:-27.29 [[ 5.92797248e-01 -8.03776640e-01 5.03441797e-02 2.05879536e+02] [ 8.00936302e-01 5.94931108e-01 6.75130887e-02 -4.45833363e+01] [-8.42167622e-02 3.00907979e-04 9.96447413e-01 -2.72903837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.246875 meters 0.014434552730751051 Centerline is valid? [True, True] Translation: X:205.89, Y:-44.56, Z:-27.29 [[ 5.95571217e-01 -8.01720505e-01 5.03900572e-02 2.05893839e+02] [ 7.98864266e-01 5.97699115e-01 6.76139947e-02 -4.45605170e+01] [-8.43256186e-02 -1.41330336e-05 9.96438252e-01 -2.72941625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.276875 meters 0.014408031876755056 Centerline is valid? [True, True] Translation: X:205.91, Y:-44.54, Z:-27.30 [[ 5.97093935e-01 -8.00587298e-01 5.03866232e-02 2.05909449e+02] [ 7.97725285e-01 5.99216107e-01 6.76345052e-02 -4.45376950e+01] [-8.43398019e-02 -1.89469477e-04 9.96437034e-01 -2.72960331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.306875 meters 0.014726419298300904 Centerline is valid? [True, True] Translation: X:205.92, Y:-44.51, Z:-27.30 [[ 6.00762881e-01 -7.97816932e-01 5.07159090e-02 2.05924152e+02] [ 7.94903997e-01 6.02899472e-01 6.81165339e-02 -4.45127424e+01] [-8.49211188e-02 -6.07606351e-04 9.96387492e-01 -2.72996607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.336875 meters 0.015180811957192631 Centerline is valid? [True, True] Translation: X:205.94, Y:-44.49, Z:-27.30 [[ 6.02476626e-01 -7.96517425e-01 5.08124759e-02 2.05939957e+02] [ 7.93585804e-01 6.04615027e-01 6.82806092e-02 -4.44891294e+01] [-8.51086815e-02 -8.13411559e-04 9.96371342e-01 -2.73024260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.366875 meters 0.015322890235662509 Centerline is valid? [True, True] Translation: X:205.96, Y:-44.47, Z:-27.31 [[ 6.04403094e-01 -7.95053613e-01 5.08591480e-02 2.05956221e+02] [ 7.92108448e-01 6.06538265e-01 6.83779152e-02 -4.44652524e+01] [-8.52121279e-02 -1.04186272e-03 9.96362287e-01 -2.73055927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.396875 meters 0.016198154581213434 Centerline is valid? [True, True] Translation: X:205.97, Y:-44.44, Z:-27.31 [[ 6.07624252e-01 -7.92594814e-01 5.08549848e-02 2.05970342e+02] [ 7.89638455e-01 6.09747059e-01 6.84078561e-02 -4.44410299e+01] [-8.52283894e-02 -1.40922085e-03 9.96360445e-01 -2.73087966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.426875 meters 0.016773100810552232 Centerline is valid? [True, True] Translation: X:205.99, Y:-44.42, Z:-27.31 [[ 6.08932387e-01 -7.91599395e-01 5.07123905e-02 2.05985444e+02] [ 7.88653751e-01 6.11038427e-01 6.82444270e-02 -4.44178567e+01] [-8.50094664e-02 -1.56172483e-03 9.96378920e-01 -2.73120611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.456875 meters 0.017178233552569155 Centerline is valid? [True, True] Translation: X:206.00, Y:-44.39, Z:-27.32 [[ 6.09874489e-01 -7.90870409e-01 5.07651889e-02 2.06001713e+02] [ 7.87914475e-01 6.11981360e-01 6.83344360e-02 -4.43942139e+01] [-8.51110327e-02 -1.67680202e-03 9.96370062e-01 -2.73154553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.486875 meters 0.017404520818314322 Centerline is valid? [True, True] Translation: X:206.02, Y:-44.37, Z:-27.32 [[ 6.10260632e-01 -7.90586095e-01 5.05528175e-02 2.06018419e+02] [ 7.87651029e-01 6.12348458e-01 6.80824739e-02 -4.43712874e+01] [-8.47809970e-02 -1.73007482e-03 9.96398108e-01 -2.73184472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.516875 meters 0.017629577215117535 Centerline is valid? [True, True] Translation: X:206.04, Y:-44.35, Z:-27.32 [[ 6.10072501e-01 -7.90741671e-01 5.03900155e-02 2.06036475e+02] [ 7.87822907e-01 6.12147558e-01 6.79001855e-02 -4.43498706e+01] [-8.45376310e-02 -1.72562748e-03 9.96418793e-01 -2.73215502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.546875 meters 0.017452639167731345 Centerline is valid? [True, True] Translation: X:206.05, Y:-44.33, Z:-27.32 [[ 6.09382758e-01 -7.91272368e-01 5.04053060e-02 2.06054014e+02] [ 7.88350341e-01 6.11461552e-01 6.79596199e-02 -4.43282971e+01] [-8.45954760e-02 -1.67638040e-03 9.96413968e-01 -2.73238983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.576875 meters 0.017062369599730568 Centerline is valid? [True, True] Translation: X:206.07, Y:-44.31, Z:-27.33 [[ 6.08295332e-01 -7.92078496e-01 5.08767703e-02 2.06071518e+02] [ 7.89100896e-01 6.10417141e-01 6.86344599e-02 -4.43060727e+01] [-8.54199325e-02 -1.60311654e-03 9.96343749e-01 -2.73263669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.606875 meters 0.016374710599912967 Centerline is valid? [True, True] Translation: X:206.09, Y:-44.28, Z:-27.33 [[ 6.06082361e-01 -7.93751723e-01 5.12091175e-02 2.06090947e+02] [ 7.90737623e-01 6.08240282e-01 6.91214161e-02 -4.42844776e+01] [-8.60126912e-02 -1.40029521e-03 9.96293057e-01 -2.73294722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.636875 meters 0.01558263332290172 Centerline is valid? [True, True] Translation: X:206.11, Y:-44.26, Z:-27.33 [[ 6.04591072e-01 -7.94890640e-01 5.11713463e-02 2.06110387e+02] [ 7.91882107e-01 6.06751422e-01 6.91045703e-02 -4.42642453e+01] [-8.59788633e-02 -1.25833274e-03 9.96296167e-01 -2.73315052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66687499999998 meters 0.015521404475110169 Centerline is valid? [True, True] Translation: X:206.13, Y:-44.24, Z:-27.33 [[ 6.03007586e-01 -7.96099555e-01 5.10622168e-02 2.06127986e+02] [ 7.93104719e-01 6.05164664e-01 6.89973513e-02 -4.42435474e+01] [-8.58298099e-02 -1.10824112e-03 9.96309197e-01 -2.73339483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69687499999998 meters 0.014978632231618652 Centerline is valid? [True, True] Translation: X:206.15, Y:-44.22, Z:-27.34 [[ 6.01133827e-01 -7.97515986e-01 5.10526497e-02 2.06146808e+02] [ 7.94524727e-01 6.03297105e-01 6.90149353e-02 -4.42224448e+01] [-8.58404300e-02 -9.24619592e-04 9.96308469e-01 -2.73365148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72687499999998 meters 0.014653153789159028 Centerline is valid? [True, True] Translation: X:206.17, Y:-44.20, Z:-27.34 [[ 5.98246853e-01 -7.99695727e-01 5.08669617e-02 2.06165498e+02] [ 7.96730627e-01 6.00405148e-01 6.88038244e-02 -4.42029457e+01] [-8.55629100e-02 -6.34405098e-04 9.96332568e-01 -2.73398194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75687499999998 meters 0.014170753615027894 Centerline is valid? [True, True] Translation: X:206.18, Y:-44.18, Z:-27.34 [[ 5.96500554e-01 -8.01007046e-01 5.07425044e-02 2.06183953e+02] [ 7.98058714e-01 5.98654741e-01 6.86643344e-02 -4.41812724e+01] [-8.53778565e-02 -4.62815732e-04 9.96348537e-01 -2.73426678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78687499999998 meters 0.014123229330101843 Centerline is valid? [True, True] Translation: X:206.20, Y:-44.16, Z:-27.35 [[ 5.95001533e-01 -8.02123307e-01 5.07087389e-02 2.06202131e+02] [ 7.99179508e-01 5.97158349e-01 6.86587202e-02 -4.41598988e+01] [-8.53539065e-02 -3.26658749e-04 9.96350643e-01 -2.73456238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81687499999998 meters 0.014161377260365503 Centerline is valid? [True, True] Translation: X:206.22, Y:-44.14, Z:-27.35 [[ 5.93542002e-01 -8.03222934e-01 5.04064508e-02 2.06219578e+02] [ 8.00314736e-01 5.95678506e-01 6.82893921e-02 -4.41393621e+01] [-8.48776452e-02 -1.91597194e-04 9.96391363e-01 -2.73488964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84687499999998 meters 0.014046416674490095 Centerline is valid? [True, True] Translation: X:206.24, Y:-44.12, Z:-27.35 [[ 5.91358258e-01 -8.04833095e-01 5.03894866e-02 2.06238659e+02] [ 8.01929667e-01 5.93501212e-01 6.83016808e-02 -4.41187035e+01] [-8.48776746e-02 1.80612410e-05 9.96391379e-01 -2.73511674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87687499999998 meters 0.014034184851535488 Centerline is valid? [True, True] Translation: X:206.26, Y:-44.10, Z:-27.35 [[ 5.90333621e-01 -8.05593592e-01 5.02511682e-02 2.06255846e+02] [ 8.02705481e-01 5.92468525e-01 6.81539287e-02 -4.40972538e+01] [-8.46766038e-02 1.03332655e-04 9.96408482e-01 -2.73537900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90687499999999 meters 0.013929327855256246 Centerline is valid? [True, True] Translation: X:206.27, Y:-44.07, Z:-27.36 [[ 5.89592538e-01 -8.06139524e-01 5.01966899e-02 2.06273391e+02] [ 8.03256659e-01 5.91725479e-01 6.81153227e-02 -4.40747951e+01] [-8.46131142e-02 1.60539408e-04 9.96413867e-01 -2.73559244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.936875 meters 0.013942598056356293 Centerline is valid? [True, True] Translation: X:206.29, Y:-44.05, Z:-27.36 [[ 5.88828046e-01 -8.06667421e-01 5.06873181e-02 2.06289808e+02] [ 8.03726280e-01 5.91005606e-01 6.88217997e-02 -4.40535987e+01] [-8.54727928e-02 2.14523779e-04 9.96340482e-01 -2.73583456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.966875 meters 0.014067693304096279 Centerline is valid? [True, True] Translation: X:206.31, Y:-44.03, Z:-27.36 [[ 5.87683952e-01 -8.07460221e-01 5.13377508e-02 2.06307203e+02] [ 8.04442821e-01 5.89921939e-01 6.97413303e-02 -4.40314519e+01] [-8.65986155e-02 3.12424482e-04 9.96243234e-01 -2.73595094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.996875 meters 0.014207673633333537 Centerline is valid? [True, True] Translation: X:206.32, Y:-44.01, Z:-27.36 [[ 5.87389537e-01 -8.07653748e-01 5.16619346e-02 2.06323671e+02] [ 8.04595205e-01 5.89656952e-01 7.02227524e-02 -4.40091043e+01] [-8.71784881e-02 3.18834903e-04 9.96192657e-01 -2.73618388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.026875 meters 0.014038158586753929 Centerline is valid? [True, True] Translation: X:206.34, Y:-43.99, Z:-27.36 [[ 5.87109264e-01 -8.07832025e-01 5.20589253e-02 2.06339156e+02] [ 8.04723238e-01 5.89412687e-01 7.08039174e-02 -4.39875899e+01] [-8.78818630e-02 3.23391122e-04 9.96130852e-01 -2.73643665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.056875 meters 0.014028084650911 Centerline is valid? [True, True] Translation: X:206.36, Y:-43.96, Z:-27.37 [[ 5.87088908e-01 -8.07850731e-01 5.19981813e-02 2.06355022e+02] [ 8.04746075e-01 5.89387058e-01 7.07576884e-02 -4.39646544e+01] [-8.78087053e-02 3.04278342e-04 9.96137309e-01 -2.73668534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.086875 meters 0.013814502832650823 Centerline is valid? [True, True] Translation: X:206.37, Y:-43.94, Z:-27.37 [[ 5.88485401e-01 -8.06823957e-01 5.21539571e-02 2.06370300e+02] [ 8.03692941e-01 5.90791915e-01 7.10110601e-02 -4.39405669e+01] [-8.81055607e-02 1.26794957e-04 9.96111135e-01 -2.73696474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.116875 meters 0.013768801285045979 Centerline is valid? [True, True] Translation: X:206.39, Y:-43.92, Z:-27.37 [[ 5.89004826e-01 -8.06445150e-01 5.21491550e-02 2.06386152e+02] [ 8.03309580e-01 5.91308902e-01 7.10457658e-02 -4.39175762e+01] [-8.81307728e-02 4.56169083e-05 9.96108912e-01 -2.73728878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.146875 meters 0.013691042094858892 Centerline is valid? [True, True] Translation: X:206.40, Y:-43.90, Z:-27.38 [[ 5.89970030e-01 -8.05752080e-01 5.19514106e-02 2.06401157e+02] [ 8.02633975e-01 5.92252969e-01 7.08175390e-02 -4.38950591e+01] [-8.78297565e-02 -8.22584830e-05 9.96135496e-01 -2.73756932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.176875 meters 0.013681896420406198 Centerline is valid? [True, True] Translation: X:206.42, Y:-43.87, Z:-27.38 [[ 5.92052688e-01 -8.04236666e-01 5.17397416e-02 2.06416112e+02] [ 8.01134923e-01 5.94309076e-01 7.05659814e-02 -4.38707526e+01] [-8.75011476e-02 -3.28265081e-04 9.96164365e-01 -2.73789350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.206875 meters 0.013891555824961859 Centerline is valid? [True, True] Translation: X:206.43, Y:-43.85, Z:-27.38 [[ 5.93215290e-01 -8.03407629e-01 5.13010814e-02 2.06431018e+02] [ 8.00351772e-01 5.95429223e-01 7.00077160e-02 -4.38478217e+01] [-8.67908962e-02 -4.70736198e-04 9.96226440e-01 -2.73823526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.236875 meters 0.0139818871172131 Centerline is valid? [True, True] Translation: X:206.45, Y:-43.82, Z:-27.39 [[ 5.94657947e-01 -8.02342629e-01 5.12662861e-02 2.06446939e+02] [ 7.99283813e-01 5.96863373e-01 6.99964276e-02 -4.38240193e+01] [-8.67600862e-02 -6.47619345e-04 9.96229024e-01 -2.73855788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.266875 meters 0.01425732444358216 Centerline is valid? [True, True] Translation: X:206.46, Y:-43.80, Z:-27.39 [[ 5.96165406e-01 -8.01224088e-01 5.12520152e-02 2.06462134e+02] [ 7.98159415e-01 5.98363823e-01 7.00163060e-02 -4.38004397e+01] [-8.67661027e-02 -8.34020949e-04 9.96228361e-01 -2.73887534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.296875 meters 0.014462526273872582 Centerline is valid? [True, True] Translation: X:206.48, Y:-43.78, Z:-27.39 [[ 5.97596944e-01 -8.00145896e-01 5.14240976e-02 2.06477832e+02] [ 7.97053100e-01 5.99804558e-01 7.02911656e-02 -4.37761881e+01] [-8.70875958e-02 -1.01804935e-03 9.96200138e-01 -2.73914408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.326875 meters 0.01501545821082027 Centerline is valid? [True, True] Translation: X:206.49, Y:-43.75, Z:-27.39 [[ 5.99728468e-01 -7.98566266e-01 5.11633063e-02 2.06493570e+02] [ 7.95495959e-01 6.01905577e-01 6.99703898e-02 -4.37516964e+01] [-8.66714723e-02 -1.26303122e-03 9.96236147e-01 -2.73945544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.356875 meters 0.01491998857454912 Centerline is valid? [True, True] Translation: X:206.51, Y:-43.73, Z:-27.40 [[ 5.99381607e-01 -7.98843567e-01 5.08983783e-02 2.06510733e+02] [ 7.95802971e-01 6.01537550e-01 6.96434277e-02 -4.37292283e+01] [-8.62514900e-02 -1.23790894e-03 9.96272627e-01 -2.73969995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.386875 meters 0.014883276723672694 Centerline is valid? [True, True] Translation: X:206.53, Y:-43.71, Z:-27.40 [[ 5.99076854e-01 -7.99075157e-01 5.08509223e-02 2.06527259e+02] [ 7.96037527e-01 6.01229894e-01 6.96194665e-02 -4.37066075e+01] [-8.62042807e-02 -1.22816857e-03 9.96276725e-01 -2.73993765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41687499999998 meters 0.014861233883920412 Centerline is valid? [True, True] Translation: X:206.54, Y:-43.68, Z:-27.40 [[ 5.98755728e-01 -7.99319829e-01 5.07876823e-02 2.06544029e+02] [ 7.96287128e-01 6.00904595e-01 6.95735444e-02 -4.36840812e+01] [-8.61300652e-02 -1.21598061e-03 9.96283159e-01 -2.74021771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44687499999998 meters 0.014778232628427696 Centerline is valid? [True, True] Translation: X:206.56, Y:-43.66, Z:-27.41 [[ 5.97720024e-01 -8.00085636e-01 5.09288485e-02 2.06560773e+02] [ 7.97035156e-01 5.99884730e-01 6.98088203e-02 -4.36625676e+01] [-8.64044729e-02 -1.13404712e-03 9.96259495e-01 -2.74050978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47687499999998 meters 0.015070165412332191 Centerline is valid? [True, True] Translation: X:206.58, Y:-43.64, Z:-27.41 [[ 5.96923360e-01 -8.00694860e-01 5.06975750e-02 2.06576730e+02] [ 7.97671972e-01 5.99071468e-01 6.95183461e-02 -4.36402531e+01] [-8.60344531e-02 -1.05709007e-03 9.96291602e-01 -2.74083099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50687499999998 meters 0.014688005307914576 Centerline is valid? [True, True] Translation: X:206.60, Y:-43.62, Z:-27.41 [[ 5.96009570e-01 -8.01377082e-01 5.06691770e-02 2.06595196e+02] [ 7.98357781e-01 5.98158695e-01 6.95056028e-02 -4.36184682e+01] [-8.60084059e-02 -9.73872703e-04 9.96293935e-01 -2.74109928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53687499999998 meters 0.014560505093231037 Centerline is valid? [True, True] Translation: X:206.61, Y:-43.60, Z:-27.41 [[ 5.95725947e-01 -8.01615356e-01 5.02336340e-02 2.06612678e+02] [ 7.98645368e-01 5.97839368e-01 6.89468376e-02 -4.35967386e+01] [-8.53004878e-02 -9.54560947e-04 9.96354814e-01 -2.74134061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56687499999998 meters 0.014710095617133464 Centerline is valid? [True, True] Translation: X:206.63, Y:-43.57, Z:-27.42 [[ 5.95772872e-01 -8.01586739e-01 5.01336711e-02 2.06628480e+02] [ 7.98624990e-01 5.97877694e-01 6.88504746e-02 -4.35746920e+01] [-8.51634311e-02 -9.81242376e-04 9.96366512e-01 -2.74158829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59687499999998 meters 0.01472372667497385 Centerline is valid? [True, True] Translation: X:206.65, Y:-43.55, Z:-27.42 [[ 5.95968296e-01 -8.01457615e-01 4.98746587e-02 2.06645321e+02] [ 7.98522916e-01 5.98050716e-01 6.85309704e-02 -4.35520049e+01] [-8.47522434e-02 -1.01622776e-03 9.96401538e-01 -2.74188902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62687499999998 meters 0.014758569066271578 Centerline is valid? [True, True] Translation: X:206.66, Y:-43.53, Z:-27.42 [[ 5.96339745e-01 -8.01191491e-01 4.97101914e-02 2.06661732e+02] [ 7.98271895e-01 5.98407086e-01 6.83442851e-02 -4.35293850e+01] [-8.45037905e-02 -1.07416488e-03 9.96422579e-01 -2.74216884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65687499999999 meters 0.014836755168421725 Centerline is valid? [True, True] Translation: X:206.68, Y:-43.51, Z:-27.42 [[ 5.95931442e-01 -8.01507269e-01 4.95157973e-02 2.06678514e+02] [ 7.98608343e-01 5.97984112e-01 6.81154638e-02 -4.35074170e+01] [-8.42046995e-02 -1.04841772e-03 9.96447926e-01 -2.74240277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.686875 meters 0.014584494083635028 Centerline is valid? [True, True] Translation: X:206.70, Y:-43.49, Z:-27.43 [[ 5.94443093e-01 -8.02630974e-01 4.92029338e-02 2.06696645e+02] [ 7.99769197e-01 5.96475227e-01 6.77239584e-02 -4.34860286e+01] [-8.37056779e-02 -9.07048430e-04 9.96490109e-01 -2.74264544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.716875 meters 0.01417437580366299 Centerline is valid? [True, True] Translation: X:206.72, Y:-43.46, Z:-27.43 [[ 5.92703623e-01 -8.03939066e-01 4.88302543e-02 2.06715729e+02] [ 8.01121805e-01 5.94711216e-01 6.72489638e-02 -4.34645983e+01] [-8.31039691e-02 -7.39723056e-04 9.96540608e-01 -2.74282215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.746875 meters 0.01417437580366299 Centerline is valid? [True, True] Translation: X:206.73, Y:-43.44, Z:-27.43 [[ 5.92481486e-01 -8.04103909e-01 4.88118122e-02 2.06731828e+02] [ 8.01286104e-01 5.94488315e-01 6.72623468e-02 -4.34422787e+01] [-8.31039680e-02 -7.39468386e-04 9.96540608e-01 -2.74307209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.776875 meters 0.014168770322980735 Centerline is valid? [True, True] Translation: X:206.75, Y:-43.42, Z:-27.43 [[ 5.92096702e-01 -8.04394956e-01 4.86852276e-02 2.06748340e+02] [ 8.01589503e-01 5.94094468e-01 6.71269768e-02 -4.34202377e+01] [-8.29202259e-02 -7.20094178e-04 9.96555928e-01 -2.74336508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.806875 meters 0.014275700233834971 Centerline is valid? [True, True] Translation: X:206.77, Y:-43.40, Z:-27.44 [[ 5.91725398e-01 -8.04680043e-01 4.84879570e-02 2.06765154e+02] [ 8.01895065e-01 5.93708293e-01 6.68936961e-02 -4.33974429e+01] [-8.26157245e-02 -7.00445546e-04 9.96581232e-01 -2.74367813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.836875 meters 0.014216394363594311 Centerline is valid? [True, True] Translation: X:206.78, Y:-43.38, Z:-27.44 [[ 5.91329510e-01 -8.04975041e-01 4.84210136e-02 2.06782318e+02] [ 8.02195493e-01 5.93308283e-01 6.68406507e-02 -4.33759545e+01] [-8.25336440e-02 -6.81730312e-04 9.96588046e-01 -2.74391744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.866875 meters 0.014213993579975517 Centerline is valid? [True, True] Translation: X:206.80, Y:-43.35, Z:-27.44 [[ 5.91211813e-01 -8.05069635e-01 4.82853520e-02 2.06798174e+02] [ 8.02303036e-01 5.93179913e-01 6.66890457e-02 -4.33541654e+01] [-8.23312266e-02 -6.87867106e-04 9.96604784e-01 -2.74418379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.896875 meters 0.014224611478215736 Centerline is valid? [True, True] Translation: X:206.82, Y:-43.33, Z:-27.44 [[ 5.91450169e-01 -8.04912210e-01 4.79899126e-02 2.06815170e+02] [ 8.02176916e-01 5.93393475e-01 6.63051907e-02 -4.33316199e+01] [-8.18467586e-02 -7.19816164e-04 9.96644666e-01 -2.74439795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.926875 meters 0.014259977586406016 Centerline is valid? [True, True] Translation: X:206.83, Y:-43.31, Z:-27.45 [[ 5.91522012e-01 -8.04869048e-01 4.78280840e-02 2.06832238e+02] [ 8.02149007e-01 5.93451986e-01 6.61189105e-02 -4.33095134e+01] [-8.16007360e-02 -7.45540911e-04 9.96664820e-01 -2.74452174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.956875 meters 0.0143764536612031 Centerline is valid? [True, True] Translation: X:206.85, Y:-43.29, Z:-27.45 [[ 5.91351110e-01 -8.04983578e-01 4.80135817e-02 2.06847473e+02] [ 8.02239495e-01 5.93296610e-01 6.64147962e-02 -4.32875869e+01] [-8.19491155e-02 -7.56071909e-04 9.96636228e-01 -2.74473833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.986875 meters 0.014484470329809004 Centerline is valid? [True, True] Translation: X:206.86, Y:-43.26, Z:-27.45 [[ 5.91574343e-01 -8.04804397e-01 4.82667545e-02 2.06862812e+02] [ 8.02027725e-01 5.93539580e-01 6.68004089e-02 -4.32648332e+01] [-8.24094920e-02 -8.06132654e-04 9.96598227e-01 -2.74496740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.016875 meters 0.01444932117603065 Centerline is valid? [True, True] Translation: X:206.88, Y:-43.24, Z:-27.45 [[ 5.91848001e-01 -8.04603382e-01 4.82632458e-02 2.06879021e+02] [ 8.01823605e-01 5.93811980e-01 6.68299334e-02 -4.32420645e+01] [-8.24308840e-02 -8.54552726e-04 9.96596417e-01 -2.74521849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.046875 meters 0.014489145904353792 Centerline is valid? [True, True] Translation: X:206.90, Y:-43.22, Z:-27.46 [[ 5.91579493e-01 -8.04798224e-01 4.83065439e-02 2.06895378e+02] [ 8.02010882e-01 5.93547887e-01 6.69287002e-02 -4.32193815e+01] [-8.25363461e-02 -8.51272637e-04 9.96587692e-01 -2.74551329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.076875 meters 0.014441622374476104 Centerline is valid? [True, True] Translation: X:206.91, Y:-43.20, Z:-27.46 [[ 5.91465383e-01 -8.04906984e-01 4.78899471e-02 2.06912230e+02] [ 8.02164852e-01 5.93400389e-01 6.63892144e-02 -4.31964530e+01] [-8.18550556e-02 -8.51289783e-04 9.96643881e-01 -2.74580357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.106875 meters 0.014359761829011239 Centerline is valid? [True, True] Translation: X:206.93, Y:-43.17, Z:-27.46 [[ 5.90403021e-01 -8.05719045e-01 4.73401818e-02 2.06928293e+02] [ 8.03039073e-01 5.92297436e-01 6.56657797e-02 -4.31746333e+01] [-8.09476376e-02 -7.53259062e-04 9.96718071e-01 -2.74620068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.136875 meters 0.01386669303614275 Centerline is valid? [True, True] Translation: X:206.95, Y:-43.15, Z:-27.47 [[ 5.85598854e-01 -8.09267383e-01 4.64788706e-02 2.06947585e+02] [ 8.06692626e-01 5.87440401e-01 6.45041199e-02 -4.31538648e+01] [-7.95046467e-02 -2.79376467e-04 9.96834456e-01 -2.74652083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16687499999998 meters 0.013580880797832913 Centerline is valid? [True, True] Translation: X:206.96, Y:-43.13, Z:-27.47 [[ 5.83812771e-01 -8.10535531e-01 4.68487078e-02 2.06964949e+02] [ 8.07920596e-01 5.85689454e-01 6.50551580e-02 -4.31332511e+01] [-8.01683111e-02 -1.29996146e-04 9.96781333e-01 -2.74660609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19687499999998 meters 0.013825333876146165 Centerline is valid? [True, True] Translation: X:206.98, Y:-43.11, Z:-27.47 [[ 5.82282676e-01 -8.11627015e-01 4.69944126e-02 2.06982493e+02] [ 8.08996776e-01 5.84175992e-01 6.52887939e-02 -4.31112136e+01] [-8.04431565e-02 1.79464670e-06 9.96759198e-01 -2.74674654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22687499999998 meters 0.013740551223076504 Centerline is valid? [True, True] Translation: X:207.00, Y:-43.09, Z:-27.47 [[ 5.79208393e-01 -8.13856973e-01 4.64162103e-02 2.06999999e+02] [ 8.11295381e-01 5.81065182e-01 6.45217710e-02 -4.30885724e+01] [-7.94823369e-02 2.85705728e-04 9.96836234e-01 -2.74703190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25687499999998 meters 0.013898504873698416 Centerline is valid? [True, True] Translation: X:207.02, Y:-43.07, Z:-27.47 [[ 5.77778424e-01 -8.14872177e-01 4.64265796e-02 2.07016895e+02] [ 8.12309826e-01 5.79640553e-01 6.45722516e-02 -4.30660202e+01] [-7.95288595e-02 4.04313030e-04 9.96832482e-01 -2.74728082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28687499999998 meters 0.013781638818559025 Centerline is valid? [True, True] Translation: X:207.03, Y:-43.04, Z:-27.47 [[ 5.76637958e-01 -8.15666580e-01 4.66550813e-02 2.07033732e+02] [ 8.13078463e-01 5.78522071e-01 6.49278498e-02 -4.30431174e+01] [-7.99504714e-02 4.94379098e-04 9.96798715e-01 -2.74747441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31687499999998 meters 0.013962700002597214 Centerline is valid? [True, True] Translation: X:207.05, Y:-43.02, Z:-27.48 [[ 5.75979211e-01 -8.16118591e-01 4.68870313e-02 2.07049766e+02] [ 8.13502980e-01 5.77884207e-01 6.52896949e-02 -4.30212707e+01] [-8.03794087e-02 5.37232729e-04 9.96764196e-01 -2.74771785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34687499999998 meters 0.013774012660682376 Centerline is valid? [True, True] Translation: X:207.06, Y:-43.00, Z:-27.48 [[ 5.75278806e-01 -8.16587754e-01 4.73152785e-02 2.07064970e+02] [ 8.13922820e-01 5.77221010e-01 6.59207762e-02 -4.29976401e+01] [-8.11414714e-02 5.88159472e-04 9.96702421e-01 -2.74789853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37687499999998 meters 0.013985519654844897 Centerline is valid? [True, True] Translation: X:207.08, Y:-42.98, Z:-27.48 [[ 5.74859583e-01 -8.16889116e-01 4.72083810e-02 2.07081025e+02] [ 8.14234092e-01 5.76794420e-01 6.58106387e-02 -4.29757434e+01] [-8.09895252e-02 6.06796951e-04 9.96714768e-01 -2.74822304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40687499999999 meters 0.013799984042115276 Centerline is valid? [True, True] Translation: X:207.10, Y:-42.95, Z:-27.48 [[ 5.74389346e-01 -8.17220311e-01 4.72000228e-02 2.07096641e+02] [ 8.14564219e-01 5.76325051e-01 6.58374434e-02 -4.29522505e+01] [-8.10062516e-02 6.31123708e-04 9.96713394e-01 -2.74836438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.436875 meters 0.01368427591789457 Centerline is valid? [True, True] Translation: X:207.11, Y:-42.93, Z:-27.49 [[ 5.75583198e-01 -8.16415037e-01 4.65882981e-02 2.07112204e+02] [ 8.13821748e-01 5.77465365e-01 6.50224100e-02 -4.29283236e+01] [-7.99884019e-02 4.88763500e-04 9.96795675e-01 -2.74856473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.466875 meters 0.013639620561788818 Centerline is valid? [True, True] Translation: X:207.13, Y:-42.91, Z:-27.49 [[ 5.76360745e-01 -8.15870916e-01 4.65074187e-02 2.07126709e+02] [ 8.13281744e-01 5.78233946e-01 6.49485103e-02 -4.29058205e+01] [-7.98817689e-02 3.89862804e-04 9.96804269e-01 -2.74885749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.496875 meters 0.01347100038384961 Centerline is valid? [True, True] Translation: X:207.14, Y:-42.88, Z:-27.49 [[ 5.77427222e-01 -8.15104303e-01 4.67202260e-02 2.07141389e+02] [ 8.12486093e-01 5.79314168e-01 6.52797374e-02 -4.28818328e+01] [-8.02754837e-02 2.65236479e-04 9.96772680e-01 -2.74904738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.526875 meters 0.013525968769453786 Centerline is valid? [True, True] Translation: X:207.16, Y:-42.86, Z:-27.49 [[ 5.79007811e-01 -8.13997326e-01 4.64575885e-02 2.07156028e+02] [ 8.11401860e-01 5.80868612e-01 6.49513440e-02 -4.28576420e+01] [-7.98559753e-02 8.84382286e-05 9.96806408e-01 -2.74939580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.556875 meters 0.013302480451913262 Centerline is valid? [True, True] Translation: X:207.17, Y:-42.83, Z:-27.50 [[ 5.81926402e-01 -8.11936535e-01 4.60513396e-02 2.07168520e+02] [ 8.09376686e-01 5.83745677e-01 6.44233237e-02 -4.28330611e+01] [-7.91899207e-02 -2.16752353e-04 9.96859523e-01 -2.74979666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.586875 meters 0.01341569384577149 Centerline is valid? [True, True] Translation: X:207.18, Y:-42.81, Z:-27.50 [[ 5.83307177e-01 -8.10956628e-01 4.58485029e-02 2.07183608e+02] [ 8.08414528e-01 5.85106159e-01 6.41617836e-02 -4.28090029e+01] [-7.88586651e-02 -3.61433056e-04 9.96885741e-01 -2.75008689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.616875 meters 0.01372060921422371 Centerline is valid? [True, True] Translation: X:207.20, Y:-42.79, Z:-27.50 [[ 5.84634704e-01 -8.10011370e-01 4.56491352e-02 2.07198736e+02] [ 8.07485595e-01 5.86413951e-01 6.39194206e-02 -4.27851971e+01] [-7.85447472e-02 -5.08492452e-04 9.96910459e-01 -2.75036938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.646875 meters 0.013952521694576246 Centerline is valid? [True, True] Translation: X:207.21, Y:-42.76, Z:-27.51 [[ 5.86363768e-01 -8.08761503e-01 4.56329138e-02 2.07213728e+02] [ 8.06230653e-01 5.88136330e-01 6.39358443e-02 -4.27614762e+01] [-7.85472240e-02 -6.99008614e-04 9.96910149e-01 -2.75066832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.676875 meters 0.014659247315991285 Centerline is valid? [True, True] Translation: X:207.23, Y:-42.74, Z:-27.51 [[ 5.89748679e-01 -8.06294931e-01 4.56615775e-02 2.07228342e+02] [ 8.03752350e-01 5.91512812e-01 6.39902485e-02 -4.27367398e+01] [-7.86044211e-02 -1.03756428e-03 9.96905346e-01 -2.75078470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.706875 meters 0.01585299126812436 Centerline is valid? [True, True] Translation: X:207.24, Y:-42.71, Z:-27.51 [[ 5.91419127e-01 -8.05075675e-01 4.55694286e-02 2.07241732e+02] [ 8.02536998e-01 5.93170863e-01 6.38959611e-02 -4.27128662e+01] [-7.84715414e-02 -1.21814112e-03 9.96915610e-01 -2.75115055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.736875 meters 0.016511793891241543 Centerline is valid? [True, True] Translation: X:207.26, Y:-42.69, Z:-27.51 [[ 5.93040887e-01 -8.03879243e-01 4.56143559e-02 2.07256544e+02] [ 8.01330702e-01 5.94790918e-01 6.39755445e-02 -4.26886218e+01] [-7.85596169e-02 -1.38792980e-03 9.96908451e-01 -2.75140497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.766875 meters 0.01623070901461381 Centerline is valid? [True, True] Translation: X:207.27, Y:-42.67, Z:-27.52 [[ 5.93024897e-01 -8.03891014e-01 4.56147907e-02 2.07272811e+02] [ 8.01339794e-01 5.94774965e-01 6.40099685e-02 -4.26661874e+01] [-7.85875741e-02 -1.40655797e-03 9.96906222e-01 -2.75163138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.796875 meters 0.01628669213110857 Centerline is valid? [True, True] Translation: X:207.29, Y:-42.64, Z:-27.52 [[ 5.92903578e-01 -8.03992363e-01 4.54051541e-02 2.07289398e+02] [ 8.01462010e-01 5.94637955e-01 6.37522551e-02 -4.26438185e+01] [-7.82559542e-02 -1.40843416e-03 9.96932306e-01 -2.75189113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.826875 meters 0.016296942398662223 Centerline is valid? [True, True] Translation: X:207.31, Y:-42.62, Z:-27.52 [[ 5.92466602e-01 -8.04330510e-01 4.51193604e-02 2.07305688e+02] [ 8.01830088e-01 5.94180557e-01 6.33874946e-02 -4.26210114e+01] [-7.77935425e-02 -1.37691275e-03 9.96968540e-01 -2.75219387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.856875 meters 0.01621030501802156 Centerline is valid? [True, True] Translation: X:207.32, Y:-42.60, Z:-27.52 [[ 5.92162704e-01 -8.04570943e-01 4.48210851e-02 2.07321069e+02] [ 8.02101366e-01 5.93854993e-01 6.30051329e-02 -4.25990756e+01] [-7.73093243e-02 -1.35823622e-03 9.97006230e-01 -2.75248663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.886875 meters 0.016426142846085515 Centerline is valid? [True, True] Translation: X:207.34, Y:-42.58, Z:-27.53 [[ 5.91622291e-01 -8.04991285e-01 4.44082832e-02 2.07337055e+02] [ 8.02565802e-01 5.93285188e-01 6.24565337e-02 -4.25765149e+01] [-7.66237420e-02 -1.31010811e-03 9.97059219e-01 -2.75288616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91687499999998 meters 0.015425921619087414 Centerline is valid? [True, True] Translation: X:207.36, Y:-42.55, Z:-27.53 [[ 5.90229877e-01 -8.06025653e-01 4.41739693e-02 2.07355342e+02] [ 8.03625950e-01 5.91879405e-01 6.21619121e-02 -4.25549775e+01] [-7.62497585e-02 -1.19046972e-03 9.97088039e-01 -2.75310007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94687499999998 meters 0.015590027192200422 Centerline is valid? [True, True] Translation: X:207.37, Y:-42.53, Z:-27.53 [[ 5.89156619e-01 -8.06819605e-01 4.40068584e-02 2.07370555e+02] [ 8.04437431e-01 5.90796837e-01 6.19638325e-02 -4.25331446e+01] [-7.59927476e-02 -1.10563787e-03 9.97107757e-01 -2.75345821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97687499999998 meters 0.015657584131148088 Centerline is valid? [True, True] Translation: X:207.39, Y:-42.51, Z:-27.54 [[ 5.88091973e-01 -8.07603366e-01 4.38706537e-02 2.07386466e+02] [ 8.05235743e-01 5.89725159e-01 6.18031971e-02 -4.25111072e+01] [-7.57840983e-02 -1.01974566e-03 9.97123729e-01 -2.75377876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00687499999998 meters 0.014871153928568213 Centerline is valid? [True, True] Translation: X:207.41, Y:-42.49, Z:-27.54 [[ 5.86199532e-01 -8.08971422e-01 4.39925774e-02 2.07406035e+02] [ 8.06592198e-01 5.87847339e-01 6.20042941e-02 -4.24900229e+01] [-7.60206215e-02 -8.62818442e-04 9.97105872e-01 -2.75378253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03687499999998 meters 0.014676310988119837 Centerline is valid? [True, True] Translation: X:207.42, Y:-42.47, Z:-27.54 [[ 5.84993344e-01 -8.09845049e-01 4.39748040e-02 2.07422823e+02] [ 8.07467536e-01 5.86643336e-01 6.20143134e-02 -4.24676914e+01] [-7.60195104e-02 -7.69733928e-04 9.97106033e-01 -2.75408568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06687499999998 meters 0.014593697674612783 Centerline is valid? [True, True] Translation: X:207.44, Y:-42.45, Z:-27.54 [[ 5.82796153e-01 -8.11432408e-01 4.38872551e-02 2.07439735e+02] [ 8.09066000e-01 5.84445982e-01 6.19281951e-02 -4.24459805e+01] [-7.59002744e-02 -5.83827935e-04 9.97115243e-01 -2.75444450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09687499999998 meters 0.014316528260241634 Centerline is valid? [True, True] Translation: X:207.46, Y:-42.42, Z:-27.55 [[ 5.81637227e-01 -8.12274819e-01 4.36778436e-02 2.07456552e+02] [ 8.09931354e-01 5.83274704e-01 6.16589177e-02 -4.24236135e+01] [-7.55601675e-02 -4.87066859e-04 9.97141125e-01 -2.75471463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12687499999998 meters 0.014455696184481266 Centerline is valid? [True, True] Translation: X:207.47, Y:-42.40, Z:-27.55 [[ 5.80962877e-01 -8.12778141e-01 4.32877450e-02 2.07472464e+02] [ 8.10475109e-01 5.82573172e-01 6.11440681e-02 -4.24020713e+01] [-7.49148409e-02 -4.38793891e-04 9.97189839e-01 -2.75500889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15687499999999 meters 0.014431462446137576 Centerline is valid? [True, True] Translation: X:207.49, Y:-42.38, Z:-27.55 [[ 5.80420805e-01 -8.13162489e-01 4.33411469e-02 2.07488999e+02] [ 8.10852441e-01 5.82036596e-01 6.12512790e-02 -4.23793554e+01] [-7.50333761e-02 -4.08241926e-04 9.97180939e-01 -2.75526716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.186875 meters 0.014418262852777095 Centerline is valid? [True, True] Translation: X:207.51, Y:-42.36, Z:-27.56 [[ 5.79816285e-01 -8.13615795e-01 4.29233397e-02 2.07506066e+02] [ 8.11348809e-01 5.81402789e-01 6.06951880e-02 -4.23566535e+01] [-7.43383131e-02 -3.66257913e-04 9.97233012e-01 -2.75551569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.216875 meters 0.0142608323286476 Centerline is valid? [True, True] Translation: X:207.52, Y:-42.33, Z:-27.56 [[ 5.79588476e-01 -8.13781387e-01 4.28608450e-02 2.07522062e+02] [ 8.11518896e-01 5.81170991e-01 6.06412441e-02 -4.23342051e+01] [-7.42581955e-02 -3.64580700e-04 9.97238982e-01 -2.75572462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.246875 meters 0.014469937201975579 Centerline is valid? [True, True] Translation: X:207.54, Y:-42.31, Z:-27.56 [[ 5.79565551e-01 -8.13785885e-01 4.30848610e-02 2.07536802e+02] [ 8.11496887e-01 5.81164678e-01 6.09952511e-02 -4.23119968e+01] [-7.46764737e-02 -3.87515730e-04 9.97207739e-01 -2.75605955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.276875 meters 0.014381024938029285 Centerline is valid? [True, True] Translation: X:207.55, Y:-42.29, Z:-27.56 [[ 5.79926839e-01 -8.13546399e-01 4.27447897e-02 2.07552785e+02] [ 8.11290524e-01 5.81499844e-01 6.05443397e-02 -4.22886773e+01] [-7.41117181e-02 -4.32844756e-04 9.97249851e-01 -2.75628173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.306875 meters 0.014574961187932941 Centerline is valid? [True, True] Translation: X:207.57, Y:-42.27, Z:-27.57 [[ 5.80968935e-01 -8.12782020e-01 4.31333212e-02 2.07568090e+02] [ 8.10480195e-01 5.82567660e-01 6.11291644e-02 -4.22650189e+01] [-7.48127637e-02 -5.55442986e-04 9.97197444e-01 -2.75653165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.336875 meters 0.014664528745712516 Centerline is valid? [True, True] Translation: X:207.58, Y:-42.24, Z:-27.57 [[ 5.81082785e-01 -8.12685631e-01 4.34149958e-02 2.07584364e+02] [ 8.10350604e-01 5.82702079e-01 6.15644775e-02 -4.22423108e+01] [-7.53305746e-02 -5.92689919e-04 9.97158439e-01 -2.75673878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.366875 meters 0.01461242147624864 Centerline is valid? [True, True] Translation: X:207.60, Y:-42.22, Z:-27.57 [[ 5.80889585e-01 -8.12765983e-01 4.44831086e-02 2.07601070e+02] [ 8.10311777e-01 5.82589971e-01 6.31169528e-02 -4.22191964e+01] [-7.72147252e-02 -6.18793793e-04 9.97014294e-01 -2.75684113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.396875 meters 0.014451959044647356 Centerline is valid? [True, True] Translation: X:207.62, Y:-42.20, Z:-27.57 [[ 5.80727608e-01 -8.12863288e-01 4.48187573e-02 2.07616675e+02] [ 8.10369348e-01 5.82454185e-01 6.36289468e-02 -4.21962882e+01] [-7.78265076e-02 -6.31338945e-04 9.96966718e-01 -2.75712949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.426875 meters 0.01458950567578171 Centerline is valid? [True, True] Translation: X:207.63, Y:-42.17, Z:-27.57 [[ 5.80708835e-01 -8.12855712e-01 4.51977931e-02 2.07632653e+02] [ 8.10316367e-01 5.82464725e-01 6.42045884e-02 -4.21738360e+01] [-7.85151866e-02 -6.59660281e-04 9.96912699e-01 -2.75736285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.456875 meters 0.014579268492875677 Centerline is valid? [True, True] Translation: X:207.65, Y:-42.15, Z:-27.58 [[ 5.80364479e-01 -8.13074378e-01 4.56850766e-02 2.07648696e+02] [ 8.10477478e-01 5.82159446e-01 6.49356433e-02 -4.21524647e+01] [-7.93935067e-02 -6.59615128e-04 9.96843135e-01 -2.75754052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.486875 meters 0.014497048079849922 Centerline is valid? [True, True] Translation: X:207.67, Y:-42.13, Z:-27.58 [[ 5.80390421e-01 -8.13062824e-01 4.55609898e-02 2.07665372e+02] [ 8.10477587e-01 5.82175563e-01 6.47896271e-02 -4.21297389e+01] [-7.92025320e-02 -6.77117851e-04 9.96858315e-01 -2.75775310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.516875 meters 0.01438171684588622 Centerline is valid? [True, True] Translation: X:207.68, Y:-42.11, Z:-27.58 [[ 5.80462471e-01 -8.13012585e-01 4.55396170e-02 2.07681523e+02] [ 8.10426623e-01 5.82245686e-01 6.47969868e-02 -4.21069755e+01] [-7.91960113e-02 -7.05701088e-04 9.96858813e-01 -2.75803169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.546875 meters 0.014556922605586586 Centerline is valid? [True, True] Translation: X:207.70, Y:-42.08, Z:-27.58 [[ 5.80494016e-01 -8.13013372e-01 4.51215626e-02 2.07697404e+02] [ 8.10471767e-01 5.82244568e-01 6.42400013e-02 -4.20843219e+01] [-7.84997649e-02 -7.21183750e-04 9.96913871e-01 -2.75836389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.576875 meters 0.014829012454128624 Centerline is valid? [True, True] Translation: X:207.71, Y:-42.06, Z:-27.59 [[ 5.80580623e-01 -8.13012994e-01 4.40001317e-02 2.07713663e+02] [ 8.10593361e-01 5.82245089e-01 6.26822125e-02 -4.20616482e+01] [-7.65803139e-02 -7.25863292e-04 9.97063152e-01 -2.75884391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.606875 meters 0.014679363838700023 Centerline is valid? [True, True] Translation: X:207.73, Y:-42.04, Z:-27.59 [[ 5.80200621e-01 -8.13297147e-01 4.37605994e-02 2.07729584e+02] [ 8.10903573e-01 5.81848151e-01 6.23548267e-02 -4.20389182e+01] [-7.61750265e-02 -6.92682694e-04 9.97094221e-01 -2.75919905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.636875 meters 0.014563563622602102 Centerline is valid? [True, True] Translation: X:207.75, Y:-42.02, Z:-27.60 [[ 5.79657247e-01 -8.13697368e-01 4.35209122e-02 2.07745766e+02] [ 8.11328403e-01 5.81288363e-01 6.20488664e-02 -4.20165018e+01] [-7.57871991e-02 -6.57322886e-04 9.97123798e-01 -2.75951579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66687499999998 meters 0.014563563622602102 Centerline is valid? [True, True] Translation: X:207.76, Y:-41.99, Z:-27.60 [[ 5.79434756e-01 -8.13856733e-01 4.35038146e-02 2.07761498e+02] [ 8.11487316e-01 5.81065217e-01 6.20608510e-02 -4.19939203e+01] [-7.57871949e-02 -6.57420357e-04 9.97123798e-01 -2.75976573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69687499999998 meters 0.014741781720374861 Centerline is valid? [True, True] Translation: X:207.78, Y:-41.97, Z:-27.60 [[ 5.78799226e-01 -8.14330563e-01 4.30951314e-02 2.07777693e+02] [ 8.12004103e-01 5.80401035e-01 6.15140249e-02 -4.19722131e+01] [-7.51052094e-02 -6.10846467e-04 9.97175428e-01 -2.76011454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72687499999998 meters 0.014493256078411112 Centerline is valid? [True, True] Translation: X:207.80, Y:-41.95, Z:-27.60 [[ 5.78220489e-01 -8.14744242e-01 4.30451565e-02 2.07795192e+02] [ 8.12421942e-01 5.79820221e-01 6.14743850e-02 -4.19499265e+01] [-7.50443534e-02 -5.74919363e-04 9.97180031e-01 -2.76018929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75687499999998 meters 0.014509714633375869 Centerline is valid? [True, True] Translation: X:207.81, Y:-41.93, Z:-27.60 [[ 5.77664174e-01 -8.15123697e-01 4.33296752e-02 2.07812032e+02] [ 8.12768805e-01 5.79286678e-01 6.19178054e-02 -4.19268871e+01] [-7.55709741e-02 -5.50689617e-04 9.97140273e-01 -2.76037822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78687499999998 meters 0.014487156438105 Centerline is valid? [True, True] Translation: X:207.83, Y:-41.90, Z:-27.61 [[ 5.76898739e-01 -8.15650591e-01 4.36114400e-02 2.07828091e+02] [ 8.13263592e-01 5.78544602e-01 6.23576275e-02 -4.19037915e+01] [-7.60931989e-02 -5.06440343e-04 9.97100581e-01 -2.76062064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81687499999998 meters 0.014424778153070044 Centerline is valid? [True, True] Translation: X:207.84, Y:-41.88, Z:-27.61 [[ 5.76558269e-01 -8.15859414e-01 4.42038387e-02 2.07843346e+02] [ 8.13404658e-01 5.78250084e-01 6.32432107e-02 -4.18812416e+01] [-7.71584422e-02 -5.07787849e-04 9.97018714e-01 -2.76090813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84687499999998 meters 0.01441097032217587 Centerline is valid? [True, True] Translation: X:207.86, Y:-41.86, Z:-27.61 [[ 5.76418813e-01 -8.15928273e-01 4.47482453e-02 2.07859492e+02] [ 8.13410424e-01 5.78152904e-01 6.40523372e-02 -4.18575828e+01] [-7.81334409e-02 -5.22283072e-04 9.96942773e-01 -2.76108452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87687499999998 meters 0.014247261920500697 Centerline is valid? [True, True] Translation: X:207.88, Y:-41.83, Z:-27.61 [[ 5.76715697e-01 -8.15720709e-01 4.47071632e-02 2.07875563e+02] [ 8.13204197e-01 5.78445677e-01 6.40275968e-02 -4.18345400e+01] [-7.80893019e-02 -5.69667366e-04 9.96946205e-01 -2.76122848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90687499999999 meters 0.014535432382480238 Centerline is valid? [True, True] Translation: X:207.89, Y:-41.81, Z:-27.61 [[ 5.77937007e-01 -8.14847611e-01 4.48574007e-02 2.07889132e+02] [ 8.12308289e-01 5.79674789e-01 6.42836118e-02 -4.18110966e+01] [-7.83840519e-02 -7.13839823e-04 9.96922981e-01 -2.76148747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.936875 meters 0.014609427332154057 Centerline is valid? [True, True] Translation: X:207.90, Y:-41.79, Z:-27.62 [[ 5.78769018e-01 -8.14255223e-01 4.48871460e-02 2.07904410e+02] [ 8.11708921e-01 5.80506485e-01 6.43494281e-02 -4.17869502e+01] [-7.84541373e-02 -8.08158506e-04 9.96917396e-01 -2.76171407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.966875 meters 0.014980505696663664 Centerline is valid? [True, True] Translation: X:207.92, Y:-41.76, Z:-27.62 [[ 5.79823169e-01 -8.13517176e-01 4.46642741e-02 2.07919082e+02] [ 8.10991326e-01 5.81540156e-01 6.40633807e-02 -4.17630006e+01] [-7.80907294e-02 -9.23093520e-04 9.96945829e-01 -2.76203274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.996875 meters 0.015529999392821818 Centerline is valid? [True, True] Translation: X:207.93, Y:-41.74, Z:-27.62 [[ 5.81676822e-01 -8.12210541e-01 4.43408638e-02 2.07931915e+02] [ 8.09714651e-01 5.83363354e-01 6.36347518e-02 -4.17381085e+01] [-7.75516512e-02 -1.11141309e-03 9.96987716e-01 -2.76248929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.026875 meters 0.01560482122144688 Centerline is valid? [True, True] Translation: X:207.95, Y:-41.71, Z:-27.63 [[ 5.82386824e-01 -8.11694747e-01 4.44659980e-02 2.07947457e+02] [ 8.09180466e-01 5.84080634e-01 6.38497101e-02 -4.17145465e+01] [-7.77982026e-02 -1.20421284e-03 9.96968399e-01 -2.76268962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.056875 meters 0.01602610544808671 Centerline is valid? [True, True] Translation: X:207.96, Y:-41.69, Z:-27.63 [[ 5.83117675e-01 -8.11169917e-01 4.44650830e-02 2.07961497e+02] [ 8.08651272e-01 5.84809102e-01 6.38861024e-02 -4.16912024e+01] [-7.78260696e-02 -1.29636955e-03 9.96966109e-01 -2.76294127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.086875 meters 0.016527811988782285 Centerline is valid? [True, True] Translation: X:207.98, Y:-41.67, Z:-27.63 [[ 5.83801837e-01 -8.10673803e-01 4.45353764e-02 2.07976776e+02] [ 8.08143113e-01 5.85496429e-01 6.40206223e-02 -4.16671699e+01] [-7.79751452e-02 -1.38439922e-03 9.96954342e-01 -2.76321234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.116875 meters 0.016636113569296705 Centerline is valid? [True, True] Translation: X:207.99, Y:-41.64, Z:-27.63 [[ 5.85636321e-01 -8.09325322e-01 4.49735689e-02 2.07991770e+02] [ 8.06737598e-01 5.87358458e-01 6.46876346e-02 -4.16425823e+01] [-7.87689468e-02 -1.60155938e-03 9.96891613e-01 -2.76334272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.146875 meters 0.017043792119590954 Centerline is valid? [True, True] Translation: X:208.01, Y:-41.62, Z:-27.64 [[ 5.86089990e-01 -8.08982957e-01 4.52227774e-02 2.08006307e+02] [ 8.06362467e-01 5.87829702e-01 6.50831224e-02 -4.16188499e+01] [-7.92344285e-02 -1.67861621e-03 9.96854597e-01 -2.76354135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.176875 meters 0.017442093117421714 Centerline is valid? [True, True] Translation: X:208.02, Y:-41.60, Z:-27.64 [[ 5.86158271e-01 -8.08924240e-01 4.53878421e-02 2.08020941e+02] [ 8.06281241e-01 5.87910393e-01 6.53600048e-02 -4.15957016e+01] [-7.95552763e-02 -1.71594180e-03 9.96828979e-01 -2.76379180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.206875 meters 0.01733330186044693 Centerline is valid? [True, True] Translation: X:208.04, Y:-41.57, Z:-27.64 [[ 5.86277609e-01 -8.08822004e-01 4.56676254e-02 2.08036402e+02] [ 8.06143929e-01 5.88050920e-01 6.57881487e-02 -4.15726460e+01] [-8.00657914e-02 -1.75543947e-03 9.96788035e-01 -2.76395561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.236875 meters 0.017693292886369665 Centerline is valid? [True, True] Translation: X:208.05, Y:-41.55, Z:-27.64 [[ 5.86219409e-01 -8.08866014e-01 4.56352551e-02 2.08051442e+02] [ 8.06188792e-01 5.87990337e-01 6.57798991e-02 -4.15489321e+01] [-8.00402138e-02 -1.77082236e-03 9.96790062e-01 -2.76421055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.266875 meters 0.01797970729465829 Centerline is valid? [True, True] Translation: X:208.07, Y:-41.53, Z:-27.65 [[ 5.85844527e-01 -8.09156264e-01 4.53026551e-02 2.08066860e+02] [ 8.06515846e-01 5.87590938e-01 6.53381935e-02 -4.15254696e+01] [-7.94882381e-02 -1.74071386e-03 9.96834284e-01 -2.76456128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.296875 meters 0.017088651946715376 Centerline is valid? [True, True] Translation: X:208.08, Y:-41.50, Z:-27.65 [[ 5.85293934e-01 -8.09573649e-01 4.49612868e-02 2.08083984e+02] [ 8.06971229e-01 5.87015877e-01 6.48829360e-02 -4.15033618e+01] [-7.89205045e-02 -1.69312399e-03 9.96879475e-01 -2.76470230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.326875 meters 0.017174585203190616 Centerline is valid? [True, True] Translation: X:208.10, Y:-41.48, Z:-27.65 [[ 5.84588031e-01 -8.10075199e-01 4.51110504e-02 2.08098943e+02] [ 8.07453562e-01 5.86323658e-01 6.51407222e-02 -4.14803130e+01] [-7.92185596e-02 -1.65540823e-03 9.96855897e-01 -2.76492834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.356875 meters 0.017607075779327287 Centerline is valid? [True, True] Translation: X:208.11, Y:-41.46, Z:-27.65 [[ 5.83632646e-01 -8.10748421e-01 4.53864800e-02 2.08113123e+02] [ 8.08094611e-01 5.85392581e-01 6.55639065e-02 -4.14570332e+01] [-7.97247423e-02 -1.58866632e-03 9.96815651e-01 -2.76520169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.386875 meters 0.016465299334970544 Centerline is valid? [True, True] Translation: X:208.13, Y:-41.43, Z:-27.65 [[ 5.82386554e-01 -8.11642299e-01 4.54167364e-02 2.08131204e+02] [ 8.08985372e-01 5.84152870e-01 6.56360652e-02 -4.14348640e+01] [-7.98033238e-02 -1.48408643e-03 9.96809524e-01 -2.76533429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41687499999998 meters 0.015768047218266416 Centerline is valid? [True, True] Translation: X:208.15, Y:-41.41, Z:-27.66 [[ 5.79491247e-01 -8.13739805e-01 4.49157564e-02 2.08149107e+02] [ 8.11144587e-01 5.81228079e-01 6.49490535e-02 -4.14123939e+01] [-7.89579289e-02 -1.20423532e-03 9.96877222e-01 -2.76557828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44687499999998 meters 0.0154554497549058 Centerline is valid? [True, True] Translation: X:208.17, Y:-41.39, Z:-27.66 [[ 5.77779520e-01 -8.14960152e-01 4.48416976e-02 2.08165638e+02] [ 8.12374123e-01 5.79516032e-01 6.48802936e-02 -4.13908752e+01] [-7.88613366e-02 -1.05827009e-03 9.96885033e-01 -2.76580902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47687499999998 meters 0.01523229448070205 Centerline is valid? [True, True] Translation: X:208.18, Y:-41.37, Z:-27.66 [[ 5.76066133e-01 -8.16198197e-01 4.43656754e-02 2.08182545e+02] [ 8.13668401e-01 5.77771323e-01 6.42186271e-02 -4.13685959e+01] [-7.80483426e-02 -8.95228016e-04 9.96949174e-01 -2.76610811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50687499999998 meters 0.014917390888450377 Centerline is valid? [True, True] Translation: X:208.20, Y:-41.35, Z:-27.66 [[ 5.73648441e-01 -8.17902954e-01 4.42969990e-02 2.08200051e+02] [ 8.15383153e-01 5.75355794e-01 6.41562496e-02 -4.13458538e+01] [-7.79601211e-02 -6.84105874e-04 9.96956244e-01 -2.76635485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53687499999998 meters 0.014704656599677521 Centerline is valid? [True, True] Translation: X:208.22, Y:-41.32, Z:-27.67 [[ 5.71288782e-01 -8.19533284e-01 4.46578585e-02 2.08218040e+02] [ 8.16974238e-01 5.73031378e-01 6.47157942e-02 -4.13234984e+01] [-7.86271015e-02 -4.87087366e-04 9.96903978e-01 -2.76653190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56687499999998 meters 0.014596719920189396 Centerline is valid? [True, True] Translation: X:208.24, Y:-41.30, Z:-27.67 [[ 5.66458481e-01 -8.22898636e-01 4.43015184e-02 2.08236857e+02] [ 8.20387595e-01 5.68188202e-01 6.42367512e-02 -4.13038356e+01] [-7.80319350e-02 -4.30363090e-05 9.96950859e-01 -2.76672155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59687499999998 meters 0.014764836555291674 Centerline is valid? [True, True] Translation: X:208.25, Y:-41.28, Z:-27.67 [[ 5.63677786e-01 -8.24802708e-01 4.43604109e-02 2.08254835e+02] [ 8.22288420e-01 5.65420597e-01 6.43529536e-02 -4.12821833e+01] [-7.81607804e-02 2.02721846e-04 9.96940746e-01 -2.76689053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62687499999998 meters 0.015408306729649405 Centerline is valid? [True, True] Translation: X:208.28, Y:-41.26, Z:-27.67 [[ 5.59133587e-01 -8.27864918e-01 4.48253264e-02 2.08275172e+02] [ 8.25304217e-01 5.60927180e-01 6.50664903e-02 -4.12634517e+01] [-7.90100086e-02 6.13670865e-04 9.96873634e-01 -2.76704091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65687499999999 meters 0.015703544806224205 Centerline is valid? [True, True] Translation: X:208.29, Y:-41.24, Z:-27.67 [[ 5.57153434e-01 -8.29191920e-01 4.49534321e-02 2.08292284e+02] [ 8.26618153e-01 5.58963455e-01 6.52861749e-02 -4.12410941e+01] [-7.92620945e-02 7.84906417e-04 9.96853502e-01 -2.76718863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.686875 meters 0.016064456262310595 Centerline is valid? [True, True] Translation: X:208.31, Y:-41.22, Z:-27.67 [[ 5.55568086e-01 -8.30249924e-01 4.50462644e-02 2.08308861e+02] [ 8.27666053e-01 5.57390548e-01 6.54574790e-02 -4.12195000e+01] [-7.94544290e-02 9.17177520e-04 9.96838077e-01 -2.76748107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.716875 meters 0.016152839308037764 Centerline is valid? [True, True] Translation: X:208.33, Y:-41.20, Z:-27.68 [[ 5.54201459e-01 -8.31159154e-01 4.51132263e-02 2.08325797e+02] [ 8.28567267e-01 5.56033639e-01 6.55963112e-02 -4.11968190e+01] [-7.96054459e-02 1.02577126e-03 9.96825923e-01 -2.76775865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.746875 meters 0.016623917644405645 Centerline is valid? [True, True] Translation: X:208.34, Y:-41.17, Z:-27.68 [[ 5.52758406e-01 -8.32135982e-01 4.48090693e-02 2.08343505e+02] [ 8.29579268e-01 5.54570476e-01 6.51906879e-02 -4.11744624e+01] [-7.90973040e-02 1.13797415e-03 9.96866251e-01 -2.76799523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.776875 meters 0.01670214183529074 Centerline is valid? [True, True] Translation: X:208.36, Y:-41.15, Z:-27.68 [[ 5.52732086e-01 -8.32163959e-01 4.46137555e-02 2.08359548e+02] [ 8.29626778e-01 5.54528537e-01 6.49423602e-02 -4.11516266e+01] [-7.87822921e-02 1.11704000e-03 9.96891219e-01 -2.76819350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.806875 meters 0.016428152847050456 Centerline is valid? [True, True] Translation: X:208.38, Y:-41.13, Z:-27.68 [[ 5.52861016e-01 -8.32095961e-01 4.42832827e-02 2.08375340e+02] [ 8.29593085e-01 5.54630643e-01 6.44993326e-02 -4.11281140e+01] [-7.82304997e-02 1.07793855e-03 9.96934716e-01 -2.76848345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.836875 meters 0.01680590145775682 Centerline is valid? [True, True] Translation: X:208.39, Y:-41.11, Z:-27.69 [[ 5.53671297e-01 -8.31589142e-01 4.36760092e-02 2.08390897e+02] [ 8.29150149e-01 5.55390452e-01 6.36512090e-02 -4.11058002e+01] [-7.71888928e-02 9.72122072e-04 9.97016013e-01 -2.76891873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.866875 meters 0.017774725067324467 Centerline is valid? [True, True] Translation: X:208.41, Y:-41.08, Z:-27.70 [[ 5.58273592e-01 -8.28601246e-01 4.18398410e-02 2.08405330e+02] [ 8.26352145e-01 5.59839005e-01 6.10116378e-02 -4.10821379e+01] [-7.39778940e-02 5.13256223e-04 9.97259749e-01 -2.76957825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.896875 meters 0.018783261717250383 Centerline is valid? [True, True] Translation: X:208.42, Y:-41.06, Z:-27.70 [[ 5.60371839e-01 -8.27223911e-01 4.10366015e-02 2.08420061e+02] [ 8.25054298e-01 5.61872323e-01 5.98740156e-02 -4.10592097e+01] [-7.25865480e-02 3.05712219e-04 9.97362070e-01 -2.77005015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.926875 meters 0.019170556924476223 Centerline is valid? [True, True] Translation: X:208.43, Y:-41.04, Z:-27.70 [[ 5.62393861e-01 -8.25889913e-01 4.02367549e-02 2.08434342e+02] [ 8.23798128e-01 5.63831393e-01 5.87435551e-02 -4.10351640e+01] [-7.12024552e-02 1.09948581e-04 9.97461878e-01 -2.77040406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.956875 meters 0.01999081373766272 Centerline is valid? [True, True] Translation: X:208.45, Y:-41.01, Z:-27.71 [[ 5.66243309e-01 -8.23234490e-01 4.06631170e-02 2.08447174e+02] [ 8.21088826e-01 5.67701430e-01 5.93988733e-02 -4.10101990e+01] [-7.19837109e-02 -2.46183600e-04 9.97405777e-01 -2.77091222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.986875 meters 0.021192603712798384 Centerline is valid? [True, True] Translation: X:208.46, Y:-40.99, Z:-27.71 [[ 5.69378765e-01 -8.21116134e-01 3.97003308e-02 2.08462290e+02] [ 8.19063449e-01 5.70760915e-01 5.80262429e-02 -4.09868180e+01] [-7.03056814e-02 -5.21820602e-04 9.97525358e-01 -2.77143205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.016875 meters 0.02301844320736282 Centerline is valid? [True, True] Translation: X:208.48, Y:-40.96, Z:-27.72 [[ 5.71975759e-01 -8.19328353e-01 3.93037092e-02 2.08475945e+02] [ 8.17309887e-01 5.73324063e-01 5.74810212e-02 -4.09639651e+01] [-6.96295927e-02 -7.54440547e-04 9.97572629e-01 -2.77222407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.046875 meters 0.023638763421621783 Centerline is valid? [True, True] Translation: X:208.49, Y:-40.94, Z:-27.73 [[ 5.74288498e-01 -8.17712059e-01 3.92391270e-02 2.08490028e+02] [ 8.15695205e-01 5.75626674e-01 5.74044016e-02 -4.09398456e+01] [-6.95273596e-02 -9.59519795e-04 9.97579584e-01 -2.77257288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.076875 meters 0.024864616003968804 Centerline is valid? [True, True] Translation: X:208.50, Y:-40.91, Z:-27.73 [[ 5.77317921e-01 -8.15562719e-01 3.95154263e-02 2.08503107e+02] [ 8.13510155e-01 5.78667348e-01 5.78388020e-02 -4.09137048e+01] [-7.00374576e-02 -1.24517629e-03 9.97543585e-01 -2.77260380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.106875 meters 0.026274526118551703 Centerline is valid? [True, True] Translation: X:208.52, Y:-40.89, Z:-27.73 [[ 5.78768952e-01 -8.14514378e-01 3.99102493e-02 2.08515510e+02] [ 8.12415735e-01 5.80141667e-01 5.84492916e-02 -4.08895836e+01] [-7.07613869e-02 -1.40492071e-03 9.97492282e-01 -2.77295894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.136875 meters 0.025422251964225404 Centerline is valid? [True, True] Translation: X:208.53, Y:-40.87, Z:-27.73 [[ 5.78743183e-01 -8.14489211e-01 4.07879001e-02 2.08529794e+02] [ 8.12294801e-01 5.80176871e-01 5.97658415e-02 -4.08650078e+01] [-7.23428293e-02 -1.45727413e-03 9.97378760e-01 -2.77297561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16687499999998 meters 0.026560372770478978 Centerline is valid? [True, True] Translation: X:208.54, Y:-40.84, Z:-27.73 [[ 5.80482561e-01 -8.13187388e-01 4.20269949e-02 2.08544298e+02] [ 8.10851308e-01 5.81999497e-01 6.16177001e-02 -4.08404976e+01] [-7.45664265e-02 -1.69035661e-03 9.97214616e-01 -2.77303041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19687499999998 meters 0.027760438813292446 Centerline is valid? [True, True] Translation: X:208.56, Y:-40.82, Z:-27.73 [[ 5.82018895e-01 -8.12094874e-01 4.19037183e-02 2.08559977e+02] [ 8.09766976e-01 5.83522500e-01 6.14730584e-02 -4.08165766e+01] [-7.43737181e-02 -1.84623430e-03 9.97228731e-01 -2.77332074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22687499999998 meters 0.028196528981505393 Centerline is valid? [True, True] Translation: X:208.57, Y:-40.79, Z:-27.74 [[ 5.83159957e-01 -8.11277116e-01 4.18796499e-02 2.08574766e+02] [ 8.08947052e-01 5.84658495e-01 6.14744796e-02 -4.07924620e+01] [-7.43581316e-02 -1.97103559e-03 9.97229654e-01 -2.77363462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25687499999998 meters 0.028884956762907178 Centerline is valid? [True, True] Translation: X:208.59, Y:-40.77, Z:-27.74 [[ 5.84463256e-01 -8.10343865e-01 4.17794572e-02 2.08587603e+02] [ 8.08021312e-01 5.85950879e-01 6.13443340e-02 -4.07674737e+01] [-7.41907144e-02 -2.09481742e-03 9.97241871e-01 -2.77395777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28687499999998 meters 0.03028041022068551 Centerline is valid? [True, True] Translation: X:208.60, Y:-40.74, Z:-27.74 [[ 5.86040759e-01 -8.09211463e-01 4.16297591e-02 2.08600031e+02] [ 8.06900013e-01 5.87513181e-01 6.11606933e-02 -4.07436750e+01] [-7.39499663e-02 -2.25160589e-03 9.97259411e-01 -2.77439128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31687499999998 meters 0.030372634581886958 Centerline is valid? [True, True] Translation: X:208.62, Y:-40.72, Z:-27.75 [[ 5.86774444e-01 -8.08690974e-01 4.14084656e-02 2.08615297e+02] [ 8.06401051e-01 5.88229150e-01 6.08589505e-02 -4.07203159e+01] [-7.35737505e-02 -2.31864664e-03 9.97287084e-01 -2.77460256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34687499999998 meters 0.030350295952660568 Centerline is valid? [True, True] Translation: X:208.63, Y:-40.70, Z:-27.75 [[ 5.89138588e-01 -8.06996020e-01 4.09041290e-02 2.08630537e+02] [ 8.04755201e-01 5.90551505e-01 6.01497096e-02 -4.06967238e+01] [-7.26965712e-02 -2.51870439e-03 9.97350924e-01 -2.77485301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37687499999998 meters 0.030795479529151355 Centerline is valid? [True, True] Translation: X:208.64, Y:-40.67, Z:-27.75 [[ 5.89704551e-01 -8.06589754e-01 4.07616347e-02 2.08644822e+02] [ 8.04360855e-01 5.91105999e-01 5.99776094e-02 -4.06723232e+01] [-7.24717720e-02 -2.58200591e-03 9.97367122e-01 -2.77517057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40687499999999 meters 0.031680163360533024 Centerline is valid? [True, True] Translation: X:208.66, Y:-40.65, Z:-27.76 [[ 5.90769894e-01 -8.05838545e-01 4.01891877e-02 2.08660161e+02] [ 8.03667809e-01 5.92129365e-01 5.91681308e-02 -4.06484876e+01] [-7.14771586e-02 -2.65599390e-03 9.97438701e-01 -2.77559490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.436875 meters 0.03251075885676259 Centerline is valid? [True, True] Translation: X:208.67, Y:-40.62, Z:-27.76 [[ 5.90990540e-01 -8.05673045e-01 4.02632149e-02 2.08672995e+02] [ 8.03491707e-01 5.92354336e-01 5.93078191e-02 -4.06246811e+01] [-7.16328011e-02 -2.69920081e-03 9.97427419e-01 -2.77591968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.466875 meters 0.03242865714972262 Centerline is valid? [True, True] Translation: X:208.69, Y:-40.60, Z:-27.76 [[ 5.90886869e-01 -8.05760694e-01 4.00301340e-02 2.08689796e+02] [ 8.03602615e-01 5.92235141e-01 5.89946978e-02 -4.06021706e+01] [-7.12428607e-02 -2.69087188e-03 9.97455369e-01 -2.77618743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.496875 meters 0.033437335098194666 Centerline is valid? [True, True] Translation: X:208.70, Y:-40.58, Z:-27.76 [[ 5.90068653e-01 -8.06354104e-01 4.01502746e-02 2.08703404e+02] [ 8.04181694e-01 5.91427121e-01 5.92094848e-02 -4.05786403e+01] [-7.14897724e-02 -2.64954506e-03 9.97437814e-01 -2.77649208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.526875 meters 0.032320303440418245 Centerline is valid? [True, True] Translation: X:208.72, Y:-40.56, Z:-27.77 [[ 5.88271606e-01 -8.07625674e-01 4.09547043e-02 2.08721666e+02] [ 8.05366454e-01 5.89689932e-01 6.04206772e-02 -4.05568566e+01] [-7.29478670e-02 -2.56022382e-03 9.97332469e-01 -2.77661562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.556875 meters 0.032320303440418245 Centerline is valid? [True, True] Translation: X:208.74, Y:-40.53, Z:-27.77 [[ 5.88049721e-01 -8.07788018e-01 4.09395199e-02 2.08737014e+02] [ 8.05528476e-01 5.89467533e-01 6.04309634e-02 -4.05339974e+01] [-7.29479259e-02 -2.55846203e-03 9.97332469e-01 -2.77686581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.586875 meters 0.030800410993577367 Centerline is valid? [True, True] Translation: X:208.76, Y:-40.51, Z:-27.77 [[ 5.86193187e-01 -8.09097346e-01 4.17017027e-02 2.08755651e+02] [ 8.06753268e-01 5.87669482e-01 6.15933843e-02 -4.05125931e+01] [-7.43418618e-02 -2.46263729e-03 9.97229774e-01 -2.77694613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.616875 meters 0.030748819974858753 Centerline is valid? [True, True] Translation: X:208.77, Y:-40.49, Z:-27.77 [[ 5.84404863e-01 -8.10365985e-01 4.21654501e-02 2.08772516e+02] [ 8.07969644e-01 5.85919314e-01 6.23186325e-02 -4.04910673e+01] [-7.52064516e-02 -2.35090821e-03 9.97165213e-01 -2.77714046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.646875 meters 0.02912921768592121 Centerline is valid? [True, True] Translation: X:208.79, Y:-40.47, Z:-27.77 [[ 5.80295758e-01 -8.13280119e-01 4.28051627e-02 2.08792347e+02] [ 8.10816513e-01 5.81868866e-01 6.32866943e-02 -4.04709546e+01] [-7.63768017e-02 -2.01786747e-03 9.97076984e-01 -2.77718267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.676875 meters 0.028526384705016578 Centerline is valid? [True, True] Translation: X:208.81, Y:-40.45, Z:-27.77 [[ 5.78292303e-01 -8.14705389e-01 4.28152013e-02 2.08810058e+02] [ 8.12241566e-01 5.79872138e-01 6.33398906e-02 -4.04486042e+01] [-7.64306925e-02 -1.85268504e-03 9.97073175e-01 -2.77746531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.706875 meters 0.02829405388330628 Centerline is valid? [True, True] Translation: X:208.83, Y:-40.43, Z:-27.78 [[ 5.76062206e-01 -8.16293741e-01 4.26246834e-02 2.08825928e+02] [ 8.13853308e-01 5.77634646e-01 6.30952326e-02 -4.04266948e+01] [-7.61257374e-02 -1.65653927e-03 9.97096850e-01 -2.77781830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.736875 meters 0.027630680431972216 Centerline is valid? [True, True] Translation: X:208.84, Y:-40.40, Z:-27.78 [[ 5.74028053e-01 -8.17735710e-01 4.24276302e-02 2.08843371e+02] [ 8.15320207e-01 5.75591997e-01 6.28236648e-02 -4.04038048e+01] [-7.57941585e-02 -1.47044170e-03 9.97122401e-01 -2.77813419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.766875 meters 0.026992887165895433 Centerline is valid? [True, True] Translation: X:208.86, Y:-40.38, Z:-27.78 [[ 5.72041519e-01 -8.19127033e-01 4.24193858e-02 2.08860794e+02] [ 8.16713891e-01 5.73610672e-01 6.28427998e-02 -4.03818589e+01] [-7.58084485e-02 -1.30418905e-03 9.97121546e-01 -2.77836264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.796875 meters 0.026729507729525592 Centerline is valid? [True, True] Translation: X:208.88, Y:-40.36, Z:-27.79 [[ 5.69352410e-01 -8.21009086e-01 4.22127275e-02 2.08876993e+02] [ 8.18621962e-01 5.70914125e-01 6.25711187e-02 -4.03597108e+01] [-7.54712993e-02 -1.06875143e-03 9.97147402e-01 -2.77872766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.826875 meters 0.025667889369835245 Centerline is valid? [True, True] Translation: X:208.89, Y:-40.34, Z:-27.79 [[ 5.67890967e-01 -8.22022480e-01 4.21769112e-02 2.08894156e+02] [ 8.19639637e-01 5.69454242e-01 6.25518300e-02 -4.03377280e+01] [-7.54368315e-02 -9.52751042e-04 9.97150127e-01 -2.77882930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.856875 meters 0.02593412715973592 Centerline is valid? [True, True] Translation: X:208.91, Y:-40.31, Z:-27.79 [[ 5.67188142e-01 -8.22502974e-01 4.22666533e-02 2.08909696e+02] [ 8.20108462e-01 5.68760078e-01 6.27222779e-02 -4.03141789e+01] [-7.56288452e-02 -9.12092218e-04 9.97135621e-01 -2.77915491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.886875 meters 0.025589172744631537 Centerline is valid? [True, True] Translation: X:208.92, Y:-40.29, Z:-27.79 [[ 5.65863543e-01 -8.23372945e-01 4.30748665e-02 2.08924914e+02] [ 8.20885589e-01 5.67500046e-01 6.39573906e-02 -4.02906942e+01] [-7.71057738e-02 -8.31618456e-04 9.97022572e-01 -2.77930843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91687499999998 meters 0.025960242007227984 Centerline is valid? [True, True] Translation: X:208.94, Y:-40.27, Z:-27.80 [[ 5.66169357e-01 -8.23139961e-01 4.35070507e-02 2.08938921e+02] [ 8.20598833e-01 5.67837836e-01 6.46355009e-02 -4.02675340e+01] [-7.79090132e-02 -8.92804967e-04 9.96960074e-01 -2.77959125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94687499999998 meters 0.025882730349200522 Centerline is valid? [True, True] Translation: X:208.95, Y:-40.24, Z:-27.80 [[ 5.66994497e-01 -8.22549006e-01 4.39360160e-02 2.08952247e+02] [ 8.19952446e-01 5.68693343e-01 6.53136083e-02 -4.02442229e+01] [-7.87097634e-02 -1.00701265e-03 9.96897065e-01 -2.77982156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97687499999998 meters 0.026600251145362384 Centerline is valid? [True, True] Translation: X:208.96, Y:-40.22, Z:-27.80 [[ 5.69185910e-01 -8.21033971e-01 4.39388037e-02 2.08964894e+02] [ 8.18429356e-01 5.70877991e-01 6.53583081e-02 -4.02188427e+01] [-7.87450872e-02 -1.24022121e-03 9.96894013e-01 -2.78007149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00687499999998 meters 0.026848029388633333 Centerline is valid? [True, True] Translation: X:208.98, Y:-40.19, Z:-27.80 [[ 5.70679041e-01 -8.20001356e-01 4.38543884e-02 2.08979999e+02] [ 8.17400976e-01 5.72359865e-01 6.52673627e-02 -4.01943577e+01] [-7.86198177e-02 -1.40009610e-03 9.96903688e-01 -2.78025622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03687499999998 meters 0.027687502220578405 Centerline is valid? [True, True] Translation: X:208.99, Y:-40.17, Z:-27.81 [[ 5.72427566e-01 -8.18790295e-01 4.36936503e-02 2.08992119e+02] [ 8.16202615e-01 5.74090543e-01 6.50641180e-02 -4.01699101e+01] [-7.83579798e-02 -1.58162309e-03 9.96924032e-01 -2.78059680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06687499999998 meters 0.027858438284488418 Centerline is valid? [True, True] Translation: X:209.01, Y:-40.15, Z:-27.81 [[ 5.73289557e-01 -8.18154067e-01 4.43058186e-02 2.09005941e+02] [ 8.15488434e-01 5.74996510e-01 6.60123261e-02 -4.01457622e+01] [-7.94839442e-02 -1.71329456e-03 9.96834674e-01 -2.78072473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09687499999998 meters 0.029160640702867734 Centerline is valid? [True, True] Translation: X:209.02, Y:-40.12, Z:-27.81 [[ 5.76434904e-01 -8.15952829e-01 4.40883472e-02 2.09017117e+02] [ 8.13303811e-01 5.78114919e-01 6.57271051e-02 -4.01188798e+01] [-7.91183486e-02 -2.03017677e-03 9.96863163e-01 -2.78100797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12687499999998 meters 0.0289590902895606 Centerline is valid? [True, True] Translation: X:209.03, Y:-40.09, Z:-27.81 [[ 5.77601610e-01 -8.15141261e-01 4.38304118e-02 2.09031626e+02] [ 8.12518283e-01 5.79258242e-01 6.53752925e-02 -4.00949998e+01] [-7.86792257e-02 -2.14786329e-03 9.96897671e-01 -2.78119211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15687499999999 meters 0.029419036717924323 Centerline is valid? [True, True] Translation: X:209.05, Y:-40.07, Z:-27.82 [[ 5.78800799e-01 -8.14304092e-01 4.35715650e-02 2.09045528e+02] [ 8.11706828e-01 5.80434058e-01 6.50256051e-02 -4.00703718e+01] [-7.82410366e-02 -2.26953533e-03 9.96931888e-01 -2.78153443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.186875 meters 0.030664172235286 Centerline is valid? [True, True] Translation: X:209.05, Y:-40.04, Z:-27.82 [[ 5.81166454e-01 -8.12612589e-01 4.36615729e-02 2.09054960e+02] [ 8.09996695e-01 5.82798764e-01 6.51993379e-02 -4.00447479e+01] [-7.84277135e-02 -2.52593820e-03 9.96916603e-01 -2.78201959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.216875 meters 0.0303571615536841 Centerline is valid? [True, True] Translation: X:209.07, Y:-40.02, Z:-27.82 [[ 5.81750223e-01 -8.12193061e-01 4.36933594e-02 2.09070426e+02] [ 8.09571006e-01 5.83382986e-01 6.52616146e-02 -4.00208690e+01] [-7.84949930e-02 -2.59308197e-03 9.96911135e-01 -2.78218390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.246875 meters 0.030840680067697572 Centerline is valid? [True, True] Translation: X:209.08, Y:-40.00, Z:-27.82 [[ 5.82511791e-01 -8.11647523e-01 4.36842215e-02 2.09084127e+02] [ 8.09021906e-01 5.84141306e-01 6.52877521e-02 -3.99977298e+01] [-7.85084005e-02 -2.68939327e-03 9.96909825e-01 -2.78248995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.276875 meters 0.0306890528013987 Centerline is valid? [True, True] Translation: X:209.10, Y:-39.97, Z:-27.83 [[ 5.82551404e-01 -8.11614911e-01 4.37618325e-02 2.09099367e+02] [ 8.08978781e-01 5.84186538e-01 6.54172788e-02 -3.99742644e+01] [-7.86587123e-02 -2.70653367e-03 9.96897929e-01 -2.78271623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.306875 meters 0.032326186794356844 Centerline is valid? [True, True] Translation: X:209.11, Y:-39.95, Z:-27.83 [[ 5.82343252e-01 -8.11764561e-01 4.37565281e-02 2.09111257e+02] [ 8.09126508e-01 5.83978564e-01 6.54471629e-02 -3.99499952e+01] [-7.86805620e-02 -2.70814693e-03 9.96896201e-01 -2.78309032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.336875 meters 0.03171844226206321 Centerline is valid? [True, True] Translation: X:209.13, Y:-39.93, Z:-27.83 [[ 5.81660609e-01 -8.12266697e-01 4.35172224e-02 2.09127392e+02] [ 8.09655864e-01 5.83280208e-01 6.51274224e-02 -3.99277273e+01] [-7.82835708e-02 -2.64808195e-03 9.96927615e-01 -2.78329589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.366875 meters 0.030618566672343136 Centerline is valid? [True, True] Translation: X:209.15, Y:-39.91, Z:-27.84 [[ 5.81039038e-01 -8.12712035e-01 4.35061489e-02 2.09145259e+02] [ 8.10100615e-01 5.82659705e-01 6.51510764e-02 -3.99053249e+01] [-7.82983438e-02 -2.61096086e-03 9.96926553e-01 -2.78355034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.396875 meters 0.0314419915615386 Centerline is valid? [True, True] Translation: X:209.16, Y:-39.88, Z:-27.84 [[ 5.80355059e-01 -8.13206941e-01 4.33875133e-02 2.09158965e+02] [ 8.10608206e-01 5.81969004e-01 6.50108788e-02 -3.98816328e+01] [-7.81174859e-02 -2.55911807e-03 9.96940876e-01 -2.78391411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.426875 meters 0.030552625495052808 Centerline is valid? [True, True] Translation: X:209.18, Y:-39.86, Z:-27.84 [[ 5.78471258e-01 -8.14566533e-01 4.30391300e-02 2.09176520e+02] [ 8.12010232e-01 5.80065260e-01 6.45265685e-02 -3.98588724e+01] [-7.75266873e-02 -2.37855129e-03 9.96987440e-01 -2.78420670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.456875 meters 0.035591208984313685 Centerline is valid? [True, True] Translation: X:209.18, Y:-39.83, Z:-27.85 [[ 5.75517684e-01 -8.16603020e-01 4.40329782e-02 2.09182029e+02] [ 8.13930189e-01 5.77195617e-01 6.60520059e-02 -3.98302571e+01] [-7.93539096e-02 -2.17432719e-03 9.96844135e-01 -2.78485855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.486875 meters 0.02955832516561508 Centerline is valid? [True, True] Translation: X:209.21, Y:-39.81, Z:-27.85 [[ 5.75526138e-01 -8.16663935e-01 4.27747795e-02 2.09210041e+02] [ 8.14139251e-01 5.77109610e-01 6.42010688e-02 -3.98147443e+01] [-7.71164338e-02 -2.12476614e-03 9.97019830e-01 -2.78476866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.516875 meters 0.02905386933996714 Centerline is valid? [True, True] Translation: X:209.23, Y:-39.79, Z:-27.85 [[ 5.73825125e-01 -8.17872724e-01 4.25315606e-02 2.09226375e+02] [ 8.15377308e-01 5.75395794e-01 6.38711669e-02 -3.97933884e+01] [-7.67109664e-02 -1.97161089e-03 9.97051423e-01 -2.78499861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.546875 meters 0.028697028049877275 Centerline is valid? [True, True] Translation: X:209.24, Y:-39.77, Z:-27.85 [[ 5.72498790e-01 -8.18796453e-01 4.26321827e-02 2.09242963e+02] [ 8.16289871e-01 5.74080904e-01 6.40465633e-02 -3.97704196e+01] [-7.69154209e-02 -1.86636115e-03 9.97035874e-01 -2.78527146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.576875 meters 0.028517151181237887 Centerline is valid? [True, True] Translation: X:209.26, Y:-39.75, Z:-27.86 [[ 5.70862639e-01 -8.19960277e-01 4.22017985e-02 2.09260370e+02] [ 8.17504815e-01 5.72417869e-01 6.34323267e-02 -3.97487093e+01] [-7.61690517e-02 -1.71097192e-03 9.97093450e-01 -2.78556947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.606875 meters 0.027845148245312194 Centerline is valid? [True, True] Translation: X:209.28, Y:-39.73, Z:-27.86 [[ 5.70093574e-01 -8.20495693e-01 4.21916551e-02 2.09277193e+02] [ 8.18039972e-01 5.71650295e-01 6.34550548e-02 -3.97256122e+01] [-7.61834712e-02 -1.66085857e-03 9.97092433e-01 -2.78576966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.636875 meters 0.02843656174576546 Centerline is valid? [True, True] Translation: X:209.29, Y:-39.70, Z:-27.86 [[ 5.69362399e-01 -8.21009179e-01 4.20759466e-02 2.09290970e+02] [ 8.18565696e-01 5.70912728e-01 6.33155410e-02 -3.97024933e+01] [-7.60043338e-02 -1.60756178e-03 9.97106191e-01 -2.78623122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66687499999998 meters 0.02777547750262124 Centerline is valid? [True, True] Translation: X:209.31, Y:-39.68, Z:-27.86 [[ 5.68150285e-01 -8.21880218e-01 4.14507130e-02 2.09309733e+02] [ 8.19508533e-01 5.69658398e-01 6.24105285e-02 -3.96811616e+01] [-7.49067254e-02 -1.48934656e-03 9.97189433e-01 -2.78649667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69687499999998 meters 0.027704763564663913 Centerline is valid? [True, True] Translation: X:209.33, Y:-39.66, Z:-27.87 [[ 5.67775797e-01 -8.22145405e-01 4.13228523e-02 2.09326083e+02] [ 8.19786269e-01 5.69275653e-01 6.22551530e-02 -3.96587619e+01] [-7.47068817e-02 -1.47106221e-03 9.97204451e-01 -2.78677978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72687499999998 meters 0.02709626743958894 Centerline is valid? [True, True] Translation: X:209.34, Y:-39.64, Z:-27.87 [[ 5.66590916e-01 -8.22951358e-01 4.15427177e-02 2.09343156e+02] [ 8.20566574e-01 5.68110135e-01 6.26208591e-02 -3.96363100e+01] [-7.51347600e-02 -1.39184432e-03 9.97172418e-01 -2.78695515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75687499999998 meters 0.027319476382739436 Centerline is valid? [True, True] Translation: X:209.36, Y:-39.61, Z:-27.87 [[ 5.65623877e-01 -8.23607321e-01 4.17206210e-02 2.09358578e+02] [ 8.21200929e-01 5.67158890e-01 6.29271715e-02 -3.96140747e+01] [-7.54895002e-02 -1.33209804e-03 9.97145707e-01 -2.78725274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78687499999998 meters 0.026945059300034675 Centerline is valid? [True, True] Translation: X:209.38, Y:-39.59, Z:-27.87 [[ 5.63994112e-01 -8.24718695e-01 4.18296010e-02 2.09376694e+02] [ 8.22299709e-01 5.65541874e-01 6.31314331e-02 -3.95925129e+01] [-7.57220641e-02 -1.20928782e-03 9.97128230e-01 -2.78736619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81687499999998 meters 0.026940346946023156 Centerline is valid? [True, True] Translation: X:209.39, Y:-39.57, Z:-27.88 [[ 5.63422664e-01 -8.25090403e-01 4.21986837e-02 2.09393681e+02] [ 8.22626835e-01 5.64999480e-01 6.37234479e-02 -3.95699041e+01] [-7.64198397e-02 -1.18946515e-03 9.97075019e-01 -2.78760018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84687499999998 meters 0.0264434169567209 Centerline is valid? [True, True] Translation: X:209.41, Y:-39.55, Z:-27.88 [[ 5.62276368e-01 -8.25860451e-01 4.24240617e-02 2.09412085e+02] [ 8.23369783e-01 5.63873460e-01 6.41008598e-02 -3.95481377e+01] [-7.68601675e-02 -1.11170812e-03 9.97041262e-01 -2.78775439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87687499999998 meters 0.026379996289864847 Centerline is valid? [True, True] Translation: X:209.43, Y:-39.53, Z:-27.88 [[ 5.61490613e-01 -8.26391817e-01 4.24835950e-02 2.09427380e+02] [ 8.23892782e-01 5.63094519e-01 6.42280820e-02 -3.95250398e+01] [-7.69998409e-02 -1.06153792e-03 9.97030540e-01 -2.78812028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90687499999999 meters 0.02614825093379458 Centerline is valid? [True, True] Translation: X:209.44, Y:-39.50, Z:-27.88 [[ 5.60872346e-01 -8.26838295e-01 4.19600520e-02 2.09444132e+02] [ 8.24399178e-01 5.62438814e-01 6.34710621e-02 -3.95024440e+01] [-7.60802666e-02 -1.00733111e-03 9.97101188e-01 -2.78833004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.936875 meters 0.026412235803168902 Centerline is valid? [True, True] Translation: X:209.46, Y:-39.48, Z:-27.89 [[ 5.60529028e-01 -8.27079047e-01 4.18026197e-02 2.09460144e+02] [ 8.24655966e-01 5.62084749e-01 6.32714252e-02 -3.94793543e+01] [-7.58270850e-02 -9.92690779e-04 9.97120488e-01 -2.78873064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.966875 meters 0.02651082726468613 Centerline is valid? [True, True] Translation: X:209.48, Y:-39.46, Z:-27.89 [[ 5.60623166e-01 -8.27013069e-01 4.18455501e-02 2.09475361e+02] [ 8.24581977e-01 5.62181765e-01 6.33737002e-02 -3.94568355e+01] [-7.59356835e-02 -1.02367800e-03 9.97112192e-01 -2.78913408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.996875 meters 0.026245373544835884 Centerline is valid? [True, True] Translation: X:209.49, Y:-39.43, Z:-27.89 [[ 5.60081753e-01 -8.27372107e-01 4.19979315e-02 2.09490889e+02] [ 8.24921380e-01 5.61653271e-01 6.36421209e-02 -3.94349678e+01] [-7.62439913e-02 -9.99799058e-04 9.97088689e-01 -2.78929836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.026875 meters 0.026360218408278478 Centerline is valid? [True, True] Translation: X:209.51, Y:-39.41, Z:-27.89 [[ 5.59992016e-01 -8.27408933e-01 4.24664460e-02 2.09506778e+02] [ 8.24900052e-01 5.61598965e-01 6.43933800e-02 -3.94118279e+01] [-7.71287700e-02 -1.02920515e-03 9.97020608e-01 -2.78948380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.056875 meters 0.0261589221699247 Centerline is valid? [True, True] Translation: X:209.52, Y:-39.39, Z:-27.90 [[ 5.60559732e-01 -8.27022649e-01 4.25008754e-02 2.09522569e+02] [ 8.24505500e-01 5.62167515e-01 6.44853937e-02 -3.93887012e+01] [-7.72234927e-02 -1.10570946e-03 9.97013194e-01 -2.78968752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.086875 meters 0.02685735054657884 Centerline is valid? [True, True] Translation: X:209.54, Y:-39.37, Z:-27.90 [[ 5.61716211e-01 -8.26279639e-01 4.16756077e-02 2.09536077e+02] [ 8.23855724e-01 5.63258844e-01 6.32552042e-02 -3.93655275e+01] [-7.57406420e-02 -1.19678564e-03 9.97126834e-01 -2.79011006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.116875 meters 0.02712301453195265 Centerline is valid? [True, True] Translation: X:209.55, Y:-39.34, Z:-27.90 [[ 5.62339261e-01 -8.25860745e-01 4.15762576e-02 2.09550412e+02] [ 8.23445308e-01 5.63872708e-01 6.31299772e-02 -3.93418432e+01] [-7.55802869e-02 -1.26469043e-03 9.97138918e-01 -2.79046640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.146875 meters 0.027425030937614534 Centerline is valid? [True, True] Translation: X:209.56, Y:-39.32, Z:-27.91 [[ 5.63177414e-01 -8.25289141e-01 4.15816589e-02 2.09564861e+02] [ 8.22868922e-01 5.64708759e-01 6.31724253e-02 -3.93177140e+01] [-7.56170435e-02 -1.36102828e-03 9.97136004e-01 -2.79079177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.176875 meters 0.02723982416530036 Centerline is valid? [True, True] Translation: X:209.58, Y:-39.29, Z:-27.91 [[ 5.65115223e-01 -8.23965093e-01 4.15488991e-02 2.09580171e+02] [ 8.21543632e-01 5.66638446e-01 6.31421615e-02 -3.92942904e+01] [-7.55701406e-02 -1.54836322e-03 9.97139286e-01 -2.79090457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.206875 meters 0.02870575941683953 Centerline is valid? [True, True] Translation: X:209.59, Y:-39.27, Z:-27.91 [[ 5.66159910e-01 -8.23244993e-01 4.16009364e-02 2.09591284e+02] [ 8.20813894e-01 5.67683829e-01 6.32425582e-02 -3.92697123e+01] [-7.56802982e-02 -1.65877445e-03 9.97130754e-01 -2.79135955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.236875 meters 0.02763446923897894 Centerline is valid? [True, True] Translation: X:209.61, Y:-39.25, Z:-27.91 [[ 5.66850534e-01 -8.22770925e-01 4.15749483e-02 2.09608952e+02] [ 8.20339049e-01 5.68370457e-01 6.32365997e-02 -3.92466419e+01] [-7.56592080e-02 -1.74014676e-03 9.97132216e-01 -2.79132024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.266875 meters 0.027934896628708773 Centerline is valid? [True, True] Translation: X:209.62, Y:-39.22, Z:-27.92 [[ 5.68111185e-01 -8.21898465e-01 4.16244346e-02 2.09624240e+02] [ 8.19455711e-01 5.69630916e-01 6.33479074e-02 -3.92224642e+01] [-7.57761127e-02 -1.87927407e-03 9.97123086e-01 -2.79153284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.296875 meters 0.03003938166116633 Centerline is valid? [True, True] Translation: X:209.63, Y:-39.20, Z:-27.92 [[ 5.70253777e-01 -8.20419188e-01 4.15088531e-02 2.09634209e+02] [ 8.17983431e-01 5.71758677e-01 6.32069780e-02 -3.91967104e+01] [-7.55892645e-02 -2.09046392e-03 9.97136848e-01 -2.79199437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.326875 meters 0.028752173065077165 Centerline is valid? [True, True] Translation: X:209.65, Y:-39.17, Z:-27.92 [[ 5.70421476e-01 -8.20313358e-01 4.12957034e-02 2.09651668e+02] [ 8.17899770e-01 5.71910422e-01 6.29161064e-02 -3.91746855e+01] [-7.52283657e-02 -2.11295194e-03 9.97164093e-01 -2.79212382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.356875 meters 0.029175979985549737 Centerline is valid? [True, True] Translation: X:209.67, Y:-39.15, Z:-27.92 [[ 5.70473729e-01 -8.20288494e-01 4.10671577e-02 2.09665436e+02] [ 8.17898736e-01 5.71946036e-01 6.26050322e-02 -3.91514533e+01] [-7.48423856e-02 -2.12574979e-03 9.97193110e-01 -2.79239832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.386875 meters 0.029298979526261208 Centerline is valid? [True, True] Translation: X:209.68, Y:-39.13, Z:-27.93 [[ 5.70481369e-01 -8.20283785e-01 4.10550740e-02 2.09679609e+02] [ 8.17892396e-01 5.71952703e-01 6.26269434e-02 -3.91274156e+01] [-7.48534268e-02 -2.14887156e-03 9.97192232e-01 -2.79265754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41687499999998 meters 0.029291833990556015 Centerline is valid? [True, True] Translation: X:209.70, Y:-39.10, Z:-27.93 [[ 5.71292685e-01 -8.19750547e-01 4.04191632e-02 2.09695768e+02] [ 8.17428778e-01 5.72716491e-01 6.16928987e-02 -3.91038086e+01] [-7.37215088e-02 -2.20491455e-03 9.97276430e-01 -2.79299917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44687499999998 meters 0.029085819348254473 Centerline is valid? [True, True] Translation: X:209.71, Y:-39.08, Z:-27.93 [[ 5.71006133e-01 -8.19971504e-01 3.99840993e-02 2.09711455e+02] [ 8.17697609e-01 5.72400222e-01 6.10623078e-02 -3.90807315e+01] [-7.29562597e-02 -2.17204985e-03 9.97332776e-01 -2.79325666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47687499999998 meters 0.029085819348254473 Centerline is valid? [True, True] Translation: X:209.73, Y:-39.06, Z:-27.94 [[ 5.70780179e-01 -8.20129636e-01 3.99670853e-02 2.09726453e+02] [ 8.17855350e-01 5.72173629e-01 6.10734411e-02 -3.90576418e+01] [-7.29562513e-02 -2.17221511e-03 9.97332776e-01 -2.79350671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50687499999998 meters 0.02923444704436474 Centerline is valid? [True, True] Translation: X:209.74, Y:-39.04, Z:-27.94 [[ 5.70296955e-01 -8.20462208e-01 4.00393407e-02 2.09740571e+02] [ 8.18177604e-01 5.71696700e-01 6.12232890e-02 -3.90351980e+01] [-7.31217538e-02 -2.15616347e-03 9.97320691e-01 -2.79382409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53687499999998 meters 0.028865695263723623 Centerline is valid? [True, True] Translation: X:209.76, Y:-39.01, Z:-27.94 [[ 5.69572196e-01 -8.20951097e-01 4.03337214e-02 2.09756685e+02] [ 8.18632095e-01 5.70994560e-01 6.16985014e-02 -3.90122541e+01] [-7.36817879e-02 -2.12327203e-03 9.97279542e-01 -2.79396314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56687499999998 meters 0.029842328963914096 Centerline is valid? [True, True] Translation: X:209.77, Y:-38.99, Z:-27.94 [[ 5.68909108e-01 -8.21409268e-01 4.03638547e-02 2.09769636e+02] [ 8.19085208e-01 5.70335393e-01 6.17815648e-02 -3.89880906e+01] [-7.37688849e-02 -2.08665864e-03 9.97273181e-01 -2.79430810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59687499999998 meters 0.028910110395157087 Centerline is valid? [True, True] Translation: X:209.79, Y:-38.97, Z:-27.94 [[ 5.68451990e-01 -8.21717960e-01 4.05207317e-02 2.09787707e+02] [ 8.19373620e-01 5.69890586e-01 6.20611892e-02 -3.89662138e+01] [-7.40891773e-02 -2.07718784e-03 9.97249457e-01 -2.79433366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62687499999998 meters 0.028886178058152027 Centerline is valid? [True, True] Translation: X:209.80, Y:-38.94, Z:-27.94 [[ 5.67129166e-01 -8.22613992e-01 4.08745615e-02 2.09803799e+02] [ 8.20227929e-01 5.68596714e-01 6.26412050e-02 -3.89434334e+01] [-7.47706731e-02 -1.99919741e-03 9.97198751e-01 -2.79449594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65687499999999 meters 0.028479367143543342 Centerline is valid? [True, True] Translation: X:209.82, Y:-38.92, Z:-27.95 [[ 5.66308815e-01 -8.23185147e-01 4.07497103e-02 2.09820985e+02] [ 8.20812486e-01 5.67769722e-01 6.24852464e-02 -3.89205768e+01] [-7.45733784e-02 -1.93807481e-03 9.97213646e-01 -2.79473975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.686875 meters 0.028139948317263935 Centerline is valid? [True, True] Translation: X:209.84, Y:-38.90, Z:-27.95 [[ 5.65200175e-01 -8.23952301e-01 4.06370371e-02 2.09837307e+02] [ 8.21592207e-01 5.66656139e-01 6.23463309e-02 -3.88979053e+01] [-7.43976293e-02 -1.85108410e-03 9.97226938e-01 -2.79496774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.716875 meters 0.0274273330062319 Centerline is valid? [True, True] Translation: X:209.86, Y:-38.88, Z:-27.95 [[ 5.64205943e-01 -8.24646161e-01 4.03777556e-02 2.09855158e+02] [ 8.22315259e-01 5.65646163e-01 6.19841305e-02 -3.88756250e+01] [-7.39544978e-02 -1.76857029e-03 9.97260049e-01 -2.79519997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.746875 meters 0.027981482082629294 Centerline is valid? [True, True] Translation: X:209.87, Y:-38.85, Z:-27.96 [[ 5.62226033e-01 -8.26024067e-01 3.98262278e-02 2.09869991e+02] [ 8.23757275e-01 5.63632615e-01 6.11737449e-02 -3.88529818e+01] [-7.29783464e-02 -1.58632704e-03 9.97332264e-01 -2.79575885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.776875 meters 0.02701434298224452 Centerline is valid? [True, True] Translation: X:209.89, Y:-38.83, Z:-27.96 [[ 5.61180894e-01 -8.26747237e-01 3.95602150e-02 2.09887730e+02] [ 8.24509982e-01 5.62571552e-01 6.07991654e-02 -3.88315760e+01] [-7.25209935e-02 -1.50153778e-03 9.97365756e-01 -2.79592844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.806875 meters 0.027040864670851556 Centerline is valid? [True, True] Translation: X:209.90, Y:-38.81, Z:-27.96 [[ 5.60036591e-01 -8.27532573e-01 3.93555198e-02 2.09903449e+02] [ 8.25317779e-01 5.61415928e-01 6.05204010e-02 -3.88101174e+01] [-7.21774189e-02 -1.41282893e-03 9.97390808e-01 -2.79619712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.836875 meters 0.02692627002352158 Centerline is valid? [True, True] Translation: X:209.92, Y:-38.79, Z:-27.96 [[ 5.58874051e-01 -8.28322251e-01 3.92688559e-02 2.09920058e+02] [ 8.26116433e-01 5.60250374e-01 6.04248125e-02 -3.87873410e+01] [-7.20516079e-02 -1.32921262e-03 9.97400020e-01 -2.79636899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.866875 meters 0.026729977809355383 Centerline is valid? [True, True] Translation: X:209.94, Y:-38.77, Z:-27.97 [[ 5.57355967e-01 -8.29343778e-01 3.92838820e-02 2.09937979e+02] [ 8.27136234e-01 5.58737340e-01 6.04833524e-02 -3.87655272e+01] [-7.21108638e-02 -1.21763515e-03 9.97395880e-01 -2.79653281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.896875 meters 0.026141536847304442 Centerline is valid? [True, True] Translation: X:209.96, Y:-38.74, Z:-27.97 [[ 5.56741535e-01 -8.29745649e-01 3.95097580e-02 2.09955174e+02] [ 8.27511041e-01 5.58140428e-01 6.08665708e-02 -3.87425682e+01] [-7.25557655e-02 -1.19218705e-03 9.97363645e-01 -2.79659232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.926875 meters 0.026404314590601188 Centerline is valid? [True, True] Translation: X:209.97, Y:-38.72, Z:-27.97 [[ 5.56839237e-01 -8.29677910e-01 3.95554016e-02 2.09970425e+02] [ 8.27435319e-01 5.58241051e-01 6.09731307e-02 -3.87198141e+01] [-7.26695086e-02 -1.22269522e-03 9.97355327e-01 -2.79688484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.956875 meters 0.026356273623008016 Centerline is valid? [True, True] Translation: X:209.99, Y:-38.70, Z:-27.97 [[ 5.56639745e-01 -8.29794795e-01 3.99098119e-02 2.09985204e+02] [ 8.27509158e-01 5.58067253e-01 6.15591961e-02 -3.86968191e+01] [-7.33538597e-02 -1.24056036e-03 9.97305205e-01 -2.79717990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.986875 meters 0.026738908379396516 Centerline is valid? [True, True] Translation: X:210.00, Y:-38.67, Z:-27.98 [[ 5.56741664e-01 -8.29732908e-01 3.97746369e-02 2.09999173e+02] [ 8.27459534e-01 5.58159202e-01 6.13923890e-02 -3.86744610e+01] [-7.31398650e-02 -1.26779824e-03 9.97320888e-01 -2.79755286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.016875 meters 0.026768549624642993 Centerline is valid? [True, True] Translation: X:210.01, Y:-38.65, Z:-27.98 [[ 5.56840935e-01 -8.29684031e-01 3.94028087e-02 2.10014079e+02] [ 8.27451382e-01 5.58231838e-01 6.08393470e-02 -3.86508735e+01] [-7.24733370e-02 -1.27393033e-03 9.97369537e-01 -2.79796095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.046875 meters 0.02705081305901613 Centerline is valid? [True, True] Translation: X:210.03, Y:-38.63, Z:-27.98 [[ 5.56497335e-01 -8.29927071e-01 3.91378695e-02 2.10027882e+02] [ 8.27722622e-01 5.57870494e-01 6.04629889e-02 -3.86275277e+01] [-7.20137340e-02 -1.25219221e-03 9.97402855e-01 -2.79833626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.076875 meters 0.02644001850584122 Centerline is valid? [True, True] Translation: X:210.04, Y:-38.60, Z:-27.98 [[ 5.56938958e-01 -8.29633169e-01 3.90871137e-02 2.10044258e+02] [ 8.27430992e-01 5.58307343e-01 6.04223793e-02 -3.86042320e+01] [-7.19510326e-02 -1.30968762e-03 9.97407306e-01 -2.79833695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.106875 meters 0.02651828717002479 Centerline is valid? [True, True] Translation: X:210.06, Y:-38.58, Z:-27.99 [[ 5.57102763e-01 -8.29509753e-01 3.93710755e-02 2.10058645e+02] [ 8.27272403e-01 5.58490582e-01 6.08986170e-02 -3.85801999e+01] [-7.25043716e-02 -1.35618355e-03 9.97367173e-01 -2.79852799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.136875 meters 0.026626526046953702 Centerline is valid? [True, True] Translation: X:210.07, Y:-38.56, Z:-27.99 [[ 5.56996173e-01 -8.29550327e-01 4.00189780e-02 2.10073007e+02] [ 8.27236124e-01 5.58430223e-01 6.19361030e-02 -3.85560783e+01] [-7.37269213e-02 -1.39302807e-03 9.97277494e-01 -2.79862879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16687499999998 meters 0.02663614594662395 Centerline is valid? [True, True] Translation: X:210.09, Y:-38.53, Z:-27.99 [[ 5.57396141e-01 -8.29271329e-01 4.02319029e-02 2.10087852e+02] [ 8.26928842e-01 5.58844285e-01 6.23037386e-02 -3.85322385e+01] [-7.41500731e-02 -1.45894258e-03 9.97246027e-01 -2.79875040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19687499999998 meters 0.02688302209223846 Centerline is valid? [True, True] Translation: X:210.10, Y:-38.51, Z:-27.99 [[ 5.57260365e-01 -8.29342878e-01 4.06359024e-02 2.10099435e+02] [ 8.26950338e-01 5.58738028e-01 6.29678927e-02 -3.85076980e+01] [-7.49267973e-02 -1.48563768e-03 9.97187930e-01 -2.79910815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22687499999998 meters 0.027105925451461534 Centerline is valid? [True, True] Translation: X:210.11, Y:-38.48, Z:-27.99 [[ 5.57942869e-01 -8.28896931e-01 4.03687172e-02 2.10114917e+02] [ 8.26531603e-01 5.59399187e-01 6.25943935e-02 -3.84834611e+01] [-7.44665283e-02 -1.55807495e-03 9.97222296e-01 -2.79938603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25687499999998 meters 0.027610627961363363 Centerline is valid? [True, True] Translation: X:210.13, Y:-38.46, Z:-28.00 [[ 5.59361510e-01 -8.27993046e-01 3.92710721e-02 2.10126823e+02] [ 8.25750111e-01 5.60735935e-01 6.09259039e-02 -3.84577681e+01] [-7.24669261e-02 -1.65151348e-03 9.97369449e-01 -2.79991257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28687499999998 meters 0.02799565932004979 Centerline is valid? [True, True] Translation: X:210.14, Y:-38.43, Z:-28.00 [[ 5.59513573e-01 -8.27911438e-01 3.88228262e-02 2.10139951e+02] [ 8.25716885e-01 5.60856389e-01 6.02638882e-02 -3.84338280e+01] [-7.16671924e-02 -1.66180033e-03 9.97427216e-01 -2.80033183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31687499999998 meters 0.028000299304792416 Centerline is valid? [True, True] Translation: X:210.15, Y:-38.41, Z:-28.01 [[ 5.59733998e-01 -8.27773712e-01 3.85815081e-02 2.10154712e+02] [ 8.25603841e-01 5.61059567e-01 5.99204511e-02 -3.84094548e+01] [-7.12470985e-02 -1.68647239e-03 9.97457271e-01 -2.80066118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34687499999998 meters 0.028033173745646026 Centerline is valid? [True, True] Translation: X:210.17, Y:-38.39, Z:-28.01 [[ 5.60118768e-01 -8.27508209e-01 3.86927750e-02 2.10169786e+02] [ 8.25322733e-01 5.61450908e-01 6.01270720e-02 -3.83857705e+01] [-7.14797393e-02 -1.74427469e-03 9.97440527e-01 -2.80083776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37687499999998 meters 0.02749171787306695 Centerline is valid? [True, True] Translation: X:210.19, Y:-38.36, Z:-28.01 [[ 5.59347989e-01 -8.28003065e-01 3.92524073e-02 2.10185503e+02] [ 8.25752534e-01 5.60720919e-01 6.10311746e-02 -3.83618330e+01] [-7.25436455e-02 -1.72489003e-03 9.97363747e-01 -2.80087880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40687499999999 meters 0.027477603957228827 Centerline is valid? [True, True] Translation: X:210.20, Y:-38.34, Z:-28.01 [[ 5.57961331e-01 -8.28948331e-01 3.90360930e-02 2.10199800e+02] [ 8.26722340e-01 5.59322861e-01 6.07298172e-02 -3.83391848e+01] [-7.21756599e-02 -1.61287951e-03 9.97390632e-01 -2.80114676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.436875 meters 0.027294043180497378 Centerline is valid? [True, True] Translation: X:210.22, Y:-38.32, Z:-28.01 [[ 5.56749822e-01 -8.29762188e-01 3.90428861e-02 2.10215398e+02] [ 8.27534612e-01 5.58115017e-01 6.07790521e-02 -3.83162737e+01] [-7.22225803e-02 -1.52938686e-03 9.97387367e-01 -2.80139593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.466875 meters 0.026265488138081786 Centerline is valid? [True, True] Translation: X:210.23, Y:-38.30, Z:-28.01 [[ 5.53076285e-01 -8.32181329e-01 3.97600092e-02 2.10233359e+02] [ 8.29874654e-01 5.54502170e-01 6.19306326e-02 -3.82950759e+01] [-7.35845276e-02 -1.25654029e-03 9.97288192e-01 -2.80145772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.496875 meters 0.026385465253531828 Centerline is valid? [True, True] Translation: X:210.25, Y:-38.27, Z:-28.02 [[ 5.51211441e-01 -8.33405275e-01 4.00199395e-02 2.10248622e+02] [ 8.31068655e-01 5.52661188e-01 6.23738802e-02 -3.82722671e+01] [-7.41001881e-02 -1.12187904e-03 9.97250171e-01 -2.80177009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.526875 meters 0.02531933392949297 Centerline is valid? [True, True] Translation: X:210.27, Y:-38.25, Z:-28.02 [[ 5.47189532e-01 -8.36023003e-01 4.06097742e-02 2.10267057e+02] [ 8.33621308e-01 5.48693811e-01 6.33294263e-02 -3.82503663e+01] [-7.52271890e-02 -8.00026063e-04 9.97166100e-01 -2.80182391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.556875 meters 0.025188143088237705 Centerline is valid? [True, True] Translation: X:210.28, Y:-38.23, Z:-28.02 [[ 5.45542003e-01 -8.37111625e-01 4.03491047e-02 2.10281986e+02] [ 8.34740881e-01 5.47031702e-01 6.29601296e-02 -3.82275140e+01] [-7.47768958e-02 -6.66347968e-04 9.97200066e-01 -2.80219841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.586875 meters 0.02530758889270697 Centerline is valid? [True, True] Translation: X:210.30, Y:-38.20, Z:-28.02 [[ 5.44124343e-01 -8.38052063e-01 3.99679731e-02 2.10298442e+02] [ 8.35725767e-01 5.45589987e-01 6.24019887e-02 -3.82043711e+01] [-7.41022414e-02 -5.52176095e-04 9.97250497e-01 -2.80240549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.616875 meters 0.02522509748548528 Centerline is valid? [True, True] Translation: X:210.31, Y:-38.18, Z:-28.03 [[ 5.42911682e-01 -8.38864807e-01 3.94048457e-02 2.10314443e+02] [ 8.36603194e-01 5.44339627e-01 6.15586361e-02 -3.81812570e+01] [-7.30889924e-02 -4.54682868e-04 9.97325319e-01 -2.80269444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.646875 meters 0.025396773110679473 Centerline is valid? [True, True] Translation: X:210.33, Y:-38.16, Z:-28.03 [[ 5.41197050e-01 -8.40008676e-01 3.86157598e-02 2.10328841e+02] [ 8.37837160e-01 5.42572876e-01 6.03619690e-02 -3.81587054e+01] [-7.16564415e-02 -3.14001013e-04 9.97429324e-01 -2.80321022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.676875 meters 0.025005034361385542 Centerline is valid? [True, True] Translation: X:210.34, Y:-38.13, Z:-28.03 [[ 5.40262411e-01 -8.40620646e-01 3.83856259e-02 2.10342914e+02] [ 8.38474314e-01 5.41624287e-01 6.00329612e-02 -3.81346745e+01] [-7.12555339e-02 -2.48190984e-04 9.97458063e-01 -2.80339468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.706875 meters 0.025380153862764276 Centerline is valid? [True, True] Translation: X:210.36, Y:-38.11, Z:-28.04 [[ 5.40332043e-01 -8.40585080e-01 3.81838478e-02 2.10357054e+02] [ 8.38458706e-01 5.41679472e-01 5.97523899e-02 -3.81102569e+01] [-7.09103739e-02 -2.70551283e-04 9.97482654e-01 -2.80372622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.736875 meters 0.025250655712981056 Centerline is valid? [True, True] Translation: X:210.37, Y:-38.09, Z:-28.04 [[ 5.40560671e-01 -8.40434569e-01 3.82609019e-02 2.10371023e+02] [ 8.38296642e-01 5.41912945e-01 5.99091048e-02 -3.80860808e+01] [-7.10837606e-02 -3.10520319e-04 9.97470302e-01 -2.80403040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.766875 meters 0.02540042263081047 Centerline is valid? [True, True] Translation: X:210.38, Y:-38.06, Z:-28.04 [[ 5.40531317e-01 -8.40432697e-01 3.87140303e-02 2.10383315e+02] [ 8.38241349e-01 5.41915833e-01 6.06520477e-02 -3.80622333e+01] [-7.19537100e-02 -3.32630225e-04 9.97407917e-01 -2.80419902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.796875 meters 0.02538663433516537 Centerline is valid? [True, True] Translation: X:210.40, Y:-38.04, Z:-28.04 [[ 5.40924637e-01 -8.40155036e-01 3.92435048e-02 2.10398061e+02] [ 8.37899654e-01 5.42346161e-01 6.15208175e-02 -3.80378236e+01] [-7.29705888e-02 -3.96006790e-04 9.97334014e-01 -2.80440710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.826875 meters 0.025504968261918278 Centerline is valid? [True, True] Translation: X:210.41, Y:-38.01, Z:-28.05 [[ 5.41440713e-01 -8.39818607e-01 3.93276094e-02 2.10411966e+02] [ 8.37549925e-01 5.42866920e-01 6.16897842e-02 -3.80147073e+01] [-7.31578868e-02 -4.62524429e-04 9.97320264e-01 -2.80460689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.856875 meters 0.025752734509044445 Centerline is valid? [True, True] Translation: X:210.43, Y:-37.99, Z:-28.05 [[ 5.42159067e-01 -8.39332742e-01 3.98006948e-02 2.10425500e+02] [ 8.37004976e-01 5.43617734e-01 6.24694295e-02 -3.79899305e+01] [-7.40690011e-02 -5.54987989e-04 9.97252964e-01 -2.80465191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.886875 meters 0.02613306251321565 Centerline is valid? [True, True] Translation: X:210.44, Y:-37.97, Z:-28.05 [[ 5.42965992e-01 -8.38813836e-01 3.97401648e-02 2.10439124e+02] [ 8.36489007e-01 5.44417976e-01 6.24116070e-02 -3.79653597e+01] [-7.39869795e-02 -6.45169160e-04 9.97258999e-01 -2.80484953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91687499999998 meters 0.026062489023859024 Centerline is valid? [True, True] Translation: X:210.45, Y:-37.94, Z:-28.05 [[ 5.43938482e-01 -8.38172299e-01 3.99765613e-02 2.10452204e+02] [ 8.35815105e-01 5.45405009e-01 6.28210709e-02 -3.79401270e+01] [-7.44582982e-02 -7.57784198e-04 9.97223840e-01 -2.80517150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94687499999998 meters 0.026108563204220676 Centerline is valid? [True, True] Translation: X:210.47, Y:-37.92, Z:-28.05 [[ 5.44781205e-01 -8.37625117e-01 3.99700171e-02 2.10465041e+02] [ 8.35264608e-01 5.46244852e-01 6.28458113e-02 -3.79155945e+01] [-7.44746461e-02 -8.51676170e-04 9.97222544e-01 -2.80539168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97687499999998 meters 0.026618266806967352 Centerline is valid? [True, True] Translation: X:210.48, Y:-37.89, Z:-28.06 [[ 5.47380360e-01 -8.35933544e-01 3.98729494e-02 2.10476794e+02] [ 8.33577137e-01 5.48829571e-01 6.27316346e-02 -3.78901695e+01] [-7.43229314e-02 -1.10088572e-03 9.97233619e-01 -2.80575068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00687499999998 meters 0.027244600991043852 Centerline is valid? [True, True] Translation: X:210.49, Y:-37.87, Z:-28.06 [[ 5.48847501e-01 -8.34978989e-01 3.97052845e-02 2.10488606e+02] [ 8.32637284e-01 5.50280419e-01 6.25029111e-02 -3.78658199e+01] [-7.40376581e-02 -1.24446633e-03 9.97254670e-01 -2.80610143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03687499999998 meters 0.02780756102097155 Centerline is valid? [True, True] Translation: X:210.50, Y:-37.84, Z:-28.06 [[ 5.51134646e-01 -8.33455925e-01 4.00227844e-02 2.10499441e+02] [ 8.31069701e-01 5.52583952e-01 6.30406898e-02 -3.78386957e+01] [-7.46575848e-02 -1.48218482e-03 9.97208127e-01 -2.80646159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06687499999998 meters 0.028458081640387392 Centerline is valid? [True, True] Translation: X:210.51, Y:-37.81, Z:-28.07 [[ 5.52038247e-01 -8.32848731e-01 4.02090257e-02 2.10511926e+02] [ 8.30437294e-01 5.53498411e-01 6.33514815e-02 -3.78141875e+01] [-7.50178328e-02 -1.58136631e-03 9.97180938e-01 -2.80675149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09687499999998 meters 0.028318867121270765 Centerline is valid? [True, True] Translation: X:210.53, Y:-37.79, Z:-28.07 [[ 5.52460917e-01 -8.32551709e-01 4.05535068e-02 2.10526407e+02] [ 8.30095255e-01 5.53944864e-01 6.39292974e-02 -3.77898173e+01] [-7.56888526e-02 -1.65516474e-03 9.97130111e-01 -2.80690884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12687499999998 meters 0.028712680636776212 Centerline is valid? [True, True] Translation: X:210.54, Y:-37.77, Z:-28.07 [[ 5.52774638e-01 -8.32351080e-01 4.03965292e-02 2.10540445e+02] [ 8.29910285e-01 5.54246156e-01 6.37190472e-02 -3.77658672e+01] [-7.54262387e-02 -1.69677821e-03 9.97149940e-01 -2.80711207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15687499999999 meters 0.027378480311404926 Centerline is valid? [True, True] Translation: X:210.56, Y:-37.74, Z:-28.07 [[ 5.52792492e-01 -8.32340403e-01 4.03721874e-02 2.10557357e+02] [ 8.29900005e-01 5.54262130e-01 6.37139921e-02 -3.77437078e+01] [-7.54085045e-02 -1.71573798e-03 9.97151249e-01 -2.80712328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.186875 meters 0.027868391769744746 Centerline is valid? [True, True] Translation: X:210.57, Y:-37.72, Z:-28.08 [[ 5.52962960e-01 -8.32233521e-01 4.02409027e-02 2.10569253e+02] [ 8.29805758e-01 5.54422507e-01 6.35459601e-02 -3.77192114e+01] [-7.51955403e-02 -1.74642943e-03 9.97167278e-01 -2.80750733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.216875 meters 0.02759075780093984 Centerline is valid? [True, True] Translation: X:210.58, Y:-37.70, Z:-28.08 [[ 5.52929354e-01 -8.32264557e-01 4.00604082e-02 2.10584816e+02] [ 8.29855733e-01 5.54375887e-01 6.32995936e-02 -3.76955438e+01] [-7.48905326e-02 -1.75584397e-03 9.97190215e-01 -2.80780435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.246875 meters 0.028409031509866397 Centerline is valid? [True, True] Translation: X:210.60, Y:-37.67, Z:-28.08 [[ 5.52608825e-01 -8.32481237e-01 3.99809636e-02 2.10596999e+02] [ 8.30079575e-01 5.54050490e-01 6.32135536e-02 -3.76712270e+01] [-7.47755697e-02 -1.74498623e-03 9.97198861e-01 -2.80825327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.276875 meters 0.027958090139194952 Centerline is valid? [True, True] Translation: X:210.61, Y:-37.65, Z:-28.08 [[ 5.52340498e-01 -8.32663302e-01 3.98973758e-02 2.10612952e+02] [ 8.30269245e-01 5.53776854e-01 6.31203337e-02 -3.76477829e+01] [-7.46522287e-02 -1.73835246e-03 9.97208114e-01 -2.80846640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.306875 meters 0.027685800321245388 Centerline is valid? [True, True] Translation: X:210.63, Y:-37.62, Z:-28.09 [[ 5.52405070e-01 -8.32617516e-01 3.99588592e-02 2.10628188e+02] [ 8.30213018e-01 5.53845594e-01 6.32566356e-02 -3.76241704e+01] [-7.47996209e-02 -1.76892109e-03 9.97197015e-01 -2.80870424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.336875 meters 0.028258051130374995 Centerline is valid? [True, True] Translation: X:210.64, Y:-37.60, Z:-28.09 [[ 5.52410469e-01 -8.32601437e-01 4.02184093e-02 2.10642837e+02] [ 8.30162561e-01 5.53869652e-01 6.37066023e-02 -3.75999663e+01] [-7.53179650e-02 -1.80437642e-03 9.97157936e-01 -2.80906136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.366875 meters 0.028258051130374995 Centerline is valid? [True, True] Translation: X:210.66, Y:-37.58, Z:-28.09 [[ 5.52184285e-01 -8.32752228e-01 4.02025266e-02 2.10657440e+02] [ 8.30313022e-01 5.53642915e-01 6.37166230e-02 -3.75766382e+01] [-7.53180038e-02 -1.80263654e-03 9.97157936e-01 -2.80931145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.396875 meters 0.02820950698664167 Centerline is valid? [True, True] Translation: X:210.67, Y:-37.55, Z:-28.10 [[ 5.51751403e-01 -8.33034392e-01 4.03000119e-02 2.10672674e+02] [ 8.30581171e-01 5.53218310e-01 6.39094644e-02 -3.75540943e+01] [-7.55334863e-02 -1.78970554e-03 9.97141660e-01 -2.80955985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.426875 meters 0.028745835872106343 Centerline is valid? [True, True] Translation: X:210.69, Y:-37.53, Z:-28.10 [[ 5.51641470e-01 -8.33112449e-01 4.01912440e-02 2.10686528e+02] [ 8.30669632e-01 5.53100732e-01 6.37772868e-02 -3.75304726e+01] [-7.53634581e-02 -1.79655032e-03 9.97154512e-01 -2.80988755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.456875 meters 0.02840074466139807 Centerline is valid? [True, True] Translation: X:210.70, Y:-37.51, Z:-28.10 [[ 5.51315002e-01 -8.33338338e-01 3.99872821e-02 2.10702494e+02] [ 8.30917869e-01 5.52760391e-01 6.34936634e-02 -3.75073848e+01] [-7.50150896e-02 -1.77886191e-03 9.97180812e-01 -2.81012547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.486875 meters 0.028646355003551123 Centerline is valid? [True, True] Translation: X:210.72, Y:-37.48, Z:-28.10 [[ 5.51333142e-01 -8.33329527e-01 3.99207486e-02 2.10717138e+02] [ 8.30914290e-01 5.52773613e-01 6.34253534e-02 -3.74834690e+01] [-7.49213562e-02 -1.79777888e-03 9.97187825e-01 -2.81041689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.516875 meters 0.029996402295339425 Centerline is valid? [True, True] Translation: X:210.73, Y:-37.46, Z:-28.11 [[ 5.52975207e-01 -8.32260772e-01 3.95022635e-02 2.10729263e+02] [ 8.29890576e-01 5.54380948e-01 6.27964659e-02 -3.74593721e+01] [-7.41623374e-02 -1.94233249e-03 9.97244291e-01 -2.81092131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.546875 meters 0.030204917050018116 Centerline is valid? [True, True] Translation: X:210.74, Y:-37.44, Z:-28.11 [[ 5.53577780e-01 -8.31864214e-01 3.94153601e-02 2.10743441e+02] [ 8.29500693e-01 5.54975569e-01 6.26954440e-02 -3.74356074e+01] [-7.40286581e-02 -2.01173618e-03 9.97254085e-01 -2.81119018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.576875 meters 0.030202962407941566 Centerline is valid? [True, True] Translation: X:210.76, Y:-37.41, Z:-28.11 [[ 5.54214738e-01 -8.31451372e-01 3.91744806e-02 2.10757950e+02] [ 8.29113268e-01 5.55593665e-01 6.23447529e-02 -3.74112536e+01] [-7.36017237e-02 -2.07229928e-03 9.97285562e-01 -2.81146272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.606875 meters 0.03142473995406656 Centerline is valid? [True, True] Translation: X:210.77, Y:-37.39, Z:-28.12 [[ 5.55121516e-01 -8.30837037e-01 3.93690291e-02 2.10771333e+02] [ 8.28471506e-01 5.56511499e-01 6.26890378e-02 -3.73861381e+01] [-7.39936918e-02 -2.18391488e-03 9.97256318e-01 -2.81187692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.636875 meters 0.03161139042697741 Centerline is valid? [True, True] Translation: X:210.79, Y:-37.36, Z:-28.12 [[ 5.54755553e-01 -8.31071731e-01 3.95733978e-02 2.10787230e+02] [ 8.28679848e-01 5.56160967e-01 6.30451372e-02 -3.73643597e+01] [-7.44042105e-02 -2.18096269e-03 9.97225780e-01 -2.81196828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66687499999998 meters 0.02976532440933406 Centerline is valid? [True, True] Translation: X:210.81, Y:-37.34, Z:-28.12 [[ 5.53922677e-01 -8.31617440e-01 3.97756370e-02 2.10806376e+02] [ 8.29199492e-01 5.55344806e-01 6.34062300e-02 -3.73430839e+01] [-7.48189200e-02 -2.14021069e-03 9.97194840e-01 -2.81192560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69687499999998 meters 0.03037644104626182 Centerline is valid? [True, True] Translation: X:210.82, Y:-37.32, Z:-28.12 [[ 5.52006530e-01 -8.32866851e-01 4.02690831e-02 2.10819424e+02] [ 8.30388715e-01 5.53469725e-01 6.42327490e-02 -3.73193748e+01] [-7.57850458e-02 -2.01790469e-03 9.97122136e-01 -2.81217687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72687499999998 meters 0.028698088191315325 Centerline is valid? [True, True] Translation: X:210.84, Y:-37.30, Z:-28.12 [[ 5.50629917e-01 -8.33751122e-01 4.08137458e-02 2.10838366e+02] [ 8.31206098e-01 5.52137053e-01 6.51237038e-02 -3.72978727e+01] [-7.68317425e-02 -1.93442520e-03 9.97042196e-01 -2.81220356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75687499999998 meters 0.02786156557570229 Centerline is valid? [True, True] Translation: X:210.86, Y:-37.28, Z:-28.12 [[ 5.48288715e-01 -8.35261362e-01 4.14480693e-02 2.10856041e+02] [ 8.32638017e-01 5.49850276e-01 6.61710462e-02 -3.72757681e+01] [-7.80603505e-02 -1.76959965e-03 9.96947065e-01 -2.81233780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78687499999998 meters 0.028076568415053543 Centerline is valid? [True, True] Translation: X:210.87, Y:-37.25, Z:-28.13 [[ 5.47055623e-01 -8.36059857e-01 4.16420528e-02 2.10870015e+02] [ 8.33411017e-01 5.48635647e-01 6.65206935e-02 -3.72529312e+01] [-7.84615961e-02 -1.68557386e-03 9.96915712e-01 -2.81263614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81687499999998 meters 0.027742898992928196 Centerline is valid? [True, True] Translation: X:210.89, Y:-37.23, Z:-28.13 [[ 5.46619245e-01 -8.36344269e-01 4.16612950e-02 2.10886196e+02] [ 8.33690544e-01 5.48202043e-01 6.65927756e-02 -3.72302883e+01] [-7.85332933e-02 -1.66826511e-03 9.96910096e-01 -2.81286209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84687499999998 meters 0.027365749907347324 Centerline is valid? [True, True] Translation: X:210.90, Y:-37.21, Z:-28.13 [[ 5.46427759e-01 -8.36493184e-01 4.11808016e-02 2.10901175e+02] [ 8.33897931e-01 5.47974851e-01 6.58620000e-02 -3.72065321e+01] [-7.76591577e-02 -1.64823975e-03 9.96978605e-01 -2.81319686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87687499999998 meters 0.028234773325730315 Centerline is valid? [True, True] Translation: X:210.91, Y:-37.18, Z:-28.14 [[ 5.46293131e-01 -8.36589793e-01 4.10040616e-02 2.10912822e+02] [ 8.34013933e-01 5.47827342e-01 6.56198392e-02 -3.71824510e+01] [-7.73600338e-02 -1.64970869e-03 9.97001857e-01 -2.81360637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90687499999999 meters 0.02782423690929782 Centerline is valid? [True, True] Translation: X:210.93, Y:-37.16, Z:-28.14 [[ 5.46278538e-01 -8.36593873e-01 4.11150799e-02 2.10928079e+02] [ 8.34000474e-01 5.47821023e-01 6.58432729e-02 -3.71590242e+01] [-7.76077838e-02 -1.67877076e-03 9.96982554e-01 -2.81382893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.936875 meters 0.02844851468362474 Centerline is valid? [True, True] Translation: X:210.94, Y:-37.14, Z:-28.14 [[ 5.46353660e-01 -8.36544138e-01 4.11288649e-02 2.10941386e+02] [ 8.33946961e-01 5.47896903e-01 6.58896731e-02 -3.71353697e+01] [-7.76539974e-02 -1.69977215e-03 9.96978920e-01 -2.81412510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.966875 meters 0.027168453498847393 Centerline is valid? [True, True] Translation: X:210.96, Y:-37.11, Z:-28.14 [[ 5.45598350e-01 -8.37027628e-01 4.13181527e-02 2.10957180e+02] [ 8.34405623e-01 5.47158125e-01 6.62211716e-02 -3.71125414e+01] [-7.80365131e-02 -1.65406310e-03 9.96949129e-01 -2.81420218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.996875 meters 0.027124747663476913 Centerline is valid? [True, True] Translation: X:210.97, Y:-37.09, Z:-28.14 [[ 5.44851006e-01 -8.37508034e-01 4.14448345e-02 2.10970670e+02] [ 8.34868151e-01 5.46422634e-01 6.64640959e-02 -3.70895481e+01] [-7.83106099e-02 -1.61205716e-03 9.96927705e-01 -2.81448911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.026875 meters 0.02702052953938754 Centerline is valid? [True, True] Translation: X:210.99, Y:-37.07, Z:-28.15 [[ 5.44051580e-01 -8.38035232e-01 4.12895773e-02 2.10986168e+02] [ 8.35413196e-01 5.45613906e-01 6.62590230e-02 -3.70656702e+01] [-7.80555632e-02 -1.55446838e-03 9.96947798e-01 -2.81471646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.056875 meters 0.02703371081809237 Centerline is valid? [True, True] Translation: X:211.00, Y:-37.04, Z:-28.15 [[ 5.43106631e-01 -8.38657656e-01 4.10916536e-02 2.11000565e+02] [ 8.36061009e-01 5.44656938e-01 6.59606595e-02 -3.70429684e+01] [-7.76992662e-02 -1.46854222e-03 9.96975761e-01 -2.81499212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.086875 meters 0.02700134349912027 Centerline is valid? [True, True] Translation: X:211.01, Y:-37.02, Z:-28.15 [[ 5.42109730e-01 -8.39272317e-01 4.17015500e-02 2.11013935e+02] [ 8.36596180e-01 5.43709432e-01 6.69842184e-02 -3.70197521e+01] [-7.88915262e-02 -1.42543915e-03 9.96882187e-01 -2.81530403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.116875 meters 0.026792338566287856 Centerline is valid? [True, True] Translation: X:211.03, Y:-37.00, Z:-28.15 [[ 5.40969909e-01 -8.39993848e-01 4.19749094e-02 2.11028183e+02] [ 8.37281386e-01 5.42594241e-01 6.74638401e-02 -3.69959474e+01] [-7.94445548e-02 -1.35109708e-03 9.96838371e-01 -2.81547454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.146875 meters 0.02620215885012225 Centerline is valid? [True, True] Translation: X:211.04, Y:-36.97, Z:-28.15 [[ 5.39973683e-01 -8.40592988e-01 4.28001284e-02 2.11043805e+02] [ 8.37771129e-01 5.41665682e-01 6.88318508e-02 -3.69724926e+01] [-8.10429319e-02 -1.31067604e-03 9.96709750e-01 -2.81544747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.176875 meters 0.026938230742686066 Centerline is valid? [True, True] Translation: X:211.06, Y:-36.95, Z:-28.16 [[ 5.40137411e-01 -8.40471956e-01 4.31099544e-02 2.11055398e+02] [ 8.37605095e-01 5.41853334e-01 6.93734085e-02 -3.69483312e+01] [-8.16656768e-02 -1.36205581e-03 9.96658849e-01 -2.81583495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.206875 meters 0.026667051565455426 Centerline is valid? [True, True] Translation: X:211.07, Y:-36.92, Z:-28.16 [[ 5.39812623e-01 -8.40674007e-01 4.32382433e-02 2.11069946e+02] [ 8.37787184e-01 5.41539812e-01 6.96223174e-02 -3.69242182e+01] [-8.19449027e-02 -1.35855965e-03 9.96635935e-01 -2.81602921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.236875 meters 0.02685729258387001 Centerline is valid? [True, True] Translation: X:211.08, Y:-36.90, Z:-28.16 [[ 5.39986111e-01 -8.40552387e-01 4.34359867e-02 2.11083953e+02] [ 8.37635169e-01 5.41728444e-01 6.99829714e-02 -3.68999266e+01] [-8.23548631e-02 -1.40632248e-03 9.96602076e-01 -2.81629865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.266875 meters 0.027624368558010738 Centerline is valid? [True, True] Translation: X:211.09, Y:-36.87, Z:-28.17 [[ 5.41003991e-01 -8.39898039e-01 4.34277181e-02 2.11094604e+02] [ 8.36976344e-01 5.42742064e-01 7.00117966e-02 -3.68744129e+01] [-8.23728200e-02 -1.52868858e-03 9.96600412e-01 -2.81675251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.296875 meters 0.027251834899210205 Centerline is valid? [True, True] Translation: X:211.11, Y:-36.85, Z:-28.17 [[ 5.41178264e-01 -8.39784048e-01 4.34607788e-02 2.11108620e+02] [ 8.36854254e-01 5.42918310e-01 7.01046862e-02 -3.68503814e+01] [-8.24684498e-02 -1.56879475e-03 9.96592441e-01 -2.81704251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.326875 meters 0.027811934589631566 Centerline is valid? [True, True] Translation: X:211.12, Y:-36.83, Z:-28.18 [[ 5.42200592e-01 -8.39147134e-01 4.30186605e-02 2.11120882e+02] [ 8.36271277e-01 5.43901915e-01 6.94338421e-02 -3.68254753e+01] [-8.16631414e-02 -1.67180017e-03 9.96658586e-01 -2.81752022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.356875 meters 0.02803864322298962 Centerline is valid? [True, True] Translation: X:211.13, Y:-36.80, Z:-28.18 [[ 5.42820986e-01 -8.38753652e-01 4.28682701e-02 2.11134087e+02] [ 8.35893546e-01 5.44508277e-01 6.92294511e-02 -3.68001786e+01] [-8.14085828e-02 -1.74588860e-03 9.96679284e-01 -2.81786022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.386875 meters 0.028261564434860467 Centerline is valid? [True, True] Translation: X:211.15, Y:-36.78, Z:-28.18 [[ 5.45047866e-01 -8.37327410e-01 4.24927269e-02 2.11147550e+02] [ 8.34509841e-01 5.46698230e-01 6.86612746e-02 -3.67751308e+01] [-8.07226658e-02 -1.96308246e-03 9.96734668e-01 -2.81813959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41687499999998 meters 0.028819733461665158 Centerline is valid? [True, True] Translation: X:211.16, Y:-36.75, Z:-28.18 [[ 5.45796830e-01 -8.36840262e-01 4.24758203e-02 2.11160039e+02] [ 8.34020132e-01 5.47443279e-01 6.86751458e-02 -3.67505820e+01] [-8.07232294e-02 -2.05698765e-03 9.96734433e-01 -2.81844289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44687499999998 meters 0.028721452772277098 Centerline is valid? [True, True] Translation: X:211.17, Y:-36.73, Z:-28.19 [[ 5.46526971e-01 -8.36380610e-01 4.21395976e-02 2.11174234e+02] [ 8.33601720e-01 5.48145031e-01 6.81556822e-02 -3.67255675e+01] [-8.01027021e-02 -2.12127747e-03 9.96784358e-01 -2.81874083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47687499999998 meters 0.028546689943113848 Centerline is valid? [True, True] Translation: X:211.19, Y:-36.70, Z:-28.19 [[ 5.46460424e-01 -8.36428089e-01 4.20601603e-02 2.11187981e+02] [ 8.33656743e-01 5.48072540e-01 6.80655975e-02 -3.67015520e+01] [-7.99839965e-02 -2.13141904e-03 9.96793869e-01 -2.81913964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50687499999998 meters 0.028955871942544183 Centerline is valid? [True, True] Translation: X:211.20, Y:-36.68, Z:-28.19 [[ 5.46135300e-01 -8.36635042e-01 4.21668215e-02 2.11201263e+02] [ 8.33846806e-01 5.47756580e-01 6.82805428e-02 -3.66770539e+01] [-8.02230487e-02 -2.12974531e-03 9.96774662e-01 -2.81949875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53687499999998 meters 0.028891236233105452 Centerline is valid? [True, True] Translation: X:211.22, Y:-36.65, Z:-28.20 [[ 5.45336601e-01 -8.37144315e-01 4.23956037e-02 2.11215570e+02] [ 8.34324052e-01 5.46978096e-01 6.86901615e-02 -3.66533393e+01] [-8.06930448e-02 -2.08758733e-03 9.96736813e-01 -2.81973727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56687499999998 meters 0.028702241662291832 Centerline is valid? [True, True] Translation: X:211.23, Y:-36.63, Z:-28.20 [[ 5.44984705e-01 -8.37366384e-01 4.25348006e-02 2.11231161e+02] [ 8.34524765e-01 5.46638081e-01 6.89581389e-02 -3.66301275e+01] [-8.09943692e-02 -2.08478659e-03 9.96712379e-01 -2.82000433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59687499999998 meters 0.028392638030923536 Centerline is valid? [True, True] Translation: X:211.25, Y:-36.61, Z:-28.20 [[ 5.43678222e-01 -8.38191168e-01 4.30064675e-02 2.11247581e+02] [ 8.35285028e-01 5.45372839e-01 6.97666697e-02 -3.66069094e+01] [-8.19323657e-02 -2.00796052e-03 9.96635869e-01 -2.82015092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62687499999998 meters 0.027974448571112896 Centerline is valid? [True, True] Translation: X:211.26, Y:-36.58, Z:-28.20 [[ 5.42620850e-01 -8.38857877e-01 4.33598325e-02 2.11262734e+02] [ 8.35902412e-01 5.44347019e-01 7.03809723e-02 -3.65832027e+01] [-8.26424286e-02 -1.94559445e-03 9.96577365e-01 -2.82033319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65687499999999 meters 0.027918289521085746 Centerline is valid? [True, True] Translation: X:211.28, Y:-36.56, Z:-28.21 [[ 5.41993990e-01 -8.39268118e-01 4.32613063e-02 2.11277200e+02] [ 8.36323808e-01 5.43714453e-01 7.02643738e-02 -3.65606430e+01] [-8.24924463e-02 -1.90240785e-03 9.96589874e-01 -2.82056328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.686875 meters 0.028445892401744038 Centerline is valid? [True, True] Translation: X:211.29, Y:-36.54, Z:-28.21 [[ 5.41937098e-01 -8.39310104e-01 4.31593686e-02 2.11290088e+02] [ 8.36376020e-01 5.43649590e-01 7.01446791e-02 -3.65375538e+01] [-8.23367109e-02 -1.91654289e-03 9.96602726e-01 -2.82094822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.716875 meters 0.02801589216493678 Centerline is valid? [True, True] Translation: X:211.31, Y:-36.51, Z:-28.21 [[ 5.41592527e-01 -8.39534623e-01 4.31178768e-02 2.11305503e+02] [ 8.36603396e-01 5.43302856e-01 7.01196413e-02 -3.65143657e+01] [-8.22939322e-02 -1.90371154e-03 9.96606284e-01 -2.82127735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.746875 meters 0.027940068275040485 Centerline is valid? [True, True] Translation: X:211.32, Y:-36.49, Z:-28.22 [[ 5.41181085e-01 -8.39815915e-01 4.28049435e-02 2.11320799e+02] [ 8.36924577e-01 5.42868061e-01 6.96528535e-02 -3.64911007e+01] [-8.17330115e-02 -1.87029757e-03 9.96652506e-01 -2.82159293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.776875 meters 0.027942373937171413 Centerline is valid? [True, True] Translation: X:211.34, Y:-36.47, Z:-28.22 [[ 5.39921758e-01 -8.40647261e-01 4.23872461e-02 2.11335304e+02] [ 8.37811377e-01 5.41580208e-01 6.90143070e-02 -3.64683017e+01] [-8.09727817e-02 -1.74980890e-03 9.96714777e-01 -2.82202987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.806875 meters 0.027099591225509177 Centerline is valid? [True, True] Translation: X:211.35, Y:-36.45, Z:-28.22 [[ 5.39389203e-01 -8.41000357e-01 4.21626305e-02 2.11352008e+02] [ 8.38192306e-01 5.41031863e-01 6.86890194e-02 -3.64461109e+01] [-8.05788163e-02 -1.70972295e-03 9.96746774e-01 -2.82226734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.836875 meters 0.027285382280976878 Centerline is valid? [True, True] Translation: X:211.37, Y:-36.42, Z:-28.23 [[ 5.38351858e-01 -8.41670236e-01 4.20534285e-02 2.11366512e+02] [ 8.38875254e-01 5.39989407e-01 6.85547157e-02 -3.64231726e+01] [-8.04088697e-02 -1.62897801e-03 9.96760633e-01 -2.82254982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.866875 meters 0.027655653201735093 Centerline is valid? [True, True] Translation: X:211.38, Y:-36.40, Z:-28.23 [[ 5.38332915e-01 -8.41701909e-01 4.16601645e-02 2.11381946e+02] [ 8.38956831e-01 5.39940050e-01 6.79424582e-02 -3.63996720e+01] [-7.96812881e-02 -1.62458196e-03 9.96819067e-01 -2.82293493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.896875 meters 0.027143117521160432 Centerline is valid? [True, True] Translation: X:211.40, Y:-36.38, Z:-28.23 [[ 5.37203803e-01 -8.42468456e-01 4.07305152e-02 2.11397529e+02] [ 8.39844153e-01 5.38743596e-01 6.64615323e-02 -3.63760028e+01] [-7.79350487e-02 -1.49610288e-03 9.96957316e-01 -2.82334541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.926875 meters 0.027490885301576583 Centerline is valid? [True, True] Translation: X:211.41, Y:-36.35, Z:-28.24 [[ 5.37288309e-01 -8.42442661e-01 4.01451925e-02 2.11412974e+02] [ 8.39890107e-01 5.38783919e-01 6.55476664e-02 -3.63520903e+01] [-7.68497347e-02 -1.50044478e-03 9.97041557e-01 -2.82374841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.956875 meters 0.027575543942489476 Centerline is valid? [True, True] Translation: X:211.43, Y:-36.33, Z:-28.24 [[ 5.36690132e-01 -8.42842064e-01 3.97612529e-02 2.11426662e+02] [ 8.40337865e-01 5.38159069e-01 6.49391196e-02 -3.63294444e+01] [-7.61313004e-02 -1.43929833e-03 9.97096762e-01 -2.82414237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.986875 meters 0.026946553956387904 Centerline is valid? [True, True] Translation: X:211.44, Y:-36.31, Z:-28.24 [[ 5.34921713e-01 -8.43965466e-01 3.97624599e-02 2.11444795e+02] [ 8.41461225e-01 5.36395936e-01 6.49800457e-02 -3.63071364e+01] [-7.61693364e-02 -1.30066911e-03 9.97094048e-01 -2.82427594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.016875 meters 0.026946553956387904 Centerline is valid? [True, True] Translation: X:211.46, Y:-36.28, Z:-28.25 [[ 5.34703316e-01 -8.44104628e-01 3.97459614e-02 2.11459064e+02] [ 8.41600021e-01 5.36176917e-01 6.49901351e-02 -3.62836137e+01] [-7.61693409e-02 -1.30023876e-03 9.97094048e-01 -2.82452593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.046875 meters 0.026144298037437858 Centerline is valid? [True, True] Translation: X:211.48, Y:-36.26, Z:-28.25 [[ 5.32717371e-01 -8.45331310e-01 4.03383075e-02 2.11477161e+02] [ 8.42751804e-01 5.34241166e-01 6.59982846e-02 -3.62613414e+01] [-7.73408009e-02 -1.16325127e-03 9.97004036e-01 -2.82459944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.076875 meters 0.02621766902914956 Centerline is valid? [True, True] Translation: X:211.49, Y:-36.24, Z:-28.25 [[ 5.31693937e-01 -8.45958459e-01 4.06920583e-02 2.11491524e+02] [ 8.43332455e-01 5.33247667e-01 6.66130251e-02 -3.62384064e+01] [-7.80507973e-02 -1.10080814e-03 9.96948776e-01 -2.82479282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.106875 meters 0.026067980222066356 Centerline is valid? [True, True] Translation: X:211.51, Y:-36.22, Z:-28.25 [[ 5.30234530e-01 -8.46848014e-01 4.12284364e-02 2.11506225e+02] [ 8.44151450e-01 5.31834023e-01 6.75344422e-02 -3.62153551e+01] [-7.91180935e-02 -1.00604886e-03 9.96864743e-01 -2.82500367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.136875 meters 0.025826253860092945 Centerline is valid? [True, True] Translation: X:211.52, Y:-36.19, Z:-28.25 [[ 5.29975760e-01 -8.47012334e-01 4.11800908e-02 2.11522091e+02] [ 8.44319304e-01 5.31572291e-01 6.74967527e-02 -3.61922672e+01] [-7.90607773e-02 -1.00249721e-03 9.96869294e-01 -2.82515350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16687499999998 meters 0.02561967862195307 Centerline is valid? [True, True] Translation: X:211.54, Y:-36.17, Z:-28.25 [[ 5.29291762e-01 -8.47444132e-01 4.10934752e-02 2.11536830e+02] [ 8.44760497e-01 5.30883722e-01 6.73956747e-02 -3.61686450e+01] [-7.89299261e-02 -9.57830864e-04 9.96879707e-01 -2.82537662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19687499999998 meters 0.025749824714348446 Centerline is valid? [True, True] Translation: X:211.55, Y:-36.15, Z:-28.26 [[ 5.29138529e-01 -8.47545643e-01 4.09731777e-02 2.11550074e+02] [ 8.44874829e-01 5.30721640e-01 6.72388547e-02 -3.61455829e+01] [-7.87333504e-02 -9.61462150e-04 9.96895248e-01 -2.82571007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22687499999998 meters 0.025674652568826253 Centerline is valid? [True, True] Translation: X:211.56, Y:-36.12, Z:-28.26 [[ 5.28944846e-01 -8.47684092e-01 4.06082421e-02 2.11564305e+02] [ 8.45058032e-01 5.30500491e-01 6.66794796e-02 -3.61215590e+01] [-7.80658265e-02 -9.53445989e-04 9.96947751e-01 -2.82605248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25687499999998 meters 0.02553041816845339 Centerline is valid? [True, True] Translation: X:211.58, Y:-36.10, Z:-28.26 [[ 5.28829564e-01 -8.47763749e-01 4.04464818e-02 2.11578648e+02] [ 8.45155769e-01 5.30373177e-01 6.64531345e-02 -3.60973847e+01] [-7.77882875e-02 -9.58804747e-04 9.96969439e-01 -2.82636029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28687499999998 meters 0.02553041816845339 Centerline is valid? [True, True] Translation: X:211.59, Y:-36.07, Z:-28.27 [[ 5.28607232e-01 -8.47903244e-01 4.04287448e-02 2.11592862e+02] [ 8.45294847e-01 5.30150138e-01 6.64639231e-02 -3.60738282e+01] [-7.77882806e-02 -9.59100787e-04 9.96969440e-01 -2.82661021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31687499999998 meters 0.025882605418279074 Centerline is valid? [True, True] Translation: X:211.61, Y:-36.05, Z:-28.27 [[ 5.29416496e-01 -8.47406554e-01 4.02530236e-02 2.11605328e+02] [ 8.44816325e-01 5.30943530e-01 6.62143814e-02 -3.60499646e+01] [-7.74825832e-02 -1.04857430e-03 9.96993154e-01 -2.82702031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34687499999998 meters 0.025836304155877735 Centerline is valid? [True, True] Translation: X:211.62, Y:-36.03, Z:-28.27 [[ 5.30144974e-01 -8.46962259e-01 4.00154656e-02 2.11620510e+02] [ 8.44398451e-01 5.31651824e-01 6.58604174e-02 -3.60259019e+01] [-7.70555832e-02 -1.12657208e-03 9.97026162e-01 -2.82721089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37687499999998 meters 0.02632889939416705 Centerline is valid? [True, True] Translation: X:211.63, Y:-36.00, Z:-28.27 [[ 5.32612996e-01 -8.45427323e-01 3.96993509e-02 2.11632737e+02] [ 8.42896575e-01 5.34088749e-01 6.53802094e-02 -3.60018247e+01] [-7.64771921e-02 -1.35990231e-03 9.97070404e-01 -2.82745924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40687499999999 meters 0.02684061520611229 Centerline is valid? [True, True] Translation: X:211.64, Y:-35.98, Z:-28.28 [[ 5.34137496e-01 -8.44476738e-01 3.94483712e-02 2.11644408e+02] [ 8.41973343e-01 5.35590129e-01 6.49931067e-02 -3.59767102e+01] [-7.60133250e-02 -1.50077833e-03 9.97105672e-01 -2.82783576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.436875 meters 0.027284764308962338 Centerline is valid? [True, True] Translation: X:211.66, Y:-35.95, Z:-28.28 [[ 5.35731017e-01 -8.43474552e-01 3.92804935e-02 2.11658732e+02] [ 8.40987008e-01 5.37166583e-01 6.47527167e-02 -3.59517760e+01] [-7.57174373e-02 -1.65565406e-03 9.97127940e-01 -2.82805266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.466875 meters 0.027579347027708784 Centerline is valid? [True, True] Translation: X:211.67, Y:-35.93, Z:-28.28 [[ 5.38415746e-01 -8.41760924e-01 3.93323259e-02 2.11671980e+02] [ 8.39259379e-01 5.39847071e-01 6.48755325e-02 -3.59261135e+01] [-7.58431291e-02 -1.91998482e-03 9.97117914e-01 -2.82829712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.496875 meters 0.02777542483769429 Centerline is valid? [True, True] Translation: X:211.69, Y:-35.90, Z:-28.29 [[ 5.39212105e-01 -8.41249703e-01 3.93604265e-02 2.11686312e+02] [ 8.38740343e-01 5.40643026e-01 6.49596366e-02 -3.59015421e+01] [-7.59272151e-02 -2.01384478e-03 9.97111329e-01 -2.82859033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.526875 meters 0.02824784836021326 Centerline is valid? [True, True] Translation: X:211.70, Y:-35.88, Z:-28.29 [[ 5.40092401e-01 -8.40680860e-01 3.94447675e-02 2.11700065e+02] [ 8.38156305e-01 5.41526732e-01 6.51368334e-02 -3.58768437e+01] [-7.61196851e-02 -2.11902823e-03 9.97096436e-01 -2.82886465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.556875 meters 0.028546147168408247 Centerline is valid? [True, True] Translation: X:211.71, Y:-35.85, Z:-28.29 [[ 5.40256045e-01 -8.40572179e-01 3.95198466e-02 2.11714727e+02] [ 8.38034878e-01 5.41695259e-01 6.52977031e-02 -3.58526371e+01] [-7.62951461e-02 -2.15846898e-03 9.97082941e-01 -2.82914496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.586875 meters 0.029257786226194463 Centerline is valid? [True, True] Translation: X:211.73, Y:-35.83, Z:-28.29 [[ 5.40054944e-01 -8.40674213e-01 4.00939673e-02 2.11728507e+02] [ 8.38059676e-01 5.41536739e-01 6.62868033e-02 -3.58297812e+01] [-7.74379625e-02 -2.19737861e-03 9.96994751e-01 -2.82935397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.616875 meters 0.028853951532829557 Centerline is valid? [True, True] Translation: X:211.74, Y:-35.81, Z:-28.30 [[ 5.39388222e-01 -8.41089441e-01 4.03596123e-02 2.11744262e+02] [ 8.38437907e-01 5.40891690e-01 6.67686726e-02 -3.58063175e+01] [-7.79886045e-02 -2.17520676e-03 9.96951878e-01 -2.82951763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.646875 meters 0.028583733460856676 Centerline is valid? [True, True] Translation: X:211.76, Y:-35.78, Z:-28.30 [[ 5.38884100e-01 -8.41387487e-01 4.08781478e-02 2.11759763e+02] [ 8.38664886e-01 5.40427920e-01 6.76673622e-02 -3.57831730e+01] [-7.90261642e-02 -2.18179849e-03 9.96870155e-01 -2.82971010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.676875 meters 0.026712901146288527 Centerline is valid? [True, True] Translation: X:211.78, Y:-35.76, Z:-28.30 [[ 5.37532605e-01 -8.42233131e-01 4.12559302e-02 2.11779215e+02] [ 8.39458850e-01 5.39109396e-01 6.83366611e-02 -3.57611529e+01] [-7.97968596e-02 -2.10052771e-03 9.96808933e-01 -2.82975820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.706875 meters 0.027138701968938743 Centerline is valid? [True, True] Translation: X:211.79, Y:-35.74, Z:-28.30 [[ 5.36214397e-01 -8.43076229e-01 4.11897028e-02 2.11792652e+02] [ 8.40311538e-01 5.37790419e-01 6.82494240e-02 -3.57368665e+01] [-7.96908946e-02 -1.98414130e-03 9.96817649e-01 -2.83004683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.736875 meters 0.026580435370016402 Centerline is valid? [True, True] Translation: X:211.81, Y:-35.72, Z:-28.30 [[ 5.35724041e-01 -8.43403350e-01 4.08722674e-02 2.11809928e+02] [ 8.40678994e-01 5.37277414e-01 6.77628968e-02 -3.57150018e+01] [-7.91112003e-02 -1.94175623e-03 9.96863906e-01 -2.83026949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.766875 meters 0.02618832439918432 Centerline is valid? [True, True] Translation: X:211.83, Y:-35.69, Z:-28.31 [[ 5.33800334e-01 -8.44655414e-01 4.01800194e-02 2.11825600e+02] [ 8.42023098e-01 5.35307552e-01 6.66552856e-02 -3.56926743e+01] [-7.78094157e-02 -1.74810931e-03 9.96966719e-01 -2.83061489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.796875 meters 0.025466174046126742 Centerline is valid? [True, True] Translation: X:211.84, Y:-35.67, Z:-28.31 [[ 5.33058487e-01 -8.45146524e-01 3.96988981e-02 2.11842733e+02] [ 8.42575451e-01 5.34532079e-01 6.58943534e-02 -3.56698380e+01] [-7.69107182e-02 -1.67622732e-03 9.97036575e-01 -2.83090993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.826875 meters 0.02654442144680338 Centerline is valid? [True, True] Translation: X:211.85, Y:-35.65, Z:-28.31 [[ 5.31801774e-01 -8.45945833e-01 3.95287287e-02 2.11854293e+02] [ 8.43395847e-01 5.33266504e-01 6.56527269e-02 -3.56451574e+01] [-7.66179977e-02 -1.57587097e-03 9.97059276e-01 -2.83143241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.856875 meters 0.02461341706820418 Centerline is valid? [True, True] Translation: X:211.87, Y:-35.62, Z:-28.32 [[ 5.29734391e-01 -8.47256351e-01 3.92192560e-02 2.11873738e+02] [ 8.44746575e-01 5.31182380e-01 6.51805424e-02 -3.56234286e+01] [-7.60572062e-02 -1.39804273e-03 9.97102476e-01 -2.83156513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.886875 meters 0.024729134079838754 Centerline is valid? [True, True] Translation: X:211.89, Y:-35.60, Z:-28.32 [[ 5.28553415e-01 -8.48015710e-01 3.87381271e-02 2.11889625e+02] [ 8.45566511e-01 5.29969513e-01 6.44173185e-02 -3.56005687e+01] [-7.51569244e-02 -1.29233067e-03 9.97170881e-01 -2.83187779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91687499999998 meters 0.02412112183708061 Centerline is valid? [True, True] Translation: X:211.91, Y:-35.58, Z:-28.32 [[ 5.26812173e-01 -8.49101826e-01 3.86655320e-02 2.11905976e+02] [ 8.46661810e-01 5.28227936e-01 6.43352645e-02 -3.55778995e+01] [-7.50514048e-02 -1.15597116e-03 9.97178996e-01 -2.83211679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94687499999998 meters 0.02355558958020197 Centerline is valid? [True, True] Translation: X:211.92, Y:-35.56, Z:-28.32 [[ 5.23214423e-01 -8.51309777e-01 3.89657754e-02 2.11923786e+02] [ 8.48834636e-01 5.24662663e-01 6.48756554e-02 -3.55559466e+01] [-7.56731672e-02 -8.68378774e-04 9.97132297e-01 -2.83227520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97687499999998 meters 0.023411279675300444 Centerline is valid? [True, True] Translation: X:211.94, Y:-35.53, Z:-28.32 [[ 5.21963904e-01 -8.52055558e-01 3.94336046e-02 2.11940150e+02] [ 8.49519646e-01 5.23450764e-01 6.56937493e-02 -3.55327122e+01] [-7.66162747e-02 -7.90144063e-04 9.97060340e-01 -2.83244129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00687499999998 meters 0.023096709124912747 Centerline is valid? [True, True] Translation: X:211.96, Y:-35.51, Z:-28.32 [[ 5.20846940e-01 -8.52721511e-01 3.98056581e-02 2.11956042e+02] [ 8.50136258e-01 5.22365300e-01 6.63538710e-02 -3.55097125e+01] [-7.73744677e-02 -7.19977457e-04 9.97001842e-01 -2.83249371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03687499999998 meters 0.02322449464948054 Centerline is valid? [True, True] Translation: X:211.97, Y:-35.49, Z:-28.33 [[ 5.20338040e-01 -8.53018842e-01 4.00896458e-02 2.11968765e+02] [ 8.50394110e-01 5.21879643e-01 6.68692503e-02 -3.54864396e+01] [-7.79627005e-02 -7.02615980e-04 9.96956029e-01 -2.83288064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06687499999998 meters 0.023031383389313168 Centerline is valid? [True, True] Translation: X:211.98, Y:-35.46, Z:-28.33 [[ 5.20234840e-01 -8.53073098e-01 4.02740800e-02 2.11983892e+02] [ 8.50420788e-01 5.21790926e-01 6.72213725e-02 -3.54623334e+01] [-7.83593940e-02 -7.20985098e-04 9.96924915e-01 -2.83303792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09687499999998 meters 0.02336400782057257 Centerline is valid? [True, True] Translation: X:212.00, Y:-35.44, Z:-28.33 [[ 5.20749736e-01 -8.52762918e-01 4.01885419e-02 2.11996368e+02] [ 8.50117703e-01 5.22297602e-01 6.71200870e-02 -3.54380734e+01] [-7.82279003e-02 -7.87776594e-04 9.96935191e-01 -2.83343259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12687499999998 meters 0.023780454098805418 Centerline is valid? [True, True] Translation: X:212.01, Y:-35.41, Z:-28.34 [[ 5.22397051e-01 -8.51777722e-01 3.96992785e-02 2.12009007e+02] [ 8.49190307e-01 5.23902485e-01 6.63476405e-02 -3.54126441e+01] [-7.73119928e-02 -9.47569250e-04 9.97006498e-01 -2.83379216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15687499999999 meters 0.0238957619928728 Centerline is valid? [True, True] Translation: X:212.02, Y:-35.39, Z:-28.34 [[ 5.23704663e-01 -8.51002012e-01 3.91024465e-02 2.12023869e+02] [ 8.48487242e-01 5.25161350e-01 6.53831465e-02 -3.53886501e+01] [-7.61762828e-02 -1.06353166e-03 9.97093798e-01 -2.83388945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.186875 meters 0.024098221495112697 Centerline is valid? [True, True] Translation: X:212.04, Y:-35.36, Z:-28.34 [[ 5.24934683e-01 -8.50243975e-01 3.90993769e-02 2.12037226e+02] [ 8.47724552e-01 5.26387459e-01 6.54165608e-02 -3.53636553e+01] [-7.62014583e-02 -1.19391986e-03 9.97091727e-01 -2.83414045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.216875 meters 0.024409321922580007 Centerline is valid? [True, True] Translation: X:212.05, Y:-35.34, Z:-28.34 [[ 5.27142393e-01 -8.48905910e-01 3.84662598e-02 2.12048478e+02] [ 8.46461214e-01 5.28542182e-01 6.43939027e-02 -3.53377267e+01] [-7.49954055e-02 -1.38455899e-03 9.97182918e-01 -2.83440744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.246875 meters 0.027870275937926816 Centerline is valid? [True, True] Translation: X:212.05, Y:-35.31, Z:-28.36 [[ 5.33483251e-01 -8.45057242e-01 3.56914342e-02 2.12046714e+02] [ 8.42941703e-01 5.34672784e-01 5.97854491e-02 -3.53070303e+01] [-6.96053652e-02 -1.80873744e-03 9.97572966e-01 -2.83573651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.276875 meters 0.031205163326305206 Centerline is valid? [True, True] Translation: X:212.04, Y:-35.27, Z:-28.37 [[ 5.41028850e-01 -8.40284150e-01 3.47898149e-02 2.12044422e+02] [ 8.38263025e-01 5.42141037e-01 5.82940645e-02 -3.52736287e+01] [-6.78445647e-02 -2.37575524e-03 9.97693074e-01 -2.83690721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.306875 meters 0.03529377980921144 Centerline is valid? [True, True] Translation: X:212.04, Y:-35.24, Z:-28.38 [[ 5.48991934e-01 -8.35100719e-01 3.48517530e-02 2.12042693e+02] [ 8.33059416e-01 5.50088639e-01 5.84337180e-02 -3.52405354e+01] [-6.79695933e-02 -3.04605890e-03 9.97682743e-01 -2.83762917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.336875 meters 0.044985659143211905 Centerline is valid? [True, True] Translation: X:212.03, Y:-35.20, Z:-28.38 [[ 5.67953659e-01 -8.22377182e-01 3.35322602e-02 2.12025984e+02] [ 8.20462484e-01 5.68925341e-01 5.62607192e-02 -3.51986264e+01] [-6.53448842e-02 -4.44151987e-03 9.97852854e-01 -2.83820911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.366875 meters 0.05172975889672965 Centerline is valid? [True, True] Translation: X:212.02, Y:-35.16, Z:-28.38 [[ 5.79160960e-01 -8.14541465e-01 3.30875161e-02 2.12021488e+02] [ 8.12663202e-01 5.80081355e-01 5.55350463e-02 -3.51635881e+01] [-6.44290492e-02 -5.27472392e-03 9.97908350e-01 -2.83846305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.396875 meters 0.07134212526530673 Centerline is valid? [True, True] Translation: X:211.99, Y:-35.11, Z:-28.39 [[ 6.05267563e-01 -7.95351778e-01 3.26607808e-02 2.11988343e+02] [ 7.93492351e-01 6.06104454e-01 5.48386702e-02 -3.51111640e+01] [-6.34118786e-02 -7.27598854e-03 9.97960918e-01 -2.83890750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.426875 meters 0.0833543498621008 Centerline is valid? [True, True] Translation: X:211.97, Y:-35.07, Z:-28.39 [[ 6.18692677e-01 -7.84945734e-01 3.28567669e-02 2.11974034e+02] [ 7.83048440e-01 6.19507353e-01 5.51885831e-02 -3.50711658e+01] [-6.36750515e-02 -8.41633216e-03 9.97935195e-01 -2.83923714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.456875 meters 0.09896752281059963 Centerline is valid? [True, True] Translation: X:211.96, Y:-35.03, Z:-28.40 [[ 6.32549817e-01 -7.73816475e-01 3.29968614e-02 2.11955081e+02] [ 7.71887278e-01 6.33337087e-01 5.54451439e-02 -3.50283051e+01] [-6.38025019e-02 -9.60195810e-03 9.97916351e-01 -2.83960051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.486875 meters 0.11342276549410754 Centerline is valid? [True, False] Translation: X:211.86, Y:-35.15, Z:-28.36 [[ 6.86228785e-01 -7.27338616e-01 8.28206363e-03 2.11859944e+02] [ 7.26232798e-01 6.85737469e-01 4.84772791e-02 -3.51533406e+01] [-4.09387185e-02 -2.72517981e-02 9.98789948e-01 -2.83635397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.516875 meters 0.12395821713588422 Centerline is valid? [False, False] Translation: X:211.78, Y:-35.27, Z:-28.34 [[ 7.23197694e-01 -6.90591642e-01 -8.26312473e-03 2.11783555e+02] [ 6.90330225e-01 7.22461521e-01 3.86462326e-02 -3.52659581e+01] [-2.07189756e-02 -3.36531511e-02 9.99218790e-01 -2.83397227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.546875 meters 0.1433879351513698 Centerline is valid? [False, False] Translation: X:211.72, Y:-35.35, Z:-28.32 [[ 7.57754168e-01 -6.52126850e-01 -2.32205054e-02 2.11715677e+02] [ 6.52536120e-01 7.57394350e-01 2.34608490e-02 -3.53525395e+01] [ 2.28763004e-03 -3.29297746e-02 9.99455050e-01 -2.83203344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.576875 meters 0.15761335580327152 Centerline is valid? [False, False] Translation: X:211.65, Y:-35.43, Z:-28.31 [[ 7.90774090e-01 -6.11012651e-01 -3.66043555e-02 2.11651838e+02] [ 6.11657526e-01 7.91071927e-01 8.95979631e-03 -3.54255929e+01] [ 2.34821291e-02 -2.94745043e-02 9.99289669e-01 -2.83050630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.606875 meters 0.15460548842097793 Centerline is valid? [False, False] Translation: X:211.60, Y:-35.48, Z:-28.29 [[ 8.20499365e-01 -5.69008185e-01 -5.48678202e-02 2.11596108e+02] [ 5.69729692e-01 8.21826758e-01 -2.97628307e-03 -3.54814742e+01] [ 4.67853722e-02 -2.88177879e-02 9.98489191e-01 -2.82894647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.636875 meters 0.17045195955668963 Centerline is valid? [False, False] Translation: X:211.53, Y:-35.50, Z:-28.28 [[ 8.59671211e-01 -5.06773852e-01 -6.43868961e-02 2.11525391e+02] [ 5.06632440e-01 8.61936625e-01 -1.97186212e-02 -3.55033118e+01] [ 6.54903056e-02 -1.56689593e-02 9.97730176e-01 -2.82791083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66687499999998 meters 0.2122007784730416 Centerline is valid? [False, False] Translation: X:211.49, Y:-35.53, Z:-28.27 [[ 8.77772790e-01 -4.71918690e-01 -8.25086586e-02 2.11485487e+02] [ 4.71260768e-01 8.81533119e-01 -2.85070123e-02 -3.55324032e+01] [ 8.61871070e-02 -1.38604141e-02 9.96182549e-01 -2.82662188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69687499999998 meters 0.17785249841844825 Centerline is valid? [False, False] Translation: X:211.45, Y:-35.56, Z:-28.25 [[ 8.88615340e-01 -4.47271935e-01 -1.01541097e-01 2.11453479e+02] [ 4.45779852e-01 8.94326545e-01 -3.82145728e-02 -3.55573115e+01] [ 1.07903205e-01 -1.13069198e-02 9.94097104e-01 -2.82529010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72687499999998 meters 0.16393252970256222 Centerline is valid? [False, False] Translation: X:211.42, Y:-35.57, Z:-28.24 [[ 8.91103365e-01 -4.36938396e-01 -1.22554602e-01 2.11422155e+02] [ 4.33943706e-01 8.99462444e-01 -5.15768508e-02 -3.55665651e+01] [ 1.32769169e-01 -7.22149304e-03 9.91120678e-01 -2.82369384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75687499999998 meters 0.1587849017766623 Centerline is valid? [False, False] Translation: X:211.40, Y:-35.58, Z:-28.22 [[ 8.90305132e-01 -4.31711047e-01 -1.44852839e-01 2.11401333e+02] [ 4.28100414e-01 9.01940150e-01 -5.68682718e-02 -3.55849971e+01] [ 1.55199252e-01 -1.13814461e-02 9.87817622e-01 -2.82249743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78687499999998 meters 0.1547364528493533 Centerline is valid? [False, False] Translation: X:211.38, Y:-35.60, Z:-28.21 [[ 8.86261662e-01 -4.31644007e-01 -1.67999162e-01 2.11384474e+02] [ 4.27797654e-01 9.01856873e-01 -6.03601503e-02 -3.56008598e+01] [ 1.77565296e-01 -1.83747604e-02 9.83937464e-01 -2.82132310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81687499999998 meters 0.1368960294144957 Centerline is valid? [False, False] Translation: X:211.36, Y:-35.62, Z:-28.20 [[ 8.79964413e-01 -4.35574026e-01 -1.89572938e-01 2.11363815e+02] [ 4.31737402e-01 8.99773788e-01 -6.33241302e-02 -3.56216248e+01] [ 1.98155107e-01 -2.61227468e-02 9.79822512e-01 -2.82041470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84687499999998 meters 0.11374540463910549 Centerline is valid? [False, False] Translation: X:211.34, Y:-35.65, Z:-28.20 [[ 8.59323827e-01 -4.64738793e-01 -2.13495699e-01 2.11338418e+02] [ 4.62684495e-01 8.84306461e-01 -6.26509422e-02 -3.56458850e+01] [ 2.17911950e-01 -4.49437025e-02 9.74933047e-01 -2.81975875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87687499999998 meters 0.09493577726905418 Centerline is valid? [False, True] Translation: X:211.31, Y:-35.68, Z:-28.19 [[ 8.51837310e-01 -4.69503169e-01 -2.32249805e-01 2.11312698e+02] [ 4.67831961e-01 8.81363311e-01 -6.58177004e-02 -3.56798195e+01] [ 2.35598076e-01 -5.25879087e-02 9.70426740e-01 -2.81924327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90687499999999 meters 0.06943095017188093 Centerline is valid? [True, True] Translation: X:211.34, Y:-35.66, Z:-28.19 [[ 8.39567233e-01 -5.15485288e-01 -1.71469466e-01 2.11338393e+02] [ 4.96964253e-01 8.56260625e-01 -1.40869702e-01 -3.56649649e+01] [ 2.19438811e-01 3.30553905e-02 9.75066126e-01 -2.81867412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.936875 meters 0.05597974862109354 Centerline is valid? [True, True] Translation: X:211.37, Y:-35.66, Z:-28.18 [[ 8.22125302e-01 -5.43035642e-01 -1.70945253e-01 2.11373540e+02] [ 5.25185199e-01 8.39316382e-01 -1.40458243e-01 -3.56631194e+01] [ 2.19750983e-01 2.56963586e-02 9.75217516e-01 -2.81805609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.966875 meters 0.030800956711810528 Centerline is valid? [True, True] Translation: X:211.42, Y:-35.68, Z:-28.17 [[ 7.86813911e-01 -5.93459866e-01 -1.69497071e-01 2.11422528e+02] [ 5.77003044e-01 8.04777174e-01 -1.39288142e-01 -3.56783821e+01] [ 2.19069297e-01 1.17935218e-02 9.75638025e-01 -2.81729589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.996875 meters 0.02473436173542644 Centerline is valid? [True, True] Translation: X:211.45, Y:-35.67, Z:-28.17 [[ 7.71742270e-01 -6.13364584e-01 -1.67921875e-01 2.11452149e+02] [ 5.97666804e-01 7.89775949e-01 -1.38015732e-01 -3.56715868e+01] [ 2.17274620e-01 6.15124419e-03 9.76091134e-01 -2.81656979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.026875 meters 0.02069567098068877 Centerline is valid? [True, True] Translation: X:211.49, Y:-35.67, Z:-28.16 [[ 7.48228092e-01 -6.42581310e-01 -1.65057512e-01 2.11488809e+02] [ 6.28096780e-01 7.66214484e-01 -1.35682715e-01 -3.56712289e+01] [ 2.13656633e-01 -2.15047241e-03 9.76906453e-01 -2.81570726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.056875 meters 0.022231197812322828 Centerline is valid? [True, True] Translation: X:211.51, Y:-35.66, Z:-28.15 [[ 7.39741189e-01 -6.52593125e-01 -1.64028007e-01 2.11514954e+02] [ 6.38517602e-01 7.57692392e-01 -1.34898155e-01 -3.56574498e+01] [ 2.12316381e-01 -4.94504821e-03 9.77188467e-01 -2.81503878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.086875 meters 0.024670822131741762 Centerline is valid? [True, True] Translation: X:211.54, Y:-35.64, Z:-28.14 [[ 7.33250420e-01 -6.59984302e-01 -1.63598725e-01 2.11539758e+02] [ 6.46149816e-01 7.51246692e-01 -1.34606181e-01 -3.56447289e+01] [ 2.11740967e-01 -7.00924719e-03 9.77300687e-01 -2.81437926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.116875 meters 0.02723418473400717 Centerline is valid? [True, True] Translation: X:211.56, Y:-35.63, Z:-28.14 [[ 7.26402007e-01 -6.67736986e-01 -1.62688174e-01 2.11564312e+02] [ 6.54243185e-01 7.44340564e-01 -1.33876733e-01 -3.56312248e+01] [ 2.10489853e-01 -9.18930169e-03 9.77552852e-01 -2.81381408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.146875 meters 0.027327479488623338 Centerline is valid? [True, True] Translation: X:211.59, Y:-35.61, Z:-28.13 [[ 7.25523181e-01 -6.68737196e-01 -1.62501313e-01 2.11586060e+02] [ 6.55292091e-01 7.43438906e-01 -1.33756747e-01 -3.56130303e+01] [ 2.10257910e-01 -9.44220408e-03 9.77600356e-01 -2.81326548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.176875 meters 0.027327479488623338 Centerline is valid? [True, True] Translation: X:211.61, Y:-35.60, Z:-28.13 [[ 7.25338158e-01 -6.68945857e-01 -1.62468451e-01 2.11606771e+02] [ 6.55496997e-01 7.43251063e-01 -1.33796651e-01 -3.55958629e+01] [ 2.10257564e-01 -9.44976585e-03 9.77600357e-01 -2.81266965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.206875 meters 0.026736515074421475 Centerline is valid? [True, True] Translation: X:211.63, Y:-35.58, Z:-28.12 [[ 7.25157752e-01 -6.69070617e-01 -1.62759775e-01 2.11625921e+02] [ 6.55559434e-01 7.43138817e-01 -1.34113860e-01 -3.55754164e+01] [ 2.10684750e-01 -9.44500102e-03 9.77508429e-01 -2.81211009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.236875 meters 0.0252595447335943 Centerline is valid? [True, True] Translation: X:211.64, Y:-35.55, Z:-28.12 [[ 7.29342746e-01 -6.64470185e-01 -1.62906515e-01 2.11644491e+02] [ 6.50803693e-01 7.47271314e-01 -1.34313572e-01 -3.55516865e+01] [ 2.10982730e-01 -8.05953259e-03 9.77456563e-01 -2.81174907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.266875 meters 0.024054197815721726 Centerline is valid? [True, True] Translation: X:211.66, Y:-35.53, Z:-28.11 [[ 7.32325003e-01 -6.61035090e-01 -1.63501376e-01 2.11663705e+02] [ 6.47168453e-01 7.50321925e-01 -1.34870315e-01 -3.55304595e+01] [ 2.11832678e-01 -7.04402894e-03 9.77280563e-01 -2.81129665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.296875 meters 0.023022542973869745 Centerline is valid? [True, True] Translation: X:211.68, Y:-35.51, Z:-28.11 [[ 7.35599831e-01 -6.57087221e-01 -1.64709662e-01 2.11683283e+02] [ 6.42910273e-01 7.53791190e-01 -1.35886804e-01 -3.55106858e+01] [ 2.13446175e-01 -5.93522321e-03 9.76936796e-01 -2.81082533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.326875 meters 0.02193890714937196 Centerline is valid? [True, True] Translation: X:211.70, Y:-35.49, Z:-28.10 [[ 7.39425230e-01 -6.52516085e-01 -1.65750075e-01 2.11703396e+02] [ 6.38039215e-01 7.57760743e-01 -1.36764822e-01 -3.54891933e+01] [ 2.14840146e-01 -4.62768777e-03 9.76638263e-01 -2.81034601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.356875 meters 0.02035072167840362 Centerline is valid? [True, True] Translation: X:211.72, Y:-35.47, Z:-28.10 [[ 7.47229078e-01 -6.43057640e-01 -1.67706816e-01 2.11722078e+02] [ 6.27988596e-01 7.65815436e-01 -1.38408964e-01 -3.54658769e+01] [ 2.17437410e-01 -1.89476526e-03 9.76072427e-01 -2.80994889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.386875 meters 0.020264018247458125 Centerline is valid? [True, True] Translation: X:211.74, Y:-35.45, Z:-28.09 [[ 7.50633409e-01 -6.38859686e-01 -1.68546094e-01 2.11742206e+02] [ 6.23517575e-01 7.69323019e-01 -1.39168693e-01 -3.54455994e+01] [ 2.18575657e-01 -6.26781583e-04 9.75819804e-01 -2.80940805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41687499999998 meters 0.02037218707494832 Centerline is valid? [True, True] Translation: X:211.76, Y:-35.43, Z:-28.09 [[ 7.54318514e-01 -6.34415462e-01 -1.68880431e-01 2.11761987e+02] [ 6.18884890e-01 7.72991914e-01 -1.39517003e-01 -3.54256355e+01] [ 2.19054952e-01 7.22711384e-04 9.75712256e-01 -2.80886455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44687499999998 meters 0.020965499037299166 Centerline is valid? [True, True] Translation: X:211.78, Y:-35.40, Z:-28.08 [[ 7.59855440e-01 -6.27595984e-01 -1.69537577e-01 2.11781941e+02] [ 6.11755182e-01 7.78534259e-01 -1.40142801e-01 -3.54049535e+01] [ 2.19943871e-01 2.77277872e-03 9.75508588e-01 -2.80833387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47687499999998 meters 0.021995762567247296 Centerline is valid? [True, True] Translation: X:211.80, Y:-35.39, Z:-28.08 [[ 7.61805179e-01 -6.25227418e-01 -1.69539214e-01 2.11803864e+02] [ 6.09311888e-01 7.80434697e-01 -1.40216639e-01 -3.53868652e+01] [ 2.19981572e-01 3.51550362e-03 9.75497693e-01 -2.80778435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50687499999998 meters 0.0226841403364627 Centerline is valid? [True, True] Translation: X:211.83, Y:-35.37, Z:-28.07 [[ 7.63460006e-01 -6.23196834e-01 -1.69571593e-01 2.11826320e+02] [ 6.07209139e-01 7.82053960e-01 -1.40316300e-01 -3.53702917e+01] [ 2.20058810e-01 4.16046215e-03 9.75477735e-01 -2.80715261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53687499999998 meters 0.023381934292994688 Centerline is valid? [True, True] Translation: X:211.85, Y:-35.35, Z:-28.06 [[ 7.64984484e-01 -6.21394706e-01 -1.69314377e-01 2.11849166e+02] [ 6.05396246e-01 7.83483407e-01 -1.40175376e-01 -3.53546514e+01] [ 2.19759242e-01 4.72969958e-03 9.75542672e-01 -2.80649942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56687499999998 meters 0.024221268011514377 Centerline is valid? [True, True] Translation: X:211.87, Y:-35.34, Z:-28.06 [[ 7.66155944e-01 -6.19953701e-01 -1.69299964e-01 2.11871980e+02] [ 6.03917378e-01 7.84621402e-01 -1.40189359e-01 -3.53391311e+01] [ 2.19747287e-01 5.16372027e-03 9.75543164e-01 -2.80584045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59687499999998 meters 0.024766449478064657 Centerline is valid? [True, True] Translation: X:211.90, Y:-35.32, Z:-28.05 [[ 7.67005713e-01 -6.18938126e-01 -1.69168056e-01 2.11896735e+02] [ 6.02896767e-01 7.85420688e-01 -1.40106501e-01 -3.53247132e+01] [ 2.19585346e-01 5.47161246e-03 9.75577950e-01 -2.80529166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62687499999998 meters 0.02541387204056967 Centerline is valid? [True, True] Translation: X:211.92, Y:-35.31, Z:-28.05 [[ 7.67226605e-01 -6.18257413e-01 -1.70649077e-01 2.11924600e+02] [ 6.01896850e-01 7.85954445e-01 -1.41406478e-01 -3.53143110e+01] [ 2.21548004e-01 5.77767003e-03 9.75132350e-01 -2.80484597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65687499999999 meters 0.025784438339635944 Centerline is valid? [True, True] Translation: X:211.95, Y:-35.30, Z:-28.04 [[ 7.66609062e-01 -6.18890164e-01 -1.71130098e-01 2.11948879e+02] [ 6.02442451e-01 7.85457265e-01 -1.41844908e-01 -3.53003837e+01] [ 2.22201797e-01 5.64355638e-03 9.74984365e-01 -2.80438091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.686875 meters 0.026423722950194423 Centerline is valid? [True, True] Translation: X:211.97, Y:-35.29, Z:-28.04 [[ 7.65631128e-01 -6.19856543e-01 -1.72008262e-01 2.11974483e+02] [ 6.03251945e-01 7.84696396e-01 -1.42613661e-01 -3.52860051e+01] [ 2.23374274e-01 5.42513968e-03 9.74717652e-01 -2.80384477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.716875 meters 0.027005880338782304 Centerline is valid? [True, True] Translation: X:212.00, Y:-35.28, Z:-28.03 [[ 7.63407239e-01 -6.22342920e-01 -1.72912342e-01 2.12003522e+02] [ 6.05608190e-01 7.82730129e-01 -1.43430352e-01 -3.52774169e+01] [ 2.24606564e-01 4.77863847e-03 9.74437815e-01 -2.80338324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.746875 meters 0.027432628912689924 Centerline is valid? [True, True] Translation: X:212.03, Y:-35.26, Z:-28.03 [[ 7.62425225e-01 -6.23551957e-01 -1.72889365e-01 2.12029860e+02] [ 6.06845979e-01 7.81769279e-01 -1.43439023e-01 -3.52644488e+01] [ 2.24601278e-01 4.44431399e-03 9.74440616e-01 -2.80285149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.776875 meters 0.027788247006682743 Centerline is valid? [True, True] Translation: X:212.06, Y:-35.25, Z:-28.02 [[ 7.61401169e-01 -6.24765368e-01 -1.73021661e-01 2.12055549e+02] [ 6.08047576e-01 7.80801529e-01 -1.43621435e-01 -3.52511490e+01] [ 2.24825276e-01 4.14812720e-03 9.74390265e-01 -2.80221071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.806875 meters 0.02760394782613225 Centerline is valid? [True, True] Translation: X:212.08, Y:-35.24, Z:-28.02 [[ 7.60654419e-01 -6.25681195e-01 -1.72996811e-01 2.12081414e+02] [ 6.08974970e-01 7.80068945e-01 -1.43672985e-01 -3.52389666e+01] [ 2.24842925e-01 3.93476321e-03 9.74387078e-01 -2.80155003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.836875 meters 0.028417431403982334 Centerline is valid? [True, True] Translation: X:212.11, Y:-35.23, Z:-28.01 [[ 7.60252700e-01 -6.26366213e-01 -1.72282325e-01 2.12105641e+02] [ 6.09800365e-01 7.79519805e-01 -1.43151627e-01 -3.52256511e+01] [ 2.23962827e-01 3.77358580e-03 9.74590382e-01 -2.80093343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.866875 meters 0.029303303034438177 Centerline is valid? [True, True] Translation: X:212.13, Y:-35.22, Z:-28.00 [[ 7.60574320e-01 -6.26007995e-01 -1.72164728e-01 2.12131995e+02] [ 6.09447204e-01 7.79806852e-01 -1.43092204e-01 -3.52152986e+01] [ 2.23832099e-01 3.90694359e-03 9.74619889e-01 -2.80033858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.896875 meters 0.029646306502044886 Centerline is valid? [True, True] Translation: X:212.16, Y:-35.20, Z:-28.00 [[ 7.60779359e-01 -6.25649485e-01 -1.72561551e-01 2.12155490e+02] [ 6.08995868e-01 7.80093820e-01 -1.43449172e-01 -3.51994935e+01] [ 2.24363100e-01 4.04389771e-03 9.74497227e-01 -2.79967994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.926875 meters 0.029461220374487493 Centerline is valid? [True, True] Translation: X:212.18, Y:-35.18, Z:-27.99 [[ 7.61246873e-01 -6.25077370e-01 -1.72573118e-01 2.12179488e+02] [ 6.08390582e-01 7.80551120e-01 -1.43529960e-01 -3.51848688e+01] [ 2.24419470e-01 4.26987325e-03 9.74483283e-01 -2.79894839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.956875 meters 0.030725814189744106 Centerline is valid? [True, True] Translation: X:212.20, Y:-35.17, Z:-27.98 [[ 7.62968044e-01 -6.22606483e-01 -1.73899201e-01 2.12204341e+02] [ 6.05578091e-01 7.82518491e-01 -1.44706553e-01 -3.51711938e+01] [ 2.26174578e-01 5.09692945e-03 9.74073448e-01 -2.79848707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.986875 meters 0.032210485190780624 Centerline is valid? [True, True] Translation: X:212.23, Y:-35.15, Z:-27.98 [[ 7.63535979e-01 -6.21904829e-01 -1.73917202e-01 2.12225733e+02] [ 6.04848937e-01 7.83074720e-01 -1.44747182e-01 -3.51535063e+01] [ 2.26209136e-01 5.32604700e-03 9.74064197e-01 -2.79802008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.016875 meters 0.031780152130053696 Centerline is valid? [True, True] Translation: X:212.25, Y:-35.14, Z:-27.97 [[ 7.64492404e-01 -6.20732398e-01 -1.73904152e-01 2.12251622e+02] [ 6.03642595e-01 7.84001819e-01 -1.44764517e-01 -3.51410553e+01] [ 2.26201197e-01 5.69542024e-03 9.74063951e-01 -2.79730726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.046875 meters 0.03211236234312645 Centerline is valid? [True, True] Translation: X:212.28, Y:-35.13, Z:-27.97 [[ 7.65218690e-01 -6.19497786e-01 -1.75108109e-01 2.12278194e+02] [ 6.02117620e-01 7.84974192e-01 -1.45842003e-01 -3.51287479e+01] [ 2.27804144e-01 6.16534877e-03 9.73687455e-01 -2.79670093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.076875 meters 0.03250722429440285 Centerline is valid? [True, True] Translation: X:212.30, Y:-35.11, Z:-27.96 [[ 7.65204853e-01 -6.19422808e-01 -1.75433513e-01 2.12301022e+02] [ 6.01957929e-01 7.85032618e-01 -1.46186320e-01 -3.51139885e+01] [ 2.28272171e-01 6.25888747e-03 9.73577240e-01 -2.79619791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.106875 meters 0.03274312876846723 Centerline is valid? [True, True] Translation: X:212.32, Y:-35.10, Z:-27.96 [[ 7.64780635e-01 -6.19876744e-01 -1.75679826e-01 2.12324418e+02] [ 6.02366839e-01 7.84675039e-01 -1.46421564e-01 -3.50995013e+01] [ 2.28614897e-01 6.15667492e-03 9.73497470e-01 -2.79560969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.136875 meters 0.03260583648571711 Centerline is valid? [True, True] Translation: X:212.35, Y:-35.08, Z:-27.95 [[ 7.64761037e-01 -6.19902951e-01 -1.75672670e-01 2.12347990e+02] [ 6.02375138e-01 7.84653857e-01 -1.46500914e-01 -3.50848896e+01] [ 2.28658587e-01 6.21734204e-03 9.73486823e-01 -2.79499553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16687499999998 meters 0.033089950896970984 Centerline is valid? [True, True] Translation: X:212.37, Y:-35.07, Z:-27.95 [[ 7.64016062e-01 -6.20587759e-01 -1.76494448e-01 2.12373466e+02] [ 6.02891183e-01 7.84113191e-01 -1.47270924e-01 -3.50735889e+01] [ 2.29786158e-01 6.11040486e-03 9.73221961e-01 -2.79456593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19687499999998 meters 0.03284575833960127 Centerline is valid? [True, True] Translation: X:212.40, Y:-35.06, Z:-27.94 [[ 7.63400417e-01 -6.21284093e-01 -1.76708457e-01 2.12398642e+02] [ 6.03548243e-01 7.83562759e-01 -1.47509056e-01 -3.50596839e+01] [ 2.30107196e-01 5.95639640e-03 9.73147060e-01 -2.79392032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22687499999998 meters 0.03278857269249285 Centerline is valid? [True, True] Translation: X:212.42, Y:-35.05, Z:-27.93 [[ 7.63291295e-01 -6.21568412e-01 -1.76179196e-01 2.12422836e+02] [ 6.03929691e-01 7.83337565e-01 -1.47143426e-01 -3.50454162e+01] [ 2.29467488e-01 5.91344851e-03 9.73298363e-01 -2.79325677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25687499999998 meters 0.03286441343044673 Centerline is valid? [True, True] Translation: X:212.45, Y:-35.03, Z:-27.93 [[ 7.63240522e-01 -6.21790176e-01 -1.75615724e-01 2.12448428e+02] [ 6.04251196e-01 7.83161674e-01 -1.46759274e-01 -3.50334643e+01] [ 2.28788979e-01 5.89661404e-03 9.73458182e-01 -2.79259696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28687499999998 meters 0.03304563044512373 Centerline is valid? [True, True] Translation: X:212.47, Y:-35.02, Z:-27.92 [[ 7.63626191e-01 -6.21391206e-01 -1.75351103e-01 2.12472028e+02] [ 6.03875380e-01 7.83476904e-01 -1.46623552e-01 -3.50181038e+01] [ 2.28494125e-01 6.07537037e-03 9.73526335e-01 -2.79195362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31687499999998 meters 0.03320152529337967 Centerline is valid? [True, True] Translation: X:212.49, Y:-35.00, Z:-27.91 [[ 7.63932933e-01 -6.21149064e-01 -1.74872283e-01 2.12494224e+02] [ 6.03706768e-01 7.83668002e-01 -1.46296279e-01 -3.50029582e+01] [ 2.27913609e-01 6.18896511e-03 9.73661688e-01 -2.79134277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34687499999998 meters 0.03321178502923933 Centerline is valid? [True, True] Translation: X:212.52, Y:-34.99, Z:-27.91 [[ 7.64393493e-01 -6.20740929e-01 -1.74308026e-01 2.12517661e+02] [ 6.03393310e-01 7.83990281e-01 -1.45862103e-01 -3.49877825e+01] [ 2.27198376e-01 6.31974600e-03 9.73827992e-01 -2.79062837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37687499999998 meters 0.033947138986464086 Centerline is valid? [True, True] Translation: X:212.54, Y:-34.98, Z:-27.90 [[ 7.65491835e-01 -6.19507141e-01 -1.73876834e-01 2.12542379e+02] [ 6.02198385e-01 7.84962201e-01 -1.45572829e-01 -3.49752251e+01] [ 2.26670150e-01 6.72646314e-03 9.73948355e-01 -2.78995964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40687499999999 meters 0.033585108514219184 Centerline is valid? [True, True] Translation: X:212.57, Y:-34.96, Z:-27.89 [[ 7.66321755e-01 -6.18507743e-01 -1.73778995e-01 2.12566744e+02] [ 6.01186798e-01 7.85747159e-01 -1.45519197e-01 -3.49610410e+01] [ 2.26551101e-01 7.04088882e-03 9.73973831e-01 -2.78927903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.436875 meters 0.03404169745591487 Centerline is valid? [True, True] Translation: X:212.59, Y:-34.94, Z:-27.89 [[ 7.67168773e-01 -6.17369710e-01 -1.74088237e-01 2.12590163e+02] [ 5.99939835e-01 7.86637857e-01 -1.45852927e-01 -3.49445448e+01] [ 2.26989577e-01 7.45134307e-03 9.73868682e-01 -2.78869097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.466875 meters 0.03499912529612571 Centerline is valid? [True, True] Translation: X:212.61, Y:-34.93, Z:-27.88 [[ 7.69306337e-01 -6.14333834e-01 -1.75390139e-01 2.12613926e+02] [ 5.96542790e-01 7.89000708e-01 -1.47018988e-01 -3.49289490e+01] [ 2.28701682e-01 8.47491586e-03 9.73459663e-01 -2.78832984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.496875 meters 0.03679134203232246 Centerline is valid? [True, True] Translation: X:212.63, Y:-34.91, Z:-27.88 [[ 7.70448462e-01 -6.12694273e-01 -1.76110461e-01 2.12634837e+02] [ 5.94696126e-01 7.90268123e-01 -1.47691609e-01 -3.49106828e+01] [ 2.29664286e-01 9.05656404e-03 9.73227771e-01 -2.78791109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.526875 meters 0.03608797442550867 Centerline is valid? [True, True] Translation: X:212.66, Y:-34.90, Z:-27.87 [[ 7.71960375e-01 -6.10495425e-01 -1.77122880e-01 2.12660548e+02] [ 5.92221296e-01 7.91959172e-01 -1.48575258e-01 -3.48971721e+01] [ 2.30978605e-01 9.79827049e-03 9.72909491e-01 -2.78722398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.556875 meters 0.03737732543177093 Centerline is valid? [True, True] Translation: X:212.68, Y:-34.88, Z:-27.87 [[ 7.73198530e-01 -6.08589463e-01 -1.78277589e-01 2.12682786e+02] [ 5.90012487e-01 7.93416133e-01 -1.49586446e-01 -3.48807979e+01] [ 2.32485050e-01 1.04740166e-02 9.72543570e-01 -2.78670071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.586875 meters 0.037712017228768005 Centerline is valid? [True, True] Translation: X:212.71, Y:-34.87, Z:-27.86 [[ 7.74970805e-01 -6.06072508e-01 -1.79154587e-01 2.12709747e+02] [ 5.87233453e-01 7.95328830e-01 -1.50362643e-01 -3.48684456e+01] [ 2.33617472e-01 1.13210921e-02 9.72262675e-01 -2.78605386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.616875 meters 0.03828442430417741 Centerline is valid? [True, True] Translation: X:212.73, Y:-34.85, Z:-27.85 [[ 7.75399082e-01 -6.05473909e-01 -1.79325430e-01 2.12733843e+02] [ 5.86565674e-01 7.95781042e-01 -1.50576372e-01 -3.48530526e+01] [ 2.33873842e-01 1.15706387e-02 9.72198100e-01 -2.78542495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.646875 meters 0.037796699819495405 Centerline is valid? [True, True] Translation: X:212.76, Y:-34.84, Z:-27.85 [[ 7.75353105e-01 -6.05597530e-01 -1.79106653e-01 2.12758252e+02] [ 5.86720846e-01 7.95686809e-01 -1.50469770e-01 -3.48399700e+01] [ 2.33636922e-01 1.15815962e-02 9.72254933e-01 -2.78470297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.676875 meters 0.03806448562957854 Centerline is valid? [True, True] Translation: X:212.78, Y:-34.83, Z:-27.84 [[ 7.75211826e-01 -6.05919933e-01 -1.78627153e-01 2.12781100e+02] [ 5.87134149e-01 7.95442214e-01 -1.50150508e-01 -3.48253928e+01] [ 2.33066764e-01 1.15203484e-02 9.72392495e-01 -2.78405753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.706875 meters 0.03907589907699287 Centerline is valid? [True, True] Translation: X:212.81, Y:-34.81, Z:-27.83 [[ 7.74582293e-01 -6.06875701e-01 -1.78112761e-01 2.12807027e+02] [ 5.88217978e-01 7.94717545e-01 -1.49745233e-01 -3.48142969e+01] [ 2.32426079e-01 1.12208782e-02 9.72549335e-01 -2.78342567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.736875 meters 0.03762972107848981 Centerline is valid? [True, True] Translation: X:212.83, Y:-34.80, Z:-27.83 [[ 7.74173746e-01 -6.07455434e-01 -1.77912638e-01 2.12833280e+02] [ 5.88848099e-01 7.94276782e-01 -1.49607187e-01 -3.48028380e+01] [ 2.32191576e-01 1.10584377e-02 9.72607209e-01 -2.78263327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.766875 meters 0.03755754677177156 Centerline is valid? [True, True] Translation: X:212.86, Y:-34.79, Z:-27.82 [[ 7.73228108e-01 -6.08822110e-01 -1.77352564e-01 2.12860010e+02] [ 5.90351636e-01 7.93234990e-01 -1.49208568e-01 -3.47929709e+01] [ 2.31523735e-01 1.06718825e-02 9.72770719e-01 -2.78191417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.796875 meters 0.03739920020663119 Centerline is valid? [True, True] Translation: X:212.88, Y:-34.78, Z:-27.81 [[ 7.73074055e-01 -6.09058756e-01 -1.77211560e-01 2.12884142e+02] [ 5.90616917e-01 7.93054039e-01 -1.49120581e-01 -3.47797483e+01] [ 2.31361539e-01 1.06171069e-02 9.72809907e-01 -2.78122050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.826875 meters 0.03665200945147704 Centerline is valid? [True, True] Translation: X:212.91, Y:-34.77, Z:-27.80 [[ 7.72956298e-01 -6.09293380e-01 -1.76918452e-01 2.12909084e+02] [ 5.90899073e-01 7.92874043e-01 -1.48959852e-01 -3.47666186e+01] [ 2.31034300e-01 1.05985066e-02 9.72887878e-01 -2.78044229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.856875 meters 0.03778038685958317 Centerline is valid? [True, True] Translation: X:212.93, Y:-34.75, Z:-27.80 [[ 7.73907887e-01 -6.08265100e-01 -1.76295635e-01 2.12933046e+02] [ 5.89955910e-01 7.93658632e-01 -1.48519362e-01 -3.47533714e+01] [ 2.30257697e-01 1.09336534e-02 9.73068265e-01 -2.77980562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.886875 meters 0.03833609239316984 Centerline is valid? [True, True] Translation: X:212.96, Y:-34.74, Z:-27.79 [[ 7.74536853e-01 -6.07526793e-01 -1.76079125e-01 2.12955809e+02] [ 5.89238040e-01 7.94220769e-01 -1.48364088e-01 -3.47376445e+01] [ 2.29980857e-01 1.11609353e-02 9.73131152e-01 -2.77915343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91687499999998 meters 0.04040557596206879 Centerline is valid? [True, True] Translation: X:212.98, Y:-34.72, Z:-27.79 [[ 7.76186551e-01 -6.05145372e-01 -1.77012757e-01 2.12979693e+02] [ 5.86591706e-01 7.96025214e-01 -1.49177842e-01 -3.47235279e+01] [ 2.31180898e-01 1.19556195e-02 9.72837322e-01 -2.77863166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94687499999998 meters 0.04060376472427411 Centerline is valid? [True, True] Translation: X:213.00, Y:-34.71, Z:-27.78 [[ 7.76394642e-01 -6.04848519e-01 -1.77114735e-01 2.13003741e+02] [ 5.86257922e-01 7.96248957e-01 -1.49295839e-01 -3.47075808e+01] [ 2.31328790e-01 1.20775727e-02 9.72800659e-01 -2.77806252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97687499999998 meters 0.04097404765126656 Centerline is valid? [True, True] Translation: X:213.03, Y:-34.69, Z:-27.78 [[ 7.76486061e-01 -6.04707840e-01 -1.77194316e-01 2.13027809e+02] [ 5.86079078e-01 7.96354152e-01 -1.49436873e-01 -3.46914567e+01] [ 2.31475078e-01 1.21857672e-02 9.72764512e-01 -2.77755509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.006875 meters 0.03907487582552224 Centerline is valid? [True, True] Translation: X:213.05, Y:-34.68, Z:-27.77 [[ 7.75893131e-01 -6.05453014e-01 -1.77246993e-01 2.13054643e+02] [ 5.86815079e-01 7.95790191e-01 -1.49552780e-01 -3.46790159e+01] [ 2.31598600e-01 1.20257664e-02 9.72737102e-01 -2.77686339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.036875 meters 0.0394273108052956 Centerline is valid? [True, True] Translation: X:213.08, Y:-34.66, Z:-27.76 [[ 7.75279826e-01 -6.06114467e-01 -1.77669480e-01 2.13078546e+02] [ 5.87392993e-01 7.95288505e-01 -1.49952210e-01 -3.46640983e+01] [ 2.32186699e-01 1.18931156e-02 9.72598525e-01 -2.77633018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06687500000004 meters 0.03817588249847711 Centerline is valid? [True, True] Translation: X:213.11, Y:-34.66, Z:-27.76 [[ 7.72883659e-01 -6.08923201e-01 -1.78503177e-01 2.13105794e+02] [ 5.90078695e-01 7.93150600e-01 -1.50729091e-01 -3.46554402e+01] [ 2.33362343e-01 1.11651301e-02 9.72325746e-01 -2.77564942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.096875 meters 0.038680709271864934 Centerline is valid? [True, True] Translation: X:213.13, Y:-34.64, Z:-27.75 [[ 7.71936017e-01 -6.09990901e-01 -1.78957779e-01 2.13128880e+02] [ 5.91069027e-01 7.92333466e-01 -1.51145902e-01 -3.46406180e+01] [ 2.33991862e-01 1.08985649e-02 9.72177468e-01 -2.77505402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12687500000004 meters 0.038680709271864934 Centerline is valid? [True, True] Translation: X:213.15, Y:-34.62, Z:-27.74 [[ 7.71772114e-01 -6.10202749e-01 -1.78942472e-01 2.13149417e+02] [ 5.91282288e-01 7.92170874e-01 -1.51164022e-01 -3.46231342e+01] [ 2.33993716e-01 1.08586623e-02 9.72177469e-01 -2.77445657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.156875 meters 0.038751096012238945 Centerline is valid? [True, True] Translation: X:213.17, Y:-34.61, Z:-27.74 [[ 7.70912908e-01 -6.11403543e-01 -1.78546901e-01 2.13172574e+02] [ 5.92580376e-01 7.91248837e-01 -1.50909828e-01 -3.46080466e+01] [ 2.33541831e-01 1.05349447e-02 9.72289683e-01 -2.77383227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18687500000004 meters 0.037736707554602573 Centerline is valid? [True, True] Translation: X:213.20, Y:-34.60, Z:-27.73 [[ 7.70472561e-01 -6.12060373e-01 -1.78196890e-01 2.13199783e+02] [ 5.93322884e-01 7.90743484e-01 -1.50640958e-01 -3.45960454e+01] [ 2.33109391e-01 1.03364323e-02 9.72395583e-01 -2.77311983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.216875 meters 0.037109490712801854 Centerline is valid? [True, True] Translation: X:213.22, Y:-34.58, Z:-27.73 [[ 7.70182294e-01 -6.12368853e-01 -1.78391765e-01 2.13223480e+02] [ 5.93587695e-01 7.90505229e-01 -1.50848039e-01 -3.45819042e+01] [ 2.33394264e-01 1.02893321e-02 9.72327747e-01 -2.77251849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24687500000005 meters 0.03753858260337456 Centerline is valid? [True, True] Translation: X:213.25, Y:-34.57, Z:-27.72 [[ 7.69828350e-01 -6.12693378e-01 -1.78804741e-01 2.13245595e+02] [ 5.93812421e-01 7.90253805e-01 -1.51280309e-01 -3.45665015e+01] [ 2.33989570e-01 1.02833949e-02 9.72184722e-01 -2.77201252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.276875 meters 0.03692735955483488 Centerline is valid? [True, True] Translation: X:213.27, Y:-34.55, Z:-27.71 [[ 7.69631134e-01 -6.12813313e-01 -1.79242186e-01 2.13272702e+02] [ 5.93829635e-01 7.90160408e-01 -1.51700015e-01 -3.45540543e+01] [ 2.34593868e-01 1.03137326e-02 9.72038757e-01 -2.77141362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.306875 meters 0.03696405408226272 Centerline is valid? [True, True] Translation: X:213.29, Y:-34.54, Z:-27.71 [[ 7.69580002e-01 -6.12970523e-01 -1.78923888e-01 2.13294390e+02] [ 5.94042150e-01 7.90038573e-01 -1.51502399e-01 -3.45385664e+01] [ 2.34223278e-01 1.03048850e-02 9.72128214e-01 -2.77078926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.336875 meters 0.03649275111054741 Centerline is valid? [True, True] Translation: X:213.32, Y:-34.53, Z:-27.70 [[ 7.69280736e-01 -6.13889716e-01 -1.77049613e-01 2.13317621e+02] [ 5.95376716e-01 7.89329152e-01 -1.49953509e-01 -3.45260503e+01] [ 2.31805338e-01 9.94512862e-03 9.72711355e-01 -2.76993969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.366875 meters 0.035061275111531835 Centerline is valid? [True, True] Translation: X:213.34, Y:-34.51, Z:-27.69 [[ 7.69201043e-01 -6.14178379e-01 -1.76393521e-01 2.13342505e+02] [ 5.95803629e-01 7.89105785e-01 -1.49432581e-01 -3.45121423e+01] [ 2.30971408e-01 9.84779741e-03 9.72910700e-01 -2.76907800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.396875 meters 0.03517850231164397 Centerline is valid? [True, True] Translation: X:213.37, Y:-34.50, Z:-27.68 [[ 7.69077511e-01 -6.14452284e-01 -1.75977762e-01 2.13365570e+02] [ 5.96154689e-01 7.88893094e-01 -1.49155200e-01 -3.44964558e+01] [ 2.30476394e-01 9.80194259e-03 9.73028547e-01 -2.76844060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.426875 meters 0.03517850231164397 Centerline is valid? [True, True] Translation: X:213.39, Y:-34.48, Z:-27.68 [[ 7.68909602e-01 -6.14674405e-01 -1.75935784e-01 2.13386079e+02] [ 5.96371243e-01 7.88720038e-01 -1.49204700e-01 -3.44789212e+01] [ 2.30476389e-01 9.80188393e-03 9.73028549e-01 -2.76784487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.456875 meters 0.0353046172906806 Centerline is valid? [True, True] Translation: X:213.41, Y:-34.46, Z:-27.67 [[ 7.69966918e-01 -6.13616073e-01 -1.75003599e-01 2.13409097e+02] [ 5.95463221e-01 7.89539571e-01 -1.48495176e-01 -3.44637633e+01] [ 2.29291293e-01 1.01281660e-02 9.73305154e-01 -2.76706042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.486875 meters 0.03572479018942824 Centerline is valid? [True, True] Translation: X:213.43, Y:-34.45, Z:-27.67 [[ 7.70524795e-01 -6.12892013e-01 -1.75085467e-01 2.13431154e+02] [ 5.94696667e-01 7.90098598e-01 -1.48593674e-01 -3.44459451e+01] [ 2.29406658e-01 1.03723667e-02 9.73275397e-01 -2.76650649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.516875 meters 0.036865431659838854 Centerline is valid? [True, True] Translation: X:213.45, Y:-34.43, Z:-27.66 [[ 7.71062631e-01 -6.11844902e-01 -1.76375269e-01 2.13451820e+02] [ 5.93332060e-01 7.90903666e-01 -1.49761340e-01 -3.44270862e+01] [ 2.31126559e-01 1.08262712e-02 9.72863457e-01 -2.76614339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.546875 meters 0.03744884730980883 Centerline is valid? [True, True] Translation: X:213.47, Y:-34.41, Z:-27.66 [[ 7.71880731e-01 -6.10359749e-01 -1.77935704e-01 2.13473958e+02] [ 5.91461449e-01 7.92042040e-01 -1.51138218e-01 -3.44086470e+01] [ 2.33181243e-01 1.14185687e-02 9.72366250e-01 -2.76579183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57687500000003 meters 0.03661279656728468 Centerline is valid? [True, True] Translation: X:213.50, Y:-34.39, Z:-27.65 [[ 7.73422826e-01 -6.07739941e-01 -1.80192389e-01 2.13498304e+02] [ 5.88263029e-01 7.94038759e-01 -1.53130852e-01 -3.43936527e+01] [ 2.36143476e-01 1.24343761e-02 9.71638639e-01 -2.76530474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.606875 meters 0.040495427676876125 Centerline is valid? [True, True] Translation: X:213.52, Y:-34.37, Z:-27.65 [[ 7.74411839e-01 -6.06413982e-01 -1.80411713e-01 2.13516104e+02] [ 5.86834559e-01 7.95044138e-01 -1.53394979e-01 -3.43722756e+01] [ 2.36456134e-01 1.29190595e-02 9.71556274e-01 -2.76495238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63687500000003 meters 0.043273563673503844 Centerline is valid? [True, True] Translation: X:213.53, Y:-34.35, Z:-27.64 [[ 7.75179596e-01 -6.05446989e-01 -1.80362239e-01 2.13534224e+02] [ 5.85843087e-01 7.95775452e-01 -1.53392658e-01 -3.43519144e+01] [ 2.36398966e-01 1.32428881e-02 9.71565826e-01 -2.76449719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.666875 meters 0.04108129050199364 Centerline is valid? [True, True] Translation: X:213.56, Y:-34.34, Z:-27.64 [[ 7.76843023e-01 -6.03211744e-01 -1.80694521e-01 2.13559916e+02] [ 5.83466088e-01 7.97458549e-01 -1.53711372e-01 -3.43399334e+01] [ 2.36816895e-01 1.39804819e-02 9.71453707e-01 -2.76363950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69687500000003 meters 0.043513027763924635 Centerline is valid? [True, True] Translation: X:213.58, Y:-34.32, Z:-27.63 [[ 7.77356698e-01 -6.02525870e-01 -1.80773727e-01 2.13579248e+02] [ 5.82726316e-01 7.97972001e-01 -1.53852938e-01 -3.43201201e+01] [ 2.36952748e-01 1.42570038e-02 9.71416560e-01 -2.76315886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.726875 meters 0.040173126059378644 Centerline is valid? [True, True] Translation: X:213.60, Y:-34.31, Z:-27.62 [[ 7.77391461e-01 -6.02529583e-01 -1.80611786e-01 2.13604349e+02] [ 5.82758594e-01 7.97969002e-01 -1.53746196e-01 -3.43068898e+01] [ 2.36759238e-01 1.42679100e-02 9.71463581e-01 -2.76233099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75687500000004 meters 0.03984382584172643 Centerline is valid? [True, True] Translation: X:213.63, Y:-34.29, Z:-27.62 [[ 7.77719544e-01 -6.02199817e-01 -1.80298896e-01 2.13627630e+02] [ 5.82471127e-01 7.98215437e-01 -1.53556185e-01 -3.42908268e+01] [ 2.36388868e-01 1.44047446e-02 9.71551752e-01 -2.76165129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.786875 meters 0.043718127426929716 Centerline is valid? [True, True] Translation: X:213.65, Y:-34.27, Z:-27.61 [[ 7.77947247e-01 -6.02256296e-01 -1.79124078e-01 2.13647185e+02] [ 5.82771011e-01 7.98173785e-01 -1.52632097e-01 -3.42716410e+01] [ 2.34895785e-01 1.43513998e-02 9.71914609e-01 -2.76112245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81687500000004 meters 0.041605042693737236 Centerline is valid? [True, True] Translation: X:213.67, Y:-34.26, Z:-27.60 [[ 7.77664658e-01 -6.02851981e-01 -1.78345644e-01 2.13671508e+02] [ 5.83535331e-01 7.97727221e-01 -1.52045386e-01 -3.42577839e+01] [ 2.33932037e-01 1.41693389e-02 9.72149696e-01 -2.76023686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.846875 meters 0.04051450325974018 Centerline is valid? [True, True] Translation: X:213.70, Y:-34.24, Z:-27.59 [[ 7.77806598e-01 -6.02742699e-01 -1.78095858e-01 2.13696055e+02] [ 5.83459915e-01 7.97808473e-01 -1.51908420e-01 -3.42433025e+01] [ 2.33648076e-01 1.42435774e-02 9.72216898e-01 -2.75947164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87687500000004 meters 0.041338668032233294 Centerline is valid? [True, True] Translation: X:213.72, Y:-34.23, Z:-27.59 [[ 7.77633349e-01 -6.03127499e-01 -1.77548850e-01 2.13718382e+02] [ 5.83957424e-01 7.97519430e-01 -1.51513977e-01 -3.42275358e+01] [ 2.32980904e-01 1.41413519e-02 9.72378486e-01 -2.75874149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.906875 meters 0.03971704291405145 Centerline is valid? [True, True] Translation: X:213.74, Y:-34.21, Z:-27.58 [[ 7.74669648e-01 -6.06576980e-01 -1.78749276e-01 2.13742650e+02] [ 5.87224938e-01 7.94914758e-01 -1.52569327e-01 -3.42117193e+01] [ 2.34635479e-01 1.32247940e-02 9.71993465e-01 -2.75836601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93687500000004 meters 0.0376643504553272 Centerline is valid? [True, True] Translation: X:213.77, Y:-34.20, Z:-27.58 [[ 7.70956083e-01 -6.10995483e-01 -1.79753268e-01 2.13767425e+02] [ 5.91521324e-01 7.91542911e-01 -1.53500302e-01 -3.41968724e+01] [ 2.36070416e-01 1.20141006e-02 9.71661680e-01 -2.75787654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.966875 meters 0.035380628962765316 Centerline is valid? [True, True] Translation: X:213.79, Y:-34.18, Z:-27.57 [[ 7.68952831e-01 -6.13782176e-01 -1.78837870e-01 2.13792524e+02] [ 5.94572055e-01 7.89396880e-01 -1.52763338e-01 -3.41835641e+01] [ 2.34937471e-01 1.11358014e-02 9.71946695e-01 -2.75700316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99687500000005 meters 0.033771543467990835 Centerline is valid? [True, True] Translation: X:213.82, Y:-34.17, Z:-27.56 [[ 7.64951695e-01 -6.18972982e-01 -1.78104890e-01 2.13816569e+02] [ 6.00042550e-01 7.85354059e-01 -1.52210181e-01 -3.41714745e+01] [ 2.34089388e-01 9.56292335e-03 9.72168046e-01 -2.75624654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.026875 meters 0.03214547170118417 Centerline is valid? [True, True] Translation: X:213.84, Y:-34.16, Z:-27.56 [[ 7.61629941e-01 -6.22691599e-01 -1.79373925e-01 2.13840237e+02] [ 6.03578325e-01 7.82421023e-01 -1.53331501e-01 -3.41557750e+01] [ 2.35824168e-01 8.51564874e-03 9.71758430e-01 -2.75587664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.056875 meters 0.029849588614760725 Centerline is valid? [True, True] Translation: X:213.87, Y:-34.14, Z:-27.55 [[ 7.59113383e-01 -6.25618611e-01 -1.79856125e-01 2.13865018e+02] [ 6.06462363e-01 7.80091136e-01 -1.53822046e-01 -3.41418409e+01] [ 2.36538104e-01 7.69240360e-03 9.71591762e-01 -2.75526569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.086875 meters 0.02852714539063835 Centerline is valid? [True, True] Translation: X:213.89, Y:-34.13, Z:-27.55 [[ 7.57345166e-01 -6.27675419e-01 -1.80144019e-01 2.13888507e+02] [ 6.08494192e-01 7.78442524e-01 -1.54149458e-01 -3.41265585e+01] [ 2.36987591e-01 7.12775730e-03 9.71486529e-01 -2.75459570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.116875 meters 0.02870064162187603 Centerline is valid? [True, True] Translation: X:213.91, Y:-34.11, Z:-27.54 [[ 7.56121941e-01 -6.28938092e-01 -1.80876994e-01 2.13910550e+02] [ 6.09614581e-01 7.77425444e-01 -1.54853938e-01 -3.41108839e+01] [ 2.38011918e-01 6.82320691e-03 9.71238267e-01 -2.75410956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.146875 meters 0.028277289081809067 Centerline is valid? [True, True] Translation: X:213.93, Y:-34.09, Z:-27.53 [[ 7.56501549e-01 -6.28454171e-01 -1.80971715e-01 2.13932775e+02] [ 6.09076459e-01 7.77814713e-01 -1.55016579e-01 -3.40943712e+01] [ 2.38183278e-01 7.04467122e-03 9.71194676e-01 -2.75343943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.176875 meters 0.02912425785744737 Centerline is valid? [True, True] Translation: X:213.95, Y:-34.08, Z:-27.53 [[ 7.56956666e-01 -6.27806866e-01 -1.81315043e-01 2.13953080e+02] [ 6.08325397e-01 7.78334941e-01 -1.55354213e-01 -3.40755401e+01] [ 2.38656275e-01 7.29786120e-03 9.71076683e-01 -2.75288992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.206875 meters 0.029205076705834523 Centerline is valid? [True, True] Translation: X:213.97, Y:-34.06, Z:-27.52 [[ 7.57592000e-01 -6.26939412e-01 -1.81662698e-01 2.13974750e+02] [ 6.07344605e-01 7.79030669e-01 -1.55704037e-01 -3.40570813e+01] [ 2.39137810e-01 7.62827294e-03 9.70955672e-01 -2.75229355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.236875 meters 0.029317109443506094 Centerline is valid? [True, True] Translation: X:214.00, Y:-34.04, Z:-27.52 [[ 7.58265931e-01 -6.26014513e-01 -1.82040125e-01 2.13995802e+02] [ 6.06292396e-01 7.79770402e-01 -1.56101409e-01 -3.40391172e+01] [ 2.39671249e-01 7.99683644e-03 9.70821169e-01 -2.75169243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.266875 meters 0.029894960287952133 Centerline is valid? [True, True] Translation: X:214.02, Y:-34.02, Z:-27.51 [[ 7.58892454e-01 -6.25025192e-01 -1.82827110e-01 2.14016402e+02] [ 6.05089102e-01 7.80559528e-01 -1.56824747e-01 -3.40201476e+01] [ 2.40726860e-01 8.38642545e-03 9.70556668e-01 -2.75111026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.296875 meters 0.030357359575082375 Centerline is valid? [True, True] Translation: X:214.04, Y:-34.00, Z:-27.50 [[ 7.59550696e-01 -6.24391835e-01 -1.82256899e-01 2.14037299e+02] [ 6.04545778e-01 7.81063740e-01 -1.56409198e-01 -3.40012973e+01] [ 2.40014881e-01 8.61807627e-03 9.70730954e-01 -2.75041485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.32687500000003 meters 0.029608486335969308 Centerline is valid? [True, True] Translation: X:214.06, Y:-33.99, Z:-27.50 [[ 7.59517028e-01 -6.24627307e-01 -1.81589128e-01 2.14058764e+02] [ 6.04916170e-01 7.80875936e-01 -1.55914077e-01 -3.39850334e+01] [ 2.39186771e-01 8.57319641e-03 9.70935729e-01 -2.74956129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.356875 meters 0.030832285079705972 Centerline is valid? [True, True] Translation: X:214.08, Y:-33.97, Z:-27.49 [[ 7.59416067e-01 -6.24906056e-01 -1.81051533e-01 2.14077923e+02] [ 6.05300140e-01 7.80653382e-01 -1.55537895e-01 -3.39664808e+01] [ 2.38535065e-01 8.52745851e-03 9.71096445e-01 -2.74894599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.38687500000003 meters 0.030724705469879276 Centerline is valid? [True, True] Translation: X:214.10, Y:-33.95, Z:-27.48 [[ 7.59259123e-01 -6.24976520e-01 -1.81466070e-01 2.14099934e+02] [ 6.05263789e-01 7.80596363e-01 -1.55964943e-01 -3.39484108e+01] [ 2.39126181e-01 8.58296502e-03 9.70950566e-01 -2.74835896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.416875 meters 0.02938632934816632 Centerline is valid? [True, True] Translation: X:214.12, Y:-33.93, Z:-27.48 [[ 7.58389714e-01 -6.26155811e-01 -1.81035750e-01 2.14122590e+02] [ 6.06552359e-01 7.79654291e-01 -1.55670881e-01 -3.39314395e+01] [ 2.38619526e-01 8.25153379e-03 9.71078078e-01 -2.74762726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.44687500000003 meters 0.029474591662103075 Centerline is valid? [True, True] Translation: X:214.14, Y:-33.91, Z:-27.47 [[ 7.57170692e-01 -6.27699163e-01 -1.80793539e-01 2.14143751e+02] [ 6.08173322e-01 7.78416770e-01 -1.55539519e-01 -3.39143073e+01] [ 2.38364749e-01 7.81615773e-03 9.71144250e-01 -2.74706778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.476875 meters 0.029298472804401524 Centerline is valid? [True, True] Translation: X:214.17, Y:-33.90, Z:-27.46 [[ 7.56869307e-01 -6.28200048e-01 -1.80315145e-01 2.14165586e+02] [ 6.08774387e-01 7.78013779e-01 -1.55204073e-01 -3.38971027e+01] [ 2.37786874e-01 7.69795742e-03 9.71286849e-01 -2.74641323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.50687500000004 meters 0.027897264739865184 Centerline is valid? [True, True] Translation: X:214.19, Y:-33.88, Z:-27.46 [[ 7.55682935e-01 -6.29647786e-01 -1.80241411e-01 2.14189432e+02] [ 6.10258500e-01 7.76846376e-01 -1.55223297e-01 -3.38812980e+01] [ 2.37755892e-01 7.30574312e-03 9.71297463e-01 -2.74560990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.536875 meters 0.02881876932372616 Centerline is valid? [True, True] Translation: X:214.21, Y:-33.86, Z:-27.45 [[ 7.54724342e-01 -6.30919822e-01 -1.79809196e-01 2.14209348e+02] [ 6.11643883e-01 7.75816984e-01 -1.54918585e-01 -3.38626449e+01] [ 2.37240234e-01 6.94163204e-03 9.71426212e-01 -2.74516320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56687500000004 meters 0.027541236844535043 Centerline is valid? [True, True] Translation: X:214.23, Y:-33.85, Z:-27.44 [[ 7.52382437e-01 -6.33720681e-01 -1.79774210e-01 2.14233606e+02] [ 6.14523867e-01 7.73538050e-01 -1.54917081e-01 -3.38481069e+01] [ 2.37236350e-01 6.08134842e-03 9.71432927e-01 -2.74440403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.596875 meters 0.026311268620055006 Centerline is valid? [True, True] Translation: X:214.26, Y:-33.83, Z:-27.44 [[ 7.51332716e-01 -6.34955130e-01 -1.79808600e-01 2.14256944e+02] [ 6.15774609e-01 7.72527775e-01 -1.54991829e-01 -3.38317694e+01] [ 2.37319994e-01 5.72886154e-03 9.71414639e-01 -2.74362704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62687500000004 meters 0.02651747570520963 Centerline is valid? [True, True] Translation: X:214.28, Y:-33.81, Z:-27.43 [[ 7.50854512e-01 -6.35488105e-01 -1.79923234e-01 2.14277786e+02] [ 6.16286526e-01 7.72090344e-01 -1.55136775e-01 -3.38132406e+01] [ 2.37504567e-01 5.60088251e-03 9.71370275e-01 -2.74319963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.656875 meters 0.026101801802389732 Centerline is valid? [True, True] Translation: X:214.30, Y:-33.80, Z:-27.43 [[ 7.50519264e-01 -6.35964657e-01 -1.79637940e-01 2.14299401e+02] [ 6.16818021e-01 7.71698535e-01 -1.54973868e-01 -3.37970474e+01] [ 2.37184238e-01 5.50695439e-03 9.71449078e-01 -2.74250920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68687500000004 meters 0.025482207656096274 Centerline is valid? [True, True] Translation: X:214.32, Y:-33.78, Z:-27.42 [[ 7.50104464e-01 -6.36402929e-01 -1.79818254e-01 2.14320429e+02] [ 6.17208214e-01 7.71337590e-01 -1.55217083e-01 -3.37802968e+01] [ 2.37481185e-01 5.44372333e-03 9.71376885e-01 -2.74179558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.716875 meters 0.025949834081565468 Centerline is valid? [True, True] Translation: X:214.34, Y:-33.76, Z:-27.41 [[ 7.49979156e-01 -6.36305518e-01 -1.80683572e-01 2.14341788e+02] [ 6.16898364e-01 7.71417033e-01 -1.56051818e-01 -3.37617173e+01] [ 2.38679017e-01 5.57221099e-03 9.71082528e-01 -2.74131354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74687500000005 meters 0.027158067610701504 Centerline is valid? [True, True] Translation: X:214.36, Y:-33.74, Z:-27.41 [[ 7.49869668e-01 -6.36372651e-01 -1.80901436e-01 2.14360489e+02] [ 6.16900933e-01 7.71361313e-01 -1.56316869e-01 -3.37423959e+01] [ 2.39016150e-01 5.61901444e-03 9.70999334e-01 -2.74100040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.776875 meters 0.027289674035116028 Centerline is valid? [True, True] Translation: X:214.38, Y:-33.72, Z:-27.40 [[ 7.49885173e-01 -6.36420379e-01 -1.80669112e-01 2.14380791e+02] [ 6.16981383e-01 7.71321644e-01 -1.56195055e-01 -3.37244966e+01] [ 2.38759713e-01 5.65887765e-03 9.71062190e-01 -2.74038103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.806875 meters 0.027407233496605555 Centerline is valid? [True, True] Translation: X:214.40, Y:-33.71, Z:-27.40 [[ 7.49885362e-01 -6.36422751e-01 -1.80659973e-01 2.14401492e+02] [ 6.16965093e-01 7.71319200e-01 -1.56271449e-01 -3.37061902e+01] [ 2.38801211e-01 5.72477531e-03 9.71051599e-01 -2.73973785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.836875 meters 0.027332437533407878 Centerline is valid? [True, True] Translation: X:214.42, Y:-33.69, Z:-27.39 [[ 7.50027662e-01 -6.36098488e-01 -1.81210430e-01 2.14422654e+02] [ 6.16491017e-01 7.71585236e-01 -1.56828091e-01 -3.36883656e+01] [ 2.39577404e-01 5.91080475e-03 9.70859274e-01 -2.73912201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.866875 meters 0.028111273003895373 Centerline is valid? [True, True] Translation: X:214.44, Y:-33.67, Z:-27.39 [[ 7.50408609e-01 -6.35459473e-01 -1.81874070e-01 2.14442658e+02] [ 6.15676298e-01 7.72109539e-01 -1.57446996e-01 -3.36691858e+01] [ 2.40477889e-01 6.17402725e-03 9.70634981e-01 -2.73863235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.896875 meters 0.028174212310511884 Centerline is valid? [True, True] Translation: X:214.46, Y:-33.65, Z:-27.38 [[ 7.50759512e-01 -6.35094575e-01 -1.81700400e-01 2.14463030e+02] [ 6.15325695e-01 7.72408464e-01 -1.57351368e-01 -3.36498103e+01] [ 2.40279927e-01 6.32811152e-03 9.70683013e-01 -2.73803998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.926875 meters 0.028774838531368026 Centerline is valid? [True, True] Translation: X:214.48, Y:-33.63, Z:-27.37 [[ 7.51748856e-01 -6.34065825e-01 -1.81202061e-01 2.14483142e+02] [ 6.14357763e-01 7.73250037e-01 -1.56999744e-01 -3.36303307e+01] [ 2.39662673e-01 6.70148482e-03 9.70833092e-01 -2.73728253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.956875 meters 0.028919170657372064 Centerline is valid? [True, True] Translation: X:214.50, Y:-33.61, Z:-27.36 [[ 7.52003151e-01 -6.33994101e-01 -1.80396066e-01 2.14503573e+02] [ 6.14443552e-01 7.73308410e-01 -1.56375267e-01 -3.36118956e+01] [ 2.38642791e-01 6.75149398e-03 9.71083949e-01 -2.73647997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.986875 meters 0.028919170657372064 Centerline is valid? [True, True] Translation: X:214.52, Y:-33.59, Z:-27.36 [[ 7.51839595e-01 -6.34199657e-01 -1.80355256e-01 2.14523872e+02] [ 6.14643660e-01 7.73139850e-01 -1.56422322e-01 -3.35941133e+01] [ 2.38642819e-01 6.75028077e-03 9.71083950e-01 -2.73588440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.016875 meters 0.027691747274482884 Centerline is valid? [True, True] Translation: X:214.54, Y:-33.58, Z:-27.35 [[ 7.52194692e-01 -6.33996680e-01 -1.79586623e-01 2.14544796e+02] [ 6.14583406e-01 7.73305423e-01 -1.55839533e-01 -3.35782576e+01] [ 2.37677056e-01 6.85071104e-03 9.71320073e-01 -2.73492568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.046875 meters 0.028020471993638694 Centerline is valid? [True, True] Translation: X:214.56, Y:-33.56, Z:-27.34 [[ 7.52717824e-01 -6.33718084e-01 -1.78373952e-01 2.14563122e+02] [ 6.14541288e-01 7.73532785e-01 -1.54874258e-01 -3.35582080e+01] [ 2.36124718e-01 6.95845660e-03 9.71697843e-01 -2.73425042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07687500000003 meters 0.027889329025842766 Centerline is valid? [True, True] Translation: X:214.58, Y:-33.54, Z:-27.34 [[ 7.52874922e-01 -6.33539012e-01 -1.78347056e-01 2.14582925e+02] [ 6.14342731e-01 7.73678350e-01 -1.54934888e-01 -3.35395322e+01] [ 2.36140552e-01 7.08037437e-03 9.71693114e-01 -2.73364530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.106875 meters 0.02872796851796812 Centerline is valid? [True, True] Translation: X:214.60, Y:-33.52, Z:-27.33 [[ 7.52954679e-01 -6.33475860e-01 -1.78234639e-01 2.14601947e+02] [ 6.14288241e-01 7.73729493e-01 -1.54895540e-01 -3.35188774e+01] [ 2.36027982e-01 7.14187888e-03 9.71720014e-01 -2.73316896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13687500000003 meters 0.028493285295286643 Centerline is valid? [True, True] Translation: X:214.62, Y:-33.50, Z:-27.33 [[ 7.53169378e-01 -6.33203090e-01 -1.78296760e-01 2.14622673e+02] [ 6.13974812e-01 7.73951318e-01 -1.55029959e-01 -3.35001816e+01] [ 2.36158462e-01 7.29409829e-03 9.71687181e-01 -2.73250902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.166875 meters 0.030361452630464875 Centerline is valid? [True, True] Translation: X:214.64, Y:-33.48, Z:-27.32 [[ 7.53658024e-01 -6.32600965e-01 -1.78369287e-01 2.14641006e+02] [ 6.13322150e-01 7.74441147e-01 -1.55167167e-01 -3.34788681e+01] [ 2.36295415e-01 7.54514638e-03 9.71651968e-01 -2.73212938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19687500000003 meters 0.028711418075652112 Centerline is valid? [True, True] Translation: X:214.66, Y:-33.46, Z:-27.31 [[ 7.53911823e-01 -6.32191023e-01 -1.78749751e-01 2.14663450e+02] [ 6.12805921e-01 7.74774024e-01 -1.55544574e-01 -3.34620655e+01] [ 2.36824547e-01 7.72798748e-03 9.71521699e-01 -2.73131293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.226875 meters 0.03120908520932029 Centerline is valid? [True, True] Translation: X:214.68, Y:-33.44, Z:-27.31 [[ 7.54190919e-01 -6.31749572e-01 -1.79132733e-01 2.14681303e+02] [ 6.12249604e-01 7.75131845e-01 -1.55952062e-01 -3.34407379e+01] [ 2.37374134e-01 7.94368359e-03 9.71385824e-01 -2.73104026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25687500000004 meters 0.03008107328753277 Centerline is valid? [True, True] Translation: X:214.70, Y:-33.42, Z:-27.30 [[ 7.54108461e-01 -6.31871605e-01 -1.79049446e-01 2.14702769e+02] [ 6.12381462e-01 7.75032402e-01 -1.55928578e-01 -3.34234207e+01] [ 2.37295963e-01 7.94049853e-03 9.71404949e-01 -2.73035478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.286875 meters 0.02949283503327131 Centerline is valid? [True, True] Translation: X:214.72, Y:-33.41, Z:-27.30 [[ 7.54713761e-01 -6.31137598e-01 -1.79087888e-01 2.14723776e+02] [ 6.11598953e-01 7.75627151e-01 -1.56042439e-01 -3.34055338e+01] [ 2.37389678e-01 8.23741099e-03 9.71379579e-01 -2.72969696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31687500000004 meters 0.030161138428722957 Centerline is valid? [True, True] Translation: X:214.74, Y:-33.39, Z:-27.29 [[ 7.55114606e-01 -6.30593178e-01 -1.79315852e-01 2.14743915e+02] [ 6.10976748e-01 7.76067446e-01 -1.56290535e-01 -3.33863430e+01] [ 2.37716941e-01 8.45944990e-03 9.71297634e-01 -2.72917373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.346875 meters 0.030516813838356128 Centerline is valid? [True, True] Translation: X:214.77, Y:-33.37, Z:-27.29 [[ 7.55619800e-01 -6.29896535e-01 -1.79635949e-01 2.14765042e+02] [ 6.10177116e-01 7.76629930e-01 -1.56620048e-01 -3.33676784e+01] [ 2.38165080e-01 8.73546452e-03 9.71185403e-01 -2.72857298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37687500000004 meters 0.03168732800158854 Centerline is valid? [True, True] Translation: X:214.78, Y:-33.35, Z:-27.28 [[ 7.56339745e-01 -6.28772643e-01 -1.80541281e-01 2.14784508e+02] [ 6.08799893e-01 7.77534765e-01 -1.57487711e-01 -3.33480968e+01] [ 2.39401087e-01 9.20070278e-03 9.70877163e-01 -2.72812571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.406875 meters 0.03127392830389163 Centerline is valid? [True, True] Translation: X:214.81, Y:-33.33, Z:-27.27 [[ 7.57000313e-01 -6.27956713e-01 -1.80612549e-01 2.14806323e+02] [ 6.07925669e-01 7.78189967e-01 -1.57628538e-01 -3.33308909e+01] [ 2.39534773e-01 9.52584807e-03 9.70841053e-01 -2.72742585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43687500000004 meters 0.031686137735884544 Centerline is valid? [True, True] Translation: X:214.83, Y:-33.31, Z:-27.27 [[ 7.57403779e-01 -6.27626104e-01 -1.80069399e-01 2.14827001e+02] [ 6.07688508e-01 7.78454936e-01 -1.57234188e-01 -3.33125895e+01] [ 2.38860193e-01 9.66366371e-03 9.71005881e-01 -2.72672224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.466875 meters 0.032882416106975156 Centerline is valid? [True, True] Translation: X:214.85, Y:-33.29, Z:-27.26 [[ 7.58708722e-01 -6.26333844e-01 -1.79072587e-01 2.14846778e+02] [ 6.06564059e-01 7.79489790e-01 -1.56447145e-01 -3.32949636e+01] [ 2.37573395e-01 1.00788178e-02 9.71317301e-01 -2.72597108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49687500000005 meters 0.03337205145760039 Centerline is valid? [True, True] Translation: X:214.87, Y:-33.28, Z:-27.25 [[ 7.59493017e-01 -6.25571387e-01 -1.78411876e-01 2.14866959e+02] [ 6.05915992e-01 7.80098678e-01 -1.55922617e-01 -3.32761312e+01] [ 2.36719596e-01 1.03195306e-02 9.71523206e-01 -2.72528946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.526875 meters 0.03337205145760039 Centerline is valid? [True, True] Translation: X:214.89, Y:-33.26, Z:-27.25 [[ 7.59321483e-01 -6.25786263e-01 -1.78388451e-01 2.14887208e+02] [ 6.06130425e-01 7.79926720e-01 -1.55949413e-01 -3.32582691e+01] [ 2.36720920e-01 1.02890716e-02 9.71523207e-01 -2.72469211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.556875 meters 0.03521763662358501 Centerline is valid? [True, True] Translation: X:214.91, Y:-33.24, Z:-27.24 [[ 7.60746584e-01 -6.24351917e-01 -1.77339558e-01 2.14906086e+02] [ 6.04871229e-01 7.81069389e-01 -1.55117392e-01 -3.32393676e+01] [ 2.35362342e-01 1.07374295e-02 9.71848381e-01 -2.72401282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.586875 meters 0.03329906438608754 Centerline is valid? [True, True] Translation: X:214.93, Y:-33.23, Z:-27.23 [[ 7.60214164e-01 -6.24967443e-01 -1.77454557e-01 2.14929631e+02] [ 6.05463986e-01 7.80578858e-01 -1.55273979e-01 -3.32252441e+01] [ 2.35558457e-01 1.05991345e-02 9.71802383e-01 -2.72325246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.616875 meters 0.03438375200039241 Centerline is valid? [True, True] Translation: X:214.95, Y:-33.21, Z:-27.23 [[ 7.58668246e-01 -6.26869137e-01 -1.77362843e-01 2.14950049e+02] [ 6.07416132e-01 7.79059442e-01 -1.55280482e-01 -3.32069733e+01] [ 2.35516740e-01 1.00733189e-02 9.71818087e-01 -2.72270468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.646875 meters 0.03222649799704985 Centerline is valid? [True, True] Translation: X:214.97, Y:-33.19, Z:-27.22 [[ 7.55067045e-01 -6.31504477e-01 -1.76283445e-01 2.14973666e+02] [ 6.12395185e-01 7.75324088e-01 -1.54417278e-01 -3.31944321e+01] [ 2.34192003e-01 8.64026443e-03 9.72151969e-01 -2.72190450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.676875 meters 0.031223635391962098 Centerline is valid? [True, True] Translation: X:215.00, Y:-33.18, Z:-27.21 [[ 7.53488087e-01 -6.33561774e-01 -1.75656429e-01 2.14996562e+02] [ 6.14629791e-01 7.73650516e-01 -1.53932124e-01 -3.31782884e+01] [ 2.33422197e-01 8.02234685e-03 9.72342388e-01 -2.72116312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.706875 meters 0.029587630846782533 Centerline is valid? [True, True] Translation: X:215.02, Y:-33.16, Z:-27.20 [[ 7.51786047e-01 -6.35624221e-01 -1.75498118e-01 2.15019677e+02] [ 6.16764213e-01 7.71962806e-01 -1.53867902e-01 -3.31626701e+01] [ 2.33280185e-01 7.43478356e-03 9.72381139e-01 -2.72047917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.736875 meters 0.028033027109709976 Centerline is valid? [True, True] Translation: X:215.04, Y:-33.15, Z:-27.20 [[ 7.49969095e-01 -6.37680401e-01 -1.75812576e-01 2.15042953e+02] [ 6.18787867e-01 7.70270389e-01 -1.54224198e-01 -3.31466799e+01] [ 2.33768970e-01 6.87269349e-03 9.72267882e-01 -2.71992745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.766875 meters 0.027321728563731936 Centerline is valid? [True, True] Translation: X:215.07, Y:-33.13, Z:-27.20 [[ 7.47101043e-01 -6.40853530e-01 -1.76484517e-01 2.15065521e+02] [ 6.21883208e-01 7.67640011e-01 -1.54887340e-01 -3.31306921e+01] [ 2.34736676e-01 5.96373579e-03 9.72040702e-01 -2.71964361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.796875 meters 0.026960124718383847 Centerline is valid? [True, True] Translation: X:215.09, Y:-33.11, Z:-27.19 [[ 7.45523972e-01 -6.42538871e-01 -1.77024877e-01 2.15087273e+02] [ 6.23488173e-01 7.66233492e-01 -1.55398629e-01 -3.31144198e+01] [ 2.35492050e-01 5.48048606e-03 9.71860823e-01 -2.71909387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.82687500000003 meters 0.02643694124410742 Centerline is valid? [True, True] Translation: X:215.11, Y:-33.10, Z:-27.18 [[ 7.44113787e-01 -6.44207463e-01 -1.76893799e-01 2.15110206e+02] [ 6.25214148e-01 7.64834414e-01 -1.55356324e-01 -3.30979575e+01] [ 2.35376168e-01 5.00627662e-03 9.71891453e-01 -2.71844849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.856875 meters 0.025684612065763727 Centerline is valid? [True, True] Translation: X:215.13, Y:-33.08, Z:-27.18 [[ 7.42646777e-01 -6.45987478e-01 -1.76567107e-01 2.15132790e+02] [ 6.27097172e-01 7.63334794e-01 -1.55142284e-01 -3.30813898e+01] [ 2.34999788e-01 4.49118384e-03 9.71985045e-01 -2.71773907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.88687500000003 meters 0.024868000238851194 Centerline is valid? [True, True] Translation: X:215.16, Y:-33.07, Z:-27.17 [[ 7.40802595e-01 -6.48292976e-01 -1.75862823e-01 2.15155440e+02] [ 6.29601716e-01 7.61381485e-01 -1.54595970e-01 -3.30651138e+01] [ 2.34122179e-01 3.80156072e-03 9.72199750e-01 -2.71705382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.916875 meters 0.024517219975947267 Centerline is valid? [True, True] Translation: X:215.18, Y:-33.05, Z:-27.16 [[ 7.39966774e-01 -6.49205716e-01 -1.76014518e-01 2.15177468e+02] [ 6.30489415e-01 7.60604474e-01 -1.54802880e-01 -3.30488152e+01] [ 2.34376345e-01 3.57369757e-03 9.72139372e-01 -2.71635687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.94687500000003 meters 0.023965900589759698 Centerline is valid? [True, True] Translation: X:215.20, Y:-33.03, Z:-27.16 [[ 7.39159492e-01 -6.50164679e-01 -1.75866812e-01 2.15199176e+02] [ 6.31486437e-01 7.59786008e-01 -1.54758203e-01 -3.30326739e+01] [ 2.34239460e-01 3.33348868e-03 9.72173217e-01 -2.71560089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.976875 meters 0.023863055593285155 Centerline is valid? [True, True] Translation: X:215.22, Y:-33.02, Z:-27.15 [[ 7.38531257e-01 -6.51140334e-01 -1.74893820e-01 2.15220147e+02] [ 6.32678012e-01 7.58951137e-01 -1.53986054e-01 -3.30155251e+01] [ 2.33002394e-01 3.07203986e-03 9.72471309e-01 -2.71487558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.00687500000004 meters 0.023777506727130075 Centerline is valid? [True, True] Translation: X:215.24, Y:-33.00, Z:-27.14 [[ 7.38598716e-01 -6.51058549e-01 -1.74913414e-01 2.15240313e+02] [ 6.32571665e-01 7.59020947e-01 -1.54078847e-01 -3.29972478e+01] [ 2.33077295e-01 3.15716868e-03 9.72453087e-01 -2.71423765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.036875 meters 0.023954504152593096 Centerline is valid? [True, True] Translation: X:215.26, Y:-32.98, Z:-27.14 [[ 7.39081770e-01 -6.50654647e-01 -1.74375077e-01 2.15260117e+02] [ 6.32251590e-01 7.59366428e-01 -1.53689800e-01 -3.29785112e+01] [ 2.32413562e-01 3.34040979e-03 9.72611319e-01 -2.71360961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06687500000004 meters 0.02430222730863433 Centerline is valid? [True, True] Translation: X:215.28, Y:-32.96, Z:-27.13 [[ 7.40926891e-01 -6.48728120e-01 -1.73721523e-01 2.15279130e+02] [ 6.30392151e-01 7.61009760e-01 -1.53198831e-01 -3.29569500e+01] [ 2.31588164e-01 3.99644948e-03 9.72805711e-01 -2.71311308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.096875 meters 0.024552744393601382 Centerline is valid? [True, True] Translation: X:215.30, Y:-32.94, Z:-27.13 [[ 7.42096107e-01 -6.47411222e-01 -1.73643535e-01 2.15299480e+02] [ 6.29038424e-01 7.62127795e-01 -1.53205367e-01 -3.29367270e+01] [ 2.31525438e-01 4.46465092e-03 9.72818605e-01 -2.71254738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12687500000004 meters 0.024710069882959377 Centerline is valid? [True, True] Translation: X:215.32, Y:-32.92, Z:-27.12 [[ 7.43043866e-01 -6.46428784e-01 -1.73250226e-01 2.15318757e+02] [ 6.28096620e-01 7.62959124e-01 -1.52931392e-01 -3.29169154e+01] [ 2.31042095e-01 4.81685130e-03 9.72931831e-01 -2.71195479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.156875 meters 0.026501904513039343 Centerline is valid? [True, True] Translation: X:215.34, Y:-32.90, Z:-27.12 [[ 7.44263904e-01 -6.44826332e-01 -1.73983459e-01 2.15336876e+02] [ 6.26283229e-01 7.64310247e-01 -1.53620193e-01 -3.28959144e+01] [ 2.32035686e-01 5.37104246e-03 9.72692445e-01 -2.71156751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18687500000004 meters 0.0264756802529557 Centerline is valid? [True, True] Translation: X:215.36, Y:-32.88, Z:-27.11 [[ 7.45603260e-01 -6.43186889e-01 -1.74316963e-01 2.15357399e+02] [ 6.24511276e-01 7.65686140e-01 -1.53981822e-01 -3.28773408e+01] [ 2.32511171e-01 5.94643922e-03 9.72575547e-01 -2.71089953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.216875 meters 0.0296062709339499 Centerline is valid? [True, True] Translation: X:215.37, Y:-32.85, Z:-27.11 [[ 7.48675872e-01 -6.39279154e-01 -1.75518097e-01 2.15373112e+02] [ 6.20218726e-01 7.68940399e-01 -1.55110911e-01 -3.28528693e+01] [ 2.34122128e-01 7.26818638e-03 9.72180026e-01 -2.71056325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24687500000005 meters 0.028660751076546774 Centerline is valid? [True, True] Translation: X:215.39, Y:-32.84, Z:-27.10 [[ 7.50123424e-01 -6.37456019e-01 -1.75967820e-01 2.15394642e+02] [ 6.18228241e-01 7.70446040e-01 -1.55585157e-01 -3.28355985e+01] [ 2.34752405e-01 7.91979467e-03 9.72022934e-01 -2.70986957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.276875 meters 0.0327132860256978 Centerline is valid? [True, True] Translation: X:215.41, Y:-32.81, Z:-27.10 [[ 7.52603666e-01 -6.34461397e-01 -1.76200048e-01 2.15409369e+02] [ 6.15081540e-01 7.72902945e-01 -1.55870898e-01 -3.28107638e+01] [ 2.35079604e-01 8.93161253e-03 9.71935083e-01 -2.70954409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.306875 meters 0.03283580695076084 Centerline is valid? [True, True] Translation: X:215.43, Y:-32.79, Z:-27.09 [[ 7.53026013e-01 -6.33937631e-01 -1.76280753e-01 2.15430379e+02] [ 6.14505762e-01 7.73329869e-01 -1.56024303e-01 -3.27918540e+01] [ 2.35232849e-01 9.16482006e-03 9.71895834e-01 -2.70889752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.336875 meters 0.03344195074061187 Centerline is valid? [True, True] Translation: X:215.45, Y:-32.77, Z:-27.08 [[ 7.53585056e-01 -6.33339616e-01 -1.76041174e-01 2.15451144e+02] [ 6.13927368e-01 7.73816919e-01 -1.55886376e-01 -3.27724314e+01] [ 2.34952657e-01 9.39714911e-03 9.71961390e-01 -2.70827062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.366875 meters 0.03376108050874163 Centerline is valid? [True, True] Translation: X:215.47, Y:-32.75, Z:-27.08 [[ 7.53575117e-01 -6.33458164e-01 -1.75656763e-01 2.15469818e+02] [ 6.14117303e-01 7.73719876e-01 -1.55619705e-01 -3.27538280e+01] [ 2.34487701e-01 9.39727992e-03 9.72073665e-01 -2.70768163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.396875 meters 0.032240460857136666 Centerline is valid? [True, True] Translation: X:215.49, Y:-32.74, Z:-27.07 [[ 7.53753783e-01 -6.33411239e-01 -1.75058383e-01 2.15492110e+02] [ 6.14184550e-01 7.73757794e-01 -1.55165121e-01 -3.27377175e+01] [ 2.33736119e-01 9.43814273e-03 9.72254261e-01 -2.70686608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.426875 meters 0.03301576316404365 Centerline is valid? [True, True] Translation: X:215.51, Y:-32.72, Z:-27.06 [[ 7.53786940e-01 -6.33515299e-01 -1.74538292e-01 2.15511428e+02] [ 6.14387085e-01 7.73672537e-01 -1.54787971e-01 -3.27194104e+01] [ 2.33096031e-01 9.44307829e-03 9.72407872e-01 -2.70627610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.456875 meters 0.03102351023980463 Centerline is valid? [True, True] Translation: X:215.53, Y:-32.70, Z:-27.05 [[ 7.53448408e-01 -6.34046892e-01 -1.74069052e-01 2.15534088e+02] [ 6.15022786e-01 7.73238684e-01 -1.54430925e-01 -3.27035028e+01] [ 2.32513373e-01 9.29930171e-03 9.72548741e-01 -2.70546995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.486875 meters 0.03140840268821838 Centerline is valid? [True, True] Translation: X:215.55, Y:-32.69, Z:-27.05 [[ 7.53168730e-01 -6.34439751e-01 -1.73847825e-01 2.15553669e+02] [ 6.15455002e-01 7.72917180e-01 -1.54318415e-01 -3.26856175e+01] [ 2.32275707e-01 9.23229144e-03 9.72606169e-01 -2.70482696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.516875 meters 0.03096116201621165 Centerline is valid? [True, True] Translation: X:215.57, Y:-32.67, Z:-27.04 [[ 7.51878768e-01 -6.36028833e-01 -1.73625003e-01 2.15574970e+02] [ 6.17117934e-01 7.71615261e-01 -1.54192553e-01 -3.26679409e+01] [ 2.32042611e-01 8.78700336e-03 9.72665932e-01 -2.70421265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.546875 meters 0.030674740308236158 Centerline is valid? [True, True] Translation: X:215.60, Y:-32.65, Z:-27.04 [[ 7.50345673e-01 -6.37882896e-01 -1.73455420e-01 2.15595672e+02] [ 6.19039506e-01 7.70088993e-01 -1.54120191e-01 -3.26501597e+01] [ 2.31886743e-01 8.26766117e-03 9.72707656e-01 -2.70358653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57687500000003 meters 0.030244510234127414 Centerline is valid? [True, True] Translation: X:215.62, Y:-32.63, Z:-27.03 [[ 7.49509327e-01 -6.38809760e-01 -1.73660184e-01 2.15617655e+02] [ 6.19926565e-01 7.69322572e-01 -1.54382107e-01 -3.26327129e+01] [ 2.32221496e-01 8.05426836e-03 9.72629583e-01 -2.70300987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.606875 meters 0.02832956646751113 Centerline is valid? [True, True] Translation: X:215.64, Y:-32.62, Z:-27.02 [[ 7.48369559e-01 -6.40092152e-01 -1.73853504e-01 2.15640544e+02] [ 6.21182524e-01 7.68259313e-01 -1.54628263e-01 -3.26164112e+01] [ 2.32540911e-01 7.72432600e-03 9.72555942e-01 -2.70232445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63687500000003 meters 0.02812751630133246 Centerline is valid? [True, True] Translation: X:215.66, Y:-32.60, Z:-27.02 [[ 7.47202206e-01 -6.41474143e-01 -1.73780861e-01 2.15660889e+02] [ 6.22599830e-01 7.67109455e-01 -1.54636786e-01 -3.25988076e+01] [ 2.32504442e-01 7.34901316e-03 9.72567569e-01 -2.70173445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.666875 meters 0.027599799072625948 Centerline is valid? [True, True] Translation: X:215.68, Y:-32.58, Z:-27.01 [[ 7.47058256e-01 -6.41710503e-01 -1.73526923e-01 2.15682399e+02] [ 6.22890993e-01 7.66912319e-01 -1.54441919e-01 -3.25814853e+01] [ 2.32186936e-01 7.28875298e-03 9.72643871e-01 -2.70108930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69687500000003 meters 0.027702322952322708 Centerline is valid? [True, True] Translation: X:215.70, Y:-32.56, Z:-27.01 [[ 7.46528920e-01 -6.42290887e-01 -1.73657673e-01 2.15702144e+02] [ 6.23437257e-01 7.66427314e-01 -1.54645269e-01 -3.25635647e+01] [ 2.32423231e-01 7.18250186e-03 9.72588224e-01 -2.70051348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.726875 meters 0.028187126983177824 Centerline is valid? [True, True] Translation: X:215.72, Y:-32.54, Z:-27.00 [[ 7.45547857e-01 -6.43406753e-01 -1.73741599e-01 2.15721942e+02] [ 6.24546937e-01 7.65493433e-01 -1.54793176e-01 -3.25449549e+01] [ 2.32593028e-01 6.89593682e-03 9.72549705e-01 -2.69993857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75687500000004 meters 0.027367395127223967 Centerline is valid? [True, True] Translation: X:215.74, Y:-32.53, Z:-26.99 [[ 7.45475861e-01 -6.43463844e-01 -1.73839069e-01 2.15742816e+02] [ 6.24570111e-01 7.65445153e-01 -1.54938356e-01 -3.25277541e+01] [ 2.32761503e-01 6.92811760e-03 9.72509169e-01 -2.69921543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.786875 meters 0.027513439656803928 Centerline is valid? [True, True] Translation: X:215.76, Y:-32.51, Z:-26.99 [[ 7.45417470e-01 -6.43603040e-01 -1.73573967e-01 2.15763379e+02] [ 6.24751108e-01 7.65328005e-01 -1.54787266e-01 -3.25090348e+01] [ 2.32462573e-01 6.94060406e-03 9.72580578e-01 -2.69858927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81687500000004 meters 0.02796018811263163 Centerline is valid? [True, True] Translation: X:215.78, Y:-32.49, Z:-26.98 [[ 7.45214568e-01 -6.43901799e-01 -1.73337014e-01 2.15781915e+02] [ 6.25090058e-01 7.65077001e-01 -1.54659633e-01 -3.24897980e+01] [ 2.32201779e-01 6.90336722e-03 9.72643140e-01 -2.69800158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.846875 meters 0.027001027026558978 Centerline is valid? [True, True] Translation: X:215.80, Y:-32.47, Z:-26.97 [[ 7.45293682e-01 -6.43842398e-01 -1.73217477e-01 2.15804138e+02] [ 6.25041395e-01 7.65126449e-01 -1.54611679e-01 -3.24730843e+01] [ 2.32078827e-01 6.96301449e-03 9.72672059e-01 -2.69725809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87687500000004 meters 0.027625960595626654 Centerline is valid? [True, True] Translation: X:215.82, Y:-32.45, Z:-26.97 [[ 7.45604295e-01 -6.43927388e-01 -1.71556856e-01 2.15822539e+02] [ 6.25473257e-01 7.65055215e-01 -1.53211365e-01 -3.24534868e+01] [ 2.29907461e-01 6.93082686e-03 9.73187815e-01 -2.69658666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.906875 meters 0.02781465884755149 Centerline is valid? [True, True] Translation: X:215.84, Y:-32.44, Z:-26.96 [[ 7.45783131e-01 -6.43967086e-01 -1.70628000e-01 2.15842513e+02] [ 6.25709189e-01 7.65022058e-01 -1.52411487e-01 -3.24353038e+01] [ 2.28682165e-01 6.90240821e-03 9.73476668e-01 -2.69580866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93687500000004 meters 0.02781465884755149 Centerline is valid? [True, True] Translation: X:215.86, Y:-32.42, Z:-26.95 [[ 7.45611488e-01 -6.44176864e-01 -1.70586273e-01 2.15862548e+02] [ 6.25913715e-01 7.64845426e-01 -1.52458178e-01 -3.24172191e+01] [ 2.28682161e-01 6.90228134e-03 9.73476670e-01 -2.69521322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.966875 meters 0.027411053263055055 Centerline is valid? [True, True] Translation: X:215.88, Y:-32.40, Z:-26.94 [[ 7.45482664e-01 -6.44465761e-01 -1.70057285e-01 2.15883133e+02] [ 6.26305142e-01 7.64602421e-01 -1.52069083e-01 -3.23989236e+01] [ 2.28029529e-01 6.85711294e-03 9.73630070e-01 -2.69448346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99687500000005 meters 0.026959552609721445 Centerline is valid? [True, True] Translation: X:215.90, Y:-32.38, Z:-26.94 [[ 7.45171417e-01 -6.44862746e-01 -1.69916446e-01 2.15903834e+02] [ 6.26723213e-01 7.64268186e-01 -1.52026818e-01 -3.23805726e+01] [ 2.27898165e-01 6.79545791e-03 9.73661259e-01 -2.69387014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.026875 meters 0.028214508548291554 Centerline is valid? [True, True] Translation: X:215.92, Y:-32.36, Z:-26.93 [[ 7.45459116e-01 -6.44460909e-01 -1.70178857e-01 2.15922778e+02] [ 6.26234700e-01 7.64605264e-01 -1.52344645e-01 -3.23599799e+01] [ 2.28299818e-01 6.99479862e-03 9.73565748e-01 -2.69339177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.056875 meters 0.028383016235422054 Centerline is valid? [True, True] Translation: X:215.94, Y:-32.34, Z:-26.93 [[ 7.45465461e-01 -6.44316055e-01 -1.70698762e-01 2.15943708e+02] [ 6.25963063e-01 7.64726411e-01 -1.52852083e-01 -3.23403488e+01] [ 2.29022903e-01 7.09482893e-03 9.73395178e-01 -2.69288733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.086875 meters 0.028281824925087146 Centerline is valid? [True, True] Translation: X:215.96, Y:-32.32, Z:-26.92 [[ 7.44906855e-01 -6.44801102e-01 -1.71304748e-01 2.15964450e+02] [ 6.26310680e-01 7.64318071e-01 -1.53469274e-01 -3.23222693e+01] [ 2.29888471e-01 7.03032099e-03 9.73191587e-01 -2.69227121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.116875 meters 0.028113596810183675 Centerline is valid? [True, True] Translation: X:215.98, Y:-32.30, Z:-26.92 [[ 7.44207447e-01 -6.45584745e-01 -1.71393154e-01 2.15984785e+02] [ 6.27075490e-01 7.63657843e-01 -1.53632771e-01 -3.23036623e+01] [ 2.30068699e-01 6.85820646e-03 9.73150224e-01 -2.69173352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.146875 meters 0.0276963501500333 Centerline is valid? [True, True] Translation: X:216.01, Y:-32.29, Z:-26.91 [[ 7.42292862e-01 -6.47480160e-01 -1.72542020e-01 2.16006299e+02] [ 6.28749739e-01 7.62055617e-01 -1.54741726e-01 -3.22857398e+01] [ 2.31678813e-01 6.37792876e-03 9.72771427e-01 -2.69136850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.176875 meters 0.02703342700864097 Centerline is valid? [True, True] Translation: X:216.03, Y:-32.27, Z:-26.91 [[ 7.40957788e-01 -6.48954459e-01 -1.72741618e-01 2.16028748e+02] [ 6.30212407e-01 7.60804006e-01 -1.54950270e-01 -3.22679970e+01] [ 2.31978184e-01 5.94769874e-03 9.72702805e-01 -2.69076989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.206875 meters 0.025859691487270117 Centerline is valid? [True, True] Translation: X:216.05, Y:-32.25, Z:-26.90 [[ 7.38948345e-01 -6.51183306e-01 -1.72961398e-01 2.16051774e+02] [ 6.32435270e-01 7.58901884e-01 -1.55221004e-01 -3.22512263e+01] [ 2.32338057e-01 5.31341559e-03 9.72620581e-01 -2.69010226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.236875 meters 0.023964099992810486 Centerline is valid? [True, True] Translation: X:216.08, Y:-32.24, Z:-26.89 [[ 7.34146921e-01 -6.56532786e-01 -1.73184872e-01 2.16077156e+02] [ 6.37863515e-01 7.54288469e-01 -1.55496113e-01 -3.22375607e+01] [ 2.32719648e-01 3.68868158e-03 9.72536868e-01 -2.68935271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.266875 meters 0.023159174110250383 Centerline is valid? [True, True] Translation: X:216.10, Y:-32.22, Z:-26.89 [[ 7.31380383e-01 -6.59639794e-01 -1.73084020e-01 2.16100380e+02] [ 6.41059498e-01 7.51576825e-01 -1.55483102e-01 -3.22215497e+01] [ 2.32648779e-01 2.76013604e-03 9.72556902e-01 -2.68864272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.296875 meters 0.022956290902366176 Centerline is valid? [True, True] Translation: X:216.12, Y:-32.21, Z:-26.88 [[ 7.28814066e-01 -6.62640105e-01 -1.72447523e-01 2.16122235e+02] [ 6.44263598e-01 7.48935685e-01 -1.54983083e-01 -3.22051289e+01] [ 2.31850111e-01 1.85218953e-03 9.72749760e-01 -2.68800131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.32687500000003 meters 0.022247801572132863 Centerline is valid? [True, True] Translation: X:216.14, Y:-32.19, Z:-26.87 [[ 7.26056000e-01 -6.65826581e-01 -1.71807014e-01 2.16144981e+02] [ 6.47668958e-01 7.46106046e-01 -1.54436683e-01 -3.21890552e+01] [ 2.31014300e-01 8.55610732e-04 9.72949979e-01 -2.68722322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.356875 meters 0.02245231743053419 Centerline is valid? [True, True] Translation: X:216.17, Y:-32.17, Z:-26.86 [[ 7.21469038e-01 -6.71191034e-01 -1.70249888e-01 2.16169177e+02] [ 6.53495084e-01 7.41283998e-01 -1.53108489e-01 -3.21747099e+01] [ 2.28968563e-01 -7.94430077e-04 9.73433493e-01 -2.68627751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.38687500000003 meters 0.02240688683301193 Centerline is valid? [True, True] Translation: X:216.19, Y:-32.16, Z:-26.86 [[ 7.19627480e-01 -6.73353770e-01 -1.69502182e-01 2.16190073e+02] [ 6.55857161e-01 7.39319067e-01 -1.52508035e-01 -3.21578960e+01] [ 2.28008056e-01 -1.42024703e-03 9.73658210e-01 -2.68556812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.416875 meters 0.022803021486374135 Centerline is valid? [True, True] Translation: X:216.21, Y:-32.14, Z:-26.85 [[ 7.18158100e-01 -6.75070776e-01 -1.68903495e-01 2.16210981e+02] [ 6.57726895e-01 7.37750536e-01 -1.52050904e-01 -3.21395632e+01] [ 2.27253766e-01 -1.89578320e-03 9.73833729e-01 -2.68495188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.44687500000003 meters 0.02308801734944878 Centerline is valid? [True, True] Translation: X:216.23, Y:-32.12, Z:-26.84 [[ 7.17082854e-01 -6.76189229e-01 -1.68997950e-01 2.16230540e+02] [ 6.58837078e-01 7.36724734e-01 -1.52218168e-01 -3.21204887e+01] [ 2.27433255e-01 -2.18907718e-03 9.73791211e-01 -2.68432333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.476875 meters 0.023472879350248905 Centerline is valid? [True, True] Translation: X:216.25, Y:-32.10, Z:-26.84 [[ 7.15976437e-01 -6.77210609e-01 -1.69598152e-01 2.16250057e+02] [ 6.59742584e-01 7.35785113e-01 -1.52839755e-01 -3.21009192e+01] [ 2.28292499e-01 -2.46145942e-03 9.73589480e-01 -2.68400445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.50687500000004 meters 0.025299481359476905 Centerline is valid? [True, True] Translation: X:216.27, Y:-32.09, Z:-26.84 [[ 7.14402309e-01 -6.79088213e-01 -1.68726230e-01 2.16273223e+02] [ 6.61843764e-01 7.34050486e-01 -1.52094428e-01 -3.20858380e+01] [ 2.27139105e-01 -3.01379302e-03 9.73857661e-01 -2.68382884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.536875 meters 0.023292673415171227 Centerline is valid? [True, True] Translation: X:216.29, Y:-32.06, Z:-26.83 [[ 7.15528510e-01 -6.77237869e-01 -1.71370420e-01 2.16287276e+02] [ 6.59371283e-01 7.35760193e-01 -1.54552418e-01 -3.20606771e+01] [ 2.30756283e-01 -2.41007252e-03 9.73008597e-01 -2.68282026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56687500000004 meters 0.023452049639651952 Centerline is valid? [True, True] Translation: X:216.30, Y:-32.04, Z:-26.82 [[ 7.16298002e-01 -6.76137207e-01 -1.72498258e-01 2.16304216e+02] [ 6.57979957e-01 7.36772999e-01 -1.55653218e-01 -3.20391195e+01] [ 2.32334991e-01 -2.00630718e-03 9.72633758e-01 -2.68240123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.596875 meters 0.0234009346110173 Centerline is valid? [True, True] Translation: X:216.32, Y:-32.02, Z:-26.82 [[ 7.16864640e-01 -6.75362302e-01 -1.73178661e-01 2.16322229e+02] [ 6.57018060e-01 7.37484146e-01 -1.56347063e-01 -3.20186043e+01] [ 2.33307429e-01 -1.70182730e-03 9.72401536e-01 -2.68177188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62687500000004 meters 0.02365658174785244 Centerline is valid? [True, True] Translation: X:216.34, Y:-32.00, Z:-26.81 [[ 7.17474319e-01 -6.74616739e-01 -1.73559374e-01 2.16340193e+02] [ 6.56148376e-01 7.38166853e-01 -1.56776931e-01 -3.19987567e+01] [ 2.33880118e-01 -1.39727934e-03 9.72264438e-01 -2.68141611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.656875 meters 0.02376488722852375 Centerline is valid? [True, True] Translation: X:216.36, Y:-31.98, Z:-26.81 [[ 7.19285792e-01 -6.72655398e-01 -1.73674021e-01 2.16355453e+02] [ 6.54086824e-01 7.39955557e-01 -1.56959230e-01 -3.19756111e+01] [ 2.34090530e-01 -6.99344782e-04 9.72214552e-01 -2.68070132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68687500000004 meters 0.023680700729221016 Centerline is valid? [True, True] Translation: X:216.37, Y:-31.95, Z:-26.80 [[ 7.20280678e-01 -6.71677728e-01 -1.73334289e-01 2.16373807e+02] [ 6.53134122e-01 7.40843392e-01 -1.56738275e-01 -3.19547207e+01] [ 2.33691171e-01 -3.14987350e-04 9.72310823e-01 -2.68005528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.716875 meters 0.023847403946335707 Centerline is valid? [True, True] Translation: X:216.39, Y:-31.93, Z:-26.79 [[ 7.21147337e-01 -6.70793764e-01 -1.73153817e-01 2.16391581e+02] [ 6.52243325e-01 7.41643934e-01 -1.56661803e-01 -3.19340913e+01] [ 2.33506238e-01 3.78211661e-05 9.72355303e-01 -2.67946820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74687500000005 meters 0.02414070182466691 Centerline is valid? [True, True] Translation: X:216.41, Y:-31.91, Z:-26.79 [[ 7.24128151e-01 -6.67602719e-01 -1.73046323e-01 2.16406936e+02] [ 6.48964556e-01 7.44516837e-01 -1.56651473e-01 -3.19103578e+01] [ 2.33416850e-01 1.13481149e-03 9.72376103e-01 -2.67892039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.776875 meters 0.024313284191929678 Centerline is valid? [True, True] Translation: X:216.43, Y:-31.89, Z:-26.78 [[ 7.25801718e-01 -6.65769617e-01 -1.73097325e-01 2.16425007e+02] [ 6.47048630e-01 7.46155221e-01 -1.56781559e-01 -3.18889201e+01] [ 2.33537871e-01 1.78993804e-03 9.72346059e-01 -2.67824831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.806875 meters 0.025182509252849913 Centerline is valid? [True, True] Translation: X:216.44, Y:-31.86, Z:-26.78 [[ 7.29276349e-01 -6.62237286e-01 -1.72040065e-01 2.16439910e+02] [ 6.43632705e-01 7.49288333e-01 -1.55897194e-01 -3.18647512e+01] [ 2.32148548e-01 2.96152433e-03 9.72675835e-01 -2.67767263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.836875 meters 0.02558469658842199 Centerline is valid? [True, True] Translation: X:216.46, Y:-31.84, Z:-26.77 [[ 7.30627790e-01 -6.60815632e-01 -1.71772327e-01 2.16458161e+02] [ 6.42220510e-01 7.50540375e-01 -1.55698308e-01 -3.18432583e+01] [ 2.31809942e-01 3.44179940e-03 9.72755008e-01 -2.67700682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.866875 meters 0.02604154356356744 Centerline is valid? [True, True] Translation: X:216.48, Y:-31.82, Z:-26.76 [[ 7.31870494e-01 -6.59524214e-01 -1.71445008e-01 2.16475542e+02] [ 6.40948654e-01 7.51673203e-01 -1.55474173e-01 -3.18218397e+01] [ 2.31409601e-01 3.89951302e-03 9.72848596e-01 -2.67644188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.896875 meters 0.026464513996961297 Centerline is valid? [True, True] Translation: X:216.49, Y:-31.80, Z:-26.76 [[ 7.33043364e-01 -6.58195113e-01 -1.71541887e-01 2.16494185e+02] [ 6.39551470e-01 7.52834781e-01 -1.55607548e-01 -3.18006992e+01] [ 2.31562827e-01 4.35721481e-03 9.72810193e-01 -2.67581248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.926875 meters 0.027956820671750215 Centerline is valid? [True, True] Translation: X:216.51, Y:-31.78, Z:-26.75 [[ 7.35039733e-01 -6.55981744e-01 -1.71477529e-01 2.16509813e+02] [ 6.37275858e-01 7.54759468e-01 -1.55620133e-01 -3.17780172e+01] [ 2.31508255e-01 5.10849176e-03 9.72819526e-01 -2.67524397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.956875 meters 0.027463628780139027 Centerline is valid? [True, True] Translation: X:216.53, Y:-31.76, Z:-26.75 [[ 7.35695001e-01 -6.55228850e-01 -1.71545969e-01 2.16529673e+02] [ 6.36479460e-01 7.55411326e-01 -1.55716494e-01 -3.17585951e+01] [ 2.31617707e-01 5.37436063e-03 9.72792041e-01 -2.67456018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.986875 meters 0.028299342954963953 Centerline is valid? [True, True] Translation: X:216.55, Y:-31.74, Z:-26.74 [[ 7.35922036e-01 -6.55077394e-01 -1.71150122e-01 2.16547121e+02] [ 6.36393744e-01 7.55542001e-01 -1.55432584e-01 -3.17388119e+01] [ 2.31131478e-01 5.46739643e-03 9.72907163e-01 -2.67408183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.016875 meters 0.027985943946988643 Centerline is valid? [True, True] Translation: X:216.57, Y:-31.72, Z:-26.73 [[ 7.35361343e-01 -6.55816909e-01 -1.70727490e-01 2.16565574e+02] [ 6.37227898e-01 7.54901505e-01 -1.55126797e-01 -3.17188330e+01] [ 2.30617216e-01 5.28193004e-03 9.73030216e-01 -2.67340232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.046875 meters 0.027896496151249162 Centerline is valid? [True, True] Translation: X:216.59, Y:-31.70, Z:-26.73 [[ 7.34795400e-01 -6.56441516e-01 -1.70763746e-01 2.16585782e+02] [ 6.37841229e-01 7.54359325e-01 -1.55243596e-01 -3.16993191e+01] [ 2.30725566e-01 5.15212275e-03 9.73005226e-01 -2.67288990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07687500000003 meters 0.027822469826182014 Centerline is valid? [True, True] Translation: X:216.61, Y:-31.68, Z:-26.72 [[ 7.34232573e-01 -6.57112598e-01 -1.70603527e-01 2.16605353e+02] [ 6.38545175e-01 7.53775831e-01 -1.55183944e-01 -3.16791919e+01] [ 2.30570140e-01 5.00304814e-03 9.73042846e-01 -2.67237283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.106875 meters 0.027959588598432124 Centerline is valid? [True, True] Translation: X:216.63, Y:-31.66, Z:-26.72 [[ 7.33748883e-01 -6.57516786e-01 -1.71126423e-01 2.16625210e+02] [ 6.38825354e-01 7.53423606e-01 -1.55740289e-01 -3.16606769e+01] [ 2.31332541e-01 4.95436505e-03 9.72862123e-01 -2.67175118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13687500000003 meters 0.02911743105924969 Centerline is valid? [True, True] Translation: X:216.64, Y:-31.64, Z:-26.71 [[ 7.33097623e-01 -6.58077109e-01 -1.71762611e-01 2.16641924e+02] [ 6.39238486e-01 7.52934827e-01 -1.56407496e-01 -3.16394597e+01] [ 2.32254245e-01 4.86469203e-03 9.72642946e-01 -2.67140569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.166875 meters 0.028615540055378363 Centerline is valid? [True, True] Translation: X:216.66, Y:-31.62, Z:-26.71 [[ 7.32827943e-01 -6.58176504e-01 -1.72530852e-01 2.16663333e+02] [ 6.39150014e-01 7.52847596e-01 -1.57187014e-01 -3.16210122e+01] [ 2.33346236e-01 4.91793983e-03 9.72381277e-01 -2.67072691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19687500000003 meters 0.028604923906301562 Centerline is valid? [True, True] Translation: X:216.68, Y:-31.60, Z:-26.70 [[ 7.32147490e-01 -6.58911640e-01 -1.72613741e-01 2.16682431e+02] [ 6.39868132e-01 7.52205375e-01 -1.57339910e-01 -3.16012981e+01] [ 2.33514082e-01 4.74598816e-03 9.72341838e-01 -2.67021105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.226875 meters 0.02869079864797513 Centerline is valid? [True, True] Translation: X:216.70, Y:-31.58, Z:-26.70 [[ 7.31881793e-01 -6.59288939e-01 -1.72299556e-01 2.16702389e+02] [ 6.40305382e-01 7.51875097e-01 -1.57139607e-01 -3.15817812e+01] [ 2.33148150e-01 4.68328450e-03 9.72429950e-01 -2.66963411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25687500000004 meters 0.028407547207594894 Centerline is valid? [True, True] Translation: X:216.72, Y:-31.56, Z:-26.69 [[ 7.31144491e-01 -6.60304089e-01 -1.71540791e-01 2.16722294e+02] [ 6.41497025e-01 7.50985423e-01 -1.56532620e-01 -3.15624333e+01] [ 2.32183763e-01 4.40505587e-03 9.72661964e-01 -2.66883925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.286875 meters 0.02853791219232983 Centerline is valid? [True, True] Translation: X:216.74, Y:-31.54, Z:-26.68 [[ 7.30605390e-01 -6.60937727e-01 -1.71397447e-01 2.16741070e+02] [ 6.42160960e-01 7.50428655e-01 -1.56480462e-01 -3.15436396e+01] [ 2.32045397e-01 4.26072017e-03 9.72695626e-01 -2.66825599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31687500000004 meters 0.028659413196345872 Centerline is valid? [True, True] Translation: X:216.76, Y:-31.53, Z:-26.68 [[ 7.30455549e-01 -6.61041738e-01 -1.71634821e-01 2.16760977e+02] [ 6.42197359e-01 7.50336864e-01 -1.56770988e-01 -3.15251672e+01] [ 2.32416100e-01 4.29080903e-03 9.72606984e-01 -2.66762241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.346875 meters 0.02883114742267277 Centerline is valid? [True, True] Translation: X:216.78, Y:-31.50, Z:-26.67 [[ 7.30414284e-01 -6.60782320e-01 -1.72805380e-01 2.16780983e+02] [ 6.41648068e-01 7.50564271e-01 -1.57927299e-01 -3.15043061e+01] [ 2.34057111e-01 4.47211715e-03 9.72212564e-01 -2.66715604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37687500000004 meters 0.02883114742267277 Centerline is valid? [True, True] Translation: X:216.80, Y:-31.49, Z:-26.67 [[ 7.30234904e-01 -6.60990739e-01 -1.72766398e-01 2.16800817e+02] [ 6.41852156e-01 7.50380777e-01 -1.57969934e-01 -3.14860302e+01] [ 2.34057247e-01 4.46467449e-03 9.72212565e-01 -2.66656037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.406875 meters 0.029270656407469273 Centerline is valid? [True, True] Translation: X:216.82, Y:-31.47, Z:-26.66 [[ 7.31342940e-01 -6.59538051e-01 -1.73629095e-01 2.16819894e+02] [ 6.40143266e-01 7.51654388e-01 -1.58846721e-01 -3.14654412e+01] [ 2.35274528e-01 5.02393176e-03 9.71915972e-01 -2.66603175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43687500000004 meters 0.029950304154594858 Centerline is valid? [True, True] Translation: X:216.84, Y:-31.44, Z:-26.66 [[ 7.31781052e-01 -6.59159374e-01 -1.73220701e-01 2.16836944e+02] [ 6.39830138e-01 7.51985391e-01 -1.58541371e-01 -3.14446797e+01] [ 2.34763468e-01 5.18574596e-03 9.72038694e-01 -2.66559932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.466875 meters 0.03049418508913037 Centerline is valid? [True, True] Translation: X:216.86, Y:-31.42, Z:-26.65 [[ 7.32684357e-01 -6.58137113e-01 -1.73289277e-01 2.16857119e+02] [ 6.38751152e-01 7.52877584e-01 -1.58657836e-01 -3.14246308e+01] [ 2.34884222e-01 5.55738908e-03 9.72007468e-01 -2.66501698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49687500000005 meters 0.03041711592603453 Centerline is valid? [True, True] Translation: X:216.88, Y:-31.41, Z:-26.64 [[ 7.33120471e-01 -6.57773175e-01 -1.72825994e-01 2.16876620e+02] [ 6.38463859e-01 7.53194372e-01 -1.58310261e-01 -3.14055715e+01] [ 2.34303809e-01 5.71734159e-03 9.72146613e-01 -2.66423643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.526875 meters 0.030812882934173856 Centerline is valid? [True, True] Translation: X:216.90, Y:-31.39, Z:-26.64 [[ 7.33382265e-01 -6.57461624e-01 -1.72900741e-01 2.16897881e+02] [ 6.38106017e-01 7.53465038e-01 -1.58464972e-01 -3.13870425e+01] [ 2.34459301e-01 5.88639676e-03 9.72108115e-01 -2.66350981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.556875 meters 0.030529933802163657 Centerline is valid? [True, True] Translation: X:216.92, Y:-31.37, Z:-26.63 [[ 7.32996138e-01 -6.58008684e-01 -1.72456467e-01 2.16918924e+02] [ 6.38750348e-01 7.52988345e-01 -1.58134582e-01 -3.13685355e+01] [ 2.33911638e-01 5.75540946e-03 9.72240824e-01 -2.66281299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.586875 meters 0.030278392951483428 Centerline is valid? [True, True] Translation: X:216.94, Y:-31.35, Z:-26.62 [[ 7.32523356e-01 -6.58641863e-01 -1.72047754e-01 2.16938239e+02] [ 6.39474827e-01 7.52435745e-01 -1.57836608e-01 -3.13502180e+01] [ 2.33412677e-01 5.59879415e-03 9.72361649e-01 -2.66223736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.616875 meters 0.029646811816292543 Centerline is valid? [True, True] Translation: X:216.96, Y:-31.33, Z:-26.62 [[ 7.31405314e-01 -6.59959339e-01 -1.71755459e-01 2.16960899e+02] [ 6.40877915e-01 7.51283173e-01 -1.57635945e-01 -3.13330144e+01] [ 2.33070300e-01 5.22148702e-03 9.72445871e-01 -2.66153644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.646875 meters 0.029903631430373064 Centerline is valid? [True, True] Translation: X:216.98, Y:-31.31, Z:-26.61 [[ 7.31029788e-01 -6.60421032e-01 -1.71579457e-01 2.16981283e+02] [ 6.41373611e-01 7.50877999e-01 -1.57550379e-01 -3.13143296e+01] [ 2.32884823e-01 5.12748467e-03 9.72490806e-01 -2.66095098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.676875 meters 0.029881011205864765 Centerline is valid? [True, True] Translation: X:217.00, Y:-31.30, Z:-26.60 [[ 7.30090317e-01 -6.61656825e-01 -1.70816790e-01 2.17002322e+02] [ 6.42807467e-01 7.49791869e-01 -1.56878020e-01 -3.12969247e+01] [ 2.31876453e-01 4.73281549e-03 9.72733731e-01 -2.66026243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.706875 meters 0.02928434242205898 Centerline is valid? [True, True] Translation: X:217.02, Y:-31.28, Z:-26.60 [[ 7.29888237e-01 -6.61991839e-01 -1.70381826e-01 2.17024475e+02] [ 6.43241548e-01 7.49496699e-01 -1.56508817e-01 -3.12790223e+01] [ 2.31308175e-01 4.63727505e-03 9.72869479e-01 -2.65952586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.736875 meters 0.029782155538770425 Centerline is valid? [True, True] Translation: X:217.04, Y:-31.26, Z:-26.59 [[ 7.29725579e-01 -6.62205440e-01 -1.70248446e-01 2.17043546e+02] [ 6.43472687e-01 7.49308063e-01 -1.56461908e-01 -3.12598813e+01] [ 2.31178460e-01 4.62403159e-03 9.72900374e-01 -2.65904346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.766875 meters 0.029295825427370994 Centerline is valid? [True, True] Translation: X:217.06, Y:-31.24, Z:-26.58 [[ 7.29630993e-01 -6.62322183e-01 -1.70199706e-01 2.17064131e+02] [ 6.43591593e-01 7.49204874e-01 -1.56466987e-01 -3.12425682e+01] [ 2.31146006e-01 4.62406287e-03 9.72908085e-01 -2.65839121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.796875 meters 0.029295825427370994 Centerline is valid? [True, True] Translation: X:217.08, Y:-31.22, Z:-26.58 [[ 7.29450331e-01 -6.62532418e-01 -1.70155843e-01 2.17083910e+02] [ 6.43796351e-01 7.49018968e-01 -1.56514675e-01 -3.12242319e+01] [ 2.31146000e-01 4.62397101e-03 9.72908087e-01 -2.65779591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.82687500000003 meters 0.029100431978413825 Centerline is valid? [True, True] Translation: X:217.10, Y:-31.21, Z:-26.57 [[ 7.29149641e-01 -6.62885972e-01 -1.70067605e-01 2.17104172e+02] [ 6.44158159e-01 7.48706376e-01 -1.56521658e-01 -3.12060538e+01] [ 2.31086711e-01 4.57727565e-03 9.72922392e-01 -2.65720690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.856875 meters 0.02987017755284012 Centerline is valid? [True, True] Translation: X:217.12, Y:-31.19, Z:-26.57 [[ 7.28920946e-01 -6.62996194e-01 -1.70617412e-01 2.17123303e+02] [ 6.44127194e-01 7.48608474e-01 -1.57116234e-01 -3.11868386e+01] [ 2.31893106e-01 4.62599908e-03 9.72730275e-01 -2.65683980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.88687500000003 meters 0.02904535743125123 Centerline is valid? [True, True] Translation: X:217.15, Y:-31.17, Z:-26.56 [[ 7.27487603e-01 -6.64342460e-01 -1.71496016e-01 2.17145578e+02] [ 6.45293234e-01 7.47416055e-01 -1.58005961e-01 -3.11708204e+01] [ 2.33148944e-01 4.28215921e-03 9.72431608e-01 -2.65621049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.916875 meters 0.028525954914425618 Centerline is valid? [True, True] Translation: X:217.17, Y:-31.15, Z:-26.56 [[ 7.26489436e-01 -6.65354248e-01 -1.71804610e-01 2.17167279e+02] [ 6.46242060e-01 7.46516886e-01 -1.58378468e-01 -3.11532932e+01] [ 2.33632829e-01 4.03291858e-03 9.72316531e-01 -2.65554606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.94687500000003 meters 0.02890462254835933 Centerline is valid? [True, True] Translation: X:217.19, Y:-31.14, Z:-26.55 [[ 7.25145872e-01 -6.66780682e-01 -1.71950534e-01 2.17188230e+02] [ 6.47653957e-01 7.45245089e-01 -1.58600469e-01 -3.11359435e+01] [ 2.33897020e-01 3.64403188e-03 9.72254547e-01 -2.65513691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.976875 meters 0.028302543079350564 Centerline is valid? [True, True] Translation: X:217.21, Y:-31.12, Z:-26.54 [[ 7.24086363e-01 -6.67987651e-01 -1.71730710e-01 2.17209800e+02] [ 6.48927477e-01 7.44165030e-01 -1.58466206e-01 -3.11184371e+01] [ 2.33649457e-01 3.30244269e-03 9.72315291e-01 -2.65441693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.00687500000004 meters 0.028044178794262367 Centerline is valid? [True, True] Translation: X:217.23, Y:-31.10, Z:-26.54 [[ 7.23456048e-01 -6.68752852e-01 -1.71408780e-01 2.17231099e+02] [ 6.49766256e-01 7.43478266e-01 -1.58252585e-01 -3.11009856e+01] [ 2.33270570e-01 3.11314888e-03 9.72406885e-01 -2.65364320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.036875 meters 0.02813723828439813 Centerline is valid? [True, True] Translation: X:217.25, Y:-31.08, Z:-26.53 [[ 7.22423385e-01 -6.69960699e-01 -1.71047110e-01 2.17251489e+02] [ 6.51068062e-01 7.42391350e-01 -1.58004624e-01 -3.10828207e+01] [ 2.32840784e-01 2.78292484e-03 9.72510887e-01 -2.65310923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06687500000004 meters 0.027928504532603777 Centerline is valid? [True, True] Translation: X:217.27, Y:-31.07, Z:-26.52 [[ 7.21818608e-01 -6.70490689e-01 -1.71522981e-01 2.17272818e+02] [ 6.51485557e-01 7.41913087e-01 -1.58529305e-01 -3.10656359e+01] [ 2.33547567e-01 2.68465699e-03 9.72341672e-01 -2.65243178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.096875 meters 0.027907560414540847 Centerline is valid? [True, True] Translation: X:217.29, Y:-31.05, Z:-26.52 [[ 7.21341047e-01 -6.71008001e-01 -1.71509057e-01 2.17292447e+02] [ 6.51999730e-01 7.41445610e-01 -1.58602523e-01 -3.10479097e+01] [ 2.33588199e-01 2.58265074e-03 9.72332188e-01 -2.65191269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12687500000004 meters 0.02787528174124801 Centerline is valid? [True, True] Translation: X:217.31, Y:-31.03, Z:-26.51 [[ 7.21017808e-01 -6.71272566e-01 -1.71832657e-01 2.17312510e+02] [ 6.52180038e-01 7.41206166e-01 -1.58979929e-01 -3.10293546e+01] [ 2.34082290e-01 2.56153110e-03 9.72213413e-01 -2.65131851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.156875 meters 0.027733900564734484 Centerline is valid? [True, True] Translation: X:217.33, Y:-31.01, Z:-26.51 [[ 7.21264303e-01 -6.71040083e-01 -1.71706179e-01 2.17332809e+02] [ 6.51948658e-01 7.41416152e-01 -1.58949792e-01 -3.10107653e+01] [ 2.33967416e-01 2.70119828e-03 9.72240686e-01 -2.65063617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18687500000004 meters 0.028035325519648862 Centerline is valid? [True, True] Translation: X:217.35, Y:-30.99, Z:-26.50 [[ 7.22914241e-01 -6.69310104e-01 -1.71519634e-01 2.17352361e+02] [ 6.50191770e-01 7.42975729e-01 -1.58863867e-01 -3.09920596e+01] [ 2.33764117e-01 3.32429762e-03 9.72287656e-01 -2.65011189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.216875 meters 0.028056918761594888 Centerline is valid? [True, True] Translation: X:217.37, Y:-30.97, Z:-26.50 [[ 7.23324329e-01 -6.68771982e-01 -1.71889357e-01 2.17372080e+02] [ 6.49544363e-01 7.43459149e-01 -1.59250165e-01 -3.09727057e+01] [ 2.34294764e-01 3.53975562e-03 9.72159161e-01 -2.64955782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24687500000005 meters 0.02894749159176447 Centerline is valid? [True, True] Translation: X:217.39, Y:-30.95, Z:-26.49 [[ 7.24091793e-01 -6.67815824e-01 -1.72374883e-01 2.17390966e+02] [ 6.48440972e-01 7.44316378e-01 -1.59741776e-01 -3.09525657e+01] [ 2.34979535e-01 3.89277237e-03 9.71992523e-01 -2.64914299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.276875 meters 0.029189369102256467 Centerline is valid? [True, True] Translation: X:217.41, Y:-30.93, Z:-26.48 [[ 7.26146669e-01 -6.65406150e-01 -1.73048173e-01 2.17410627e+02] [ 6.45798152e-01 7.46466535e-01 -1.60413400e-01 -3.09330349e+01] [ 2.35914733e-01 4.72946575e-03 9.71762250e-01 -2.64841990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.306875 meters 0.02884339272525175 Centerline is valid? [True, True] Translation: X:217.43, Y:-30.92, Z:-26.48 [[ 7.27273602e-01 -6.64044460e-01 -1.73545566e-01 2.17431844e+02] [ 6.44265494e-01 7.47674696e-01 -1.60948817e-01 -3.09150161e+01] [ 2.36632799e-01 5.24440616e-03 9.71585001e-01 -2.64759801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.336875 meters 0.029837120166145734 Centerline is valid? [True, True] Translation: X:217.45, Y:-30.89, Z:-26.47 [[ 7.28941356e-01 -6.62302724e-01 -1.73203929e-01 2.17449315e+02] [ 6.42535324e-01 7.49213443e-01 -1.60709596e-01 -3.08938642e+01] [ 2.36205115e-01 5.85822813e-03 9.71685559e-01 -2.64722604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.366875 meters 0.03034761441310807 Centerline is valid? [True, True] Translation: X:217.47, Y:-30.87, Z:-26.47 [[ 7.32326900e-01 -6.58537006e-01 -1.73281050e-01 2.17468930e+02] [ 6.38633405e-01 7.52514629e-01 -1.60838761e-01 -3.08741350e+01] [ 2.36314801e-01 7.12348381e-03 9.71650436e-01 -2.64656559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.396875 meters 0.030506643940385377 Centerline is valid? [True, True] Translation: X:217.49, Y:-30.85, Z:-26.46 [[ 7.33490275e-01 -6.57199726e-01 -1.73437416e-01 2.17489297e+02] [ 6.37202054e-01 7.53677873e-01 -1.61068947e-01 -3.08548486e+01] [ 2.36570410e-01 7.62782816e-03 9.71584406e-01 -2.64582862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.426875 meters 0.03129114334881474 Centerline is valid? [True, True] Translation: X:217.51, Y:-30.84, Z:-26.45 [[ 7.35318471e-01 -6.55290999e-01 -1.72917471e-01 2.17509192e+02] [ 6.35343640e-01 7.55331173e-01 -1.60665114e-01 -3.08357466e+01] [ 2.35892359e-01 8.27801097e-03 9.71743932e-01 -2.64520821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.456875 meters 0.03166359228889117 Centerline is valid? [True, True] Translation: X:217.53, Y:-30.82, Z:-26.45 [[ 7.35479019e-01 -6.55137115e-01 -1.72817748e-01 2.17529656e+02] [ 6.35190394e-01 7.55463506e-01 -1.60648858e-01 -3.08172001e+01] [ 2.35804531e-01 8.38169131e-03 9.71764360e-01 -2.64462453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.486875 meters 0.031777759381676346 Centerline is valid? [True, True] Translation: X:217.55, Y:-30.80, Z:-26.44 [[ 7.35591561e-01 -6.55101538e-01 -1.72473277e-01 2.17550225e+02] [ 6.35213621e-01 7.55493679e-01 -1.60414949e-01 -3.07989616e+01] [ 2.35390551e-01 8.44250786e-03 9.71864194e-01 -2.64403276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.516875 meters 0.03186838955680702 Centerline is valid? [True, True] Translation: X:217.57, Y:-30.78, Z:-26.43 [[ 7.35315433e-01 -6.55484957e-01 -1.72193743e-01 2.17569754e+02] [ 6.35651519e-01 7.55161804e-01 -1.60242930e-01 -3.07812737e+01] [ 2.35070968e-01 8.37388504e-03 9.71942137e-01 -2.64345952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.546875 meters 0.031835313265918846 Centerline is valid? [True, True] Translation: X:217.59, Y:-30.76, Z:-26.43 [[ 7.34553060e-01 -6.56529412e-01 -1.71467002e-01 2.17591738e+02] [ 6.36876183e-01 7.54257362e-01 -1.59638843e-01 -3.07643325e+01] [ 2.34137844e-01 8.05995084e-03 9.72169999e-01 -2.64275946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57687500000003 meters 0.030327373876328858 Centerline is valid? [True, True] Translation: X:217.61, Y:-30.75, Z:-26.42 [[ 7.34430087e-01 -6.56653387e-01 -1.71519030e-01 2.17614391e+02] [ 6.36972778e-01 7.54149187e-01 -1.59764461e-01 -3.07495603e+01] [ 2.34260811e-01 8.08287351e-03 9.72140185e-01 -2.64199782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.606875 meters 0.03049425141862243 Centerline is valid? [True, True] Translation: X:217.64, Y:-30.73, Z:-26.41 [[ 7.34231080e-01 -6.56906168e-01 -1.71403058e-01 2.17635235e+02] [ 6.37237767e-01 7.53929192e-01 -1.59746056e-01 -3.07321902e+01] [ 2.34163939e-01 8.06601751e-03 9.72163664e-01 -2.64141777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63687500000003 meters 0.03127360781330394 Centerline is valid? [True, True] Translation: X:217.65, Y:-30.71, Z:-26.41 [[ 7.33828610e-01 -6.57215119e-01 -1.71941440e-01 2.17654587e+02] [ 6.37407760e-01 7.53659917e-01 -1.60337385e-01 -3.07137419e+01] [ 2.34961525e-01 8.06335183e-03 9.71971226e-01 -2.64098451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.666875 meters 0.03141089750122417 Centerline is valid? [True, True] Translation: X:217.68, Y:-30.70, Z:-26.41 [[ 7.33306251e-01 -6.57380687e-01 -1.73529750e-01 2.17676312e+02] [ 6.37184932e-01 7.53514564e-01 -1.61898623e-01 -3.06961038e+01] [ 2.37186222e-01 8.15072965e-03 9.71430009e-01 -2.64070413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69687500000003 meters 0.030671416774622737 Centerline is valid? [True, True] Translation: X:217.70, Y:-30.68, Z:-26.40 [[ 7.32761259e-01 -6.57916343e-01 -1.73801674e-01 2.17697909e+02] [ 6.37657597e-01 7.53048173e-01 -1.62207391e-01 -3.06787373e+01] [ 2.37599927e-01 8.03333415e-03 9.71329882e-01 -2.64013479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.726875 meters 0.030132569320413582 Centerline is valid? [True, True] Translation: X:217.72, Y:-30.66, Z:-26.39 [[ 7.32219026e-01 -6.58554262e-01 -1.73670902e-01 2.17719383e+02] [ 6.38322233e-01 7.52491887e-01 -1.62174867e-01 -3.06617381e+01] [ 2.37486895e-01 7.88952520e-03 9.71358703e-01 -2.63948244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75687500000004 meters 0.030870299006141723 Centerline is valid? [True, True] Translation: X:217.74, Y:-30.64, Z:-26.39 [[ 7.31120197e-01 -6.59922702e-01 -1.73104837e-01 2.17740270e+02] [ 6.39841955e-01 7.51296229e-01 -1.61728938e-01 -3.06440656e+01] [ 2.36781609e-01 7.48355562e-03 9.71534079e-01 -2.63886607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.786875 meters 0.02929169237916217 Centerline is valid? [True, True] Translation: X:217.76, Y:-30.63, Z:-26.38 [[ 7.30270141e-01 -6.60934069e-01 -1.72834250e-01 2.17763615e+02] [ 6.40936750e-01 7.50409722e-01 -1.61509542e-01 -3.06291283e+01] [ 2.36443660e-01 7.16977373e-03 9.71618747e-01 -2.63793835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81687500000004 meters 0.028262480733756465 Centerline is valid? [True, True] Translation: X:217.79, Y:-30.61, Z:-26.37 [[ 7.29364285e-01 -6.62093794e-01 -1.72219473e-01 2.17785926e+02] [ 6.42253667e-01 7.49389874e-01 -1.61012558e-01 -3.06124146e+01] [ 2.35664945e-01 6.82822110e-03 9.71810377e-01 -2.63723663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.846875 meters 0.028072898493452552 Centerline is valid? [True, True] Translation: X:217.81, Y:-30.59, Z:-26.37 [[ 7.28093489e-01 -6.63575176e-01 -1.71894898e-01 2.17807658e+02] [ 6.43832778e-01 7.48082266e-01 -1.60786436e-01 -3.05948994e+01] [ 2.35285413e-01 6.39598779e-03 9.71905276e-01 -2.63664403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87687500000004 meters 0.02754173386426045 Centerline is valid? [True, True] Translation: X:217.83, Y:-30.58, Z:-26.36 [[ 7.25683800e-01 -6.66256018e-01 -1.71714708e-01 2.17830073e+02] [ 6.46611529e-01 7.45702219e-01 -1.60691416e-01 -3.05799306e+01] [ 2.35109662e-01 5.57844695e-03 9.71952842e-01 -2.63610591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.906875 meters 0.02666168016576406 Centerline is valid? [True, True] Translation: X:217.85, Y:-30.56, Z:-26.35 [[ 7.24390567e-01 -6.67679141e-01 -1.71647520e-01 2.17853190e+02] [ 6.48080554e-01 7.44431401e-01 -1.60665753e-01 -3.05634353e+01] [ 2.35052976e-01 5.14333569e-03 9.71968952e-01 -2.63537951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93687500000004 meters 0.026014943227304545 Centerline is valid? [True, True] Translation: X:217.88, Y:-30.55, Z:-26.35 [[ 7.22551732e-01 -6.69695502e-01 -1.71542792e-01 2.17875210e+02] [ 6.50159579e-01 7.42621921e-01 -1.60639980e-01 -3.05471652e+01] [ 2.34971310e-01 4.54050623e-03 9.71991701e-01 -2.63470768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.966875 meters 0.024667770476218338 Centerline is valid? [True, True] Translation: X:217.90, Y:-30.53, Z:-26.34 [[ 7.19250690e-01 -6.73362421e-01 -1.71059913e-01 2.17899702e+02] [ 6.54032321e-01 7.39304924e-01 -1.60218455e-01 -3.05337303e+01] [ 2.34350523e-01 3.35852241e-03 9.72146364e-01 -2.63389398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99687500000005 meters 0.023983983535427113 Centerline is valid? [True, True] Translation: X:217.92, Y:-30.52, Z:-26.33 [[ 7.17472888e-01 -6.75317930e-01 -1.70816711e-01 2.17922684e+02] [ 6.56079595e-01 7.37521521e-01 -1.60067392e-01 -3.05173195e+01] [ 2.34077380e-01 2.77465518e-03 9.72214010e-01 -2.63315024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.026875 meters 0.023417952731140796 Centerline is valid? [True, True] Translation: X:217.95, Y:-30.50, Z:-26.32 [[ 7.15508341e-01 -6.77607146e-01 -1.69989323e-01 2.17945213e+02] [ 6.58602419e-01 7.35421138e-01 -1.59369391e-01 -3.05006727e+01] [ 2.33003579e-01 2.07474911e-03 9.72473664e-01 -2.63234243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.056875 meters 0.022807771554202876 Centerline is valid? [True, True] Translation: X:217.97, Y:-30.49, Z:-26.32 [[ 7.11896175e-01 -6.81673733e-01 -1.68892738e-01 2.17969377e+02] [ 6.63010638e-01 7.31655848e-01 -1.58419107e-01 -3.04862054e+01] [ 2.31561503e-01 8.00274532e-04 9.72819937e-01 -2.63151023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.086875 meters 0.022637307838144955 Centerline is valid? [True, True] Translation: X:217.99, Y:-30.47, Z:-26.31 [[ 7.09909708e-01 -6.83906600e-01 -1.68225947e-01 2.17990650e+02] [ 6.65435922e-01 7.29569562e-01 -1.57871114e-01 -3.04695795e+01] [ 2.30701627e-01 1.30648364e-04 9.73024533e-01 -2.63101984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.116875 meters 0.022598621623293624 Centerline is valid? [True, True] Translation: X:218.01, Y:-30.45, Z:-26.30 [[ 7.08227499e-01 -6.85718137e-01 -1.67941797e-01 2.18012542e+02] [ 6.67340637e-01 7.27867077e-01 -1.57689545e-01 -3.04526990e+01] [ 2.30369886e-01 -3.94314332e-04 9.73103057e-01 -2.63029272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.146875 meters 0.02232828884139563 Centerline is valid? [True, True] Translation: X:218.03, Y:-30.44, Z:-26.29 [[ 7.06832160e-01 -6.87390540e-01 -1.66980667e-01 2.18033493e+02] [ 6.69251847e-01 7.26287469e-01 -1.56870896e-01 -3.04356076e+01] [ 2.29107536e-01 -8.70725537e-04 9.73400729e-01 -2.62948105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.176875 meters 0.02243249473700081 Centerline is valid? [True, True] Translation: X:218.06, Y:-30.42, Z:-26.29 [[ 7.04949803e-01 -6.89682754e-01 -1.65479529e-01 2.18055017e+02] [ 6.71915594e-01 7.24110030e-01 -1.55544522e-01 -3.04196718e+01] [ 2.27101761e-01 -1.53719588e-03 9.73869820e-01 -2.62876681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.206875 meters 0.022560004587837808 Centerline is valid? [True, True] Translation: X:218.07, Y:-30.40, Z:-26.28 [[ 7.04070728e-01 -6.90690339e-01 -1.65018985e-01 2.18074971e+02] [ 6.73033225e-01 7.23148402e-01 -1.55185911e-01 -3.04014909e+01] [ 2.26518624e-01 -1.80140211e-03 9.74005168e-01 -2.62801573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.236875 meters 0.022852133693391896 Centerline is valid? [True, True] Translation: X:218.10, Y:-30.38, Z:-26.28 [[ 7.02300110e-01 -6.92365525e-01 -1.65543151e-01 2.18097277e+02] [ 6.74620491e-01 7.21543315e-01 -1.55764048e-01 -3.03843537e+01] [ 2.27292211e-01 -2.28569362e-03 9.73823920e-01 -2.62758533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.266875 meters 0.022939258794222827 Centerline is valid? [True, True] Translation: X:218.12, Y:-30.37, Z:-26.27 [[ 7.01575978e-01 -6.93059778e-01 -1.65708451e-01 2.18118174e+02] [ 6.75287676e-01 7.20875849e-01 -1.55963346e-01 -3.03655371e+01] [ 2.27547142e-01 -2.48073763e-03 9.73763906e-01 -2.62703046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.296875 meters 0.023055902337814183 Centerline is valid? [True, True] Translation: X:218.14, Y:-30.35, Z:-26.26 [[ 7.01214652e-01 -6.93229718e-01 -1.66524983e-01 2.18138718e+02] [ 6.75265302e-01 7.20712400e-01 -1.56813289e-01 -3.03465174e+01] [ 2.28724252e-01 -2.48876667e-03 9.73488070e-01 -2.62647346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.32687500000003 meters 0.023043009023837057 Centerline is valid? [True, True] Translation: X:218.16, Y:-30.33, Z:-26.26 [[ 7.00601783e-01 -6.93694347e-01 -1.67168462e-01 2.18158352e+02] [ 6.75582898e-01 7.20264839e-01 -1.57500189e-01 -3.03269645e+01] [ 2.29662557e-01 -2.59124105e-03 9.73266868e-01 -2.62585173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.356875 meters 0.023100534561802683 Centerline is valid? [True, True] Translation: X:218.18, Y:-30.31, Z:-26.25 [[ 7.00347898e-01 -6.93876750e-01 -1.67475004e-01 2.18177561e+02] [ 6.75683551e-01 7.20089106e-01 -1.57871523e-01 -3.03075602e+01] [ 2.30140305e-01 -2.59511550e-03 9.73153999e-01 -2.62528613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.38687500000003 meters 0.02303980615294263 Centerline is valid? [True, True] Translation: X:218.20, Y:-30.29, Z:-26.25 [[ 7.00611904e-01 -6.93592735e-01 -1.67547245e-01 2.18197020e+02] [ 6.75354888e-01 7.20363224e-01 -1.58027214e-01 -3.02876779e+01] [ 2.30301401e-01 -2.43810346e-03 9.73116293e-01 -2.62471574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.416875 meters 0.023013935226606615 Centerline is valid? [True, True] Translation: X:218.22, Y:-30.27, Z:-26.24 [[ 7.00499741e-01 -6.93595894e-01 -1.68002523e-01 2.18216252e+02] [ 6.75236530e-01 7.20360374e-01 -1.58545138e-01 -3.02680889e+01] [ 2.30988618e-01 -2.38061241e-03 9.72953540e-01 -2.62417834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.44687500000003 meters 0.023121592629292507 Centerline is valid? [True, True] Translation: X:218.24, Y:-30.25, Z:-26.24 [[ 7.00945064e-01 -6.92945161e-01 -1.68828375e-01 2.18235154e+02] [ 6.74362827e-01 7.20987199e-01 -1.59412160e-01 -3.02479614e+01] [ 2.32186982e-01 -2.11241280e-03 9.72668876e-01 -2.62386014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.476875 meters 0.02302065399641271 Centerline is valid? [True, True] Translation: X:218.25, Y:-30.23, Z:-26.23 [[ 7.01148991e-01 -6.92572886e-01 -1.69507787e-01 2.18253105e+02] [ 6.73808343e-01 7.21345302e-01 -1.60135169e-01 -3.02273759e+01] [ 2.33178923e-01 -1.93714878e-03 9.72431919e-01 -2.62316684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.50687500000004 meters 0.023152626285272038 Centerline is valid? [True, True] Translation: X:218.27, Y:-30.21, Z:-26.23 [[ 7.01822511e-01 -6.91843259e-01 -1.69699935e-01 2.18271812e+02] [ 6.72993728e-01 7.22045872e-01 -1.60403245e-01 -3.02084756e+01] [ 2.33505042e-01 -1.63238355e-03 9.72354221e-01 -2.62280172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.536875 meters 0.023754065718351886 Centerline is valid? [True, True] Translation: X:218.29, Y:-30.19, Z:-26.23 [[ 7.02075094e-01 -6.91896162e-01 -1.68434747e-01 2.18290748e+02] [ 6.73313399e-01 7.21995296e-01 -1.59285465e-01 -3.01893650e+01] [ 2.31818097e-01 -1.57901372e-03 9.72757872e-01 -2.62257211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56687500000004 meters 0.023046870705963382 Centerline is valid? [True, True] Translation: X:218.31, Y:-30.17, Z:-26.21 [[ 7.04385968e-01 -6.89179519e-01 -1.69917623e-01 2.18306586e+02] [ 6.70164802e-01 7.24590365e-01 -1.60772946e-01 -3.01678457e+01] [ 2.33922094e-01 -6.26603214e-04 9.72255142e-01 -2.62131766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.596875 meters 0.022983513706092744 Centerline is valid? [True, True] Translation: X:218.32, Y:-30.15, Z:-26.21 [[ 7.05491619e-01 -6.88135209e-01 -1.69562698e-01 2.18324004e+02] [ 6.69150757e-01 7.25582447e-01 -1.60522202e-01 -3.01480975e+01] [ 2.33492696e-01 -2.15939399e-04 9.72358532e-01 -2.62077052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62687500000004 meters 0.023307299937548903 Centerline is valid? [True, True] Translation: X:218.34, Y:-30.13, Z:-26.20 [[ 7.06838651e-01 -6.86847462e-01 -1.69173535e-01 2.18342259e+02] [ 6.67893623e-01 7.26801546e-01 -1.60242380e-01 -3.01274022e+01] [ 2.33017659e-01 2.75582931e-04 9.72472465e-01 -2.62007102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.656875 meters 0.023139016358358785 Centerline is valid? [True, True] Translation: X:218.36, Y:-30.10, Z:-26.19 [[ 7.09938062e-01 -6.83793403e-01 -1.68566101e-01 2.18358488e+02] [ 6.64870624e-01 7.29674434e-01 -1.59756921e-01 -3.01045454e+01] [ 2.32239103e-01 1.34286987e-03 9.72657800e-01 -2.61929040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68687500000004 meters 0.02407468128018405 Centerline is valid? [True, True] Translation: X:218.38, Y:-30.08, Z:-26.19 [[ 7.11700637e-01 -6.81882392e-01 -1.68874530e-01 2.18376162e+02] [ 6.62815280e-01 7.31458991e-01 -1.60136342e-01 -3.00829972e+01] [ 2.32718946e-01 2.03651744e-03 9.72541899e-01 -2.61889957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.716875 meters 0.02438680349287462 Centerline is valid? [True, True] Translation: X:218.39, Y:-30.06, Z:-26.18 [[ 7.13480857e-01 -6.80047398e-01 -1.68761971e-01 2.18394237e+02] [ 6.60944451e-01 7.33163295e-01 -1.60075028e-01 -3.00612375e+01] [ 2.32588689e-01 2.66817988e-03 9.72571531e-01 -2.61832384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74687500000005 meters 0.02438680349287462 Centerline is valid? [True, True] Translation: X:218.41, Y:-30.04, Z:-26.18 [[ 7.13304999e-01 -6.80241232e-01 -1.68724169e-01 2.18413722e+02] [ 6.61134212e-01 7.32983481e-01 -1.60114864e-01 -3.00425840e+01] [ 2.32588761e-01 2.66141251e-03 9.72571532e-01 -2.61772825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.776875 meters 0.025259283355841527 Centerline is valid? [True, True] Translation: X:218.43, Y:-30.02, Z:-26.17 [[ 7.16112606e-01 -6.77144080e-01 -1.69288601e-01 2.18431221e+02] [ 6.57801019e-01 7.35840918e-01 -1.60735689e-01 -3.00192705e+01] [ 2.33410700e-01 3.74663886e-03 9.72371024e-01 -2.61724939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.806875 meters 0.025908524327453265 Centerline is valid? [True, True] Translation: X:218.45, Y:-30.00, Z:-26.17 [[ 7.17492705e-01 -6.75667842e-01 -1.69343398e-01 2.18449731e+02] [ 6.56253171e-01 7.37193729e-01 -1.60863860e-01 -2.99978906e+01] [ 2.33529428e-01 4.28650342e-03 9.72340286e-01 -2.61673550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.836875 meters 0.026470863260200574 Centerline is valid? [True, True] Translation: X:218.47, Y:-29.98, Z:-26.16 [[ 7.18180146e-01 -6.74921359e-01 -1.69406132e-01 2.18467863e+02] [ 6.55454948e-01 7.37875429e-01 -1.60992739e-01 -2.99774347e+01] [ 2.33658061e-01 4.58370188e-03 9.72308028e-01 -2.61618662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.866875 meters 0.026913756730743227 Centerline is valid? [True, True] Translation: X:218.49, Y:-29.96, Z:-26.16 [[ 7.18980137e-01 -6.73976872e-01 -1.69772611e-01 2.18487516e+02] [ 6.54388166e-01 7.38735957e-01 -1.61385610e-01 -2.99573015e+01] [ 2.34187301e-01 4.93586034e-03 9.72178968e-01 -2.61554594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.896875 meters 0.02754785858883087 Centerline is valid? [True, True] Translation: X:218.51, Y:-29.94, Z:-26.15 [[ 7.20961495e-01 -6.71872230e-01 -1.69712195e-01 2.18506026e+02] [ 6.52220531e-01 7.40645288e-01 -1.61409218e-01 -2.99361027e+01] [ 2.34142909e-01 5.68005302e-03 9.72185597e-01 -2.61499914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.926875 meters 0.02805560128989741 Centerline is valid? [True, True] Translation: X:218.52, Y:-29.92, Z:-26.15 [[ 7.21450208e-01 -6.71378673e-01 -1.69588547e-01 2.18524435e+02] [ 6.51725423e-01 7.41091077e-01 -1.61362912e-01 -2.99154662e+01] [ 2.34016176e-01 5.89013871e-03 9.72214861e-01 -2.61453389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.956875 meters 0.028805538921455143 Centerline is valid? [True, True] Translation: X:218.54, Y:-29.90, Z:-26.14 [[ 7.21501463e-01 -6.71228608e-01 -1.69964099e-01 2.18544161e+02] [ 6.51465156e-01 7.41226048e-01 -1.61793375e-01 -2.98959400e+01] [ 2.34582159e-01 6.00846864e-03 9.72077728e-01 -2.61401951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.986875 meters 0.028241461943961026 Centerline is valid? [True, True] Translation: X:218.57, Y:-29.88, Z:-26.13 [[ 7.21113992e-01 -6.71769494e-01 -1.69470814e-01 2.18565139e+02] [ 6.52125736e-01 7.40737146e-01 -1.61370707e-01 -2.98790210e+01] [ 2.33937246e-01 5.85039511e-03 9.72234096e-01 -2.61320307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.016875 meters 0.0268486450369865 Centerline is valid? [True, True] Translation: X:218.59, Y:-29.86, Z:-26.12 [[ 7.20579388e-01 -6.72531315e-01 -1.68721595e-01 2.18587813e+02] [ 6.53064447e-01 7.40047182e-01 -1.60738907e-01 -2.98624495e+01] [ 2.32963889e-01 5.63906749e-03 9.72469037e-01 -2.61228029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.046875 meters 0.026489524630654963 Centerline is valid? [True, True] Translation: X:218.61, Y:-29.84, Z:-26.12 [[ 7.19867616e-01 -6.73448694e-01 -1.68099590e-01 2.18609077e+02] [ 6.54133335e-01 7.39214385e-01 -1.60223818e-01 -2.98438555e+01] [ 2.32164156e-01 5.38039220e-03 9.72661738e-01 -2.61157721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07687500000003 meters 0.026029527767793114 Centerline is valid? [True, True] Translation: X:218.63, Y:-29.83, Z:-26.11 [[ 7.19057549e-01 -6.74407545e-01 -1.67722108e-01 2.18630350e+02] [ 6.55187194e-01 7.38341566e-01 -1.59942094e-01 -2.98254637e+01] [ 2.31702359e-01 5.11819331e-03 9.72773263e-01 -2.61089706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.106875 meters 0.02598295465143787 Centerline is valid? [True, True] Translation: X:218.65, Y:-29.81, Z:-26.10 [[ 7.17339223e-01 -6.76270069e-01 -1.67580524e-01 2.18651280e+02] [ 6.57113989e-01 7.36639590e-01 -1.59885334e-01 -2.98082969e+01] [ 2.31572114e-01 4.57251491e-03 9.72806994e-01 -2.61034041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13687500000003 meters 0.025999084878494623 Centerline is valid? [True, True] Translation: X:218.67, Y:-29.79, Z:-26.10 [[ 7.16099288e-01 -6.77648490e-01 -1.67315076e-01 2.18672372e+02] [ 6.58572458e-01 7.35374095e-01 -1.59709915e-01 -2.97896807e+01] [ 2.31266355e-01 4.17905597e-03 9.72881498e-01 -2.60986898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.166875 meters 0.025508795303683638 Centerline is valid? [True, True] Translation: X:218.69, Y:-29.77, Z:-26.09 [[ 7.14480694e-01 -6.79405621e-01 -1.67108768e-01 2.18694546e+02] [ 6.60406211e-01 7.33753755e-01 -1.59590299e-01 -2.97718156e+01] [ 2.31043232e-01 3.66451892e-03 9.72936584e-01 -2.60915740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19687500000003 meters 0.024008451705731158 Centerline is valid? [True, True] Translation: X:218.72, Y:-29.76, Z:-26.08 [[ 7.11084817e-01 -6.83111310e-01 -1.66485200e-01 2.18718527e+02] [ 6.64337552e-01 7.30309963e-01 -1.59069091e-01 -2.97567509e+01] [ 2.30247695e-01 2.50924543e-03 9.73128821e-01 -2.60837948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.226875 meters 0.02376314856042411 Centerline is valid? [True, True] Translation: X:218.74, Y:-29.74, Z:-26.08 [[ 7.09341557e-01 -6.84877296e-01 -1.66666270e-01 2.18740119e+02] [ 6.66091149e-01 7.28655676e-01 -1.59321959e-01 -2.97401905e+01] [ 2.30558316e-01 1.99875948e-03 9.73056457e-01 -2.60769268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25687500000004 meters 0.023493440258430625 Centerline is valid? [True, True] Translation: X:218.76, Y:-29.72, Z:-26.07 [[ 7.07232719e-01 -6.87105805e-01 -1.66455680e-01 2.18761451e+02] [ 6.68408276e-01 7.26556143e-01 -1.59205990e-01 -2.97231882e+01] [ 2.30330757e-01 1.33533150e-03 9.73111484e-01 -2.60706904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.286875 meters 0.02332877870407639 Centerline is valid? [True, True] Translation: X:218.78, Y:-29.71, Z:-26.06 [[ 7.05418685e-01 -6.88977859e-01 -1.66415111e-01 2.18783036e+02] [ 6.70320674e-01 7.24781960e-01 -1.59252333e-01 -2.97058266e+01] [ 2.30336002e-01 7.88081367e-04 9.73110839e-01 -2.60637837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31687500000004 meters 0.023271348871714316 Centerline is valid? [True, True] Translation: X:218.81, Y:-29.69, Z:-26.06 [[ 7.02125986e-01 -6.92874764e-01 -1.64145246e-01 2.18805744e+02] [ 6.74815373e-01 7.21057823e-01 -1.57161789e-01 -2.96895522e+01] [ 2.27251651e-01 -4.20359278e-04 9.73835977e-01 -2.60602670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.346875 meters 0.023021270394391998 Centerline is valid? [True, True] Translation: X:218.82, Y:-29.67, Z:-26.05 [[ 7.02243088e-01 -6.92522164e-01 -1.65129334e-01 2.18824628e+02] [ 6.74225988e-01 7.21396542e-01 -1.58133952e-01 -2.96705597e+01] [ 2.28634997e-01 -2.86013820e-04 9.73512176e-01 -2.60509432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37687500000004 meters 0.02294834430085105 Centerline is valid? [True, True] Translation: X:218.84, Y:-29.65, Z:-26.05 [[ 7.01544723e-01 -6.93278451e-01 -1.64924200e-01 2.18844006e+02] [ 6.75029516e-01 7.20669667e-01 -1.58020200e-01 -2.96526957e+01] [ 2.28407867e-01 -4.70465968e-04 9.73565419e-01 -2.60452995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.406875 meters 0.022863081118758465 Centerline is valid? [True, True] Translation: X:218.86, Y:-29.63, Z:-26.04 [[ 7.00845138e-01 -6.94088470e-01 -1.64491001e-01 2.18863147e+02] [ 6.75940432e-01 7.19889395e-01 -1.57682564e-01 -2.96345508e+01] [ 2.27860977e-01 -6.75059879e-04 9.73693442e-01 -2.60392264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43687500000004 meters 0.022865055773043434 Centerline is valid? [True, True] Translation: X:218.88, Y:-29.62, Z:-26.03 [[ 6.99730690e-01 -6.95335407e-01 -1.63968392e-01 2.18882569e+02] [ 6.77320162e-01 7.18684652e-01 -1.57257019e-01 -2.96151081e+01] [ 2.27187940e-01 -1.02153569e-03 9.73850397e-01 -2.60317762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.466875 meters 0.022958870134259825 Centerline is valid? [True, True] Translation: X:218.90, Y:-29.60, Z:-26.03 [[ 6.99125772e-01 -6.96058349e-01 -1.63480672e-01 2.18902004e+02] [ 6.78150925e-01 7.17984235e-01 -1.56875622e-01 -2.95969832e+01] [ 2.26571131e-01 -1.18877845e-03 9.73993896e-01 -2.60262330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49687500000005 meters 0.02316200456242322 Centerline is valid? [True, True] Translation: X:218.92, Y:-29.58, Z:-26.02 [[ 6.98372966e-01 -6.96815852e-01 -1.63471307e-01 2.18921253e+02] [ 6.78912839e-01 7.17248752e-01 -1.56944527e-01 -2.95781287e+01] [ 2.26611025e-01 -1.37695408e-03 9.73984367e-01 -2.60191399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.526875 meters 0.02312852059291224 Centerline is valid? [True, True] Translation: X:218.94, Y:-29.56, Z:-26.01 [[ 6.96993010e-01 -6.98166433e-01 -1.63598213e-01 2.18940809e+02] [ 6.80251465e-01 7.15933349e-01 -1.57154017e-01 -2.95581734e+01] [ 2.26845076e-01 -1.75267274e-03 9.73929279e-01 -2.60135265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.556875 meters 0.02314726300770105 Centerline is valid? [True, True] Translation: X:218.96, Y:-29.54, Z:-26.01 [[ 6.96057382e-01 -6.99015405e-01 -1.63956043e-01 2.18960061e+02] [ 6.81024222e-01 7.15103893e-01 -1.57583095e-01 -2.95380522e+01] [ 2.27398615e-01 -1.97116034e-03 9.73799766e-01 -2.60081212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.586875 meters 0.022901835588397774 Centerline is valid? [True, True] Translation: X:218.98, Y:-29.52, Z:-26.00 [[ 6.95669752e-01 -6.99286066e-01 -1.64446328e-01 2.18979153e+02] [ 6.81173056e-01 7.14839133e-01 -1.58140069e-01 -2.95178179e+01] [ 2.28137817e-01 -2.00314491e-03 9.73626789e-01 -2.60026560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.616875 meters 0.02315176931512512 Centerline is valid? [True, True] Translation: X:219.00, Y:-29.50, Z:-26.00 [[ 6.95735073e-01 -6.99003892e-01 -1.65367069e-01 2.18997676e+02] [ 6.80656604e-01 7.15115448e-01 -1.59111542e-01 -2.94982741e+01] [ 2.29476132e-01 -1.85870718e-03 9.73312514e-01 -2.59975362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.646875 meters 0.023158381059570878 Centerline is valid? [True, True] Translation: X:219.01, Y:-29.48, Z:-25.99 [[ 6.96867342e-01 -6.97663500e-01 -1.66257476e-01 2.19013849e+02] [ 6.79063870e-01 7.16424267e-01 -1.60026653e-01 -2.94765335e+01] [ 2.30755645e-01 -1.38209689e-03 9.73010751e-01 -2.59934118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.676875 meters 0.023088222824870244 Centerline is valid? [True, True] Translation: X:219.03, Y:-29.46, Z:-25.99 [[ 6.97763928e-01 -6.96774080e-01 -1.66226901e-01 2.19032173e+02] [ 6.78137522e-01 7.17289916e-01 -1.60077098e-01 -2.94553716e+01] [ 2.30770452e-01 -1.02867361e-03 9.73007677e-01 -2.59874565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.706875 meters 0.0234549385619303 Centerline is valid? [True, True] Translation: X:219.05, Y:-29.43, Z:-25.98 [[ 6.99051565e-01 -6.95473149e-01 -1.66264872e-01 2.19050255e+02] [ 6.76771074e-01 7.18551886e-01 -1.60200188e-01 -2.94349559e+01] [ 2.30884867e-01 -5.35064383e-04 9.72980931e-01 -2.59814947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.736875 meters 0.0235283006010276 Centerline is valid? [True, True] Translation: X:219.07, Y:-29.41, Z:-25.97 [[ 7.00206354e-01 -6.94321184e-01 -1.66220202e-01 2.19066562e+02] [ 6.75576677e-01 7.19665260e-01 -1.60243774e-01 -2.94127166e+01] [ 2.30883552e-01 -9.07823966e-05 9.72981386e-01 -2.59742530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.766875 meters 0.023694404208341686 Centerline is valid? [True, True] Translation: X:219.08, Y:-29.39, Z:-25.97 [[ 7.00912773e-01 -6.93672575e-01 -1.65950726e-01 2.19084750e+02] [ 6.74951057e-01 7.20290444e-01 -1.60071069e-01 -2.93920544e+01] [ 2.30569633e-01 1.87239027e-04 9.73055810e-01 -2.59681586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.796875 meters 0.023840809994427576 Centerline is valid? [True, True] Translation: X:219.10, Y:-29.37, Z:-25.96 [[ 7.01577585e-01 -6.93057292e-01 -1.65712047e-01 2.19102797e+02] [ 6.74352637e-01 7.20882365e-01 -1.59928536e-01 -2.93718545e+01] [ 2.30298531e-01 4.53920365e-04 9.73119921e-01 -2.59621400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.82687500000003 meters 0.024233041676199107 Centerline is valid? [True, True] Translation: X:219.12, Y:-29.35, Z:-25.96 [[ 7.02396403e-01 -6.92265390e-01 -1.65553383e-01 2.19119997e+02] [ 6.73554472e-01 7.21642587e-01 -1.59863532e-01 -2.93506076e+01] [ 2.30138363e-01 7.78348392e-04 9.73157607e-01 -2.59554907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.856875 meters 0.024326118426407962 Centerline is valid? [True, True] Translation: X:219.14, Y:-29.33, Z:-25.95 [[ 7.02873431e-01 -6.91850166e-01 -1.65264299e-01 2.19138132e+02] [ 6.73173303e-01 7.22040436e-01 -1.59672516e-01 -2.93306653e+01] [ 2.29796963e-01 9.78054540e-04 9.73238100e-01 -2.59490537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.88687500000003 meters 0.025132709514367302 Centerline is valid? [True, True] Translation: X:219.16, Y:-29.31, Z:-25.95 [[ 7.04035049e-01 -6.90530318e-01 -1.65838867e-01 2.19155304e+02] [ 6.71664695e-01 7.23301937e-01 -1.60314831e-01 -2.93088809e+01] [ 2.30653825e-01 1.47914758e-03 9.73034750e-01 -2.59451087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.916875 meters 0.02508379190512196 Centerline is valid? [True, True] Translation: X:219.17, Y:-29.29, Z:-25.94 [[ 7.03977668e-01 -6.90494975e-01 -1.66229158e-01 2.19173920e+02] [ 6.71527652e-01 7.23335576e-01 -1.60736607e-01 -2.92885049e+01] [ 2.31227283e-01 1.52750593e-03 9.72898561e-01 -2.59389020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.94687500000003 meters 0.025660915939158927 Centerline is valid? [True, True] Translation: X:219.19, Y:-29.27, Z:-25.93 [[ 7.04216527e-01 -6.90174713e-01 -1.66547137e-01 2.19192139e+02] [ 6.71104056e-01 7.23640775e-01 -1.61131542e-01 -2.92686748e+01] [ 2.31729215e-01 1.70103577e-03 9.72778843e-01 -2.59338626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.976875 meters 0.025449393002322372 Centerline is valid? [True, True] Translation: X:219.21, Y:-29.25, Z:-25.93 [[ 7.04083369e-01 -6.90329875e-01 -1.66467034e-01 2.19211134e+02] [ 6.71262944e-01 7.23492739e-01 -1.61134466e-01 -2.92487895e+01] [ 2.31673626e-01 1.70894651e-03 9.72792070e-01 -2.59264354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.00687500000004 meters 0.0258009542762861 Centerline is valid? [True, True] Translation: X:219.23, Y:-29.23, Z:-25.92 [[ 7.04310316e-01 -6.89905606e-01 -1.67263963e-01 2.19229939e+02] [ 6.70620507e-01 7.23896787e-01 -1.61992521e-01 -2.92286170e+01] [ 2.32841394e-01 1.92235981e-03 9.72512822e-01 -2.59196335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.036875 meters 0.02574253532001438 Centerline is valid? [True, True] Translation: X:219.25, Y:-29.21, Z:-25.91 [[ 7.04176565e-01 -6.89994280e-01 -1.67461216e-01 2.19249362e+02] [ 6.70654516e-01 7.23812248e-01 -1.62229309e-01 -2.92083835e+01] [ 2.33147775e-01 1.92945710e-03 9.72439403e-01 -2.59143574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06687500000004 meters 0.02585079773477039 Centerline is valid? [True, True] Translation: X:219.27, Y:-29.19, Z:-25.91 [[ 7.04155406e-01 -6.90053152e-01 -1.67307539e-01 2.19268135e+02] [ 6.70729733e-01 7.23756002e-01 -1.62169279e-01 -2.91886258e+01] [ 2.32995258e-01 1.97423315e-03 9.72475867e-01 -2.59077508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.096875 meters 0.026394420301920855 Centerline is valid? [True, True] Translation: X:219.29, Y:-29.17, Z:-25.90 [[ 7.05593313e-01 -6.88622101e-01 -1.67145683e-01 2.19285381e+02] [ 6.69276256e-01 7.25116064e-01 -1.62098695e-01 -2.91670709e+01] [ 2.32824764e-01 2.50911813e-03 9.72515467e-01 -2.59030132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12687500000004 meters 0.02652744406414155 Centerline is valid? [True, True] Translation: X:219.30, Y:-29.15, Z:-25.90 [[ 7.06012429e-01 -6.88141780e-01 -1.67353938e-01 2.19304248e+02] [ 6.68723329e-01 7.25571211e-01 -1.62343853e-01 -2.91470740e+01] [ 2.33142788e-01 2.70329548e-03 9.72438755e-01 -2.58969342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.156875 meters 0.026979312770378138 Centerline is valid? [True, True] Translation: X:219.32, Y:-29.13, Z:-25.89 [[ 7.06958166e-01 -6.87085097e-01 -1.67702775e-01 2.19323453e+02] [ 6.67534376e-01 7.26570241e-01 -1.62768365e-01 -2.91263552e+01] [ 2.33683564e-01 3.12305730e-03 9.72307687e-01 -2.58917932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18687500000004 meters 0.027008076666402817 Centerline is valid? [True, True] Translation: X:219.34, Y:-29.11, Z:-25.89 [[ 7.07696051e-01 -6.86270086e-01 -1.67927568e-01 2.19342020e+02] [ 6.66625113e-01 7.27338598e-01 -1.63062938e-01 -2.91064067e+01] [ 2.34045419e-01 3.45426347e-03 9.72219528e-01 -2.58860541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.216875 meters 0.027692284232550973 Centerline is valid? [True, True] Translation: X:219.36, Y:-29.09, Z:-25.88 [[ 7.09354198e-01 -6.84282197e-01 -1.69039924e-01 2.19360935e+02] [ 6.64305286e-01 7.29205356e-01 -1.64189024e-01 -2.90850142e+01] [ 2.35616444e-01 4.17405865e-03 9.71837162e-01 -2.58805320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24687500000005 meters 0.028293294215819362 Centerline is valid? [True, True] Translation: X:219.38, Y:-29.06, Z:-25.88 [[ 7.10493295e-01 -6.83022682e-01 -1.69349622e-01 2.19380204e+02] [ 6.62916627e-01 7.30382290e-01 -1.64569911e-01 -2.90636906e+01] [ 2.36094947e-01 4.66113777e-03 9.71718812e-01 -2.58750911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.276875 meters 0.028664041510103606 Centerline is valid? [True, True] Translation: X:219.40, Y:-29.04, Z:-25.87 [[ 7.11401431e-01 -6.81993454e-01 -1.69684804e-01 2.19397833e+02] [ 6.61758730e-01 7.31340690e-01 -1.64973265e-01 -2.90427409e+01] [ 2.36608088e-01 5.07181660e-03 9.71591936e-01 -2.58702984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.306875 meters 0.02892179455242619 Centerline is valid? [True, True] Translation: X:219.42, Y:-29.02, Z:-25.86 [[ 7.13935196e-01 -6.79255606e-01 -1.70024577e-01 2.19416772e+02] [ 6.58848362e-01 7.33876967e-01 -1.65358500e-01 -2.90214607e+01] [ 2.37097809e-01 6.03483852e-03 9.71467040e-01 -2.58641856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.336875 meters 0.029703511079077004 Centerline is valid? [True, True] Translation: X:219.44, Y:-29.00, Z:-25.86 [[ 7.15366675e-01 -6.77706666e-01 -1.70188707e-01 2.19435140e+02] [ 6.57196322e-01 7.35302586e-01 -1.65599216e-01 -2.90006340e+01] [ 2.37367889e-01 6.61676791e-03 9.71397294e-01 -2.58593071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.366875 meters 0.030076124127282104 Centerline is valid? [True, True] Translation: X:219.45, Y:-28.98, Z:-25.85 [[ 7.16772142e-01 -6.76213372e-01 -1.70215075e-01 2.19454456e+02] [ 6.55636724e-01 7.36670938e-01 -1.65699773e-01 -2.89800779e+01] [ 2.37440902e-01 7.16972691e-03 9.71375526e-01 -2.58525816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.396875 meters 0.030790043861340575 Centerline is valid? [True, True] Translation: X:219.47, Y:-28.96, Z:-25.85 [[ 7.17917964e-01 -6.74934792e-01 -1.70460623e-01 2.19473464e+02] [ 6.54242388e-01 7.37837554e-01 -1.66020003e-01 -2.89594530e+01] [ 2.37824926e-01 7.66617751e-03 9.71277784e-01 -2.58472380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.426875 meters 0.0322238247454395 Centerline is valid? [True, True] Translation: X:219.49, Y:-28.94, Z:-25.84 [[ 7.20634610e-01 -6.71758332e-01 -1.71541548e-01 2.19490909e+02] [ 6.50691057e-01 7.40717719e-01 -1.67147866e-01 -2.89382406e+01] [ 2.39346836e-01 8.83198578e-03 9.70893963e-01 -2.58424097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.456875 meters 0.047604691521922794 Centerline is valid? [True, True] Translation: X:219.49, Y:-28.90, Z:-25.85 [[ 7.19097033e-01 -6.74409441e-01 -1.67545105e-01 2.19491735e+02] [ 6.54384430e-01 7.38316412e-01 -1.63309196e-01 -2.88975739e+01] [ 2.33838564e-01 7.79625060e-03 9.72244179e-01 -2.58485562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.486875 meters 0.03245259093761475 Centerline is valid? [True, True] Translation: X:219.53, Y:-28.90, Z:-25.83 [[ 7.22545497e-01 -6.69770425e-01 -1.71276335e-01 2.19529536e+02] [ 6.48689127e-01 7.42506770e-01 -1.66991358e-01 -2.88999785e+01] [ 2.39019711e-01 9.55375792e-03 9.70967715e-01 -2.58292981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.516875 meters 0.0338981046559204 Centerline is valid? [True, True] Translation: X:219.55, Y:-28.88, Z:-25.82 [[ 7.23234736e-01 -6.69155244e-01 -1.70771119e-01 2.19546840e+02] [ 6.48163483e-01 7.43058173e-01 -1.66579264e-01 -2.88789786e+01] [ 2.38360264e-01 9.78830632e-03 9.71127475e-01 -2.58246056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.546875 meters 0.03348189064961181 Centerline is valid? [True, True] Translation: X:219.57, Y:-28.86, Z:-25.82 [[ 7.24243957e-01 -6.68270154e-01 -1.69957912e-01 2.19567697e+02] [ 6.47447496e-01 7.43850670e-01 -1.65824967e-01 -2.88602002e+01] [ 2.37239183e-01 1.00589059e-02 9.71399191e-01 -2.58177132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57687500000003 meters 0.033920793646616 Centerline is valid? [True, True] Translation: X:219.59, Y:-28.84, Z:-25.81 [[ 7.24057774e-01 -6.68398957e-01 -1.70244453e-01 2.19587062e+02] [ 6.47488268e-01 7.43734410e-01 -1.66186853e-01 -2.88411268e+01] [ 2.37695777e-01 1.00975965e-02 9.71287165e-01 -2.58114735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.606875 meters 0.033920793646616 Centerline is valid? [True, True] Translation: X:219.61, Y:-28.82, Z:-25.81 [[ 7.23875927e-01 -6.68607372e-01 -1.70199366e-01 2.19606293e+02] [ 6.47691531e-01 7.43547083e-01 -1.66233017e-01 -2.88221830e+01] [ 2.37695863e-01 1.00953912e-02 9.71287166e-01 -2.58055145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63687500000003 meters 0.03307749390372123 Centerline is valid? [True, True] Translation: X:219.63, Y:-28.80, Z:-25.80 [[ 7.23049534e-01 -6.69540370e-01 -1.70044298e-01 2.19628467e+02] [ 6.48666011e-01 7.42710355e-01 -1.66173810e-01 -2.88048976e+01] [ 2.37553736e-01 9.84993946e-03 9.71324457e-01 -2.57991292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.666875 meters 0.032522769418397386 Centerline is valid? [True, True] Translation: X:219.65, Y:-28.79, Z:-25.79 [[ 7.22230503e-01 -6.70543136e-01 -1.69573004e-01 2.19649692e+02] [ 6.49793489e-01 7.41809016e-01 -1.65794467e-01 -2.87853549e+01] [ 2.36963125e-01 9.55438702e-03 9.71471663e-01 -2.57928321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69687500000003 meters 0.0331298686555005 Centerline is valid? [True, True] Translation: X:219.67, Y:-28.77, Z:-25.79 [[ 7.21743443e-01 -6.71107628e-01 -1.69413560e-01 2.19669553e+02] [ 6.50394279e-01 7.41300110e-01 -1.65714904e-01 -2.87666568e+01] [ 2.36798827e-01 9.41803544e-03 9.71513055e-01 -2.57872547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.726875 meters 0.03152720299621557 Centerline is valid? [True, True] Translation: X:219.69, Y:-28.75, Z:-25.78 [[ 7.21002049e-01 -6.72003744e-01 -1.69017788e-01 2.19692555e+02] [ 6.51392370e-01 7.40491030e-01 -1.65411653e-01 -2.87508462e+01] [ 2.36313405e-01 9.16524336e-03 9.71633662e-01 -2.57788550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75687500000004 meters 0.03104031247135055 Centerline is valid? [True, True] Translation: X:219.71, Y:-28.73, Z:-25.77 [[ 7.19632428e-01 -6.73697810e-01 -1.68108387e-01 2.19712844e+02] [ 6.53336399e-01 7.38956627e-01 -1.64604534e-01 -2.87328364e+01] [ 2.35118521e-01 8.62343230e-03 9.71928453e-01 -2.57717959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.786875 meters 0.030667455013514897 Centerline is valid? [True, True] Translation: X:219.73, Y:-28.71, Z:-25.77 [[ 7.19255086e-01 -6.74176828e-01 -1.67802641e-01 2.19733658e+02] [ 6.53882150e-01 7.38520859e-01 -1.64393050e-01 -2.87144387e+01] [ 2.34755735e-01 8.51738544e-03 9.72017077e-01 -2.57653328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81687500000004 meters 0.030642383678796858 Centerline is valid? [True, True] Translation: X:219.75, Y:-28.70, Z:-25.76 [[ 7.19101838e-01 -6.74325834e-01 -1.67860703e-01 2.19753947e+02] [ 6.53999162e-01 7.38384544e-01 -1.64539847e-01 -2.86965927e+01] [ 2.34899218e-01 8.54014722e-03 9.71982213e-01 -2.57585789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.846875 meters 0.029226665026646077 Centerline is valid? [True, True] Translation: X:219.78, Y:-28.68, Z:-25.75 [[ 7.18020160e-01 -6.75829188e-01 -1.66439054e-01 2.19775571e+02] [ 6.55868476e-01 7.37014369e-01 -1.63237136e-01 -2.86796401e+01] [ 2.32988395e-01 8.04542546e-03 9.72446234e-01 -2.57516287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87687500000004 meters 0.029259228691885852 Centerline is valid? [True, True] Translation: X:219.80, Y:-28.66, Z:-25.75 [[ 7.17091316e-01 -6.76833255e-01 -1.66363425e-01 2.19796834e+02] [ 6.56896519e-01 7.36095227e-01 -1.63250664e-01 -2.86610020e+01] [ 2.32952802e-01 7.78207894e-03 9.72456905e-01 -2.57455793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.906875 meters 0.02833143639578754 Centerline is valid? [True, True] Translation: X:219.82, Y:-28.64, Z:-25.74 [[ 7.15220261e-01 -6.78900427e-01 -1.65994544e-01 2.19819725e+02] [ 6.59089332e-01 7.34195519e-01 -1.62966845e-01 -2.86445182e+01] [ 2.32510711e-01 7.15195624e-03 9.72567539e-01 -2.57385887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93687500000004 meters 0.027774692139510573 Centerline is valid? [True, True] Translation: X:219.84, Y:-28.63, Z:-25.73 [[ 7.14102481e-01 -6.80212189e-01 -1.65435863e-01 2.19841374e+02] [ 6.60558489e-01 7.32984275e-01 -1.62470105e-01 -2.86261761e+01] [ 2.31776032e-01 6.74024142e-03 9.72745825e-01 -2.57323233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.966875 meters 0.027946246634121177 Centerline is valid? [True, True] Translation: X:219.86, Y:-28.61, Z:-25.73 [[ 7.13038463e-01 -6.81274749e-01 -1.65652853e-01 2.19861402e+02] [ 6.61578362e-01 7.31999285e-01 -1.62760921e-01 -2.86074876e+01] [ 2.32142675e-01 6.46245394e-03 9.72660277e-01 -2.57268074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99687500000005 meters 0.027424917433556642 Centerline is valid? [True, True] Translation: X:219.88, Y:-28.59, Z:-25.72 [[ 7.12268553e-01 -6.82085607e-01 -1.65628297e-01 2.19881540e+02] [ 6.62409229e-01 7.31245871e-01 -1.62768207e-01 -2.85899004e+01] [ 2.32136860e-01 6.22096347e-03 9.72663240e-01 -2.57206530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.026875 meters 0.02676882482678641 Centerline is valid? [True, True] Translation: X:219.90, Y:-28.57, Z:-25.72 [[ 7.11202446e-01 -6.83086825e-01 -1.66082720e-01 2.19903804e+02] [ 6.63310725e-01 7.30312820e-01 -1.63285232e-01 -2.85727134e+01] [ 2.32830330e-01 5.96440717e-03 9.72499081e-01 -2.57150729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.056875 meters 0.02710415606611964 Centerline is valid? [True, True] Translation: X:219.92, Y:-28.55, Z:-25.71 [[ 7.10787087e-01 -6.83458390e-01 -1.66332038e-01 2.19923141e+02] [ 6.63610651e-01 7.29965477e-01 -1.63619398e-01 -2.85542174e+01] [ 2.33243695e-01 5.91884302e-03 9.72400301e-01 -2.57106541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.086875 meters 0.02772362101435815 Centerline is valid? [True, True] Translation: X:219.94, Y:-28.53, Z:-25.71 [[ 7.10525757e-01 -6.83705089e-01 -1.66434671e-01 2.19941678e+02] [ 6.63819439e-01 7.29734542e-01 -1.63802472e-01 -2.85343860e+01] [ 2.33445712e-01 5.90330484e-03 9.72351917e-01 -2.57064021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.116875 meters 0.02713853763198756 Centerline is valid? [True, True] Translation: X:219.96, Y:-28.52, Z:-25.70 [[ 7.10708357e-01 -6.83564516e-01 -1.66232318e-01 2.19962805e+02] [ 6.63704394e-01 7.29865405e-01 -1.63685576e-01 -2.85167781e+01] [ 2.33216869e-01 6.00358695e-03 9.72406216e-01 -2.56990693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.146875 meters 0.027111730161173405 Centerline is valid? [True, True] Translation: X:219.98, Y:-28.50, Z:-25.69 [[ 7.11686514e-01 -6.82631037e-01 -1.65883009e-01 2.19983111e+02] [ 6.62809246e-01 7.30735510e-01 -1.63430466e-01 -2.84979749e+01] [ 2.32779314e-01 6.36246640e-03 9.72508771e-01 -2.56917424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.176875 meters 0.02712866794810741 Centerline is valid? [True, True] Translation: X:220.00, Y:-28.48, Z:-25.69 [[ 7.12035340e-01 -6.82246862e-01 -1.65966542e-01 2.20003558e+02] [ 6.62375225e-01 7.31092531e-01 -1.63593316e-01 -2.84789186e+01] [ 2.32947926e-01 6.55209698e-03 9.72467138e-01 -2.56858000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.206875 meters 0.0279359753783927 Centerline is valid? [True, True] Translation: X:220.02, Y:-28.46, Z:-25.68 [[ 7.12714321e-01 -6.81548974e-01 -1.65919537e-01 2.20021935e+02] [ 6.61651337e-01 7.31740561e-01 -1.63625367e-01 -2.84587876e+01] [ 2.32928756e-01 6.83725895e-03 9.72469766e-01 -2.56806547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.236875 meters 0.02878949664155326 Centerline is valid? [True, True] Translation: X:220.04, Y:-28.44, Z:-25.67 [[ 7.14041511e-01 -6.80134617e-01 -1.66016936e-01 2.20042212e+02] [ 6.60163788e-01 7.33050489e-01 -1.63770431e-01 -2.84386175e+01] [ 2.33084736e-01 7.34051721e-03 9.72428724e-01 -2.56747967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.266875 meters 0.0283491052903843 Centerline is valid? [True, True] Translation: X:220.06, Y:-28.42, Z:-25.67 [[ 7.14656695e-01 -6.79534374e-01 -1.65827753e-01 2.20063629e+02] [ 6.59575085e-01 7.33604447e-01 -1.63661916e-01 -2.84198765e+01] [ 2.32865875e-01 7.58622991e-03 9.72479272e-01 -2.56681134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.296875 meters 0.02951903131433247 Centerline is valid? [True, True] Translation: X:220.08, Y:-28.40, Z:-25.66 [[ 7.15163910e-01 -6.79087331e-01 -1.65471989e-01 2.20082595e+02] [ 6.59184177e-01 7.34016322e-01 -1.63389902e-01 -2.83986771e+01] [ 2.32415153e-01 7.77404427e-03 9.72585606e-01 -2.56625016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.32687500000003 meters 0.029084430370313497 Centerline is valid? [True, True] Translation: X:220.10, Y:-28.38, Z:-25.65 [[ 7.15557316e-01 -6.78628196e-01 -1.65654758e-01 2.20103855e+02] [ 6.58650434e-01 7.34438528e-01 -1.63644904e-01 -2.83803568e+01] [ 2.32717283e-01 7.98872959e-03 9.72511618e-01 -2.56546180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.356875 meters 0.02994233488929364 Centerline is valid? [True, True] Translation: X:220.12, Y:-28.36, Z:-25.65 [[ 7.16312345e-01 -6.77882297e-01 -1.65445509e-01 2.20123714e+02] [ 6.57917538e-01 7.35123833e-01 -1.63515941e-01 -2.83619231e+01] [ 2.32467498e-01 8.27898552e-03 9.72568928e-01 -2.56486454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.38687500000003 meters 0.029146962829359455 Centerline is valid? [True, True] Translation: X:220.15, Y:-28.34, Z:-25.64 [[ 7.16526121e-01 -6.77644867e-01 -1.65492455e-01 2.20145268e+02] [ 6.57650957e-01 7.35341393e-01 -1.63610067e-01 -2.83444635e+01] [ 2.32562974e-01 8.39461486e-03 9.72545111e-01 -2.56420003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.416875 meters 0.028010364380738707 Centerline is valid? [True, True] Translation: X:220.17, Y:-28.33, Z:-25.64 [[ 7.13951144e-01 -6.80255222e-01 -1.65911414e-01 2.20167890e+02] [ 6.60215621e-01 7.32935890e-01 -1.64074115e-01 -2.83267615e+01] [ 2.33214703e-01 7.60359463e-03 9.72395541e-01 -2.56363671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.44687500000003 meters 0.027165019565817287 Centerline is valid? [True, True] Translation: X:220.19, Y:-28.31, Z:-25.63 [[ 7.10750687e-01 -6.83629326e-01 -1.65784211e-01 2.20188186e+02] [ 6.63692157e-01 7.29799981e-01 -1.64026551e-01 -2.83095471e+01] [ 2.33122674e-01 6.55230338e-03 9.72425260e-01 -2.56311841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.476875 meters 0.025064174836581143 Centerline is valid? [True, True] Translation: X:220.21, Y:-28.30, Z:-25.62 [[ 7.07417124e-01 -6.87479423e-01 -1.64112937e-01 2.20213141e+02] [ 6.68039844e-01 7.26184803e-01 -1.62414278e-01 -2.82959530e+01] [ 2.30832795e-01 5.26066062e-03 9.72979212e-01 -2.56214191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.50687500000004 meters 0.025162127687023177 Centerline is valid? [True, True] Translation: X:220.23, Y:-28.28, Z:-25.62 [[ 7.05865607e-01 -6.89127123e-01 -1.63882745e-01 2.20232106e+02] [ 6.69766734e-01 7.24624719e-01 -1.62269953e-01 -2.82771755e+01] [ 2.30578114e-01 4.77756776e-03 9.73042090e-01 -2.56160992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.536875 meters 0.02417746267740005 Centerline is valid? [True, True] Translation: X:220.25, Y:-28.26, Z:-25.61 [[ 7.03694970e-01 -6.91339705e-01 -1.63898752e-01 2.20254572e+02] [ 6.72014193e-01 7.22518136e-01 -1.62371387e-01 -2.82602030e+01] [ 2.30673607e-01 4.11764083e-03 9.73022472e-01 -2.56102920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56687500000004 meters 0.024208336602347728 Centerline is valid? [True, True] Translation: X:220.27, Y:-28.24, Z:-25.60 [[ 7.03311377e-01 -6.91766234e-01 -1.63745486e-01 2.20274369e+02] [ 6.72468683e-01 7.22110228e-01 -1.62304308e-01 -2.82416684e+01] [ 2.30518930e-01 4.03675521e-03 9.73059468e-01 -2.56046220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.596875 meters 0.023589434110857174 Centerline is valid? [True, True] Translation: X:220.29, Y:-28.22, Z:-25.60 [[ 7.03305067e-01 -6.91837257e-01 -1.63472299e-01 2.20294586e+02] [ 6.72586493e-01 7.22041995e-01 -1.62119609e-01 -2.82237027e+01] [ 2.30194250e-01 4.07028191e-03 9.73136188e-01 -2.55975974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62687500000004 meters 0.023464202831456556 Centerline is valid? [True, True] Translation: X:220.32, Y:-28.21, Z:-25.59 [[ 7.04157216e-01 -6.90944779e-01 -1.63578506e-01 2.20315825e+02] [ 6.71624040e-01 7.22893964e-01 -1.62312863e-01 -2.82057398e+01] [ 2.30399140e-01 4.43051636e-03 9.73086125e-01 -2.55882887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.656875 meters 0.02408831406912047 Centerline is valid? [True, True] Translation: X:220.33, Y:-28.19, Z:-25.58 [[ 7.04135184e-01 -6.91005093e-01 -1.63418494e-01 2.20334375e+02] [ 6.71705279e-01 7.22836093e-01 -1.62234402e-01 -2.81864958e+01] [ 2.30229584e-01 4.46588544e-03 9.73126094e-01 -2.55835540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68687500000004 meters 0.030567910165774665 Centerline is valid? [True, True] Translation: X:220.34, Y:-28.16, Z:-25.59 [[ 7.02191991e-01 -6.93306532e-01 -1.62026111e-01 2.20344402e+02] [ 6.74379962e-01 7.20633105e-01 -1.60933508e-01 -2.81553580e+01] [ 2.28337632e-01 3.73905788e-03 9.73574828e-01 -2.55874056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.716875 meters 0.023783419808249034 Centerline is valid? [True, True] Translation: X:220.37, Y:-28.15, Z:-25.57 [[ 7.03201375e-01 -6.91704536e-01 -1.64476934e-01 2.20374477e+02] [ 6.72128267e-01 7.22167248e-01 -1.63456593e-01 -2.81485162e+01] [ 2.31843522e-01 4.39330478e-03 9.72743173e-01 -2.55717276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74687500000005 meters 0.02448490713010898 Centerline is valid? [True, True] Translation: X:220.39, Y:-28.13, Z:-25.57 [[ 7.02847869e-01 -6.91946472e-01 -1.64969555e-01 2.20392421e+02] [ 6.72238571e-01 7.21935482e-01 -1.64025799e-01 -2.81287478e+01] [ 2.32594448e-01 4.38628562e-03 9.72563922e-01 -2.55680795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.776875 meters 0.024079534007817156 Centerline is valid? [True, True] Translation: X:220.41, Y:-28.11, Z:-25.56 [[ 7.02402426e-01 -6.92253756e-01 -1.65576477e-01 2.20412080e+02] [ 6.72385627e-01 7.21640955e-01 -1.64717637e-01 -2.81093469e+01] [ 2.33513170e-01 4.36682409e-03 9.72343833e-01 -2.55636257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.806875 meters 0.023860286553006087 Centerline is valid? [True, True] Translation: X:220.43, Y:-28.09, Z:-25.56 [[ 7.02345715e-01 -6.92295647e-01 -1.65641885e-01 2.20432018e+02] [ 6.72391381e-01 7.21600440e-01 -1.64871575e-01 -2.80902091e+01] [ 2.33667131e-01 4.42066783e-03 9.72306603e-01 -2.55572978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.836875 meters 0.023570277529368952 Centerline is valid? [True, True] Translation: X:220.45, Y:-28.07, Z:-25.55 [[ 7.01713968e-01 -6.92957236e-01 -1.65552944e-01 2.20450102e+02] [ 6.73070626e-01 7.20966065e-01 -1.64875303e-01 -2.80715433e+01] [ 2.33609588e-01 4.26647919e-03 9.72321118e-01 -2.55510870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.866875 meters 0.02365215170683636 Centerline is valid? [True, True] Translation: X:220.47, Y:-28.05, Z:-25.54 [[ 7.01650308e-01 -6.93119817e-01 -1.65141648e-01 2.20469179e+02] [ 6.73319142e-01 7.20809809e-01 -1.64543470e-01 -2.80515187e+01] [ 2.33084059e-01 4.25894368e-03 9.72447265e-01 -2.55444232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.896875 meters 0.024374641913704666 Centerline is valid? [True, True] Translation: X:220.49, Y:-28.03, Z:-25.54 [[ 7.02080018e-01 -6.92804209e-01 -1.64638930e-01 2.20486511e+02] [ 6.73095976e-01 7.21112220e-01 -1.64130965e-01 -2.80317886e+01] [ 2.32433768e-01 4.41526927e-03 9.72602205e-01 -2.55387766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.926875 meters 0.023925817294540918 Centerline is valid? [True, True] Translation: X:220.51, Y:-28.01, Z:-25.53 [[ 7.02706099e-01 -6.92239511e-01 -1.64342926e-01 2.20505457e+02] [ 6.72572867e-01 7.21652914e-01 -1.63898779e-01 -2.80118778e+01] [ 2.32055762e-01 4.64007908e-03 9.72691417e-01 -2.55305594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.956875 meters 0.024297089056532113 Centerline is valid? [True, True] Translation: X:220.52, Y:-27.99, Z:-25.52 [[ 7.02998514e-01 -6.91943781e-01 -1.64337741e-01 2.20524386e+02] [ 6.72250874e-01 7.21935440e-01 -1.63975556e-01 -2.79917022e+01] [ 2.32103106e-01 4.79838253e-03 9.72679353e-01 -2.55245478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.986875 meters 0.024200216152616884 Centerline is valid? [True, True] Translation: X:220.54, Y:-27.97, Z:-25.52 [[ 7.03937912e-01 -6.90897389e-01 -1.64718590e-01 2.20543386e+02] [ 6.71062475e-01 7.22933977e-01 -1.64443363e-01 -2.79707249e+01] [ 2.32694156e-01 5.22145286e-03 9.72535946e-01 -2.55183899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.016875 meters 0.024757437620801133 Centerline is valid? [True, True] Translation: X:220.56, Y:-27.95, Z:-25.51 [[ 7.04579294e-01 -6.90238193e-01 -1.64739962e-01 2.20560990e+02] [ 6.70360787e-01 7.23561317e-01 -1.64546149e-01 -2.79494546e+01] [ 2.32775500e-01 5.50059898e-03 9.72514941e-01 -2.55142693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.046875 meters 0.02476531803644803 Centerline is valid? [True, True] Translation: X:220.58, Y:-27.93, Z:-25.51 [[ 7.05367852e-01 -6.89450497e-01 -1.64663917e-01 2.20580046e+02] [ 6.69551304e-01 7.24309441e-01 -1.64550552e-01 -2.79288585e+01] [ 2.32717090e-01 5.81772907e-03 9.72527074e-01 -2.55085608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07687500000003 meters 0.025885617095038827 Centerline is valid? [True, True] Translation: X:220.60, Y:-27.91, Z:-25.50 [[ 7.06218562e-01 -6.88625165e-01 -1.64471047e-01 2.20597311e+02] [ 6.68732459e-01 7.25091494e-01 -1.64436078e-01 -2.79075928e+01] [ 2.32491379e-01 6.14068322e-03 9.72579072e-01 -2.55032037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.106875 meters 0.025836504173174884 Centerline is valid? [True, True] Translation: X:220.62, Y:-27.89, Z:-25.50 [[ 7.07787446e-01 -6.86952560e-01 -1.64721315e-01 2.20615946e+02] [ 6.66942741e-01 7.26671050e-01 -1.64731799e-01 -2.78872195e+01] [ 2.32861142e-01 6.73541378e-03 9.72486670e-01 -2.54958951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13687500000003 meters 0.026416127034299217 Centerline is valid? [True, True] Translation: X:220.64, Y:-27.87, Z:-25.49 [[ 7.08380686e-01 -6.86267856e-01 -1.65024946e-01 2.20635436e+02] [ 6.66152844e-01 7.27315111e-01 -1.65085183e-01 -2.78664489e+01] [ 2.33317792e-01 7.01131792e-03 9.72375262e-01 -2.54894824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.166875 meters 0.027059063016512203 Centerline is valid? [True, True] Translation: X:220.65, Y:-27.85, Z:-25.48 [[ 7.08808709e-01 -6.85819905e-01 -1.65049299e-01 2.20653251e+02] [ 6.65668108e-01 7.27735495e-01 -1.65187832e-01 -2.78458873e+01] [ 2.33401337e-01 7.21851942e-03 9.72353695e-01 -2.54840556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19687500000003 meters 0.027590382822233132 Centerline is valid? [True, True] Translation: X:220.67, Y:-27.83, Z:-25.48 [[ 7.08997256e-01 -6.85573398e-01 -1.65263448e-01 2.20672476e+02] [ 6.65350742e-01 7.27966466e-01 -1.65448524e-01 -2.78255786e+01] [ 2.33733355e-01 7.34439175e-03 9.72272996e-01 -2.54782987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.226875 meters 0.025852188983963523 Centerline is valid? [True, True] Translation: X:220.69, Y:-27.81, Z:-25.47 [[ 7.06504874e-01 -6.88063804e-01 -1.65587030e-01 2.20694526e+02] [ 6.67808412e-01 7.25620218e-01 -1.65853024e-01 -2.78081422e+01] [ 2.34270759e-01 6.59555796e-03 9.72149016e-01 -2.54723711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25687500000004 meters 0.025408319205023202 Centerline is valid? [True, True] Translation: X:220.71, Y:-27.79, Z:-25.47 [[ 7.05240446e-01 -6.89456546e-01 -1.65183488e-01 2.20714398e+02] [ 6.69318700e-01 7.24300684e-01 -1.65532463e-01 -2.77891501e+01] [ 2.33769954e-01 6.17979097e-03 9.72272297e-01 -2.54664350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.286875 meters 0.025059832226890174 Centerline is valid? [True, True] Translation: X:220.73, Y:-27.77, Z:-25.46 [[ 7.03852216e-01 -6.90985721e-01 -1.64714270e-01 2.20734247e+02] [ 6.70998186e-01 7.22846119e-01 -1.65090651e-01 -2.77707468e+01] [ 2.33138353e-01 5.67644442e-03 9.72427008e-01 -2.54597736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31687500000004 meters 0.024529256029886766 Centerline is valid? [True, True] Translation: X:220.76, Y:-27.75, Z:-25.45 [[ 7.01520415e-01 -6.93352644e-01 -1.64715567e-01 2.20756287e+02] [ 6.73421314e-01 7.20581680e-01 -1.65123519e-01 -2.77533238e+01] [ 2.33179848e-01 4.91454616e-03 9.72421208e-01 -2.54535879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.346875 meters 0.023783243200811426 Centerline is valid? [True, True] Translation: X:220.78, Y:-27.74, Z:-25.45 [[ 7.00004835e-01 -6.94857210e-01 -1.64823205e-01 2.20777633e+02] [ 6.74922526e-01 7.19133825e-01 -1.65306157e-01 -2.77351088e+01] [ 2.33394117e-01 4.47221549e-03 9.72371938e-01 -2.54466823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37687500000004 meters 0.023248966176044737 Centerline is valid? [True, True] Translation: X:220.80, Y:-27.72, Z:-25.44 [[ 6.98178793e-01 -6.96805846e-01 -1.64341065e-01 2.20798185e+02] [ 6.77022998e-01 7.17249357e-01 -1.64903672e-01 -2.77160950e+01] [ 2.32779366e-01 3.86956636e-03 9.72521873e-01 -2.54399001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.406875 meters 0.02285883996158621 Centerline is valid? [True, True] Translation: X:220.82, Y:-27.70, Z:-25.44 [[ 6.95801058e-01 -6.99170046e-01 -1.64384106e-01 2.20818176e+02] [ 6.79428716e-01 7.14948608e-01 -1.65000327e-01 -2.76983537e+01] [ 2.32889474e-01 3.12012022e-03 9.72498204e-01 -2.54350587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43687500000004 meters 0.02210833509917477 Centerline is valid? [True, True] Translation: X:220.84, Y:-27.68, Z:-25.43 [[ 6.93493391e-01 -7.01748526e-01 -1.63143873e-01 2.20840425e+02] [ 6.82364312e-01 7.12421087e-01 -1.63814348e-01 -2.76812446e+01] [ 2.31183613e-01 2.28061148e-03 9.72907465e-01 -2.54264460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.466875 meters 0.022043189568054445 Centerline is valid? [True, True] Translation: X:220.86, Y:-27.66, Z:-25.42 [[ 6.92699059e-01 -7.02664664e-01 -1.62574240e-01 2.20860986e+02] [ 6.83424764e-01 7.11518293e-01 -1.63316598e-01 -2.76629478e+01] [ 2.30431348e-01 2.02199255e-03 9.73086484e-01 -2.54183868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49687500000005 meters 0.02230921092437941 Centerline is valid? [True, True] Translation: X:220.88, Y:-27.64, Z:-25.41 [[ 6.92690775e-01 -7.02609275e-01 -1.62848693e-01 2.20879232e+02] [ 6.83280663e-01 7.11572734e-01 -1.63681947e-01 -2.76437799e+01] [ 2.30883144e-01 2.10961203e-03 9.72979200e-01 -2.54138541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.526875 meters 0.022493667452072336 Centerline is valid? [True, True] Translation: X:220.90, Y:-27.62, Z:-25.41 [[ 6.92888483e-01 -7.02193011e-01 -1.63800259e-01 2.20896802e+02] [ 6.82603540e-01 7.11982852e-01 -1.64720448e-01 -2.76215260e+01] [ 2.32288523e-01 2.32226498e-03 9.72644153e-01 -2.54093201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.556875 meters 0.022493667452072336 Centerline is valid? [True, True] Translation: X:220.92, Y:-27.60, Z:-25.40 [[ 6.92702135e-01 -7.02386080e-01 -1.63760638e-01 2.20915728e+02] [ 6.82792620e-01 7.11792411e-01 -1.64759830e-01 -2.76022962e+01] [ 2.32288590e-01 2.31493079e-03 9.72644155e-01 -2.54033640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.586875 meters 0.02439442923542156 Centerline is valid? [True, True] Translation: X:220.93, Y:-27.58, Z:-25.40 [[ 6.92561740e-01 -7.02720899e-01 -1.62915851e-01 2.20930398e+02] [ 6.83319877e-01 7.11462050e-01 -1.63999076e-01 -2.75767498e+01] [ 2.31154024e-01 2.25584637e-03 9.72914553e-01 -2.54049705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.616875 meters 0.022849624429954654 Centerline is valid? [True, True] Translation: X:220.95, Y:-27.56, Z:-25.39 [[ 6.94799065e-01 -7.00136793e-01 -1.64507539e-01 2.20951308e+02] [ 6.80255442e-01 7.14001488e-01 -1.65693722e-01 -2.75603587e+01] [ 2.33466898e-01 3.21669411e-03 9.72359430e-01 -2.53916141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.646875 meters 0.023237262890503436 Centerline is valid? [True, True] Translation: X:220.97, Y:-27.54, Z:-25.39 [[ 6.95944306e-01 -6.98981819e-01 -1.64578064e-01 2.20969671e+02] [ 6.79032532e-01 7.15130055e-01 -1.65842771e-01 -2.75386322e+01] [ 2.33615802e-01 3.66347299e-03 9.72322084e-01 -2.53868116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.676875 meters 0.024388921969808557 Centerline is valid? [True, True] Translation: X:220.99, Y:-27.52, Z:-25.38 [[ 6.96741257e-01 -6.98001210e-01 -1.65366052e-01 2.20986629e+02] [ 6.77810784e-01 7.16085000e-01 -1.66717765e-01 -2.75164896e+01] [ 2.34785351e-01 4.07225161e-03 9.72038711e-01 -2.53829053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.706875 meters 0.023919380997465784 Centerline is valid? [True, True] Translation: X:221.01, Y:-27.50, Z:-25.38 [[ 6.97282030e-01 -6.97450289e-01 -1.65411200e-01 2.21006474e+02] [ 6.77213912e-01 7.16620154e-01 -1.66843855e-01 -2.74966954e+01] [ 2.34902295e-01 4.31845642e-03 9.72009394e-01 -2.53751652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.736875 meters 0.024223696811053123 Centerline is valid? [True, True] Translation: X:221.02, Y:-27.47, Z:-25.37 [[ 6.97651612e-01 -6.97076098e-01 -1.65430174e-01 2.21024561e+02] [ 6.76804580e-01 7.16982990e-01 -1.66945959e-01 -2.74748422e+01] [ 2.34984658e-01 4.50621766e-03 9.71988634e-01 -2.53695580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.766875 meters 0.0256741470890404 Centerline is valid? [True, True] Translation: X:221.04, Y:-27.45, Z:-25.37 [[ 6.99519714e-01 -6.95262092e-01 -1.65175041e-01 2.21040459e+02] [ 6.74983068e-01 7.18737694e-01 -1.66775256e-01 -2.74520511e+01] [ 2.34670041e-01 5.17222369e-03 9.72061325e-01 -2.53653261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.796875 meters 0.02487375259839654 Centerline is valid? [True, True] Translation: X:221.06, Y:-27.43, Z:-25.36 [[ 7.00150256e-01 -6.94681677e-01 -1.64945406e-01 2.21060798e+02] [ 6.74429476e-01 7.19296998e-01 -1.66603456e-01 -2.74326831e+01] [ 2.34381103e-01 5.40340827e-03 9.72129776e-01 -2.53570343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.82687500000003 meters 0.025956328959139945 Centerline is valid? [True, True] Translation: X:221.08, Y:-27.41, Z:-25.35 [[ 7.00433743e-01 -6.94401891e-01 -1.64919936e-01 2.21077642e+02] [ 6.74128590e-01 7.19565934e-01 -1.66659866e-01 -2.74111497e+01] [ 2.34399694e-01 5.55695015e-03 9.72124428e-01 -2.53521713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.856875 meters 0.02626439399757154 Centerline is valid? [True, True] Translation: X:221.10, Y:-27.39, Z:-25.35 [[ 7.01581476e-01 -6.93424141e-01 -1.64153564e-01 2.21096555e+02] [ 6.73294142e-01 7.20505318e-01 -1.65973143e-01 -2.73906493e+01] [ 2.33363300e-01 5.92004941e-03 9.72371597e-01 -2.53450818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.88687500000003 meters 0.025772585289212363 Centerline is valid? [True, True] Translation: X:221.12, Y:-27.37, Z:-25.34 [[ 7.01662736e-01 -6.93386036e-01 -1.63967100e-01 2.21116301e+02] [ 6.73282086e-01 7.20541450e-01 -1.65865161e-01 -2.73713449e+01] [ 2.33153678e-01 5.98529182e-03 9.72421482e-01 -2.53376947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.916875 meters 0.026512442811056927 Centerline is valid? [True, True] Translation: X:221.13, Y:-27.35, Z:-25.33 [[ 7.01772046e-01 -6.93305860e-01 -1.63838275e-01 2.21133840e+02] [ 6.73209943e-01 7.20617849e-01 -1.65826081e-01 -2.73514451e+01] [ 2.33032979e-01 6.07455270e-03 9.72449860e-01 -2.53322888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.94687500000003 meters 0.026384850187120192 Centerline is valid? [True, True] Translation: X:221.15, Y:-27.33, Z:-25.33 [[ 7.02509792e-01 -6.92706973e-01 -1.63208587e-01 2.21152487e+02] [ 6.72731774e-01 7.21191543e-01 -1.65271651e-01 -2.73312965e+01] [ 2.32189477e-01 6.30935093e-03 9.72650111e-01 -2.53252284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.976875 meters 0.02637419431724725 Centerline is valid? [True, True] Translation: X:221.17, Y:-27.31, Z:-25.32 [[ 7.02618018e-01 -6.92665800e-01 -1.62917190e-01 2.21171509e+02] [ 6.72740933e-01 7.21230501e-01 -1.65064234e-01 -2.73115708e+01] [ 2.31835196e-01 6.37604278e-03 9.72734182e-01 -2.53190107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.00687500000004 meters 0.026723957828528763 Centerline is valid? [True, True] Translation: X:221.19, Y:-27.29, Z:-25.31 [[ 7.02664692e-01 -6.92630171e-01 -1.62867359e-01 2.21190642e+02] [ 6.72695015e-01 7.21264030e-01 -1.65104863e-01 -2.72913255e+01] [ 2.31826977e-01 6.45329762e-03 9.72735631e-01 -2.53129489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.036875 meters 0.02625753556052783 Centerline is valid? [True, True] Translation: X:221.21, Y:-27.27, Z:-25.31 [[ 7.02430879e-01 -6.92940782e-01 -1.62554400e-01 2.21211011e+02] [ 6.73070263e-01 7.20966061e-01 -1.64876803e-01 -2.72728745e+01] [ 2.31446067e-01 6.40402452e-03 9.72826658e-01 -2.53061455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06687500000004 meters 0.026846911247373356 Centerline is valid? [True, True] Translation: X:221.23, Y:-27.25, Z:-25.30 [[ 7.02330777e-01 -6.93109099e-01 -1.62269087e-01 2.21230401e+02] [ 6.73291953e-01 7.20804243e-01 -1.64679049e-01 -2.72531277e+01] [ 2.31104794e-01 6.40469377e-03 9.72907783e-01 -2.53006544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.096875 meters 0.0256401620487615 Centerline is valid? [True, True] Translation: X:221.25, Y:-27.23, Z:-25.29 [[ 7.01483698e-01 -6.94066047e-01 -1.61842343e-01 2.21251390e+02] [ 6.74358268e-01 7.19885152e-01 -1.64335919e-01 -2.72345615e+01] [ 2.30567881e-01 6.13924649e-03 9.73036876e-01 -2.52933833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12687500000004 meters 0.025893395016568413 Centerline is valid? [True, True] Translation: X:221.27, Y:-27.22, Z:-25.29 [[ 7.00895725e-01 -6.94739296e-01 -1.61500755e-01 2.21270144e+02] [ 6.75114428e-01 7.19236915e-01 -1.64069402e-01 -2.72153977e+01] [ 2.30142766e-01 5.96405270e-03 9.73138601e-01 -2.52870940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.156875 meters 0.025889700848898495 Centerline is valid? [True, True] Translation: X:221.29, Y:-27.20, Z:-25.28 [[ 7.00156654e-01 -6.95596341e-01 -1.61016737e-01 2.21290105e+02] [ 6.76097174e-01 7.18410107e-01 -1.63644518e-01 -2.71966648e+01] [ 2.29506579e-01 5.71383749e-03 9.73290338e-01 -2.52799898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18687500000004 meters 0.025339144227331616 Centerline is valid? [True, True] Translation: X:221.31, Y:-27.18, Z:-25.27 [[ 6.99817127e-01 -6.96023015e-01 -1.60648533e-01 2.21310665e+02] [ 6.76617844e-01 7.17997760e-01 -1.63301899e-01 -2.71785850e+01] [ 2.29007167e-01 5.58380198e-03 9.73408721e-01 -2.52730184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.216875 meters 0.025228190786605258 Centerline is valid? [True, True] Translation: X:221.33, Y:-27.16, Z:-25.27 [[ 6.99573689e-01 -6.96246120e-01 -1.60742009e-01 2.21330187e+02] [ 6.76803253e-01 7.17781456e-01 -1.63484365e-01 -2.71594262e+01] [ 2.29202988e-01 5.57864545e-03 9.73362660e-01 -2.52667260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24687500000005 meters 0.025966712917081174 Centerline is valid? [True, True] Translation: X:221.35, Y:-27.14, Z:-25.26 [[ 6.99952120e-01 -6.95721328e-01 -1.61365617e-01 2.21348540e+02] [ 6.76097904e-01 7.18288247e-01 -1.64175570e-01 -2.71388342e+01] [ 2.30127472e-01 5.81608252e-03 9.73143114e-01 -2.52623628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.276875 meters 0.02643015092934978 Centerline is valid? [True, True] Translation: X:221.37, Y:-27.12, Z:-25.26 [[ 7.00456520e-01 -6.95147848e-01 -1.61648175e-01 2.21366540e+02] [ 6.75428401e-01 7.18841332e-01 -1.64510226e-01 -2.71184739e+01] [ 2.30558319e-01 6.05049194e-03 9.73039698e-01 -2.52577101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.306875 meters 0.026797530724034426 Centerline is valid? [True, True] Translation: X:221.38, Y:-27.10, Z:-25.25 [[ 7.00827871e-01 -6.94768145e-01 -1.61671025e-01 2.21384156e+02] [ 6.75022257e-01 7.19206966e-01 -1.64579138e-01 -2.70982354e+01] [ 2.30619270e-01 6.21010664e-03 9.73024248e-01 -2.52522614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.336875 meters 0.02681807591823054 Centerline is valid? [True, True] Translation: X:221.40, Y:-27.08, Z:-25.25 [[ 7.01973973e-01 -6.93648138e-01 -1.61507899e-01 2.21403974e+02] [ 6.73899737e-01 7.20283635e-01 -1.64470757e-01 -2.70782894e+01] [ 2.30416331e-01 6.61406017e-03 9.73069663e-01 -2.52454456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.366875 meters 0.027115220029015154 Centerline is valid? [True, True] Translation: X:221.42, Y:-27.06, Z:-25.24 [[ 7.02674926e-01 -6.92923256e-01 -1.61571377e-01 2.21423604e+02] [ 6.73121443e-01 7.20978201e-01 -1.64614568e-01 -2.70578563e+01] [ 2.30554703e-01 6.91337086e-03 9.73034806e-01 -2.52388357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.396875 meters 0.02785223328563187 Centerline is valid? [True, True] Translation: X:221.44, Y:-27.04, Z:-25.23 [[ 7.04697258e-01 -6.90819741e-01 -1.61771015e-01 2.21441827e+02] [ 6.70894396e-01 7.22986323e-01 -1.64898412e-01 -2.70366450e+01] [ 2.30873310e-01 7.67219171e-03 9.72953572e-01 -2.52336121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.426875 meters 0.028838224444833773 Centerline is valid? [True, True] Translation: X:221.46, Y:-27.02, Z:-25.23 [[ 7.05599795e-01 -6.89951335e-01 -1.61542823e-01 2.21459188e+02] [ 6.70040400e-01 7.23811459e-01 -1.64750827e-01 -2.70150762e+01] [ 2.30596600e-01 8.00793208e-03 9.73016485e-01 -2.52281900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.456875 meters 0.028263995623361234 Centerline is valid? [True, True] Translation: X:221.48, Y:-27.00, Z:-25.22 [[ 7.06307160e-01 -6.89234416e-01 -1.61511969e-01 2.21479139e+02] [ 6.69300384e-01 7.24491114e-01 -1.64771423e-01 -2.69958963e+01] [ 2.30580122e-01 8.27921316e-03 9.73018120e-01 -2.52220042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.486875 meters 0.030541193974479606 Centerline is valid? [True, True] Translation: X:221.50, Y:-26.97, Z:-25.22 [[ 7.06565298e-01 -6.88969863e-01 -1.61511635e-01 2.21495389e+02] [ 6.69017673e-01 7.24741294e-01 -1.64819323e-01 -2.69729501e+01] [ 2.30609698e-01 8.40147599e-03 9.73010063e-01 -2.52178086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.516875 meters 0.028818926288329976 Centerline is valid? [True, True] Translation: X:221.52, Y:-26.96, Z:-25.21 [[ 7.06747825e-01 -6.88568120e-01 -1.62423692e-01 2.21518143e+02] [ 6.68363983e-01 7.25120415e-01 -1.65800997e-01 -2.69563761e+01] [ 2.31942016e-01 8.62134828e-03 9.72691407e-01 -2.52108230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.546875 meters 0.028515698408281637 Centerline is valid? [True, True] Translation: X:221.54, Y:-26.94, Z:-25.21 [[ 7.05166071e-01 -6.90084123e-01 -1.62864099e-01 2.21538686e+02] [ 6.69789309e-01 7.23682644e-01 -1.66330130e-01 -2.69385612e+01] [ 2.32643703e-01 8.20573213e-03 9.72527415e-01 -2.52056710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57687500000003 meters 0.027820462470514555 Centerline is valid? [True, True] Translation: X:221.56, Y:-26.92, Z:-25.20 [[ 7.02557351e-01 -6.92677970e-01 -1.63126938e-01 2.21559011e+02] [ 6.72377051e-01 7.21209175e-01 -1.66632609e-01 -2.69205479e+01] [ 2.33071381e-01 7.38615510e-03 9.72431579e-01 -2.52007503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.606875 meters 0.02697927160137555 Centerline is valid? [True, True] Translation: X:221.58, Y:-26.90, Z:-25.19 [[ 7.00457117e-01 -6.94873300e-01 -1.62821755e-01 2.21580732e+02] [ 6.74685371e-01 7.19100856e-01 -1.66413968e-01 -2.69031988e+01] [ 2.32721886e-01 6.71239225e-03 9.72520163e-01 -2.51941648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63687500000003 meters 0.025585106114113042 Centerline is valid? [True, True] Translation: X:221.60, Y:-26.89, Z:-25.19 [[ 6.97006661e-01 -6.98737174e-01 -1.61084066e-01 2.21602866e+02] [ 6.79064071e-01 7.15357869e-01 -1.64727372e-01 -2.68881256e+01] [ 2.30333893e-01 5.42967378e-03 9.73096509e-01 -2.51859082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.666875 meters 0.024480552521552613 Centerline is valid? [True, True] Translation: X:221.62, Y:-26.87, Z:-25.18 [[ 6.94874144e-01 -7.00933187e-01 -1.60756311e-01 2.21624704e+02] [ 6.81377906e-01 7.13211069e-01 -1.64481367e-01 -2.68709612e+01] [ 2.29943629e-01 4.75805062e-03 9.73192318e-01 -2.51789759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69687500000003 meters 0.023005412048367636 Centerline is valid? [True, True] Translation: X:221.65, Y:-26.86, Z:-25.17 [[ 6.91422412e-01 -7.04533658e-01 -1.59898007e-01 2.21649195e+02] [ 6.85264042e-01 7.09661416e-01 -1.63688323e-01 -2.68571961e+01] [ 2.28797378e-01 3.60542053e-03 9.73467391e-01 -2.51718602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.726875 meters 0.023717553901294434 Centerline is valid? [True, True] Translation: X:221.67, Y:-26.84, Z:-25.17 [[ 6.88525057e-01 -7.07670271e-01 -1.58543472e-01 2.21667113e+02] [ 6.88791192e-01 7.06538033e-01 -1.62390585e-01 -2.68359030e+01] [ 2.26935982e-01 2.60663937e-03 9.73906189e-01 -2.51692150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75687500000004 meters 0.02193002634780434 Centerline is valid? [True, True] Translation: X:221.69, Y:-26.82, Z:-25.16 [[ 6.89064366e-01 -7.07015746e-01 -1.59119557e-01 2.21691406e+02] [ 6.87959349e-01 7.07191869e-01 -1.63069297e-01 -2.68220077e+01] [ 2.27820618e-01 2.89745559e-03 9.73698809e-01 -2.51582177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.786875 meters 0.02186510755455907 Centerline is valid? [True, True] Translation: X:221.71, Y:-26.80, Z:-25.15 [[ 6.88621473e-01 -7.07494401e-01 -1.58909214e-01 2.21711641e+02] [ 6.88484139e-01 7.06713443e-01 -1.62928513e-01 -2.68031497e+01] [ 2.27574289e-01 2.78959949e-03 9.73756726e-01 -2.51521142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81687500000004 meters 0.021604106947405888 Centerline is valid? [True, True] Translation: X:221.73, Y:-26.79, Z:-25.15 [[ 6.87182009e-01 -7.08919221e-01 -1.58790505e-01 2.21731364e+02] [ 6.89954018e-01 7.05285661e-01 -1.62897483e-01 -2.67858407e+01] [ 2.27473824e-01 2.38207261e-03 9.73781282e-01 -2.51460163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.846875 meters 0.02159940145524264 Centerline is valid? [True, True] Translation: X:221.75, Y:-26.77, Z:-25.14 [[ 6.86577342e-01 -7.09514631e-01 -1.58746785e-01 2.21751489e+02] [ 6.90559013e-01 7.04687157e-01 -1.62924094e-01 -2.67670203e+01] [ 2.27463849e-01 2.23596837e-03 9.73783959e-01 -2.51395902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87687500000004 meters 0.02161045566313226 Centerline is valid? [True, True] Translation: X:221.77, Y:-26.75, Z:-25.13 [[ 6.85860063e-01 -7.10125138e-01 -1.59117136e-01 2.21771262e+02] [ 6.91074426e-01 7.04072338e-01 -1.63396083e-01 -2.67474585e+01] [ 2.28061640e-01 2.10506440e-03 9.73644420e-01 -2.51335790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.906875 meters 0.02169440088633238 Centerline is valid? [True, True] Translation: X:221.79, Y:-26.73, Z:-25.13 [[ 6.85955700e-01 -7.10013224e-01 -1.59204267e-01 2.21790388e+02] [ 6.90916882e-01 7.04184875e-01 -1.63577275e-01 -2.67270703e+01] [ 2.28251265e-01 2.20984840e-03 9.73599752e-01 -2.51287266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93687500000004 meters 0.021631547103896174 Centerline is valid? [True, True] Translation: X:221.81, Y:-26.71, Z:-25.12 [[ 6.86134061e-01 -7.09814510e-01 -1.59321726e-01 2.21808607e+02] [ 6.90662712e-01 7.04384743e-01 -1.63789963e-01 -2.67060961e+01] [ 2.28484285e-01 2.34429727e-03 9.73544778e-01 -2.51231799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.966875 meters 0.021977866706447052 Centerline is valid? [True, True] Translation: X:221.83, Y:-26.68, Z:-25.12 [[ 6.87414701e-01 -7.08610052e-01 -1.59162880e-01 2.21826459e+02] [ 6.89443969e-01 7.05594723e-01 -1.63716526e-01 -2.66835485e+01] [ 2.28315664e-01 2.80725902e-03 9.73583112e-01 -2.51178966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99687500000005 meters 0.022362065954798893 Centerline is valid? [True, True] Translation: X:221.84, Y:-26.66, Z:-25.11 [[ 6.88122562e-01 -7.07937976e-01 -1.59094816e-01 2.21842960e+02] [ 6.88752152e-01 7.06267863e-01 -1.63725924e-01 -2.66626739e+01] [ 2.28271355e-01 3.08660523e-03 9.73592657e-01 -2.51130895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.026875 meters 0.022711183259936662 Centerline is valid? [True, True] Translation: X:221.86, Y:-26.64, Z:-25.11 [[ 6.88846413e-01 -7.07251819e-01 -1.59014099e-01 2.21861239e+02] [ 6.88053613e-01 7.06953749e-01 -1.63702848e-01 -2.66423443e+01] [ 2.28194751e-01 3.35589448e-03 9.73609724e-01 -2.51070887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.056875 meters 0.02277874573875728 Centerline is valid? [True, True] Translation: X:221.88, Y:-26.62, Z:-25.10 [[ 6.89230187e-01 -7.06904749e-01 -1.58894386e-01 2.21879647e+02] [ 6.87705936e-01 7.07299934e-01 -1.63668408e-01 -2.66218714e+01] [ 2.28083964e-01 3.53259480e-03 9.73635058e-01 -2.51006284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.086875 meters 0.023200727813798262 Centerline is valid? [True, True] Translation: X:221.90, Y:-26.60, Z:-25.09 [[ 6.89934700e-01 -7.06285394e-01 -1.58590833e-01 2.21897657e+02] [ 6.87123854e-01 7.07917044e-01 -1.63444999e-01 -2.66004741e+01] [ 2.27707970e-01 3.79483216e-03 9.73722075e-01 -2.50933431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.116875 meters 0.023099413986391093 Centerline is valid? [True, True] Translation: X:221.92, Y:-26.58, Z:-25.09 [[ 6.90385898e-01 -7.05833325e-01 -1.58639937e-01 2.21916133e+02] [ 6.86627499e-01 7.08366604e-01 -1.63583102e-01 -2.65793601e+01] [ 2.27837638e-01 4.00892333e-03 9.73690885e-01 -2.50872857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.146875 meters 0.024095879612737545 Centerline is valid? [True, True] Translation: X:221.93, Y:-26.56, Z:-25.08 [[ 6.90889227e-01 -7.05387771e-01 -1.58430328e-01 2.21932477e+02] [ 6.86201677e-01 7.08809103e-01 -1.63453093e-01 -2.65575411e+01] [ 2.27594672e-01 4.21282388e-03 9.73746845e-01 -2.50828205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.176875 meters 0.02379698491165428 Centerline is valid? [True, True] Translation: X:221.95, Y:-26.54, Z:-25.08 [[ 6.91283647e-01 -7.05038544e-01 -1.58264244e-01 2.21951743e+02] [ 6.85865678e-01 7.09155456e-01 -1.63360984e-01 -2.65379461e+01] [ 2.27409742e-01 4.38076383e-03 9.73789309e-01 -2.50766559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.206875 meters 0.023787495596589908 Centerline is valid? [True, True] Translation: X:221.97, Y:-26.52, Z:-25.07 [[ 6.89873753e-01 -7.06177462e-01 -1.59334858e-01 2.21970537e+02] [ 6.86757963e-01 7.08023164e-01 -1.64519602e-01 -2.65178624e+01] [ 2.28992805e-01 4.07327326e-03 9.73419593e-01 -2.50738817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.236875 meters 0.023087061309974052 Centerline is valid? [True, True] Translation: X:221.99, Y:-26.50, Z:-25.07 [[ 6.88847604e-01 -7.07165043e-01 -1.59394417e-01 2.21990824e+02] [ 6.87741856e-01 7.07038341e-01 -1.64644842e-01 -2.64995800e+01] [ 2.29129041e-01 3.79299235e-03 9.73388666e-01 -2.50674417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.266875 meters 0.023251541089434166 Centerline is valid? [True, True] Translation: X:222.01, Y:-26.48, Z:-25.06 [[ 6.88182990e-01 -7.07744614e-01 -1.59692622e-01 2.22010856e+02] [ 6.88241794e-01 7.06458827e-01 -1.65042901e-01 -2.64801567e+01] [ 2.29624486e-01 3.67258074e-03 9.73272371e-01 -2.50612943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.296875 meters 0.02291637875841609 Centerline is valid? [True, True] Translation: X:222.03, Y:-26.46, Z:-25.05 [[ 6.87706907e-01 -7.08299918e-01 -1.59280996e-01 2.22030014e+02] [ 6.88892137e-01 7.05902732e-01 -1.64708703e-01 -2.64610937e+01] [ 2.29100051e-01 3.54388730e-03 9.73396429e-01 -2.50546008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.32687500000003 meters 0.02270876738523522 Centerline is valid? [True, True] Translation: X:222.05, Y:-26.44, Z:-25.05 [[ 6.87214797e-01 -7.08845270e-01 -1.58978633e-01 2.22049318e+02] [ 6.89505303e-01 7.05355713e-01 -1.64486341e-01 -2.64421459e+01] [ 2.28731852e-01 3.42083663e-03 9.73483455e-01 -2.50473097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.356875 meters 0.02241672244743811 Centerline is valid? [True, True] Translation: X:222.07, Y:-26.42, Z:-25.04 [[ 6.86837020e-01 -7.09382240e-01 -1.58214240e-01 2.22068713e+02] [ 6.90223282e-01 7.04816293e-01 -1.63785880e-01 -2.64234513e+01] [ 2.27698768e-01 3.29105350e-03 9.73726060e-01 -2.50401446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.38687500000003 meters 0.0226723219903835 Centerline is valid? [True, True] Translation: X:222.09, Y:-26.40, Z:-25.03 [[ 6.86423621e-01 -7.09936538e-01 -1.57520550e-01 2.22086428e+02] [ 6.90941358e-01 7.04258579e-01 -1.63156040e-01 -2.64038320e+01] [ 2.26765633e-01 3.15669742e-03 9.73944240e-01 -2.50342983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.416875 meters 0.0226723219903835 Centerline is valid? [True, True] Translation: X:222.11, Y:-26.38, Z:-25.03 [[ 6.86237239e-01 -7.10123398e-01 -1.57490351e-01 2.22105078e+02] [ 6.91126387e-01 7.04070247e-01 -1.63185185e-01 -2.63843385e+01] [ 2.26765889e-01 3.13801400e-03 9.73944241e-01 -2.50283363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.44687500000003 meters 0.022392074297838613 Centerline is valid? [True, True] Translation: X:222.12, Y:-26.37, Z:-25.02 [[ 6.86119359e-01 -7.10329186e-01 -1.57075374e-01 2.22124655e+02] [ 6.91418509e-01 7.03862688e-01 -1.62842750e-01 -2.63658956e+01] [ 2.26231453e-01 3.12474189e-03 9.74068563e-01 -2.50214623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.476875 meters 0.022408408019744433 Centerline is valid? [True, True] Translation: X:222.14, Y:-26.35, Z:-25.02 [[ 6.85801209e-01 -7.10906863e-01 -1.55846507e-01 2.22143382e+02] [ 6.92290017e-01 7.03279890e-01 -1.61653732e-01 -2.63469813e+01] [ 2.24524461e-01 2.97134370e-03 9.74463923e-01 -2.50152168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.50687500000004 meters 0.022130898914066704 Centerline is valid? [True, True] Translation: X:222.16, Y:-26.33, Z:-25.01 [[ 6.85230049e-01 -7.11546127e-01 -1.55440949e-01 2.22162453e+02] [ 6.93027256e-01 7.02633786e-01 -1.61304014e-01 -2.63276641e+01] [ 2.23993309e-01 2.80554353e-03 9.74586644e-01 -2.50089178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.536875 meters 0.02235416046024682 Centerline is valid? [True, True] Translation: X:222.18, Y:-26.31, Z:-25.00 [[ 6.85002400e-01 -7.11769936e-01 -1.55419659e-01 2.22180678e+02] [ 6.93241422e-01 7.02407104e-01 -1.61370973e-01 -2.63076652e+01] [ 2.24026879e-01 2.79615876e-03 9.74578955e-01 -2.50036164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56687500000004 meters 0.022259744242212585 Centerline is valid? [True, True] Translation: X:222.20, Y:-26.29, Z:-25.00 [[ 6.84859967e-01 -7.11819818e-01 -1.55818396e-01 2.22199567e+02] [ 6.93177339e-01 7.02356354e-01 -1.61866393e-01 -2.62879586e+01] [ 2.24659747e-01 2.84603129e-03 9.74433116e-01 -2.49982082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.596875 meters 0.022353757045708005 Centerline is valid? [True, True] Translation: X:222.22, Y:-26.27, Z:-24.99 [[ 6.84862497e-01 -7.11789657e-01 -1.55945001e-01 2.22218398e+02] [ 6.93095314e-01 7.02386607e-01 -1.62086212e-01 -2.62682980e+01] [ 2.24904970e-01 2.92201880e-03 9.74376322e-01 -2.49924311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62687500000004 meters 0.0225504543571446 Centerline is valid? [True, True] Translation: X:222.24, Y:-26.25, Z:-24.99 [[ 6.85653248e-01 -7.10908803e-01 -1.56487370e-01 2.22237029e+02] [ 6.92038859e-01 7.03276519e-01 -1.62740147e-01 -2.62470843e+01] [ 2.25747296e-01 3.28796917e-03 9.74180347e-01 -2.49865314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.656875 meters 0.0225504543571446 Centerline is valid? [True, True] Translation: X:222.26, Y:-26.23, Z:-24.98 [[ 6.85459541e-01 -7.11104354e-01 -1.56447486e-01 2.22255648e+02] [ 6.92230690e-01 7.03078827e-01 -1.62778481e-01 -2.62275509e+01] [ 2.25747401e-01 3.28031209e-03 9.74180348e-01 -2.49805753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68687500000004 meters 0.022542442074777503 Centerline is valid? [True, True] Translation: X:222.27, Y:-26.21, Z:-24.98 [[ 6.86366232e-01 -7.10265045e-01 -1.56284872e-01 2.22274236e+02] [ 6.91388666e-01 7.03925050e-01 -1.62699838e-01 -2.62055971e+01] [ 2.25572844e-01 3.61808521e-03 9.74219586e-01 -2.49751306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.716875 meters 0.023150940657945956 Centerline is valid? [True, True] Translation: X:222.29, Y:-26.18, Z:-24.97 [[ 6.86891820e-01 -7.09701466e-01 -1.56535799e-01 2.22292021e+02] [ 6.90730613e-01 7.04491925e-01 -1.63040943e-01 -2.61843838e+01] [ 2.25988602e-01 3.86742192e-03 9.74122269e-01 -2.49700544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74687500000005 meters 0.023356765723050264 Centerline is valid? [True, True] Translation: X:222.31, Y:-26.16, Z:-24.97 [[ 6.87194890e-01 -7.09329533e-01 -1.56891035e-01 2.22309468e+02] [ 6.90242519e-01 7.04865333e-01 -1.63493509e-01 -2.61640775e+01] [ 2.26557825e-01 4.05904081e-03 9.73989259e-01 -2.49655015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.776875 meters 0.023301747038848835 Centerline is valid? [True, True] Translation: X:222.33, Y:-26.14, Z:-24.96 [[ 6.87416692e-01 -7.09005788e-01 -1.57381970e-01 2.22329165e+02] [ 6.89769615e-01 7.05189915e-01 -1.64088583e-01 -2.61438209e+01] [ 2.27323933e-01 4.23993027e-03 9.73809967e-01 -2.49603091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.806875 meters 0.023190182232755437 Centerline is valid? [True, True] Translation: X:222.35, Y:-26.12, Z:-24.96 [[ 6.86692443e-01 -7.09688093e-01 -1.57468408e-01 2.22348725e+02] [ 6.90429425e-01 7.04504229e-01 -1.64258940e-01 -2.61237962e+01] [ 2.27509774e-01 4.07455008e-03 9.73767273e-01 -2.49553234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.836875 meters 0.02306319929870271 Centerline is valid? [True, True] Translation: X:222.37, Y:-26.10, Z:-24.95 [[ 6.85803628e-01 -7.10618400e-01 -1.57146028e-01 2.22368026e+02] [ 6.91442550e-01 7.03567247e-01 -1.64013197e-01 -2.61042237e+01] [ 2.27113594e-01 3.82339561e-03 9.73860769e-01 -2.49496963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.866875 meters 0.023004541753413352 Centerline is valid? [True, True] Translation: X:222.39, Y:-26.09, Z:-24.94 [[ 6.84813344e-01 -7.11499765e-01 -1.57476248e-01 2.22387405e+02] [ 6.92245483e-01 7.02677114e-01 -1.64441676e-01 -2.60851685e+01] [ 2.27655170e-01 3.59963254e-03 9.73735162e-01 -2.49438100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.896875 meters 0.02259879526155709 Centerline is valid? [True, True] Translation: X:222.41, Y:-26.07, Z:-24.94 [[ 6.83417395e-01 -7.12834623e-01 -1.57503856e-01 2.22407518e+02] [ 6.93586809e-01 7.01324758e-01 -1.64562825e-01 -2.60669063e+01] [ 2.27767433e-01 3.22249996e-03 9.73710230e-01 -2.49367432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.926875 meters 0.022687981182157396 Centerline is valid? [True, True] Translation: X:222.43, Y:-26.05, Z:-24.93 [[ 6.82771613e-01 -7.13456497e-01 -1.57488891e-01 2.22427145e+02] [ 6.94207724e-01 7.00692760e-01 -1.64636847e-01 -2.60472311e+01] [ 2.27812554e-01 3.07936106e-03 9.73700137e-01 -2.49305035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.956875 meters 0.022413636988466164 Centerline is valid? [True, True] Translation: X:222.45, Y:-26.03, Z:-24.93 [[ 6.81960727e-01 -7.14275365e-01 -1.57290399e-01 2.22445997e+02] [ 6.95075987e-01 6.99858900e-01 -1.64520188e-01 -2.60279435e+01] [ 2.27593803e-01 2.86752793e-03 9.73751939e-01 -2.49252753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.986875 meters 0.022264577668124497 Centerline is valid? [True, True] Translation: X:222.47, Y:-26.01, Z:-24.92 [[ 6.79836040e-01 -7.16482614e-01 -1.56446866e-01 2.22466311e+02] [ 6.97531603e-01 6.97601570e-01 -1.63712284e-01 -2.60099075e+01] [ 2.26434585e-01 2.17087733e-03 9.74023956e-01 -2.49184751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.016875 meters 0.021780027648773282 Centerline is valid? [True, True] Translation: X:222.49, Y:-25.99, Z:-24.91 [[ 6.78828599e-01 -7.17710942e-01 -1.55186135e-01 2.22486307e+02] [ 6.99080388e-01 6.96338811e-01 -1.62477295e-01 -2.59910852e+01] [ 2.24673861e-01 1.80665084e-03 9.74432343e-01 -2.49104972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.046875 meters 0.022012138584390665 Centerline is valid? [True, True] Translation: X:222.51, Y:-25.97, Z:-24.90 [[ 6.77433847e-01 -7.19056748e-01 -1.55050879e-01 2.22505648e+02] [ 7.00474957e-01 6.94949914e-01 -1.62417526e-01 -2.59729048e+01] [ 2.24540014e-01 1.41787185e-03 9.74463838e-01 -2.49039561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07687500000003 meters 0.021784052289144956 Centerline is valid? [True, True] Translation: X:222.52, Y:-25.95, Z:-24.90 [[ 6.75717278e-01 -7.20844470e-01 -1.54238163e-01 2.22524776e+02] [ 7.02483945e-01 6.93096288e-01 -1.61659650e-01 -2.59549288e+01] [ 2.23433363e-01 8.86385382e-04 9.74718804e-01 -2.48978938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.106875 meters 0.021424409591719967 Centerline is valid? [True, True] Translation: X:222.55, Y:-25.94, Z:-24.89 [[ 6.72505364e-01 -7.23729349e-01 -1.54765518e-01 2.22545852e+02] [ 7.05295301e-01 6.90083929e-01 -1.62304371e-01 -2.59372003e+01] [ 2.24265634e-01 -4.83196131e-06 9.74528053e-01 -2.48919061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13687500000003 meters 0.021628001910854667 Centerline is valid? [True, True] Translation: X:222.57, Y:-25.92, Z:-24.89 [[ 6.70925261e-01 -7.25069966e-01 -1.55347478e-01 2.22565672e+02] [ 7.06510530e-01 6.88675098e-01 -1.63001474e-01 -2.59173458e+01] [ 2.25171413e-01 -3.92822027e-04 9.74319086e-01 -2.48864802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.166875 meters 0.021751264726313512 Centerline is valid? [True, True] Translation: X:222.58, Y:-25.90, Z:-24.88 [[ 6.69498732e-01 -7.26299539e-01 -1.55757592e-01 2.22584933e+02] [ 7.07651845e-01 6.87377937e-01 -1.63525037e-01 -2.58976461e+01] [ 2.25832491e-01 -7.42342075e-04 9.74165866e-01 -2.48814089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19687500000003 meters 0.022026494521798314 Centerline is valid? [True, True] Translation: X:222.60, Y:-25.88, Z:-24.88 [[ 6.68188731e-01 -7.27467803e-01 -1.55930806e-01 2.22603969e+02] [ 7.08788062e-01 6.86140980e-01 -1.63798776e-01 -2.58780822e+01] [ 2.26148852e-01 -1.07339756e-03 9.74092164e-01 -2.48770293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.226875 meters 0.02201450565115815 Centerline is valid? [True, True] Translation: X:222.62, Y:-25.86, Z:-24.87 [[ 6.65790080e-01 -7.29575227e-01 -1.56344358e-01 2.22623254e+02] [ 7.10829662e-01 6.83898393e-01 -1.64329484e-01 -2.58584669e+01] [ 2.26814376e-01 -1.72526727e-03 9.73936478e-01 -2.48702967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25687500000004 meters 0.022222440906871192 Centerline is valid? [True, True] Translation: X:222.64, Y:-25.84, Z:-24.86 [[ 6.64929624e-01 -7.30283142e-01 -1.56700758e-01 2.22641786e+02] [ 7.11449379e-01 6.83141925e-01 -1.64793482e-01 -2.58390468e+01] [ 2.27394759e-01 -1.90858899e-03 9.73800791e-01 -2.48647785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.286875 meters 0.022648411201135695 Centerline is valid? [True, True] Translation: X:222.66, Y:-25.82, Z:-24.86 [[ 6.64477551e-01 -7.30733010e-01 -1.56521090e-01 2.22659951e+02] [ 7.11936216e-01 6.82660426e-01 -1.64686271e-01 -2.58188720e+01] [ 2.27192448e-01 -2.00270278e-03 9.73847822e-01 -2.48598384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31687500000004 meters 0.02290583487253131 Centerline is valid? [True, True] Translation: X:222.68, Y:-25.80, Z:-24.85 [[ 6.63913137e-01 -7.31396305e-01 -1.55816530e-01 2.22677852e+02] [ 7.12773872e-01 6.81949203e-01 -1.64008207e-01 -2.57994663e+01] [ 2.26213955e-01 -2.17474798e-03 9.74075211e-01 -2.48548378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.346875 meters 0.022763093425904168 Centerline is valid? [True, True] Translation: X:222.69, Y:-25.78, Z:-24.85 [[ 6.63229796e-01 -7.32129940e-01 -1.55280352e-01 2.22694873e+02] [ 7.13635020e-01 6.81160942e-01 -1.63538466e-01 -2.57783405e+01] [ 2.25502318e-01 -2.34991389e-03 9.74239797e-01 -2.48477859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37687500000004 meters 0.02260626123313438 Centerline is valid? [True, True] Translation: X:222.71, Y:-25.76, Z:-24.84 [[ 6.63311151e-01 -7.32067138e-01 -1.55228937e-01 2.22713198e+02] [ 7.13562270e-01 6.81228724e-01 -1.63573568e-01 -2.57573797e+01] [ 2.25493244e-01 -2.26534103e-03 9.74242098e-01 -2.48410575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.406875 meters 0.022813178324256136 Centerline is valid? [True, True] Translation: X:222.73, Y:-25.74, Z:-24.84 [[ 6.63614781e-01 -7.31758348e-01 -1.55387075e-01 2.22729729e+02] [ 7.13185850e-01 6.81560939e-01 -1.63831100e-01 -2.57364593e+01] [ 2.25790536e-01 -2.09912301e-03 9.74173613e-01 -2.48371113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43687500000004 meters 0.023030431641434892 Centerline is valid? [True, True] Translation: X:222.75, Y:-25.72, Z:-24.83 [[ 6.64406149e-01 -7.30987165e-01 -1.55634939e-01 2.22747391e+02] [ 7.12314629e-01 6.82388883e-01 -1.64174546e-01 -2.57155429e+01] [ 2.26213038e-01 -1.78246573e-03 9.74076221e-01 -2.48323998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.466875 meters 0.02278997186964536 Centerline is valid? [True, True] Translation: X:222.77, Y:-25.69, Z:-24.83 [[ 6.64767656e-01 -7.30615374e-01 -1.55836898e-01 2.22765003e+02] [ 7.11862988e-01 6.82787396e-01 -1.64476313e-01 -2.56946177e+01] [ 2.26572392e-01 -1.59598664e-03 9.73993020e-01 -2.48270613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49687500000005 meters 0.022986699269152953 Centerline is valid? [True, True] Translation: X:222.78, Y:-25.67, Z:-24.82 [[ 6.66178993e-01 -7.29253655e-01 -1.56187885e-01 2.22782190e+02] [ 7.10357372e-01 6.84242617e-01 -1.64937701e-01 -2.56730008e+01] [ 2.27151828e-01 -1.07118389e-03 9.73858768e-01 -2.48240200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.526875 meters 0.023033745090051044 Centerline is valid? [True, True] Translation: X:222.80, Y:-25.65, Z:-24.82 [[ 6.67256918e-01 -7.28292943e-01 -1.56069198e-01 2.22799565e+02] [ 7.09377555e-01 6.85265592e-01 -1.64907712e-01 -2.56514823e+01] [ 2.27049974e-01 -6.76174033e-04 9.73882874e-01 -2.48179714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.556875 meters 0.023171628983063845 Centerline is valid? [True, True] Translation: X:222.82, Y:-25.63, Z:-24.81 [[ 6.67351801e-01 -7.28471458e-01 -1.54825413e-01 2.22817665e+02] [ 7.09845593e-01 6.85075824e-01 -1.63677578e-01 -2.56314668e+01] [ 2.25301592e-01 -6.71610801e-04 9.74288839e-01 -2.48146510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.586875 meters 0.023248299081171642 Centerline is valid? [True, True] Translation: X:222.83, Y:-25.61, Z:-24.81 [[ 6.72491607e-01 -7.23602813e-01 -1.55415596e-01 2.22832214e+02] [ 7.04682032e-01 6.90215834e-01 -1.64393844e-01 -2.56072831e+01] [ 2.26226153e-01 1.03490192e-03 9.74074256e-01 -2.48065656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.616875 meters 0.023328149498501125 Centerline is valid? [True, True] Translation: X:222.85, Y:-25.59, Z:-24.80 [[ 6.74389304e-01 -7.21893708e-01 -1.55140391e-01 2.22849829e+02] [ 7.02983624e-01 6.92002003e-01 -1.64156184e-01 -2.55854449e+01] [ 2.25860778e-01 1.64402050e-03 9.74158204e-01 -2.48001464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.646875 meters 0.023748163069061905 Centerline is valid? [True, True] Translation: X:222.87, Y:-25.56, Z:-24.79 [[ 6.76126341e-01 -7.20325347e-01 -1.54869511e-01 2.22867058e+02] [ 7.01420780e-01 6.93632778e-01 -1.63958711e-01 -2.55637210e+01] [ 2.25526185e-01 2.22811016e-03 9.74234559e-01 -2.47938207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.676875 meters 0.023734500874408544 Centerline is valid? [True, True] Translation: X:222.89, Y:-25.54, Z:-24.79 [[ 6.77718460e-01 -7.18846710e-01 -1.54780800e-01 2.22885120e+02] [ 6.99915787e-01 6.95163177e-01 -1.63908660e-01 -2.55425277e+01] [ 2.25423113e-01 2.75039886e-03 9.74257079e-01 -2.47874609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.706875 meters 0.024585566436200867 Centerline is valid? [True, True] Translation: X:222.90, Y:-25.52, Z:-24.78 [[ 6.80963993e-01 -7.15834084e-01 -1.54497911e-01 2.22901710e+02] [ 6.96878091e-01 6.98260072e-01 -1.63688114e-01 -2.55200313e+01] [ 2.25053253e-01 3.79950239e-03 9.74339057e-01 -2.47819395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.736875 meters 0.024647258060028418 Centerline is valid? [True, True] Translation: X:222.92, Y:-25.50, Z:-24.78 [[ 6.82112105e-01 -7.14750360e-01 -1.54450637e-01 2.22919769e+02] [ 6.95767652e-01 6.99367118e-01 -1.63685701e-01 -2.54983116e+01] [ 2.25012110e-01 4.19024084e-03 9.74346957e-01 -2.47762977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.766875 meters 0.025241064928403913 Centerline is valid? [True, True] Translation: X:222.94, Y:-25.48, Z:-24.77 [[ 6.83706487e-01 -7.13240661e-01 -1.54380048e-01 2.22936765e+02] [ 6.94220412e-01 7.00903207e-01 -1.63684800e-01 -2.54767881e+01] [ 2.24952126e-01 4.73857863e-03 9.74358295e-01 -2.47718643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.796875 meters 0.02619226849963137 Centerline is valid? [True, True] Translation: X:222.95, Y:-25.46, Z:-24.77 [[ 6.86201659e-01 -7.10804732e-01 -1.54544222e-01 2.22953902e+02] [ 6.91669735e-01 7.03367225e-01 -1.63913165e-01 -2.54551118e+01] [ 2.25211594e-01 5.58392405e-03 9.74293876e-01 -2.47669722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.82687500000003 meters 0.026257274062681368 Centerline is valid? [True, True] Translation: X:222.97, Y:-25.43, Z:-24.76 [[ 6.86721257e-01 -7.10371615e-01 -1.54227378e-01 2.22972585e+02] [ 6.91292318e-01 7.03803280e-01 -1.63633353e-01 -2.54342219e+01] [ 2.24786223e-01 5.75430053e-03 9.74391113e-01 -2.47609590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.856875 meters 0.025971504782947245 Centerline is valid? [True, True] Translation: X:222.99, Y:-25.41, Z:-24.75 [[ 6.87065969e-01 -7.10077152e-01 -1.54048021e-01 2.22992177e+02] [ 6.91017327e-01 7.04099156e-01 -1.63521960e-01 -2.54142727e+01] [ 2.24578289e-01 5.90052215e-03 9.74438185e-01 -2.47547719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.88687500000003 meters 0.026352208463260984 Centerline is valid? [True, True] Translation: X:223.01, Y:-25.39, Z:-24.75 [[ 6.87324252e-01 -7.09777513e-01 -1.54276552e-01 2.23012076e+02] [ 6.90632577e-01 7.04399759e-01 -1.63852441e-01 -2.53932572e+01] [ 2.24971144e-01 6.07134397e-03 9.74346511e-01 -2.47499221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.916875 meters 0.02582059277184714 Centerline is valid? [True, True] Translation: X:223.03, Y:-25.37, Z:-24.75 [[ 6.85953780e-01 -7.10954601e-01 -1.54954724e-01 2.23031771e+02] [ 6.91650372e-01 7.03214257e-01 -1.64649543e-01 -2.53748541e+01] [ 2.26024722e-01 5.76748368e-03 9.74104492e-01 -2.47457873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.94687500000003 meters 0.026557086405624687 Centerline is valid? [True, True] Translation: X:223.05, Y:-25.35, Z:-24.74 [[ 6.84793904e-01 -7.11984344e-01 -1.55356371e-01 2.23049704e+02] [ 6.92588164e-01 7.02173848e-01 -1.65146971e-01 -2.53548079e+01] [ 2.26669239e-01 5.49365525e-03 9.73956301e-01 -2.47414330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.976875 meters 0.0251210959355654 Centerline is valid? [True, True] Translation: X:223.07, Y:-25.34, Z:-24.73 [[ 6.83546915e-01 -7.13207321e-01 -1.55238306e-01 2.23072255e+02] [ 6.93855421e-01 7.00934333e-01 -1.65093049e-01 -2.53372179e+01] [ 2.26557429e-01 5.13590422e-03 9.73984268e-01 -2.47341699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.00687500000004 meters 0.024312512708687006 Centerline is valid? [True, True] Translation: X:223.09, Y:-25.32, Z:-24.73 [[ 6.81143143e-01 -7.15582652e-01 -1.54872489e-01 2.23093795e+02] [ 6.96364677e-01 6.98514250e-01 -1.64784946e-01 -2.53193041e+01] [ 2.26097889e-01 4.39440508e-03 9.74094674e-01 -2.47277407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.036875 meters 0.02414569767097889 Centerline is valid? [True, True] Translation: X:223.11, Y:-25.30, Z:-24.72 [[ 6.79967534e-01 -7.16727468e-01 -1.54744593e-01 2.23113724e+02] [ 6.97550102e-01 6.97341476e-01 -1.64738342e-01 -2.52997879e+01] [ 2.25982318e-01 4.07461797e-03 9.74122882e-01 -2.47219185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06687500000004 meters 0.02385826163764628 Centerline is valid? [True, True] Translation: X:223.13, Y:-25.28, Z:-24.72 [[ 6.78301040e-01 -7.18310467e-01 -1.54718363e-01 2.23133176e+02] [ 6.99160958e-01 6.95713350e-01 -1.64793473e-01 -2.52812830e+01] [ 2.26012507e-01 3.60654521e-03 9.74117724e-01 -2.47158953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.096875 meters 0.022805960068190786 Centerline is valid? [True, True] Translation: X:223.16, Y:-25.26, Z:-24.71 [[ 6.74983476e-01 -7.21475017e-01 -1.54502774e-01 2.23155510e+02] [ 7.02445678e-01 6.92435613e-01 -1.64629863e-01 -2.52637160e+01] [ 2.25759557e-01 2.59263157e-03 9.74179604e-01 -2.47102322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12687500000004 meters 0.022686852914650512 Centerline is valid? [True, True] Translation: X:223.17, Y:-25.25, Z:-24.70 [[ 6.73432685e-01 -7.23011325e-01 -1.54087776e-01 2.23174990e+02] [ 7.04104407e-01 6.90832876e-01 -1.64276964e-01 -2.52459894e+01] [ 2.25223007e-01 2.13559506e-03 9.74304899e-01 -2.47045641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.156875 meters 0.022048312371367035 Centerline is valid? [True, True] Translation: X:223.19, Y:-25.23, Z:-24.70 [[ 6.71562323e-01 -7.24820740e-01 -1.53749606e-01 2.23194882e+02] [ 7.06022873e-01 6.88935672e-01 -1.64010190e-01 -2.52273344e+01] [ 2.24801575e-01 1.59232552e-03 9.74403262e-01 -2.46975305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18687500000004 meters 0.021906130763207673 Centerline is valid? [True, True] Translation: X:223.22, Y:-25.21, Z:-24.69 [[ 6.69229943e-01 -7.27134517e-01 -1.52992407e-01 2.23215065e+02] [ 7.08562793e-01 6.86494449e-01 -1.63291581e-01 -2.52102467e+01] [ 2.23763383e-01 8.74887820e-04 9.74643105e-01 -2.46905497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.216875 meters 0.02170701886120524 Centerline is valid? [True, True] Translation: X:223.23, Y:-25.19, Z:-24.68 [[ 6.68420478e-01 -7.27892460e-01 -1.52926884e-01 2.23234648e+02] [ 7.09340171e-01 6.85690978e-01 -1.63292392e-01 -2.51908574e+01] [ 2.23719885e-01 6.70796431e-04 9.74653253e-01 -2.46839938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24687500000005 meters 0.02169284393794355 Centerline is valid? [True, True] Translation: X:223.25, Y:-25.17, Z:-24.68 [[ 6.67527339e-01 -7.28731516e-01 -1.52832032e-01 2.23253221e+02] [ 7.10203130e-01 6.84799366e-01 -1.63283015e-01 -2.51719473e+01] [ 2.23648757e-01 4.54088786e-04 9.74669702e-01 -2.46783963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.276875 meters 0.021741283620174995 Centerline is valid? [True, True] Translation: X:223.27, Y:-25.15, Z:-24.67 [[ 6.66982142e-01 -7.29188924e-01 -1.53030507e-01 2.23272408e+02] [ 7.10604473e-01 6.84312344e-01 -1.63578417e-01 -2.51527944e+01] [ 2.24000234e-01 3.59719824e-04 9.74589024e-01 -2.46718905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.306875 meters 0.021398008935007144 Centerline is valid? [True, True] Translation: X:223.29, Y:-25.13, Z:-24.67 [[ 6.66332457e-01 -7.29784676e-01 -1.53020858e-01 2.23290124e+02] [ 7.11196907e-01 6.83677026e-01 -1.63660266e-01 -2.51335221e+01] [ 2.24053600e-01 2.24186075e-04 9.74576798e-01 -2.46668099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.336875 meters 0.021390938927532716 Centerline is valid? [True, True] Translation: X:223.31, Y:-25.11, Z:-24.66 [[ 6.66401571e-01 -7.29656766e-01 -1.53329550e-01 2.23308160e+02] [ 7.10970464e-01 6.83813496e-01 -1.64073463e-01 -2.51117952e+01] [ 2.24566128e-01 3.26032428e-04 9.74458797e-01 -2.46627456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.366875 meters 0.021390938927532716 Centerline is valid? [True, True] Translation: X:223.33, Y:-25.09, Z:-24.66 [[ 6.66200444e-01 -7.29849498e-01 -1.53286264e-01 2.23326491e+02] [ 7.11158930e-01 6.83607787e-01 -1.64113894e-01 -2.50919925e+01] [ 2.24566127e-01 3.21853591e-04 9.74458799e-01 -2.46567921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.396875 meters 0.02162595927110339 Centerline is valid? [True, True] Translation: X:223.34, Y:-25.07, Z:-24.65 [[ 6.66068234e-01 -7.29999118e-01 -1.53148281e-01 2.23343907e+02] [ 7.11325086e-01 6.83448005e-01 -1.64059282e-01 -2.50718616e+01] [ 2.24432018e-01 3.36461502e-04 9.74489690e-01 -2.46514342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.426875 meters 0.02152826071231889 Centerline is valid? [True, True] Translation: X:223.36, Y:-25.05, Z:-24.65 [[ 6.65632804e-01 -7.30374705e-01 -1.53250644e-01 2.23361973e+02] [ 7.11662574e-01 6.83046640e-01 -1.64267064e-01 -2.50510972e+01] [ 2.24653846e-01 2.78798635e-04 9.74438593e-01 -2.46459456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.456875 meters 0.021286774861807377 Centerline is valid? [True, True] Translation: X:223.38, Y:-25.03, Z:-24.64 [[ 6.65476764e-01 -7.30472974e-01 -1.53459805e-01 2.23380016e+02] [ 7.11690309e-01 6.82941533e-01 -1.64583613e-01 -2.50308099e+01] [ 2.25027956e-01 3.10713761e-04 9.74352258e-01 -2.46396111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.486875 meters 0.021225014113435577 Centerline is valid? [True, True] Translation: X:223.40, Y:-25.01, Z:-24.63 [[ 6.65586469e-01 -7.30466135e-01 -1.53015937e-01 2.23397479e+02] [ 7.11772189e-01 6.82948815e-01 -1.64198866e-01 -2.50104779e+01] [ 2.24443764e-01 3.76054597e-04 9.74486970e-01 -2.46326178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.516875 meters 0.021533799567468925 Centerline is valid? [True, True] Translation: X:223.41, Y:-24.99, Z:-24.63 [[ 6.66290629e-01 -7.29828097e-01 -1.52995906e-01 2.23414707e+02] [ 7.11101524e-01 6.83630398e-01 -1.64268383e-01 -2.49899087e+01] [ 2.24480333e-01 6.54862432e-04 9.74478400e-01 -2.46268134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.546875 meters 0.02158575033341561 Centerline is valid? [True, True] Translation: X:223.43, Y:-24.97, Z:-24.62 [[ 6.66515070e-01 -7.29613958e-01 -1.53039649e-01 2.23432082e+02] [ 7.10852033e-01 6.83858799e-01 -1.64397477e-01 -2.49684829e+01] [ 2.24604205e-01 7.84850057e-04 9.74449760e-01 -2.46208089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57687500000003 meters 0.021569686286867285 Centerline is valid? [True, True] Translation: X:223.45, Y:-24.95, Z:-24.62 [[ 6.68199702e-01 -7.27954482e-01 -1.53595023e-01 2.23447911e+02] [ 7.08990032e-01 6.85624007e-01 -1.65084392e-01 -2.49456591e+01] [ 2.25482358e-01 1.41200145e-03 9.74246228e-01 -2.46150610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.606875 meters 0.02190897906686838 Centerline is valid? [True, True] Translation: X:223.46, Y:-24.92, Z:-24.61 [[ 6.69088614e-01 -7.27205859e-01 -1.53271215e-01 2.23464996e+02] [ 7.08282979e-01 6.86417275e-01 -1.64822775e-01 -2.49243919e+01] [ 2.25068097e-01 1.72164937e-03 9.74341515e-01 -2.46090121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63687500000003 meters 0.02210691298263307 Centerline is valid? [True, True] Translation: X:223.48, Y:-24.90, Z:-24.60 [[ 6.69882006e-01 -7.26543925e-01 -1.52944510e-01 2.23482061e+02] [ 7.07664851e-01 6.87117101e-01 -1.64561682e-01 -2.49025099e+01] [ 2.24652079e-01 2.00345561e-03 9.74436981e-01 -2.46026960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.666875 meters 0.02258831810447185 Centerline is valid? [True, True] Translation: X:223.50, Y:-24.88, Z:-24.60 [[ 6.71790280e-01 -7.25045327e-01 -1.51680897e-01 2.23496847e+02] [ 7.06423095e-01 6.88696445e-01 -1.63289978e-01 -2.48809125e+01] [ 2.22854730e-01 2.54573133e-03 9.74848341e-01 -2.45954797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69687500000003 meters 0.022773135777690218 Centerline is valid? [True, True] Translation: X:223.51, Y:-24.86, Z:-24.59 [[ 6.72293443e-01 -7.24618826e-01 -1.51489549e-01 2.23514301e+02] [ 7.06018537e-01 6.89144474e-01 -1.63149381e-01 -2.48597275e+01] [ 2.22619298e-01 2.72982949e-03 9.74901634e-01 -2.45890689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.726875 meters 0.02259030398530676 Centerline is valid? [True, True] Translation: X:223.53, Y:-24.84, Z:-24.58 [[ 6.72783252e-01 -7.24160188e-01 -1.51508147e-01 2.23532531e+02] [ 7.05525245e-01 6.89625537e-01 -1.63250566e-01 -2.48396959e+01] [ 2.22703448e-01 2.93942449e-03 9.74881805e-01 -2.45826183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75687500000004 meters 0.022865814810470904 Centerline is valid? [True, True] Translation: X:223.55, Y:-24.82, Z:-24.58 [[ 6.73300912e-01 -7.23643711e-01 -1.51676174e-01 2.23549352e+02] [ 7.04940215e-01 6.90166514e-01 -1.63491518e-01 -2.48189359e+01] [ 2.22991424e-01 3.15635359e-03 9.74815296e-01 -2.45770998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.786875 meters 0.023323660617178995 Centerline is valid? [True, True] Translation: X:223.57, Y:-24.80, Z:-24.57 [[ 6.74858801e-01 -7.22036515e-01 -1.52410202e-01 2.23567133e+02] [ 7.03089732e-01 6.91844706e-01 -1.64364631e-01 -2.47962882e+01] [ 2.24121456e-01 3.76486992e-03 9.74553949e-01 -2.45713191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81687500000004 meters 0.023475206958301197 Centerline is valid? [True, True] Translation: X:223.59, Y:-24.78, Z:-24.57 [[ 6.75387900e-01 -7.21416648e-01 -1.53000666e-01 2.23586140e+02] [ 7.02286518e-01 6.92489470e-01 -1.65081739e-01 -2.47750494e+01] [ 2.25044065e-01 4.04390434e-03 9.74340195e-01 -2.45656095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.846875 meters 0.023892818617954868 Centerline is valid? [True, True] Translation: X:223.60, Y:-24.75, Z:-24.56 [[ 6.75650574e-01 -7.21033340e-01 -1.53646428e-01 2.23603977e+02] [ 7.01710748e-01 6.92887353e-01 -1.65858805e-01 -2.47540077e+01] [ 2.26049395e-01 4.24724647e-03 9.74106581e-01 -2.45602947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87687500000004 meters 0.023991468728660276 Centerline is valid? [True, True] Translation: X:223.62, Y:-24.73, Z:-24.55 [[ 6.76066024e-01 -7.20492370e-01 -1.54355034e-01 2.23622501e+02] [ 7.00964323e-01 6.93448384e-01 -1.66668402e-01 -2.47328827e+01] [ 2.27120561e-01 4.48147178e-03 9.73856338e-01 -2.45548362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.906875 meters 0.024545695289376543 Centerline is valid? [True, True] Translation: X:223.64, Y:-24.71, Z:-24.55 [[ 6.75905426e-01 -7.20560234e-01 -1.54741088e-01 2.23640028e+02] [ 7.00915432e-01 6.93377556e-01 -1.67167949e-01 -2.47122250e+01] [ 2.27748574e-01 4.52930690e-03 9.73709439e-01 -2.45498979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93687500000004 meters 0.023832465796402972 Centerline is valid? [True, True] Translation: X:223.66, Y:-24.69, Z:-24.54 [[ 6.75299708e-01 -7.21047762e-01 -1.55114243e-01 2.23659495e+02] [ 7.01297927e-01 6.92871127e-01 -1.67662812e-01 -2.46935913e+01] [ 2.28367076e-01 4.44135090e-03 9.73564971e-01 -2.45433170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.966875 meters 0.024429490118159803 Centerline is valid? [True, True] Translation: X:223.68, Y:-24.67, Z:-24.54 [[ 6.74689503e-01 -7.21645832e-01 -1.54988282e-01 2.23677054e+02] [ 7.01921922e-01 6.92249074e-01 -1.67621104e-01 -2.46734583e+01] [ 2.28253566e-01 4.30252609e-03 9.73592213e-01 -2.45384908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99687500000005 meters 0.024159214670796087 Centerline is valid? [True, True] Translation: X:223.70, Y:-24.65, Z:-24.53 [[ 6.74172470e-01 -7.22128912e-01 -1.54988113e-01 2.23696905e+02] [ 7.02402525e-01 6.91745851e-01 -1.67685334e-01 -2.46542082e+01] [ 2.28302812e-01 4.18479365e-03 9.73581180e-01 -2.45314680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.026875 meters 0.023631042560348915 Centerline is valid? [True, True] Translation: X:223.72, Y:-24.64, Z:-24.52 [[ 6.73309075e-01 -7.23070751e-01 -1.54348886e-01 2.23716837e+02] [ 7.03511566e-01 6.90762883e-01 -1.67087149e-01 -2.46353776e+01] [ 2.27434312e-01 3.91506754e-03 9.73785554e-01 -2.45236672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.056875 meters 0.023362026079987254 Centerline is valid? [True, True] Translation: X:223.74, Y:-24.62, Z:-24.52 [[ 6.72471016e-01 -7.23960998e-01 -1.53828497e-01 2.23736939e+02] [ 7.04537399e-01 6.89831170e-01 -1.66613356e-01 -2.46166695e+01] [ 2.26737264e-01 3.66472332e-03 9.73949066e-01 -2.45156132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.086875 meters 0.023241254771120275 Centerline is valid? [True, True] Translation: X:223.76, Y:-24.60, Z:-24.51 [[ 6.71980047e-01 -7.24385503e-01 -1.53975516e-01 2.23755296e+02] [ 7.04922240e-01 6.89385913e-01 -1.66828350e-01 -2.45975967e+01] [ 2.26996590e-01 3.56455743e-03 9.73889030e-01 -2.45098533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.116875 meters 0.023162915999554976 Centerline is valid? [True, True] Translation: X:223.77, Y:-24.58, Z:-24.50 [[ 6.71567768e-01 -7.24806200e-01 -1.53794359e-01 2.23772592e+02] [ 7.05385168e-01 6.88944100e-01 -1.66696706e-01 -2.45775863e+01] [ 2.26778523e-01 3.46387520e-03 9.73940195e-01 -2.45047598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.146875 meters 0.023633729374890562 Centerline is valid? [True, True] Translation: X:223.79, Y:-24.56, Z:-24.50 [[ 6.72710295e-01 -7.23756424e-01 -1.53744909e-01 2.23790375e+02] [ 7.04306203e-01 6.90044727e-01 -1.66706468e-01 -2.45561804e+01] [ 2.26745741e-01 3.86166448e-03 9.73946332e-01 -2.44989044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.176875 meters 0.023574753032392003 Centerline is valid? [True, True] Translation: X:223.81, Y:-24.54, Z:-24.49 [[ 6.72839894e-01 -7.23623481e-01 -1.53803556e-01 2.23808214e+02] [ 7.04135402e-01 6.90183541e-01 -1.66853277e-01 -2.45364248e+01] [ 2.26891632e-01 3.96701280e-03 9.73911931e-01 -2.44922212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.206875 meters 0.024233798911296428 Centerline is valid? [True, True] Translation: X:223.82, Y:-24.51, Z:-24.49 [[ 6.74108474e-01 -7.22454361e-01 -1.53744795e-01 2.23824993e+02] [ 7.02931424e-01 6.91404485e-01 -1.66874953e-01 -2.45140423e+01] [ 2.26859378e-01 4.41977266e-03 9.73917495e-01 -2.44865556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.236875 meters 0.024245797615835563 Centerline is valid? [True, True] Translation: X:223.84, Y:-24.49, Z:-24.48 [[ 6.74799948e-01 -7.21797460e-01 -1.53796807e-01 2.23842127e+02] [ 7.02225003e-01 6.92088380e-01 -1.67014129e-01 -2.44938741e+01] [ 2.26991358e-01 4.70116233e-03 9.73885426e-01 -2.44805912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.266875 meters 0.025047445954096914 Centerline is valid? [True, True] Translation: X:223.86, Y:-24.47, Z:-24.48 [[ 6.75927644e-01 -7.20425302e-01 -1.55271388e-01 2.23859539e+02] [ 7.00414205e-01 6.93512471e-01 -1.68702090e-01 -2.44724479e+01] [ 2.29219898e-01 5.27612061e-03 9.73360365e-01 -2.44767334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.296875 meters 0.025569097146834096 Centerline is valid? [True, True] Translation: X:223.88, Y:-24.45, Z:-24.47 [[ 6.75844954e-01 -7.20332415e-01 -1.56060277e-01 2.23878026e+02] [ 7.00090113e-01 6.93607978e-01 -1.69652016e-01 -2.44514735e+01] [ 2.30450499e-01 5.40220216e-03 9.73069054e-01 -2.44711668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.32687500000003 meters 0.02600518125388356 Centerline is valid? [True, True] Translation: X:223.90, Y:-24.43, Z:-24.47 [[ 6.75859831e-01 -7.20197249e-01 -1.56618682e-01 2.23895391e+02] [ 6.99783334e-01 6.93747309e-01 -1.70346581e-01 -2.44306309e+01] [ 2.31336928e-01 5.53126813e-03 9.72857971e-01 -2.44669606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.356875 meters 0.025065291258502185 Centerline is valid? [True, True] Translation: X:223.92, Y:-24.41, Z:-24.46 [[ 6.75793974e-01 -7.20207257e-01 -1.56856660e-01 2.23915152e+02] [ 6.99710640e-01 6.93736395e-01 -1.70689293e-01 -2.44121206e+01] [ 2.31748841e-01 5.59652179e-03 9.72759556e-01 -2.44598298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.38687500000003 meters 0.02572506984241471 Centerline is valid? [True, True] Translation: X:223.93, Y:-24.39, Z:-24.45 [[ 6.75990018e-01 -7.19886560e-01 -1.57482814e-01 2.23933038e+02] [ 6.99193302e-01 6.94067545e-01 -1.71461278e-01 -2.43909589e+01] [ 2.32736380e-01 5.79518415e-03 9.72522593e-01 -2.44549219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.416875 meters 0.025713551220170255 Centerline is valid? [True, True] Translation: X:223.95, Y:-24.37, Z:-24.45 [[ 6.76004640e-01 -7.19792501e-01 -1.57849556e-01 2.23952470e+02] [ 6.98986645e-01 6.94164392e-01 -1.71911218e-01 -2.43709727e+01] [ 2.33313947e-01 5.87805002e-03 9.72383695e-01 -2.44488220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.44687500000003 meters 0.025511902654860065 Centerline is valid? [True, True] Translation: X:223.97, Y:-24.35, Z:-24.44 [[ 6.75677076e-01 -7.20091401e-01 -1.57888769e-01 2.23970272e+02] [ 6.99262451e-01 6.93854664e-01 -1.72039905e-01 -2.43515992e+01] [ 2.33436315e-01 5.83773240e-03 9.72354569e-01 -2.44429737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.476875 meters 0.025315155837852668 Centerline is valid? [True, True] Translation: X:223.99, Y:-24.33, Z:-24.43 [[ 6.75686568e-01 -7.20146685e-01 -1.57595729e-01 2.23989857e+02] [ 6.99376655e-01 6.93797016e-01 -1.71808017e-01 -2.43335200e+01] [ 2.33066421e-01 5.86959538e-03 9.72443104e-01 -2.44349384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.50687500000004 meters 0.024815400769348947 Centerline is valid? [True, True] Translation: X:224.01, Y:-24.31, Z:-24.43 [[ 6.75631952e-01 -7.20276815e-01 -1.57234779e-01 2.24008985e+02] [ 6.99583849e-01 6.93661842e-01 -1.71510020e-01 -2.43147312e+01] [ 2.32602457e-01 5.87873810e-03 9.72554131e-01 -2.44268769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.536875 meters 0.026745077037460326 Centerline is valid? [True, True] Translation: X:224.02, Y:-24.29, Z:-24.42 [[ 6.76006570e-01 -7.20076078e-01 -1.56542515e-01 2.24024174e+02] [ 6.99539333e-01 6.93869277e-01 -1.70851243e-01 -2.42923919e+01] [ 2.31645935e-01 5.98891620e-03 9.72781730e-01 -2.44223987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56687500000004 meters 0.026265500592667003 Centerline is valid? [True, True] Translation: X:224.04, Y:-24.27, Z:-24.41 [[ 6.76959044e-01 -7.19263757e-01 -1.56160496e-01 2.24043433e+02] [ 6.98786552e-01 6.94708422e-01 -1.70521448e-01 -2.42734697e+01] [ 2.31135909e-01 6.31318177e-03 9.72900990e-01 -2.44143736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.596875 meters 0.02652807902106859 Centerline is valid? [True, True] Translation: X:224.06, Y:-24.25, Z:-24.41 [[ 6.79188652e-01 -7.17332058e-01 -1.55362459e-01 2.24061995e+02] [ 6.96996032e-01 6.96696322e-01 -1.69737344e-01 -2.42533307e+01] [ 2.29998492e-01 6.99666050e-03 9.73165834e-01 -2.44055565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62687500000004 meters 0.02758641605428276 Centerline is valid? [True, True] Translation: X:224.08, Y:-24.23, Z:-24.40 [[ 6.80195740e-01 -7.16351245e-01 -1.55481988e-01 2.24080287e+02] [ 6.95938278e-01 6.97700660e-01 -1.69952058e-01 -2.42319977e+01] [ 2.30225254e-01 7.39479920e-03 9.73109269e-01 -2.43991474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.656875 meters 0.02865009387946865 Centerline is valid? [True, True] Translation: X:224.10, Y:-24.21, Z:-24.39 [[ 6.82526491e-01 -7.14195488e-01 -1.55185030e-01 2.24097693e+02] [ 6.93785489e-01 6.99898594e-01 -1.69716388e-01 -2.42107129e+01] [ 2.29824463e-01 8.17080846e-03 9.73197798e-01 -2.43926311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68687500000004 meters 0.02906139947588811 Centerline is valid? [True, True] Translation: X:224.12, Y:-24.19, Z:-24.39 [[ 6.82676017e-01 -7.13927078e-01 -1.55761301e-01 2.24116066e+02] [ 6.93334572e-01 7.00170163e-01 -1.70437421e-01 -2.41902294e+01] [ 2.30739306e-01 8.35884464e-03 9.72979703e-01 -2.43874750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.716875 meters 0.02871813040338687 Centerline is valid? [True, True] Translation: X:224.13, Y:-24.17, Z:-24.38 [[ 6.81018545e-01 -7.15387828e-01 -1.56313778e-01 2.24134800e+02] [ 6.94664103e-01 6.98682303e-01 -1.71128090e-01 -2.41704508e+01] [ 2.31636624e-01 7.95583226e-03 9.72769849e-01 -2.43834463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74687500000005 meters 0.027401009136645203 Centerline is valid? [True, True] Translation: X:224.16, Y:-24.15, Z:-24.38 [[ 6.80012597e-01 -7.16369129e-01 -1.56199038e-01 2.24155466e+02] [ 6.95687323e-01 6.97679444e-01 -1.71062975e-01 -2.41514874e+01] [ 2.31521093e-01 7.65928711e-03 9.72799732e-01 -2.43764402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.776875 meters 0.027093223187217148 Centerline is valid? [True, True] Translation: X:224.18, Y:-24.13, Z:-24.37 [[ 6.79418980e-01 -7.16979488e-01 -1.55981610e-01 2.24175046e+02] [ 6.96351230e-01 6.97053888e-01 -1.70911797e-01 -2.41321872e+01] [ 2.31267840e-01 7.50273242e-03 9.72861190e-01 -2.43692556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.806875 meters 0.02712912982205384 Centerline is valid? [True, True] Translation: X:224.20, Y:-24.11, Z:-24.36 [[ 6.78787277e-01 -7.17255510e-01 -1.57455918e-01 2.24195146e+02] [ 6.96213980e-01 6.96769342e-01 -1.72622648e-01 -2.41131113e+01] [ 2.33525001e-01 7.55104623e-03 9.72321477e-01 -2.43640881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.836875 meters 0.02720216509262551 Centerline is valid? [True, True] Translation: X:224.21, Y:-24.09, Z:-24.36 [[ 6.78194413e-01 -7.17695182e-01 -1.58006214e-01 2.24213942e+02] [ 6.96493485e-01 6.96317079e-01 -1.73318641e-01 -2.40924884e+01] [ 2.34412379e-01 7.49343588e-03 9.72108371e-01 -2.43587154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.866875 meters 0.027348284443786966 Centerline is valid? [True, True] Translation: X:224.23, Y:-24.07, Z:-24.35 [[ 6.77421060e-01 -7.18420904e-01 -1.58025669e-01 2.24231905e+02] [ 6.97211590e-01 6.95570270e-01 -1.73430100e-01 -2.40724415e+01] [ 2.34513766e-01 7.30787385e-03 9.72085330e-01 -2.43536859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.896875 meters 0.027495419672193308 Centerline is valid? [True, True] Translation: X:224.25, Y:-24.05, Z:-24.35 [[ 6.77045133e-01 -7.18590303e-01 -1.58864298e-01 2.24251476e+02] [ 6.97137865e-01 6.95394876e-01 -1.74426958e-01 -2.40528146e+01] [ 2.35814940e-01 7.34460529e-03 9.71770225e-01 -2.43488546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.926875 meters 0.02795554285571836 Centerline is valid? [True, True] Translation: X:224.27, Y:-24.03, Z:-24.34 [[ 6.76639927e-01 -7.18936428e-01 -1.59024597e-01 2.24269139e+02] [ 6.97426693e-01 6.95037512e-01 -1.74696496e-01 -2.40332584e+01] [ 2.36123735e-01 7.29862505e-03 9.71695586e-01 -2.43434817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.956875 meters 0.027153411171610253 Centerline is valid? [True, True] Translation: X:224.29, Y:-24.01, Z:-24.34 [[ 6.76055871e-01 -7.19447329e-01 -1.59197991e-01 2.24289229e+02] [ 6.97878801e-01 6.94509662e-01 -1.74990025e-01 -2.40147527e+01] [ 2.36460649e-01 7.20213076e-03 9.71614373e-01 -2.43362162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.986875 meters 0.02525211461549996 Centerline is valid? [True, True] Translation: X:224.31, Y:-24.00, Z:-24.33 [[ 6.74239979e-01 -7.21348006e-01 -1.58295624e-01 2.24311466e+02] [ 7.00054765e-01 6.92541646e-01 -1.74095935e-01 -2.39992656e+01] [ 2.35210068e-01 6.56683379e-03 9.71922374e-01 -2.43254852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.016875 meters 0.026204014351043785 Centerline is valid? [True, True] Translation: X:224.33, Y:-23.98, Z:-24.32 [[ 6.73203861e-01 -7.22514357e-01 -1.57383496e-01 2.24329341e+02] [ 7.01476963e-01 6.91328183e-01 -1.73191841e-01 -2.39785323e+01] [ 2.33937237e-01 6.19251899e-03 9.72231979e-01 -2.43198523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.046875 meters 0.02468267734095827 Centerline is valid? [True, True] Translation: X:224.35, Y:-23.96, Z:-24.31 [[ 6.72032164e-01 -7.23730516e-01 -1.56802138e-01 2.24350673e+02] [ 7.02860642e-01 6.90058218e-01 -1.72645804e-01 -2.39612832e+01] [ 2.33151641e-01 5.81348208e-03 9.72423013e-01 -2.43115133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07687500000003 meters 0.024169511032196028 Centerline is valid? [True, True] Translation: X:224.37, Y:-23.94, Z:-24.30 [[ 6.70680303e-01 -7.25162718e-01 -1.55971035e-01 2.24369806e+02] [ 7.04532598e-01 6.88556741e-01 -1.71823841e-01 -2.39421246e+01] [ 2.31995151e-01 5.35218721e-03 9.72702217e-01 -2.43048084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.106875 meters 0.023833515951036267 Centerline is valid? [True, True] Translation: X:224.39, Y:-23.92, Z:-24.30 [[ 6.68330169e-01 -7.27562966e-01 -1.54877099e-01 2.24389531e+02] [ 7.07266945e-01 6.86025812e-01 -1.70710436e-01 -2.39239446e+01] [ 2.30452279e-01 4.55148193e-03 9.73072983e-01 -2.42979792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13687500000003 meters 0.023163244404243388 Centerline is valid? [True, True] Translation: X:224.41, Y:-23.91, Z:-24.29 [[ 6.67013930e-01 -7.28752647e-01 -1.54958047e-01 2.24410028e+02] [ 7.08444017e-01 6.84764084e-01 -1.70895357e-01 -2.39062234e+01] [ 2.30650149e-01 4.21048222e-03 9.73027636e-01 -2.42911821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.166875 meters 0.022799752528693557 Centerline is valid? [True, True] Translation: X:224.43, Y:-23.89, Z:-24.29 [[ 6.65651994e-01 -7.29843443e-01 -1.55679064e-01 2.24429692e+02] [ 7.09349325e-01 6.83603096e-01 -1.71785746e-01 -2.38871308e+01] [ 2.31799390e-01 3.91868526e-03 9.72755718e-01 -2.42852111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19687500000003 meters 0.022344311402514572 Centerline is valid? [True, True] Translation: X:224.45, Y:-23.87, Z:-24.28 [[ 6.65127080e-01 -7.30223868e-01 -1.56137986e-01 2.24449130e+02] [ 7.09594483e-01 6.83197017e-01 -1.72387659e-01 -2.38679336e+01] [ 2.32554590e-01 3.86504665e-03 9.72575665e-01 -2.42789953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.226875 meters 0.022344311402514572 Centerline is valid? [True, True] Translation: X:224.47, Y:-23.85, Z:-24.27 [[ 6.64927425e-01 -7.30416077e-01 -1.56089313e-01 2.24467156e+02] [ 7.09781577e-01 6.82991518e-01 -1.72431721e-01 -2.38478431e+01] [ 2.32554578e-01 3.86526118e-03 9.72575667e-01 -2.42730427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25687500000004 meters 0.023128562823280307 Centerline is valid? [True, True] Translation: X:224.48, Y:-23.83, Z:-24.27 [[ 6.63894667e-01 -7.31178693e-01 -1.56912683e-01 2.24484131e+02] [ 7.10319874e-01 6.82176017e-01 -1.73440362e-01 -2.38271979e+01] [ 2.33857966e-01 3.68793359e-03 9.72263776e-01 -2.42704302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.286875 meters 0.022155780829676217 Centerline is valid? [True, True] Translation: X:224.50, Y:-23.81, Z:-24.26 [[ 6.63077578e-01 -7.31804295e-01 -1.57450310e-01 2.24503829e+02] [ 7.10792129e-01 6.81505572e-01 -1.74139900e-01 -2.38090838e+01] [ 2.34739591e-01 3.55382179e-03 9.72051796e-01 -2.42622270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31687500000004 meters 0.022248535530179758 Centerline is valid? [True, True] Translation: X:224.52, Y:-23.79, Z:-24.26 [[ 6.62734770e-01 -7.32085385e-01 -1.57586845e-01 2.24521158e+02] [ 7.11019652e-01 6.81203744e-01 -1.74391838e-01 -2.37893863e+01] [ 2.35018465e-01 3.52819150e-03 9.71984503e-01 -2.42573394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.346875 meters 0.02234346595812047 Centerline is valid? [True, True] Translation: X:224.54, Y:-23.77, Z:-24.25 [[ 6.62298111e-01 -7.32406465e-01 -1.57930310e-01 2.24538970e+02] [ 7.11231361e-01 6.80858692e-01 -1.74875366e-01 -2.37684561e+01] [ 2.35608073e-01 3.49463529e-03 9.71841872e-01 -2.42508922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37687500000004 meters 0.02249881698716696 Centerline is valid? [True, True] Translation: X:224.56, Y:-23.75, Z:-24.25 [[ 6.62481202e-01 -7.32197474e-01 -1.58131328e-01 2.24556842e+02] [ 7.10938028e-01 6.81082663e-01 -1.75195681e-01 -2.37469932e+01] [ 2.35978341e-01 3.64227104e-03 9.71751489e-01 -2.42450577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.406875 meters 0.022746644193156307 Centerline is valid? [True, True] Translation: X:224.57, Y:-23.73, Z:-24.24 [[ 6.62782843e-01 -7.31876838e-01 -1.58351499e-01 2.24574146e+02] [ 7.10525641e-01 6.81426186e-01 -1.75532524e-01 -2.37264494e+01] [ 2.36373046e-01 3.82714451e-03 9.71654844e-01 -2.42392237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43687500000004 meters 0.022491959705039956 Centerline is valid? [True, True] Translation: X:224.59, Y:-23.71, Z:-24.23 [[ 6.62961827e-01 -7.31752448e-01 -1.58177023e-01 2.24592538e+02] [ 7.10424111e-01 6.81559183e-01 -1.75427086e-01 -2.37061303e+01] [ 2.36176203e-01 3.92869057e-03 9.71702304e-01 -2.42314166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.466875 meters 0.022617131518961924 Centerline is valid? [True, True] Translation: X:224.61, Y:-23.69, Z:-24.22 [[ 6.63047463e-01 -7.31717684e-01 -1.57978770e-01 2.24610415e+02] [ 7.10418713e-01 6.81596062e-01 -1.75305621e-01 -2.36852012e+01] [ 2.35951930e-01 4.00487259e-03 9.71756475e-01 -2.42249210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49687500000005 meters 0.023226325515055296 Centerline is valid? [True, True] Translation: X:224.63, Y:-23.66, Z:-24.22 [[ 6.63163837e-01 -7.31761252e-01 -1.57286985e-01 2.24626462e+02] [ 7.10629106e-01 6.81549090e-01 -1.74634224e-01 -2.36642446e+01] [ 2.34989360e-01 4.03839208e-03 9.71989554e-01 -2.42197699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.526875 meters 0.023472354444188517 Centerline is valid? [True, True] Translation: X:224.64, Y:-23.64, Z:-24.21 [[ 6.63470610e-01 -7.31496517e-01 -1.57224663e-01 2.24644970e+02] [ 7.10350187e-01 6.81832244e-01 -1.74663688e-01 -2.36437095e+01] [ 2.34966724e-01 4.19965524e-03 9.71994342e-01 -2.42133116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.556875 meters 0.023048444479642494 Centerline is valid? [True, True] Translation: X:224.66, Y:-23.62, Z:-24.21 [[ 6.63471406e-01 -7.31552158e-01 -1.56962203e-01 2.24663179e+02] [ 7.10457022e-01 6.81772318e-01 -1.74462967e-01 -2.36237759e+01] [ 2.34641245e-01 4.23629102e-03 9.72072806e-01 -2.42061372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.586875 meters 0.023502511868804386 Centerline is valid? [True, True] Translation: X:224.68, Y:-23.60, Z:-24.20 [[ 6.64274927e-01 -7.30781848e-01 -1.57151875e-01 2.24680049e+02] [ 7.09589843e-01 6.82595694e-01 -1.74772347e-01 -2.36016608e+01] [ 2.34991652e-01 4.58351336e-03 9.71986582e-01 -2.42013224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.616875 meters 0.023903830786483258 Centerline is valid? [True, True] Translation: X:224.70, Y:-23.58, Z:-24.20 [[ 6.64382102e-01 -7.30667125e-01 -1.57232230e-01 2.24697281e+02] [ 7.09427581e-01 6.82717761e-01 -1.74954182e-01 -2.35815496e+01] [ 2.35178505e-01 4.69154714e-03 9.71940873e-01 -2.41957233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.646875 meters 0.024354199214085853 Centerline is valid? [True, True] Translation: X:224.71, Y:-23.56, Z:-24.19 [[ 6.64170121e-01 -7.30825926e-01 -1.57389697e-01 2.24714154e+02] [ 7.09522697e-01 6.82547624e-01 -1.75232084e-01 -2.35609197e+01] [ 2.35490114e-01 4.71235195e-03 9.71865320e-01 -2.41905398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.676875 meters 0.02464879645943621 Centerline is valid? [True, True] Translation: X:224.73, Y:-23.54, Z:-24.19 [[ 6.64237560e-01 -7.30680242e-01 -1.57781014e-01 2.24731833e+02] [ 7.09241453e-01 6.82702648e-01 -1.75765912e-01 -2.35396334e+01] [ 2.36146195e-01 4.84548461e-03 9.71705457e-01 -2.41853202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.706875 meters 0.025186994751201883 Centerline is valid? [True, True] Translation: X:224.75, Y:-23.52, Z:-24.18 [[ 6.64623001e-01 -7.30073934e-01 -1.58960111e-01 2.24749382e+02] [ 7.08277501e-01 6.83348827e-01 -1.77136562e-01 -2.35175837e+01] [ 2.37947992e-01 5.14116297e-03 9.71264290e-01 -2.41816356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.736875 meters 0.025452265786039915 Centerline is valid? [True, True] Translation: X:224.77, Y:-23.50, Z:-24.18 [[ 6.64709736e-01 -7.29914594e-01 -1.59328754e-01 2.24767424e+02] [ 7.07988670e-01 6.83518006e-01 -1.77637775e-01 -2.34963292e+01] [ 2.38564476e-01 5.27460650e-03 9.71112336e-01 -2.41765580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.766875 meters 0.025487134703168025 Centerline is valid? [True, True] Translation: X:224.78, Y:-23.48, Z:-24.17 [[ 6.64545177e-01 -7.30080561e-01 -1.59254771e-01 2.24784494e+02] [ 7.08157430e-01 6.83340710e-01 -1.77647202e-01 -2.34758097e+01] [ 2.38522037e-01 5.27714238e-03 9.71122747e-01 -2.41711136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.796875 meters 0.02583978261338922 Centerline is valid? [True, True] Translation: X:224.80, Y:-23.46, Z:-24.16 [[ 6.64706273e-01 -7.29922548e-01 -1.59306764e-01 2.24802523e+02] [ 7.07955665e-01 6.83508481e-01 -1.77805884e-01 -2.34551229e+01] [ 2.38672049e-01 5.40656045e-03 9.71085178e-01 -2.41648179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.82687500000003 meters 0.026005727951920913 Centerline is valid? [True, True] Translation: X:224.82, Y:-23.44, Z:-24.16 [[ 6.64926765e-01 -7.29912380e-01 -1.58430787e-01 2.24820639e+02] [ 7.08166880e-01 6.83519036e-01 -1.76922009e-01 -2.34351468e+01] [ 2.37428023e-01 5.44474296e-03 9.71389875e-01 -2.41575203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.856875 meters 0.0259873723159332 Centerline is valid? [True, True] Translation: X:224.84, Y:-23.42, Z:-24.15 [[ 6.64601115e-01 -7.30340010e-01 -1.57825309e-01 2.24837709e+02] [ 7.08752074e-01 6.83062951e-01 -1.76339168e-01 -2.34153194e+01] [ 2.36592171e-01 5.33619205e-03 9.71594396e-01 -2.41508269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.88687500000003 meters 0.026138885135234047 Centerline is valid? [True, True] Translation: X:224.86, Y:-23.39, Z:-24.14 [[ 6.64529217e-01 -7.30498207e-01 -1.57395324e-01 2.24856518e+02] [ 7.09011242e-01 6.82893812e-01 -1.75951986e-01 -2.33948738e+01] [ 2.36016903e-01 5.33018122e-03 9.71734331e-01 -2.41438969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.916875 meters 0.0246901458418157 Centerline is valid? [True, True] Translation: X:224.88, Y:-23.38, Z:-24.14 [[ 6.63981837e-01 -7.30963372e-01 -1.57545768e-01 2.24876437e+02] [ 7.09426261e-01 6.82396643e-01 -1.76207840e-01 -2.33770986e+01] [ 2.36310180e-01 5.23170027e-03 9.71663588e-01 -2.41355220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.94687500000003 meters 0.024954851579436575 Centerline is valid? [True, True] Translation: X:224.89, Y:-23.36, Z:-24.13 [[ 6.63905279e-01 -7.30973241e-01 -1.57822372e-01 2.24894871e+02] [ 7.09335620e-01 6.82385490e-01 -1.76615459e-01 -2.33560435e+01] [ 2.36796871e-01 5.30690575e-03 9.71544687e-01 -2.41302240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.976875 meters 0.025326909380276767 Centerline is valid? [True, True] Translation: X:224.91, Y:-23.34, Z:-24.13 [[ 6.63348150e-01 -7.31443054e-01 -1.57988265e-01 2.24912620e+02] [ 7.09748239e-01 6.81882593e-01 -1.76899879e-01 -2.33353994e+01] [ 2.37121635e-01 5.21431503e-03 9.71465975e-01 -2.41262931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.00687500000004 meters 0.026101849128322523 Centerline is valid? [True, True] Translation: X:224.93, Y:-23.31, Z:-24.12 [[ 6.62849559e-01 -7.31902250e-01 -1.57954290e-01 2.24929812e+02] [ 7.10204475e-01 6.81390391e-01 -1.76965359e-01 -2.33141805e+01] [ 2.37149879e-01 5.12156646e-03 9.71459574e-01 -2.41222839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.036875 meters 0.029254827407902622 Centerline is valid? [True, True] Translation: X:224.94, Y:-23.29, Z:-24.12 [[ 6.60470692e-01 -7.34496192e-01 -1.55864713e-01 2.24943911e+02] [ 7.13424877e-01 6.78599811e-01 -1.74720467e-01 -2.32900681e+01] [ 2.34101282e-01 4.19998332e-03 9.72203142e-01 -2.41226845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06687500000004 meters 0.024580542293285206 Centerline is valid? [True, True] Translation: X:224.97, Y:-23.28, Z:-24.11 [[ 6.60962229e-01 -7.33741221e-01 -1.57330076e-01 2.24969259e+02] [ 7.12226633e-01 6.79413712e-01 -1.76437614e-01 -2.32778235e+01] [ 2.36351761e-01 4.56392858e-03 9.71656840e-01 -2.41065492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.096875 meters 0.0237842555018709 Centerline is valid? [True, True] Translation: X:224.99, Y:-23.26, Z:-24.10 [[ 6.60522918e-01 -7.34225465e-01 -1.56915397e-01 2.24988373e+02] [ 7.12817885e-01 6.78891193e-01 -1.76060816e-01 -2.32590980e+01] [ 2.35796816e-01 4.44010227e-03 9.71792234e-01 -2.40980802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12687500000004 meters 0.0237842555018709 Centerline is valid? [True, True] Translation: X:225.01, Y:-23.24, Z:-24.09 [[ 6.60329903e-01 -7.34409282e-01 -1.56867542e-01 2.25006231e+02] [ 7.12996694e-01 6.78692339e-01 -1.76103446e-01 -2.32388625e+01] [ 2.35796804e-01 4.44033216e-03 9.71792236e-01 -2.40921271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.156875 meters 0.023974566223181167 Centerline is valid? [True, True] Translation: X:225.02, Y:-23.22, Z:-24.09 [[ 6.59802253e-01 -7.35042693e-01 -1.56119269e-01 2.25023450e+02] [ 7.13831950e-01 6.78007457e-01 -1.75356311e-01 -2.32191011e+01] [ 2.34744403e-01 4.25756700e-03 9.72047807e-01 -2.40858696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18687500000004 meters 0.023555450842471955 Centerline is valid? [True, True] Translation: X:225.04, Y:-23.20, Z:-24.08 [[ 6.59577793e-01 -7.35152663e-01 -1.56549345e-01 2.25042941e+02] [ 7.13809485e-01 6.77888083e-01 -1.75908404e-01 -2.31990311e+01] [ 2.35442467e-01 4.27886934e-03 9.71878869e-01 -2.40793596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.216875 meters 0.02459686963939383 Centerline is valid? [True, True] Translation: X:225.06, Y:-23.18, Z:-24.08 [[ 6.59594386e-01 -7.34933967e-01 -1.57503365e-01 2.25059321e+02] [ 7.13296438e-01 6.78124063e-01 -1.77076102e-01 -2.31757834e+01] [ 2.36946064e-01 4.45181317e-03 9.71512606e-01 -2.40786671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24687500000005 meters 0.02383056904224365 Centerline is valid? [True, True] Translation: X:225.08, Y:-23.16, Z:-24.07 [[ 6.59562099e-01 -7.34950234e-01 -1.57562657e-01 2.25078035e+02] [ 7.13274009e-01 6.78106032e-01 -1.77235428e-01 -2.31564338e+01] [ 2.37103407e-01 4.51242267e-03 9.71473938e-01 -2.40711434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.276875 meters 0.02369094133475961 Centerline is valid? [True, True] Translation: X:225.10, Y:-23.14, Z:-24.06 [[ 6.59602984e-01 -7.35029680e-01 -1.57019975e-01 2.25096023e+02] [ 7.13482883e-01 6.78019755e-01 -1.76724045e-01 -2.31364036e+01] [ 2.36360063e-01 4.53664236e-03 9.71654949e-01 -2.40644562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.306875 meters 0.023446868781887755 Centerline is valid? [True, True] Translation: X:225.11, Y:-23.12, Z:-24.06 [[ 6.59147611e-01 -7.35635406e-01 -1.56092846e-01 2.25114359e+02] [ 7.14339038e-01 6.77363662e-01 -1.75778863e-01 -2.31167103e+01] [ 2.35040777e-01 4.36100406e-03 9.71975728e-01 -2.40555945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.336875 meters 0.023351317276108223 Centerline is valid? [True, True] Translation: X:225.13, Y:-23.10, Z:-24.05 [[ 6.58487418e-01 -7.36369363e-01 -1.55417122e-01 2.25133121e+02] [ 7.15257571e-01 6.76567057e-01 -1.75110321e-01 -2.30959615e+01] [ 2.34095981e-01 4.14466976e-03 9.72204656e-01 -2.40484642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.366875 meters 0.022937023343272495 Centerline is valid? [True, True] Translation: X:225.15, Y:-23.08, Z:-24.04 [[ 6.56997167e-01 -7.37690914e-01 -1.55456866e-01 2.25151448e+02] [ 7.16589839e-01 6.75128354e-01 -1.75216177e-01 -2.30761977e+01] [ 2.34208720e-01 3.71772155e-03 9.72179229e-01 -2.40426525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.396875 meters 0.022599605952295265 Centerline is valid? [True, True] Translation: X:225.17, Y:-23.06, Z:-24.04 [[ 6.56103572e-01 -7.38530857e-01 -1.55242637e-01 2.25170184e+02] [ 7.17487644e-01 6.74210681e-01 -1.75075523e-01 -2.30556335e+01] [ 2.33964920e-01 3.48300203e-03 9.72238800e-01 -2.40365234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.426875 meters 0.02277227211217876 Centerline is valid? [True, True] Translation: X:225.19, Y:-23.04, Z:-24.03 [[ 6.55278994e-01 -7.39311785e-01 -1.55008144e-01 2.25187857e+02] [ 7.18330921e-01 6.73355337e-01 -1.74909342e-01 -2.30351900e+01] [ 2.33688099e-01 3.26727517e-03 9.72306123e-01 -2.40311349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.456875 meters 0.022290437644772277 Centerline is valid? [True, True] Translation: X:225.21, Y:-23.02, Z:-24.02 [[ 6.54436479e-01 -7.40166992e-01 -1.54485337e-01 2.25206258e+02] [ 7.19329132e-01 6.72416316e-01 -1.74418741e-01 -2.30150457e+01] [ 2.32977456e-01 3.02018371e-03 9.72477446e-01 -2.40242994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.486875 meters 0.02202881429500853 Centerline is valid? [True, True] Translation: X:225.22, Y:-23.00, Z:-24.02 [[ 6.53575450e-01 -7.40981681e-01 -1.54224766e-01 2.25223306e+02] [ 7.20214018e-01 6.71519433e-01 -1.74222325e-01 -2.29952755e+01] [ 2.32660479e-01 2.79259582e-03 9.72554010e-01 -2.40183363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.516875 meters 0.022174579093160347 Centerline is valid? [True, True] Translation: X:225.24, Y:-22.98, Z:-24.01 [[ 6.52826110e-01 -7.41616628e-01 -1.54346518e-01 2.25240624e+02] [ 7.20809453e-01 6.70818772e-01 -1.74458899e-01 -2.29755414e+01] [ 2.32920162e-01 2.63689557e-03 9.72492285e-01 -2.40127724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.546875 meters 0.021641735977319623 Centerline is valid? [True, True] Translation: X:225.26, Y:-22.96, Z:-24.01 [[ 6.51719848e-01 -7.42686127e-01 -1.53878382e-01 2.25258617e+02] [ 7.22019146e-01 6.69635753e-01 -1.74000896e-01 -2.29551567e+01] [ 2.32270518e-01 2.29669956e-03 9.72648514e-01 -2.40050493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57687500000003 meters 0.021439787961177847 Centerline is valid? [True, True] Translation: X:225.28, Y:-22.93, Z:-24.00 [[ 6.51532782e-01 -7.42849539e-01 -1.53881761e-01 2.25276322e+02] [ 7.22163006e-01 6.69454441e-01 -1.74101532e-01 -2.29339840e+01] [ 2.32348071e-01 2.30513971e-03 9.72629971e-01 -2.39983569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.606875 meters 0.021447024289713307 Centerline is valid? [True, True] Translation: X:225.29, Y:-22.91, Z:-23.99 [[ 6.51157196e-01 -7.43235035e-01 -1.53609858e-01 2.25292395e+02] [ 7.22609523e-01 6.69026682e-01 -1.73893002e-01 -2.29131231e+01] [ 2.32012465e-01 2.23173318e-03 9.72710253e-01 -2.39934276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63687500000003 meters 0.021272823341058976 Centerline is valid? [True, True] Translation: X:225.31, Y:-22.89, Z:-23.99 [[ 6.51084725e-01 -7.43335758e-01 -1.53429566e-01 2.25309770e+02] [ 7.22737622e-01 6.68914663e-01 -1.73791554e-01 -2.28923453e+01] [ 2.31816763e-01 2.26370677e-03 9.72756837e-01 -2.39871802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.666875 meters 0.021811846718517394 Centerline is valid? [True, True] Translation: X:225.33, Y:-22.87, Z:-23.98 [[ 6.51362701e-01 -7.43027618e-01 -1.53741963e-01 2.25326664e+02] [ 7.22312493e-01 6.69256287e-01 -1.74243177e-01 -2.28699491e+01] [ 2.32360268e-01 2.44576564e-03 9.72626714e-01 -2.39816902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69687500000003 meters 0.021773903316690112 Centerline is valid? [True, True] Translation: X:225.34, Y:-22.85, Z:-23.98 [[ 6.50975462e-01 -7.43397952e-01 -1.53591772e-01 2.25343480e+02] [ 7.22711779e-01 6.68845156e-01 -1.74166131e-01 -2.28492066e+01] [ 2.32203858e-01 2.37529458e-03 9.72664241e-01 -2.39758991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.726875 meters 0.021801175972808083 Centerline is valid? [True, True] Translation: X:225.36, Y:-22.83, Z:-23.97 [[ 6.50792468e-01 -7.43554060e-01 -1.53611603e-01 2.25361087e+02] [ 7.22841827e-01 6.68671549e-01 -1.74293007e-01 -2.28284138e+01] [ 2.32311981e-01 2.39168463e-03 9.72638383e-01 -2.39699439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75687500000004 meters 0.021432794012028182 Centerline is valid? [True, True] Translation: X:225.38, Y:-22.81, Z:-23.96 [[ 6.50120461e-01 -7.44209063e-01 -1.53284888e-01 2.25379133e+02] [ 7.23581065e-01 6.67943071e-01 -1.74018667e-01 -2.28088706e+01] [ 2.31891847e-01 2.21905350e-03 9.72739044e-01 -2.39620620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.786875 meters 0.021968195108610897 Centerline is valid? [True, True] Translation: X:225.40, Y:-22.79, Z:-23.96 [[ 6.49691209e-01 -7.44583734e-01 -1.53285339e-01 2.25396092e+02] [ 7.23942510e-01 6.67525601e-01 -1.74117242e-01 -2.27878764e+01] [ 2.31966755e-01 2.15266826e-03 9.72721333e-01 -2.39582742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81687500000004 meters 0.022101863462416108 Centerline is valid? [True, True] Translation: X:225.41, Y:-22.77, Z:-23.95 [[ 6.49567319e-01 -7.44634760e-01 -1.53562277e-01 2.25414697e+02] [ 7.23895757e-01 6.67468507e-01 -1.74530012e-01 -2.27683279e+01] [ 2.32459097e-01 2.20591086e-03 9.72603672e-01 -2.39513184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.846875 meters 0.02227737618984307 Centerline is valid? [True, True] Translation: X:225.43, Y:-22.75, Z:-23.95 [[ 6.49029880e-01 -7.44986587e-01 -1.54127222e-01 2.25432901e+02] [ 7.24078372e-01 6.67075960e-01 -1.75271718e-01 -2.27476570e+01] [ 2.33389643e-01 2.15639423e-03 9.72380905e-01 -2.39470740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87687500000004 meters 0.022376424458492652 Centerline is valid? [True, True] Translation: X:225.45, Y:-22.73, Z:-23.94 [[ 6.49056991e-01 -7.44940968e-01 -1.54233514e-01 2.25450860e+02] [ 7.23979512e-01 6.67126630e-01 -1.75487110e-01 -2.27271993e+01] [ 2.33620822e-01 2.23923083e-03 9.72325202e-01 -2.39418903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.906875 meters 0.022725395031551122 Centerline is valid? [True, True] Translation: X:225.47, Y:-22.71, Z:-23.94 [[ 6.49190803e-01 -7.44783283e-01 -1.54431743e-01 2.25468261e+02] [ 7.23747940e-01 6.67302315e-01 -1.75774113e-01 -2.27067063e+01] [ 2.33966280e-01 2.34128200e-03 9.72241893e-01 -2.39366917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93687500000004 meters 0.0233364592674279 Centerline is valid? [True, True] Translation: X:225.48, Y:-22.69, Z:-23.93 [[ 6.50029869e-01 -7.44076059e-01 -1.54311334e-01 2.25484985e+02] [ 7.23036596e-01 6.68089684e-01 -1.75710715e-01 -2.26858237e+01] [ 2.33835947e-01 2.64447095e-03 9.72272470e-01 -2.39305267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.966875 meters 0.022907356498540303 Centerline is valid? [True, True] Translation: X:225.50, Y:-22.67, Z:-23.92 [[ 6.50336224e-01 -7.43849956e-01 -1.54110475e-01 2.25503187e+02] [ 7.22835452e-01 6.68340818e-01 -1.75583198e-01 -2.26655348e+01] [ 2.33605875e-01 2.79159854e-03 9.72327364e-01 -2.39224734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99687500000005 meters 0.02504248914302261 Centerline is valid? [True, True] Translation: X:225.52, Y:-22.64, Z:-23.92 [[ 6.49743650e-01 -7.44459187e-01 -1.53667524e-01 2.25517137e+02] [ 7.23560269e-01 6.67662781e-01 -1.75176904e-01 -2.26409878e+01] [ 2.33010142e-01 2.63236571e-03 9.72470742e-01 -2.39239609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.026875 meters 0.02338147891207311 Centerline is valid? [True, True] Translation: X:225.54, Y:-22.62, Z:-23.91 [[ 6.50997798e-01 -7.43281429e-01 -1.54060327e-01 2.25537940e+02] [ 7.22217442e-01 6.68971534e-01 -1.75724365e-01 -2.26242846e+01] [ 2.33674630e-01 3.13111906e-03 9.72309808e-01 -2.39097187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.056875 meters 0.023588503722201868 Centerline is valid? [True, True] Translation: X:225.55, Y:-22.60, Z:-23.90 [[ 6.51907373e-01 -7.42540090e-01 -1.53788790e-01 2.25554267e+02] [ 7.21508980e-01 6.69792718e-01 -1.75506428e-01 -2.26029650e+01] [ 2.33327171e-01 3.45394181e-03 9.72392154e-01 -2.39026049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.086875 meters 0.023892976843018783 Centerline is valid? [True, True] Translation: X:225.57, Y:-22.58, Z:-23.90 [[ 6.52419548e-01 -7.42044736e-01 -1.54007605e-01 2.25571885e+02] [ 7.20915796e-01 6.70340131e-01 -1.75853699e-01 -2.25820192e+01] [ 2.33728790e-01 3.70387558e-03 9.72294777e-01 -2.38969875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.116875 meters 0.023801071621525744 Centerline is valid? [True, True] Translation: X:225.59, Y:-22.56, Z:-23.89 [[ 6.52270255e-01 -7.42210451e-01 -1.53841350e-01 2.25589603e+02] [ 7.21109870e-01 6.70156640e-01 -1.75757316e-01 -2.25605446e+01] [ 2.33546719e-01 3.70475393e-03 9.72338524e-01 -2.38905309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.146875 meters 0.023487016362317918 Centerline is valid? [True, True] Translation: X:225.61, Y:-22.54, Z:-23.88 [[ 6.51826631e-01 -7.42582720e-01 -1.53925136e-01 2.25607883e+02] [ 7.21445145e-01 6.69744459e-01 -1.75952444e-01 -2.25396697e+01] [ 2.33749752e-01 3.64194692e-03 9.72289972e-01 -2.38840105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.176875 meters 0.023487016362317918 Centerline is valid? [True, True] Translation: X:225.63, Y:-22.52, Z:-23.88 [[ 6.51625178e-01 -7.42769692e-01 -1.53875966e-01 2.25625563e+02] [ 7.21627110e-01 6.69537094e-01 -1.75995436e-01 -2.25192778e+01] [ 2.33749743e-01 3.64198906e-03 9.72289974e-01 -2.38780579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.206875 meters 0.023749238558296887 Centerline is valid? [True, True] Translation: X:225.64, Y:-22.50, Z:-23.87 [[ 6.51221661e-01 -7.43112566e-01 -1.53928758e-01 2.25643620e+02] [ 7.21940825e-01 6.69156811e-01 -1.76155067e-01 -2.24986613e+01] [ 2.33905520e-01 3.58854115e-03 9.72252709e-01 -2.38715374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.236875 meters 0.023813425532268256 Centerline is valid? [True, True] Translation: X:225.66, Y:-22.48, Z:-23.87 [[ 6.50481492e-01 -7.43722294e-01 -1.54113521e-01 2.25662190e+02] [ 7.22491960e-01 6.68479845e-01 -1.76465475e-01 -2.24780593e+01] [ 2.34263091e-01 3.44174604e-03 9.72167145e-01 -2.38653102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.266875 meters 0.02344777607095399 Centerline is valid? [True, True] Translation: X:225.68, Y:-22.46, Z:-23.86 [[ 6.49761485e-01 -7.44286228e-01 -1.54428051e-01 2.25679370e+02] [ 7.22959650e-01 6.67852552e-01 -1.76924599e-01 -2.24571994e+01] [ 2.34817711e-01 3.31354021e-03 9.72033777e-01 -2.38591680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.296875 meters 0.023432785381817794 Centerline is valid? [True, True] Translation: X:225.70, Y:-22.44, Z:-23.85 [[ 6.49732411e-01 -7.44264455e-01 -1.54655149e-01 2.25697062e+02] [ 7.22849687e-01 6.67876410e-01 -1.77283474e-01 -2.24362211e+01] [ 2.35236314e-01 3.39439280e-03 9.71932279e-01 -2.38535779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.32687500000003 meters 0.02347445789616714 Centerline is valid? [True, True] Translation: X:225.71, Y:-22.42, Z:-23.85 [[ 6.49320340e-01 -7.44539318e-01 -1.55062246e-01 2.25713988e+02] [ 7.22993962e-01 6.67570101e-01 -1.77847943e-01 -2.24158372e+01] [ 2.35929705e-01 3.37121922e-03 9.71764276e-01 -2.38480345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.356875 meters 0.02365752428748222 Centerline is valid? [True, True] Translation: X:225.73, Y:-22.39, Z:-23.84 [[ 6.49292514e-01 -7.44479071e-01 -1.55467505e-01 2.25731739e+02] [ 7.22791795e-01 6.67636755e-01 -1.78418567e-01 -2.23948748e+01] [ 2.36624709e-01 3.47520231e-03 9.71594910e-01 -2.38418079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.38687500000003 meters 0.02385082491612584 Centerline is valid? [True, True] Translation: X:225.75, Y:-22.37, Z:-23.84 [[ 6.49723699e-01 -7.43976171e-01 -1.56072328e-01 2.25748805e+02] [ 7.22079391e-01 6.68195683e-01 -1.79209047e-01 -2.23729250e+01] [ 2.37614117e-01 3.73975354e-03 9.71352431e-01 -2.38352572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.416875 meters 0.02382273141629089 Centerline is valid? [True, True] Translation: X:225.77, Y:-22.35, Z:-23.83 [[ 6.49898877e-01 -7.43808430e-01 -1.56142461e-01 2.25766576e+02] [ 7.21863583e-01 6.68381668e-01 -1.79384820e-01 -2.23518756e+01] [ 2.37790700e-01 3.86843711e-03 9.71308714e-01 -2.38280754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.44687500000003 meters 0.023921298326279407 Centerline is valid? [True, True] Translation: X:225.78, Y:-22.33, Z:-23.82 [[ 6.49957559e-01 -7.43754773e-01 -1.56153801e-01 2.25784254e+02] [ 7.21780894e-01 6.68440860e-01 -1.79496957e-01 -2.23305165e+01] [ 2.37881299e-01 3.95657422e-03 9.71286175e-01 -2.38211369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.476875 meters 0.02383038145762355 Centerline is valid? [True, True] Translation: X:225.80, Y:-22.31, Z:-23.81 [[ 6.49911418e-01 -7.43884106e-01 -1.55729205e-01 2.25801178e+02] [ 7.22010515e-01 6.68296865e-01 -1.79109231e-01 -2.23090400e+01] [ 2.37309849e-01 3.96701065e-03 9.71425910e-01 -2.38132345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.50687500000004 meters 0.023729893102422312 Centerline is valid? [True, True] Translation: X:225.82, Y:-22.29, Z:-23.81 [[ 6.49992956e-01 -7.43920593e-01 -1.55213749e-01 2.25817502e+02] [ 7.22170626e-01 6.68256004e-01 -1.78615510e-01 -2.22886108e+01] [ 2.36598276e-01 4.00801334e-03 9.71599296e-01 -2.38067490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.536875 meters 0.0243122731287738 Centerline is valid? [True, True] Translation: X:225.83, Y:-22.27, Z:-23.80 [[ 6.50582390e-01 -7.43456849e-01 -1.54966020e-01 2.25834365e+02] [ 7.21743162e-01 6.68770532e-01 -1.78417443e-01 -2.22675236e+01] [ 2.36282377e-01 4.22958082e-03 9.71675228e-01 -2.37998776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56687500000004 meters 0.024137588174110637 Centerline is valid? [True, True] Translation: X:225.85, Y:-22.25, Z:-23.79 [[ 6.50752246e-01 -7.43421289e-01 -1.54422479e-01 2.25851184e+02] [ 7.21836833e-01 6.68809643e-01 -1.77891110e-01 -2.22466945e+01] [ 2.35527282e-01 4.29520628e-03 9.71858246e-01 -2.37927001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.596875 meters 0.024698454748439118 Centerline is valid? [True, True] Translation: X:225.87, Y:-22.22, Z:-23.79 [[ 6.51056897e-01 -7.43213158e-01 -1.54139933e-01 2.25865930e+02] [ 7.21678675e-01 6.69040032e-01 -1.77666330e-01 -2.22249782e+01] [ 2.35169740e-01 4.43138716e-03 9.71944214e-01 -2.37867374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62687500000004 meters 0.0247555556278994 Centerline is valid? [True, True] Translation: X:225.88, Y:-22.20, Z:-23.78 [[ 6.51410246e-01 -7.42831735e-01 -1.54485289e-01 2.25883575e+02] [ 7.21164110e-01 6.69462019e-01 -1.78165461e-01 -2.22036160e+01] [ 2.35768992e-01 4.64956062e-03 9.71798006e-01 -2.37797109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.656875 meters 0.02518388943248074 Centerline is valid? [True, True] Translation: X:225.90, Y:-22.18, Z:-23.77 [[ 6.51755206e-01 -7.42511653e-01 -1.54569066e-01 2.25900034e+02] [ 7.20788743e-01 6.69815718e-01 -1.78354959e-01 -2.21815678e+01] [ 2.35963425e-01 4.83213049e-03 9.71749923e-01 -2.37739422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68687500000004 meters 0.02536937454320526 Centerline is valid? [True, True] Translation: X:225.92, Y:-22.16, Z:-23.77 [[ 6.52258636e-01 -7.41988535e-01 -1.54957044e-01 2.25916151e+02] [ 7.20125903e-01 6.70393358e-01 -1.78861481e-01 -2.21607211e+01] [ 2.36595342e-01 5.07536467e-03 9.71595021e-01 -2.37676231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.716875 meters 0.026618212160318407 Centerline is valid? [True, True] Translation: X:225.93, Y:-22.14, Z:-23.76 [[ 6.53866279e-01 -7.40415978e-01 -1.55701858e-01 2.25931031e+02] [ 7.18277011e-01 6.72124538e-01 -1.79796386e-01 -2.21363235e+01] [ 2.37775156e-01 5.72572862e-03 9.71303347e-01 -2.37619745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74687500000005 meters 0.02750495064190842 Centerline is valid? [True, True] Translation: X:225.95, Y:-22.11, Z:-23.76 [[ 6.54989429e-01 -7.39412046e-01 -1.55751965e-01 2.25946435e+02] [ 7.17208165e-01 6.73225021e-01 -1.79945876e-01 -2.21138642e+01] [ 2.37910268e-01 6.15606514e-03 9.71267629e-01 -2.37569494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.776875 meters 0.027374348336716925 Centerline is valid? [True, True] Translation: X:225.96, Y:-22.09, Z:-23.75 [[ 6.57310163e-01 -7.37359805e-01 -1.55704424e-01 2.25962109e+02] [ 7.15090108e-01 6.75464317e-01 -1.79983592e-01 -2.20910813e+01] [ 2.37885449e-01 6.96235099e-03 9.71268263e-01 -2.37483625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.806875 meters 0.02856816158583941 Centerline is valid? [True, True] Translation: X:225.98, Y:-22.07, Z:-23.74 [[ 6.58432318e-01 -7.36371374e-01 -1.55640879e-01 2.25977146e+02] [ 7.14069703e-01 6.76537284e-01 -1.80004893e-01 -2.20682126e+01] [ 2.37847308e-01 7.38260294e-03 9.71274501e-01 -2.37427973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.836875 meters 0.030379264951722405 Centerline is valid? [True, True] Translation: X:225.99, Y:-22.04, Z:-23.74 [[ 6.59087604e-01 -7.35861254e-01 -1.55279571e-01 2.25990891e+02] [ 7.13627441e-01 6.77089533e-01 -1.79682053e-01 -2.20445338e+01] [ 2.37359233e-01 7.61445111e-03 9.71392101e-01 -2.37380114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.866875 meters 0.03065833019616921 Centerline is valid? [True, True] Translation: X:226.01, Y:-22.02, Z:-23.73 [[ 6.60350486e-01 -7.34905961e-01 -1.54435952e-01 2.26006449e+02] [ 7.12868367e-01 6.78122103e-01 -1.78799062e-01 -2.20224165e+01] [ 2.36126929e-01 7.97754227e-03 9.71689473e-01 -2.37301503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.896875 meters 0.029969500347434126 Centerline is valid? [True, True] Translation: X:226.02, Y:-22.00, Z:-23.72 [[ 6.60800916e-01 -7.34670638e-01 -1.53626831e-01 2.26024288e+02] [ 7.12839135e-01 6.78375842e-01 -1.77951073e-01 -2.20017828e+01] [ 2.34952159e-01 8.07901462e-03 9.71973360e-01 -2.37219096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.926875 meters 0.03022897681844934 Centerline is valid? [True, True] Translation: X:226.04, Y:-21.98, Z:-23.71 [[ 6.61263586e-01 -7.34458864e-01 -1.52645493e-01 2.26041047e+02] [ 7.12880611e-01 6.78604062e-01 -1.76911734e-01 -2.19798768e+01] [ 2.33520243e-01 8.16727567e-03 9.72317639e-01 -2.37146118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.956875 meters 0.03048007096091737 Centerline is valid? [True, True] Translation: X:226.06, Y:-21.96, Z:-23.71 [[ 6.61619656e-01 -7.34370736e-01 -1.51522453e-01 2.26057573e+02] [ 7.13088361e-01 6.78699016e-01 -1.75706104e-01 -2.19577494e+01] [ 2.31871561e-01 8.20171440e-03 9.72711834e-01 -2.37071937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.986875 meters 0.03059937095769303 Centerline is valid? [True, True] Translation: X:226.07, Y:-21.94, Z:-23.70 [[ 6.61593715e-01 -7.34585795e-01 -1.50590388e-01 2.26073652e+02] [ 7.13552604e-01 6.78467035e-01 -1.74714522e-01 -2.19371835e+01] [ 2.30513420e-01 8.13586599e-03 9.73035133e-01 -2.36995856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.016875 meters 0.0300946463597132 Centerline is valid? [True, True] Translation: X:226.09, Y:-21.92, Z:-23.69 [[ 6.62776638e-01 -7.33651661e-01 -1.49941217e-01 2.26091389e+02] [ 7.12755208e-01 6.79472689e-01 -1.74059987e-01 -2.19160048e+01] [ 2.29580360e-01 8.49150989e-03 9.73252666e-01 -2.36917610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.046875 meters 0.03017686209776278 Centerline is valid? [True, True] Translation: X:226.11, Y:-21.89, Z:-23.69 [[ 6.62825375e-01 -7.33696876e-01 -1.49503902e-01 2.26107931e+02] [ 7.12903825e-01 6.79423599e-01 -1.73642473e-01 -2.18946163e+01] [ 2.28977419e-01 8.51273381e-03 9.73394511e-01 -2.36859617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07687500000003 meters 0.03132064501082268 Centerline is valid? [True, True] Translation: X:226.12, Y:-21.87, Z:-23.68 [[ 6.62804784e-01 -7.33684905e-01 -1.49653861e-01 2.26123318e+02] [ 7.12834279e-01 6.79435805e-01 -1.73880069e-01 -2.18719996e+01] [ 2.29253373e-01 8.57013972e-03 9.73329052e-01 -2.36815199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.106875 meters 0.03083849777394529 Centerline is valid? [True, True] Translation: X:226.14, Y:-21.85, Z:-23.68 [[ 6.62459046e-01 -7.33998221e-01 -1.49648336e-01 2.26140184e+02] [ 7.13141217e-01 6.79098095e-01 -1.73940743e-01 -2.18502603e+01] [ 2.29298096e-01 8.50822200e-03 9.73319061e-01 -2.36769955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13687500000003 meters 0.031208255149708243 Centerline is valid? [True, True] Translation: X:226.16, Y:-21.83, Z:-23.67 [[ 6.62084361e-01 -7.34380259e-01 -1.49432034e-01 2.26156225e+02] [ 7.13572486e-01 6.78685954e-01 -1.73780561e-01 -2.18288815e+01] [ 2.29038436e-01 8.42680366e-03 9.73380904e-01 -2.36720068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.166875 meters 0.03084977930528233 Centerline is valid? [True, True] Translation: X:226.17, Y:-21.81, Z:-23.67 [[ 6.61597750e-01 -7.34877742e-01 -1.49141280e-01 2.26174691e+02] [ 7.14145479e-01 6.78148888e-01 -1.73523260e-01 -2.18080602e+01] [ 2.28658374e-01 8.29402757e-03 9.73471395e-01 -2.36655947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19687500000003 meters 0.030424138832748863 Centerline is valid? [True, True] Translation: X:226.19, Y:-21.79, Z:-23.66 [[ 6.60927837e-01 -7.35566478e-01 -1.48715671e-01 2.26193176e+02] [ 7.14949540e-01 6.77404171e-01 -1.73120607e-01 -2.17867572e+01] [ 2.28082330e-01 8.09602777e-03 9.73608189e-01 -2.36586702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.226875 meters 0.03017341414762698 Centerline is valid? [True, True] Translation: X:226.21, Y:-21.77, Z:-23.65 [[ 6.59767939e-01 -7.36905225e-01 -1.47230960e-01 2.26209044e+02] [ 7.16725115e-01 6.75953493e-01 -1.71440908e-01 -2.17655841e+01] [ 2.25856983e-01 7.58708738e-03 9.74130925e-01 -2.36524332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25687500000004 meters 0.032883248232062644 Centerline is valid? [True, True] Translation: X:226.22, Y:-21.74, Z:-23.65 [[ 6.59206107e-01 -7.37436220e-01 -1.47088850e-01 2.26222194e+02] [ 7.17292769e-01 6.75375742e-01 -1.71343780e-01 -2.17408318e+01] [ 2.25695350e-01 7.44509752e-03 9.74169482e-01 -2.36484195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.286875 meters 0.02892667663617783 Centerline is valid? [True, True] Translation: X:226.24, Y:-21.72, Z:-23.64 [[ 6.57891372e-01 -7.38712861e-01 -1.46568248e-01 2.26244459e+02] [ 7.18722534e-01 6.73983404e-01 -1.70834104e-01 -2.17236531e+01] [ 2.24981916e-01 7.04838072e-03 9.74337446e-01 -2.36416230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31687500000004 meters 0.027959142506162424 Centerline is valid? [True, True] Translation: X:226.26, Y:-21.70, Z:-23.64 [[ 6.56999792e-01 -7.39430991e-01 -1.46945854e-01 2.26263849e+02] [ 7.19332158e-01 6.73197147e-01 -1.71367580e-01 -2.17039379e+01] [ 2.25638029e-01 6.88558616e-03 9.74186876e-01 -2.36353466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.346875 meters 0.029695871268174478 Centerline is valid? [True, True] Translation: X:226.28, Y:-21.68, Z:-23.63 [[ 6.56559091e-01 -7.39790103e-01 -1.47108000e-01 2.26278292e+02] [ 7.19632622e-01 6.72802985e-01 -1.71653818e-01 -2.16803945e+01] [ 2.25962497e-01 6.83715927e-03 9.74112008e-01 -2.36316300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37687500000004 meters 0.028518732361633572 Centerline is valid? [True, True] Translation: X:226.30, Y:-21.66, Z:-23.63 [[ 6.55770426e-01 -7.40399767e-01 -1.47557900e-01 2.26297230e+02] [ 7.20111717e-01 6.72133296e-01 -1.72267079e-01 -2.16609766e+01] [ 2.26725083e-01 6.70948300e-03 9.73935686e-01 -2.36258224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.406875 meters 0.02823061711779691 Centerline is valid? [True, True] Translation: X:226.32, Y:-21.64, Z:-23.62 [[ 6.54591483e-01 -7.41273699e-01 -1.48402467e-01 2.26315040e+02] [ 7.20748868e-01 6.71171283e-01 -1.73349872e-01 -2.16394275e+01] [ 2.28103175e-01 6.51243931e-03 9.73615186e-01 -2.36221971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43687500000004 meters 0.028265435949400397 Centerline is valid? [True, True] Translation: X:226.33, Y:-21.62, Z:-23.62 [[ 6.53976842e-01 -7.41793184e-01 -1.48516539e-01 2.26331296e+02] [ 7.21226980e-01 6.70598149e-01 -1.73579279e-01 -2.16179973e+01] [ 2.28354842e-01 6.40269378e-03 9.73556918e-01 -2.36178304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.466875 meters 0.029138076544847034 Centerline is valid? [True, True] Translation: X:226.35, Y:-21.60, Z:-23.61 [[ 6.53313653e-01 -7.42328389e-01 -1.48760996e-01 2.26346208e+02] [ 7.21687708e-01 6.70006778e-01 -1.73947606e-01 -2.15959650e+01] [ 2.28797121e-01 6.28336393e-03 9.73453849e-01 -2.36134208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49687500000005 meters 0.027279758541381198 Centerline is valid? [True, True] Translation: X:226.37, Y:-21.58, Z:-23.61 [[ 6.52224405e-01 -7.43162723e-01 -1.49373665e-01 2.26367257e+02] [ 7.22350717e-01 6.69083147e-01 -1.74748918e-01 -2.15775346e+01] [ 2.29810284e-01 6.07533509e-03 9.73216483e-01 -2.36055955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.526875 meters 0.027557348006068207 Centerline is valid? [True, True] Translation: X:226.38, Y:-21.56, Z:-23.60 [[ 6.51669483e-01 -7.43645199e-01 -1.49394456e-01 2.26383574e+02] [ 7.22818095e-01 6.68547819e-01 -1.74865133e-01 -2.15565302e+01] [ 2.29914954e-01 5.96925466e-03 9.73192418e-01 -2.36002436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.556875 meters 0.02683042835766525 Centerline is valid? [True, True] Translation: X:226.40, Y:-21.54, Z:-23.59 [[ 6.51056769e-01 -7.44142942e-01 -1.49587314e-01 2.26401910e+02] [ 7.23253681e-01 6.67994708e-01 -1.75177574e-01 -2.15357681e+01] [ 2.30280689e-01 5.86096989e-03 9.73106599e-01 -2.35937384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.586875 meters 0.026996616663242726 Centerline is valid? [True, True] Translation: X:226.42, Y:-21.51, Z:-23.59 [[ 6.50358936e-01 -7.44629974e-01 -1.50198057e-01 2.26417683e+02] [ 7.23555891e-01 6.67452439e-01 -1.75994642e-01 -2.15142660e+01] [ 2.31300946e-01 5.78299917e-03 9.72865062e-01 -2.35891340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.616875 meters 0.026802349190553496 Centerline is valid? [True, True] Translation: X:226.44, Y:-21.49, Z:-23.58 [[ 6.49993740e-01 -7.44857171e-01 -1.50651696e-01 2.26436444e+02] [ 7.23637557e-01 6.67198875e-01 -1.76619215e-01 -2.14935390e+01] [ 2.32070731e-01 5.78415866e-03 9.72681715e-01 -2.35826826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.646875 meters 0.026670726588407488 Centerline is valid? [True, True] Translation: X:226.45, Y:-21.47, Z:-23.58 [[ 6.49428075e-01 -7.45359562e-01 -1.50606439e-01 2.26454162e+02] [ 7.24142209e-01 6.66638548e-01 -1.76666654e-01 -2.14720793e+01] [ 2.32080237e-01 5.67180550e-03 9.72680109e-01 -2.35767098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.676875 meters 0.026777026849833685 Centerline is valid? [True, True] Translation: X:226.47, Y:-21.45, Z:-23.57 [[ 6.48330672e-01 -7.46200831e-01 -1.51167651e-01 2.26470779e+02] [ 7.24821065e-01 6.65698502e-01 -1.77425840e-01 -2.14510223e+01] [ 2.33027388e-01 5.46111676e-03 9.72454838e-01 -2.35717328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.706875 meters 0.026937297713442034 Centerline is valid? [True, True] Translation: X:226.49, Y:-21.43, Z:-23.57 [[ 6.47486993e-01 -7.46917089e-01 -1.51246343e-01 2.26487487e+02] [ 7.25512801e-01 6.64896326e-01 -1.77606448e-01 -2.14301841e+01] [ 2.33220430e-01 5.26670694e-03 9.72409632e-01 -2.35669618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.736875 meters 0.026034753797087612 Centerline is valid? [True, True] Translation: X:226.51, Y:-21.41, Z:-23.56 [[ 6.46696792e-01 -7.47544476e-01 -1.51527274e-01 2.26506628e+02] [ 7.26056496e-01 6.64192122e-01 -1.78019071e-01 -2.14112571e+01] [ 2.33720395e-01 5.10700053e-03 9.72290438e-01 -2.35593756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.766875 meters 0.02647273865951173 Centerline is valid? [True, True] Translation: X:226.52, Y:-21.39, Z:-23.55 [[ 6.46207672e-01 -7.47970478e-01 -1.51511747e-01 2.26523154e+02] [ 7.26474139e-01 6.63713001e-01 -1.78102155e-01 -2.13898749e+01] [ 2.33775470e-01 5.02161343e-03 9.72277642e-01 -2.35540929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.796875 meters 0.02599689486094706 Centerline is valid? [True, True] Translation: X:226.54, Y:-21.37, Z:-23.55 [[ 6.45361885e-01 -7.48738854e-01 -1.51321402e-01 2.26541384e+02] [ 7.27296409e-01 6.62847722e-01 -1.77968626e-01 -2.13694666e+01] [ 2.33555072e-01 4.79865607e-03 9.72331734e-01 -2.35462775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.82687500000003 meters 0.02700185464693435 Centerline is valid? [True, True] Translation: X:226.56, Y:-21.35, Z:-23.54 [[ 6.44871543e-01 -7.49111890e-01 -1.51565393e-01 2.26556789e+02] [ 7.27585596e-01 6.62426538e-01 -1.78354372e-01 -2.13476477e+01] [ 2.34008320e-01 4.73886251e-03 9.72223045e-01 -2.35423062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.856875 meters 0.02561261715037564 Centerline is valid? [True, True] Translation: X:226.58, Y:-21.33, Z:-23.53 [[ 6.44400901e-01 -7.49567615e-01 -1.51313812e-01 2.26575924e+02] [ 7.28103973e-01 6.61911603e-01 -1.78150597e-01 -2.13291484e+01] [ 2.33692285e-01 4.62821737e-03 9.72299591e-01 -2.35334683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.88687500000003 meters 0.026781036199522 Centerline is valid? [True, True] Translation: X:226.59, Y:-21.31, Z:-23.53 [[ 6.43951909e-01 -7.49855451e-01 -1.51798359e-01 2.26591794e+02] [ 7.28235954e-01 6.61585655e-01 -1.78820626e-01 -2.13064926e+01] [ 2.34517238e-01 4.60686082e-03 9.72101045e-01 -2.35296464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.916875 meters 0.026968792165727354 Centerline is valid? [True, True] Translation: X:226.61, Y:-21.29, Z:-23.52 [[ 6.43524824e-01 -7.50169094e-01 -1.52059630e-01 2.26608682e+02] [ 7.28460459e-01 6.61230299e-01 -1.79220122e-01 -2.12861079e+01] [ 2.34991831e-01 4.56316967e-03 9.71986634e-01 -2.35237163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.94687500000003 meters 0.02588058319757776 Centerline is valid? [True, True] Translation: X:226.63, Y:-21.27, Z:-23.51 [[ 6.42974739e-01 -7.50678522e-01 -1.51872452e-01 2.26628127e+02] [ 7.29014059e-01 6.60652747e-01 -1.79098993e-01 -2.12674087e+01] [ 2.34780720e-01 4.43897532e-03 9.72038224e-01 -2.35142220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.976875 meters 0.02582954093687204 Centerline is valid? [True, True] Translation: X:226.65, Y:-21.25, Z:-23.51 [[ 6.42674204e-01 -7.51012354e-01 -1.51493603e-01 2.26645326e+02] [ 7.29442811e-01 6.60273674e-01 -1.78750836e-01 -2.12465422e+01] [ 2.34271324e-01 4.37263137e-03 9.72161420e-01 -2.35077024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.00687500000004 meters 0.025750731267651723 Centerline is valid? [True, True] Translation: X:226.66, Y:-21.23, Z:-23.50 [[ 6.43199681e-01 -7.50850347e-01 -1.50059743e-01 2.26662634e+02] [ 7.29665576e-01 6.60457360e-01 -1.77155925e-01 -2.12254788e+01] [ 2.32125649e-01 4.45320590e-03 9.72675615e-01 -2.34990999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.036875 meters 0.025750731267651723 Centerline is valid? [True, True] Translation: X:226.68, Y:-21.20, Z:-23.49 [[ 6.42997909e-01 -7.51032653e-01 -1.50012140e-01 2.26679982e+02] [ 7.29843380e-01 6.60250058e-01 -1.77196226e-01 -2.12048226e+01] [ 2.32125676e-01 4.45143543e-03 9.72675617e-01 -2.34931461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06687500000004 meters 0.026034779138273182 Centerline is valid? [True, True] Translation: X:226.70, Y:-21.18, Z:-23.49 [[ 6.43162109e-01 -7.50957715e-01 -1.49683039e-01 2.26696612e+02] [ 7.29837090e-01 6.60334720e-01 -1.76906415e-01 -2.11834123e+01] [ 2.31690145e-01 4.53526977e-03 9.72779064e-01 -2.34865177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.096875 meters 0.02617681586245691 Centerline is valid? [True, True] Translation: X:226.71, Y:-21.16, Z:-23.48 [[ 6.43433394e-01 -7.50832593e-01 -1.49143835e-01 2.26713619e+02] [ 7.29839509e-01 6.60476333e-01 -1.76366961e-01 -2.11614100e+01] [ 2.30928035e-01 4.62932907e-03 9.72959820e-01 -2.34807720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12687500000004 meters 0.0258585835375791 Centerline is valid? [True, True] Translation: X:226.73, Y:-21.14, Z:-23.47 [[ 6.43540304e-01 -7.50744880e-01 -1.49124115e-01 2.26732299e+02] [ 7.29731762e-01 6.60575341e-01 -1.76441986e-01 -2.11414774e+01] [ 2.30970631e-01 4.72692656e-03 9.72949240e-01 -2.34734308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.156875 meters 0.025973192765362276 Centerline is valid? [True, True] Translation: X:226.75, Y:-21.12, Z:-23.47 [[ 6.43280626e-01 -7.51043339e-01 -1.48741178e-01 2.26748611e+02] [ 7.30123725e-01 6.60236356e-01 -1.76088898e-01 -2.11204284e+01] [ 2.30454727e-01 4.67511370e-03 9.73071818e-01 -2.34678984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18687500000004 meters 0.025839489238522806 Centerline is valid? [True, True] Translation: X:226.77, Y:-21.10, Z:-23.46 [[ 6.43743803e-01 -7.50620509e-01 -1.48871646e-01 2.26767299e+02] [ 7.29632006e-01 6.60715477e-01 -1.76329788e-01 -2.10992145e+01] [ 2.30718556e-01 4.88969105e-03 9.73008242e-01 -2.34609065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.216875 meters 0.026362327132597466 Centerline is valid? [True, True] Translation: X:226.78, Y:-21.08, Z:-23.46 [[ 6.44381874e-01 -7.50090247e-01 -1.48783811e-01 2.26783325e+02] [ 7.29092542e-01 6.61315548e-01 -1.76311685e-01 -2.10775940e+01] [ 2.30642723e-01 5.13488712e-03 9.73024957e-01 -2.34554755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.246875 meters 0.026810618085035216 Centerline is valid? [True, True] Translation: X:226.80, Y:-21.06, Z:-23.45 [[ 6.44945690e-01 -7.49552389e-01 -1.49051241e-01 2.26800708e+02] [ 7.28454057e-01 6.61923279e-01 -1.76669918e-01 -2.10553386e+01] [ 2.31083845e-01 5.36552133e-03 9.72919045e-01 -2.34500369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.276875 meters 0.027048452299382793 Centerline is valid? [True, True] Translation: X:226.82, Y:-21.03, Z:-23.45 [[ 6.46671174e-01 -7.48090235e-01 -1.48920759e-01 2.26816934e+02] [ 7.26970321e-01 6.63570406e-01 -1.76602574e-01 -2.10318476e+01] [ 2.30934070e-01 5.94282182e-03 9.72951252e-01 -2.34454136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.306875 meters 0.027180815980796177 Centerline is valid? [True, True] Translation: X:226.83, Y:-21.01, Z:-23.44 [[ 6.47430737e-01 -7.47381195e-01 -1.49180395e-01 2.26833991e+02] [ 7.26147000e-01 6.64365916e-01 -1.76998490e-01 -2.10095633e+01] [ 2.31395712e-01 6.26736625e-03 9.72839527e-01 -2.34399569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.336875 meters 0.027698652982700446 Centerline is valid? [True, True] Translation: X:226.85, Y:-20.99, Z:-23.43 [[ 6.48854528e-01 -7.46132348e-01 -1.49245840e-01 2.26851023e+02] [ 7.24825749e-01 6.65763172e-01 -1.77163857e-01 -2.09867478e+01] [ 2.31550069e-01 6.77634321e-03 9.72799387e-01 -2.34338589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.366875 meters 0.028420410272185406 Centerline is valid? [True, True] Translation: X:226.87, Y:-20.96, Z:-23.43 [[ 6.49510985e-01 -7.45485979e-01 -1.49619970e-01 2.26868617e+02] [ 7.24032889e-01 6.66483643e-01 -1.77696170e-01 -2.09643978e+01] [ 2.32189266e-01 7.08583477e-03 9.72644815e-01 -2.34282175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.396875 meters 0.02857134774673094 Centerline is valid? [True, True] Translation: X:226.89, Y:-20.94, Z:-23.42 [[ 6.49834083e-01 -7.45111673e-01 -1.50080840e-01 2.26886407e+02] [ 7.23493319e-01 6.66899733e-01 -1.78331613e-01 -2.09421395e+01] [ 2.32965839e-01 7.30347568e-03 9.72457494e-01 -2.34222516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.426875 meters 0.02920945478408859 Centerline is valid? [True, True] Translation: X:226.90, Y:-20.92, Z:-23.42 [[ 6.50322794e-01 -7.44610405e-01 -1.50451351e-01 2.26902888e+02] [ 7.22849413e-01 6.67456481e-01 -1.78859083e-01 -2.09211972e+01] [ 2.33600063e-01 7.56246790e-03 9.72303358e-01 -2.34174206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.456875 meters 0.028491736501028035 Centerline is valid? [True, True] Translation: X:226.92, Y:-20.90, Z:-23.41 [[ 6.51458888e-01 -7.43476325e-01 -1.51143217e-01 2.26921949e+02] [ 7.21464371e-01 6.68713717e-01 -1.79752956e-01 -2.09010347e+01] [ 2.34713610e-01 8.05721489e-03 9.72031174e-01 -2.34111507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.486875 meters 0.029770156873713087 Centerline is valid? [True, True] Translation: X:226.94, Y:-20.88, Z:-23.41 [[ 6.51787751e-01 -7.43106101e-01 -1.51545535e-01 2.26937296e+02] [ 7.20951973e-01 6.69122740e-01 -1.80285915e-01 -2.08779269e+01] [ 2.35374127e-01 8.25109842e-03 9.71869816e-01 -2.34068516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.516875 meters 0.028902585357615522 Centerline is valid? [True, True] Translation: X:226.96, Y:-20.86, Z:-23.40 [[ 6.51961857e-01 -7.42884946e-01 -1.51880525e-01 2.26956897e+02] [ 7.20611093e-01 6.69366529e-01 -1.80743195e-01 -2.08579543e+01] [ 2.35935139e-01 8.39087785e-03 9.71732578e-01 -2.34002585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.546875 meters 0.02917192337801452 Centerline is valid? [True, True] Translation: X:226.97, Y:-20.84, Z:-23.39 [[ 6.51954244e-01 -7.42830450e-01 -1.52179455e-01 2.26974648e+02] [ 7.20444580e-01 6.69425771e-01 -1.81187043e-01 -2.08365625e+01] [ 2.36464101e-01 8.48879842e-03 9.71603144e-01 -2.33944960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57687500000003 meters 0.02878994667311387 Centerline is valid? [True, True] Translation: X:226.99, Y:-20.82, Z:-23.39 [[ 6.51513741e-01 -7.43201605e-01 -1.52253798e-01 2.26992974e+02] [ 7.20790727e-01 6.69014877e-01 -1.81327940e-01 -2.08155497e+01] [ 2.36623272e-01 8.39451916e-03 9.71565211e-01 -2.33881749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.606875 meters 0.02957850193078197 Centerline is valid? [True, True] Translation: X:227.01, Y:-20.80, Z:-23.38 [[ 6.50847228e-01 -7.43725362e-01 -1.52546625e-01 2.27009543e+02] [ 7.21215136e-01 6.68433841e-01 -1.81782641e-01 -2.07952411e+01] [ 2.37163686e-01 8.29379323e-03 9.71434300e-01 -2.33831543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63687500000003 meters 0.028814362457855732 Centerline is valid? [True, True] Translation: X:227.03, Y:-20.78, Z:-23.38 [[ 6.50233573e-01 -7.44259563e-01 -1.52558201e-01 2.27028288e+02] [ 7.21734710e-01 6.67840494e-01 -1.81901299e-01 -2.07755338e+01] [ 2.37266326e-01 8.17178307e-03 9.71410270e-01 -2.33764247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.666875 meters 0.02825746016553802 Centerline is valid? [True, True] Translation: X:227.05, Y:-20.76, Z:-23.37 [[ 6.49184758e-01 -7.45186815e-01 -1.52498394e-01 2.27047178e+02] [ 7.22680032e-01 6.66808967e-01 -1.81932332e-01 -2.07552764e+01] [ 2.37260872e-01 7.90015298e-03 9.71413849e-01 -2.33689342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69687500000003 meters 0.028189325943195228 Centerline is valid? [True, True] Translation: X:227.07, Y:-20.74, Z:-23.36 [[ 6.48823897e-01 -7.45525796e-01 -1.52377288e-01 2.27066118e+02] [ 7.23041822e-01 6.66430735e-01 -1.81880725e-01 -2.07355598e+01] [ 2.37145680e-01 7.83340893e-03 9.71442517e-01 -2.33621134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.726875 meters 0.028244492473135943 Centerline is valid? [True, True] Translation: X:227.08, Y:-20.72, Z:-23.36 [[ 6.48368828e-01 -7.45955737e-01 -1.52210057e-01 2.27082808e+02] [ 7.23508295e-01 6.65950569e-01 -1.81784452e-01 -2.07152921e+01] [ 2.36967529e-01 7.73813336e-03 9.71486753e-01 -2.33565063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75687500000004 meters 0.028965126721153995 Centerline is valid? [True, True] Translation: X:227.10, Y:-20.70, Z:-23.35 [[ 6.47932690e-01 -7.46247783e-01 -1.52635104e-01 2.27100198e+02] [ 7.23660035e-01 6.65623595e-01 -1.82377040e-01 -2.06951296e+01] [ 2.37695989e-01 7.71212148e-03 9.71308983e-01 -2.33509468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.786875 meters 0.026992235897178814 Centerline is valid? [True, True] Translation: X:227.12, Y:-20.68, Z:-23.34 [[ 6.46546341e-01 -7.47501075e-01 -1.52381010e-01 2.27121918e+02] [ 7.25001081e-01 6.64220456e-01 -1.82166455e-01 -2.06777717e+01] [ 2.37384205e-01 7.30265789e-03 9.71388393e-01 -2.33419886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81687500000004 meters 0.027291881639182898 Centerline is valid? [True, True] Translation: X:227.14, Y:-20.66, Z:-23.34 [[ 6.45502624e-01 -7.48514687e-01 -1.51829266e-01 2.27139650e+02] [ 7.26184800e-01 6.63081613e-01 -1.81599587e-01 -2.06563751e+01] [ 2.36605153e-01 6.96690415e-03 9.71580910e-01 -2.33362027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.846875 meters 0.027075481691899925 Centerline is valid? [True, True] Translation: X:227.16, Y:-20.64, Z:-23.33 [[ 6.44485552e-01 -7.49392823e-01 -1.51818214e-01 2.27158375e+02] [ 7.27067821e-01 6.62091697e-01 -1.81678203e-01 -2.06357311e+01] [ 2.36665920e-01 6.70683876e-03 9.71567939e-01 -2.33295638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87687500000004 meters 0.02670609412446546 Centerline is valid? [True, True] Translation: X:227.18, Y:-20.62, Z:-23.32 [[ 6.43835626e-01 -7.50017032e-01 -1.51493031e-01 2.27177608e+02] [ 7.27783352e-01 6.61386317e-01 -1.81382284e-01 -2.06166315e+01] [ 2.36235220e-01 6.52627051e-03 9.71673983e-01 -2.33221654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.906875 meters 0.025841669474206717 Centerline is valid? [True, True] Translation: X:227.20, Y:-20.60, Z:-23.31 [[ 6.42744859e-01 -7.51091809e-01 -1.50798344e-01 2.27199011e+02] [ 7.29070479e-01 6.60168965e-01 -1.80646548e-01 -2.05978386e+01] [ 2.35234529e-01 6.16701869e-03 9.71919073e-01 -2.33131705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93687500000004 meters 0.026063036065856023 Centerline is valid? [True, True] Translation: X:227.22, Y:-20.58, Z:-23.31 [[ 6.42068079e-01 -7.51790804e-01 -1.50197102e-01 2.27216381e+02] [ 7.29953406e-01 6.59375096e-01 -1.79979188e-01 -2.05766163e+01] [ 2.34342927e-01 5.92200509e-03 9.72135959e-01 -2.33072642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.966875 meters 0.0257866144493705 Centerline is valid? [True, True] Translation: X:227.23, Y:-20.56, Z:-23.30 [[ 6.41437436e-01 -7.52430856e-01 -1.49685746e-01 2.27234833e+02] [ 7.30739553e-01 6.58646328e-01 -1.79456737e-01 -2.05567962e+01] [ 2.33618753e-01 5.72897395e-03 9.72311399e-01 -2.33002167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.996875 meters 0.02574967232321416 Centerline is valid? [True, True] Translation: X:227.25, Y:-20.54, Z:-23.29 [[ 6.41010731e-01 -7.52878057e-01 -1.49264440e-01 2.27252267e+02] [ 7.31299161e-01 6.58136081e-01 -1.79048698e-01 -2.05371909e+01] [ 2.33038149e-01 5.61517663e-03 9.72451382e-01 -2.32941121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.026875 meters 0.02593732275595489 Centerline is valid? [True, True] Translation: X:227.27, Y:-20.52, Z:-23.29 [[ 6.40883553e-01 -7.53027115e-01 -1.49058496e-01 2.27270991e+02] [ 7.31493395e-01 6.57965595e-01 -1.78881774e-01 -2.05166213e+01] [ 2.32778188e-01 5.60708124e-03 9.72513689e-01 -2.32879384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.056875 meters 0.025444287155823947 Centerline is valid? [True, True] Translation: X:227.29, Y:-20.50, Z:-23.28 [[ 6.40449876e-01 -7.53581425e-01 -1.48118171e-01 2.27290625e+02] [ 7.32313593e-01 6.57332095e-01 -1.77851957e-01 -2.04970493e+01] [ 2.31388759e-01 5.43631341e-03 9.72846179e-01 -2.32801088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.086875 meters 0.02549422967517197 Centerline is valid? [True, True] Translation: X:227.31, Y:-20.48, Z:-23.27 [[ 6.40529982e-01 -7.53531581e-01 -1.48025332e-01 2.27308525e+02] [ 7.32266498e-01 6.57388569e-01 -1.77837131e-01 -2.04768253e+01] [ 2.31316056e-01 5.51602266e-03 9.72863020e-01 -2.32737385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.116875 meters 0.02561681065517789 Centerline is valid? [True, True] Translation: X:227.32, Y:-20.46, Z:-23.27 [[ 6.40285053e-01 -7.53751826e-01 -1.47963628e-01 2.27324979e+02] [ 7.32486670e-01 6.57136146e-01 -1.77863327e-01 -2.04564017e+01] [ 2.31297056e-01 5.50184482e-03 9.72867618e-01 -2.32682681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.146875 meters 0.025127727016897944 Centerline is valid? [True, True] Translation: X:227.34, Y:-20.44, Z:-23.26 [[ 6.41311254e-01 -7.52877196e-01 -1.47972308e-01 2.27344295e+02] [ 7.31561708e-01 6.58134678e-01 -1.77978125e-01 -2.04357879e+01] [ 2.31381379e-01 5.88850012e-03 9.72845303e-01 -2.32622057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.176875 meters 0.025327927303447472 Centerline is valid? [True, True] Translation: X:227.36, Y:-20.41, Z:-23.26 [[ 6.41628868e-01 -7.52577424e-01 -1.48120280e-01 2.27361498e+02] [ 7.31189976e-01 6.58475870e-01 -1.78243504e-01 -2.04140758e+01] [ 2.31675667e-01 6.06211351e-03 9.72774196e-01 -2.32569892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.206875 meters 0.025598333072116307 Centerline is valid? [True, True] Translation: X:227.38, Y:-20.39, Z:-23.25 [[ 6.41893219e-01 -7.52316406e-01 -1.48300776e-01 2.27379676e+02] [ 7.30857269e-01 6.58772805e-01 -1.78510626e-01 -2.03924874e+01] [ 2.31992991e-01 6.19806079e-03 9.72697711e-01 -2.32511282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.236875 meters 0.026668841198100906 Centerline is valid? [True, True] Translation: X:227.40, Y:-20.37, Z:-23.25 [[ 6.42168827e-01 -7.52058813e-01 -1.48414079e-01 2.27395649e+02] [ 7.30536185e-01 6.59065290e-01 -1.78745139e-01 -2.03700595e+01] [ 2.32241426e-01 6.36270088e-03 9.72637361e-01 -2.32466947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.266875 meters 0.026098737621787403 Centerline is valid? [True, True] Translation: X:227.42, Y:-20.35, Z:-23.24 [[ 6.42677725e-01 -7.51569942e-01 -1.48687471e-01 2.27415656e+02] [ 7.29930316e-01 6.59620202e-01 -1.79172884e-01 -2.03503185e+01] [ 2.32738214e-01 6.61892908e-03 9.72516896e-01 -2.32401404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.296875 meters 0.026705985815437767 Centerline is valid? [True, True] Translation: X:227.43, Y:-20.33, Z:-23.23 [[ 6.42675017e-01 -7.51582593e-01 -1.48635222e-01 2.27431968e+02] [ 7.29935933e-01 6.59605208e-01 -1.79205200e-01 -2.03282517e+01] [ 2.32728076e-01 6.67651585e-03 9.72518929e-01 -2.32347675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.32687500000003 meters 0.026049515332414036 Centerline is valid? [True, True] Translation: X:227.45, Y:-20.31, Z:-23.23 [[ 6.42426377e-01 -7.51785546e-01 -1.48683698e-01 2.27451085e+02] [ 7.30113823e-01 6.59374142e-01 -1.79330831e-01 -2.03087691e+01] [ 2.32856513e-01 6.65083326e-03 9.72488360e-01 -2.32280456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.356875 meters 0.02632974986313418 Centerline is valid? [True, True] Translation: X:227.47, Y:-20.29, Z:-23.22 [[ 6.42254012e-01 -7.51865786e-01 -1.49022224e-01 2.27467943e+02] [ 7.30070970e-01 6.59282064e-01 -1.79843095e-01 -2.02882118e+01] [ 2.33465549e-01 6.70814995e-03 9.72341935e-01 -2.32231871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.38687500000003 meters 0.02643527880331492 Centerline is valid? [True, True] Translation: X:227.49, Y:-20.27, Z:-23.22 [[ 6.42046238e-01 -7.51970044e-01 -1.49391031e-01 2.27485827e+02] [ 7.30046334e-01 6.59162721e-01 -1.80379760e-01 -2.02670041e+01] [ 2.34113175e-01 6.74977191e-03 9.72185919e-01 -2.32177556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.416875 meters 0.02693116469152396 Centerline is valid? [True, True] Translation: X:227.50, Y:-20.25, Z:-23.21 [[ 6.41986238e-01 -7.51973674e-01 -1.49630426e-01 2.27502595e+02] [ 7.29954455e-01 6.59157775e-01 -1.80769248e-01 -2.02465723e+01] [ 2.34563774e-01 6.82797358e-03 9.72076753e-01 -2.32125663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.44687500000003 meters 0.02585682930906364 Centerline is valid? [True, True] Translation: X:227.52, Y:-20.23, Z:-23.21 [[ 6.41566190e-01 -7.52350648e-01 -1.49537042e-01 2.27521903e+02] [ 7.30347573e-01 6.58728305e-01 -1.80746906e-01 -2.02274032e+01] [ 2.34489334e-01 6.74708848e-03 9.72095278e-01 -2.32051574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.476875 meters 0.02733369365727492 Centerline is valid? [True, True] Translation: X:227.54, Y:-20.21, Z:-23.20 [[ 6.40984409e-01 -7.52844968e-01 -1.49544114e-01 2.27537510e+02] [ 7.30828663e-01 6.58164441e-01 -1.80856391e-01 -2.02057633e+01] [ 2.34581442e-01 6.63500228e-03 9.72073826e-01 -2.32005481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.50687500000004 meters 0.02748364679524464 Centerline is valid? [True, True] Translation: X:227.56, Y:-20.18, Z:-23.19 [[ 6.40879634e-01 -7.52928333e-01 -1.49573459e-01 2.27555263e+02] [ 7.30888446e-01 6.58068883e-01 -1.80962496e-01 -2.01846172e+01] [ 2.34681429e-01 6.65366519e-03 9.72049564e-01 -2.31946772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.536875 meters 0.027366851264058252 Centerline is valid? [True, True] Translation: X:227.57, Y:-20.16, Z:-23.19 [[ 6.40366389e-01 -7.53352249e-01 -1.49637149e-01 2.27573127e+02] [ 7.31280934e-01 6.57584407e-01 -1.81137915e-01 -2.01639549e+01] [ 2.34859711e-01 6.56783819e-03 9.72007088e-01 -2.31886666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56687500000004 meters 0.025926175140318426 Centerline is valid? [True, True] Translation: X:227.59, Y:-20.15, Z:-23.18 [[ 6.39794744e-01 -7.53857434e-01 -1.49538138e-01 2.27593734e+02] [ 7.31805840e-01 6.57006428e-01 -1.81115337e-01 -2.01452871e+01] [ 2.34782661e-01 6.44375821e-03 9.72026533e-01 -2.31805054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.596875 meters 0.025549417981954325 Centerline is valid? [True, True] Translation: X:227.61, Y:-20.12, Z:-23.17 [[ 6.38985584e-01 -7.54497240e-01 -1.49770953e-01 2.27612517e+02] [ 7.32370051e-01 6.56273137e-01 -1.81492915e-01 -2.01247950e+01] [ 2.35226556e-01 6.28359573e-03 9.71920256e-01 -2.31739609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62687500000004 meters 0.025795482266230196 Centerline is valid? [True, True] Translation: X:227.63, Y:-20.10, Z:-23.17 [[ 6.38439710e-01 -7.55011434e-01 -1.49507430e-01 2.27629949e+02] [ 7.32952563e-01 6.55682770e-01 -1.81275052e-01 -2.01042848e+01] [ 2.34894182e-01 6.15133736e-03 9.72001484e-01 -2.31683655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.656875 meters 0.0251174797701933 Centerline is valid? [True, True] Translation: X:227.65, Y:-20.08, Z:-23.16 [[ 6.37238193e-01 -7.56101047e-01 -1.49126428e-01 2.27649150e+02] [ 7.34160689e-01 6.54429158e-01 -1.80915891e-01 -2.00842261e+01] [ 2.34383377e-01 5.80375424e-03 9.72126920e-01 -2.31611091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68687500000004 meters 0.0246478731908416 Centerline is valid? [True, True] Translation: X:227.67, Y:-20.07, Z:-23.15 [[ 6.35325114e-01 -7.57792115e-01 -1.48704776e-01 2.27668913e+02] [ 7.35999813e-01 6.52475101e-01 -1.80500742e-01 -2.00654882e+01] [ 2.33808202e-01 5.22996726e-03 9.72268673e-01 -2.31533194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.716875 meters 0.023696986014366324 Centerline is valid? [True, True] Translation: X:227.69, Y:-20.05, Z:-23.15 [[ 6.33794253e-01 -7.59132527e-01 -1.48400304e-01 2.27688905e+02] [ 7.37444807e-01 6.50918496e-01 -1.80222826e-01 -2.00462355e+01] [ 2.33409512e-01 4.78715793e-03 9.72366743e-01 -2.31456839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.746875 meters 0.02351114038214089 Centerline is valid? [True, True] Translation: X:227.71, Y:-20.03, Z:-23.14 [[ 6.32320198e-01 -7.60488283e-01 -1.47745520e-01 2.27708140e+02] [ 7.39007418e-01 6.49337203e-01 -1.79525020e-01 -2.00256147e+01] [ 2.32463337e-01 4.33226059e-03 9.72595511e-01 -2.31389364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.776875 meters 0.02318517433848641 Centerline is valid? [True, True] Translation: X:227.73, Y:-20.01, Z:-23.13 [[ 6.30852809e-01 -7.61822838e-01 -1.47141757e-01 2.27726378e+02] [ 7.40534247e-01 6.47773789e-01 -1.78880259e-01 -2.00056405e+01] [ 2.31589640e-01 3.88360331e-03 9.72805816e-01 -2.31320821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.806875 meters 0.02203699445860155 Centerline is valid? [True, True] Translation: X:227.75, Y:-19.99, Z:-23.12 [[ 6.27729239e-01 -7.64603732e-01 -1.46072363e-01 2.27748459e+02] [ 7.43679535e-01 6.44494160e-01 -1.77673935e-01 -1.99884893e+01] [ 2.29992938e-01 2.90009715e-03 9.73187977e-01 -2.31230111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.836875 meters 0.021370693398341398 Centerline is valid? [True, True] Translation: X:227.77, Y:-19.97, Z:-23.12 [[ 6.26277917e-01 -7.65845274e-01 -1.45797761e-01 2.27767803e+02] [ 7.45012735e-01 6.43020039e-01 -1.77429573e-01 -1.99692347e+01] [ 2.29634482e-01 2.49903487e-03 9.73273733e-01 -2.31162609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.866875 meters 0.021361666008180125 Centerline is valid? [True, True] Translation: X:227.79, Y:-19.95, Z:-23.11 [[ 6.24767485e-01 -7.67117180e-01 -1.45591284e-01 2.27785778e+02] [ 7.46363091e-01 6.41503655e-01 -1.77243327e-01 -1.99502751e+01] [ 2.29363742e-01 2.07190706e-03 9.73338575e-01 -2.31102424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.896875 meters 0.020928668473751376 Centerline is valid? [True, True] Translation: X:227.81, Y:-19.93, Z:-23.10 [[ 6.22493969e-01 -7.69088863e-01 -1.44926118e-01 2.27806438e+02] [ 7.48561136e-01 6.39140351e-01 -1.76510165e-01 -1.99315550e+01] [ 2.28380131e-01 1.39045385e-03 9.73571046e-01 -2.31027877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.926875 meters 0.020726685653714435 Centerline is valid? [True, True] Translation: X:227.82, Y:-19.91, Z:-23.10 [[ 6.21814115e-01 -7.69717452e-01 -1.44506921e-01 2.27824951e+02] [ 7.49304197e-01 6.38383551e-01 -1.76095605e-01 -1.99112608e+01] [ 2.27794702e-01 1.21909070e-03 9.73708420e-01 -2.30963048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.956875 meters 0.02078324788395129 Centerline is valid? [True, True] Translation: X:227.84, Y:-19.89, Z:-23.09 [[ 6.21381610e-01 -7.70036508e-01 -1.44667452e-01 2.27842874e+02] [ 7.49562874e-01 6.37998757e-01 -1.76389013e-01 -1.98903306e+01] [ 2.28123634e-01 1.16753755e-03 9.73631473e-01 -2.30903210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.986875 meters 0.02078324788395129 Centerline is valid? [True, True] Translation: X:227.86, Y:-19.87, Z:-23.08 [[ 6.21168415e-01 -7.70214496e-01 -1.44635506e-01 2.27859899e+02] [ 7.49739525e-01 6.37783913e-01 -1.76415205e-01 -1.98693934e+01] [ 2.28123747e-01 1.14459828e-03 9.73631473e-01 -2.30843570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.016875 meters 0.020723169748143984 Centerline is valid? [True, True] Translation: X:227.88, Y:-19.85, Z:-23.08 [[ 6.21018102e-01 -7.70316334e-01 -1.44738601e-01 2.27877507e+02] [ 7.49790481e-01 6.37660854e-01 -1.76643341e-01 -1.98481527e+01] [ 2.28365391e-01 1.17508721e-03 9.73574788e-01 -2.30796116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.046875 meters 0.020870540126039387 Centerline is valid? [True, True] Translation: X:227.90, Y:-19.83, Z:-23.08 [[ 6.21185571e-01 -7.70130825e-01 -1.45006892e-01 2.27895272e+02] [ 7.49498792e-01 6.37884621e-01 -1.77072787e-01 -1.98262649e+01] [ 2.28866878e-01 1.31257009e-03 9.73456845e-01 -2.30750785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07687500000003 meters 0.021099510381667717 Centerline is valid? [True, True] Translation: X:227.91, Y:-19.80, Z:-23.07 [[ 6.20027220e-01 -7.71202905e-01 -1.44264775e-01 2.27911544e+02] [ 7.50789372e-01 6.36588660e-01 -1.76267402e-01 -1.98040586e+01] [ 2.27775252e-01 9.78127590e-04 9.73713242e-01 -2.30737306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.106875 meters 0.020734568174684182 Centerline is valid? [True, True] Translation: X:227.93, Y:-19.78, Z:-23.06 [[ 6.21547615e-01 -7.69809646e-01 -1.45160843e-01 2.27930393e+02] [ 7.49076093e-01 6.38271613e-01 -1.77466491e-01 -1.97839230e+01] [ 2.29267462e-01 1.56735663e-03 9.73362201e-01 -2.30641579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13687500000003 meters 0.02099232378714436 Centerline is valid? [True, True] Translation: X:227.95, Y:-19.76, Z:-23.06 [[ 6.21268343e-01 -7.69991901e-01 -1.45389538e-01 2.27947986e+02] [ 7.49174364e-01 6.38051739e-01 -1.77841926e-01 -1.97624672e+01] [ 2.29702890e-01 1.56544351e-03 9.73259540e-01 -2.30589923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.166875 meters 0.02073610783173011 Centerline is valid? [True, True] Translation: X:227.97, Y:-19.74, Z:-23.05 [[ 6.21396309e-01 -7.69838881e-01 -1.45652753e-01 2.27965432e+02] [ 7.48917903e-01 6.38236044e-01 -1.78260280e-01 -1.97415932e+01] [ 2.30192532e-01 1.68832564e-03 9.73143642e-01 -2.30528662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19687500000003 meters 0.020779844877533947 Centerline is valid? [True, True] Translation: X:227.98, Y:-19.72, Z:-23.05 [[ 6.21530258e-01 -7.69757533e-01 -1.45511096e-01 2.27982778e+02] [ 7.48850944e-01 6.38333889e-01 -1.78191215e-01 -1.97204392e+01] [ 2.30048694e-01 1.78511035e-03 9.73177482e-01 -2.30469880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.226875 meters 0.020684873581567224 Centerline is valid? [True, True] Translation: X:228.00, Y:-19.70, Z:-23.04 [[ 6.21419653e-01 -7.69910397e-01 -1.45174362e-01 2.27999682e+02] [ 7.49081566e-01 6.38149488e-01 -1.77882089e-01 -1.96994760e+01] [ 2.29596214e-01 1.79198730e-03 9.73284320e-01 -2.30410875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25687500000004 meters 0.02088476845284328 Centerline is valid? [True, True] Translation: X:228.02, Y:-19.68, Z:-23.04 [[ 6.21645499e-01 -7.69730461e-01 -1.45161600e-01 2.28017039e+02] [ 7.48874936e-01 6.38366113e-01 -1.77974817e-01 -1.96787411e+01] [ 2.29658885e-01 1.92935982e-03 9.73269271e-01 -2.30357379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.286875 meters 0.02095755892143855 Centerline is valid? [True, True] Translation: X:228.03, Y:-19.66, Z:-23.03 [[ 6.21406629e-01 -7.69823365e-01 -1.45690728e-01 2.28034492e+02] [ 7.48790747e-01 6.38253945e-01 -1.78729737e-01 -1.96571005e+01] [ 2.30578009e-01 1.97197459e-03 9.73051845e-01 -2.30307721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31687500000004 meters 0.020740291951659547 Centerline is valid? [True, True] Translation: X:228.05, Y:-19.64, Z:-23.03 [[ 6.21197447e-01 -7.69909042e-01 -1.46129389e-01 2.28052047e+02] [ 7.48726555e-01 6.38150469e-01 -1.79367011e-01 -1.96358737e+01] [ 2.31348822e-01 2.01137543e-03 9.72868787e-01 -2.30255968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.346875 meters 0.02093522906263526 Centerline is valid? [True, True] Translation: X:228.07, Y:-19.61, Z:-23.02 [[ 6.21037225e-01 -7.69949462e-01 -1.46596696e-01 2.28069662e+02] [ 7.48606426e-01 6.38101516e-01 -1.80041312e-01 -1.96141446e+01] [ 2.32166285e-01 2.06912827e-03 9.72673910e-01 -2.30205146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37687500000004 meters 0.020951958039977004 Centerline is valid? [True, True] Translation: X:228.09, Y:-19.59, Z:-23.01 [[ 6.20709040e-01 -7.70134410e-01 -1.47014552e-01 2.28087323e+02] [ 7.48648779e-01 6.37878278e-01 -1.80655218e-01 -1.95948379e+01] [ 2.32906189e-01 2.07206164e-03 9.72496999e-01 -2.30147264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.406875 meters 0.02076239007420235 Centerline is valid? [True, True] Translation: X:228.11, Y:-19.58, Z:-23.01 [[ 6.20250304e-01 -7.70470063e-01 -1.47191857e-01 2.28105318e+02] [ 7.48917127e-01 6.37473000e-01 -1.80973235e-01 -1.95750551e+01] [ 2.33265295e-01 2.01420136e-03 9.72411048e-01 -2.30067338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43687500000004 meters 0.020335205530456972 Centerline is valid? [True, True] Translation: X:228.12, Y:-19.55, Z:-23.00 [[ 6.19882087e-01 -7.70841308e-01 -1.46798758e-01 2.28123287e+02] [ 7.49390636e-01 6.37024275e-01 -1.80592769e-01 -1.95543987e+01] [ 2.32722739e-01 1.93660761e-03 9.72541195e-01 -2.29998078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.466875 meters 0.020525241252203973 Centerline is valid? [True, True] Translation: X:228.14, Y:-19.53, Z:-22.99 [[ 6.19399286e-01 -7.71398231e-01 -1.45908511e-01 2.28140914e+02] [ 7.50201646e-01 6.36350211e-01 -1.79599273e-01 -1.95342230e+01] [ 2.31391473e-01 1.78285644e-03 9.72859089e-01 -2.29931525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.496875 meters 0.02033607226969329 Centerline is valid? [True, True] Translation: X:228.16, Y:-19.51, Z:-22.99 [[ 6.19126163e-01 -7.71690958e-01 -1.45519279e-01 2.28158459e+02] [ 7.50592977e-01 6.35995328e-01 -1.79220887e-01 -1.95132885e+01] [ 2.30852720e-01 1.73459129e-03 9.72987160e-01 -2.29866640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.526875 meters 0.020218752520617823 Centerline is valid? [True, True] Translation: X:228.18, Y:-19.49, Z:-22.98 [[ 6.19142373e-01 -7.71777388e-01 -1.44990980e-01 2.28176503e+02] [ 7.50814211e-01 6.35890377e-01 -1.78665745e-01 -1.94924937e+01] [ 2.30088551e-01 1.75824486e-03 9.73168108e-01 -2.29787563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.556875 meters 0.020224516161898416 Centerline is valid? [True, True] Translation: X:228.19, Y:-19.47, Z:-22.97 [[ 6.19135207e-01 -7.71810023e-01 -1.44847795e-01 2.28194008e+02] [ 7.50865073e-01 6.35850615e-01 -1.78593500e-01 -1.94722792e+01] [ 2.29941813e-01 1.81237348e-03 9.73202691e-01 -2.29715538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.586875 meters 0.020150137329627137 Centerline is valid? [True, True] Translation: X:228.21, Y:-19.45, Z:-22.96 [[ 6.19465114e-01 -7.71699679e-01 -1.44022839e-01 2.28211740e+02] [ 7.50968684e-01 6.35984244e-01 -1.77679704e-01 -1.94512061e+01] [ 2.28711627e-01 1.90973624e-03 9.73492344e-01 -2.29643761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.616875 meters 0.020131958180951252 Centerline is valid? [True, True] Translation: X:228.23, Y:-19.43, Z:-22.96 [[ 6.19814095e-01 -7.71445342e-01 -1.43883881e-01 2.28228225e+02] [ 7.50724073e-01 6.36292232e-01 -1.77610701e-01 -1.94299867e+01] [ 2.28569144e-01 2.06852273e-03 9.73525484e-01 -2.29586376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.646875 meters 0.020201939443055993 Centerline is valid? [True, True] Translation: X:228.24, Y:-19.41, Z:-22.95 [[ 6.20253968e-01 -7.71108688e-01 -1.43792930e-01 2.28244934e+02] [ 7.50379747e-01 6.36699518e-01 -1.77606188e-01 -1.94086464e+01] [ 2.28506564e-01 2.26164039e-03 9.73539745e-01 -2.29528286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.676875 meters 0.02053635201695029 Centerline is valid? [True, True] Translation: X:228.26, Y:-19.39, Z:-22.95 [[ 6.21234688e-01 -7.70319109e-01 -1.43791285e-01 2.28260948e+02] [ 7.49546090e-01 6.37653209e-01 -1.77704935e-01 -1.93870790e+01] [ 2.28578481e-01 2.61827444e-03 9.73521968e-01 -2.29474089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.706875 meters 0.021178813433689325 Centerline is valid? [True, True] Translation: X:228.28, Y:-19.36, Z:-22.94 [[ 6.23865933e-01 -7.68228351e-01 -1.43584466e-01 2.28276187e+02] [ 7.47439874e-01 6.40166672e-01 -1.77539480e-01 -1.93636248e+01] [ 2.28308851e-01 3.44007771e-03 9.73582680e-01 -2.29415173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.736875 meters 0.021238339948119737 Centerline is valid? [True, True] Translation: X:228.29, Y:-19.34, Z:-22.94 [[ 6.24459544e-01 -7.67753024e-01 -1.43546412e-01 2.28293441e+02] [ 7.46942397e-01 6.40735369e-01 -1.77581652e-01 -1.93417395e+01] [ 2.28314113e-01 3.67165612e-03 9.73580600e-01 -2.29355011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.766875 meters 0.02162074362909038 Centerline is valid? [True, True] Translation: X:228.31, Y:-19.32, Z:-22.93 [[ 6.24351334e-01 -7.67805030e-01 -1.43738818e-01 2.28309681e+02] [ 7.46914652e-01 6.40672732e-01 -1.77924009e-01 -1.93200459e+01] [ 2.28700490e-01 3.72646304e-03 9.73489702e-01 -2.29303238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.796875 meters 0.021521790372674585 Centerline is valid? [True, True] Translation: X:228.33, Y:-19.30, Z:-22.92 [[ 6.23966056e-01 -7.68211419e-01 -1.43239576e-01 2.28326998e+02] [ 7.47453162e-01 6.40185909e-01 -1.77414127e-01 -1.92988423e+01] [ 2.27991516e-01 3.63551924e-03 9.73656331e-01 -2.29238444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.82687500000003 meters 0.021138699883736935 Centerline is valid? [True, True] Translation: X:228.34, Y:-19.28, Z:-22.92 [[ 6.23460417e-01 -7.68627831e-01 -1.43207421e-01 2.28344333e+02] [ 7.47865909e-01 6.39686374e-01 -1.77476546e-01 -1.92782932e+01] [ 2.28021249e-01 3.54965321e-03 9.73649685e-01 -2.29171213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.856875 meters 0.021771506824061024 Centerline is valid? [True, True] Translation: X:228.36, Y:-19.26, Z:-22.91 [[ 6.23287061e-01 -7.68809070e-01 -1.42988998e-01 2.28360154e+02] [ 7.48092044e-01 6.39468566e-01 -1.77308337e-01 -1.92564130e+01] [ 2.27753228e-01 3.54506035e-03 9.73712432e-01 -2.29123006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.88687500000003 meters 0.021310316452069773 Centerline is valid? [True, True] Translation: X:228.38, Y:-19.24, Z:-22.91 [[ 6.22394701e-01 -7.69425248e-01 -1.43560527e-01 2.28378648e+02] [ 7.48532130e-01 6.38727816e-01 -1.78119138e-01 -1.92361116e+01] [ 2.28745463e-01 3.40074047e-03 9.73480327e-01 -2.29065480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.916875 meters 0.021162565801462543 Centerline is valid? [True, True] Translation: X:228.40, Y:-19.21, Z:-22.90 [[ 6.21985747e-01 -7.69701401e-01 -1.43852299e-01 2.28396604e+02] [ 7.48705052e-01 6.38395152e-01 -1.78584363e-01 -1.92149893e+01] [ 2.29291245e-01 3.37398545e-03 9.73352013e-01 -2.29008092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.94687500000003 meters 0.021079010478178353 Centerline is valid? [True, True] Translation: X:228.41, Y:-19.19, Z:-22.89 [[ 6.21299976e-01 -7.70224921e-01 -1.44013577e-01 2.28414312e+02] [ 7.49170334e-01 6.37764058e-01 -1.78887721e-01 -1.91933693e+01] [ 2.29630464e-01 3.25223719e-03 9.73272456e-01 -2.28947662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.976875 meters 0.020947151155932747 Centerline is valid? [True, True] Translation: X:228.43, Y:-19.17, Z:-22.89 [[ 6.20799291e-01 -7.70555318e-01 -1.44404786e-01 2.28432049e+02] [ 7.49368925e-01 6.37365059e-01 -1.79477006e-01 -1.91718989e+01] [ 2.30335526e-01 3.20673926e-03 9.73105987e-01 -2.28885007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.00687500000004 meters 0.02132482463524853 Centerline is valid? [True, True] Translation: X:228.45, Y:-19.15, Z:-22.88 [[ 6.20452921e-01 -7.70653576e-01 -1.45365878e-01 2.28448057e+02] [ 7.49157740e-01 6.37245971e-01 -1.80776805e-01 -1.91494454e+01] [ 2.31950112e-01 3.26152380e-03 9.72722215e-01 -2.28847871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.036875 meters 0.021367144664976235 Centerline is valid? [True, True] Translation: X:228.47, Y:-19.13, Z:-22.88 [[ 6.20266937e-01 -7.70731888e-01 -1.45743897e-01 2.28465584e+02] [ 7.49100799e-01 6.37151022e-01 -1.81346544e-01 -1.91279127e+01] [ 2.32630437e-01 3.30639524e-03 9.72559586e-01 -2.28794055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06687500000004 meters 0.021430124466765437 Centerline is valid? [True, True] Translation: X:228.48, Y:-19.11, Z:-22.87 [[ 6.20201112e-01 -7.70749982e-01 -1.45928222e-01 2.28481591e+02] [ 7.49039034e-01 6.37128791e-01 -1.81679468e-01 -1.91073006e+01] [ 2.33004518e-01 3.37187425e-03 9.72469807e-01 -2.28743126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.096875 meters 0.021677520721981678 Centerline is valid? [True, True] Translation: X:228.50, Y:-19.09, Z:-22.87 [[ 6.20098210e-01 -7.70797332e-01 -1.46115304e-01 2.28496431e+02] [ 7.49014426e-01 6.37071333e-01 -1.81982161e-01 -1.90853977e+01] [ 2.33357236e-01 3.40434166e-03 9.72385115e-01 -2.28703472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12687500000004 meters 0.02147958824628769 Centerline is valid? [True, True] Translation: X:228.51, Y:-19.06, Z:-22.86 [[ 6.20192743e-01 -7.70683414e-01 -1.46314853e-01 2.28514144e+02] [ 7.48819796e-01 6.37208625e-01 -1.82302170e-01 -1.90643902e+01] [ 2.33730345e-01 3.49902413e-03 9.72295162e-01 -2.28627963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.156875 meters 0.021354450554891498 Centerline is valid? [True, True] Translation: X:228.53, Y:-19.04, Z:-22.86 [[ 6.20400886e-01 -7.70561481e-01 -1.46074451e-01 2.28531002e+02] [ 7.48742458e-01 6.37355470e-01 -1.82106387e-01 -1.90428511e+01] [ 2.33425517e-01 3.60682054e-03 9.72367996e-01 -2.28561475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18687500000004 meters 0.02153115443410039 Centerline is valid? [True, True] Translation: X:228.55, Y:-19.02, Z:-22.85 [[ 6.20015251e-01 -7.70840049e-01 -1.46241949e-01 2.28547679e+02] [ 7.48952660e-01 6.37018712e-01 -1.82420047e-01 -1.90208994e+01] [ 2.33775536e-01 3.57491423e-03 9.72284022e-01 -2.28504674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.216875 meters 0.02161669685201625 Centerline is valid? [True, True] Translation: X:228.56, Y:-19.00, Z:-22.84 [[ 6.19353062e-01 -7.71263064e-01 -1.46816451e-01 2.28563217e+02] [ 7.49187327e-01 6.36506913e-01 -1.83241096e-01 -1.89976421e+01] [ 2.34776776e-01 3.49790920e-03 9.72043019e-01 -2.28445941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.246875 meters 0.022655791149020905 Centerline is valid? [True, True] Translation: X:228.58, Y:-18.97, Z:-22.85 [[ 6.18991115e-01 -7.71160997e-01 -1.48864755e-01 2.28575828e+02] [ 7.48426270e-01 6.36629660e-01 -1.85905338e-01 -1.89708703e+01] [ 2.38134664e-01 3.65945860e-03 9.71225252e-01 -2.28468411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.276875 meters 0.02224799429662036 Centerline is valid? [True, True] Translation: X:228.59, Y:-18.95, Z:-22.84 [[ 6.18332638e-01 -7.71726413e-01 -1.48671091e-01 2.28591465e+02] [ 7.49042414e-01 6.35945013e-01 -1.85767062e-01 -1.89476217e+01] [ 2.37907988e-01 3.50488474e-03 9.71281373e-01 -2.28415028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.306875 meters 0.02225520337218899 Centerline is valid? [True, True] Translation: X:228.61, Y:-18.93, Z:-22.83 [[ 6.17370463e-01 -7.72813276e-01 -1.47014801e-01 2.28607891e+02] [ 7.50647070e-01 6.34625846e-01 -1.83790676e-01 -1.89279057e+01] [ 2.35335267e-01 3.11070478e-03 9.71909273e-01 -2.28328048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.336875 meters 0.02049503175048773 Centerline is valid? [True, True] Translation: X:228.63, Y:-18.91, Z:-22.81 [[ 6.13581519e-01 -7.76414328e-01 -1.43869769e-01 2.28626722e+02] [ 7.55282362e-01 6.30220429e-01 -1.79918770e-01 -1.89115360e+01] [ 2.30361179e-01 1.73253338e-03 9.73103656e-01 -2.28140396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.366875 meters 0.020591357427062286 Centerline is valid? [True, True] Translation: X:228.64, Y:-18.89, Z:-22.81 [[ 6.11043865e-01 -7.78573125e-01 -1.43000992e-01 2.28642529e+02] [ 7.57741518e-01 6.27553163e-01 -1.78898909e-01 -1.88913320e+01] [ 2.29026607e-01 9.57291998e-04 9.73419692e-01 -2.28060367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.396875 meters 0.02037546196850776 Centerline is valid? [True, True] Translation: X:228.66, Y:-18.87, Z:-22.80 [[ 6.08608893e-01 -7.80569219e-01 -1.42502313e-01 2.28658347e+02] [ 7.59920054e-01 6.25069298e-01 -1.78353256e-01 -1.88706240e+01] [ 2.28290883e-01 2.57012439e-04 9.73592937e-01 -2.27983416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.426875 meters 0.020847918424385 Centerline is valid? [True, True] Translation: X:228.67, Y:-18.85, Z:-22.79 [[ 6.06073438e-01 -7.82552149e-01 -1.42432868e-01 2.28672817e+02] [ 7.61952052e-01 6.22584901e-01 -1.78373519e-01 -1.88460973e+01] [ 2.28263133e-01 -4.19564491e-04 9.73599387e-01 -2.27935104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.456875 meters 0.02091807387277107 Centerline is valid? [True, True] Translation: X:228.69, Y:-18.82, Z:-22.79 [[ 6.05941199e-01 -7.82652933e-01 -1.42441739e-01 2.28688254e+02] [ 7.62029322e-01 6.22458216e-01 -1.78485520e-01 -1.88227329e+01] [ 2.28356247e-01 -3.93052229e-04 9.73577562e-01 -2.27895107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.486875 meters 0.021049654933341443 Centerline is valid? [True, True] Translation: X:228.70, Y:-18.80, Z:-22.78 [[ 6.05560711e-01 -7.82956908e-01 -1.42389274e-01 2.28704124e+02] [ 7.62333176e-01 6.22075787e-01 -1.78521271e-01 -1.87995970e+01] [ 2.28351382e-01 -4.42599995e-04 9.73578682e-01 -2.27846973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.516875 meters 0.02112623311585801 Centerline is valid? [True, True] Translation: X:228.72, Y:-18.78, Z:-22.78 [[ 6.04969858e-01 -7.83356121e-01 -1.42704795e-01 2.28720575e+02] [ 7.62626553e-01 6.21572930e-01 -1.79019085e-01 -1.87772299e+01] [ 2.28937134e-01 -5.29315609e-04 9.73441066e-01 -2.27793002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.546875 meters 0.021628709711655335 Centerline is valid? [True, True] Translation: X:228.74, Y:-18.76, Z:-22.77 [[ 6.04272481e-01 -7.83775223e-01 -1.43356790e-01 2.28737209e+02] [ 7.62840733e-01 6.21044288e-01 -1.79938899e-01 -1.87550906e+01] [ 2.30062566e-01 -6.26273574e-04 9.73175639e-01 -2.27740923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57687500000003 meters 0.022109205831894834 Centerline is valid? [True, True] Translation: X:228.75, Y:-18.73, Z:-22.77 [[ 6.02317186e-01 -7.85088004e-01 -1.44398180e-01 2.28752206e+02] [ 7.63856855e-01 6.19383306e-01 -1.81347799e-01 -1.87321301e+01] [ 2.31811804e-01 -1.07064371e-03 9.72760064e-01 -2.27707613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.606875 meters 0.022247330638746406 Centerline is valid? [True, True] Translation: X:228.77, Y:-18.71, Z:-22.76 [[ 6.01904739e-01 -7.85498360e-01 -1.43885409e-01 2.28768246e+02] [ 7.64409634e-01 6.18862640e-01 -1.80795310e-01 -1.87098349e+01] [ 2.31059723e-01 -1.16583866e-03 9.72938870e-01 -2.27632097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63687500000003 meters 0.022143132387687198 Centerline is valid? [True, True] Translation: X:228.78, Y:-18.69, Z:-22.76 [[ 6.01787477e-01 -7.85813126e-01 -1.42651898e-01 2.28784242e+02] [ 7.65074192e-01 6.18462825e-01 -1.79346634e-01 -1.86895602e+01] [ 2.29157834e-01 -1.21072713e-03 9.73388525e-01 -2.27562639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.666875 meters 0.021885624501513466 Centerline is valid? [True, True] Translation: X:228.80, Y:-18.67, Z:-22.75 [[ 6.02394091e-01 -7.85510952e-01 -1.41752967e-01 2.28800372e+02] [ 7.65003808e-01 6.18846910e-01 -1.78319027e-01 -1.86679023e+01] [ 2.27794934e-01 -1.02323168e-03 9.73708591e-01 -2.27461177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69687500000003 meters 0.022094226276056225 Centerline is valid? [True, True] Translation: X:228.82, Y:-18.65, Z:-22.74 [[ 6.03062982e-01 -7.85056087e-01 -1.41428358e-01 2.28816672e+02] [ 7.64607940e-01 6.19424188e-01 -1.78012282e-01 -1.86456481e+01] [ 2.27353771e-01 -7.84627855e-04 9.73811916e-01 -2.27389555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.726875 meters 0.02200738921418418 Centerline is valid? [True, True] Translation: X:228.83, Y:-18.62, Z:-22.74 [[ 6.04827770e-01 -7.83664202e-01 -1.41611395e-01 2.28829494e+02] [ 7.63100173e-01 6.21184659e-01 -1.78347261e-01 -1.86210371e+01] [ 2.27731190e-01 -1.94303174e-04 9.73724020e-01 -2.27355880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75687500000004 meters 0.022489236012010885 Centerline is valid? [True, True] Translation: X:228.84, Y:-18.60, Z:-22.73 [[ 6.05611512e-01 -7.82975272e-01 -1.42071883e-01 2.28844307e+02] [ 7.62232185e-01 6.22052816e-01 -1.79031814e-01 -1.85977957e+01] [ 2.28553698e-01 1.31966263e-04 9.73531299e-01 -2.27303167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.786875 meters 0.022508144100552328 Centerline is valid? [True, True] Translation: X:228.86, Y:-18.58, Z:-22.73 [[ 6.06891910e-01 -7.81907758e-01 -1.42486730e-01 2.28859041e+02] [ 7.60987811e-01 6.23393852e-01 -1.79659839e-01 -1.85753439e+01] [ 2.29302773e-01 6.03438060e-04 9.73354958e-01 -2.27263833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81687500000004 meters 0.022944413246809004 Centerline is valid? [True, True] Translation: X:228.87, Y:-18.55, Z:-22.72 [[ 6.09381924e-01 -7.79727227e-01 -1.43802373e-01 2.28872930e+02] [ 7.58331168e-01 6.26117563e-01 -1.81412892e-01 -1.85521746e+01] [ 2.31489762e-01 1.49991580e-03 9.72836184e-01 -2.27211602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.846875 meters 0.023241721697564933 Centerline is valid? [True, True] Translation: X:228.89, Y:-18.53, Z:-22.71 [[ 6.10596423e-01 -7.78844186e-01 -1.43435498e-01 2.28888581e+02] [ 7.57519036e-01 6.27214659e-01 -1.81015693e-01 -1.85303066e+01] [ 2.30947867e-01 1.87241440e-03 9.72964324e-01 -2.27149740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87687500000004 meters 0.023241721697564933 Centerline is valid? [True, True] Translation: X:228.91, Y:-18.51, Z:-22.71 [[ 6.10385852e-01 -7.79015764e-01 -1.43399969e-01 2.28905252e+02] [ 7.57688675e-01 6.27001596e-01 -1.81043836e-01 -1.85090996e+01] [ 2.30948011e-01 1.85406361e-03 9.72964325e-01 -2.27090129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.906875 meters 0.023340448041355814 Centerline is valid? [True, True] Translation: X:228.92, Y:-18.49, Z:-22.70 [[ 6.11984259e-01 -7.77758509e-01 -1.43411880e-01 2.28921634e+02] [ 7.56369208e-01 6.28558637e-01 -1.81161973e-01 -1.84864849e+01] [ 2.31043042e-01 2.39594604e-03 9.72940580e-01 -2.27021514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93687500000004 meters 0.023843236631493302 Centerline is valid? [True, True] Translation: X:228.94, Y:-18.46, Z:-22.70 [[ 6.12999384e-01 -7.76920948e-01 -1.43616144e-01 2.28936617e+02] [ 7.55423493e-01 6.29592020e-01 -1.81519241e-01 -1.84638743e+01] [ 2.31445679e-01 2.78017329e-03 9.72843856e-01 -2.26963726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.966875 meters 0.024503961432433257 Centerline is valid? [True, True] Translation: X:228.95, Y:-18.44, Z:-22.69 [[ 6.15117771e-01 -7.75196362e-01 -1.43877474e-01 2.28950194e+02] [ 7.53550322e-01 6.31710665e-01 -1.81943805e-01 -1.84384973e+01] [ 2.31931111e-01 3.49795104e-03 9.72725924e-01 -2.26922476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.996875 meters 0.02491666359736802 Centerline is valid? [True, True] Translation: X:228.97, Y:-18.42, Z:-22.69 [[ 6.15760692e-01 -7.74687349e-01 -1.43868975e-01 2.28965798e+02] [ 7.53007098e-01 6.32333322e-01 -1.82029888e-01 -1.84154103e+01] [ 2.31989398e-01 3.75249012e-03 9.72711076e-01 -2.26867380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.026875 meters 0.024977035687996568 Centerline is valid? [True, True] Translation: X:228.98, Y:-18.39, Z:-22.68 [[ 6.16478957e-01 -7.74132094e-01 -1.43781769e-01 2.28982191e+02] [ 7.52440170e-01 6.33011309e-01 -1.82017784e-01 -1.83938172e+01] [ 2.31921295e-01 4.02295483e-03 9.72726235e-01 -2.26798554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.056875 meters 0.024984356464095095 Centerline is valid? [True, True] Translation: X:229.00, Y:-18.37, Z:-22.67 [[ 6.17482873e-01 -7.73341303e-01 -1.43729362e-01 2.28998952e+02] [ 7.51620593e-01 6.33974775e-01 -1.82050729e-01 -1.83729797e+01] [ 2.31908138e-01 4.38325873e-03 9.72727815e-01 -2.26708893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.086875 meters 0.02526899729620425 Centerline is valid? [True, True] Translation: X:229.02, Y:-18.35, Z:-22.66 [[ 6.17983763e-01 -7.72891999e-01 -1.43993151e-01 2.29016025e+02] [ 7.51054533e-01 6.34520734e-01 -1.82484319e-01 -1.83506080e+01] [ 2.32407310e-01 4.62563722e-03 9.72607550e-01 -2.26642119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.116875 meters 0.024981683475254382 Centerline is valid? [True, True] Translation: X:229.03, Y:-18.33, Z:-22.66 [[ 6.18234354e-01 -7.72701937e-01 -1.43937486e-01 2.29033252e+02] [ 7.50852588e-01 6.34751175e-01 -1.82513934e-01 -1.83289397e+01] [ 2.32393359e-01 4.76055050e-03 9.72610232e-01 -2.26572825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.146875 meters 0.02553487061857996 Centerline is valid? [True, True] Translation: X:229.05, Y:-18.31, Z:-22.65 [[ 6.18125944e-01 -7.72755404e-01 -1.44115934e-01 2.29048468e+02] [ 7.50827485e-01 6.34685672e-01 -1.82844702e-01 -1.83064325e+01] [ 2.32762550e-01 4.81484946e-03 9.72521677e-01 -2.26524425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.176875 meters 0.025171636768445735 Centerline is valid? [True, True] Translation: X:229.07, Y:-18.29, Z:-22.65 [[ 6.17551428e-01 -7.73243406e-01 -1.43961343e-01 2.29065975e+02] [ 7.51353110e-01 6.34091988e-01 -1.82745329e-01 -1.82859334e+01] [ 2.32591355e-01 4.68883592e-03 9.72563251e-01 -2.26458300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.206875 meters 0.02502983562350859 Centerline is valid? [True, True] Translation: X:229.08, Y:-18.26, Z:-22.64 [[ 6.17184918e-01 -7.73603489e-01 -1.43598115e-01 2.29083763e+02] [ 7.51809700e-01 6.33653214e-01 -1.82389088e-01 -1.82649744e+01] [ 2.32088241e-01 4.60933838e-03 9.72683814e-01 -2.26397421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.236875 meters 0.024784611992929303 Centerline is valid? [True, True] Translation: X:229.10, Y:-18.24, Z:-22.63 [[ 6.15847276e-01 -7.74740686e-01 -1.43209644e-01 2.29100267e+02] [ 7.53072176e-01 6.32264918e-01 -1.81998275e-01 -1.82440996e+01] [ 2.31547902e-01 4.23594389e-03 9.72814281e-01 -2.26331456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.266875 meters 0.02455923299827293 Centerline is valid? [True, True] Translation: X:229.12, Y:-18.22, Z:-22.63 [[ 6.15063804e-01 -7.75372887e-01 -1.43155170e-01 2.29119200e+02] [ 7.53720248e-01 6.31490716e-01 -1.82003470e-01 -1.82237874e+01] [ 2.31521717e-01 4.04479624e-03 9.72821327e-01 -2.26261024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.296875 meters 0.024248736788537024 Centerline is valid? [True, True] Translation: X:229.14, Y:-18.20, Z:-22.62 [[ 6.13332096e-01 -7.76738241e-01 -1.43183258e-01 2.29137024e+02] [ 7.55089048e-01 6.29813277e-01 -1.82142161e-01 -1.82034840e+01] [ 2.31655498e-01 3.59752311e-03 9.72791236e-01 -2.26218599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.32687500000003 meters 0.023615429269159428 Centerline is valid? [True, True] Translation: X:229.16, Y:-18.18, Z:-22.62 [[ 6.12326453e-01 -7.77488129e-01 -1.43417307e-01 2.29155547e+02] [ 7.55762156e-01 6.28888488e-01 -1.82545428e-01 -1.81833346e+01] [ 2.32120397e-01 3.38802124e-03 9.72681162e-01 -2.26151825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.356875 meters 0.023548041292574293 Centerline is valid? [True, True] Translation: X:229.17, Y:-18.16, Z:-22.61 [[ 6.11595710e-01 -7.78002459e-01 -1.43745823e-01 2.29173488e+02] [ 7.56163730e-01 6.28252721e-01 -1.83070839e-01 -1.81620766e+01] [ 2.32738268e-01 3.26996181e-03 9.72533910e-01 -2.26090436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.38687500000003 meters 0.023406792601353404 Centerline is valid? [True, True] Translation: X:229.19, Y:-18.14, Z:-22.60 [[ 6.10744815e-01 -7.78661000e-01 -1.43797837e-01 2.29190822e+02] [ 7.56798705e-01 6.27437252e-01 -1.83243595e-01 -1.81425864e+01] [ 2.32908761e-01 3.08905898e-03 9.72493685e-01 -2.26033895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.416875 meters 0.023129700234379436 Centerline is valid? [True, True] Translation: X:229.21, Y:-18.12, Z:-22.60 [[ 6.10456095e-01 -7.78931059e-01 -1.43561003e-01 2.29208951e+02] [ 7.57126610e-01 6.27102188e-01 -1.83035903e-01 -1.81217364e+01] [ 2.32599769e-01 3.04152733e-03 9.72567785e-01 -2.25959536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.44687500000003 meters 0.023206012877177013 Centerline is valid? [True, True] Translation: X:229.23, Y:-18.10, Z:-22.59 [[ 6.10658621e-01 -7.78834682e-01 -1.43222158e-01 2.29225501e+02] [ 7.57107106e-01 6.27221407e-01 -1.82707788e-01 -1.81007010e+01] [ 2.32131166e-01 3.13757259e-03 9.72679432e-01 -2.25903256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.476875 meters 0.023141962611942967 Centerline is valid? [True, True] Translation: X:229.24, Y:-18.08, Z:-22.58 [[ 6.10510371e-01 -7.78951713e-01 -1.43217725e-01 2.29243011e+02] [ 7.57210987e-01 6.27076044e-01 -1.82776245e-01 -1.80789113e+01] [ 2.32182273e-01 3.14075805e-03 9.72667223e-01 -2.25845753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.50687500000004 meters 0.023022806393033262 Centerline is valid? [True, True] Translation: X:229.26, Y:-18.06, Z:-22.58 [[ 6.10689127e-01 -7.78769764e-01 -1.43444917e-01 2.29260329e+02] [ 7.56928788e-01 6.27301262e-01 -1.83171877e-01 -1.80573757e+01] [ 2.32631897e-01 3.28348691e-03 9.72559314e-01 -2.25787016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.536875 meters 0.023429175554602145 Centerline is valid? [True, True] Translation: X:229.28, Y:-18.04, Z:-22.57 [[ 6.11619324e-01 -7.77894382e-01 -1.44229446e-01 2.29277307e+02] [ 7.55761399e-01 6.28384124e-01 -1.84277235e-01 -1.80357298e+01] [ 2.33979720e-01 3.70446984e-03 9.72234420e-01 -2.25749367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56687500000004 meters 0.02333053369253829 Centerline is valid? [True, True] Translation: X:229.30, Y:-18.01, Z:-22.57 [[ 6.11973051e-01 -7.77556624e-01 -1.44549925e-01 2.29295064e+02] [ 7.55290286e-01 6.28800786e-01 -1.84786786e-01 -1.80139603e+01] [ 2.34575296e-01 3.90737883e-03 9.72090100e-01 -2.25684486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.596875 meters 0.023689129921087414 Centerline is valid? [True, True] Translation: X:229.31, Y:-17.99, Z:-22.56 [[ 6.12555544e-01 -7.77013934e-01 -1.45000180e-01 2.29312286e+02] [ 7.54566718e-01 6.29469416e-01 -1.85465152e-01 -1.79925203e+01] [ 2.35382186e-01 4.19539716e-03 9.71893834e-01 -2.25619306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62687500000004 meters 0.02383496807361938 Centerline is valid? [True, True] Translation: X:229.33, Y:-17.97, Z:-22.56 [[ 6.13377670e-01 -7.76375027e-01 -1.44947064e-01 2.29329204e+02] [ 7.53902092e-01 6.30255122e-01 -1.85499642e-01 -1.79706644e+01] [ 2.35370919e-01 4.50544393e-03 9.71895175e-01 -2.25551728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.656875 meters 0.024296873143902654 Centerline is valid? [True, True] Translation: X:229.34, Y:-17.95, Z:-22.55 [[ 6.14582476e-01 -7.75461961e-01 -1.44731225e-01 2.29344322e+02] [ 7.53007805e-01 6.31375177e-01 -1.85323046e-01 -1.79488596e+01] [ 2.35090676e-01 4.91255436e-03 9.71961029e-01 -2.25485921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68687500000004 meters 0.02526080514520406 Centerline is valid? [True, True] Translation: X:229.36, Y:-17.93, Z:-22.54 [[ 6.15378920e-01 -7.74806917e-01 -1.44855189e-01 2.29359916e+02] [ 7.52278953e-01 6.32176452e-01 -1.85551370e-01 -1.79263199e+01] [ 2.35340524e-01 5.21289152e-03 9.71898999e-01 -2.25436019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.716875 meters 0.025170646002625686 Centerline is valid? [True, True] Translation: X:229.38, Y:-17.90, Z:-22.54 [[ 6.15990892e-01 -7.74386667e-01 -1.44500903e-01 2.29377159e+02] [ 7.51935113e-01 6.32689395e-01 -1.85196424e-01 -1.79046903e+01] [ 2.34837830e-01 5.42400745e-03 9.72019431e-01 -2.25367083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.746875 meters 0.024686107832479664 Centerline is valid? [True, True] Translation: X:229.40, Y:-17.88, Z:-22.53 [[ 6.16106180e-01 -7.74294678e-01 -1.44502342e-01 2.29395027e+02] [ 7.51814643e-01 6.32801070e-01 -1.85303934e-01 -1.78837819e+01] [ 2.34921087e-01 5.52792257e-03 9.71998727e-01 -2.25291438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.776875 meters 0.024853412509881292 Centerline is valid? [True, True] Translation: X:229.41, Y:-17.86, Z:-22.52 [[ 6.16410495e-01 -7.74159807e-01 -1.43926005e-01 2.29411729e+02] [ 7.51831881e-01 6.32965200e-01 -1.84672355e-01 -1.78634916e+01] [ 2.34066067e-01 5.62581888e-03 9.72204416e-01 -2.25229826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.806875 meters 0.024561921318621484 Centerline is valid? [True, True] Translation: X:229.43, Y:-17.84, Z:-22.52 [[ 6.16193857e-01 -7.74359546e-01 -1.43779080e-01 2.29429616e+02] [ 7.52056191e-01 6.32720904e-01 -1.84596162e-01 -1.78425899e+01] [ 2.33915829e-01 5.61707382e-03 9.72240625e-01 -2.25160732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.836875 meters 0.02495831983891274 Centerline is valid? [True, True] Translation: X:229.45, Y:-17.82, Z:-22.51 [[ 6.16189407e-01 -7.74426461e-01 -1.43437342e-01 2.29445028e+02] [ 7.52206481e-01 6.32638728e-01 -1.84265162e-01 -1.78211957e+01] [ 2.33443835e-01 5.64774312e-03 9.72353886e-01 -2.25108693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.866875 meters 0.02504155481203747 Centerline is valid? [True, True] Translation: X:229.46, Y:-17.80, Z:-22.50 [[ 6.15503181e-01 -7.75027532e-01 -1.43136854e-01 2.29461751e+02] [ 7.52890935e-01 6.31903698e-01 -1.83991731e-01 -1.78003852e+01] [ 2.33047364e-01 5.48105570e-03 9.72449939e-01 -2.25042183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.896875 meters 0.024197800659447207 Centerline is valid? [True, True] Translation: X:229.48, Y:-17.78, Z:-22.50 [[ 6.14877480e-01 -7.75516199e-01 -1.43179294e-01 2.29480145e+02] [ 7.53353804e-01 6.31304858e-01 -1.84152714e-01 -1.77803015e+01] [ 2.33203197e-01 5.36669089e-03 9.72413218e-01 -2.24962804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.926875 meters 0.02446445744440351 Centerline is valid? [True, True] Translation: X:229.50, Y:-17.76, Z:-22.49 [[ 6.14435917e-01 -7.75884405e-01 -1.43080025e-01 2.29497180e+02] [ 7.53737743e-01 6.30852906e-01 -1.84130458e-01 -1.77589627e+01] [ 2.33126401e-01 5.29155144e-03 9.72432044e-01 -2.24902570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.956875 meters 0.02394479125741436 Centerline is valid? [True, True] Translation: X:229.52, Y:-17.74, Z:-22.48 [[ 6.13739288e-01 -7.76438202e-01 -1.43065739e-01 2.29515593e+02] [ 7.54286611e-01 6.30172385e-01 -1.84213120e-01 -1.77384880e+01] [ 2.33186181e-01 5.14625811e-03 9.72418491e-01 -2.24828776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.986875 meters 0.023426361554012863 Centerline is valid? [True, True] Translation: X:229.53, Y:-17.72, Z:-22.48 [[ 6.12117189e-01 -7.77777706e-01 -1.42738876e-01 2.29532925e+02] [ 7.55738694e-01 6.28521914e-01 -1.83900056e-01 -1.77171983e+01] [ 2.32747875e-01 4.69509309e-03 9.72525775e-01 -2.24781345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.016875 meters 0.02330126056934212 Centerline is valid? [True, True] Translation: X:229.55, Y:-17.70, Z:-22.47 [[ 6.11462565e-01 -7.78255115e-01 -1.42942321e-01 2.29550528e+02] [ 7.56140729e-01 6.27931480e-01 -1.84264090e-01 -1.76963537e+01] [ 2.33162453e-01 4.58608255e-03 9.72426983e-01 -2.24721836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.046875 meters 0.02324438806321828 Centerline is valid? [True, True] Translation: X:229.57, Y:-17.68, Z:-22.47 [[ 6.10794553e-01 -7.78742673e-01 -1.43142808e-01 2.29568289e+02] [ 7.56553077e-01 6.27327526e-01 -1.84628319e-01 -1.76756489e+01] [ 2.33575374e-01 4.47483976e-03 9.72328401e-01 -2.24658170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07687500000003 meters 0.023344217796866535 Centerline is valid? [True, True] Translation: X:229.59, Y:-17.65, Z:-22.46 [[ 6.09533739e-01 -7.79657859e-01 -1.43534814e-01 2.29585203e+02] [ 7.57343628e-01 6.26191608e-01 -1.85242270e-01 -1.76544157e+01] [ 2.34305888e-01 4.20623671e-03 9.72153824e-01 -2.24614318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.106875 meters 0.023017118282506466 Centerline is valid? [True, True] Translation: X:229.60, Y:-17.63, Z:-22.45 [[ 6.09093371e-01 -7.79921954e-01 -1.43968782e-01 2.29603827e+02] [ 7.57450553e-01 6.25862753e-01 -1.85915234e-01 -1.76340785e+01] [ 2.35104071e-01 4.19050252e-03 9.71961170e-01 -2.24545532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13687500000003 meters 0.02291253186187251 Centerline is valid? [True, True] Translation: X:229.62, Y:-17.61, Z:-22.45 [[ 6.08523180e-01 -7.80278775e-01 -1.44445742e-01 2.29621795e+02] [ 7.57640385e-01 6.25418211e-01 -1.86636299e-01 -1.76139239e+01] [ 2.35967341e-01 4.13458666e-03 9.71752190e-01 -2.24477675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.166875 meters 0.022417190331075913 Centerline is valid? [True, True] Translation: X:229.64, Y:-17.59, Z:-22.44 [[ 6.07819352e-01 -7.80776132e-01 -1.44721346e-01 2.29640359e+02] [ 7.58037644e-01 6.24797952e-01 -1.87100102e-01 -1.75930845e+01] [ 2.36504895e-01 4.01883472e-03 9.71621986e-01 -2.24412164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19687500000003 meters 0.02226920098609607 Centerline is valid? [True, True] Translation: X:229.66, Y:-17.57, Z:-22.44 [[ 6.07109753e-01 -7.81349534e-01 -1.44605167e-01 2.29657014e+02] [ 7.58637624e-01 6.24081717e-01 -1.87058727e-01 -1.75723087e+01] [ 2.36403690e-01 3.86225665e-03 9.71647250e-01 -2.24356658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.226875 meters 0.022365649297570657 Centerline is valid? [True, True] Translation: X:229.67, Y:-17.55, Z:-22.43 [[ 6.07012977e-01 -7.81426605e-01 -1.44594976e-01 2.29674362e+02] [ 7.58693753e-01 6.23984968e-01 -1.87153811e-01 -1.75516783e+01] [ 2.36472059e-01 3.90148681e-03 9.71630456e-01 -2.24292628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25687500000004 meters 0.022506666980279675 Centerline is valid? [True, True] Translation: X:229.69, Y:-17.53, Z:-22.42 [[ 6.07063109e-01 -7.81453470e-01 -1.44238884e-01 2.29690594e+02] [ 7.58818497e-01 6.23951180e-01 -1.86760312e-01 -1.75309885e+01] [ 2.35942516e-01 3.92416263e-03 9.71759091e-01 -2.24230136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.286875 meters 0.02240116111271962 Centerline is valid? [True, True] Translation: X:229.71, Y:-17.51, Z:-22.42 [[ 6.06882607e-01 -7.81617103e-01 -1.44111783e-01 2.29706831e+02] [ 7.59007425e-01 6.23746281e-01 -1.86677009e-01 -1.75099787e+01] [ 2.35799132e-01 3.90911672e-03 9.71793954e-01 -2.24166123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31687500000004 meters 0.022426934377759992 Centerline is valid? [True, True] Translation: X:229.72, Y:-17.49, Z:-22.41 [[ 6.07374514e-01 -7.81219714e-01 -1.44194168e-01 2.29724216e+02] [ 7.58545707e-01 6.24242453e-01 -1.86895077e-01 -1.74889909e+01] [ 2.36018240e-01 4.13743989e-03 9.71739817e-01 -2.24093446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.346875 meters 0.022149657060238637 Centerline is valid? [True, True] Translation: X:229.74, Y:-17.47, Z:-22.40 [[ 6.07481163e-01 -7.81146207e-01 -1.44143122e-01 2.29741812e+02] [ 7.58461277e-01 6.24333806e-01 -1.86932579e-01 -1.74676342e+01] [ 2.36015099e-01 4.23104422e-03 9.71740177e-01 -2.24019515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37687500000004 meters 0.022225380346287703 Centerline is valid? [True, True] Translation: X:229.76, Y:-17.45, Z:-22.40 [[ 6.07732809e-01 -7.80967161e-01 -1.44052515e-01 2.29758524e+02] [ 7.58279312e-01 6.24556808e-01 -1.86925864e-01 -1.74457534e+01] [ 2.35951940e-01 4.36893789e-03 9.71754904e-01 -2.23953771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.406875 meters 0.022325176846877508 Centerline is valid? [True, True] Translation: X:229.77, Y:-17.42, Z:-22.39 [[ 6.07967295e-01 -7.80817989e-01 -1.43871600e-01 2.29774138e+02] [ 7.58157404e-01 6.24742427e-01 -1.86800030e-01 -1.74248608e+01] [ 2.35739516e-01 4.49098999e-03 9.71805902e-01 -2.23894323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43687500000004 meters 0.02262562699752743 Centerline is valid? [True, True] Translation: X:229.79, Y:-17.40, Z:-22.38 [[ 6.07871333e-01 -7.80868324e-01 -1.44003834e-01 2.29789978e+02] [ 7.58138496e-01 6.24679078e-01 -1.87088403e-01 -1.74037679e+01] [ 2.36047590e-01 4.55082699e-03 9.71730840e-01 -2.23835340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.466875 meters 0.02285598895991565 Centerline is valid? [True, True] Translation: X:229.81, Y:-17.38, Z:-22.38 [[ 6.07326640e-01 -7.81358244e-01 -1.43644166e-01 2.29806146e+02] [ 7.58729263e-01 6.24067093e-01 -1.86735562e-01 -1.73818504e+01] [ 2.35550968e-01 4.42244922e-03 9.71851935e-01 -2.23787044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.496875 meters 0.022640070020132515 Centerline is valid? [True, True] Translation: X:229.82, Y:-17.36, Z:-22.37 [[ 6.07047030e-01 -7.81629830e-01 -1.43348222e-01 2.29823367e+02] [ 7.59077009e-01 6.23727231e-01 -1.86457601e-01 -1.73603381e+01] [ 2.35151012e-01 4.37619290e-03 9.71948996e-01 -2.23722191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.526875 meters 0.022891586639395042 Centerline is valid? [True, True] Translation: X:229.84, Y:-17.34, Z:-22.37 [[ 6.05939974e-01 -7.82525473e-01 -1.43145491e-01 2.29840369e+02] [ 7.60035941e-01 6.22605124e-01 -1.86301443e-01 -1.73398951e+01] [ 2.34908740e-01 4.09177358e-03 9.72008817e-01 -2.23669062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.556875 meters 0.022089602170506577 Centerline is valid? [True, True] Translation: X:229.86, Y:-17.32, Z:-22.36 [[ 6.04927796e-01 -7.83350937e-01 -1.42911407e-01 2.29858390e+02] [ 7.60932559e-01 6.21567863e-01 -1.86104894e-01 -1.73200119e+01] [ 2.34614581e-01 3.83408117e-03 9.72080911e-01 -2.23592763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.586875 meters 0.022009801182021584 Centerline is valid? [True, True] Translation: X:229.87, Y:-17.30, Z:-22.35 [[ 6.03903228e-01 -7.84165985e-01 -1.42774644e-01 2.29874997e+02] [ 7.61787035e-01 6.20540781e-01 -1.86036697e-01 -1.72991645e+01] [ 2.34481139e-01 3.58428898e-03 9.72114061e-01 -2.23534110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.616875 meters 0.021793399911728753 Centerline is valid? [True, True] Translation: X:229.89, Y:-17.28, Z:-22.35 [[ 6.03327703e-01 -7.84657701e-01 -1.42506053e-01 2.29892227e+02] [ 7.62351193e-01 6.19919628e-01 -1.85796430e-01 -1.72782641e+01] [ 2.34128899e-01 3.45647381e-03 9.72199420e-01 -2.23466366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.646875 meters 0.021733942330463083 Centerline is valid? [True, True] Translation: X:229.91, Y:-17.26, Z:-22.34 [[ 6.02525987e-01 -7.85319679e-01 -1.42251315e-01 2.29908742e+02] [ 7.63086479e-01 6.19081873e-01 -1.85571173e-01 -1.72573265e+01] [ 2.33797904e-01 3.26139914e-03 9.72279745e-01 -2.23411862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.676875 meters 0.021359172491000878 Centerline is valid? [True, True] Translation: X:229.93, Y:-17.24, Z:-22.33 [[ 6.00991429e-01 -7.86601428e-01 -1.41659789e-01 2.29928195e+02] [ 7.64564976e-01 6.17454653e-01 -1.84905784e-01 -1.72370639e+01] [ 2.32915649e-01 2.81867838e-03 9.72492856e-01 -2.23336602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.706875 meters 0.021281990744851115 Centerline is valid? [True, True] Translation: X:229.94, Y:-17.22, Z:-22.33 [[ 5.99785527e-01 -7.87522656e-01 -1.41652349e-01 2.29944934e+02] [ 7.65497971e-01 6.16280618e-01 -1.84962308e-01 -1.72161954e+01] [ 2.32959605e-01 2.50312918e-03 9.72483191e-01 -2.23283756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.736875 meters 0.02090012511585076 Centerline is valid? [True, True] Translation: X:229.96, Y:-17.20, Z:-22.32 [[ 5.98755685e-01 -7.88367665e-01 -1.41308369e-01 2.29963138e+02] [ 7.66448554e-01 6.15200307e-01 -1.84621764e-01 -1.71953260e+01] [ 2.32482781e-01 2.23773577e-03 9.72597938e-01 -2.23219312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.766875 meters 0.020652812243612803 Centerline is valid? [True, True] Translation: X:229.98, Y:-17.18, Z:-22.32 [[ 5.96779573e-01 -7.89897241e-01 -1.41125796e-01 2.29980538e+02] [ 7.68051662e-01 6.13236845e-01 -1.84491779e-01 -1.71752477e+01] [ 2.32273085e-01 1.70902274e-03 9.72649111e-01 -2.23180953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.796875 meters 0.020652812243612803 Centerline is valid? [True, True] Translation: X:230.00, Y:-17.15, Z:-22.31 [[ 5.96560618e-01 -7.90069782e-01 -1.41085678e-01 2.29996832e+02] [ 7.68221709e-01 6.13014576e-01 -1.84522454e-01 -1.71537313e+01] [ 2.32273192e-01 1.69374873e-03 9.72649112e-01 -2.23121351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.82687500000003 meters 0.020524981945003136 Centerline is valid? [True, True] Translation: X:230.01, Y:-17.13, Z:-22.31 [[ 5.95608591e-01 -7.90844925e-01 -1.40764735e-01 2.30014553e+02] [ 7.69093020e-01 6.12014855e-01 -1.84211142e-01 -1.71322935e+01] [ 2.31832555e-01 1.45656301e-03 9.72754617e-01 -2.23065808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.856875 meters 0.020220259030880972 Centerline is valid? [True, True] Translation: X:230.03, Y:-17.11, Z:-22.30 [[ 5.94646402e-01 -7.91557223e-01 -1.40829042e-01 2.30032392e+02] [ 7.69779058e-01 6.11093778e-01 -1.84403352e-01 -1.71113634e+01] [ 2.32025556e-01 1.24754244e-03 9.72708890e-01 -2.22995867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.88687500000003 meters 0.0199929054350461 Centerline is valid? [True, True] Translation: X:230.05, Y:-17.09, Z:-22.29 [[ 5.93348356e-01 -7.92508202e-01 -1.40955591e-01 2.30051243e+02] [ 7.70690901e-01 6.09860523e-01 -1.84677227e-01 -1.70906566e+01] [ 2.32321467e-01 9.44737176e-04 9.72638599e-01 -2.22943239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.916875 meters 0.02009614803629918 Centerline is valid? [True, True] Translation: X:230.07, Y:-17.07, Z:-22.29 [[ 5.92380516e-01 -7.93197325e-01 -1.41150022e-01 2.30068917e+02] [ 7.71314168e-01 6.08964251e-01 -1.85032419e-01 -1.70694543e+01] [ 2.32722537e-01 7.38588346e-04 9.72542891e-01 -2.22880752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.94687500000003 meters 0.02006652235583985 Centerline is valid? [True, True] Translation: X:230.09, Y:-17.05, Z:-22.28 [[ 5.91909161e-01 -7.93518106e-01 -1.41324305e-01 2.30086589e+02] [ 7.71563305e-01 6.08546261e-01 -1.85368595e-01 -1.70479809e+01] [ 2.33095714e-01 6.80721462e-04 9.72453559e-01 -2.22812111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.976875 meters 0.019971249455974144 Centerline is valid? [True, True] Translation: X:230.10, Y:-17.03, Z:-22.28 [[ 5.91678890e-01 -7.93701950e-01 -1.41256172e-01 2.30102922e+02] [ 7.71748261e-01 6.08306469e-01 -1.85385712e-01 -1.70272795e+01] [ 2.33068044e-01 6.74607250e-04 9.72460195e-01 -2.22757748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.00687500000004 meters 0.01988571990120638 Centerline is valid? [True, True] Translation: X:230.12, Y:-17.01, Z:-22.27 [[ 5.91556645e-01 -7.93811770e-01 -1.41151017e-01 2.30119534e+02] [ 7.71874838e-01 6.08163144e-01 -1.85328963e-01 -1.70056297e+01] [ 2.32959159e-01 6.81661096e-04 9.72486280e-01 -2.22693713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.036875 meters 0.020148347947728105 Centerline is valid? [True, True] Translation: X:230.14, Y:-16.98, Z:-22.26 [[ 5.92384836e-01 -7.93238306e-01 -1.40901370e-01 2.30135513e+02] [ 7.71338225e-01 6.08910538e-01 -1.85108884e-01 -1.69839229e+01] [ 2.32631787e-01 9.73083323e-04 9.72564396e-01 -2.22646987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06687500000004 meters 0.020061300699151303 Centerline is valid? [True, True] Translation: X:230.15, Y:-16.96, Z:-22.26 [[ 5.92616809e-01 -7.93096157e-01 -1.40725985e-01 2.30151723e+02] [ 7.71220688e-01 6.09095461e-01 -1.84990189e-01 -1.69617978e+01] [ 2.32430566e-01 1.09750479e-03 9.72612373e-01 -2.22584570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.096875 meters 0.01992223656133504 Centerline is valid? [True, True] Translation: X:230.17, Y:-16.94, Z:-22.25 [[ 5.93126461e-01 -7.92794118e-01 -1.40280031e-01 2.30168292e+02] [ 7.71026845e-01 6.09488197e-01 -1.84504044e-01 -1.69399742e+01] [ 2.31772744e-01 1.27456101e-03 9.72769125e-01 -2.22519134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12687500000004 meters 0.020018739487661395 Centerline is valid? [True, True] Translation: X:230.18, Y:-16.92, Z:-22.24 [[ 5.93439417e-01 -7.92701386e-01 -1.39478213e-01 2.30184664e+02] [ 7.71157868e-01 6.09608593e-01 -1.83556273e-01 -1.69187477e+01] [ 2.30532429e-01 1.36980612e-03 9.73063679e-01 -2.22447338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.156875 meters 0.020034440431792363 Centerline is valid? [True, True] Translation: X:230.20, Y:-16.90, Z:-22.24 [[ 5.93482314e-01 -7.92722454e-01 -1.39175623e-01 2.30201581e+02] [ 7.71248958e-01 6.09581069e-01 -1.83264744e-01 -1.68972000e+01] [ 2.30116902e-01 1.42533012e-03 9.73161949e-01 -2.22378236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18687500000004 meters 0.02024421092574871 Centerline is valid? [True, True] Translation: X:230.22, Y:-16.88, Z:-22.23 [[ 5.93537114e-01 -7.92759348e-01 -1.38731075e-01 2.30218002e+02] [ 7.71400786e-01 6.09532976e-01 -1.82785063e-01 -1.68757394e+01] [ 2.29465732e-01 1.47245881e-03 9.73315627e-01 -2.22323065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.216875 meters 0.020125192822472816 Centerline is valid? [True, True] Translation: X:230.23, Y:-16.85, Z:-22.23 [[ 5.93173435e-01 -7.93078558e-01 -1.38461824e-01 2.30234883e+02] [ 7.71793695e-01 6.09117765e-01 -1.82510387e-01 -1.68546082e+01] [ 2.29084632e-01 1.39635046e-03 9.73405507e-01 -2.22252680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.246875 meters 0.020017417322655738 Centerline is valid? [True, True] Translation: X:230.25, Y:-16.83, Z:-22.22 [[ 5.92585074e-01 -7.93586387e-01 -1.38070907e-01 2.30252007e+02] [ 7.72411837e-01 6.08456285e-01 -1.82101357e-01 -1.68339701e+01] [ 2.28523269e-01 1.26294358e-03 9.73537632e-01 -2.22192907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.276875 meters 0.01986309176156345 Centerline is valid? [True, True] Translation: X:230.27, Y:-16.81, Z:-22.21 [[ 5.92514549e-01 -7.93702309e-01 -1.37706768e-01 2.30269330e+02] [ 7.72625095e-01 6.08305059e-01 -1.81701453e-01 -1.68122341e+01] [ 2.27984586e-01 1.26504969e-03 9.73663919e-01 -2.22131441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.306875 meters 0.019683733296147223 Centerline is valid? [True, True] Translation: X:230.29, Y:-16.79, Z:-22.21 [[ 5.92034701e-01 -7.94131856e-01 -1.37293510e-01 2.30285747e+02] [ 7.73169267e-01 6.07744391e-01 -1.81262351e-01 -1.67909502e+01] [ 2.27385568e-01 1.16247938e-03 9.73804114e-01 -2.22076391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.336875 meters 0.01947261113547721 Centerline is valid? [True, True] Translation: X:230.30, Y:-16.77, Z:-22.20 [[ 5.91711778e-01 -7.94474973e-01 -1.36699265e-01 2.30302777e+02] [ 7.73679345e-01 6.07295907e-01 -1.80587797e-01 -1.67688838e+01] [ 2.26489389e-01 1.09452824e-03 9.74013018e-01 -2.22017763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.366875 meters 0.01957642267729447 Centerline is valid? [True, True] Translation: X:230.32, Y:-16.75, Z:-22.20 [[ 5.91915694e-01 -7.94418523e-01 -1.36143383e-01 2.30319833e+02] [ 7.73768428e-01 6.07369597e-01 -1.79957197e-01 -1.67476296e+01] [ 2.25650682e-01 1.17603781e-03 9.74207569e-01 -2.21960075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.396875 meters 0.019347216187112524 Centerline is valid? [True, True] Translation: X:230.34, Y:-16.73, Z:-22.19 [[ 5.91915449e-01 -7.94511070e-01 -1.35603321e-01 2.30336271e+02] [ 7.74005007e-01 6.07248480e-01 -1.79347518e-01 -1.67255399e+01] [ 2.24838499e-01 1.20091702e-03 9.74395303e-01 -2.21897033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.426875 meters 0.019474251375535476 Centerline is valid? [True, True] Translation: X:230.35, Y:-16.70, Z:-22.18 [[ 5.92354138e-01 -7.94239364e-01 -1.35279002e-01 2.30353069e+02] [ 7.73801562e-01 6.07603462e-01 -1.79022836e-01 -1.67038852e+01] [ 2.24382974e-01 1.36581441e-03 9.74500085e-01 -2.21838939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.456875 meters 0.01973559525470307 Centerline is valid? [True, True] Translation: X:230.37, Y:-16.68, Z:-22.18 [[ 5.93950695e-01 -7.93104719e-01 -1.34935078e-01 2.30368671e+02] [ 7.72719097e-01 6.09082475e-01 -1.78672149e-01 -1.66814438e+01] [ 2.23892316e-01 1.85553542e-03 9.74612122e-01 -2.21782110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.486875 meters 0.019756374133499434 Centerline is valid? [True, True] Translation: X:230.38, Y:-16.66, Z:-22.17 [[ 5.94680732e-01 -7.92602332e-01 -1.34671343e-01 2.30384502e+02] [ 7.72260951e-01 6.09735280e-01 -1.78426212e-01 -1.66592270e+01] [ 2.23534900e-01 2.10521109e-03 9.74693653e-01 -2.21730409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.516875 meters 0.020119745289624125 Centerline is valid? [True, True] Translation: X:230.40, Y:-16.64, Z:-22.17 [[ 5.95086620e-01 -7.92265964e-01 -1.34857541e-01 2.30399056e+02] [ 7.71834692e-01 6.10171572e-01 -1.78778805e-01 -1.66361559e+01] [ 2.23926600e-01 2.30114602e-03 9.74603295e-01 -2.21690781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.546875 meters 0.020290768220775135 Centerline is valid? [True, True] Translation: X:230.42, Y:-16.61, Z:-22.16 [[ 5.96041277e-01 -7.91512855e-01 -1.35063679e-01 2.30415407e+02] [ 7.70973474e-01 6.11146737e-01 -1.79163523e-01 -1.66139957e+01] [ 2.24353958e-01 2.65834065e-03 9.74504097e-01 -2.21637669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57687500000003 meters 0.02039860688633877 Centerline is valid? [True, True] Translation: X:230.43, Y:-16.59, Z:-22.16 [[ 5.97258396e-01 -7.90476431e-01 -1.35754999e-01 2.30431159e+02] [ 7.69674163e-01 6.12484480e-01 -1.80178922e-01 -1.65910955e+01] [ 2.25575021e-01 3.12625878e-03 9.74220784e-01 -2.21594097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.606875 meters 0.020176313471537706 Centerline is valid? [True, True] Translation: X:230.45, Y:-16.57, Z:-22.15 [[ 5.96810364e-01 -7.90831956e-01 -1.35654736e-01 2.30448016e+02] [ 7.70054327e-01 6.12025837e-01 -1.80113040e-01 -1.65685695e+01] [ 2.25463351e-01 3.03181266e-03 9.74246932e-01 -2.21541476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63687500000003 meters 0.02011544703379427 Centerline is valid? [True, True] Translation: X:230.46, Y:-16.55, Z:-22.15 [[ 5.96527521e-01 -7.91068917e-01 -1.35517103e-01 2.30464110e+02] [ 7.70315615e-01 6.11719655e-01 -1.80035878e-01 -1.65469446e+01] [ 2.25319263e-01 3.00541538e-03 9.74280348e-01 -2.21478557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.666875 meters 0.020314426570730546 Centerline is valid? [True, True] Translation: X:230.48, Y:-16.52, Z:-22.14 [[ 5.96382979e-01 -7.91226641e-01 -1.35232184e-01 2.30480765e+02] [ 7.70541439e-01 6.11515634e-01 -1.79762399e-01 -1.65246720e+01] [ 2.24929394e-01 3.00523338e-03 9.74370431e-01 -2.21415666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69687500000003 meters 0.020652587954950903 Centerline is valid? [True, True] Translation: X:230.50, Y:-16.50, Z:-22.14 [[ 5.96561675e-01 -7.91211530e-01 -1.34530599e-01 2.30495722e+02] [ 7.70718841e-01 6.11534913e-01 -1.78934396e-01 -1.65026657e+01] [ 2.23845116e-01 3.06013587e-03 9.74619926e-01 -2.21361511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.726875 meters 0.02045770985636572 Centerline is valid? [True, True] Translation: X:230.51, Y:-16.48, Z:-22.13 [[ 5.96177957e-01 -7.91549834e-01 -1.34241219e-01 2.30512370e+02] [ 7.71129568e-01 6.11097281e-01 -1.78659739e-01 -1.64803382e+01] [ 2.23452531e-01 2.99562522e-03 9.74710210e-01 -2.21299647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75687500000004 meters 0.020756437809551498 Centerline is valid? [True, True] Translation: X:230.53, Y:-16.46, Z:-22.12 [[ 5.95726570e-01 -7.91856659e-01 -1.34435434e-01 2.30528011e+02] [ 7.71359788e-01 6.10699861e-01 -1.79024462e-01 -1.64589917e+01] [ 2.23861413e-01 2.95154069e-03 9.74616517e-01 -2.21248112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.786875 meters 0.02038076104935947 Centerline is valid? [True, True] Translation: X:230.54, Y:-16.44, Z:-22.12 [[ 5.95054796e-01 -7.92417590e-01 -1.34105004e-01 2.30544821e+02] [ 7.72011181e-01 6.09972543e-01 -1.78695921e-01 -1.64373059e+01] [ 2.23402161e-01 2.80330201e-03 9.74722328e-01 -2.21182250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81687500000004 meters 0.020663017549250408 Centerline is valid? [True, True] Translation: X:230.56, Y:-16.42, Z:-22.11 [[ 5.94415865e-01 -7.92891763e-01 -1.34135873e-01 2.30560733e+02] [ 7.72464021e-01 6.09356557e-01 -1.78840495e-01 -1.64156106e+01] [ 2.23537729e-01 2.69049136e-03 9.74691564e-01 -2.21124933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.846875 meters 0.02051011337980116 Centerline is valid? [True, True] Translation: X:230.58, Y:-16.39, Z:-22.11 [[ 5.93529364e-01 -7.93582427e-01 -1.33976961e-01 2.30577692e+02] [ 7.73196206e-01 6.08457645e-01 -1.78737016e-01 -1.63935187e+01] [ 2.23361861e-01 2.49518915e-03 9.74732401e-01 -2.21066804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87687500000004 meters 0.020435507209529274 Centerline is valid? [True, True] Translation: X:230.59, Y:-16.37, Z:-22.10 [[ 5.92836583e-01 -7.94083690e-01 -1.34074151e-01 2.30594654e+02] [ 7.73656907e-01 6.07803808e-01 -1.78967931e-01 -1.63724818e+01] [ 2.23606295e-01 2.37134416e-03 9.74676665e-01 -2.21003433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.906875 meters 0.020263834249708252 Centerline is valid? [True, True] Translation: X:230.61, Y:-16.35, Z:-22.09 [[ 5.92337605e-01 -7.94486464e-01 -1.33893317e-01 2.30611210e+02] [ 7.74102096e-01 6.07277580e-01 -1.78829210e-01 -1.63504408e+01] [ 2.23387796e-01 2.28016848e-03 9.74726984e-01 -2.20943153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93687500000004 meters 0.01998146632320103 Centerline is valid? [True, True] Translation: X:230.63, Y:-16.33, Z:-22.09 [[ 5.91231087e-01 -7.95364761e-01 -1.33569078e-01 2.30627507e+02] [ 7.75079091e-01 6.06127767e-01 -1.78497994e-01 -1.63288075e+01] [ 2.22930941e-01 2.00696386e-03 9.74832174e-01 -2.20883958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.966875 meters 0.02013507725696808 Centerline is valid? [True, True] Translation: X:230.64, Y:-16.31, Z:-22.08 [[ 5.90527862e-01 -7.95897073e-01 -1.33509151e-01 2.30642968e+02] [ 7.75619332e-01 6.05429064e-01 -1.78522547e-01 -1.63073089e+01] [ 2.22915892e-01 1.87025936e-03 9.74835887e-01 -2.20822881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.996875 meters 0.019990264127102066 Centerline is valid? [True, True] Translation: X:230.66, Y:-16.29, Z:-22.08 [[ 5.90443129e-01 -7.95973551e-01 -1.33427945e-01 2.30659668e+02] [ 7.75697391e-01 6.05328391e-01 -1.78524778e-01 -1.62853706e+01] [ 2.22868725e-01 1.90901946e-03 9.74846597e-01 -2.20760368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.026875 meters 0.020040960606478433 Centerline is valid? [True, True] Translation: X:230.68, Y:-16.26, Z:-22.07 [[ 5.89601284e-01 -7.96634184e-01 -1.33207743e-01 2.30675082e+02] [ 7.76418896e-01 6.04459277e-01 -1.78333061e-01 -1.62637480e+01] [ 2.22584869e-01 1.72039307e-03 9.74911799e-01 -2.20704891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.056875 meters 0.01971545328120278 Centerline is valid? [True, True] Translation: X:230.69, Y:-16.24, Z:-22.06 [[ 5.88422197e-01 -7.97538817e-01 -1.33008098e-01 2.30693253e+02] [ 7.77383069e-01 6.03265906e-01 -1.78173539e-01 -1.62428765e+01] [ 2.22339564e-01 1.44302200e-03 9.74968223e-01 -2.20630173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.086875 meters 0.01972718774317631 Centerline is valid? [True, True] Translation: X:230.71, Y:-16.22, Z:-22.06 [[ 5.87377088e-01 -7.98272006e-01 -1.33228980e-01 2.30709143e+02] [ 7.78042479e-01 6.02295842e-01 -1.78576650e-01 -1.62218887e+01] [ 2.22796002e-01 1.23402631e-03 9.74864308e-01 -2.20573116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.116875 meters 0.019802975479369975 Centerline is valid? [True, True] Translation: X:230.73, Y:-16.20, Z:-22.05 [[ 5.86597617e-01 -7.98867644e-01 -1.33092908e-01 2.30726023e+02] [ 7.78669460e-01 6.01505884e-01 -1.78506425e-01 -1.62003612e+01] [ 2.22659174e-01 1.07606075e-03 9.74895756e-01 -2.20510017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.146875 meters 0.019789582838365922 Centerline is valid? [True, True] Translation: X:230.74, Y:-16.18, Z:-22.05 [[ 5.85616910e-01 -7.99569923e-01 -1.33194496e-01 2.30741744e+02] [ 7.79336093e-01 6.00572378e-01 -1.78740238e-01 -1.61794846e+01] [ 2.22908254e-01 8.70027389e-04 9.74839040e-01 -2.20457413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.176875 meters 0.01946643650594265 Centerline is valid? [True, True] Translation: X:230.76, Y:-16.16, Z:-22.04 [[ 5.83900170e-01 -8.00799755e-01 -1.33342952e-01 2.30758253e+02] [ 7.80526539e-01 5.98931992e-01 -1.79049687e-01 -1.61587473e+01] [ 2.23246305e-01 4.69429362e-04 9.74761954e-01 -2.20401848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.206875 meters 0.01964346751709259 Centerline is valid? [True, True] Translation: X:230.77, Y:-16.14, Z:-22.03 [[ 5.82773279e-01 -8.01612560e-01 -1.33388937e-01 2.30774946e+02] [ 7.81322980e-01 5.97843838e-01 -1.79212575e-01 -1.61370626e+01] [ 2.23404805e-01 2.20458224e-04 9.74725728e-01 -2.20334928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.236875 meters 0.019771043556892413 Centerline is valid? [True, True] Translation: X:230.79, Y:-16.12, Z:-22.03 [[ 5.82135359e-01 -8.02019727e-01 -1.33726517e-01 2.30791271e+02] [ 7.81612237e-01 5.97297531e-01 -1.79771996e-01 -1.61155429e+01] [ 2.24055205e-01 1.29353489e-04 9.74576446e-01 -2.20279966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.266875 meters 0.019786768273174864 Centerline is valid? [True, True] Translation: X:230.81, Y:-16.09, Z:-22.02 [[ 5.81268670e-01 -8.02619329e-01 -1.33899015e-01 2.30807338e+02] [ 7.82148872e-01 5.96491586e-01 -1.80113659e-01 -1.60931027e+01] [ 2.24432340e-01 -3.45366913e-05 9.74489673e-01 -2.20218729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.296875 meters 0.01963532063704234 Centerline is valid? [True, True] Translation: X:230.82, Y:-16.07, Z:-22.02 [[ 5.80818272e-01 -8.02937709e-01 -1.33944653e-01 2.30823290e+02] [ 7.82437400e-01 5.96062938e-01 -1.80279474e-01 -1.60704768e+01] [ 2.24592631e-01 -9.36934972e-05 9.74452739e-01 -2.20162077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.32687500000003 meters 0.01992351431018416 Centerline is valid? [True, True] Translation: X:230.84, Y:-16.05, Z:-22.01 [[ 5.80490835e-01 -8.03143682e-01 -1.34129102e-01 2.30839192e+02] [ 7.82567529e-01 5.95785375e-01 -1.80631805e-01 -1.60477757e+01] [ 2.24985451e-01 -1.09973048e-04 9.74362117e-01 -2.20103191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.356875 meters 0.01965838464081675 Centerline is valid? [True, True] Translation: X:230.85, Y:-16.03, Z:-22.00 [[ 5.80592780e-01 -8.03062723e-01 -1.34172596e-01 2.30854771e+02] [ 7.82447013e-01 5.95894506e-01 -1.80793833e-01 -1.60250731e+01] [ 2.25141501e-01 -1.53528563e-05 9.74326077e-01 -2.20041904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.38687500000003 meters 0.019671716490186328 Centerline is valid? [True, True] Translation: X:230.87, Y:-16.00, Z:-22.00 [[ 5.81281575e-01 -8.02485679e-01 -1.34641987e-01 2.30869464e+02] [ 7.81683665e-01 5.96671316e-01 -1.81532334e-01 -1.60019635e+01] [ 2.26014110e-01 2.73958643e-04 9.74123990e-01 -2.19979525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.416875 meters 0.01973796521435598 Centerline is valid? [True, True] Translation: X:230.88, Y:-15.98, Z:-21.99 [[ 5.81280702e-01 -8.02467855e-01 -1.34751950e-01 2.30884147e+02] [ 7.81606267e-01 5.96695251e-01 -1.81786748e-01 -1.59800190e+01] [ 2.26283871e-01 3.46159514e-04 9.74061338e-01 -2.19919803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.44687500000003 meters 0.019730937528484514 Centerline is valid? [True, True] Translation: X:230.90, Y:-15.96, Z:-21.99 [[ 5.81757123e-01 -8.02124273e-01 -1.34741610e-01 2.30899326e+02] [ 7.81231051e-01 5.97156890e-01 -1.81883738e-01 -1.59577804e+01] [ 2.26355242e-01 5.47830050e-04 9.74044662e-01 -2.19855174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.476875 meters 0.019511141845610105 Centerline is valid? [True, True] Translation: X:230.91, Y:-15.94, Z:-21.98 [[ 5.81956258e-01 -8.02070572e-01 -1.34200265e-01 2.30914692e+02] [ 7.81321544e-01 5.97228935e-01 -1.81257397e-01 -1.59357707e+01] [ 2.25529505e-01 6.30317866e-04 9.74236134e-01 -2.19784219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.50687500000004 meters 0.019544595391913826 Centerline is valid? [True, True] Translation: X:230.93, Y:-15.91, Z:-21.97 [[ 5.82339638e-01 -8.01816290e-01 -1.34056644e-01 2.30929402e+02] [ 7.81080754e-01 5.97570086e-01 -1.81170771e-01 -1.59138160e+01] [ 2.25373916e-01 7.93856342e-04 9.74272019e-01 -2.19716357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.536875 meters 0.019724595005874458 Centerline is valid? [True, True] Translation: X:230.94, Y:-15.89, Z:-21.97 [[ 5.82799166e-01 -8.01501407e-01 -1.33942628e-01 2.30944100e+02] [ 7.80767367e-01 5.97992079e-01 -1.81129214e-01 -1.58906428e+01] [ 2.25271951e-01 9.83921682e-04 9.74295428e-01 -2.19650799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56687500000004 meters 0.019777142627268426 Centerline is valid? [True, True] Translation: X:230.96, Y:-15.87, Z:-21.96 [[ 5.83057749e-01 -8.01334220e-01 -1.33817520e-01 2.30959193e+02] [ 7.80611711e-01 5.98215878e-01 -1.81061093e-01 -1.58686391e+01] [ 2.25142215e-01 1.10954974e-03 9.74325280e-01 -2.19595450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.596875 meters 0.019794586592557412 Centerline is valid? [True, True] Translation: X:230.97, Y:-15.85, Z:-21.95 [[ 5.83167294e-01 -8.01259726e-01 -1.33786241e-01 2.30974558e+02] [ 7.80518830e-01 5.98315463e-01 -1.81132448e-01 -1.58460468e+01] [ 2.25180513e-01 1.20783907e-03 9.74316313e-01 -2.19535518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62687500000004 meters 0.019703018876853554 Centerline is valid? [True, True] Translation: X:230.99, Y:-15.82, Z:-21.95 [[ 5.83070465e-01 -8.01341699e-01 -1.33717289e-01 2.30990428e+02] [ 7.80601403e-01 5.98205609e-01 -1.81139449e-01 -1.58241291e+01] [ 2.25145026e-01 1.23715907e-03 9.74324477e-01 -2.19470189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.656875 meters 0.01984704172018598 Centerline is valid? [True, True] Translation: X:231.01, Y:-15.80, Z:-21.94 [[ 5.82876276e-01 -8.01399651e-01 -1.34215673e-01 2.31005452e+02] [ 7.80477964e-01 5.98127863e-01 -1.81926379e-01 -1.58016631e+01] [ 2.26073870e-01 1.28819535e-03 9.74109309e-01 -2.19426522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68687500000004 meters 0.01984704172018598 Centerline is valid? [True, True] Translation: X:231.02, Y:-15.78, Z:-21.94 [[ 5.82655629e-01 -8.01568769e-01 -1.34163806e-01 2.31021371e+02] [ 7.80642702e-01 5.97901202e-01 -1.81964622e-01 -1.57798695e+01] [ 2.26073859e-01 1.28871551e-03 9.74109311e-01 -2.19367012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.716875 meters 0.01989198598624415 Centerline is valid? [True, True] Translation: X:231.04, Y:-15.76, Z:-21.93 [[ 5.82407712e-01 -8.01800761e-01 -1.33853638e-01 2.31036300e+02] [ 7.80953774e-01 5.97590116e-01 -1.81651467e-01 -1.57579757e+01] [ 2.25637896e-01 1.26171115e-03 9.74210423e-01 -2.19310351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.746875 meters 0.019814557897443515 Centerline is valid? [True, True] Translation: X:231.05, Y:-15.74, Z:-21.93 [[ 5.82174105e-01 -8.01966150e-01 -1.33879073e-01 2.31051894e+02] [ 7.81089204e-01 5.97368135e-01 -1.81799250e-01 -1.57357496e+01] [ 2.25771937e-01 1.26731672e-03 9.74179361e-01 -2.19251105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.776875 meters 0.020104345716152845 Centerline is valid? [True, True] Translation: X:231.07, Y:-15.71, Z:-21.92 [[ 5.82459587e-01 -8.01729078e-01 -1.34057130e-01 2.31067634e+02] [ 7.80764580e-01 5.97685911e-01 -1.82148903e-01 -1.57131691e+01] [ 2.26158130e-01 1.42731614e-03 9.74089556e-01 -2.19192603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.806875 meters 0.020045664847852505 Centerline is valid? [True, True] Translation: X:231.08, Y:-15.69, Z:-21.91 [[ 5.82719052e-01 -8.01527526e-01 -1.34134753e-01 2.31082555e+02] [ 7.80508426e-01 5.97955813e-01 -1.82360746e-01 -1.56897797e+01] [ 2.26373812e-01 1.57177613e-03 9.74039233e-01 -2.19144331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.836875 meters 0.020318869571256584 Centerline is valid? [True, True] Translation: X:231.10, Y:-15.67, Z:-21.91 [[ 5.83148875e-01 -8.01230594e-01 -1.34040758e-01 2.31098015e+02] [ 7.80209198e-01 5.98353132e-01 -1.82337973e-01 -1.56673816e+01] [ 2.26298470e-01 1.75035097e-03 9.74056435e-01 -2.19088454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.866875 meters 0.020244435318034357 Centerline is valid? [True, True] Translation: X:231.11, Y:-15.64, Z:-21.90 [[ 5.83327856e-01 -8.01125898e-01 -1.33887673e-01 2.31113651e+02] [ 7.80126107e-01 5.98492992e-01 -1.82234452e-01 -1.56446113e+01] [ 2.26123573e-01 1.85316320e-03 9.74096861e-01 -2.19027082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.896875 meters 0.020337989080101766 Centerline is valid? [True, True] Translation: X:231.13, Y:-15.62, Z:-21.90 [[ 5.83899518e-01 -8.00647029e-01 -1.34259777e-01 2.31129088e+02] [ 7.79491403e-01 5.99132608e-01 -1.82847674e-01 -1.56212769e+01] [ 2.26835857e-01 2.11032664e-03 9.73930716e-01 -2.18970403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.926875 meters 0.020320300753659936 Centerline is valid? [True, True] Translation: X:231.14, Y:-15.60, Z:-21.89 [[ 5.83981787e-01 -8.00594399e-01 -1.34215798e-01 2.31143655e+02] [ 7.79426237e-01 5.99202622e-01 -1.82896034e-01 -1.55990435e+01] [ 2.26847999e-01 2.19663804e-03 9.73927698e-01 -2.18923315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.956875 meters 0.020461697384992393 Centerline is valid? [True, True] Translation: X:231.16, Y:-15.58, Z:-21.89 [[ 5.84220154e-01 -8.00419819e-01 -1.34219690e-01 2.31160223e+02] [ 7.79220674e-01 5.99435301e-01 -1.83009455e-01 -1.55770352e+01] [ 2.26940416e-01 2.33105472e-03 9.73905855e-01 -2.18858671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.986875 meters 0.02053716927926232 Centerline is valid? [True, True] Translation: X:231.18, Y:-15.56, Z:-21.88 [[ 5.84120448e-01 -8.00503960e-01 -1.34151826e-01 2.31175101e+02] [ 7.79303702e-01 5.99322806e-01 -1.83024356e-01 -1.55555610e+01] [ 2.26911971e-01 2.36325468e-03 9.73912405e-01 -2.18804205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.016875 meters 0.02035862125756823 Centerline is valid? [True, True] Translation: X:231.19, Y:-15.53, Z:-21.88 [[ 5.83839823e-01 -8.00675283e-01 -1.34350851e-01 2.31191299e+02] [ 7.79397079e-01 5.99093959e-01 -1.83375633e-01 -1.55328023e+01] [ 2.27313120e-01 2.34933582e-03 9.73818888e-01 -2.18756134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.046875 meters 0.02045985924567522 Centerline is valid? [True, True] Translation: X:231.21, Y:-15.51, Z:-21.87 [[ 5.83367506e-01 -8.01016079e-01 -1.34371106e-01 2.31206349e+02] [ 7.79715142e-01 5.98638479e-01 -1.83510952e-01 -1.55113597e+01] [ 2.27434938e-01 2.28314090e-03 9.73790602e-01 -2.18706366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07687500000003 meters 0.02040288423877575 Centerline is valid? [True, True] Translation: X:231.22, Y:-15.49, Z:-21.86 [[ 5.83030657e-01 -8.01244193e-01 -1.34473032e-01 2.31223232e+02] [ 7.79889852e-01 5.98333192e-01 -1.83764005e-01 -1.54894226e+01] [ 2.27699520e-01 2.26589584e-03 9.73728809e-01 -2.18645502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.106875 meters 0.020309470271871886 Centerline is valid? [True, True] Translation: X:231.24, Y:-15.47, Z:-21.86 [[ 5.82488472e-01 -8.01664598e-01 -1.34316983e-01 2.31239718e+02] [ 7.80345736e-01 5.97770171e-01 -1.83660979e-01 -1.54669255e+01] [ 2.27525191e-01 2.16671766e-03 9.73769784e-01 -2.18586084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13687500000003 meters 0.020229809176395983 Centerline is valid? [True, True] Translation: X:231.26, Y:-15.45, Z:-21.85 [[ 5.81358597e-01 -8.02570384e-01 -1.33801944e-01 2.31256636e+02] [ 7.81415048e-01 5.96554502e-01 -1.83066240e-01 -1.54454636e+01] [ 2.26743695e-01 1.87228020e-03 9.73952664e-01 -2.18521656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.166875 meters 0.019812715422984267 Centerline is valid? [True, True] Translation: X:231.27, Y:-15.42, Z:-21.85 [[ 5.80657748e-01 -8.03118526e-01 -1.33556030e-01 2.31273179e+02] [ 7.82030806e-01 5.95816807e-01 -1.82839138e-01 -1.54241978e+01] [ 2.26416426e-01 1.72203249e-03 9.74029074e-01 -2.18455889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19687500000003 meters 0.019943035041779338 Centerline is valid? [True, True] Translation: X:231.29, Y:-15.40, Z:-21.84 [[ 5.80089065e-01 -8.03581819e-01 -1.33240145e-01 2.31288726e+02] [ 7.82581494e-01 5.95192140e-01 -1.82517181e-01 -1.54025044e+01] [ 2.25970975e-01 1.60494878e-03 9.74132713e-01 -2.18400207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.226875 meters 0.019902307988796525 Centerline is valid? [True, True] Translation: X:231.30, Y:-15.38, Z:-21.83 [[ 5.79618287e-01 -8.03988414e-01 -1.32835504e-01 2.31304177e+02] [ 7.83102659e-01 5.94643049e-01 -1.82071055e-01 -1.53812059e+01] [ 2.25372728e-01 1.50787657e-03 9.74271451e-01 -2.18333263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25687500000004 meters 0.01982540583095245 Centerline is valid? [True, True] Translation: X:231.32, Y:-15.36, Z:-21.83 [[ 5.79366435e-01 -8.04216297e-01 -1.32554449e-01 2.31319430e+02] [ 7.83400319e-01 5.94334877e-01 -1.81796575e-01 -1.53595099e+01] [ 2.24985500e-01 1.48363622e-03 9.74360982e-01 -2.18278792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.286875 meters 0.01974952082409743 Centerline is valid? [True, True] Translation: X:231.34, Y:-15.34, Z:-21.82 [[ 5.79184735e-01 -8.04375290e-01 -1.32383670e-01 2.31336115e+02] [ 7.83593431e-01 5.94119677e-01 -1.81667677e-01 -1.53378991e+01] [ 2.24780733e-01 1.48417113e-03 9.74408241e-01 -2.18211082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31687500000004 meters 0.019873449982357565 Centerline is valid? [True, True] Translation: X:231.35, Y:-15.32, Z:-21.81 [[ 5.78948816e-01 -8.04622592e-01 -1.31911913e-01 2.31352804e+02] [ 7.83972211e-01 5.93784798e-01 -1.81127542e-01 -1.53157107e+01] [ 2.24066601e-01 1.44830195e-03 9.74572758e-01 -2.18148140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.346875 meters 0.019660194381811567 Centerline is valid? [True, True] Translation: X:231.37, Y:-15.29, Z:-21.81 [[ 5.78883986e-01 -8.04682023e-01 -1.31833882e-01 2.31368688e+02] [ 7.84033358e-01 5.93704154e-01 -1.81127225e-01 -1.52934442e+01] [ 2.24020146e-01 1.48948856e-03 9.74583376e-01 -2.18086722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37687500000004 meters 0.019562955494337685 Centerline is valid? [True, True] Translation: X:231.38, Y:-15.27, Z:-21.80 [[ 5.78660171e-01 -8.04890709e-01 -1.31542210e-01 2.31384490e+02] [ 7.84315618e-01 5.93421256e-01 -1.80832035e-01 -1.52708789e+01] [ 2.23609969e-01 1.46968641e-03 9.74677599e-01 -2.18028784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.406875 meters 0.01957817242626492 Centerline is valid? [True, True] Translation: X:231.40, Y:-15.25, Z:-21.80 [[ 5.78891912e-01 -8.04777711e-01 -1.31213527e-01 2.31400307e+02] [ 7.84279824e-01 5.93574225e-01 -1.80484894e-01 -1.52487646e+01] [ 2.23135188e-01 1.57312420e-03 9.74786240e-01 -2.17969588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43687500000004 meters 0.01988856893095292 Centerline is valid? [True, True] Translation: X:231.42, Y:-15.23, Z:-21.79 [[ 5.79207134e-01 -8.04582376e-01 -1.31020209e-01 2.31415412e+02] [ 7.84117379e-01 5.93838600e-01 -1.80320972e-01 -1.52268156e+01] [ 2.22887934e-01 1.70797070e-03 9.74842578e-01 -2.17912942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.466875 meters 0.02012158030802071 Centerline is valid? [True, True] Translation: X:231.43, Y:-15.20, Z:-21.79 [[ 5.79808561e-01 -8.04188982e-01 -1.30775049e-01 2.31429512e+02] [ 7.83765396e-01 5.94370569e-01 -1.80098391e-01 -1.52044086e+01] [ 2.22561982e-01 1.92563111e-03 9.74916641e-01 -2.17860907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.496875 meters 0.02028825340420615 Centerline is valid? [True, True] Translation: X:231.45, Y:-15.18, Z:-21.78 [[ 5.80009634e-01 -8.04014220e-01 -1.30957849e-01 2.31445395e+02] [ 7.83504239e-01 5.94606501e-01 -1.80455580e-01 -1.51819624e+01] [ 2.22957241e-01 2.05994510e-03 9.74826049e-01 -2.17802493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.526875 meters 0.020186984442776532 Centerline is valid? [True, True] Translation: X:231.46, Y:-15.16, Z:-21.78 [[ 5.80618829e-01 -8.03528229e-01 -1.31240847e-01 2.31459699e+02] [ 7.82891238e-01 5.95262137e-01 -1.80953854e-01 -1.51589257e+01] [ 2.23524237e-01 2.31790542e-03 9.74695615e-01 -2.17753356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.556875 meters 0.020572839247098375 Centerline is valid? [True, True] Translation: X:231.48, Y:-15.14, Z:-21.77 [[ 5.81013101e-01 -8.03214911e-01 -1.31413783e-01 2.31475335e+02] [ 7.82488964e-01 5.95684063e-01 -1.81305042e-01 -1.51361666e+01] [ 2.23908009e-01 2.51076977e-03 9.74607049e-01 -2.17697042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.586875 meters 0.020329365907653545 Centerline is valid? [True, True] Translation: X:231.49, Y:-15.11, Z:-21.76 [[ 5.81342257e-01 -8.02954887e-01 -1.31547061e-01 2.31490479e+02] [ 7.82155571e-01 5.96033789e-01 -1.81594010e-01 -1.51136343e+01] [ 2.24218291e-01 2.67800456e-03 9.74535267e-01 -2.17642099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.616875 meters 0.020451057054679634 Centerline is valid? [True, True] Translation: X:231.50, Y:-15.09, Z:-21.76 [[ 5.81556424e-01 -8.02760546e-01 -1.31786307e-01 2.31504938e+02] [ 7.81855085e-01 5.96294839e-01 -1.82030466e-01 -1.50916196e+01] [ 2.24710371e-01 2.82319262e-03 9.74421510e-01 -2.17590305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.646875 meters 0.020607527887993627 Centerline is valid? [True, True] Translation: X:231.52, Y:-15.07, Z:-21.75 [[ 5.81570538e-01 -8.02721714e-01 -1.31960444e-01 2.31520955e+02] [ 7.81733366e-01 5.96346692e-01 -1.82383023e-01 -1.50689769e+01] [ 2.25096987e-01 2.91071054e-03 9.74332014e-01 -2.17537264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.676875 meters 0.02094178576782884 Centerline is valid? [True, True] Translation: X:231.54, Y:-15.05, Z:-21.75 [[ 5.81461979e-01 -8.02741213e-01 -1.32319733e-01 2.31535829e+02] [ 7.81612608e-01 5.96320117e-01 -1.82986470e-01 -1.50463713e+01] [ 2.25795700e-01 2.97690371e-03 9.74170129e-01 -2.17490976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.706875 meters 0.020930269130396938 Centerline is valid? [True, True] Translation: X:231.55, Y:-15.02, Z:-21.74 [[ 5.80999663e-01 -8.03102587e-01 -1.32157580e-01 2.31550719e+02] [ 7.82009900e-01 5.95833718e-01 -1.82873446e-01 -1.50244412e+01] [ 2.25610080e-01 2.90087442e-03 9.74213363e-01 -2.17434802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.736875 meters 0.02042728217788132 Centerline is valid? [True, True] Translation: X:231.57, Y:-15.00, Z:-21.74 [[ 5.80671906e-01 -8.03387686e-01 -1.31864946e-01 2.31567542e+02] [ 7.82372670e-01 5.95449510e-01 -1.82572962e-01 -1.50023712e+01] [ 2.25195787e-01 2.84745978e-03 9.74309371e-01 -2.17364259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.766875 meters 0.020210923542118852 Centerline is valid? [True, True] Translation: X:231.58, Y:-14.98, Z:-21.73 [[ 5.79681623e-01 -8.04127586e-01 -1.31711966e-01 2.31584079e+02] [ 7.83155513e-01 5.94450958e-01 -1.82470548e-01 -1.49798508e+01] [ 2.25025905e-01 2.62387131e-03 9.74349248e-01 -2.17303498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.796875 meters 0.01997024138438114 Centerline is valid? [True, True] Translation: X:231.60, Y:-14.96, Z:-21.72 [[ 5.78634858e-01 -8.04904818e-01 -1.31567227e-01 2.31600311e+02] [ 7.83973993e-01 5.93399143e-01 -1.82379374e-01 -1.49580156e+01] [ 2.24869916e-01 2.38577901e-03 9.74385873e-01 -2.17242583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.82687500000003 meters 0.019698539527039257 Centerline is valid? [True, True] Translation: X:231.62, Y:-14.94, Z:-21.72 [[ 5.76398539e-01 -8.06503084e-01 -1.31595972e-01 2.31617037e+02] [ 7.85578766e-01 5.91227052e-01 -1.82528288e-01 -1.49377518e+01] [ 2.25012726e-01 1.83003766e-03 9.74354106e-01 -2.17178179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.856875 meters 0.019421063236256936 Centerline is valid? [True, True] Translation: X:231.63, Y:-14.92, Z:-21.71 [[ 5.75372293e-01 -8.07258242e-01 -1.31456668e-01 2.31633674e+02] [ 7.86372627e-01 5.90196213e-01 -1.82445939e-01 -1.49164860e+01] [ 2.24866216e-01 1.60041319e-03 9.74388333e-01 -2.17115209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.88687500000003 meters 0.01943705643000937 Centerline is valid? [True, True] Translation: X:231.65, Y:-14.89, Z:-21.71 [[ 5.74389009e-01 -8.07935308e-01 -1.31597127e-01 2.31649864e+02] [ 7.86997261e-01 5.89269525e-01 -1.82747746e-01 -1.48942871e+01] [ 2.25194533e-01 1.40171832e-03 9.74312813e-01 -2.17056007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.916875 meters 0.019465214013044508 Centerline is valid? [True, True] Translation: X:231.67, Y:-14.87, Z:-21.70 [[ 5.73350343e-01 -8.08727383e-01 -1.31260821e-01 2.31666483e+02] [ 7.87894778e-01 5.88182539e-01 -1.82381796e-01 -1.48719539e+01] [ 2.24702475e-01 1.14894998e-03 9.74426743e-01 -2.16994034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.94687500000003 meters 0.01930658929803003 Centerline is valid? [True, True] Translation: X:231.68, Y:-14.85, Z:-21.69 [[ 5.71866621e-01 -8.09844113e-01 -1.30847549e-01 2.31682959e+02] [ 7.89148187e-01 5.86644624e-01 -1.81915431e-01 -1.48498142e+01] [ 2.24084152e-01 7.73257005e-04 9.74569492e-01 -2.16922865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.976875 meters 0.01938255775975327 Centerline is valid? [True, True] Translation: X:231.70, Y:-14.83, Z:-21.69 [[ 5.71506155e-01 -8.10103363e-01 -1.30817641e-01 2.31699245e+02] [ 7.89399018e-01 5.86286618e-01 -1.81981297e-01 -1.48276971e+01] [ 2.24120293e-01 7.36113613e-04 9.74561210e-01 -2.16864801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.00687500000004 meters 0.01935636350540032 Centerline is valid? [True, True] Translation: X:231.72, Y:-14.81, Z:-21.68 [[ 5.70863710e-01 -8.10598143e-01 -1.30557554e-01 2.31715805e+02] [ 7.89966755e-01 5.85602501e-01 -1.81720216e-01 -1.48054586e+01] [ 2.23756900e-01 6.01349379e-04 9.74644801e-01 -2.16803619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.036875 meters 0.019218132637348576 Centerline is valid? [True, True] Translation: X:231.73, Y:-14.78, Z:-21.67 [[ 5.69995901e-01 -8.11169514e-01 -1.30800201e-01 2.31732267e+02] [ 7.90450200e-01 5.84810930e-01 -1.82166565e-01 -1.47841927e+01] [ 2.24261352e-01 4.43150286e-04 9.74528937e-01 -2.16735565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06687500000004 meters 0.019194708926731138 Centerline is valid? [True, True] Translation: X:231.75, Y:-14.76, Z:-21.67 [[ 5.69436462e-01 -8.11584689e-01 -1.30661429e-01 2.31747490e+02] [ 7.90895819e-01 5.84234691e-01 -1.82081381e-01 -1.47627175e+01] [ 2.24111400e-01 3.44198845e-04 9.74563472e-01 -2.16677166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.096875 meters 0.01920960090555203 Centerline is valid? [True, True] Translation: X:231.76, Y:-14.74, Z:-21.66 [[ 5.69341307e-01 -8.11646319e-01 -1.30693264e-01 2.31763177e+02] [ 7.90922714e-01 5.84149041e-01 -1.82239291e-01 -1.47405262e+01] [ 2.24258195e-01 3.88084623e-04 9.74529687e-01 -2.16616495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12687500000004 meters 0.01918847553059966 Centerline is valid? [True, True] Translation: X:231.78, Y:-14.72, Z:-21.66 [[ 5.69019783e-01 -8.11894946e-01 -1.30549156e-01 2.31779268e+02] [ 7.91199827e-01 5.83803453e-01 -1.82143794e-01 -1.47181077e+01] [ 2.24096674e-01 3.52952722e-04 9.74566856e-01 -2.16555520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.156875 meters 0.018864157099951175 Centerline is valid? [True, True] Translation: X:231.80, Y:-14.70, Z:-21.65 [[ 5.68499692e-01 -8.12263545e-01 -1.30522156e-01 2.31795286e+02] [ 7.91562276e-01 5.83290545e-01 -1.82212248e-01 -1.46966100e+01] [ 2.24136706e-01 2.71192305e-04 9.74557676e-01 -2.16498951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18687500000004 meters 0.019087422847047553 Centerline is valid? [True, True] Translation: X:231.81, Y:-14.67, Z:-21.64 [[ 5.68394243e-01 -8.12356237e-01 -1.30404481e-01 2.31811096e+02] [ 7.91670981e-01 5.83161432e-01 -1.82153241e-01 -1.46748354e+01] [ 2.24020186e-01 2.97409877e-04 9.74584459e-01 -2.16434052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.216875 meters 0.018896707631256837 Centerline is valid? [True, True] Translation: X:231.83, Y:-14.65, Z:-21.64 [[ 5.68185137e-01 -8.12524018e-01 -1.30270376e-01 2.31826990e+02] [ 7.91862555e-01 5.82927641e-01 -1.82068831e-01 -1.46527178e+01] [ 2.23873501e-01 2.92570379e-04 9.74618166e-01 -2.16369879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.246875 meters 0.019124625377375252 Centerline is valid? [True, True] Translation: X:231.84, Y:-14.63, Z:-21.63 [[ 5.68291036e-01 -8.12448509e-01 -1.30279390e-01 2.31842857e+02] [ 7.91756419e-01 5.83032820e-01 -1.82193590e-01 -1.46297441e+01] [ 2.23980071e-01 3.89440436e-04 9.74593647e-01 -2.16308020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.276875 meters 0.018945384966367086 Centerline is valid? [True, True] Translation: X:231.86, Y:-14.61, Z:-21.63 [[ 5.68536969e-01 -8.12277557e-01 -1.30272346e-01 2.31858150e+02] [ 7.91558417e-01 5.83270861e-01 -1.82292005e-01 -1.46075499e+01] [ 2.24055768e-01 5.21572301e-04 9.74576185e-01 -2.16253976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.306875 meters 0.01927197873237593 Centerline is valid? [True, True] Translation: X:231.87, Y:-14.58, Z:-21.62 [[ 5.69493993e-01 -8.11587587e-01 -1.30392412e-01 2.31873122e+02] [ 7.90793295e-01 5.84230160e-01 -1.82540640e-01 -1.45842163e+01] [ 2.24326897e-01 8.42352515e-04 9.74513588e-01 -2.16208988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.336875 meters 0.01930663672902096 Centerline is valid? [True, True] Translation: X:231.89, Y:-14.56, Z:-21.62 [[ 5.70157011e-01 -8.11111401e-01 -1.30457952e-01 2.31888582e+02] [ 7.90259044e-01 5.84890671e-01 -1.82739011e-01 -1.45616997e+01] [ 2.24525335e-01 1.09435225e-03 9.74467637e-01 -2.16161609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.366875 meters 0.019221917881581743 Centerline is valid? [True, True] Translation: X:231.90, Y:-14.54, Z:-21.61 [[ 5.70067851e-01 -8.11109848e-01 -1.30856638e-01 2.31904397e+02] [ 7.90104656e-01 5.84892700e-01 -1.83398916e-01 -1.45397037e+01] [ 2.25293759e-01 1.15938730e-03 9.74290192e-01 -2.16106764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.396875 meters 0.019597885831773236 Centerline is valid? [True, True] Translation: X:231.92, Y:-14.52, Z:-21.61 [[ 5.70420068e-01 -8.10781277e-01 -1.31357024e-01 2.31919537e+02] [ 7.89577443e-01 5.85347641e-01 -1.84216179e-01 -1.45181091e+01] [ 2.26248552e-01 1.36406227e-03 9.74068648e-01 -2.16061232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.426875 meters 0.019493768622713722 Centerline is valid? [True, True] Translation: X:231.94, Y:-14.50, Z:-21.60 [[ 5.71105505e-01 -8.10314549e-01 -1.31258652e-01 2.31935666e+02] [ 7.89111756e-01 5.85992987e-01 -1.84159862e-01 -1.44961901e+01] [ 2.26144065e-01 1.59696590e-03 9.74092558e-01 -2.15999278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.456875 meters 0.0193365311049629 Centerline is valid? [True, True] Translation: X:231.95, Y:-14.47, Z:-21.59 [[ 5.71241042e-01 -8.10172404e-01 -1.31545990e-01 2.31951493e+02] [ 7.88846232e-01 5.86189139e-01 -1.84672453e-01 -1.44740662e+01] [ 2.26727356e-01 1.72292617e-03 9.73956743e-01 -2.15938169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.486875 meters 0.0193982430058549 Centerline is valid? [True, True] Translation: X:231.97, Y:-14.45, Z:-21.59 [[ 5.71526947e-01 -8.09988415e-01 -1.31437120e-01 2.31966792e+02] [ 7.88667354e-01 5.86442924e-01 -1.84630718e-01 -1.44518093e+01] [ 2.26629112e-01 1.86126499e-03 9.73979354e-01 -2.15884300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.516875 meters 0.019399757916502707 Centerline is valid? [True, True] Translation: X:231.98, Y:-14.43, Z:-21.58 [[ 5.71913499e-01 -8.09714736e-01 -1.31441985e-01 2.31982535e+02] [ 7.88357685e-01 5.86820145e-01 -1.84754642e-01 -1.44296331e+01] [ 2.26731361e-01 2.04037461e-03 9.73955198e-01 -2.15822995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.546875 meters 0.01960658106896087 Centerline is valid? [True, True] Translation: X:232.00, Y:-14.41, Z:-21.58 [[ 5.73033957e-01 -8.08961009e-01 -1.31202785e-01 2.31997911e+02] [ 7.87637371e-01 5.87857398e-01 -1.84529271e-01 -1.44083693e+01] [ 2.26405513e-01 2.40132129e-03 9.74030173e-01 -2.15762136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57687500000003 meters 0.019584669882760267 Centerline is valid? [True, True] Translation: X:232.01, Y:-14.39, Z:-21.57 [[ 5.73396039e-01 -8.08758340e-01 -1.30869899e-01 2.32014157e+02] [ 7.87512083e-01 5.88135589e-01 -1.84177220e-01 -1.43858510e+01] [ 2.25924108e-01 2.54486115e-03 9.74141582e-01 -2.15701436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.606875 meters 0.019584669882760267 Centerline is valid? [True, True] Translation: X:232.03, Y:-14.36, Z:-21.56 [[ 5.73175273e-01 -8.08923124e-01 -1.30818522e-01 2.32029690e+02] [ 7.87672778e-01 5.87908925e-01 -1.84213706e-01 -1.43637828e+01] [ 2.25924103e-01 2.54455300e-03 9.74141584e-01 -2.15641918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63687500000003 meters 0.019647495158107625 Centerline is valid? [True, True] Translation: X:232.05, Y:-14.34, Z:-21.56 [[ 5.73344483e-01 -8.08802274e-01 -1.30824252e-01 2.32045616e+02] [ 7.87521537e-01 5.88074667e-01 -1.84331265e-01 -1.43416847e+01] [ 2.26021974e-01 2.65839817e-03 9.74118576e-01 -2.15580251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.666875 meters 0.01960937610565882 Centerline is valid? [True, True] Translation: X:232.06, Y:-14.32, Z:-21.55 [[ 5.74036462e-01 -8.08345079e-01 -1.30615365e-01 2.32062284e+02] [ 7.87096117e-01 5.88701813e-01 -1.84146352e-01 -1.43202781e+01] [ 2.25747300e-01 2.89987391e-03 9.74181578e-01 -2.15517103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69687500000003 meters 0.019646457253245497 Centerline is valid? [True, True] Translation: X:232.08, Y:-14.30, Z:-21.55 [[ 5.73416377e-01 -8.08812572e-01 -1.30444942e-01 2.32078465e+02] [ 7.87607235e-01 5.88059961e-01 -1.84011754e-01 -1.42987421e+01] [ 2.25540467e-01 2.77597303e-03 9.74229845e-01 -2.15455691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.726875 meters 0.019231647533497064 Centerline is valid? [True, True] Translation: X:232.10, Y:-14.28, Z:-21.54 [[ 5.72784451e-01 -8.09295195e-01 -1.30227724e-01 2.32095154e+02] [ 7.88146697e-01 5.87396166e-01 -1.83822002e-01 -1.42772961e+01] [ 2.25261529e-01 2.65183336e-03 9.74294725e-01 -2.15387491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75687500000004 meters 0.01887395497391949 Centerline is valid? [True, True] Translation: X:232.11, Y:-14.26, Z:-21.53 [[ 5.71716881e-01 -8.10099322e-01 -1.29918809e-01 2.32112290e+02] [ 7.89056526e-01 5.86287867e-01 -1.83456633e-01 -1.42562170e+01] [ 2.24787915e-01 2.37196995e-03 9.74404827e-01 -2.15319858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.786875 meters 0.01911712156426516 Centerline is valid? [True, True] Translation: X:232.13, Y:-14.23, Z:-21.53 [[ 5.71498406e-01 -8.10226222e-01 -1.30088591e-01 2.32127107e+02] [ 7.89105361e-01 5.86112403e-01 -1.83806912e-01 -1.42344140e+01] [ 2.25171716e-01 2.39175264e-03 9.74316159e-01 -2.15275561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81687500000004 meters 0.019070690496230346 Centerline is valid? [True, True] Translation: X:232.14, Y:-14.21, Z:-21.52 [[ 5.71054312e-01 -8.10516273e-01 -1.30231890e-01 2.32141847e+02] [ 7.89336687e-01 5.85711487e-01 -1.84091415e-01 -1.42122887e+01] [ 2.25487401e-01 2.32938801e-03 9.74243299e-01 -2.15227491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.846875 meters 0.018780415839017472 Centerline is valid? [True, True] Translation: X:232.16, Y:-14.19, Z:-21.52 [[ 5.70695247e-01 -8.10736627e-01 -1.30434109e-01 2.32157859e+02] [ 7.89469207e-01 5.85406491e-01 -1.84492849e-01 -1.41896637e+01] [ 2.25932085e-01 2.31547914e-03 9.74140304e-01 -2.15179191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87687500000004 meters 0.018626946448664396 Centerline is valid? [True, True] Translation: X:232.17, Y:-14.17, Z:-21.51 [[ 5.69202392e-01 -8.11763633e-01 -1.30569678e-01 2.32174632e+02] [ 7.90452582e-01 5.83982790e-01 -1.84793982e-01 -1.41676392e+01] [ 2.26259479e-01 1.97603710e-03 9.74065061e-01 -2.15123087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.906875 meters 0.01809064168913792 Centerline is valid? [True, True] Translation: X:232.19, Y:-14.15, Z:-21.51 [[ 5.66946359e-01 -8.13275303e-01 -1.30977507e-01 2.32193111e+02] [ 7.91843248e-01 5.81877303e-01 -1.85480659e-01 -1.41467524e+01] [ 2.27059678e-01 1.44392964e-03 9.73879776e-01 -2.15050436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93687500000004 meters 0.018172246961734716 Centerline is valid? [True, True] Translation: X:232.21, Y:-14.13, Z:-21.50 [[ 5.66524281e-01 -8.13574518e-01 -1.30945571e-01 2.32208490e+02] [ 7.92136342e-01 5.81459010e-01 -1.85540927e-01 -1.41254642e+01] [ 2.27090852e-01 1.38669416e-03 9.73872590e-01 -2.14995355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.966875 meters 0.0180610427777049 Centerline is valid? [True, True] Translation: X:232.22, Y:-14.10, Z:-21.49 [[ 5.66152582e-01 -8.13866389e-01 -1.30739265e-01 2.32224031e+02] [ 7.92477263e-01 5.81050526e-01 -1.85364705e-01 -1.41026560e+01] [ 2.26828222e-01 1.33681169e-03 9.73933864e-01 -2.14934162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.996875 meters 0.017931234018722708 Centerline is valid? [True, True] Translation: X:232.24, Y:-14.08, Z:-21.49 [[ 5.65811719e-01 -8.14142635e-01 -1.30494711e-01 2.32239715e+02] [ 7.92816391e-01 5.80663508e-01 -1.85127146e-01 -1.40796886e+01] [ 2.26493419e-01 1.28876280e-03 9.74011843e-01 -2.14874506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.026875 meters 0.01800274536364142 Centerline is valid? [True, True] Translation: X:232.26, Y:-14.06, Z:-21.48 [[ 5.66169777e-01 -8.13893626e-01 -1.30495013e-01 2.32255056e+02] [ 7.92535430e-01 5.81012094e-01 -1.85236442e-01 -1.40565036e+01] [ 2.26581940e-01 1.45335408e-03 9.73991023e-01 -2.14816701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.056875 meters 0.018136504670663838 Centerline is valid? [True, True] Translation: X:232.27, Y:-14.03, Z:-21.48 [[ 5.65980354e-01 -8.14021051e-01 -1.30521906e-01 2.32269340e+02] [ 7.92631658e-01 5.80833516e-01 -1.85384684e-01 -1.40342683e+01] [ 2.26718533e-01 1.46829382e-03 9.73959214e-01 -2.14764378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.086875 meters 0.018023867241665735 Centerline is valid? [True, True] Translation: X:232.28, Y:-14.01, Z:-21.47 [[ 5.66031599e-01 -8.13979167e-01 -1.30560884e-01 2.32284898e+02] [ 7.92548743e-01 5.80891985e-01 -1.85555898e-01 -1.40115270e+01] [ 2.26880407e-01 1.55463711e-03 9.73921385e-01 -2.14705759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.116875 meters 0.01793268759991546 Centerline is valid? [True, True] Translation: X:232.30, Y:-13.99, Z:-21.46 [[ 5.65892366e-01 -8.14100076e-01 -1.30410493e-01 2.32299980e+02] [ 7.92697591e-01 5.80722485e-01 -1.85450597e-01 -1.39892249e+01] [ 2.26707651e-01 1.56899416e-03 9.73961590e-01 -2.14643096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.146875 meters 0.017949180783872865 Centerline is valid? [True, True] Translation: X:232.31, Y:-13.97, Z:-21.46 [[ 5.65853263e-01 -8.14205586e-01 -1.29920551e-01 2.32314788e+02] [ 7.92944830e-01 5.80574511e-01 -1.84855982e-01 -1.39667731e+01] [ 2.25939333e-01 1.58153181e-03 9.74140091e-01 -2.14579761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.176875 meters 0.018266816421058214 Centerline is valid? [True, True] Translation: X:232.33, Y:-13.94, Z:-21.45 [[ 5.65878576e-01 -8.14219291e-01 -1.29724262e-01 2.32330212e+02] [ 7.92997369e-01 5.80555123e-01 -1.84691425e-01 -1.39432557e+01] [ 2.25691406e-01 1.64192247e-03 9.74197461e-01 -2.14525923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.206875 meters 0.018135980081138082 Centerline is valid? [True, True] Translation: X:232.35, Y:-13.92, Z:-21.45 [[ 5.66218289e-01 -8.13971615e-01 -1.29796223e-01 2.32345290e+02] [ 7.92694387e-01 5.80901841e-01 -1.84901757e-01 -1.39209145e+01] [ 2.25903646e-01 1.80601914e-03 9.74147977e-01 -2.14462523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.236875 meters 0.01838313827310305 Centerline is valid? [True, True] Translation: X:232.36, Y:-13.90, Z:-21.44 [[ 5.66305193e-01 -8.13897971e-01 -1.29878870e-01 2.32359765e+02] [ 7.92565470e-01 5.81004708e-01 -1.85131052e-01 -1.38981601e+01] [ 2.26138022e-01 1.90316837e-03 9.74093411e-01 -2.14410912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.266875 meters 0.018627429748454147 Centerline is valid? [True, True] Translation: X:232.37, Y:-13.87, Z:-21.44 [[ 5.67103865e-01 -8.13336371e-01 -1.29912101e-01 2.32374005e+02] [ 7.91951073e-01 5.81789582e-01 -1.85295387e-01 -1.38748922e+01] [ 2.26288985e-01 2.19770195e-03 9.74057732e-01 -2.14352197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.296875 meters 0.018881008695848207 Centerline is valid? [True, True] Translation: X:232.39, Y:-13.85, Z:-21.43 [[ 5.67290335e-01 -8.13201355e-01 -1.29943190e-01 2.32387902e+02] [ 7.91776210e-01 5.81977817e-01 -1.85451488e-01 -1.38525425e+01] [ 2.26433455e-01 2.31891031e-03 9.74023877e-01 -2.14298375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.32687500000003 meters 0.019001196927069735 Centerline is valid? [True, True] Translation: X:232.40, Y:-13.83, Z:-21.42 [[ 5.67249360e-01 -8.13212492e-01 -1.30052320e-01 2.32403137e+02] [ 7.91723879e-01 5.81961981e-01 -1.85724401e-01 -1.38294869e+01] [ 2.26718909e-01 2.38652056e-03 9.73957310e-01 -2.14240829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.356875 meters 0.018707139208190064 Centerline is valid? [True, True] Translation: X:232.42, Y:-13.81, Z:-21.42 [[ 5.66884425e-01 -8.13454730e-01 -1.30128596e-01 2.32417403e+02] [ 7.91921036e-01 5.81623457e-01 -1.85944149e-01 -1.38072014e+01] [ 2.26942991e-01 2.35726888e-03 9.73905191e-01 -2.14185660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.38687500000003 meters 0.0186173542022133 Centerline is valid? [True, True] Translation: X:232.43, Y:-13.78, Z:-21.41 [[ 5.66335718e-01 -8.13875675e-01 -1.29885489e-01 2.32433599e+02] [ 7.92407682e-01 5.81034690e-01 -1.85711482e-01 -1.37849608e+01] [ 2.26614033e-01 2.25278603e-03 9.73982035e-01 -2.14125734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.416875 meters 0.018420461971541683 Centerline is valid? [True, True] Translation: X:232.45, Y:-13.76, Z:-21.41 [[ 5.65491514e-01 -8.14464837e-01 -1.29870619e-01 2.32448930e+02] [ 7.92991130e-01 5.80209178e-01 -1.85801983e-01 -1.37629653e+01] [ 2.26681307e-01 2.08319586e-03 9.73966758e-01 -2.14071083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.44687500000003 meters 0.018389105962536244 Centerline is valid? [True, True] Translation: X:232.46, Y:-13.74, Z:-21.40 [[ 5.64490500e-01 -8.15216052e-01 -1.29511635e-01 2.32464648e+02] [ 7.93854819e-01 5.79154021e-01 -1.85405358e-01 -1.37410202e+01] [ 2.26152608e-01 1.84612772e-03 9.74090134e-01 -2.14008817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.476875 meters 0.018086261389640423 Centerline is valid? [True, True] Translation: X:232.48, Y:-13.72, Z:-21.39 [[ 5.62534122e-01 -8.16683381e-01 -1.28777391e-01 2.32481613e+02] [ 7.95579372e-01 5.77084505e-01 -1.84463917e-01 -1.37195851e+01] [ 2.24964052e-01 1.31461154e-03 9.74366177e-01 -2.13942233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.50687500000004 meters 0.018236187092068118 Centerline is valid? [True, True] Translation: X:232.50, Y:-13.70, Z:-21.39 [[ 5.61227590e-01 -8.17574586e-01 -1.28823091e-01 2.32497117e+02] [ 7.96452673e-01 5.75821802e-01 -1.84641253e-01 -1.36980900e+01] [ 2.25137140e-01 1.02426990e-03 9.74326546e-01 -2.13886081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.536875 meters 0.01805599832736191 Centerline is valid? [True, True] Translation: X:232.51, Y:-13.68, Z:-21.38 [[ 5.60046342e-01 -8.18403793e-01 -1.28698588e-01 2.32513444e+02] [ 7.97317986e-01 5.74643068e-01 -1.84578908e-01 -1.36759583e+01] [ 2.25015830e-01 7.59043110e-04 9.74354812e-01 -2.13824928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56687500000004 meters 0.017879902130394445 Centerline is valid? [True, True] Translation: X:232.53, Y:-13.65, Z:-21.38 [[ 5.58942323e-01 -8.19196359e-01 -1.28455460e-01 2.32529688e+02] [ 7.98186237e-01 5.73512921e-01 -1.84341152e-01 -1.36536852e+01] [ 2.24682466e-01 5.04691732e-04 9.74431904e-01 -2.13767299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.596875 meters 0.017978722257771577 Centerline is valid? [True, True] Translation: X:232.55, Y:-13.63, Z:-21.37 [[ 5.57933709e-01 -8.19887604e-01 -1.28430109e-01 2.32545867e+02] [ 7.98878159e-01 5.72524437e-01 -1.84416527e-01 -1.36310027e+01] [ 2.24730200e-01 2.92187179e-04 9.74420983e-01 -2.13705805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62687500000004 meters 0.018263004384320814 Centerline is valid? [True, True] Translation: X:232.56, Y:-13.61, Z:-21.37 [[ 5.56543367e-01 -8.20837029e-01 -1.28398022e-01 2.32561141e+02] [ 7.99837280e-01 5.71162473e-01 -1.84482396e-01 -1.36093689e+01] [ 2.24766113e-01 -2.50711257e-05 9.74412743e-01 -2.13662122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.656875 meters 0.018347291536527303 Centerline is valid? [True, True] Translation: X:232.58, Y:-13.59, Z:-21.36 [[ 5.55620301e-01 -8.21442863e-01 -1.28521222e-01 2.32576331e+02] [ 8.00391122e-01 5.70290787e-01 -1.84776810e-01 -1.35875295e+01] [ 2.25078061e-01 -2.01498669e-04 9.74340714e-01 -2.13613531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68687500000004 meters 0.01847838423837802 Centerline is valid? [True, True] Translation: X:232.59, Y:-13.57, Z:-21.36 [[ 5.54681263e-01 -8.22061320e-01 -1.28623022e-01 2.32592246e+02] [ 8.00965445e-01 5.69398838e-01 -1.85038695e-01 -1.35652254e+01] [ 2.25350953e-01 -3.85098835e-04 9.74277578e-01 -2.13561899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.716875 meters 0.018492961602668362 Centerline is valid? [True, True] Translation: X:232.61, Y:-13.54, Z:-21.35 [[ 5.53707785e-01 -8.22734665e-01 -1.28512096e-01 2.32608443e+02] [ 8.01667879e-01 5.68425297e-01 -1.84989984e-01 -1.35430397e+01] [ 2.25247199e-01 -5.93625193e-04 9.74301466e-01 -2.13504179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.746875 meters 0.0185623626102848 Centerline is valid? [True, True] Translation: X:232.63, Y:-13.52, Z:-21.34 [[ 5.52937499e-01 -8.23232173e-01 -1.28642572e-01 2.32625258e+02] [ 8.02109400e-01 5.67704371e-01 -1.85289658e-01 -1.35208502e+01] [ 2.25567359e-01 -7.31816295e-04 9.74227300e-01 -2.13446047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.776875 meters 0.018531107130315687 Centerline is valid? [True, True] Translation: X:232.64, Y:-13.50, Z:-21.34 [[ 5.51372592e-01 -8.24331595e-01 -1.28318687e-01 2.32642229e+02] [ 8.03321492e-01 5.66106151e-01 -1.84928113e-01 -1.35000610e+01] [ 2.25084084e-01 -1.11686559e-03 9.74338703e-01 -2.13385865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.806875 meters 0.018498659270398454 Centerline is valid? [True, True] Translation: X:232.66, Y:-13.48, Z:-21.33 [[ 5.50770601e-01 -8.24763873e-01 -1.28126104e-01 2.32657815e+02] [ 8.03801860e-01 5.65475957e-01 -1.84768805e-01 -1.34773905e+01] [ 2.24842866e-01 -1.22277511e-03 9.74394268e-01 -2.13315431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.836875 meters 0.018493366575051354 Centerline is valid? [True, True] Translation: X:232.67, Y:-13.45, Z:-21.33 [[ 5.50703365e-01 -8.24890682e-01 -1.27597674e-01 2.32673296e+02] [ 8.04081560e-01 5.65290995e-01 -1.84116635e-01 -1.34542678e+01] [ 2.24005912e-01 -1.20528630e-03 9.74587040e-01 -2.13252589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.866875 meters 0.018619905282022186 Centerline is valid? [True, True] Translation: X:232.69, Y:-13.43, Z:-21.32 [[ 5.50694243e-01 -8.24941346e-01 -1.27309176e-01 2.32688990e+02] [ 8.04204874e-01 5.65217148e-01 -1.83804507e-01 -1.34312476e+01] [ 2.23585267e-01 -1.16257623e-03 9.74683680e-01 -2.13191234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.896875 meters 0.01859547179206543 Centerline is valid? [True, True] Translation: X:232.70, Y:-13.41, Z:-21.31 [[ 5.50997124e-01 -8.24778204e-01 -1.27055440e-01 2.32704298e+02] [ 8.04095497e-01 5.65455441e-01 -1.83549927e-01 -1.34083327e+01] [ 2.23232169e-01 -1.02922503e-03 9.74764761e-01 -2.13129710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.926875 meters 0.018730103066804518 Centerline is valid? [True, True] Translation: X:232.72, Y:-13.39, Z:-21.31 [[ 5.51037929e-01 -8.24796976e-01 -1.26756256e-01 2.32719138e+02] [ 8.04188111e-01 5.65428162e-01 -1.83227935e-01 -1.33866461e+01] [ 2.22797403e-01 -9.70332097e-04 9.74864286e-01 -2.13079676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.956875 meters 0.018614208404205905 Centerline is valid? [True, True] Translation: X:232.73, Y:-13.36, Z:-21.30 [[ 5.51125986e-01 -8.24771309e-01 -1.26540251e-01 2.32734314e+02] [ 8.04207612e-01 5.65465727e-01 -1.83026304e-01 -1.33634850e+01] [ 2.22509019e-01 -8.94080997e-04 9.74930222e-01 -2.13014958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.986875 meters 0.018610707666263715 Centerline is valid? [True, True] Translation: X:232.75, Y:-13.34, Z:-21.30 [[ 5.51863015e-01 -8.24372698e-01 -1.25924053e-01 2.32748932e+02] [ 8.03975954e-01 5.66047005e-01 -1.82245587e-01 -1.33408962e+01] [ 2.21517219e-01 -6.65311672e-04 9.75156233e-01 -2.12959199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.016875 meters 0.018429755884489144 Centerline is valid? [True, True] Translation: X:232.76, Y:-13.32, Z:-21.29 [[ 5.52244479e-01 -8.24120144e-01 -1.25904822e-01 2.32764341e+02] [ 8.03704996e-01 5.66414796e-01 -1.82297995e-01 -1.33176177e+01] [ 2.21549804e-01 -5.17272914e-04 9.75148920e-01 -2.12897005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.046875 meters 0.018711898228678164 Centerline is valid? [True, True] Translation: X:232.78, Y:-13.29, Z:-21.28 [[ 5.52782477e-01 -8.23766211e-01 -1.25860091e-01 2.32779452e+02] [ 8.03332122e-01 5.66929566e-01 -1.82341353e-01 -1.32947343e+01] [ 2.21560452e-01 -3.12349165e-04 9.75146588e-01 -2.12842348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07687500000003 meters 0.018629429677426045 Centerline is valid? [True, True] Translation: X:232.79, Y:-13.27, Z:-21.28 [[ 5.53474665e-01 -8.23277555e-01 -1.26015326e-01 2.32793968e+02] [ 8.02756326e-01 5.67639026e-01 -1.82669693e-01 -1.32722767e+01] [ 2.21919075e-01 -5.65533277e-05 9.75065085e-01 -2.12792038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.106875 meters 0.01862658736823022 Centerline is valid? [True, True] Translation: X:232.81, Y:-13.25, Z:-21.27 [[ 5.54363832e-01 -8.22679373e-01 -1.26013455e-01 2.32809060e+02] [ 8.02118336e-01 5.68505574e-01 -1.82777426e-01 -1.32489484e+01] [ 2.22006570e-01 2.47491574e-04 9.75045138e-01 -2.12733638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13687500000003 meters 0.019064169668162916 Centerline is valid? [True, True] Translation: X:232.82, Y:-13.23, Z:-21.27 [[ 5.56413144e-01 -8.21287421e-01 -1.26061042e-01 2.32823493e+02] [ 8.00649790e-01 5.70513993e-01 -1.82958185e-01 -1.32253956e+01] [ 2.22180844e-01 8.69592206e-04 9.75005085e-01 -2.12673084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.166875 meters 0.01907981944233544 Centerline is valid? [True, True] Translation: X:232.84, Y:-13.20, Z:-21.26 [[ 5.57706544e-01 -8.20427567e-01 -1.25944506e-01 2.32837848e+02] [ 7.99781975e-01 5.71749054e-01 -1.82898363e-01 -1.32020628e+01] [ 2.22063511e-01 1.27546873e-03 9.75031369e-01 -2.12620876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19687500000003 meters 0.01934972689808114 Centerline is valid? [True, True] Translation: X:232.85, Y:-13.18, Z:-21.26 [[ 5.58823577e-01 -8.19666799e-01 -1.25946610e-01 2.32851907e+02] [ 7.98985359e-01 5.72838298e-01 -1.82971804e-01 -1.31788638e+01] [ 2.22122955e-01 1.61946062e-03 9.75017318e-01 -2.12569339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.226875 meters 0.019469359593537607 Centerline is valid? [True, True] Translation: X:232.87, Y:-13.16, Z:-21.25 [[ 5.60024520e-01 -8.18815139e-01 -1.26151914e-01 2.32866440e+02] [ 7.98024845e-01 5.74053767e-01 -1.83353809e-01 -1.31552594e+01] [ 2.22550856e-01 2.01026679e-03 9.74919010e-01 -2.12515715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25687500000004 meters 0.01998239148126456 Centerline is valid? [True, True] Translation: X:232.88, Y:-13.13, Z:-21.25 [[ 5.62008359e-01 -8.17436883e-01 -1.26267757e-01 2.32881082e+02] [ 7.96548526e-01 5.76012203e-01 -1.83631118e-01 -1.31306402e+01] [ 2.22838617e-01 2.62382797e-03 9.74851818e-01 -2.12468123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.286875 meters 0.02027300811797135 Centerline is valid? [True, True] Translation: X:232.90, Y:-13.11, Z:-21.24 [[ 5.62556308e-01 -8.17085931e-01 -1.26099094e-01 2.32896028e+02] [ 7.96222181e-01 5.76509006e-01 -1.83487342e-01 -1.31068900e+01] [ 2.22622189e-01 2.81906586e-03 9.74900720e-01 -2.12414170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31687500000004 meters 0.020276604890600222 Centerline is valid? [True, True] Translation: X:232.91, Y:-13.08, Z:-21.24 [[ 5.62844550e-01 -8.16905076e-01 -1.25984560e-01 2.32911101e+02] [ 7.96050920e-01 5.76764587e-01 -1.83427216e-01 -1.30841884e+01] [ 2.22506057e-01 2.95088382e-03 9.74926842e-01 -2.12357786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.346875 meters 0.02006123188092495 Centerline is valid? [True, True] Translation: X:232.93, Y:-13.06, Z:-21.23 [[ 5.62710370e-01 -8.17014092e-01 -1.25876976e-01 2.32927544e+02] [ 7.96175516e-01 5.76610077e-01 -1.83372211e-01 -1.30623608e+01] [ 2.22399613e-01 2.96527786e-03 9.74951086e-01 -2.12294744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37687500000004 meters 0.019864892481051766 Centerline is valid? [True, True] Translation: X:232.94, Y:-13.04, Z:-21.22 [[ 5.61938717e-01 -8.17572156e-01 -1.25700626e-01 2.32943197e+02] [ 7.96781181e-01 5.75819325e-01 -1.83226237e-01 -1.30400166e+01] [ 2.22181519e-01 2.80602306e-03 9.75001281e-01 -2.12237407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.406875 meters 0.019737651405052927 Centerline is valid? [True, True] Translation: X:232.96, Y:-13.02, Z:-21.22 [[ 5.61729817e-01 -8.17712437e-01 -1.25721852e-01 2.32958954e+02] [ 7.96892745e-01 5.75620050e-01 -1.83367148e-01 -1.30181212e+01] [ 2.22309616e-01 2.81596292e-03 9.74972053e-01 -2.12171825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43687500000004 meters 0.01992390974373981 Centerline is valid? [True, True] Translation: X:232.97, Y:-13.00, Z:-21.21 [[ 5.61270731e-01 -8.18055154e-01 -1.25542544e-01 2.32973317e+02] [ 7.97278458e-01 5.75133239e-01 -1.83217952e-01 -1.29956683e+01] [ 2.22086080e-01 2.74250742e-03 9.75023206e-01 -2.12120348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.466875 meters 0.01974200171564878 Centerline is valid? [True, True] Translation: X:232.99, Y:-12.97, Z:-21.21 [[ 5.60629361e-01 -8.18512828e-01 -1.25425154e-01 2.32989549e+02] [ 7.97759744e-01 5.74482236e-01 -1.83165366e-01 -1.29729967e+01] [ 2.21977724e-01 2.62874342e-03 9.75048194e-01 -2.12057461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.496875 meters 0.01974200171564878 Centerline is valid? [True, True] Translation: X:233.00, Y:-12.95, Z:-21.20 [[ 5.60405251e-01 -8.18674217e-01 -1.25373368e-01 2.33004696e+02] [ 7.97917195e-01 5.74252222e-01 -1.83200806e-01 -1.29506628e+01] [ 2.21977711e-01 2.62912718e-03 9.75048195e-01 -2.11997949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.526875 meters 0.019716368632101626 Centerline is valid? [True, True] Translation: X:233.02, Y:-12.93, Z:-21.19 [[ 5.59449290e-01 -8.19321875e-01 -1.25411953e-01 2.33020908e+02] [ 7.98542803e-01 5.73328633e-01 -1.83367583e-01 -1.29278675e+01] [ 2.22139335e-01 2.43805184e-03 9.75011883e-01 -2.11937452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.556875 meters 0.01975868365410456 Centerline is valid? [True, True] Translation: X:233.04, Y:-12.91, Z:-21.19 [[ 5.58949339e-01 -8.19661656e-01 -1.25420913e-01 2.33036010e+02] [ 7.98864345e-01 5.72843067e-01 -1.83484545e-01 -1.29053151e+01] [ 2.22241746e-01 2.36426942e-03 9.74988726e-01 -2.11883030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.586875 meters 0.019812069186482706 Centerline is valid? [True, True] Translation: X:233.05, Y:-12.88, Z:-21.18 [[ 5.58686458e-01 -8.19830654e-01 -1.25487606e-01 2.33050657e+02] [ 7.98989800e-01 5.72601180e-01 -1.83693190e-01 -1.28832460e+01] [ 2.22451660e-01 2.36358081e-03 9.74940856e-01 -2.11832758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.616875 meters 0.019751834242413186 Centerline is valid? [True, True] Translation: X:233.07, Y:-12.86, Z:-21.18 [[ 5.58118859e-01 -8.20231607e-01 -1.25393179e-01 2.33066254e+02] [ 7.99405911e-01 5.72027058e-01 -1.83671540e-01 -1.28603375e+01] [ 2.22381494e-01 2.27050247e-03 9.74957084e-01 -2.11766309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.646875 meters 0.019544049344191333 Centerline is valid? [True, True] Translation: X:233.08, Y:-12.84, Z:-21.17 [[ 5.57650809e-01 -8.20557622e-01 -1.25342587e-01 2.33081583e+02] [ 7.99731642e-01 5.71559557e-01 -1.83708939e-01 -1.28371525e+01] [ 2.22384524e-01 2.20500550e-03 9.74956543e-01 -2.11704006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.676875 meters 0.019676747987741456 Centerline is valid? [True, True] Translation: X:233.10, Y:-12.81, Z:-21.16 [[ 5.57199101e-01 -8.20888954e-01 -1.25181819e-01 2.33096591e+02] [ 8.00100140e-01 5.71083854e-01 -1.83583759e-01 -1.28145312e+01] [ 2.22191196e-01 2.13471441e-03 9.75000777e-01 -2.11644410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.706875 meters 0.019692120700697334 Centerline is valid? [True, True] Translation: X:233.11, Y:-12.79, Z:-21.16 [[ 5.57061097e-01 -8.20976318e-01 -1.25223080e-01 2.33111965e+02] [ 8.00150511e-01 5.70958138e-01 -1.83755176e-01 -1.27912271e+01] [ 2.22355785e-01 2.16554868e-03 9.74963187e-01 -2.11585060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.736875 meters 0.019550636989791308 Centerline is valid? [True, True] Translation: X:233.13, Y:-12.77, Z:-21.15 [[ 5.56819622e-01 -8.21128596e-01 -1.25298595e-01 2.33127333e+02] [ 8.00257147e-01 5.70739109e-01 -1.83971106e-01 -1.27684108e+01] [ 2.22576744e-01 2.16762533e-03 9.74912762e-01 -2.11520989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.766875 meters 0.01967681814013449 Centerline is valid? [True, True] Translation: X:233.14, Y:-12.75, Z:-21.15 [[ 5.56547808e-01 -8.21342514e-01 -1.25104005e-01 2.33143099e+02] [ 8.00516532e-01 5.70431309e-01 -1.83797183e-01 -1.27457366e+01] [ 2.22323682e-01 2.14409495e-03 9.74970555e-01 -2.11450885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.796875 meters 0.019733706406192104 Centerline is valid? [True, True] Translation: X:233.16, Y:-12.72, Z:-21.14 [[ 5.56492079e-01 -8.21377753e-01 -1.25120555e-01 2.33158064e+02] [ 8.00521474e-01 5.70380369e-01 -1.83933697e-01 -1.27229429e+01] [ 2.22445354e-01 2.19595456e-03 9.74942687e-01 -2.11394747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.82687500000003 meters 0.019872276868015456 Centerline is valid? [True, True] Translation: X:233.17, Y:-12.70, Z:-21.13 [[ 5.56280297e-01 -8.21521857e-01 -1.25116228e-01 2.33173172e+02] [ 8.00645202e-01 5.70172767e-01 -1.84038792e-01 -1.26993883e+01] [ 2.22529756e-01 2.20344606e-03 9.74923409e-01 -2.11337522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.856875 meters 0.019912338161072397 Centerline is valid? [True, True] Translation: X:233.19, Y:-12.68, Z:-21.13 [[ 5.56149660e-01 -8.21644613e-01 -1.24890691e-01 2.33187516e+02] [ 8.00821763e-01 5.69995808e-01 -1.83818614e-01 -1.26772161e+01] [ 2.22220744e-01 2.21547640e-03 9.74993863e-01 -2.11282767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.88687500000003 meters 0.019582711867674116 Centerline is valid? [True, True] Translation: X:233.20, Y:-12.65, Z:-21.12 [[ 5.55955726e-01 -8.21769598e-01 -1.24931816e-01 2.33202901e+02] [ 8.00908971e-01 5.69815523e-01 -1.83997527e-01 -1.26547839e+01] [ 2.22391662e-01 2.23546662e-03 9.74954846e-01 -2.11219264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.916875 meters 0.019899810859888147 Centerline is valid? [True, True] Translation: X:233.22, Y:-12.63, Z:-21.12 [[ 5.55573142e-01 -8.22029923e-01 -1.24921135e-01 2.33217437e+02] [ 8.01153468e-01 5.69440055e-01 -1.84095474e-01 -1.26325906e+01] [ 2.22467086e-01 2.19750078e-03 9.74937724e-01 -2.11162543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.94687500000003 meters 0.019992462406013944 Centerline is valid? [True, True] Translation: X:233.23, Y:-12.61, Z:-21.11 [[ 5.54981383e-01 -8.22391580e-01 -1.25170895e-01 2.33231969e+02] [ 8.01413537e-01 5.68917903e-01 -1.84577254e-01 -1.26103056e+01] [ 2.23006743e-01 2.12329034e-03 9.74814590e-01 -2.11112705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.976875 meters 0.019642050349480775 Centerline is valid? [True, True] Translation: X:233.25, Y:-12.59, Z:-21.10 [[ 5.54600256e-01 -8.22619038e-01 -1.25365366e-01 2.33248345e+02] [ 8.01553124e-01 5.68589031e-01 -1.84984061e-01 -1.25879180e+01] [ 2.23452782e-01 2.10520733e-03 9.74712482e-01 -2.11049034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.00687500000004 meters 0.0197108176796966 Centerline is valid? [True, True] Translation: X:233.26, Y:-12.56, Z:-21.10 [[ 5.54002709e-01 -8.22951859e-01 -1.25822240e-01 2.33263121e+02] [ 8.01712621e-01 5.68107436e-01 -1.85770869e-01 -1.25647713e+01] [ 2.24361032e-01 2.04428690e-03 9.74503950e-01 -2.11006698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.036875 meters 0.019647430906592902 Centerline is valid? [True, True] Translation: X:233.28, Y:-12.54, Z:-21.10 [[ 5.53922665e-01 -8.22982732e-01 -1.25972634e-01 2.33277457e+02] [ 8.01676454e-01 5.68062598e-01 -1.86063828e-01 -1.25428808e+01] [ 2.24687659e-01 2.07567717e-03 9.74428626e-01 -2.10951997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06687500000004 meters 0.019925347374325976 Centerline is valid? [True, True] Translation: X:233.29, Y:-12.52, Z:-21.09 [[ 5.53825713e-01 -8.23009334e-01 -1.26224858e-01 2.33292551e+02] [ 8.01597920e-01 5.68023899e-01 -1.86519768e-01 -1.25203944e+01] [ 2.25206246e-01 2.11785966e-03 9.74308812e-01 -2.10898608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.096875 meters 0.01997984354361674 Centerline is valid? [True, True] Translation: X:233.31, Y:-12.50, Z:-21.08 [[ 5.53709065e-01 -8.23073508e-01 -1.26318138e-01 2.33307958e+02] [ 8.01612605e-01 5.67930819e-01 -1.86739970e-01 -1.24972636e+01] [ 2.25440686e-01 2.14140246e-03 9.74254541e-01 -2.10840833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12687500000004 meters 0.019573762488152516 Centerline is valid? [True, True] Translation: X:233.32, Y:-12.47, Z:-21.08 [[ 5.53234167e-01 -8.23385326e-01 -1.26366778e-01 2.33323124e+02] [ 8.01891136e-01 5.67478891e-01 -1.86917932e-01 -1.24749611e+01] [ 2.25615962e-01 2.07698726e-03 9.74214106e-01 -2.10779302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.156875 meters 0.019390242333113764 Centerline is valid? [True, True] Translation: X:233.34, Y:-12.45, Z:-21.07 [[ 5.51998570e-01 -8.24236596e-01 -1.26220496e-01 2.33338939e+02] [ 8.02788081e-01 5.66242718e-01 -1.86816706e-01 -1.24531320e+01] [ 2.25452602e-01 1.79424471e-03 9.74252485e-01 -2.10713574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18687500000004 meters 0.019278069871969804 Centerline is valid? [True, True] Translation: X:233.35, Y:-12.43, Z:-21.06 [[ 5.51572454e-01 -8.24516431e-01 -1.26255627e-01 2.33354260e+02] [ 8.03036416e-01 5.65835314e-01 -1.86983720e-01 -1.24309406e+01] [ 2.25611041e-01 1.74720315e-03 9.74215893e-01 -2.10648638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.216875 meters 0.019397568988568772 Centerline is valid? [True, True] Translation: X:233.37, Y:-12.41, Z:-21.06 [[ 5.51068752e-01 -8.24863534e-01 -1.26187881e-01 2.33369527e+02] [ 8.03389562e-01 5.65329427e-01 -1.86996926e-01 -1.24086141e+01] [ 2.25584668e-01 1.67013594e-03 9.74222135e-01 -2.10590115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.246875 meters 0.019658617663515503 Centerline is valid? [True, True] Translation: X:233.38, Y:-12.39, Z:-21.05 [[ 5.50665153e-01 -8.25109793e-01 -1.26339697e-01 2.33384689e+02] [ 8.03563563e-01 5.64970043e-01 -1.87335128e-01 -1.23863152e+01] [ 2.25950192e-01 1.63694984e-03 9.74137481e-01 -2.10533387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.276875 meters 0.019278764478371554 Centerline is valid? [True, True] Translation: X:233.40, Y:-12.36, Z:-21.05 [[ 5.50466544e-01 -8.25200707e-01 -1.26611125e-01 2.33400227e+02] [ 8.03535130e-01 5.64837141e-01 -1.87857124e-01 -1.23641069e+01] [ 2.26534498e-01 1.67257495e-03 9.74001706e-01 -2.10471576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.306875 meters 0.019429522663409155 Centerline is valid? [True, True] Translation: X:233.41, Y:-12.34, Z:-21.04 [[ 5.50122606e-01 -8.25462973e-01 -1.26396199e-01 2.33414264e+02] [ 8.03852453e-01 5.64453924e-01 -1.87651278e-01 -1.23414118e+01] [ 2.26244013e-01 1.62731568e-03 9.74069299e-01 -2.10422503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.336875 meters 0.01970894968801949 Centerline is valid? [True, True] Translation: X:233.43, Y:-12.32, Z:-21.04 [[ 5.50139356e-01 -8.25440905e-01 -1.26467392e-01 2.33428439e+02] [ 8.03777461e-01 5.64485961e-01 -1.87876004e-01 -1.23193883e+01] [ 2.26469606e-01 1.70634482e-03 9.74016738e-01 -2.10370600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.366875 meters 0.01931253053606319 Centerline is valid? [True, True] Translation: X:233.44, Y:-12.30, Z:-21.03 [[ 5.50141300e-01 -8.25436097e-01 -1.26490315e-01 2.33443988e+02] [ 8.03735684e-01 5.64492763e-01 -1.88034227e-01 -1.22974338e+01] [ 2.26613106e-01 1.78061444e-03 9.73983229e-01 -2.10297911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.396875 meters 0.01954565702937412 Centerline is valid? [True, True] Translation: X:233.46, Y:-12.27, Z:-21.02 [[ 5.49978684e-01 -8.25580140e-01 -1.26257198e-01 2.33457999e+02] [ 8.03938182e-01 5.64282068e-01 -1.87800820e-01 -1.22747785e+01] [ 2.26289300e-01 1.78346577e-03 9.74058505e-01 -2.10246970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.426875 meters 0.019390049505482402 Centerline is valid? [True, True] Translation: X:233.47, Y:-12.25, Z:-21.02 [[ 5.49744081e-01 -8.25784900e-01 -1.25939449e-01 2.33473203e+02] [ 8.04230925e-01 5.63982437e-01 -1.87447140e-01 -1.22519121e+01] [ 2.25818655e-01 1.76355581e-03 9.74167760e-01 -2.10184212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.456875 meters 0.019771567447173687 Centerline is valid? [True, True] Translation: X:233.49, Y:-12.23, Z:-21.02 [[ 5.49207305e-01 -8.25892132e-01 -1.27567719e-01 2.33486147e+02] [ 8.03745405e-01 5.63825250e-01 -1.89985290e-01 -1.22256838e+01] [ 2.28833257e-01 1.80934132e-03 9.73463952e-01 -2.10169635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.486875 meters 0.020073892262959005 Centerline is valid? [True, True] Translation: X:233.50, Y:-12.20, Z:-21.02 [[ 5.48643574e-01 -8.26116688e-01 -1.28535781e-01 2.33500264e+02] [ 8.03609760e-01 5.63496246e-01 -1.91528937e-01 -1.22000810e+01] [ 2.30654681e-01 1.78851218e-03 9.73034028e-01 -2.10156054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.516875 meters 0.019705159610490852 Centerline is valid? [True, True] Translation: X:233.52, Y:-12.18, Z:-21.01 [[ 5.47574064e-01 -8.26956848e-01 -1.27691099e-01 2.33515260e+02] [ 8.04745290e-01 5.62263422e-01 -1.90380837e-01 -1.21788555e+01] [ 2.29232771e-01 1.48879822e-03 9.73370495e-01 -2.10084435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.546875 meters 0.01943503729240186 Centerline is valid? [True, True] Translation: X:233.53, Y:-12.16, Z:-21.00 [[ 5.44557763e-01 -8.29105817e-01 -1.26650651e-01 2.33532726e+02] [ 8.07289684e-01 5.59091339e-01 -1.88945073e-01 -1.21593036e+01] [ 2.27464741e-01 6.47741986e-04 9.73786102e-01 -2.09965040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57687500000003 meters 0.019408990343910092 Centerline is valid? [True, True] Translation: X:233.55, Y:-12.14, Z:-20.99 [[ 5.43111133e-01 -8.30083512e-01 -1.26458136e-01 2.33547919e+02] [ 8.08335184e-01 5.57639017e-01 -1.88766938e-01 -1.21367819e+01] [ 2.27210313e-01 3.00864588e-04 9.73845667e-01 -2.09892104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.606875 meters 0.019444749226074195 Centerline is valid? [True, True] Translation: X:233.56, Y:-12.11, Z:-20.98 [[ 5.41597439e-01 -8.31131410e-01 -1.26066627e-01 2.33563110e+02] [ 8.09522232e-01 5.56076051e-01 -1.88290154e-01 -1.21138992e+01] [ 2.26596494e-01 -7.62720741e-05 9.73988718e-01 -2.09812601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63687500000003 meters 0.019715663092665283 Centerline is valid? [True, True] Translation: X:233.58, Y:-12.09, Z:-20.98 [[ 5.40334928e-01 -8.31839821e-01 -1.26809608e-01 2.33576654e+02] [ 8.09963376e-01 5.55015690e-01 -1.89517578e-01 -1.20895033e+01] [ 2.28029591e-01 -3.08171499e-04 9.73654154e-01 -2.09769226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.666875 meters 0.01972538537269558 Centerline is valid? [True, True] Translation: X:233.59, Y:-12.06, Z:-20.97 [[ 5.40697156e-01 -8.31547553e-01 -1.27181968e-01 2.33590289e+02] [ 8.09505412e-01 5.55453556e-01 -1.90190261e-01 -1.20647285e+01] [ 2.28795923e-01 -1.19157594e-04 9.73474402e-01 -2.09723354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69687500000003 meters 0.019918797011924602 Centerline is valid? [True, True] Translation: X:233.60, Y:-12.04, Z:-20.97 [[ 5.41848927e-01 -8.30741590e-01 -1.27546661e-01 2.33603993e+02] [ 8.08521210e-01 5.56658177e-01 -1.90853679e-01 -1.20399439e+01] [ 2.29549981e-01 2.89679933e-04 9.73296832e-01 -2.09682685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.726875 meters 0.02004620910878691 Centerline is valid? [True, True] Translation: X:233.62, Y:-12.02, Z:-20.96 [[ 5.43161677e-01 -8.29920326e-01 -1.27309246e-01 2.33617804e+02] [ 8.07735054e-01 5.57881494e-01 -1.90610390e-01 -1.20158817e+01] [ 2.29214909e-01 7.00118140e-04 9.73375588e-01 -2.09618700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75687500000004 meters 0.020500642881863942 Centerline is valid? [True, True] Translation: X:233.63, Y:-11.99, Z:-20.96 [[ 5.45612732e-01 -8.28246486e-01 -1.27728247e-01 2.33629315e+02] [ 8.05839261e-01 5.60362001e-01 -1.91357028e-01 -1.19919025e+01] [ 2.30064842e-01 1.47839499e-03 9.73174179e-01 -2.09562095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.786875 meters 0.02077103607807441 Centerline is valid? [True, True] Translation: X:233.64, Y:-11.97, Z:-20.95 [[ 5.46307953e-01 -8.27676747e-01 -1.28447744e-01 2.33642417e+02] [ 8.04976193e-01 5.61202312e-01 -1.92523490e-01 -1.19679125e+01] [ 2.31432387e-01 1.77973792e-03 9.72849363e-01 -2.09515126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81687500000004 meters 0.020926973860965987 Centerline is valid? [True, True] Translation: X:233.66, Y:-11.94, Z:-20.95 [[ 5.47054062e-01 -8.27189937e-01 -1.28408186e-01 2.33655562e+02] [ 8.04464770e-01 5.61918693e-01 -1.92571589e-01 -1.19440888e+01] [ 2.31448241e-01 2.04720829e-03 9.72845065e-01 -2.09460497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.846875 meters 0.021198605002269104 Centerline is valid? [True, True] Translation: X:233.67, Y:-11.92, Z:-20.94 [[ 5.47889893e-01 -8.26732188e-01 -1.27791058e-01 2.33668927e+02] [ 8.04187861e-01 5.62590981e-01 -1.91763585e-01 -1.19210773e+01] [ 2.30431224e-01 2.29731270e-03 9.73085902e-01 -2.09394725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87687500000004 meters 0.02165326250301206 Centerline is valid? [True, True] Translation: X:233.68, Y:-11.90, Z:-20.93 [[ 5.51076116e-01 -8.24729474e-01 -1.27029166e-01 2.33681242e+02] [ 8.02375193e-01 5.65518457e-01 -1.90743085e-01 -1.18966544e+01] [ 2.29148782e-01 3.18890717e-03 9.73386186e-01 -2.09309241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.906875 meters 0.022093000427607958 Centerline is valid? [True, True] Translation: X:233.69, Y:-11.87, Z:-20.93 [[ 5.52715374e-01 -8.23666566e-01 -1.26803403e-01 2.33694105e+02] [ 8.01339832e-01 5.67062431e-01 -1.90511606e-01 -1.18728168e+01] [ 2.28823486e-01 3.68607611e-03 9.73460952e-01 -2.09250925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93687500000004 meters 0.0224877267722598 Centerline is valid? [True, True] Translation: X:233.71, Y:-11.85, Z:-20.92 [[ 5.54337964e-01 -8.22561144e-01 -1.26895967e-01 2.33706940e+02] [ 8.00155213e-01 5.68661246e-01 -1.90724993e-01 -1.18474786e+01] [ 2.29043787e-01 4.18963517e-03 9.73407104e-01 -2.09195391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.966875 meters 0.02338112559818068 Centerline is valid? [True, True] Translation: X:233.72, Y:-11.82, Z:-20.92 [[ 5.55720375e-01 -8.21649359e-01 -1.26756443e-01 2.33718864e+02] [ 7.99245221e-01 5.69974532e-01 -1.90620326e-01 -1.18217815e+01] [ 2.28871013e-01 4.62211738e-03 9.73445785e-01 -2.09150207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.996875 meters 0.023689206505165226 Centerline is valid? [True, True] Translation: X:233.73, Y:-11.80, Z:-20.91 [[ 5.58079498e-01 -8.20129664e-01 -1.26232358e-01 2.33730520e+02] [ 7.97851626e-01 5.72153339e-01 -1.89929829e-01 -1.17955027e+01] [ 2.27991352e-01 5.28125143e-03 9.73648834e-01 -2.09093992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.026875 meters 0.023287588068549664 Centerline is valid? [True, True] Translation: X:233.75, Y:-11.77, Z:-20.90 [[ 5.58647616e-01 -8.19761733e-01 -1.26109246e-01 2.33745959e+02] [ 7.97493292e-01 5.72678417e-01 -1.89852256e-01 -1.17725592e+01] [ 2.27853658e-01 5.48923268e-03 9.73679916e-01 -2.09021487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.056875 meters 0.023562430256166167 Centerline is valid? [True, True] Translation: X:233.76, Y:-11.75, Z:-20.89 [[ 5.58941288e-01 -8.19577970e-01 -1.26002335e-01 2.33761257e+02] [ 7.97317667e-01 5.72940074e-01 -1.89800446e-01 -1.17497696e+01] [ 2.27748051e-01 5.62341767e-03 9.73703858e-01 -2.08949769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.086875 meters 0.02372010104713913 Centerline is valid? [True, True] Translation: X:233.78, Y:-11.73, Z:-20.89 [[ 5.58342403e-01 -8.20030591e-01 -1.25712334e-01 2.33775951e+02] [ 7.97868041e-01 5.72293558e-01 -1.89437781e-01 -1.17261877e+01] [ 2.27289134e-01 5.46929250e-03 9.73811961e-01 -2.08880066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.116875 meters 0.023538614456723176 Centerline is valid? [True, True] Translation: X:233.79, Y:-11.70, Z:-20.88 [[ 5.57701601e-01 -8.20479481e-01 -1.25627805e-01 2.33791645e+02] [ 7.98333969e-01 5.71650997e-01 -1.89414921e-01 -1.17035025e+01] [ 2.27226316e-01 5.34406034e-03 9.73827316e-01 -2.08816430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.146875 meters 0.022878368567680805 Centerline is valid? [True, True] Translation: X:233.81, Y:-11.68, Z:-20.88 [[ 5.55773960e-01 -8.21800186e-01 -1.25537880e-01 2.33807054e+02] [ 7.99692035e-01 5.69754969e-01 -1.89398851e-01 -1.16795189e+01] [ 2.27173842e-01 4.87130674e-03 9.73842038e-01 -2.08772552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.176875 meters 0.022644704125048768 Centerline is valid? [True, True] Translation: X:233.82, Y:-11.66, Z:-20.87 [[ 5.54227311e-01 -8.22851719e-01 -1.25487598e-01 2.33821479e+02] [ 8.00761123e-01 5.68238280e-01 -1.89438331e-01 -1.16571295e+01] [ 2.27186513e-01 4.50630682e-03 9.73840840e-01 -2.08723217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.206875 meters 0.02183985690864127 Centerline is valid? [True, True] Translation: X:233.84, Y:-11.64, Z:-20.87 [[ 5.52701646e-01 -8.23904496e-01 -1.25308708e-01 2.33838215e+02] [ 8.01876323e-01 5.66713560e-01 -1.89288411e-01 -1.16350339e+01] [ 2.26969717e-01 4.13793033e-03 9.73893026e-01 -2.08658086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.236875 meters 0.02209306870163157 Centerline is valid? [True, True] Translation: X:233.85, Y:-11.61, Z:-20.86 [[ 5.50930428e-01 -8.25084945e-01 -1.25341523e-01 2.33853071e+02] [ 8.03048633e-01 5.64996461e-01 -1.89451558e-01 -1.16128747e+01] [ 2.27131145e-01 3.71928885e-03 9.73857079e-01 -2.08608894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.266875 meters 0.021416510162739644 Centerline is valid? [True, True] Translation: X:233.87, Y:-11.59, Z:-20.85 [[ 5.47540917e-01 -8.27313311e-01 -1.25505494e-01 2.33871714e+02] [ 8.05248405e-01 5.61733434e-01 -1.89817165e-01 -1.15919548e+01] [ 2.27538900e-01 2.86956566e-03 9.73764764e-01 -2.08538361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.296875 meters 0.021045081662448794 Centerline is valid? [True, True] Translation: X:233.89, Y:-11.57, Z:-20.85 [[ 5.45099838e-01 -8.28912851e-01 -1.25577276e-01 2.33886980e+02] [ 8.06837104e-01 5.59373157e-01 -1.90040939e-01 -1.15707747e+01] [ 2.27771934e-01 2.27087922e-03 9.73711861e-01 -2.08476588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.32687500000003 meters 0.02074516802328373 Centerline is valid? [True, True] Translation: X:233.90, Y:-11.55, Z:-20.84 [[ 5.43245970e-01 -8.30152251e-01 -1.25423513e-01 2.33902656e+02] [ 8.08135511e-01 5.57533795e-01 -1.89929103e-01 -1.15484873e+01] [ 2.27597919e-01 1.81902516e-03 9.73753500e-01 -2.08415805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.356875 meters 0.02065852763939381 Centerline is valid? [True, True] Translation: X:233.92, Y:-11.53, Z:-20.84 [[ 5.41219003e-01 -8.31520528e-01 -1.25122351e-01 2.33918206e+02] [ 8.09619708e-01 5.55492486e-01 -1.89589102e-01 -1.15254976e+01] [ 2.27151756e-01 1.30770319e-03 9.73858496e-01 -2.08353836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.38687500000003 meters 0.020844242867161543 Centerline is valid? [True, True] Translation: X:233.93, Y:-11.50, Z:-20.83 [[ 5.37715631e-01 -8.33851451e-01 -1.24714305e-01 2.33934914e+02] [ 8.12129881e-01 5.51988772e-01 -1.89085830e-01 -1.15035365e+01] [ 2.26510390e-01 3.90192532e-04 9.74008671e-01 -2.08285598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.416875 meters 0.020844242867161543 Centerline is valid? [True, True] Translation: X:233.95, Y:-11.48, Z:-20.82 [[ 5.37484760e-01 -8.34008305e-01 -1.24660659e-01 2.33949678e+02] [ 8.12282697e-01 5.51751751e-01 -1.89121192e-01 -1.14809563e+01] [ 2.26510382e-01 3.90061854e-04 9.74008673e-01 -2.08226085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.44687500000003 meters 0.020626882692280895 Centerline is valid? [True, True] Translation: X:233.96, Y:-11.46, Z:-20.82 [[ 5.35607101e-01 -8.35257991e-01 -1.24374921e-01 2.33964652e+02] [ 8.13639212e-01 5.49858239e-01 -1.88804526e-01 -1.14594645e+01] [ 2.26089064e-01 -7.12674486e-05 9.74106632e-01 -2.08170382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.476875 meters 0.020555568027605116 Centerline is valid? [True, True] Translation: X:233.98, Y:-11.44, Z:-20.81 [[ 5.34061066e-01 -8.36238622e-01 -1.24433695e-01 2.33980000e+02] [ 8.14596782e-01 5.48365565e-01 -1.89016640e-01 -1.14372008e+01] [ 2.26298169e-01 -4.16859256e-04 9.74057989e-01 -2.08107683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.50687500000004 meters 0.020654582132880937 Centerline is valid? [True, True] Translation: X:233.99, Y:-11.42, Z:-20.81 [[ 5.32496341e-01 -8.37257281e-01 -1.24289551e-01 2.33994466e+02] [ 8.15666614e-01 5.46808589e-01 -1.88913582e-01 -1.14153024e+01] [ 2.26131866e-01 -7.83045818e-04 9.74096384e-01 -2.08051438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.536875 meters 0.020710772663131243 Centerline is valid? [True, True] Translation: X:234.01, Y:-11.39, Z:-20.80 [[ 5.31075080e-01 -8.38194982e-01 -1.24050114e-01 2.34009300e+02] [ 8.16685687e-01 5.45369540e-01 -1.88670490e-01 -1.13917509e+01] [ 2.25795812e-01 -1.11175698e-03 9.74174017e-01 -2.07996713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56687500000004 meters 0.02074219729154803 Centerline is valid? [True, True] Translation: X:234.02, Y:-11.37, Z:-20.79 [[ 5.30530088e-01 -8.38554019e-01 -1.23955572e-01 2.34023551e+02] [ 8.17062211e-01 5.44817137e-01 -1.88636240e-01 -1.13688391e+01] [ 2.25714796e-01 -1.20221256e-03 9.74192684e-01 -2.07941228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.596875 meters 0.02070967858033189 Centerline is valid? [True, True] Translation: X:234.04, Y:-11.34, Z:-20.79 [[ 5.30235711e-01 -8.38716155e-01 -1.24118096e-01 2.34037546e+02] [ 8.17142845e-01 5.44567500e-01 -1.89007430e-01 -1.13447879e+01] [ 2.26114266e-01 -1.20372490e-03 9.74100041e-01 -2.07873895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62687500000004 meters 0.020770256243248006 Centerline is valid? [True, True] Translation: X:234.05, Y:-11.32, Z:-20.78 [[ 5.30323857e-01 -8.38655124e-01 -1.24153895e-01 2.34051966e+02] [ 8.17040183e-01 5.44661680e-01 -1.89179791e-01 -1.13217519e+01] [ 2.26278470e-01 -1.11216507e-03 9.74062019e-01 -2.07824625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.656875 meters 0.020722604691830317 Centerline is valid? [True, True] Translation: X:234.07, Y:-11.30, Z:-20.78 [[ 5.30197008e-01 -8.38714204e-01 -1.24296486e-01 2.34066107e+02] [ 8.17022162e-01 5.44570783e-01 -1.89518993e-01 -1.12980812e+01] [ 2.26640506e-01 -1.07058116e-03 9.73977892e-01 -2.07768245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68687500000004 meters 0.020587038626815535 Centerline is valid? [True, True] Translation: X:234.08, Y:-11.27, Z:-20.77 [[ 5.29996618e-01 -8.38820598e-01 -1.24433072e-01 2.34079459e+02] [ 8.17056688e-01 5.44406919e-01 -1.89840654e-01 -1.12743871e+01] [ 2.26984476e-01 -1.05396864e-03 9.73897806e-01 -2.07715780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.716875 meters 0.02051527149932818 Centerline is valid? [True, True] Translation: X:234.09, Y:-11.25, Z:-20.77 [[ 5.30020578e-01 -8.38807461e-01 -1.24419571e-01 2.34093288e+02] [ 8.17019891e-01 5.44427296e-01 -1.89940563e-01 -1.12510732e+01] [ 2.27060972e-01 -9.80857226e-04 9.73880051e-01 -2.07657730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.746875 meters 0.020510632082103696 Centerline is valid? [True, True] Translation: X:234.11, Y:-11.23, Z:-20.76 [[ 5.29881490e-01 -8.38890518e-01 -1.24452017e-01 2.34106792e+02] [ 8.17066202e-01 5.44299361e-01 -1.90107935e-01 -1.12284949e+01] [ 2.27218897e-01 -9.50861113e-04 9.73843246e-01 -2.07605333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.776875 meters 0.020617464590289087 Centerline is valid? [True, True] Translation: X:234.12, Y:-11.21, Z:-20.76 [[ 5.30428459e-01 -8.38625049e-01 -1.23909957e-01 2.34119962e+02] [ 8.16957263e-01 5.44708586e-01 -1.89402713e-01 -1.12053560e+01] [ 2.26332677e-01 -7.64549461e-04 9.74049760e-01 -2.07551211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.806875 meters 0.020612318944928588 Centerline is valid? [True, True] Translation: X:234.13, Y:-11.18, Z:-20.75 [[ 5.30381239e-01 -8.38688819e-01 -1.23680260e-01 2.34134244e+02] [ 8.17076229e-01 5.44610450e-01 -1.89171597e-01 -1.11819969e+01] [ 2.26013665e-01 -7.23134019e-04 9.74123863e-01 -2.07491125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.836875 meters 0.020326982066947583 Centerline is valid? [True, True] Translation: X:234.15, Y:-11.16, Z:-20.74 [[ 5.30410261e-01 -8.38732890e-01 -1.23256218e-01 2.34148587e+02] [ 8.17245169e-01 5.44542636e-01 -1.88636292e-01 -1.11583030e+01] [ 2.25333728e-01 -6.75923753e-04 9.74281404e-01 -2.07425878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.866875 meters 0.020565599286763707 Centerline is valid? [True, True] Translation: X:234.16, Y:-11.14, Z:-20.74 [[ 5.30842503e-01 -8.38428872e-01 -1.23463610e-01 2.34162443e+02] [ 8.16832717e-01 5.45010819e-01 -1.89070144e-01 -1.11355499e+01] [ 2.25810871e-01 -4.82647110e-04 9.74171041e-01 -2.07367720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.896875 meters 0.020919314936345336 Centerline is valid? [True, True] Translation: X:234.18, Y:-11.11, Z:-20.73 [[ 5.31594943e-01 -8.37908272e-01 -1.23760024e-01 2.34175548e+02] [ 8.16164408e-01 5.45811039e-01 -1.89646962e-01 -1.11117496e+01] [ 2.26456345e-01 -1.93160463e-04 9.74021297e-01 -2.07310192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.926875 meters 0.021139951250884206 Centerline is valid? [True, True] Translation: X:234.19, Y:-11.09, Z:-20.73 [[ 5.31982864e-01 -8.37620665e-01 -1.24039729e-01 2.34189027e+02] [ 8.15742522e-01 5.46252343e-01 -1.90190736e-01 -1.10893136e+01] [ 2.27064683e-01 -6.26918325e-06 9.73879679e-01 -2.07262019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.956875 meters 0.020969505955739147 Centerline is valid? [True, True] Translation: X:234.20, Y:-11.07, Z:-20.72 [[ 5.32643875e-01 -8.37155616e-01 -1.24342177e-01 2.34202891e+02] [ 8.15138289e-01 5.46964732e-01 -1.90733193e-01 -1.10658473e+01] [ 2.27684149e-01 2.36797530e-04 9.73735011e-01 -2.07203132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.986875 meters 0.020901969126386557 Centerline is valid? [True, True] Translation: X:234.22, Y:-11.04, Z:-20.71 [[ 5.33174089e-01 -8.36800558e-01 -1.24459699e-01 2.34216639e+02] [ 8.14704161e-01 5.47507643e-01 -1.91030129e-01 -1.10422688e+01] [ 2.27996755e-01 4.54480416e-04 9.73661786e-01 -2.07149734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.016875 meters 0.020918144891046063 Centerline is valid? [True, True] Translation: X:234.23, Y:-11.02, Z:-20.71 [[ 5.33477174e-01 -8.36580954e-01 -1.24637124e-01 2.34230017e+02] [ 8.14387416e-01 5.47842979e-01 -1.91418932e-01 -1.10183818e+01] [ 2.28419006e-01 6.14725570e-04 9.73562725e-01 -2.07102444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.046875 meters 0.02110758560939481 Centerline is valid? [True, True] Translation: X:234.24, Y:-10.99, Z:-20.70 [[ 5.33423403e-01 -8.36571458e-01 -1.24930656e-01 2.34244617e+02] [ 8.14244122e-01 5.47857395e-01 -1.91986419e-01 -1.09947978e+01] [ 2.29054542e-01 6.85996857e-04 9.73413348e-01 -2.07039976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07687500000003 meters 0.02126957270351118 Centerline is valid? [True, True] Translation: X:234.26, Y:-10.97, Z:-20.70 [[ 5.33159293e-01 -8.36711003e-01 -1.25123402e-01 2.34259191e+02] [ 8.14289491e-01 5.47644242e-01 -1.92401687e-01 -1.09712158e+01] [ 2.29507719e-01 6.94076195e-04 9.73306594e-01 -2.06983996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.106875 meters 0.02136082334337576 Centerline is valid? [True, True] Translation: X:234.27, Y:-10.95, Z:-20.69 [[ 5.33156469e-01 -8.36679361e-01 -1.25346824e-01 2.34272980e+02] [ 8.14147463e-01 5.47692472e-01 -1.92864885e-01 -1.09485829e+01] [ 2.30017580e-01 7.76362454e-04 9.73186164e-01 -2.06930752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13687500000003 meters 0.02125291793383137 Centerline is valid? [True, True] Translation: X:234.29, Y:-10.93, Z:-20.69 [[ 5.33213767e-01 -8.36684868e-01 -1.25066025e-01 2.34287186e+02] [ 8.14225941e-01 5.47683962e-01 -1.92557511e-01 -1.09256922e+01] [ 2.29606612e-01 8.42313984e-04 9.73283152e-01 -2.06864639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.166875 meters 0.021121077084576296 Centerline is valid? [True, True] Translation: X:234.30, Y:-10.90, Z:-20.68 [[ 5.33649577e-01 -8.36493453e-01 -1.24486275e-01 2.34300466e+02] [ 8.14212473e-01 5.47976031e-01 -1.91781952e-01 -1.09027286e+01] [ 2.28639842e-01 9.86079456e-04 9.73510581e-01 -2.06788535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19687500000003 meters 0.021289646482040823 Centerline is valid? [True, True] Translation: X:234.31, Y:-10.88, Z:-20.67 [[ 5.33855327e-01 -8.36359952e-01 -1.24501085e-01 2.34314947e+02] [ 8.14041369e-01 5.48179527e-01 -1.91926691e-01 -1.08796501e+01] [ 2.28768744e-01 1.11205334e-03 9.73480162e-01 -2.06717617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.226875 meters 0.021385767605065404 Centerline is valid? [True, True] Translation: X:234.33, Y:-10.86, Z:-20.67 [[ 5.34283152e-01 -8.36071624e-01 -1.24602380e-01 2.34328719e+02] [ 8.13680727e-01 5.48618758e-01 -1.92200762e-01 -1.08562740e+01] [ 2.29052806e-01 1.30307314e-03 9.73413126e-01 -2.06656641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25687500000004 meters 0.021541617224266847 Centerline is valid? [True, True] Translation: X:234.34, Y:-10.83, Z:-20.66 [[ 5.34862593e-01 -8.35716980e-01 -1.24495524e-01 2.34341338e+02] [ 8.13327818e-01 5.49158281e-01 -1.92153695e-01 -1.08325819e+01] [ 2.28953854e-01 1.52015103e-03 9.73436090e-01 -2.06598181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.286875 meters 0.021569338985404942 Centerline is valid? [True, True] Translation: X:234.36, Y:-10.81, Z:-20.65 [[ 5.34718985e-01 -8.35816163e-01 -1.24446571e-01 2.34355688e+02] [ 8.13418436e-01 5.49007240e-01 -1.92201712e-01 -1.08093093e+01] [ 2.28967366e-01 1.54676891e-03 9.73432870e-01 -2.06530772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31687500000004 meters 0.02169309593757567 Centerline is valid? [True, True] Translation: X:234.37, Y:-10.79, Z:-20.65 [[ 5.35080979e-01 -8.35578026e-01 -1.24489793e-01 2.34369584e+02] [ 8.13130419e-01 5.49369110e-01 -1.92386337e-01 -1.07865313e+01] [ 2.29144642e-01 1.71583146e-03 9.73390872e-01 -2.06472972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.346875 meters 0.02163246202072934 Centerline is valid? [True, True] Translation: X:234.38, Y:-10.76, Z:-20.64 [[ 5.35261555e-01 -8.35439350e-01 -1.24644130e-01 2.34383649e+02] [ 8.12902391e-01 5.49579547e-01 -1.92748604e-01 -1.07630409e+01] [ 2.29531633e-01 1.84740634e-03 9.73299449e-01 -2.06404884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37687500000004 meters 0.02204308193268418 Centerline is valid? [True, True] Translation: X:234.40, Y:-10.74, Z:-20.63 [[ 5.36772604e-01 -8.34494946e-01 -1.24472315e-01 2.34396028e+02] [ 8.11968070e-01 5.51010731e-01 -1.92600695e-01 -1.07390986e+01] [ 2.29309888e-01 2.31523112e-03 9.73350715e-01 -2.06337172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.406875 meters 0.022124152818950787 Centerline is valid? [True, True] Translation: X:234.41, Y:-10.72, Z:-20.63 [[ 5.37845214e-01 -8.33784464e-01 -1.24603344e-01 2.34409423e+02] [ 8.11162966e-01 5.52083547e-01 -1.92920710e-01 -1.07155084e+01] [ 2.29645746e-01 2.68786235e-03 9.73270572e-01 -2.06270429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43687500000004 meters 0.022191023069723363 Centerline is valid? [True, True] Translation: X:234.42, Y:-10.69, Z:-20.62 [[ 5.38937465e-01 -8.33052122e-01 -1.24782094e-01 2.34423216e+02] [ 8.10319994e-01 5.53186012e-01 -1.93304794e-01 -1.06909975e+01] [ 2.30060678e-01 3.06577038e-03 9.73171457e-01 -2.06204485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.466875 meters 0.023089119151088005 Centerline is valid? [True, True] Translation: X:234.43, Y:-10.67, Z:-20.62 [[ 5.39771345e-01 -8.32533861e-01 -1.24636534e-01 2.34434720e+02] [ 8.09815475e-01 5.53964054e-01 -1.93190897e-01 -1.06666070e+01] [ 2.29882123e-01 3.34631666e-03 9.73212727e-01 -2.06163340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.496875 meters 0.023622585104089946 Centerline is valid? [True, True] Translation: X:234.45, Y:-10.64, Z:-20.61 [[ 5.41585984e-01 -8.31401800e-01 -1.24320834e-01 2.34445590e+02] [ 8.08749481e-01 5.55658244e-01 -1.92790540e-01 -1.06426231e+01] [ 2.29366298e-01 3.86824381e-03 9.73332491e-01 -2.06102141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.526875 meters 0.023108426379021284 Centerline is valid? [True, True] Translation: X:234.46, Y:-10.62, Z:-20.60 [[ 5.42430977e-01 -8.30803489e-01 -1.24636266e-01 2.34461724e+02] [ 8.07990739e-01 5.56550015e-01 -1.93398673e-01 -1.06202702e+01] [ 2.30042608e-01 4.20048198e-03 9.73171493e-01 -2.06017960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.556875 meters 0.022876308672536413 Centerline is valid? [True, True] Translation: X:234.48, Y:-10.60, Z:-20.60 [[ 5.42733447e-01 -8.30615251e-01 -1.24574117e-01 2.34476485e+02] [ 8.07793874e-01 5.56829816e-01 -1.93415648e-01 -1.05969139e+01] [ 2.30020570e-01 4.34293264e-03 9.73176077e-01 -2.05951047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.586875 meters 0.023695363122983773 Centerline is valid? [True, True] Translation: X:234.49, Y:-10.57, Z:-20.59 [[ 5.43067967e-01 -8.30384174e-01 -1.24656756e-01 2.34489635e+02] [ 8.07497572e-01 5.57173004e-01 -1.93664439e-01 -1.05734927e+01] [ 2.30271265e-01 4.51292507e-03 9.73116015e-01 -2.05896526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.616875 meters 0.02381096245002003 Centerline is valid? [True, True] Translation: X:234.50, Y:-10.55, Z:-20.58 [[ 5.43635495e-01 -8.29945709e-01 -1.25102237e-01 2.34503998e+02] [ 8.06859776e-01 5.57823789e-01 -1.94447734e-01 -1.05492689e+01] [ 2.31166067e-01 4.76872722e-03 9.72902620e-01 -2.05833909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.646875 meters 0.02421187515736057 Centerline is valid? [True, True] Translation: X:234.52, Y:-10.53, Z:-20.58 [[ 5.43506523e-01 -8.29906935e-01 -1.25917190e-01 2.34519091e+02] [ 8.06486120e-01 5.57880471e-01 -1.95830330e-01 -1.05254145e+01] [ 2.32767690e-01 4.88459623e-03 9.72520099e-01 -2.05778970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.676875 meters 0.02429949635317286 Centerline is valid? [True, True] Translation: X:234.53, Y:-10.50, Z:-20.57 [[ 5.43153872e-01 -8.30080658e-01 -1.26293204e-01 2.34533591e+02] [ 8.06494378e-01 5.57621887e-01 -1.96531548e-01 -1.05015772e+01] [ 2.33560891e-01 4.89211249e-03 9.72329871e-01 -2.05727769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.706875 meters 0.02423192080012182 Centerline is valid? [True, True] Translation: X:234.55, Y:-10.48, Z:-20.57 [[ 5.43003887e-01 -8.30109295e-01 -1.26749112e-01 2.34548497e+02] [ 8.06321898e-01 5.57578595e-01 -1.97360348e-01 -1.04786370e+01] [ 2.34503251e-01 4.96685181e-03 9.72102647e-01 -2.05672858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.736875 meters 0.024265339446813215 Centerline is valid? [True, True] Translation: X:234.56, Y:-10.46, Z:-20.56 [[ 5.42650700e-01 -8.30293563e-01 -1.27054389e-01 2.34563651e+02] [ 8.06374978e-01 5.57304344e-01 -1.97917311e-01 -1.04556426e+01] [ 2.35137433e-01 4.94648706e-03 9.71949546e-01 -2.05617593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.766875 meters 0.024251149820578525 Centerline is valid? [True, True] Translation: X:234.58, Y:-10.43, Z:-20.56 [[ 5.41362341e-01 -8.31080417e-01 -1.27405481e-01 2.34578219e+02] [ 8.07018709e-01 5.56132490e-01 -1.98588660e-01 -1.04339148e+01] [ 2.35897474e-01 4.68981478e-03 9.71766632e-01 -2.05563051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.796875 meters 0.024469332669234775 Centerline is valid? [True, True] Translation: X:234.59, Y:-10.41, Z:-20.55 [[ 5.41017771e-01 -8.31275182e-01 -1.27598367e-01 2.34593669e+02] [ 8.07113507e-01 5.55841357e-01 -1.99018024e-01 -1.04110848e+01] [ 2.36363193e-01 4.68592166e-03 9.71653479e-01 -2.05502573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.82687500000003 meters 0.024416530639279788 Centerline is valid? [True, True] Translation: X:234.61, Y:-10.39, Z:-20.54 [[ 5.39856387e-01 -8.32005276e-01 -1.27758765e-01 2.34609211e+02] [ 8.07772052e-01 5.54749929e-01 -1.99391146e-01 -1.03880657e+01] [ 2.36768651e-01 4.44262418e-03 9.71555901e-01 -2.05436608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.856875 meters 0.024119488143352564 Centerline is valid? [True, True] Translation: X:234.62, Y:-10.37, Z:-20.54 [[ 5.39452289e-01 -8.32283744e-01 -1.27651858e-01 2.34624829e+02] [ 8.08069393e-01 5.54332504e-01 -1.99347262e-01 -1.03651413e+01] [ 2.36675060e-01 4.38677737e-03 9.71578958e-01 -2.05372346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.88687500000003 meters 0.023821937325870058 Centerline is valid? [True, True] Translation: X:234.64, Y:-10.34, Z:-20.53 [[ 5.39006851e-01 -8.32491315e-01 -1.28178881e-01 2.34640902e+02] [ 8.08049001e-01 5.54020740e-01 -2.00294363e-01 -1.03433745e+01] [ 2.37757076e-01 4.38521739e-03 9.71314750e-01 -2.05295110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.916875 meters 0.024216267751650093 Centerline is valid? [True, True] Translation: X:234.66, Y:-10.32, Z:-20.52 [[ 5.38752302e-01 -8.32666057e-01 -1.28113990e-01 2.34655511e+02] [ 8.08224861e-01 5.53758173e-01 -2.00310911e-01 -1.03208769e+01] [ 2.37736265e-01 4.37305299e-03 9.71319898e-01 -2.05242735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.94687500000003 meters 0.024134070036106302 Centerline is valid? [True, True] Translation: X:234.67, Y:-10.30, Z:-20.52 [[ 5.38646359e-01 -8.32726776e-01 -1.28164800e-01 2.34670777e+02] [ 8.08244224e-01 5.53666627e-01 -2.00485761e-01 -1.02975261e+01] [ 2.37910434e-01 4.40246549e-03 9.71277120e-01 -2.05181083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.976875 meters 0.024320160311865693 Centerline is valid? [True, True] Translation: X:234.69, Y:-10.27, Z:-20.51 [[ 5.38471999e-01 -8.32810631e-01 -1.28352481e-01 2.34686345e+02] [ 8.08227366e-01 5.53540169e-01 -2.00902479e-01 -1.02746731e+01] [ 2.38361974e-01 4.44237203e-03 9.71166224e-01 -2.05114926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.00687500000004 meters 0.024205817567881552 Centerline is valid? [True, True] Translation: X:234.70, Y:-10.25, Z:-20.50 [[ 5.38434474e-01 -8.32837420e-01 -1.28336079e-01 2.34701651e+02] [ 8.08230832e-01 5.53499392e-01 -2.01000861e-01 -1.02522142e+01] [ 2.38434980e-01 4.50061694e-03 9.71148034e-01 -2.05047571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.036875 meters 0.024445617444694135 Centerline is valid? [True, True] Translation: X:234.72, Y:-10.23, Z:-20.50 [[ 5.38812998e-01 -8.32600953e-01 -1.28281749e-01 2.34716397e+02] [ 8.07978570e-01 5.53853600e-01 -2.01039350e-01 -1.02296219e+01] [ 2.38434862e-01 4.67371065e-03 9.71147246e-01 -2.04985071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06687500000004 meters 0.024627464495905693 Centerline is valid? [True, True] Translation: X:234.73, Y:-10.21, Z:-20.49 [[ 5.40056697e-01 -8.31908642e-01 -1.27541270e-01 2.34731188e+02] [ 8.07525143e-01 5.54889918e-01 -2.00000806e-01 -1.02062865e+01] [ 2.37153764e-01 5.01899279e-03 9.71459161e-01 -2.04910957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.096875 meters 0.024663548461931712 Centerline is valid? [True, True] Translation: X:234.75, Y:-10.18, Z:-20.49 [[ 5.40434735e-01 -8.31605378e-01 -1.27917134e-01 2.34745291e+02] [ 8.07039978e-01 5.55342345e-01 -2.00702151e-01 -1.01841105e+01] [ 2.37942789e-01 5.23217225e-03 9.71265079e-01 -2.04850473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12687500000004 meters 0.02504285940600406 Centerline is valid? [True, True] Translation: X:234.76, Y:-10.16, Z:-20.48 [[ 5.41114622e-01 -8.31088210e-01 -1.28403085e-01 2.34760163e+02] [ 8.06303588e-01 5.56113257e-01 -2.01525608e-01 -1.01610074e+01] [ 2.38892215e-01 5.51658485e-03 9.71030420e-01 -2.04792046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.156875 meters 0.02536595569773852 Centerline is valid? [True, True] Translation: X:234.78, Y:-10.14, Z:-20.47 [[ 5.41803278e-01 -8.30591750e-01 -1.28711119e-01 2.34775268e+02] [ 8.05643581e-01 5.56851420e-01 -2.02125992e-01 -1.01382835e+01] [ 2.39557151e-01 5.81723794e-03 9.70864837e-01 -2.04730513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18687500000004 meters 0.025602425062140922 Centerline is valid? [True, True] Translation: X:234.79, Y:-10.12, Z:-20.47 [[ 5.43558894e-01 -8.29340955e-01 -1.29372749e-01 2.34790444e+02] [ 8.04067324e-01 5.58705373e-01 -2.03283165e-01 -1.01156532e+01] [ 2.40872304e-01 6.47197264e-03 9.70535237e-01 -2.04663332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.216875 meters 0.026542416440335014 Centerline is valid? [True, True] Translation: X:234.80, Y:-10.09, Z:-20.46 [[ 5.44466457e-01 -8.28752429e-01 -1.29327832e-01 2.34803529e+02] [ 8.03449052e-01 5.59574067e-01 -2.03338351e-01 -1.00922175e+01] [ 2.40885653e-01 6.80258741e-03 9.70529663e-01 -2.04614933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.246875 meters 0.026793969578358303 Centerline is valid? [True, True] Translation: X:234.82, Y:-10.07, Z:-20.46 [[ 5.45386778e-01 -8.28168813e-01 -1.29188543e-01 2.34818111e+02] [ 8.02875656e-01 5.60433514e-01 -2.03236211e-01 -1.00687203e+01] [ 2.40715481e-01 7.12000548e-03 9.70569607e-01 -2.04551725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.276875 meters 0.027818580915692243 Centerline is valid? [True, True] Translation: X:234.83, Y:-10.05, Z:-20.45 [[ 5.45838215e-01 -8.27916241e-01 -1.28900508e-01 2.34831027e+02] [ 8.02702388e-01 5.60804508e-01 -2.02896970e-01 -1.00454613e+01] [ 2.40269683e-01 7.28017452e-03 9.70678875e-01 -2.04502159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.306875 meters 0.027818580915692243 Centerline is valid? [True, True] Translation: X:234.85, Y:-10.02, Z:-20.44 [[ 5.45615123e-01 -8.28072732e-01 -1.28839776e-01 2.34845384e+02] [ 8.02854093e-01 5.60573346e-01 -2.02935529e-01 -1.00226107e+01] [ 2.40269522e-01 7.28515252e-03 9.70678877e-01 -2.04442629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.336875 meters 0.027871935382836648 Centerline is valid? [True, True] Translation: X:234.86, Y:-10.00, Z:-20.44 [[ 5.45989266e-01 -8.27864413e-01 -1.28593297e-01 2.34859345e+02] [ 8.02707269e-01 5.60879001e-01 -2.02671624e-01 -9.99947538e+00] [ 2.39909905e-01 7.43375713e-03 9.70766695e-01 -2.04383775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.366875 meters 0.028477081414632417 Centerline is valid? [True, True] Translation: X:234.87, Y:-9.98, Z:-20.43 [[ 5.46075524e-01 -8.27860273e-01 -1.28253226e-01 2.34873868e+02] [ 8.02807642e-01 5.60884418e-01 -2.02258644e-01 -9.97569645e+00] [ 2.39377132e-01 7.48582478e-03 9.70897807e-01 -2.04326856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.396875 meters 0.026527019175250487 Centerline is valid? [True, True] Translation: X:234.89, Y:-9.96, Z:-20.42 [[ 5.45230253e-01 -8.28462028e-01 -1.27963428e-01 2.34892573e+02] [ 8.03511864e-01 5.59998028e-01 -2.01918036e-01 -9.95589048e+00] [ 2.38940693e-01 7.27168910e-03 9.71006935e-01 -2.04233830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.426875 meters 0.02583923329575581 Centerline is valid? [True, True] Translation: X:234.91, Y:-9.93, Z:-20.42 [[ 5.44019233e-01 -8.29215304e-01 -1.28238270e-01 2.34908920e+02] [ 8.04146064e-01 5.58885122e-01 -2.02475994e-01 -9.93443215e+00] [ 2.39566654e-01 7.02853510e-03 9.70854478e-01 -2.04154966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.456875 meters 0.025660605512341467 Centerline is valid? [True, True] Translation: X:234.92, Y:-9.91, Z:-20.41 [[ 5.42396975e-01 -8.30278842e-01 -1.28228568e-01 2.34924151e+02] [ 8.05212353e-01 5.57308798e-01 -2.02583241e-01 -9.91237379e+00] [ 2.39663488e-01 6.62931048e-03 9.70833387e-01 -2.04096553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.486875 meters 0.025080800344799963 Centerline is valid? [True, True] Translation: X:234.94, Y:-9.89, Z:-20.40 [[ 5.40502810e-01 -8.31548710e-01 -1.27997877e-01 2.34940271e+02] [ 8.06587804e-01 5.55418297e-01 -2.02303310e-01 -9.89033862e+00] [ 2.39317419e-01 6.10398155e-03 9.70922198e-01 -2.04030900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.516875 meters 0.024919236844236674 Centerline is valid? [True, True] Translation: X:234.96, Y:-9.87, Z:-20.40 [[ 5.36612718e-01 -8.33927764e-01 -1.28884736e-01 2.34957084e+02] [ 8.08651348e-01 5.51849557e-01 -2.03826065e-01 -9.86847736e+00] [ 2.41101199e-01 5.15284285e-03 9.70486301e-01 -2.03990125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.546875 meters 0.023442793155084376 Centerline is valid? [True, True] Translation: X:234.98, Y:-9.85, Z:-20.39 [[ 5.34337314e-01 -8.35355861e-01 -1.29089971e-01 2.34975254e+02] [ 8.10008121e-01 5.49690413e-01 -2.04272598e-01 -9.84820975e+00] [ 2.41599832e-01 4.58654658e-03 9.70365130e-01 -2.03897409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57687500000003 meters 0.02308407461044999 Centerline is valid? [True, True] Translation: X:234.99, Y:-9.83, Z:-20.38 [[ 5.31904634e-01 -8.36940391e-01 -1.28872969e-01 2.34991475e+02] [ 8.11693624e-01 5.47279929e-01 -2.04054258e-01 -9.82505397e+00] [ 2.41310840e-01 3.93203851e-03 9.70439909e-01 -2.03836006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.606875 meters 0.022527818204340737 Centerline is valid? [True, True] Translation: X:235.01, Y:-9.80, Z:-20.38 [[ 5.29273272e-01 -8.38617112e-01 -1.28806611e-01 2.35007340e+02] [ 8.13417929e-01 5.44711766e-01 -2.04059707e-01 -9.80310674e+00] [ 2.41290438e-01 3.22974168e-03 9.70447574e-01 -2.03771161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63687500000003 meters 0.021810860725852973 Centerline is valid? [True, True] Translation: X:235.02, Y:-9.78, Z:-20.37 [[ 5.24346279e-01 -8.41783229e-01 -1.28304227e-01 2.35024598e+02] [ 8.16844723e-01 5.39812563e-01 -2.03389024e-01 -9.78195459e+00] [ 2.40469703e-01 1.84164747e-03 9.70654898e-01 -2.03696955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.666875 meters 0.021899541025952426 Centerline is valid? [True, True] Translation: X:235.04, Y:-9.76, Z:-20.36 [[ 5.21955514e-01 -8.43316309e-01 -1.27984547e-01 2.35039971e+02] [ 8.18517586e-01 5.37416182e-01 -2.03009383e-01 -9.75984634e+00] [ 2.39982090e-01 1.20426396e-03 9.70776569e-01 -2.03640618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69687500000003 meters 0.021529562943546073 Centerline is valid? [True, True] Translation: X:235.06, Y:-9.74, Z:-20.36 [[ 5.19517333e-01 -8.44880334e-01 -1.27589035e-01 2.35055496e+02] [ 8.20251528e-01 5.34955059e-01 -2.02510532e-01 -9.73782682e+00] [ 2.39351566e-01 5.52630358e-04 9.70932811e-01 -2.03562183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.726875 meters 0.021537332123341583 Centerline is valid? [True, True] Translation: X:235.07, Y:-9.71, Z:-20.35 [[ 5.15984412e-01 -8.47170353e-01 -1.26737838e-01 2.35071043e+02] [ 8.22911174e-01 5.31321187e-01 -2.01283374e-01 -9.71494522e+00] [ 2.37859806e-01 -4.34899952e-04 9.71299400e-01 -2.03493074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75687500000004 meters 0.021825407672792927 Centerline is valid? [True, True] Translation: X:235.09, Y:-9.69, Z:-20.34 [[ 5.14566687e-01 -8.48054375e-01 -1.26589502e-01 2.35085316e+02] [ 8.23849584e-01 5.29908648e-01 -2.01168306e-01 -9.69284955e+00] [ 2.37682534e-01 -7.76199931e-04 9.71342581e-01 -2.03438105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.786875 meters 0.021324604233034984 Centerline is valid? [True, True] Translation: X:235.10, Y:-9.67, Z:-20.34 [[ 5.13293517e-01 -8.48906288e-01 -1.26047130e-01 2.35099555e+02] [ 8.24905125e-01 5.28542256e-01 -2.00436070e-01 -9.66923434e+00] [ 2.36772674e-01 -1.09438851e-03 9.71564462e-01 -2.03362472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81687500000004 meters 0.021365770395952888 Centerline is valid? [True, True] Translation: X:235.11, Y:-9.65, Z:-20.33 [[ 5.12460400e-01 -8.49432950e-01 -1.25888846e-01 2.35113509e+02] [ 8.25477911e-01 5.27695042e-01 -2.00310164e-01 -9.64558969e+00] [ 2.36580973e-01 -1.26743538e-03 9.71610949e-01 -2.03296393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.846875 meters 0.02164255909536547 Centerline is valid? [True, True] Translation: X:235.13, Y:-9.62, Z:-20.32 [[ 5.12341971e-01 -8.49523125e-01 -1.25762337e-01 2.35126522e+02] [ 8.25589476e-01 5.27549923e-01 -2.00232602e-01 -9.62229400e+00] [ 2.36448137e-01 -1.24049627e-03 9.71643319e-01 -2.03244993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87687500000004 meters 0.021459281236082654 Centerline is valid? [True, True] Translation: X:235.14, Y:-9.60, Z:-20.32 [[ 5.13202582e-01 -8.49040044e-01 -1.25515393e-01 2.35137274e+02] [ 8.25164203e-01 5.28327621e-01 -1.99934896e-01 -9.59756943e+00] [ 2.36065982e-01 -9.63703939e-04 9.71736550e-01 -2.03206001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.906875 meters 0.021496216210890318 Centerline is valid? [True, True] Translation: X:235.15, Y:-9.57, Z:-20.32 [[ 5.13630305e-01 -8.48799719e-01 -1.25391174e-01 2.35149992e+02] [ 8.24933355e-01 5.28713935e-01 -1.99866292e-01 -9.57300376e+00] [ 2.35942513e-01 -7.81977816e-04 9.71766700e-01 -2.03150848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93687500000004 meters 0.021557777590649013 Centerline is valid? [True, True] Translation: X:235.16, Y:-9.55, Z:-20.31 [[ 5.14523265e-01 -8.48282558e-01 -1.25229840e-01 2.35162378e+02] [ 8.24433258e-01 5.29543649e-01 -1.99733141e-01 -9.54918001e+00] [ 2.35744806e-01 -4.76296767e-04 9.71814879e-01 -2.03096156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.966875 meters 0.021328229862709398 Centerline is valid? [True, True] Translation: X:235.18, Y:-9.52, Z:-20.30 [[ 5.15219742e-01 -8.47901038e-01 -1.24949775e-01 2.35175130e+02] [ 8.24117416e-01 5.30154483e-01 -1.99415918e-01 -9.52457857e+00] [ 2.35327648e-01 -2.30268176e-04 9.71916069e-01 -2.03034181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.996875 meters 0.021422601852214333 Centerline is valid? [True, True] Translation: X:235.18, Y:-9.50, Z:-20.30 [[ 5.17995005e-01 -8.46239209e-01 -1.24741235e-01 2.35184804e+02] [ 8.22458947e-01 5.32802825e-01 -1.99204492e-01 -9.49875272e+00] [ 2.35037134e-01 5.92386694e-04 9.71986211e-01 -2.02966668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.026875 meters 0.02158654910144762 Centerline is valid? [True, True] Translation: X:235.20, Y:-9.47, Z:-20.29 [[ 5.19507008e-01 -8.45319746e-01 -1.24687591e-01 2.35196013e+02] [ 8.21505228e-01 5.34259650e-01 -1.99238015e-01 -9.47391813e+00] [ 2.35035377e-01 1.07403682e-03 9.71986223e-01 -2.02917424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.056875 meters 0.021581065126579365 Centerline is valid? [True, True] Translation: X:235.21, Y:-9.45, Z:-20.29 [[ 5.21284152e-01 -8.44309144e-01 -1.24116488e-01 2.35207284e+02] [ 8.20655298e-01 5.35854012e-01 -1.98457449e-01 -9.44873494e+00] [ 2.34067757e-01 1.59586972e-03 9.72218977e-01 -2.02858448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.086875 meters 0.021871090822894644 Centerline is valid? [True, True] Translation: X:235.22, Y:-9.42, Z:-20.28 [[ 5.23082733e-01 -8.43218140e-01 -1.23966212e-01 2.35218716e+02] [ 8.19562865e-01 5.37567250e-01 -1.98338503e-01 -9.42373437e+00] [ 2.33882799e-01 2.14934235e-03 9.72262422e-01 -2.02801325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.116875 meters 0.022326250705794946 Centerline is valid? [True, True] Translation: X:235.23, Y:-9.40, Z:-20.27 [[ 5.26867816e-01 -8.40947319e-01 -1.23360898e-01 2.35227517e+02] [ 8.17437978e-01 5.41107506e-01 -1.97478654e-01 -9.39754510e+00] [ 2.32820653e-01 3.20526415e-03 9.72514406e-01 -2.02748045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.146875 meters 0.023083130068198548 Centerline is valid? [True, True] Translation: X:235.24, Y:-9.37, Z:-20.27 [[ 5.28765720e-01 -8.39725583e-01 -1.23562771e-01 2.35238819e+02] [ 8.16078963e-01 5.42997622e-01 -1.97910862e-01 -9.37335490e+00] [ 2.33285105e-01 3.81150144e-03 9.72400911e-01 -2.02696775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.176875 meters 0.02307965521220177 Centerline is valid? [True, True] Translation: X:235.25, Y:-9.35, Z:-20.26 [[ 5.30319238e-01 -8.38782743e-01 -1.23308619e-01 2.35251215e+02] [ 8.15188425e-01 5.44449541e-01 -1.97591822e-01 -9.34850283e+00] [ 2.32871932e-01 4.26698618e-03 9.72498049e-01 -2.02639217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.206875 meters 0.02372420691907426 Centerline is valid? [True, True] Translation: X:235.26, Y:-9.32, Z:-20.26 [[ 5.33966501e-01 -8.36461414e-01 -1.23337256e-01 2.35261914e+02] [ 8.12767116e-01 5.47999723e-01 -1.97752167e-01 -9.32219555e+00] [ 2.33000839e-01 5.34856649e-03 9.72461825e-01 -2.02579815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.236875 meters 0.025168916680118683 Centerline is valid? [True, True] Translation: X:235.27, Y:-9.30, Z:-20.25 [[ 5.35474538e-01 -8.35527125e-01 -1.23131806e-01 2.35272764e+02] [ 8.11860929e-01 5.49418475e-01 -1.97537773e-01 -9.29662372e+00] [ 2.32699057e-01 5.81054526e-03 9.72531432e-01 -2.02533539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.266875 meters 0.025666282011662253 Centerline is valid? [True, True] Translation: X:235.29, Y:-9.27, Z:-20.25 [[ 5.36843976e-01 -8.34690482e-01 -1.22842766e-01 2.35285476e+02] [ 8.11088335e-01 5.50684196e-01 -1.97186786e-01 -9.27230294e+00] [ 2.32237503e-01 6.22220357e-03 9.72639207e-01 -2.02471678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.296875 meters 0.025356862560883445 Centerline is valid? [True, True] Translation: X:235.30, Y:-9.25, Z:-20.24 [[ 5.37847537e-01 -8.34083535e-01 -1.22575219e-01 2.35300590e+02] [ 8.10544298e-01 5.51599497e-01 -1.96865272e-01 -9.24888081e+00] [ 2.31814511e-01 6.53085685e-03 9.72738084e-01 -2.02396669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.32687500000003 meters 0.025449337063314783 Centerline is valid? [True, True] Translation: X:235.31, Y:-9.23, Z:-20.23 [[ 5.38854296e-01 -8.33457925e-01 -1.22408887e-01 2.35314804e+02] [ 8.09940373e-01 5.52540399e-01 -1.96712227e-01 -9.22508681e+00] [ 2.31587220e-01 6.85532917e-03 9.72789990e-01 -2.02334635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.356875 meters 0.025787555406891143 Centerline is valid? [True, True] Translation: X:235.33, Y:-9.20, Z:-20.23 [[ 5.39625526e-01 -8.32966174e-01 -1.22358675e-01 2.35328680e+02] [ 8.09428390e-01 5.53277990e-01 -1.96746402e-01 -9.20133257e+00] [ 2.31581459e-01 7.12879542e-03 9.72789396e-01 -2.02266843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.38687500000003 meters 0.026554351674963728 Centerline is valid? [True, True] Translation: X:235.34, Y:-9.18, Z:-20.22 [[ 5.39467507e-01 -8.33083676e-01 -1.22255461e-01 2.35340427e+02] [ 8.09561981e-01 5.53100943e-01 -1.96694550e-01 -9.17762457e+00] [ 2.31482629e-01 7.13694551e-03 9.72812858e-01 -2.02219050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.416875 meters 0.025866882424909796 Centerline is valid? [True, True] Translation: X:235.36, Y:-9.16, Z:-20.22 [[ 5.39467619e-01 -8.33079827e-01 -1.22281192e-01 2.35356139e+02] [ 8.09526006e-01 5.53106018e-01 -1.96828298e-01 -9.15512310e+00] [ 2.31608148e-01 7.19268810e-03 9.72782571e-01 -2.02157607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.44687500000003 meters 0.02568111634456816 Centerline is valid? [True, True] Translation: X:235.37, Y:-9.13, Z:-20.21 [[ 5.38568142e-01 -8.33652568e-01 -1.22342762e-01 2.35370707e+02] [ 8.10059642e-01 5.52244606e-01 -1.97051442e-01 -9.13171138e+00] [ 2.31835572e-01 7.02069497e-03 9.72729653e-01 -2.02101097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.476875 meters 0.024636230103914174 Centerline is valid? [True, True] Translation: X:235.39, Y:-9.11, Z:-20.20 [[ 5.38142366e-01 -8.33947754e-01 -1.22204494e-01 2.35387167e+02] [ 8.10387004e-01 5.51799571e-01 -1.96952120e-01 -9.11012940e+00] [ 2.31680165e-01 6.95534590e-03 9.72767148e-01 -2.02032628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.50687500000004 meters 0.02542971850212949 Centerline is valid? [True, True] Translation: X:235.40, Y:-9.09, Z:-20.20 [[ 5.36358450e-01 -8.35128798e-01 -1.21981571e-01 2.35401147e+02] [ 8.11655659e-01 5.50015993e-01 -1.96716800e-01 -9.08707164e+00] [ 2.31375680e-01 6.50368569e-03 9.72842740e-01 -2.01981273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.536875 meters 0.02369852917846125 Centerline is valid? [True, True] Translation: X:235.42, Y:-9.07, Z:-20.19 [[ 5.34756452e-01 -8.36151880e-01 -1.22006437e-01 2.35418872e+02] [ 8.12676248e-01 5.48463971e-01 -1.96836452e-01 -9.06610043e+00] [ 2.31501304e-01 6.10782934e-03 9.72815420e-01 -2.01905838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56687500000004 meters 0.024730706971296028 Centerline is valid? [True, True] Translation: X:235.43, Y:-9.04, Z:-20.19 [[ 5.32807088e-01 -8.37388629e-01 -1.22052818e-01 2.35432368e+02] [ 8.13897524e-01 5.46578855e-01 -1.97033948e-01 -9.04178089e+00] [ 2.31705477e-01 5.64259725e-03 9.72769620e-01 -2.01869836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.596875 meters 0.02406380778151748 Centerline is valid? [True, True] Translation: X:235.45, Y:-9.02, Z:-20.18 [[ 5.31097842e-01 -8.38480402e-01 -1.22006960e-01 2.35448713e+02] [ 8.15006729e-01 5.44906630e-01 -1.97080684e-01 -9.01952145e+00] [ 2.31730692e-01 5.23263242e-03 9.72765905e-01 -2.01811520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62687500000004 meters 0.02271089593473226 Centerline is valid? [True, True] Translation: X:235.47, Y:-9.00, Z:-20.17 [[ 5.27320201e-01 -8.40920357e-01 -1.21599175e-01 2.35468419e+02] [ 8.17641510e-01 5.41142492e-01 -1.96537946e-01 -9.00008400e+00] [ 2.31075241e-01 4.21389647e-03 9.72926758e-01 -2.01739040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.656875 meters 0.022341723757597024 Centerline is valid? [True, True] Translation: X:235.49, Y:-8.98, Z:-20.17 [[ 5.25023329e-01 -8.42368218e-01 -1.21516621e-01 2.35485708e+02] [ 8.19130287e-01 5.38890071e-01 -1.96527515e-01 -8.97794578e+00] [ 2.31032633e-01 3.64358566e-03 9.72939179e-01 -2.01670144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68687500000004 meters 0.02163853679709539 Centerline is valid? [True, True] Translation: X:235.51, Y:-8.96, Z:-20.16 [[ 5.20981620e-01 -8.44876343e-01 -1.21499449e-01 2.35505743e+02] [ 8.21683668e-01 5.34955327e-01 -1.96618278e-01 -8.95796403e+00] [ 2.31114909e-01 2.60039599e-03 9.72922986e-01 -2.01596140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.716875 meters 0.02134422468981793 Centerline is valid? [True, True] Translation: X:235.52, Y:-8.94, Z:-20.15 [[ 5.18694845e-01 -8.46310867e-01 -1.21299523e-01 2.35521900e+02] [ 8.23205401e-01 5.32685474e-01 -1.96415511e-01 -8.93594113e+00] [ 2.30843075e-01 2.02529025e-03 9.72988886e-01 -2.01534969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.746875 meters 0.021294473575136787 Centerline is valid? [True, True] Translation: X:235.54, Y:-8.91, Z:-20.15 [[ 5.16792960e-01 -8.47499822e-01 -1.21116009e-01 2.35537163e+02] [ 8.24467464e-01 5.30793381e-01 -1.96244203e-01 -8.91427926e+00] [ 2.30604503e-01 1.56141386e-03 9.73046312e-01 -2.01478251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.776875 meters 0.020935076738938 Centerline is valid? [True, True] Translation: X:235.55, Y:-8.89, Z:-20.14 [[ 5.15486978e-01 -8.48363535e-01 -1.20633692e-01 2.35552748e+02] [ 8.25509757e-01 5.29412669e-01 -1.95591074e-01 -8.89209139e+00] [ 2.29797340e-01 1.24036156e-03 9.73237712e-01 -2.01417057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.806875 meters 0.020892668600574395 Centerline is valid? [True, True] Translation: X:235.57, Y:-8.87, Z:-20.14 [[ 5.13420128e-01 -8.49631253e-01 -1.20525956e-01 2.35569247e+02] [ 8.26824288e-01 5.27376703e-01 -1.95538766e-01 -8.87023258e+00] [ 2.29698428e-01 7.39750922e-04 9.73261571e-01 -2.01351642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.836875 meters 0.020983475295496972 Centerline is valid? [True, True] Translation: X:235.58, Y:-8.85, Z:-20.13 [[ 5.12727757e-01 -8.50046123e-01 -1.20548064e-01 2.35584484e+02] [ 8.27212151e-01 5.26707890e-01 -1.95700937e-01 -8.84705451e+00] [ 2.29848439e-01 6.22479331e-04 9.73226237e-01 -2.01290948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.866875 meters 0.02089231832779826 Centerline is valid? [True, True] Translation: X:235.60, Y:-8.82, Z:-20.12 [[ 5.12270549e-01 -8.50344699e-01 -1.20385952e-01 2.35598840e+02] [ 8.27551331e-01 5.26225791e-01 -1.95563827e-01 -8.82418718e+00] [ 2.29646857e-01 5.56034208e-04 9.73273863e-01 -2.01237584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.896875 meters 0.02060565338001586 Centerline is valid? [True, True] Translation: X:235.61, Y:-8.80, Z:-20.12 [[ 5.12041762e-01 -8.50482765e-01 -1.20383971e-01 2.35613486e+02] [ 8.27662767e-01 5.26002611e-01 -1.95692608e-01 -8.80043063e+00] [ 2.29755473e-01 5.65457362e-04 9.73248223e-01 -2.01174394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.926875 meters 0.020724256792717388 Centerline is valid? [True, True] Translation: X:235.63, Y:-8.78, Z:-20.11 [[ 5.12275919e-01 -8.50361846e-01 -1.20241895e-01 2.35627534e+02] [ 8.27563957e-01 5.26197929e-01 -1.95585368e-01 -8.77650178e+00] [ 2.29589371e-01 6.85815837e-04 9.73287342e-01 -2.01116618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.956875 meters 0.02089050992681866 Centerline is valid? [True, True] Translation: X:235.64, Y:-8.75, Z:-20.11 [[ 5.12481436e-01 -8.50226028e-01 -1.20326553e-01 2.35641137e+02] [ 8.27362687e-01 5.26417172e-01 -1.95846741e-01 -8.75254977e+00] [ 2.29855960e-01 8.14119039e-04 9.73224319e-01 -2.01057780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.986875 meters 0.020977511505938014 Centerline is valid? [True, True] Translation: X:235.65, Y:-8.73, Z:-20.10 [[ 5.14163685e-01 -8.49232366e-01 -1.20166938e-01 2.35653062e+02] [ 8.26374715e-01 5.28017647e-01 -1.95709467e-01 -8.72863788e+00] [ 2.29653077e-01 1.32378149e-03 9.73271654e-01 -2.00998008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.016875 meters 0.020730806651238713 Centerline is valid? [True, True] Translation: X:235.67, Y:-8.70, Z:-20.09 [[ 5.14879022e-01 -8.48797760e-01 -1.20174683e-01 2.35665760e+02] [ 8.25895087e-01 5.28715274e-01 -1.95850615e-01 -8.70480748e+00] [ 2.29775754e-01 1.58769296e-03 9.73242304e-01 -2.00935835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.046875 meters 0.02112897620026933 Centerline is valid? [True, True] Translation: X:235.68, Y:-8.68, Z:-20.09 [[ 5.15823211e-01 -8.48240870e-01 -1.20057657e-01 2.35678508e+02] [ 8.25340005e-01 5.29607229e-01 -1.95780641e-01 -8.68086133e+00] [ 2.29652544e-01 1.89981177e-03 9.73270825e-01 -2.00876529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07687500000003 meters 0.02104680905062228 Centerline is valid? [True, True] Translation: X:235.69, Y:-8.66, Z:-20.08 [[ 5.16466134e-01 -8.47847257e-01 -1.20073979e-01 2.35690480e+02] [ 8.24901086e-01 5.30236216e-01 -1.95927932e-01 -8.65696076e+00] [ 2.29784532e-01 2.14098619e-03 9.73239172e-01 -2.00819747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.106875 meters 0.021093755518194528 Centerline is valid? [True, True] Translation: X:235.70, Y:-8.63, Z:-20.08 [[ 5.17561160e-01 -8.47199008e-01 -1.19934514e-01 2.35702531e+02] [ 8.24259784e-01 5.31269814e-01 -1.95826948e-01 -8.63205014e+00] [ 2.29621983e-01 2.49522573e-03 9.73276692e-01 -2.00751606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13687500000003 meters 0.021217370102226924 Centerline is valid? [True, True] Translation: X:235.72, Y:-8.61, Z:-20.07 [[ 5.17815074e-01 -8.47031505e-01 -1.20021577e-01 2.35715458e+02] [ 8.24024268e-01 5.31536131e-01 -1.96095252e-01 -8.60847267e+00] [ 2.29894661e-01 2.64038514e-03 9.73211936e-01 -2.00697173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.166875 meters 0.021613912227625254 Centerline is valid? [True, True] Translation: X:235.73, Y:-8.58, Z:-20.07 [[ 5.17344893e-01 -8.47339300e-01 -1.19876487e-01 2.35727027e+02] [ 8.24365328e-01 5.31045659e-01 -1.95990598e-01 -8.58467300e+00] [ 2.29730424e-01 2.57271556e-03 9.73250899e-01 -2.00652038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19687500000003 meters 0.020897829662656683 Centerline is valid? [True, True] Translation: X:235.74, Y:-8.56, Z:-20.06 [[ 5.15832192e-01 -8.48263308e-01 -1.19860376e-01 2.35742129e+02] [ 8.25289320e-01 5.29569992e-01 -1.96094777e-01 -8.56214838e+00] [ 2.29814462e-01 2.23251038e-03 9.73231899e-01 -2.00568492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.226875 meters 0.020897829662656683 Centerline is valid? [True, True] Translation: X:235.76, Y:-8.54, Z:-20.05 [[ 5.15600104e-01 -8.48412230e-01 -1.19804926e-01 2.35756101e+02] [ 8.25434341e-01 5.29331373e-01 -1.96128649e-01 -8.53908107e+00] [ 2.29814451e-01 2.23285160e-03 9.73231901e-01 -2.00508977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25687500000004 meters 0.020802112377770226 Centerline is valid? [True, True] Translation: X:235.77, Y:-8.52, Z:-20.05 [[ 5.14278575e-01 -8.49211782e-01 -1.19820268e-01 2.35769921e+02] [ 8.26219881e-01 5.28048833e-01 -1.96278214e-01 -8.51593221e+00] [ 2.29952724e-01 1.94379284e-03 9.73199859e-01 -2.00455096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.286875 meters 0.021312737709534717 Centerline is valid? [True, True] Translation: X:235.78, Y:-8.49, Z:-20.04 [[ 5.12808803e-01 -8.50064797e-01 -1.20070699e-01 2.35783687e+02] [ 8.26967590e-01 5.26675580e-01 -1.96818287e-01 -8.49237671e+00] [ 2.30546603e-01 1.63557357e-03 9.73059910e-01 -2.00410110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31687500000004 meters 0.020666580409412362 Centerline is valid? [True, True] Translation: X:235.80, Y:-8.47, Z:-20.03 [[ 5.10916572e-01 -8.51204851e-01 -1.20060643e-01 2.35799119e+02] [ 8.28113787e-01 5.24832251e-01 -1.96922989e-01 -8.47107600e+00] [ 2.30633501e-01 1.18734455e-03 9.73039967e-01 -2.00313803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.346875 meters 0.02062176392275071 Centerline is valid? [True, True] Translation: X:235.81, Y:-8.45, Z:-20.03 [[ 5.07641238e-01 -8.53169461e-01 -1.20009351e-01 2.35813080e+02] [ 8.30121757e-01 5.21633718e-01 -1.96967337e-01 -8.44847723e+00] [ 2.30647441e-01 3.66369741e-04 9.73037319e-01 -2.00250119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37687500000004 meters 0.02052489059030914 Centerline is valid? [True, True] Translation: X:235.83, Y:-8.43, Z:-20.02 [[ 5.06394653e-01 -8.53966661e-01 -1.19605174e-01 2.35826564e+02] [ 8.31066531e-01 5.20327721e-01 -1.96436970e-01 -8.42574872e+00] [ 2.29984511e-01 7.47743646e-05 9.73194286e-01 -2.00189193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.406875 meters 0.020677427120914124 Centerline is valid? [True, True] Translation: X:235.84, Y:-8.40, Z:-20.01 [[ 5.05316882e-01 -8.54640058e-01 -1.19353338e-01 2.35839713e+02] [ 8.31825705e-01 5.19220901e-01 -1.96152116e-01 -8.40325081e+00] [ 2.29610203e-01 -1.62199419e-04 9.73282656e-01 -2.00126266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43687500000004 meters 0.020612291595438464 Centerline is valid? [True, True] Translation: X:235.85, Y:-8.38, Z:-20.00 [[ 5.04232637e-01 -8.55304761e-01 -1.19177234e-01 2.35852915e+02] [ 8.32554955e-01 5.18125075e-01 -1.95955745e-01 -8.37903609e+00] [ 2.29350595e-01 -4.14315015e-04 9.73343790e-01 -2.00048626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.466875 meters 0.020811948733493183 Centerline is valid? [True, True] Translation: X:235.87, Y:-8.36, Z:-20.00 [[ 5.04299765e-01 -8.55248136e-01 -1.19299510e-01 2.35865560e+02] [ 8.32419949e-01 5.18218604e-01 -1.96281704e-01 -8.35581876e+00] [ 2.29692787e-01 -3.22475097e-04 9.73263130e-01 -2.00011900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.496875 meters 0.020799997806042247 Centerline is valid? [True, True] Translation: X:235.88, Y:-8.33, Z:-19.99 [[ 5.04332099e-01 -8.55187627e-01 -1.19596219e-01 2.35878170e+02] [ 8.32222256e-01 5.18318492e-01 -1.96855424e-01 -8.33148196e+00] [ 2.30337255e-01 -2.50125963e-04 9.73110830e-01 -1.99946423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.526875 meters 0.020814509255938047 Centerline is valid? [True, True] Translation: X:235.89, Y:-8.31, Z:-19.99 [[ 5.04724803e-01 -8.54925131e-01 -1.19816084e-01 2.35890765e+02] [ 8.31836634e-01 5.18751401e-01 -1.97344365e-01 -8.30730604e+00] [ 2.30869418e-01 -6.28124055e-05 9.72984742e-01 -1.99887961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.556875 meters 0.02095147161325552 Centerline is valid? [True, True] Translation: X:235.90, Y:-8.28, Z:-19.98 [[ 5.05955168e-01 -8.54152939e-01 -1.20133777e-01 2.35901417e+02] [ 8.30888360e-01 5.20021757e-01 -1.97994712e-01 -8.28221887e+00] [ 2.31589943e-01 3.58690995e-04 9.72813430e-01 -1.99841024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.586875 meters 0.020907564749534507 Centerline is valid? [True, True] Translation: X:235.91, Y:-8.26, Z:-19.98 [[ 5.06790518e-01 -8.53638175e-01 -1.20271514e-01 2.35913647e+02] [ 8.30282146e-01 5.20866056e-01 -1.98318204e-01 -8.25802660e+00] [ 2.31937339e-01 6.46495173e-04 9.72730514e-01 -1.99773490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.616875 meters 0.020723096418260156 Centerline is valid? [True, True] Translation: X:235.93, Y:-8.23, Z:-19.97 [[ 5.07740081e-01 -8.53084822e-01 -1.20192745e-01 2.35925338e+02] [ 8.29714160e-01 5.21771358e-01 -1.98315565e-01 -8.23457279e+00] [ 2.31893130e-01 9.67138281e-04 9.72740788e-01 -1.99713657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.646875 meters 0.02105359980938321 Centerline is valid? [True, True] Translation: X:235.94, Y:-8.21, Z:-19.96 [[ 5.09032013e-01 -8.52327754e-01 -1.20099168e-01 2.35937572e+02] [ 8.28941382e-01 5.23006202e-01 -1.98294473e-01 -8.21067848e+00] [ 2.31824492e-01 1.38306471e-03 9.72756646e-01 -1.99643774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.676875 meters 0.021016401873505047 Centerline is valid? [True, True] Translation: X:235.95, Y:-8.19, Z:-19.96 [[ 5.10052957e-01 -8.51770043e-01 -1.19723742e-01 2.35949130e+02] [ 8.28485959e-01 5.23913066e-01 -1.97803221e-01 -8.18664222e+00] [ 2.31207691e-01 1.70067810e-03 9.72902930e-01 -1.99583058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.706875 meters 0.021346896148314864 Centerline is valid? [True, True] Translation: X:235.96, Y:-8.16, Z:-19.95 [[ 5.12374431e-01 -8.50430669e-01 -1.19331970e-01 2.35959402e+02] [ 8.27233189e-01 5.26081796e-01 -1.97289624e-01 -8.16060101e+00] [ 2.30559524e-01 2.37079276e-03 9.73055335e-01 -1.99525577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.736875 meters 0.021502979190046654 Centerline is valid? [True, True] Translation: X:235.97, Y:-8.14, Z:-19.95 [[ 5.13206681e-01 -8.49946971e-01 -1.19201711e-01 2.35970891e+02] [ 8.26759727e-01 5.26861580e-01 -1.97193382e-01 -8.13656217e+00] [ 2.30406720e-01 2.64978697e-03 9.73090809e-01 -1.99469192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.766875 meters 0.02158711141504678 Centerline is valid? [True, True] Translation: X:235.98, Y:-8.11, Z:-19.94 [[ 5.14174196e-01 -8.49371223e-01 -1.19136150e-01 2.35983923e+02] [ 8.26163074e-01 5.27787508e-01 -1.97217952e-01 -8.11277611e+00] [ 2.30389825e-01 2.97849419e-03 9.73093858e-01 -1.99403176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.796875 meters 0.02177826970547257 Centerline is valid? [True, True] Translation: X:236.00, Y:-8.09, Z:-19.93 [[ 5.15006510e-01 -8.48888124e-01 -1.18984237e-01 2.35995848e+02] [ 8.25699770e-01 5.28562549e-01 -1.97082527e-01 -8.08861489e+00] [ 2.30191628e-01 3.25352733e-03 9.73139882e-01 -1.99348986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.82687500000003 meters 0.021762818707983394 Centerline is valid? [True, True] Translation: X:236.01, Y:-8.06, Z:-19.93 [[ 5.16962085e-01 -8.47704298e-01 -1.18943790e-01 2.36007467e+02] [ 8.24469175e-01 5.30455063e-01 -1.97149702e-01 -8.06306258e+00] [ 2.30218985e-01 3.85343282e-03 9.73131219e-01 -1.99285539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.856875 meters 0.02207793293581622 Centerline is valid? [True, True] Translation: X:236.02, Y:-8.04, Z:-19.92 [[ 5.17172667e-01 -8.47609343e-01 -1.18704820e-01 2.36019195e+02] [ 8.24437698e-01 5.30606041e-01 -1.96874861e-01 -8.03964618e+00] [ 2.29858466e-01 3.95356812e-03 9.73216037e-01 -1.99231617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.88687500000003 meters 0.021793516145704604 Centerline is valid? [True, True] Translation: X:236.03, Y:-8.02, Z:-19.92 [[ 5.17598077e-01 -8.47383265e-01 -1.18464476e-01 2.36032546e+02] [ 8.24268932e-01 5.30965756e-01 -1.96611528e-01 -8.01592624e+00] [ 2.29505899e-01 4.11916154e-03 9.73298554e-01 -1.99164463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.916875 meters 0.022324660803884157 Centerline is valid? [True, True] Translation: X:236.04, Y:-7.99, Z:-19.91 [[ 5.18561896e-01 -8.46811021e-01 -1.18341261e-01 2.36044083e+02] [ 8.23701009e-01 5.31875371e-01 -1.96533044e-01 -7.99175660e+00] [ 2.29369150e-01 4.43673212e-03 9.73329394e-01 -1.99108740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.94687500000003 meters 0.023234071326970526 Centerline is valid? [True, True] Translation: X:236.05, Y:-7.97, Z:-19.91 [[ 5.20122934e-01 -8.45873182e-01 -1.18197689e-01 2.36054325e+02] [ 8.22776610e-01 5.33361649e-01 -1.96377193e-01 -7.96600214e+00] [ 2.29152315e-01 4.88998754e-03 9.73378295e-01 -1.99052596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.976875 meters 0.023134899926863517 Centerline is valid? [True, True] Translation: X:236.07, Y:-7.94, Z:-19.90 [[ 5.20596261e-01 -8.45543378e-01 -1.18473327e-01 2.36067443e+02] [ 8.22301505e-01 5.33882261e-01 -1.96951686e-01 -7.94200221e+00] [ 2.29782002e-01 5.11151578e-03 9.73228701e-01 -1.98993162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.00687500000004 meters 0.02308576233468814 Centerline is valid? [True, True] Translation: X:236.08, Y:-7.92, Z:-19.89 [[ 5.21275127e-01 -8.45121045e-01 -1.18501734e-01 2.36081164e+02] [ 8.21830117e-01 5.34548098e-01 -1.97113141e-01 -7.91846297e+00] [ 2.29929340e-01 5.36188392e-03 9.73192555e-01 -1.98926272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.036875 meters 0.023467723118800018 Centerline is valid? [True, True] Translation: X:236.09, Y:-7.89, Z:-19.89 [[ 5.21596658e-01 -8.44938918e-01 -1.18385605e-01 2.36092651e+02] [ 8.21660941e-01 5.34834495e-01 -1.97041521e-01 -7.89440756e+00] [ 2.29804755e-01 5.50337135e-03 9.73221191e-01 -1.98877411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06687500000004 meters 0.023672832861134075 Centerline is valid? [True, True] Translation: X:236.11, Y:-7.87, Z:-19.88 [[ 5.21499351e-01 -8.44951436e-01 -1.18724463e-01 2.36105217e+02] [ 8.21510826e-01 5.34813941e-01 -1.97722055e-01 -7.86939966e+00] [ 2.30561033e-01 5.57849136e-03 9.73041875e-01 -1.98819979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.096875 meters 0.02362246948154204 Centerline is valid? [True, True] Translation: X:236.12, Y:-7.85, Z:-19.88 [[ 5.21908516e-01 -8.44681041e-01 -1.18850495e-01 2.36119515e+02] [ 8.21152705e-01 5.35238818e-01 -1.98059693e-01 -7.84553228e+00] [ 2.30910666e-01 5.77463471e-03 9.72957819e-01 -1.98759347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12687500000004 meters 0.023982932870371856 Centerline is valid? [True, True] Translation: X:236.13, Y:-7.82, Z:-19.87 [[ 5.21565978e-01 -8.44910451e-01 -1.18723465e-01 2.36131384e+02] [ 8.21410112e-01 5.34877048e-01 -1.97969621e-01 -7.82143738e+00] [ 2.30769058e-01 5.73356478e-03 9.72991659e-01 -1.98711832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.156875 meters 0.0238325772228898 Centerline is valid? [True, True] Translation: X:236.15, Y:-7.80, Z:-19.86 [[ 5.21418925e-01 -8.44954415e-01 -1.19056048e-01 2.36145426e+02] [ 8.21299761e-01 5.34807083e-01 -1.98615423e-01 -7.79706016e+00] [ 2.31492996e-01 5.78113664e-03 9.72819393e-01 -1.98649123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18687500000004 meters 0.024572682437655487 Centerline is valid? [True, True] Translation: X:236.16, Y:-7.77, Z:-19.86 [[ 5.21783743e-01 -8.44647539e-01 -1.19633860e-01 2.36157297e+02] [ 8.20721928e-01 5.35289033e-01 -1.99702700e-01 -7.77320092e+00] [ 2.32717087e-01 6.01549054e-03 9.72525872e-01 -1.98598261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.216875 meters 0.024203468514954137 Centerline is valid? [True, True] Translation: X:236.17, Y:-7.75, Z:-19.85 [[ 5.21871799e-01 -8.44597386e-01 -1.19603853e-01 2.36171243e+02] [ 8.20659807e-01 5.35367334e-01 -1.99748088e-01 -7.74971878e+00] [ 2.32738709e-01 6.08881948e-03 9.72520241e-01 -1.98529261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.246875 meters 0.024231238683572447 Centerline is valid? [True, True] Translation: X:236.18, Y:-7.73, Z:-19.85 [[ 5.22177971e-01 -8.44366040e-01 -1.19900611e-01 2.36184732e+02] [ 8.20271775e-01 5.35729958e-01 -2.00368725e-01 -7.72610611e+00] [ 2.33418897e-01 6.27704680e-03 9.72356014e-01 -1.98465309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.276875 meters 0.024756372610511848 Centerline is valid? [True, True] Translation: X:236.20, Y:-7.70, Z:-19.84 [[ 5.22453726e-01 -8.44207617e-01 -1.19814871e-01 2.36196801e+02] [ 8.20124370e-01 5.35978250e-01 -2.00308097e-01 -7.70156221e+00] [ 2.33319786e-01 6.38861575e-03 9.72379074e-01 -1.98411778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.306875 meters 0.025009879322022387 Centerline is valid? [True, True] Translation: X:236.21, Y:-7.68, Z:-19.83 [[ 5.23553581e-01 -8.43491549e-01 -1.20056879e-01 2.36210339e+02] [ 8.19269798e-01 5.37099769e-01 -2.00800489e-01 -7.67712597e+00] [ 2.33856038e-01 6.77084075e-03 9.72247658e-01 -1.98340955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.336875 meters 0.025530692194657423 Centerline is valid? [True, True] Translation: X:236.22, Y:-7.65, Z:-19.83 [[ 5.23983748e-01 -8.43218623e-01 -1.20097399e-01 2.36223041e+02] [ 8.18943562e-01 5.37525689e-01 -2.00991480e-01 -7.65317809e+00] [ 2.34035197e-01 6.96327705e-03 9.72203188e-01 -1.98289820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.366875 meters 0.025751201571298343 Centerline is valid? [True, True] Translation: X:236.24, Y:-7.63, Z:-19.82 [[ 5.24152975e-01 -8.43100010e-01 -1.20191643e-01 2.36236479e+02] [ 8.18754652e-01 5.37710088e-01 -2.01267686e-01 -7.62946297e+00] [ 2.34317047e-01 7.08758943e-03 9.72134398e-01 -1.98225291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.396875 meters 0.025925498956157363 Centerline is valid? [True, True] Translation: X:236.25, Y:-7.61, Z:-19.82 [[ 5.24625453e-01 -8.42808633e-01 -1.20173798e-01 2.36250096e+02] [ 8.18433427e-01 5.38164045e-01 -2.01360835e-01 -7.60564437e+00] [ 2.34381867e-01 7.28476578e-03 9.72117314e-01 -1.98161883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.426875 meters 0.026836719648766036 Centerline is valid? [True, True] Translation: X:236.26, Y:-7.58, Z:-19.81 [[ 5.26331804e-01 -8.41772368e-01 -1.19975467e-01 2.36262130e+02] [ 8.17422697e-01 5.39776266e-01 -2.01150980e-01 -7.58093592e+00] [ 2.34083246e-01 7.80148814e-03 9.72185255e-01 -1.98099377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.456875 meters 0.02737390076052876 Centerline is valid? [True, True] Translation: X:236.28, Y:-7.56, Z:-19.80 [[ 5.27060947e-01 -8.41338782e-01 -1.19815744e-01 2.36275269e+02] [ 8.17013588e-01 5.40448153e-01 -2.01008931e-01 -7.55651793e+00] [ 2.33870806e-01 8.05286685e-03 9.72234333e-01 -1.98038821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.486875 meters 0.027614525929236085 Centerline is valid? [True, True] Translation: X:236.29, Y:-7.53, Z:-19.80 [[ 5.27599631e-01 -8.41013182e-01 -1.19730771e-01 2.36289397e+02] [ 8.16685767e-01 5.40951597e-01 -2.00986885e-01 -7.53234891e+00] [ 2.33801171e-01 8.25819003e-03 9.72249358e-01 -1.97976120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.516875 meters 0.028085869175191156 Centerline is valid? [True, True] Translation: X:236.30, Y:-7.51, Z:-19.79 [[ 5.27800924e-01 -8.40838312e-01 -1.20071300e-01 2.36302818e+02] [ 8.16336583e-01 5.41220749e-01 -2.01679656e-01 -7.50869183e+00] [ 2.34565060e-01 8.42811409e-03 9.72063887e-01 -1.97920454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.546875 meters 0.028483293614689646 Centerline is valid? [True, True] Translation: X:236.32, Y:-7.49, Z:-19.79 [[ 5.27990518e-01 -8.40627025e-01 -1.20715446e-01 2.36317648e+02] [ 8.15823770e-01 5.41545593e-01 -2.02879142e-01 -7.48577478e+00] [ 2.35918608e-01 8.63573329e-03 9.71734447e-01 -1.97855463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57687500000003 meters 0.029180374613444204 Centerline is valid? [True, True] Translation: X:236.33, Y:-7.46, Z:-19.78 [[ 5.27926129e-01 -8.40589874e-01 -1.21254553e-01 2.36331474e+02] [ 8.15530623e-01 5.41601248e-01 -2.03906573e-01 -7.46291472e+00] [ 2.37073418e-01 8.76080666e-03 9.71452234e-01 -1.97800167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.606875 meters 0.02763647451000364 Centerline is valid? [True, True] Translation: X:236.35, Y:-7.44, Z:-19.77 [[ 5.27507849e-01 -8.40804669e-01 -1.21585272e-01 2.36348279e+02] [ 8.15582974e-01 5.41267818e-01 -2.04581429e-01 -7.44140941e+00] [ 2.37823216e-01 8.75543171e-03 9.71268995e-01 -1.97726798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63687500000003 meters 0.02792554383106174 Centerline is valid? [True, True] Translation: X:236.36, Y:-7.42, Z:-19.77 [[ 5.26619930e-01 -8.41337161e-01 -1.21750688e-01 2.36363106e+02] [ 8.16027040e-01 5.40442222e-01 -2.04992865e-01 -7.41960177e+00] [ 2.38267327e-01 8.60147454e-03 9.71161519e-01 -1.97671652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.666875 meters 0.02658809127401772 Centerline is valid? [True, True] Translation: X:236.38, Y:-7.40, Z:-19.76 [[ 5.25458765e-01 -8.42012866e-01 -1.22095942e-01 2.36380203e+02] [ 8.16540833e-01 5.39392093e-01 -2.05711542e-01 -7.39851163e+00] [ 2.39069350e-01 8.39661048e-03 9.70966190e-01 -1.97595088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69687500000003 meters 0.02812326566698865 Centerline is valid? [True, True] Translation: X:236.39, Y:-7.37, Z:-19.76 [[ 5.24364747e-01 -8.42680381e-01 -1.22194061e-01 2.36392843e+02] [ 8.17152472e-01 5.38352117e-01 -2.06006885e-01 -7.37492103e+00] [ 2.39381391e-01 8.17156923e-03 9.70891227e-01 -1.97556811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.726875 meters 0.026863756671826774 Centerline is valid? [True, True] Translation: X:236.41, Y:-7.35, Z:-19.75 [[ 5.23500709e-01 -8.43234779e-01 -1.22074220e-01 2.36409773e+02] [ 8.17747325e-01 5.37486410e-01 -2.05906947e-01 -7.35374456e+00] [ 2.39241133e-01 7.96656631e-03 9.70927502e-01 -1.97482197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75687500000004 meters 0.02642112773251569 Centerline is valid? [True, True] Translation: X:236.43, Y:-7.33, Z:-19.74 [[ 5.21634856e-01 -8.44370083e-01 -1.22213908e-01 2.36427765e+02] [ 8.18822651e-01 5.35707502e-01 -2.06269095e-01 -7.33220754e+00] [ 2.39638360e-01 7.52563409e-03 9.70833055e-01 -1.97410127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.786875 meters 0.02616986360670819 Centerline is valid? [True, True] Translation: X:236.44, Y:-7.31, Z:-19.73 [[ 5.20308920e-01 -8.45172456e-01 -1.22319856e-01 2.36443299e+02] [ 8.19569754e-01 5.34444742e-01 -2.06577435e-01 -7.30891607e+00] [ 2.39966762e-01 7.23442758e-03 9.70754148e-01 -1.97347934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81687500000004 meters 0.02609529233791262 Centerline is valid? [True, True] Translation: X:236.46, Y:-7.29, Z:-19.73 [[ 5.19362314e-01 -8.45769773e-01 -1.22214067e-01 2.36459312e+02] [ 8.20196478e-01 5.33501798e-01 -2.06527403e-01 -7.28709543e+00] [ 2.39876059e-01 7.02300218e-03 9.70778118e-01 -1.97284878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.846875 meters 0.026325328782342113 Centerline is valid? [True, True] Translation: X:236.47, Y:-7.26, Z:-19.72 [[ 5.17994072e-01 -8.46613683e-01 -1.22177795e-01 2.36474505e+02] [ 8.21046932e-01 5.32165730e-01 -2.06595187e-01 -7.26465189e+00] [ 2.39925147e-01 6.70137822e-03 9.70768260e-01 -1.97225530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87687500000004 meters 0.02568363262996464 Centerline is valid? [True, True] Translation: X:236.49, Y:-7.24, Z:-19.72 [[ 5.16740454e-01 -8.47412140e-01 -1.21950677e-01 2.36490812e+02] [ 8.21940459e-01 5.30897436e-01 -2.06305101e-01 -7.24218033e+00] [ 2.39568749e-01 6.36999604e-03 9.70858505e-01 -1.97161762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.906875 meters 0.02513323353327704 Centerline is valid? [True, True] Translation: X:236.51, Y:-7.22, Z:-19.71 [[ 5.15417770e-01 -8.48199750e-01 -1.22072544e-01 2.36506772e+02] [ 8.22666277e-01 5.29641584e-01 -2.06639759e-01 -7.22038811e+00] [ 2.39926488e-01 6.08083824e-03 9.70772014e-01 -1.97095476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93687500000004 meters 0.025309706811231125 Centerline is valid? [True, True] Translation: X:236.52, Y:-7.20, Z:-19.70 [[ 5.13668211e-01 -8.49344064e-01 -1.21489220e-01 2.36521812e+02] [ 8.24057631e-01 5.27810029e-01 -2.05780450e-01 -7.19810667e+00] [ 2.38901632e-01 5.58875680e-03 9.71027691e-01 -1.97046758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.966875 meters 0.024544718807929026 Centerline is valid? [True, True] Translation: X:236.54, Y:-7.18, Z:-19.70 [[ 5.12920466e-01 -8.49782585e-01 -1.21581881e-01 2.36538205e+02] [ 8.24448262e-01 5.27105322e-01 -2.06021947e-01 -7.17564677e+00] [ 2.39160319e-01 5.43490223e-03 9.70964883e-01 -1.96975613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.996875 meters 0.023747820484319816 Centerline is valid? [True, True] Translation: X:236.55, Y:-7.15, Z:-19.69 [[ 5.12185494e-01 -8.50232873e-01 -1.21532225e-01 2.36554800e+02] [ 8.24899708e-01 5.26380128e-01 -2.06069001e-01 -7.15366785e+00] [ 2.39178787e-01 5.29365612e-03 9.70961114e-01 -1.96904918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.026875 meters 0.02353974191539199 Centerline is valid? [True, True] Translation: X:236.57, Y:-7.13, Z:-19.69 [[ 5.10225040e-01 -8.51380628e-01 -1.21743314e-01 2.36571016e+02] [ 8.25956529e-01 5.24526083e-01 -2.06562824e-01 -7.13171408e+00] [ 2.39721131e-01 4.83884022e-03 9.70829730e-01 -1.96857606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.056875 meters 0.023383685755071843 Centerline is valid? [True, True] Translation: X:236.59, Y:-7.11, Z:-19.68 [[ 5.09300819e-01 -8.51941056e-01 -1.21692699e-01 2.36585558e+02] [ 8.26520283e-01 5.23617074e-01 -2.06614088e-01 -7.10893300e+00] [ 2.39743399e-01 4.64723973e-03 9.70825167e-01 -1.96809924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.086875 meters 0.02306891308375662 Centerline is valid? [True, True] Translation: X:236.60, Y:-7.09, Z:-19.67 [[ 5.08363296e-01 -8.52537767e-01 -1.21433581e-01 2.36601275e+02] [ 8.27209742e-01 5.22646851e-01 -2.06311204e-01 -7.08585448e+00] [ 2.39354972e-01 4.43000242e-03 9.70922022e-01 -1.96748684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.116875 meters 0.02306891308375662 Centerline is valid? [True, True] Translation: X:236.61, Y:-7.06, Z:-19.67 [[ 5.08131963e-01 -8.52683912e-01 -1.21375676e-01 2.36614860e+02] [ 8.27351866e-01 5.22408384e-01 -2.06345267e-01 -7.06255254e+00] [ 2.39354960e-01 4.43023348e-03 9.70922024e-01 -1.96689150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.146875 meters 0.023181697050848844 Centerline is valid? [True, True] Translation: X:236.63, Y:-7.04, Z:-19.66 [[ 5.06881189e-01 -8.53417763e-01 -1.21447855e-01 2.36630027e+02] [ 8.28043180e-01 5.21210931e-01 -2.06600236e-01 -7.03994517e+00] [ 2.39616261e-01 4.15770516e-03 9.70858775e-01 -1.96629865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.176875 meters 0.02280076394937978 Centerline is valid? [True, True] Translation: X:236.65, Y:-7.02, Z:-19.66 [[ 5.04967759e-01 -8.54561644e-01 -1.21375281e-01 2.36646408e+02] [ 8.29218704e-01 5.19336922e-01 -2.06604700e-01 -7.01865614e+00] [ 2.39591117e-01 3.68205914e-03 9.70866901e-01 -1.96573966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.206875 meters 0.022860812078759746 Centerline is valid? [True, True] Translation: X:236.66, Y:-7.00, Z:-19.65 [[ 5.04113581e-01 -8.55093712e-01 -1.21178547e-01 2.36661826e+02] [ 8.29825641e-01 5.18461831e-01 -2.06365540e-01 -6.99593063e+00] [ 2.39288327e-01 3.47460650e-03 9.70942338e-01 -1.96509696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.236875 meters 0.02243250153534558 Centerline is valid? [True, True] Translation: X:236.68, Y:-6.97, Z:-19.64 [[ 5.03145285e-01 -8.55652540e-01 -1.21258211e-01 2.36677328e+02] [ 8.30334768e-01 5.17540308e-01 -2.06630595e-01 -6.97376919e+00] [ 2.39560006e-01 3.28030118e-03 9.70876018e-01 -1.96435266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.266875 meters 0.022754343551472635 Centerline is valid? [True, True] Translation: X:236.69, Y:-6.95, Z:-19.64 [[ 5.02509004e-01 -8.56023569e-01 -1.21277988e-01 2.36692703e+02] [ 8.30676300e-01 5.16927059e-01 -2.06792892e-01 -6.95248721e+00] [ 2.39711463e-01 3.17253965e-03 9.70838993e-01 -1.96366192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.296875 meters 0.02264351587097716 Centerline is valid? [True, True] Translation: X:236.71, Y:-6.93, Z:-19.63 [[ 5.02192719e-01 -8.56252283e-01 -1.20973143e-01 2.36707339e+02] [ 8.31016368e-01 5.16548516e-01 -2.06372060e-01 -6.92975501e+00] [ 2.39195045e-01 3.10788411e-03 9.70966566e-01 -1.96296137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.32687500000003 meters 0.022701484838335978 Centerline is valid? [True, True] Translation: X:236.72, Y:-6.91, Z:-19.62 [[ 5.02140014e-01 -8.56299723e-01 -1.20856071e-01 2.36721609e+02] [ 8.31082565e-01 5.16469603e-01 -2.06302980e-01 -6.90640386e+00] [ 2.39075672e-01 3.15160818e-03 9.70995824e-01 -1.96233859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.356875 meters 0.02217034230250514 Centerline is valid? [True, True] Translation: X:236.74, Y:-6.88, Z:-19.62 [[ 5.01889852e-01 -8.56477283e-01 -1.20636814e-01 2.36736626e+02] [ 8.31325632e-01 5.16175223e-01 -2.06060265e-01 -6.88340664e+00] [ 2.38755670e-01 3.13107988e-03 9.71074625e-01 -1.96153200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.38687500000003 meters 0.02244639219325378 Centerline is valid? [True, True] Translation: X:236.75, Y:-6.86, Z:-19.61 [[ 5.01678658e-01 -8.56596747e-01 -1.20667050e-01 2.36749406e+02] [ 8.31401501e-01 5.15976838e-01 -2.06250933e-01 -6.86017350e+00] [ 2.38935281e-01 3.14892522e-03 9.71030389e-01 -1.96109038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.416875 meters 0.02262162945104313 Centerline is valid? [True, True] Translation: X:236.76, Y:-6.84, Z:-19.61 [[ 5.01555833e-01 -8.56639499e-01 -1.20873961e-01 2.36763818e+02] [ 8.31321619e-01 5.15905468e-01 -2.06750851e-01 -6.83723886e+00] [ 2.39470483e-01 3.21195883e-03 9.70898332e-01 -1.96063341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.44687500000003 meters 0.022212040445074768 Centerline is valid? [True, True] Translation: X:236.78, Y:-6.81, Z:-19.60 [[ 5.01002209e-01 -8.56956942e-01 -1.20919747e-01 2.36779135e+02] [ 8.31594293e-01 5.15378470e-01 -2.06968509e-01 -6.81480281e+00] [ 2.39682535e-01 3.13550851e-03 9.70846255e-01 -1.95985337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.476875 meters 0.022265733639792187 Centerline is valid? [True, True] Translation: X:236.79, Y:-6.79, Z:-19.59 [[ 5.00526087e-01 -8.57234425e-01 -1.20924676e-01 2.36792689e+02] [ 8.31843926e-01 5.14917162e-01 -2.07113491e-01 -6.79229999e+00] [ 2.39811005e-01 3.07524764e-03 9.70814722e-01 -1.95936190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.50687500000004 meters 0.021843350931584543 Centerline is valid? [True, True] Translation: X:236.81, Y:-6.77, Z:-19.59 [[ 4.99981632e-01 -8.57558226e-01 -1.20881169e-01 2.36807353e+02] [ 8.32160312e-01 5.14378189e-01 -2.07181787e-01 -6.76846928e+00] [ 2.39849083e-01 2.99457694e-03 9.70805568e-01 -1.95877086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.536875 meters 0.02173721591738489 Centerline is valid? [True, True] Translation: X:236.82, Y:-6.75, Z:-19.58 [[ 4.98501682e-01 -8.58465689e-01 -1.20551787e-01 2.36822333e+02] [ 8.33201109e-01 5.12864295e-01 -2.06751366e-01 -6.74526556e+00] [ 2.39315661e-01 2.62202107e-03 9.70938278e-01 -1.95819906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56687500000004 meters 0.021673439756046697 Centerline is valid? [True, True] Translation: X:236.84, Y:-6.72, Z:-19.58 [[ 4.98147343e-01 -8.58687161e-01 -1.20439128e-01 2.36836107e+02] [ 8.33443589e-01 5.12493590e-01 -2.06693263e-01 -6.72307039e+00] [ 2.39209132e-01 2.58448069e-03 9.70964629e-01 -1.95763465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.596875 meters 0.02148188762075873 Centerline is valid? [True, True] Translation: X:236.85, Y:-6.70, Z:-19.57 [[ 4.97977615e-01 -8.58834491e-01 -1.20090020e-01 2.36850894e+02] [ 8.33709188e-01 5.12246682e-01 -2.06233672e-01 -6.69954353e+00] [ 2.38636305e-01 2.57959887e-03 9.71105586e-01 -1.95696320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62687500000004 meters 0.021390453375741754 Centerline is valid? [True, True] Translation: X:236.87, Y:-6.68, Z:-19.56 [[ 4.97704264e-01 -8.59011766e-01 -1.19955205e-01 2.36865437e+02] [ 8.33917687e-01 5.11949451e-01 -2.06128724e-01 -6.67596825e+00] [ 2.38478000e-01 2.55837731e-03 9.71144530e-01 -1.95624736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.656875 meters 0.02119541599962891 Centerline is valid? [True, True] Translation: X:236.88, Y:-6.65, Z:-19.56 [[ 4.97340062e-01 -8.59270038e-01 -1.19615484e-01 2.36879340e+02] [ 8.34294273e-01 5.11516138e-01 -2.05680110e-01 -6.65274654e+00] [ 2.37920006e-01 2.49844539e-03 9.71281539e-01 -1.95560520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68687500000004 meters 0.02109929003731872 Centerline is valid? [True, True] Translation: X:236.89, Y:-6.63, Z:-19.55 [[ 4.96889165e-01 -8.59630574e-01 -1.18896738e-01 2.36892542e+02] [ 8.34937106e-01 5.10910576e-01 -2.04573735e-01 -6.62893614e+00] [ 2.36603439e-01 2.37917416e-03 9.71603393e-01 -1.95516601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.716875 meters 0.020976747780942582 Centerline is valid? [True, True] Translation: X:236.91, Y:-6.61, Z:-19.55 [[ 4.96539930e-01 -8.59821905e-01 -1.18972219e-01 2.36906236e+02] [ 8.35078023e-01 5.10588689e-01 -2.04802065e-01 -6.60580294e+00] [ 2.36839171e-01 2.34131762e-03 9.71546049e-01 -1.95452413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.746875 meters 0.020946293297525245 Centerline is valid? [True, True] Translation: X:236.92, Y:-6.58, Z:-19.54 [[ 4.96052878e-01 -8.60143696e-01 -1.18677566e-01 2.36920207e+02] [ 8.35501143e-01 5.10046817e-01 -2.04426231e-01 -6.58214002e+00] [ 2.36367049e-01 2.25097825e-03 9.71661233e-01 -1.95397258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.776875 meters 0.020809496822311407 Centerline is valid? [True, True] Translation: X:236.93, Y:-6.56, Z:-19.53 [[ 4.95347600e-01 -8.60607339e-01 -1.18261418e-01 2.36934662e+02] [ 8.36121212e-01 5.09264801e-01 -2.03839842e-01 -6.55957796e+00] [ 2.35652442e-01 2.09069663e-03 9.71835148e-01 -1.95339485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.806875 meters 0.020518756891275976 Centerline is valid? [True, True] Translation: X:236.95, Y:-6.54, Z:-19.53 [[ 4.94843600e-01 -8.60951493e-01 -1.17865764e-01 2.36948934e+02] [ 8.36608829e-01 5.08683171e-01 -2.03290676e-01 -6.53660140e+00] [ 2.34979742e-01 1.98955163e-03 9.71998232e-01 -1.95271532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.836875 meters 0.020065009319356734 Centerline is valid? [True, True] Translation: X:236.96, Y:-6.51, Z:-19.52 [[ 4.94186035e-01 -8.61380554e-01 -1.17489169e-01 2.36963166e+02] [ 8.37176221e-01 5.07956818e-01 -2.02770428e-01 -6.51295215e+00] [ 2.34341928e-01 1.84717552e-03 9.72152482e-01 -1.95206241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.866875 meters 0.01992956277092617 Centerline is valid? [True, True] Translation: X:236.98, Y:-6.49, Z:-19.52 [[ 4.93526020e-01 -8.61787003e-01 -1.17282690e-01 2.36976692e+02] [ 8.37649099e-01 5.07267393e-01 -2.02543277e-01 -6.48976366e+00] [ 2.34042848e-01 1.71863777e-03 9.72224764e-01 -1.95154036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.896875 meters 0.019773103493196997 Centerline is valid? [True, True] Translation: X:236.99, Y:-6.47, Z:-19.51 [[ 4.92868070e-01 -8.62183278e-01 -1.17136930e-01 2.36990416e+02] [ 8.38093413e-01 5.06594017e-01 -2.02390548e-01 -6.46663106e+00] [ 2.33838614e-01 1.58014940e-03 9.72274141e-01 -1.95090345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.926875 meters 0.01991288514004651 Centerline is valid? [True, True] Translation: X:237.00, Y:-6.44, Z:-19.50 [[ 4.92740506e-01 -8.62292381e-01 -1.16870202e-01 2.37004028e+02] [ 8.38285595e-01 5.06408249e-01 -2.02059264e-01 -6.44350772e+00] [ 2.33418198e-01 1.59217703e-03 9.72375138e-01 -1.95030801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.956875 meters 0.019540464488109553 Centerline is valid? [True, True] Translation: X:237.02, Y:-6.42, Z:-19.50 [[ 4.92131172e-01 -8.62655172e-01 -1.16760283e-01 2.37018218e+02] [ 8.38680437e-01 5.05790364e-01 -2.01968393e-01 -6.41961236e+00] [ 2.33285305e-01 1.47037732e-03 9.72407222e-01 -1.94966107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.986875 meters 0.019685821130122322 Centerline is valid? [True, True] Translation: X:237.03, Y:-6.40, Z:-19.49 [[ 4.91896548e-01 -8.62772902e-01 -1.16879019e-01 2.37032406e+02] [ 8.38720274e-01 5.05589472e-01 -2.02305676e-01 -6.39677906e+00] [ 2.33636657e-01 1.48466056e-03 9.72322842e-01 -1.94900542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.016875 meters 0.019534967829198 Centerline is valid? [True, True] Translation: X:237.05, Y:-6.37, Z:-19.48 [[ 4.91665856e-01 -8.62927727e-01 -1.16706570e-01 2.37046191e+02] [ 8.38919299e-01 5.05325194e-01 -2.02140687e-01 -6.37238757e+00] [ 2.33407574e-01 1.47828004e-03 9.72377868e-01 -1.94842389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.046875 meters 0.019602952867622685 Centerline is valid? [True, True] Translation: X:237.06, Y:-6.35, Z:-19.48 [[ 4.91674398e-01 -8.62952500e-01 -1.16487206e-01 2.37058941e+02] [ 8.39005841e-01 5.05282736e-01 -2.01887479e-01 -6.34874469e+00] [ 2.33078279e-01 1.52945884e-03 9.72456774e-01 -1.94794260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07687500000003 meters 0.019751414039966983 Centerline is valid? [True, True] Translation: X:237.07, Y:-6.33, Z:-19.47 [[ 4.91565228e-01 -8.63026884e-01 -1.16396837e-01 2.37072363e+02] [ 8.39086214e-01 5.05155565e-01 -2.01871696e-01 -6.32520144e+00] [ 2.33019211e-01 1.56612521e-03 9.72470871e-01 -1.94733141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.106875 meters 0.01951610913296801 Centerline is valid? [True, True] Translation: X:237.09, Y:-6.30, Z:-19.47 [[ 4.90671281e-01 -8.63551864e-01 -1.16274987e-01 2.37086475e+02] [ 8.39645228e-01 5.04258133e-01 -2.01791044e-01 -6.30194959e+00] [ 2.32889640e-01 1.38333153e-03 9.72502186e-01 -1.94675287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13687500000003 meters 0.019625891476499017 Centerline is valid? [True, True] Translation: X:237.10, Y:-6.28, Z:-19.46 [[ 4.89696015e-01 -8.64148650e-01 -1.15952245e-01 2.37100975e+02] [ 8.40361828e-01 5.03235288e-01 -2.01360974e-01 -6.27856282e+00] [ 2.32357076e-01 1.16382564e-03 9.72629855e-01 -1.94613890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.166875 meters 0.019715487139136227 Centerline is valid? [True, True] Translation: X:237.12, Y:-6.26, Z:-19.46 [[ 4.88652864e-01 -8.64736820e-01 -1.15968144e-01 2.37115670e+02] [ 8.40928135e-01 5.02224376e-01 -2.01520589e-01 -6.25525927e+00] [ 2.32504302e-01 9.52737803e-04 9.72594901e-01 -1.94552647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19687500000003 meters 0.01980267129543348 Centerline is valid? [True, True] Translation: X:237.13, Y:-6.23, Z:-19.45 [[ 4.87287981e-01 -8.65525873e-01 -1.15824815e-01 2.37130174e+02] [ 8.41767396e-01 5.00863804e-01 -2.01402832e-01 -6.23234074e+00] [ 2.32331820e-01 6.43626227e-04 9.72636372e-01 -1.94480826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.226875 meters 0.02001730211964094 Centerline is valid? [True, True] Translation: X:237.14, Y:-6.21, Z:-19.44 [[ 4.86107494e-01 -8.66222037e-01 -1.15580653e-01 2.37144047e+02] [ 8.42552455e-01 4.99659123e-01 -2.01112211e-01 -6.20960603e+00] [ 2.31958757e-01 3.79390220e-04 9.72725548e-01 -1.94430051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25687500000004 meters 0.019959904846727623 Centerline is valid? [True, True] Translation: X:237.16, Y:-6.19, Z:-19.44 [[ 4.84511985e-01 -8.67145373e-01 -1.15356139e-01 2.37158447e+02] [ 8.43561532e-01 4.98055119e-01 -2.00860747e-01 -6.18769079e+00] [ 2.31629183e-01 9.43754342e-06 9.72804154e-01 -1.94370155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.286875 meters 0.01987687755684881 Centerline is valid? [True, True] Translation: X:237.17, Y:-6.16, Z:-19.43 [[ 4.83781496e-01 -8.67550142e-01 -1.15378573e-01 2.37172657e+02] [ 8.43937602e-01 4.97349713e-01 -2.01028823e-01 -6.16433713e+00] [ 2.31786084e-01 -1.18291299e-04 9.72766774e-01 -1.94291474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31687500000004 meters 0.019995523613394697 Centerline is valid? [True, True] Translation: X:237.19, Y:-6.14, Z:-19.42 [[ 4.83113344e-01 -8.67918590e-01 -1.15407181e-01 2.37186727e+02] [ 8.44272406e-01 4.96706422e-01 -2.01213409e-01 -6.14103531e+00] [ 2.31960346e-01 -2.26215042e-04 9.72725216e-01 -1.94232897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.346875 meters 0.01998308435993016 Centerline is valid? [True, True] Translation: X:237.20, Y:-6.12, Z:-19.42 [[ 4.82817478e-01 -8.68074483e-01 -1.15472830e-01 2.37200767e+02] [ 8.44373649e-01 4.96433921e-01 -2.01460923e-01 -6.11720334e+00] [ 2.32207716e-01 -2.33359529e-04 9.72666192e-01 -1.94177725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37687500000004 meters 0.020051332340734696 Centerline is valid? [True, True] Translation: X:237.21, Y:-6.09, Z:-19.41 [[ 4.82557151e-01 -8.68154633e-01 -1.15957450e-01 2.37214568e+02] [ 8.44222080e-01 4.96293756e-01 -2.02439097e-01 -6.09344049e+00] [ 2.33297398e-01 -2.05406213e-04 9.72405410e-01 -1.94132301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.406875 meters 0.020071224748968868 Centerline is valid? [True, True] Translation: X:237.23, Y:-6.07, Z:-19.41 [[ 4.82309473e-01 -8.68276777e-01 -1.16073296e-01 2.37227467e+02] [ 8.44268984e-01 4.96080032e-01 -2.02767069e-01 -6.07052514e+00] [ 2.33639581e-01 -2.00606026e-04 9.72323252e-01 -1.94080344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43687500000004 meters 0.02032184756491792 Centerline is valid? [True, True] Translation: X:237.24, Y:-6.05, Z:-19.40 [[ 4.82059025e-01 -8.68455287e-01 -1.15777855e-01 2.37240445e+02] [ 8.44542697e-01 4.95767454e-01 -2.02391364e-01 -6.04745991e+00] [ 2.33166742e-01 -2.14758232e-04 9.72436746e-01 -1.94025215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.466875 meters 0.020166470670714497 Centerline is valid? [True, True] Translation: X:237.25, Y:-6.02, Z:-19.39 [[ 4.81395670e-01 -8.68851772e-01 -1.15563002e-01 2.37254721e+02] [ 8.45007402e-01 4.95072203e-01 -2.02153417e-01 -6.02423656e+00] [ 2.32853385e-01 -3.35812267e-04 9.72511794e-01 -1.93948213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.496875 meters 0.020302291547580502 Centerline is valid? [True, True] Translation: X:237.27, Y:-6.00, Z:-19.39 [[ 4.80577260e-01 -8.69329666e-01 -1.15375166e-01 2.37268473e+02] [ 8.45545497e-01 4.94232419e-01 -2.01958237e-01 -6.00185547e+00] [ 2.32590434e-01 -4.98416139e-04 9.72574646e-01 -1.93887423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.526875 meters 0.019994515597551808 Centerline is valid? [True, True] Translation: X:237.28, Y:-5.98, Z:-19.38 [[ 4.79936279e-01 -8.69746188e-01 -1.14903159e-01 2.37282675e+02] [ 8.46137591e-01 4.93498911e-01 -2.01270965e-01 -5.97865924e+00] [ 2.31759238e-01 -6.26643870e-04 9.72772976e-01 -1.93810782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.556875 meters 0.02019086041314146 Centerline is valid? [True, True] Translation: X:237.30, Y:-5.96, Z:-19.38 [[ 4.79420386e-01 -8.70055947e-01 -1.14711566e-01 2.37296874e+02] [ 8.46503931e-01 4.92952482e-01 -2.01069503e-01 -5.95562657e+00] [ 2.31489068e-01 -7.06972795e-04 9.72837248e-01 -1.93754653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.586875 meters 0.02020591458415132 Centerline is valid? [True, True] Translation: X:237.31, Y:-5.93, Z:-19.37 [[ 4.78264606e-01 -8.70700784e-01 -1.14643411e-01 2.37311090e+02] [ 8.47161930e-01 4.91812208e-01 -2.01090568e-01 -5.93247038e+00] [ 2.31472745e-01 -9.47032131e-04 9.72840928e-01 -1.93691687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.616875 meters 0.020155276139113103 Centerline is valid? [True, True] Translation: X:237.32, Y:-5.91, Z:-19.36 [[ 4.78075768e-01 -8.70785579e-01 -1.14786915e-01 2.37324935e+02] [ 8.47157963e-01 4.91662104e-01 -2.01473972e-01 -5.90821614e+00] [ 2.31877005e-01 -9.22824635e-04 9.72744675e-01 -1.93636789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.646875 meters 0.020148814733427937 Centerline is valid? [True, True] Translation: X:237.34, Y:-5.88, Z:-19.36 [[ 4.77742163e-01 -8.70988219e-01 -1.14638333e-01 2.37338743e+02] [ 8.47397079e-01 4.91302974e-01 -2.01344425e-01 -5.88421259e+00] [ 2.31690776e-01 -9.53467907e-04 9.72789019e-01 -1.93578671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.676875 meters 0.020155652993090703 Centerline is valid? [True, True] Translation: X:237.35, Y:-5.86, Z:-19.35 [[ 4.77417492e-01 -8.71153558e-01 -1.14734548e-01 2.37352415e+02] [ 8.47495625e-01 4.91009715e-01 -2.01644799e-01 -5.86021493e+00] [ 2.31999362e-01 -9.68273669e-04 9.72715456e-01 -1.93519520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.706875 meters 0.020457752425006352 Centerline is valid? [True, True] Translation: X:237.37, Y:-5.84, Z:-19.35 [[ 4.77106006e-01 -8.71337509e-01 -1.14633347e-01 2.37366240e+02] [ 8.47695949e-01 4.90683160e-01 -2.01597656e-01 -5.83634900e+00] [ 2.31908252e-01 -9.90771269e-04 9.72737159e-01 -1.93453467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.736875 meters 0.020631037253769694 Centerline is valid? [True, True] Translation: X:237.38, Y:-5.81, Z:-19.34 [[ 4.76535801e-01 -8.71687639e-01 -1.14342865e-01 2.37380260e+02] [ 8.48146105e-01 4.90060678e-01 -2.01218083e-01 -5.81276872e+00] [ 2.31434258e-01 -1.09183537e-03 9.72849933e-01 -1.93415446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.766875 meters 0.020383112182117927 Centerline is valid? [True, True] Translation: X:237.39, Y:-5.79, Z:-19.33 [[ 4.75946541e-01 -8.72022441e-01 -1.14244265e-01 2.37392771e+02] [ 8.48498738e-01 4.89464463e-01 -2.01182583e-01 -5.78865937e+00] [ 2.31354235e-01 -1.18395962e-03 9.72868859e-01 -1.93323384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.796875 meters 0.02061842394276862 Centerline is valid? [True, True] Translation: X:237.41, Y:-5.77, Z:-19.33 [[ 4.75273629e-01 -8.72409408e-01 -1.14091201e-01 2.37406338e+02] [ 8.48928166e-01 4.88774110e-01 -2.01049345e-01 -5.76562097e+00] [ 2.31162165e-01 -1.30178203e-03 9.72914364e-01 -1.93275540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.82687500000003 meters 0.02058365495998716 Centerline is valid? [True, True] Translation: X:237.42, Y:-5.74, Z:-19.32 [[ 4.74540799e-01 -8.72782987e-01 -1.14284240e-01 2.37419708e+02] [ 8.49197665e-01 4.88106399e-01 -2.01532800e-01 -5.74180782e+00] [ 2.31677268e-01 -1.41437407e-03 9.72791675e-01 -1.93206466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.856875 meters 0.020608123139644333 Centerline is valid? [True, True] Translation: X:237.43, Y:-5.72, Z:-19.32 [[ 4.73640909e-01 -8.73268295e-01 -1.14309997e-01 2.37432728e+02] [ 8.49653920e-01 4.87237084e-01 -2.01713263e-01 -5.71820997e+00] [ 2.31845867e-01 -1.58428410e-03 9.72751245e-01 -1.93159025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.88687500000003 meters 0.020493867886876946 Centerline is valid? [True, True] Translation: X:237.45, Y:-5.69, Z:-19.31 [[ 4.73016059e-01 -8.73659168e-01 -1.13909904e-01 2.37445500e+02] [ 8.50189886e-01 4.86535478e-01 -2.01147673e-01 -5.69422609e+00] [ 2.31155718e-01 -1.69896919e-03 9.72915283e-01 -1.93100621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.916875 meters 0.02033055319108792 Centerline is valid? [True, True] Translation: X:237.46, Y:-5.67, Z:-19.30 [[ 4.72774221e-01 -8.73785776e-01 -1.13942763e-01 2.37458014e+02] [ 8.50275146e-01 4.86308073e-01 -2.01337116e-01 -5.66988686e+00] [ 2.31336794e-01 -1.69570070e-03 9.72872249e-01 -1.93028558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.94687500000003 meters 0.020348048772757782 Centerline is valid? [True, True] Translation: X:237.47, Y:-5.65, Z:-19.30 [[ 4.72496937e-01 -8.73983226e-01 -1.13578009e-01 2.37470742e+02] [ 8.50599265e-01 4.85953043e-01 -2.00824626e-01 -5.64627643e+00] [ 2.30710934e-01 -1.72034978e-03 9.73020815e-01 -1.92970912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.976875 meters 0.020461825785612082 Centerline is valid? [True, True] Translation: X:237.48, Y:-5.62, Z:-19.29 [[ 4.71935096e-01 -8.74308896e-01 -1.13407316e-01 2.37483637e+02] [ 8.50981656e-01 4.85366478e-01 -2.00623039e-01 -5.62224269e+00] [ 2.30450617e-01 -1.82649211e-03 9.73082307e-01 -1.92907247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.00687500000004 meters 0.020503666357078888 Centerline is valid? [True, True] Translation: X:237.50, Y:-5.60, Z:-19.29 [[ 4.71356310e-01 -8.74631240e-01 -1.13328825e-01 2.37496825e+02] [ 8.51314242e-01 4.84785028e-01 -2.00617891e-01 -5.59915990e+00] [ 2.30406792e-01 -1.91593411e-03 9.73092513e-01 -1.92855743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.036875 meters 0.020503666357078888 Centerline is valid? [True, True] Translation: X:237.51, Y:-5.58, Z:-19.28 [[ 4.71119748e-01 -8.74766442e-01 -1.13268953e-01 2.37509996e+02] [ 8.51445171e-01 4.84541040e-01 -2.00651691e-01 -5.57561996e+00] [ 2.30406821e-01 -1.91132901e-03 9.73092515e-01 -1.92796250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06687500000004 meters 0.020481941553287232 Centerline is valid? [True, True] Translation: X:237.52, Y:-5.55, Z:-19.27 [[ 4.70376429e-01 -8.75165954e-01 -1.13272098e-01 2.37522581e+02] [ 8.51823818e-01 4.83818544e-01 -2.00787947e-01 -5.55187054e+00] [ 2.30525917e-01 -2.04195404e-03 9.73064043e-01 -1.92727460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.096875 meters 0.020508140757811873 Centerline is valid? [True, True] Translation: X:237.54, Y:-5.53, Z:-19.27 [[ 4.69478772e-01 -8.75636893e-01 -1.13356581e-01 2.37535937e+02] [ 8.52240731e-01 4.82964967e-01 -2.01073562e-01 -5.52871296e+00] [ 2.30814687e-01 -2.20732685e-03 9.72995225e-01 -1.92675268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12687500000004 meters 0.02064767158999214 Centerline is valid? [True, True] Translation: X:237.55, Y:-5.50, Z:-19.26 [[ 4.67984439e-01 -8.76461345e-01 -1.13163929e-01 2.37549616e+02] [ 8.53135839e-01 4.81465540e-01 -2.00873528e-01 -5.50457056e+00] [ 2.30542415e-01 -2.53851815e-03 9.73058966e-01 -1.92613471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.156875 meters 0.020802684705141083 Centerline is valid? [True, True] Translation: X:237.56, Y:-5.48, Z:-19.26 [[ 4.67182239e-01 -8.76931905e-01 -1.12832577e-01 2.37562970e+02] [ 8.53726760e-01 4.80607079e-01 -2.00418198e-01 -5.48214296e+00] [ 2.29981247e-01 -2.69636772e-03 9.73191325e-01 -1.92558565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18687500000004 meters 0.020510258957210273 Centerline is valid? [True, True] Translation: X:237.58, Y:-5.46, Z:-19.25 [[ 4.66512093e-01 -8.77329975e-01 -1.12510360e-01 2.37575741e+02] [ 8.54237625e-01 4.79879348e-01 -1.99984730e-01 -5.45820825e+00] [ 2.29443996e-01 -2.81528822e-03 9.73317793e-01 -1.92488729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.216875 meters 0.020758685315992332 Centerline is valid? [True, True] Translation: X:237.59, Y:-5.43, Z:-19.24 [[ 4.65507628e-01 -8.77884018e-01 -1.12349006e-01 2.37588691e+02] [ 8.54843228e-01 4.78863805e-01 -1.99831209e-01 -5.43415414e+00] [ 2.29228498e-01 -3.01783493e-03 9.73367961e-01 -1.92417706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.246875 meters 0.020984710571747202 Centerline is valid? [True, True] Translation: X:237.60, Y:-5.41, Z:-19.24 [[ 4.65337273e-01 -8.77979583e-01 -1.12307944e-01 2.37601077e+02] [ 8.54926872e-01 4.78688696e-01 -1.99892913e-01 -5.41109080e+00] [ 2.29262439e-01 -2.99745618e-03 9.73360031e-01 -1.92358499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.276875 meters 0.02084127298867221 Centerline is valid? [True, True] Translation: X:237.61, Y:-5.39, Z:-19.23 [[ 4.65937951e-01 -8.77654957e-01 -1.12354803e-01 2.37613230e+02] [ 8.54540635e-01 4.79284990e-01 -2.00115469e-01 -5.38787696e+00] [ 2.29482304e-01 -2.77035292e-03 9.73308891e-01 -1.92302686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.306875 meters 0.020624859758654912 Centerline is valid? [True, True] Translation: X:237.63, Y:-5.36, Z:-19.22 [[ 4.66215412e-01 -8.77558857e-01 -1.11953751e-01 2.37625127e+02] [ 8.54585598e-01 4.79461525e-01 -1.99499626e-01 -5.36294338e+00] [ 2.28750180e-01 -2.66426288e-03 9.73481513e-01 -1.92239163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.336875 meters 0.02067136886939114 Centerline is valid? [True, True] Translation: X:237.64, Y:-5.34, Z:-19.22 [[ 4.68233230e-01 -8.76554535e-01 -1.11399236e-01 2.37635209e+02] [ 8.53753053e-01 4.81297983e-01 -1.98640317e-01 -5.33815958e+00] [ 2.27735298e-01 -2.09744046e-03 9.73720820e-01 -1.92182967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.366875 meters 0.020654980449898164 Centerline is valid? [True, True] Translation: X:237.65, Y:-5.31, Z:-19.21 [[ 4.69123349e-01 -8.76127967e-01 -1.11009318e-01 2.37647197e+02] [ 8.53454593e-01 4.82075107e-01 -1.98037494e-01 -5.31334652e+00] [ 2.27021016e-01 -1.83739950e-03 9.73888126e-01 -1.92124377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.396875 meters 0.02045312881854689 Centerline is valid? [True, True] Translation: X:237.66, Y:-5.29, Z:-19.21 [[ 4.69438311e-01 -8.75959987e-01 -1.11003484e-01 2.37658536e+02] [ 8.53254900e-01 4.82380798e-01 -1.98153583e-01 -5.28976331e+00] [ 2.27120559e-01 -1.69338334e-03 9.73865178e-01 -1.92068967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.426875 meters 0.020457997900866286 Centerline is valid? [True, True] Translation: X:237.67, Y:-5.27, Z:-19.20 [[ 4.69971631e-01 -8.75707362e-01 -1.10739704e-01 2.37670419e+02] [ 8.53082461e-01 4.82839834e-01 -1.97777679e-01 -5.26611377e+00] [ 2.26664910e-01 -1.52020063e-03 9.73971615e-01 -1.92014618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.456875 meters 0.02050342225330486 Centerline is valid? [True, True] Translation: X:237.68, Y:-5.24, Z:-19.20 [[ 4.69767390e-01 -8.75818580e-01 -1.10726751e-01 2.37682922e+02] [ 8.53171346e-01 4.82638104e-01 -1.97886623e-01 -5.24121100e+00] [ 2.26753731e-01 -1.50820908e-03 9.73950959e-01 -1.91954930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.486875 meters 0.0204757712980223 Centerline is valid? [True, True] Translation: X:237.69, Y:-5.22, Z:-19.19 [[ 4.69710393e-01 -8.75844258e-01 -1.10765437e-01 2.37694475e+02] [ 8.53152204e-01 4.82591658e-01 -1.98082326e-01 -5.21735105e+00] [ 2.26943744e-01 -1.45844935e-03 9.73906777e-01 -1.91901320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.516875 meters 0.020673572384524743 Centerline is valid? [True, True] Translation: X:237.71, Y:-5.19, Z:-19.18 [[ 4.69682817e-01 -8.75823866e-01 -1.11043265e-01 2.37706338e+02] [ 8.52984502e-01 4.82628879e-01 -1.98712872e-01 -5.19354720e+00] [ 2.27630162e-01 -1.38616292e-03 9.73746675e-01 -1.91847212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.546875 meters 0.020452749335323463 Centerline is valid? [True, True] Translation: X:237.72, Y:-5.17, Z:-19.18 [[ 4.70133035e-01 -8.75571743e-01 -1.11126291e-01 2.37718187e+02] [ 8.52659726e-01 4.83086623e-01 -1.98994235e-01 -5.16835234e+00] [ 2.27917354e-01 -1.19914944e-03 9.73679743e-01 -1.91781164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57687500000003 meters 0.02021046896796431 Centerline is valid? [True, True] Translation: X:237.73, Y:-5.14, Z:-19.17 [[ 4.70755800e-01 -8.75200986e-01 -1.11410106e-01 2.37729269e+02] [ 8.52128918e-01 4.83758534e-01 -1.99634635e-01 -5.14308188e+00] [ 2.28616019e-01 -9.56610944e-04 9.73516205e-01 -1.91726791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.606875 meters 0.020198545329640105 Centerline is valid? [True, True] Translation: X:237.74, Y:-5.12, Z:-19.17 [[ 4.70557788e-01 -8.75284170e-01 -1.11592964e-01 2.37741159e+02] [ 8.52105882e-01 4.83608058e-01 -2.00097006e-01 -5.11925637e+00] [ 2.29108999e-01 -9.31816235e-04 9.73400328e-01 -1.91674276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63687500000003 meters 0.02019493707527313 Centerline is valid? [True, True] Translation: X:237.75, Y:-5.09, Z:-19.16 [[ 4.71036261e-01 -8.75053417e-01 -1.11383838e-01 2.37753566e+02] [ 8.51923792e-01 4.84025783e-01 -1.99862187e-01 -5.09445683e+00] [ 2.28802739e-01 -7.48204726e-04 9.73472520e-01 -1.91614199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.666875 meters 0.02014752969613909 Centerline is valid? [True, True] Translation: X:237.77, Y:-5.07, Z:-19.16 [[ 4.70954359e-01 -8.75123816e-01 -1.11176880e-01 2.37766141e+02] [ 8.52052256e-01 4.83898538e-01 -1.99622536e-01 -5.06932837e+00] [ 2.28492766e-01 -7.15408058e-04 9.73545348e-01 -1.91558757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69687500000003 meters 0.020100472581616104 Centerline is valid? [True, True] Translation: X:237.78, Y:-5.05, Z:-19.15 [[ 4.71416690e-01 -8.74944271e-01 -1.10629233e-01 2.37777534e+02] [ 8.52068895e-01 4.84223300e-01 -1.98762152e-01 -5.04500212e+00] [ 2.27475059e-01 -5.63932788e-04 9.73783744e-01 -1.91496076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.726875 meters 0.01976995396844185 Centerline is valid? [True, True] Translation: X:237.79, Y:-5.02, Z:-19.14 [[ 4.71713208e-01 -8.74805853e-01 -1.10459809e-01 2.37789564e+02] [ 8.51966053e-01 4.84473463e-01 -1.98593325e-01 -5.02076888e+00] [ 2.27245450e-01 -4.28912897e-04 9.73837421e-01 -1.91433700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75687500000004 meters 0.019930526859978762 Centerline is valid? [True, True] Translation: X:237.80, Y:-5.00, Z:-19.14 [[ 4.72618447e-01 -8.74335424e-01 -1.10314871e-01 2.37801464e+02] [ 8.51513700e-01 4.85322108e-01 -1.98461256e-01 -4.99555575e+00] [ 2.27059952e-01 -1.38174007e-04 9.73880773e-01 -1.91367996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.786875 meters 0.019967758816382887 Centerline is valid? [True, True] Translation: X:237.81, Y:-4.97, Z:-19.13 [[ 4.73638426e-01 -8.73770274e-01 -1.10418072e-01 2.37812544e+02] [ 8.50859089e-01 4.86338842e-01 -1.98779629e-01 -4.97173632e+00] [ 2.27388328e-01 1.99450420e-04 9.73804143e-01 -1.91311655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81687500000004 meters 0.020022974497296297 Centerline is valid? [True, True] Translation: X:237.82, Y:-4.94, Z:-19.13 [[ 4.77017530e-01 -8.71903895e-01 -1.10624924e-01 2.37821794e+02] [ 8.48823180e-01 4.89675650e-01 -1.99291162e-01 -4.94463828e+00] [ 2.27933073e-01 1.16437787e-03 9.73676106e-01 -1.91256657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.846875 meters 0.020101389830784917 Centerline is valid? [True, True] Translation: X:237.83, Y:-4.92, Z:-19.12 [[ 4.79413733e-01 -8.70553152e-01 -1.10903934e-01 2.37832669e+02] [ 8.47288991e-01 4.92070818e-01 -1.99919175e-01 -4.91920608e+00] [ 2.28612857e-01 1.87631573e-03 9.73515609e-01 -1.91198637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87687500000004 meters 0.020766387085703636 Centerline is valid? [True, True] Translation: X:237.84, Y:-4.89, Z:-19.12 [[ 4.81798505e-01 -8.69232446e-01 -1.10928600e-01 2.37842255e+02] [ 8.45893620e-01 4.94396961e-01 -2.00089049e-01 -4.89395132e+00] [ 2.28766657e-01 2.56880959e-03 9.73477898e-01 -1.91151883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.906875 meters 0.021162873817383018 Centerline is valid? [True, True] Translation: X:237.85, Y:-4.87, Z:-19.11 [[ 4.86398273e-01 -8.66591200e-01 -1.11518663e-01 2.37852453e+02] [ 8.42902097e-01 4.99003486e-01 -2.01274876e-01 -4.86749750e+00] [ 2.30071238e-01 3.90043697e-03 9.73165973e-01 -1.91090534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93687500000004 meters 0.022252229131845592 Centerline is valid? [True, True] Translation: X:237.86, Y:-4.84, Z:-19.10 [[ 4.88201193e-01 -8.65563222e-01 -1.11623940e-01 2.37861984e+02] [ 8.41772150e-01 5.00779850e-01 -2.01591640e-01 -4.84183096e+00] [ 2.30389329e-01 4.45535461e-03 9.73088334e-01 -1.91049843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.966875 meters 0.02233379697609949 Centerline is valid? [True, True] Translation: X:237.88, Y:-4.82, Z:-19.10 [[ 4.89646036e-01 -8.64740224e-01 -1.11674100e-01 2.37875605e+02] [ 8.40876519e-01 5.02195414e-01 -2.01807944e-01 -4.81754350e+00] [ 2.30593668e-01 4.91033165e-03 9.73037743e-01 -1.90980537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.996875 meters 0.023747653397433552 Centerline is valid? [True, True] Translation: X:237.89, Y:-4.79, Z:-19.09 [[ 4.90883582e-01 -8.64051602e-01 -1.11571223e-01 2.37885515e+02] [ 8.40186105e-01 5.03375430e-01 -2.01743613e-01 -4.79203384e+00] [ 2.30479104e-01 5.29203617e-03 9.73062884e-01 -1.90938985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.026875 meters 0.023256750818983245 Centerline is valid? [True, True] Translation: X:237.90, Y:-4.77, Z:-19.09 [[ 4.92905148e-01 -8.62899412e-01 -1.11575623e-01 2.37900397e+02] [ 8.38982802e-01 5.05341545e-01 -2.01836024e-01 -4.76921164e+00] [ 2.30547984e-01 5.87598674e-03 9.73043216e-01 -1.90861564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.056875 meters 0.023358409786350422 Centerline is valid? [True, True] Translation: X:237.91, Y:-4.75, Z:-19.08 [[ 4.93552614e-01 -8.62528509e-01 -1.11581309e-01 2.37914415e+02] [ 8.38570388e-01 5.05971521e-01 -2.01971590e-01 -4.74558067e+00] [ 2.30663220e-01 6.11482450e-03 9.73014434e-01 -1.90796074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.086875 meters 0.023292942437794905 Centerline is valid? [True, True] Translation: X:237.93, Y:-4.72, Z:-19.07 [[ 4.93975726e-01 -8.62335632e-01 -1.11199103e-01 2.37927453e+02] [ 8.38508693e-01 5.06298537e-01 -2.01407455e-01 -4.72183130e+00] [ 2.29980769e-01 6.24897905e-03 9.73175111e-01 -1.90732747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.116875 meters 0.024303064366730145 Centerline is valid? [True, True] Translation: X:237.94, Y:-4.70, Z:-19.07 [[ 4.94148288e-01 -8.62250965e-01 -1.11088892e-01 2.37939988e+02] [ 8.38437999e-01 5.06441434e-01 -2.01342485e-01 -4.69796125e+00] [ 2.29867769e-01 6.35189594e-03 9.73201142e-01 -1.90674481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.146875 meters 0.02305683003029127 Centerline is valid? [True, True] Translation: X:237.96, Y:-4.68, Z:-19.06 [[ 4.92954306e-01 -8.63014722e-01 -1.10461040e-01 2.37957719e+02] [ 8.39459913e-01 5.05142744e-01 -2.00344359e-01 -4.67677037e+00] [ 2.28698724e-01 6.03299934e-03 9.73478555e-01 -1.90583292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.176875 meters 0.02280093452558263 Centerline is valid? [True, True] Translation: X:237.97, Y:-4.65, Z:-19.05 [[ 4.91855666e-01 -8.63708201e-01 -1.09937017e-01 2.37972880e+02] [ 8.40366508e-01 5.03959420e-01 -1.99522015e-01 -4.65414464e+00] [ 2.27732596e-01 5.74864614e-03 9.73706741e-01 -1.90516666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.206875 meters 0.022555923549053152 Centerline is valid? [True, True] Translation: X:237.99, Y:-4.63, Z:-19.04 [[ 4.90425556e-01 -8.64544634e-01 -1.09751310e-01 2.37988375e+02] [ 8.41273282e-01 5.02526839e-01 -1.99313926e-01 -4.63154474e+00] [ 2.27468764e-01 5.41779803e-03 9.73770306e-01 -1.90449194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.236875 meters 0.02259920076464564 Centerline is valid? [True, True] Translation: X:238.00, Y:-4.61, Z:-19.04 [[ 4.88735999e-01 -8.65502007e-01 -1.09742425e-01 2.38003058e+02] [ 8.42228431e-01 5.00880120e-01 -1.99425112e-01 -4.60877577e+00] [ 2.27570633e-01 5.03804071e-03 9.73748543e-01 -1.90394739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.266875 meters 0.02207397805267316 Centerline is valid? [True, True] Translation: X:238.02, Y:-4.59, Z:-19.03 [[ 4.86981007e-01 -8.66472444e-01 -1.09886313e-01 2.38018790e+02] [ 8.43139474e-01 4.99203345e-01 -1.99779495e-01 -4.58546035e+00] [ 2.27959043e-01 4.63933109e-03 9.73659669e-01 -1.90338320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.296875 meters 0.021819362938778803 Centerline is valid? [True, True] Translation: X:238.04, Y:-4.56, Z:-19.03 [[ 4.84044123e-01 -8.68010565e-01 -1.10720120e-01 2.38035884e+02] [ 8.44326180e-01 4.96529499e-01 -2.01424326e-01 -4.56445287e+00] [ 2.29814249e-01 4.01436514e-03 9.73226231e-01 -1.90303302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.32687500000003 meters 0.021763227417335725 Centerline is valid? [True, True] Translation: X:238.05, Y:-4.54, Z:-19.03 [[ 4.82513750e-01 -8.68783440e-01 -1.11336494e-01 2.38051426e+02] [ 8.44819192e-01 4.95178121e-01 -2.02679948e-01 -4.54141963e+00] [ 2.31216378e-01 3.73665450e-03 9.72895176e-01 -1.90253810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.356875 meters 0.021294502449170933 Centerline is valid? [True, True] Translation: X:238.07, Y:-4.52, Z:-19.02 [[ 4.80690970e-01 -8.69772787e-01 -1.11496593e-01 2.38066951e+02] [ 8.45733256e-01 4.93441167e-01 -2.03103605e-01 -4.51871826e+00] [ 2.31670998e-01 3.33369267e-03 9.72788484e-01 -1.90200240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.38687500000003 meters 0.021083775011577027 Centerline is valid? [True, True] Translation: X:238.08, Y:-4.50, Z:-19.01 [[ 4.77890948e-01 -8.71255385e-01 -1.11956664e-01 2.38084588e+02] [ 8.47022129e-01 4.90822560e-01 -2.04075300e-01 -4.49793414e+00] [ 2.32752560e-01 2.69596636e-03 9.72532250e-01 -1.90149941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.416875 meters 0.020956645094972227 Centerline is valid? [True, True] Translation: X:238.10, Y:-4.48, Z:-19.01 [[ 4.76419933e-01 -8.72055542e-01 -1.11996338e-01 2.38100839e+02] [ 8.47793902e-01 4.89401155e-01 -2.04284137e-01 -4.47611412e+00] [ 2.32958251e-01 2.37522197e-03 9.72483836e-01 -1.90073539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.44687500000003 meters 0.020806010522341833 Centerline is valid? [True, True] Translation: X:238.12, Y:-4.45, Z:-19.00 [[ 4.75153141e-01 -8.72750521e-01 -1.11964376e-01 2.38115413e+02] [ 8.48489310e-01 4.88161969e-01 -2.04361892e-01 -4.45386105e+00] [ 2.33013698e-01 2.10261838e-03 9.72471180e-01 -1.90021264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.476875 meters 0.020651711298197067 Centerline is valid? [True, True] Translation: X:238.13, Y:-4.43, Z:-19.00 [[ 4.73991205e-01 -8.73381295e-01 -1.11970759e-01 2.38130877e+02] [ 8.49100826e-01 4.87033510e-01 -2.04514419e-01 -4.43059571e+00] [ 2.33152580e-01 1.86357244e-03 9.72438379e-01 -1.89957217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.50687500000004 meters 0.020397712044045894 Centerline is valid? [True, True] Translation: X:238.15, Y:-4.41, Z:-18.99 [[ 4.73181959e-01 -8.73822611e-01 -1.11950336e-01 2.38146288e+02] [ 8.49531973e-01 4.86241828e-01 -2.04607702e-01 -4.40785433e+00] [ 2.33225772e-01 1.71128340e-03 9.72421108e-01 -1.89884546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.536875 meters 0.020334532046854096 Centerline is valid? [True, True] Translation: X:238.16, Y:-4.39, Z:-18.98 [[ 4.72294463e-01 -8.74347793e-01 -1.11596944e-01 2.38161249e+02] [ 8.50194779e-01 4.85297480e-01 -2.04096040e-01 -4.38636343e+00] [ 2.32608637e-01 1.51429019e-03 9.72569241e-01 -1.89827182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56687500000004 meters 0.020614748581636443 Centerline is valid? [True, True] Translation: X:238.17, Y:-4.36, Z:-18.98 [[ 4.72234790e-01 -8.74400807e-01 -1.11433981e-01 2.38174389e+02] [ 8.50287691e-01 4.85201825e-01 -2.03936340e-01 -4.36332963e+00] [ 2.32390071e-01 1.55489242e-03 9.72621425e-01 -1.89779150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.596875 meters 0.020415099930214165 Centerline is valid? [True, True] Translation: X:238.19, Y:-4.34, Z:-18.97 [[ 4.72104093e-01 -8.74511556e-01 -1.11118246e-01 2.38188565e+02] [ 8.50506866e-01 4.85002155e-01 -2.03496883e-01 -4.34080512e+00] [ 2.31852965e-01 1.56488054e-03 9.72749584e-01 -1.89694371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62687500000004 meters 0.020611893062802287 Centerline is valid? [True, True] Translation: X:238.20, Y:-4.32, Z:-18.96 [[ 4.72709613e-01 -8.74208809e-01 -1.10926008e-01 2.38202097e+02] [ 8.50247139e-01 4.85546899e-01 -2.03283080e-01 -4.31743571e+00] [ 2.31571639e-01 1.77934520e-03 9.72816226e-01 -1.89648465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.656875 meters 0.020719838761914078 Centerline is valid? [True, True] Translation: X:238.21, Y:-4.29, Z:-18.96 [[ 4.72712475e-01 -8.74226965e-01 -1.10770621e-01 2.38214532e+02] [ 8.50300061e-01 4.85513989e-01 -2.03140279e-01 -4.29334730e+00] [ 2.31371396e-01 1.83867866e-03 9.72863760e-01 -1.89603737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68687500000004 meters 0.020266740600578172 Centerline is valid? [True, True] Translation: X:238.23, Y:-4.27, Z:-18.95 [[ 4.72574482e-01 -8.74312423e-01 -1.10684892e-01 2.38228510e+02] [ 8.50401824e-01 4.85360055e-01 -2.03082136e-01 -4.27031810e+00] [ 2.31279259e-01 1.84480128e-03 9.72885657e-01 -1.89531730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.716875 meters 0.020275185350989884 Centerline is valid? [True, True] Translation: X:238.24, Y:-4.25, Z:-18.95 [[ 4.71493810e-01 -8.74924507e-01 -1.10456753e-01 2.38242258e+02] [ 8.51098905e-01 4.84256671e-01 -2.02795785e-01 -4.24679263e+00] [ 2.30920422e-01 1.60733542e-03 9.72971313e-01 -1.89476598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.746875 meters 0.020011453739274144 Centerline is valid? [True, True] Translation: X:238.26, Y:-4.22, Z:-18.94 [[ 4.68095977e-01 -8.76725355e-01 -1.10629145e-01 2.38257866e+02] [ 8.52841929e-01 4.80990675e-01 -2.03245208e-01 -4.22440230e+00] [ 2.31401815e-01 7.89091088e-04 9.72857943e-01 -1.89429059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.776875 meters 0.019771520643978895 Centerline is valid? [True, True] Translation: X:238.27, Y:-4.20, Z:-18.94 [[ 4.66196451e-01 -8.77752567e-01 -1.10504757e-01 2.38271767e+02] [ 8.53919119e-01 4.79114090e-01 -2.03154689e-01 -4.20129845e+00] [ 2.31263936e-01 3.47870495e-04 9.72890986e-01 -1.89371896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.806875 meters 0.019891749299923323 Centerline is valid? [True, True] Translation: X:238.29, Y:-4.18, Z:-18.93 [[ 4.64083657e-01 -8.78861129e-01 -1.10586958e-01 2.38286105e+02] [ 8.54988200e-01 4.77077665e-01 -2.03450434e-01 -4.17787780e+00] [ 2.31563246e-01 -1.32522888e-04 9.72819842e-01 -1.89295090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.836875 meters 0.01989072056113909 Centerline is valid? [True, True] Translation: X:238.30, Y:-4.16, Z:-18.92 [[ 4.62378547e-01 -8.79765944e-01 -1.10534896e-01 2.38300089e+02] [ 8.55908890e-01 4.75406789e-01 -2.03490433e-01 -4.15546151e+00] [ 2.31572993e-01 -5.18189421e-04 9.72817393e-01 -1.89234445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.866875 meters 0.019984901182178397 Centerline is valid? [True, True] Translation: X:238.31, Y:-4.13, Z:-18.92 [[ 4.60945757e-01 -8.80573419e-01 -1.10088430e-01 2.38313779e+02] [ 8.56901036e-01 4.73908987e-01 -2.02807513e-01 -4.13245267e+00] [ 2.30758801e-01 -8.51627122e-04 9.73010612e-01 -1.89169385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.896875 meters 0.019942306890411543 Centerline is valid? [True, True] Translation: X:238.33, Y:-4.11, Z:-18.91 [[ 4.59296869e-01 -8.81596911e-01 -1.08780848e-01 2.38327178e+02] [ 8.58496638e-01 4.72001265e-01 -2.00495208e-01 -4.10868227e+00] [ 2.28100654e-01 -1.30117034e-03 9.73636687e-01 -1.89082444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.926875 meters 0.019942306890411543 Centerline is valid? [True, True] Translation: X:238.34, Y:-4.08, Z:-18.90 [[ 4.59065161e-01 -8.81724259e-01 -1.08726760e-01 2.38339936e+02] [ 8.58620564e-01 4.71763328e-01 -2.00524536e-01 -4.08491909e+00] [ 2.28100646e-01 -1.30120342e-03 9.73636689e-01 -1.89022931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.956875 meters 0.01985188573034485 Centerline is valid? [True, True] Translation: X:238.35, Y:-4.06, Z:-18.89 [[ 4.58506397e-01 -8.82070865e-01 -1.08272213e-01 2.38351910e+02] [ 8.59142015e-01 4.71114652e-01 -1.99814872e-01 -4.06035738e+00] [ 2.27259503e-01 -1.40480983e-03 9.73833222e-01 -1.88941935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.986875 meters 0.019899301467876128 Centerline is valid? [True, True] Translation: X:238.36, Y:-4.04, Z:-18.89 [[ 4.58151830e-01 -8.82316812e-01 -1.07768015e-01 2.38364552e+02] [ 8.59578771e-01 4.70653728e-01 -1.99021113e-01 -4.03651513e+00] [ 2.26321092e-01 -1.45321071e-03 9.74051668e-01 -1.88882583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.016875 meters 0.01997926386347026 Centerline is valid? [True, True] Translation: X:238.38, Y:-4.01, Z:-18.88 [[ 4.58027342e-01 -8.82459495e-01 -1.07126999e-01 2.38376963e+02] [ 8.59967378e-01 4.70386160e-01 -1.97972143e-01 -4.01210315e+00] [ 2.25093455e-01 -1.44907053e-03 9.74336101e-01 -1.88815579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.046875 meters 0.020079881188745638 Centerline is valid? [True, True] Translation: X:238.39, Y:-3.99, Z:-18.87 [[ 4.58140622e-01 -8.82438330e-01 -1.06816493e-01 2.38387823e+02] [ 8.60047168e-01 4.70426099e-01 -1.97530134e-01 -3.98743291e+00] [ 2.24557428e-01 -1.37064384e-03 9.74459893e-01 -1.88749953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07687500000003 meters 0.02012366746533238 Centerline is valid? [True, True] Translation: X:238.40, Y:-3.96, Z:-18.87 [[ 4.58660390e-01 -8.82183083e-01 -1.06694214e-01 2.38399468e+02] [ 8.59806722e-01 4.70905102e-01 -1.97435522e-01 -3.96311561e+00] [ 2.24417127e-01 -1.18054934e-03 9.74492463e-01 -1.88698114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.106875 meters 0.019827038188499315 Centerline is valid? [True, True] Translation: X:238.41, Y:-3.94, Z:-18.86 [[ 4.59221811e-01 -8.81885207e-01 -1.06741791e-01 2.38411185e+02] [ 8.59458040e-01 4.71463154e-01 -1.97621789e-01 -3.93811778e+00] [ 2.24604554e-01 -9.87854315e-04 9.74449495e-01 -1.88641625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13687500000003 meters 0.019837407097160774 Centerline is valid? [True, True] Translation: X:238.42, Y:-3.91, Z:-18.86 [[ 4.59756091e-01 -8.81593674e-01 -1.06850037e-01 2.38422004e+02] [ 8.59082455e-01 4.72008454e-01 -1.97952910e-01 -3.91295686e+00] [ 2.24948154e-01 -7.82935434e-04 9.74370420e-01 -1.88579520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.166875 meters 0.019801866549299916 Centerline is valid? [True, True] Translation: X:238.43, Y:-3.89, Z:-18.85 [[ 4.62120277e-01 -8.80321702e-01 -1.07137999e-01 2.38430424e+02] [ 8.57621602e-01 4.74377163e-01 -1.98624004e-01 -3.88723992e+00] [ 2.25676841e-01 -9.56825749e-05 9.74202214e-01 -1.88531989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19687500000003 meters 0.019783377376832827 Centerline is valid? [True, True] Translation: X:238.44, Y:-3.86, Z:-18.85 [[ 4.63603831e-01 -8.79529793e-01 -1.07232600e-01 2.38441143e+02] [ 8.56734703e-01 4.75843685e-01 -1.98943301e-01 -3.86150946e+00] [ 2.26002516e-01 3.60987440e-04 9.74126651e-01 -1.88475914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.226875 meters 0.020046963253917083 Centerline is valid? [True, True] Translation: X:238.45, Y:-3.84, Z:-18.84 [[ 4.65204272e-01 -8.78692965e-01 -1.07161835e-01 2.38451555e+02] [ 8.55875359e-01 4.77386614e-01 -1.98945699e-01 -3.83603478e+00] [ 2.25969812e-01 8.33215384e-04 9.74133949e-01 -1.88420271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25687500000004 meters 0.02031529258157022 Centerline is valid? [True, True] Translation: X:238.46, Y:-3.81, Z:-18.84 [[ 4.68935794e-01 -8.76699802e-01 -1.07222562e-01 2.38458218e+02] [ 8.53773395e-01 4.81034284e-01 -1.99190885e-01 -3.80954959e+00] [ 2.26208338e-01 1.86396514e-03 9.74077160e-01 -1.88368630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.286875 meters 0.02085759511845419 Centerline is valid? [True, True] Translation: X:238.47, Y:-3.78, Z:-18.83 [[ 4.70840121e-01 -8.75701363e-01 -1.07035995e-01 2.38467457e+02] [ 8.52808243e-01 4.82847206e-01 -1.98938876e-01 -3.78469764e+00] [ 2.25893076e-01 2.38722552e-03 9.74149177e-01 -1.88310128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31687500000004 meters 0.020692640983305297 Centerline is valid? [True, True] Translation: X:238.48, Y:-3.76, Z:-18.82 [[ 4.72566494e-01 -8.74831139e-01 -1.06542890e-01 2.38478342e+02] [ 8.52115440e-01 4.84419781e-01 -1.98082691e-01 -3.75954623e+00] [ 2.24900390e-01 2.82040122e-03 9.74377678e-01 -1.88237102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.346875 meters 0.020929765842698463 Centerline is valid? [True, True] Translation: X:238.49, Y:-3.73, Z:-18.82 [[ 4.74443755e-01 -8.73857294e-01 -1.06191117e-01 2.38489238e+02] [ 8.51238356e-01 4.86171045e-01 -1.97562586e-01 -3.73473258e+00] [ 2.24268553e-01 3.33838366e-03 9.74521663e-01 -1.88165281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37687500000004 meters 0.021429831052597412 Centerline is valid? [True, True] Translation: X:238.50, Y:-3.71, Z:-18.81 [[ 4.76285702e-01 -8.72898406e-01 -1.05831480e-01 2.38498716e+02] [ 8.50382618e-01 4.87886906e-01 -1.97017183e-01 -3.70943608e+00] [ 2.23609778e-01 3.83921642e-03 9.74671189e-01 -1.88100800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.406875 meters 0.022235032192796517 Centerline is valid? [True, True] Translation: X:238.51, Y:-3.68, Z:-18.80 [[ 4.80276575e-01 -8.70815411e-01 -1.04952041e-01 2.38506150e+02] [ 8.48599899e-01 4.91586375e-01 -1.95502040e-01 -3.68162756e+00] [ 2.21839183e-01 4.83275833e-03 9.75071290e-01 -1.88034144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43687500000004 meters 0.022764881034091668 Centerline is valid? [True, True] Translation: X:238.52, Y:-3.66, Z:-18.80 [[ 4.82391066e-01 -8.69641842e-01 -1.04985362e-01 2.38516645e+02] [ 8.47355864e-01 4.93653201e-01 -1.95689952e-01 -3.65562268e+00] [ 2.22006530e-01 5.43912240e-03 9.75030008e-01 -1.87979079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.466875 meters 0.023664246646993688 Centerline is valid? [True, True] Translation: X:238.53, Y:-3.63, Z:-18.79 [[ 4.84646256e-01 -8.68372937e-01 -1.05102088e-01 2.38526145e+02] [ 8.45978462e-01 4.95874298e-01 -1.96033471e-01 -3.62997228e+00] [ 2.22347585e-01 6.09278534e-03 9.74948424e-01 -1.87925389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.496875 meters 0.023259124879125948 Centerline is valid? [True, True] Translation: X:238.54, Y:-3.60, Z:-18.79 [[ 4.86221320e-01 -8.67464593e-01 -1.05328101e-01 2.38537893e+02] [ 8.44931943e-01 4.97455583e-01 -1.96539955e-01 -3.60446066e+00] [ 2.22887504e-01 6.56683918e-03 9.74822054e-01 -1.87867139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.526875 meters 0.025603805031313417 Centerline is valid? [True, True] Translation: X:238.54, Y:-3.58, Z:-18.78 [[ 4.89410557e-01 -8.65606727e-01 -1.05840920e-01 2.38543308e+02] [ 8.42778249e-01 5.00667993e-01 -1.97626880e-01 -3.57686601e+00] [ 2.24058317e-01 7.52025586e-03 9.74546723e-01 -1.87833511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.556875 meters 0.025048798235934453 Centerline is valid? [True, True] Translation: X:238.56, Y:-3.55, Z:-18.78 [[ 4.90859692e-01 -8.64755957e-01 -1.06084392e-01 2.38556023e+02] [ 8.41777328e-01 5.02128894e-01 -1.98185528e-01 -3.55243098e+00] [ 2.24650154e-01 7.98185142e-03 9.74406793e-01 -1.87776877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.586875 meters 0.025530228782579455 Centerline is valid? [True, True] Translation: X:238.57, Y:-3.53, Z:-18.77 [[ 4.92197119e-01 -8.63959285e-01 -1.06378333e-01 2.38567356e+02] [ 8.40800957e-01 5.03490901e-01 -1.98873487e-01 -3.52686427e+00] [ 2.25379118e-01 8.44195322e-03 9.74234564e-01 -1.87723183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.616875 meters 0.025844360437531386 Centerline is valid? [True, True] Translation: X:238.58, Y:-3.50, Z:-18.77 [[ 4.92917133e-01 -8.63518251e-01 -1.06625181e-01 2.38579009e+02] [ 8.40210228e-01 5.04241974e-01 -1.99466299e-01 -3.50167583e+00] [ 2.26007682e-01 8.73278846e-03 9.74086375e-01 -1.87667812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.646875 meters 0.026589209230507664 Centerline is valid? [True, True] Translation: X:238.59, Y:-3.48, Z:-18.76 [[ 4.93985698e-01 -8.62874685e-01 -1.06889698e-01 2.38590648e+02] [ 8.39403655e-01 5.05335639e-01 -2.00093466e-01 -3.47563425e+00] [ 2.26670761e-01 9.11970692e-03 9.73928743e-01 -1.87615915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.676875 meters 0.02796458788593628 Centerline is valid? [True, True] Translation: X:238.60, Y:-3.45, Z:-18.76 [[ 4.93908825e-01 -8.62945571e-01 -1.06672462e-01 2.38601196e+02] [ 8.39542304e-01 5.05214289e-01 -1.99818023e-01 -3.45121571e+00] [ 2.26324530e-01 9.13584023e-03 9.74009109e-01 -1.87563691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.706875 meters 0.027393154451229227 Centerline is valid? [True, True] Translation: X:238.62, Y:-3.43, Z:-18.75 [[ 4.93392902e-01 -8.63257653e-01 -1.06534827e-01 2.38615279e+02] [ 8.39888600e-01 5.04682277e-01 -1.99707134e-01 -3.42790032e+00] [ 2.26164951e-01 9.05669537e-03 9.74046914e-01 -1.87497384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.736875 meters 0.026769029601451277 Centerline is valid? [True, True] Translation: X:238.63, Y:-3.40, Z:-18.74 [[ 4.92522727e-01 -8.63779735e-01 -1.06329364e-01 2.38629825e+02] [ 8.40482718e-01 5.03791538e-01 -1.99456481e-01 -3.40452261e+00] [ 2.25854300e-01 8.86885708e-03 9.74120721e-01 -1.87428476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.766875 meters 0.026089880350575773 Centerline is valid? [True, True] Translation: X:238.65, Y:-3.38, Z:-18.74 [[ 4.90453680e-01 -8.64986865e-01 -1.06079742e-01 2.38645845e+02] [ 8.41797960e-01 5.01724843e-01 -1.99119001e-01 -3.38210541e+00] [ 2.25458162e-01 8.36093689e-03 9.74216974e-01 -1.87361829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.796875 meters 0.02537531928361799 Centerline is valid? [True, True] Translation: X:238.66, Y:-3.36, Z:-18.73 [[ 4.88899828e-01 -8.65902377e-01 -1.05782951e-01 2.38660940e+02] [ 8.42834744e-01 5.00149290e-01 -1.98696460e-01 -3.35866913e+00] [ 2.24959004e-01 7.98511869e-03 9.74335509e-01 -1.87298949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.82687500000003 meters 0.025935866003284323 Centerline is valid? [True, True] Translation: X:238.67, Y:-3.34, Z:-18.72 [[ 4.87489728e-01 -8.66698209e-01 -1.05773247e-01 2.38673747e+02] [ 8.43623509e-01 4.98773674e-01 -1.98806934e-01 -3.33528463e+00] [ 2.25062525e-01 7.68354071e-03 9.74314027e-01 -1.87248877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.856875 meters 0.02341044439679559 Centerline is valid? [True, True] Translation: X:238.69, Y:-3.31, Z:-18.72 [[ 4.85757430e-01 -8.67642181e-01 -1.06003607e-01 2.38692988e+02] [ 8.44466676e-01 4.97135411e-01 -1.99329921e-01 -3.31376521e+00] [ 2.25645194e-01 7.30947646e-03 9.74182128e-01 -1.87178339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.88687500000003 meters 0.02436112128343359 Centerline is valid? [True, True] Translation: X:238.71, Y:-3.29, Z:-18.71 [[ 4.83808017e-01 -8.68710667e-01 -1.06167698e-01 2.38705458e+02] [ 8.45458273e-01 4.95271986e-01 -1.99764780e-01 -3.28998350e+00] [ 2.26119682e-01 6.88744354e-03 9.74075178e-01 -1.87131488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.916875 meters 0.023643661501717945 Centerline is valid? [True, True] Translation: X:238.72, Y:-3.27, Z:-18.71 [[ 4.82012801e-01 -8.69678943e-01 -1.06405804e-01 2.38721978e+02] [ 8.46322626e-01 4.93575065e-01 -2.00303940e-01 -3.26758022e+00] [ 2.26719370e-01 6.49542331e-03 9.73938467e-01 -1.87074461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.94687500000003 meters 0.022985433847113854 Centerline is valid? [True, True] Translation: X:238.74, Y:-3.25, Z:-18.70 [[ 4.77775518e-01 -8.71899231e-01 -1.07341910e-01 2.38741468e+02] [ 8.48147636e-01 4.89653724e-01 -2.02199948e-01 -3.24599507e+00] [ 2.28858345e-01 5.56439729e-03 9.73443833e-01 -1.87028893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.976875 meters 0.021654143378180314 Centerline is valid? [True, True] Translation: X:238.76, Y:-3.22, Z:-18.70 [[ 4.75157527e-01 -8.73291438e-01 -1.07644737e-01 2.38759009e+02] [ 8.49408463e-01 4.87172781e-01 -2.02898852e-01 -3.22429076e+00] [ 2.29631416e-01 4.97456597e-03 9.73264952e-01 -1.86970368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.00687500000004 meters 0.021359273390440307 Centerline is valid? [True, True] Translation: X:238.78, Y:-3.20, Z:-18.69 [[ 4.70482899e-01 -8.75688793e-01 -1.08696731e-01 2.38776224e+02] [ 8.51360096e-01 4.82860014e-01 -2.05017544e-01 -3.20268604e+00] [ 2.32016870e-01 3.91718928e-03 9.72703874e-01 -1.86945496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.036875 meters 0.020486520242684703 Centerline is valid? [True, True] Translation: X:238.79, Y:-3.18, Z:-18.69 [[ 4.67952372e-01 -8.77013138e-01 -1.08942801e-01 2.38793761e+02] [ 8.52585210e-01 4.80454946e-01 -2.05576031e-01 -3.18083525e+00] [ 2.32634988e-01 3.31677061e-03 9.72558462e-01 -1.86876239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06687500000004 meters 0.020160412240944794 Centerline is valid? [True, True] Translation: X:238.81, Y:-3.16, Z:-18.68 [[ 4.65524436e-01 -8.78287066e-01 -1.09081754e-01 2.38810058e+02] [ 8.53796372e-01 4.78125758e-01 -2.05979404e-01 -3.15912912e+00] [ 2.33063843e-01 2.75484016e-03 9.72457534e-01 -1.86818080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.096875 meters 0.019774970285045185 Centerline is valid? [True, True] Translation: X:238.83, Y:-3.14, Z:-18.68 [[ 4.62919029e-01 -8.79684266e-01 -1.08910810e-01 2.38826994e+02] [ 8.55275265e-01 4.75553467e-01 -2.05798740e-01 -3.13686173e+00] [ 2.32830827e-01 2.11943079e-03 9.72514943e-01 -1.86753122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12687500000004 meters 0.01916580424102296 Centerline is valid? [True, True] Translation: X:238.85, Y:-3.12, Z:-18.67 [[ 4.58067116e-01 -8.82277061e-01 -1.08451392e-01 2.38847204e+02] [ 8.58115526e-01 4.70729680e-01 -2.05064167e-01 -3.11683888e+00] [ 2.31974700e-01 8.69328316e-04 9.72721431e-01 -1.86681673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.156875 meters 0.01929899145192483 Centerline is valid? [True, True] Translation: X:238.86, Y:-3.09, Z:-18.66 [[ 4.56046797e-01 -8.83324612e-01 -1.08438684e-01 2.38863546e+02] [ 8.59166013e-01 4.68761632e-01 -2.05173815e-01 -3.09473207e+00] [ 2.32066975e-01 4.02028837e-04 9.72699726e-01 -1.86622905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18687500000004 meters 0.01911957442709268 Centerline is valid? [True, True] Translation: X:238.88, Y:-3.07, Z:-18.66 [[ 4.54029423e-01 -8.84373944e-01 -1.08351328e-01 2.38879343e+02] [ 8.60251062e-01 4.66779094e-01 -2.05147233e-01 -3.07339812e+00] [ 2.32003002e-01 -6.64651413e-05 9.72715067e-01 -1.86564156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.216875 meters 0.01922061180722505 Centerline is valid? [True, True] Translation: X:238.90, Y:-3.05, Z:-18.65 [[ 4.52559388e-01 -8.85127355e-01 -1.08349275e-01 2.38895140e+02] [ 8.60991812e-01 4.65348707e-01 -2.05289260e-01 -3.05204964e+00] [ 2.32127335e-01 -3.82256337e-04 9.72685332e-01 -1.86509078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.246875 meters 0.019285422265725785 Centerline is valid? [True, True] Translation: X:238.91, Y:-3.03, Z:-18.64 [[ 4.51624564e-01 -8.85606266e-01 -1.08336489e-01 2.38910751e+02] [ 8.61455629e-01 4.64436464e-01 -2.05409275e-01 -3.02984194e+00] [ 2.32227157e-01 -5.59203507e-04 9.72661418e-01 -1.86442554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.276875 meters 0.018820264994943246 Centerline is valid? [True, True] Translation: X:238.93, Y:-3.01, Z:-18.64 [[ 4.51037742e-01 -8.85988884e-01 -1.07650602e-01 2.38928442e+02] [ 8.62125927e-01 4.63705969e-01 -2.04244121e-01 -3.00922549e+00] [ 2.30876248e-01 -6.86567588e-04 9.72982881e-01 -1.86367771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.306875 meters 0.018714867854233683 Centerline is valid? [True, True] Translation: X:238.94, Y:-2.99, Z:-18.63 [[ 4.51470941e-01 -8.85800172e-01 -1.07387359e-01 2.38942351e+02] [ 8.62017259e-01 4.64066572e-01 -2.03883453e-01 -2.98657346e+00] [ 2.30434881e-01 -5.22302829e-04 9.73087608e-01 -1.86307345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.336875 meters 0.018669354934029707 Centerline is valid? [True, True] Translation: X:238.96, Y:-2.96, Z:-18.62 [[ 4.52391202e-01 -8.85359042e-01 -1.07152076e-01 2.38955365e+02] [ 8.61636087e-01 4.64907856e-01 -2.03577845e-01 -2.96323732e+00] [ 2.30055328e-01 -2.29269450e-04 9.73177524e-01 -1.86245974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.366875 meters 0.018640426023918938 Centerline is valid? [True, True] Translation: X:238.97, Y:-2.94, Z:-18.62 [[ 4.53783501e-01 -8.84667624e-01 -1.06975372e-01 2.38967347e+02] [ 8.60969776e-01 4.66222220e-01 -2.03390970e-01 -2.93997972e+00] [ 2.29807701e-01 1.92904693e-04 9.73236037e-01 -1.86196204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.396875 meters 0.01864360167856597 Centerline is valid? [True, True] Translation: X:238.98, Y:-2.92, Z:-18.61 [[ 4.55719300e-01 -8.83673989e-01 -1.06958874e-01 2.38979120e+02] [ 8.59919655e-01 4.68102220e-01 -2.03515353e-01 -2.91588150e+00] [ 2.29908911e-01 7.69836104e-04 9.73211847e-01 -1.86142154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.426875 meters 0.019421325534661724 Centerline is valid? [True, True] Translation: X:238.99, Y:-2.89, Z:-18.61 [[ 4.60746773e-01 -8.81096563e-01 -1.06682976e-01 2.38989548e+02] [ 8.57362773e-01 4.72931617e-01 -2.03137295e-01 -2.89158378e+00] [ 2.29437325e-01 2.12884118e-03 9.73321109e-01 -1.86083575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.456875 meters 0.01923077765830722 Centerline is valid? [True, True] Translation: X:239.00, Y:-2.87, Z:-18.60 [[ 4.63080581e-01 -8.79921296e-01 -1.06277414e-01 2.39002455e+02] [ 8.56307011e-01 4.75111403e-01 -2.02502981e-01 -2.86768652e+00] [ 2.28680297e-01 2.76910375e-03 9.73497639e-01 -1.85995139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.486875 meters 0.019582397261998053 Centerline is valid? [True, True] Translation: X:239.01, Y:-2.84, Z:-18.59 [[ 4.65473820e-01 -8.78695510e-01 -1.05963788e-01 2.39014554e+02] [ 8.55158257e-01 4.77370331e-01 -2.02044358e-01 -2.84289150e+00] [ 2.28119439e-01 3.43055058e-03 9.73627112e-01 -1.85923912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.516875 meters 0.021172209485651853 Centerline is valid? [True, True] Translation: X:239.02, Y:-2.82, Z:-18.59 [[ 4.70940105e-01 -8.75843229e-01 -1.05423228e-01 2.39023573e+02] [ 8.52445282e-01 4.82571229e-01 -2.01151810e-01 -2.81839655e+00] [ 2.27051668e-01 4.86292125e-03 9.73870573e-01 -1.85862944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.546875 meters 0.021919502793483706 Centerline is valid? [True, True] Translation: X:239.03, Y:-2.79, Z:-18.58 [[ 4.73463827e-01 -8.74484032e-01 -1.05402476e-01 2.39034781e+02] [ 8.51032392e-01 4.85022222e-01 -2.01239439e-01 -2.79345501e+00] [ 2.27103219e-01 5.57867309e-03 9.73854715e-01 -1.85799826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57687500000003 meters 0.022261514615277724 Centerline is valid? [True, True] Translation: X:239.05, Y:-2.77, Z:-18.57 [[ 4.75703355e-01 -8.73261530e-01 -1.05454343e-01 2.39047385e+02] [ 8.49724765e-01 4.87211884e-01 -2.01475565e-01 -2.76821194e+00] [ 2.27319470e-01 6.23543512e-03 9.73800276e-01 -1.85738592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.606875 meters 0.022917945876602952 Centerline is valid? [True, True] Translation: X:239.06, Y:-2.74, Z:-18.57 [[ 4.77696863e-01 -8.72170609e-01 -1.05471020e-01 2.39059386e+02] [ 8.48569580e-01 4.89154257e-01 -2.01637745e-01 -2.74297740e+00] [ 2.27454114e-01 6.82221905e-03 9.73764902e-01 -1.85677764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63687500000003 meters 0.023550075057302614 Centerline is valid? [True, True] Translation: X:239.07, Y:-2.72, Z:-18.56 [[ 4.78792289e-01 -8.71580066e-01 -1.05385632e-01 2.39071595e+02] [ 8.47973654e-01 4.90200874e-01 -2.01603039e-01 -2.71954742e+00] [ 2.27373319e-01 7.16174082e-03 9.73781332e-01 -1.85626032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.666875 meters 0.023346137712938243 Centerline is valid? [True, True] Translation: X:239.09, Y:-2.70, Z:-18.56 [[ 4.76747322e-01 -8.72698983e-01 -1.05396757e-01 2.39085466e+02] [ 8.49099685e-01 4.88213183e-01 -2.01686920e-01 -2.69653330e+00] [ 2.27468056e-01 6.66134578e-03 9.73762759e-01 -1.85568055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69687500000003 meters 0.022903419453356454 Centerline is valid? [True, True] Translation: X:239.10, Y:-2.67, Z:-18.55 [[ 4.74942224e-01 -8.73694313e-01 -1.05300198e-01 2.39099907e+02] [ 8.50143028e-01 4.86435541e-01 -2.01586944e-01 -2.67345999e+00] [ 2.27347125e-01 6.22192241e-03 9.73793906e-01 -1.85501205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.726875 meters 0.02169402134599389 Centerline is valid? [True, True] Translation: X:239.12, Y:-2.65, Z:-18.54 [[ 4.73122564e-01 -8.74723652e-01 -1.04945569e-01 2.39115497e+02] [ 8.51325952e-01 4.84587631e-01 -2.01044650e-01 -2.65018819e+00] [ 2.26713835e-01 5.77587392e-03 9.73944288e-01 -1.85423034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75687500000004 meters 0.021185166281011747 Centerline is valid? [True, True] Translation: X:239.13, Y:-2.63, Z:-18.54 [[ 4.71413614e-01 -8.75686003e-01 -1.04609888e-01 2.39130564e+02] [ 8.52433961e-01 4.82851236e-01 -2.00526872e-01 -2.62624770e+00] [ 2.26109589e-01 5.35807603e-03 9.74087134e-01 -1.85357432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.786875 meters 0.021417814587448715 Centerline is valid? [True, True] Translation: X:239.14, Y:-2.60, Z:-18.53 [[ 4.70057773e-01 -8.76430759e-01 -1.04473991e-01 2.39141903e+02] [ 8.53228638e-01 4.81501361e-01 -2.00392939e-01 -2.60181858e+00] [ 2.25934905e-01 5.05605723e-03 9.74129281e-01 -1.85311278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81687500000004 meters 0.02052907570331046 Centerline is valid? [True, True] Translation: X:239.16, Y:-2.58, Z:-18.52 [[ 4.69108088e-01 -8.76929820e-01 -1.04554736e-01 2.39156782e+02] [ 8.53670611e-01 4.80593571e-01 -2.00689579e-01 -2.57865345e+00] [ 2.26239010e-01 4.88979965e-03 9.74059546e-01 -1.85249134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.846875 meters 0.02052907570331046 Centerline is valid? [True, True] Translation: X:239.17, Y:-2.55, Z:-18.52 [[ 4.68861432e-01 -8.77068649e-01 -1.04496616e-01 2.39169148e+02] [ 8.53806110e-01 4.80340165e-01 -2.00719838e-01 -2.55466024e+00] [ 2.26238999e-01 4.88994143e-03 9.74059548e-01 -1.85189609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87687500000004 meters 0.020584346537785216 Centerline is valid? [True, True] Translation: X:239.18, Y:-2.53, Z:-18.51 [[ 4.67979234e-01 -8.77537019e-01 -1.04518973e-01 2.39181365e+02] [ 8.54242945e-01 4.79485520e-01 -2.00904522e-01 -2.53040936e+00] [ 2.26416489e-01 4.73454872e-03 9.74019074e-01 -1.85138955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.906875 meters 0.020149776233892948 Centerline is valid? [True, True] Translation: X:239.19, Y:-2.51, Z:-18.51 [[ 4.67725988e-01 -8.77670541e-01 -1.04531444e-01 2.39194425e+02] [ 8.54341308e-01 4.79241020e-01 -2.01069578e-01 -2.50685441e+00] [ 2.26568601e-01 4.73993643e-03 9.73983677e-01 -1.85076278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93687500000004 meters 0.020583705043239964 Centerline is valid? [True, True] Translation: X:239.21, Y:-2.48, Z:-18.50 [[ 4.67894618e-01 -8.77603481e-01 -1.04339626e-01 2.39206300e+02] [ 8.54325167e-01 4.79362857e-01 -2.00847606e-01 -2.48338133e+00] [ 2.26281100e-01 4.83554514e-03 9.74050041e-01 -1.85023593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.966875 meters 0.020820506421859356 Centerline is valid? [True, True] Translation: X:239.22, Y:-2.46, Z:-18.50 [[ 4.68601130e-01 -8.77195629e-01 -1.04598324e-01 2.39218933e+02] [ 8.53765884e-01 4.80106080e-01 -2.01449663e-01 -2.45924381e+00] [ 2.26929056e-01 5.09705926e-03 9.73897953e-01 -1.84953396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.996875 meters 0.02058484046798685 Centerline is valid? [True, True] Translation: X:239.23, Y:-2.44, Z:-18.49 [[ 4.68573422e-01 -8.77199524e-01 -1.04689753e-01 2.39232336e+02] [ 8.53697602e-01 4.80098241e-01 -2.01757487e-01 -2.43500015e+00] [ 2.27242937e-01 5.16480492e-03 9.73824405e-01 -1.84889612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.026875 meters 0.021004879910517867 Centerline is valid? [True, True] Translation: X:239.24, Y:-2.41, Z:-18.48 [[ 4.68749741e-01 -8.77109588e-01 -1.04653957e-01 2.39243745e+02] [ 8.53588590e-01 4.80261312e-01 -2.01830598e-01 -2.41088712e+00] [ 2.27288799e-01 5.27661658e-03 9.73813103e-01 -1.84834298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.056875 meters 0.02112899409363062 Centerline is valid? [True, True] Translation: X:239.26, Y:-2.39, Z:-18.48 [[ 4.69011872e-01 -8.77014783e-01 -1.04273368e-01 2.39255904e+02] [ 8.53630239e-01 4.80433325e-01 -2.01244217e-01 -2.38615513e+00] [ 2.26590554e-01 5.37502701e-03 9.73975272e-01 -1.84775847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.086875 meters 0.02147367265398673 Centerline is valid? [True, True] Translation: X:239.27, Y:-2.36, Z:-18.47 [[ 4.68871862e-01 -8.77094160e-01 -1.04235363e-01 2.39268636e+02] [ 8.53696275e-01 4.80288075e-01 -2.01310792e-01 -2.36143244e+00] [ 2.26631522e-01 5.40362455e-03 9.73965581e-01 -1.84716326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.116875 meters 0.02138715923786727 Centerline is valid? [True, True] Translation: X:239.28, Y:-2.34, Z:-18.47 [[ 4.68612322e-01 -8.77272848e-01 -1.03898232e-01 2.39280939e+02] [ 8.54000327e-01 4.79962022e-01 -2.00798154e-01 -2.33689046e+00] [ 2.26021974e-01 5.36736443e-03 9.74107416e-01 -1.84652010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.146875 meters 0.02116651685233615 Centerline is valid? [True, True] Translation: X:239.30, Y:-2.31, Z:-18.46 [[ 4.67904319e-01 -8.77649746e-01 -1.03906070e-01 2.39295079e+02] [ 8.54352466e-01 4.79273782e-01 -2.00944035e-01 -2.31311334e+00] [ 2.26157936e-01 5.25017472e-03 9.74076498e-01 -1.84595648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.176875 meters 0.020618766360466702 Centerline is valid? [True, True] Translation: X:239.31, Y:-2.29, Z:-18.45 [[ 4.66381516e-01 -8.78456609e-01 -1.03933953e-01 2.39308828e+02] [ 8.55133533e-01 4.77796692e-01 -2.01139163e-01 -2.28931862e+00] [ 2.26351326e-01 4.93017906e-03 9.74033249e-01 -1.84531133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.206875 meters 0.020282894232199318 Centerline is valid? [True, True] Translation: X:239.32, Y:-2.27, Z:-18.45 [[ 4.64957836e-01 -8.79222509e-01 -1.03836360e-01 2.39322775e+02] [ 8.55930097e-01 4.76388936e-01 -2.01090158e-01 -2.26542959e+00] [ 2.26269486e-01 4.62177899e-03 9.74053776e-01 -1.84468581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.236875 meters 0.019986778336145313 Centerline is valid? [True, True] Translation: X:239.34, Y:-2.24, Z:-18.44 [[ 4.63725934e-01 -8.79868010e-01 -1.03877539e-01 2.39336451e+02] [ 8.56540099e-01 4.75197981e-01 -2.01310548e-01 -2.24206380e+00] [ 2.26489108e-01 4.37764390e-03 9.74003861e-01 -1.84404449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.266875 meters 0.019663738846618477 Centerline is valid? [True, True] Translation: X:239.35, Y:-2.22, Z:-18.43 [[ 4.62338348e-01 -8.80619146e-01 -1.03697498e-01 2.39350034e+02] [ 8.57359141e-01 4.73807287e-01 -2.01101861e-01 -2.21775491e+00] [ 2.26226780e-01 4.07110416e-03 9.74066153e-01 -1.84344032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.296875 meters 0.019564520323680577 Centerline is valid? [True, True] Translation: X:239.36, Y:-2.19, Z:-18.43 [[ 4.61301137e-01 -8.81169732e-01 -1.03639591e-01 2.39362671e+02] [ 8.57917688e-01 4.72784260e-01 -2.01127530e-01 -2.19493937e+00] [ 2.26226660e-01 3.86611957e-03 9.74067016e-01 -1.84286043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.32687500000003 meters 0.019427536008913053 Centerline is valid? [True, True] Translation: X:239.38, Y:-2.17, Z:-18.42 [[ 4.59838852e-01 -8.81919977e-01 -1.03756375e-01 2.39375944e+02] [ 8.58609697e-01 4.71385768e-01 -2.01456811e-01 -2.17175032e+00] [ 2.26578065e-01 3.55143901e-03 9.73986534e-01 -1.84229769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.356875 meters 0.019173603585143906 Centerline is valid? [True, True] Translation: X:239.39, Y:-2.15, Z:-18.42 [[ 4.58881713e-01 -8.82396312e-01 -1.03943836e-01 2.39389275e+02] [ 8.58988509e-01 4.70494816e-01 -2.01924167e-01 -2.14732028e+00] [ 2.27082176e-01 3.37274661e-03 9.73869760e-01 -1.84171542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.38687500000003 meters 0.018878977542393476 Centerline is valid? [True, True] Translation: X:239.40, Y:-2.12, Z:-18.41 [[ 4.57792961e-01 -8.82950776e-01 -1.04036206e-01 2.39402292e+02] [ 8.59482312e-01 4.69454886e-01 -2.02243086e-01 -2.12315984e+00] [ 2.27410995e-01 3.16818227e-03 9.73793716e-01 -1.84115279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.416875 meters 0.018681196124142894 Centerline is valid? [True, True] Translation: X:239.42, Y:-2.10, Z:-18.41 [[ 4.56554149e-01 -8.83569001e-01 -1.04231136e-01 2.39415373e+02] [ 8.59994059e-01 4.68291800e-01 -2.02763428e-01 -2.09886019e+00] [ 2.27966066e-01 2.93432628e-03 9.73664656e-01 -1.84055683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.44687500000003 meters 0.018467427801529438 Centerline is valid? [True, True] Translation: X:239.43, Y:-2.07, Z:-18.40 [[ 4.55026403e-01 -8.84357658e-01 -1.04223341e-01 2.39429036e+02] [ 8.60773462e-01 4.66802670e-01 -2.02889908e-01 -2.07469447e+00] [ 2.28078978e-01 2.60757926e-03 9.73639143e-01 -1.83993171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.476875 meters 0.01830402881270206 Centerline is valid? [True, True] Translation: X:239.44, Y:-2.05, Z:-18.39 [[ 4.53594704e-01 -8.85104515e-01 -1.04124169e-01 2.39442081e+02] [ 8.61552151e-01 4.65386633e-01 -2.02837798e-01 -2.05097143e+00] [ 2.27990647e-01 2.29774920e-03 9.73660611e-01 -1.83929970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.50687500000004 meters 0.018291993044076662 Centerline is valid? [True, True] Translation: X:239.46, Y:-2.03, Z:-18.39 [[ 4.52260474e-01 -8.85796967e-01 -1.04039400e-01 2.39455512e+02] [ 8.62268658e-01 4.64068611e-01 -2.02812933e-01 -2.02688867e+00] [ 2.27932501e-01 2.01435904e-03 9.73674852e-01 -1.83864367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.536875 meters 0.018099346844206075 Centerline is valid? [True, True] Translation: X:239.47, Y:-2.00, Z:-18.38 [[ 4.50645251e-01 -8.86631827e-01 -1.03936812e-01 2.39468722e+02] [ 8.63139703e-01 4.62472979e-01 -2.02752551e-01 -2.00289190e+00] [ 2.27834832e-01 1.65748475e-03 9.73698384e-01 -1.83797394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56687500000004 meters 0.018085453602594455 Centerline is valid? [True, True] Translation: X:239.48, Y:-1.98, Z:-18.37 [[ 4.48014608e-01 -8.87994651e-01 -1.03674542e-01 2.39482344e+02] [ 8.64625825e-01 4.59852628e-01 -2.02380195e-01 -1.97941948e+00] [ 2.27387541e-01 1.02959717e-03 9.73803803e-01 -1.83738015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.596875 meters 0.017975052970128535 Centerline is valid? [True, True] Translation: X:239.50, Y:-1.95, Z:-18.37 [[ 4.46344362e-01 -8.88835912e-01 -1.03669821e-01 2.39495444e+02] [ 8.65459101e-01 4.58225137e-01 -2.02509922e-01 -1.95478955e+00] [ 2.27502209e-01 6.67171392e-04 9.73777336e-01 -1.83677281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62687500000004 meters 0.018147728706439693 Centerline is valid? [True, True] Translation: X:239.51, Y:-1.93, Z:-18.36 [[ 4.45033580e-01 -8.89482416e-01 -1.03760029e-01 2.39508003e+02] [ 8.66048652e-01 4.56969220e-01 -2.02827179e-01 -1.93136572e+00] [ 2.27826349e-01 4.03672643e-04 9.73701696e-01 -1.83624087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.656875 meters 0.018251872009202055 Centerline is valid? [True, True] Translation: X:239.52, Y:-1.91, Z:-18.36 [[ 4.43630507e-01 -8.90145347e-01 -1.04082827e-01 2.39521206e+02] [ 8.66546526e-01 4.55676687e-01 -2.03607159e-01 -1.90711790e+00] [ 2.28668083e-01 1.33735015e-04 9.73504437e-01 -1.83567734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68687500000004 meters 0.018105294095665105 Centerline is valid? [True, True] Translation: X:239.53, Y:-1.88, Z:-18.35 [[ 4.41977798e-01 -8.90959090e-01 -1.04151454e-01 2.39533718e+02] [ 8.67317162e-01 4.54083529e-01 -2.03884990e-01 -1.88387721e+00] [ 2.28946645e-01 -2.19704195e-04 9.73438948e-01 -1.83520805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.716875 meters 0.01841891355833681 Centerline is valid? [True, True] Translation: X:239.55, Y:-1.86, Z:-18.35 [[ 4.39783624e-01 -8.92015029e-01 -1.04400918e-01 2.39547006e+02] [ 8.68253521e-01 4.52005191e-01 -2.04516822e-01 -1.85974165e+00] [ 2.29621835e-01 -7.03315723e-04 9.73279671e-01 -1.83469390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.746875 meters 0.01869716083495555 Centerline is valid? [True, True] Translation: X:239.56, Y:-1.84, Z:-18.34 [[ 4.35555058e-01 -8.94046758e-01 -1.04748200e-01 2.39561361e+02] [ 8.70148243e-01 4.47970392e-01 -2.05340117e-01 -1.83613575e+00] [ 2.30507758e-01 -1.70953540e-03 9.73068986e-01 -1.83407676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.776875 meters 0.019006177016217162 Centerline is valid? [True, True] Translation: X:239.57, Y:-1.81, Z:-18.33 [[ 4.33433323e-01 -8.95098166e-01 -1.04569729e-01 2.39574859e+02] [ 8.71278032e-01 4.45863708e-01 -2.05134454e-01 -1.81180264e+00] [ 2.30239321e-01 -2.19719967e-03 9.73131557e-01 -1.83345357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.806875 meters 0.019507491537280403 Centerline is valid? [True, True] Translation: X:239.59, Y:-1.79, Z:-18.33 [[ 4.28814374e-01 -8.97360487e-01 -1.04222786e-01 2.39588511e+02] [ 8.73731751e-01 4.41285708e-01 -2.04596557e-01 -1.78789124e+00] [ 2.29588891e-01 -3.32881252e-03 9.73282004e-01 -1.83272731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.836875 meters 0.02015247578860424 Centerline is valid? [True, True] Translation: X:239.60, Y:-1.76, Z:-18.32 [[ 4.26982119e-01 -8.98250344e-01 -1.04079730e-01 2.39601279e+02] [ 8.74679601e-01 4.39468269e-01 -2.04458398e-01 -1.76422953e+00] [ 2.29394565e-01 -3.73633647e-03 9.73326345e-01 -1.83218054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.866875 meters 0.019918809106367962 Centerline is valid? [True, True] Translation: X:239.61, Y:-1.74, Z:-18.31 [[ 4.25173051e-01 -8.99115864e-01 -1.04012209e-01 2.39612419e+02] [ 8.75566892e-01 4.37691190e-01 -2.04472587e-01 -1.73897328e+00] [ 2.29369774e-01 -4.13341297e-03 9.73330582e-01 -1.83146375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.896875 meters 0.020829136972215227 Centerline is valid? [True, True] Translation: X:239.63, Y:-1.72, Z:-18.31 [[ 4.24095711e-01 -8.99617360e-01 -1.04074172e-01 2.39625491e+02] [ 8.76023447e-01 4.36657422e-01 -2.04727173e-01 -1.71568201e+00] [ 2.29620878e-01 -4.34749934e-03 9.73270441e-01 -1.83105728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.926875 meters 0.020447475355141454 Centerline is valid? [True, True] Translation: X:239.64, Y:-1.69, Z:-18.30 [[ 4.22949546e-01 -9.00159844e-01 -1.04047767e-01 2.39635993e+02] [ 8.76578203e-01 4.35535306e-01 -2.04742888e-01 -1.68965357e+00] [ 2.29617802e-01 -4.61009297e-03 9.73269958e-01 -1.83037912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.956875 meters 0.02052310414800729 Centerline is valid? [True, True] Translation: X:239.65, Y:-1.66, Z:-18.30 [[ 4.22586224e-01 -9.00327107e-01 -1.04076820e-01 2.39647407e+02] [ 8.76704763e-01 4.35189110e-01 -2.04937055e-01 -1.66424098e+00] [ 2.29803484e-01 -4.64106748e-03 9.73225986e-01 -1.82983669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.986875 meters 0.020466384875531193 Centerline is valid? [True, True] Translation: X:239.66, Y:-1.64, Z:-18.29 [[ 4.23179287e-01 -9.00042934e-01 -1.04124962e-01 2.39656492e+02] [ 8.76356210e-01 4.35778771e-01 -2.05174698e-01 -1.63770479e+00] [ 2.30041486e-01 -4.42487465e-03 9.73170764e-01 -1.82926679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.016875 meters 0.020050646779608088 Centerline is valid? [True, True] Translation: X:239.67, Y:-1.61, Z:-18.29 [[ 4.24112783e-01 -8.99619446e-01 -1.03986534e-01 2.39666346e+02] [ 8.75950513e-01 4.36655279e-01 -2.05043573e-01 -1.61226370e+00] [ 2.29867455e-01 -4.12545755e-03 9.73213201e-01 -1.82862395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.046875 meters 0.019836808996683115 Centerline is valid? [True, True] Translation: X:239.68, Y:-1.59, Z:-18.28 [[ 4.25630437e-01 -8.98915213e-01 -1.03875745e-01 2.39676294e+02] [ 8.75243193e-01 4.38107206e-01 -2.04966898e-01 -1.58636574e+00] [ 2.29756575e-01 -3.67638822e-03 9.73241183e-01 -1.82795773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07687500000003 meters 0.019716125100622636 Centerline is valid? [True, True] Translation: X:239.69, Y:-1.56, Z:-18.27 [[ 4.27408748e-01 -8.98084238e-01 -1.03761568e-01 2.39685504e+02] [ 8.74408802e-01 4.39812109e-01 -2.04876928e-01 -1.56108114e+00] [ 2.29632334e-01 -3.16383746e-03 9.73272306e-01 -1.82745701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.106875 meters 0.018933222133612888 Centerline is valid? [True, True] Translation: X:239.69, Y:-1.53, Z:-18.27 [[ 4.32505160e-01 -8.95649078e-01 -1.03691926e-01 2.39691248e+02] [ 8.71911791e-01 4.44757727e-01 -2.04842362e-01 -1.53264692e+00] [ 2.29584658e-01 -1.81483477e-03 9.73287004e-01 -1.82688149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13687500000003 meters 0.01882731423446488 Centerline is valid? [True, True] Translation: X:239.70, Y:-1.51, Z:-18.26 [[ 4.35227231e-01 -8.94358909e-01 -1.03437899e-01 2.39699635e+02] [ 8.70683811e-01 4.47348802e-01 -2.04422969e-01 -1.50607056e+00] [ 2.29100324e-01 -1.09126129e-03 9.73402204e-01 -1.82622068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.166875 meters 0.018571091782150946 Centerline is valid? [True, True] Translation: X:239.71, Y:-1.48, Z:-18.26 [[ 4.37752500e-01 -8.93161054e-01 -1.03131377e-01 2.39708151e+02] [ 8.69561593e-01 4.49736785e-01 -2.03959458e-01 -1.48041907e+00] [ 2.28550619e-01 -3.95321777e-04 9.73531950e-01 -1.82566375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19687500000003 meters 0.01857623044008375 Centerline is valid? [True, True] Translation: X:239.72, Y:-1.45, Z:-18.25 [[ 4.40006492e-01 -8.92086568e-01 -1.02838910e-01 2.39717302e+02] [ 8.68559697e-01 4.51864472e-01 -2.03525309e-01 -1.45432053e+00] [ 2.28031444e-01 2.30725191e-04 9.73653741e-01 -1.82500203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.226875 meters 0.019076597607767688 Centerline is valid? [True, True] Translation: X:239.72, Y:-1.43, Z:-18.24 [[ 4.44507741e-01 -8.89872963e-01 -1.02659526e-01 2.39723889e+02] [ 8.66338565e-01 4.56206155e-01 -2.03306259e-01 -1.42691076e+00] [ 2.27750651e-01 1.43329956e-03 9.73718433e-01 -1.82437709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25687500000004 meters 0.01923590463650113 Centerline is valid? [True, True] Translation: X:239.73, Y:-1.40, Z:-18.24 [[ 4.46396257e-01 -8.88934272e-01 -1.02597470e-01 2.39732976e+02] [ 8.65383386e-01 4.58030613e-01 -2.03272117e-01 -1.40201460e+00] [ 2.27688334e-01 1.95376617e-03 9.73732101e-01 -1.82378275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.286875 meters 0.019383796922244026 Centerline is valid? [True, True] Translation: X:239.74, Y:-1.38, Z:-18.23 [[ 4.48068280e-01 -8.88111910e-01 -1.02430712e-01 2.39743155e+02] [ 8.64592747e-01 4.59620918e-01 -2.03046777e-01 -1.37598051e+00] [ 2.27407559e-01 2.41796996e-03 9.73796671e-01 -1.82318110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31687500000004 meters 0.01986911505513557 Centerline is valid? [True, True] Translation: X:239.75, Y:-1.35, Z:-18.23 [[ 4.49486410e-01 -8.87381948e-01 -1.02543867e-01 2.39752754e+02] [ 8.63759693e-01 4.61026167e-01 -2.03406160e-01 -1.35065862e+00] [ 2.27774360e-01 2.85504596e-03 9.73709756e-01 -1.82263866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.346875 meters 0.019953289594406752 Centerline is valid? [True, True] Translation: X:239.76, Y:-1.33, Z:-18.22 [[ 4.50809071e-01 -8.86739800e-01 -1.02292273e-01 2.39763044e+02] [ 8.63183705e-01 4.62257518e-01 -2.03056342e-01 -1.32571717e+00] [ 2.27343512e-01 3.24261770e-03 9.73809228e-01 -1.82203840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37687500000004 meters 0.020066397384429648 Centerline is valid? [True, True] Translation: X:239.77, Y:-1.30, Z:-18.21 [[ 4.52055120e-01 -8.86083130e-01 -1.02483433e-01 2.39774197e+02] [ 8.62396237e-01 4.63512140e-01 -2.03541708e-01 -1.29967813e+00] [ 2.27857189e-01 3.63074408e-03 9.73687794e-01 -1.82142655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.406875 meters 0.020776461721720298 Centerline is valid? [True, True] Translation: X:239.78, Y:-1.27, Z:-18.21 [[ 4.51703522e-01 -8.86254141e-01 -1.02554984e-01 2.39783867e+02] [ 8.62505986e-01 4.63185221e-01 -2.03820693e-01 -1.27419958e+00] [ 2.28138886e-01 3.61223753e-03 9.73621898e-01 -1.82097794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43687500000004 meters 0.020180586514696213 Centerline is valid? [True, True] Translation: X:239.80, Y:-1.25, Z:-18.20 [[ 4.51344018e-01 -8.86477179e-01 -1.02209534e-01 2.39797375e+02] [ 8.62871172e-01 4.62758780e-01 -2.03242842e-01 -1.25089749e+00] [ 2.27468500e-01 3.53878060e-03 9.73779009e-01 -1.82024995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.466875 meters 0.019975714851813386 Centerline is valid? [True, True] Translation: X:239.81, Y:-1.23, Z:-18.19 [[ 4.50257852e-01 -8.87080120e-01 -1.01768008e-01 2.39810798e+02] [ 8.63662521e-01 4.61603787e-01 -2.02506774e-01 -1.22713105e+00] [ 2.26616231e-01 3.28705101e-03 9.73978582e-01 -1.81945179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.496875 meters 0.019957616493013697 Centerline is valid? [True, True] Translation: X:239.82, Y:-1.20, Z:-18.19 [[ 4.49571320e-01 -8.87442198e-01 -1.01646316e-01 2.39821970e+02] [ 8.64056429e-01 4.60908122e-01 -2.02410947e-01 -1.20260802e+00] [ 2.26477629e-01 3.17000383e-03 9.74011209e-01 -1.81889447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.526875 meters 0.019875819383118613 Centerline is valid? [True, True] Translation: X:239.83, Y:-1.18, Z:-18.18 [[ 4.48948579e-01 -8.87750660e-01 -1.01705158e-01 2.39834842e+02] [ 8.64309712e-01 4.60314270e-01 -2.02680771e-01 -1.17851005e+00] [ 2.26746324e-01 3.08848827e-03 9.73948954e-01 -1.81823254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.556875 meters 0.019831871436929063 Centerline is valid? [True, True] Translation: X:239.85, Y:-1.15, Z:-18.18 [[ 4.48628392e-01 -8.87913931e-01 -1.01692758e-01 2.39846890e+02] [ 8.64449405e-01 4.59999353e-01 -2.02799955e-01 -1.15336753e+00] [ 2.26847508e-01 3.07357334e-03 9.73925439e-01 -1.81765387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.586875 meters 0.019917056303253317 Centerline is valid? [True, True] Translation: X:239.86, Y:-1.13, Z:-18.17 [[ 4.47546848e-01 -8.88444263e-01 -1.01826371e-01 2.39858001e+02] [ 8.64898968e-01 4.58975529e-01 -2.03202458e-01 -1.12926203e+00] [ 2.27269871e-01 2.87309692e-03 9.73827578e-01 -1.81714910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.616875 meters 0.01976349146965879 Centerline is valid? [True, True] Translation: X:239.87, Y:-1.10, Z:-18.17 [[ 4.47225622e-01 -8.88617182e-01 -1.01728793e-01 2.39870081e+02] [ 8.65086539e-01 4.58640773e-01 -2.03159843e-01 -1.10440174e+00] [ 2.27188300e-01 2.85407745e-03 9.73846667e-01 -1.81655442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.646875 meters 0.01950036280884877 Centerline is valid? [True, True] Translation: X:239.88, Y:-1.08, Z:-18.16 [[ 4.46969489e-01 -8.88738173e-01 -1.01797524e-01 2.39882779e+02] [ 8.65145199e-01 4.58406230e-01 -2.03439209e-01 -1.08048065e+00] [ 2.27468810e-01 2.86148065e-03 9.73781162e-01 -1.81584397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.676875 meters 0.01941564079678133 Centerline is valid? [True, True] Translation: X:239.89, Y:-1.06, Z:-18.15 [[ 4.46904990e-01 -8.88772263e-01 -1.01783076e-01 2.39894427e+02] [ 8.65152281e-01 4.58339804e-01 -2.03558727e-01 -1.05696213e+00] [ 2.27568586e-01 2.91355042e-03 9.73757696e-01 -1.81531648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.706875 meters 0.019524584251069343 Centerline is valid? [True, True] Translation: X:239.91, Y:-1.03, Z:-18.15 [[ 4.46498224e-01 -8.88972230e-01 -1.01821954e-01 2.39906437e+02] [ 8.65302928e-01 4.57952015e-01 -2.03791055e-01 -1.03187971e+00] [ 2.27794157e-01 2.88550912e-03 9.73705035e-01 -1.81471120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.736875 meters 0.019524584251069343 Centerline is valid? [True, True] Translation: X:239.92, Y:-1.01, Z:-18.14 [[ 4.46254513e-01 -8.89100725e-01 -1.01768418e-01 2.39918390e+02] [ 8.65428628e-01 4.57702523e-01 -2.03817786e-01 -1.00769612e+00] [ 2.27794203e-01 2.88130457e-03 9.73705037e-01 -1.81411583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.766875 meters 0.019719220373778937 Centerline is valid? [True, True] Translation: X:239.93, Y:-0.98, Z:-18.14 [[ 4.45300441e-01 -8.89574694e-01 -1.01805604e-01 2.39930529e+02] [ 8.65863583e-01 4.56781712e-01 -2.04036085e-01 -9.83337328e-01] [ 2.28008276e-01 2.70759330e-03 9.73655429e-01 -1.81352635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.796875 meters 0.01942058506874017 Centerline is valid? [True, True] Translation: X:239.94, Y:-0.96, Z:-18.13 [[ 4.44943270e-01 -8.89760576e-01 -1.01742829e-01 2.39942893e+02] [ 8.66050325e-01 4.56419704e-01 -2.04053644e-01 -9.59202110e-01] [ 2.27996320e-01 2.67788508e-03 9.73658311e-01 -1.81291090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.82687500000003 meters 0.019343293420790216 Centerline is valid? [True, True] Translation: X:239.95, Y:-0.93, Z:-18.12 [[ 4.44327649e-01 -8.90095349e-01 -1.01504734e-01 2.39954689e+02] [ 8.66471950e-01 4.55767127e-01 -2.03722080e-01 -9.34693737e-01] [ 2.27594597e-01 2.56834796e-03 9.73752588e-01 -1.81231334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.856875 meters 0.019392461924395633 Centerline is valid? [True, True] Translation: X:239.97, Y:-0.91, Z:-18.12 [[ 4.44252098e-01 -8.90141991e-01 -1.01426371e-01 2.39967093e+02] [ 8.66522695e-01 4.55675784e-01 -2.03710577e-01 -9.10007956e-01] [ 2.27548879e-01 2.61059890e-03 9.73763160e-01 -1.81167787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.88687500000003 meters 0.019297623601351236 Centerline is valid? [True, True] Translation: X:239.98, Y:-0.89, Z:-18.11 [[ 4.43613931e-01 -8.90488426e-01 -1.01178278e-01 2.39979016e+02] [ 8.66961095e-01 4.54999056e-01 -2.03357613e-01 -8.85853489e-01] [ 2.27123621e-01 2.49463950e-03 9.73862741e-01 -1.81096677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.916875 meters 0.019467300773542993 Centerline is valid? [True, True] Translation: X:239.99, Y:-0.86, Z:-18.10 [[ 4.43621549e-01 -8.90492541e-01 -1.01108635e-01 2.39990009e+02] [ 8.66964674e-01 4.54990651e-01 -2.03361160e-01 -8.62310305e-01] [ 2.27095080e-01 2.55777808e-03 9.73869233e-01 -1.81038938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.94687500000003 meters 0.01981614216967293 Centerline is valid? [True, True] Translation: X:240.00, Y:-0.84, Z:-18.10 [[ 4.43865892e-01 -8.90402920e-01 -1.00825141e-01 2.40000703e+02] [ 8.66981278e-01 4.55165505e-01 -2.02898561e-01 -8.38180851e-01] [ 2.26553598e-01 2.64624110e-03 9.73995105e-01 -1.80984611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.976875 meters 0.01961639023058079 Centerline is valid? [True, True] Translation: X:240.01, Y:-0.81, Z:-18.09 [[ 4.43973814e-01 -8.90363583e-01 -1.00697281e-01 2.40012592e+02] [ 8.66965953e-01 4.55241933e-01 -2.02792550e-01 -8.13807684e-01] [ 2.26400726e-01 2.73346790e-03 9.74030410e-01 -1.80923293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.00687500000004 meters 0.01981593450290363 Centerline is valid? [True, True] Translation: X:240.02, Y:-0.79, Z:-18.09 [[ 4.44184926e-01 -8.90268464e-01 -1.00607226e-01 2.40024420e+02] [ 8.66877583e-01 4.55427230e-01 -2.02754273e-01 -7.88543425e-01] [ 2.26325005e-01 2.84624276e-03 9.74047684e-01 -1.80864500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.036875 meters 0.02011405792724765 Centerline is valid? [True, True] Translation: X:240.04, Y:-0.76, Z:-18.08 [[ 4.44394156e-01 -8.90171673e-01 -1.00539678e-01 2.40035988e+02] [ 8.66777195e-01 4.55615663e-01 -2.02760108e-01 -7.62991561e-01] [ 2.26298757e-01 2.95990751e-03 9.74053444e-01 -1.80816446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06687500000004 meters 0.019818451143895487 Centerline is valid? [True, True] Translation: X:240.05, Y:-0.74, Z:-18.08 [[ 4.44290979e-01 -8.90214676e-01 -1.00614892e-01 2.40048121e+02] [ 8.66752795e-01 4.55531327e-01 -2.03053692e-01 -7.38863393e-01] [ 2.26594612e-01 3.00668447e-03 9.73984518e-01 -1.80757524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.096875 meters 0.020490601097482276 Centerline is valid? [True, True] Translation: X:240.06, Y:-0.71, Z:-18.07 [[ 4.44478080e-01 -8.90115033e-01 -1.00670078e-01 2.40058238e+02] [ 8.66591332e-01 4.55725198e-01 -2.03307666e-01 -7.14616278e-01] [ 2.26845101e-01 3.12598406e-03 9.73925833e-01 -1.80711972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12687500000004 meters 0.02035568961611484 Centerline is valid? [True, True] Translation: X:240.07, Y:-0.69, Z:-18.06 [[ 4.44665964e-01 -8.90030573e-01 -1.00587078e-01 2.40071065e+02] [ 8.66521549e-01 4.55889532e-01 -2.03236657e-01 -6.90122857e-01] [ 2.26743434e-01 3.21155299e-03 9.73949229e-01 -1.80645950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.156875 meters 0.020062487875087128 Centerline is valid? [True, True] Translation: X:240.08, Y:-0.67, Z:-18.06 [[ 4.44974032e-01 -8.89872114e-01 -1.00626693e-01 2.40083558e+02] [ 8.66307371e-01 4.56197688e-01 -2.03458122e-01 -6.66334891e-01] [ 2.26957374e-01 3.35993503e-03 9.73898897e-01 -1.80578104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18687500000004 meters 0.020213874471587907 Centerline is valid? [True, True] Translation: X:240.10, Y:-0.64, Z:-18.05 [[ 4.46142229e-01 -8.89259908e-01 -1.00865890e-01 2.40095357e+02] [ 8.65531772e-01 4.57386877e-01 -2.04088209e-01 -6.41238971e-01] [ 2.27622196e-01 3.74973594e-03 9.73742304e-01 -1.80529077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.216875 meters 0.020715555719991223 Centerline is valid? [True, True] Translation: X:240.11, Y:-0.62, Z:-18.05 [[ 4.46908975e-01 -8.88860828e-01 -1.00989090e-01 2.40106441e+02] [ 8.65031356e-01 4.58159622e-01 -2.04476192e-01 -6.16750651e-01] [ 2.28020001e-01 4.02351605e-03 9.73648135e-01 -1.80482405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.246875 meters 0.02118385829829451 Centerline is valid? [True, True] Translation: X:240.12, Y:-0.59, Z:-18.04 [[ 4.47393315e-01 -8.88586583e-01 -1.01257623e-01 2.40117618e+02] [ 8.64590784e-01 4.58689367e-01 -2.05150777e-01 -5.92819796e-01] [ 2.28740023e-01 4.23667812e-03 9.73478327e-01 -1.80432536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.276875 meters 0.020974080639454475 Centerline is valid? [True, True] Translation: X:240.13, Y:-0.57, Z:-18.04 [[ 4.47939156e-01 -8.88307864e-01 -1.01289936e-01 2.40130264e+02] [ 8.64264294e-01 4.59227072e-01 -2.05323470e-01 -5.68176932e-01] [ 2.28905534e-01 4.43114675e-03 9.73438556e-01 -1.80370108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.306875 meters 0.021319105151527212 Centerline is valid? [True, True] Translation: X:240.14, Y:-0.54, Z:-18.03 [[ 4.49059575e-01 -8.87773513e-01 -1.01013307e-01 2.40142475e+02] [ 8.63817376e-01 4.60255992e-01 -2.04899884e-01 -5.42845753e-01] [ 2.28396669e-01 4.75520474e-03 9.73556547e-01 -1.80315510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.336875 meters 0.021034734217329643 Centerline is valid? [True, True] Translation: X:240.16, Y:-0.52, Z:-18.02 [[ 4.49019976e-01 -8.87819444e-01 -1.00785399e-01 2.40155875e+02] [ 8.63942051e-01 4.60167078e-01 -2.04573687e-01 -5.19057256e-01] [ 2.28002620e-01 4.78492807e-03 9.73648761e-01 -1.80246698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.366875 meters 0.021242274528262856 Centerline is valid? [True, True] Translation: X:240.17, Y:-0.50, Z:-18.02 [[ 4.48766175e-01 -8.87964709e-01 -1.00635954e-01 2.40167595e+02] [ 8.64128772e-01 4.59886835e-01 -2.04415175e-01 -4.95058013e-01] [ 2.27794612e-01 4.77219316e-03 9.73697510e-01 -1.80189807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.396875 meters 0.021568972087285497 Centerline is valid? [True, True] Translation: X:240.18, Y:-0.47, Z:-18.01 [[ 4.48486250e-01 -8.88124076e-01 -1.00477405e-01 2.40179813e+02] [ 8.64342977e-01 4.59579385e-01 -2.04200899e-01 -4.70554610e-01] [ 2.27533079e-01 4.73435602e-03 9.73758843e-01 -1.80131184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.426875 meters 0.02128126510322032 Centerline is valid? [True, True] Translation: X:240.19, Y:-0.45, Z:-18.01 [[ 4.47726220e-01 -8.88539990e-01 -1.00189408e-01 2.40192557e+02] [ 8.64875144e-01 4.58776375e-01 -2.03752846e-01 -4.47548738e-01] [ 2.27007086e-01 4.57416334e-03 9.73882365e-01 -1.80064792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.456875 meters 0.020657497122835034 Centerline is valid? [True, True] Translation: X:240.21, Y:-0.42, Z:-18.00 [[ 4.46603262e-01 -8.89158817e-01 -9.97101995e-02 2.40208462e+02] [ 8.65700465e-01 4.57578389e-01 -2.02940194e-01 -4.24653995e-01] [ 2.26071296e-01 4.31458669e-03 9.74101203e-01 -1.79994153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.486875 meters 0.019855130952116908 Centerline is valid? [True, True] Translation: X:240.22, Y:-0.40, Z:-17.99 [[ 4.45243051e-01 -8.89854133e-01 -9.95903978e-02 2.40223576e+02] [ 8.66436428e-01 4.56227380e-01 -2.02841058e-01 -4.02199734e-01] [ 2.25934820e-01 4.02482314e-03 9.74134107e-01 -1.79922265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.516875 meters 0.0199429022264898 Centerline is valid? [True, True] Translation: X:240.24, Y:-0.38, Z:-17.99 [[ 4.43710285e-01 -8.90631560e-01 -9.94816958e-02 2.40236718e+02] [ 8.67250963e-01 4.54710657e-01 -2.02765839e-01 -3.79153856e-01] [ 2.25825043e-01 3.69369167e-03 9.74160873e-01 -1.79871137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.546875 meters 0.019230251688603345 Centerline is valid? [True, True] Translation: X:240.25, Y:-0.36, Z:-17.98 [[ 4.41792574e-01 -8.91569249e-01 -9.96172447e-02 2.40252213e+02] [ 8.68121820e-01 4.52872578e-01 -2.03152487e-01 -3.55767221e-01] [ 2.26238429e-01 3.27135626e-03 9.74066462e-01 -1.79806691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57687500000003 meters 0.018772924182494325 Centerline is valid? [True, True] Translation: X:240.27, Y:-0.33, Z:-17.98 [[ 4.37652623e-01 -8.93602218e-01 -9.96757595e-02 2.40269116e+02] [ 8.70144310e-01 4.48853886e-01 -2.03418457e-01 -3.34366675e-01] [ 2.26515037e-01 2.29432643e-03 9.74004966e-01 -1.79760471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.606875 meters 0.018620236349561566 Centerline is valid? [True, True] Translation: X:240.28, Y:-0.31, Z:-17.97 [[ 4.34903800e-01 -8.94941647e-01 -9.96901842e-02 2.40283838e+02] [ 8.71489441e-01 4.46180177e-01 -2.03542142e-01 -3.12110354e-01] [ 2.26638124e-01 1.64230818e-03 9.73977650e-01 -1.79707560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63687500000003 meters 0.01849104469804592 Centerline is valid? [True, True] Translation: X:240.30, Y:-0.29, Z:-17.97 [[ 4.32472633e-01 -8.96118218e-01 -9.96973489e-02 2.40298366e+02] [ 8.72668325e-01 4.43814129e-01 -2.03663974e-01 -2.89591657e-01] [ 2.26754089e-01 1.07637654e-03 9.73951449e-01 -1.79656488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.666875 meters 0.01836539942737441 Centerline is valid? [True, True] Translation: X:240.31, Y:-0.27, Z:-17.96 [[ 4.29807017e-01 -8.97414538e-01 -9.95644261e-02 2.40313184e+02] [ 8.74035310e-01 4.41188109e-01 -2.03507565e-01 -2.67609802e-01] [ 2.26557288e-01 4.46155360e-04 9.73997739e-01 -1.79600230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69687500000003 meters 0.01817399361287684 Centerline is valid? [True, True] Translation: X:240.33, Y:-0.25, Z:-17.95 [[ 4.26053075e-01 -8.99265103e-01 -9.90002652e-02 2.40330560e+02] [ 8.76165107e-01 4.37403779e-01 -2.02515776e-01 -2.45606644e-01] [ 2.25418461e-01 -4.58108602e-04 9.74261930e-01 -1.79522090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.726875 meters 0.01829428776513419 Centerline is valid? [True, True] Translation: X:240.34, Y:-0.22, Z:-17.95 [[ 4.24583411e-01 -8.99961226e-01 -9.89884783e-02 2.40344565e+02] [ 8.76850934e-01 4.35969281e-01 -2.02640631e-01 -2.22621823e-01] [ 2.25524646e-01 -7.60289261e-04 9.74237166e-01 -1.79466431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75687500000004 meters 0.018125093681854658 Centerline is valid? [True, True] Translation: X:240.36, Y:-0.20, Z:-17.94 [[ 4.23659462e-01 -9.00411624e-01 -9.88512348e-02 2.40358290e+02] [ 8.77342749e-01 4.35037978e-01 -2.02513353e-01 -1.99221286e-01] [ 2.25349419e-01 -9.29715833e-04 9.74277566e-01 -1.79396336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.786875 meters 0.01857068063081895 Centerline is valid? [True, True] Translation: X:240.37, Y:-0.18, Z:-17.93 [[ 4.22788216e-01 -9.00846479e-01 -9.86191989e-02 2.40371914e+02] [ 8.77866495e-01 4.34136408e-01 -2.02178130e-01 -1.75844109e-01] [ 2.24945642e-01 -1.09595950e-03 9.74370698e-01 -1.79348605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81687500000004 meters 0.018316029208717544 Centerline is valid? [True, True] Translation: X:240.39, Y:-0.15, Z:-17.93 [[ 4.22423147e-01 -9.01067248e-01 -9.81656719e-02 2.40385539e+02] [ 8.78270577e-01 4.33677899e-01 -2.01405744e-01 -1.52460663e-01] [ 2.24052402e-01 -1.13757318e-03 9.74576435e-01 -1.79284513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.846875 meters 0.018181496737118205 Centerline is valid? [True, True] Translation: X:240.40, Y:-0.13, Z:-17.92 [[ 4.22912731e-01 -9.00868270e-01 -9.78835136e-02 2.40397491e+02] [ 8.78162622e-01 4.34091513e-01 -2.00984995e-01 -1.28299247e-01] [ 2.23551407e-01 -9.58529782e-04 9.74691669e-01 -1.79220801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87687500000004 meters 0.018064104311874867 Centerline is valid? [True, True] Translation: X:240.41, Y:-0.10, Z:-17.92 [[ 4.23841138e-01 -9.00472234e-01 -9.75112601e-02 2.40409102e+02] [ 8.77898258e-01 4.34912968e-01 -2.00363069e-01 -1.03611046e-01] [ 2.22830291e-01 -6.82854486e-04 9.74857013e-01 -1.79158201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.906875 meters 0.018133343997981884 Centerline is valid? [True, True] Translation: X:240.42, Y:-0.08, Z:-17.91 [[ 4.25206411e-01 -8.99847178e-01 -9.73373741e-02 2.40420668e+02] [ 8.77305930e-01 4.36205195e-01 -2.00148280e-01 -7.83685926e-02] [ 2.22561934e-01 -2.90323578e-04 9.74918510e-01 -1.79098458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93687500000004 meters 0.017985126522569242 Centerline is valid? [True, True] Translation: X:240.43, Y:-0.05, Z:-17.90 [[ 4.26715549e-01 -8.99168229e-01 -9.70068893e-02 2.40430874e+02] [ 8.76733936e-01 4.37603109e-01 -1.99602417e-01 -5.43180579e-02] [ 2.21926668e-01 1.24223287e-04 9.75063351e-01 -1.79039990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.966875 meters 0.018094992638800184 Centerline is valid? [True, True] Translation: X:240.44, Y:-0.03, Z:-17.90 [[ 4.30186856e-01 -8.97537770e-01 -9.67740686e-02 2.40440011e+02] [ 8.75133225e-01 4.40936350e-01 -1.99291179e-01 -2.78818469e-02] [ 2.21542565e-01 1.04224305e-03 9.75150145e-01 -1.78982543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.996875 meters 0.018434002596995975 Centerline is valid? [True, True] Translation: X:240.45, Y:-0.00, Z:-17.89 [[ 4.32195337e-01 -8.96578393e-01 -9.67180245e-02 2.40450436e+02] [ 8.74143699e-01 4.42882182e-01 -1.99319259e-01 -2.22812999e-03] [ 2.21540031e-01 1.59940246e-03 9.75149966e-01 -1.78930574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.026875 meters 0.01855195871693448 Centerline is valid? [True, True] Translation: X:240.46, Y:0.02, Z:-17.89 [[ 4.34073782e-01 -8.95670120e-01 -9.67211836e-02 2.40460629e+02] [ 8.73179097e-01 4.44713955e-01 -1.99468701e-01 2.36301321e-02] [ 2.21671415e-01 2.12921764e-03 9.75119095e-01 -1.78877690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.056875 meters 0.018766028436364362 Centerline is valid? [True, True] Translation: X:240.47, Y:0.05, Z:-17.88 [[ 4.35486862e-01 -8.94997857e-01 -9.65920709e-02 2.40471393e+02] [ 8.72518955e-01 4.46063243e-01 -1.99344570e-01 4.92690346e-02] [ 2.21499135e-01 2.53352849e-03 9.75157277e-01 -1.78824821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.086875 meters 0.019105564003259298 Centerline is valid? [True, True] Translation: X:240.48, Y:0.08, Z:-17.88 [[ 4.37545549e-01 -8.93979759e-01 -9.67165120e-02 2.40481818e+02] [ 8.71384647e-01 4.48096478e-01 -1.99745699e-01 7.58914013e-02] [ 2.21906940e-01 3.12055792e-03 9.75062855e-01 -1.78772884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.116875 meters 0.019398874549208557 Centerline is valid? [True, True] Translation: X:240.49, Y:0.10, Z:-17.87 [[ 4.37982509e-01 -8.93788628e-01 -9.65049723e-02 2.40493435e+02] [ 8.71257658e-01 4.48476502e-01 -1.99446535e-01 1.01138465e-01] [ 2.21543258e-01 3.27339773e-03 9.75145051e-01 -1.78713468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.146875 meters 0.019924247278421466 Centerline is valid? [True, True] Translation: X:240.50, Y:0.13, Z:-17.87 [[ 4.38365222e-01 -8.93598641e-01 -9.65266886e-02 2.40503181e+02] [ 8.71019314e-01 4.48853705e-01 -1.99638939e-01 1.26367085e-01] [ 2.21723446e-01 3.43815734e-03 9.75103529e-01 -1.78664531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.176875 meters 0.01973808501076051 Centerline is valid? [True, True] Translation: X:240.52, Y:0.15, Z:-17.86 [[ 4.38350184e-01 -8.93607268e-01 -9.65151139e-02 2.40515914e+02] [ 8.71000537e-01 4.48836048e-01 -1.99760524e-01 1.51178717e-01] [ 2.21826919e-01 3.50034650e-03 9.75079774e-01 -1.78601081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.206875 meters 0.019830405666112456 Centerline is valid? [True, True] Translation: X:240.53, Y:0.18, Z:-17.85 [[ 4.38338857e-01 -8.93603522e-01 -9.66011987e-02 2.40528281e+02] [ 8.70922841e-01 4.48842940e-01 -2.00083533e-01 1.76264363e-01] [ 2.22154116e-01 3.57219674e-03 9.75005020e-01 -1.78542315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.236875 meters 0.019906558139265274 Centerline is valid? [True, True] Translation: X:240.54, Y:0.20, Z:-17.85 [[ 4.37674843e-01 -8.93975258e-01 -9.61715644e-02 2.40539067e+02] [ 8.71474449e-01 4.48103162e-01 -1.99338510e-01 2.00171774e-01] [ 2.21298478e-01 3.43439002e-03 9.75200076e-01 -1.78490642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.266875 meters 0.019857984161775095 Centerline is valid? [True, True] Translation: X:240.55, Y:0.22, Z:-17.84 [[ 4.36502346e-01 -8.94588963e-01 -9.57929482e-02 2.40550216e+02] [ 8.72247861e-01 4.46878594e-01 -1.98703775e-01 2.24585237e-01] [ 2.20566022e-01 3.17946979e-03 9.75366865e-01 -1.78436986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.296875 meters 0.01940506177316443 Centerline is valid? [True, True] Translation: X:240.56, Y:0.25, Z:-17.84 [[ 4.35760137e-01 -8.94977071e-01 -9.55465586e-02 2.40562613e+02] [ 8.72727838e-01 4.46101761e-01 -1.98341471e-01 2.48989526e-01] [ 2.20134557e-01 3.04316490e-03 9.75464769e-01 -1.78375700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.32687500000003 meters 0.01934429332127569 Centerline is valid? [True, True] Translation: X:240.57, Y:0.27, Z:-17.83 [[ 4.34976448e-01 -8.95366046e-01 -9.54732105e-02 2.40574809e+02] [ 8.73128118e-01 4.45321430e-01 -1.98333338e-01 2.73287871e-01] [ 2.20097203e-01 2.90998608e-03 9.75473605e-01 -1.78317036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.356875 meters 0.019212764223338234 Centerline is valid? [True, True] Translation: X:240.59, Y:0.30, Z:-17.83 [[ 4.33813237e-01 -8.95913194e-01 -9.56327541e-02 2.40586663e+02] [ 8.73580237e-01 4.44220935e-01 -1.98809785e-01 2.97864033e-01] [ 2.20598381e-01 2.70343216e-03 9.75360982e-01 -1.78262018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.38687500000003 meters 0.019075284555683376 Centerline is valid? [True, True] Translation: X:240.60, Y:0.32, Z:-17.82 [[ 4.32777169e-01 -8.96400632e-01 -9.57592221e-02 2.40598474e+02] [ 8.73986940e-01 4.43237561e-01 -1.99216699e-01 3.23215324e-01] [ 2.21022059e-01 2.52412964e-03 9.75265542e-01 -1.78206170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.416875 meters 0.018954062159733682 Centerline is valid? [True, True] Translation: X:240.61, Y:0.35, Z:-17.81 [[ 4.31661997e-01 -8.96920705e-01 -9.59227220e-02 2.40610703e+02] [ 8.74409396e-01 4.42185291e-01 -1.99700717e-01 3.47470872e-01] [ 2.21531325e-01 2.32748108e-03 9.75150478e-01 -1.78148062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.44687500000003 meters 0.01894060682781804 Centerline is valid? [True, True] Translation: X:240.62, Y:0.37, Z:-17.81 [[ 4.30438127e-01 -8.97506131e-01 -9.59466648e-02 2.40622330e+02] [ 8.74964463e-01 4.40997009e-01 -1.99897039e-01 3.72046451e-01] [ 2.21721011e-01 2.09338512e-03 9.75107897e-01 -1.78092690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.476875 meters 0.01861034813751672 Centerline is valid? [True, True] Translation: X:240.63, Y:0.40, Z:-17.81 [[ 4.27851472e-01 -8.98710600e-01 -9.62412338e-02 2.40633171e+02] [ 8.76024975e-01 4.38539486e-01 -2.00657328e-01 3.97021841e-01] [ 2.22538449e-01 1.54180883e-03 9.74922695e-01 -1.78050983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.50687500000004 meters 0.0185427234771019 Centerline is valid? [True, True] Translation: X:240.65, Y:0.42, Z:-17.80 [[ 4.26054700e-01 -8.99549002e-01 -9.63793810e-02 2.40645531e+02] [ 8.76784544e-01 4.36818288e-01 -2.01093625e-01 4.20940911e-01] [ 2.22993846e-01 1.17293219e-03 9.74819147e-01 -1.77989680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.536875 meters 0.01862701721662897 Centerline is valid? [True, True] Translation: X:240.66, Y:0.45, Z:-17.79 [[ 4.24230717e-01 -9.00387968e-01 -9.65909174e-02 2.40658113e+02] [ 8.77505568e-01 4.35087178e-01 -2.01700585e-01 4.45252109e-01] [ 2.23634249e-01 8.08515799e-04 9.74672801e-01 -1.77935632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56687500000004 meters 0.018415004027754412 Centerline is valid? [True, True] Translation: X:240.67, Y:0.47, Z:-17.79 [[ 4.21909222e-01 -9.01478100e-01 -9.65911134e-02 2.40671180e+02] [ 8.78590156e-01 4.32824614e-01 -2.01846950e-01 4.69608628e-01] [ 2.23767616e-01 2.97087971e-04 9.74642481e-01 -1.77875099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.596875 meters 0.018467426387407494 Centerline is valid? [True, True] Translation: X:240.68, Y:0.49, Z:-17.78 [[ 4.19570255e-01 -9.02554301e-01 -9.67291876e-02 2.40684008e+02] [ 8.79594422e-01 4.30575998e-01 -2.02281891e-01 4.94041224e-01] [ 2.24219657e-01 -2.10989299e-04 9.74538609e-01 -1.77812437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62687500000004 meters 0.01871206139636423 Centerline is valid? [True, True] Translation: X:240.70, Y:0.52, Z:-17.78 [[ 4.15321398e-01 -9.04531752e-01 -9.65942370e-02 2.40697916e+02] [ 8.81655375e-01 4.26404564e-01 -2.02145857e-01 5.17276296e-01] [ 2.24035570e-01 -1.20732841e-03 9.74580220e-01 -1.77755596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.656875 meters 0.01871206139636423 Centerline is valid? [True, True] Translation: X:240.71, Y:0.54, Z:-17.77 [[ 4.15077029e-01 -9.04648458e-01 -9.65516811e-02 2.40709452e+02] [ 8.81770470e-01 4.26156866e-01 -2.02166181e-01 5.41666654e-01] [ 2.24035486e-01 -1.22188325e-03 9.74580221e-01 -1.77696007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68687500000004 meters 0.018808390396944003 Centerline is valid? [True, True] Translation: X:240.72, Y:0.57, Z:-17.76 [[ 4.13069128e-01 -9.05580346e-01 -9.64268295e-02 2.40722143e+02] [ 8.82754083e-01 4.24171520e-01 -2.02048879e-01 5.65094072e-01] [ 2.23873009e-01 -1.66102312e-03 9.74616908e-01 -1.77639814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.716875 meters 0.018908036885796474 Centerline is valid? [True, True] Translation: X:240.73, Y:0.59, Z:-17.76 [[ 4.10985908e-01 -9.06545098e-01 -9.62630222e-02 2.40734442e+02] [ 8.83788289e-01 4.22103674e-01 -2.01858239e-01 5.89519398e-01] [ 2.23626573e-01 -2.11524000e-03 9.74672602e-01 -1.77573478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.746875 meters 0.01915731489140772 Centerline is valid? [True, True] Translation: X:240.75, Y:0.61, Z:-17.75 [[ 4.09091521e-01 -9.07419754e-01 -9.60911925e-02 2.40747284e+02] [ 8.84735069e-01 4.20217825e-01 -2.01645328e-01 6.14392805e-01] [ 2.23356186e-01 -2.52385365e-03 9.74733627e-01 -1.77515700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.776875 meters 0.01942044153762837 Centerline is valid? [True, True] Translation: X:240.76, Y:0.64, Z:-17.75 [[ 4.06690853e-01 -9.08493691e-01 -9.61340964e-02 2.40759815e+02] [ 8.85784269e-01 4.17887435e-01 -2.01881947e-01 6.39746690e-01] [ 2.23581706e-01 -3.05052903e-03 9.74680417e-01 -1.77455396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.806875 meters 0.01945380513458346 Centerline is valid? [True, True] Translation: X:240.77, Y:0.67, Z:-17.74 [[ 4.05975972e-01 -9.08812351e-01 -9.61437489e-02 2.40771516e+02] [ 8.86074884e-01 4.17193104e-01 -2.02042604e-01 6.65149659e-01] [ 2.23729323e-01 -3.16611863e-03 9.74646175e-01 -1.77397728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.836875 meters 0.019654610517184035 Centerline is valid? [True, True] Translation: X:240.78, Y:0.69, Z:-17.73 [[ 4.06181456e-01 -9.08737193e-01 -9.59861392e-02 2.40782870e+02] [ 8.86039293e-01 4.17357609e-01 -2.01858857e-01 6.90416008e-01] [ 2.23497197e-01 -3.05616641e-03 9.74699781e-01 -1.77342509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.866875 meters 0.019320815067131653 Centerline is valid? [True, True] Translation: X:240.79, Y:0.72, Z:-17.73 [[ 4.06573803e-01 -9.08575692e-01 -9.58538178e-02 2.40793556e+02] [ 8.85903297e-01 4.17710185e-01 -2.01726424e-01 7.16137783e-01] [ 2.23322841e-01 -2.90053400e-03 9.74740220e-01 -1.77277863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.896875 meters 0.01919226853234184 Centerline is valid? [True, True] Translation: X:240.80, Y:0.74, Z:-17.72 [[ 4.08371004e-01 -9.07800807e-01 -9.55553169e-02 2.40802995e+02] [ 8.85216875e-01 4.19394697e-01 -2.01244061e-01 7.41008883e-01] [ 2.22764914e-01 -2.40493992e-03 9.74869227e-01 -1.77226491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.926875 meters 0.018769606458965603 Centerline is valid? [True, True] Translation: X:240.81, Y:0.77, Z:-17.72 [[ 4.09822097e-01 -9.07134198e-01 -9.56733850e-02 2.40811708e+02] [ 8.84441922e-01 4.20836814e-01 -2.01640430e-01 7.67229469e-01] [ 2.23177812e-01 -1.98084856e-03 9.74775738e-01 -1.77161433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.956875 meters 0.018754947556065618 Centerline is valid? [True, True] Translation: X:240.82, Y:0.79, Z:-17.71 [[ 4.11345136e-01 -9.06434109e-01 -9.57725730e-02 2.40821426e+02] [ 8.83640758e-01 4.22344462e-01 -2.02000411e-01 7.92179993e-01] [ 2.23549078e-01 -1.53666270e-03 9.74691463e-01 -1.77112497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.986875 meters 0.018416466534963757 Centerline is valid? [True, True] Translation: X:240.83, Y:0.82, Z:-17.71 [[ 4.13226248e-01 -9.05566536e-01 -9.58817877e-02 2.40830924e+02] [ 8.82661577e-01 4.24203076e-01 -2.02386489e-01 8.17957085e-01] [ 2.23947781e-01 -9.99760297e-04 9.74600632e-01 -1.77051449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.016875 meters 0.018337598854448616 Centerline is valid? [True, True] Translation: X:240.84, Y:0.84, Z:-17.70 [[ 4.15314799e-01 -9.04605907e-01 -9.59258591e-02 2.40840511e+02] [ 8.81620049e-01 4.26248730e-01 -2.02628007e-01 8.44226077e-01] [ 2.24186768e-01 -4.15750496e-04 9.74546110e-01 -1.76995095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.046875 meters 0.018086733564371495 Centerline is valid? [True, True] Translation: X:240.85, Y:0.87, Z:-17.70 [[ 4.19575903e-01 -9.02639768e-01 -9.59036513e-02 2.40847044e+02] [ 8.79578890e-01 4.30396271e-01 -2.02731413e-01 8.70444200e-01] [ 2.24270009e-01 7.06388379e-04 9.74526790e-01 -1.76952475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07687500000003 meters 0.018321628191966484 Centerline is valid? [True, True] Translation: X:240.86, Y:0.90, Z:-17.69 [[ 4.21669079e-01 -9.01650342e-01 -9.60304553e-02 2.40856718e+02] [ 8.78465644e-01 4.32463819e-01 -2.03157961e-01 8.96104914e-01] [ 2.24707142e-01 1.30597416e-03 9.74425469e-01 -1.76893523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.106875 meters 0.018732479255894864 Centerline is valid? [True, True] Translation: X:240.87, Y:0.92, Z:-17.68 [[ 4.23891019e-01 -9.00591202e-01 -9.61867481e-02 2.40865756e+02] [ 8.77268107e-01 4.34662772e-01 -2.03639246e-01 9.21359784e-01] [ 2.25204512e-01 1.93928112e-03 9.74309585e-01 -1.76844018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13687500000003 meters 0.01917188598301856 Centerline is valid? [True, True] Translation: X:240.87, Y:0.95, Z:-17.68 [[ 4.25532105e-01 -8.99810391e-01 -9.62480549e-02 2.40874372e+02] [ 8.76404606e-01 4.36274469e-01 -2.03910651e-01 9.46355154e-01] [ 2.25471492e-01 2.41828992e-03 9.74246765e-01 -1.76793585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.166875 meters 0.019783064057792083 Centerline is valid? [True, True] Translation: X:240.88, Y:0.97, Z:-17.67 [[ 4.29130718e-01 -8.98088207e-01 -9.63555873e-02 2.40883454e+02] [ 8.74549673e-01 4.39802227e-01 -2.04296038e-01 9.72718201e-01] [ 2.25853264e-01 3.40195817e-03 9.74155393e-01 -1.76732002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19687500000003 meters 0.02014035830040058 Centerline is valid? [True, True] Translation: X:240.89, Y:1.00, Z:-17.67 [[ 4.30643320e-01 -8.97376245e-01 -9.62403543e-02 2.40893506e+02] [ 8.73843206e-01 4.41249529e-01 -2.04198199e-01 9.98187142e-01] [ 2.25708624e-01 3.83761046e-03 9.74187297e-01 -1.76672269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.226875 meters 0.020937545480606445 Centerline is valid? [True, True] Translation: X:240.90, Y:1.02, Z:-17.66 [[ 4.32131606e-01 -8.96667924e-01 -9.61712523e-02 2.40903661e+02] [ 8.73117931e-01 4.42683170e-01 -2.04197674e-01 1.02365053e+00] [ 2.25670899e-01 4.27142389e-03 9.74194231e-01 -1.76607876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25687500000004 meters 0.02086425301798154 Centerline is valid? [True, True] Translation: X:240.91, Y:1.05, Z:-17.65 [[ 4.32573264e-01 -8.96467021e-01 -9.60585857e-02 2.40914216e+02] [ 8.72936016e-01 4.43088278e-01 -2.04096766e-01 1.04798183e+00] [ 2.25528453e-01 4.43380495e-03 9.74226492e-01 -1.76539737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.286875 meters 0.02104303226839934 Centerline is valid? [True, True] Translation: X:240.92, Y:1.07, Z:-17.65 [[ 4.33338600e-01 -8.96125077e-01 -9.57992893e-02 2.40924059e+02] [ 8.72676817e-01 4.43776982e-01 -2.03708526e-01 1.07213094e+00] [ 2.25061838e-01 4.67294850e-03 9.74333276e-01 -1.76476020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31687500000004 meters 0.021676819427172086 Centerline is valid? [True, True] Translation: X:240.93, Y:1.10, Z:-17.64 [[ 4.34140219e-01 -8.95768259e-01 -9.55065243e-02 2.40933862e+02] [ 8.72427515e-01 4.44494339e-01 -2.03211748e-01 1.09729058e+00] [ 2.24482743e-01 4.89987300e-03 9.74465746e-01 -1.76417320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.346875 meters 0.022488320774247682 Centerline is valid? [True, True] Translation: X:240.94, Y:1.12, Z:-17.64 [[ 4.35233667e-01 -8.95255529e-01 -9.53372605e-02 2.40942721e+02] [ 8.71951742e-01 4.45522445e-01 -2.03002242e-01 1.12247839e+00] [ 2.24213768e-01 5.22391962e-03 9.74525986e-01 -1.76359602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37687500000004 meters 0.020866891848053622 Centerline is valid? [True, True] Translation: X:240.96, Y:1.15, Z:-17.63 [[ 4.35485219e-01 -8.95136143e-01 -9.53095408e-02 2.40957078e+02] [ 8.71808492e-01 4.45760733e-01 -2.03094369e-01 1.14582974e+00] [ 2.24282361e-01 5.35292872e-03 9.74509502e-01 -1.76296712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.406875 meters 0.02150407233100975 Centerline is valid? [True, True] Translation: X:240.97, Y:1.17, Z:-17.62 [[ 4.35730011e-01 -8.95017754e-01 -9.53025565e-02 2.40966825e+02] [ 8.71655368e-01 4.45996801e-01 -2.03233296e-01 1.17020979e+00] [ 2.24402043e-01 5.48386122e-03 9.74481221e-01 -1.76244977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43687500000004 meters 0.02155835853940915 Centerline is valid? [True, True] Translation: X:240.98, Y:1.20, Z:-17.62 [[ 4.36239603e-01 -8.94712666e-01 -9.58345101e-02 2.40978424e+02] [ 8.71040484e-01 4.46605200e-01 -2.04529387e-01 1.19580443e+00] [ 2.25795224e-01 5.74808068e-03 9.74157829e-01 -1.76188823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.466875 meters 0.02149023542218154 Centerline is valid? [True, True] Translation: X:240.99, Y:1.22, Z:-17.61 [[ 4.36167639e-01 -8.94755436e-01 -9.57627328e-02 2.40990346e+02] [ 8.71087353e-01 4.46519011e-01 -2.04517962e-01 1.22030707e+00] [ 2.25753439e-01 5.78641107e-03 9.74167287e-01 -1.76131914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.496875 meters 0.022090946837365885 Centerline is valid? [True, True] Translation: X:241.00, Y:1.25, Z:-17.61 [[ 4.36453477e-01 -8.94618515e-01 -9.57396194e-02 2.41001421e+02] [ 8.70923847e-01 4.46791459e-01 -2.04619265e-01 1.24597013e+00] [ 2.25831828e-01 5.92487212e-03 9.74148285e-01 -1.76074209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.526875 meters 0.02218434198325581 Centerline is valid? [True, True] Translation: X:241.01, Y:1.27, Z:-17.60 [[ 4.36388626e-01 -8.94636065e-01 -9.58711534e-02 2.41012883e+02] [ 8.70842991e-01 4.46755460e-01 -2.05041567e-01 1.27069799e+00] [ 2.26268542e-01 5.98908547e-03 9.74046548e-01 -1.76020368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.556875 meters 0.02096949792975353 Centerline is valid? [True, True] Translation: X:241.03, Y:1.29, Z:-17.60 [[ 4.35868128e-01 -8.94873878e-01 -9.60193639e-02 2.41028159e+02] [ 8.70976636e-01 4.46279514e-01 -2.05509842e-01 1.29384455e+00] [ 2.26756865e-01 5.94456765e-03 9.73933256e-01 -1.75953732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.586875 meters 0.02180347979127125 Centerline is valid? [True, True] Translation: X:241.04, Y:1.32, Z:-17.59 [[ 4.35264783e-01 -8.95156622e-01 -9.61207065e-02 2.41038238e+02] [ 8.71178203e-01 4.45713017e-01 -2.05884543e-01 1.31817905e+00] [ 2.27141162e-01 5.87602639e-03 9.73844117e-01 -1.75900872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.616875 meters 0.021759707015328766 Centerline is valid? [True, True] Translation: X:241.05, Y:1.34, Z:-17.58 [[ 4.35116814e-01 -8.95219191e-01 -9.62078941e-02 2.41051068e+02] [ 8.71159724e-01 4.45586697e-01 -2.06235864e-01 1.34278930e+00] [ 2.27495261e-01 5.92424973e-03 9.73761167e-01 -1.75837995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.646875 meters 0.02236862523816123 Centerline is valid? [True, True] Translation: X:241.06, Y:1.37, Z:-17.58 [[ 4.34747375e-01 -8.95398640e-01 -9.62080846e-02 2.41061480e+02] [ 8.71307333e-01 4.45226295e-01 -2.06390596e-01 1.36709201e+00] [ 2.27636228e-01 5.90096029e-03 9.73728364e-01 -1.75784398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.676875 meters 0.022083166677208266 Centerline is valid? [True, True] Translation: X:241.07, Y:1.39, Z:-17.57 [[ 4.34172016e-01 -8.95671803e-01 -9.62636056e-02 2.41073712e+02] [ 8.71520822e-01 4.44677374e-01 -2.06672423e-01 1.39169131e+00] [ 2.27916909e-01 5.83564602e-03 9.73663098e-01 -1.75722453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.706875 meters 0.021568312062448736 Centerline is valid? [True, True] Translation: X:241.09, Y:1.42, Z:-17.57 [[ 4.33811266e-01 -8.95846685e-01 -9.62626717e-02 2.41086541e+02] [ 8.71664398e-01 4.44325236e-01 -2.06824231e-01 1.41644133e+00] [ 2.28054736e-01 5.81393771e-03 9.73630955e-01 -1.75659601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.736875 meters 0.021372474935802393 Centerline is valid? [True, True] Translation: X:241.10, Y:1.44, Z:-17.56 [[ 4.32471757e-01 -8.96519805e-01 -9.60230135e-02 2.41098837e+02] [ 8.72439597e-01 4.42969320e-01 -2.06463872e-01 1.43981267e+00] [ 2.27634199e-01 5.51551445e-03 9.73731098e-01 -1.75600174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.766875 meters 0.02158290858973587 Centerline is valid? [True, True] Translation: X:241.11, Y:1.46, Z:-17.55 [[ 4.31360846e-01 -8.97071911e-01 -9.58634779e-02 2.41110006e+02] [ 8.73058816e-01 4.41853176e-01 -2.06237907e-01 1.46427185e+00] [ 2.27367815e-01 5.26850343e-03 9.73794701e-01 -1.75540242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.796875 meters 0.020713066261976214 Centerline is valid? [True, True] Translation: X:241.12, Y:1.49, Z:-17.55 [[ 4.29176549e-01 -8.98162590e-01 -9.54539246e-02 2.41124227e+02] [ 8.74347285e-01 4.39637900e-01 -2.05512388e-01 1.48729183e+00] [ 2.26548702e-01 4.74121779e-03 9.73988299e-01 -1.75460251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.82687500000003 meters 0.020235494718880136 Centerline is valid? [True, True] Translation: X:241.14, Y:1.51, Z:-17.54 [[ 4.27649067e-01 -8.98905591e-01 -9.53153366e-02 2.41136443e+02] [ 8.75143351e-01 4.38120181e-01 -2.05365096e-01 1.51093600e+00] [ 2.26363406e-01 4.40960873e-03 9.74032938e-01 -1.75396307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.856875 meters 0.019754316229171846 Centerline is valid? [True, True] Translation: X:241.15, Y:1.54, Z:-17.53 [[ 4.25666965e-01 -8.99860637e-01 -9.51759907e-02 2.41149798e+02] [ 8.76166117e-01 4.36159666e-01 -2.05177195e-01 1.53554168e+00] [ 2.26142809e-01 3.94717552e-03 9.74086161e-01 -1.75335412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.88687500000003 meters 0.01965679840585034 Centerline is valid? [True, True] Translation: X:241.16, Y:1.56, Z:-17.53 [[ 4.23433636e-01 -9.00922730e-01 -9.50904389e-02 2.41162757e+02] [ 8.77263750e-01 4.33965873e-01 -2.05138814e-01 1.56024126e+00] [ 2.26080226e-01 3.44327888e-03 9.74102600e-01 -1.75276410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.916875 meters 0.01860672737544556 Centerline is valid? [True, True] Translation: X:241.18, Y:1.58, Z:-17.52 [[ 4.18286715e-01 -9.03310981e-01 -9.52128916e-02 2.41177088e+02] [ 8.79615248e-01 4.28980533e-01 -2.05554661e-01 1.58294131e+00] [ 2.26524260e-01 2.23007278e-03 9.74002970e-01 -1.75220365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.94687500000003 meters 0.018443163378018518 Centerline is valid? [True, True] Translation: X:241.19, Y:1.61, Z:-17.52 [[ 4.16404100e-01 -9.04178955e-01 -9.52262703e-02 2.41188928e+02] [ 8.80464978e-01 4.27149967e-01 -2.05728772e-01 1.60733737e+00] [ 2.26691525e-01 1.82290829e-03 9.73964902e-01 -1.75163638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.976875 meters 0.018223638521237963 Centerline is valid? [True, True] Translation: X:241.20, Y:1.63, Z:-17.51 [[ 4.13540720e-01 -9.05492013e-01 -9.52275567e-02 2.41201114e+02] [ 8.81773405e-01 4.24361673e-01 -2.05895197e-01 1.62983688e+00] [ 2.26847382e-01 1.17692105e-03 9.73929607e-01 -1.75106672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.00687500000004 meters 0.018100942000561535 Centerline is valid? [True, True] Translation: X:241.21, Y:1.65, Z:-17.50 [[ 4.10602745e-01 -9.06811494e-01 -9.53850127e-02 2.41214858e+02] [ 8.83005949e-01 4.21536042e-01 -2.06416713e-01 1.65385505e+00] [ 2.27389268e-01 5.29735322e-04 9.73803800e-01 -1.75041748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.036875 meters 0.01807518455846738 Centerline is valid? [True, True] Translation: X:241.23, Y:1.68, Z:-17.50 [[ 4.07155253e-01 -9.08349943e-01 -9.55247691e-02 2.41228179e+02] [ 8.84480685e-01 4.18210846e-01 -2.06866154e-01 1.67799227e+00] [ 2.27856354e-01 -2.63171982e-04 9.73694723e-01 -1.74982836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06687500000004 meters 0.017932171174206545 Centerline is valid? [True, True] Translation: X:241.24, Y:1.70, Z:-17.49 [[ 4.03592163e-01 -9.09961879e-01 -9.53034411e-02 2.41241244e+02] [ 8.86211766e-01 4.14690452e-01 -2.06544269e-01 1.70240540e+00] [ 2.27468838e-01 -1.09938276e-03 9.73784740e-01 -1.74920570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.096875 meters 0.018610926706169383 Centerline is valid? [True, True] Translation: X:241.26, Y:1.73, Z:-17.49 [[ 3.97456662e-01 -9.12712721e-01 -9.47823375e-02 2.41255590e+02] [ 8.89264735e-01 4.08593720e-01 -2.05570919e-01 1.72519049e+00] [ 2.26354660e-01 -2.58105919e-03 9.74041532e-01 -1.74871129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12687500000004 meters 0.018747933594389393 Centerline is valid? [True, True] Translation: X:241.27, Y:1.75, Z:-17.48 [[ 3.94505790e-01 -9.14011544e-01 -9.45942917e-02 2.41267024e+02] [ 8.90661441e-01 4.05675098e-01 -2.05304437e-01 1.74991377e+00] [ 2.26025174e-01 -3.25769904e-03 9.74116014e-01 -1.74805286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.156875 meters 0.019634855826253125 Centerline is valid? [True, True] Translation: X:241.28, Y:1.77, Z:-17.48 [[ 3.92179381e-01 -9.15027159e-01 -9.44490932e-02 2.41279774e+02] [ 8.91746507e-01 4.03374547e-01 -2.05127136e-01 1.77380629e+00] [ 2.25795261e-01 -3.77801554e-03 9.74167453e-01 -1.74753895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18687500000004 meters 0.019806860085227224 Centerline is valid? [True, True] Translation: X:241.29, Y:1.80, Z:-17.47 [[ 3.89776019e-01 -9.16065059e-01 -9.43369612e-02 2.41290330e+02] [ 8.92843972e-01 4.01006356e-01 -2.04996449e-01 1.79882155e+00] [ 2.25619806e-01 -4.32548725e-03 9.74205827e-01 -1.74696674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.216875 meters 0.020039472194780337 Centerline is valid? [True, True] Translation: X:241.30, Y:1.82, Z:-17.46 [[ 3.87987459e-01 -9.16835131e-01 -9.42288413e-02 2.41300329e+02] [ 8.93655380e-01 3.99238283e-01 -2.04911821e-01 1.82461063e+00] [ 2.25490117e-01 -4.70489439e-03 9.74234095e-01 -1.74638450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.246875 meters 0.020280411114625498 Centerline is valid? [True, True] Translation: X:241.31, Y:1.85, Z:-17.46 [[ 3.87590744e-01 -9.17005635e-01 -9.42023379e-02 2.41310745e+02] [ 8.93809402e-01 3.98846067e-01 -2.05003826e-01 1.84870032e+00] [ 2.25561895e-01 -4.74135006e-03 9.74217302e-01 -1.74580886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.276875 meters 0.019875559413857442 Centerline is valid? [True, True] Translation: X:241.32, Y:1.87, Z:-17.45 [[ 3.87539808e-01 -9.17057312e-01 -9.39083849e-02 2.41320012e+02] [ 8.93983332e-01 3.98727602e-01 -2.04475183e-01 1.87499408e+00] [ 2.24959327e-01 -4.71025780e-03 9.74356770e-01 -1.74518670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.306875 meters 0.019768972825096036 Centerline is valid? [True, True] Translation: X:241.33, Y:1.90, Z:-17.45 [[ 3.89759407e-01 -9.16120657e-01 -9.38645126e-02 2.41326808e+02] [ 8.93006694e-01 4.00881655e-01 -2.04531033e-01 1.90199450e+00] [ 2.25003666e-01 -4.10374380e-03 9.74349275e-01 -1.74474216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.336875 meters 0.01950982855658111 Centerline is valid? [True, True] Translation: X:241.33, Y:1.93, Z:-17.44 [[ 3.91777018e-01 -9.15268077e-01 -9.37822757e-02 2.41334988e+02] [ 8.92136152e-01 4.02829697e-01 -2.04502619e-01 1.92698400e+00] [ 2.24953004e-01 -3.54713234e-03 9.74363158e-01 -1.74419392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.366875 meters 0.019030309756176682 Centerline is valid? [True, True] Translation: X:241.34, Y:1.95, Z:-17.44 [[ 3.94305633e-01 -9.14201836e-01 -9.35845629e-02 2.41343597e+02] [ 8.91105706e-01 4.05249013e-01 -2.04215222e-01 1.95374146e+00] [ 2.24618983e-01 -2.87052550e-03 9.74442442e-01 -1.74356609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.396875 meters 0.018427198167532074 Centerline is valid? [True, True] Translation: X:241.35, Y:1.98, Z:-17.43 [[ 3.96553658e-01 -9.13241923e-01 -9.34579409e-02 2.41350652e+02] [ 8.90162877e-01 4.07411296e-01 -2.04024724e-01 1.98083462e+00] [ 2.24399752e-01 -2.28603899e-03 9.74494497e-01 -1.74290594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.426875 meters 0.01804787841760507 Centerline is valid? [True, True] Translation: X:241.36, Y:2.01, Z:-17.42 [[ 3.99544082e-01 -9.11955550e-01 -9.32823734e-02 2.41357677e+02] [ 8.88894376e-01 4.10286295e-01 -2.03793880e-01 2.00794807e+00] [ 2.24123439e-01 -1.49353854e-03 9.74559620e-01 -1.74230309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.456875 meters 0.017944820887889405 Centerline is valid? [True, True] Translation: X:241.36, Y:2.04, Z:-17.42 [[ 4.04869799e-01 -9.09604167e-01 -9.32775715e-02 2.41361955e+02] [ 8.86448093e-01 4.15475927e-01 -2.03935120e-01 2.03539582e+00] [ 2.24254821e-01 -1.18554238e-04 9.74530534e-01 -1.74189301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.486875 meters 0.01796934678304922 Centerline is valid? [True, True] Translation: X:241.37, Y:2.06, Z:-17.41 [[ 4.06382446e-01 -9.08919112e-01 -9.33774940e-02 2.41370493e+02] [ 8.85668628e-01 4.16972365e-01 -2.04267297e-01 2.06073571e+00] [ 2.24598284e-01 3.09126643e-04 9.74451392e-01 -1.74133962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.516875 meters 0.01808266359462545 Centerline is valid? [True, True] Translation: X:241.38, Y:2.09, Z:-17.41 [[ 4.07733980e-01 -9.08326943e-01 -9.32478699e-02 2.41379291e+02] [ 8.85092092e-01 4.18260296e-01 -2.04133077e-01 2.08600725e+00] [ 2.24421455e-01 6.99039606e-04 9.74491930e-01 -1.74079809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.546875 meters 0.01808266359462545 Centerline is valid? [True, True] Translation: X:241.39, Y:2.11, Z:-17.40 [[ 4.07459367e-01 -9.08456677e-01 -9.31843880e-02 2.41390024e+02] [ 8.85218549e-01 4.17978441e-01 -2.04162052e-01 2.10987931e+00] [ 2.24421445e-01 6.99191938e-04 9.74491932e-01 -1.74022107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57687500000003 meters 0.0180202583202416 Centerline is valid? [True, True] Translation: X:241.40, Y:2.14, Z:-17.40 [[ 4.08698500e-01 -9.07901954e-01 -9.31642544e-02 2.41399572e+02] [ 8.84621189e-01 4.19181207e-01 -2.04285261e-01 2.13537984e+00] [ 2.24523692e-01 1.07600627e-03 9.74468036e-01 -1.73958182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.606875 meters 0.018091319926437033 Centerline is valid? [True, True] Translation: X:241.41, Y:2.16, Z:-17.39 [[ 4.09957604e-01 -9.07321052e-01 -9.32913254e-02 2.41408687e+02] [ 8.83925400e-01 4.20435925e-01 -2.04718146e-01 2.16049851e+00] [ 2.24968109e-01 1.46318849e-03 9.74365029e-01 -1.73906800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63687500000003 meters 0.018580833152245842 Centerline is valid? [True, True] Translation: X:241.42, Y:2.19, Z:-17.39 [[ 4.12011103e-01 -9.06364974e-01 -9.35381465e-02 2.41416754e+02] [ 8.82781667e-01 4.22490569e-01 -2.05422120e-01 2.18585445e+00] [ 2.25706399e-01 2.06243335e-03 9.74193188e-01 -1.73850577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.666875 meters 0.01836460662605296 Centerline is valid? [True, True] Translation: X:241.43, Y:2.21, Z:-17.38 [[ 4.12831910e-01 -9.05993180e-01 -9.35209662e-02 2.41427836e+02] [ 8.82371801e-01 4.23285840e-01 -2.05545865e-01 2.21116890e+00] [ 2.25809253e-01 2.33562890e-03 9.74168736e-01 -1.73775668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69687500000003 meters 0.018717641361860313 Centerline is valid? [True, True] Translation: X:241.44, Y:2.24, Z:-17.37 [[ 4.13998695e-01 -9.05475013e-01 -9.33813739e-02 2.41436783e+02] [ 8.81875051e-01 4.24391089e-01 -2.05398634e-01 2.23644415e+00] [ 2.25613554e-01 2.68406251e-03 9.74213180e-01 -1.73726413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.726875 meters 0.018854839221537276 Centerline is valid? [True, True] Translation: X:241.45, Y:2.26, Z:-17.37 [[ 4.14739243e-01 -9.05165486e-01 -9.30956661e-02 2.41447492e+02] [ 8.81665497e-01 4.25049338e-01 -2.04936605e-01 2.26154960e+00] [ 2.25071793e-01 2.91601585e-03 9.74337819e-01 -1.73666155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75687500000004 meters 0.019088366091740794 Centerline is valid? [True, True] Translation: X:241.46, Y:2.29, Z:-17.36 [[ 4.15355262e-01 -9.04874634e-01 -9.31767260e-02 2.41457648e+02] [ 8.81289242e-01 4.25666536e-01 -2.05273651e-01 2.28686452e+00] [ 2.25409134e-01 3.14584468e-03 9.74259117e-01 -1.73605917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.786875 meters 0.019591163330162628 Centerline is valid? [True, True] Translation: X:241.47, Y:2.31, Z:-17.36 [[ 4.15951331e-01 -9.04632280e-01 -9.28704896e-02 2.41467188e+02] [ 8.81161942e-01 4.26179919e-01 -2.04754263e-01 2.31191546e+00] [ 2.24806854e-01 3.33386754e-03 9.74397642e-01 -1.73551825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81687500000004 meters 0.01938542015919323 Centerline is valid? [True, True] Translation: X:241.48, Y:2.34, Z:-17.35 [[ 4.17139156e-01 -9.04075235e-01 -9.29671624e-02 2.41478722e+02] [ 8.80514755e-01 4.27357410e-01 -2.05083908e-01 2.33638759e+00] [ 2.25141488e-01 3.68957017e-03 9.74319094e-01 -1.73481251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.846875 meters 0.019721776271844748 Centerline is valid? [True, True] Translation: X:241.49, Y:2.36, Z:-17.34 [[ 4.16659346e-01 -9.04292691e-01 -9.30038595e-02 2.41488938e+02] [ 8.80685227e-01 4.26897530e-01 -2.05309598e-01 2.36074558e+00] [ 2.25363087e-01 3.63703775e-03 9.74268059e-01 -1.73426008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87687500000004 meters 0.02022741297249165 Centerline is valid? [True, True] Translation: X:241.50, Y:2.39, Z:-17.34 [[ 4.16568009e-01 -9.04336780e-01 -9.29843090e-02 2.41497994e+02] [ 8.80701565e-01 4.26803703e-01 -2.05434548e-01 2.38611236e+00] [ 2.25468065e-01 3.68603396e-03 9.74243586e-01 -1.73381448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.906875 meters 0.019839925095976253 Centerline is valid? [True, True] Translation: X:241.51, Y:2.41, Z:-17.33 [[ 4.15200371e-01 -9.04942018e-01 -9.32126332e-02 2.41509511e+02] [ 8.81167965e-01 4.25521031e-01 -2.06094324e-01 2.40978511e+00] [ 2.26167349e-01 3.43445340e-03 9.74082407e-01 -1.73324319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93687500000004 meters 0.018999784893986335 Centerline is valid? [True, True] Translation: X:241.52, Y:2.43, Z:-17.33 [[ 4.14245214e-01 -9.05382118e-01 -9.31886442e-02 2.41523704e+02] [ 8.81592839e-01 4.24585155e-01 -2.06207451e-01 2.43354494e+00] [ 2.26263054e-01 3.26600849e-03 9.74060760e-01 -1.73250048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.966875 meters 0.019389634275375024 Centerline is valid? [True, True] Translation: X:241.53, Y:2.46, Z:-17.32 [[ 4.12957620e-01 -9.05994838e-01 -9.29481469e-02 2.41533377e+02] [ 8.82308347e-01 4.23278163e-01 -2.05833859e-01 2.45865974e+00] [ 2.25827335e-01 2.99173463e-03 9.74162751e-01 -1.73203056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.996875 meters 0.018500735689738698 Centerline is valid? [True, True] Translation: X:241.55, Y:2.48, Z:-17.31 [[ 4.10766696e-01 -9.07033315e-01 -9.25272215e-02 2.41547391e+02] [ 8.83552846e-01 4.21051562e-01 -2.05060848e-01 2.48201336e+00] [ 2.24955752e-01 2.47947713e-03 9.74365826e-01 -1.73127163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.026875 meters 0.01848330304369454 Centerline is valid? [True, True] Translation: X:241.56, Y:2.51, Z:-17.31 [[ 4.09791357e-01 -9.07494230e-01 -9.23323712e-02 2.41558761e+02] [ 8.84088869e-01 4.20058304e-01 -2.04787433e-01 2.50642492e+00] [ 2.24628393e-01 2.29009819e-03 9.74441810e-01 -1.73067291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.056875 meters 0.018226394397418754 Centerline is valid? [True, True] Translation: X:241.57, Y:2.53, Z:-17.30 [[ 4.08879613e-01 -9.07916932e-01 -9.22187946e-02 2.41570731e+02] [ 8.84543586e-01 4.19144762e-01 -2.04695658e-01 2.53170515e+00] [ 2.24499679e-01 2.12433838e-03 9.74471847e-01 -1.73007094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.086875 meters 0.01823541816290668 Centerline is valid? [True, True] Translation: X:241.58, Y:2.56, Z:-17.30 [[ 4.08249709e-01 -9.08197657e-01 -9.22452763e-02 2.41582269e+02] [ 8.84784663e-01 4.18536600e-01 -2.04898057e-01 2.55649938e+00] [ 2.24695959e-01 2.03236635e-03 9.74426803e-01 -1.72950214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.116875 meters 0.0181396644696376 Centerline is valid? [True, True] Translation: X:241.59, Y:2.58, Z:-17.29 [[ 4.06885518e-01 -9.08814971e-01 -9.21928628e-02 2.41594126e+02] [ 8.85409512e-01 4.17195715e-01 -2.04933482e-01 2.58122864e+00] [ 2.24709084e-01 1.75602823e-03 9.74424314e-01 -1.72890825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.146875 meters 0.01800013220868045 Centerline is valid? [True, True] Translation: X:241.61, Y:2.61, Z:-17.28 [[ 4.05931014e-01 -9.09252062e-01 -9.20907121e-02 2.41606270e+02] [ 8.85875287e-01 4.16242958e-01 -2.04857939e-01 2.60630029e+00] [ 2.24599614e-01 1.57730510e-03 9.74449858e-01 -1.72834714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.176875 meters 0.018070051934884694 Centerline is valid? [True, True] Translation: X:241.62, Y:2.63, Z:-17.28 [[ 4.03489922e-01 -9.10335306e-01 -9.21168498e-02 2.41618996e+02] [ 8.86937864e-01 4.13870207e-01 -2.05067493e-01 2.62947409e+00] [ 2.24804598e-01 1.04074468e-03 9.74403309e-01 -1.72782780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.206875 meters 0.01778734771454838 Centerline is valid? [True, True] Translation: X:241.63, Y:2.65, Z:-17.27 [[ 4.02142127e-01 -9.10929290e-01 -9.21386883e-02 2.41631265e+02] [ 8.87498490e-01 4.12561781e-01 -2.05278367e-01 2.65341971e+00] [ 2.25006978e-01 7.78132254e-04 9.74356841e-01 -1.72719138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.236875 meters 0.017658079127329467 Centerline is valid? [True, True] Translation: X:241.64, Y:2.68, Z:-17.27 [[ 4.01312352e-01 -9.11307972e-01 -9.20118230e-02 2.41643547e+02] [ 8.87912578e-01 4.11724875e-01 -2.05167935e-01 2.67819326e+00] [ 2.24854731e-01 6.37971825e-04 9.74392089e-01 -1.72655251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.266875 meters 0.020655499948624003 Centerline is valid? [True, True] Translation: X:241.65, Y:2.70, Z:-17.26 [[ 3.99824530e-01 -9.12009132e-01 -9.15406397e-02 2.41654956e+02] [ 8.88839312e-01 4.10169782e-01 -2.04268029e-01 2.70349680e+00] [ 2.23841512e-01 3.06449713e-04 9.74625509e-01 -1.72610635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.296875 meters 0.018006509542994754 Centerline is valid? [True, True] Translation: X:241.67, Y:2.73, Z:-17.25 [[ 4.00333958e-01 -9.11744362e-01 -9.19507520e-02 2.41666559e+02] [ 8.88320611e-01 4.10757769e-01 -2.05340078e-01 2.72653277e+00] [ 2.24987144e-01 5.22857905e-04 9.74361592e-01 -1.72533276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.32687500000003 meters 0.018091598609278704 Centerline is valid? [True, True] Translation: X:241.68, Y:2.75, Z:-17.25 [[ 4.00269505e-01 -9.11795818e-01 -9.17208315e-02 2.41676919e+02] [ 8.88454519e-01 4.10643486e-01 -2.04989013e-01 2.75036559e+00] [ 2.24572686e-01 5.61063285e-04 9.74457179e-01 -1.72475569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.356875 meters 0.018012742111012656 Centerline is valid? [True, True] Translation: X:241.69, Y:2.78, Z:-17.24 [[ 4.00121594e-01 -9.11881510e-01 -9.15140535e-02 2.41688205e+02] [ 8.88622890e-01 4.10453163e-01 -2.04640073e-01 2.77579829e+00] [ 2.24169732e-01 5.59429785e-04 9.74549957e-01 -1.72409974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.38687500000003 meters 0.018010102287600343 Centerline is valid? [True, True] Translation: X:241.70, Y:2.80, Z:-17.24 [[ 3.99830777e-01 -9.12025879e-01 -9.13462966e-02 2.41698025e+02] [ 8.88822560e-01 4.10132300e-01 -2.04416130e-01 2.79943419e+00] [ 2.23896867e-01 5.41210878e-04 9.74612692e-01 -1.72358376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.416875 meters 0.018082508662036936 Centerline is valid? [True, True] Translation: X:241.71, Y:2.83, Z:-17.23 [[ 3.99691555e-01 -9.12107011e-01 -9.11452748e-02 2.41709009e+02] [ 8.88968714e-01 4.09951798e-01 -2.04142472e-01 2.82519391e+00] [ 2.23564949e-01 5.68724174e-04 9.74688868e-01 -1.72299382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.44687500000003 meters 0.018368255657350285 Centerline is valid? [True, True] Translation: X:241.72, Y:2.85, Z:-17.22 [[ 3.99086962e-01 -9.12371659e-01 -9.11457718e-02 2.41720388e+02] [ 8.89204842e-01 4.09362578e-01 -2.04296426e-01 2.85088221e+00] [ 2.23705937e-01 4.84778397e-04 9.74656564e-01 -1.72245277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.476875 meters 0.018430940453471063 Centerline is valid? [True, True] Translation: X:241.73, Y:2.88, Z:-17.22 [[ 3.98697861e-01 -9.12531924e-01 -9.12442000e-02 2.41731741e+02] [ 8.89283402e-01 4.09005229e-01 -2.04669867e-01 2.87580874e+00] [ 2.24087143e-01 4.59485647e-04 9.74569003e-01 -1.72183799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.50687500000004 meters 0.01837243679002319 Centerline is valid? [True, True] Translation: X:241.74, Y:2.90, Z:-17.21 [[ 3.97860277e-01 -9.12874923e-01 -9.14689811e-02 2.41742987e+02] [ 8.89482334e-01 4.08239222e-01 -2.05333667e-01 2.89980903e+00] [ 2.24785182e-01 3.34066920e-04 9.74408287e-01 -1.72136925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.536875 meters 0.018351657862101724 Centerline is valid? [True, True] Translation: X:241.75, Y:2.93, Z:-17.21 [[ 3.97459751e-01 -9.13037741e-01 -9.15850980e-02 2.41754350e+02] [ 8.89550527e-01 4.07874964e-01 -2.05761690e-01 2.92512970e+00] [ 2.25223457e-01 3.12417831e-04 9.74307085e-01 -1.72080088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56687500000004 meters 0.018636071767375566 Centerline is valid? [True, True] Translation: X:241.77, Y:2.95, Z:-17.20 [[ 3.97513114e-01 -9.12994476e-01 -9.17845890e-02 2.41765484e+02] [ 8.89365606e-01 4.07971718e-01 -2.06368351e-01 2.95023883e+00] [ 2.25858681e-01 4.04069141e-04 9.74159994e-01 -1.72027762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.596875 meters 0.01881942938207777 Centerline is valid? [True, True] Translation: X:241.78, Y:2.97, Z:-17.20 [[ 3.97551239e-01 -9.12973221e-01 -9.18308828e-02 2.41776278e+02] [ 8.89283032e-01 4.08019198e-01 -2.06630162e-01 2.97493234e+00] [ 2.26116567e-01 4.82430939e-04 9.74100131e-01 -1.71975831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62687500000004 meters 0.018630803109374438 Centerline is valid? [True, True] Translation: X:241.79, Y:3.00, Z:-17.19 [[ 3.97820869e-01 -9.12856823e-01 -9.18203529e-02 2.41786951e+02] [ 8.89130595e-01 4.08279364e-01 -2.06772210e-01 2.99914944e+00] [ 2.26241778e-01 6.18015234e-04 9.74070981e-01 -1.71923374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.656875 meters 0.018556418327397264 Centerline is valid? [True, True] Translation: X:241.80, Y:3.02, Z:-17.19 [[ 3.98684179e-01 -9.12483028e-01 -9.17913367e-02 2.41798233e+02] [ 8.88724286e-01 4.09113574e-01 -2.06870074e-01 3.02424514e+00] [ 2.26318513e-01 8.98635628e-04 9.74052936e-01 -1.71856974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68687500000004 meters 0.018657656669975355 Centerline is valid? [True, True] Translation: X:241.81, Y:3.05, Z:-17.18 [[ 3.99199626e-01 -9.12286811e-01 -9.15009945e-02 2.41809096e+02] [ 8.88641306e-01 4.09550526e-01 -2.06361322e-01 3.04905487e+00] [ 2.25734993e-01 1.06779935e-03 9.74188161e-01 -1.71797402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.716875 meters 0.018739873492375013 Centerline is valid? [True, True] Translation: X:241.82, Y:3.07, Z:-17.17 [[ 3.99833081e-01 -9.11998353e-01 -9.16106570e-02 2.41820110e+02] [ 8.88251520e-01 4.10191808e-01 -2.06765372e-01 3.07444065e+00] [ 2.26147619e-01 1.29833022e-03 9.74092177e-01 -1.71739071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.746875 meters 0.01876077723335224 Centerline is valid? [True, True] Translation: X:241.83, Y:3.10, Z:-17.17 [[ 4.00420489e-01 -9.11737555e-01 -9.16409403e-02 2.41830664e+02] [ 8.87931484e-01 4.10770425e-01 -2.06991156e-01 3.09972976e+00] [ 2.26364998e-01 1.51262365e-03 9.74041375e-01 -1.71684278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.776875 meters 0.018872426849609183 Centerline is valid? [True, True] Translation: X:241.84, Y:3.13, Z:-17.16 [[ 4.02205859e-01 -9.10960238e-01 -9.15526772e-02 2.41841551e+02] [ 8.87144422e-01 4.12489254e-01 -2.06947795e-01 3.12555339e+00] [ 2.26285708e-01 2.01516876e-03 9.74058888e-01 -1.71631327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.806875 meters 0.019082033775164094 Centerline is valid? [True, True] Translation: X:241.85, Y:3.15, Z:-17.16 [[ 4.02807072e-01 -9.10711332e-01 -9.13856239e-02 2.41851978e+02] [ 8.86940872e-01 4.13037471e-01 -2.06726719e-01 3.15056029e+00] [ 2.26014053e-01 2.21733922e-03 9.74121518e-01 -1.71571914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.836875 meters 0.01896627250550106 Centerline is valid? [True, True] Translation: X:241.86, Y:3.17, Z:-17.15 [[ 4.03131953e-01 -9.10607026e-01 -9.09916126e-02 2.41862135e+02] [ 8.87002782e-01 4.13266727e-01 -2.06001643e-01 3.17398255e+00] [ 2.25190350e-01 2.33603124e-03 9.74311988e-01 -1.71515925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.866875 meters 0.019130146081851023 Centerline is valid? [True, True] Translation: X:241.87, Y:3.20, Z:-17.15 [[ 4.03233962e-01 -9.10587626e-01 -9.07333871e-02 2.41873653e+02] [ 8.87076059e-01 4.13309000e-01 -2.05600916e-01 3.19870742e+00] [ 2.24718576e-01 2.41785660e-03 9.74420708e-01 -1.71450397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.896875 meters 0.019352749615837456 Centerline is valid? [True, True] Translation: X:241.88, Y:3.22, Z:-17.14 [[ 4.03762283e-01 -9.10384353e-01 -9.04231643e-02 2.41884028e+02] [ 8.86994884e-01 4.13755525e-01 -2.05052291e-01 3.22257875e+00] [ 2.24089481e-01 2.58749692e-03 9.74565139e-01 -1.71397547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.926875 meters 0.01905597167673648 Centerline is valid? [True, True] Translation: X:241.90, Y:3.25, Z:-17.13 [[ 4.03971790e-01 -9.10305443e-01 -9.02817414e-02 2.41897205e+02] [ 8.86948185e-01 4.13928383e-01 -2.04905369e-01 3.24705386e+00] [ 2.23896648e-01 2.70076225e-03 9.74609151e-01 -1.71326031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.956875 meters 0.01955059825177828 Centerline is valid? [True, True] Translation: X:241.91, Y:3.27, Z:-17.13 [[ 4.03884781e-01 -9.10358594e-01 -9.01349806e-02 2.41906534e+02] [ 8.87041939e-01 4.13811242e-01 -2.04736063e-01 3.27188757e+00] [ 2.23682102e-01 2.73627195e-03 9.74658314e-01 -1.71281817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.986875 meters 0.01989601218866178 Centerline is valid? [True, True] Translation: X:241.92, Y:3.30, Z:-17.12 [[ 4.03675013e-01 -9.10462218e-01 -9.00279601e-02 2.41917171e+02] [ 8.87165252e-01 4.13583124e-01 -2.04662687e-01 3.29615095e+00] [ 2.23571689e-01 2.74753492e-03 9.74683616e-01 -1.71225272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.016875 meters 0.01918204637651222 Centerline is valid? [True, True] Translation: X:241.93, Y:3.32, Z:-17.12 [[ 4.03268613e-01 -9.10653559e-01 -8.99139626e-02 2.41928957e+02] [ 8.87382706e-01 4.13161902e-01 -2.04570712e-01 3.31969208e+00] [ 2.23442071e-01 2.70885190e-03 9.74713447e-01 -1.71165885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.046875 meters 0.019172017750707565 Centerline is valid? [True, True] Translation: X:241.94, Y:3.34, Z:-17.11 [[ 4.03267519e-01 -9.10656410e-01 -8.98899972e-02 2.41941217e+02] [ 8.87358689e-01 4.13155150e-01 -2.04688492e-01 3.34392772e+00] [ 2.23539402e-01 2.77955029e-03 9.74690930e-01 -1.71104390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07687500000003 meters 0.02011946220847743 Centerline is valid? [True, True] Translation: X:241.95, Y:3.37, Z:-17.11 [[ 4.03199717e-01 -9.10677050e-01 -8.99849955e-02 2.41952753e+02] [ 8.87293314e-01 4.13109250e-01 -2.05064190e-01 3.36812961e+00] [ 2.23920885e-01 2.83873826e-03 9.74603190e-01 -1.71064745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.106875 meters 0.020312965845450302 Centerline is valid? [True, True] Translation: X:241.96, Y:3.39, Z:-17.10 [[ 4.02997998e-01 -9.10769864e-01 -8.99492581e-02 2.41964586e+02] [ 8.87368912e-01 4.12904462e-01 -2.05149503e-01 3.39282972e+00] [ 2.23984434e-01 2.85666349e-03 9.74588535e-01 -1.71008938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13687500000003 meters 0.020144369831765197 Centerline is valid? [True, True] Translation: X:241.98, Y:3.42, Z:-17.09 [[ 4.02096037e-01 -9.11191383e-01 -8.97164438e-02 2.41976840e+02] [ 8.87887661e-01 4.11974607e-01 -2.04774081e-01 3.41779186e+00] [ 2.23549275e-01 2.68072314e-03 9.74688943e-01 -1.70944377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.166875 meters 0.017604316223611968 Centerline is valid? [True, True] Translation: X:241.99, Y:3.44, Z:-17.09 [[ 3.99784250e-01 -9.12248399e-01 -8.93051655e-02 2.41988191e+02] [ 8.89151385e-01 4.09631852e-01 -2.03989118e-01 3.44281863e+00] [ 2.22670987e-01 2.14582498e-03 9.74891290e-01 -1.70877393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19687500000003 meters 0.020436383129430462 Centerline is valid? [True, True] Translation: X:242.00, Y:3.47, Z:-17.08 [[ 3.99523277e-01 -9.12305331e-01 -8.98895636e-02 2.42002305e+02] [ 8.88866413e-01 4.09504782e-01 -2.05480738e-01 3.46646698e+00] [ 2.24271379e-01 2.19452369e-03 9.74524260e-01 -1.70832966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.226875 meters 0.02146121567276672 Centerline is valid? [True, True] Translation: X:242.02, Y:3.49, Z:-17.08 [[ 3.98595476e-01 -9.12774803e-01 -8.92401546e-02 2.42016927e+02] [ 8.89651883e-01 4.08458346e-01 -2.04160001e-01 3.49114625e+00] [ 2.22802991e-01 1.98458122e-03 9.74861472e-01 -1.70807213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25687500000004 meters 0.02045044057897728 Centerline is valid? [True, True] Translation: X:242.02, Y:3.52, Z:-17.07 [[ 3.94008910e-01 -9.14840990e-01 -8.84473945e-02 2.42024921e+02] [ 8.92148195e-01 4.03813311e-01 -2.02500388e-01 3.51521978e+00] [ 2.20971891e-01 8.78773883e-04 9.75279781e-01 -1.70695419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.286875 meters 0.02008432757429513 Centerline is valid? [True, True] Translation: X:242.04, Y:3.54, Z:-17.07 [[ 3.93371322e-01 -9.15063152e-01 -8.89855666e-02 2.42040637e+02] [ 8.92059807e-01 4.03309745e-01 -2.03888572e-01 3.53780302e+00] [ 2.22459666e-01 8.23469858e-04 9.74941546e-01 -1.70662328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31687500000004 meters 0.02039560320519586 Centerline is valid? [True, True] Translation: X:242.05, Y:3.56, Z:-17.06 [[ 3.93125104e-01 -9.15177919e-01 -8.88933599e-02 2.42051843e+02] [ 8.92185900e-01 4.03049237e-01 -2.03851987e-01 3.56095220e+00] [ 2.22389238e-01 8.29931180e-04 9.74957608e-01 -1.70605629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.346875 meters 0.021652799226445515 Centerline is valid? [True, True] Translation: X:242.06, Y:3.58, Z:-17.06 [[ 3.92984903e-01 -9.15225815e-01 -8.90200719e-02 2.42064113e+02] [ 8.92128777e-01 4.02940368e-01 -2.04316677e-01 3.58476532e+00] [ 2.22865678e-01 8.76001703e-04 9.74848769e-01 -1.70563580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37687500000004 meters 0.021877974650705113 Centerline is valid? [True, True] Translation: X:242.07, Y:3.61, Z:-17.05 [[ 3.91738878e-01 -9.15764793e-01 -8.89690740e-02 2.42074637e+02] [ 8.92668349e-01 4.01714368e-01 -2.04374133e-01 3.60880668e+00] [ 2.22898791e-01 6.41417141e-04 9.74841381e-01 -1.70514781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.406875 meters 0.021838099041599852 Centerline is valid? [True, True] Translation: X:242.09, Y:3.63, Z:-17.05 [[ 3.91235531e-01 -9.15988810e-01 -8.88777753e-02 2.42085500e+02] [ 8.92904474e-01 4.01203382e-01 -2.04346389e-01 3.63340988e+00] [ 2.22837069e-01 5.88204596e-04 9.74855525e-01 -1.70455053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43687500000004 meters 0.021772845646795456 Centerline is valid? [True, True] Translation: X:242.09, Y:3.66, Z:-17.04 [[ 3.90564880e-01 -9.16273890e-01 -8.88888801e-02 2.42094657e+02] [ 8.93151879e-01 4.00552009e-01 -2.04542925e-01 3.65793762e+00] [ 2.23021961e-01 4.96012651e-04 9.74813294e-01 -1.70412131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.466875 meters 0.021772845646795456 Centerline is valid? [True, True] Translation: X:242.10, Y:3.68, Z:-17.04 [[ 3.90293901e-01 -9.16395386e-01 -8.88266202e-02 2.42104927e+02] [ 8.93270329e-01 4.00273970e-01 -2.04569960e-01 3.68201546e+00] [ 2.23021951e-01 4.96223409e-04 9.74813296e-01 -1.70354430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.496875 meters 0.021937896075863 Centerline is valid? [True, True] Translation: X:242.11, Y:3.71, Z:-17.03 [[ 3.90127446e-01 -9.16436841e-01 -8.91296374e-02 2.42114607e+02] [ 8.93113421e-01 4.00178985e-01 -2.05439035e-01 3.70682597e+00] [ 2.23939708e-01 5.44530506e-04 9.74602848e-01 -1.70309766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.526875 meters 0.02193145958021349 Centerline is valid? [True, True] Translation: X:242.12, Y:3.73, Z:-17.03 [[ 3.90567585e-01 -9.16242564e-01 -8.91993547e-02 2.42123789e+02] [ 8.92838061e-01 4.00623309e-01 -2.05769679e-01 3.73210836e+00] [ 2.24270279e-01 7.26387848e-04 9.74526713e-01 -1.70259353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.556875 meters 0.022044243131240034 Centerline is valid? [True, True] Translation: X:242.13, Y:3.76, Z:-17.02 [[ 3.91322717e-01 -9.15906279e-01 -8.93432695e-02 2.42132465e+02] [ 8.92377578e-01 4.01390966e-01 -2.06270578e-01 3.75767029e+00] [ 2.24786098e-01 9.90432294e-04 9.74407630e-01 -1.70209238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.586875 meters 0.0223654479173459 Centerline is valid? [True, True] Translation: X:242.14, Y:3.79, Z:-17.02 [[ 3.93917635e-01 -9.14778117e-01 -8.94980107e-02 2.42139312e+02] [ 8.91100565e-01 4.03953074e-01 -2.06789016e-01 3.78504685e+00] [ 2.25319063e-01 1.70611196e-03 9.74283536e-01 -1.70158697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.616875 meters 0.022735211824805576 Centerline is valid? [True, True] Translation: X:242.15, Y:3.81, Z:-17.01 [[ 3.94955939e-01 -9.14314748e-01 -8.96568319e-02 2.42146725e+02] [ 8.90504689e-01 4.04999244e-01 -2.07308975e-01 3.81066491e+00] [ 2.25856603e-01 2.03808167e-03 9.74158427e-01 -1.70117798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.646875 meters 0.022518614119878693 Centerline is valid? [True, True] Translation: X:242.16, Y:3.83, Z:-17.00 [[ 3.95692361e-01 -9.14023569e-01 -8.93782490e-02 2.42157093e+02] [ 8.90318681e-01 4.05654766e-01 -2.06825671e-01 3.83478685e+00] [ 2.25300250e-01 2.26421317e-03 9.74286750e-01 -1.70043875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.676875 meters 0.022885416505648164 Centerline is valid? [True, True] Translation: X:242.17, Y:3.86, Z:-17.00 [[ 3.96092295e-01 -9.13868931e-01 -8.91878335e-02 2.42165478e+02] [ 8.90224314e-01 4.06002143e-01 -2.06550066e-01 3.85921510e+00] [ 2.24970139e-01 2.41571167e-03 9.74362664e-01 -1.69990926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.706875 meters 0.024501983011392843 Centerline is valid? [True, True] Translation: X:242.18, Y:3.88, Z:-16.99 [[ 3.96574194e-01 -9.13712545e-01 -8.86470145e-02 2.42175165e+02] [ 8.90311974e-01 4.06353059e-01 -2.05479390e-01 3.88410154e+00] [ 2.23771082e-01 2.56432494e-03 9.74638357e-01 -1.69922789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.736875 meters 0.023290271137151212 Centerline is valid? [True, True] Translation: X:242.18, Y:3.91, Z:-16.99 [[ 3.98377121e-01 -9.12922861e-01 -8.86990446e-02 2.42184269e+02] [ 8.89435298e-01 4.08120503e-01 -2.05772947e-01 3.90884846e+00] [ 2.24054726e-01 3.08317295e-03 9.74571687e-01 -1.69867291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.766875 meters 0.023363682418259733 Centerline is valid? [True, True] Translation: X:242.19, Y:3.93, Z:-16.98 [[ 3.99322550e-01 -9.12505021e-01 -8.87473210e-02 2.42194221e+02] [ 8.88944467e-01 4.09051481e-01 -2.06045192e-01 3.93476625e+00] [ 2.24319495e-01 3.38705164e-03 9.74509770e-01 -1.69805980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.796875 meters 0.023898002818928864 Centerline is valid? [True, True] Translation: X:242.20, Y:3.96, Z:-16.98 [[ 4.01621925e-01 -9.11465944e-01 -8.90486451e-02 2.42202957e+02] [ 8.87682323e-01 4.11355622e-01 -2.06897670e-01 3.96082504e+00] [ 2.25210841e-01 4.04773246e-03 9.74301644e-01 -1.69758414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.82687500000003 meters 0.023869308952231293 Centerline is valid? [True, True] Translation: X:242.21, Y:3.99, Z:-16.97 [[ 4.02897728e-01 -9.10885218e-01 -8.92274615e-02 2.42214016e+02] [ 8.86954747e-01 4.12635842e-01 -2.07467925e-01 3.98609134e+00] [ 2.25797914e-01 4.44763500e-03 9.74164011e-01 -1.69700396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.856875 meters 0.025256540403070012 Centerline is valid? [True, True] Translation: X:242.22, Y:4.01, Z:-16.97 [[ 4.03817711e-01 -9.10445147e-01 -8.95594239e-02 2.42221194e+02] [ 8.86285984e-01 4.13602205e-01 -2.08399543e-01 4.01261798e+00] [ 2.26778328e-01 4.78016440e-03 9.73934669e-01 -1.69664462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.88687500000003 meters 0.024404878455848246 Centerline is valid? [True, True] Translation: X:242.23, Y:4.04, Z:-16.96 [[ 4.04653754e-01 -9.10070431e-01 -8.95943609e-02 2.42233389e+02] [ 8.85844353e-01 4.14422700e-01 -2.08647090e-01 4.03731741e+00] [ 2.27013485e-01 5.06316977e-03 9.73878453e-01 -1.69592936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.916875 meters 0.026597374993779024 Centerline is valid? [True, True] Translation: X:242.24, Y:4.06, Z:-16.96 [[ 4.05182974e-01 -9.09811464e-01 -8.98323809e-02 2.42240019e+02] [ 8.85412971e-01 4.14988121e-01 -2.09353125e-01 4.06325410e+00] [ 2.27751244e-01 5.28756634e-03 9.73704993e-01 -1.69555734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.94687500000003 meters 0.02668496499794726 Centerline is valid? [True, True] Translation: X:242.25, Y:4.09, Z:-16.95 [[ 4.06097169e-01 -9.09400756e-01 -8.98629774e-02 2.42248879e+02] [ 8.84947529e-01 4.15883671e-01 -2.09543895e-01 4.08673602e+00] [ 2.27931921e-01 5.57116271e-03 9.73661133e-01 -1.69495483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.976875 meters 0.025942507360359197 Centerline is valid? [True, True] Translation: X:242.26, Y:4.11, Z:-16.94 [[ 4.06120535e-01 -9.09395343e-01 -8.98121453e-02 2.42261097e+02] [ 8.84931749e-01 4.15894569e-01 -2.09588901e-01 4.10987308e+00] [ 2.27951554e-01 5.64073796e-03 9.73656136e-01 -1.69428596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.00687500000004 meters 0.02651574111956423 Centerline is valid? [True, True] Translation: X:242.27, Y:4.13, Z:-16.94 [[ 4.05733410e-01 -9.09545471e-01 -9.00412997e-02 2.42270702e+02] [ 8.84917829e-01 4.15566072e-01 -2.10298064e-01 4.13342839e+00] [ 2.28693761e-01 5.64579893e-03 9.73482043e-01 -1.69378485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.036875 meters 0.025787310219009946 Centerline is valid? [True, True] Translation: X:242.28, Y:4.16, Z:-16.93 [[ 4.04732308e-01 -9.09983176e-01 -9.01242400e-02 2.42283356e+02] [ 8.85277168e-01 4.14608935e-01 -2.10674554e-01 4.15722906e+00] [ 2.29076615e-01 5.48186661e-03 9.73392959e-01 -1.69313359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06687500000004 meters 0.02580383568705469 Centerline is valid? [True, True] Translation: X:242.29, Y:4.18, Z:-16.93 [[ 4.03835475e-01 -9.10372716e-01 -9.02132287e-02 2.42294654e+02] [ 8.85585771e-01 4.13754753e-01 -2.11056498e-01 4.18163641e+00] [ 2.29466230e-01 5.34054946e-03 9.73301972e-01 -1.69262753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.096875 meters 0.02433151127600544 Centerline is valid? [True, True] Translation: X:242.31, Y:4.20, Z:-16.92 [[ 4.01888280e-01 -9.11215153e-01 -9.04032935e-02 2.42309376e+02] [ 8.86301643e-01 4.11901062e-01 -2.11676434e-01 4.20442282e+00] [ 2.30119987e-01 4.94569039e-03 9.73149696e-01 -1.69199466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12687500000004 meters 0.02400006586325643 Centerline is valid? [True, True] Translation: X:242.32, Y:4.23, Z:-16.91 [[ 4.00134113e-01 -9.11984131e-01 -9.04302844e-02 2.42320582e+02] [ 8.87031387e-01 4.10199878e-01 -2.11923048e-01 4.22723813e+00] [ 2.30364948e-01 4.58314018e-03 9.73093513e-01 -1.69143555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.156875 meters 0.023621646278171853 Centerline is valid? [True, True] Translation: X:242.33, Y:4.25, Z:-16.91 [[ 3.97927826e-01 -9.12923270e-01 -9.06892929e-02 2.42332546e+02] [ 8.87803582e-01 4.08110296e-01 -2.12722321e-01 4.25126605e+00] [ 2.31210391e-01 4.13385166e-03 9.72894992e-01 -1.69084175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18687500000004 meters 0.02302121402187221 Centerline is valid? [True, True] Translation: X:242.35, Y:4.27, Z:-16.90 [[ 3.96249713e-01 -9.13641321e-01 -9.08058481e-02 2.42345969e+02] [ 8.88433863e-01 4.06503574e-01 -2.13166872e-01 4.27490040e+00] [ 2.31670964e-01 3.79232145e-03 9.72786813e-01 -1.69009624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.216875 meters 0.02295861637912816 Centerline is valid? [True, True] Translation: X:242.36, Y:4.30, Z:-16.89 [[ 3.93503536e-01 -9.14829642e-01 -9.07837692e-02 2.42358268e+02] [ 8.89625826e-01 4.03827583e-01 -2.13281909e-01 4.29793506e+00] [ 2.31777602e-01 3.16359955e-03 9.72763658e-01 -1.68941557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.246875 meters 0.022566429098124046 Centerline is valid? [True, True] Translation: X:242.37, Y:4.32, Z:-16.89 [[ 3.92295553e-01 -9.15340518e-01 -9.08621789e-02 2.42369317e+02] [ 8.90066097e-01 4.02669998e-01 -2.13633365e-01 4.32232823e+00] [ 2.32134749e-01 2.93407414e-03 9.72679212e-01 -1.68880878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.276875 meters 0.02277646807839334 Centerline is valid? [True, True] Translation: X:242.38, Y:4.35, Z:-16.88 [[ 3.91186349e-01 -9.15823172e-01 -9.07808203e-02 2.42379719e+02] [ 8.90562734e-01 4.01572537e-01 -2.13629386e-01 4.34705514e+00] [ 2.32101826e-01 2.72288398e-03 9.72687683e-01 -1.68830407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.306875 meters 0.02242181677219883 Centerline is valid? [True, True] Translation: X:242.39, Y:4.37, Z:-16.88 [[ 3.89796858e-01 -9.16421835e-01 -9.07162046e-02 2.42390053e+02] [ 8.91169288e-01 4.00206268e-01 -2.13663857e-01 4.37151603e+00] [ 2.32111418e-01 2.44200468e-03 9.72686140e-01 -1.68772255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.336875 meters 0.022549082601743604 Centerline is valid? [True, True] Translation: X:242.40, Y:4.40, Z:-16.87 [[ 3.88686572e-01 -9.16900340e-01 -9.06450015e-02 2.42400260e+02] [ 8.91655789e-01 3.99109990e-01 -2.13684742e-01 4.39594438e+00] [ 2.32104938e-01 2.23224958e-03 9.72688190e-01 -1.68705440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.366875 meters 0.02241738443821353 Centerline is valid? [True, True] Translation: X:242.41, Y:4.42, Z:-16.86 [[ 3.88396611e-01 -9.17028924e-01 -9.05871135e-02 2.42410608e+02] [ 8.91775564e-01 3.98814461e-01 -2.13736684e-01 4.42118766e+00] [ 2.32130172e-01 2.23122965e-03 9.72682170e-01 -1.68634489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.396875 meters 0.022630758577673857 Centerline is valid? [True, True] Translation: X:242.42, Y:4.44, Z:-16.86 [[ 3.88500706e-01 -9.17019806e-01 -9.02323477e-02 2.42419713e+02] [ 8.91925640e-01 3.98835048e-01 -2.13071014e-01 4.44487072e+00] [ 2.31378162e-01 2.29769480e-03 9.72861175e-01 -1.68574572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.426875 meters 0.023181420187679203 Centerline is valid? [True, True] Translation: X:242.43, Y:4.47, Z:-16.85 [[ 3.88299233e-01 -9.17119044e-01 -9.00908673e-02 2.42427203e+02] [ 8.92059820e-01 3.98606688e-01 -2.12936575e-01 4.46967629e+00] [ 2.31199010e-01 2.31666586e-03 9.72903721e-01 -1.68530483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.456875 meters 0.022687736587179888 Centerline is valid? [True, True] Translation: X:242.44, Y:4.49, Z:-16.84 [[ 3.88724724e-01 -9.16946809e-01 -9.00090976e-02 2.42438192e+02] [ 8.91883999e-01 3.99001660e-01 -2.12933338e-01 4.49385717e+00] [ 2.31162325e-01 2.49477930e-03 9.72911998e-01 -1.68435996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.486875 meters 0.023755612097772667 Centerline is valid? [True, True] Translation: X:242.44, Y:4.52, Z:-16.84 [[ 3.90344127e-01 -9.16237678e-01 -9.02218374e-02 2.42441756e+02] [ 8.90996492e-01 4.00623979e-01 -2.13601683e-01 4.52147944e+00] [ 2.31854942e-01 2.99082207e-03 9.72745774e-01 -1.68418829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.516875 meters 0.023406052339896614 Centerline is valid? [True, True] Translation: X:242.45, Y:4.55, Z:-16.83 [[ 3.91587459e-01 -9.15701577e-01 -9.02767111e-02 2.42451107e+02] [ 8.90382454e-01 4.01844849e-01 -2.13868659e-01 4.54662012e+00] [ 2.32117100e-01 3.36748525e-03 9.72682020e-01 -1.68342305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.546875 meters 0.02347189964209726 Centerline is valid? [True, True] Translation: X:242.46, Y:4.57, Z:-16.83 [[ 3.92878533e-01 -9.15156394e-01 -9.01955256e-02 2.42459863e+02] [ 8.89830489e-01 4.03081484e-01 -2.13838766e-01 4.57245833e+00] [ 2.32052060e-01 3.75393199e-03 9.72696124e-01 -1.68276079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57687500000003 meters 0.024242117762631885 Centerline is valid? [True, True] Translation: X:242.47, Y:4.60, Z:-16.82 [[ 3.95947995e-01 -9.13864783e-01 -8.98684842e-02 2.42465282e+02] [ 8.88653335e-01 4.05993015e-01 -2.13225052e-01 4.59969678e+00] [ 2.31344843e-01 4.56410382e-03 9.72861107e-01 -1.68218396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.606875 meters 0.02448195573991732 Centerline is valid? [True, True] Translation: X:242.47, Y:4.63, Z:-16.82 [[ 3.97195070e-01 -9.13322157e-01 -8.98816700e-02 2.42473699e+02] [ 8.88052522e-01 4.07207774e-01 -2.13411686e-01 4.62594123e+00] [ 2.31514136e-01 4.94642591e-03 9.72818964e-01 -1.68157057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63687500000003 meters 0.025485700260341183 Centerline is valid? [True, True] Translation: X:242.48, Y:4.65, Z:-16.81 [[ 3.98235361e-01 -9.12885457e-01 -8.97147668e-02 2.42481580e+02] [ 8.87660961e-01 4.08181922e-01 -2.13179588e-01 4.65210672e+00] [ 2.31228492e-01 5.25935400e-03 9.72885257e-01 -1.68101317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.666875 meters 0.024554289343836053 Centerline is valid? [True, True] Translation: X:242.49, Y:4.68, Z:-16.80 [[ 3.98498170e-01 -9.12769819e-01 -8.97243924e-02 2.42491830e+02] [ 8.87499447e-01 4.08438698e-01 -2.13360168e-01 4.67657593e+00] [ 2.31395636e-01 5.39328761e-03 9.72844783e-01 -1.68027938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69687500000003 meters 0.025060297465514754 Centerline is valid? [True, True] Translation: X:242.50, Y:4.70, Z:-16.80 [[ 3.99412790e-01 -9.12375769e-01 -8.96653795e-02 2.42500871e+02] [ 8.87084567e-01 4.09314060e-01 -2.13407994e-01 4.70246076e+00] [ 2.31409583e-01 5.69710806e-03 9.72839734e-01 -1.67965519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.726875 meters 0.02539275569552658 Centerline is valid? [True, True] Translation: X:242.51, Y:4.73, Z:-16.79 [[ 3.99908987e-01 -9.12191897e-01 -8.93238240e-02 2.42507737e+02] [ 8.87052388e-01 4.09721526e-01 -2.12758857e-01 4.72796353e+00] [ 2.30674799e-01 5.84926765e-03 9.73013321e-01 -1.67910419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75687500000004 meters 0.02464874568430878 Centerline is valid? [True, True] Translation: X:242.52, Y:4.75, Z:-16.78 [[ 3.99892566e-01 -9.12220714e-01 -8.91027799e-02 2.42519436e+02] [ 8.87164774e-01 4.09656719e-01 -2.12414772e-01 4.75163617e+00] [ 2.30270707e-01 5.89424058e-03 9.73108760e-01 -1.67838196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.786875 meters 0.02431318193229446 Centerline is valid? [True, True] Translation: X:242.53, Y:4.78, Z:-16.78 [[ 3.99322640e-01 -9.12469670e-01 -8.91096561e-02 2.42530703e+02] [ 8.87371491e-01 4.09102813e-01 -2.12618735e-01 4.77695003e+00] [ 2.30463158e-01 5.83010606e-03 9.73063586e-01 -1.67774598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81687500000004 meters 0.02576218519184417 Centerline is valid? [True, True] Translation: X:242.54, Y:4.80, Z:-16.77 [[ 3.98221439e-01 -9.12949914e-01 -8.91186896e-02 2.42536878e+02] [ 8.87818088e-01 4.08032867e-01 -2.12810294e-01 4.80346635e+00] [ 2.30648494e-01 5.62443663e-03 9.73020883e-01 -1.67741740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.846875 meters 0.023472489454891596 Centerline is valid? [True, True] Translation: X:242.55, Y:4.83, Z:-16.77 [[ 3.95233289e-01 -9.14256071e-01 -8.90308012e-02 2.42550408e+02] [ 8.89166297e-01 4.05106800e-01 -2.12771655e-01 4.82759302e+00] [ 2.30594761e-01 4.93125350e-03 9.73037378e-01 -1.67668605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87687500000004 meters 0.023423694175922476 Centerline is valid? [True, True] Translation: X:242.56, Y:4.85, Z:-16.76 [[ 3.93877955e-01 -9.14825084e-01 -8.91920484e-02 2.42561882e+02] [ 8.89616563e-01 4.03823196e-01 -2.13328847e-01 4.85199784e+00] [ 2.31176398e-01 4.67880628e-03 9.72900602e-01 -1.67605312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.906875 meters 0.02299665048051787 Centerline is valid? [True, True] Translation: X:242.57, Y:4.88, Z:-16.75 [[ 3.91819361e-01 -9.15712659e-01 -8.91510734e-02 2.42573399e+02] [ 8.90509907e-01 4.01811498e-01 -2.13400153e-01 4.87639724e+00] [ 2.31235148e-01 4.22439740e-03 9.72888720e-01 -1.67538001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93687500000004 meters 0.023212792693296916 Centerline is valid? [True, True] Translation: X:242.58, Y:4.90, Z:-16.75 [[ 3.89794103e-01 -9.16591170e-01 -8.90010298e-02 2.42583289e+02] [ 8.91456440e-01 3.99807990e-01 -2.13211130e-01 4.90149700e+00] [ 2.31010762e-01 3.76790019e-03 9.72943899e-01 -1.67486448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.966875 meters 0.022215759556544746 Centerline is valid? [True, True] Translation: X:242.60, Y:4.93, Z:-16.74 [[ 3.87467284e-01 -9.17585359e-01 -8.89168859e-02 2.42596085e+02] [ 8.92484085e-01 3.97525585e-01 -2.13179660e-01 4.92593345e+00] [ 2.30957272e-01 3.24323836e-03 9.72958488e-01 -1.67410640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.996875 meters 0.02225609069767217 Centerline is valid? [True, True] Translation: X:242.61, Y:4.95, Z:-16.74 [[ 3.84070313e-01 -9.19002278e-01 -8.90213870e-02 2.42605456e+02] [ 8.93838316e-01 3.94244507e-01 -2.13598534e-01 4.95064017e+00] [ 2.31393733e-01 2.46612938e-03 9.72857060e-01 -1.67376748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.026875 meters 0.021654330529336994 Centerline is valid? [True, True] Translation: X:242.62, Y:4.97, Z:-16.73 [[ 3.82187353e-01 -9.19781144e-01 -8.90812788e-02 2.42616578e+02] [ 8.94568147e-01 3.92426317e-01 -2.13891131e-01 4.97494463e+00] [ 2.31690867e-01 2.05721045e-03 9.72787289e-01 -1.67302333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.056875 meters 0.021336794751262413 Centerline is valid? [True, True] Translation: X:242.63, Y:5.00, Z:-16.73 [[ 3.80617307e-01 -9.20448022e-01 -8.89151479e-02 2.42625888e+02] [ 8.95304170e-01 3.90861189e-01 -2.13677269e-01 4.99868973e+00] [ 2.31432300e-01 1.72316394e-03 9.72849485e-01 -1.67255959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.086875 meters 0.020950017147787495 Centerline is valid? [True, True] Translation: X:242.64, Y:5.02, Z:-16.72 [[ 3.79373818e-01 -9.20975182e-01 -8.87706080e-02 2.42635502e+02] [ 8.95882610e-01 3.89618447e-01 -2.13522401e-01 5.02304910e+00] [ 2.31235498e-01 1.47676448e-03 9.72896687e-01 -1.67190530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.116875 meters 0.020649373748259467 Centerline is valid? [True, True] Translation: X:242.64, Y:5.05, Z:-16.71 [[ 3.77454825e-01 -9.21789830e-01 -8.84949972e-02 2.42644657e+02] [ 8.96833610e-01 3.87688548e-01 -2.13042403e-01 5.04730875e+00] [ 2.30688817e-01 1.04859507e-03 9.73027014e-01 -1.67131688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.146875 meters 0.02062225508531722 Centerline is valid? [True, True] Translation: X:242.65, Y:5.07, Z:-16.71 [[ 3.76770534e-01 -9.22062784e-01 -8.85674102e-02 2.42654540e+02] [ 8.97027036e-01 3.87039149e-01 -2.13408514e-01 5.07191746e+00] [ 2.31055104e-01 9.58678263e-04 9.72940193e-01 -1.67062241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.176875 meters 0.020731490141693388 Centerline is valid? [True, True] Translation: X:242.66, Y:5.10, Z:-16.70 [[ 3.75954395e-01 -9.22402266e-01 -8.85005809e-02 2.42664698e+02] [ 8.97370188e-01 3.86229702e-01 -2.13432337e-01 5.09772178e+00] [ 2.31052024e-01 8.23042205e-04 9.72941049e-01 -1.66994838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.206875 meters 0.020776109683080825 Centerline is valid? [True, True] Translation: X:242.67, Y:5.12, Z:-16.69 [[ 3.74716549e-01 -9.22925502e-01 -8.82951021e-02 2.42674165e+02] [ 8.97985341e-01 3.84978176e-01 -2.13105915e-01 5.12162392e+00] [ 2.30672571e-01 5.66605725e-04 9.73031266e-01 -1.66942192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.236875 meters 0.020511955152989175 Centerline is valid? [True, True] Translation: X:242.68, Y:5.15, Z:-16.69 [[ 3.73610312e-01 -9.23398417e-01 -8.80380473e-02 2.42683873e+02] [ 8.98572215e-01 3.83842728e-01 -2.12679889e-01 5.14697346e+00] [ 2.30181037e-01 3.50856444e-04 9.73147762e-01 -1.66868724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.266875 meters 0.02047047334073478 Centerline is valid? [True, True] Translation: X:242.69, Y:5.17, Z:-16.68 [[ 3.73044331e-01 -9.23636954e-01 -8.79358005e-02 2.42693252e+02] [ 8.98835703e-01 3.83268450e-01 -2.12602152e-01 5.17199476e+00] [ 2.30070222e-01 2.70190438e-04 9.73173993e-01 -1.66817195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.296875 meters 0.020531363951513473 Centerline is valid? [True, True] Translation: X:242.70, Y:5.20, Z:-16.68 [[ 3.73145790e-01 -9.23613860e-01 -8.77476857e-02 2.42702791e+02] [ 8.98877472e-01 3.83324030e-01 -2.12325169e-01 5.19657064e+00] [ 2.29742266e-01 3.53825138e-04 9.73251440e-01 -1.66754352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.32687500000003 meters 0.020619168428937174 Centerline is valid? [True, True] Translation: X:242.71, Y:5.22, Z:-16.67 [[ 3.73159031e-01 -9.23615120e-01 -8.76780912e-02 2.42711482e+02] [ 8.98873984e-01 3.83320920e-01 -2.12345551e-01 5.22082524e+00] [ 2.29734408e-01 4.27104948e-04 9.73253266e-01 -1.66702210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.356875 meters 0.020619168428937174 Centerline is valid? [True, True] Translation: X:242.72, Y:5.25, Z:-16.66 [[ 3.72881260e-01 -9.23733839e-01 -8.76091354e-02 2.42721327e+02] [ 8.98989252e-01 3.83034737e-01 -2.12373998e-01 5.24507415e+00] [ 2.29734391e-01 4.30612939e-04 9.73253268e-01 -1.66644521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.38687500000003 meters 0.02062864261223538 Centerline is valid? [True, True] Translation: X:242.73, Y:5.27, Z:-16.66 [[ 3.74552207e-01 -9.23054642e-01 -8.76400189e-02 2.42729562e+02] [ 8.98230120e-01 3.84667752e-01 -2.12634364e-01 5.27084488e+00] [ 2.29985426e-01 9.21765699e-04 9.73193637e-01 -1.66582639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.416875 meters 0.020699095762454583 Centerline is valid? [True, True] Translation: X:242.74, Y:5.30, Z:-16.65 [[ 3.75440666e-01 -9.22696245e-01 -8.76124786e-02 2.42739077e+02] [ 8.97838144e-01 3.85525851e-01 -2.12735720e-01 5.29654151e+00] [ 2.30067325e-01 1.20781522e-03 9.73173965e-01 -1.66521488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.44687500000003 meters 0.020717305599535298 Centerline is valid? [True, True] Translation: X:242.75, Y:5.32, Z:-16.65 [[ 3.76348856e-01 -9.22338195e-01 -8.74859553e-02 2.42747360e+02] [ 8.97503404e-01 3.86380678e-01 -2.12597298e-01 5.32107585e+00] [ 2.29889491e-01 1.49180725e-03 9.73215596e-01 -1.66466887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.476875 meters 0.02100436390081063 Centerline is valid? [True, True] Translation: X:242.76, Y:5.35, Z:-16.64 [[ 3.77886699e-01 -9.21709496e-01 -8.74828429e-02 2.42757163e+02] [ 8.96813487e-01 3.87875999e-01 -2.12785758e-01 5.34658139e+00] [ 2.30059149e-01 1.95311444e-03 9.73174688e-01 -1.66394354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.50687500000004 meters 0.0213442240829941 Centerline is valid? [True, True] Translation: X:242.76, Y:5.37, Z:-16.63 [[ 3.81382634e-01 -9.20316663e-01 -8.69742831e-02 2.42764563e+02] [ 8.95637362e-01 3.91163811e-01 -2.11718181e-01 5.37278256e+00] [ 2.28868962e-01 2.84822012e-03 9.73453073e-01 -1.66340517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.536875 meters 0.021590348401623986 Centerline is valid? [True, True] Translation: X:242.77, Y:5.40, Z:-16.63 [[ 3.83348959e-01 -9.19505172e-01 -8.69126784e-02 2.42773810e+02] [ 8.94804735e-01 3.93063258e-01 -2.11720950e-01 5.39939398e+00] [ 2.28840689e-01 3.39312954e-03 9.73457973e-01 -1.66273562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56687500000004 meters 0.02262163366513541 Centerline is valid? [True, True] Translation: X:242.78, Y:5.43, Z:-16.62 [[ 3.85633830e-01 -9.18550677e-01 -8.68976596e-02 2.42780964e+02] [ 8.93799436e-01 3.95282785e-01 -2.11835050e-01 5.42576050e+00] [ 2.28930378e-01 4.02168281e-03 9.73434491e-01 -1.66226227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.596875 meters 0.023426070102251655 Centerline is valid? [True, True] Translation: X:242.79, Y:5.45, Z:-16.62 [[ 3.88353330e-01 -9.17430269e-01 -8.66221252e-02 2.42788333e+02] [ 8.92768289e-01 3.97868338e-01 -2.11342301e-01 5.45188521e+00] [ 2.28356025e-01 4.74199974e-03 9.73566145e-01 -1.66167262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62687500000004 meters 0.023326672416263624 Centerline is valid? [True, True] Translation: X:242.80, Y:5.48, Z:-16.61 [[ 3.91095345e-01 -9.16275004e-01 -8.65132878e-02 2.42797235e+02] [ 8.91607339e-01 4.00512243e-01 -2.11249371e-01 5.47735646e+00] [ 2.28212149e-01 5.48276324e-03 9.73595991e-01 -1.66098662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.656875 meters 0.025156588005327274 Centerline is valid? [True, True] Translation: X:242.80, Y:5.50, Z:-16.60 [[ 3.93430982e-01 -9.15277094e-01 -8.64864338e-02 2.42803756e+02] [ 8.90561465e-01 4.02778163e-01 -2.11352855e-01 5.50383086e+00] [ 2.28281274e-01 6.13127608e-03 9.73575918e-01 -1.66045145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68687500000004 meters 0.02620684589778954 Centerline is valid? [True, True] Translation: X:242.81, Y:5.53, Z:-16.60 [[ 3.97567675e-01 -9.13518895e-01 -8.61578372e-02 2.42810696e+02] [ 8.88911796e-01 4.06732753e-01 -2.10723247e-01 5.52977358e+00] [ 2.27542882e-01 7.19003350e-03 9.73741516e-01 -1.65976684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.716875 meters 0.02541778202449287 Centerline is valid? [True, True] Translation: X:242.82, Y:5.55, Z:-16.59 [[ 3.99606021e-01 -9.12622899e-01 -8.62233888e-02 2.42822768e+02] [ 8.87927727e-01 4.08728781e-01 -2.11009796e-01 5.55431332e+00] [ 2.27814353e-01 7.76064729e-03 9.73673658e-01 -1.65904591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.746875 meters 0.027165470568365713 Centerline is valid? [True, True] Translation: X:242.83, Y:5.58, Z:-16.58 [[ 4.00458285e-01 -9.12255641e-01 -8.61557216e-02 2.42830066e+02] [ 8.87550928e-01 4.09542511e-01 -2.11017256e-01 5.58077759e+00] [ 2.27786112e-01 8.03601761e-03 9.73678032e-01 -1.65848814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.776875 meters 0.02742618660638578 Centerline is valid? [True, True] Translation: X:242.84, Y:5.61, Z:-16.58 [[ 4.01575808e-01 -9.11764252e-01 -8.61557870e-02 2.42839417e+02] [ 8.87010746e-01 4.10628390e-01 -2.11178271e-01 5.60643938e+00] [ 2.27922810e-01 8.38297592e-03 9.73643116e-01 -1.65787032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.806875 meters 0.02629072014286233 Centerline is valid? [True, True] Translation: X:242.85, Y:5.63, Z:-16.57 [[ 4.01781208e-01 -9.11671831e-01 -8.61761740e-02 2.42852443e+02] [ 8.86865009e-01 4.10830961e-01 -2.11396257e-01 5.63138658e+00] [ 2.28127853e-01 8.50841003e-03 9.73594007e-01 -1.65719378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.836875 meters 0.02738861752587402 Centerline is valid? [True, True] Translation: X:242.86, Y:5.66, Z:-16.57 [[ 4.01483231e-01 -9.11808717e-01 -8.61166633e-02 2.42860978e+02] [ 8.87001445e-01 4.10527376e-01 -2.11413599e-01 5.65707976e+00] [ 2.28122010e-01 8.49340988e-03 9.73595507e-01 -1.65664462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.866875 meters 0.026492971343857835 Centerline is valid? [True, True] Translation: X:242.87, Y:5.68, Z:-16.56 [[ 3.99244800e-01 -9.12797983e-01 -8.60432009e-02 2.42874409e+02] [ 8.88029828e-01 4.08333602e-01 -2.11344965e-01 5.68181125e+00] [ 2.28049588e-01 7.96944945e-03 9.73616903e-01 -1.65608411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.896875 meters 0.025532374888878773 Centerline is valid? [True, True] Translation: X:242.89, Y:5.71, Z:-16.55 [[ 3.97639077e-01 -9.13490676e-01 -8.61275120e-02 2.42886426e+02] [ 8.88649052e-01 4.06787694e-01 -2.11723012e-01 5.70510152e+00] [ 2.28442610e-01 7.65221134e-03 9.73527307e-01 -1.65549921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.926875 meters 0.025476405327304656 Centerline is valid? [True, True] Translation: X:242.90, Y:5.73, Z:-16.55 [[ 3.95408941e-01 -9.14439517e-01 -8.63257770e-02 2.42897002e+02] [ 8.89473374e-01 4.04658951e-01 -2.12339941e-01 5.72927913e+00] [ 2.29104532e-01 7.17663113e-03 9.73375369e-01 -1.65500113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.956875 meters 0.025419686259401664 Centerline is valid? [True, True] Translation: X:242.91, Y:5.75, Z:-16.54 [[ 3.93635057e-01 -9.15188799e-01 -8.64922223e-02 2.42909040e+02] [ 8.90113164e-01 4.02967900e-01 -2.12874202e-01 5.75452821e+00] [ 2.29673675e-01 6.80688294e-03 9.73243890e-01 -1.65442274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.986875 meters 0.02368718982713645 Centerline is valid? [True, True] Translation: X:242.92, Y:5.78, Z:-16.54 [[ 3.91878101e-01 -9.15928373e-01 -8.66416148e-02 2.42923531e+02] [ 8.90756743e-01 4.01290243e-01 -2.13350805e-01 5.77825497e+00] [ 2.30182491e-01 6.43090593e-03 9.73126233e-01 -1.65370850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.016875 meters 0.023636150323211858 Centerline is valid? [True, True] Translation: X:242.94, Y:5.80, Z:-16.53 [[ 3.88841799e-01 -9.17204582e-01 -8.68205653e-02 2.42935797e+02] [ 8.91918797e-01 3.98374934e-01 -2.13958575e-01 5.80167227e+00] [ 2.30830922e-01 5.75914328e-03 9.72976833e-01 -1.65315553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.046875 meters 0.023786043946982343 Centerline is valid? [True, True] Translation: X:242.95, Y:5.83, Z:-16.53 [[ 3.87455290e-01 -9.17793753e-01 -8.67930021e-02 2.42946580e+02] [ 8.92512664e-01 3.97020031e-01 -2.14000559e-01 5.82562074e+00] [ 2.30866936e-01 5.45179500e-03 9.72970059e-01 -1.65258990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07687500000003 meters 0.023707873472810753 Centerline is valid? [True, True] Translation: X:242.96, Y:5.85, Z:-16.52 [[ 3.86777732e-01 -9.18081009e-01 -8.67769944e-02 2.42957623e+02] [ 8.92774678e-01 3.96356690e-01 -2.14137221e-01 5.85014799e+00] [ 2.30989958e-01 5.35120562e-03 9.72941418e-01 -1.65199643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.106875 meters 0.02352994920483137 Centerline is valid? [True, True] Translation: X:242.97, Y:5.88, Z:-16.51 [[ 3.85766585e-01 -9.18519870e-01 -8.66336552e-02 2.42969034e+02] [ 8.93264000e-01 3.95341183e-01 -2.13973773e-01 5.87549612e+00] [ 2.30789014e-01 5.15720615e-03 9.72990151e-01 -1.65137037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13687500000003 meters 0.02380821974558934 Centerline is valid? [True, True] Translation: X:242.98, Y:5.90, Z:-16.51 [[ 3.85215673e-01 -9.18758671e-01 -8.65528145e-02 2.42978127e+02] [ 8.93515874e-01 3.94786917e-01 -2.13945491e-01 5.89995079e+00] [ 2.30734194e-01 5.07884249e-03 9.73003565e-01 -1.65087157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.166875 meters 0.023411882630741558 Centerline is valid? [True, True] Translation: X:242.99, Y:5.92, Z:-16.50 [[ 3.85572597e-01 -9.18617782e-01 -8.64589075e-02 2.42991022e+02] [ 8.93382049e-01 3.95112606e-01 -2.13903116e-01 5.92401693e+00] [ 2.30656211e-01 5.23434414e-03 9.73021230e-01 -1.65009861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19687500000003 meters 0.02414126556917965 Centerline is valid? [True, True] Translation: X:243.00, Y:5.95, Z:-16.50 [[ 3.85503511e-01 -9.18654359e-01 -8.63783019e-02 2.43000384e+02] [ 8.93425560e-01 3.95026965e-01 -2.13879560e-01 5.94897280e+00] [ 2.30603149e-01 5.27873867e-03 9.73033567e-01 -1.64957491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.226875 meters 0.023446703108132343 Centerline is valid? [True, True] Translation: X:243.01, Y:5.97, Z:-16.49 [[ 3.85616343e-01 -9.18630064e-01 -8.61326984e-02 2.43011855e+02] [ 8.93502782e-01 3.95082481e-01 -2.13454004e-01 5.97315470e+00] [ 2.30114785e-01 5.35154652e-03 9.73148779e-01 -1.64882802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25687500000004 meters 0.024067920139207524 Centerline is valid? [True, True] Translation: X:243.02, Y:6.00, Z:-16.48 [[ 3.85352947e-01 -9.18762512e-01 -8.58985034e-02 2.43021267e+02] [ 8.93736064e-01 3.94774701e-01 -2.13046437e-01 5.99855306e+00] [ 2.29649635e-01 5.32748190e-03 9.73258785e-01 -1.64828128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.286875 meters 0.02333614340561073 Centerline is valid? [True, True] Translation: X:243.04, Y:6.02, Z:-16.48 [[ 3.85633373e-01 -9.18653756e-01 -8.58031362e-02 2.43035257e+02] [ 8.93640426e-01 3.95025962e-01 -2.12981871e-01 6.02203470e+00] [ 2.29551062e-01 5.45576599e-03 9.73281329e-01 -1.64755225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31687500000004 meters 0.02392854469932423 Centerline is valid? [True, True] Translation: X:243.04, Y:6.05, Z:-16.47 [[ 3.85063472e-01 -9.18884896e-01 -8.58875447e-02 2.43044634e+02] [ 8.93785567e-01 3.94488834e-01 -2.13368039e-01 6.04727308e+00] [ 2.29942346e-01 5.39519032e-03 9.73189298e-01 -1.64708509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.346875 meters 0.024333042668753656 Centerline is valid? [True, True] Translation: X:243.05, Y:6.07, Z:-16.47 [[ 3.84423973e-01 -9.19136249e-01 -8.60625604e-02 2.43054207e+02] [ 8.93907798e-01 3.93903997e-01 -2.13935716e-01 6.07126819e+00] [ 2.30536458e-01 5.31002402e-03 9.73049200e-01 -1.64665480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37687500000004 meters 0.024107219130929995 Centerline is valid? [True, True] Translation: X:243.07, Y:6.09, Z:-16.46 [[ 3.83209225e-01 -9.19602779e-01 -8.64951898e-02 2.43066416e+02] [ 8.94091286e-01 3.92816147e-01 -2.15165627e-01 6.09492163e+00] [ 2.31843616e-01 5.11885788e-03 9.72739603e-01 -1.64620828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.406875 meters 0.023042134331634954 Centerline is valid? [True, True] Translation: X:243.08, Y:6.12, Z:-16.45 [[ 3.82079593e-01 -9.20078443e-01 -8.64340353e-02 2.43079503e+02] [ 8.94570290e-01 3.91703478e-01 -2.15203117e-01 6.11948886e+00] [ 2.31860261e-01 4.90339935e-03 9.72736745e-01 -1.64547836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43687500000004 meters 0.023429771195511876 Centerline is valid? [True, True] Translation: X:243.09, Y:6.14, Z:-16.45 [[ 3.80884843e-01 -9.20588369e-01 -8.62774093e-02 2.43089997e+02] [ 8.95147816e-01 3.90506632e-01 -2.14976643e-01 6.14397530e+00] [ 2.31596898e-01 4.65031051e-03 9.72800726e-01 -1.64499792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.466875 meters 0.022745555557390343 Centerline is valid? [True, True] Translation: X:243.10, Y:6.17, Z:-16.44 [[ 3.79303291e-01 -9.21253422e-01 -8.61460735e-02 2.43102542e+02] [ 8.95876846e-01 3.88939225e-01 -2.14781184e-01 6.16838969e+00] [ 2.31373488e-01 4.29093729e-03 9.72855538e-01 -1.64430312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.496875 meters 0.023091861591390223 Centerline is valid? [True, True] Translation: X:243.11, Y:6.19, Z:-16.44 [[ 3.76751391e-01 -9.22332615e-01 -8.57958962e-02 2.43113745e+02] [ 8.97151197e-01 3.86379319e-01 -2.14081178e-01 6.19228438e+00] [ 2.30603813e-01 3.68349068e-03 9.73040756e-01 -1.64377861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.526875 meters 0.022040152262689735 Centerline is valid? [True, True] Translation: X:243.13, Y:6.22, Z:-16.43 [[ 3.75760756e-01 -9.22751074e-01 -8.56405790e-02 2.43126861e+02] [ 8.97633203e-01 3.85380719e-01 -2.13860550e-01 6.21596865e+00] [ 2.30344280e-01 3.48657461e-03 9.73102953e-01 -1.64296186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.556875 meters 0.02238855594464872 Centerline is valid? [True, True] Translation: X:243.14, Y:6.24, Z:-16.42 [[ 3.74972066e-01 -9.23067123e-01 -8.56915177e-02 2.43137774e+02] [ 8.97885445e-01 3.84624192e-01 -2.14163392e-01 6.24171424e+00] [ 2.30646217e-01 3.36412324e-03 9.73031862e-01 -1.64238521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.586875 meters 0.022526353994337635 Centerline is valid? [True, True] Translation: X:243.15, Y:6.27, Z:-16.42 [[ 3.74077637e-01 -9.23446669e-01 -8.55112351e-02 2.43146953e+02] [ 8.98340721e-01 3.83713511e-01 -2.13887565e-01 6.26606291e+00] [ 2.30325575e-01 3.19233014e-03 9.73108390e-01 -1.64195895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.616875 meters 0.022208669934934935 Centerline is valid? [True, True] Translation: X:243.16, Y:6.29, Z:-16.41 [[ 3.73306709e-01 -9.23768035e-01 -8.54091243e-02 2.43157644e+02] [ 8.98682853e-01 3.82940188e-01 -2.13836249e-01 6.29042857e+00] [ 2.30241678e-01 3.07079084e-03 9.73128635e-01 -1.64133172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.646875 meters 0.022289681324780646 Centerline is valid? [True, True] Translation: X:243.17, Y:6.31, Z:-16.41 [[ 3.72554764e-01 -9.24068336e-01 -8.54438950e-02 2.43167736e+02] [ 8.98925217e-01 3.82215832e-01 -2.14113316e-01 6.31436834e+00] [ 2.30513345e-01 2.96126381e-03 9.73064658e-01 -1.64091213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.676875 meters 0.02190162699949161 Centerline is valid? [True, True] Translation: X:243.18, Y:6.34, Z:-16.40 [[ 3.72132409e-01 -9.24223476e-01 -8.56062925e-02 2.43179737e+02] [ 8.98940224e-01 3.81840635e-01 -2.14718893e-01 6.33885663e+00] [ 2.31136203e-01 2.94891920e-03 9.72916934e-01 -1.64021458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.706875 meters 0.02212288746616743 Centerline is valid? [True, True] Translation: X:243.19, Y:6.36, Z:-16.40 [[ 3.71708102e-01 -9.24379764e-01 -8.57621120e-02 2.43189605e+02] [ 8.98965300e-01 3.81462305e-01 -2.15285624e-01 6.36370470e+00] [ 2.31720687e-01 2.92624796e-03 9.72777960e-01 -1.63975314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.736875 meters 0.021935371084935554 Centerline is valid? [True, True] Translation: X:243.20, Y:6.39, Z:-16.39 [[ 3.71582570e-01 -9.24408280e-01 -8.59984091e-02 2.43200200e+02] [ 8.98820417e-01 3.81392863e-01 -2.16012366e-01 6.38869189e+00] [ 2.32482799e-01 2.96930425e-03 9.72595975e-01 -1.63918014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.766875 meters 0.022127128978923792 Centerline is valid? [True, True] Translation: X:243.21, Y:6.41, Z:-16.39 [[ 3.70907591e-01 -9.24670199e-01 -8.60963526e-02 2.43210310e+02] [ 8.98987835e-01 3.80758114e-01 -2.16435052e-01 6.41335133e+00] [ 2.32912928e-01 2.87783038e-03 9.72493335e-01 -1.63860249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.796875 meters 0.022229278052842968 Centerline is valid? [True, True] Translation: X:243.22, Y:6.44, Z:-16.38 [[ 3.71425449e-01 -9.24490055e-01 -8.57978711e-02 2.43220212e+02] [ 8.98936659e-01 3.81193910e-01 -2.15879797e-01 6.43752228e+00] [ 2.32284351e-01 3.05639883e-03 9.72643120e-01 -1.63797012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.82687500000003 meters 0.022398420953414 Centerline is valid? [True, True] Translation: X:243.23, Y:6.46, Z:-16.37 [[ 3.71870152e-01 -9.24342578e-01 -8.54598661e-02 2.43228085e+02] [ 8.98943034e-01 3.81550109e-01 -2.15222990e-01 6.46207928e+00] [ 2.31546995e-01 3.21145472e-03 9.72818419e-01 -1.63743472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.856875 meters 0.022633576720783324 Centerline is valid? [True, True] Translation: X:243.24, Y:6.49, Z:-16.37 [[ 3.74242279e-01 -9.23425112e-01 -8.50222253e-02 2.43236416e+02] [ 8.98220068e-01 3.83759494e-01 -2.14311363e-01 6.48764176e+00] [ 2.30528581e-01 3.83570397e-03 9.73057995e-01 -1.63671546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.88687500000003 meters 0.023249366579726278 Centerline is valid? [True, True] Translation: X:243.24, Y:6.51, Z:-16.36 [[ 3.75935030e-01 -9.22752155e-01 -8.48605553e-02 2.43244040e+02] [ 8.97585818e-01 3.85369800e-01 -2.14078994e-01 6.51292429e+00] [ 2.30244549e-01 4.31016205e-03 9.73123255e-01 -1.63617722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.916875 meters 0.023721936924849932 Centerline is valid? [True, True] Translation: X:243.25, Y:6.54, Z:-16.36 [[ 3.77585160e-01 -9.22091017e-01 -8.47207381e-02 2.43252111e+02] [ 8.96949073e-01 3.86943563e-01 -2.13908952e-01 6.53939740e+00] [ 2.30025668e-01 4.77865849e-03 9.73172830e-01 -1.63557157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.94687500000003 meters 0.024278439863271474 Centerline is valid? [True, True] Translation: X:243.26, Y:6.57, Z:-16.35 [[ 3.79375263e-01 -9.21360582e-01 -8.46704621e-02 2.43260161e+02] [ 8.96190527e-01 3.88673023e-01 -2.13952844e-01 6.56619358e+00] [ 2.30036841e-01 5.28755038e-03 9.73167557e-01 -1.63498795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.976875 meters 0.024698974911669117 Centerline is valid? [True, True] Translation: X:243.27, Y:6.59, Z:-16.34 [[ 3.81086886e-01 -9.20663110e-01 -8.45708140e-02 2.43268708e+02] [ 8.95495985e-01 3.90315433e-01 -2.13870996e-01 6.59266123e+00] [ 2.29912430e-01 5.77060741e-03 9.73194212e-01 -1.63437918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.00687500000004 meters 0.02546574258054499 Centerline is valid? [True, True] Translation: X:243.28, Y:6.62, Z:-16.34 [[ 3.84435491e-01 -9.19259191e-01 -8.46870349e-02 2.43276688e+02] [ 8.93947292e-01 3.93595912e-01 -2.14337343e-01 6.61820053e+00] [ 2.30364044e-01 6.69313626e-03 9.73081502e-01 -1.63371331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.036875 meters 0.02459687068057395 Centerline is valid? [True, True] Translation: X:243.29, Y:6.64, Z:-16.33 [[ 3.85479324e-01 -9.18835805e-01 -8.45367022e-02 2.43288077e+02] [ 8.93560552e-01 3.94577784e-01 -2.14144607e-01 6.64368833e+00] [ 2.30120037e-01 7.00965610e-03 9.73137006e-01 -1.63296899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06687500000004 meters 0.026497789066276378 Centerline is valid? [True, True] Translation: X:243.29, Y:6.67, Z:-16.32 [[ 3.86702320e-01 -9.18340302e-01 -8.43350732e-02 2.43294360e+02] [ 8.93134776e-01 3.95723343e-01 -2.13806705e-01 6.67065238e+00] [ 2.29720671e-01 7.35696216e-03 9.73228795e-01 -1.63245142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.096875 meters 0.02646605091553794 Centerline is valid? [True, True] Translation: X:243.30, Y:6.70, Z:-16.32 [[ 3.87707787e-01 -9.17928872e-01 -8.41977281e-02 2.43304116e+02] [ 8.92757350e-01 3.96671101e-01 -2.13626665e-01 6.69636387e+00] [ 2.29492889e-01 7.65658091e-03 9.73280222e-01 -1.63183673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12687500000004 meters 0.026941016721289682 Centerline is valid? [True, True] Translation: X:243.31, Y:6.72, Z:-16.31 [[ 3.88266994e-01 -9.17704853e-01 -8.40627469e-02 2.43311907e+02] [ 8.92568271e-01 3.97185359e-01 -2.13461172e-01 6.72175019e+00] [ 2.29282845e-01 7.84818670e-03 9.73328199e-01 -1.63127624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.156875 meters 0.027513484082460734 Centerline is valid? [True, True] Translation: X:243.32, Y:6.75, Z:-16.31 [[ 3.90188990e-01 -9.16914691e-01 -8.37854477e-02 2.43320635e+02] [ 8.91884547e-01 3.98995672e-01 -2.12942267e-01 6.74772202e+00] [ 2.28679924e-01 8.36078218e-03 9.73465762e-01 -1.63071221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18687500000004 meters 0.02800017195009804 Centerline is valid? [True, True] Translation: X:243.33, Y:6.77, Z:-16.30 [[ 3.91119721e-01 -9.16519611e-01 -8.37685238e-02 2.43329461e+02] [ 8.91449795e-01 3.99895952e-01 -2.13073909e-01 6.77328424e+00] [ 2.28785110e-01 8.66197446e-03 9.73438413e-01 -1.63016368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.216875 meters 0.028392643021873172 Centerline is valid? [True, True] Translation: X:243.34, Y:6.80, Z:-16.30 [[ 3.91510814e-01 -9.16341498e-01 -8.38900623e-02 2.43338134e+02] [ 8.91162661e-01 4.00300163e-01 -2.13515550e-01 6.79982025e+00] [ 2.29234364e-01 8.83395527e-03 9.73331171e-01 -1.62955869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.246875 meters 0.028392643021873172 Centerline is valid? [True, True] Translation: X:243.35, Y:6.82, Z:-16.29 [[ 3.91261713e-01 -9.16453335e-01 -8.38305241e-02 2.43347889e+02] [ 8.91272057e-01 4.00044058e-01 -2.13538924e-01 6.82498645e+00] [ 2.29234362e-01 8.83380151e-03 9.73331172e-01 -1.62896311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.276875 meters 0.029289279708813617 Centerline is valid? [True, True] Translation: X:243.36, Y:6.85, Z:-16.28 [[ 3.92314931e-01 -9.15992857e-01 -8.39409404e-02 2.43356415e+02] [ 8.90693285e-01 4.01089378e-01 -2.13992486e-01 6.85129885e+00] [ 2.29683408e-01 9.18681532e-03 9.73222038e-01 -1.62845440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.306875 meters 0.02888755850327464 Centerline is valid? [True, True] Translation: X:243.37, Y:6.88, Z:-16.28 [[ 3.93431703e-01 -9.15499927e-01 -8.40914899e-02 2.43366732e+02] [ 8.90069990e-01 4.02205003e-01 -2.14491373e-01 6.87624330e+00] [ 2.30188854e-01 9.54039438e-03 9.73099210e-01 -1.62780797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.336875 meters 0.029340321563927706 Centerline is valid? [True, True] Translation: X:243.38, Y:6.90, Z:-16.27 [[ 3.94116039e-01 -9.15199733e-01 -8.41546007e-02 2.43375481e+02] [ 8.89678936e-01 4.02881311e-01 -2.14844224e-01 6.90232346e+00] [ 2.30529692e-01 9.80297883e-03 9.73015911e-01 -1.62721418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.366875 meters 0.028696674880331674 Centerline is valid? [True, True] Translation: X:243.39, Y:6.93, Z:-16.27 [[ 3.94447377e-01 -9.15076686e-01 -8.39400105e-02 2.43385615e+02] [ 8.89642953e-01 4.03157797e-01 -2.14474256e-01 6.92769468e+00] [ 2.30101462e-01 9.92216916e-03 9.73116061e-01 -1.62655844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.396875 meters 0.028924532402851446 Centerline is valid? [True, True] Translation: X:243.39, Y:6.95, Z:-16.26 [[ 3.94756217e-01 -9.14964668e-01 -8.37089272e-02 2.43394824e+02] [ 8.89629530e-01 4.03409283e-01 -2.14056650e-01 6.95318434e+00] [ 2.29623230e-01 1.00302600e-02 9.73227911e-01 -1.62590313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.426875 meters 0.03254953264350008 Centerline is valid? [True, True] Translation: X:243.40, Y:6.98, Z:-16.25 [[ 3.94197268e-01 -9.15211131e-01 -8.36486637e-02 2.43399080e+02] [ 8.89879594e-01 4.02851877e-01 -2.14066983e-01 6.98047480e+00] [ 2.29614507e-01 9.94738098e-03 9.73230819e-01 -1.62547026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.456875 meters 0.029891643296145926 Centerline is valid? [True, True] Translation: X:243.41, Y:7.00, Z:-16.25 [[ 3.93349843e-01 -9.15593719e-01 -8.34508344e-02 2.43413580e+02] [ 8.90347852e-01 4.01985750e-01 -2.13747889e-01 7.00403325e+00] [ 2.29252271e-01 9.77742739e-03 9.73317933e-01 -1.62474936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.486875 meters 0.030545703630757697 Centerline is valid? [True, True] Translation: X:243.42, Y:7.03, Z:-16.24 [[ 3.92215604e-01 -9.16093189e-01 -8.33078016e-02 2.43422004e+02] [ 8.90904429e-01 4.00851879e-01 -2.13558118e-01 7.02966122e+00] [ 2.29033226e-01 9.54153676e-03 9.73371841e-01 -1.62419479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.516875 meters 0.02779845140681657 Centerline is valid? [True, True] Translation: X:243.44, Y:7.05, Z:-16.23 [[ 3.90025677e-01 -9.17037403e-01 -8.32007925e-02 2.43436243e+02] [ 8.91894005e-01 3.98698550e-01 -2.13458543e-01 7.05363223e+00] [ 2.28921504e-01 9.04802484e-03 9.73402835e-01 -1.62345043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.546875 meters 0.02821024501967532 Centerline is valid? [True, True] Translation: X:243.45, Y:7.08, Z:-16.23 [[ 3.89037570e-01 -9.17457292e-01 -8.31978777e-02 2.43445290e+02] [ 8.92284863e-01 3.97735374e-01 -2.13621851e-01 7.07829071e+00] [ 2.29079664e-01 8.87071869e-03 9.73367258e-01 -1.62288672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57687500000003 meters 0.028831864647184416 Centerline is valid? [True, True] Translation: X:243.45, Y:7.10, Z:-16.22 [[ 3.87818727e-01 -9.17968311e-01 -8.32515166e-02 2.43454070e+02] [ 8.92742732e-01 3.96559836e-01 -2.13894159e-01 7.10311721e+00] [ 2.29362267e-01 8.62997393e-03 9.73302869e-01 -1.62233400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.606875 meters 0.02890382686843016 Centerline is valid? [True, True] Translation: X:243.46, Y:7.13, Z:-16.22 [[ 3.86735222e-01 -9.18414609e-01 -8.33695043e-02 2.43463694e+02] [ 8.93083907e-01 3.95528984e-01 -2.14378071e-01 7.12714184e+00] [ 2.29863008e-01 8.45158831e-03 9.73186297e-01 -1.62177950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63687500000003 meters 0.029316601395703534 Centerline is valid? [True, True] Translation: X:243.47, Y:7.15, Z:-16.21 [[ 3.85341907e-01 -9.18996119e-01 -8.34131166e-02 2.43472696e+02] [ 8.93603356e-01 3.94181444e-01 -2.14695205e-01 7.15240801e+00] [ 2.30183963e-01 8.19281892e-03 9.73112645e-01 -1.62128016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.666875 meters 0.027517843830600703 Centerline is valid? [True, True] Translation: X:243.49, Y:7.18, Z:-16.21 [[ 3.82868910e-01 -9.20023816e-01 -8.34720042e-02 2.43486639e+02] [ 8.94574752e-01 3.91787634e-01 -2.15031307e-01 7.17678836e+00] [ 2.30537222e-01 7.65685467e-03 9.73033382e-01 -1.62060494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69687500000003 meters 0.027161498590239395 Centerline is valid? [True, True] Translation: X:243.50, Y:7.20, Z:-16.20 [[ 3.80787046e-01 -9.20894113e-01 -8.33981904e-02 2.43497343e+02] [ 8.95470949e-01 3.89746456e-01 -2.15010416e-01 7.20146300e+00] [ 2.30505975e-01 7.19252431e-03 9.73044327e-01 -1.61998580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.726875 meters 0.027256132705682688 Centerline is valid? [True, True] Translation: X:243.51, Y:7.23, Z:-16.19 [[ 3.78851726e-01 -9.21701447e-01 -8.32935266e-02 2.43507145e+02] [ 8.96320929e-01 3.87841083e-01 -2.14914136e-01 7.22624719e+00] [ 2.30391321e-01 6.76286004e-03 9.73074562e-01 -1.61946136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75687500000004 meters 0.026697403681257732 Centerline is valid? [True, True] Translation: X:243.52, Y:7.25, Z:-16.19 [[ 3.76334785e-01 -9.22744865e-01 -8.31507333e-02 2.43518342e+02] [ 8.97438302e-01 3.85361799e-01 -2.14710919e-01 7.25142614e+00] [ 2.30166514e-01 6.18053476e-03 9.73131634e-01 -1.61884958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.786875 meters 0.02403055066102144 Centerline is valid? [True, True] Translation: X:243.54, Y:7.27, Z:-16.18 [[ 3.71532972e-01 -9.24716485e-01 -8.28412520e-02 2.43535179e+02] [ 8.99609950e-01 3.80623587e-01 -2.14073870e-01 7.27289508e+00] [ 2.29488971e-01 5.01068672e-03 9.73298364e-01 -1.61797860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81687500000004 meters 0.023294976800600515 Centerline is valid? [True, True] Translation: X:243.55, Y:7.30, Z:-16.17 [[ 3.68748349e-01 -9.25832595e-01 -8.28170307e-02 2.43548291e+02] [ 9.00722654e-01 3.77908334e-01 -2.14205490e-01 7.29714177e+00] [ 2.29615671e-01 4.39274492e-03 9.73271467e-01 -1.61723493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.846875 meters 0.02274408266999732 Centerline is valid? [True, True] Translation: X:243.56, Y:7.32, Z:-16.17 [[ 3.66064474e-01 -9.26888733e-01 -8.29100547e-02 2.43560430e+02] [ 9.01706361e-01 3.75316929e-01 -2.14622554e-01 7.32221285e+00] [ 2.30048775e-01 3.80516881e-03 9.73171661e-01 -1.61658147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87687500000004 meters 0.022152637543560602 Centerline is valid? [True, True] Translation: X:243.57, Y:7.35, Z:-16.16 [[ 3.63227434e-01 -9.28010742e-01 -8.28365522e-02 2.43572288e+02] [ 9.02862943e-01 3.72540052e-01 -2.14598265e-01 7.34666620e+00] [ 2.30009428e-01 3.15792367e-03 9.73183277e-01 -1.61591953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.906875 meters 0.021440887390828424 Centerline is valid? [True, True] Translation: X:243.59, Y:7.37, Z:-16.15 [[ 3.58239087e-01 -9.29989427e-01 -8.23676081e-02 2.43586024e+02] [ 9.05138809e-01 3.67581091e-01 -2.13560010e-01 7.37112929e+00] [ 2.28885327e-01 1.95142445e-03 9.73451436e-01 -1.61522522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93687500000004 meters 0.021368045032915277 Centerline is valid? [True, True] Translation: X:243.60, Y:7.40, Z:-16.15 [[ 3.55588683e-01 -9.31018801e-01 -8.22233567e-02 2.43596547e+02] [ 9.06243195e-01 3.64968713e-01 -2.13356768e-01 7.39502442e+00] [ 2.28648116e-01 1.35289492e-03 9.73508197e-01 -1.61469441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.966875 meters 0.02119543607836258 Centerline is valid? [True, True] Translation: X:243.61, Y:7.42, Z:-16.14 [[ 3.52935791e-01 -9.32017031e-01 -8.23442864e-02 2.43608233e+02] [ 9.07144701e-01 3.62413622e-01 -2.13880478e-01 7.41941366e+00] [ 2.29182939e-01 7.87892601e-04 9.73383049e-01 -1.61408449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.996875 meters 0.021186113656843128 Centerline is valid? [True, True] Translation: X:243.62, Y:7.44, Z:-16.14 [[ 3.48215318e-01 -9.33757521e-01 -8.27223348e-02 2.43620705e+02] [ 9.08653934e-01 3.57906153e-01 -2.15060951e-01 7.44287757e+00] [ 2.30421613e-01 -2.78457440e-04 9.73090850e-01 -1.61356087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.026875 meters 0.021202068812151118 Centerline is valid? [True, True] Translation: X:243.63, Y:7.47, Z:-16.13 [[ 3.45862154e-01 -9.34621546e-01 -8.28368033e-02 2.43632057e+02] [ 9.09424221e-01 3.55643019e-01 -2.15558877e-01 7.46827666e+00] [ 2.30926301e-01 -7.80137997e-04 9.72970932e-01 -1.61288405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.056875 meters 0.021368221882729386 Centerline is valid? [True, True] Translation: X:243.64, Y:7.49, Z:-16.12 [[ 3.43848310e-01 -9.35375092e-01 -8.27150323e-02 2.43642700e+02] [ 9.10230757e-01 3.53655140e-01 -2.15425187e-01 7.49223512e+00] [ 2.30755951e-01 -1.21617988e-03 9.73010900e-01 -1.61234545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.086875 meters 0.02133119254303397 Centerline is valid? [True, True] Translation: X:243.65, Y:7.52, Z:-16.12 [[ 3.42397785e-01 -9.35907968e-01 -8.27044878e-02 2.43653349e+02] [ 9.10739504e-01 3.52241413e-01 -2.15591149e-01 7.51705446e+00] [ 2.30905420e-01 -1.50431225e-03 9.72975038e-01 -1.61167860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.116875 meters 0.021345141668459786 Centerline is valid? [True, True] Translation: X:243.66, Y:7.54, Z:-16.11 [[ 3.41079206e-01 -9.36413900e-01 -8.24256197e-02 2.43663147e+02] [ 9.11384528e-01 3.50892979e-01 -2.15063618e-01 7.54275157e+00] [ 2.30311133e-01 -1.76770644e-03 9.73115439e-01 -1.61095830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.146875 meters 0.02157168499481259 Centerline is valid? [True, True] Translation: X:243.67, Y:7.57, Z:-16.10 [[ 3.40055646e-01 -9.36804468e-01 -8.22164672e-02 2.43673032e+02] [ 9.11871757e-01 3.49847889e-01 -2.14700614e-01 7.56701378e+00] [ 2.29895752e-01 -1.96071857e-03 9.73213285e-01 -1.61042852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.176875 meters 0.021483308993418687 Centerline is valid? [True, True] Translation: X:243.68, Y:7.59, Z:-16.10 [[ 3.39496408e-01 -9.37021408e-01 -8.20552849e-02 2.43682337e+02] [ 9.12148831e-01 3.49266003e-01 -2.14470906e-01 7.59255631e+00] [ 2.29622952e-01 -2.03452994e-03 9.73277535e-01 -1.60981609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.206875 meters 0.021493642994732314 Centerline is valid? [True, True] Translation: X:243.69, Y:7.62, Z:-16.09 [[ 3.39688508e-01 -9.36965350e-01 -8.19002482e-02 2.43691209e+02] [ 9.12143872e-01 3.49416966e-01 -2.14245983e-01 7.61727743e+00] [ 2.29358399e-01 -1.92791113e-03 9.73340130e-01 -1.60923409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.236875 meters 0.02127542475056507 Centerline is valid? [True, True] Translation: X:243.70, Y:7.64, Z:-16.09 [[ 3.39978930e-01 -9.36876900e-01 -8.17068038e-02 2.43699585e+02] [ 9.12124628e-01 3.49654779e-01 -2.13939709e-01 7.64271827e+00] [ 2.29004346e-01 -1.79179445e-03 9.73423751e-01 -1.60867010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.266875 meters 0.02120325639284722 Centerline is valid? [True, True] Translation: X:243.71, Y:7.67, Z:-16.08 [[ 3.43413236e-01 -9.35642494e-01 -8.14891024e-02 2.43705530e+02] [ 9.10942744e-01 3.52948059e-01 -2.13567284e-01 7.67009301e+00] [ 2.28584046e-01 -8.90074558e-04 9.73523776e-01 -1.60809431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.296875 meters 0.020708625026519902 Centerline is valid? [True, True] Translation: X:243.71, Y:7.70, Z:-16.07 [[ 3.45268282e-01 -9.34988231e-01 -8.11592310e-02 2.43713280e+02] [ 9.10431050e-01 3.54678526e-01 -2.12881297e-01 7.69694349e+00] [ 2.27826944e-01 -3.88724061e-04 9.73701562e-01 -1.60748233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.32687500000003 meters 0.02095607161717371 Centerline is valid? [True, True] Translation: X:243.72, Y:7.72, Z:-16.07 [[ 3.47568626e-01 -9.34142875e-01 -8.10749028e-02 2.43720057e+02] [ 9.09573032e-01 3.56899195e-01 -2.12837648e-01 7.72206731e+00] [ 2.27756340e-01 2.32143577e-04 9.73718130e-01 -1.60698590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.356875 meters 0.02124941398055804 Centerline is valid? [True, True] Translation: X:243.73, Y:7.75, Z:-16.06 [[ 3.49526566e-01 -9.33432488e-01 -8.08391596e-02 2.43726163e+02] [ 9.08951693e-01 3.58752316e-01 -2.12376073e-01 7.74695279e+00] [ 2.27239962e-01 7.52188463e-04 9.73838505e-01 -1.60646817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.38687500000003 meters 0.02108225387674552 Centerline is valid? [True, True] Translation: X:243.73, Y:7.77, Z:-16.06 [[ 3.51579707e-01 -9.32678817e-01 -8.06345657e-02 2.43732419e+02] [ 9.08256459e-01 3.60705559e-01 -2.12041751e-01 7.77226828e+00] [ 2.26852186e-01 1.31271175e-03 9.73928315e-01 -1.60589458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.416875 meters 0.021376099250940698 Centerline is valid? [True, True] Translation: X:243.74, Y:7.80, Z:-16.05 [[ 3.56101535e-01 -9.30975002e-01 -8.04813160e-02 2.43737053e+02] [ 9.06556608e-01 3.65074538e-01 -2.11838850e-01 7.79964539e+00] [ 2.26598353e-01 2.47527064e-03 9.73985143e-01 -1.60519976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.44687500000003 meters 0.021503912200634193 Centerline is valid? [True, True] Translation: X:243.74, Y:7.83, Z:-16.05 [[ 3.58046712e-01 -9.30242087e-01 -8.03256625e-02 2.43744118e+02] [ 9.05860190e-01 3.66934131e-01 -2.11604961e-01 7.82616142e+00] [ 2.26318067e-01 3.00064045e-03 9.74048833e-01 -1.60453259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.476875 meters 0.02197825145098712 Centerline is valid? [True, True] Translation: X:243.75, Y:7.85, Z:-16.04 [[ 3.60166106e-01 -9.29444901e-01 -8.00784153e-02 2.43749748e+02] [ 9.05154684e-01 3.68943784e-01 -2.11129064e-01 7.85186834e+00] [ 2.25777265e-01 3.55818011e-03 9.74172452e-01 -1.60398002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.50687500000004 meters 0.022304407439224322 Centerline is valid? [True, True] Translation: X:243.76, Y:7.88, Z:-16.03 [[ 3.63086382e-01 -9.28308142e-01 -8.00766668e-02 2.43755593e+02] [ 9.03961249e-01 3.71786701e-01 -2.11255081e-01 7.87898295e+00] [ 2.25881251e-01 4.31763911e-03 9.74145276e-01 -1.60332829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.536875 meters 0.022482568453616097 Centerline is valid? [True, True] Translation: X:243.76, Y:7.91, Z:-16.03 [[ 3.63810937e-01 -9.28023980e-01 -8.00817955e-02 2.43763496e+02] [ 9.03625475e-01 3.72492509e-01 -2.11448178e-01 7.90527486e+00] [ 2.26058849e-01 4.56320920e-03 9.74102959e-01 -1.60277292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56687500000004 meters 0.02291802246393897 Centerline is valid? [True, True] Translation: X:243.77, Y:7.93, Z:-16.02 [[ 3.64313390e-01 -9.27822077e-01 -8.01370517e-02 2.43770161e+02] [ 9.03346204e-01 3.72992735e-01 -2.11759425e-01 7.93088181e+00] [ 2.26365608e-01 4.75529270e-03 9.74030800e-01 -1.60225325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.596875 meters 0.023340190728857884 Centerline is valid? [True, True] Translation: X:243.78, Y:7.96, Z:-16.02 [[ 3.64765483e-01 -9.27637262e-01 -8.02200276e-02 2.43778614e+02] [ 9.03060371e-01 3.73449608e-01 -2.12172939e-01 7.95724012e+00] [ 2.26777662e-01 4.94983679e-03 9.73933977e-01 -1.60165317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62687500000004 meters 0.023369460429376557 Centerline is valid? [True, True] Translation: X:243.79, Y:7.98, Z:-16.01 [[ 3.64566252e-01 -9.27734523e-01 -8.00006408e-02 2.43786638e+02] [ 9.03253838e-01 3.73207989e-01 -2.11774173e-01 7.98388950e+00] [ 2.26327090e-01 4.94483067e-03 9.74038807e-01 -1.60102549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.656875 meters 0.023375002878742182 Centerline is valid? [True, True] Translation: X:243.79, Y:8.01, Z:-16.00 [[ 3.63997575e-01 -9.27949147e-01 -8.01008499e-02 2.43793124e+02] [ 9.03368570e-01 3.72674773e-01 -2.12223329e-01 8.00903121e+00] [ 2.26784023e-01 4.88818675e-03 9.73932807e-01 -1.60049279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68687500000004 meters 0.022566281436986954 Centerline is valid? [True, True] Translation: X:243.80, Y:8.03, Z:-16.00 [[ 3.63154779e-01 -9.28280343e-01 -8.00887768e-02 2.43803409e+02] [ 9.03665443e-01 3.71850676e-01 -2.12404903e-01 8.03467976e+00] [ 2.26952362e-01 4.76239564e-03 9.73894217e-01 -1.59981986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.716875 meters 0.02237134143965435 Centerline is valid? [True, True] Translation: X:243.81, Y:8.06, Z:-15.99 [[ 3.62113526e-01 -9.28683225e-01 -8.01327733e-02 2.43811519e+02] [ 9.04006884e-01 3.70845591e-01 -2.12708961e-01 8.06040546e+00] [ 2.27256130e-01 4.58421321e-03 9.73824233e-01 -1.59924203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.746875 meters 0.022474479754165413 Centerline is valid? [True, True] Translation: X:243.82, Y:8.09, Z:-15.99 [[ 3.61263341e-01 -9.29005495e-01 -8.02345882e-02 2.43819868e+02] [ 9.04227944e-01 3.70039034e-01 -2.13173493e-01 8.08573875e+00] [ 2.27729276e-01 4.46141156e-03 9.73714267e-01 -1.59867592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.776875 meters 0.02253213148634306 Centerline is valid? [True, True] Translation: X:243.83, Y:8.11, Z:-15.98 [[ 3.60174104e-01 -9.29420342e-01 -8.03271022e-02 2.43826733e+02] [ 9.04549752e-01 3.68998007e-01 -2.13612305e-01 8.11016252e+00] [ 2.28176163e-01 4.27776020e-03 9.73610466e-01 -1.59810400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.806875 meters 0.022214197941324485 Centerline is valid? [True, True] Translation: X:243.84, Y:8.14, Z:-15.97 [[ 3.59556050e-01 -9.29675184e-01 -8.01467404e-02 2.43836242e+02] [ 9.04874708e-01 3.68356526e-01 -2.13342992e-01 8.13578160e+00] [ 2.27862260e-01 4.18600499e-03 9.73684378e-01 -1.59743132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.836875 meters 0.02209744589255397 Centerline is valid? [True, True] Translation: X:243.84, Y:8.16, Z:-15.97 [[ 3.58845319e-01 -9.29953207e-01 -8.01066190e-02 2.43844406e+02] [ 9.05142052e-01 3.67655296e-01 -2.13418483e-01 8.16163427e+00] [ 2.27920826e-01 4.07635435e-03 9.73671136e-01 -1.59689029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.866875 meters 0.02223818771341119 Centerline is valid? [True, True] Translation: X:243.85, Y:8.19, Z:-15.96 [[ 3.57691961e-01 -9.30388946e-01 -8.02051700e-02 2.43851798e+02] [ 9.05483539e-01 3.66553415e-01 -2.13864805e-01 8.18616768e+00] [ 2.28376930e-01 3.87326053e-03 9.73565086e-01 -1.59634402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.896875 meters 0.022085787213384764 Centerline is valid? [True, True] Translation: X:243.86, Y:8.21, Z:-15.96 [[ 3.56915324e-01 -9.30702453e-01 -8.00274654e-02 2.43860895e+02] [ 9.05866940e-01 3.65758017e-01 -2.13602811e-01 8.21098785e+00] [ 2.28071347e-01 3.74388128e-03 9.73637224e-01 -1.59565075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.926875 meters 0.021824301916472715 Centerline is valid? [True, True] Translation: X:243.87, Y:8.24, Z:-15.95 [[ 3.55662131e-01 -9.31202773e-01 -7.97862383e-02 2.43870009e+02] [ 9.06484660e-01 3.64484889e-01 -2.13157984e-01 8.23547897e+00] [ 2.27574184e-01 3.48722166e-03 9.73754502e-01 -1.59498162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.956875 meters 0.02130830525073155 Centerline is valid? [True, True] Translation: X:243.88, Y:8.26, Z:-15.94 [[ 3.54861609e-01 -9.31530265e-01 -7.95273774e-02 2.43879900e+02] [ 9.06936288e-01 3.63648466e-01 -2.12664905e-01 8.26077907e+00] [ 2.27023804e-01 3.34034580e-03 9.73883481e-01 -1.59424303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.986875 meters 0.021233187003287322 Centerline is valid? [True, True] Translation: X:243.89, Y:8.29, Z:-15.94 [[ 3.53581755e-01 -9.32028762e-01 -7.93872124e-02 2.43887970e+02] [ 9.07492722e-01 3.62371196e-01 -2.12471352e-01 8.28646461e+00] [ 2.26797050e-01 3.08267613e-03 9.73937162e-01 -1.59361185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.016875 meters 0.02070115373339455 Centerline is valid? [True, True] Translation: X:243.90, Y:8.31, Z:-15.93 [[ 3.52993736e-01 -9.32261671e-01 -7.92691591e-02 2.43898350e+02] [ 9.07763397e-01 3.61772310e-01 -2.12335607e-01 8.31154445e+00] [ 2.26629734e-01 2.99549803e-03 9.73976381e-01 -1.59294975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.046875 meters 0.020439142650825356 Centerline is valid? [True, True] Translation: X:243.91, Y:8.34, Z:-15.92 [[ 3.52574201e-01 -9.32409590e-01 -7.93964044e-02 2.43907382e+02] [ 9.07791231e-01 3.61391067e-01 -2.12865164e-01 8.33794608e+00] [ 2.27170672e-01 2.97540564e-03 9.73850416e-01 -1.59238950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07687500000003 meters 0.02080173174789904 Centerline is valid? [True, True] Translation: X:243.92, Y:8.36, Z:-15.92 [[ 3.52473034e-01 -9.32448435e-01 -7.93893981e-02 2.43915520e+02] [ 9.07791499e-01 3.61290459e-01 -2.13034735e-01 8.36375924e+00] [ 2.27326537e-01 3.01997859e-03 9.73813907e-01 -1.59190783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.106875 meters 0.020822076922701244 Centerline is valid? [True, True] Translation: X:243.92, Y:8.39, Z:-15.91 [[ 3.52197600e-01 -9.32525825e-01 -7.97021726e-02 2.43923158e+02] [ 9.07626693e-01 3.61090355e-01 -2.14073684e-01 8.38950962e+00] [ 2.28408925e-01 3.05641866e-03 9.73560487e-01 -1.59135270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13687500000003 meters 0.02083083026506613 Centerline is valid? [True, True] Translation: X:243.93, Y:8.41, Z:-15.91 [[ 3.52340206e-01 -9.32475286e-01 -7.96631684e-02 2.43932706e+02] [ 9.07554255e-01 3.61219961e-01 -2.14162122e-01 8.41486712e+00] [ 2.28476812e-01 3.15927864e-03 9.73544229e-01 -1.59074561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.166875 meters 0.02083083026506613 Centerline is valid? [True, True] Translation: X:243.94, Y:8.44, Z:-15.90 [[ 3.52087516e-01 -9.32575826e-01 -7.96034495e-02 2.43942002e+02] [ 9.07652318e-01 3.60960312e-01 -2.14184318e-01 8.44018302e+00] [ 2.28476803e-01 3.15936904e-03 9.73544231e-01 -1.59015044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19687500000003 meters 0.020857382555898613 Centerline is valid? [True, True] Translation: X:243.95, Y:8.47, Z:-15.90 [[ 3.51686768e-01 -9.32718532e-01 -7.97029342e-02 2.43951185e+02] [ 9.07692333e-01 3.60591582e-01 -2.14635362e-01 8.46610525e+00] [ 2.28934587e-01 3.13867433e-03 9.73436749e-01 -1.58952065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.226875 meters 0.020697022351050243 Centerline is valid? [True, True] Translation: X:243.96, Y:8.49, Z:-15.89 [[ 3.51752063e-01 -9.32703612e-01 -7.95893134e-02 2.43961363e+02] [ 9.07706099e-01 3.60629528e-01 -2.14513360e-01 8.49190084e+00] [ 2.28779642e-01 3.21181176e-03 9.73472937e-01 -1.58882638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25687500000004 meters 0.020769790665059053 Centerline is valid? [True, True] Translation: X:243.97, Y:8.52, Z:-15.88 [[ 3.52436085e-01 -9.32436455e-01 -7.96935615e-02 2.43969880e+02] [ 9.07321077e-01 3.61317426e-01 -2.14984142e-01 8.51781429e+00] [ 2.29253724e-01 3.46052124e-03 9.73360547e-01 -1.58821291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.286875 meters 0.020982966817715786 Centerline is valid? [True, True] Translation: X:243.98, Y:8.54, Z:-15.88 [[ 3.52909632e-01 -9.32254510e-01 -7.97265375e-02 2.43977067e+02] [ 9.07072953e-01 3.61784810e-01 -2.15244997e-01 8.54409169e+00] [ 2.29506969e-01 3.64424695e-03 9.73300195e-01 -1.58777223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31687500000004 meters 0.02086481954564604 Centerline is valid? [True, True] Translation: X:243.99, Y:8.57, Z:-15.87 [[ 3.53232127e-01 -9.32128235e-01 -7.97747968e-02 2.43986715e+02] [ 9.06865333e-01 3.62108394e-01 -2.15575458e-01 8.56981562e+00] [ 2.29831095e-01 3.80317987e-03 9.73223101e-01 -1.58712765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.346875 meters 0.021298393324607624 Centerline is valid? [True, True] Translation: X:243.99, Y:8.60, Z:-15.87 [[ 3.53553472e-01 -9.32000634e-01 -7.98421021e-02 2.43994605e+02] [ 9.06646827e-01 3.62435015e-01 -2.15945342e-01 8.59525420e+00] [ 2.30198769e-01 3.95963676e-03 9.73135575e-01 -1.58668302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37687500000004 meters 0.02159133705816143 Centerline is valid? [True, True] Translation: X:244.00, Y:8.62, Z:-15.86 [[ 3.54253759e-01 -9.31712705e-01 -8.00981184e-02 2.44003431e+02] [ 9.06139326e-01 3.63171446e-01 -2.16836397e-01 8.62068072e+00] [ 2.31118576e-01 4.23505387e-03 9.72916373e-01 -1.58606735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.406875 meters 0.021575098538214422 Centerline is valid? [True, True] Translation: X:244.01, Y:8.65, Z:-15.85 [[ 3.54357753e-01 -9.31686133e-01 -7.99470624e-02 2.44012311e+02] [ 9.06163221e-01 3.63238643e-01 -2.16623881e-01 8.64540923e+00] [ 2.30865328e-01 4.31726421e-03 9.72976136e-01 -1.58542241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43687500000004 meters 0.02131952852605848 Centerline is valid? [True, True] Translation: X:244.02, Y:8.67, Z:-15.85 [[ 3.54142075e-01 -9.31796417e-01 -7.96167517e-02 2.44022792e+02] [ 9.06441173e-01 3.62955806e-01 -2.15933979e-01 8.67071503e+00] [ 2.30103870e-01 4.30340549e-03 9.73156560e-01 -1.58466455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.466875 meters 0.02156391280241335 Centerline is valid? [True, True] Translation: X:244.03, Y:8.70, Z:-15.84 [[ 3.53923511e-01 -9.31894761e-01 -7.94374134e-02 2.44030948e+02] [ 9.06613633e-01 3.62703286e-01 -2.15634057e-01 8.69637220e+00] [ 2.29760459e-01 4.29892041e-03 9.73237716e-01 -1.58410991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.496875 meters 0.022272434274532314 Centerline is valid? [True, True] Translation: X:244.04, Y:8.72, Z:-15.84 [[ 3.53746178e-01 -9.31965526e-01 -7.93970994e-02 2.44039229e+02] [ 9.06678272e-01 3.62521354e-01 -2.15668215e-01 8.72065811e+00] [ 2.29778485e-01 4.30418178e-03 9.73233436e-01 -1.58355343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.526875 meters 0.02173772433995601 Centerline is valid? [True, True] Translation: X:244.05, Y:8.74, Z:-15.83 [[ 3.53502587e-01 -9.32048576e-01 -7.95070628e-02 2.44048729e+02] [ 9.06641677e-01 3.62307398e-01 -2.16180986e-01 8.74491485e+00] [ 2.30297177e-01 4.33612118e-03 9.73110687e-01 -1.58288208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.556875 meters 0.021615409127750285 Centerline is valid? [True, True] Translation: X:244.06, Y:8.77, Z:-15.82 [[ 3.53516260e-01 -9.32058608e-01 -7.93284585e-02 2.44058627e+02] [ 9.06718862e-01 3.62280865e-01 -2.15901555e-01 8.77087434e+00] [ 2.29972085e-01 4.39610055e-03 9.73187297e-01 -1.58221157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.586875 meters 0.02120452963276416 Centerline is valid? [True, True] Translation: X:244.07, Y:8.80, Z:-15.81 [[ 3.53648118e-01 -9.32012704e-01 -7.92800632e-02 2.44068736e+02] [ 9.06658485e-01 3.62397748e-01 -2.15958940e-01 8.79624013e+00] [ 2.30007392e-01 4.49353060e-03 9.73178508e-01 -1.58148969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.616875 meters 0.02194373165387881 Centerline is valid? [True, True] Translation: X:244.08, Y:8.82, Z:-15.81 [[ 3.53168974e-01 -9.32177845e-01 -7.94741569e-02 2.44076365e+02] [ 9.06655157e-01 3.61973040e-01 -2.16683975e-01 8.82171040e+00] [ 2.30755503e-01 4.47040298e-03 9.73001497e-01 -1.58108141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.646875 meters 0.021431824338581703 Centerline is valid? [True, True] Translation: X:244.09, Y:8.85, Z:-15.80 [[ 3.52424235e-01 -9.32446918e-01 -7.96235115e-02 2.44087529e+02] [ 9.06784655e-01 3.61280453e-01 -2.17297088e-01 8.84680004e+00] [ 2.31384418e-01 4.37938155e-03 9.72852544e-01 -1.58038735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.676875 meters 0.0214578489550877 Centerline is valid? [True, True] Translation: X:244.10, Y:8.87, Z:-15.80 [[ 3.51378662e-01 -9.32846671e-01 -7.95620805e-02 2.44096695e+02] [ 9.07190121e-01 3.60249352e-01 -2.17316565e-01 8.87184610e+00] [ 2.31385222e-01 4.18247048e-03 9.72853219e-01 -1.57987240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.706875 meters 0.02089567488302146 Centerline is valid? [True, True] Translation: X:244.11, Y:8.90, Z:-15.79 [[ 3.50181273e-01 -9.33286744e-01 -7.96801737e-02 2.44108123e+02] [ 9.07529863e-01 3.59110347e-01 -2.17782704e-01 8.89614555e+00] [ 2.31867686e-01 3.95128757e-03 9.72739309e-01 -1.57915160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.736875 meters 0.020585926173933084 Centerline is valid? [True, True] Translation: X:244.12, Y:8.92, Z:-15.78 [[ 3.47573746e-01 -9.34250933e-01 -7.97977753e-02 2.44119838e+02] [ 9.08394515e-01 3.56600216e-01 -2.18301835e-01 8.92118609e+00] [ 2.32404597e-01 3.38812499e-03 9.72613296e-01 -1.57846892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.766875 meters 0.020971302501290433 Centerline is valid? [True, True] Translation: X:244.13, Y:8.95, Z:-15.78 [[ 3.46167672e-01 -9.34771769e-01 -7.98102885e-02 2.44129198e+02] [ 9.08873502e-01 3.55235212e-01 -2.18533525e-01 8.94609243e+00] [ 2.32630394e-01 3.11178508e-03 9.72560238e-01 -1.57794641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.796875 meters 0.020866251036269733 Centerline is valid? [True, True] Translation: X:244.14, Y:8.97, Z:-15.77 [[ 3.44762876e-01 -9.35290852e-01 -7.98096644e-02 2.44139445e+02] [ 9.09357430e-01 3.53868583e-01 -2.18737494e-01 8.97051805e+00] [ 2.32825310e-01 2.83705620e-03 9.72514435e-01 -1.57732844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.82687500000003 meters 0.020527829279140666 Centerline is valid? [True, True] Translation: X:244.15, Y:8.99, Z:-15.77 [[ 3.42963582e-01 -9.35973108e-01 -7.95633263e-02 2.44148971e+02] [ 9.10169543e-01 3.52063021e-01 -2.18272841e-01 8.99446394e+00] [ 2.32308814e-01 2.44351913e-03 9.72639010e-01 -1.57676391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.856875 meters 0.0204302606877564 Centerline is valid? [True, True] Translation: X:244.16, Y:9.02, Z:-15.76 [[ 3.41572528e-01 -9.36492514e-01 -7.94353754e-02 2.44158845e+02] [ 9.10734925e-01 3.50680880e-01 -2.18139443e-01 9.01892589e+00] [ 2.32142423e-01 2.16587052e-03 9.72679394e-01 -1.57616466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.88687500000003 meters 0.019848369416638763 Centerline is valid? [True, True] Translation: X:244.17, Y:9.04, Z:-15.75 [[ 3.39461194e-01 -9.37269459e-01 -7.93224995e-02 2.44170385e+02] [ 9.11559644e-01 3.48601571e-01 -2.18027430e-01 9.04350406e+00] [ 2.32002399e-01 1.70466218e-03 9.72713720e-01 -1.57536523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.916875 meters 0.019890070465794513 Centerline is valid? [True, True] Translation: X:244.18, Y:9.07, Z:-15.75 [[ 3.38895717e-01 -9.37480817e-01 -7.92427388e-02 2.44179511e+02] [ 9.11782735e-01 3.48033142e-01 -2.18002699e-01 9.06876588e+00] [ 2.31952448e-01 1.62801999e-03 9.72725764e-01 -1.57486774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.94687500000003 meters 0.02000009171572577 Centerline is valid? [True, True] Translation: X:244.19, Y:9.09, Z:-15.74 [[ 3.38405401e-01 -9.37652760e-01 -7.93037575e-02 2.44189423e+02] [ 9.11871160e-01 3.47569841e-01 -2.18371688e-01 9.09406904e+00] [ 2.32320410e-01 1.58334927e-03 9.72638021e-01 -1.57423401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.976875 meters 0.019882769647445717 Centerline is valid? [True, True] Translation: X:244.20, Y:9.12, Z:-15.74 [[ 3.38242935e-01 -9.37725537e-01 -7.91361752e-02 2.44199059e+02] [ 9.12011438e-01 3.47373382e-01 -2.18098303e-01 9.11974762e+00] [ 2.32006149e-01 1.59711317e-03 9.72713008e-01 -1.57360357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.00687500000004 meters 0.019714872862026334 Centerline is valid? [True, True] Translation: X:244.21, Y:9.14, Z:-15.73 [[ 3.38760910e-01 -9.37533127e-01 -7.92002576e-02 2.44207958e+02] [ 9.11727504e-01 3.47891373e-01 -2.18459496e-01 9.14477256e+00] [ 2.32366101e-01 1.79648448e-03 9.72626736e-01 -1.57294470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.036875 meters 0.019803279653786976 Centerline is valid? [True, True] Translation: X:244.22, Y:9.17, Z:-15.72 [[ 3.39412393e-01 -9.37311237e-01 -7.90371643e-02 2.44217150e+02] [ 9.11558184e-01 3.48487550e-01 -2.18215730e-01 9.17080269e+00] [ 2.32079523e-01 2.01814899e-03 9.72694722e-01 -1.57229474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06687500000004 meters 0.02001782344858613 Centerline is valid? [True, True] Translation: X:244.23, Y:9.20, Z:-15.72 [[ 3.40188108e-01 -9.37036677e-01 -7.89576971e-02 2.44225259e+02] [ 9.11283076e-01 3.49223573e-01 -2.18188109e-01 9.19572292e+00] [ 2.32024150e-01 2.27218704e-03 9.72707372e-01 -1.57174544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.096875 meters 0.02005959706656927 Centerline is valid? [True, True] Translation: X:244.23, Y:9.22, Z:-15.71 [[ 3.41894912e-01 -9.36433032e-01 -7.87467225e-02 2.44233661e+02] [ 9.10768385e-01 3.50835769e-01 -2.17750344e-01 9.22179368e+00] [ 2.31535782e-01 2.72770967e-03 9.72822564e-01 -1.57110150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12687500000004 meters 0.020481204169145777 Centerline is valid? [True, True] Translation: X:244.24, Y:9.25, Z:-15.71 [[ 3.42971733e-01 -9.36045112e-01 -7.86761635e-02 2.44241194e+02] [ 9.10371910e-01 3.51866751e-01 -2.17744748e-01 9.24764899e+00] [ 2.31502433e-01 3.05572433e-03 9.72829526e-01 -1.57061137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.156875 meters 0.020412433802400178 Centerline is valid? [True, True] Translation: X:244.25, Y:9.27, Z:-15.70 [[ 3.43956909e-01 -9.35676857e-01 -7.87557244e-02 2.44250760e+02] [ 9.09907174e-01 3.52842079e-01 -2.18108693e-01 9.27334528e+00] [ 2.31867589e-01 3.35959309e-03 9.72741556e-01 -1.56992970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18687500000004 meters 0.020312677434450397 Centerline is valid? [True, True] Translation: X:244.26, Y:9.30, Z:-15.69 [[ 3.44559068e-01 -9.35464711e-01 -7.86436502e-02 2.44258842e+02] [ 9.09719619e-01 3.53402132e-01 -2.17984281e-01 9.29831903e+00] [ 2.31709436e-01 3.56478923e-03 9.72778510e-01 -1.56941529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.216875 meters 0.02059391693183238 Centerline is valid? [True, True] Translation: X:244.27, Y:9.32, Z:-15.69 [[ 3.45167600e-01 -9.35238384e-01 -7.86669734e-02 2.44267783e+02] [ 9.09423066e-01 3.53998277e-01 -2.18254226e-01 9.32425055e+00] [ 2.31967702e-01 3.79272715e-03 9.72716094e-01 -1.56880957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.246875 meters 0.020617739256376635 Centerline is valid? [True, True] Translation: X:244.28, Y:9.35, Z:-15.68 [[ 3.46402229e-01 -9.34781664e-01 -7.86685223e-02 2.44277613e+02] [ 9.08907716e-01 3.55198333e-01 -2.18451159e-01 9.34987639e+00] [ 2.32147066e-01 4.16954143e-03 9.72671761e-01 -1.56811162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.276875 meters 0.0205666337013779 Centerline is valid? [True, True] Translation: X:244.29, Y:9.38, Z:-15.67 [[ 3.46509763e-01 -9.34765177e-01 -7.83903604e-02 2.44287098e+02] [ 9.09031730e-01 3.55240969e-01 -2.17865022e-01 9.37575704e+00] [ 2.31500103e-01 4.23303217e-03 9.72825670e-01 -1.56744152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.306875 meters 0.021158197179516943 Centerline is valid? [True, True] Translation: X:244.29, Y:9.40, Z:-15.67 [[ 3.46675810e-01 -9.34717687e-01 -7.82222985e-02 2.44294600e+02] [ 9.09047404e-01 3.55364761e-01 -2.17597574e-01 9.40194282e+00] [ 2.31189749e-01 4.32803787e-03 9.72899053e-01 -1.56698892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.336875 meters 0.021166304234306803 Centerline is valid? [True, True] Translation: X:244.30, Y:9.43, Z:-15.66 [[ 3.46499615e-01 -9.34789127e-01 -7.81492420e-02 2.44303687e+02] [ 9.09119302e-01 3.55176490e-01 -2.17604587e-01 9.42643764e+00] [ 2.31171175e-01 4.35292113e-03 9.72903356e-01 -1.56633196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.366875 meters 0.020483436125572813 Centerline is valid? [True, True] Translation: X:244.31, Y:9.45, Z:-15.66 [[ 3.46069373e-01 -9.34959648e-01 -7.80156720e-02 2.44314757e+02] [ 9.09332793e-01 3.54727913e-01 -2.17444198e-01 9.45112356e+00] [ 2.30975887e-01 4.30856826e-03 9.72949935e-01 -1.56557825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.396875 meters 0.020657265400711812 Centerline is valid? [True, True] Translation: X:244.32, Y:9.48, Z:-15.65 [[ 3.45647798e-01 -9.35119917e-01 -7.79637123e-02 2.44324812e+02] [ 9.09484709e-01 3.54305662e-01 -2.17497268e-01 9.47693801e+00] [ 2.31009012e-01 4.27064745e-03 9.72942238e-01 -1.56494192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.426875 meters 0.021436471304862655 Centerline is valid? [True, True] Translation: X:244.33, Y:9.50, Z:-15.65 [[ 3.45377740e-01 -9.35215956e-01 -7.80085430e-02 2.44332216e+02] [ 9.09505694e-01 3.54051948e-01 -2.17822430e-01 9.50289587e+00] [ 2.31330089e-01 4.28180456e-03 9.72865898e-01 -1.56452864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.456875 meters 0.020698163259363064 Centerline is valid? [True, True] Translation: X:244.34, Y:9.53, Z:-15.64 [[ 3.44950150e-01 -9.35386112e-01 -7.78602320e-02 2.44343151e+02] [ 9.09729528e-01 3.53602720e-01 -2.17617330e-01 9.52760859e+00] [ 2.31087818e-01 4.23537874e-03 9.72923677e-01 -1.56380515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.486875 meters 0.020354334050551103 Centerline is valid? [True, True] Translation: X:244.35, Y:9.55, Z:-15.63 [[ 3.43687511e-01 -9.35860420e-01 -7.77442587e-02 2.44354121e+02] [ 9.10246715e-01 3.52348435e-01 -2.17489076e-01 9.55213555e+00] [ 2.30932486e-01 3.98182299e-03 9.72961629e-01 -1.56311025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.516875 meters 0.02050893844089386 Centerline is valid? [True, True] Translation: X:244.36, Y:9.58, Z:-15.63 [[ 3.43028214e-01 -9.36092365e-01 -7.78635283e-02 2.44362232e+02] [ 9.10356656e-01 3.51732618e-01 -2.18025053e-01 9.57764040e+00] [ 2.31478730e-01 3.90516319e-03 9.72832127e-01 -1.56262109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.546875 meters 0.02092652922106105 Centerline is valid? [True, True] Translation: X:244.37, Y:9.60, Z:-15.62 [[ 3.42747063e-01 -9.36205648e-01 -7.77395424e-02 2.44370952e+02] [ 9.10505310e-01 3.51431049e-01 -2.17890566e-01 9.60182208e+00] [ 2.31310468e-01 3.89908533e-03 9.72872173e-01 -1.56206526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57687500000003 meters 0.02081348098764533 Centerline is valid? [True, True] Translation: X:244.38, Y:9.63, Z:-15.61 [[ 3.42427438e-01 -9.36324378e-01 -7.77181353e-02 2.44380234e+02] [ 9.10586907e-01 3.51114575e-01 -2.18059718e-01 9.62646183e+00] [ 2.31462600e-01 3.90051423e-03 9.72835984e-01 -1.56145554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.606875 meters 0.02057246751095042 Centerline is valid? [True, True] Translation: X:244.39, Y:9.65, Z:-15.61 [[ 3.42464301e-01 -9.36314253e-01 -7.76776867e-02 2.44390511e+02] [ 9.10553188e-01 3.51140663e-01 -2.18158488e-01 9.65216391e+00] [ 2.31540696e-01 3.98182869e-03 9.72817070e-01 -1.56075531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63687500000003 meters 0.02100027126398484 Centerline is valid? [True, True] Translation: X:244.40, Y:9.68, Z:-15.60 [[ 3.42360297e-01 -9.36351916e-01 -7.76821511e-02 2.44398266e+02] [ 9.10542103e-01 3.51039698e-01 -2.18367141e-01 9.67664447e+00] [ 2.31738010e-01 4.02737012e-03 9.72769898e-01 -1.56027063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.666875 meters 0.021005437646558222 Centerline is valid? [True, True] Translation: X:244.41, Y:9.70, Z:-15.60 [[ 3.42911959e-01 -9.36168331e-01 -7.74612409e-02 2.44407079e+02] [ 9.10449484e-01 3.51526740e-01 -2.17969466e-01 9.70217053e+00] [ 2.31285809e-01 4.21978990e-03 9.72876697e-01 -1.55963408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69687500000003 meters 0.02177991954908877 Centerline is valid? [True, True] Translation: X:244.41, Y:9.73, Z:-15.59 [[ 3.43165001e-01 -9.36095269e-01 -7.72232465e-02 2.44414480e+02] [ 9.10497870e-01 3.51720146e-01 -2.17454748e-01 9.72729226e+00] [ 2.30719332e-01 4.31125730e-03 9.73010793e-01 -1.55912977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.726875 meters 0.021552364735112347 Centerline is valid? [True, True] Translation: X:244.42, Y:9.75, Z:-15.58 [[ 3.43816199e-01 -9.35878108e-01 -7.69583593e-02 2.44423638e+02] [ 9.10402221e-01 3.52294972e-01 -2.16924062e-01 9.75162171e+00] [ 2.30126524e-01 4.51894532e-03 9.73150226e-01 -1.55846118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75687500000004 meters 0.021492853186424087 Centerline is valid? [True, True] Translation: X:244.43, Y:9.78, Z:-15.58 [[ 3.43477611e-01 -9.36008997e-01 -7.68784026e-02 2.44432831e+02] [ 9.10539344e-01 3.51947258e-01 -2.16912958e-01 9.77614174e+00] [ 2.30089623e-01 4.50393441e-03 9.73159021e-01 -1.55782201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.786875 meters 0.02055613809618306 Centerline is valid? [True, True] Translation: X:244.44, Y:9.80, Z:-15.57 [[ 3.43410028e-01 -9.36036730e-01 -7.68426471e-02 2.44444377e+02] [ 9.10541656e-01 3.51872772e-01 -2.17024067e-01 9.80071443e+00] [ 2.30181333e-01 4.55980963e-03 9.73137073e-01 -1.55701889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81687500000004 meters 0.021594000559777133 Centerline is valid? [True, True] Translation: X:244.45, Y:9.83, Z:-15.56 [[ 3.43639098e-01 -9.35986779e-01 -7.64259126e-02 2.44451897e+02] [ 9.10723463e-01 3.52004591e-01 -2.16045233e-01 9.82625279e+00] [ 2.29117754e-01 4.63871720e-03 9.73387660e-01 -1.55643943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.846875 meters 0.02117827817338177 Centerline is valid? [True, True] Translation: X:244.46, Y:9.85, Z:-15.56 [[ 3.43637766e-01 -9.35996643e-01 -7.63110142e-02 2.44461975e+02] [ 9.10761315e-01 3.51977542e-01 -2.15929703e-01 9.85106998e+00] [ 2.28969241e-01 4.70048118e-03 9.73422309e-01 -1.55575061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87687500000004 meters 0.0209840268377712 Centerline is valid? [True, True] Translation: X:244.47, Y:9.88, Z:-15.55 [[ 3.43741964e-01 -9.35977981e-01 -7.60702359e-02 2.44470593e+02] [ 9.10852934e-01 3.52026161e-01 -2.15463489e-01 9.87574520e+00] [ 2.28447795e-01 4.77504562e-03 9.73544454e-01 -1.55515637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.906875 meters 0.021162756843414218 Centerline is valid? [True, True] Translation: X:244.48, Y:9.90, Z:-15.55 [[ 3.43775722e-01 -9.35966234e-01 -7.60622286e-02 2.44480402e+02] [ 9.10793542e-01 3.52056182e-01 -2.15665410e-01 9.90142192e+00] [ 2.28633719e-01 4.86354529e-03 9.73500369e-01 -1.55453489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93687500000004 meters 0.020950693621691042 Centerline is valid? [True, True] Translation: X:244.49, Y:9.93, Z:-15.54 [[ 3.43979718e-01 -9.35893652e-01 -7.60330636e-02 2.44489904e+02] [ 9.10695330e-01 3.52247505e-01 -2.15767726e-01 9.92686574e+00] [ 2.28718101e-01 4.97676546e-03 9.73479975e-01 -1.55391779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.966875 meters 0.02170748898797689 Centerline is valid? [True, True] Translation: X:244.50, Y:9.95, Z:-15.53 [[ 3.44208979e-01 -9.35785262e-01 -7.63290425e-02 2.44498505e+02] [ 9.10337419e-01 3.52532975e-01 -2.16809330e-01 9.95255526e+00] [ 2.29795480e-01 5.14253479e-03 9.73225355e-01 -1.55349433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.996875 meters 0.023396434684067872 Centerline is valid? [True, True] Translation: X:244.50, Y:9.98, Z:-15.53 [[ 3.44258703e-01 -9.35757053e-01 -7.64505223e-02 2.44504447e+02] [ 9.10179391e-01 3.52606381e-01 -2.17352745e-01 9.97796328e+00] [ 2.30346306e-01 5.24188417e-03 9.73094601e-01 -1.55316301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.026875 meters 0.021230011355917164 Centerline is valid? [True, True] Translation: X:244.52, Y:10.00, Z:-15.52 [[ 3.43916354e-01 -9.35880579e-01 -7.64792996e-02 2.44518452e+02] [ 9.10244838e-01 3.52278645e-01 -2.17609952e-01 1.00014611e+01] [ 2.30598952e-01 5.22473351e-03 9.73034853e-01 -1.55222578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.056875 meters 0.021230011355917164 Centerline is valid? [True, True] Translation: X:244.53, Y:10.03, Z:-15.52 [[ 3.43656919e-01 -9.35980959e-01 -7.64170548e-02 2.44527298e+02] [ 9.10342821e-01 3.52011852e-01 -2.17631809e-01 1.00269519e+01] [ 2.30598938e-01 5.22495958e-03 9.73034855e-01 -1.55163050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.086875 meters 0.02134735214002495 Centerline is valid? [True, True] Translation: X:244.54, Y:10.05, Z:-15.51 [[ 3.43775724e-01 -9.35935271e-01 -7.64422634e-02 2.44536784e+02] [ 9.10231841e-01 3.52131748e-01 -2.17901876e-01 1.00522555e+01] [ 2.30859799e-01 5.32919316e-03 9.72972432e-01 -1.55102551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.116875 meters 0.021352344143827248 Centerline is valid? [True, True] Translation: X:244.55, Y:10.08, Z:-15.50 [[ 3.43334984e-01 -9.36096428e-01 -7.64497589e-02 2.44547355e+02] [ 9.10346404e-01 3.51703692e-01 -2.18114505e-01 1.00767952e+01] [ 2.31063871e-01 5.29057686e-03 9.72924199e-01 -1.55041657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.146875 meters 0.02132845042000543 Centerline is valid? [True, True] Translation: X:244.56, Y:10.10, Z:-15.50 [[ 3.43132960e-01 -9.36173523e-01 -7.64127344e-02 2.44557074e+02] [ 9.10399736e-01 3.51498081e-01 -2.18223324e-01 1.01026952e+01] [ 2.31153828e-01 5.31348189e-03 9.72902706e-01 -1.54984364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.176875 meters 0.021805018001975287 Centerline is valid? [True, True] Translation: X:244.57, Y:10.13, Z:-15.49 [[ 3.42709697e-01 -9.36339052e-01 -7.62839703e-02 2.44565946e+02] [ 9.10609444e-01 3.51057624e-01 -2.18057299e-01 1.01278161e+01] [ 2.30955633e-01 5.26544686e-03 9.72950035e-01 -1.54931782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.206875 meters 0.021701966000401845 Centerline is valid? [True, True] Translation: X:244.57, Y:10.15, Z:-15.49 [[ 3.42236328e-01 -9.36523915e-01 -7.61396944e-02 2.44574526e+02] [ 9.10846945e-01 3.50565033e-01 -2.17857755e-01 1.01516870e+01] [ 2.30720912e-01 5.20723013e-03 9.73006036e-01 -1.54873839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.236875 meters 0.02125723172133094 Centerline is valid? [True, True] Translation: X:244.59, Y:10.18, Z:-15.48 [[ 3.41649953e-01 -9.36772305e-01 -7.57163006e-02 2.44585786e+02] [ 9.11336377e-01 3.49902445e-01 -2.16873897e-01 1.01761936e+01] [ 2.29654779e-01 5.09193759e-03 9.73258832e-01 -1.54803762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.266875 meters 0.021426669332021604 Centerline is valid? [True, True] Translation: X:244.60, Y:10.20, Z:-15.47 [[ 3.41731971e-01 -9.36745028e-01 -7.56836319e-02 2.44595248e+02] [ 9.11284166e-01 3.49974187e-01 -2.16977504e-01 1.02023703e+01] [ 2.29739916e-01 5.17885458e-03 9.73238281e-01 -1.54742502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.296875 meters 0.021833711800658413 Centerline is valid? [True, True] Translation: X:244.60, Y:10.23, Z:-15.47 [[ 3.41675296e-01 -9.36764801e-01 -7.56947760e-02 2.44604133e+02] [ 9.11251688e-01 3.49920422e-01 -2.17200507e-01 1.02265333e+01] [ 2.29952938e-01 5.23505535e-03 9.73187670e-01 -1.54690681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.32687500000003 meters 0.02142759108376597 Centerline is valid? [True, True] Translation: X:244.61, Y:10.25, Z:-15.46 [[ 3.42050721e-01 -9.36614966e-01 -7.58532087e-02 2.44614524e+02] [ 9.10933549e-01 3.50318264e-01 -2.17892594e-01 1.02525095e+01] [ 2.30654229e-01 5.43308600e-03 9.73020610e-01 -1.54633377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.356875 meters 0.022545172575522795 Centerline is valid? [True, True] Translation: X:244.62, Y:10.28, Z:-15.46 [[ 3.42650547e-01 -9.36399272e-01 -7.58090050e-02 2.44621919e+02] [ 9.10695503e-01 3.50891025e-01 -2.17966026e-01 1.02783764e+01] [ 2.30703928e-01 5.64725827e-03 9.73007608e-01 -1.54589417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.38687500000003 meters 0.02270791157496984 Centerline is valid? [True, True] Translation: X:244.63, Y:10.30, Z:-15.45 [[ 3.42760158e-01 -9.36361253e-01 -7.57831058e-02 2.44630327e+02] [ 9.10627368e-01 3.50990926e-01 -2.18089811e-01 1.03030334e+01] [ 2.30810031e-01 5.74232769e-03 9.72981888e-01 -1.54536605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.416875 meters 0.021760680760527947 Centerline is valid? [True, True] Translation: X:244.64, Y:10.33, Z:-15.45 [[ 3.43262789e-01 -9.36166302e-01 -7.59164804e-02 2.44642331e+02] [ 9.10294248e-01 3.51507158e-01 -2.18648348e-01 1.03278578e+01] [ 2.31376402e-01 5.94750659e-03 9.72846127e-01 -1.54459847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.44687500000003 meters 0.02091425878971258 Centerline is valid? [True, True] Translation: X:244.65, Y:10.35, Z:-15.44 [[ 3.43154887e-01 -9.36212406e-01 -7.58357075e-02 2.44653752e+02] [ 9.10353012e-01 3.51383844e-01 -2.18601891e-01 1.03524047e+01] [ 2.31305245e-01 5.97704256e-03 9.72862867e-01 -1.54387593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.476875 meters 0.02348703914342162 Centerline is valid? [True, True] Translation: X:244.66, Y:10.38, Z:-15.44 [[ 3.43164690e-01 -9.36213868e-01 -7.57732684e-02 2.44659118e+02] [ 9.10347756e-01 3.51378755e-01 -2.18631960e-01 1.03794480e+01] [ 2.31311390e-01 6.04674397e-03 9.72860976e-01 -1.54353482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.50687500000004 meters 0.022553520893339393 Centerline is valid? [True, True] Translation: X:244.67, Y:10.40, Z:-15.43 [[ 3.42907497e-01 -9.36317592e-01 -7.56559093e-02 2.44669841e+02] [ 9.10497988e-01 3.51102670e-01 -2.18449833e-01 1.04038794e+01] [ 2.31101413e-01 6.02353198e-03 9.72911021e-01 -1.54284676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.536875 meters 0.02207262888395888 Centerline is valid? [True, True] Translation: X:244.68, Y:10.43, Z:-15.42 [[ 3.42641206e-01 -9.36417807e-01 -7.56220525e-02 2.44680511e+02] [ 9.10572461e-01 3.50835165e-01 -2.18569165e-01 1.04290231e+01] [ 2.31202934e-01 6.03144408e-03 9.72886851e-01 -1.54214409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56687500000004 meters 0.02169391763050131 Centerline is valid? [True, True] Translation: X:244.69, Y:10.45, Z:-15.41 [[ 3.42963685e-01 -9.36321575e-01 -7.53512969e-02 2.44690616e+02] [ 9.10613990e-01 3.51089933e-01 -2.17986286e-01 1.04548358e+01] [ 2.30560345e-01 6.14543503e-03 9.73038623e-01 -1.54143445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.596875 meters 0.022298148509925533 Centerline is valid? [True, True] Translation: X:244.70, Y:10.48, Z:-15.41 [[ 3.43492861e-01 -9.36155365e-01 -7.50052476e-02 2.44698780e+02] [ 9.10635966e-01 3.51530171e-01 -2.17183507e-01 1.04798639e+01] [ 2.29684112e-01 6.29850779e-03 9.73244850e-01 -1.54080956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62687500000004 meters 0.022334168521257643 Centerline is valid? [True, True] Translation: X:244.71, Y:10.51, Z:-15.40 [[ 3.43566855e-01 -9.36135145e-01 -7.49186726e-02 2.44708671e+02] [ 9.10639786e-01 3.51582940e-01 -2.17082052e-01 1.05053696e+01] [ 2.29558265e-01 6.35827379e-03 9.73274152e-01 -1.54015059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.656875 meters 0.023111554429055062 Centerline is valid? [True, True] Translation: X:244.72, Y:10.53, Z:-15.40 [[ 3.42937036e-01 -9.36372147e-01 -7.48424470e-02 2.44716636e+02] [ 9.10887604e-01 3.50952912e-01 -2.17061804e-01 1.05303748e+01] [ 2.29516802e-01 6.26547428e-03 9.73284533e-01 -1.53959421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68687500000004 meters 0.022776310300231445 Centerline is valid? [True, True] Translation: X:244.73, Y:10.56, Z:-15.39 [[ 3.42415699e-01 -9.36567352e-01 -7.47869259e-02 2.44726584e+02] [ 9.11073326e-01 3.50432635e-01 -2.17122922e-01 1.05550472e+01] [ 2.29558020e-01 6.20992378e-03 9.73275168e-01 -1.53894991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.716875 meters 0.022330568231052058 Centerline is valid? [True, True] Translation: X:244.74, Y:10.58, Z:-15.38 [[ 3.41715415e-01 -9.36821476e-01 -7.48070726e-02 2.44737722e+02] [ 9.11268059e-01 3.49754308e-01 -2.17399284e-01 1.05804835e+01] [ 2.29828414e-01 6.11939064e-03 9.73211926e-01 -1.53831435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.746875 meters 0.021525234013052216 Centerline is valid? [True, True] Translation: X:244.75, Y:10.61, Z:-15.38 [[ 3.40281150e-01 -9.37326951e-01 -7.50128424e-02 2.44749147e+02] [ 9.11595064e-01 3.48401721e-01 -2.18198718e-01 1.06059342e+01] [ 2.30658142e-01 5.86757392e-03 9.73017160e-01 -1.53778046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.776875 meters 0.022439316915581885 Centerline is valid? [True, True] Translation: X:244.76, Y:10.63, Z:-15.37 [[ 3.39339724e-01 -9.37668235e-01 -7.50122118e-02 2.44756787e+02] [ 9.11896530e-01 3.47484806e-01 -2.18401074e-01 1.06316561e+01] [ 2.30853353e-01 5.70878450e-03 9.72971808e-01 -1.53735995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.806875 meters 0.0212149565685388 Centerline is valid? [True, True] Translation: X:244.77, Y:10.66, Z:-15.37 [[ 3.37192868e-01 -9.38428655e-01 -7.51839726e-02 2.44770228e+02] [ 9.12505197e-01 3.45432783e-01 -2.19112887e-01 1.06559349e+01] [ 2.31592821e-01 5.27753708e-03 9.72798496e-01 -1.53668893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.836875 meters 0.02081486913719719 Centerline is valid? [True, True] Translation: X:244.78, Y:10.68, Z:-15.36 [[ 3.35790480e-01 -9.38921198e-01 -7.53109427e-02 2.44781474e+02] [ 9.12872752e-01 3.44095620e-01 -2.19685099e-01 1.06812204e+01] [ 2.32181162e-01 5.01885736e-03 9.72659611e-01 -1.53604984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.866875 meters 0.020749795848251238 Centerline is valid? [True, True] Translation: X:244.79, Y:10.71, Z:-15.35 [[ 3.34260489e-01 -9.39471004e-01 -7.52606041e-02 2.44791658e+02] [ 9.13422846e-01 3.42596093e-01 -2.19742172e-01 1.07063814e+01] [ 2.32225388e-01 4.70637069e-03 9.72650615e-01 -1.53545912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.896875 meters 0.020232799707753175 Centerline is valid? [True, True] Translation: X:244.80, Y:10.73, Z:-15.35 [[ 3.32392513e-01 -9.40153775e-01 -7.50073144e-02 2.44802581e+02] [ 9.14254129e-01 3.40723543e-01 -2.19195926e-01 1.07308601e+01] [ 2.31634635e-01 4.28333775e-03 9.72793426e-01 -1.53475831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.926875 meters 0.01965466756722057 Centerline is valid? [True, True] Translation: X:244.81, Y:10.76, Z:-15.34 [[ 3.30691328e-01 -9.40761460e-01 -7.49074094e-02 2.44813989e+02] [ 9.14898081e-01 3.39046411e-01 -2.19109637e-01 1.07554743e+01] [ 2.31526990e-01 3.92501166e-03 9.72820563e-01 -1.53401825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.956875 meters 0.01901188403825784 Centerline is valid? [True, True] Translation: X:244.83, Y:10.78, Z:-15.33 [[ 3.27130752e-01 -9.42029875e-01 -7.46001798e-02 2.44826675e+02] [ 9.16365122e-01 3.35514789e-01 -2.18414260e-01 1.07796213e+01] [ 2.30782221e-01 3.08901813e-03 9.73000526e-01 -1.53329595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.986875 meters 0.018758340402365667 Centerline is valid? [True, True] Translation: X:244.84, Y:10.80, Z:-15.33 [[ 3.25584518e-01 -9.42586140e-01 -7.43376804e-02 2.44837132e+02] [ 9.17070484e-01 3.33951760e-01 -2.17848454e-01 1.08048903e+01] [ 2.30166132e-01 2.75519130e-03 9.73147451e-01 -1.53267608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.016875 meters 0.01875868822367247 Centerline is valid? [True, True] Translation: X:244.85, Y:10.83, Z:-15.32 [[ 3.23978261e-01 -9.43162160e-01 -7.40488146e-02 2.44846300e+02] [ 9.17814229e-01 3.32324164e-01 -2.17204262e-01 1.08292116e+01] [ 2.29467052e-01 2.40640362e-03 9.73313455e-01 -1.53212652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.046875 meters 0.018288881482928097 Centerline is valid? [True, True] Translation: X:244.86, Y:10.85, Z:-15.31 [[ 3.22685396e-01 -9.43614160e-01 -7.39354627e-02 2.44857641e+02] [ 9.18303516e-01 3.31040266e-01 -2.17096741e-01 1.08542997e+01] [ 2.29331174e-01 2.15875266e-03 9.73346060e-01 -1.53128203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07687500000003 meters 0.018296977635629076 Centerline is valid? [True, True] Translation: X:244.87, Y:10.88, Z:-15.31 [[ 3.21398205e-01 -9.44056646e-01 -7.38934598e-02 2.44866770e+02] [ 9.18736868e-01 3.29777783e-01 -2.17184670e-01 1.08788509e+01] [ 2.29403053e-01 1.91411747e-03 9.73329634e-01 -1.53074470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.106875 meters 0.01788089726757048 Centerline is valid? [True, True] Translation: X:244.88, Y:10.90, Z:-15.30 [[ 3.19617174e-01 -9.44674214e-01 -7.37257852e-02 2.44876919e+02] [ 9.19435485e-01 3.28006480e-01 -2.16910436e-01 1.09033175e+01] [ 2.29092231e-01 1.54219755e-03 9.73403499e-01 -1.53017948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13687500000003 meters 0.018018928791122747 Centerline is valid? [True, True] Translation: X:244.89, Y:10.93, Z:-15.30 [[ 3.18663076e-01 -9.44994593e-01 -7.37500041e-02 2.44886278e+02] [ 9.19694664e-01 3.27083006e-01 -2.17205969e-01 1.09285314e+01] [ 2.29380839e-01 1.38803713e-03 9.73335761e-01 -1.52958711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.166875 meters 0.018018804159503875 Centerline is valid? [True, True] Translation: X:244.90, Y:10.95, Z:-15.29 [[ 3.17528680e-01 -9.45388391e-01 -7.35957020e-02 2.44895603e+02] [ 9.20153458e-01 3.25943870e-01 -2.16975131e-01 1.09538004e+01] [ 2.29113838e-01 1.17648727e-03 9.73398924e-01 -1.52900193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19687500000003 meters 0.018093706320617995 Centerline is valid? [True, True] Translation: X:244.90, Y:10.98, Z:-15.29 [[ 3.16550792e-01 -9.45707716e-01 -7.37055748e-02 2.44904531e+02] [ 9.20351508e-01 3.25016722e-01 -2.17525245e-01 1.09784249e+01] [ 2.29670847e-01 1.02275181e-03 9.73267823e-01 -1.52854331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.226875 meters 0.017850453872013495 Centerline is valid? [True, True] Translation: X:244.91, Y:11.00, Z:-15.28 [[ 3.15355409e-01 -9.46108271e-01 -7.36892548e-02 2.44913887e+02] [ 9.20720925e-01 3.23849487e-01 -2.17702753e-01 1.10034657e+01] [ 2.29834603e-01 8.06502048e-04 9.73229369e-01 -1.52791266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25687500000004 meters 0.017975601811505273 Centerline is valid? [True, True] Translation: X:244.92, Y:11.03, Z:-15.27 [[ 3.14880252e-01 -9.46275739e-01 -7.35707320e-02 2.44921961e+02] [ 9.20921507e-01 3.23359937e-01 -2.17582006e-01 1.10284312e+01] [ 2.29682401e-01 7.59407586e-04 9.73265338e-01 -1.52747716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.286875 meters 0.01794176412220649 Centerline is valid? [True, True] Translation: X:244.93, Y:11.05, Z:-15.27 [[ 3.14903007e-01 -9.46285393e-01 -7.33488274e-02 2.44930311e+02] [ 9.21033335e-01 3.23331523e-01 -2.17150459e-01 1.10535574e+01] [ 2.29202295e-01 8.24617179e-04 9.73378461e-01 -1.52675849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31687500000004 meters 0.01800250898336631 Centerline is valid? [True, True] Translation: X:244.94, Y:11.08, Z:-15.26 [[ 3.15157832e-01 -9.46222116e-01 -7.30701613e-02 2.44937456e+02] [ 9.21109138e-01 3.23516334e-01 -2.16552853e-01 1.10782411e+01] [ 2.28546489e-01 9.42734334e-04 9.73532544e-01 -1.52624092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.346875 meters 0.01802034373717729 Centerline is valid? [True, True] Translation: X:244.95, Y:11.10, Z:-15.26 [[ 3.15475447e-01 -9.46114369e-01 -7.30947526e-02 2.44945698e+02] [ 9.20925783e-01 3.23830806e-01 -2.16862427e-01 1.11033340e+01] [ 2.28846991e-01 1.09992882e-03 9.73461784e-01 -1.52564097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37687500000004 meters 0.01799979504072977 Centerline is valid? [True, True] Translation: X:244.95, Y:11.13, Z:-15.25 [[ 3.15517775e-01 -9.46105027e-01 -7.30329505e-02 2.44954082e+02] [ 9.20906638e-01 3.23857816e-01 -2.16903387e-01 1.11297053e+01] [ 2.28865676e-01 1.18034500e-03 9.73457297e-01 -1.52501431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.406875 meters 0.018074397686734738 Centerline is valid? [True, True] Translation: X:244.96, Y:11.16, Z:-15.25 [[ 3.15765595e-01 -9.46021638e-01 -7.30421096e-02 2.44961389e+02] [ 9.20766268e-01 3.24100827e-01 -2.17136209e-01 1.11558546e+01] [ 2.29088560e-01 1.30943369e-03 9.73404704e-01 -1.52452464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43687500000004 meters 0.018580572797504896 Centerline is valid? [True, True] Translation: X:244.97, Y:11.18, Z:-15.24 [[ 3.16365098e-01 -9.45823807e-01 -7.30099399e-02 2.44968431e+02] [ 9.20534614e-01 3.24676765e-01 -2.17257965e-01 1.11811491e+01] [ 2.29192386e-01 1.52466039e-03 9.73379949e-01 -1.52407632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.466875 meters 0.01842729358598356 Centerline is valid? [True, True] Translation: X:244.98, Y:11.21, Z:-15.23 [[ 3.17452344e-01 -9.45465418e-01 -7.29325240e-02 2.44975525e+02] [ 9.20170323e-01 3.25717217e-01 -2.17243805e-01 1.12062479e+01] [ 2.29151884e-01 1.85421091e-03 9.73388913e-01 -1.52345227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.496875 meters 0.01864407371028962 Centerline is valid? [True, True] Translation: X:244.98, Y:11.23, Z:-15.23 [[ 3.17713121e-01 -9.45378732e-01 -7.29206795e-02 2.44982947e+02] [ 9.20047980e-01 3.25968019e-01 -2.17385753e-01 1.12311871e+01] [ 2.29281677e-01 1.97578236e-03 9.73358109e-01 -1.52290511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.526875 meters 0.018320393147604867 Centerline is valid? [True, True] Translation: X:244.99, Y:11.26, Z:-15.22 [[ 3.17774153e-01 -9.45378873e-01 -7.26524251e-02 2.44991411e+02] [ 9.20181980e-01 3.25967177e-01 -2.16819102e-01 1.12565268e+01] [ 2.28658505e-01 2.04605418e-03 9.73504546e-01 -1.52217676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.556875 meters 0.018499839132321682 Centerline is valid? [True, True] Translation: X:245.00, Y:11.28, Z:-15.22 [[ 3.18171140e-01 -9.45254670e-01 -7.25309225e-02 2.44998766e+02] [ 9.20087087e-01 3.26326121e-01 -2.16681831e-01 1.12813652e+01] [ 2.28488247e-01 2.20713987e-03 9.73544169e-01 -1.52166564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.586875 meters 0.018944260986564983 Centerline is valid? [True, True] Translation: X:245.01, Y:11.31, Z:-15.21 [[ 3.19297268e-01 -9.44877602e-01 -7.24953214e-02 2.45005437e+02] [ 9.19670295e-01 3.27413787e-01 -2.16810425e-01 1.13067944e+01] [ 2.28595282e-01 2.55518288e-03 9.73518191e-01 -1.52104314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.616875 meters 0.018842859129340868 Centerline is valid? [True, True] Translation: X:245.01, Y:11.33, Z:-15.20 [[ 3.20224413e-01 -9.44564851e-01 -7.24814987e-02 2.45013421e+02] [ 9.19309837e-01 3.28312540e-01 -2.16979952e-01 1.13324810e+01] [ 2.28748221e-01 2.84932299e-03 9.73481450e-01 -1.52039919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.646875 meters 0.01883143372572527 Centerline is valid? [True, True] Translation: X:245.02, Y:11.36, Z:-15.20 [[ 3.20837462e-01 -9.44364431e-01 -7.23819412e-02 2.45020537e+02] [ 9.19124044e-01 3.28886688e-01 -2.16897529e-01 1.13584334e+01] [ 2.28635768e-01 3.06087006e-03 9.73507225e-01 -1.51989377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.676875 meters 0.01975528269255159 Centerline is valid? [True, True] Translation: X:245.03, Y:11.38, Z:-15.19 [[ 3.22052507e-01 -9.43947454e-01 -7.24250367e-02 2.45025854e+02] [ 9.18612587e-01 3.30077857e-01 -2.17254511e-01 1.13846249e+01] [ 2.28982744e-01 3.43680971e-03 9.73424415e-01 -1.51949340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.706875 meters 0.019766623680540447 Centerline is valid? [True, True] Translation: X:245.03, Y:11.41, Z:-15.19 [[ 3.24468950e-01 -9.43120860e-01 -7.24081699e-02 2.45034150e+02] [ 9.17741354e-01 3.32425099e-01 -2.17357680e-01 1.14106742e+01] [ 2.29064856e-01 4.07384653e-03 9.73402638e-01 -1.51879892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.736875 meters 0.020492814360764052 Centerline is valid? [True, True] Translation: X:245.04, Y:11.44, Z:-15.18 [[ 3.24962253e-01 -9.42950695e-01 -7.24121641e-02 2.45040319e+02] [ 9.17515220e-01 3.32905084e-01 -2.17577633e-01 1.14367351e+01] [ 2.29271358e-01 4.26525506e-03 9.73353200e-01 -1.51832049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.766875 meters 0.021460890232901993 Centerline is valid? [True, True] Translation: X:245.05, Y:11.46, Z:-15.18 [[ 3.25563091e-01 -9.42741474e-01 -7.24374682e-02 2.45046354e+02] [ 9.17230954e-01 3.33494160e-01 -2.17873866e-01 1.14632467e+01] [ 2.29556202e-01 4.48980120e-03 9.73285052e-01 -1.51788086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.796875 meters 0.02214823048659094 Centerline is valid? [True, True] Translation: X:245.05, Y:11.49, Z:-15.17 [[ 3.25887572e-01 -9.42633602e-01 -7.23821996e-02 2.45052618e+02] [ 9.17109845e-01 3.33796958e-01 -2.17919992e-01 1.14886644e+01] [ 2.29579665e-01 4.63498905e-03 9.73278837e-01 -1.51738675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.82687500000003 meters 0.020898569736659194 Centerline is valid? [True, True] Translation: X:245.06, Y:11.51, Z:-15.17 [[ 3.26336227e-01 -9.42475431e-01 -7.24205064e-02 2.45063335e+02] [ 9.16866820e-01 3.34240577e-01 -2.18262390e-01 1.15139025e+01] [ 2.29912811e-01 4.82696529e-03 9.73199260e-01 -1.51662305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.856875 meters 0.021108227263425348 Centerline is valid? [True, True] Translation: X:245.07, Y:11.54, Z:-15.16 [[ 3.25529355e-01 -9.42746175e-01 -7.25278474e-02 2.45070651e+02] [ 9.17018077e-01 3.33477774e-01 -2.18793101e-01 1.15382399e+01] [ 2.30452784e-01 4.71422981e-03 9.73072089e-01 -1.51612166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.88687500000003 meters 0.020722440509317486 Centerline is valid? [True, True] Translation: X:245.08, Y:11.56, Z:-15.16 [[ 3.24912822e-01 -9.42967248e-01 -7.24184204e-02 2.45079351e+02] [ 9.17269222e-01 3.32853343e-01 -2.18691169e-01 1.15636750e+01] [ 2.30323323e-01 4.62837680e-03 9.73103152e-01 -1.51551573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.916875 meters 0.02066502709702876 Centerline is valid? [True, True] Translation: X:245.09, Y:11.59, Z:-15.15 [[ 3.24146582e-01 -9.43237170e-01 -7.23369580e-02 2.45087257e+02] [ 9.17549306e-01 3.32089285e-01 -2.18677795e-01 1.15890248e+01] [ 2.30287353e-01 4.51093410e-03 9.73112217e-01 -1.51498586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.94687500000003 meters 0.021033842352466466 Centerline is valid? [True, True] Translation: X:245.09, Y:11.61, Z:-15.14 [[ 3.23430043e-01 -9.43495321e-01 -7.21774618e-02 2.45093897e+02] [ 9.17873833e-01 3.31356686e-01 -2.18427042e-01 1.16141030e+01] [ 2.30001377e-01 4.39606413e-03 9.73180374e-01 -1.51445909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.976875 meters 0.021033842352466466 Centerline is valid? [True, True] Translation: X:245.10, Y:11.64, Z:-15.14 [[ 3.23147298e-01 -9.43597689e-01 -7.21056484e-02 2.45101945e+02] [ 9.17973440e-01 3.31065000e-01 -2.18450748e-01 1.16390234e+01] [ 2.30001277e-01 4.40069871e-03 9.73180377e-01 -1.51388217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.00687500000004 meters 0.02048614150298704 Centerline is valid? [True, True] Translation: X:245.11, Y:11.66, Z:-15.13 [[ 3.22647111e-01 -9.43785883e-01 -7.18821883e-02 2.45110229e+02] [ 9.18273855e-01 3.30529067e-01 -2.17999226e-01 1.16638763e+01] [ 2.29503745e-01 4.32928631e-03 9.73298150e-01 -1.51319044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.036875 meters 0.020251983567353447 Centerline is valid? [True, True] Translation: X:245.12, Y:11.69, Z:-15.12 [[ 3.22164522e-01 -9.43963837e-01 -7.17097997e-02 2.45118486e+02] [ 9.18525763e-01 3.30021272e-01 -2.17707104e-01 1.16893129e+01] [ 2.29173393e-01 4.27020672e-03 9.73376249e-01 -1.51248657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06687500000004 meters 0.02026907797618496 Centerline is valid? [True, True] Translation: X:245.13, Y:11.71, Z:-15.12 [[ 3.21681411e-01 -9.44126634e-01 -7.17354084e-02 2.45125297e+02] [ 9.18618598e-01 3.29555698e-01 -2.18020441e-01 1.17139511e+01] [ 2.29479718e-01 4.23564263e-03 9.73304227e-01 -1.51193161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.096875 meters 0.020874755844458696 Centerline is valid? [True, True] Translation: X:245.13, Y:11.74, Z:-15.12 [[ 3.20803226e-01 -9.44435416e-01 -7.16033147e-02 2.45130603e+02] [ 9.18972213e-01 3.28671590e-01 -2.17864769e-01 1.17391570e+01] [ 2.29293179e-01 4.09026412e-03 9.73348811e-01 -1.51150225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12687500000004 meters 0.019778668847859414 Centerline is valid? [True, True] Translation: X:245.14, Y:11.76, Z:-15.11 [[ 3.19696363e-01 -9.44827463e-01 -7.13813790e-02 2.45140538e+02] [ 9.19479288e-01 3.27545494e-01 -2.17420763e-01 1.17635467e+01] [ 2.28805757e-01 3.87492749e-03 9.73464386e-01 -1.51072672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.156875 meters 0.019511935546861925 Centerline is valid? [True, True] Translation: X:245.15, Y:11.79, Z:-15.10 [[ 3.18487093e-01 -9.45258467e-01 -7.10802564e-02 2.45147757e+02] [ 9.20081821e-01 3.26302406e-01 -2.16739897e-01 1.17878760e+01] [ 2.28068882e-01 3.62920822e-03 9.73638236e-01 -1.51010981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18687500000004 meters 0.018909950842505928 Centerline is valid? [True, True] Translation: X:245.16, Y:11.81, Z:-15.09 [[ 3.16602780e-01 -9.45908774e-01 -7.08468136e-02 2.45156879e+02] [ 9.20858623e-01 3.24416622e-01 -2.16271246e-01 1.18130860e+01] [ 2.27556753e-01 3.23217852e-03 9.73759455e-01 -1.50940904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.216875 meters 0.018919401676024475 Centerline is valid? [True, True] Translation: X:245.16, Y:11.84, Z:-15.09 [[ 3.14599347e-01 -9.46593917e-01 -7.06201647e-02 2.45164278e+02] [ 9.21668219e-01 3.22416005e-01 -2.15813841e-01 1.18389626e+01] [ 2.27057141e-01 2.80653212e-03 9.73877394e-01 -1.50888609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.246875 meters 0.018231086181386105 Centerline is valid? [True, True] Translation: X:245.17, Y:11.86, Z:-15.08 [[ 3.10411008e-01 -9.47992303e-01 -7.03960229e-02 2.45173684e+02] [ 9.23213513e-01 3.18287863e-01 -2.15336124e-01 1.18647907e+01] [ 2.26543188e-01 1.85214380e-03 9.73999360e-01 -1.50825846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.276875 meters 0.01820797163885094 Centerline is valid? [True, True] Translation: X:245.18, Y:11.89, Z:-15.08 [[ 3.08146625e-01 -9.48732961e-01 -7.03663702e-02 2.45181770e+02] [ 9.23948574e-01 3.16075757e-01 -2.15441754e-01 1.18892834e+01] [ 2.26637797e-01 1.37274189e-03 9.73978144e-01 -1.50766834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.306875 meters 0.017839195401379758 Centerline is valid? [True, True] Translation: X:245.19, Y:11.92, Z:-15.07 [[ 3.06393921e-01 -9.49316029e-01 -7.01558453e-02 2.45190736e+02] [ 9.24640298e-01 3.14321557e-01 -2.15040180e-01 1.19153682e+01] [ 2.26192584e-01 1.01808208e-03 9.74082070e-01 -1.50696590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.336875 meters 0.01762024406603258 Centerline is valid? [True, True] Translation: X:245.20, Y:11.94, Z:-15.06 [[ 3.04425934e-01 -9.49954722e-01 -7.00776411e-02 2.45198649e+02] [ 9.25305511e-01 3.12387029e-01 -2.14997802e-01 1.19402145e+01] [ 2.26129524e-01 6.07679345e-04 9.74097053e-01 -1.50633792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.366875 meters 0.017837427312449076 Centerline is valid? [True, True] Translation: X:245.21, Y:11.97, Z:-15.06 [[ 3.02320900e-01 -9.50621530e-01 -7.01482726e-02 2.45205635e+02] [ 9.25884898e-01 3.10352496e-01 -2.15449491e-01 1.19664155e+01] [ 2.26581616e-01 1.85657799e-04 9.73992165e-01 -1.50571166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.396875 meters 0.017738168481432663 Centerline is valid? [True, True] Translation: X:245.21, Y:11.99, Z:-15.05 [[ 3.01192732e-01 -9.50995816e-01 -6.99277981e-02 2.45212751e+02] [ 9.26377753e-01 3.09203748e-01 -2.14982094e-01 1.19923505e+01] [ 2.26069009e-01 -2.85122163e-05 9.74111288e-01 -1.50518822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.426875 meters 0.01768830183617448 Centerline is valid? [True, True] Translation: X:245.22, Y:12.02, Z:-15.05 [[ 3.00386970e-01 -9.51251432e-01 -6.99169608e-02 2.45219574e+02] [ 9.26597184e-01 3.08416424e-01 -2.15167303e-01 1.20175725e+01] [ 2.26241744e-01 -1.51404832e-04 9.74071173e-01 -1.50465985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.456875 meters 0.01795634878292966 Centerline is valid? [True, True] Translation: X:245.23, Y:12.04, Z:-15.04 [[ 2.99772058e-01 -9.51464024e-01 -6.96629287e-02 2.45226435e+02] [ 9.26955203e-01 3.07759884e-01 -2.14564456e-01 1.20431709e+01] [ 2.25589816e-01 -2.53985513e-04 9.74222341e-01 -1.50404932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.486875 meters 0.017975734305530882 Centerline is valid? [True, True] Translation: X:245.23, Y:12.07, Z:-15.03 [[ 2.99637445e-01 -9.51510096e-01 -6.96127829e-02 2.45233452e+02] [ 9.26985700e-01 3.07617443e-01 -2.14636952e-01 1.20699924e+01] [ 2.25643333e-01 -2.16786439e-04 9.74209956e-01 -1.50336819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.516875 meters 0.01780827523513116 Centerline is valid? [True, True] Translation: X:245.24, Y:12.10, Z:-15.03 [[ 3.00631377e-01 -9.51198688e-01 -6.95832617e-02 2.45237157e+02] [ 9.26638602e-01 3.08579079e-01 -2.14755332e-01 1.20955014e+01] [ 2.25746929e-01 8.36548457e-05 9.74185977e-01 -1.50284548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.546875 meters 0.01771557567719429 Centerline is valid? [True, True] Translation: X:245.24, Y:12.12, Z:-15.02 [[ 3.01051203e-01 -9.51074901e-01 -6.94600993e-02 2.45242201e+02] [ 9.26545719e-01 3.08960304e-01 -2.14607925e-01 1.21206733e+01] [ 2.25568625e-01 2.50016339e-04 9.74227249e-01 -1.50231883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57687500000003 meters 0.017740451695307045 Centerline is valid? [True, True] Translation: X:245.25, Y:12.15, Z:-15.02 [[ 3.01503298e-01 -9.50944371e-01 -6.92860984e-02 2.45247801e+02] [ 9.26480329e-01 3.09361638e-01 -2.14311868e-01 1.21469950e+01] [ 2.25233126e-01 4.23527858e-04 9.74304808e-01 -1.50173252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.606875 meters 0.01761722642250229 Centerline is valid? [True, True] Translation: X:245.25, Y:12.17, Z:-15.01 [[ 3.03747198e-01 -9.50243258e-01 -6.91041943e-02 2.45250327e+02] [ 9.25839286e-01 3.11507176e-01 -2.13974056e-01 1.21726396e+01] [ 2.24853857e-01 1.01464215e-03 9.74391971e-01 -1.50117264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63687500000003 meters 0.01793077147621049 Centerline is valid? [True, True] Translation: X:245.26, Y:12.20, Z:-15.01 [[ 3.04820008e-01 -9.49895254e-01 -6.91648027e-02 2.45255605e+02] [ 9.25390779e-01 3.12565532e-01 -2.14370461e-01 1.21989411e+01] [ 2.25248017e-01 1.33993505e-03 9.74300537e-01 -1.50065528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.666875 meters 0.018067548619433032 Centerline is valid? [True, True] Translation: X:245.26, Y:12.22, Z:-15.00 [[ 3.06192634e-01 -9.49449425e-01 -6.92232631e-02 2.45260388e+02] [ 9.24839928e-01 3.13915202e-01 -2.14775124e-01 1.22248683e+01] [ 2.25648353e-01 1.74212345e-03 9.74207260e-01 -1.50015072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69687500000003 meters 0.018202706662347124 Centerline is valid? [True, True] Translation: X:245.26, Y:12.25, Z:-15.00 [[ 3.07342781e-01 -9.49086280e-01 -6.91060606e-02 2.45264993e+02] [ 9.24511438e-01 3.15009490e-01 -2.14587097e-01 1.22516753e+01] [ 2.25430734e-01 2.06245154e-03 9.74257015e-01 -1.49961874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.726875 meters 0.018413758175633448 Centerline is valid? [True, True] Translation: X:245.27, Y:12.28, Z:-14.99 [[ 3.09065120e-01 -9.48523072e-01 -6.91573138e-02 2.45270977e+02] [ 9.23845848e-01 3.16697786e-01 -2.14968282e-01 1.22781262e+01] [ 2.25804343e-01 2.54850055e-03 9.74169340e-01 -1.49897454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75687500000004 meters 0.018821298985523593 Centerline is valid? [True, True] Translation: X:245.28, Y:12.30, Z:-14.98 [[ 3.10538451e-01 -9.48047195e-01 -6.90824682e-02 2.45275708e+02] [ 9.23364071e-01 3.18115944e-01 -2.14944266e-01 1.23042212e+01] [ 2.25753543e-01 2.96019038e-03 9.74179950e-01 -1.49846443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.786875 meters 0.020295797696697197 Centerline is valid? [True, True] Translation: X:245.28, Y:12.33, Z:-14.98 [[ 3.13763850e-01 -9.46991854e-01 -6.89831554e-02 2.45275548e+02] [ 9.22304244e-01 3.21235213e-01 -2.14855347e-01 1.23322296e+01] [ 2.25626082e-01 3.79038373e-03 9.74206602e-01 -1.49811456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81687500000004 meters 0.01940458045603113 Centerline is valid? [True, True] Translation: X:245.28, Y:12.36, Z:-14.97 [[ 3.15196277e-01 -9.46525524e-01 -6.88530232e-02 2.45284344e+02] [ 9.21871866e-01 3.22601762e-01 -2.14663376e-01 1.23585460e+01] [ 2.25396471e-01 4.18743175e-03 9.74258126e-01 -1.49735432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.846875 meters 0.020513942250281494 Centerline is valid? [True, True] Translation: X:245.29, Y:12.39, Z:-14.97 [[ 3.15795066e-01 -9.46341599e-01 -6.86371222e-02 2.45287966e+02] [ 9.21793531e-01 3.23138466e-01 -2.14192012e-01 1.23857622e+01] [ 2.24878106e-01 4.37152542e-03 9.74377097e-01 -1.49685034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87687500000004 meters 0.020940778586426397 Centerline is valid? [True, True] Translation: X:245.29, Y:12.41, Z:-14.96 [[ 3.16409269e-01 -9.46145209e-01 -6.85158300e-02 2.45293716e+02] [ 9.21628615e-01 3.23710195e-01 -2.14038330e-01 1.24122652e+01] [ 2.24690613e-01 4.57756189e-03 9.74419404e-01 -1.49624913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.906875 meters 0.021055540782826322 Centerline is valid? [True, True] Translation: X:245.30, Y:12.44, Z:-14.96 [[ 3.17447903e-01 -9.45815841e-01 -6.82585050e-02 2.45299668e+02] [ 9.21427239e-01 3.24667091e-01 -2.13455203e-01 1.24392910e+01] [ 2.24050603e-01 4.86566095e-03 9.74565366e-01 -1.49561500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93687500000004 meters 0.020674366827095517 Centerline is valid? [True, True] Translation: X:245.31, Y:12.47, Z:-14.95 [[ 3.17789404e-01 -9.45719094e-01 -6.80094851e-02 2.45307709e+02] [ 9.21461654e-01 3.24947021e-01 -2.12879905e-01 1.24656776e+01] [ 2.23424071e-01 4.98284551e-03 9.74708601e-01 -1.49498886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.966875 meters 0.021595623939079895 Centerline is valid? [True, True] Translation: X:245.31, Y:12.49, Z:-14.94 [[ 3.18027103e-01 -9.45637171e-01 -6.80375089e-02 2.45312794e+02] [ 9.21309301e-01 3.25183332e-01 -2.13178265e-01 1.24920978e+01] [ 2.23713956e-01 5.11287647e-03 9.74641434e-01 -1.49449814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.996875 meters 0.021651104531299932 Centerline is valid? [True, True] Translation: X:245.32, Y:12.52, Z:-14.94 [[ 3.17674168e-01 -9.45752219e-01 -6.80871765e-02 2.45320148e+02] [ 9.21339771e-01 3.24848624e-01 -2.13556543e-01 1.25178849e+01] [ 2.24089600e-01 5.10997341e-03 9.74555150e-01 -1.49396054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.026875 meters 0.02305217105675091 Centerline is valid? [True, True] Translation: X:245.32, Y:12.54, Z:-14.94 [[ 3.17460914e-01 -9.45817413e-01 -6.81761642e-02 2.45323472e+02] [ 9.21288623e-01 3.24658162e-01 -2.14066231e-01 1.25445163e+01] [ 2.24601516e-01 5.14773684e-03 9.74437099e-01 -1.49364102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.056875 meters 0.021491317638874873 Centerline is valid? [True, True] Translation: X:245.33, Y:12.57, Z:-14.93 [[ 3.17366383e-01 -9.45845262e-01 -6.82299018e-02 2.45334184e+02] [ 9.21222341e-01 3.24575986e-01 -2.14475705e-01 1.25689857e+01] [ 2.25006617e-01 5.21246872e-03 9.74343293e-01 -1.49299243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.086875 meters 0.02116839849776554 Centerline is valid? [True, True] Translation: X:245.34, Y:12.60, Z:-14.92 [[ 3.17381239e-01 -9.45830960e-01 -6.83589336e-02 2.45343622e+02] [ 9.21059746e-01 3.24616079e-01 -2.15112404e-01 1.25950820e+01] [ 2.25650380e-01 5.30997929e-03 9.74193877e-01 -1.49242360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.116875 meters 0.021506543464489734 Centerline is valid? [True, True] Translation: X:245.35, Y:12.62, Z:-14.92 [[ 3.17229447e-01 -9.45878731e-01 -6.84025124e-02 2.45351300e+02] [ 9.21027178e-01 3.24476190e-01 -2.15462619e-01 1.26215161e+01] [ 2.25996495e-01 5.35051463e-03 9.74113421e-01 -1.49183269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.146875 meters 0.022045016286130655 Centerline is valid? [True, True] Translation: X:245.36, Y:12.65, Z:-14.91 [[ 3.17403360e-01 -9.45820198e-01 -6.84051213e-02 2.45357627e+02] [ 9.20916124e-01 3.24644894e-01 -2.15683065e-01 1.26469310e+01] [ 2.26204772e-01 5.46315017e-03 9.74064451e-01 -1.49131032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.176875 meters 0.022142385147721447 Centerline is valid? [True, True] Translation: X:245.37, Y:12.67, Z:-14.91 [[ 3.17480904e-01 -9.45805216e-01 -6.82522402e-02 2.45366792e+02] [ 9.20962008e-01 3.24687321e-01 -2.15423125e-01 1.26729773e+01] [ 2.25908953e-01 5.53500826e-03 9.74132696e-01 -1.49063161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.206875 meters 0.022339303168298973 Centerline is valid? [True, True] Translation: X:245.37, Y:12.70, Z:-14.90 [[ 3.17422903e-01 -9.45836618e-01 -6.80866568e-02 2.45374192e+02] [ 9.21067660e-01 3.24595264e-01 -2.15109925e-01 1.26988267e+01] [ 2.25559451e-01 5.56839931e-03 9.74213492e-01 -1.49008035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.236875 meters 0.02199176308255793 Centerline is valid? [True, True] Translation: X:245.38, Y:12.73, Z:-14.89 [[ 3.17900217e-01 -9.45668077e-01 -6.82007372e-02 2.45383508e+02] [ 9.20756971e-01 3.25082339e-01 -2.15703672e-01 1.27253122e+01] [ 2.26154931e-01 5.77593989e-03 9.74074220e-01 -1.48946170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.266875 meters 0.02291917626177424 Centerline is valid? [True, True] Translation: X:245.39, Y:12.75, Z:-14.89 [[ 3.17953838e-01 -9.45670059e-01 -6.79227161e-02 2.45389518e+02] [ 9.20917960e-01 3.25075842e-01 -2.15025134e-01 1.27510603e+01] [ 2.25422866e-01 5.81681769e-03 9.74243653e-01 -1.48892178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.296875 meters 0.02310806239473651 Centerline is valid? [True, True] Translation: X:245.40, Y:12.78, Z:-14.88 [[ 3.17955210e-01 -9.45697290e-01 -6.75360697e-02 2.45396601e+02] [ 9.21194516e-01 3.24996648e-01 -2.13957571e-01 1.27750813e+01] [ 2.24288091e-01 5.81506719e-03 9.74505535e-01 -1.48821689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.32687500000003 meters 0.022142449684793907 Centerline is valid? [True, True] Translation: X:245.41, Y:12.80, Z:-14.87 [[ 3.17920248e-01 -9.45732737e-01 -6.72034647e-02 2.45407156e+02] [ 9.21433944e-01 3.24893405e-01 -2.13081587e-01 1.28006003e+01] [ 2.23352195e-01 5.81939763e-03 9.74720438e-01 -1.48746616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.356875 meters 0.02242923049897073 Centerline is valid? [True, True] Translation: X:245.41, Y:12.83, Z:-14.87 [[ 3.17461635e-01 -9.45897912e-01 -6.70466205e-02 2.45414535e+02] [ 9.21669275e-01 3.24413267e-01 -2.12795158e-01 1.28261344e+01] [ 2.23033309e-01 5.75948891e-03 9.74793810e-01 -1.48690130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.38687500000003 meters 0.022146065410255485 Centerline is valid? [True, True] Translation: X:245.42, Y:12.85, Z:-14.86 [[ 3.17657681e-01 -9.45834419e-01 -6.70138047e-02 2.45423233e+02] [ 9.21577645e-01 3.24596267e-01 -2.12912911e-01 1.28518168e+01] [ 2.23132791e-01 5.87499728e-03 9.74770354e-01 -1.48629734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.416875 meters 0.02195805945368302 Centerline is valid? [True, True] Translation: X:245.43, Y:12.88, Z:-14.86 [[ 3.17356722e-01 -9.45928880e-01 -6.71063702e-02 2.45432488e+02] [ 9.21557783e-01 3.24320664e-01 -2.13418274e-01 1.28774869e+01] [ 2.23642492e-01 5.88732613e-03 9.74653464e-01 -1.48573240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.44687500000003 meters 0.024341263086012522 Centerline is valid? [True, True] Translation: X:245.44, Y:12.91, Z:-14.85 [[ 3.17563391e-01 -9.45840811e-01 -6.73695285e-02 2.45435945e+02] [ 9.21226263e-01 3.24574568e-01 -2.14461004e-01 1.29050356e+01] [ 2.24712405e-01 6.04238464e-03 9.74406396e-01 -1.48537105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.476875 meters 0.023055217599641388 Centerline is valid? [True, True] Translation: X:245.45, Y:12.93, Z:-14.85 [[ 3.17747416e-01 -9.45765086e-01 -6.75646482e-02 2.45447183e+02] [ 9.20958236e-01 3.24792552e-01 -2.15280575e-01 1.29306808e+01] [ 2.25549346e-01 6.18062698e-03 9.74212139e-01 -1.48474325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.50687500000004 meters 0.023139754245895504 Centerline is valid? [True, True] Translation: X:245.46, Y:12.96, Z:-14.84 [[ 3.18309832e-01 -9.45551204e-01 -6.79100292e-02 2.45455638e+02] [ 9.20432227e-01 3.25409711e-01 -2.16594170e-01 1.29573919e+01] [ 2.26899462e-01 6.43747457e-03 9.73896911e-01 -1.48420298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.536875 meters 0.023590586892933755 Centerline is valid? [True, True] Translation: X:245.46, Y:12.98, Z:-14.84 [[ 3.18297286e-01 -9.45550130e-01 -6.79837434e-02 2.45461606e+02] [ 9.20325398e-01 3.25411232e-01 -2.17045367e-01 1.29826763e+01] [ 2.27349948e-01 6.51778545e-03 9.73791312e-01 -1.48377295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56687500000004 meters 0.02342888020093493 Centerline is valid? [True, True] Translation: X:245.47, Y:13.01, Z:-14.83 [[ 3.18609979e-01 -9.45437170e-01 -6.80899359e-02 2.45470911e+02] [ 9.20071464e-01 3.25735726e-01 -2.17634414e-01 1.30082451e+01] [ 2.27938989e-01 6.69288888e-03 9.73652414e-01 -1.48320260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.596875 meters 0.024041322148606544 Centerline is valid? [True, True] Translation: X:245.48, Y:13.03, Z:-14.83 [[ 3.18359386e-01 -9.45526489e-01 -6.80217691e-02 2.45477286e+02] [ 9.20164133e-01 3.25476352e-01 -2.17630678e-01 1.30330828e+01] [ 2.27915048e-01 6.69357667e-03 9.73658013e-01 -1.48269004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62687500000004 meters 0.022796472009615296 Centerline is valid? [True, True] Translation: X:245.49, Y:13.06, Z:-14.82 [[ 3.17028039e-01 -9.45976888e-01 -6.79775647e-02 2.45488764e+02] [ 9.20613959e-01 3.24170322e-01 -2.17677606e-01 1.30582761e+01] [ 2.27954294e-01 6.42880968e-03 9.73650610e-01 -1.48197902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.656875 meters 0.02203812468914349 Centerline is valid? [True, True] Translation: X:245.50, Y:13.08, Z:-14.81 [[ 3.15569636e-01 -9.46471763e-01 -6.78749348e-02 2.45499343e+02] [ 9.21146626e-01 3.22728318e-01 -2.17566832e-01 1.30838977e+01] [ 2.27826027e-01 6.13471889e-03 9.73682529e-01 -1.48124921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68687500000004 meters 0.02216250452138027 Centerline is valid? [True, True] Translation: X:245.51, Y:13.11, Z:-14.81 [[ 3.12063461e-01 -9.47650050e-01 -6.76445070e-02 2.45508887e+02] [ 9.22476004e-01 3.19266301e-01 -2.17041587e-01 1.31085658e+01] [ 2.27276083e-01 5.33031446e-03 9.73815778e-01 -1.48060732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.716875 meters 0.021470817783357944 Centerline is valid? [True, True] Translation: X:245.52, Y:13.13, Z:-14.80 [[ 3.09551766e-01 -9.48487065e-01 -6.74536307e-02 2.45518908e+02] [ 9.23428346e-01 3.16779932e-01 -2.16634634e-01 1.31334734e+01] [ 2.26843104e-01 4.77103869e-03 9.73919629e-01 -1.47992233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.746875 meters 0.020203079535181412 Centerline is valid? [True, True] Translation: X:245.53, Y:13.16, Z:-14.79 [[ 3.07481547e-01 -9.49170059e-01 -6.73149077e-02 2.45530961e+02] [ 9.24182574e-01 3.14733964e-01 -2.16400329e-01 1.31581673e+01] [ 2.26587001e-01 4.32784333e-03 9.73981314e-01 -1.47914512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.776875 meters 0.019580080076677844 Centerline is valid? [True, True] Translation: X:245.54, Y:13.18, Z:-14.79 [[ 3.05316332e-01 -9.49886780e-01 -6.70599890e-02 2.45541257e+02] [ 9.25058842e-01 3.12570442e-01 -2.15791235e-01 1.31839409e+01] [ 2.25938212e-01 3.85015250e-03 9.74134026e-01 -1.47850621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.806875 meters 0.02017147674813498 Centerline is valid? [True, True] Translation: X:245.55, Y:13.21, Z:-14.78 [[ 3.02890929e-01 -9.50661455e-01 -6.70811632e-02 2.45548535e+02] [ 9.25786559e-01 3.10212212e-01 -2.16073208e-01 1.32105203e+01] [ 2.26221867e-01 3.34377572e-03 9.74070062e-01 -1.47806464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.836875 meters 0.01885199097599163 Centerline is valid? [True, True] Translation: X:245.56, Y:13.23, Z:-14.77 [[ 2.98467200e-01 -9.52040550e-01 -6.73507351e-02 2.45562372e+02] [ 9.26946766e-01 3.05962597e-01 -2.17155664e-01 1.32348563e+01] [ 2.27347804e-01 2.38329693e-03 9.73810709e-01 -1.47734549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.866875 meters 0.01885199097599163 Centerline is valid? [True, True] Translation: X:245.57, Y:13.26, Z:-14.77 [[ 2.98205374e-01 -9.52126929e-01 -6.72894161e-02 2.45570260e+02] [ 9.27031032e-01 3.05693687e-01 -2.17174664e-01 1.32606493e+01] [ 2.27347796e-01 2.38327502e-03 9.73810710e-01 -1.47675035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.896875 meters 0.019061532068744492 Centerline is valid? [True, True] Translation: X:245.58, Y:13.29, Z:-14.76 [[ 2.96039910e-01 -9.52790014e-01 -6.74652494e-02 2.45577973e+02] [ 9.27526572e-01 3.03623761e-01 -2.17961166e-01 1.32865400e+01] [ 2.28155275e-01 1.94939241e-03 9.73622807e-01 -1.47642861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.926875 meters 0.01846039241555607 Centerline is valid? [True, True] Translation: X:245.59, Y:13.31, Z:-14.76 [[ 2.94609011e-01 -9.53224834e-01 -6.75865903e-02 2.45588547e+02] [ 9.27826660e-01 3.02257454e-01 -2.18582070e-01 1.33117522e+01] [ 2.28786408e-01 1.68760713e-03 9.73475183e-01 -1.47562579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.956875 meters 0.01839730841328294 Centerline is valid? [True, True] Translation: X:245.60, Y:13.34, Z:-14.75 [[ 2.93296153e-01 -9.53625580e-01 -6.76433327e-02 2.45597482e+02] [ 9.28143053e-01 3.00991971e-01 -2.18984720e-01 1.33376281e+01] [ 2.29189530e-01 1.44468653e-03 9.73380744e-01 -1.47499811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.986875 meters 0.018250596183047776 Centerline is valid? [True, True] Translation: X:245.61, Y:13.36, Z:-14.74 [[ 2.91911708e-01 -9.54047412e-01 -6.76837495e-02 2.45606418e+02] [ 9.28493207e-01 2.99653360e-01 -2.19335880e-01 1.33638256e+01] [ 2.29538492e-01 1.18280964e-03 9.73298866e-01 -1.47432110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.016875 meters 0.01832149052915465 Centerline is valid? [True, True] Translation: X:245.62, Y:13.39, Z:-14.74 [[ 2.90729091e-01 -9.54409289e-01 -6.76720398e-02 2.45615300e+02] [ 9.28820616e-01 2.98499540e-01 -2.19522864e-01 1.33888441e+01] [ 2.29714733e-01 9.66497085e-04 9.73257524e-01 -1.47369057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.046875 meters 0.01825700294614743 Centerline is valid? [True, True] Translation: X:245.62, Y:13.41, Z:-14.73 [[ 2.90280300e-01 -9.54559502e-01 -6.74796611e-02 2.45623184e+02] [ 9.29066328e-01 2.98018984e-01 -2.19135672e-01 1.34129635e+01] [ 2.29288258e-01 9.17687653e-04 9.73358132e-01 -1.47317211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07687500000003 meters 0.018343230121674544 Centerline is valid? [True, True] Translation: X:245.63, Y:13.44, Z:-14.72 [[ 2.90398190e-01 -9.54546776e-01 -6.71516402e-02 2.45631212e+02] [ 9.29244270e-01 2.98059474e-01 -2.18324612e-01 1.34384583e+01] [ 2.28416237e-01 1.00079533e-03 9.73563054e-01 -1.47240470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.106875 meters 0.018094431864304816 Centerline is valid? [True, True] Translation: X:245.64, Y:13.46, Z:-14.72 [[ 2.90806038e-01 -9.54431890e-01 -6.70195107e-02 2.45638449e+02] [ 9.29176237e-01 2.98426593e-01 -2.18112559e-01 1.34647549e+01] [ 2.28173987e-01 1.15551253e-03 9.73619688e-01 -1.47181667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13687500000003 meters 0.018449639565631507 Centerline is valid? [True, True] Translation: X:245.64, Y:13.49, Z:-14.71 [[ 2.91244556e-01 -9.54293527e-01 -6.70855682e-02 2.45644914e+02] [ 9.28931758e-01 2.98868010e-01 -2.18549085e-01 1.34895983e+01] [ 2.28609707e-01 1.33331641e-03 9.73517244e-01 -1.47131651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.166875 meters 0.01822902686910181 Centerline is valid? [True, True] Translation: X:245.65, Y:13.52, Z:-14.71 [[ 2.92048272e-01 -9.54062822e-01 -6.68725526e-02 2.45652750e+02] [ 9.28798281e-01 2.99602421e-01 -2.18110391e-01 1.35158911e+01] [ 2.28126194e-01 1.58765095e-03 9.73630278e-01 -1.47057864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19687500000003 meters 0.018335913245078734 Centerline is valid? [True, True] Translation: X:245.66, Y:13.54, Z:-14.70 [[ 2.92810585e-01 -9.53830527e-01 -6.68527309e-02 2.45660287e+02] [ 9.28523554e-01 3.00339732e-01 -2.18266019e-01 1.35425681e+01] [ 2.28267323e-01 1.83626562e-03 9.73596763e-01 -1.46990930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.226875 meters 0.018562496654204133 Centerline is valid? [True, True] Translation: X:245.67, Y:13.57, Z:-14.69 [[ 2.94735235e-01 -9.53242480e-01 -6.67826014e-02 2.45667346e+02] [ 9.27922644e-01 3.02197302e-01 -2.18257548e-01 1.35692987e+01] [ 2.28233888e-01 2.35910157e-03 9.73603475e-01 -1.46933529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25687500000004 meters 0.018502716072520915 Centerline is valid? [True, True] Translation: X:245.67, Y:13.59, Z:-14.69 [[ 2.95360096e-01 -9.53043276e-01 -6.68649993e-02 2.45674246e+02] [ 9.27603528e-01 3.02823107e-01 -2.18746109e-01 1.35945128e+01] [ 2.28722775e-01 2.58466242e-03 9.73488167e-01 -1.46876535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.286875 meters 0.01869526272282121 Centerline is valid? [True, True] Translation: X:245.68, Y:13.62, Z:-14.68 [[ 2.95778140e-01 -9.52910868e-01 -6.69041873e-02 2.45682785e+02] [ 9.27398535e-01 3.03238138e-01 -2.19040154e-01 1.36204737e+01] [ 2.29013644e-01 2.74044398e-03 9.73419355e-01 -1.46814098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31687500000004 meters 0.018644503731669006 Centerline is valid? [True, True] Translation: X:245.69, Y:13.65, Z:-14.68 [[ 2.96042742e-01 -9.52836096e-01 -6.67987219e-02 2.45690424e+02] [ 9.27350752e-01 3.03471869e-01 -2.18918725e-01 1.36470290e+01] [ 2.28865196e-01 2.86345466e-03 9.73453914e-01 -1.46755150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.346875 meters 0.018659857089347778 Centerline is valid? [True, True] Translation: X:245.70, Y:13.67, Z:-14.67 [[ 2.96430343e-01 -9.52717155e-01 -6.67762983e-02 2.45697812e+02] [ 9.27193249e-01 3.03843503e-01 -2.19070318e-01 1.36731363e+01] [ 2.29001595e-01 3.02455637e-03 9.73421349e-01 -1.46696729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37687500000004 meters 0.019151743169871352 Centerline is valid? [True, True] Translation: X:245.70, Y:13.70, Z:-14.67 [[ 2.96809126e-01 -9.52599527e-01 -6.67718866e-02 2.45704925e+02] [ 9.27022890e-01 3.04210441e-01 -2.19281937e-01 1.36988301e+01] [ 2.29200575e-01 3.18581282e-03 9.73374002e-01 -1.46652029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.406875 meters 0.019417229905233768 Centerline is valid? [True, True] Translation: X:245.71, Y:13.72, Z:-14.66 [[ 2.97040117e-01 -9.52526152e-01 -6.67914579e-02 2.45711769e+02] [ 9.26876352e-01 3.04438699e-01 -2.19584396e-01 1.37235102e+01] [ 2.29493784e-01 3.31795201e-03 9.73304471e-01 -1.46599250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43687500000004 meters 0.019391281151476338 Centerline is valid? [True, True] Translation: X:245.72, Y:13.75, Z:-14.65 [[ 2.97165231e-01 -9.52494036e-01 -6.66928550e-02 2.45720292e+02] [ 9.26862318e-01 3.04538098e-01 -2.19505785e-01 1.37485334e+01] [ 2.29388466e-01 3.41439305e-03 9.73328965e-01 -1.46528236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.466875 meters 0.0196430905174113 Centerline is valid? [True, True] Translation: X:245.73, Y:13.77, Z:-14.65 [[ 2.97366278e-01 -9.52436991e-01 -6.66113660e-02 2.45726886e+02] [ 9.26808274e-01 3.04715112e-01 -2.19488324e-01 1.37737748e+01] [ 2.29346289e-01 3.53246101e-03 9.73338482e-01 -1.46473874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.496875 meters 0.019614205973911295 Centerline is valid? [True, True] Translation: X:245.74, Y:13.80, Z:-14.64 [[ 2.97496533e-01 -9.52402136e-01 -6.65280704e-02 2.45735436e+02] [ 9.26776733e-01 3.04822825e-01 -2.19471942e-01 1.37983869e+01] [ 2.29304820e-01 3.63547396e-03 9.73347873e-01 -1.46404817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.526875 meters 0.01922762019154762 Centerline is valid? [True, True] Translation: X:245.74, Y:13.82, Z:-14.63 [[ 2.97638156e-01 -9.52361649e-01 -6.64741800e-02 2.45744831e+02] [ 9.26719416e-01 3.04948023e-01 -2.19540037e-01 1.38238632e+01] [ 2.29352681e-01 3.74057842e-03 9.73336199e-01 -1.46327322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.556875 meters 0.019310002669611588 Centerline is valid? [True, True] Translation: X:245.75, Y:13.85, Z:-14.63 [[ 2.97982123e-01 -9.52271664e-01 -6.62218375e-02 2.45751763e+02] [ 9.26770071e-01 3.05227332e-01 -2.18937231e-01 1.38491395e+01] [ 2.28700436e-01 3.86696410e-03 9.73489166e-01 -1.46272174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.586875 meters 0.019432847319667445 Centerline is valid? [True, True] Translation: X:245.76, Y:13.88, Z:-14.62 [[ 2.98232936e-01 -9.52203826e-01 -6.60680715e-02 2.45759412e+02] [ 9.26763739e-01 3.05437376e-01 -2.18670942e-01 1.38757281e+01] [ 2.28398966e-01 3.98538399e-03 9.73559464e-01 -1.46210082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.616875 meters 0.01942376138174184 Centerline is valid? [True, True] Translation: X:245.77, Y:13.90, Z:-14.61 [[ 2.98501153e-01 -9.52120650e-01 -6.60555068e-02 2.45768163e+02] [ 9.26635293e-01 3.05694782e-01 -2.18855511e-01 1.39019622e+01] [ 2.28569675e-01 4.11925846e-03 9.73518842e-01 -1.46145172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.646875 meters 0.01999059469143054 Centerline is valid? [True, True] Translation: X:245.78, Y:13.93, Z:-14.61 [[ 2.98669052e-01 -9.52078831e-01 -6.58991364e-02 2.45775092e+02] [ 9.26660911e-01 3.05823723e-01 -2.18566711e-01 1.39276343e+01] [ 2.28246258e-01 4.21295849e-03 9.73594318e-01 -1.46102952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.676875 meters 0.01980254779127121 Centerline is valid? [True, True] Translation: X:245.78, Y:13.95, Z:-14.60 [[ 2.98891358e-01 -9.52013314e-01 -6.58377336e-02 2.45783718e+02] [ 9.26586581e-01 3.06025941e-01 -2.18598793e-01 1.39539566e+01] [ 2.28257015e-01 4.33292943e-03 9.73591270e-01 -1.46042145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.706875 meters 0.019977247380217892 Centerline is valid? [True, True] Translation: X:245.79, Y:13.98, Z:-14.60 [[ 2.98416177e-01 -9.52158044e-01 -6.59002668e-02 2.45791131e+02] [ 9.26652138e-01 3.05576200e-01 -2.18949768e-01 1.39785078e+01] [ 2.28612336e-01 4.27152957e-03 9.73508168e-01 -1.45992294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.736875 meters 0.019608321514954646 Centerline is valid? [True, True] Translation: X:245.80, Y:14.00, Z:-14.59 [[ 2.97700447e-01 -9.52375602e-01 -6.59936067e-02 2.45800075e+02] [ 9.26754295e-01 3.04898821e-01 -2.19461126e-01 1.40030653e+01] [ 2.29130795e-01 4.17381684e-03 9.73386695e-01 -1.45928854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.766875 meters 0.019283252038050615 Centerline is valid? [True, True] Translation: X:245.81, Y:14.03, Z:-14.59 [[ 2.96156203e-01 -9.52870617e-01 -6.57958338e-02 2.45809846e+02] [ 9.27356796e-01 3.03352424e-01 -2.19058621e-01 1.40275174e+01] [ 2.28693849e-01 3.85935555e-03 9.73490744e-01 -1.45862801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.796875 meters 0.019286686320098858 Centerline is valid? [True, True] Translation: X:245.82, Y:14.05, Z:-14.58 [[ 2.94957949e-01 -9.53254521e-01 -6.56172685e-02 2.45818058e+02] [ 9.27830573e-01 3.02146707e-01 -2.18718529e-01 1.40527966e+01] [ 2.28320468e-01 3.63106077e-03 9.73579262e-01 -1.45805725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.82687500000003 meters 0.019098105996298673 Centerline is valid? [True, True] Translation: X:245.83, Y:14.08, Z:-14.57 [[ 2.93641871e-01 -9.53664505e-01 -6.55626729e-02 2.45826356e+02] [ 9.28233924e-01 3.00853005e-01 -2.18790431e-01 1.40774032e+01] [ 2.28377395e-01 3.38853438e-03 9.73566784e-01 -1.45747446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.856875 meters 0.019097112950448355 Centerline is valid? [True, True] Translation: X:245.84, Y:14.10, Z:-14.57 [[ 2.91341959e-01 -9.54372097e-01 -6.55268095e-02 2.45835421e+02] [ 9.28924807e-01 2.98605755e-01 -2.18936763e-01 1.41014011e+01] [ 2.28513820e-01 2.91598659e-03 9.73536302e-01 -1.45701746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.88687500000003 meters 0.018470975890733664 Centerline is valid? [True, True] Translation: X:245.85, Y:14.13, Z:-14.56 [[ 2.89890949e-01 -9.54828182e-01 -6.53175396e-02 2.45845102e+02] [ 9.29497142e-01 2.97146841e-01 -2.18492144e-01 1.41266170e+01] [ 2.28031357e-01 2.62642859e-03 9.73650246e-01 -1.45634230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.916875 meters 0.01817876308142753 Centerline is valid? [True, True] Translation: X:245.85, Y:14.15, Z:-14.56 [[ 2.88244295e-01 -9.55338213e-01 -6.51469456e-02 2.45853740e+02] [ 9.30112893e-01 2.95505905e-01 -2.18096921e-01 1.41508030e+01] [ 2.27607630e-01 2.27117937e-03 9.73750280e-01 -1.45576082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.94687500000003 meters 0.017928115017651153 Centerline is valid? [True, True] Translation: X:245.86, Y:14.18, Z:-14.55 [[ 2.87021798e-01 -9.55720128e-01 -6.49424651e-02 2.45863530e+02] [ 9.30603367e-01 2.94270058e-01 -2.17675232e-01 1.41767461e+01] [ 2.27147223e-01 2.04185975e-03 9.73858290e-01 -1.45503327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.976875 meters 0.018123436915202462 Centerline is valid? [True, True] Translation: X:245.87, Y:14.20, Z:-14.54 [[ 2.85571031e-01 -9.56167923e-01 -6.47463490e-02 2.45871885e+02] [ 9.31182321e-01 2.92813813e-01 -2.17162510e-01 1.42008319e+01] [ 2.26602451e-01 1.72466634e-03 9.73985808e-01 -1.45444808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.00687500000004 meters 0.017983309193057684 Centerline is valid? [True, True] Translation: X:245.88, Y:14.23, Z:-14.54 [[ 2.84388857e-01 -9.56528979e-01 -6.46164806e-02 2.45880868e+02] [ 9.31592627e-01 2.91633367e-01 -2.16991147e-01 1.42256751e+01] [ 2.26402642e-01 1.51362730e-03 9.74032624e-01 -1.45380263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.036875 meters 0.017617051146453813 Centerline is valid? [True, True] Translation: X:245.89, Y:14.25, Z:-14.53 [[ 2.82448099e-01 -9.57103158e-01 -6.46267481e-02 2.45889180e+02] [ 9.32114991e-01 2.89745178e-01 -2.17277185e-01 1.42498356e+01] [ 2.26681968e-01 1.12996711e-03 9.73968176e-01 -1.45330758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06687500000004 meters 0.01762687920787007 Centerline is valid? [True, True] Translation: X:245.90, Y:14.28, Z:-14.53 [[ 2.81884460e-01 -9.57261679e-01 -6.47397103e-02 2.45897618e+02] [ 9.32142910e-01 2.89221279e-01 -2.17854645e-01 1.42753409e+01] [ 2.27268005e-01 1.06317696e-03 9.73831671e-01 -1.45271919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.096875 meters 0.017644514757947188 Centerline is valid? [True, True] Translation: X:245.91, Y:14.30, Z:-14.52 [[ 2.81530317e-01 -9.57362530e-01 -6.47894047e-02 2.45906011e+02] [ 9.32151613e-01 2.88887308e-01 -2.18260153e-01 1.43008220e+01] [ 2.27670929e-01 1.05330183e-03 9.73737562e-01 -1.45208911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12687500000004 meters 0.017577828489964364 Centerline is valid? [True, True] Translation: X:245.91, Y:14.33, Z:-14.52 [[ 2.80634037e-01 -9.57629195e-01 -6.47368682e-02 2.45914178e+02] [ 9.32406271e-01 2.88002589e-01 -2.18341602e-01 1.43257631e+01] [ 2.27734679e-01 9.13023369e-04 9.73722796e-01 -1.45158689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.156875 meters 0.017765007697561345 Centerline is valid? [True, True] Translation: X:245.92, Y:14.35, Z:-14.51 [[ 2.80281022e-01 -9.57732609e-01 -6.47363735e-02 2.45921715e+02] [ 9.32450052e-01 2.87658521e-01 -2.18608043e-01 1.43507037e+01] [ 2.27990021e-01 9.08251076e-04 9.73663045e-01 -1.45108299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18687500000004 meters 0.01768322922872569 Centerline is valid? [True, True] Translation: X:245.93, Y:14.38, Z:-14.50 [[ 2.80045321e-01 -9.57809703e-01 -6.46157163e-02 2.45929708e+02] [ 9.32562758e-01 2.87401675e-01 -2.18465052e-01 1.43759389e+01] [ 2.27818612e-01 9.21904964e-04 9.73703153e-01 -1.45041498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.216875 meters 0.01780168934551155 Centerline is valid? [True, True] Translation: X:245.94, Y:14.40, Z:-14.50 [[ 2.80396100e-01 -9.57715311e-01 -6.44934925e-02 2.45936580e+02] [ 9.32503225e-01 2.87715545e-01 -2.18305977e-01 1.44004634e+01] [ 2.27630757e-01 1.07175495e-03 9.73746933e-01 -1.44988618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.246875 meters 0.017622690899553123 Centerline is valid? [True, True] Translation: X:245.94, Y:14.43, Z:-14.49 [[ 2.80691919e-01 -9.57645643e-01 -6.42407152e-02 2.45944013e+02] [ 9.32570371e-01 2.87946834e-01 -2.17713398e-01 1.44256500e+01] [ 2.26990197e-01 1.20140372e-03 9.73896302e-01 -1.44921539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.276875 meters 0.018015265365392122 Centerline is valid? [True, True] Translation: X:245.95, Y:14.45, Z:-14.49 [[ 2.82969401e-01 -9.56981910e-01 -6.41400189e-02 2.45949502e+02] [ 9.31910523e-01 2.90141955e-01 -2.17624500e-01 1.44519177e+01] [ 2.26872420e-01 1.80831586e-03 9.73922808e-01 -1.44870493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.306875 meters 0.018137816307798992 Centerline is valid? [True, True] Translation: X:245.96, Y:14.48, Z:-14.48 [[ 2.84028562e-01 -9.56672436e-01 -6.40751607e-02 2.45955690e+02] [ 9.31589147e-01 2.91158607e-01 -2.17642660e-01 1.44777418e+01] [ 2.26868769e-01 2.12500758e-03 9.73923019e-01 -1.44815629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.336875 meters 0.0186435877635042 Centerline is valid? [True, True] Translation: X:245.96, Y:14.50, Z:-14.48 [[ 2.85703894e-01 -9.56183164e-01 -6.39299756e-02 2.45961655e+02] [ 9.31144849e-01 2.92757719e-01 -2.17398685e-01 1.45033008e+01] [ 2.26588956e-01 2.58358343e-03 9.73987048e-01 -1.44763104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.366875 meters 0.018638434798147935 Centerline is valid? [True, True] Translation: X:245.97, Y:14.53, Z:-14.47 [[ 2.87240178e-01 -9.55730276e-01 -6.38178643e-02 2.45968448e+02] [ 9.30715236e-01 2.94228815e-01 -2.17252279e-01 1.45294839e+01] [ 2.26411635e-01 3.00732477e-03 9.74027067e-01 -1.44697203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.396875 meters 0.018682429785579827 Centerline is valid? [True, True] Translation: X:245.98, Y:14.56, Z:-14.46 [[ 2.88777386e-01 -9.55280451e-01 -6.36150996e-02 2.45975938e+02] [ 9.30366874e-01 2.95681601e-01 -2.16771471e-01 1.45557103e+01] [ 2.25887363e-01 3.41331759e-03 9.74147447e-01 -1.44629453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.426875 meters 0.018629973445625423 Centerline is valid? [True, True] Translation: X:245.98, Y:14.58, Z:-14.46 [[ 2.90173215e-01 -9.54867677e-01 -6.34604166e-02 2.45983177e+02] [ 9.30012664e-01 2.97007237e-01 -2.16478975e-01 1.45822052e+01] [ 2.25556979e-01 3.79740906e-03 9.74222577e-01 -1.44563423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.456875 meters 0.02031601735776343 Centerline is valid? [True, True] Translation: X:245.99, Y:14.61, Z:-14.45 [[ 2.92988277e-01 -9.54035482e-01 -6.30410084e-02 2.45985767e+02] [ 9.29441514e-01 2.99660198e-01 -2.15272472e-01 1.46095274e+01] [ 2.24268458e-01 4.47938032e-03 9.74517108e-01 -1.44514849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.486875 meters 0.01970852067995154 Centerline is valid? [True, True] Translation: X:245.99, Y:14.64, Z:-14.44 [[ 2.94155774e-01 -9.53682014e-01 -6.29523391e-02 2.45994490e+02] [ 9.29100082e-01 3.00778132e-01 -2.15187251e-01 1.46350178e+01] [ 2.24154898e-01 4.80954890e-03 9.74541662e-01 -1.44441795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.516875 meters 0.020324917158625385 Centerline is valid? [True, True] Translation: X:246.00, Y:14.66, Z:-14.44 [[ 2.95245410e-01 -9.53357516e-01 -6.27661854e-02 2.46001002e+02] [ 9.28863082e-01 3.01800133e-01 -2.14779083e-01 1.46612606e+01] [ 2.23704096e-01 5.11134612e-03 9.74643705e-01 -1.44383680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.546875 meters 0.022361797226162525 Centerline is valid? [True, True] Translation: X:246.00, Y:14.69, Z:-14.43 [[ 2.96658622e-01 -9.52930149e-01 -6.25922775e-02 2.46004209e+02] [ 9.28509347e-01 3.03140174e-01 -2.14421146e-01 1.46886115e+01] [ 2.23302609e-01 5.49236701e-03 9.74733696e-01 -1.44341038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57687500000003 meters 0.020403299138667497 Centerline is valid? [True, True] Translation: X:246.02, Y:14.71, Z:-14.43 [[ 2.96811781e-01 -9.52872032e-01 -6.27507591e-02 2.46016266e+02] [ 9.28285759e-01 3.03320778e-01 -2.15132645e-01 1.47137484e+01] [ 2.24027489e-01 5.60326734e-03 9.74566718e-01 -1.44272212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.606875 meters 0.02121855339976758 Centerline is valid? [True, True] Translation: X:246.02, Y:14.74, Z:-14.42 [[ 2.96935729e-01 -9.52827426e-01 -6.28416234e-02 2.46022308e+02] [ 9.28113031e-01 3.03458698e-01 -2.15682684e-01 1.47394230e+01] [ 2.24578214e-01 5.71976568e-03 9.74439280e-01 -1.44223898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63687500000003 meters 0.02062671100009322 Centerline is valid? [True, True] Translation: X:246.03, Y:14.77, Z:-14.42 [[ 2.96949699e-01 -9.52810365e-01 -6.30339918e-02 2.46031313e+02] [ 9.27883375e-01 3.03510162e-01 -2.16596453e-01 1.47654648e+01] [ 2.25506802e-01 5.83005833e-03 9.74224149e-01 -1.44174073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.666875 meters 0.020644832186980502 Centerline is valid? [True, True] Translation: X:246.04, Y:14.79, Z:-14.41 [[ 2.96417896e-01 -9.52976333e-01 -6.30280859e-02 2.46039072e+02] [ 9.28003373e-01 3.02989674e-01 -2.16810972e-01 1.47916660e+01] [ 2.25712584e-01 5.77637598e-03 9.74176813e-01 -1.44123260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69687500000003 meters 0.02106928939637482 Centerline is valid? [True, True] Translation: X:246.05, Y:14.82, Z:-14.41 [[ 2.95772803e-01 -9.53169092e-01 -6.31437288e-02 2.46046499e+02] [ 9.28052753e-01 3.02383925e-01 -2.17444360e-01 1.48176643e+01] [ 2.26354891e-01 5.71341631e-03 9.74028141e-01 -1.44070154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.726875 meters 0.02058522426029731 Centerline is valid? [True, True] Translation: X:246.06, Y:14.84, Z:-14.40 [[ 2.94884191e-01 -9.53449335e-01 -6.30688458e-02 2.46055655e+02] [ 9.28342117e-01 3.01501838e-01 -2.17434026e-01 1.48433063e+01] [ 2.26327700e-01 5.56839086e-03 9.74035300e-01 -1.44004615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75687500000004 meters 0.021344249171537804 Centerline is valid? [True, True] Translation: X:246.06, Y:14.87, Z:-14.40 [[ 2.93889781e-01 -9.53763962e-01 -6.29531678e-02 2.46061998e+02] [ 9.28702811e-01 3.00508353e-01 -2.17269001e-01 1.48680082e+01] [ 2.26141296e-01 5.38835516e-03 9.74079607e-01 -1.43953466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.786875 meters 0.021344249171537804 Centerline is valid? [True, True] Translation: X:246.07, Y:14.89, Z:-14.39 [[ 2.93602446e-01 -9.53857261e-01 -6.28802868e-02 2.46069125e+02] [ 9.28793726e-01 3.00211976e-01 -2.17290093e-01 1.48932016e+01] [ 2.26141148e-01 5.39408681e-03 9.74079609e-01 -1.43895776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81687500000004 meters 0.021174597030316725 Centerline is valid? [True, True] Translation: X:246.08, Y:14.92, Z:-14.38 [[ 2.91684059e-01 -9.54468895e-01 -6.25263052e-02 2.46078010e+02] [ 9.29646843e-01 2.98269081e-01 -2.16315285e-01 1.49185010e+01] [ 2.25115874e-01 4.96833805e-03 9.74319331e-01 -1.43829333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.846875 meters 0.019819406270573475 Centerline is valid? [True, True] Translation: X:246.09, Y:14.94, Z:-14.38 [[ 2.90567457e-01 -9.54829217e-01 -6.22231423e-02 2.46089455e+02] [ 9.30207966e-01 2.97117429e-01 -2.15486364e-01 1.49434671e+01] [ 2.24240257e-01 4.73286223e-03 9.74522400e-01 -1.43752902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87687500000004 meters 0.019764378837613287 Centerline is valid? [True, True] Translation: X:246.10, Y:14.97, Z:-14.37 [[ 2.89083263e-01 -9.55294518e-01 -6.19939636e-02 2.46097470e+02] [ 9.30814222e-01 2.95622726e-01 -2.14923446e-01 1.49691368e+01] [ 2.23642014e-01 4.42590796e-03 9.74661306e-01 -1.43690186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.906875 meters 0.01932716670182032 Centerline is valid? [True, True] Translation: X:246.11, Y:14.99, Z:-14.36 [[ 2.88107490e-01 -9.55600125e-01 -6.18261758e-02 2.46106650e+02] [ 9.31204183e-01 2.94635916e-01 -2.14589016e-01 1.49940906e+01] [ 2.23277502e-01 4.25190930e-03 9.74745648e-01 -1.43625726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93687500000004 meters 0.019158267518576813 Centerline is valid? [True, True] Translation: X:246.11, Y:15.02, Z:-14.36 [[ 2.86631390e-01 -9.56051452e-01 -6.17095442e-02 2.46114693e+02] [ 9.31699031e-01 2.93172036e-01 -2.14445968e-01 1.50180200e+01] [ 2.23112892e-01 3.97222326e-03 9.74784519e-01 -1.43569140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.966875 meters 0.018715340945842127 Centerline is valid? [True, True] Translation: X:246.13, Y:15.04, Z:-14.35 [[ 2.84586267e-01 -9.56661868e-01 -6.17148922e-02 2.46125069e+02] [ 9.32272892e-01 2.91179370e-01 -2.14666789e-01 1.50433181e+01] [ 2.23333635e-01 3.55609915e-03 9.74735575e-01 -1.43508842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.996875 meters 0.018664335987520025 Centerline is valid? [True, True] Translation: X:246.13, Y:15.07, Z:-14.35 [[ 2.83646766e-01 -9.56939906e-01 -6.17294758e-02 2.46132611e+02] [ 9.32493212e-01 2.90266104e-01 -2.14946502e-01 1.50678174e+01] [ 2.23608860e-01 3.40656290e-03 9.74673008e-01 -1.43453186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.026875 meters 0.01862063330080314 Centerline is valid? [True, True] Translation: X:246.14, Y:15.09, Z:-14.34 [[ 2.82866323e-01 -9.57169807e-01 -6.17462844e-02 2.46140405e+02] [ 9.32656768e-01 2.89508310e-01 -2.15258661e-01 1.50929288e+01] [ 2.23915153e-01 3.30133563e-03 9.74603050e-01 -1.43397843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.056875 meters 0.018297714500848786 Centerline is valid? [True, True] Translation: X:246.15, Y:15.12, Z:-14.33 [[ 2.81503365e-01 -9.57574815e-01 -6.16954581e-02 2.46147744e+02] [ 9.33053591e-01 2.88168622e-01 -2.15336579e-01 1.51174478e+01] [ 2.23979580e-01 3.05280296e-03 9.74589056e-01 -1.43339547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.086875 meters 0.018393945084110203 Centerline is valid? [True, True] Translation: X:246.15, Y:15.14, Z:-14.33 [[ 2.81534341e-01 -9.57574126e-01 -6.15646634e-02 2.46154638e+02] [ 9.33097238e-01 2.88170136e-01 -2.15145340e-01 1.51426208e+01] [ 2.23758708e-01 3.12498408e-03 9.74639562e-01 -1.43285180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.116875 meters 0.01880105249867161 Centerline is valid? [True, True] Translation: X:246.16, Y:15.17, Z:-14.32 [[ 2.80799494e-01 -9.57788740e-01 -6.15822457e-02 2.46160656e+02] [ 9.33257673e-01 2.87457216e-01 -2.15403028e-01 1.51672576e+01] [ 2.24012855e-01 3.01295787e-03 9.74581532e-01 -1.43235486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.146875 meters 0.01828676232799295 Centerline is valid? [True, True] Translation: X:246.17, Y:15.19, Z:-14.32 [[ 2.80298322e-01 -9.57935435e-01 -6.15837029e-02 2.46168234e+02] [ 9.33348764e-01 2.86968432e-01 -2.15659929e-01 1.51916005e+01] [ 2.24260866e-01 2.97004329e-03 9.74524624e-01 -1.43175330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.176875 meters 0.01760421474883709 Centerline is valid? [True, True] Translation: X:246.18, Y:15.22, Z:-14.31 [[ 2.79331482e-01 -9.58218301e-01 -6.15760550e-02 2.46176147e+02] [ 9.33583507e-01 2.86024003e-01 -2.15898370e-01 1.52173389e+01] [ 2.24489999e-01 2.82082221e-03 9.74472310e-01 -1.43112806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.206875 meters 0.01759052553164202 Centerline is valid? [True, True] Translation: X:246.18, Y:15.24, Z:-14.31 [[ 2.79267990e-01 -9.58239956e-01 -6.15270416e-02 2.46182566e+02] [ 9.33585568e-01 2.85950884e-01 -2.15986293e-01 1.52432287e+01] [ 2.24560408e-01 2.87729992e-03 9.74455922e-01 -1.43055892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.236875 meters 0.01760134092019302 Centerline is valid? [True, True] Translation: X:246.19, Y:15.27, Z:-14.30 [[ 2.79058627e-01 -9.58309466e-01 -6.13942187e-02 2.46189513e+02] [ 9.33704653e-01 2.85717708e-01 -2.15780009e-01 1.52694115e+01] [ 2.24325440e-01 2.89120534e-03 9.74509999e-01 -1.42995547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.266875 meters 0.017495281444332537 Centerline is valid? [True, True] Translation: X:246.20, Y:15.29, Z:-14.29 [[ 2.78438614e-01 -9.58489828e-01 -6.13937076e-02 2.46196923e+02] [ 9.33834819e-01 2.85112820e-01 -2.16016689e-01 1.52946340e+01] [ 2.24553932e-01 2.81580561e-03 9.74457594e-01 -1.42931385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.296875 meters 0.01757137083572688 Centerline is valid? [True, True] Translation: X:246.20, Y:15.32, Z:-14.29 [[ 2.77889452e-01 -9.58656125e-01 -6.12852954e-02 2.46203207e+02] [ 9.34031196e-01 2.84553761e-01 -2.15904796e-01 1.53195526e+01] [ 2.24417416e-01 2.75528757e-03 9.74489216e-01 -1.42874828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.32687500000003 meters 0.01732676120166893 Centerline is valid? [True, True] Translation: X:246.21, Y:15.35, Z:-14.28 [[ 2.77302123e-01 -9.58831864e-01 -6.11963206e-02 2.46210277e+02] [ 9.34220061e-01 2.83961658e-01 -2.15867216e-01 1.53453517e+01] [ 2.24357774e-01 2.68960682e-03 9.74503133e-01 -1.42810634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.356875 meters 0.017702437799560454 Centerline is valid? [True, True] Translation: X:246.22, Y:15.37, Z:-14.28 [[ 2.76540048e-01 -9.59056216e-01 -6.11291707e-02 2.46215502e+02] [ 9.34462005e-01 2.83204215e-01 -2.15815047e-01 1.53711382e+01] [ 2.24290802e-01 2.55861618e-03 9.74518902e-01 -1.42764760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.38687500000003 meters 0.017127712301270137 Centerline is valid? [True, True] Translation: X:246.22, Y:15.40, Z:-14.27 [[ 2.75648202e-01 -9.59312886e-01 -6.11298210e-02 2.46223575e+02] [ 9.34676519e-01 2.82334866e-01 -2.16025063e-01 1.53958516e+01] [ 2.24494707e-01 2.41031196e-03 9.74472327e-01 -1.42694237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.416875 meters 0.017250980007930912 Centerline is valid? [True, True] Translation: X:246.23, Y:15.42, Z:-14.26 [[ 2.75357750e-01 -9.59402683e-01 -6.10295061e-02 2.46229746e+02] [ 9.34789950e-01 2.82029586e-01 -2.15933003e-01 1.54205385e+01] [ 2.24378829e-01 2.40905696e-03 9.74499019e-01 -1.42643172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.44687500000003 meters 0.01698637276993473 Centerline is valid? [True, True] Translation: X:246.24, Y:15.45, Z:-14.26 [[ 2.75249463e-01 -9.59433210e-01 -6.10380897e-02 2.46236911e+02] [ 9.34750660e-01 2.81925243e-01 -2.16239129e-01 1.54470409e+01] [ 2.24675180e-01 2.46430945e-03 9.74430598e-01 -1.42578351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.476875 meters 0.017079356501871118 Centerline is valid? [True, True] Translation: X:246.24, Y:15.47, Z:-14.25 [[ 2.75248052e-01 -9.59436490e-01 -6.09928888e-02 2.46242680e+02] [ 9.34735730e-01 2.81913508e-01 -2.16318951e-01 1.54726432e+01] [ 2.24739014e-01 2.52913749e-03 9.74415712e-01 -1.42526387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.50687500000004 meters 0.017702814448101577 Centerline is valid? [True, True] Translation: X:246.25, Y:15.50, Z:-14.25 [[ 2.75426363e-01 -9.59389114e-01 -6.09331284e-02 2.46247371e+02] [ 9.34671779e-01 2.82073618e-01 -2.16386550e-01 1.54983917e+01] [ 2.24786529e-01 2.64608496e-03 9.74404441e-01 -1.42481873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.536875 meters 0.01770179072997964 Centerline is valid? [True, True] Translation: X:246.25, Y:15.53, Z:-14.24 [[ 2.76823298e-01 -9.58983595e-01 -6.09862859e-02 2.46253023e+02] [ 9.34149146e-01 2.83445070e-01 -2.16850792e-01 1.55256040e+01] [ 2.25242614e-01 3.05906463e-03 9.74297905e-01 -1.42414847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56687500000004 meters 0.01792174589952124 Centerline is valid? [True, True] Translation: X:246.26, Y:15.55, Z:-14.24 [[ 2.77653228e-01 -9.58739416e-01 -6.10525821e-02 2.46258667e+02] [ 9.33791275e-01 2.84266876e-01 -2.17315896e-01 1.55520872e+01] [ 2.25704542e-01 3.32809151e-03 9.74190117e-01 -1.42356356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.596875 meters 0.017854338463148444 Centerline is valid? [True, True] Translation: X:246.26, Y:15.58, Z:-14.23 [[ 2.77942044e-01 -9.58661030e-01 -6.09692531e-02 2.46264219e+02] [ 9.33720026e-01 2.84529507e-01 -2.17278329e-01 1.55787899e+01] [ 2.25643818e-01 3.46257022e-03 9.74203715e-01 -1.42298151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62687500000004 meters 0.018523151573138084 Centerline is valid? [True, True] Translation: X:246.27, Y:15.61, Z:-14.22 [[ 2.78596163e-01 -9.58460487e-01 -6.11365036e-02 2.46269266e+02] [ 9.33318225e-01 2.85201233e-01 -2.18122323e-01 1.56055692e+01] [ 2.26497834e-01 3.70822931e-03 9.74004610e-01 -1.42249630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.656875 meters 0.01846774329280921 Centerline is valid? [True, True] Translation: X:246.27, Y:15.63, Z:-14.22 [[ 2.79141522e-01 -9.58295439e-01 -6.12361139e-02 2.46274574e+02] [ 9.33005129e-01 2.85752410e-01 -2.18739546e-01 1.56321988e+01] [ 2.27115476e-01 3.92568132e-03 9.73859923e-01 -1.42194180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68687500000004 meters 0.01844348957787909 Centerline is valid? [True, True] Translation: X:246.28, Y:15.66, Z:-14.21 [[ 2.79290424e-01 -9.58252167e-01 -6.12343244e-02 2.46280587e+02] [ 9.32902606e-01 2.85895952e-01 -2.18989114e-01 1.56580506e+01] [ 2.27353439e-01 4.03590176e-03 9.73803946e-01 -1.42142595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.716875 meters 0.018422463127952555 Centerline is valid? [True, True] Translation: X:246.29, Y:15.68, Z:-14.21 [[ 2.79066476e-01 -9.58318892e-01 -6.12111409e-02 2.46287009e+02] [ 9.32928833e-01 2.85671911e-01 -2.19169689e-01 1.56833645e+01] [ 2.27520757e-01 4.05727454e-03 9.73764778e-01 -1.42083414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.746875 meters 0.018513605787027966 Centerline is valid? [True, True] Translation: X:246.29, Y:15.71, Z:-14.20 [[ 2.78133062e-01 -9.58598919e-01 -6.10746501e-02 2.46292888e+02] [ 9.33280281e-01 2.84733283e-01 -2.18894667e-01 1.57080626e+01] [ 2.27222177e-01 3.88207743e-03 9.73835208e-01 -1.42025970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.776875 meters 0.01829604858067834 Centerline is valid? [True, True] Translation: X:246.30, Y:15.73, Z:-14.20 [[ 2.76906772e-01 -9.58969324e-01 -6.08315268e-02 2.46300144e+02] [ 9.33797845e-01 2.83486408e-01 -2.18304928e-01 1.57330173e+01] [ 2.26592640e-01 3.64576422e-03 9.73982794e-01 -1.41957201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.806875 meters 0.01819400111419695 Centerline is valid? [True, True] Translation: X:246.31, Y:15.76, Z:-14.19 [[ 2.75570171e-01 -9.59374879e-01 -6.05055628e-02 2.46307732e+02] [ 9.34423950e-01 2.82114295e-01 -2.17401486e-01 1.57576720e+01] [ 2.25639008e-01 3.37151772e-03 9.74205148e-01 -1.41889813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.836875 meters 0.018045584838639054 Centerline is valid? [True, True] Translation: X:246.32, Y:15.78, Z:-14.18 [[ 2.74362647e-01 -9.59732514e-01 -6.03211462e-02 2.46315439e+02] [ 9.34879861e-01 2.80897832e-01 -2.17016252e-01 1.57825526e+01] [ 2.25221633e-01 3.14812863e-03 9.74302471e-01 -1.41824150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.866875 meters 0.017732044149060225 Centerline is valid? [True, True] Translation: X:246.32, Y:15.81, Z:-14.18 [[ 2.72903955e-01 -9.60159634e-01 -6.01407498e-02 2.46323845e+02] [ 9.35409320e-01 2.79437466e-01 -2.16619727e-01 1.58073357e+01] [ 2.24795096e-01 2.86016217e-03 9.74401860e-01 -1.41754165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.896875 meters 0.017610080779477066 Centerline is valid? [True, True] Translation: X:246.33, Y:15.83, Z:-14.17 [[ 2.71678322e-01 -9.60518886e-01 -5.99529799e-02 2.46331381e+02] [ 9.35871328e-01 2.78202339e-01 -2.16213589e-01 1.58332449e+01] [ 2.24356295e-01 2.63227004e-03 9.74503630e-01 -1.41693392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.926875 meters 0.017741929298687138 Centerline is valid? [True, True] Translation: X:246.34, Y:15.86, Z:-14.16 [[ 2.71022298e-01 -9.60709983e-01 -5.98601902e-02 2.46337756e+02] [ 9.36083125e-01 2.77542513e-01 -2.16144714e-01 1.58590264e+01] [ 2.24266132e-01 2.54592323e-03 9.74524612e-01 -1.41641644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.956875 meters 0.017615750446969797 Centerline is valid? [True, True] Translation: X:246.34, Y:15.88, Z:-14.16 [[ 2.70907721e-01 -9.60740659e-01 -5.98864961e-02 2.46344620e+02] [ 9.36034593e-01 2.77435866e-01 -2.16491525e-01 1.58847934e+01] [ 2.24606873e-01 2.59339373e-03 9.74446010e-01 -1.41583899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.986875 meters 0.017722929941560536 Centerline is valid? [True, True] Translation: X:246.35, Y:15.91, Z:-14.15 [[ 2.71001540e-01 -9.60712992e-01 -5.99058659e-02 2.46350837e+02] [ 9.35927139e-01 2.77530692e-01 -2.16834282e-01 1.59099250e+01] [ 2.24941228e-01 2.69489850e-03 9.74368607e-01 -1.41525807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.016875 meters 0.017979356762426613 Centerline is valid? [True, True] Translation: X:246.36, Y:15.93, Z:-14.15 [[ 2.71434247e-01 -9.60585019e-01 -5.99989203e-02 2.46356174e+02] [ 9.35651920e-01 2.77971375e-01 -2.17456662e-01 1.59348073e+01] [ 2.25563595e-01 2.88708045e-03 9.74224168e-01 -1.41478568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.046875 meters 0.017929040587325938 Centerline is valid? [True, True] Translation: X:246.36, Y:15.96, Z:-14.14 [[ 2.72012871e-01 -9.60418809e-01 -6.00392267e-02 2.46363131e+02] [ 9.35389685e-01 2.78542830e-01 -2.17853229e-01 1.59608309e+01] [ 2.25953835e-01 3.09880891e-03 9.74133082e-01 -1.41420418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07687500000003 meters 0.018505189840977265 Centerline is valid? [True, True] Translation: X:246.37, Y:15.99, Z:-14.14 [[ 2.73537761e-01 -9.59993972e-01 -5.99054826e-02 2.46367693e+02] [ 9.35005775e-01 2.79998548e-01 -2.17635046e-01 1.59868184e+01] [ 2.25701781e-01 3.51943101e-03 9.74190084e-01 -1.41372395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.106875 meters 0.018201495907492843 Centerline is valid? [True, True] Translation: X:246.38, Y:16.01, Z:-14.13 [[ 2.74031683e-01 -9.59858176e-01 -5.98240616e-02 2.46375459e+02] [ 9.34894365e-01 2.80461687e-01 -2.17517281e-01 1.60125192e+01] [ 2.25564098e-01 3.67744847e-03 9.74221389e-01 -1.41301059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13687500000003 meters 0.018446140190138436 Centerline is valid? [True, True] Translation: X:246.38, Y:16.04, Z:-14.12 [[ 2.74452794e-01 -9.59751914e-01 -5.95980541e-02 2.46381146e+02] [ 9.34919774e-01 2.80823195e-01 -2.16940887e-01 1.60386516e+01] [ 2.24945947e-01 3.82063330e-03 9.74363753e-01 -1.41242012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.166875 meters 0.018738232850501486 Centerline is valid? [True, True] Translation: X:246.39, Y:16.06, Z:-14.12 [[ 2.75396951e-01 -9.59493375e-01 -5.94052407e-02 2.46388109e+02] [ 9.34775722e-01 2.81701770e-01 -2.16421956e-01 1.60644039e+01] [ 2.24389995e-01 4.07137008e-03 9.74490921e-01 -1.41176103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19687500000003 meters 0.01880491793627137 Centerline is valid? [True, True] Translation: X:246.39, Y:16.09, Z:-14.11 [[ 2.75317896e-01 -9.59519613e-01 -5.93478664e-02 2.46394279e+02] [ 9.34787906e-01 2.81611607e-01 -2.16486660e-01 1.60898003e+01] [ 2.24436244e-01 4.12498405e-03 9.74480044e-01 -1.41118579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.226875 meters 0.018854612165709543 Centerline is valid? [True, True] Translation: X:246.40, Y:16.12, Z:-14.11 [[ 2.75465645e-01 -9.59485130e-01 -5.92196159e-02 2.46401459e+02] [ 9.34795674e-01 2.81727580e-01 -2.16302146e-01 1.61156199e+01] [ 2.24222492e-01 4.22556946e-03 9.74528819e-01 -1.41057434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25687500000004 meters 0.018926594899736783 Centerline is valid? [True, True] Translation: X:246.41, Y:16.14, Z:-14.10 [[ 2.75437901e-01 -9.59503571e-01 -5.90496352e-02 2.46408784e+02] [ 9.34896624e-01 2.81664021e-01 -2.15948331e-01 1.61409841e+01] [ 2.23835352e-01 4.27505043e-03 9.74617596e-01 -1.40994791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.286875 meters 0.019216862740709356 Centerline is valid? [True, True] Translation: X:246.42, Y:16.17, Z:-14.09 [[ 2.75295071e-01 -9.59548817e-01 -5.89804399e-02 2.46415486e+02] [ 9.34939980e-01 2.81509308e-01 -2.15962364e-01 1.61669807e+01] [ 2.23829973e-01 4.31020286e-03 9.74618677e-01 -1.40938815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31687500000004 meters 0.01867337312380881 Centerline is valid? [True, True] Translation: X:246.42, Y:16.19, Z:-14.09 [[ 2.74406006e-01 -9.59808383e-01 -5.89000150e-02 2.46423644e+02] [ 9.35229080e-01 2.80625476e-01 -2.15860859e-01 1.61913173e+01] [ 2.23713906e-01 4.14850921e-03 9.74646027e-01 -1.40876812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.346875 meters 0.018353903886794594 Centerline is valid? [True, True] Translation: X:246.43, Y:16.22, Z:-14.08 [[ 2.73145687e-01 -9.60171002e-01 -5.88479496e-02 2.46432857e+02] [ 9.35594521e-01 2.79385677e-01 -2.15885468e-01 1.62171379e+01] [ 2.23728240e-01 3.91036529e-03 9.74643721e-01 -1.40814733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37687500000004 meters 0.018142201597375993 Centerline is valid? [True, True] Translation: X:246.44, Y:16.24, Z:-14.08 [[ 2.72389058e-01 -9.60392278e-01 -5.87441360e-02 2.46440940e+02] [ 9.35852021e-01 2.78625715e-01 -2.15751489e-01 1.62430318e+01] [ 2.23573691e-01 3.79252637e-03 9.74679651e-01 -1.40754649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.406875 meters 0.018067671859660347 Centerline is valid? [True, True] Translation: X:246.45, Y:16.27, Z:-14.07 [[ 2.71317563e-01 -9.60697005e-01 -5.87200537e-02 2.46448072e+02] [ 9.36127262e-01 2.77575621e-01 -2.15910915e-01 1.62684778e+01] [ 2.23724225e-01 3.61098024e-03 9.74645798e-01 -1.40696762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43687500000004 meters 0.018069885705039306 Centerline is valid? [True, True] Translation: X:246.46, Y:16.29, Z:-14.06 [[ 2.69684377e-01 -9.61163381e-01 -5.86113581e-02 2.46455684e+02] [ 9.36637336e-01 2.75960354e-01 -2.15769282e-01 1.62924414e+01] [ 2.23563944e-01 3.29201807e-03 9.74683705e-01 -1.40635235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.466875 meters 0.017638763526865903 Centerline is valid? [True, True] Translation: X:246.46, Y:16.32, Z:-14.06 [[ 2.68645206e-01 -9.61462955e-01 -5.84699860e-02 2.46463755e+02] [ 9.36998086e-01 2.74916851e-01 -2.15534942e-01 1.63181233e+01] [ 2.23303247e-01 3.11616372e-03 9.74744043e-01 -1.40565722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.496875 meters 0.01759496105757663 Centerline is valid? [True, True] Translation: X:246.47, Y:16.34, Z:-14.05 [[ 2.67598873e-01 -9.61763539e-01 -5.83244300e-02 2.46471108e+02] [ 9.37366331e-01 2.73865442e-01 -2.15272108e-01 1.63438386e+01] [ 2.23013910e-01 2.93521650e-03 9.74810843e-01 -1.40500784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.526875 meters 0.017638794354122612 Centerline is valid? [True, True] Translation: X:246.48, Y:16.37, Z:-14.04 [[ 2.66562888e-01 -9.62053134e-01 -5.82923167e-02 2.46478702e+02] [ 9.37627737e-01 2.72848137e-01 -2.15425442e-01 1.63695094e+01] [ 2.23155672e-01 2.76793497e-03 9.74778890e-01 -1.40442214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.556875 meters 0.017691231867786057 Centerline is valid? [True, True] Translation: X:246.49, Y:16.40, Z:-14.04 [[ 2.65821940e-01 -9.62261035e-01 -5.82442796e-02 2.46485538e+02] [ 9.37818922e-01 2.72115021e-01 -2.15520500e-01 1.63955342e+01] [ 2.23236122e-01 2.66748993e-03 9.74760749e-01 -1.40383415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.586875 meters 0.017730015478037424 Centerline is valid? [True, True] Translation: X:246.49, Y:16.42, Z:-14.03 [[ 2.65498093e-01 -9.62350806e-01 -5.82382138e-02 2.46492955e+02] [ 9.37853621e-01 2.71797370e-01 -2.15770191e-01 1.64211916e+01] [ 2.23475611e-01 2.66765452e-03 9.74705871e-01 -1.40324353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.616875 meters 0.017409374114896216 Centerline is valid? [True, True] Translation: X:246.50, Y:16.45, Z:-14.03 [[ 2.64756548e-01 -9.62553707e-01 -5.82609003e-02 2.46499896e+02] [ 9.37978824e-01 2.71078836e-01 -2.16129566e-01 1.64466047e+01] [ 2.23829612e-01 2.57422713e-03 9.74624891e-01 -1.40260327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.646875 meters 0.01747779468168219 Centerline is valid? [True, True] Translation: X:246.51, Y:16.47, Z:-14.02 [[ 2.64119190e-01 -9.62722801e-01 -5.83597652e-02 2.46506681e+02] [ 9.38003687e-01 2.70478275e-01 -2.16773121e-01 1.64719484e+01] [ 2.24477475e-01 2.51226612e-03 9.74476040e-01 -1.40205715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.676875 meters 0.01747779468168219 Centerline is valid? [True, True] Translation: X:246.51, Y:16.50, Z:-14.01 [[ 2.63824721e-01 -9.62807910e-01 -5.82875996e-02 2.46513345e+02] [ 9.38086566e-01 2.70175120e-01 -2.16792525e-01 1.64972659e+01] [ 2.24477417e-01 2.51641318e-03 9.74476042e-01 -1.40148031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.706875 meters 0.01758630475567484 Centerline is valid? [True, True] Translation: X:246.52, Y:16.52, Z:-14.01 [[ 2.63002321e-01 -9.63029998e-01 -5.83352639e-02 2.46520508e+02] [ 9.38210153e-01 2.69383448e-01 -2.17242414e-01 1.65229097e+01] [ 2.24925516e-01 2.40452214e-03 9.74372994e-01 -1.40098580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.736875 meters 0.01722072761884121 Centerline is valid? [True, True] Translation: X:246.53, Y:16.55, Z:-14.01 [[ 2.61018562e-01 -9.63558553e-01 -5.85168832e-02 2.46528510e+02] [ 9.38530630e-01 2.67489778e-01 -2.18195956e-01 1.65482929e+01] [ 2.25897247e-01 2.03330744e-03 9.74149013e-01 -1.40050717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.766875 meters 0.0169923330375472 Centerline is valid? [True, True] Translation: X:246.54, Y:16.57, Z:-14.00 [[ 2.59423883e-01 -9.63983541e-01 -5.86087174e-02 2.46536488e+02] [ 9.38821737e-01 2.65956188e-01 -2.18817396e-01 1.65736595e+01] [ 2.26523719e-01 1.74332063e-03 9.74004089e-01 -1.39987129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.796875 meters 0.017063429195473455 Centerline is valid? [True, True] Translation: X:246.54, Y:16.60, Z:-13.99 [[ 2.57739495e-01 -9.64438802e-01 -5.85504084e-02 2.46543859e+02] [ 9.39274213e-01 2.64302449e-01 -2.18879348e-01 1.65979479e+01] [ 2.26570752e-01 1.41896391e-03 9.73993676e-01 -1.39930199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.82687500000003 meters 0.0168647424749718 Centerline is valid? [True, True] Translation: X:246.55, Y:16.62, Z:-13.99 [[ 2.56028974e-01 -9.64900903e-01 -5.84415188e-02 2.46551567e+02] [ 9.39775520e-01 2.62612002e-01 -2.18762216e-01 1.66229168e+01] [ 2.26431305e-01 1.08755702e-03 9.74026530e-01 -1.39862901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.856875 meters 0.016549063611313197 Centerline is valid? [True, True] Translation: X:246.56, Y:16.65, Z:-13.98 [[ 2.53737825e-01 -9.65519192e-01 -5.82220467e-02 2.46559303e+02] [ 9.40537355e-01 2.60331173e-01 -2.18213573e-01 1.66479054e+01] [ 2.25846406e-01 6.09027597e-04 9.74162733e-01 -1.39791323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.88687500000003 meters 0.016420702649367517 Centerline is valid? [True, True] Translation: X:246.57, Y:16.67, Z:-13.97 [[ 2.52723144e-01 -9.65789257e-01 -5.81560301e-02 2.46566133e+02] [ 9.40808017e-01 2.59327817e-01 -2.18241514e-01 1.66734416e+01] [ 2.25856786e-01 4.41022334e-04 9.74160417e-01 -1.39727853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.916875 meters 0.016429667734748563 Centerline is valid? [True, True] Translation: X:246.57, Y:16.70, Z:-13.97 [[ 2.51818687e-01 -9.66027523e-01 -5.81220594e-02 2.46572860e+02] [ 9.41017959e-01 2.58439034e-01 -2.18390631e-01 1.67005594e+01] [ 2.25992369e-01 3.00940105e-04 9.74129026e-01 -1.39669656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.94687500000003 meters 0.0163943730539373 Centerline is valid? [True, True] Translation: X:246.58, Y:16.73, Z:-13.96 [[ 2.50870412e-01 -9.66276980e-01 -5.80761080e-02 2.46579414e+02] [ 9.41256229e-01 2.57504908e-01 -2.18467236e-01 1.67272167e+01] [ 2.26054744e-01 1.42467155e-04 9.74114589e-01 -1.39614645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.976875 meters 0.016490133504082797 Centerline is valid? [True, True] Translation: X:246.59, Y:16.75, Z:-13.96 [[ 2.50220234e-01 -9.66442867e-01 -5.81207212e-02 2.46585499e+02] [ 9.41328829e-01 2.56881647e-01 -2.18887768e-01 1.67524398e+01] [ 2.26472669e-01 5.94381252e-05 9.74017519e-01 -1.39564069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.00687500000004 meters 0.016495001463317956 Centerline is valid? [True, True] Translation: X:246.59, Y:16.78, Z:-13.95 [[ 2.48806932e-01 -9.66810339e-01 -5.80764993e-02 2.46591493e+02] [ 9.41676311e-01 2.55495069e-01 -2.19015969e-01 1.67780424e+01] [ 2.26585163e-01 -1.96572250e-04 9.73991337e-01 -1.39509801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.036875 meters 0.016642417624008723 Centerline is valid? [True, True] Translation: X:246.60, Y:16.80, Z:-13.94 [[ 2.48112499e-01 -9.66984061e-01 -5.81550866e-02 2.46597832e+02] [ 9.41720454e-01 2.54836706e-01 -2.19592439e-01 1.68034520e+01] [ 2.27162439e-01 -2.82205662e-04 9.73856841e-01 -1.39449342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06687500000004 meters 0.01662910108065537 Centerline is valid? [True, True] Translation: X:246.60, Y:16.83, Z:-13.94 [[ 2.47622917e-01 -9.67115328e-01 -5.80588689e-02 2.46603770e+02] [ 9.41873591e-01 2.54338031e-01 -2.19513793e-01 1.68280612e+01] [ 2.27061732e-01 -3.27469657e-04 9.73880312e-01 -1.39394596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.096875 meters 0.016557229030019993 Centerline is valid? [True, True] Translation: X:246.61, Y:16.85, Z:-13.93 [[ 2.47625673e-01 -9.67121900e-01 -5.79375187e-02 2.46609494e+02] [ 9.41918410e-01 2.54313123e-01 -2.19350279e-01 1.68541943e+01] [ 2.26872730e-01 -2.55655186e-04 9.73924381e-01 -1.39332022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12687500000004 meters 0.016260216145809366 Centerline is valid? [True, True] Translation: X:246.61, Y:16.88, Z:-13.93 [[ 2.47683394e-01 -9.67111462e-01 -5.78649774e-02 2.46614901e+02] [ 9.41906753e-01 2.54352884e-01 -2.19354231e-01 1.68806603e+01] [ 2.26858115e-01 -1.73012452e-04 9.73927803e-01 -1.39268490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.156875 meters 0.016425174865928916 Centerline is valid? [True, True] Translation: X:246.62, Y:16.91, Z:-13.92 [[ 2.49148982e-01 -9.66732486e-01 -5.79058354e-02 2.46618984e+02] [ 9.41415723e-01 2.55789444e-01 -2.19791257e-01 1.69062691e+01] [ 2.27291049e-01 2.47303848e-04 9.73826842e-01 -1.39219498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18687500000004 meters 0.01668670687718636 Centerline is valid? [True, True] Translation: X:246.62, Y:16.93, Z:-13.92 [[ 2.49400109e-01 -9.66664729e-01 -5.79559156e-02 2.46624300e+02] [ 9.41232779e-01 2.56045216e-01 -2.20276424e-01 1.69323482e+01] [ 2.27772784e-01 3.86956562e-04 9.73714234e-01 -1.39169989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.216875 meters 0.016625277780222887 Centerline is valid? [True, True] Translation: X:246.63, Y:16.96, Z:-13.91 [[ 2.50476532e-01 -9.66381869e-01 -5.80309440e-02 2.46628310e+02] [ 9.40808985e-01 2.57110023e-01 -2.20845849e-01 1.69576067e+01] [ 2.28341762e-01 7.20668745e-04 9.73580772e-01 -1.39119891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.246875 meters 0.016884040897764192 Centerline is valid? [True, True] Translation: X:246.63, Y:16.98, Z:-13.91 [[ 2.50703622e-01 -9.66328601e-01 -5.79372785e-02 2.46633948e+02] [ 9.40768366e-01 2.57309771e-01 -2.20786241e-01 1.69831802e+01] [ 2.28259887e-01 8.46351616e-04 9.73599870e-01 -1.39066053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.276875 meters 0.017031251157037 Centerline is valid? [True, True] Translation: X:246.64, Y:17.01, Z:-13.90 [[ 2.51061748e-01 -9.66242015e-01 -5.78304999e-02 2.46639324e+02] [ 9.40706808e-01 2.57634174e-01 -2.20670191e-01 1.70079676e+01] [ 2.28119923e-01 1.00029884e-03 9.73632528e-01 -1.39009500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.306875 meters 0.01695635651720786 Centerline is valid? [True, True] Translation: X:246.64, Y:17.03, Z:-13.90 [[ 2.51251633e-01 -9.66194724e-01 -5.77959453e-02 2.46644784e+02] [ 9.40621584e-01 2.57810982e-01 -2.20826933e-01 1.70335716e+01] [ 2.28262247e-01 1.11901386e-03 9.73599042e-01 -1.38952932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.336875 meters 0.01705773953901719 Centerline is valid? [True, True] Translation: X:246.65, Y:17.06, Z:-13.89 [[ 2.51778194e-01 -9.66062086e-01 -5.77216420e-02 2.46650090e+02] [ 9.40485278e-01 2.58306643e-01 -2.20828260e-01 1.70597226e+01] [ 2.28243693e-01 1.31338583e-03 9.73603149e-01 -1.38898036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.366875 meters 0.017009083793770922 Centerline is valid? [True, True] Translation: X:246.66, Y:17.09, Z:-13.88 [[ 2.52500893e-01 -9.65873046e-01 -5.77283053e-02 2.46656553e+02] [ 9.40221418e-01 2.59011261e-01 -2.21126326e-01 1.70858601e+01] [ 2.28532239e-01 1.55720586e-03 9.73535100e-01 -1.38829752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.396875 meters 0.017126903287595516 Centerline is valid? [True, True] Translation: X:246.66, Y:17.11, Z:-13.88 [[ 2.53887567e-01 -9.65511603e-01 -5.76927033e-02 2.46661531e+02] [ 9.39815840e-01 2.60352663e-01 -2.21275116e-01 1.71121896e+01] [ 2.28664141e-01 1.95848449e-03 9.73503403e-01 -1.38772615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.426875 meters 0.01732700099523168 Centerline is valid? [True, True] Translation: X:246.67, Y:17.14, Z:-13.87 [[ 2.54563171e-01 -9.65337364e-01 -5.76312971e-02 2.46666641e+02] [ 9.39624934e-01 2.60996126e-01 -2.21327822e-01 1.71371754e+01] [ 2.28697561e-01 2.19010833e-03 9.73495059e-01 -1.38722921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.456875 meters 0.017326907577366477 Centerline is valid? [True, True] Translation: X:246.67, Y:17.16, Z:-13.87 [[ 2.55138925e-01 -9.65189645e-01 -5.75593430e-02 2.46672638e+02] [ 9.39467963e-01 2.61540029e-01 -2.21352116e-01 1.71634208e+01] [ 2.28700843e-01 2.40038211e-03 9.73493792e-01 -1.38660125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.486875 meters 0.017401650425054024 Centerline is valid? [True, True] Translation: X:246.68, Y:17.19, Z:-13.86 [[ 2.55490501e-01 -9.65101052e-01 -5.74853388e-02 2.46678430e+02] [ 9.39377220e-01 2.61865312e-01 -2.21352654e-01 1.71891125e+01] [ 2.28681095e-01 2.55308250e-03 9.73498042e-01 -1.38595961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.516875 meters 0.018153213224104996 Centerline is valid? [True, True] Translation: X:246.68, Y:17.21, Z:-13.85 [[ 2.56946401e-01 -9.64732662e-01 -5.71789928e-02 2.46682823e+02] [ 9.39211204e-01 2.63215189e-01 -2.20454254e-01 1.72142814e+01] [ 2.27729799e-01 2.94177629e-03 9.73719921e-01 -1.38537654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.546875 meters 0.01826214823077417 Centerline is valid? [True, True] Translation: X:246.69, Y:17.24, Z:-13.85 [[ 2.57480236e-01 -9.64610360e-01 -5.68399639e-02 2.46688474e+02] [ 9.39323956e-01 2.63661111e-01 -2.19438655e-01 1.72406832e+01] [ 2.26659288e-01 3.10997694e-03 9.73969145e-01 -1.38476232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57687500000003 meters 0.01827975575743375 Centerline is valid? [True, True] Translation: X:246.70, Y:17.27, Z:-13.84 [[ 2.58094729e-01 -9.64453751e-01 -5.67104253e-02 2.46695053e+02] [ 9.39216914e-01 2.64230921e-01 -2.19211332e-01 1.72665462e+01] [ 2.26403840e-01 3.31389881e-03 9.74027884e-01 -1.38412338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.606875 meters 0.018418713827875865 Centerline is valid? [True, True] Translation: X:246.70, Y:17.29, Z:-13.84 [[ 2.58371822e-01 -9.64382864e-01 -5.66541575e-02 2.46701175e+02] [ 9.39130064e-01 2.64487806e-01 -2.19273628e-01 1.72923277e+01] [ 2.26448063e-01 3.44850412e-03 9.74017137e-01 -1.38357972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63687500000003 meters 0.01847355872188266 Centerline is valid? [True, True] Translation: X:246.71, Y:17.32, Z:-13.83 [[ 2.58700501e-01 -9.64289621e-01 -5.67413190e-02 2.46706758e+02] [ 9.38889482e-01 2.64825359e-01 -2.19895589e-01 1.73181103e+01] [ 2.27069574e-01 3.61327137e-03 9.73871836e-01 -1.38306911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.666875 meters 0.01880042330193087 Centerline is valid? [True, True] Translation: X:246.71, Y:17.34, Z:-13.83 [[ 2.59111876e-01 -9.64169764e-01 -5.69008118e-02 2.46712956e+02] [ 9.38555211e-01 2.65258693e-01 -2.20798418e-01 1.73445630e+01] [ 2.27980593e-01 3.80693882e-03 9.73658234e-01 -1.38268376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69687500000003 meters 0.01889022836300576 Centerline is valid? [True, True] Translation: X:246.72, Y:17.37, Z:-13.82 [[ 2.59077669e-01 -9.64175566e-01 -5.69582251e-02 2.46719920e+02] [ 9.38445227e-01 2.65236548e-01 -2.21291955e-01 1.73704260e+01] [ 2.28471699e-01 3.87962940e-03 9.73542825e-01 -1.38220089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.726875 meters 0.019296707242139284 Centerline is valid? [True, True] Translation: X:246.73, Y:17.40, Z:-13.82 [[ 2.59318580e-01 -9.64108452e-01 -5.69979447e-02 2.46725961e+02] [ 9.38273346e-01 2.65478320e-01 -2.21730444e-01 1.73957055e+01] [ 2.28903914e-01 4.01917168e-03 9.73440725e-01 -1.38170772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75687500000004 meters 0.019337866415415825 Centerline is valid? [True, True] Translation: X:246.73, Y:17.42, Z:-13.81 [[ 2.59673155e-01 -9.64013302e-01 -5.69930317e-02 2.46732575e+02] [ 9.38110883e-01 2.65821089e-01 -2.22007027e-01 1.74216179e+01] [ 2.29167677e-01 4.18348163e-03 9.73377971e-01 -1.38113347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.786875 meters 0.01985027462894449 Centerline is valid? [True, True] Translation: X:246.74, Y:17.45, Z:-13.81 [[ 2.60163992e-01 -9.63883934e-01 -5.69425900e-02 2.46738689e+02] [ 9.37958801e-01 2.66286802e-01 -2.22091483e-01 1.74475126e+01] [ 2.29233473e-01 4.37040342e-03 9.73361657e-01 -1.38059998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81687500000004 meters 0.01946566497422432 Centerline is valid? [True, True] Translation: X:246.75, Y:17.47, Z:-13.80 [[ 2.61631014e-01 -9.63495108e-01 -5.68013160e-02 2.46747043e+02] [ 9.37625785e-01 2.67683328e-01 -2.21818670e-01 1.74735627e+01] [ 2.28925969e-01 4.77626516e-03 9.73432118e-01 -1.37980554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.846875 meters 0.020899637597555996 Centerline is valid? [True, True] Translation: X:246.75, Y:17.50, Z:-13.79 [[ 2.62392984e-01 -9.63293359e-01 -5.67082650e-02 2.46751004e+02] [ 9.37444878e-01 2.68404091e-01 -2.21712303e-01 1.74997452e+01] [ 2.28794719e-01 5.01488024e-03 9.73461775e-01 -1.37934942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87687500000004 meters 0.020984213541901494 Centerline is valid? [True, True] Translation: X:246.76, Y:17.53, Z:-13.79 [[ 2.63299361e-01 -9.63050641e-01 -5.66295808e-02 2.46757349e+02] [ 9.37223993e-01 2.69268769e-01 -2.21597647e-01 1.75264210e+01] [ 2.28658334e-01 5.27191719e-03 9.73492462e-01 -1.37869492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.906875 meters 0.02173496942113327 Centerline is valid? [True, True] Translation: X:246.76, Y:17.55, Z:-13.78 [[ 2.64507969e-01 -9.62727391e-01 -5.64933977e-02 2.46762715e+02] [ 9.36962500e-01 2.70415516e-01 -2.21306852e-01 1.75521541e+01] [ 2.28334860e-01 5.60523097e-03 9.73566522e-01 -1.37816589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93687500000004 meters 0.021035353244123242 Centerline is valid? [True, True] Translation: X:246.77, Y:17.58, Z:-13.77 [[ 2.65430330e-01 -9.62479693e-01 -5.63877610e-02 2.46770871e+02] [ 9.36756974e-01 2.71290291e-01 -2.21106194e-01 1.75781144e+01] [ 2.28107674e-01 5.86666176e-03 9.73618237e-01 -1.37745499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.966875 meters 0.021361291767842693 Centerline is valid? [True, True] Translation: X:246.78, Y:17.60, Z:-13.77 [[ 2.66282913e-01 -9.62248609e-01 -5.63118592e-02 2.46777213e+02] [ 9.36534142e-01 2.72103122e-01 -2.21051335e-01 1.76037204e+01] [ 2.28028972e-01 6.12421458e-03 9.73635087e-01 -1.37687002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.996875 meters 0.02262476844743729 Centerline is valid? [True, True] Translation: X:246.78, Y:17.63, Z:-13.76 [[ 2.67340731e-01 -9.61963803e-01 -5.61656050e-02 2.46783109e+02] [ 9.36314982e-01 2.73101342e-01 -2.20748523e-01 1.76303756e+01] [ 2.27690991e-01 6.42637404e-03 9.73712234e-01 -1.37634984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.026875 meters 0.02267269034400251 Centerline is valid? [True, True] Translation: X:246.79, Y:17.66, Z:-13.76 [[ 2.67485688e-01 -9.61935455e-01 -5.59605817e-02 2.46789947e+02] [ 9.36419115e-01 2.73199584e-01 -2.20184531e-01 1.76556971e+01] [ 2.27091715e-01 6.49365243e-03 9.73851727e-01 -1.37568930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.056875 meters 0.021512187891730514 Centerline is valid? [True, True] Translation: X:246.80, Y:17.68, Z:-13.75 [[ 2.67588287e-01 -9.61916420e-01 -5.57970363e-02 2.46799089e+02] [ 9.36483431e-01 2.73264750e-01 -2.19829844e-01 1.76807101e+01] [ 2.26705300e-01 6.57089143e-03 9.73941236e-01 -1.37493897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.086875 meters 0.021133362309209477 Centerline is valid? [True, True] Translation: X:246.81, Y:17.71, Z:-13.74 [[ 2.67754712e-01 -9.61892427e-01 -5.54109514e-02 2.46807158e+02] [ 9.36746002e-01 2.73347856e-01 -2.18604383e-01 1.77066656e+01] [ 2.25420366e-01 6.62636643e-03 9.74239062e-01 -1.37422179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.116875 meters 0.02415202551261795 Centerline is valid? [True, True] Translation: X:246.81, Y:17.73, Z:-13.74 [[ 2.67663944e-01 -9.61923801e-01 -5.53047440e-02 2.46808690e+02] [ 9.36813134e-01 2.73236551e-01 -2.18455806e-01 1.77331125e+01] [ 2.25249116e-01 6.66253203e-03 9.74278423e-01 -1.37381165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.146875 meters 0.021512065146810526 Centerline is valid? [True, True] Translation: X:246.82, Y:17.76, Z:-13.73 [[ 2.67072564e-01 -9.62086633e-01 -5.53313267e-02 2.46820111e+02] [ 9.36885013e-01 2.72663852e-01 -2.18862735e-01 1.77571660e+01] [ 2.25651765e-01 6.61314119e-03 9.74185582e-01 -1.37306663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.176875 meters 0.021497362296806516 Centerline is valid? [True, True] Translation: X:246.83, Y:17.78, Z:-13.72 [[ 2.66553872e-01 -9.62235004e-01 -5.52524277e-02 2.46827348e+02] [ 9.37039964e-01 2.72141035e-01 -2.18850094e-01 1.77831123e+01] [ 2.25621674e-01 6.56160718e-03 9.74192900e-01 -1.37248403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.206875 meters 0.021489835986600755 Centerline is valid? [True, True] Translation: X:246.83, Y:17.81, Z:-13.72 [[ 2.66043429e-01 -9.62378872e-01 -5.52068956e-02 2.46833807e+02] [ 9.37160632e-01 2.71632922e-01 -2.18964621e-01 1.78078714e+01] [ 2.25722935e-01 6.51636934e-03 9.74169746e-01 -1.37200699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.236875 meters 0.020787499292898266 Centerline is valid? [True, True] Translation: X:246.84, Y:17.83, Z:-13.71 [[ 2.65355561e-01 -9.62578017e-01 -5.50453223e-02 2.46842140e+02] [ 9.37442453e-01 2.70928838e-01 -2.18630311e-01 1.78339058e+01] [ 2.25362097e-01 6.41294695e-03 9.74253971e-01 -1.37137540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.266875 meters 0.021403442311355506 Centerline is valid? [True, True] Translation: X:246.85, Y:17.86, Z:-13.71 [[ 2.63540748e-01 -9.63059298e-01 -5.53449396e-02 2.46849104e+02] [ 9.37593015e-01 2.69220047e-01 -2.20090674e-01 1.78594561e+01] [ 2.26860337e-01 6.11183205e-03 9.73908123e-01 -1.37096987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.296875 meters 0.019759935604397084 Centerline is valid? [True, True] Translation: X:246.86, Y:17.89, Z:-13.70 [[ 2.61876820e-01 -9.63515344e-01 -5.53056282e-02 2.46859363e+02] [ 9.38024951e-01 2.67590313e-01 -2.20237634e-01 1.78851979e+01] [ 2.27001590e-01 5.79707208e-03 9.73877134e-01 -1.37028119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.32687500000003 meters 0.01942609205611287 Centerline is valid? [True, True] Translation: X:246.87, Y:17.91, Z:-13.70 [[ 2.60244482e-01 -9.63956641e-01 -5.53209149e-02 2.46868098e+02] [ 9.38397738e-01 2.66002738e-01 -2.20572501e-01 1.79118724e+01] [ 2.27337842e-01 5.48975481e-03 9.73800477e-01 -1.36969390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.356875 meters 0.018820282809884917 Centerline is valid? [True, True] Translation: X:246.88, Y:17.94, Z:-13.69 [[ 2.57038233e-01 -9.64820042e-01 -5.52596927e-02 2.46877869e+02] [ 9.39279344e-01 2.62867486e-01 -2.20578781e-01 1.79371796e+01] [ 2.27344805e-01 4.79289225e-03 9.73802530e-01 -1.36910497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.38687500000003 meters 0.018429911354793476 Centerline is valid? [True, True] Translation: X:246.89, Y:17.96, Z:-13.68 [[ 2.54678459e-01 -9.65456755e-01 -5.50648406e-02 2.46886141e+02] [ 9.40051346e-01 2.60528153e-01 -2.20064872e-01 1.79622703e+01] [ 2.26809058e-01 4.28200500e-03 9.73929831e-01 -1.36849636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.416875 meters 0.017840165117859304 Centerline is valid? [True, True] Translation: X:246.90, Y:17.99, Z:-13.68 [[ 2.52176255e-01 -9.66125252e-01 -5.48555753e-02 2.46895271e+02] [ 9.40871350e-01 2.58046577e-01 -2.19483637e-01 1.79887518e+01] [ 2.26203977e-01 3.73652226e-03 9.74072789e-01 -1.36785552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.44687500000003 meters 0.017304472727670658 Centerline is valid? [True, True] Translation: X:246.90, Y:18.02, Z:-13.67 [[ 2.49305279e-01 -9.66889136e-01 -5.45185942e-02 2.46904738e+02] [ 9.41910634e-01 2.55178066e-01 -2.18376997e-01 1.80150178e+01] [ 2.25058295e-01 3.09089441e-03 9.74340397e-01 -1.36716507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.476875 meters 0.016783587548863815 Centerline is valid? [True, True] Translation: X:246.91, Y:18.04, Z:-13.67 [[ 2.46126422e-01 -9.67717371e-01 -5.42667035e-02 2.46913689e+02] [ 9.42935577e-01 2.52026542e-01 -2.17612314e-01 1.80395655e+01] [ 2.24263866e-01 2.39013493e-03 9.74525528e-01 -1.36651372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.50687500000004 meters 0.016350505154057594 Centerline is valid? [True, True] Translation: X:246.92, Y:18.06, Z:-13.66 [[ 2.43391544e-01 -9.68424069e-01 -5.39942548e-02 2.46922240e+02] [ 9.43852400e-01 2.49302204e-01 -2.16774210e-01 1.80635582e+01] [ 2.23390249e-01 1.79840270e-03 9.74727430e-01 -1.36591435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.536875 meters 0.015989323273276082 Centerline is valid? [True, True] Translation: X:246.93, Y:18.09, Z:-13.65 [[ 2.39069462e-01 -9.69511613e-01 -5.37868431e-02 2.46932895e+02] [ 9.45106294e-01 2.45043913e-01 -2.16165618e-01 1.80881316e+01] [ 2.22755216e-01 8.44314176e-04 9.74874044e-01 -1.36522309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56687500000004 meters 0.01599420500845679 Centerline is valid? [True, True] Translation: X:246.94, Y:18.11, Z:-13.65 [[ 2.37232287e-01 -9.69968864e-01 -5.36772323e-02 2.46940650e+02] [ 9.45611476e-01 2.43228631e-01 -2.16006411e-01 1.81133803e+01] [ 2.22575333e-01 4.85888027e-04 9.74915373e-01 -1.36464994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.596875 meters 0.01599420500845679 Centerline is valid? [True, True] Translation: X:246.95, Y:18.14, Z:-13.64 [[ 2.36922330e-01 -9.70048519e-01 -5.36067241e-02 2.46946806e+02] [ 9.45689185e-01 2.42910756e-01 -2.16023909e-01 1.81388371e+01] [ 2.22575323e-01 4.85588468e-04 9.74915376e-01 -1.36407291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62687500000004 meters 0.016074202185594872 Centerline is valid? [True, True] Translation: X:246.95, Y:18.16, Z:-13.64 [[ 2.35217672e-01 -9.70460039e-01 -5.36652576e-02 2.46954069e+02] [ 9.45988149e-01 2.41261857e-01 -2.16562089e-01 1.81635504e+01] [ 2.23112233e-01 1.72532719e-04 9.74792748e-01 -1.36352930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.656875 meters 0.015949017148691753 Centerline is valid? [True, True] Translation: X:246.96, Y:18.19, Z:-13.63 [[ 2.34243348e-01 -9.70693549e-01 -5.37037038e-02 2.46961265e+02] [ 9.46137755e-01 2.40320689e-01 -2.16954638e-01 1.81894286e+01] [ 2.23502579e-01 9.07903193e-06 9.74703338e-01 -1.36299307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68687500000004 meters 0.016117438007281052 Centerline is valid? [True, True] Translation: X:246.97, Y:18.22, Z:-13.62 [[ 2.33278030e-01 -9.70923253e-01 -5.37531186e-02 2.46968743e+02] [ 9.46260516e-01 2.39390931e-01 -2.17446588e-01 1.82154765e+01] [ 2.23991957e-01 -1.38942086e-04 9.74590983e-01 -1.36247547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.716875 meters 0.015965026170798462 Centerline is valid? [True, True] Translation: X:246.98, Y:18.24, Z:-13.62 [[ 2.32831614e-01 -9.71030013e-01 -5.37601414e-02 2.46975073e+02] [ 9.46296153e-01 2.38957495e-01 -2.17768009e-01 1.82410371e+01] [ 2.24305661e-01 -1.69738041e-04 9.74518826e-01 -1.36195993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.746875 meters 0.016025569537115876 Centerline is valid? [True, True] Translation: X:246.98, Y:18.27, Z:-13.61 [[ 2.32312516e-01 -9.71154384e-01 -5.37592553e-02 2.46981519e+02] [ 9.46359652e-01 2.38451492e-01 -2.18046544e-01 1.82665647e+01] [ 2.24575832e-01 -2.20648683e-04 9.74456591e-01 -1.36146556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.776875 meters 0.016044545435961344 Centerline is valid? [True, True] Translation: X:246.99, Y:18.29, Z:-13.61 [[ 2.32222895e-01 -9.71178253e-01 -5.37152433e-02 2.46988076e+02] [ 9.46353719e-01 2.38354300e-01 -2.18178519e-01 1.82928288e+01] [ 2.24693492e-01 -1.67573142e-04 9.74429478e-01 -1.36090284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.806875 meters 0.01587574974629518 Centerline is valid? [True, True] Translation: X:246.99, Y:18.32, Z:-13.60 [[ 2.31845506e-01 -9.71270507e-01 -5.36773983e-02 2.46994829e+02] [ 9.46435454e-01 2.37978065e-01 -2.18234674e-01 1.83187640e+01] [ 2.24738946e-01 -2.05464397e-04 9.74418988e-01 -1.36030232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.836875 meters 0.01588053829796628 Centerline is valid? [True, True] Translation: X:247.00, Y:18.34, Z:-13.60 [[ 2.32332446e-01 -9.71167563e-01 -5.34340698e-02 2.47002382e+02] [ 9.46490496e-01 2.38397911e-01 -2.17536610e-01 1.83444879e+01] [ 2.24003070e-01 -3.40264956e-05 9.74588438e-01 -1.35970304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.866875 meters 0.015716304628794923 Centerline is valid? [True, True] Translation: X:247.01, Y:18.37, Z:-13.59 [[ 2.32176354e-01 -9.71212173e-01 -5.33015496e-02 2.47009101e+02] [ 9.46612733e-01 2.38216107e-01 -2.17203636e-01 1.83704980e+01] [ 2.23648103e-01 -2.63773202e-05 9.74669957e-01 -1.35903223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.896875 meters 0.01572869068987166 Centerline is valid? [True, True] Translation: X:247.02, Y:18.40, Z:-13.58 [[ 2.31868014e-01 -9.71291286e-01 -5.32020843e-02 2.47015323e+02] [ 9.46719143e-01 2.37893331e-01 -2.17093590e-01 1.83955609e+01] [ 2.23517534e-01 -3.03718868e-05 9.74699908e-01 -1.35846966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.926875 meters 0.01560147432917441 Centerline is valid? [True, True] Translation: X:247.02, Y:18.42, Z:-13.58 [[ 2.31328672e-01 -9.71428132e-01 -5.30511921e-02 2.47021983e+02] [ 9.46934800e-01 2.37333889e-01 -2.16765101e-01 1.84216662e+01] [ 2.23162563e-01 -9.20369498e-05 9.74781238e-01 -1.35786247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.956875 meters 0.015425107492018449 Centerline is valid? [True, True] Translation: X:247.03, Y:18.45, Z:-13.57 [[ 2.30601527e-01 -9.71608791e-01 -5.29083420e-02 2.47028448e+02] [ 9.47191207e-01 2.36593147e-01 -2.16454384e-01 1.84473188e+01] [ 2.22826733e-01 -1.99604869e-04 9.74858045e-01 -1.35728142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.986875 meters 0.015570190411079172 Centerline is valid? [True, True] Translation: X:247.04, Y:18.47, Z:-13.57 [[ 2.29844994e-01 -9.71790471e-01 -5.28635907e-02 2.47035085e+02] [ 9.47352494e-01 2.35845686e-01 -2.16564227e-01 1.84723469e+01] [ 2.22922702e-01 -3.04251067e-04 9.74836077e-01 -1.35668091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.016875 meters 0.015798534688732383 Centerline is valid? [True, True] Translation: X:247.04, Y:18.50, Z:-13.56 [[ 2.29401393e-01 -9.71895402e-01 -5.28614120e-02 2.47041263e+02] [ 9.47392045e-01 2.35412866e-01 -2.16861929e-01 1.84986976e+01] [ 2.23211368e-01 -3.32052773e-04 9.74770011e-01 -1.35610841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.046875 meters 0.015663779421718347 Centerline is valid? [True, True] Translation: X:247.05, Y:18.52, Z:-13.56 [[ 2.29253392e-01 -9.71928250e-01 -5.28995105e-02 2.47047021e+02] [ 9.47325911e-01 2.35277258e-01 -2.17297563e-01 1.85240406e+01] [ 2.23643692e-01 -2.96873594e-04 9.74670925e-01 -1.35557565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07687500000003 meters 0.015644810990656913 Centerline is valid? [True, True] Translation: X:247.05, Y:18.55, Z:-13.55 [[ 2.29504387e-01 -9.71871648e-01 -5.28510808e-02 2.47052541e+02] [ 9.47242320e-01 2.35511088e-01 -2.17408634e-01 1.85505036e+01] [ 2.23740303e-01 -1.66545114e-04 9.74648782e-01 -1.35498739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.106875 meters 0.015459537609287621 Centerline is valid? [True, True] Translation: X:247.06, Y:18.58, Z:-13.54 [[ 2.29596790e-01 -9.71853408e-01 -5.27851025e-02 2.47057230e+02] [ 9.47222525e-01 2.35586389e-01 -2.17413298e-01 1.85756435e+01] [ 2.23729307e-01 -8.18426206e-05 9.74651317e-01 -1.35444576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13687500000003 meters 0.01554942949910481 Centerline is valid? [True, True] Translation: X:247.06, Y:18.60, Z:-13.54 [[ 2.30876475e-01 -9.71553687e-01 -5.27208305e-02 2.47060330e+02] [ 9.46905589e-01 2.36819240e-01 -2.17454484e-01 1.86003700e+01] [ 2.23754012e-01 2.83475616e-04 9.74645608e-01 -1.35405981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.166875 meters 0.015573441100226381 Centerline is valid? [True, True] Translation: X:247.06, Y:18.63, Z:-13.53 [[ 2.31602806e-01 -9.71383759e-01 -5.26662469e-02 2.47064817e+02] [ 9.46725984e-01 2.37514916e-01 -2.17477760e-01 1.86253390e+01] [ 2.23763383e-01 5.07955022e-04 9.74643366e-01 -1.35347569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19687500000003 meters 0.01578727555281185 Centerline is valid? [True, True] Translation: X:247.07, Y:18.65, Z:-13.53 [[ 2.32445980e-01 -9.71189976e-01 -5.25252013e-02 2.47068804e+02] [ 9.46588009e-01 2.38305343e-01 -2.17213500e-01 1.86495299e+01] [ 2.23472610e-01 7.70679051e-04 9.74709905e-01 -1.35294230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.226875 meters 0.015779694766276473 Centerline is valid? [True, True] Translation: X:247.07, Y:18.68, Z:-13.52 [[ 2.34407830e-01 -9.70719284e-01 -5.25075316e-02 2.47072722e+02] [ 9.46052550e-01 2.40213223e-01 -2.17444661e-01 1.86760316e+01] [ 2.23690729e-01 1.29584696e-03 9.74659314e-01 -1.35217343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25687500000004 meters 0.016521712821495803 Centerline is valid? [True, True] Translation: X:247.08, Y:18.70, Z:-13.52 [[ 2.35886901e-01 -9.70364723e-01 -5.24373355e-02 2.47075801e+02] [ 9.45687549e-01 2.41638981e-01 -2.17452666e-01 1.87018918e+01] [ 2.23679300e-01 1.70490013e-03 9.74661307e-01 -1.35174425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.286875 meters 0.016383208432195245 Centerline is valid? [True, True] Translation: X:247.08, Y:18.73, Z:-13.51 [[ 2.36970662e-01 -9.70103308e-01 -5.23877525e-02 2.47081686e+02] [ 9.45395923e-01 2.42683869e-01 -2.17557092e-01 1.87277871e+01] [ 2.23766517e-01 2.02748031e-03 9.74640670e-01 -1.35097262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31687500000004 meters 0.016851280025140553 Centerline is valid? [True, True] Translation: X:247.08, Y:18.75, Z:-13.50 [[ 2.38332979e-01 -9.69778923e-01 -5.22133226e-02 2.47084676e+02] [ 9.45164482e-01 2.43973556e-01 -2.17119794e-01 1.87532295e+01] [ 2.23296870e-01 2.39662931e-03 9.74747539e-01 -1.35045892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.346875 meters 0.0163658925099812 Centerline is valid? [True, True] Translation: X:247.09, Y:18.78, Z:-13.50 [[ 2.39386615e-01 -9.69523768e-01 -5.21316868e-02 2.47091372e+02] [ 9.44907890e-01 2.44982269e-01 -2.17100821e-01 1.87791414e+01] [ 2.23255744e-01 2.71138821e-03 9.74756134e-01 -1.34970034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37687500000004 meters 0.016965118031893524 Centerline is valid? [True, True] Translation: X:247.10, Y:18.81, Z:-13.49 [[ 2.40710964e-01 -9.69201497e-01 -5.20258679e-02 2.47095376e+02] [ 9.44608138e-01 2.46249776e-01 -2.16971228e-01 1.88051334e+01] [ 2.23100197e-01 3.08329529e-03 9.74790642e-01 -1.34917389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.406875 meters 0.017510972612238294 Centerline is valid? [True, True] Translation: X:247.10, Y:18.83, Z:-13.48 [[ 2.43606854e-01 -9.68485486e-01 -5.18802870e-02 2.47099907e+02] [ 9.43952892e-01 2.49040982e-01 -2.16636854e-01 1.88321462e+01] [ 2.22729966e-01 3.80167550e-03 9.74872766e-01 -1.34848544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43687500000004 meters 0.017840425507396677 Centerline is valid? [True, True] Translation: X:247.11, Y:18.86, Z:-13.48 [[ 2.44823287e-01 -9.68180261e-01 -5.18511375e-02 2.47105254e+02] [ 9.43605330e-01 2.50219440e-01 -2.16793017e-01 1.88594122e+01] [ 2.22868883e-01 4.14896935e-03 9.74839601e-01 -1.34787775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.466875 meters 0.01874309398887173 Centerline is valid? [True, True] Translation: X:247.11, Y:18.89, Z:-13.47 [[ 2.45608924e-01 -9.67984823e-01 -5.17845499e-02 2.47108671e+02] [ 9.43406489e-01 2.50970308e-01 -2.16790455e-01 1.88858095e+01] [ 2.22846255e-01 4.39179003e-03 9.74843710e-01 -1.34734863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.496875 meters 0.01839940057608974 Centerline is valid? [True, True] Translation: X:247.12, Y:18.91, Z:-13.47 [[ 2.46327842e-01 -9.67806050e-01 -5.17111665e-02 2.47115183e+02] [ 9.43227944e-01 2.51654698e-01 -2.16773979e-01 1.89119012e+01] [ 2.22808526e-01 4.62204909e-03 9.74851269e-01 -1.34671530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.526875 meters 0.018290558598663922 Centerline is valid? [True, True] Translation: X:247.12, Y:18.94, Z:-13.46 [[ 2.46265888e-01 -9.67819490e-01 -5.17546842e-02 2.47120963e+02] [ 9.43136199e-01 2.51601828e-01 -2.17234046e-01 1.89381966e+01] [ 2.23264917e-01 4.68561914e-03 9.74746542e-01 -1.34611176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.556875 meters 0.01777164921919245 Centerline is valid? [True, True] Translation: X:247.13, Y:18.96, Z:-13.45 [[ 2.46316997e-01 -9.67810937e-01 -5.16713302e-02 2.47127754e+02] [ 9.43135936e-01 2.51633202e-01 -2.17198843e-01 1.89648027e+01] [ 2.23209638e-01 4.76667855e-03 9.74758809e-01 -1.34548487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.586875 meters 0.018303236536411388 Centerline is valid? [True, True] Translation: X:247.13, Y:18.99, Z:-13.45 [[ 2.46084748e-01 -9.67875660e-01 -5.15655271e-02 2.47132875e+02] [ 9.43238469e-01 2.51384036e-01 -2.17042062e-01 1.89909920e+01] [ 2.23032479e-01 4.77215222e-03 9.74799333e-01 -1.34493566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.616875 meters 0.017890354742266076 Centerline is valid? [True, True] Translation: X:247.14, Y:19.02, Z:-13.44 [[ 2.45316237e-01 -9.68078202e-01 -5.14250816e-02 2.47139995e+02] [ 9.43512573e-01 2.50605169e-01 -2.16751180e-01 1.90172056e+01] [ 2.22719484e-01 4.65237285e-03 9.74871472e-01 -1.34435203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.646875 meters 0.01824249414701101 Centerline is valid? [True, True] Translation: X:247.15, Y:19.04, Z:-13.44 [[ 2.43970726e-01 -9.68418152e-01 -5.14253597e-02 2.47145661e+02] [ 9.43794131e-01 2.49292559e-01 -2.17038842e-01 1.90437067e+01] [ 2.23004314e-01 4.41617116e-03 9.74807455e-01 -1.34381195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.676875 meters 0.016922433223984637 Centerline is valid? [True, True] Translation: X:247.16, Y:19.07, Z:-13.43 [[ 2.40430212e-01 -9.69311725e-01 -5.12649246e-02 2.47155766e+02] [ 9.44797904e-01 2.45807716e-01 -2.16645994e-01 1.90699037e+01] [ 2.22598816e-01 3.65324899e-03 9.74903288e-01 -1.34310909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.706875 meters 0.016788974161164177 Centerline is valid? [True, True] Translation: X:247.16, Y:19.10, Z:-13.43 [[ 2.38146481e-01 -9.69874357e-01 -5.12833862e-02 2.47162738e+02] [ 9.45294352e-01 2.43584701e-01 -2.16990972e-01 1.90950947e+01] [ 2.22945828e-01 3.19774109e-03 9.74825591e-01 -1.34254326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.736875 meters 0.016393665543148028 Centerline is valid? [True, True] Translation: X:247.17, Y:19.12, Z:-13.42 [[ 2.35845960e-01 -9.70437037e-01 -5.12702741e-02 2.47170602e+02] [ 9.45817233e-01 2.41338886e-01 -2.17221784e-01 1.91209342e+01] [ 2.23173576e-01 2.73857145e-03 9.74774874e-01 -1.34196427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.766875 meters 0.0160219545424109 Centerline is valid? [True, True] Translation: X:247.18, Y:19.15, Z:-13.41 [[ 2.33590354e-01 -9.70988674e-01 -5.11521359e-02 2.47178438e+02] [ 9.46425932e-01 2.39114566e-01 -2.17030367e-01 1.91467692e+01] [ 2.22965249e-01 2.28449242e-03 9.74823717e-01 -1.34134697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.796875 meters 0.015841492051894952 Centerline is valid? [True, True] Translation: X:247.19, Y:19.17, Z:-13.41 [[ 2.31535080e-01 -9.71479487e-01 -5.11772697e-02 2.47185922e+02] [ 9.46836572e-01 2.37116105e-01 -2.17431503e-01 1.91720086e+01] [ 2.23365200e-01 1.88650981e-03 9.74733004e-01 -1.34077116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.82687500000003 meters 0.015471132467980304 Centerline is valid? [True, True] Translation: X:247.19, Y:19.20, Z:-13.40 [[ 2.28169829e-01 -9.72271817e-01 -5.12449381e-02 2.47194035e+02] [ 9.47508659e-01 2.33850565e-01 -2.18039571e-01 1.91972346e+01] [ 2.23977388e-01 1.19502912e-03 9.74593609e-01 -1.34030584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.856875 meters 0.015366098214208207 Centerline is valid? [True, True] Translation: X:247.20, Y:19.22, Z:-13.40 [[ 2.26242539e-01 -9.72723936e-01 -5.12099320e-02 2.47201076e+02] [ 9.47933365e-01 2.31964360e-01 -2.18208321e-01 1.92231548e+01] [ 2.24135336e-01 8.24401440e-04 9.74557680e-01 -1.33977137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.88687500000003 meters 0.015236995444027514 Centerline is valid? [True, True] Translation: X:247.21, Y:19.25, Z:-13.39 [[ 2.24327655e-01 -9.73163890e-01 -5.12752030e-02 2.47208445e+02] [ 9.48248757e-01 2.30112648e-01 -2.18797768e-01 1.92490822e+01] [ 2.24725160e-01 4.60742768e-04 9.74422080e-01 -1.33926827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.916875 meters 0.015302639385526099 Centerline is valid? [True, True] Translation: X:247.22, Y:19.27, Z:-13.39 [[ 2.22555514e-01 -9.73576687e-01 -5.11612971e-02 2.47215711e+02] [ 9.48732799e-01 2.28360297e-01 -2.18535239e-01 1.92746413e+01] [ 2.24444023e-01 9.78217794e-05 9.74486978e-01 -1.33869932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.94687500000003 meters 0.015399821986592562 Centerline is valid? [True, True] Translation: X:247.22, Y:19.30, Z:-13.38 [[ 2.20947541e-01 -9.73948581e-01 -5.10523837e-02 2.47222513e+02] [ 9.49148403e-01 2.26768869e-01 -2.18387702e-01 1.92998702e+01] [ 2.24275484e-01 -2.04062754e-04 9.74525764e-01 -1.33807008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.976875 meters 0.015263796450202352 Centerline is valid? [True, True] Translation: X:247.23, Y:19.33, Z:-13.37 [[ 2.19713493e-01 -9.74241344e-01 -5.07915745e-02 2.47228916e+02] [ 9.49633534e-01 2.25507473e-01 -2.17583389e-01 1.93256062e+01] [ 2.23432613e-01 -4.27376031e-04 9.74719285e-01 -1.33737687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.00687500000004 meters 0.01534101744900926 Centerline is valid? [True, True] Translation: X:247.23, Y:19.35, Z:-13.37 [[ 2.19677125e-01 -9.74254281e-01 -5.07006576e-02 2.47234340e+02] [ 9.49664242e-01 2.25451682e-01 -2.17507165e-01 1.93513691e+01] [ 2.23337835e-01 -3.67252781e-04 9.74741030e-01 -1.33686665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.036875 meters 0.015124625682379166 Centerline is valid? [True, True] Translation: X:247.24, Y:19.38, Z:-13.36 [[ 2.20164122e-01 -9.74149010e-01 -5.06109334e-02 2.47238908e+02] [ 9.49572293e-01 2.25906335e-01 -2.17436859e-01 1.93772231e+01] [ 2.23249231e-01 -1.86944953e-04 9.74761379e-01 -1.33626383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06687500000004 meters 0.015197443417044312 Centerline is valid? [True, True] Translation: X:247.24, Y:19.40, Z:-13.36 [[ 2.21122607e-01 -9.73937051e-01 -5.05115076e-02 2.47243275e+02] [ 9.49381105e-01 2.26818451e-01 -2.17322129e-01 1.94039186e+01] [ 2.23115016e-01 1.00164884e-04 9.74792121e-01 -1.33564083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.096875 meters 0.015293659128540358 Centerline is valid? [True, True] Translation: X:247.25, Y:19.43, Z:-13.35 [[ 2.22314926e-01 -9.73663791e-01 -5.05459773e-02 2.47247469e+02] [ 9.48993383e-01 2.27988200e-01 -2.17791048e-01 1.94303894e+01] [ 2.23579144e-01 4.50402635e-04 9.74685674e-01 -1.33515995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12687500000004 meters 0.01562573201190802 Centerline is valid? [True, True] Translation: X:247.25, Y:19.46, Z:-13.35 [[ 2.25169802e-01 -9.72997058e-01 -5.07472716e-02 2.47250148e+02] [ 9.48039878e-01 2.30814429e-01 -2.18963669e-01 1.94577196e+01] [ 2.24764208e-01 1.19356875e-03 9.74412452e-01 -1.33478326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.156875 meters 0.015805282228418087 Centerline is valid? [True, True] Translation: X:247.25, Y:19.48, Z:-13.34 [[ 2.26942755e-01 -9.72583744e-01 -5.07724959e-02 2.47254593e+02] [ 9.47520469e-01 2.32546863e-01 -2.19378478e-01 1.94840834e+01] [ 2.25170927e-01 1.67837710e-03 9.74317832e-01 -1.33427643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18687500000004 meters 0.01595535032849733 Centerline is valid? [True, True] Translation: X:247.26, Y:19.51, Z:-13.34 [[ 2.28387460e-01 -9.72243968e-01 -5.08019079e-02 2.47259200e+02] [ 9.47068807e-01 2.33960012e-01 -2.19825814e-01 1.95116954e+01] [ 2.25609937e-01 2.09255716e-03 9.74215468e-01 -1.33370130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.216875 meters 0.016237252909687097 Centerline is valid? [True, True] Translation: X:247.26, Y:19.54, Z:-13.33 [[ 2.29326206e-01 -9.72025832e-01 -5.07471501e-02 2.47263532e+02] [ 9.46834181e-01 2.34861974e-01 -2.19874707e-01 1.95370654e+01] [ 2.25642471e-01 2.37389608e-03 9.74207288e-01 -1.33318489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.246875 meters 0.01641658249872385 Centerline is valid? [True, True] Translation: X:247.27, Y:19.56, Z:-13.33 [[ 2.30194841e-01 -9.71818230e-01 -5.07903781e-02 2.47268074e+02] [ 9.46500602e-01 2.35716455e-01 -2.20395925e-01 1.95638242e+01] [ 2.26156906e-01 2.66088151e-03 9.74087252e-01 -1.33269256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.276875 meters 0.01656382869691645 Centerline is valid? [True, True] Translation: X:247.27, Y:19.59, Z:-13.32 [[ 2.31417297e-01 -9.71531246e-01 -5.07254720e-02 2.47274376e+02] [ 9.46207265e-01 2.36892382e-01 -2.20394671e-01 1.95902615e+01] [ 2.26136788e-01 3.00632903e-03 9.74090917e-01 -1.33210344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.306875 meters 0.016653358893863608 Centerline is valid? [True, True] Translation: X:247.28, Y:19.62, Z:-13.32 [[ 2.31477403e-01 -9.71524575e-01 -5.05787695e-02 2.47279620e+02] [ 9.46281735e-01 2.36918870e-01 -2.20046192e-01 1.96150688e+01] [ 2.25763348e-01 3.07395538e-03 9.74177325e-01 -1.33158128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.336875 meters 0.016722634786014556 Centerline is valid? [True, True] Translation: X:247.29, Y:19.64, Z:-13.31 [[ 2.31245731e-01 -9.71580204e-01 -5.05699497e-02 2.47286350e+02] [ 9.46270157e-01 2.36690296e-01 -2.20341766e-01 1.96412359e+01] [ 2.26049115e-01 3.10025858e-03 9.74110972e-01 -1.33100443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.366875 meters 0.0164893693643543 Centerline is valid? [True, True] Translation: X:247.29, Y:19.67, Z:-13.30 [[ 2.30822232e-01 -9.71682734e-01 -5.05347467e-02 2.47293865e+02] [ 9.46337056e-01 2.36269357e-01 -2.20506160e-01 1.96680156e+01] [ 2.26201841e-01 3.07482075e-03 9.74075599e-01 -1.33038967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.396875 meters 0.01643422436792113 Centerline is valid? [True, True] Translation: X:247.30, Y:19.69, Z:-13.30 [[ 2.29197478e-01 -9.72069505e-01 -5.04915109e-02 2.47301114e+02] [ 9.46711904e-01 2.34676931e-01 -2.20597619e-01 1.96932978e+01] [ 2.26285411e-01 2.75950354e-03 9.74057133e-01 -1.32993098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.426875 meters 0.016029143266911603 Centerline is valid? [True, True] Translation: X:247.31, Y:19.72, Z:-13.29 [[ 2.28181970e-01 -9.72309046e-01 -5.04787737e-02 2.47308709e+02] [ 9.46888532e-01 2.33684246e-01 -2.20893146e-01 1.97186438e+01] [ 2.26572498e-01 2.60606137e-03 9.73990817e-01 -1.32927829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.456875 meters 0.016051492723296458 Centerline is valid? [True, True] Translation: X:247.32, Y:19.75, Z:-13.29 [[ 2.27130671e-01 -9.72559551e-01 -5.03942176e-02 2.47316050e+02] [ 9.47155611e-01 2.32641381e-01 -2.20848898e-01 1.97451244e+01] [ 2.26512485e-01 2.43039244e-03 9.74005230e-01 -1.32858624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.486875 meters 0.016051492723296458 Centerline is valid? [True, True] Translation: X:247.32, Y:19.77, Z:-13.28 [[ 2.26857748e-01 -9.72626535e-01 -5.03307640e-02 2.47321952e+02] [ 9.47221019e-01 2.32361179e-01 -2.20863359e-01 1.97714564e+01] [ 2.26512479e-01 2.43020658e-03 9.74005232e-01 -1.32799111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.516875 meters 0.015979891618215274 Centerline is valid? [True, True] Translation: X:247.33, Y:19.80, Z:-13.27 [[ 2.25864989e-01 -9.72860976e-01 -5.02645845e-02 2.47327919e+02] [ 9.47460016e-01 2.31379345e-01 -2.20869002e-01 1.97959612e+01] [ 2.26505020e-01 2.26289076e-03 9.74007369e-01 -1.32740291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.546875 meters 0.015809047781911757 Centerline is valid? [True, True] Translation: X:247.33, Y:19.82, Z:-13.27 [[ 2.24936828e-01 -9.73086059e-01 -5.00694048e-02 2.47333972e+02] [ 9.47810491e-01 2.30432358e-01 -2.20354719e-01 1.98223715e+01] [ 2.25961716e-01 2.10958424e-03 9.74133899e-01 -1.32679193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57687500000003 meters 0.015722908386009964 Centerline is valid? [True, True] Translation: X:247.34, Y:19.85, Z:-13.26 [[ 2.24361061e-01 -9.73221605e-01 -5.00182143e-02 2.47339751e+02] [ 9.47929544e-01 2.29859799e-01 -2.20440587e-01 1.98485440e+01] [ 2.26034719e-01 2.04454085e-03 9.74117101e-01 -1.32621581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.606875 meters 0.01566167674855044 Centerline is valid? [True, True] Translation: X:247.35, Y:19.88, Z:-13.26 [[ 2.23726027e-01 -9.73370792e-01 -4.99596533e-02 2.47345064e+02] [ 9.48065489e-01 2.29227883e-01 -2.20513957e-01 1.98750461e+01] [ 2.26093991e-01 1.96968849e-03 9.74103499e-01 -1.32569906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63687500000003 meters 0.01563592195460797 Centerline is valid? [True, True] Translation: X:247.35, Y:19.90, Z:-13.25 [[ 2.23263639e-01 -9.73481900e-01 -4.98631997e-02 2.47350388e+02] [ 9.48205403e-01 2.28755933e-01 -2.20402444e-01 1.99004157e+01] [ 2.25964293e-01 1.92729645e-03 9.74133679e-01 -1.32516931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.666875 meters 0.01569780517404114 Centerline is valid? [True, True] Translation: X:247.36, Y:19.93, Z:-13.25 [[ 2.23221893e-01 -9.73496765e-01 -4.97597668e-02 2.47355184e+02] [ 9.48246027e-01 2.28692125e-01 -2.20293859e-01 1.99269954e+01] [ 2.25835026e-01 1.98991105e-03 9.74163529e-01 -1.32458174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69687500000003 meters 0.01567686178633665 Centerline is valid? [True, True] Translation: X:247.36, Y:19.95, Z:-13.24 [[ 2.23204672e-01 -9.73503031e-01 -4.97144107e-02 2.47360164e+02] [ 9.48224531e-01 2.28664856e-01 -2.20414662e-01 1.99522661e+01] [ 2.25942280e-01 2.05715866e-03 9.74138519e-01 -1.32398970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.726875 meters 0.01579132291548948 Centerline is valid? [True, True] Translation: X:247.37, Y:19.98, Z:-13.23 [[ 2.23166992e-01 -9.73515551e-01 -4.96383541e-02 2.47365699e+02] [ 9.48237934e-01 2.28610976e-01 -2.20412892e-01 1.99788271e+01] [ 2.25923250e-01 2.11991164e-03 9.74142798e-01 -1.32341397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75687500000004 meters 0.015615339964091325 Centerline is valid? [True, True] Translation: X:247.37, Y:20.01, Z:-13.23 [[ 2.23254024e-01 -9.73498852e-01 -4.95744472e-02 2.47371580e+02] [ 9.48216261e-01 2.28681267e-01 -2.20433210e-01 2.00050174e+01] [ 2.25928224e-01 2.20530415e-03 9.74141455e-01 -1.32273989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.786875 meters 0.01572623690707534 Centerline is valid? [True, True] Translation: X:247.38, Y:20.03, Z:-13.22 [[ 2.23456094e-01 -9.73456205e-01 -4.95014285e-02 2.47376001e+02] [ 9.48171680e-01 2.28861583e-01 -2.20437839e-01 2.00303439e+01] [ 2.25915558e-01 2.32232599e-03 9.74144121e-01 -1.32218063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81687500000004 meters 0.01574350975098037 Centerline is valid? [True, True] Translation: X:247.38, Y:20.06, Z:-13.22 [[ 2.23758768e-01 -9.73386624e-01 -4.95024587e-02 2.47381444e+02] [ 9.48019973e-01 2.29155762e-01 -2.20784437e-01 2.00568913e+01] [ 2.26252391e-01 2.47313397e-03 9.74065572e-01 -1.32156412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.846875 meters 0.01642079696264641 Centerline is valid? [True, True] Translation: X:247.38, Y:20.08, Z:-13.21 [[ 2.25047159e-01 -9.73093486e-01 -4.94251299e-02 2.47383550e+02] [ 9.47731318e-01 2.30393217e-01 -2.20735848e-01 2.00831429e+01] [ 2.26183831e-01 2.83423214e-03 9.74080511e-01 -1.32119235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87687500000004 meters 0.016347252214869944 Centerline is valid? [True, True] Translation: X:247.39, Y:20.11, Z:-13.21 [[ 2.25336867e-01 -9.73030363e-01 -4.93478443e-02 2.47388842e+02] [ 9.47686374e-01 2.30658151e-01 -2.20652112e-01 2.01092505e+01] [ 2.26083687e-01 2.95477597e-03 9.74103401e-01 -1.32060751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.906875 meters 0.01633041634966808 Centerline is valid? [True, True] Translation: X:247.39, Y:20.13, Z:-13.20 [[ 2.25262421e-01 -9.73051193e-01 -4.92769396e-02 2.47393544e+02] [ 9.47708163e-01 2.30569620e-01 -2.20651054e-01 2.01343427e+01] [ 2.26066536e-01 3.00423257e-03 9.74107230e-01 -1.32012324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93687500000004 meters 0.016322125749443517 Centerline is valid? [True, True] Translation: X:247.40, Y:20.16, Z:-13.20 [[ 2.25039585e-01 -9.73109247e-01 -4.91485296e-02 2.47399373e+02] [ 9.47820087e-01 2.30324267e-01 -2.20426440e-01 2.01602204e+01] [ 2.25819106e-01 3.02071090e-03 9.74164569e-01 -1.31951173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.966875 meters 0.016475695916299254 Centerline is valid? [True, True] Translation: X:247.40, Y:20.18, Z:-13.19 [[ 2.24297838e-01 -9.73295109e-01 -4.88580687e-02 2.47404856e+02] [ 9.48236700e-01 2.29539232e-01 -2.19451365e-01 2.01848961e+01] [ 2.24805784e-01 2.89345292e-03 9.74399296e-01 -1.31892734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.996875 meters 0.016140384186237377 Centerline is valid? [True, True] Translation: X:247.41, Y:20.21, Z:-13.18 [[ 2.23427197e-01 -9.73502417e-01 -4.87168624e-02 2.47411726e+02] [ 9.48521302e-01 2.28660158e-01 -2.19138934e-01 2.02108563e+01] [ 2.24471887e-01 2.75261601e-03 9.74476677e-01 -1.31822923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.026875 meters 0.01624761571658514 Centerline is valid? [True, True] Translation: X:247.42, Y:20.24, Z:-13.18 [[ 2.22308055e-01 -9.73761364e-01 -4.86614385e-02 2.47418204e+02] [ 9.48767626e-01 2.27557074e-01 -2.19220824e-01 2.02365662e+01] [ 2.24542023e-01 2.56615739e-03 9.74461028e-01 -1.31759388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.056875 meters 0.01602643581726795 Centerline is valid? [True, True] Translation: X:247.42, Y:20.26, Z:-13.17 [[ 2.20544237e-01 -9.74171102e-01 -4.84861130e-02 2.47424640e+02] [ 9.49293879e-01 2.25800227e-01 -2.18758747e-01 2.02626942e+01] [ 2.24056625e-01 2.21841069e-03 9.74573603e-01 -1.31701979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.086875 meters 0.0159117559428915 Centerline is valid? [True, True] Translation: X:247.43, Y:20.29, Z:-13.16 [[ 2.18414309e-01 -9.74658258e-01 -4.83370375e-02 2.47431488e+02] [ 9.49876631e-01 2.23691951e-01 -2.18394820e-01 2.02875186e+01] [ 2.23672921e-01 1.78633136e-03 9.74662626e-01 -1.31643780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.116875 meters 0.015725193702104456 Centerline is valid? [True, True] Translation: X:247.44, Y:20.31, Z:-13.16 [[ 2.16009735e-01 -9.75197070e-01 -4.82749267e-02 2.47439147e+02] [ 9.50414041e-01 2.21334505e-01 -2.18458664e-01 2.03134345e+01] [ 2.23725156e-01 1.30802998e-03 9.74651396e-01 -1.31579253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.146875 meters 0.015624628870713255 Centerline is valid? [True, True] Translation: X:247.45, Y:20.34, Z:-13.15 [[ 2.11357056e-01 -9.76220275e-01 -4.81888993e-02 2.47448233e+02] [ 9.51476653e-01 2.16780717e-01 -2.18399405e-01 2.03376516e+01] [ 2.23652351e-01 3.09642715e-04 9.74668933e-01 -1.31523558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.176875 meters 0.015706868632263143 Centerline is valid? [True, True] Translation: X:247.46, Y:20.36, Z:-13.15 [[ 2.08922309e-01 -9.76746626e-01 -4.81403903e-02 2.47455880e+02] [ 9.51987644e-01 2.14396824e-01 -2.18525807e-01 2.03630527e+01] [ 2.23765492e-01 -1.74140525e-04 9.74642998e-01 -1.31462836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.206875 meters 0.015841029430739745 Centerline is valid? [True, True] Translation: X:247.46, Y:20.39, Z:-13.14 [[ 2.06706791e-01 -9.77221455e-01 -4.80679850e-02 2.47463364e+02] [ 9.52475806e-01 2.12221234e-01 -2.18522280e-01 2.03882843e+01] [ 2.23745708e-01 -6.13553356e-04 9.74647363e-01 -1.31406117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.236875 meters 0.016247514645250163 Centerline is valid? [True, True] Translation: X:247.47, Y:20.41, Z:-13.13 [[ 2.03325238e-01 -9.77932670e-01 -4.80264524e-02 2.47471573e+02] [ 9.53175736e-01 2.08916135e-01 -2.18655126e-01 2.04129155e+01] [ 2.23863492e-01 -1.31954362e-03 9.74619616e-01 -1.31349025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.266875 meters 0.016299176581980407 Centerline is valid? [True, True] Translation: X:247.48, Y:20.44, Z:-13.13 [[ 2.01883986e-01 -9.78235002e-01 -4.79493125e-02 2.47477441e+02] [ 9.53489635e-01 2.07494064e-01 -2.18640638e-01 2.04390361e+01] [ 2.23831123e-01 -1.57912908e-03 9.74626664e-01 -1.31287053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.296875 meters 0.016534963443770236 Centerline is valid? [True, True] Translation: X:247.48, Y:20.47, Z:-13.12 [[ 2.00925137e-01 -9.78436658e-01 -4.78622482e-02 2.47483974e+02] [ 9.53711692e-01 2.06539861e-01 -2.18575605e-01 2.04650743e+01] [ 2.23747846e-01 -1.72945242e-03 9.74645531e-01 -1.31229148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.32687500000003 meters 0.016628410010529796 Centerline is valid? [True, True] Translation: X:247.49, Y:20.49, Z:-13.12 [[ 1.99983065e-01 -9.78632988e-01 -4.77938196e-02 2.47490169e+02] [ 9.53909291e-01 2.05606314e-01 -2.18593477e-01 2.04903038e+01] [ 2.23749498e-01 -1.87597506e-03 9.74644880e-01 -1.31170388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.356875 meters 0.01664326928912326 Centerline is valid? [True, True] Translation: X:247.50, Y:20.52, Z:-13.11 [[ 1.99258732e-01 -9.78787471e-01 -4.76554748e-02 2.47495824e+02] [ 9.54134031e-01 2.04868747e-01 -2.18304941e-01 2.05161200e+01] [ 2.23437259e-01 -1.97054464e-03 9.74716322e-01 -1.31106603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.38687500000003 meters 0.016608495725368284 Centerline is valid? [True, True] Translation: X:247.50, Y:20.54, Z:-13.10 [[ 1.99695995e-01 -9.78706285e-01 -4.74922885e-02 2.47500684e+02] [ 9.54145443e-01 2.05257782e-01 -2.17889229e-01 2.05409348e+01] [ 2.22997719e-01 -1.80294445e-03 9.74817299e-01 -1.31041285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.416875 meters 0.016489611363488726 Centerline is valid? [True, True] Translation: X:247.51, Y:20.57, Z:-13.10 [[ 2.00535523e-01 -9.78542406e-01 -4.73314282e-02 2.47505168e+02] [ 9.54066081e-01 2.06039765e-01 -2.17498339e-01 2.05665861e+01] [ 2.22583504e-01 -1.54116707e-03 9.74912411e-01 -1.30982299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.44687500000003 meters 0.016437523805358144 Centerline is valid? [True, True] Translation: X:247.51, Y:20.59, Z:-13.09 [[ 2.02299820e-01 -9.78182996e-01 -4.72526152e-02 2.47509212e+02] [ 9.53701591e-01 2.07742349e-01 -2.17477338e-01 2.05932631e+01] [ 2.22549003e-01 -1.06926801e-03 9.74920919e-01 -1.30921457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.476875 meters 0.01620723087481238 Centerline is valid? [True, True] Translation: X:247.51, Y:20.62, Z:-13.09 [[ 2.04035006e-01 -9.77823053e-01 -4.72418637e-02 2.47512581e+02] [ 9.53271768e-01 2.09431870e-01 -2.17741197e-01 2.06198156e+01] [ 2.22806314e-01 -6.07508393e-04 9.74862543e-01 -1.30861577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.50687500000004 meters 0.016118900320389606 Centerline is valid? [True, True] Translation: X:247.52, Y:20.65, Z:-13.08 [[ 2.06230619e-01 -9.77365113e-01 -4.71844091e-02 2.47515670e+02] [ 9.52784419e-01 2.11559532e-01 -2.17817389e-01 2.06460265e+01] [ 2.22869429e-01 -3.59546522e-05 9.74848304e-01 -1.30812884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.536875 meters 0.016190643939145596 Centerline is valid? [True, True] Translation: X:247.52, Y:20.67, Z:-13.08 [[ 2.08442598e-01 -9.76896331e-01 -4.71724791e-02 2.47518444e+02] [ 9.52234642e-01 2.13713035e-01 -2.18119064e-01 2.06719329e+01] [ 2.23161087e-01 5.46035587e-04 9.74781427e-01 -1.30769421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56687500000004 meters 0.016480735995699866 Centerline is valid? [True, True] Translation: X:247.52, Y:20.70, Z:-13.07 [[ 2.12404482e-01 -9.76039438e-01 -4.72371833e-02 2.47520514e+02] [ 9.51212777e-01 2.17588316e-01 -2.18745462e-01 2.06995110e+01] [ 2.23782457e-01 1.52990433e-03 9.74637918e-01 -1.30723246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.596875 meters 0.016719621543895172 Centerline is valid? [True, True] Translation: X:247.52, Y:20.73, Z:-13.07 [[ 2.14246601e-01 -9.75636673e-01 -4.72385063e-02 2.47524156e+02] [ 9.50729959e-01 2.19383232e-01 -2.19051460e-01 2.07255304e+01] [ 2.24077974e-01 2.01996763e-03 9.74569126e-01 -1.30675588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62687500000004 meters 0.01661547315323293 Centerline is valid? [True, True] Translation: X:247.53, Y:20.75, Z:-13.06 [[ 2.15457843e-01 -9.75371866e-01 -4.71978844e-02 2.47529144e+02] [ 9.50445643e-01 2.20554304e-01 -2.19109283e-01 2.07523156e+01] [ 2.24122727e-01 2.34978989e-03 9.74558096e-01 -1.30612577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.656875 meters 0.01689489323559064 Centerline is valid? [True, True] Translation: X:247.53, Y:20.78, Z:-13.06 [[ 2.16531744e-01 -9.75140939e-01 -4.70547949e-02 2.47532654e+02] [ 9.50290788e-01 2.21569666e-01 -2.18756260e-01 2.07778623e+01] [ 2.23744100e-01 2.65193631e-03 9.74644317e-01 -1.30563232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68687500000004 meters 0.01722211348881583 Centerline is valid? [True, True] Translation: X:247.54, Y:20.80, Z:-13.05 [[ 2.17972548e-01 -9.74830667e-01 -4.68309686e-02 2.47535398e+02] [ 9.50129791e-01 2.22925850e-01 -2.18076698e-01 2.08046742e+01] [ 2.23027686e-01 3.03923507e-03 9.74807373e-01 -1.30500770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.716875 meters 0.01715444431365296 Centerline is valid? [True, True] Translation: X:247.54, Y:20.83, Z:-13.04 [[ 2.18365246e-01 -9.74746813e-01 -4.67468771e-02 2.47539949e+02] [ 9.50060747e-01 2.23290081e-01 -2.18004856e-01 2.08307000e+01] [ 2.22937653e-01 3.19231100e-03 9.74827478e-01 -1.30441502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.746875 meters 0.017249612319262402 Centerline is valid? [True, True] Translation: X:247.54, Y:20.86, Z:-13.04 [[ 2.18350823e-01 -9.74752757e-01 -4.66902544e-02 2.47544338e+02] [ 9.50049365e-01 2.23263145e-01 -2.18082029e-01 2.08563618e+01] [ 2.23000272e-01 3.26034403e-03 9.74812930e-01 -1.30389860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.776875 meters 0.017050048527161035 Centerline is valid? [True, True] Translation: X:247.55, Y:20.88, Z:-13.03 [[ 2.17807848e-01 -9.74877645e-01 -4.66188592e-02 2.47548864e+02] [ 9.50171564e-01 2.22717929e-01 -2.18107137e-01 2.08827452e+01] [ 2.23010628e-01 3.20953188e-03 9.74810730e-01 -1.30338627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.806875 meters 0.016912119281100424 Centerline is valid? [True, True] Translation: X:247.55, Y:20.91, Z:-13.03 [[ 2.16207091e-01 -9.75236177e-01 -4.65713800e-02 2.47554314e+02] [ 9.50512805e-01 2.21146805e-01 -2.18218924e-01 2.09088475e+01] [ 2.23114101e-01 2.91378568e-03 9.74787981e-01 -1.30292138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.836875 meters 0.016735197618310813 Centerline is valid? [True, True] Translation: X:247.56, Y:20.93, Z:-13.02 [[ 2.14620413e-01 -9.75589024e-01 -4.65202613e-02 2.47559738e+02] [ 9.50852000e-01 2.19588677e-01 -2.18314652e-01 2.09343739e+01] [ 2.23200701e-01 2.62089715e-03 9.74768987e-01 -1.30244211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.866875 meters 0.016529285594052184 Centerline is valid? [True, True] Translation: X:247.57, Y:20.96, Z:-13.02 [[ 2.12864807e-01 -9.75973140e-01 -4.65295929e-02 2.47565526e+02] [ 9.51155095e-01 2.17878745e-01 -2.18707197e-01 2.09606575e+01] [ 2.23590160e-01 2.29820611e-03 9.74680542e-01 -1.30189889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.896875 meters 0.01623521123460975 Centerline is valid? [True, True] Translation: X:247.57, Y:20.99, Z:-13.01 [[ 2.10493683e-01 -9.76488170e-01 -4.65108923e-02 2.47572251e+02] [ 9.51630853e-01 2.15563289e-01 -2.18931925e-01 2.09863328e+01] [ 2.23810476e-01 1.82258701e-03 9.74630981e-01 -1.30127595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.926875 meters 0.01602724714831978 Centerline is valid? [True, True] Translation: X:247.58, Y:21.01, Z:-13.01 [[ 2.08100495e-01 -9.77000080e-01 -4.65298598e-02 2.47579006e+02] [ 9.52058032e-01 2.13234671e-01 -2.19354688e-01 2.10111634e+01] [ 2.24231327e-01 1.34869250e-03 9.74535014e-01 -1.30075788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.956875 meters 0.015594877780983136 Centerline is valid? [True, True] Translation: X:247.59, Y:21.04, Z:-13.00 [[ 2.04600726e-01 -9.77742279e-01 -4.64605060e-02 2.47586590e+02] [ 9.52814846e-01 2.09808619e-01 -2.19372316e-01 2.10367330e+01] [ 2.24237403e-01 6.15475172e-04 9.74534355e-01 -1.30015905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.986875 meters 0.015803846266792047 Centerline is valid? [True, True] Translation: X:247.60, Y:21.06, Z:-13.00 [[ 1.97648561e-01 -9.79175590e-01 -4.63703627e-02 2.47597307e+02] [ 9.54308324e-01 2.03013132e-01 -2.19274466e-01 2.10607441e+01] [ 2.24121997e-01 -9.12340577e-04 9.74560669e-01 -1.29959044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.016875 meters 0.01614460177754472 Centerline is valid? [True, True] Translation: X:247.61, Y:21.09, Z:-12.99 [[ 1.93966292e-01 -9.79919111e-01 -4.62126963e-02 2.47605205e+02] [ 9.55165043e-01 1.99388286e-01 -2.18869945e-01 2.10859106e+01] [ 2.23689112e-01 -1.68736054e-03 9.74659086e-01 -1.29896051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.046875 meters 0.016664096564188338 Centerline is valid? [True, True] Translation: X:247.61, Y:21.11, Z:-12.98 [[ 1.90401363e-01 -9.80631321e-01 -4.59296550e-02 2.47612628e+02] [ 9.56130800e-01 1.95847586e-01 -2.17847693e-01 2.11118169e+01] [ 2.22623483e-01 -2.43626016e-03 9.74901456e-01 -1.29833839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07687500000003 meters 0.016978828377617917 Centerline is valid? [True, True] Translation: X:247.62, Y:21.14, Z:-12.97 [[ 1.84469718e-01 -9.81783204e-01 -4.55265154e-02 2.47619631e+02] [ 9.57678498e-01 1.89968391e-01 -2.16249637e-01 2.11374620e+01] [ 2.20958861e-01 -3.70825518e-03 9.75276079e-01 -1.29748137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.106875 meters 0.018685820242037653 Centerline is valid? [True, True] Translation: X:247.63, Y:21.16, Z:-12.97 [[ 1.82240921e-01 -9.82203113e-01 -4.54454719e-02 2.47629562e+02] [ 9.58126133e-01 1.87776090e-01 -2.16181529e-01 2.11619433e+01] [ 2.20867744e-01 -4.14537336e-03 9.75294958e-01 -1.29692435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13687500000003 meters 0.01782981763675122 Centerline is valid? [True, True] Translation: X:247.63, Y:21.19, Z:-12.96 [[ 1.80247427e-01 -9.82573173e-01 -4.53962980e-02 2.47633044e+02] [ 9.58510150e-01 1.85820522e-01 -2.16168977e-01 2.11888684e+01] [ 2.20837402e-01 -4.54891047e-03 9.75300030e-01 -1.29619436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.166875 meters 0.020153020483841766 Centerline is valid? [True, True] Translation: X:247.64, Y:21.21, Z:-12.96 [[ 1.78446880e-01 -9.82901933e-01 -4.53927360e-02 2.47643221e+02] [ 9.58784870e-01 1.84064698e-01 -2.16452675e-01 2.12143096e+01] [ 2.21106953e-01 -4.89656402e-03 9.75237273e-01 -1.29568794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19687500000003 meters 0.017779302028527635 Centerline is valid? [True, True] Translation: X:247.64, Y:21.24, Z:-12.95 [[ 1.77403422e-01 -9.83091623e-01 -4.53749535e-02 2.47643156e+02] [ 9.58927491e-01 1.83044125e-01 -2.16686214e-01 2.12418201e+01] [ 2.21328021e-01 -5.07041434e-03 9.75186238e-01 -1.29500669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.226875 meters 0.018683483156493604 Centerline is valid? [True, True] Translation: X:247.65, Y:21.27, Z:-12.94 [[ 1.77166006e-01 -9.83139247e-01 -4.52706063e-02 2.47648982e+02] [ 9.59019103e-01 1.82788463e-01 -2.16496509e-01 2.12673556e+01] [ 2.21121159e-01 -5.05955459e-03 9.75233220e-01 -1.29444548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25687500000004 meters 0.018485574242448455 Centerline is valid? [True, True] Translation: X:247.65, Y:21.29, Z:-12.94 [[ 1.77832999e-01 -9.83023389e-01 -4.51712341e-02 2.47652825e+02] [ 9.58924602e-01 1.83416555e-01 -2.16383861e-01 2.12938260e+01] [ 2.20995549e-01 -4.83561663e-03 9.75262828e-01 -1.29386870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.286875 meters 0.01755363723915645 Centerline is valid? [True, True] Translation: X:247.65, Y:21.32, Z:-12.93 [[ 1.78831737e-01 -9.82846384e-01 -4.50798769e-02 2.47654840e+02] [ 9.58766097e-01 1.84370108e-01 -2.16275828e-01 2.13204378e+01] [ 2.20877298e-01 -4.54407565e-03 9.75291018e-01 -1.29330842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31687500000004 meters 0.017407731627341706 Centerline is valid? [True, True] Translation: X:247.66, Y:21.35, Z:-12.93 [[ 1.80109966e-01 -9.82617739e-01 -4.49753152e-02 2.47658293e+02] [ 9.58566782e-01 1.85593216e-01 -2.16113124e-01 2.13462917e+01] [ 2.20703703e-01 -4.18771570e-03 9.75331912e-01 -1.29273159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.346875 meters 0.01652953980727984 Centerline is valid? [True, True] Translation: X:247.66, Y:21.37, Z:-12.92 [[ 1.83393714e-01 -9.82017956e-01 -4.48049004e-02 2.47659270e+02] [ 9.58074125e-01 1.88757013e-01 -2.15556863e-01 2.13746636e+01] [ 2.20137949e-01 -3.39464217e-03 9.75462844e-01 -1.29209762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37687500000004 meters 0.016157195581132523 Centerline is valid? [True, True] Translation: X:247.66, Y:21.40, Z:-12.91 [[ 1.84946021e-01 -9.81732450e-01 -4.46807178e-02 2.47662448e+02] [ 9.57850796e-01 1.90243165e-01 -2.15242631e-01 2.14015429e+01] [ 2.19810877e-01 -2.98919290e-03 9.75537925e-01 -1.29147794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.406875 meters 0.016157195581132523 Centerline is valid? [True, True] Translation: X:247.67, Y:21.43, Z:-12.91 [[ 1.84645833e-01 -9.81792018e-01 -4.46133283e-02 2.47667630e+02] [ 9.57908712e-01 1.89935508e-01 -2.15256599e-01 2.14272066e+01] [ 2.19810866e-01 -2.98926176e-03 9.75537927e-01 -1.29090090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43687500000004 meters 0.015777535022144153 Centerline is valid? [True, True] Translation: X:247.67, Y:21.45, Z:-12.90 [[ 1.86652423e-01 -9.81416122e-01 -4.45339152e-02 2.47670141e+02] [ 9.57531810e-01 1.91875695e-01 -2.15212802e-01 2.14535453e+01] [ 2.19758290e-01 -2.47264950e-03 9.75551219e-01 -1.29030351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.466875 meters 0.01549613472001693 Centerline is valid? [True, True] Translation: X:247.67, Y:21.48, Z:-12.90 [[ 1.88628834e-01 -9.81041798e-01 -4.44539486e-02 2.47673193e+02] [ 9.57156248e-01 1.93786331e-01 -2.15171502e-01 2.14804417e+01] [ 2.19706805e-01 -1.96182504e-03 9.75563976e-01 -1.28972415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.496875 meters 0.015275805662201382 Centerline is valid? [True, True] Translation: X:247.67, Y:21.51, Z:-12.89 [[ 1.93093807e-01 -9.80163755e-01 -4.46519334e-02 2.47672796e+02] [ 9.55959974e-01 1.98187361e-01 -2.16477017e-01 2.15076053e+01] [ 2.21032374e-01 -8.85089873e-04 9.75266069e-01 -1.28927032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.526875 meters 0.015190622783930447 Centerline is valid? [True, True] Translation: X:247.67, Y:21.53, Z:-12.89 [[ 1.95600807e-01 -9.79665281e-01 -4.46795490e-02 2.47674924e+02] [ 9.55339075e-01 2.00638672e-01 -2.16959385e-01 2.15345493e+01] [ 2.21512022e-01 -2.46688341e-04 9.75157609e-01 -1.28880678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.556875 meters 0.015300703192942572 Centerline is valid? [True, True] Translation: X:247.68, Y:21.56, Z:-12.88 [[ 1.98132568e-01 -9.79153686e-01 -4.47386289e-02 2.47677068e+02] [ 9.54669909e-01 2.03120402e-01 -2.17594730e-01 2.15613200e+01] [ 2.22146010e-01 4.01979883e-04 9.75013327e-01 -1.28830293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.586875 meters 0.015257093444809296 Centerline is valid? [True, True] Translation: X:247.68, Y:21.59, Z:-12.88 [[ 2.00379285e-01 -9.78695627e-01 -4.47550156e-02 2.47679487e+02] [ 9.54102668e-01 2.05314140e-01 -2.18023398e-01 2.15884936e+01] [ 2.22567384e-01 9.86492767e-04 9.74916810e-01 -1.28775119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.616875 meters 0.015425448691782296 Centerline is valid? [True, True] Translation: X:247.68, Y:21.61, Z:-12.87 [[ 2.02024943e-01 -9.78361649e-01 -4.46587690e-02 2.47681833e+02] [ 9.53788117e-01 2.06897190e-01 -2.17903147e-01 2.16147026e+01] [ 2.22427856e-01 1.42686767e-03 9.74948108e-01 -1.28723006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.646875 meters 0.015787139729713084 Centerline is valid? [True, True] Translation: X:247.69, Y:21.64, Z:-12.87 [[ 2.03314030e-01 -9.78096210e-01 -4.46229645e-02 2.47685033e+02] [ 9.53472763e-01 2.08145580e-01 -2.18094262e-01 2.16410026e+01] [ 2.22605244e-01 1.79484210e-03 9.74907013e-01 -1.28662780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.676875 meters 0.015865312366527766 Centerline is valid? [True, True] Translation: X:247.69, Y:21.67, Z:-12.86 [[ 2.05879811e-01 -9.77564308e-01 -4.45143409e-02 2.47687708e+02] [ 9.52970796e-01 2.10623024e-01 -2.17909622e-01 2.16682059e+01] [ 2.22396414e-01 2.44232490e-03 9.74953266e-01 -1.28598673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.706875 meters 0.01636230966507394 Centerline is valid? [True, True] Translation: X:247.69, Y:21.69, Z:-12.85 [[ 2.06714075e-01 -9.77390981e-01 -4.44540295e-02 2.47690690e+02] [ 9.52794186e-01 2.11422891e-01 -2.17907320e-01 2.16943589e+01] [ 2.22379249e-01 2.68896913e-03 9.74956532e-01 -1.28544424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.736875 meters 0.016766152209267315 Centerline is valid? [True, True] Translation: X:247.69, Y:21.72, Z:-12.85 [[ 2.07450633e-01 -9.77238468e-01 -4.43758012e-02 2.47694078e+02] [ 9.52647414e-01 2.12123636e-01 -2.17868005e-01 2.17197741e+01] [ 2.22322152e-01 2.92236335e-03 9.74968882e-01 -1.28488114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.766875 meters 0.01645607140371859 Centerline is valid? [True, True] Translation: X:247.70, Y:21.75, Z:-12.84 [[ 2.07989489e-01 -9.77130451e-01 -4.42318116e-02 2.47699012e+02] [ 9.52615645e-01 2.12618033e-01 -2.17524723e-01 2.17460024e+01] [ 2.21954512e-01 3.10694038e-03 9.75052071e-01 -1.28420142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.796875 meters 0.016985284384911627 Centerline is valid? [True, True] Translation: X:247.70, Y:21.77, Z:-12.84 [[ 2.10190550e-01 -9.76667236e-01 -4.40572724e-02 2.47702151e+02] [ 9.52258079e-01 2.14727049e-01 -2.17018075e-01 2.17728763e+01] [ 2.21414732e-01 3.66125502e-03 9.75172862e-01 -1.28358613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.82687500000003 meters 0.017368858386246154 Centerline is valid? [True, True] Translation: X:247.71, Y:21.80, Z:-12.83 [[ 2.10938147e-01 -9.76510104e-01 -4.39671990e-02 2.47705776e+02] [ 9.52122620e-01 2.15436456e-01 -2.16909314e-01 2.17994099e+01] [ 2.21286274e-01 3.89228405e-03 9.75201125e-01 -1.28304615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.856875 meters 0.017082420405024546 Centerline is valid? [True, True] Translation: X:247.71, Y:21.83, Z:-12.82 [[ 2.12204934e-01 -9.76235157e-01 -4.39770824e-02 2.47711569e+02] [ 9.51750578e-01 2.16672048e-01 -2.17310979e-01 2.18259456e+01] [ 2.21675222e-01 4.25924830e-03 9.75111253e-01 -1.28239467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.88687500000003 meters 0.017707420355894645 Centerline is valid? [True, True] Translation: X:247.72, Y:21.85, Z:-12.82 [[ 2.13021151e-01 -9.76057384e-01 -4.39769431e-02 2.47715046e+02] [ 9.51501425e-01 2.17466394e-01 -2.17608376e-01 2.18529043e+01] [ 2.21961769e-01 4.51106265e-03 9.75044934e-01 -1.28185926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.916875 meters 0.0177627145276639 Centerline is valid? [True, True] Translation: X:247.72, Y:21.88, Z:-12.81 [[ 2.13765004e-01 -9.75895513e-01 -4.39598765e-02 2.47719978e+02] [ 9.51288594e-01 2.18186730e-01 -2.17817726e-01 2.18802943e+01] [ 2.22158804e-01 4.74327805e-03 9.74998958e-01 -1.28124834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.94687500000003 meters 0.019605087987656027 Centerline is valid? [True, True] Translation: X:247.72, Y:21.91, Z:-12.81 [[ 2.15642450e-01 -9.75480497e-01 -4.40015091e-02 2.47721925e+02] [ 9.50743305e-01 2.20023228e-01 -2.18350516e-01 2.19072409e+01] [ 2.22678024e-01 5.25150015e-03 9.74877900e-01 -1.28082906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.976875 meters 0.019376864665650025 Centerline is valid? [True, True] Translation: X:247.73, Y:21.93, Z:-12.80 [[ 2.16524970e-01 -9.75284693e-01 -4.40080016e-02 2.47728546e+02] [ 9.50480687e-01 2.20883265e-01 -2.18625359e-01 2.19343028e+01] [ 2.22942597e-01 5.50909386e-03 9.74816007e-01 -1.28020063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.00687500000004 meters 0.0202484054776807 Centerline is valid? [True, True] Translation: X:247.73, Y:21.96, Z:-12.80 [[ 2.16979170e-01 -9.75182563e-01 -4.40341663e-02 2.47733253e+02] [ 9.50273302e-01 2.21329140e-01 -2.19075474e-01 2.19616454e+01] [ 2.23384626e-01 5.69032195e-03 9.74713768e-01 -1.27960235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.036875 meters 0.020187018640566982 Centerline is valid? [True, True] Translation: X:247.74, Y:21.99, Z:-12.79 [[ 2.17997898e-01 -9.74955875e-01 -4.40222496e-02 2.47739871e+02] [ 9.49986850e-01 2.22317705e-01 -2.19316718e-01 2.19883627e+01] [ 2.23611049e-01 5.99002543e-03 9.74660053e-01 -1.27899624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06687500000004 meters 0.020568733974406717 Centerline is valid? [True, True] Translation: X:247.74, Y:22.01, Z:-12.78 [[ 2.18247514e-01 -9.74900485e-01 -4.40121243e-02 2.47744540e+02] [ 9.49866852e-01 2.22556934e-01 -2.19593656e-01 2.20143402e+01] [ 2.23877165e-01 6.12011168e-03 9.74598153e-01 -1.27843910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.096875 meters 0.020035026934325916 Centerline is valid? [True, True] Translation: X:247.75, Y:22.04, Z:-12.78 [[ 2.18546522e-01 -9.74836890e-01 -4.39369415e-02 2.47751355e+02] [ 9.49810032e-01 2.22831648e-01 -2.19560835e-01 2.20405586e+01] [ 2.23826543e-01 6.25250916e-03 9.74608939e-01 -1.27781321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12687500000004 meters 0.01969719349579251 Centerline is valid? [True, True] Translation: X:247.76, Y:22.07, Z:-12.77 [[ 2.18760503e-01 -9.74786735e-01 -4.39848149e-02 2.47757885e+02] [ 9.49619809e-01 2.23046931e-01 -2.20164223e-01 2.20671433e+01] [ 2.24423842e-01 6.39438477e-03 9.74470652e-01 -1.27719315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.156875 meters 0.020476984519950992 Centerline is valid? [True, True] Translation: X:247.76, Y:22.09, Z:-12.77 [[ 2.19873964e-01 -9.74537831e-01 -4.39483349e-02 2.47763519e+02] [ 9.49332181e-01 2.24122435e-01 -2.20312377e-01 2.20939153e+01] [ 2.24552554e-01 6.71938693e-03 9.74438813e-01 -1.27663446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18687500000004 meters 0.020790583332729512 Centerline is valid? [True, True] Translation: X:247.77, Y:22.12, Z:-12.76 [[ 2.19547031e-01 -9.74613097e-01 -4.39136935e-02 2.47768812e+02] [ 9.49373271e-01 2.23795112e-01 -2.20468002e-01 2.21197777e+01] [ 2.24698673e-01 6.71260853e-03 9.74405176e-01 -1.27607009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.216875 meters 0.0207906627548673 Centerline is valid? [True, True] Translation: X:247.77, Y:22.15, Z:-12.75 [[ 2.19484451e-01 -9.74635218e-01 -4.37351960e-02 2.47774697e+02] [ 9.49518975e-01 2.23697758e-01 -2.19938693e-01 2.21459157e+01] [ 2.24143461e-01 6.74572483e-03 9.74532813e-01 -1.27547611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.246875 meters 0.02099750013974088 Centerline is valid? [True, True] Translation: X:247.78, Y:22.17, Z:-12.75 [[ 2.19225674e-01 -9.74696617e-01 -4.36647222e-02 2.47780014e+02] [ 9.49578598e-01 2.23429754e-01 -2.19953702e-01 2.21722991e+01] [ 2.24144127e-01 6.75641273e-03 9.74532586e-01 -1.27490905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.276875 meters 0.019848040025241518 Centerline is valid? [True, True] Translation: X:247.79, Y:22.20, Z:-12.74 [[ 2.17876481e-01 -9.75008441e-01 -4.34554874e-02 2.47789106e+02] [ 9.50056032e-01 2.22073079e-01 -2.19264869e-01 2.21988522e+01] [ 2.23435392e-01 6.48751007e-03 9.74697152e-01 -1.27427264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.306875 meters 0.019350809679064412 Centerline is valid? [True, True] Translation: X:247.80, Y:22.23, Z:-12.74 [[ 2.16921959e-01 -9.75222911e-01 -4.34181638e-02 2.47796324e+02] [ 9.50244963e-01 2.21133798e-01 -2.19395429e-01 2.22255740e+01] [ 2.23560673e-01 6.33379500e-03 9.74669436e-01 -1.27365769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.336875 meters 0.018745420768811222 Centerline is valid? [True, True] Translation: X:247.80, Y:22.25, Z:-12.73 [[ 2.15500745e-01 -9.75541242e-01 -4.33441258e-02 2.47803683e+02] [ 9.50577778e-01 2.19732638e-01 -2.19361473e-01 2.22521030e+01] [ 2.23520283e-01 6.07059794e-03 9.74680374e-01 -1.27301895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.366875 meters 0.01971648709670313 Centerline is valid? [True, True] Translation: X:247.81, Y:22.28, Z:-12.73 [[ 2.12298716e-01 -9.76241975e-01 -4.33688950e-02 2.47809349e+02] [ 9.51188041e-01 2.16615529e-01 -2.19815887e-01 2.22784452e+01] [ 2.23987871e-01 5.41465629e-03 9.74576890e-01 -1.27254312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.396875 meters 0.01829668982524832 Centerline is valid? [True, True] Translation: X:247.82, Y:22.30, Z:-12.72 [[ 2.10499753e-01 -9.76632127e-01 -4.33536999e-02 2.47818694e+02] [ 9.51529939e-01 2.14858046e-01 -2.20060889e-01 2.23043562e+01] [ 2.24233425e-01 5.07041920e-03 9.74522274e-01 -1.27192488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.426875 meters 0.017994046551849125 Centerline is valid? [True, True] Translation: X:247.83, Y:22.33, Z:-12.71 [[ 2.08264027e-01 -9.77113216e-01 -4.33111720e-02 2.47825322e+02] [ 9.51995004e-01 2.12669684e-01 -2.20175200e-01 2.23299004e+01] [ 2.24347071e-01 4.62255435e-03 9.74498345e-01 -1.27140886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.456875 meters 0.017044606444082042 Centerline is valid? [True, True] Translation: X:247.83, Y:22.36, Z:-12.71 [[ 2.05906625e-01 -9.77609876e-01 -4.33750178e-02 2.47833649e+02] [ 9.52351158e-01 2.10384430e-01 -2.20829491e-01 2.23560359e+01] [ 2.25010520e-01 4.16200693e-03 9.74347445e-01 -1.27084659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.486875 meters 0.01640817766132957 Centerline is valid? [True, True] Translation: X:247.84, Y:22.38, Z:-12.70 [[ 2.01209064e-01 -9.78586389e-01 -4.34003643e-02 2.47844054e+02] [ 9.53240815e-01 2.05812333e-01 -2.21298965e-01 2.23812421e+01] [ 2.25492485e-01 3.15635900e-03 9.74239794e-01 -1.27036170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.516875 meters 0.01581847997602935 Centerline is valid? [True, True] Translation: X:247.85, Y:22.41, Z:-12.70 [[ 1.98411902e-01 -9.79157227e-01 -4.34032361e-02 2.47852268e+02] [ 9.53746022e-01 2.03087337e-01 -2.21639480e-01 2.24058624e+01] [ 2.25834547e-01 2.58024712e-03 9.74162255e-01 -1.26973745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.546875 meters 0.015408428660577511 Centerline is valid? [True, True] Translation: X:247.86, Y:22.43, Z:-12.69 [[ 1.95413355e-01 -9.79762029e-01 -4.33588144e-02 2.47859757e+02] [ 9.54348436e-01 2.00156385e-01 -2.21712616e-01 2.24304131e+01] [ 2.25904146e-01 1.94618938e-03 9.74147591e-01 -1.26921724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57687500000003 meters 0.01494061746973458 Centerline is valid? [True, True] Translation: X:247.87, Y:22.46, Z:-12.69 [[ 1.90259808e-01 -9.80777622e-01 -4.33181534e-02 2.47871190e+02] [ 9.55351893e-01 1.95127058e-01 -2.21874271e-01 2.24563313e+01] [ 2.26061864e-01 8.29676455e-04 9.74112594e-01 -1.26855942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.606875 meters 0.01500018983322157 Centerline is valid? [True, True] Translation: X:247.88, Y:22.48, Z:-12.68 [[ 1.87560499e-01 -9.81301509e-01 -4.32250795e-02 2.47878809e+02] [ 9.55922895e-01 1.92476691e-01 -2.21729888e-01 2.24822651e+01] [ 2.25903693e-01 2.67925289e-04 9.74149603e-01 -1.26789210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63687500000003 meters 0.01485461924820316 Centerline is valid? [True, True] Translation: X:247.89, Y:22.51, Z:-12.67 [[ 1.85219551e-01 -9.81755052e-01 -4.30201875e-02 2.47885982e+02] [ 9.56545176e-01 1.90149876e-01 -2.21052822e-01 2.25081496e+01] [ 2.25200008e-01 -2.07448384e-04 9.74312534e-01 -1.26721793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.666875 meters 0.01491002651043005 Centerline is valid? [True, True] Translation: X:247.89, Y:22.53, Z:-12.67 [[ 1.82703837e-01 -9.82232624e-01 -4.28763303e-02 2.47893091e+02] [ 9.57120209e-01 1.87666078e-01 -2.20686085e-01 2.25335945e+01] [ 2.24811505e-01 -7.17607690e-04 9.74402007e-01 -1.26660687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69687500000003 meters 0.015247634986615142 Centerline is valid? [True, True] Translation: X:247.90, Y:22.56, Z:-12.66 [[ 1.78134569e-01 -9.83081102e-01 -4.26570336e-02 2.47902891e+02] [ 9.58165838e-01 1.83162970e-01 -2.19930793e-01 2.25573868e+01] [ 2.24022996e-01 -1.69523516e-03 9.74582384e-01 -1.26603727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.726875 meters 0.015520364307482033 Centerline is valid? [True, True] Translation: X:247.91, Y:22.58, Z:-12.65 [[ 1.75637476e-01 -9.83538271e-01 -4.24729014e-02 2.47909675e+02] [ 9.58785944e-01 1.80686439e-01 -2.19275908e-01 2.25832773e+01] [ 2.23340525e-01 -2.20935383e-03 9.74737980e-01 -1.26542460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75687500000004 meters 0.015601741001702479 Centerline is valid? [True, True] Translation: X:247.92, Y:22.61, Z:-12.65 [[ 1.73771668e-01 -9.83872072e-01 -4.24164400e-02 2.47916194e+02] [ 9.59111745e-01 1.78855160e-01 -2.19352439e-01 2.26088833e+01] [ 2.23401138e-01 -2.56486667e-03 9.74723219e-01 -1.26483082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.786875 meters 0.016085885186448875 Centerline is valid? [True, True] Translation: X:247.92, Y:22.64, Z:-12.64 [[ 1.70647213e-01 -9.84421656e-01 -4.23501141e-02 2.47923536e+02] [ 9.59672389e-01 1.75794543e-01 -2.19374529e-01 2.26352010e+01] [ 2.23401956e-01 -3.20658318e-03 9.74721131e-01 -1.26426370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81687500000004 meters 0.01626326741806022 Centerline is valid? [True, True] Translation: X:247.93, Y:22.66, Z:-12.64 [[ 1.69881466e-01 -9.84556170e-01 -4.23017134e-02 2.47929062e+02] [ 9.59792311e-01 1.75037506e-01 -2.19455216e-01 2.26608521e+01] [ 2.23470374e-01 -3.31948528e-03 9.74705070e-01 -1.26374635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.846875 meters 0.01623991524046144 Centerline is valid? [True, True] Translation: X:247.93, Y:22.69, Z:-12.63 [[ 1.69981788e-01 -9.84537419e-01 -4.23351291e-02 2.47933349e+02] [ 9.59643848e-01 1.75144667e-01 -2.20018249e-01 2.26868160e+01] [ 2.24030971e-01 -3.22755080e-03 9.74576681e-01 -1.26322105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87687500000004 meters 0.01611818965114265 Centerline is valid? [True, True] Translation: X:247.94, Y:22.71, Z:-12.63 [[ 1.70632189e-01 -9.84424074e-01 -4.23544511e-02 2.47937719e+02] [ 9.59418278e-01 1.75784433e-01 -2.20491274e-01 2.27135984e+01] [ 2.24502171e-01 -3.01272594e-03 9.74468932e-01 -1.26269378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.906875 meters 0.015862731329211423 Centerline is valid? [True, True] Translation: X:247.94, Y:22.74, Z:-12.62 [[ 1.71806896e-01 -9.84220819e-01 -4.23292947e-02 2.47940866e+02] [ 9.59153257e-01 1.76924314e-01 -2.20732455e-01 2.27400073e+01] [ 2.24738559e-01 -2.67692295e-03 9.74415422e-01 -1.26214722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93687500000004 meters 0.015513952799346354 Centerline is valid? [True, True] Translation: X:247.94, Y:22.77, Z:-12.62 [[ 1.74807172e-01 -9.83685035e-01 -4.24994650e-02 2.47942653e+02] [ 9.58309173e-01 1.79889029e-01 -2.21998796e-01 2.27661358e+01] [ 2.26022081e-01 -1.92064558e-03 9.74120285e-01 -1.26172892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.966875 meters 0.015546752424312372 Centerline is valid? [True, True] Translation: X:247.95, Y:22.79, Z:-12.61 [[ 1.76127439e-01 -9.83448996e-01 -4.25111409e-02 2.47946250e+02] [ 9.57982364e-01 1.81178461e-01 -2.22360417e-01 2.27916660e+01] [ 2.26382232e-01 -1.56115245e-03 9.74037293e-01 -1.26127134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.996875 meters 0.015350255863809439 Centerline is valid? [True, True] Translation: X:247.95, Y:22.82, Z:-12.61 [[ 1.77349127e-01 -9.83231246e-01 -4.24688666e-02 2.47948863e+02] [ 9.57722673e-01 1.82359128e-01 -2.22513886e-01 2.28178235e+01] [ 2.26527190e-01 -1.21075301e-03 9.74004089e-01 -1.26066409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.026875 meters 0.015032937735695615 Centerline is valid? [True, True] Translation: X:247.95, Y:22.84, Z:-12.60 [[ 1.79356663e-01 -9.82871699e-01 -4.23604937e-02 2.47950226e+02] [ 9.57396512e-01 1.84289884e-01 -2.22326691e-01 2.28446768e+01] [ 2.26325223e-01 -6.80015652e-04 9.74051555e-01 -1.26008375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.056875 meters 0.015203401089592315 Centerline is valid? [True, True] Translation: X:247.95, Y:22.87, Z:-12.59 [[ 1.80229982e-01 -9.82717434e-01 -4.22326674e-02 2.47954112e+02] [ 9.57305701e-01 1.85111520e-01 -2.22034954e-01 2.28709698e+01] [ 2.26015373e-01 -4.12217388e-04 9.74123648e-01 -1.25945121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.086875 meters 0.015226842523462158 Centerline is valid? [True, True] Translation: X:247.96, Y:22.90, Z:-12.59 [[ 1.80357053e-01 -9.82695251e-01 -4.22063727e-02 2.47957933e+02] [ 9.57227511e-01 1.85229443e-01 -2.22273581e-01 2.28964717e+01] [ 2.26245056e-01 -3.12493106e-04 9.74070366e-01 -1.25891383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.116875 meters 0.015189169666177433 Centerline is valid? [True, True] Translation: X:247.96, Y:22.92, Z:-12.58 [[ 1.80599269e-01 -9.82655887e-01 -4.20869446e-02 2.47961977e+02] [ 9.57236453e-01 1.85438327e-01 -2.22060803e-01 2.29225661e+01] [ 2.26013888e-01 -1.83138878e-04 9.74124062e-01 -1.25832964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.146875 meters 0.015092703085706163 Centerline is valid? [True, True] Translation: X:247.97, Y:22.95, Z:-12.58 [[ 1.80544052e-01 -9.82673222e-01 -4.19187831e-02 2.47965810e+02] [ 9.57376395e-01 1.85346489e-01 -2.21533557e-01 2.29485494e+01] [ 2.25464593e-01 -1.35487451e-04 9.74251353e-01 -1.25760902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.176875 meters 0.015187242926333463 Centerline is valid? [True, True] Translation: X:247.97, Y:22.97, Z:-12.57 [[ 1.80690131e-01 -9.82661741e-01 -4.15569472e-02 2.47968865e+02] [ 9.57718179e-01 1.85407392e-01 -2.19999972e-01 2.29749230e+01] [ 2.23890521e-01 -4.80200356e-05 9.74614299e-01 -1.25691682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.206875 meters 0.015172941046780753 Centerline is valid? [True, True] Translation: X:247.97, Y:23.00, Z:-12.56 [[ 1.80426979e-01 -9.82714332e-01 -4.14565698e-02 2.47972656e+02] [ 9.57832224e-01 1.85128437e-01 -2.19738238e-01 2.30008714e+01] [ 2.23614706e-01 -6.17320657e-05 9.74677618e-01 -1.25633483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.236875 meters 0.015053456914690826 Centerline is valid? [True, True] Translation: X:247.98, Y:23.03, Z:-12.56 [[ 1.79493945e-01 -9.82892352e-01 -4.12861610e-02 2.47976598e+02] [ 9.58134143e-01 1.84180834e-01 -2.19217664e-01 2.30267769e+01] [ 2.23071485e-01 -2.09437208e-04 9.74802067e-01 -1.25569887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.266875 meters 0.01511600847790963 Centerline is valid? [True, True] Translation: X:247.98, Y:23.05, Z:-12.55 [[ 1.77720584e-01 -9.83217399e-01 -4.12181998e-02 2.47980986e+02] [ 9.58459948e-01 1.82436986e-01 -2.19251622e-01 2.30519939e+01] [ 2.23091734e-01 -5.40467450e-04 9.74797305e-01 -1.25516197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.296875 meters 0.01511600847790963 Centerline is valid? [True, True] Translation: X:247.99, Y:23.08, Z:-12.55 [[ 1.77422316e-01 -9.83274219e-01 -4.11476849e-02 2.47985658e+02] [ 9.58515207e-01 1.82130504e-01 -2.19264856e-01 2.30777532e+01] [ 2.23091728e-01 -5.38203281e-04 9.74797308e-01 -1.25458508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.32687500000003 meters 0.015199430770655232 Centerline is valid? [True, True] Translation: X:247.99, Y:23.10, Z:-12.54 [[ 1.76025209e-01 -9.83525847e-01 -4.11343389e-02 2.47989806e+02] [ 9.58703355e-01 1.80765846e-01 -2.19571368e-01 2.31039117e+01] [ 2.23389799e-01 -7.85532859e-04 9.74728875e-01 -1.25404046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.356875 meters 0.015277819355464423 Centerline is valid? [True, True] Translation: X:247.99, Y:23.13, Z:-12.53 [[ 1.74633353e-01 -9.83769737e-01 -4.12346500e-02 2.47993971e+02] [ 9.58741867e-01 1.79432573e-01 -2.20494861e-01 2.31304983e+01] [ 2.24315011e-01 -1.02762842e-03 9.74516147e-01 -1.25346956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.38687500000003 meters 0.015595263129118287 Centerline is valid? [True, True] Translation: X:248.00, Y:23.16, Z:-12.53 [[ 1.72834605e-01 -9.84080869e-01 -4.13889066e-02 2.47997463e+02] [ 9.58780637e-01 1.77716021e-01 -2.21713115e-01 2.31562253e+01] [ 2.25539106e-01 -1.36318362e-03 9.74233162e-01 -1.25307625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.416875 meters 0.015564030239217354 Centerline is valid? [True, True] Translation: X:248.00, Y:23.18, Z:-12.52 [[ 1.71922052e-01 -9.84240997e-01 -4.13819686e-02 2.48001079e+02] [ 9.58882430e-01 1.76825790e-01 -2.21984516e-01 2.31824996e+01] [ 2.25803661e-01 -1.51640901e-03 9.74171652e-01 -1.25249978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.44687500000003 meters 0.015542348543638026 Centerline is valid? [True, True] Translation: X:248.01, Y:23.21, Z:-12.52 [[ 1.71238558e-01 -9.84366229e-01 -4.12369138e-02 2.48005184e+02] [ 9.59100313e-01 1.76126528e-01 -2.21598818e-01 2.32093576e+01] [ 2.25397307e-01 -1.60407490e-03 9.74265611e-01 -1.25190880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.476875 meters 0.015722642960309913 Centerline is valid? [True, True] Translation: X:248.01, Y:23.23, Z:-12.51 [[ 1.70286442e-01 -9.84535472e-01 -4.11391694e-02 2.48009390e+02] [ 9.59305027e-01 1.75176576e-01 -2.21465646e-01 2.32344826e+01] [ 2.25247403e-01 -1.75241507e-03 9.74300024e-01 -1.25133820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.50687500000004 meters 0.015710373297592194 Centerline is valid? [True, True] Translation: X:248.01, Y:23.26, Z:-12.51 [[ 1.69461434e-01 -9.84683542e-01 -4.10017581e-02 2.48012927e+02] [ 9.59557017e-01 1.74340933e-01 -2.21032961e-01 2.32616419e+01] [ 2.24795804e-01 -1.88696223e-03 9.74404067e-01 -1.25063241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.536875 meters 0.015608697105907421 Centerline is valid? [True, True] Translation: X:248.02, Y:23.29, Z:-12.50 [[ 1.68647964e-01 -9.84829863e-01 -4.08412077e-02 2.48016764e+02] [ 9.59825401e-01 1.73511093e-01 -2.20520066e-01 2.32888755e+01] [ 2.24261149e-01 -2.01016838e-03 9.74527012e-01 -1.24998954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56687500000004 meters 0.015926579604684847 Centerline is valid? [True, True] Translation: X:248.02, Y:23.32, Z:-12.49 [[ 1.68103581e-01 -9.84927560e-01 -4.07294440e-02 2.48021307e+02] [ 9.59981590e-01 1.72954953e-01 -2.20276940e-01 2.33150362e+01] [ 2.24001189e-01 -2.07017405e-03 9.74586672e-01 -1.24942682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.596875 meters 0.01581259605268868 Centerline is valid? [True, True] Translation: X:248.02, Y:23.34, Z:-12.49 [[ 1.67268096e-01 -9.85080867e-01 -4.04607220e-02 2.48023491e+02] [ 9.60385610e-01 1.72078115e-01 -2.19199915e-01 2.33427094e+01] [ 2.22892047e-01 -2.19274281e-03 9.74840668e-01 -1.24871966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62687500000004 meters 0.015828018339280717 Centerline is valid? [True, True] Translation: X:248.03, Y:23.37, Z:-12.48 [[ 1.67172861e-01 -9.85099741e-01 -4.03947311e-02 2.48026538e+02] [ 9.60405927e-01 1.71970548e-01 -2.19195314e-01 2.33700924e+01] [ 2.22875951e-01 -2.15183147e-03 9.74844439e-01 -1.24811500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.656875 meters 0.015795091364833508 Centerline is valid? [True, True] Translation: X:248.03, Y:23.40, Z:-12.48 [[ 1.67119186e-01 -9.85114848e-01 -4.02481522e-02 2.48029446e+02] [ 9.60521676e-01 1.71884618e-01 -2.18755089e-01 2.33961984e+01] [ 2.22416924e-01 -2.10105016e-03 9.74949382e-01 -1.24753759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68687500000004 meters 0.015644237069575535 Centerline is valid? [True, True] Translation: X:248.03, Y:23.42, Z:-12.47 [[ 1.67787655e-01 -9.85008706e-01 -4.00643436e-02 2.48030302e+02] [ 9.60554853e-01 1.72494338e-01 -2.18128581e-01 2.34236258e+01] [ 2.21769424e-01 -1.88471655e-03 9.75097313e-01 -1.24695519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.716875 meters 0.015666726150796177 Centerline is valid? [True, True] Translation: X:248.03, Y:23.45, Z:-12.46 [[ 1.68031366e-01 -9.84970896e-01 -3.99724241e-02 2.48033288e+02] [ 9.60549301e-01 1.72711347e-01 -2.17981265e-01 2.34496126e+01] [ 2.21608893e-01 -1.76779440e-03 9.75134029e-01 -1.24639431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.746875 meters 0.01575657238295965 Centerline is valid? [True, True] Translation: X:248.04, Y:23.48, Z:-12.46 [[ 1.68210552e-01 -9.84946143e-01 -3.98284542e-02 2.48035880e+02] [ 9.60607926e-01 1.72853567e-01 -2.17609873e-01 2.34758633e+01] [ 2.21218495e-01 -1.65525203e-03 9.75222866e-01 -1.24586528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.776875 meters 0.01554188184393194 Centerline is valid? [True, True] Translation: X:248.04, Y:23.50, Z:-12.45 [[ 1.68416091e-01 -9.84916703e-01 -3.96876302e-02 2.48036049e+02] [ 9.60665116e-01 1.73022275e-01 -2.17222991e-01 2.35025960e+01] [ 2.20813396e-01 -1.54267486e-03 9.75314854e-01 -1.24532599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.806875 meters 0.015482539126229856 Centerline is valid? [True, True] Translation: X:248.04, Y:23.53, Z:-12.45 [[ 1.68195434e-01 -9.84957260e-01 -3.96168061e-02 2.48039229e+02] [ 9.60706277e-01 1.72791414e-01 -2.17224716e-01 2.35281959e+01] [ 2.20802505e-01 -1.52390901e-03 9.75317349e-01 -1.24479208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.836875 meters 0.015596913537250907 Centerline is valid? [True, True] Translation: X:248.04, Y:23.55, Z:-12.44 [[ 1.67418841e-01 -9.85090806e-01 -3.95857942e-02 2.48042375e+02] [ 9.60812874e-01 1.72027321e-01 -2.17359660e-01 2.35545354e+01] [ 2.20928841e-01 -1.64443827e-03 9.75288543e-01 -1.24422938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.866875 meters 0.015700015438020774 Centerline is valid? [True, True] Translation: X:248.04, Y:23.58, Z:-12.44 [[ 1.65970826e-01 -9.85339869e-01 -3.94845293e-02 2.48044629e+02] [ 9.61107473e-01 1.70592279e-01 -2.17188165e-01 2.35800271e+01] [ 2.20739914e-01 -1.90197707e-03 9.75330853e-01 -1.24365556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.896875 meters 0.015511793584167596 Centerline is valid? [True, True] Translation: X:248.05, Y:23.61, Z:-12.43 [[ 1.65930289e-01 -9.85348416e-01 -3.94415673e-02 2.48047466e+02] [ 9.61078228e-01 1.70543574e-01 -2.17355765e-01 2.36064095e+01] [ 2.20897664e-01 -1.84052669e-03 9.75295255e-01 -1.24304228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.926875 meters 0.015542918696612004 Centerline is valid? [True, True] Translation: X:248.05, Y:23.63, Z:-12.42 [[ 1.65534842e-01 -9.85417338e-01 -3.93812881e-02 2.48050588e+02] [ 9.61135942e-01 1.70144660e-01 -2.17413193e-01 2.36332931e+01] [ 2.20943246e-01 -1.86131285e-03 9.75284891e-01 -1.24246170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.956875 meters 0.015367766412580228 Centerline is valid? [True, True] Translation: X:248.05, Y:23.66, Z:-12.42 [[ 1.65831815e-01 -9.85369893e-01 -3.93189844e-02 2.48051634e+02] [ 9.61076471e-01 1.70420631e-01 -2.17459940e-01 2.36593041e+01] [ 2.20979245e-01 -1.72677420e-03 9.75276982e-01 -1.24199655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.986875 meters 0.015483079451999488 Centerline is valid? [True, True] Translation: X:248.05, Y:23.69, Z:-12.41 [[ 1.65979812e-01 -9.85347879e-01 -3.92461271e-02 2.48054484e+02] [ 9.61052775e-01 1.70548886e-01 -2.17464114e-01 2.36854123e+01] [ 2.20971187e-01 -1.62294646e-03 9.75278986e-01 -1.24149157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.016875 meters 0.015459494500552635 Centerline is valid? [True, True] Translation: X:248.06, Y:23.71, Z:-12.41 [[ 1.66421052e-01 -9.85275377e-01 -3.91977759e-02 2.48056878e+02] [ 9.60970531e-01 1.70968613e-01 -2.17497981e-01 2.37117329e+01] [ 2.20996995e-01 -1.47166452e-03 9.75273378e-01 -1.24095649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.046875 meters 0.015227067794810692 Centerline is valid? [True, True] Translation: X:248.06, Y:23.74, Z:-12.40 [[ 1.66886285e-01 -9.85200415e-01 -3.91038340e-02 2.48059921e+02] [ 9.60924953e-01 1.71401423e-01 -2.17358659e-01 2.37381208e+01] [ 2.20844294e-01 -1.30167065e-03 9.75308209e-01 -1.24032995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07687500000003 meters 0.015244368348740774 Centerline is valid? [True, True] Translation: X:248.06, Y:23.77, Z:-12.40 [[ 1.68870669e-01 -9.84871261e-01 -3.88753929e-02 2.48060868e+02] [ 9.60788778e-01 1.73285789e-01 -2.16464684e-01 2.37651064e+01] [ 2.19926400e-01 -7.96505147e-04 9.75516142e-01 -1.23959745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.106875 meters 0.015125165107910774 Centerline is valid? [True, True] Translation: X:248.06, Y:23.79, Z:-12.39 [[ 1.69868089e-01 -9.84708960e-01 -3.86406061e-02 2.48063396e+02] [ 9.60829619e-01 1.74206775e-01 -2.15542205e-01 2.37920441e+01] [ 2.18977796e-01 -5.13296386e-04 9.75729707e-01 -1.23893908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13687500000003 meters 0.015152091398282283 Centerline is valid? [True, True] Translation: X:248.07, Y:23.82, Z:-12.38 [[ 1.70886818e-01 -9.84539946e-01 -3.84550412e-02 2.48065623e+02] [ 9.60800514e-01 1.75160054e-01 -2.14898415e-01 2.38179472e+01] [ 2.18311861e-01 -2.24316984e-04 9.75879030e-01 -1.23838744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.166875 meters 0.015196608809720605 Centerline is valid? [True, True] Translation: X:248.07, Y:23.84, Z:-12.38 [[ 1.72365380e-01 -9.84284483e-01 -3.83957255e-02 2.48067524e+02] [ 9.60544368e-01 1.76590010e-01 -2.14873183e-01 2.38441600e+01] [ 2.18276642e-01 1.55899927e-04 9.75886921e-01 -1.23785284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19687500000003 meters 0.015205296873162358 Centerline is valid? [True, True] Translation: X:248.07, Y:23.87, Z:-12.37 [[ 1.76147301e-01 -9.83621127e-01 -3.82309721e-02 2.48067338e+02] [ 9.59981656e-01 1.80245285e-01 -2.14352180e-01 2.38721278e+01] [ 2.17732285e-01 1.05652606e-03 9.76007959e-01 -1.23729381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.226875 meters 0.015680245290609914 Centerline is valid? [True, True] Translation: X:248.07, Y:23.90, Z:-12.37 [[ 1.78113387e-01 -9.83267525e-01 -3.82177437e-02 2.48068590e+02] [ 9.59556844e-01 1.82160779e-01 -2.14634836e-01 2.38984845e+01] [ 2.18005238e-01 1.55724009e-03 9.75946357e-01 -1.23678098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25687500000004 meters 0.016365685479190793 Centerline is valid? [True, True] Translation: X:248.07, Y:23.93, Z:-12.36 [[ 1.82827363e-01 -9.82403675e-01 -3.81729603e-02 2.48069465e+02] [ 9.58636147e-01 1.86750762e-01 -2.14804308e-01 2.39263677e+01] [ 2.18153371e-01 2.67812568e-03 9.75910823e-01 -1.23623392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.286875 meters 0.016244307189740296 Centerline is valid? [True, True] Translation: X:248.07, Y:23.95, Z:-12.36 [[ 1.84773411e-01 -9.82038905e-01 -3.81886814e-02 2.48073572e+02] [ 9.58165052e-01 1.88651726e-01 -2.15244649e-01 2.39541208e+01] [ 2.18582981e-01 3.18042818e-03 9.75813182e-01 -1.23564965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31687500000004 meters 0.017189224681036296 Centerline is valid? [True, True] Translation: X:248.08, Y:23.98, Z:-12.35 [[ 1.86510039e-01 -9.81707192e-01 -3.82752490e-02 2.48075113e+02] [ 9.57637783e-01 1.90361975e-01 -2.16083768e-01 2.39816078e+01] [ 2.19417141e-01 3.64796736e-03 9.75624318e-01 -1.23520112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.346875 meters 0.018022672672038574 Centerline is valid? [True, True] Translation: X:248.08, Y:24.01, Z:-12.35 [[ 1.88154068e-01 -9.81390699e-01 -3.83450330e-02 2.48077315e+02] [ 9.57149650e-01 1.91977978e-01 -2.16815599e-01 2.40082789e+01] [ 2.20142214e-01 4.09280223e-03 9.75459202e-01 -1.23473506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37687500000004 meters 0.018093919317738284 Centerline is valid? [True, True] Translation: X:248.08, Y:24.04, Z:-12.34 [[ 1.92352459e-01 -9.80570744e-01 -3.84908721e-02 2.48081639e+02] [ 9.56040639e-01 1.96098503e-01 -2.18017601e-01 2.40362067e+01] [ 2.21329684e-01 5.13738365e-03 9.75185510e-01 -1.23423215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.406875 meters 0.019308159143249126 Centerline is valid? [True, True] Translation: X:248.08, Y:24.06, Z:-12.34 [[ 1.94195745e-01 -9.80207340e-01 -3.84913399e-02 2.48084171e+02] [ 9.55589838e-01 1.97893737e-01 -2.18371543e-01 2.40630279e+01] [ 2.21666585e-01 5.62489126e-03 9.75106295e-01 -1.23369817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43687500000004 meters 0.020421932836545403 Centerline is valid? [True, True] Translation: X:248.09, Y:24.09, Z:-12.33 [[ 1.97716290e-01 -9.79504619e-01 -3.84573702e-02 2.48088394e+02] [ 9.54828184e-01 2.01316938e-01 -2.18574082e-01 2.40900213e+01] [ 2.21836443e-01 6.49547562e-03 9.75062255e-01 -1.23312511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.466875 meters 0.02036023401254768 Centerline is valid? [True, True] Translation: X:248.09, Y:24.12, Z:-12.33 [[ 1.98845309e-01 -9.79278987e-01 -3.83823931e-02 2.48093793e+02] [ 9.54612581e-01 2.02401299e-01 -2.18514381e-01 2.41164635e+01] [ 2.21755188e-01 6.81024430e-03 9.75078590e-01 -1.23253974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.496875 meters 0.022422337719089462 Centerline is valid? [True, True] Translation: X:248.10, Y:24.14, Z:-12.32 [[ 1.99606885e-01 -9.79122793e-01 -3.84141694e-02 2.48096677e+02] [ 9.54322355e-01 2.03146596e-01 -2.19089716e-01 2.41434027e+01] [ 2.22319442e-01 7.07231509e-03 9.74948228e-01 -1.23200541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.526875 meters 0.020586374487677146 Centerline is valid? [True, True] Translation: X:248.11, Y:24.17, Z:-12.31 [[ 2.00404218e-01 -9.78965417e-01 -3.82735067e-02 2.48106046e+02] [ 9.54257299e-01 2.03895579e-01 -2.18676931e-01 2.41693582e+01] [ 2.21880952e-01 7.30100620e-03 9.75046429e-01 -1.23130528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.556875 meters 0.02295891935268972 Centerline is valid? [True, True] Translation: X:248.11, Y:24.20, Z:-12.31 [[ 2.01070755e-01 -9.78830445e-01 -3.82297259e-02 2.48111134e+02] [ 9.54090736e-01 2.04534579e-01 -2.18806931e-01 2.41955006e+01] [ 2.21994187e-01 7.52104748e-03 9.75018982e-01 -1.23072039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.586875 meters 0.022392001501705405 Centerline is valid? [True, True] Translation: X:248.12, Y:24.22, Z:-12.30 [[ 2.01448716e-01 -9.78756493e-01 -3.81332052e-02 2.48118538e+02] [ 9.54051667e-01 2.04882793e-01 -2.18651451e-01 2.42218111e+01] [ 2.21819365e-01 7.66600604e-03 9.75057640e-01 -1.23011313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.616875 meters 0.021454663168542366 Centerline is valid? [True, True] Translation: X:248.13, Y:24.25, Z:-12.29 [[ 2.01915787e-01 -9.78663772e-01 -3.80425472e-02 2.48126830e+02] [ 9.53992886e-01 2.05319201e-01 -2.18498510e-01 2.42485929e+01] [ 2.21647441e-01 7.82597913e-03 9.75095465e-01 -1.22944700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.646875 meters 0.022480922413493597 Centerline is valid? [True, True] Translation: X:248.13, Y:24.27, Z:-12.29 [[ 2.03375092e-01 -9.78365850e-01 -3.79319722e-02 2.48133372e+02] [ 9.53753358e-01 2.06719532e-01 -2.18223664e-01 2.42743690e+01] [ 2.21343860e-01 8.20351197e-03 9.75161319e-01 -1.22886109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.676875 meters 0.022926199809645092 Centerline is valid? [True, True] Translation: X:248.14, Y:24.30, Z:-12.28 [[ 2.03990080e-01 -9.78242633e-01 -3.78073722e-02 2.48138759e+02] [ 9.53700873e-01 2.07294210e-01 -2.17907678e-01 2.43012206e+01] [ 2.21003830e-01 8.39408080e-03 9.75236816e-01 -1.22830053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.706875 meters 0.022862733921967446 Centerline is valid? [True, True] Translation: X:248.15, Y:24.33, Z:-12.28 [[ 2.04436498e-01 -9.78151269e-01 -3.77599385e-02 2.48145065e+02] [ 9.53584590e-01 2.07718025e-01 -2.18012960e-01 2.43275471e+01] [ 2.21093074e-01 8.56251056e-03 9.75215123e-01 -1.22771868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.736875 meters 0.024365170119406872 Centerline is valid? [True, True] Translation: X:248.15, Y:24.35, Z:-12.27 [[ 2.04569683e-01 -9.78122202e-01 -3.77915761e-02 2.48152040e+02] [ 9.53421652e-01 2.07849672e-01 -2.18599330e-01 2.43535594e+01] [ 2.21671825e-01 8.68748884e-03 9.75082627e-01 -1.22718818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.766875 meters 0.024031601422752784 Centerline is valid? [True, True] Translation: X:248.16, Y:24.38, Z:-12.27 [[ 2.03842648e-01 -9.78269590e-01 -3.79049384e-02 2.48159668e+02] [ 9.53329571e-01 2.07156875e-01 -2.19656002e-01 2.43792727e+01] [ 2.22735055e-01 8.63936233e-03 9.74840734e-01 -1.22662283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.796875 meters 0.02438703432030677 Centerline is valid? [True, True] Translation: X:248.17, Y:24.40, Z:-12.26 [[ 2.02888332e-01 -9.78472337e-01 -3.77916749e-02 2.48165726e+02] [ 9.53590284e-01 2.06203715e-01 -2.19421054e-01 2.44044497e+01] [ 2.22490215e-01 8.48019757e-03 9.74898041e-01 -1.22609421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.82687500000003 meters 0.022766258238964342 Centerline is valid? [True, True] Translation: X:248.18, Y:24.43, Z:-12.25 [[ 2.00952723e-01 -9.78879269e-01 -3.75949309e-02 2.48177701e+02] [ 9.54165753e-01 2.04279431e-01 -2.18718152e-01 2.44299079e+01] [ 2.21778536e-01 8.08021280e-03 9.75063583e-01 -1.22539081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.856875 meters 0.02196636218344036 Centerline is valid? [True, True] Translation: X:248.19, Y:24.46, Z:-12.25 [[ 1.99364264e-01 -9.79209462e-01 -3.74528986e-02 2.48185486e+02] [ 9.54604795e-01 2.02703175e-01 -2.18268433e-01 2.44564844e+01] [ 2.21322337e-01 7.76220885e-03 9.75169817e-01 -1.22471024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.88687500000003 meters 0.021643477633674035 Centerline is valid? [True, True] Translation: X:248.19, Y:24.48, Z:-12.24 [[ 1.96983115e-01 -9.79692773e-01 -3.74128800e-02 2.48192427e+02] [ 9.55063325e-01 2.00371884e-01 -2.18415095e-01 2.44824127e+01] [ 2.21476180e-01 7.29241630e-03 9.75138515e-01 -1.22415120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.916875 meters 0.0198759070649206 Centerline is valid? [True, True] Translation: X:248.20, Y:24.51, Z:-12.23 [[ 1.91194330e-01 -9.80842512e-01 -3.73188260e-02 2.48204263e+02] [ 9.56277335e-01 1.94708835e-01 -2.18224949e-01 2.45075421e+01] [ 2.21310612e-01 6.03622523e-03 9.75184689e-01 -1.22348831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.94687500000003 meters 0.019407578047997052 Centerline is valid? [True, True] Translation: X:248.21, Y:24.53, Z:-12.23 [[ 1.88457691e-01 -9.81377433e-01 -3.71756940e-02 2.48211622e+02] [ 9.56949970e-01 1.92012191e-01 -2.17665048e-01 2.45334504e+01] [ 2.20749753e-01 5.44537320e-03 9.75315280e-01 -1.22279196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.976875 meters 0.018337550968974103 Centerline is valid? [True, True] Translation: X:248.22, Y:24.56, Z:-12.22 [[ 1.85902994e-01 -9.81871308e-01 -3.69974532e-02 2.48219667e+02] [ 9.57612017e-01 1.89485277e-01 -2.16966714e-01 2.45602995e+01] [ 2.20043864e-01 4.90555611e-03 9.75477644e-01 -1.22210349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.00687500000004 meters 0.017113391095375168 Centerline is valid? [True, True] Translation: X:248.23, Y:24.59, Z:-12.21 [[ 1.81297792e-01 -9.82743363e-01 -3.66959574e-02 2.48228379e+02] [ 9.58822967e-01 1.84933320e-01 -2.15541608e-01 2.45855050e+01] [ 2.18608390e-01 3.89229099e-03 9.75804910e-01 -1.22137802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.036875 meters 0.016456680785951302 Centerline is valid? [True, True] Translation: X:248.24, Y:24.61, Z:-12.21 [[ 1.78703997e-01 -9.83223619e-01 -3.65540233e-02 2.48235175e+02] [ 9.59418017e-01 1.82373238e-01 -2.15074571e-01 2.46120679e+01] [ 2.18132874e-01 3.36409699e-03 9.75913281e-01 -1.22077624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06687500000004 meters 0.01611162823906698 Centerline is valid? [True, True] Translation: X:248.24, Y:24.64, Z:-12.20 [[ 1.76450275e-01 -9.83629983e-01 -3.65699025e-02 2.48241293e+02] [ 9.59731739e-01 1.80176188e-01 -2.15526172e-01 2.46369014e+01] [ 2.18587031e-01 2.93235639e-03 9.75813051e-01 -1.22027431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.096875 meters 0.01537218517722415 Centerline is valid? [True, True] Translation: X:248.25, Y:24.66, Z:-12.20 [[ 1.74029034e-01 -9.84063192e-01 -3.65175287e-02 2.48248629e+02] [ 9.60149068e-01 1.77802018e-01 -2.15639074e-01 2.46630991e+01] [ 2.18695366e-01 2.46518870e-03 9.75790070e-01 -1.21967867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12687500000004 meters 0.015139675139195747 Centerline is valid? [True, True] Translation: X:248.26, Y:24.69, Z:-12.19 [[ 1.72413966e-01 -9.84347361e-01 -3.65198182e-02 2.48255660e+02] [ 9.60343190e-01 1.76225746e-01 -2.16068146e-01 2.46893093e+01] [ 2.19121841e-01 2.18160731e-03 9.75695065e-01 -1.21903193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.156875 meters 0.015609422206454105 Centerline is valid? [True, True] Translation: X:248.26, Y:24.71, Z:-12.18 [[ 1.72191017e-01 -9.84390716e-01 -3.64029232e-02 2.48259315e+02] [ 9.60478008e-01 1.75983532e-01 -2.15665926e-01 2.47149609e+01] [ 2.18705850e-01 2.17152800e-03 9.75788417e-01 -1.21845343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18687500000004 meters 0.015348577454362087 Centerline is valid? [True, True] Translation: X:248.26, Y:24.74, Z:-12.18 [[ 1.72134588e-01 -9.84402831e-01 -3.63421121e-02 2.48264746e+02] [ 9.60499509e-01 1.75915267e-01 -2.15625863e-01 2.47411972e+01] [ 2.18655842e-01 2.21008828e-03 9.75799538e-01 -1.21785113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.216875 meters 0.015348577454362087 Centerline is valid? [True, True] Translation: X:248.27, Y:24.77, Z:-12.17 [[ 1.71828971e-01 -9.84458762e-01 -3.62732670e-02 2.48268948e+02] [ 9.60554232e-01 1.75601993e-01 -2.15637444e-01 2.47670386e+01] [ 2.18655829e-01 2.21032003e-03 9.75799540e-01 -1.21727412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.246875 meters 0.01564651425290931 Centerline is valid? [True, True] Translation: X:248.27, Y:24.79, Z:-12.17 [[ 1.72695395e-01 -9.84306463e-01 -3.62917078e-02 2.48271344e+02] [ 9.60279403e-01 1.76450082e-01 -2.16168539e-01 2.47937790e+01] [ 2.19179765e-01 2.48113182e-03 9.75681339e-01 -1.21678840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.276875 meters 0.01584279854442623 Centerline is valid? [True, True] Translation: X:248.27, Y:24.82, Z:-12.16 [[ 1.73064054e-01 -9.84244388e-01 -3.62190386e-02 2.48274290e+02] [ 9.60218062e-01 1.76793839e-01 -2.16160153e-01 2.48193705e+01] [ 2.19157720e-01 2.63137735e-03 9.75685897e-01 -1.21628637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.306875 meters 0.015828290087183124 Centerline is valid? [True, True] Translation: X:248.28, Y:24.85, Z:-12.16 [[ 1.73541383e-01 -9.84163664e-01 -3.61285338e-02 2.48278376e+02] [ 9.60156617e-01 1.77239950e-01 -2.16067746e-01 2.48453040e+01] [ 2.19049444e-01 2.80764472e-03 9.75709720e-01 -1.21568041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.336875 meters 0.016040275649383883 Centerline is valid? [True, True] Translation: X:248.28, Y:24.87, Z:-12.15 [[ 1.74095225e-01 -9.84070473e-01 -3.60021708e-02 2.48282085e+02] [ 9.60138106e-01 1.77753658e-01 -2.15727731e-01 2.48706641e+01] [ 2.18690808e-01 2.99011182e-03 9.75789624e-01 -1.21505437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.366875 meters 0.016255283506557253 Centerline is valid? [True, True] Translation: X:248.29, Y:24.90, Z:-12.15 [[ 1.74058184e-01 -9.84081229e-01 -3.58870898e-02 2.48285931e+02] [ 9.60231824e-01 1.77693508e-01 -2.15359842e-01 2.48969208e+01] [ 2.18308481e-01 3.02521731e-03 9.75875123e-01 -1.21450273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.396875 meters 0.0163597786662137 Centerline is valid? [True, True] Translation: X:248.29, Y:24.92, Z:-12.14 [[ 1.73700498e-01 -9.84147255e-01 -3.58094552e-02 2.48289644e+02] [ 9.60312137e-01 1.77327719e-01 -2.15303226e-01 2.49230057e+01] [ 2.18240088e-01 3.01002306e-03 9.75890467e-01 -1.21389946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.426875 meters 0.016188805981369743 Centerline is valid? [True, True] Translation: X:248.29, Y:24.95, Z:-12.13 [[ 1.72839847e-01 -9.84304142e-01 -3.56615009e-02 2.48293546e+02] [ 9.60607118e-01 1.76457417e-01 -2.14701524e-01 2.49491518e+01] [ 2.17624336e-01 2.85228707e-03 9.76028439e-01 -1.21335007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.456875 meters 0.016083023120040417 Centerline is valid? [True, True] Translation: X:248.30, Y:24.97, Z:-12.13 [[ 1.72143725e-01 -9.84426358e-01 -3.56550719e-02 2.48297730e+02] [ 9.60648206e-01 1.75775600e-01 -2.15076643e-01 2.49742081e+01] [ 2.17994408e-01 2.77211360e-03 9.75946081e-01 -1.21282957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.486875 meters 0.01617290868594104 Centerline is valid? [True, True] Translation: X:248.30, Y:25.00, Z:-12.12 [[ 1.71940196e-01 -9.84462574e-01 -3.56371870e-02 2.48301070e+02] [ 9.60612377e-01 1.75572162e-01 -2.15402591e-01 2.50001519e+01] [ 2.18312688e-01 2.80284092e-03 9.75874846e-01 -1.21236899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.516875 meters 0.01629871656944146 Centerline is valid? [True, True] Translation: X:248.30, Y:25.03, Z:-12.12 [[ 1.71777401e-01 -9.84491811e-01 -3.56145947e-02 2.48304082e+02] [ 9.60577698e-01 1.75407547e-01 -2.15691163e-01 2.50258994e+01] [ 2.18593252e-01 2.84028207e-03 9.75811930e-01 -1.21183331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.546875 meters 0.016470472501803543 Centerline is valid? [True, True] Translation: X:248.31, Y:25.05, Z:-12.11 [[ 1.72089384e-01 -9.84438297e-01 -3.55876923e-02 2.48307127e+02] [ 9.60465246e-01 1.75705288e-01 -2.15949446e-01 2.50515023e+01] [ 2.18841850e-01 2.98186541e-03 9.75755786e-01 -1.21133451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57687500000003 meters 0.015823056322131813 Centerline is valid? [True, True] Translation: X:248.31, Y:25.08, Z:-12.11 [[ 1.72498415e-01 -9.84367304e-01 -3.55711656e-02 2.48312152e+02] [ 9.60315507e-01 1.76099641e-01 -2.16293883e-01 2.50773798e+01] [ 2.19176696e-01 3.15081000e-03 9.75680095e-01 -1.21074759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.606875 meters 0.016575809069583045 Centerline is valid? [True, True] Translation: X:248.31, Y:25.11, Z:-12.10 [[ 1.75007077e-01 -9.83921492e-01 -3.56513642e-02 2.48312892e+02] [ 9.59653018e-01 1.78561050e-01 -2.17214262e-01 2.51053087e+01] [ 2.20087726e-01 3.80109387e-03 9.75472678e-01 -1.21025941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63687500000003 meters 0.018297149814078376 Centerline is valid? [True, True] Translation: X:248.31, Y:25.13, Z:-12.10 [[ 1.75881489e-01 -9.83765601e-01 -3.56502994e-02 2.48312269e+02] [ 9.59412567e-01 1.79412167e-01 -2.17574816e-01 2.51322741e+01] [ 2.20438717e-01 4.06403716e-03 9.75392360e-01 -1.20981269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.666875 meters 0.01911147914673288 Centerline is valid? [True, True] Translation: X:248.31, Y:25.16, Z:-12.09 [[ 1.76792317e-01 -9.83604329e-01 -3.55949414e-02 2.48314118e+02] [ 9.59230989e-01 1.80287904e-01 -2.17651514e-01 2.51591371e+01] [ 2.20500309e-01 4.33534480e-03 9.75377270e-01 -1.20929527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69687500000003 meters 0.017388283474821593 Centerline is valid? [True, True] Translation: X:248.32, Y:25.19, Z:-12.09 [[ 1.77587015e-01 -9.83461837e-01 -3.55762230e-02 2.48320884e+02] [ 9.59027237e-01 1.81057571e-01 -2.17910336e-01 2.51853319e+01] [ 2.20747844e-01 4.57947928e-03 9.75320162e-01 -1.20859937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.726875 meters 0.01728369144645716 Centerline is valid? [True, True] Translation: X:248.32, Y:25.21, Z:-12.08 [[ 1.78197032e-01 -9.83353549e-01 -3.55192225e-02 2.48324986e+02] [ 9.58907349e-01 1.81639639e-01 -2.17953523e-01 2.52129020e+01] [ 2.20777069e-01 4.77902755e-03 9.75312589e-01 -1.20797450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75687500000004 meters 0.018070043071833845 Centerline is valid? [True, True] Translation: X:248.33, Y:25.24, Z:-12.07 [[ 1.77827213e-01 -9.83423596e-01 -3.54332318e-02 2.48327224e+02] [ 9.59008504e-01 1.81260665e-01 -2.17823922e-01 2.52384202e+01] [ 2.20635836e-01 4.75425031e-03 9.75344670e-01 -1.20742442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.786875 meters 0.017191248077992972 Centerline is valid? [True, True] Translation: X:248.33, Y:25.26, Z:-12.07 [[ 1.76809681e-01 -9.83610697e-01 -3.53317638e-02 2.48333419e+02] [ 9.59242113e-01 1.80246893e-01 -2.17636454e-01 2.52641355e+01] [ 2.20437985e-01 4.58851619e-03 9.75390199e-01 -1.20672633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81687500000004 meters 0.017082937023074694 Centerline is valid? [True, True] Translation: X:248.34, Y:25.29, Z:-12.06 [[ 1.76535677e-01 -9.83662716e-01 -3.52535977e-02 2.48337944e+02] [ 9.59305764e-01 1.79962663e-01 -2.17591108e-01 2.52906903e+01] [ 2.20380591e-01 4.59361404e-03 9.75403144e-01 -1.20612351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.846875 meters 0.017042366906726832 Centerline is valid? [True, True] Translation: X:248.34, Y:25.32, Z:-12.06 [[ 1.76183156e-01 -9.83728799e-01 -3.51730733e-02 2.48342151e+02] [ 9.59391828e-01 1.79601509e-01 -2.17510042e-01 2.53165870e+01] [ 2.20288029e-01 4.57684656e-03 9.75424132e-01 -1.20555098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87687500000004 meters 0.01678909791744122 Centerline is valid? [True, True] Translation: X:248.35, Y:25.34, Z:-12.05 [[ 1.75872659e-01 -9.83784094e-01 -3.51804464e-02 2.48346112e+02] [ 9.59336827e-01 1.79298022e-01 -2.18002456e-01 2.53430123e+01] [ 2.20775134e-01 4.59077385e-03 9.75313932e-01 -1.20497379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.906875 meters 0.017491573344167347 Centerline is valid? [True, True] Translation: X:248.35, Y:25.37, Z:-12.05 [[ 1.76826969e-01 -9.83608411e-01 -3.53088679e-02 2.48348981e+02] [ 9.58874833e-01 1.80250846e-01 -2.19245723e-01 2.53703566e+01] [ 2.22016390e-01 4.91177173e-03 9.75030562e-01 -1.20453742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93687500000004 meters 0.01733706616488737 Centerline is valid? [True, True] Translation: X:248.35, Y:25.40, Z:-12.04 [[ 1.76760033e-01 -9.83618959e-01 -3.53501645e-02 2.48353785e+02] [ 9.58740230e-01 1.80191552e-01 -2.19882185e-01 2.53964954e+01] [ 2.22650087e-01 4.97475753e-03 9.74885732e-01 -1.20398345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.966875 meters 0.017021291381505984 Centerline is valid? [True, True] Translation: X:248.36, Y:25.42, Z:-12.03 [[ 1.76710035e-01 -9.83628930e-01 -3.53226870e-02 2.48359088e+02] [ 9.58685031e-01 1.80135226e-01 -2.20168824e-01 2.54239151e+01] [ 2.22927285e-01 5.04270930e-03 9.74822033e-01 -1.20338268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.996875 meters 0.01722956391043877 Centerline is valid? [True, True] Translation: X:248.36, Y:25.45, Z:-12.03 [[ 1.76537131e-01 -9.83656796e-01 -3.54111344e-02 2.48363125e+02] [ 9.58490560e-01 1.79981436e-01 -2.21139162e-01 2.54490883e+01] [ 2.23898386e-01 5.09803519e-03 9.74599160e-01 -1.20288666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.026875 meters 0.01784636144358231 Centerline is valid? [True, True] Translation: X:248.37, Y:25.47, Z:-12.02 [[ 1.76424937e-01 -9.83678855e-01 -3.53574918e-02 2.48366486e+02] [ 9.58477132e-01 1.79859273e-01 -2.21296698e-01 2.54746187e+01] [ 2.24044255e-01 5.15290873e-03 9.74565349e-01 -1.20239690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.056875 meters 0.017409564040524517 Centerline is valid? [True, True] Translation: X:248.37, Y:25.50, Z:-12.02 [[ 1.75657998e-01 -9.83815851e-01 -3.53643616e-02 2.48371919e+02] [ 9.58501099e-01 1.79110932e-01 -2.21799274e-01 2.55010127e+01] [ 2.24543785e-01 5.06403701e-03 9.74450842e-01 -1.20180230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.086875 meters 0.017843286891813477 Centerline is valid? [True, True] Translation: X:248.38, Y:25.53, Z:-12.01 [[ 1.74809947e-01 -9.83971216e-01 -3.52438455e-02 2.48377449e+02] [ 9.58728557e-01 1.78259155e-01 -2.21502206e-01 2.55275145e+01] [ 2.24234333e-01 4.93150766e-03 9.74522778e-01 -1.20117506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.116875 meters 0.017197496924149094 Centerline is valid? [True, True] Translation: X:248.38, Y:25.55, Z:-12.01 [[ 1.73656366e-01 -9.84180911e-01 -3.50913133e-02 2.48382903e+02] [ 9.59069611e-01 1.77103657e-01 -2.20951978e-01 2.55530726e+01] [ 2.23671519e-01 4.71470540e-03 9.74653181e-01 -1.20053381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.146875 meters 0.017192026358901366 Centerline is valid? [True, True] Translation: X:248.39, Y:25.58, Z:-12.00 [[ 1.72524091e-01 -9.84383220e-01 -3.50016395e-02 2.48387967e+02] [ 9.59300110e-01 1.75980694e-01 -2.20848579e-01 2.55777252e+01] [ 2.23559248e-01 4.52462391e-03 9.74679840e-01 -1.19993440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.176875 meters 0.016456336410794244 Centerline is valid? [True, True] Translation: X:248.40, Y:25.60, Z:-11.99 [[ 1.69424883e-01 -9.84926485e-01 -3.48572467e-02 2.48396360e+02] [ 9.59955586e-01 1.72929906e-01 -2.20409890e-01 2.56041265e+01] [ 2.23115399e-01 3.88151110e-03 9.74784311e-01 -1.19927111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.206875 meters 0.016407475087103985 Centerline is valid? [True, True] Translation: X:248.40, Y:25.63, Z:-11.99 [[ 1.67918848e-01 -9.85188092e-01 -3.47517356e-02 2.48401631e+02] [ 9.60285235e-01 1.71439515e-01 -2.20138047e-01 2.56295293e+01] [ 2.22835203e-01 3.59374855e-03 9.74849505e-01 -1.19872942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.236875 meters 0.01570226386663192 Centerline is valid? [True, True] Translation: X:248.41, Y:25.66, Z:-11.98 [[ 1.66312866e-01 -9.85461031e-01 -3.47359638e-02 2.48408322e+02] [ 9.60506940e-01 1.69869768e-01 -2.20387567e-01 2.56551781e+01] [ 2.23083949e-01 3.28915342e-03 9.74793688e-01 -1.19808944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.266875 meters 0.015364549127355052 Centerline is valid? [True, True] Translation: X:248.42, Y:25.68, Z:-11.98 [[ 1.63853905e-01 -9.85873208e-01 -3.47262990e-02 2.48415334e+02] [ 9.60838941e-01 1.67469785e-01 -2.20776810e-01 2.56804921e+01] [ 2.23473548e-01 2.80876222e-03 9.74705948e-01 -1.19755785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.296875 meters 0.015239032102986556 Centerline is valid? [True, True] Translation: X:248.42, Y:25.71, Z:-11.97 [[ 1.62128414e-01 -9.86158007e-01 -3.47384772e-02 2.48420198e+02] [ 9.61030664e-01 1.65789733e-01 -2.21209917e-01 2.57061488e+01] [ 2.23907214e-01 2.47967126e-03 9.74607311e-01 -1.19703374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.32687500000003 meters 0.014908625850615073 Centerline is valid? [True, True] Translation: X:248.43, Y:25.73, Z:-11.96 [[ 1.60370798e-01 -9.86446788e-01 -3.46978645e-02 2.48426083e+02] [ 9.61277775e-01 1.64067334e-01 -2.21420299e-01 2.57323247e+01] [ 2.24112129e-01 2.15506405e-03 9.74560983e-01 -1.19645543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.356875 meters 0.014518517556733406 Centerline is valid? [True, True] Translation: X:248.43, Y:25.76, Z:-11.96 [[ 1.58036681e-01 -9.86825981e-01 -3.46249983e-02 2.48431843e+02] [ 9.61672089e-01 1.61776468e-01 -2.21393696e-01 2.57572498e+01] [ 2.24078561e-01 1.69043043e-03 9.74569618e-01 -1.19591045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.38687500000003 meters 0.01408918893687975 Centerline is valid? [True, True] Translation: X:248.44, Y:25.78, Z:-11.95 [[ 1.54077015e-01 -9.87452551e-01 -3.46082715e-02 2.48440677e+02] [ 9.62227093e-01 1.57913597e-01 -2.21770866e-01 2.57829125e+01] [ 2.24453324e-01 8.68776585e-04 9.74484454e-01 -1.19527644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.416875 meters 0.01401490351122688 Centerline is valid? [True, True] Translation: X:248.45, Y:25.81, Z:-11.95 [[ 1.52330317e-01 -9.87726678e-01 -3.45178860e-02 2.48446029e+02] [ 9.62534463e-01 1.56191286e-01 -2.21656692e-01 2.58091217e+01] [ 2.24327621e-01 5.40379146e-04 9.74513636e-01 -1.19470423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.44687500000003 meters 0.01401381204739866 Centerline is valid? [True, True] Translation: X:248.45, Y:25.83, Z:-11.94 [[ 1.49480418e-01 -9.88163602e-01 -3.44717322e-02 2.48451993e+02] [ 9.62944059e-01 1.53403698e-01 -2.21824357e-01 2.58339967e+01] [ 2.24486847e-01 -3.59520930e-05 9.74477118e-01 -1.19413889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.476875 meters 0.01394309339375273 Centerline is valid? [True, True] Translation: X:248.46, Y:25.86, Z:-11.94 [[ 1.47839830e-01 -9.88411643e-01 -3.44355744e-02 2.48457041e+02] [ 9.63145448e-01 1.51796937e-01 -2.22055253e-01 2.58595415e+01] [ 2.24709212e-01 -3.37855911e-04 9.74425808e-01 -1.19357418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.50687500000004 meters 0.014036541742481149 Centerline is valid? [True, True] Translation: X:248.46, Y:25.89, Z:-11.93 [[ 1.46651304e-01 -9.88589949e-01 -3.43992364e-02 2.48462019e+02] [ 9.63269906e-01 1.50630765e-01 -2.22309380e-01 2.58857827e+01] [ 2.24954402e-01 -5.33788835e-04 9.74369146e-01 -1.19301834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.536875 meters 0.014091363098714763 Centerline is valid? [True, True] Translation: X:248.47, Y:25.91, Z:-11.92 [[ 1.45653001e-01 -9.88737236e-01 -3.44075733e-02 2.48466847e+02] [ 9.63302593e-01 1.49660287e-01 -2.22822602e-01 2.59117315e+01] [ 2.25462451e-01 -6.90124030e-04 9.74251614e-01 -1.19238116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56687500000004 meters 0.013995816444197173 Centerline is valid? [True, True] Translation: X:248.47, Y:25.94, Z:-11.92 [[ 1.45879402e-01 -9.88705138e-01 -3.43707648e-02 2.48470541e+02] [ 9.63218999e-01 1.49872696e-01 -2.23041105e-01 2.59382252e+01] [ 2.25673125e-01 -5.69470675e-04 9.74202913e-01 -1.19170895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.596875 meters 0.014175533815446246 Centerline is valid? [True, True] Translation: X:248.47, Y:25.96, Z:-11.91 [[ 1.46243561e-01 -9.88655299e-01 -3.42566918e-02 2.48473970e+02] [ 9.63231375e-01 1.50201613e-01 -2.22766230e-01 2.59641510e+01] [ 2.25384424e-01 -4.18993599e-04 9.74269822e-01 -1.19114975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62687500000004 meters 0.014148860950212071 Centerline is valid? [True, True] Translation: X:248.48, Y:25.99, Z:-11.90 [[ 1.46674643e-01 -9.88597483e-01 -3.40817555e-02 2.48476759e+02] [ 9.63326717e-01 1.50582042e-01 -2.22096118e-01 2.59902060e+01] [ 2.24695764e-01 -2.55996790e-04 9.74428934e-01 -1.19049543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.656875 meters 0.01417941158890516 Centerline is valid? [True, True] Translation: X:248.48, Y:26.02, Z:-11.90 [[ 1.49065377e-01 -9.88245548e-01 -3.39153318e-02 2.48477933e+02] [ 9.63106507e-01 1.52874500e-01 -2.21484183e-01 2.60168742e+01] [ 2.24065547e-01 3.51546517e-04 9.74574013e-01 -1.18984099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68687500000004 meters 0.014363140005935322 Centerline is valid? [True, True] Translation: X:248.48, Y:26.04, Z:-11.89 [[ 1.50535246e-01 -9.88026183e-01 -3.38142319e-02 2.48480915e+02] [ 9.62926649e-01 1.54284472e-01 -2.21288433e-01 2.60440567e+01] [ 2.23855777e-01 7.51083590e-04 9.74621992e-01 -1.18922751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.716875 meters 0.01455618425760001 Centerline is valid? [True, True] Translation: X:248.48, Y:26.07, Z:-11.89 [[ 1.52032604e-01 -9.87799180e-01 -3.37471152e-02 2.48482902e+02] [ 9.62695973e-01 1.55728770e-01 -2.21280398e-01 2.60697666e+01] [ 2.23835993e-01 1.15362331e-03 9.74626142e-01 -1.18873952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.746875 meters 0.015138257200345132 Centerline is valid? [True, True] Translation: X:248.48, Y:26.10, Z:-11.88 [[ 1.55164718e-01 -9.87314306e-01 -3.36804346e-02 2.48484195e+02] [ 9.62187963e-01 1.58766223e-01 -2.21331450e-01 2.60964895e+01] [ 2.23871022e-01 1.93592317e-03 9.74616857e-01 -1.18819775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.776875 meters 0.01514270229217437 Centerline is valid? [True, True] Translation: X:248.49, Y:26.12, Z:-11.88 [[ 1.55929323e-01 -9.87197330e-01 -3.35779468e-02 2.48487929e+02] [ 9.62119817e-01 1.59488928e-01 -2.21107983e-01 2.61231724e+01] [ 2.23632521e-01 2.17121020e-03 9.74671114e-01 -1.18756416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.806875 meters 0.015152106329510223 Centerline is valid? [True, True] Translation: X:248.49, Y:26.15, Z:-11.87 [[ 1.56601323e-01 -9.87091892e-01 -3.35502937e-02 2.48490606e+02] [ 9.61943761e-01 1.60136947e-01 -2.21405416e-01 2.61495602e+01] [ 2.23920133e-01 2.39888531e-03 9.74604545e-01 -1.18701811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.836875 meters 0.015538722543549445 Centerline is valid? [True, True] Translation: X:248.49, Y:26.18, Z:-11.86 [[ 1.57576035e-01 -9.86938576e-01 -3.34968652e-02 2.48494075e+02] [ 9.61765674e-01 1.61074604e-01 -2.21498896e-01 2.61760122e+01] [ 2.24001299e-01 2.68678265e-03 9.74585142e-01 -1.18646080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.866875 meters 0.01564015744736965 Centerline is valid? [True, True] Translation: X:248.50, Y:26.20, Z:-11.86 [[ 1.57654961e-01 -9.86926126e-01 -3.34923275e-02 2.48497629e+02] [ 9.61649709e-01 1.61149236e-01 -2.21947656e-01 2.62021296e+01] [ 2.24443203e-01 2.78326201e-03 9.74483197e-01 -1.18584289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.896875 meters 0.01592305569470905 Centerline is valid? [True, True] Translation: X:248.50, Y:26.23, Z:-11.85 [[ 1.57636436e-01 -9.86928865e-01 -3.34987893e-02 2.48501029e+02] [ 9.61533029e-01 1.61131138e-01 -2.22465705e-01 2.62273138e+01] [ 2.24955524e-01 2.85850844e-03 9.74364840e-01 -1.18538599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.926875 meters 0.015802270062917286 Centerline is valid? [True, True] Translation: X:248.51, Y:26.25, Z:-11.85 [[ 1.57279651e-01 -9.86986844e-01 -3.34676057e-02 2.48505067e+02] [ 9.61539256e-01 1.60775852e-01 -2.22695723e-01 2.62539321e+01] [ 2.25178532e-01 2.84508888e-03 9.74313366e-01 -1.18483892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.956875 meters 0.01542779200034206 Centerline is valid? [True, True] Translation: X:248.51, Y:26.28, Z:-11.84 [[ 1.56728742e-01 -9.87076020e-01 -3.34220263e-02 2.48510031e+02] [ 9.61596021e-01 1.60228458e-01 -2.22845091e-01 2.62803966e+01] [ 2.25320205e-01 2.78774323e-03 9.74280778e-01 -1.18418199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.986875 meters 0.015417483852415547 Centerline is valid? [True, True] Translation: X:248.51, Y:26.31, Z:-11.84 [[ 1.55707603e-01 -9.87240820e-01 -3.33272414e-02 2.48513544e+02] [ 9.61796414e-01 1.59212690e-01 -2.22708280e-01 2.63072922e+01] [ 2.25172824e-01 2.62335119e-03 9.74315307e-01 -1.18367932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.016875 meters 0.015297748599153579 Centerline is valid? [True, True] Translation: X:248.52, Y:26.33, Z:-11.83 [[ 1.54668836e-01 -9.87405747e-01 -3.32782499e-02 2.48517500e+02] [ 9.61928020e-01 1.58189256e-01 -2.22869116e-01 2.63324005e+01] [ 2.25326507e-01 2.45962557e-03 9.74280204e-01 -1.18316618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.046875 meters 0.015267441056062323 Centerline is valid? [True, True] Translation: X:248.52, Y:26.36, Z:-11.83 [[ 1.53219470e-01 -9.87631274e-01 -3.32905423e-02 2.48522783e+02] [ 9.62020314e-01 1.56778722e-01 -2.23466658e-01 2.63589463e+01] [ 2.25921908e-01 2.21326495e-03 9.74142902e-01 -1.18256542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07687500000003 meters 0.015216483041840879 Centerline is valid? [True, True] Translation: X:248.53, Y:26.38, Z:-11.82 [[ 1.51516961e-01 -9.87894558e-01 -3.32708977e-02 2.48527867e+02] [ 9.62206377e-01 1.55115222e-01 -2.23826173e-01 2.63842780e+01] [ 2.26277481e-01 1.89999153e-03 9.74061031e-01 -1.18200475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.106875 meters 0.015216483041840879 Centerline is valid? [True, True] Translation: X:248.53, Y:26.41, Z:-11.81 [[ 1.51215377e-01 -9.87943271e-01 -3.31964254e-02 2.48531564e+02] [ 9.62253830e-01 1.54804608e-01 -2.23837219e-01 2.64101989e+01] [ 2.26277434e-01 1.90424185e-03 9.74061033e-01 -1.18142794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13687500000003 meters 0.014904791788288933 Centerline is valid? [True, True] Translation: X:248.54, Y:26.44, Z:-11.81 [[ 1.46589501e-01 -9.88639313e-01 -3.32238952e-02 2.48539609e+02] [ 9.62810639e-01 1.50304552e-01 -2.24508831e-01 2.64355469e+01] [ 2.26951960e-01 9.22317890e-04 9.73905518e-01 -1.18082737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.166875 meters 0.014818708420442946 Centerline is valid? [True, True] Translation: X:248.55, Y:26.46, Z:-11.80 [[ 1.43911292e-01 -9.89035738e-01 -3.31337949e-02 2.48545190e+02] [ 9.63245752e-01 1.47675885e-01 -2.24386842e-01 2.64605182e+01] [ 2.26819668e-01 3.75813046e-04 9.73936701e-01 -1.18024395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19687500000003 meters 0.014684356567318963 Centerline is valid? [True, True] Translation: X:248.55, Y:26.49, Z:-11.80 [[ 1.41613101e-01 -9.89368327e-01 -3.31065315e-02 2.48550913e+02] [ 9.63516427e-01 1.45431449e-01 -2.24690429e-01 2.64860627e+01] [ 2.27116325e-01 -7.95785796e-05 9.73867634e-01 -1.17960133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.226875 meters 0.014670318172136612 Centerline is valid? [True, True] Translation: X:248.56, Y:26.51, Z:-11.79 [[ 1.38924719e-01 -9.89750807e-01 -3.30645069e-02 2.48556355e+02] [ 9.63859948e-01 1.42803882e-01 -2.24902315e-01 2.65124368e+01] [ 2.27318988e-01 -6.25062935e-04 9.73820151e-01 -1.17895975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25687500000004 meters 0.015001519467232653 Centerline is valid? [True, True] Translation: X:248.56, Y:26.54, Z:-11.78 [[ 1.34691140e-01 -9.90337291e-01 -3.30203891e-02 2.48563009e+02] [ 9.64417365e-01 1.38671261e-01 -2.25098704e-01 2.65387759e+01] [ 2.27502620e-01 -1.52663550e-03 9.73776272e-01 -1.17841873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.286875 meters 0.01527299159331466 Centerline is valid? [True, True] Translation: X:248.57, Y:26.56, Z:-11.78 [[ 1.32594216e-01 -9.90624965e-01 -3.28778556e-02 2.48567846e+02] [ 9.64832251e-01 1.36595778e-01 -2.24589228e-01 2.65644327e+01] [ 2.26974672e-01 -1.94238288e-03 9.73898724e-01 -1.17786237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31687500000004 meters 0.015451331621044942 Centerline is valid? [True, True] Translation: X:248.57, Y:26.59, Z:-11.77 [[ 1.30691810e-01 -9.90881186e-01 -3.27738677e-02 2.48572504e+02] [ 9.65172649e-01 1.34718511e-01 -2.24260294e-01 2.65903718e+01] [ 2.26630553e-01 -2.32345684e-03 9.73978025e-01 -1.17724599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.346875 meters 0.015653161087323394 Centerline is valid? [True, True] Translation: X:248.58, Y:26.62, Z:-11.76 [[ 1.28449840e-01 -9.91179746e-01 -3.26090432e-02 2.48577314e+02] [ 9.65630846e-01 1.32495522e-01 -2.23611284e-01 2.66161308e+01] [ 2.25959528e-01 -2.76546436e-03 9.74132765e-01 -1.17648660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37687500000004 meters 0.015604205461224797 Centerline is valid? [True, True] Translation: X:248.58, Y:26.64, Z:-11.76 [[ 1.28172822e-01 -9.91218802e-01 -3.25117674e-02 2.48580868e+02] [ 9.65712752e-01 1.32203153e-01 -2.23430541e-01 2.66426272e+01] [ 2.25766711e-01 -2.75930541e-03 9.74177488e-01 -1.17584894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.406875 meters 0.01550834550083519 Centerline is valid? [True, True] Translation: X:248.58, Y:26.67, Z:-11.75 [[ 1.28297029e-01 -9.91207884e-01 -3.23543444e-02 2.48583753e+02] [ 9.65843179e-01 1.32286969e-01 -2.22816316e-01 2.66682953e+01] [ 2.25137347e-01 -2.66255152e-03 9.74323399e-01 -1.17525427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43687500000004 meters 0.015554807414310099 Centerline is valid? [True, True] Translation: X:248.59, Y:26.69, Z:-11.75 [[ 1.28531433e-01 -9.91181167e-01 -3.22422987e-02 2.48586231e+02] [ 9.65873212e-01 1.32489499e-01 -2.22565654e-01 2.66935210e+01] [ 2.24874650e-01 -2.53529026e-03 9.74384403e-01 -1.17470068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.466875 meters 0.015251848384101199 Centerline is valid? [True, True] Translation: X:248.59, Y:26.72, Z:-11.74 [[ 1.30703219e-01 -9.90903210e-01 -3.20545970e-02 2.48586678e+02] [ 9.65770070e-01 1.34562037e-01 -2.21768417e-01 2.67189008e+01] [ 2.24064368e-01 -1.97152442e-03 9.74572354e-01 -1.17409301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.496875 meters 0.014859687586860834 Centerline is valid? [True, True] Translation: X:248.59, Y:26.75, Z:-11.73 [[ 1.31861962e-01 -9.90753159e-01 -3.19468447e-02 2.48587298e+02] [ 9.65677772e-01 1.35666788e-01 -2.21497095e-01 2.67452712e+01] [ 2.23783072e-01 -1.64331639e-03 9.74637592e-01 -1.17345985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.526875 meters 0.01460742441659012 Centerline is valid? [True, True] Translation: X:248.59, Y:26.77, Z:-11.73 [[ 1.34780706e-01 -9.90363172e-01 -3.18582485e-02 2.48587450e+02] [ 9.65304401e-01 1.38491690e-01 -2.21376298e-01 2.67711504e+01] [ 2.23655036e-01 -9.15653742e-04 9.74667937e-01 -1.17300335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.556875 meters 0.01451779125699847 Centerline is valid? [True, True] Translation: X:248.59, Y:26.80, Z:-11.73 [[ 1.35838600e-01 -9.90219023e-01 -3.18459106e-02 2.48589055e+02] [ 9.65063715e-01 1.39520317e-01 -2.21779410e-01 2.67958428e+01] [ 2.24053342e-01 -6.07128185e-04 9.74576693e-01 -1.17252209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.586875 meters 0.014439581020465437 Centerline is valid? [True, True] Translation: X:248.59, Y:26.82, Z:-11.72 [[ 1.36301339e-01 -9.90159161e-01 -3.17298060e-02 2.48590877e+02] [ 9.65063798e-01 1.39945173e-01 -2.21511208e-01 2.68218787e+01] [ 2.23771785e-01 -4.29012981e-04 9.74641475e-01 -1.17185022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.616875 meters 0.014348841210691732 Centerline is valid? [True, True] Translation: X:248.59, Y:26.85, Z:-11.71 [[ 1.38016203e-01 -9.89922480e-01 -3.17018994e-02 2.48592700e+02] [ 9.64751833e-01 1.41610317e-01 -2.21811672e-01 2.68489140e+01] [ 2.24065677e-01 2.91392309e-05 9.74574046e-01 -1.17129335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.646875 meters 0.01427718900567848 Centerline is valid? [True, True] Translation: X:248.60, Y:26.88, Z:-11.71 [[ 1.38579847e-01 -9.89845608e-01 -3.16432971e-02 2.48595176e+02] [ 9.64654341e-01 1.42146480e-01 -2.21892722e-01 2.68751003e+01] [ 2.24137519e-01 2.25015587e-04 9.74557500e-01 -1.17073905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.676875 meters 0.014342081868379807 Centerline is valid? [True, True] Translation: X:248.60, Y:26.90, Z:-11.70 [[ 1.39331813e-01 -9.89743571e-01 -3.15326775e-02 2.48597402e+02] [ 9.64615508e-01 1.42854654e-01 -2.21606564e-01 2.69016361e+01] [ 2.23838262e-01 4.59934555e-04 9.74626196e-01 -1.17018003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.706875 meters 0.014540058145789233 Centerline is valid? [True, True] Translation: X:248.60, Y:26.93, Z:-11.70 [[ 1.41059754e-01 -9.89501016e-01 -3.14624439e-02 2.48598451e+02] [ 9.64365484e-01 1.44522989e-01 -2.21612993e-01 2.69285960e+01] [ 2.23833328e-01 9.19379356e-04 9.74627004e-01 -1.16966837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.736875 meters 0.014566275690837283 Centerline is valid? [True, True] Translation: X:248.60, Y:26.95, Z:-11.69 [[ 1.41531397e-01 -9.89434166e-01 -3.14466945e-02 2.48600564e+02] [ 9.64206076e-01 1.44978691e-01 -2.22008607e-01 2.69540390e+01] [ 2.24222001e-01 1.10009433e-03 9.74537472e-01 -1.16921812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.766875 meters 0.014617448236500774 Centerline is valid? [True, True] Translation: X:248.60, Y:26.98, Z:-11.69 [[ 1.41843042e-01 -9.89389596e-01 -3.14448431e-02 2.48603852e+02] [ 9.64046958e-01 1.45281363e-01 -2.22501208e-01 2.69801756e+01] [ 2.24708730e-01 1.24594279e-03 9.74425181e-01 -1.16862908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.796875 meters 0.014698825312544388 Centerline is valid? [True, True] Translation: X:248.61, Y:27.01, Z:-11.68 [[ 1.42141297e-01 -9.89346333e-01 -3.14592546e-02 2.48606741e+02] [ 9.63858213e-01 1.45574352e-01 -2.23126541e-01 2.70058588e+01] [ 2.25329086e-01 1.39323501e-03 9.74281716e-01 -1.16813009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.82687500000003 meters 0.014748777654086184 Centerline is valid? [True, True] Translation: X:248.61, Y:27.03, Z:-11.68 [[ 1.41849846e-01 -9.89390057e-01 -3.13996188e-02 2.48609985e+02] [ 9.63873925e-01 1.45276792e-01 -2.23252572e-01 2.70322227e+01] [ 2.25445511e-01 1.40306914e-03 9.74254768e-01 -1.16751461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.856875 meters 0.01463712698506537 Centerline is valid? [True, True] Translation: X:248.61, Y:27.06, Z:-11.67 [[ 1.41392690e-01 -9.89458630e-01 -3.13005871e-02 2.48613234e+02] [ 9.63989222e-01 1.44809376e-01 -2.23058343e-01 2.70588001e+01] [ 2.25239621e-01 1.36539052e-03 9.74302442e-01 -1.16693104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.88687500000003 meters 0.014672196097163253 Centerline is valid? [True, True] Translation: X:248.62, Y:27.08, Z:-11.66 [[ 1.41222100e-01 -9.89487271e-01 -3.11650118e-02 2.48615927e+02] [ 9.64123616e-01 1.44613306e-01 -2.22604234e-01 2.70839132e+01] [ 2.24770932e-01 1.38971368e-03 9.74410641e-01 -1.16633606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.916875 meters 0.014751878916773289 Centerline is valid? [True, True] Translation: X:248.62, Y:27.11, Z:-11.66 [[ 1.41469612e-01 -9.89455739e-01 -3.10433489e-02 2.48618806e+02] [ 9.64168068e-01 1.44827653e-01 -2.22272101e-01 2.71096812e+01] [ 2.24424341e-01 1.51374219e-03 9.74490340e-01 -1.16561840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.94687500000003 meters 0.014693846743579991 Centerline is valid? [True, True] Translation: X:248.62, Y:27.14, Z:-11.65 [[ 1.41121592e-01 -9.89507784e-01 -3.09683954e-02 2.48621706e+02] [ 9.64230426e-01 1.44471767e-01 -2.22233197e-01 2.71356764e+01] [ 2.24375537e-01 1.50123337e-03 9.74501598e-01 -1.16503812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.976875 meters 0.01495275063780539 Centerline is valid? [True, True] Translation: X:248.62, Y:27.16, Z:-11.64 [[ 1.41319618e-01 -9.89483165e-01 -3.08517808e-02 2.48623400e+02] [ 9.64270609e-01 1.44639047e-01 -2.21949855e-01 2.71613954e+01] [ 2.24078017e-01 1.61640317e-03 9.74569869e-01 -1.16447439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.00687500000004 meters 0.014703207607914163 Centerline is valid? [True, True] Translation: X:248.63, Y:27.19, Z:-11.64 [[ 1.41384574e-01 -9.89475988e-01 -3.07842792e-02 2.48627617e+02] [ 9.64251791e-01 1.44687136e-01 -2.22000260e-01 2.71885933e+01] [ 2.24118016e-01 1.70361570e-03 9.74560523e-01 -1.16371757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.036875 meters 0.015004645751267332 Centerline is valid? [True, True] Translation: X:248.63, Y:27.21, Z:-11.63 [[ 1.41284717e-01 -9.89493672e-01 -3.06741352e-02 2.48629322e+02] [ 9.64343957e-01 1.44565723e-01 -2.21678786e-01 2.72146339e+01] [ 2.23784184e-01 1.73940760e-03 9.74637170e-01 -1.16324705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06687500000004 meters 0.01534480127940353 Centerline is valid? [True, True] Translation: X:248.63, Y:27.24, Z:-11.63 [[ 1.41745256e-01 -9.89430125e-01 -3.05991728e-02 2.48629983e+02] [ 9.64275807e-01 1.44997754e-01 -2.21693073e-01 2.72403738e+01] [ 2.23786617e-01 1.91789946e-03 9.74636277e-01 -1.16274371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.096875 meters 0.015378251352658882 Centerline is valid? [True, True] Translation: X:248.63, Y:27.27, Z:-11.62 [[ 1.41736397e-01 -9.89433715e-01 -3.05240326e-02 2.48632153e+02] [ 9.64284620e-01 1.44972351e-01 -2.21671354e-01 2.72665399e+01] [ 2.23754252e-01 1.98504395e-03 9.74643573e-01 -1.16218349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12687500000004 meters 0.015120050326371787 Centerline is valid? [True, True] Translation: X:248.64, Y:27.29, Z:-11.62 [[ 1.42064550e-01 -9.89388614e-01 -3.04603798e-02 2.48635742e+02] [ 9.64221139e-01 1.45277755e-01 -2.21747536e-01 2.72923951e+01] [ 2.23819703e-01 2.13192184e-03 9.74628234e-01 -1.16154069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.156875 meters 0.015095330971481802 Centerline is valid? [True, True] Translation: X:248.64, Y:27.32, Z:-11.61 [[ 1.42306586e-01 -9.89353692e-01 -3.04648609e-02 2.48637886e+02] [ 9.64056933e-01 1.45513361e-01 -2.22306301e-01 2.73184545e+01] [ 2.24372604e-01 2.26579035e-03 9.74500796e-01 -1.16102970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18687500000004 meters 0.015759398215500705 Centerline is valid? [True, True] Translation: X:248.64, Y:27.35, Z:-11.61 [[ 1.43875527e-01 -9.89126501e-01 -3.04729022e-02 2.48637856e+02] [ 9.63683833e-01 1.47042314e-01 -2.22917088e-01 2.73454208e+01] [ 2.24974005e-01 2.70607030e-03 9.74361008e-01 -1.16058841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.216875 meters 0.01573298267439243 Centerline is valid? [True, True] Translation: X:248.64, Y:27.37, Z:-11.60 [[ 1.44331274e-01 -9.89063443e-01 -3.03642620e-02 2.48640188e+02] [ 9.63695896e-01 1.47462879e-01 -2.22586879e-01 2.73719731e+01] [ 2.24630146e-01 2.86433305e-03 9.74439887e-01 -1.15999802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.246875 meters 0.015788440064733 Centerline is valid? [True, True] Translation: X:248.64, Y:27.40, Z:-11.59 [[ 1.44700873e-01 -9.89013128e-01 -3.02438468e-02 2.48642258e+02] [ 9.63732238e-01 1.47797135e-01 -2.22207517e-01 2.73973171e+01] [ 2.24236105e-01 3.00665161e-03 9.74530209e-01 -1.15939603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.276875 meters 0.015851216144365042 Centerline is valid? [True, True] Translation: X:248.64, Y:27.42, Z:-11.59 [[ 1.45712792e-01 -9.88869192e-01 -3.00915848e-02 2.48643217e+02] [ 9.63714442e-01 1.48750965e-01 -2.21647525e-01 2.74240716e+01] [ 2.23656562e-01 3.29718485e-03 9.74662440e-01 -1.15874286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.306875 meters 0.015849516268211718 Centerline is valid? [True, True] Translation: X:248.65, Y:27.45, Z:-11.58 [[ 1.45940329e-01 -9.88839385e-01 -2.99681781e-02 2.48645231e+02] [ 9.63772137e-01 1.48946467e-01 -2.21265040e-01 2.74509620e+01] [ 2.23259240e-01 3.40899765e-03 9.74753143e-01 -1.15811164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.336875 meters 0.01601397501114639 Centerline is valid? [True, True] Translation: X:248.65, Y:27.48, Z:-11.57 [[ 1.45482635e-01 -9.88915620e-01 -2.96765672e-02 2.48646659e+02] [ 9.64223178e-01 1.48441076e-01 -2.19633581e-01 2.74765050e+01] [ 2.21604301e-01 3.33803818e-03 9.75130961e-01 -1.15747045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.366875 meters 0.015948589542449102 Centerline is valid? [True, True] Translation: X:248.65, Y:27.50, Z:-11.57 [[ 1.45055943e-01 -9.88981310e-01 -2.95760210e-02 2.48650295e+02] [ 9.64334963e-01 1.48003427e-01 -2.19438066e-01 2.75023263e+01] [ 2.21397498e-01 3.30960448e-03 9.75178032e-01 -1.15680256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.396875 meters 0.015555299814569988 Centerline is valid? [True, True] Translation: X:248.65, Y:27.53, Z:-11.56 [[ 1.43967204e-01 -9.89145851e-01 -2.93926921e-02 2.48653590e+02] [ 9.64694068e-01 1.46903975e-01 -2.18596837e-01 2.75287036e+01] [ 2.20542058e-01 3.11581977e-03 9.75372489e-01 -1.15615356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.426875 meters 0.015468120547581737 Centerline is valid? [True, True] Translation: X:248.66, Y:27.55, Z:-11.56 [[ 1.42298969e-01 -9.89391279e-01 -2.92557632e-02 2.48656440e+02] [ 9.65058134e-01 1.45248233e-01 -2.18095733e-01 2.75547533e+01] [ 2.20031364e-01 2.80128566e-03 9.75488776e-01 -1.15559452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.456875 meters 0.015195341664866597 Centerline is valid? [True, True] Translation: X:248.66, Y:27.58, Z:-11.55 [[ 1.41478980e-01 -9.89512487e-01 -2.91330923e-02 2.48660211e+02] [ 9.65273164e-01 1.44422540e-01 -2.17692097e-01 2.75810627e+01] [ 2.19616524e-01 2.67746376e-03 9.75582602e-01 -1.15500854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.486875 meters 0.015398722798571058 Centerline is valid? [True, True] Translation: X:248.66, Y:27.61, Z:-11.54 [[ 1.40902240e-01 -9.89594310e-01 -2.91489364e-02 2.48663287e+02] [ 9.65212354e-01 1.43861712e-01 -2.18332132e-01 2.76066172e+01] [ 2.20253651e-01 2.62857282e-03 9.75439091e-01 -1.15448868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.516875 meters 0.01497979273002907 Centerline is valid? [True, True] Translation: X:248.67, Y:27.63, Z:-11.54 [[ 1.40377859e-01 -9.89667725e-01 -2.91864881e-02 2.48666923e+02] [ 9.65099355e-01 1.43356362e-01 -2.19162472e-01 2.76337429e+01] [ 2.21082094e-01 2.59769785e-03 9.75251742e-01 -1.15401650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.546875 meters 0.015123374637713356 Centerline is valid? [True, True] Translation: X:248.67, Y:27.66, Z:-11.54 [[ 1.40125250e-01 -9.89703309e-01 -2.91937544e-02 2.48669206e+02] [ 9.65006548e-01 1.43110126e-01 -2.19731321e-01 2.76601064e+01] [ 2.21646737e-01 2.61774201e-03 9.75123516e-01 -1.15356039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57687500000003 meters 0.015187670707395684 Centerline is valid? [True, True] Translation: X:248.67, Y:27.69, Z:-11.53 [[ 1.40191739e-01 -9.89692982e-01 -2.92246053e-02 2.48672494e+02] [ 9.64811802e-01 1.43179587e-01 -2.20539776e-01 2.76869367e+01] [ 2.22451035e-01 2.72161063e-03 9.74940065e-01 -1.15303435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.606875 meters 0.015506005653291065 Centerline is valid? [True, True] Translation: X:248.67, Y:27.71, Z:-11.53 [[ 1.40162790e-01 -9.89697273e-01 -2.92181550e-02 2.48674724e+02] [ 9.64704716e-01 1.43148550e-01 -2.21027834e-01 2.77125366e+01] [ 2.22933181e-01 2.79298599e-03 9.74829727e-01 -1.15254488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63687500000003 meters 0.015207322525492239 Centerline is valid? [True, True] Translation: X:248.68, Y:27.74, Z:-11.52 [[ 1.39918782e-01 -9.89733991e-01 -2.91438063e-02 2.48678501e+02] [ 9.64743128e-01 1.42894140e-01 -2.21024799e-01 2.77391118e+01] [ 2.22920236e-01 2.80923389e-03 9.74832640e-01 -1.15190483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.666875 meters 0.01529399444811111 Centerline is valid? [True, True] Translation: X:248.68, Y:27.77, Z:-11.51 [[ 1.39830774e-01 -9.89746561e-01 -2.91393177e-02 2.48681270e+02] [ 9.64636928e-01 1.42805843e-01 -2.21544778e-01 2.77656025e+01] [ 2.23434447e-01 2.86991579e-03 9.74714733e-01 -1.15134964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69687500000003 meters 0.015644898060119927 Centerline is valid? [True, True] Translation: X:248.68, Y:27.79, Z:-11.51 [[ 1.40454471e-01 -9.89662056e-01 -2.90095911e-02 2.48683383e+02] [ 9.64651256e-01 1.43386128e-01 -2.21107150e-01 2.77915070e+01] [ 2.22980930e-01 3.07134947e-03 9.74817969e-01 -1.15073455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.726875 meters 0.015688186522273405 Centerline is valid? [True, True] Translation: X:248.69, Y:27.82, Z:-11.50 [[ 1.40845146e-01 -9.89608864e-01 -2.89299492e-02 2.48686995e+02] [ 9.64603642e-01 1.43749266e-01 -2.21079085e-01 2.78181689e+01] [ 2.22940481e-01 3.23198167e-03 9.74826701e-01 -1.15007788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75687500000004 meters 0.016287370323182566 Centerline is valid? [True, True] Translation: X:248.69, Y:27.85, Z:-11.49 [[ 1.42470086e-01 -9.89381508e-01 -2.87490363e-02 2.48688352e+02] [ 9.64563525e-01 1.45296001e-01 -2.20241407e-01 2.78453132e+01] [ 2.22079896e-01 3.64754056e-03 9.75021649e-01 -1.14939313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.786875 meters 0.016596680419007342 Centerline is valid? [True, True] Translation: X:248.69, Y:27.87, Z:-11.49 [[ 1.42997345e-01 -9.89309654e-01 -2.86036470e-02 2.48690804e+02] [ 9.64634593e-01 1.45780252e-01 -2.19609245e-01 2.78713071e+01] [ 2.21431393e-01 3.81147158e-03 9.75168504e-01 -1.14876980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81687500000004 meters 0.016705482283165485 Centerline is valid? [True, True] Translation: X:248.69, Y:27.90, Z:-11.48 [[ 1.43313786e-01 -9.89267439e-01 -2.84797022e-02 2.48693914e+02] [ 9.64684535e-01 1.46063019e-01 -2.19201600e-01 2.78981438e+01] [ 2.21008837e-01 3.94068284e-03 9.75263844e-01 -1.14814558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.846875 meters 0.01693219362979519 Centerline is valid? [True, True] Translation: X:248.70, Y:27.92, Z:-11.48 [[ 1.43745357e-01 -9.89207159e-01 -2.83984016e-02 2.48696679e+02] [ 9.64641585e-01 1.46466238e-01 -2.19121552e-01 2.79249983e+01] [ 2.20916015e-01 4.10342659e-03 9.75284203e-01 -1.14753040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87687500000004 meters 0.016988409917116535 Centerline is valid? [True, True] Translation: X:248.70, Y:27.95, Z:-11.47 [[ 1.43752842e-01 -9.89206896e-01 -2.83696382e-02 2.48699895e+02] [ 9.64569162e-01 1.46465824e-01 -2.19440412e-01 2.79517888e+01] [ 2.21227151e-01 4.18070472e-03 9.75213346e-01 -1.14696033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.906875 meters 0.017787574668549588 Centerline is valid? [True, True] Translation: X:248.70, Y:27.98, Z:-11.46 [[ 1.44678557e-01 -9.89071559e-01 -2.83824904e-02 2.48701400e+02] [ 9.64283947e-01 1.47368382e-01 -2.20088685e-01 2.79783160e+01] [ 2.21866141e-01 4.47333350e-03 9.75066872e-01 -1.14647199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.936875 meters 0.018033779184183887 Centerline is valid? [True, True] Translation: X:248.70, Y:28.00, Z:-11.46 [[ 1.44914055e-01 -9.89037407e-01 -2.83711789e-02 2.48704377e+02] [ 9.64152962e-01 1.47593487e-01 -2.20511288e-01 2.80043082e+01] [ 2.22281314e-01 4.60102874e-03 9.74971716e-01 -1.14590192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.966875 meters 0.018243887042321695 Centerline is valid? [True, True] Translation: X:248.71, Y:28.03, Z:-11.45 [[ 1.45091781e-01 -9.89011247e-01 -2.83747879e-02 2.48707762e+02] [ 9.64023108e-01 1.47765378e-01 -2.20963439e-01 2.80311605e+01] [ 2.22728137e-01 4.70602771e-03 9.74869237e-01 -1.14528686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.996875 meters 0.018243887042321695 Centerline is valid? [True, True] Translation: X:248.71, Y:28.06, Z:-11.45 [[ 1.44785173e-01 -9.89058069e-01 -2.83088178e-02 2.48710930e+02] [ 9.64069186e-01 1.47451784e-01 -2.20971891e-01 2.80571449e+01] [ 2.22728218e-01 4.70179459e-03 9.74869240e-01 -1.14470953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.026875 meters 0.01771505062608878 Centerline is valid? [True, True] Translation: X:248.72, Y:28.08, Z:-11.44 [[ 1.44376911e-01 -9.89118844e-01 -2.82704912e-02 2.48715183e+02] [ 9.64071920e-01 1.47044059e-01 -2.21231502e-01 2.80832022e+01] [ 2.22981255e-01 4.68593417e-03 9.74811470e-01 -1.14416467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.056875 meters 0.017309970753252316 Centerline is valid? [True, True] Translation: X:248.72, Y:28.11, Z:-11.44 [[ 1.43409890e-01 -9.89259312e-01 -2.82774958e-02 2.48719565e+02] [ 9.64073523e-01 1.46100228e-01 -2.21848972e-01 2.81094604e+01] [ 2.23597510e-01 4.55375177e-03 9.74670927e-01 -1.14360574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.086875 meters 0.016983409774514957 Centerline is valid? [True, True] Translation: X:248.72, Y:28.14, Z:-11.43 [[ 1.41976649e-01 -9.89467444e-01 -2.82278065e-02 2.48723844e+02] [ 9.64246531e-01 1.44691607e-01 -2.22020195e-01 2.81357752e+01] [ 2.23766081e-01 4.30311879e-03 9.74633379e-01 -1.14305455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.116875 meters 0.016249667816217346 Centerline is valid? [True, True] Translation: X:248.73, Y:28.16, Z:-11.42 [[ 1.38525891e-01 -9.89957089e-01 -2.82053197e-02 2.48730636e+02] [ 9.64657624e-01 1.41322329e-01 -2.22404290e-01 2.81625337e+01] [ 2.24156745e-01 3.60027584e-03 9.74546454e-01 -1.14245835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.146875 meters 0.015613221636775546 Centerline is valid? [True, True] Translation: X:248.74, Y:28.19, Z:-11.42 [[ 1.35949338e-01 -9.90316285e-01 -2.81324177e-02 2.48736357e+02] [ 9.65041071e-01 1.38795489e-01 -2.22332058e-01 2.81891718e+01] [ 2.24083710e-01 3.07695759e-03 9.74565043e-01 -1.14183781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.176875 meters 0.014838638223943126 Centerline is valid? [True, True] Translation: X:248.74, Y:28.22, Z:-11.41 [[ 1.30637864e-01 -9.91035524e-01 -2.79703086e-02 2.48744381e+02] [ 9.65948332e-01 1.33584684e-01 -2.21582833e-01 2.82158597e+01] [ 2.23332864e-01 1.92923515e-03 9.74740330e-01 -1.14105998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.206875 meters 0.014618018135062139 Centerline is valid? [True, True] Translation: X:248.75, Y:28.24, Z:-11.40 [[ 1.27932439e-01 -9.91391602e-01 -2.78564614e-02 2.48749837e+02] [ 9.66411494e-01 1.30922916e-01 -2.21151564e-01 2.82418161e+01] [ 2.22894853e-01 1.37165448e-03 9.74841527e-01 -1.14039721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.236875 meters 0.014500479430115504 Centerline is valid? [True, True] Translation: X:248.76, Y:28.27, Z:-11.40 [[ 1.25247938e-01 -9.91737881e-01 -2.77295873e-02 2.48755089e+02] [ 9.66867547e-01 1.28278148e-01 -2.20707643e-01 2.82680338e+01] [ 2.22441230e-01 8.32339196e-04 9.74945745e-01 -1.13974631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.266875 meters 0.014314366971839184 Centerline is valid? [True, True] Translation: X:248.76, Y:28.29, Z:-11.39 [[ 1.21105652e-01 -9.92257242e-01 -2.75497112e-02 2.48762154e+02] [ 9.67598807e-01 1.24199696e-01 -2.19833992e-01 2.82935892e+01] [ 2.21553537e-01 -3.39286930e-05 9.75148209e-01 -1.13907042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.296875 meters 0.014324877879544787 Centerline is valid? [True, True] Translation: X:248.77, Y:28.32, Z:-11.38 [[ 1.19115066e-01 -9.92498977e-01 -2.75205608e-02 2.48766780e+02] [ 9.67771120e-01 1.22252253e-01 -2.20166861e-01 2.83197310e+01] [ 2.21879835e-01 -4.08413836e-04 9.75073932e-01 -1.13849227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.32687500000003 meters 0.014187158557057924 Centerline is valid? [True, True] Translation: X:248.77, Y:28.35, Z:-11.38 [[ 1.17396696e-01 -9.92704577e-01 -2.74888739e-02 2.48771091e+02] [ 9.67911565e-01 1.20569892e-01 -2.20476990e-01 2.83465509e+01] [ 2.22182848e-01 -7.23528813e-04 9.75004748e-01 -1.13790279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.356875 meters 0.014261187628466102 Centerline is valid? [True, True] Translation: X:248.78, Y:28.37, Z:-11.37 [[ 1.16284008e-01 -9.92836932e-01 -2.74382352e-02 2.48775065e+02] [ 9.68010877e-01 1.19473889e-01 -2.20637560e-01 2.83727766e+01] [ 2.22335270e-01 -9.03890493e-04 9.74969851e-01 -1.13736500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.38687500000003 meters 0.014348628915888891 Centerline is valid? [True, True] Translation: X:248.78, Y:28.40, Z:-11.37 [[ 1.14831974e-01 -9.93005732e-01 -2.74451099e-02 2.48779393e+02] [ 9.68037948e-01 1.18060473e-01 -2.21278683e-01 2.83982101e+01] [ 2.22971183e-01 -1.15803985e-03 9.74824349e-01 -1.13687318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.416875 meters 0.014187392384865164 Centerline is valid? [True, True] Translation: X:248.78, Y:28.43, Z:-11.36 [[ 1.14899716e-01 -9.93000099e-01 -2.73652814e-02 2.48782577e+02] [ 9.68039257e-01 1.18108678e-01 -2.21247230e-01 2.84259730e+01] [ 2.22930598e-01 -1.06942283e-03 9.74833732e-01 -1.13626339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.44687500000003 meters 0.014367977341130132 Centerline is valid? [True, True] Translation: X:248.79, Y:28.45, Z:-11.36 [[ 1.14954639e-01 -9.92994512e-01 -2.73373575e-02 2.48785636e+02] [ 9.67964468e-01 1.18156307e-01 -2.21548810e-01 2.84517505e+01] [ 2.23226833e-01 -9.93527357e-04 9.74766020e-01 -1.13581215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.476875 meters 0.01416556845765232 Centerline is valid? [True, True] Translation: X:248.79, Y:28.48, Z:-11.35 [[ 1.16377609e-01 -9.92831110e-01 -2.72514142e-02 2.48787379e+02] [ 9.67814859e-01 1.19524169e-01 -2.21468670e-01 2.84779383e+01] [ 2.23138188e-01 -6.00329453e-04 9.74786638e-01 -1.13523832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.50687500000004 meters 0.014253860661391045 Centerline is valid? [True, True] Translation: X:248.79, Y:28.50, Z:-11.35 [[ 1.16887785e-01 -9.92772820e-01 -2.71914361e-02 2.48789806e+02] [ 9.67736492e-01 1.20008141e-01 -2.21549380e-01 2.85041026e+01] [ 2.23211397e-01 -4.17728770e-04 9.74769972e-01 -1.13466381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.536875 meters 0.014176163791345444 Centerline is valid? [True, True] Translation: X:248.79, Y:28.53, Z:-11.34 [[ 1.17578517e-01 -9.92692953e-01 -2.71292094e-02 2.48792516e+02] [ 9.67636390e-01 1.20667579e-01 -2.21628411e-01 2.85306317e+01] [ 2.23282578e-01 -1.92470255e-04 9.74753740e-01 -1.13406923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56687500000004 meters 0.014209100636021519 Centerline is valid? [True, True] Translation: X:248.79, Y:28.56, Z:-11.33 [[ 1.18136935e-01 -9.92631484e-01 -2.69518394e-02 2.48794795e+02] [ 9.67770834e-01 1.21172344e-01 -2.20764298e-01 2.85561477e+01] [ 2.22403411e-01 -2.78647102e-06 9.74954729e-01 -1.13349320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.596875 meters 0.01414105984115888 Centerline is valid? [True, True] Translation: X:248.80, Y:28.58, Z:-11.33 [[ 1.18260589e-01 -9.92619803e-01 -2.68395312e-02 2.48797480e+02] [ 9.67827775e-01 1.21267960e-01 -2.20461969e-01 2.85822206e+01] [ 2.22089691e-01 9.59184674e-05 9.75026236e-01 -1.13289731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62687500000004 meters 0.01432317764129867 Centerline is valid? [True, True] Translation: X:248.80, Y:28.61, Z:-11.32 [[ 1.19104663e-01 -9.92523778e-01 -2.66576212e-02 2.48799302e+02] [ 9.67939430e-01 1.22050934e-01 -2.19537763e-01 2.86088717e+01] [ 2.21150038e-01 3.45008651e-04 9.75239736e-01 -1.13225308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.656875 meters 0.0143556275519759 Centerline is valid? [True, True] Translation: X:248.80, Y:28.63, Z:-11.32 [[ 1.19319113e-01 -9.92501126e-01 -2.65417629e-02 2.48801519e+02] [ 9.68003961e-01 1.22234641e-01 -2.19150686e-01 2.86346788e+01] [ 2.20751626e-01 4.56333842e-04 9.75329950e-01 -1.13168988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.686875 meters 0.014472547064399897 Centerline is valid? [True, True] Translation: X:248.80, Y:28.66, Z:-11.31 [[ 1.19395570e-01 -9.92493023e-01 -2.65008980e-02 2.48803996e+02] [ 9.67970531e-01 1.22300132e-01 -2.19261781e-01 2.86603246e+01] [ 2.20856851e-01 5.26797086e-04 9.75306092e-01 -1.13119797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.716875 meters 0.014349037805853853 Centerline is valid? [True, True] Translation: X:248.81, Y:28.69, Z:-11.31 [[ 1.19238771e-01 -9.92515148e-01 -2.63779370e-02 2.48806703e+02] [ 9.68088155e-01 1.22120303e-01 -2.18842308e-01 2.86864675e+01] [ 2.20425587e-01 5.58319487e-04 9.75403634e-01 -1.13055507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.746875 meters 0.0144567605520812 Centerline is valid? [True, True] Translation: X:248.81, Y:28.71, Z:-11.30 [[ 1.18786221e-01 -9.92571858e-01 -2.62857497e-02 2.48809610e+02] [ 9.68187392e-01 1.21658671e-01 -2.18660333e-01 2.87123212e+01] [ 2.20233982e-01 5.24303249e-04 9.75446932e-01 -1.13005387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.776875 meters 0.014527791451540359 Centerline is valid? [True, True] Translation: X:248.81, Y:28.74, Z:-11.30 [[ 1.18125098e-01 -9.92651202e-01 -2.62688615e-02 2.48812388e+02] [ 9.68196627e-01 1.21009934e-01 -2.18979195e-01 2.87377706e+01] [ 2.20548755e-01 4.33515854e-04 9.75375855e-01 -1.12953929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.806875 meters 0.014333930057520339 Centerline is valid? [True, True] Translation: X:248.82, Y:28.76, Z:-11.29 [[ 1.17108494e-01 -9.92773293e-01 -2.62066623e-02 2.48815612e+02] [ 9.68304198e-01 1.20004632e-01 -2.19056769e-01 2.87639145e+01] [ 2.20618631e-01 2.77387193e-04 9.75360109e-01 -1.12896487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.836875 meters 0.014272383688457242 Centerline is valid? [True, True] Translation: X:248.82, Y:28.79, Z:-11.29 [[ 1.14495985e-01 -9.93078232e-01 -2.61972076e-02 2.48819710e+02] [ 9.68500711e-01 1.17454546e-01 -2.19569585e-01 2.87912906e+01] [ 2.21126757e-01 -2.32178183e-04 9.75245048e-01 -1.12851749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.866875 meters 0.01433375448232957 Centerline is valid? [True, True] Translation: X:248.82, Y:28.82, Z:-11.28 [[ 1.12730342e-01 -9.93279259e-01 -2.62332719e-02 2.48824109e+02] [ 9.68513523e-01 1.15741099e-01 -2.20421310e-01 2.88173869e+01] [ 2.21976183e-01 -5.59108853e-04 9.75051928e-01 -1.12800495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.896875 meters 0.014546475025297703 Centerline is valid? [True, True] Translation: X:248.83, Y:28.84, Z:-11.27 [[ 1.09363970e-01 -9.93652511e-01 -2.63478448e-02 2.48829940e+02] [ 9.68544405e-01 1.12486174e-01 -2.21965305e-01 2.88441094e+01] [ 2.23520151e-01 -1.24405065e-03 9.74698515e-01 -1.12742497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.926875 meters 0.014799674104792706 Centerline is valid? [True, True] Translation: X:248.83, Y:28.87, Z:-11.27 [[ 1.07516494e-01 -9.93855504e-01 -2.62952520e-02 2.48834453e+02] [ 9.68728438e-01 1.10673791e-01 -2.22073245e-01 2.88694633e+01] [ 2.23618912e-01 -1.59642180e-03 9.74675348e-01 -1.12694494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.956875 meters 0.014741129411063179 Centerline is valid? [True, True] Translation: X:248.84, Y:28.90, Z:-11.26 [[ 1.05865988e-01 -9.94036197e-01 -2.61616283e-02 2.48837771e+02] [ 9.69027174e-01 1.09034182e-01 -2.21580420e-01 2.88968867e+01] [ 2.23111470e-01 -1.89349861e-03 9.74791099e-01 -1.12627778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.986875 meters 0.014973912098196518 Centerline is valid? [True, True] Translation: X:248.84, Y:28.92, Z:-11.26 [[ 1.03648060e-01 -9.94274461e-01 -2.59880103e-02 2.48842110e+02] [ 9.69483294e-01 1.06831149e-01 -2.20656405e-01 2.89223981e+01] [ 2.22169357e-01 -2.32433367e-03 9.75005320e-01 -1.12564703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.016875 meters 0.015117549728178198 Centerline is valid? [True, True] Translation: X:248.85, Y:28.95, Z:-11.25 [[ 1.03239489e-01 -9.94321030e-01 -2.58320886e-02 2.48845471e+02] [ 9.69686699e-01 1.06396507e-01 -2.19971564e-01 2.89489092e+01] [ 2.21470796e-01 -2.33928078e-03 9.75164199e-01 -1.12495094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.046875 meters 0.015081187046573661 Centerline is valid? [True, True] Translation: X:248.85, Y:28.98, Z:-11.24 [[ 1.03711863e-01 -9.94276996e-01 -2.56340569e-02 2.48848338e+02] [ 9.69888966e-01 1.06810958e-01 -2.18876249e-01 2.89756175e+01] [ 2.20361618e-01 -2.16212532e-03 9.75415851e-01 -1.12431333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07687500000003 meters 0.015113265912766537 Centerline is valid? [True, True] Translation: X:248.85, Y:29.00, Z:-11.24 [[ 1.04360586e-01 -9.94211531e-01 -2.55401542e-02 2.48850788e+02] [ 9.69866653e-01 1.07422675e-01 -2.18675659e-01 2.90008564e+01] [ 2.20153454e-01 -1.94942399e-03 9.75463304e-01 -1.12374563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.106875 meters 0.014985971821669603 Centerline is valid? [True, True] Translation: X:248.85, Y:29.03, Z:-11.23 [[ 1.04714464e-01 -9.94176532e-01 -2.54539557e-02 2.48853209e+02] [ 9.69854379e-01 1.07748715e-01 -2.18569662e-01 2.90262816e+01] [ 2.20039460e-01 -1.79922549e-03 9.75489313e-01 -1.12314897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13687500000003 meters 0.014929160876383338 Centerline is valid? [True, True] Translation: X:248.86, Y:29.05, Z:-11.23 [[ 1.05142987e-01 -9.94132816e-01 -2.53948230e-02 2.48855269e+02] [ 9.69783772e-01 1.08153932e-01 -2.18682791e-01 2.90529142e+01] [ 2.20146289e-01 -1.63452540e-03 9.75465499e-01 -1.12261972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.166875 meters 0.014784099303658014 Centerline is valid? [True, True] Translation: X:248.86, Y:29.08, Z:-11.22 [[ 1.05920019e-01 -9.94051219e-01 -2.53598616e-02 2.48857437e+02] [ 9.69634943e-01 1.08904650e-01 -2.18969984e-01 2.90796134e+01] [ 2.20429187e-01 -1.39650302e-03 9.75401980e-01 -1.12206384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19687500000003 meters 0.014738384737362048 Centerline is valid? [True, True] Translation: X:248.86, Y:29.11, Z:-11.21 [[ 1.06801996e-01 -9.93955959e-01 -2.53945826e-02 2.48859873e+02] [ 9.69334303e-01 1.09773702e-01 -2.19865285e-01 2.91051242e+01] [ 2.21324067e-01 -1.13378883e-03 9.75199657e-01 -1.12149420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.226875 meters 0.014410104790252655 Centerline is valid? [True, True] Translation: X:248.86, Y:29.13, Z:-11.21 [[ 1.06694400e-01 -9.93967817e-01 -2.53827315e-02 2.48862621e+02] [ 9.69263872e-01 1.09666568e-01 -2.20228948e-01 2.91314545e+01] [ 2.21684124e-01 -1.10536920e-03 9.75117904e-01 -1.12089118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25687500000004 meters 0.014556969143125674 Centerline is valid? [True, True] Translation: X:248.87, Y:29.16, Z:-11.20 [[ 1.06655934e-01 -9.93973702e-01 -2.53138586e-02 2.48865309e+02] [ 9.69269479e-01 1.09613791e-01 -2.20230546e-01 2.91577578e+01] [ 2.21678120e-01 -1.04705598e-03 9.75119334e-01 -1.12018942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.286875 meters 0.01452795187449275 Centerline is valid? [True, True] Translation: X:248.87, Y:29.18, Z:-11.20 [[ 1.06670086e-01 -9.93974638e-01 -2.52172752e-02 2.48868101e+02] [ 9.69321389e-01 1.09605960e-01 -2.20005859e-01 2.91827796e+01] [ 2.21444208e-01 -9.75600201e-04 9.75172554e-01 -1.11959272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31687500000004 meters 0.014511379451846964 Centerline is valid? [True, True] Translation: X:248.87, Y:29.21, Z:-11.19 [[ 1.06692274e-01 -9.93972938e-01 -2.51904314e-02 2.48870305e+02] [ 9.69225461e-01 1.09622045e-01 -2.20420082e-01 2.92089019e+01] [ 2.21853023e-01 -8.98087696e-04 9.75079704e-01 -1.11898917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.346875 meters 0.014544887528261672 Centerline is valid? [True, True] Translation: X:248.87, Y:29.23, Z:-11.18 [[ 1.09106341e-01 -9.93711908e-01 -2.51485777e-02 2.48870641e+02] [ 9.68900566e-01 1.11966783e-01 -2.20669739e-01 2.92349987e+01] [ 2.22097953e-01 -2.90003439e-04 9.75024315e-01 -1.11846370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37687500000004 meters 0.014562799251016816 Centerline is valid? [True, True] Translation: X:248.87, Y:29.26, Z:-11.18 [[ 1.10764139e-01 -9.93530268e-01 -2.50781118e-02 2.48871563e+02] [ 9.68745443e-01 1.13567550e-01 -2.20532714e-01 2.92622311e+01] [ 2.21953986e-01 1.32809513e-04 9.75057132e-01 -1.11787180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.406875 meters 0.014579445381896624 Centerline is valid? [True, True] Translation: X:248.87, Y:29.29, Z:-11.17 [[ 1.12618369e-01 -9.93321976e-01 -2.50709865e-02 2.48872485e+02] [ 9.68405109e-01 1.15373598e-01 -2.21089299e-01 2.92894057e+01] [ 2.22505389e-01 6.19844858e-04 9.74931263e-01 -1.11729903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.436875 meters 0.014813587207198973 Centerline is valid? [True, True] Translation: X:248.87, Y:29.32, Z:-11.17 [[ 1.16917840e-01 -9.92826650e-01 -2.50092205e-02 2.48871079e+02] [ 9.67881646e-01 1.19551302e-01 -2.21161946e-01 2.93157982e+01] [ 2.22565359e-01 1.65181148e-03 9.74916372e-01 -1.11660842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.466875 meters 0.015291814218808372 Centerline is valid? [True, True] Translation: X:248.87, Y:29.34, Z:-11.16 [[ 1.19071400e-01 -9.92570852e-01 -2.50020963e-02 2.48872139e+02] [ 9.67501704e-01 1.21647999e-01 -2.21680437e-01 2.93429169e+01] [ 2.23074995e-01 2.20622927e-03 9.74798789e-01 -1.11602236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.496875 meters 0.015535901889570287 Centerline is valid? [True, True] Translation: X:248.87, Y:29.37, Z:-11.15 [[ 1.21092773e-01 -9.92326930e-01 -2.49760852e-02 2.48873601e+02] [ 9.67180033e-01 1.23611625e-01 -2.21997637e-01 2.93700711e+01] [ 2.23381568e-01 2.72593849e-03 9.74727267e-01 -1.11536130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.526875 meters 0.01579176751603983 Centerline is valid? [True, True] Translation: X:248.87, Y:29.40, Z:-11.15 [[ 1.22635034e-01 -9.92138080e-01 -2.49535306e-02 2.48874685e+02] [ 9.66903526e-01 1.25108589e-01 -2.22363247e-01 2.93972953e+01] [ 2.23736945e-01 3.14186763e-03 9.74644503e-01 -1.11478330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.556875 meters 0.016835671628674678 Centerline is valid? [True, True] Translation: X:248.87, Y:29.42, Z:-11.14 [[ 1.26037023e-01 -9.91711350e-01 -2.49653163e-02 2.48873662e+02] [ 9.66311696e-01 1.28423896e-01 -2.23044859e-01 2.94238684e+01] [ 2.24402261e-01 3.98763291e-03 9.74488442e-01 -1.11431641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.586875 meters 0.01762723040781252 Centerline is valid? [True, True] Translation: X:248.87, Y:29.45, Z:-11.14 [[ 1.27102153e-01 -9.91576029e-01 -2.49403748e-02 2.48874213e+02] [ 9.66084601e-01 1.29454444e-01 -2.23432521e-01 2.94506291e+01] [ 2.24778974e-01 4.30424251e-03 9.74400270e-01 -1.11380868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.616875 meters 0.01786598592821127 Centerline is valid? [True, True] Translation: X:248.88, Y:29.48, Z:-11.13 [[ 1.29134622e-01 -9.91314650e-01 -2.48900409e-02 2.48876624e+02] [ 9.65783513e-01 1.31422583e-01 -2.23585133e-01 2.94783781e+01] [ 2.24914331e-01 4.83419044e-03 9.74366550e-01 -1.11321018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.646875 meters 0.01843497403713718 Centerline is valid? [True, True] Translation: X:248.88, Y:29.50, Z:-11.13 [[ 1.29756374e-01 -9.91234460e-01 -2.48501202e-02 2.48878320e+02] [ 9.65653305e-01 1.32018253e-01 -2.23796504e-01 2.95046851e+01] [ 2.25115476e-01 5.04242217e-03 9.74319042e-01 -1.11262413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.676875 meters 0.01865801429625659 Centerline is valid? [True, True] Translation: X:248.88, Y:29.53, Z:-11.12 [[ 1.30560805e-01 -9.91131135e-01 -2.47578035e-02 2.48880822e+02] [ 9.65602311e-01 1.32782406e-01 -2.23564330e-01 2.95316719e+01] [ 2.24868969e-01 5.28254660e-03 9.74374693e-01 -1.11202599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.706875 meters 0.019509594356096664 Centerline is valid? [True, True] Translation: X:248.88, Y:29.56, Z:-11.11 [[ 1.31892561e-01 -9.90955458e-01 -2.47312219e-02 2.48882402e+02] [ 9.65348208e-01 1.34071985e-01 -2.23891806e-01 2.95591398e+01] [ 2.25182572e-01 5.65542304e-03 9.74300172e-01 -1.11143180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.736875 meters 0.01857224835074124 Centerline is valid? [True, True] Translation: X:248.89, Y:29.59, Z:-11.11 [[ 1.32424550e-01 -9.90884847e-01 -2.47175617e-02 2.48887354e+02] [ 9.65173472e-01 1.34584490e-01 -2.24337209e-01 2.95857192e+01] [ 2.25618941e-01 5.85101904e-03 9.74198059e-01 -1.11077348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.766875 meters 0.01995832318647132 Centerline is valid? [True, True] Translation: X:248.89, Y:29.61, Z:-11.10 [[ 1.32661064e-01 -9.90854598e-01 -2.46618773e-02 2.48887181e+02] [ 9.65120025e-01 1.34801696e-01 -2.24436719e-01 2.96115841e+01] [ 2.25708617e-01 5.97234229e-03 9.74176550e-01 -1.11034901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.796875 meters 0.01945658160253372 Centerline is valid? [True, True] Translation: X:248.89, Y:29.64, Z:-11.10 [[ 1.32584471e-01 -9.90863943e-01 -2.46982816e-02 2.48891171e+02] [ 9.64886414e-01 1.34728874e-01 -2.25482456e-01 2.96381341e+01] [ 2.26750007e-01 6.06443560e-03 9.73934113e-01 -1.10993272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.82687500000003 meters 0.020512158141319323 Centerline is valid? [True, True] Translation: X:248.89, Y:29.66, Z:-11.09 [[ 1.32296161e-01 -9.90904273e-01 -2.46261552e-02 2.48892087e+02] [ 9.64928678e-01 1.34431793e-01 -2.25478911e-01 2.96638585e+01] [ 2.26738554e-01 6.06751085e-03 9.73936760e-01 -1.10946989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.856875 meters 0.018542485839897642 Centerline is valid? [True, True] Translation: X:248.90, Y:29.69, Z:-11.09 [[ 1.31429391e-01 -9.91021522e-01 -2.45490896e-02 2.48899224e+02] [ 9.65059780e-01 1.33570572e-01 -2.25429642e-01 2.96896171e+01] [ 2.26684663e-01 5.93674160e-03 9.73950111e-01 -1.10868704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.88687500000003 meters 0.019750159886391238 Centerline is valid? [True, True] Translation: X:248.90, Y:29.72, Z:-11.08 [[ 1.30310770e-01 -9.91172039e-01 -2.44354592e-02 2.48901410e+02] [ 9.65298828e-01 1.32457671e-01 -2.25062519e-01 2.97155104e+01] [ 2.26312340e-01 5.74055003e-03 9.74037869e-01 -1.10807803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.916875 meters 0.019750159886391238 Centerline is valid? [True, True] Translation: X:248.90, Y:29.74, Z:-11.08 [[ 1.30015855e-01 -9.91212155e-01 -2.43791123e-02 2.48904073e+02] [ 9.65338524e-01 1.32157668e-01 -2.25068623e-01 2.97415489e+01] [ 2.26312641e-01 5.72839322e-03 9.74037871e-01 -1.10750024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.94687500000003 meters 0.01804066614106324 Centerline is valid? [True, True] Translation: X:248.91, Y:29.77, Z:-11.07 [[ 1.28752887e-01 -9.91380589e-01 -2.42326653e-02 2.48910792e+02] [ 9.65677981e-01 1.30898624e-01 -2.24347026e-01 2.97675814e+01] [ 2.25585309e-01 5.48437609e-03 9.74207981e-01 -1.10668612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.976875 meters 0.017808006703932358 Centerline is valid? [True, True] Translation: X:248.92, Y:29.79, Z:-11.06 [[ 1.26970022e-01 -9.91612120e-01 -2.41664490e-02 2.48915583e+02] [ 9.65948843e-01 1.29147834e-01 -2.24195605e-01 2.97931972e+01] [ 2.25436124e-01 5.12256747e-03 9.74244483e-01 -1.10606242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.00687500000004 meters 0.016372472292039225 Centerline is valid? [True, True] Translation: X:248.92, Y:29.82, Z:-11.05 [[ 1.22497071e-01 -9.92177392e-01 -2.40518141e-02 2.48923648e+02] [ 9.66632533e-01 1.24766751e-01 -2.23729309e-01 2.98194399e+01] [ 2.24980029e-01 4.15691909e-03 9.74354508e-01 -1.10533291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.036875 meters 0.015926440015730823 Centerline is valid? [True, True] Translation: X:248.93, Y:29.85, Z:-11.05 [[ 1.20234999e-01 -9.92455631e-01 -2.39867865e-02 2.48928916e+02] [ 9.66914590e-01 1.22548248e-01 -2.23736682e-01 2.98462461e+01] [ 2.24988268e-01 3.70780588e-03 9.74354418e-01 -1.10475339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06687500000004 meters 0.015231893580648819 Centerline is valid? [True, True] Translation: X:248.93, Y:29.87, Z:-11.04 [[ 1.17823843e-01 -9.92745670e-01 -2.39494807e-02 2.48933798e+02] [ 9.67150262e-01 1.20189875e-01 -2.23997241e-01 2.98729178e+01] [ 2.25250776e-01 3.22946912e-03 9.74295468e-01 -1.10415933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.096875 meters 0.015216976157960077 Centerline is valid? [True, True] Translation: X:248.93, Y:29.90, Z:-11.04 [[ 1.15196953e-01 -9.93049837e-01 -2.41181199e-02 2.48934543e+02] [ 9.66935293e-01 1.17662636e-01 -2.26255704e-01 2.98989812e+01] [ 2.27520991e-01 2.74330638e-03 9.73769312e-01 -1.10392301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12687500000004 meters 0.015193856832536047 Centerline is valid? [True, True] Translation: X:248.94, Y:29.93, Z:-11.04 [[ 1.13493247e-01 -9.93243111e-01 -2.42364458e-02 2.48935692e+02] [ 9.66692892e-01 1.16026124e-01 -2.28128892e-01 2.99252852e+01] [ 2.29399512e-01 2.46188890e-03 9.73329237e-01 -1.10375055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.156875 meters 0.014804781721976055 Centerline is valid? [True, True] Translation: X:248.94, Y:29.95, Z:-11.03 [[ 1.11150312e-01 -9.93508616e-01 -2.42123603e-02 2.48939392e+02] [ 9.66843951e-01 1.13739241e-01 -2.28639805e-01 2.99520851e+01] [ 2.29909511e-01 2.00381140e-03 9.73209947e-01 -1.10325084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.186875 meters 0.01460098084535862 Centerline is valid? [True, True] Translation: X:248.94, Y:29.98, Z:-11.03 [[ 1.08931322e-01 -9.93757328e-01 -2.40902605e-02 2.48944260e+02] [ 9.67211199e-01 1.11552496e-01 -2.28163400e-01 2.99780238e+01] [ 2.29426379e-01 1.55377105e-03 9.73324777e-01 -1.10250431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.216875 meters 0.014143226813152962 Centerline is valid? [True, True] Translation: X:248.95, Y:30.00, Z:-11.02 [[ 1.05052143e-01 -9.94178559e-01 -2.39382703e-02 2.48948513e+02] [ 9.67822968e-01 1.07742629e-01 -2.27398831e-01 3.00035462e+01] [ 2.28654214e-01 7.20726773e-04 9.73507438e-01 -1.10167514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.246875 meters 0.014045180610845321 Centerline is valid? [True, True] Translation: X:248.95, Y:30.03, Z:-11.01 [[ 1.01027221e-01 -9.94603365e-01 -2.36145570e-02 2.48952409e+02] [ 9.68821406e-01 1.03750300e-01 -2.24991017e-01 3.00301444e+01] [ 2.26226840e-01 -1.48071198e-04 9.74074635e-01 -1.10067545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.276875 meters 0.014087042279992884 Centerline is valid? [True, True] Translation: X:248.95, Y:30.06, Z:-11.00 [[ 9.97709219e-02 -9.94733295e-01 -2.34826540e-02 2.48954190e+02] [ 9.69107566e-01 1.02496493e-01 -2.24332330e-01 3.00551744e+01] [ 2.25557728e-01 -3.75374239e-04 9.74229732e-01 -1.10004090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.306875 meters 0.014118567123494042 Centerline is valid? [True, True] Translation: X:248.95, Y:30.08, Z:-10.99 [[ 9.96776060e-02 -9.94744063e-01 -2.34227401e-02 2.48954963e+02] [ 9.69127533e-01 1.02392053e-01 -2.24293763e-01 3.00822964e+01] [ 2.25513191e-01 -3.42557055e-04 9.74240054e-01 -1.09944120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.336875 meters 0.014026081534725305 Centerline is valid? [True, True] Translation: X:248.95, Y:30.11, Z:-10.99 [[ 1.02255216e-01 -9.94486492e-01 -2.32484027e-02 2.48952761e+02] [ 9.69092274e-01 1.04864317e-01 -2.23301679e-01 3.01081816e+01] [ 2.24508431e-01 3.03913866e-04 9.74472099e-01 -1.09891063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.366875 meters 0.014151254457023029 Centerline is valid? [True, True] Translation: X:248.95, Y:30.13, Z:-10.98 [[ 1.03975514e-01 -9.94310115e-01 -2.31621951e-02 2.48953205e+02] [ 9.68937549e-01 1.06521415e-01 -2.23188740e-01 3.01349357e+01] [ 2.24386092e-01 7.63443381e-04 9.74500025e-01 -1.09830039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.396875 meters 0.014339614695747231 Centerline is valid? [True, True] Translation: X:248.95, Y:30.16, Z:-10.98 [[ 1.06346122e-01 -9.94060213e-01 -2.31256565e-02 2.48952787e+02] [ 9.68606835e-01 1.08822867e-01 -2.23513721e-01 3.01615396e+01] [ 2.24702697e-01 1.37014852e-03 9.74426406e-01 -1.09774264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.426875 meters 0.015173318156691873 Centerline is valid? [True, True] Translation: X:248.95, Y:30.19, Z:-10.97 [[ 1.11226768e-01 -9.93525573e-01 -2.31417793e-02 2.48947636e+02] [ 9.67868941e-01 1.13579971e-01 -2.24341934e-01 3.01887146e+01] [ 2.25517891e-01 2.55461882e-03 9.74235677e-01 -1.09735862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.456875 meters 0.015719120148169147 Centerline is valid? [True, True] Translation: X:248.95, Y:30.22, Z:-10.97 [[ 1.13113250e-01 -9.93313864e-01 -2.30859457e-02 2.48947054e+02] [ 9.67665800e-01 1.15405310e-01 -2.24286677e-01 3.02160302e+01] [ 2.25451306e-01 3.03031492e-03 9.74249725e-01 -1.09681226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.486875 meters 0.01583269415659558 Centerline is valid? [True, True] Translation: X:248.95, Y:30.24, Z:-10.96 [[ 1.14825458e-01 -9.93119188e-01 -2.30085451e-02 2.48947995e+02] [ 9.67494179e-01 1.17056264e-01 -2.24171465e-01 3.02432847e+01] [ 2.25322278e-01 3.47995766e-03 9.74278072e-01 -1.09612138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.516875 meters 0.016244241055461617 Centerline is valid? [True, True] Translation: X:248.95, Y:30.27, Z:-10.95 [[ 1.17374199e-01 -9.92823200e-01 -2.29214275e-02 2.48948367e+02] [ 9.67246595e-01 1.19520580e-01 -2.23939401e-01 3.02707794e+01] [ 2.25071815e-01 4.11403498e-03 9.74333492e-01 -1.09536167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.546875 meters 0.01644172674642636 Centerline is valid? [True, True] Translation: X:248.95, Y:30.30, Z:-10.95 [[ 1.17974371e-01 -9.92754224e-01 -2.28275877e-02 2.48948894e+02] [ 9.67240127e-01 1.20085390e-01 -2.23665008e-01 3.02963262e+01] [ 2.24785641e-01 4.30697992e-03 9.74398720e-01 -1.09480466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57687500000003 meters 0.017150409060535214 Centerline is valid? [True, True] Translation: X:248.95, Y:30.32, Z:-10.94 [[ 1.18590009e-01 -9.92684133e-01 -2.26852999e-02 2.48946074e+02] [ 9.67319137e-01 1.20656256e-01 -2.23015146e-01 3.03226860e+01] [ 2.24120720e-01 4.50344334e-03 9.74550985e-01 -1.09438440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.606875 meters 0.017661480516041182 Centerline is valid? [True, True] Translation: X:248.95, Y:30.35, Z:-10.94 [[ 1.18405675e-01 -9.92707074e-01 -2.26442249e-02 2.48946104e+02] [ 9.67307505e-01 1.20466720e-01 -2.23168007e-01 3.03484073e+01] [ 2.24268335e-01 4.52042989e-03 9.74516947e-01 -1.09389389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63687500000003 meters 0.016741888798277132 Centerline is valid? [True, True] Translation: X:248.95, Y:30.37, Z:-10.93 [[ 1.17847289e-01 -9.92774855e-01 -2.25854742e-02 2.48949309e+02] [ 9.67341756e-01 1.19908749e-01 -2.23319994e-01 3.03745802e+01] [ 2.24414671e-01 4.46978347e-03 9.74483492e-01 -1.09323324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.666875 meters 0.01653339317979059 Centerline is valid? [True, True] Translation: X:248.95, Y:30.40, Z:-10.93 [[ 1.17626813e-01 -9.92803714e-01 -2.24659227e-02 2.48952042e+02] [ 9.67480199e-01 1.19669277e-01 -2.22848221e-01 3.04017174e+01] [ 2.23933022e-01 4.47759051e-03 9.74594250e-01 -1.09254722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69687500000003 meters 0.016436636208570502 Centerline is valid? [True, True] Translation: X:248.95, Y:30.43, Z:-10.92 [[ 1.16479343e-01 -9.92941402e-01 -2.23592277e-02 2.48953568e+02] [ 9.67715806e-01 1.18529008e-01 -2.22434246e-01 3.04294602e+01] [ 2.23514389e-01 4.27161687e-03 9.74691270e-01 -1.09184944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.726875 meters 0.016025301079052916 Centerline is valid? [True, True] Translation: X:248.96, Y:30.46, Z:-10.91 [[ 1.15711138e-01 -9.93032830e-01 -2.22874721e-02 2.48955926e+02] [ 9.67833355e-01 1.17764731e-01 -2.22328730e-01 3.04565154e+01] [ 2.23404406e-01 4.15535140e-03 9.74716987e-01 -1.09125864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75687500000004 meters 0.016601895631967803 Centerline is valid? [True, True] Translation: X:248.96, Y:30.48, Z:-10.91 [[ 1.15433403e-01 -9.93065882e-01 -2.22549512e-02 2.48956407e+02] [ 9.67790271e-01 1.17485354e-01 -2.22663833e-01 3.04831457e+01] [ 2.23734487e-01 4.16471865e-03 9.74641234e-01 -1.09076227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.786875 meters 0.01690639491651061 Centerline is valid? [True, True] Translation: X:248.96, Y:30.51, Z:-10.90 [[ 1.15187034e-01 -9.93095368e-01 -2.22156967e-02 2.48957102e+02] [ 9.67750930e-01 1.17235181e-01 -2.22966479e-01 3.05098549e+01] [ 2.24031439e-01 4.18358629e-03 9.74572938e-01 -1.09028707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81687500000004 meters 0.01643325289251496 Centerline is valid? [True, True] Translation: X:248.96, Y:30.54, Z:-10.90 [[ 1.14456517e-01 -9.93180790e-01 -2.21725842e-02 2.48959322e+02] [ 9.67771390e-01 1.16512435e-01 -2.23256331e-01 3.05366214e+01] [ 2.24317281e-01 4.09514930e-03 9.74507561e-01 -1.08965802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.846875 meters 0.016420458118325997 Centerline is valid? [True, True] Translation: X:248.96, Y:30.56, Z:-10.89 [[ 1.12852750e-01 -9.93366100e-01 -2.20918040e-02 2.48961268e+02] [ 9.67979956e-01 1.14931905e-01 -2.23171373e-01 3.05619184e+01] [ 2.24229930e-01 3.80107976e-03 9.74528856e-01 -1.08910503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87687500000004 meters 0.016230803965826414 Centerline is valid? [True, True] Translation: X:248.96, Y:30.59, Z:-10.88 [[ 1.11486226e-01 -9.93522127e-01 -2.20137491e-02 2.48964163e+02] [ 9.68145464e-01 1.13582898e-01 -2.23144092e-01 3.05885414e+01] [ 2.24198978e-01 3.56498147e-03 9.74536869e-01 -1.08846106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.906875 meters 0.016024799871922495 Centerline is valid? [True, True] Translation: X:248.97, Y:30.61, Z:-10.88 [[ 1.09917385e-01 -9.93698398e-01 -2.19468075e-02 2.48967189e+02] [ 9.68314387e-01 1.12038954e-01 -2.23191667e-01 3.06145196e+01] [ 2.24244099e-01 3.28123488e-03 9.74527484e-01 -1.08783217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.936875 meters 0.016003523892295566 Centerline is valid? [True, True] Translation: X:248.97, Y:30.64, Z:-10.87 [[ 1.08107079e-01 -9.93898266e-01 -2.18882687e-02 2.48969445e+02] [ 9.68487614e-01 1.10261356e-01 -2.23325265e-01 3.06402266e+01] [ 2.24376024e-01 2.94452495e-03 9.74498194e-01 -1.08724535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.966875 meters 0.01572427369711162 Centerline is valid? [True, True] Translation: X:248.97, Y:30.67, Z:-10.87 [[ 1.06918062e-01 -9.94028919e-01 -2.17953195e-02 2.48971681e+02] [ 9.68664105e-01 1.09082408e-01 -2.23138702e-01 3.06665729e+01] [ 2.24183808e-01 2.74521404e-03 9.74543013e-01 -1.08665287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.996875 meters 0.015394299440971659 Centerline is valid? [True, True] Translation: X:248.97, Y:30.69, Z:-10.86 [[ 1.06334555e-01 -9.94093732e-01 -2.16936282e-02 2.48974602e+02] [ 9.68804552e-01 1.08491884e-01 -2.22816632e-01 3.06935482e+01] [ 2.23854200e-01 2.67622176e-03 9.74618969e-01 -1.08603919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.026875 meters 0.015528977628010436 Centerline is valid? [True, True] Translation: X:248.98, Y:30.72, Z:-10.85 [[ 1.06121126e-01 -9.94117595e-01 -2.16451766e-02 2.48976313e+02] [ 9.68790097e-01 1.08272573e-01 -2.22986093e-01 3.07200185e+01] [ 2.24017977e-01 2.69390264e-03 9.74581289e-01 -1.08547250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.056875 meters 0.015620107083818597 Centerline is valid? [True, True] Translation: X:248.98, Y:30.75, Z:-10.85 [[ 1.06512506e-01 -9.94078092e-01 -2.15367825e-02 2.48977019e+02] [ 9.68836455e-01 1.08630806e-01 -2.22610133e-01 3.07463917e+01] [ 2.23631414e-01 2.84514303e-03 9.74669634e-01 -1.08491223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.086875 meters 0.015486022916475162 Centerline is valid? [True, True] Translation: X:248.98, Y:30.77, Z:-10.84 [[ 1.07155853e-01 -9.94010404e-01 -2.14695218e-02 2.48979022e+02] [ 9.68757318e-01 1.09242635e-01 -2.22655126e-01 3.07739720e+01] [ 2.23666899e-01 3.06004355e-03 9.74660841e-01 -1.08421709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.116875 meters 0.016290177107136428 Centerline is valid? [True, True] Translation: X:248.98, Y:30.80, Z:-10.84 [[ 1.07972187e-01 -9.93923818e-01 -2.13881095e-02 2.48978543e+02] [ 9.68709289e-01 1.10020613e-01 -2.22480960e-01 3.08001779e+01] [ 2.23482258e-01 3.30289546e-03 9.74702401e-01 -1.08368464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.146875 meters 0.016513703408494684 Centerline is valid? [True, True] Translation: X:248.98, Y:30.83, Z:-10.83 [[ 1.10858480e-01 -9.93606815e-01 -2.13517119e-02 2.48978920e+02] [ 9.68367452e-01 1.12825189e-01 -2.22564496e-01 3.08276378e+01] [ 2.23550611e-01 3.99685882e-03 9.74684128e-01 -1.08295631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.176875 meters 0.01700022118605171 Centerline is valid? [True, True] Translation: X:248.98, Y:30.85, Z:-10.82 [[ 1.12014177e-01 -9.93477551e-01 -2.13349357e-02 2.48978819e+02] [ 9.68121292e-01 1.13945571e-01 -2.23064051e-01 3.08542556e+01] [ 2.24040149e-01 4.33153061e-03 9.74570290e-01 -1.08245175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.206875 meters 0.018088372769591902 Centerline is valid? [True, True] Translation: X:248.98, Y:30.88, Z:-10.82 [[ 1.14789992e-01 -9.93159449e-01 -2.13908256e-02 2.48976852e+02] [ 9.67497324e-01 1.16656384e-01 -2.24366253e-01 3.08815521e+01] [ 2.25326840e-01 5.05943386e-03 9.74270095e-01 -1.08196522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.236875 meters 0.017753839247692943 Centerline is valid? [True, True] Translation: X:248.98, Y:30.91, Z:-10.81 [[ 1.15837792e-01 -9.93037815e-01 -2.13893657e-02 2.48979540e+02] [ 9.67211330e-01 1.17672934e-01 -2.25067376e-01 3.09090074e+01] [ 2.26017365e-01 5.38327102e-03 9.74108398e-01 -1.08134630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.266875 meters 0.018065857062642354 Centerline is valid? [True, True] Translation: X:248.98, Y:30.94, Z:-10.81 [[ 1.16505068e-01 -9.92958881e-01 -2.14296305e-02 2.48980798e+02] [ 9.66869023e-01 1.18325522e-01 -2.26193198e-01 3.09365044e+01] [ 2.27136217e-01 5.63300803e-03 9.73846707e-01 -1.08075173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.296875 meters 0.018484267447322702 Centerline is valid? [True, True] Translation: X:248.98, Y:30.96, Z:-10.80 [[ 1.17308688e-01 -9.92860002e-01 -2.16261177e-02 2.48980853e+02] [ 9.66116275e-01 1.19136134e-01 -2.28967081e-01 3.09640649e+01] [ 2.29908709e-01 5.96648376e-03 9.73193910e-01 -1.08033998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.32687500000003 meters 0.018724381901562306 Centerline is valid? [True, True] Translation: X:248.98, Y:30.99, Z:-10.80 [[ 1.17530337e-01 -9.92832153e-01 -2.17010620e-02 2.48981914e+02] [ 9.65773334e-01 1.19360828e-01 -2.30292987e-01 3.09916664e+01] [ 2.31232538e-01 6.10810518e-03 9.72879337e-01 -1.07981945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.356875 meters 0.019069783665730616 Centerline is valid? [True, True] Translation: X:248.98, Y:31.02, Z:-10.79 [[ 1.17878566e-01 -9.92790512e-01 -2.17173452e-02 2.48983188e+02] [ 9.65522652e-01 1.19697732e-01 -2.31167603e-01 3.10177993e+01] [ 2.32100520e-01 6.28111682e-03 9.72671525e-01 -1.07931665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.38687500000003 meters 0.018655079539851793 Centerline is valid? [True, True] Translation: X:248.99, Y:31.04, Z:-10.79 [[ 1.16353745e-01 -9.92968808e-01 -2.17888178e-02 2.48986514e+02] [ 9.65378264e-01 1.18223082e-01 -2.32525506e-01 3.10441877e+01] [ 2.33466516e-01 6.02076231e-03 9.72346202e-01 -1.07867662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.416875 meters 0.018156673909914073 Centerline is valid? [True, True] Translation: X:248.99, Y:31.07, Z:-10.78 [[ 1.14812626e-01 -9.93149168e-01 -2.17437530e-02 2.48990538e+02] [ 9.65484858e-01 1.16712372e-01 -2.32845898e-01 3.10715400e+01] [ 2.33788474e-01 5.74038456e-03 9.72270537e-01 -1.07800721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.44687500000003 meters 0.01725263952079989 Centerline is valid? [True, True] Translation: X:249.00, Y:31.10, Z:-10.77 [[ 1.09924269e-01 -9.93703505e-01 -2.16794529e-02 2.48996599e+02] [ 9.66039960e-01 1.11944903e-01 -2.32884378e-01 3.10978258e+01] [ 2.33844927e-01 4.65642716e-03 9.72262757e-01 -1.07723294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.476875 meters 0.01694525572809226 Centerline is valid? [True, True] Translation: X:249.00, Y:31.12, Z:-10.77 [[ 1.06794296e-01 -9.94045825e-01 -2.16304584e-02 2.49000756e+02] [ 9.66337045e-01 1.08889699e-01 -2.33100296e-01 3.11234481e+01] [ 2.34067710e-01 3.99146882e-03 9.72212104e-01 -1.07656146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.50687500000004 meters 0.01609305232707554 Centerline is valid? [True, True] Translation: X:249.01, Y:31.15, Z:-10.76 [[ 1.03688210e-01 -9.94376745e-01 -2.15324031e-02 2.49006777e+02] [ 9.66758641e-01 1.05848411e-01 -2.32752752e-01 3.11501155e+01] [ 2.33723094e-01 3.31707939e-03 9.72297543e-01 -1.07568882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.536875 meters 0.015772783164788338 Centerline is valid? [True, True] Translation: X:249.01, Y:31.18, Z:-10.75 [[ 1.00733508e-01 -9.94682281e-01 -2.14457698e-02 2.49010976e+02] [ 9.67124523e-01 1.02956122e-01 -2.32529985e-01 3.11762445e+01] [ 2.33501430e-01 2.68283115e-03 9.72352757e-01 -1.07499280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56687500000004 meters 0.015165135782235563 Centerline is valid? [True, True] Translation: X:249.02, Y:31.20, Z:-10.74 [[ 9.48945225e-02 -9.95260975e-01 -2.12278227e-02 2.49018028e+02] [ 9.68153461e-01 9.72306167e-02 -2.30705622e-01 3.12020128e+01] [ 2.31676296e-01 1.34090982e-03 9.72792010e-01 -1.07404118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.596875 meters 0.01493671757176837 Centerline is valid? [True, True] Translation: X:249.02, Y:31.23, Z:-10.73 [[ 9.19765624e-02 -9.95537557e-01 -2.11017823e-02 2.49022556e+02] [ 9.68591585e-01 9.43634131e-02 -2.30056272e-01 3.12278724e+01] [ 2.31020895e-01 7.20776286e-04 9.72948522e-01 -1.07323359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62687500000004 meters 0.014994584807153117 Centerline is valid? [True, True] Translation: X:249.03, Y:31.25, Z:-10.73 [[ 8.94590694e-02 -9.95769456e-01 -2.09825033e-02 2.49026658e+02] [ 9.68948831e-01 9.18866075e-02 -2.29553945e-01 3.12529337e+01] [ 2.30510818e-01 2.04710245e-04 9.73069741e-01 -1.07258535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.656875 meters 0.014981591105573233 Centerline is valid? [True, True] Translation: X:249.03, Y:31.28, Z:-10.72 [[ 8.60589915e-02 -9.96072196e-01 -2.08333977e-02 2.49031795e+02] [ 9.69449638e-01 8.85433204e-02 -2.28752006e-01 3.12781269e+01] [ 2.29698171e-01 -5.10762948e-04 9.73261778e-01 -1.07156418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.686875 meters 0.014907787658611426 Centerline is valid? [True, True] Translation: X:249.03, Y:31.31, Z:-10.71 [[ 8.50664510e-02 -9.96159912e-01 -2.07154379e-02 2.49034713e+02] [ 9.69658698e-01 8.75498752e-02 -2.28247737e-01 3.13053502e+01] [ 2.29184880e-01 -6.70679577e-04 9.73382680e-01 -1.07075249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.716875 meters 0.014799343408376919 Centerline is valid? [True, True] Translation: X:249.04, Y:31.33, Z:-10.70 [[ 8.46151126e-02 -9.96203132e-01 -2.04842106e-02 2.49037409e+02] [ 9.70131876e-01 8.70563635e-02 -2.26418489e-01 3.13319109e+01] [ 2.27342089e-01 -7.13959727e-04 9.73814697e-01 -1.06982849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.746875 meters 0.014931813241566675 Centerline is valid? [True, True] Translation: X:249.04, Y:31.36, Z:-10.69 [[ 8.50988456e-02 -9.96165001e-01 -2.03341357e-02 2.49039280e+02] [ 9.70310235e-01 8.74928388e-02 -2.25484036e-01 3.13572647e+01] [ 2.26398396e-01 -5.41988818e-04 9.74034636e-01 -1.06917630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.776875 meters 0.014774320649557963 Centerline is valid? [True, True] Translation: X:249.04, Y:31.38, Z:-10.68 [[ 8.57761678e-02 -9.96110713e-01 -2.01468502e-02 2.49040363e+02] [ 9.70540595e-01 8.81098482e-02 -2.24248985e-01 3.13831270e+01] [ 2.25151953e-01 -3.18117405e-04 9.74323610e-01 -1.06837007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.806875 meters 0.014774320649557963 Centerline is valid? [True, True] Translation: X:249.04, Y:31.41, Z:-10.68 [[ 8.54713814e-02 -9.96138341e-01 -2.00760715e-02 2.49042562e+02] [ 9.70567486e-01 8.77969516e-02 -2.24255322e-01 3.14091995e+01] [ 2.25151943e-01 -3.17770066e-04 9.74323612e-01 -1.06779308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.836875 meters 0.01473556231629299 Centerline is valid? [True, True] Translation: X:249.04, Y:31.44, Z:-10.67 [[ 8.83006734e-02 -9.95898812e-01 -1.97116169e-02 2.49041955e+02] [ 9.71079048e-01 9.04733154e-02 -2.20952625e-01 3.14354799e+01] [ 2.21829832e-01 3.68727472e-04 9.75085324e-01 -1.06679497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.866875 meters 0.01478275802046763 Centerline is valid? [True, True] Translation: X:249.04, Y:31.46, Z:-10.66 [[ 8.98091461e-02 -9.95768930e-01 -1.94565176e-02 2.49042380e+02] [ 9.71434141e-01 9.18894850e-02 -2.18796781e-01 3.14611820e+01] [ 2.19658886e-01 7.49226598e-04 9.75576451e-01 -1.06604156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.896875 meters 0.01537058091011638 Centerline is valid? [True, True] Translation: X:249.04, Y:31.49, Z:-10.65 [[ 9.31989723e-02 -9.95465318e-01 -1.90460328e-02 2.49040195e+02] [ 9.71973328e-01 9.51129587e-02 -2.14991568e-01 3.14859234e+01] [ 2.15828175e-01 1.52475729e-03 9.76430169e-01 -1.06509791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.926875 meters 0.015412331898756333 Centerline is valid? [True, True] Translation: X:249.04, Y:31.51, Z:-10.64 [[ 9.44875706e-02 -9.95347642e-01 -1.88459640e-02 2.49040433e+02] [ 9.72226171e-01 9.63312859e-02 -2.13299214e-01 3.15123487e+01] [ 2.14122326e-01 1.83158519e-03 9.76805137e-01 -1.06445834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.956875 meters 0.015798142182076834 Centerline is valid? [True, True] Translation: X:249.04, Y:31.54, Z:-10.64 [[ 9.59147617e-02 -9.95214005e-01 -1.86933686e-02 2.49040090e+02] [ 9.72302615e-01 9.76948732e-02 -2.12328368e-01 3.15402444e+01] [ 2.13138412e-01 2.18981364e-03 9.77019561e-01 -1.06388080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.986875 meters 0.016596961404161215 Centerline is valid? [True, True] Translation: X:249.04, Y:31.57, Z:-10.63 [[ 9.89278974e-02 -9.94921892e-01 -1.85391296e-02 2.49036495e+02] [ 9.72241096e-01 1.00608997e-01 -2.11246494e-01 3.15677232e+01] [ 2.12038965e-01 2.87366778e-03 9.77256987e-01 -1.06344821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.016875 meters 0.017347772883108084 Centerline is valid? [True, True] Translation: X:249.04, Y:31.59, Z:-10.63 [[ 1.00469473e-01 -9.94768847e-01 -1.84614684e-02 2.49035714e+02] [ 9.72172968e-01 1.02100300e-01 -2.10844134e-01 3.15946930e+01] [ 2.11626098e-01 3.23565839e-03 9.77345346e-01 -1.06299369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.046875 meters 0.017231556990734705 Centerline is valid? [True, True] Translation: X:249.04, Y:31.62, Z:-10.63 [[ 1.02042250e-01 -9.94609309e-01 -1.84309730e-02 2.49036243e+02] [ 9.71933715e-01 1.03629574e-01 -2.11200770e-01 3.16227982e+01] [ 2.11972246e-01 3.63771771e-03 9.77268916e-01 -1.06250175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07687500000003 meters 0.01764647634188478 Centerline is valid? [True, True] Translation: X:249.03, Y:31.65, Z:-10.62 [[ 1.05064940e-01 -9.94293763e-01 -1.84735297e-02 2.49034466e+02] [ 9.71356440e-01 1.06587151e-01 -2.12381369e-01 3.16514880e+01] [ 2.13138511e-01 4.36945358e-03 9.77012223e-01 -1.06217297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.106875 meters 0.01832696619362117 Centerline is valid? [True, True] Translation: X:249.03, Y:31.68, Z:-10.62 [[ 1.06189175e-01 -9.94173947e-01 -1.84938479e-02 2.49033643e+02] [ 9.71027019e-01 1.07685262e-01 -2.13331695e-01 3.16780136e+01] [ 2.14080329e-01 4.69549078e-03 9.76804773e-01 -1.06173634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13687500000003 meters 0.01851554396061077 Centerline is valid? [True, True] Translation: X:249.03, Y:31.71, Z:-10.61 [[ 1.07217850e-01 -9.94063059e-01 -1.85194035e-02 2.49033732e+02] [ 9.70734754e-01 1.08691318e-01 -2.14150030e-01 3.17055833e+01] [ 2.14891532e-01 4.98327714e-03 9.76625208e-01 -1.06129122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.166875 meters 0.01894521253064256 Centerline is valid? [True, True] Translation: X:249.03, Y:31.73, Z:-10.61 [[ 1.07895691e-01 -9.93989359e-01 -1.85384614e-02 2.49033927e+02] [ 9.70453684e-01 1.09352400e-01 -2.15085333e-01 3.17332330e+01] [ 2.15819758e-01 5.21606238e-03 9.76419287e-01 -1.06089632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19687500000003 meters 0.019352629805494313 Centerline is valid? [True, True] Translation: X:249.03, Y:31.76, Z:-10.61 [[ 1.08342998e-01 -9.93938056e-01 -1.86798085e-02 2.49032917e+02] [ 9.69874667e-01 1.09806743e-01 -2.17452546e-01 3.17609292e+01] [ 2.18185530e-01 5.44238774e-03 9.75892133e-01 -1.06059357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.226875 meters 0.01919850151598487 Centerline is valid? [True, True] Translation: X:249.03, Y:31.79, Z:-10.60 [[ 1.07888319e-01 -9.93986294e-01 -1.87445530e-02 2.49034241e+02] [ 9.69581353e-01 1.09368820e-01 -2.18975937e-01 3.17873075e+01] [ 2.19709150e-01 5.45057665e-03 9.75550194e-01 -1.06012585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25687500000004 meters 0.018227860731862663 Centerline is valid? [True, True] Translation: X:249.04, Y:31.81, Z:-10.60 [[ 1.06544065e-01 -9.94128785e-01 -1.88764495e-02 2.49036878e+02] [ 9.69188720e-01 1.08074023e-01 -2.21344144e-01 3.18148983e+01] [ 2.22084639e-01 5.28806285e-03 9.75013051e-01 -1.05972394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.286875 meters 0.018969275579534314 Centerline is valid? [True, True] Translation: X:249.04, Y:31.84, Z:-10.59 [[ 1.05201882e-01 -9.94270996e-01 -1.89142776e-02 2.49036654e+02] [ 9.69056680e-01 1.06767687e-01 -2.22552944e-01 3.18409188e+01] [ 2.23297371e-01 5.08398156e-03 9.74737112e-01 -1.05930495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31687500000004 meters 0.017720085689201834 Centerline is valid? [True, True] Translation: X:249.04, Y:31.87, Z:-10.59 [[ 1.04098812e-01 -9.94387051e-01 -1.89163834e-02 2.49040607e+02] [ 9.68962777e-01 1.05688437e-01 -2.23475033e-01 3.18683568e+01] [ 2.24219922e-01 4.93421402e-03 9.74526080e-01 -1.05870342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.346875 meters 0.018448516766539882 Centerline is valid? [True, True] Translation: X:249.04, Y:31.89, Z:-10.58 [[ 1.02559637e-01 -9.94545725e-01 -1.89821453e-02 2.49040168e+02] [ 9.68766384e-01 1.04196042e-01 -2.25021952e-01 3.18942024e+01] [ 2.25772485e-01 4.68890557e-03 9.74168774e-01 -1.05829913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37687500000004 meters 0.018081310383430426 Centerline is valid? [True, True] Translation: X:249.04, Y:31.92, Z:-10.58 [[ 1.02163812e-01 -9.94586821e-01 -1.89634175e-02 2.49042793e+02] [ 9.68701924e-01 1.03804066e-01 -2.25480152e-01 3.19209100e+01] [ 2.26228067e-01 4.66601289e-03 9.74063186e-01 -1.05765018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.406875 meters 0.01734707472519531 Centerline is valid? [True, True] Translation: X:249.05, Y:31.95, Z:-10.57 [[ 1.01364847e-01 -9.94668880e-01 -1.89469308e-02 2.49046608e+02] [ 9.68634426e-01 1.03019142e-01 -2.26129178e-01 3.19475087e+01] [ 2.26875553e-01 4.56890019e-03 9.73913040e-01 -1.05679868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.436875 meters 0.017343686723242865 Centerline is valid? [True, True] Translation: X:249.05, Y:31.97, Z:-10.56 [[ 1.00956054e-01 -9.94711212e-01 -1.89071470e-02 2.49049073e+02] [ 9.68604910e-01 1.02610571e-01 -2.26441160e-01 3.19744428e+01] [ 2.27183634e-01 4.54705053e-03 9.73841322e-01 -1.05610576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.466875 meters 0.017483436766444982 Centerline is valid? [True, True] Translation: X:249.05, Y:32.00, Z:-10.55 [[ 1.00288652e-01 -9.94779473e-01 -1.88676219e-02 2.49050593e+02] [ 9.68601992e-01 1.01950287e-01 -2.26751670e-01 3.20008883e+01] [ 2.27491467e-01 4.46540311e-03 9.73769836e-01 -1.05546236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.496875 meters 0.016965795933674865 Centerline is valid? [True, True] Translation: X:249.05, Y:32.03, Z:-10.55 [[ 9.95492462e-02 -9.94854922e-01 -1.88050926e-02 2.49053775e+02] [ 9.68716597e-01 1.01216833e-01 -2.26590618e-01 3.20274013e+01] [ 2.27328184e-01 4.34011996e-03 9.73808534e-01 -1.05473053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.526875 meters 0.016990900538394423 Centerline is valid? [True, True] Translation: X:249.06, Y:32.05, Z:-10.54 [[ 9.83081768e-02 -9.94981764e-01 -1.86223683e-02 2.49055983e+02] [ 9.69175119e-01 9.99728693e-02 -2.25177739e-01 3.20531714e+01] [ 2.25909476e-01 4.08847701e-03 9.74139720e-01 -1.05393080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.556875 meters 0.017122012804983718 Centerline is valid? [True, True] Translation: X:249.06, Y:32.08, Z:-10.53 [[ 9.72546826e-02 -9.95089923e-01 -1.83731480e-02 2.49058792e+02] [ 9.69801748e-01 9.88995250e-02 -2.22942713e-01 3.20782860e+01] [ 2.23665142e-01 3.86391171e-03 9.74658389e-01 -1.05314575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.586875 meters 0.016970257305321146 Centerline is valid? [True, True] Translation: X:249.06, Y:32.10, Z:-10.52 [[ 9.65359983e-02 -9.95163078e-01 -1.82002271e-02 2.49061719e+02] [ 9.70204381e-01 9.81660108e-02 -2.21510480e-01 3.21043666e+01] [ 2.22225695e-01 3.72579518e-03 9.74988133e-01 -1.05243495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.616875 meters 0.016568684178973305 Centerline is valid? [True, True] Translation: X:249.07, Y:32.13, Z:-10.52 [[ 9.63208726e-02 -9.95187253e-01 -1.80172682e-02 2.49065737e+02] [ 9.70544369e-01 9.79210044e-02 -2.20125202e-01 3.21314863e+01] [ 2.20830064e-01 3.71609330e-03 9.75305221e-01 -1.05159641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.646875 meters 0.01697949146517163 Centerline is valid? [True, True] Translation: X:249.07, Y:32.16, Z:-10.51 [[ 9.57262595e-02 -9.95248329e-01 -1.78114184e-02 2.49067405e+02] [ 9.71000814e-01 9.73022762e-02 -2.18379683e-01 3.21567401e+01] [ 2.19075106e-01 3.60976849e-03 9.75701321e-01 -1.05090637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.676875 meters 0.01681190849633517 Centerline is valid? [True, True] Translation: X:249.07, Y:32.18, Z:-10.50 [[ 9.50221339e-02 -9.95318948e-01 -1.76347942e-02 2.49070584e+02] [ 9.71355440e-01 9.65812180e-02 -2.17119039e-01 3.21832078e+01] [ 2.17805883e-01 3.50146112e-03 9.75985828e-01 -1.05016608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.706875 meters 0.016654877893208953 Centerline is valid? [True, True] Translation: X:249.07, Y:32.21, Z:-10.49 [[ 9.35644072e-02 -9.95461266e-01 -1.73945362e-02 2.49074799e+02] [ 9.71974129e-01 9.51134896e-02 -2.14987711e-01 3.22089948e+01] [ 2.15666394e-01 3.20815859e-03 9.76461834e-01 -1.04943623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.736875 meters 0.01649356832641917 Centerline is valid? [True, True] Translation: X:249.08, Y:32.24, Z:-10.49 [[ 9.27535367e-02 -9.95538770e-01 -1.73014162e-02 2.49077768e+02] [ 9.72123083e-01 9.43026755e-02 -2.14671185e-01 3.22350547e+01] [ 2.15345057e-01 3.09240562e-03 9.76533125e-01 -1.04880669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.766875 meters 0.016536155550154304 Centerline is valid? [True, True] Translation: X:249.08, Y:32.26, Z:-10.48 [[ 9.14746554e-02 -9.95658784e-01 -1.72038628e-02 2.49081428e+02] [ 9.72330148e-01 9.30340036e-02 -2.14286624e-01 3.22610503e+01] [ 2.14956904e-01 2.87396061e-03 9.76619306e-01 -1.04827340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.796875 meters 0.01602172671548923 Centerline is valid? [True, True] Translation: X:249.09, Y:32.29, Z:-10.48 [[ 9.08012690e-02 -9.95721692e-01 -1.71301357e-02 2.49085190e+02] [ 9.72404797e-01 9.23606828e-02 -2.14239155e-01 3.22873870e+01] [ 2.14904725e-01 2.79576101e-03 9.76631017e-01 -1.04774465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.82687500000003 meters 0.015915603987000745 Centerline is valid? [True, True] Translation: X:249.09, Y:32.31, Z:-10.47 [[ 8.96346934e-02 -9.95828713e-01 -1.70527313e-02 2.49087470e+02] [ 9.72536769e-01 9.12050671e-02 -2.14135163e-01 3.23134705e+01] [ 2.14797239e-01 2.60953145e-03 9.76655178e-01 -1.04744874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.856875 meters 0.015600353586243176 Centerline is valid? [True, True] Translation: X:249.09, Y:32.34, Z:-10.47 [[ 8.84422915e-02 -9.95935971e-01 -1.70148087e-02 2.49090050e+02] [ 9.72549682e-01 9.00313271e-02 -2.14572778e-01 3.23398111e+01] [ 2.15232613e-01 2.42956138e-03 9.76559788e-01 -1.04696756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.88687500000003 meters 0.015690976594141814 Centerline is valid? [True, True] Translation: X:249.09, Y:32.37, Z:-10.46 [[ 8.74157450e-02 -9.96027311e-01 -1.69730216e-02 2.49093066e+02] [ 9.72568780e-01 8.90191125e-02 -2.14908272e-01 3.23670134e+01] [ 2.15565432e-01 2.27893579e-03 9.76486739e-01 -1.04646963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.916875 meters 0.015565636868880918 Centerline is valid? [True, True] Translation: X:249.10, Y:32.39, Z:-10.46 [[ 8.64382323e-02 -9.96113626e-01 -1.69138077e-02 2.49095864e+02] [ 9.72642841e-01 8.80517185e-02 -2.14971624e-01 3.23930636e+01] [ 2.15625454e-01 2.13067319e-03 9.76473821e-01 -1.04599839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.94687500000003 meters 0.015240764083659554 Centerline is valid? [True, True] Translation: X:249.10, Y:32.42, Z:-10.46 [[ 8.54247923e-02 -9.96199826e-01 -1.69856490e-02 2.49100052e+02] [ 9.72378151e-01 8.70745327e-02 -2.16561207e-01 3.24211549e+01] [ 2.17217254e-01 1.98322213e-03 9.76121269e-01 -1.04555963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.976875 meters 0.015152486047957324 Centerline is valid? [True, True] Translation: X:249.10, Y:32.45, Z:-10.45 [[ 8.50430529e-02 -9.96231709e-01 -1.70311931e-02 2.49102137e+02] [ 9.72112063e-01 8.67091905e-02 -2.17898263e-01 3.24491554e+01] [ 2.18553920e-01 1.97450530e-03 9.75822876e-01 -1.04508769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.00687500000004 meters 0.015269849501767851 Centerline is valid? [True, True] Translation: X:249.10, Y:32.48, Z:-10.45 [[ 8.49727843e-02 -9.96236889e-01 -1.70788463e-02 2.49104163e+02] [ 9.71796681e-01 8.66481487e-02 -2.19324667e-01 3.24757325e+01] [ 2.19979174e-01 2.03946152e-03 9.75502436e-01 -1.04466170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.036875 meters 0.015782176155748204 Centerline is valid? [True, True] Translation: X:249.10, Y:32.50, Z:-10.44 [[ 8.56252448e-02 -9.96176450e-01 -1.73435068e-02 2.49104410e+02] [ 9.70744973e-01 8.73333755e-02 -2.23667340e-01 3.25033173e+01] [ 2.24326804e-01 2.31544873e-03 9.74511223e-01 -1.04447153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06687500000004 meters 0.015323558495906258 Centerline is valid? [True, True] Translation: X:249.11, Y:32.53, Z:-10.44 [[ 8.57685987e-02 -9.96163180e-01 -1.73973047e-02 2.49107737e+02] [ 9.70366702e-01 8.74813049e-02 -2.25245389e-01 3.25309401e+01] [ 2.25903102e-01 2.43721627e-03 9.74146728e-01 -1.04383436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.096875 meters 0.015606334625246632 Centerline is valid? [True, True] Translation: X:249.11, Y:32.56, Z:-10.43 [[ 8.69460790e-02 -9.96059324e-01 -1.74986453e-02 2.49108360e+02] [ 9.69755844e-01 8.86451697e-02 -2.27410724e-01 3.25581846e+01] [ 2.28065742e-01 2.80305720e-03 9.73641700e-01 -1.04342261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12687500000004 meters 0.015573320220673627 Centerline is valid? [True, True] Translation: X:249.11, Y:32.58, Z:-10.43 [[ 8.69908234e-02 -9.96055459e-01 -1.74962364e-02 2.49110896e+02] [ 9.69607379e-01 8.86863834e-02 -2.28026877e-01 3.25843181e+01] [ 2.28679094e-01 2.87176585e-03 9.73497625e-01 -1.04277296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.156875 meters 0.015517881247045702 Centerline is valid? [True, True] Translation: X:249.11, Y:32.61, Z:-10.42 [[ 8.68113055e-02 -9.96071995e-01 -1.74464505e-02 2.49113041e+02] [ 9.69550684e-01 8.84993161e-02 -2.28340407e-01 3.26116254e+01] [ 2.28987483e-01 2.90731080e-03 9.73425025e-01 -1.04209179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.186875 meters 0.015443236563219945 Centerline is valid? [True, True] Translation: X:249.12, Y:32.64, Z:-10.41 [[ 8.54086553e-02 -9.96194693e-01 -1.73636319e-02 2.49115110e+02] [ 9.69728953e-01 8.71156590e-02 -2.28115365e-01 3.26374822e+01] [ 2.28759960e-01 2.64501000e-03 9.73479268e-01 -1.04135699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.216875 meters 0.01542043344423937 Centerline is valid? [True, True] Translation: X:249.12, Y:32.66, Z:-10.41 [[ 8.40457342e-02 -9.96312106e-01 -1.72772297e-02 2.49117618e+02] [ 9.69961335e-01 8.57703557e-02 -2.27636674e-01 3.26625050e+01] [ 2.28279048e-01 2.37364658e-03 9.73592852e-01 -1.04071516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.246875 meters 0.014895589685428905 Centerline is valid? [True, True] Translation: X:249.12, Y:32.69, Z:-10.40 [[ 8.23964562e-02 -9.96452816e-01 -1.71058536e-02 2.49121676e+02] [ 9.70402847e-01 8.41283267e-02 -2.26364175e-01 3.26887214e+01] [ 2.27000306e-01 2.05203676e-03 9.73892525e-01 -1.03983766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.276875 meters 0.014584349839697027 Centerline is valid? [True, True] Translation: X:249.13, Y:32.71, Z:-10.39 [[ 7.94066748e-02 -9.96698982e-01 -1.69032361e-02 2.49125835e+02] [ 9.71068111e-01 8.11734270e-02 -2.24583166e-01 3.27149359e+01] [ 2.25213907e-01 1.41920887e-03 9.74308310e-01 -1.03891095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.306875 meters 0.014685292051002446 Centerline is valid? [True, True] Translation: X:249.13, Y:32.74, Z:-10.38 [[ 7.79974601e-02 -9.96812306e-01 -1.67816085e-02 2.49128546e+02] [ 9.71360296e-01 7.97739866e-02 -2.23819765e-01 3.27407563e+01] [ 2.24445032e-01 1.15638505e-03 9.74486065e-01 -1.03821098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.336875 meters 0.01436882368748384 Centerline is valid? [True, True] Translation: X:249.13, Y:32.77, Z:-10.37 [[ 7.55832249e-02 -9.97002081e-01 -1.65537681e-02 2.49132038e+02] [ 9.72036319e-01 7.73718671e-02 -2.21718265e-01 3.27676619e+01] [ 2.22334367e-01 6.67317620e-04 9.74970248e-01 -1.03731295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.366875 meters 0.014258427991937021 Centerline is valid? [True, True] Translation: X:249.13, Y:32.80, Z:-10.37 [[ 7.43524868e-02 -9.97096766e-01 -1.64239506e-02 2.49134578e+02] [ 9.72335348e-01 7.61435237e-02 -2.20830557e-01 3.27952544e+01] [ 2.21440012e-01 4.49713378e-04 9.75173892e-01 -1.03659468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.396875 meters 0.014390597353796507 Centerline is valid? [True, True] Translation: X:249.14, Y:32.82, Z:-10.36 [[ 7.33862899e-02 -9.97170691e-01 -1.62808192e-02 2.49136974e+02] [ 9.72663203e-01 7.51700033e-02 -2.19717465e-01 3.28228901e+01] [ 2.20319645e-01 2.88495859e-04 9.75427686e-01 -1.03595968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.426875 meters 0.014159361897298177 Centerline is valid? [True, True] Translation: X:249.14, Y:32.85, Z:-10.35 [[ 7.14260254e-02 -9.97317213e-01 -1.60218167e-02 2.49140059e+02] [ 9.73407887e-01 7.32008699e-02 -2.17068463e-01 3.28487189e+01] [ 2.17658926e-01 -9.14251459e-05 9.76024889e-01 -1.03527408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.456875 meters 0.01421164442969772 Centerline is valid? [True, True] Translation: X:249.14, Y:32.88, Z:-10.35 [[ 7.05178229e-02 -9.97383774e-01 -1.59010434e-02 2.49142606e+02] [ 9.73640940e-01 7.22880006e-02 -2.16327912e-01 3.28757040e+01] [ 2.16911404e-01 -2.26933461e-04 9.76191268e-01 -1.03466740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.486875 meters 0.014297865302430816 Centerline is valid? [True, True] Translation: X:249.15, Y:32.90, Z:-10.34 [[ 6.97093958e-02 -9.97442409e-01 -1.57873754e-02 2.49145045e+02] [ 9.73853816e-01 7.14739376e-02 -2.15639101e-01 3.29026827e+01] [ 2.16215970e-01 -3.42524349e-04 9.76345501e-01 -1.03422508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.516875 meters 0.0142853113345667 Centerline is valid? [True, True] Translation: X:249.15, Y:32.93, Z:-10.34 [[ 6.93942489e-02 -9.97464795e-01 -1.57613615e-02 2.49147040e+02] [ 9.73815494e-01 7.11607252e-02 -2.15915574e-01 3.29295176e+01] [ 2.16489774e-01 -3.65358886e-04 9.76284817e-01 -1.03368637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.546875 meters 0.0140985030835887 Centerline is valid? [True, True] Translation: X:249.15, Y:32.96, Z:-10.33 [[ 6.92686314e-02 -9.97474806e-01 -1.56801660e-02 2.49149002e+02] [ 9.73860285e-01 7.10204572e-02 -2.15759681e-01 3.29573709e+01] [ 2.16328459e-01 -3.24913075e-04 9.76320589e-01 -1.03317173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57687500000003 meters 0.014120628147023946 Centerline is valid? [True, True] Translation: X:249.15, Y:32.98, Z:-10.33 [[ 7.06384879e-02 -9.97378872e-01 -1.56712902e-02 2.49149682e+02] [ 9.73598254e-01 7.23559538e-02 -2.16497243e-01 3.29831939e+01] [ 2.17063688e-01 3.54971221e-05 9.76157443e-01 -1.03279710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.606875 meters 0.01410970600149349 Centerline is valid? [True, True] Translation: X:249.15, Y:33.01, Z:-10.32 [[ 7.14751641e-02 -9.97320040e-01 -1.56217490e-02 2.49150992e+02] [ 9.73464205e-01 7.31618318e-02 -2.16828936e-01 3.30101046e+01] [ 2.17390758e-01 2.90670222e-04 9.76084614e-01 -1.03226402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63687500000003 meters 0.0142760732486162 Centerline is valid? [True, True] Translation: X:249.15, Y:33.04, Z:-10.32 [[ 7.26974356e-02 -9.97232992e-01 -1.55384466e-02 2.49152487e+02] [ 9.73418137e-01 7.43368801e-02 -2.16636006e-01 3.30376423e+01] [ 2.17191652e-01 6.23476350e-04 9.76128781e-01 -1.03169766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.666875 meters 0.01427183714860451 Centerline is valid? [True, True] Translation: X:249.15, Y:33.06, Z:-10.31 [[ 7.49653019e-02 -9.97065898e-01 -1.54854214e-02 2.49152037e+02] [ 9.73216232e-01 7.65388939e-02 -2.16776299e-01 3.30647150e+01] [ 2.17325493e-01 1.18003728e-03 9.76098478e-01 -1.03125628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69687500000003 meters 0.014261969194539908 Centerline is valid? [True, True] Translation: X:249.15, Y:33.09, Z:-10.31 [[ 7.64310894e-02 -9.96955824e-01 -1.54069081e-02 2.49152500e+02] [ 9.73141907e-01 7.79528278e-02 -2.16606058e-01 3.30920962e+01] [ 2.17147684e-01 1.56232906e-03 9.76137512e-01 -1.03073319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.726875 meters 0.014261969194539908 Centerline is valid? [True, True] Translation: X:249.15, Y:33.12, Z:-10.30 [[ 7.61505486e-02 -9.96978252e-01 -1.53446762e-02 2.49154311e+02] [ 9.73163902e-01 7.76654680e-02 -2.16610467e-01 3.31189975e+01] [ 2.17147677e-01 1.56212095e-03 9.76137514e-01 -1.03013811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75687500000004 meters 0.014872450913792037 Centerline is valid? [True, True] Translation: X:249.15, Y:33.15, Z:-10.30 [[ 7.98869170e-02 -9.96685405e-01 -1.53715194e-02 2.49153178e+02] [ 9.72580923e-01 8.13152529e-02 -2.17885700e-01 3.31474820e+01] [ 2.18413436e-01 2.45617026e-03 9.75853236e-01 -1.02978728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.786875 meters 0.015186316379623295 Centerline is valid? [True, True] Translation: X:249.15, Y:33.17, Z:-10.29 [[ 8.18054911e-02 -9.96529747e-01 -1.53728379e-02 2.49153370e+02] [ 9.72215471e-01 8.31849509e-02 -2.18808918e-01 3.31747411e+01] [ 2.19328384e-01 2.95406011e-03 9.75646623e-01 -1.02932046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81687500000004 meters 0.01570054921479844 Centerline is valid? [True, True] Translation: X:249.15, Y:33.20, Z:-10.29 [[ 8.41634488e-02 -9.96333126e-01 -1.53888575e-02 2.49153235e+02] [ 9.71745820e-01 8.54845750e-02 -2.20005567e-01 3.32014880e+01] [ 2.20514344e-01 3.56236928e-03 9.75377226e-01 -1.02883815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.846875 meters 0.016054940361520845 Centerline is valid? [True, True] Translation: X:249.15, Y:33.23, Z:-10.28 [[ 8.62181180e-02 -9.96156863e-01 -1.54252984e-02 2.49154033e+02] [ 9.71228368e-01 8.74903758e-02 -2.21496934e-01 3.32293937e+01] [ 2.21995256e-01 4.11556135e-03 9.75039060e-01 -1.02830009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87687500000004 meters 0.017046062098906713 Centerline is valid? [True, True] Translation: X:249.15, Y:33.26, Z:-10.28 [[ 9.12686672e-02 -9.95704618e-01 -1.55673951e-02 2.49152776e+02] [ 9.70083239e-01 9.24299319e-02 -2.24488792e-01 3.32575303e+01] [ 2.24963420e-01 5.38712374e-03 9.74352317e-01 -1.02785244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.906875 meters 0.018569178702261588 Centerline is valid? [True, True] Translation: X:249.15, Y:33.28, Z:-10.27 [[ 9.36043596e-02 -9.95487917e-01 -1.55573490e-02 2.49150783e+02] [ 9.69671985e-01 9.46981722e-02 -2.25318660e-01 3.32846522e+01] [ 2.25775256e-01 6.00528338e-03 9.74160906e-01 -1.02738255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.936875 meters 0.019565936398123318 Centerline is valid? [True, True] Translation: X:249.15, Y:33.31, Z:-10.27 [[ 9.57005905e-02 -9.95289240e-01 -1.55153671e-02 2.49150356e+02] [ 9.69378358e-01 9.67278649e-02 -2.25719557e-01 3.33125376e+01] [ 2.26157015e-01 6.56123379e-03 9.74068763e-01 -1.02679059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.966875 meters 0.020723641791640768 Centerline is valid? [True, True] Translation: X:249.15, Y:33.34, Z:-10.26 [[ 9.95874862e-02 -9.94909826e-01 -1.53873703e-02 2.49149793e+02] [ 9.69214266e-01 1.00491874e-01 -2.24777869e-01 3.33399407e+01] [ 2.25180017e-01 7.47140419e-03 9.74288529e-01 -1.02604304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.996875 meters 0.021466424962962867 Centerline is valid? [True, True] Translation: X:249.15, Y:33.37, Z:-10.25 [[ 1.00859954e-01 -9.94783716e-01 -1.52521562e-02 2.49149946e+02] [ 9.69325309e-01 1.01709307e-01 -2.23749105e-01 3.33657596e+01] [ 2.24133253e-01 7.78302340e-03 9.74527429e-01 -1.02532195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.026875 meters 0.023514244039702516 Centerline is valid? [True, True] Translation: X:249.15, Y:33.39, Z:-10.24 [[ 1.02340030e-01 -9.94636183e-01 -1.50127389e-02 2.49148904e+02] [ 9.69758904e-01 1.03119244e-01 -2.21210509e-01 3.33917561e+01] [ 2.21572078e-01 8.07995287e-03 9.75110521e-01 -1.02443940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.056875 meters 0.0220518157463098 Centerline is valid? [True, True] Translation: X:249.15, Y:33.42, Z:-10.24 [[ 1.02156560e-01 -9.94657436e-01 -1.48533637e-02 2.49152813e+02] [ 9.70094523e-01 1.02916558e-01 -2.19829019e-01 3.34179601e+01] [ 2.20183226e-01 8.04780960e-03 9.75425333e-01 -1.02366938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.086875 meters 0.02240414212364224 Centerline is valid? [True, True] Translation: X:249.15, Y:33.44, Z:-10.23 [[ 1.02108842e-01 -9.94664360e-01 -1.47171519e-02 2.49154609e+02] [ 9.70323156e-01 1.02848180e-01 -2.18849778e-01 3.34446285e+01] [ 2.19195707e-01 8.06610401e-03 9.75647570e-01 -1.02294725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.116875 meters 0.02114322678577157 Centerline is valid? [True, True] Translation: X:249.16, Y:33.47, Z:-10.22 [[ 1.01210114e-01 -9.94758429e-01 -1.45664296e-02 2.49158453e+02] [ 9.70689790e-01 1.01948255e-01 -2.17641642e-01 3.34717510e+01] [ 2.17985880e-01 7.88805104e-03 9.75920045e-01 -1.02216881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.146875 meters 0.020139105294881422 Centerline is valid? [True, True] Translation: X:249.16, Y:33.50, Z:-10.21 [[ 9.98787763e-02 -9.94894678e-01 -1.44502790e-02 2.49163102e+02] [ 9.71005194e-01 1.00630055e-01 -2.16846733e-01 3.34986733e+01] [ 2.17193793e-01 7.62709035e-03 9.76098706e-01 -1.02146965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.176875 meters 0.02139103967432249 Centerline is valid? [True, True] Translation: X:249.16, Y:33.52, Z:-10.21 [[ 9.87683934e-02 -9.95006682e-01 -1.43703792e-02 2.49162975e+02] [ 9.71178806e-01 9.95310442e-02 -2.16576309e-01 3.35248075e+01] [ 2.16925174e-01 7.43468640e-03 9.76159923e-01 -1.02087630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.206875 meters 0.020978771662556853 Centerline is valid? [True, True] Translation: X:249.17, Y:33.55, Z:-10.20 [[ 9.59864756e-02 -9.95279229e-01 -1.43475921e-02 2.49166216e+02] [ 9.71310494e-01 9.68062533e-02 -2.17219874e-01 3.35509305e+01] [ 2.17583365e-01 6.91420341e-03 9.76017250e-01 -1.02037836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.236875 meters 0.01965013673499937 Centerline is valid? [True, True] Translation: X:249.17, Y:33.58, Z:-10.20 [[ 9.39194944e-02 -9.95477106e-01 -1.42989559e-02 2.49170733e+02] [ 9.71517514e-01 9.47786724e-02 -2.17188223e-01 3.35784704e+01] [ 2.17561139e-01 6.50652203e-03 9.76025008e-01 -1.01980930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.266875 meters 0.01847037571573577 Centerline is valid? [True, True] Translation: X:249.18, Y:33.61, Z:-10.19 [[ 9.17961218e-02 -9.95675854e-01 -1.42501454e-02 2.49175076e+02] [ 9.71672746e-01 9.26944991e-02 -2.17393205e-01 3.36054962e+01] [ 2.17774075e-01 6.10937513e-03 9.75980086e-01 -1.01927650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.296875 meters 0.017319222839009527 Centerline is valid? [True, True] Translation: X:249.18, Y:33.63, Z:-10.19 [[ 8.71171623e-02 -9.96096416e-01 -1.42312754e-02 2.49180721e+02] [ 9.71943871e-01 8.81205668e-02 -2.18082272e-01 3.36328967e+01] [ 2.18485037e-01 5.16670773e-03 9.75826621e-01 -1.01876642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.32687500000003 meters 0.016397970639124702 Centerline is valid? [True, True] Translation: X:249.19, Y:33.66, Z:-10.18 [[ 8.41083953e-02 -9.96355486e-01 -1.41958616e-02 2.49185201e+02] [ 9.72101902e-01 8.51748262e-02 -2.18547800e-01 3.36605004e+01] [ 2.18960430e-01 4.58188072e-03 9.75722981e-01 -1.01818668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.356875 meters 0.01554953966988481 Centerline is valid? [True, True] Translation: X:249.19, Y:33.69, Z:-10.18 [[ 7.93534084e-02 -9.96745060e-01 -1.42240007e-02 2.49190379e+02] [ 9.72183288e-01 8.05366229e-02 -2.19939782e-01 3.36869568e+01] [ 2.20369444e-01 3.62463557e-03 9.75409745e-01 -1.01770349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.38687500000003 meters 0.015549202385444931 Centerline is valid? [True, True] Translation: X:249.19, Y:33.71, Z:-10.17 [[ 7.69493369e-02 -9.96932914e-01 -1.42676230e-02 2.49192644e+02] [ 9.72083185e-01 7.81973158e-02 -2.21222652e-01 3.37134933e+01] [ 2.21659833e-01 3.15362001e-03 9.75118953e-01 -1.01729177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.416875 meters 0.015318859786552208 Centerline is valid? [True, True] Translation: X:249.20, Y:33.74, Z:-10.17 [[ 7.44128041e-02 -9.97124744e-01 -1.43171141e-02 2.49195933e+02] [ 9.71930918e-01 7.57309094e-02 -2.22744517e-01 3.37404756e+01] [ 2.23188318e-01 2.65979833e-03 9.74771717e-01 -1.01688845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.44687500000003 meters 0.014635548384472107 Centerline is valid? [True, True] Translation: X:249.20, Y:33.77, Z:-10.16 [[ 6.97120478e-02 -9.97462865e-01 -1.44244189e-02 2.49201887e+02] [ 9.71632082e-01 7.11682415e-02 -2.25535315e-01 3.37677344e+01] [ 2.25989662e-01 1.70730050e-03 9.74128204e-01 -1.01648686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.476875 meters 0.014637299314575553 Centerline is valid? [True, True] Translation: X:249.21, Y:33.79, Z:-10.16 [[ 6.73974446e-02 -9.97622060e-01 -1.44156356e-02 2.49205904e+02] [ 9.71578343e-01 6.89104146e-02 -2.26466063e-01 3.37944277e+01] [ 2.26920928e-01 1.25731464e-03 9.73912374e-01 -1.01594023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.50687500000004 meters 0.014332742197104726 Centerline is valid? [True, True] Translation: X:249.21, Y:33.82, Z:-10.15 [[ 6.49527037e-02 -9.97784694e-01 -1.43823360e-02 2.49209724e+02] [ 9.71603508e-01 6.65214604e-02 -2.27071616e-01 3.38209200e+01] [ 2.27525317e-01 7.74987336e-04 9.73771857e-01 -1.01530234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.536875 meters 0.014459500458986451 Centerline is valid? [True, True] Translation: X:249.21, Y:33.85, Z:-10.15 [[ 6.18159447e-02 -9.97984410e-01 -1.43494601e-02 2.49214299e+02] [ 9.71660749e-01 6.34594389e-02 -2.27702192e-01 3.38466326e+01] [ 2.28153846e-01 1.32819000e-04 9.73625084e-01 -1.01471505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56687500000004 meters 0.01428482651018808 Centerline is valid? [True, True] Translation: X:249.22, Y:33.87, Z:-10.14 [[ 6.07188036e-02 -9.98052417e-01 -1.43038331e-02 2.49216967e+02] [ 9.71617755e-01 6.23808538e-02 -2.28183188e-01 3.38727547e+01] [ 2.28631068e-01 -4.28480310e-05 9.73513140e-01 -1.01402031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.596875 meters 0.01447131834000183 Centerline is valid? [True, True] Translation: X:249.22, Y:33.90, Z:-10.13 [[ 6.03252711e-02 -9.98076993e-01 -1.42540104e-02 2.49219465e+02] [ 9.71560118e-01 6.19863798e-02 -2.28535831e-01 3.38995626e+01] [ 2.28979910e-01 -6.21421020e-05 9.73431147e-01 -1.01330604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62687500000004 meters 0.014380562441211732 Centerline is valid? [True, True] Translation: X:249.22, Y:33.93, Z:-10.13 [[ 6.01707074e-02 -9.98087267e-01 -1.41877753e-02 2.49222289e+02] [ 9.71568503e-01 6.18207565e-02 -2.28545048e-01 3.39260753e+01] [ 2.28985002e-01 -3.26784021e-05 9.73429950e-01 -1.01263399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.656875 meters 0.014563512697119977 Centerline is valid? [True, True] Translation: X:249.22, Y:33.95, Z:-10.12 [[ 6.02184158e-02 -9.98085583e-01 -1.41035792e-02 2.49224149e+02] [ 9.71619781e-01 6.18479300e-02 -2.28319589e-01 3.39524283e+01] [ 2.28754768e-01 4.57274633e-05 9.73484080e-01 -1.01199456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.686875 meters 0.014443228512221374 Centerline is valid? [True, True] Translation: X:249.23, Y:33.98, Z:-10.11 [[ 6.01710566e-02 -9.98089947e-01 -1.39964982e-02 2.49225714e+02] [ 9.71757756e-01 6.17774023e-02 -2.27750778e-01 3.39786253e+01] [ 2.28180429e-01 1.02799303e-04 9.73618858e-01 -1.01136641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.716875 meters 0.014651602996937607 Centerline is valid? [True, True] Translation: X:249.23, Y:34.00, Z:-10.11 [[ 6.12226827e-02 -9.98027766e-01 -1.38694322e-02 2.49227681e+02] [ 9.71906952e-01 6.27726978e-02 -2.26840173e-01 3.40041751e+01] [ 2.27263413e-01 4.07966333e-04 9.73833238e-01 -1.01071315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.746875 meters 0.014261705252756702 Centerline is valid? [True, True] Translation: X:249.23, Y:34.03, Z:-10.10 [[ 6.12082623e-02 -9.98030331e-01 -1.37479881e-02 2.49230064e+02] [ 9.72090702e-01 6.27314528e-02 -2.26062894e-01 3.40308529e+01] [ 2.26480056e-01 4.72625452e-04 9.74015688e-01 -1.00985351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.776875 meters 0.0142427174187297 Centerline is valid? [True, True] Translation: X:249.23, Y:34.06, Z:-10.09 [[ 6.19430220e-02 -9.97987327e-01 -1.35778402e-02 2.49233081e+02] [ 9.72446441e-01 6.34099071e-02 -2.24337032e-01 3.40569067e+01] [ 2.24746484e-01 6.92391316e-04 9.74417025e-01 -1.00902692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.806875 meters 0.014112957321662319 Centerline is valid? [True, True] Translation: X:249.23, Y:34.08, Z:-10.08 [[ 6.24388058e-02 -9.97958651e-01 -1.34136702e-02 2.49234927e+02] [ 9.72785946e-01 6.38576070e-02 -2.22732373e-01 3.40842768e+01] [ 2.23134264e-01 8.58513508e-04 9.74787343e-01 -1.00829692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.836875 meters 0.014451089499449935 Centerline is valid? [True, True] Translation: X:249.24, Y:34.11, Z:-10.08 [[ 6.35496056e-02 -9.97890270e-01 -1.32836860e-02 2.49236579e+02] [ 9.72966144e-01 6.49127272e-02 -2.21637587e-01 3.41106264e+01] [ 2.22032272e-01 1.16040455e-03 9.75038627e-01 -1.00764482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.866875 meters 0.014269905902878887 Centerline is valid? [True, True] Translation: X:249.24, Y:34.14, Z:-10.07 [[ 6.44632234e-02 -9.97833303e-01 -1.31602597e-02 2.49237812e+02] [ 9.73103298e-01 6.57774021e-02 -2.20778861e-01 3.41364460e+01] [ 2.21166147e-01 1.42582491e-03 9.75235101e-01 -1.00702172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.896875 meters 0.014662126560619009 Centerline is valid? [True, True] Translation: X:249.24, Y:34.16, Z:-10.06 [[ 6.66999966e-02 -9.97687967e-01 -1.30319181e-02 2.49239055e+02] [ 9.73160098e-01 6.79322185e-02 -2.19874139e-01 3.41635760e+01] [ 2.20251070e-01 1.98346167e-03 9.75441199e-01 -1.00648193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.926875 meters 0.014714799106171178 Centerline is valid? [True, True] Translation: X:249.24, Y:34.19, Z:-10.06 [[ 6.87620090e-02 -9.97548482e-01 -1.29927881e-02 2.49240238e+02] [ 9.72895481e-01 6.99335235e-02 -2.20417074e-01 3.41902530e+01] [ 2.20785349e-01 2.51569595e-03 9.75319179e-01 -1.00607586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.956875 meters 0.015378343116733128 Centerline is valid? [True, True] Translation: X:249.24, Y:34.22, Z:-10.06 [[ 6.98534221e-02 -9.97472648e-01 -1.29928888e-02 2.49241348e+02] [ 9.72559679e-01 7.09947134e-02 -2.21556815e-01 3.42166990e+01] [ 2.21919289e-01 2.84014189e-03 9.75060902e-01 -1.00567565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.986875 meters 0.01509841989750286 Centerline is valid? [True, True] Translation: X:249.24, Y:34.24, Z:-10.05 [[ 7.01817367e-02 -9.97449237e-01 -1.30208742e-02 2.49243387e+02] [ 9.72243364e-01 7.13171845e-02 -2.22837836e-01 3.42431468e+01] [ 2.23198041e-01 2.97968773e-03 9.74768565e-01 -1.00518011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.016875 meters 0.015680157755125674 Centerline is valid? [True, True] Translation: X:249.24, Y:34.27, Z:-10.05 [[ 7.17646912e-02 -9.97335639e-01 -1.30939766e-02 2.49244645e+02] [ 9.71557098e-01 7.28679173e-02 -2.25315495e-01 3.42698614e+01] [ 2.25669304e-01 3.44815099e-03 9.74197863e-01 -1.00496738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.046875 meters 0.015848084104136795 Centerline is valid? [True, True] Translation: X:249.25, Y:34.30, Z:-10.04 [[ 7.22229075e-02 -9.97302636e-01 -1.30883306e-02 2.49246193e+02] [ 9.71338325e-01 7.33100754e-02 -2.26113890e-01 3.42972308e+01] [ 2.26463485e-01 3.61740544e-03 9.74012938e-01 -1.00444606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07687500000003 meters 0.016220318046456534 Centerline is valid? [True, True] Translation: X:249.25, Y:34.32, Z:-10.04 [[ 7.30676962e-02 -9.97240954e-01 -1.30993109e-02 2.49248602e+02] [ 9.70978976e-01 7.41303295e-02 -2.27386283e-01 3.43236183e+01] [ 2.27729970e-01 3.89543638e-03 9.73716533e-01 -1.00396386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.106875 meters 0.016600515125279568 Centerline is valid? [True, True] Translation: X:249.25, Y:34.35, Z:-10.03 [[ 7.34219421e-02 -9.97214953e-01 -1.30979107e-02 2.49250326e+02] [ 9.70765083e-01 7.44716326e-02 -2.28186611e-01 3.43505349e+01] [ 2.28526524e-01 4.03890986e-03 9.73529309e-01 -1.00340218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13687500000003 meters 0.016598834134526595 Centerline is valid? [True, True] Translation: X:249.25, Y:34.38, Z:-10.03 [[ 7.33187155e-02 -9.97222992e-01 -1.30641051e-02 2.49252391e+02] [ 9.70638017e-01 7.43610111e-02 -2.28762498e-01 3.43767964e+01] [ 2.29098683e-01 4.09205547e-03 9.73394601e-01 -1.00283021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.166875 meters 0.016354157189780363 Centerline is valid? [True, True] Translation: X:249.26, Y:34.40, Z:-10.02 [[ 7.37209414e-02 -9.97193576e-01 -1.30458649e-02 2.49255885e+02] [ 9.70391914e-01 7.47443415e-02 -2.29679815e-01 3.44034079e+01] [ 2.30010341e-01 4.27261038e-03 9.73178806e-01 -1.00216100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19687500000003 meters 0.016182670413260575 Centerline is valid? [True, True] Translation: X:249.26, Y:34.43, Z:-10.02 [[ 7.38516829e-02 -9.97184785e-01 -1.29781666e-02 2.49258848e+02] [ 9.70381810e-01 7.48559704e-02 -2.29686149e-01 3.44299127e+01] [ 2.30011027e-01 4.36893181e-03 9.73178216e-01 -1.00151051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.226875 meters 0.016591592609235453 Centerline is valid? [True, True] Translation: X:249.26, Y:34.46, Z:-10.01 [[ 7.37228746e-02 -9.97195080e-01 -1.29193854e-02 2.49259914e+02] [ 9.70328701e-01 7.47158831e-02 -2.29955972e-01 3.44553933e+01] [ 2.30276248e-01 4.41696489e-03 9.73115276e-01 -1.00098586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25687500000004 meters 0.01610795020480893 Centerline is valid? [True, True] Translation: X:249.26, Y:34.48, Z:-10.00 [[ 7.32230981e-02 -9.97232754e-01 -1.28534876e-02 2.49264207e+02] [ 9.70319573e-01 7.42134936e-02 -2.30157083e-01 3.44817753e+01] [ 2.30474084e-01 4.38082413e-03 9.73068602e-01 -1.00024795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.286875 meters 0.01622541384386834 Centerline is valid? [True, True] Translation: X:249.27, Y:34.51, Z:-10.00 [[ 7.29311556e-02 -9.97255282e-01 -1.27651292e-02 2.49266792e+02] [ 9.70408591e-01 7.39103202e-02 -2.29879167e-01 3.45087383e+01] [ 2.30191689e-01 4.37796231e-03 9.73135458e-01 -9.99627426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31687500000004 meters 0.015100905641869158 Centerline is valid? [True, True] Translation: X:249.27, Y:34.54, Z:-9.99 [[ 7.12744534e-02 -9.97376926e-01 -1.26182478e-02 2.49273070e+02] [ 9.70852727e-01 7.22701065e-02 -2.28521365e-01 3.45356089e+01] [ 2.28833859e-01 4.03727514e-03 9.73457120e-01 -9.98650293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.346875 meters 0.015338616261138057 Centerline is valid? [True, True] Translation: X:249.28, Y:34.56, Z:-9.98 [[ 6.98768293e-02 -9.97477348e-01 -1.24967505e-02 2.49275002e+02] [ 9.71205044e-01 7.08860025e-02 -2.27455352e-01 3.45618243e+01] [ 2.27767406e-01 3.75695168e-03 9.73708321e-01 -9.98028736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37687500000004 meters 0.015053191818025072 Centerline is valid? [True, True] Translation: X:249.28, Y:34.59, Z:-9.97 [[ 6.85110072e-02 -9.97573502e-01 -1.23834180e-02 2.49278501e+02] [ 9.71499986e-01 6.95333932e-02 -2.26611749e-01 3.45886052e+01] [ 2.26922937e-01 3.49490874e-03 9.73906446e-01 -9.97318381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.406875 meters 0.014562571192868834 Centerline is valid? [True, True] Translation: X:249.28, Y:34.62, Z:-9.97 [[ 6.66501202e-02 -9.97701022e-01 -1.22650785e-02 2.49281971e+02] [ 9.71845530e-01 6.76972900e-02 -2.25684165e-01 3.46153322e+01] [ 2.25995634e-01 3.12211497e-03 9.74123311e-01 -9.96624136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.436875 meters 0.013640955602453304 Centerline is valid? [True, True] Translation: X:249.29, Y:34.64, Z:-9.96 [[ 6.35688411e-02 -9.97903530e-01 -1.21468945e-02 2.49288424e+02] [ 9.72285889e-01 6.46717422e-02 -2.24672465e-01 3.46417032e+01] [ 2.24987007e-01 2.47191414e-03 9.74358628e-01 -9.95834680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.466875 meters 0.013259069710095018 Centerline is valid? [True, True] Translation: X:249.29, Y:34.67, Z:-9.95 [[ 6.07285230e-02 -9.98081857e-01 -1.20272145e-02 2.49292987e+02] [ 9.72698217e-01 6.18793696e-02 -2.23671908e-01 3.46676635e+01] [ 2.23987110e-01 1.88441450e-03 9.74590285e-01 -9.95194015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.496875 meters 0.013137566371830002 Centerline is valid? [True, True] Translation: X:249.30, Y:34.69, Z:-9.95 [[ 5.92732680e-02 -9.98170348e-01 -1.19430391e-02 2.49295559e+02] [ 9.72866591e-01 6.04428365e-02 -2.23332172e-01 3.46929930e+01] [ 2.23645423e-01 1.61864392e-03 9.74669228e-01 -9.94643935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.526875 meters 0.013108176711016339 Centerline is valid? [True, True] Translation: X:249.30, Y:34.72, Z:-9.94 [[ 5.77508173e-02 -9.98260970e-01 -1.18270045e-02 2.49297875e+02] [ 9.73132149e-01 5.89340861e-02 -2.22577165e-01 3.47190837e+01] [ 2.22887110e-01 1.34477489e-03 9.74843335e-01 -9.94077353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.556875 meters 0.01297534458350712 Centerline is valid? [True, True] Translation: X:249.30, Y:34.75, Z:-9.93 [[ 5.65079042e-02 -9.98333351e-01 -1.17208161e-02 2.49300875e+02] [ 9.73361304e-01 5.76995929e-02 -2.21897566e-01 3.47458347e+01] [ 2.22204027e-01 1.13037761e-03 9.74999535e-01 -9.93436378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.586875 meters 0.01279324327122633 Centerline is valid? [True, True] Translation: X:249.30, Y:34.77, Z:-9.93 [[ 5.46706248e-02 -9.98436592e-01 -1.16401837e-02 2.49304085e+02] [ 9.73505940e-01 5.58904895e-02 -2.21726041e-01 3.47729464e+01] [ 2.22029968e-01 7.90113205e-04 9.75039522e-01 -9.92866120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.616875 meters 0.01279324327122633 Centerline is valid? [True, True] Translation: X:249.31, Y:34.80, Z:-9.92 [[ 5.43551718e-02 -9.98454559e-01 -1.15762346e-02 2.49305328e+02] [ 9.73523600e-01 5.55687120e-02 -2.21729380e-01 3.47990969e+01] [ 2.22029987e-01 7.82401020e-04 9.75039524e-01 -9.92288743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.646875 meters 0.012809087467259712 Centerline is valid? [True, True] Translation: X:249.31, Y:34.82, Z:-9.92 [[ 5.36705435e-02 -9.98492165e-01 -1.15269247e-02 2.49306866e+02] [ 9.73461246e-01 5.48899165e-02 -2.22171781e-01 3.48249116e+01] [ 2.22469495e-01 7.03065809e-04 9.74939398e-01 -9.91780331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.676875 meters 0.012890359872920096 Centerline is valid? [True, True] Translation: X:249.31, Y:34.85, Z:-9.91 [[ 5.33462299e-02 -9.98509434e-01 -1.15364522e-02 2.49308503e+02] [ 9.73098372e-01 5.45747140e-02 -2.23832883e-01 3.48504141e+01] [ 2.24128844e-01 7.14537560e-04 9.74559260e-01 -9.91352232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.706875 meters 0.012848808802624073 Centerline is valid? [True, True] Translation: X:249.31, Y:34.88, Z:-9.91 [[ 5.36760470e-02 -9.98492022e-01 -1.15136772e-02 2.49309329e+02] [ 9.72847006e-01 5.48901603e-02 -2.24846108e-01 3.48771467e+01] [ 2.25139033e-01 8.67803876e-04 9.74326261e-01 -9.90862504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.736875 meters 0.012825413405549707 Centerline is valid? [True, True] Translation: X:249.31, Y:34.90, Z:-9.90 [[ 5.35431442e-02 -9.98499142e-01 -1.15150290e-02 2.49310022e+02] [ 9.72525992e-01 5.47597015e-02 -2.26262172e-01 3.49040107e+01] [ 2.26553144e-01 9.16123088e-04 9.73998375e-01 -9.90374377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.766875 meters 0.01296447147977772 Centerline is valid? [True, True] Translation: X:249.31, Y:34.93, Z:-9.90 [[ 5.43542898e-02 -9.98455125e-01 -1.15314839e-02 2.49309765e+02] [ 9.72071292e-01 5.55514313e-02 -2.28016319e-01 3.49322318e+01] [ 2.28304653e-01 1.18424058e-03 9.73589022e-01 -9.89917619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.796875 meters 0.013224958578965558 Centerline is valid? [True, True] Translation: X:249.31, Y:34.96, Z:-9.89 [[ 5.44429049e-02 -9.98450374e-01 -1.15248148e-02 2.49310398e+02] [ 9.71792787e-01 5.56346945e-02 -2.29180193e-01 3.49589444e+01] [ 2.29466228e-01 1.27750359e-03 9.73315785e-01 -9.89393941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.82687500000003 meters 0.013257873748488401 Centerline is valid? [True, True] Translation: X:249.31, Y:34.99, Z:-9.89 [[ 5.43700341e-02 -9.98454868e-01 -1.14793865e-02 2.49311050e+02] [ 9.71684959e-01 5.55526996e-02 -2.29656785e-01 3.49854089e+01] [ 2.29939646e-01 1.33210001e-03 9.73203979e-01 -9.88800256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.856875 meters 0.013324826867287844 Centerline is valid? [True, True] Translation: X:249.31, Y:35.01, Z:-9.88 [[ 5.47918269e-02 -9.98432425e-01 -1.14257846e-02 2.49310177e+02] [ 9.71573428e-01 5.59502834e-02 -2.30031825e-01 3.50113301e+01] [ 2.30310509e-01 1.50287520e-03 9.73116032e-01 -9.88246084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.88687500000003 meters 0.01326313784754344 Centerline is valid? [True, True] Translation: X:249.31, Y:35.04, Z:-9.88 [[ 5.47756015e-02 -9.98433963e-01 -1.13690312e-02 2.49310582e+02] [ 9.71571267e-01 5.59213982e-02 -2.30047974e-01 3.50378440e+01] [ 2.30323483e-01 1.55519214e-03 9.73112879e-01 -9.87587464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.916875 meters 0.01320692411834061 Centerline is valid? [True, True] Translation: X:249.31, Y:35.06, Z:-9.87 [[ 5.41238168e-02 -9.98470373e-01 -1.12927440e-02 2.49310773e+02] [ 9.71623963e-01 5.52696774e-02 -2.29982905e-01 3.50641769e+01] [ 2.30255264e-01 1.47525196e-03 9.73129147e-01 -9.86936946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.94687500000003 meters 0.013170435611997768 Centerline is valid? [True, True] Translation: X:249.31, Y:35.09, Z:-9.86 [[ 5.32068291e-02 -9.98521299e-01 -1.11467124e-02 2.49310806e+02] [ 9.72029317e-01 5.43458191e-02 -2.28485315e-01 3.50896854e+01] [ 2.28753230e-01 1.32204784e-03 9.73483545e-01 -9.86133101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.976875 meters 0.013282198441597469 Centerline is valid? [True, True] Translation: X:249.31, Y:35.11, Z:-9.85 [[ 5.23464991e-02 -9.98568135e-01 -1.10237696e-02 2.49311338e+02] [ 9.72304815e-01 5.34814045e-02 -2.27515025e-01 3.51149588e+01] [ 2.27778820e-01 1.19115077e-03 9.73712170e-01 -9.85441916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.00687500000004 meters 0.013018325079715546 Centerline is valid? [True, True] Translation: X:249.31, Y:35.14, Z:-9.84 [[ 5.12126078e-02 -9.98628797e-01 -1.08533601e-02 2.49311326e+02] [ 9.72831603e-01 5.23406593e-02 -2.25519684e-01 3.51410836e+01] [ 2.25778522e-01 9.90959402e-04 9.74178155e-01 -9.84485505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.036875 meters 0.012940364505336309 Centerline is valid? [True, True] Translation: X:249.31, Y:35.17, Z:-9.84 [[ 5.04862493e-02 -9.98667096e-01 -1.07317371e-02 2.49311765e+02] [ 9.73119441e-01 5.16066162e-02 -2.24444448e-01 3.51674670e+01] [ 2.24699114e-01 8.88096411e-04 9.74427791e-01 -9.83732233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06687500000004 meters 0.01295438207184468 Centerline is valid? [True, True] Translation: X:249.31, Y:35.20, Z:-9.83 [[ 4.97286415e-02 -9.98706522e-01 -1.05992620e-02 2.49312190e+02] [ 9.73459671e-01 5.08397095e-02 -2.23140298e-01 3.51952124e+01] [ 2.23390534e-01 7.78509776e-04 9.74728713e-01 -9.83032579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.096875 meters 0.012739905296957085 Centerline is valid? [True, True] Translation: X:249.31, Y:35.22, Z:-9.82 [[ 4.80038490e-02 -9.98791939e-01 -1.05020177e-02 2.49311875e+02] [ 9.73819707e-01 4.91373518e-02 -2.21947515e-01 3.52223400e+01] [ 2.22195430e-01 4.27263207e-04 9.75002056e-01 -9.82375620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12687500000004 meters 0.012902583302800448 Centerline is valid? [True, True] Translation: X:249.31, Y:35.25, Z:-9.82 [[ 4.68987207e-02 -9.98845393e-01 -1.04110725e-02 2.49312422e+02] [ 9.73999985e-01 4.80397906e-02 -2.21396042e-01 3.52487328e+01] [ 2.21640562e-01 2.42806671e-04 9.75128403e-01 -9.81852467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.156875 meters 0.012794296516819363 Centerline is valid? [True, True] Translation: X:249.31, Y:35.28, Z:-9.81 [[ 4.55766244e-02 -9.98907294e-01 -1.03435368e-02 2.49313516e+02] [ 9.74058223e-01 4.67356094e-02 -2.21418970e-01 3.52756809e+01] [ 2.21660436e-01 1.63221301e-05 9.75123916e-01 -9.81221690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.186875 meters 0.012941634424531228 Centerline is valid? [True, True] Translation: X:249.31, Y:35.30, Z:-9.81 [[ 4.36565684e-02 -9.98993316e-01 -1.03178639e-02 2.49314144e+02] [ 9.73929433e-01 4.48579768e-02 -2.22371810e-01 3.53033610e+01] [ 2.22610790e-01 -3.40881222e-04 9.74907339e-01 -9.80663655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.216875 meters 0.013077797651739493 Centerline is valid? [True, True] Translation: X:249.31, Y:35.33, Z:-9.80 [[ 4.25422381e-02 -9.99041710e-01 -1.02868242e-02 2.49314688e+02] [ 9.73811290e-01 4.37651013e-02 -2.23105776e-01 3.53305979e+01] [ 2.23342180e-01 -5.26006546e-04 9.74739962e-01 -9.80134649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.246875 meters 0.01309914610828917 Centerline is valid? [True, True] Translation: X:249.31, Y:35.36, Z:-9.80 [[ 4.16993446e-02 -9.99077411e-01 -1.02709230e-02 2.49314229e+02] [ 9.73598075e-01 4.29406961e-02 -2.24193855e-01 3.53571341e+01] [ 2.24428057e-01 -6.51014045e-04 9.74490443e-01 -9.79739065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.276875 meters 0.013114237245005789 Centerline is valid? [True, True] Translation: X:249.31, Y:35.38, Z:-9.79 [[ 4.13238536e-02 -9.99093329e-01 -1.02400444e-02 2.49314563e+02] [ 9.73419387e-01 4.25684468e-02 -2.25039164e-01 3.53842584e+01] [ 2.25271030e-01 -6.68372253e-04 9.74295908e-01 -9.79169506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.306875 meters 0.013096240815991218 Centerline is valid? [True, True] Translation: X:249.31, Y:35.41, Z:-9.79 [[ 4.09923611e-02 -9.99107554e-01 -1.01844297e-02 2.49314747e+02] [ 9.73384908e-01 4.22330933e-02 -2.25251385e-01 3.54122993e+01] [ 2.25480480e-01 -6.79784009e-04 9.74247448e-01 -9.78592710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.336875 meters 0.01318181807016666 Centerline is valid? [True, True] Translation: X:249.31, Y:35.44, Z:-9.78 [[ 4.09330852e-02 -9.99110200e-01 -1.01631691e-02 2.49314213e+02] [ 9.73161216e-01 4.21712022e-02 -2.26227400e-01 3.54395179e+01] [ 2.26454696e-01 -6.30216557e-04 9.74021495e-01 -9.78171158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.366875 meters 0.01307973869834059 Centerline is valid? [True, True] Translation: X:249.31, Y:35.47, Z:-9.78 [[ 4.08051644e-02 -9.99115594e-01 -1.01473345e-02 2.49313877e+02] [ 9.72994004e-01 4.20434961e-02 -2.26969188e-01 3.54671078e+01] [ 2.27195085e-01 -6.11780628e-04 9.73849074e-01 -9.77558354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.396875 meters 0.01324338423085735 Centerline is valid? [True, True] Translation: X:249.31, Y:35.49, Z:-9.77 [[ 4.12197013e-02 -9.99098536e-01 -1.01514819e-02 2.49312781e+02] [ 9.72601140e-01 4.24489382e-02 -2.28571892e-01 3.54939083e+01] [ 2.28796763e-01 -4.51677741e-04 9.73474107e-01 -9.77180342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.426875 meters 0.013256260178064654 Centerline is valid? [True, True] Translation: X:249.31, Y:35.52, Z:-9.76 [[ 4.11624759e-02 -9.99101672e-01 -1.00746858e-02 2.49312814e+02] [ 9.72639635e-01 4.23755990e-02 -2.28421648e-01 3.55206140e+01] [ 2.28643371e-01 -3.96638193e-04 9.73510170e-01 -9.76478750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.456875 meters 0.01326928178598888 Centerline is valid? [True, True] Translation: X:249.31, Y:35.55, Z:-9.76 [[ 4.10543442e-02 -9.99106828e-01 -1.00043849e-02 2.49312939e+02] [ 9.72628795e-01 4.22542823e-02 -2.28490269e-01 3.55469979e+01] [ 2.28708916e-01 -3.50034657e-04 9.73494792e-01 -9.75843114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.486875 meters 0.013274807541546464 Centerline is valid? [True, True] Translation: X:249.31, Y:35.57, Z:-9.75 [[ 4.19590448e-02 -9.99069924e-01 -9.93602976e-03 2.49311455e+02] [ 9.72565253e-01 4.31193808e-02 -2.28599097e-01 3.55730178e+01] [ 2.28814918e-01 -7.16375447e-05 9.73469942e-01 -9.75129132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.516875 meters 0.013397234118311608 Centerline is valid? [True, True] Translation: X:249.31, Y:35.60, Z:-9.75 [[ 4.24738689e-02 -9.99048910e-01 -9.86132457e-03 2.49311050e+02] [ 9.72548457e-01 4.36034556e-02 -2.28578733e-01 3.55997843e+01] [ 2.28791322e-01 1.18007146e-04 9.73475484e-01 -9.74517955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.546875 meters 0.013287955297049623 Centerline is valid? [True, True] Translation: X:249.31, Y:35.63, Z:-9.74 [[ 4.42662826e-02 -9.98972218e-01 -9.74696288e-03 2.49308910e+02] [ 9.72693067e-01 4.53227599e-02 -2.27626988e-01 3.56265969e+01] [ 2.27834796e-01 5.95397353e-04 9.73699621e-01 -9.73777537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57687500000003 meters 0.013321889110768292 Centerline is valid? [True, True] Translation: X:249.31, Y:35.65, Z:-9.73 [[ 4.51275931e-02 -9.98934791e-01 -9.63243658e-03 2.49308433e+02] [ 9.72923917e-01 4.61363563e-02 -2.26474035e-01 3.56534542e+01] [ 2.26677198e-01 8.48600169e-04 9.73969572e-01 -9.73099132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.606875 meters 0.013431901705850152 Centerline is valid? [True, True] Translation: X:249.31, Y:35.68, Z:-9.72 [[ 4.59118052e-02 -9.98900130e-01 -9.52036241e-03 2.49307788e+02] [ 9.73148554e-01 4.68760184e-02 -2.25354233e-01 3.56793684e+01] [ 2.25552649e-01 1.08169273e-03 9.74230380e-01 -9.72483672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63687500000003 meters 0.013463279224298115 Centerline is valid? [True, True] Translation: X:249.31, Y:35.71, Z:-9.72 [[ 4.77611917e-02 -9.98814634e-01 -9.39129386e-03 2.49306409e+02] [ 9.73460063e-01 4.86514190e-02 -2.23625905e-01 3.57064413e+01] [ 2.23817726e-01 1.53859021e-03 9.74629806e-01 -9.71737635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.666875 meters 0.013658050252929214 Centerline is valid? [True, True] Translation: X:249.31, Y:35.73, Z:-9.71 [[ 4.86082280e-02 -9.98774739e-01 -9.28765532e-03 2.49306173e+02] [ 9.73634487e-01 4.94554944e-02 -2.22688211e-01 3.57339849e+01] [ 2.22874686e-01 1.78169784e-03 9.74845475e-01 -9.71060019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69687500000003 meters 0.013694583593316573 Centerline is valid? [True, True] Translation: X:249.31, Y:35.76, Z:-9.70 [[ 4.92952456e-02 -9.98741974e-01 -9.18957158e-03 2.49306122e+02] [ 9.73787211e-01 5.01050378e-02 -2.21873734e-01 3.57616352e+01] [ 2.22055054e-01 1.98863292e-03 9.75032101e-01 -9.70405731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.726875 meters 0.01431853642604354 Centerline is valid? [True, True] Translation: X:249.30, Y:35.79, Z:-9.70 [[ 5.02632124e-02 -9.98694926e-01 -9.05833807e-03 2.49304786e+02] [ 9.74112231e-01 5.10235318e-02 -2.20231607e-01 3.57868682e+01] [ 2.20406377e-01 2.24571013e-03 9.75405549e-01 -9.69790416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75687500000004 meters 0.014244165729280032 Centerline is valid? [True, True] Translation: X:249.30, Y:35.81, Z:-9.69 [[ 5.04831532e-02 -9.98684910e-01 -8.93880773e-03 2.49304744e+02] [ 9.74351308e-01 5.12144114e-02 -2.19126935e-01 3.58134850e+01] [ 2.19296559e-01 2.35267961e-03 9.75655413e-01 -9.69176158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.786875 meters 0.01447306796266944 Centerline is valid? [True, True] Translation: X:249.31, Y:35.84, Z:-9.69 [[ 5.03676955e-02 -9.98691191e-01 -8.88822411e-03 2.49305004e+02] [ 9.74251299e-01 5.10895154e-02 -2.19600246e-01 3.58400642e+01] [ 2.19766926e-01 2.40139442e-03 9.75549451e-01 -9.68697414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81687500000004 meters 0.014319677030207248 Centerline is valid? [True, True] Translation: X:249.31, Y:35.87, Z:-9.68 [[ 5.00373105e-02 -9.98708261e-01 -8.83612186e-03 2.49306089e+02] [ 9.74190928e-01 5.07549203e-02 -2.19945389e-01 3.58669957e+01] [ 2.20109754e-01 2.39740599e-03 9.75472167e-01 -9.68212814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.846875 meters 0.014206449288378992 Centerline is valid? [True, True] Translation: X:249.31, Y:35.89, Z:-9.68 [[ 4.93055973e-02 -9.98744912e-01 -8.80676516e-03 2.49307129e+02] [ 9.73996365e-01 5.00323006e-02 -2.20970245e-01 3.58940555e+01] [ 2.21133530e-01 2.31731263e-03 9.75240787e-01 -9.67723857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87687500000004 meters 0.014184385035208634 Centerline is valid? [True, True] Translation: X:249.31, Y:35.92, Z:-9.67 [[ 4.83750413e-02 -9.98790374e-01 -8.81155378e-03 2.49308513e+02] [ 9.73613499e-01 4.91217003e-02 -2.22853792e-01 3.59198543e+01] [ 2.23017061e-01 2.20151368e-03 9.74812056e-01 -9.67440274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.906875 meters 0.01418066727905989 Centerline is valid? [True, True] Translation: X:249.31, Y:35.95, Z:-9.67 [[ 4.75713114e-02 -9.98829138e-01 -8.79334011e-03 2.49309624e+02] [ 9.73330729e-01 4.83311801e-02 -2.24257418e-01 3.59470996e+01] [ 2.24419836e-01 2.10939133e-03 9.74490271e-01 -9.66990675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.936875 meters 0.013878820219367061 Centerline is valid? [True, True] Translation: X:249.31, Y:35.97, Z:-9.66 [[ 4.60264033e-02 -9.98901969e-01 -8.74218531e-03 2.49312376e+02] [ 9.73298092e-01 4.68133619e-02 -2.24720565e-01 3.59734581e+01] [ 2.24883066e-01 1.83432710e-03 9.74384032e-01 -9.66473465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.966875 meters 0.013851614951758266 Centerline is valid? [True, True] Translation: X:249.31, Y:36.00, Z:-9.66 [[ 4.49417507e-02 -9.98951930e-01 -8.67641015e-03 2.49314259e+02] [ 9.73318392e-01 4.57414926e-02 -2.24853337e-01 3.59996078e+01] [ 2.25014547e-01 1.66039304e-03 9.74353989e-01 -9.65869889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.996875 meters 0.01374059039059335 Centerline is valid? [True, True] Translation: X:249.32, Y:36.03, Z:-9.65 [[ 4.41050055e-02 -9.98989768e-01 -8.61349666e-03 2.49316504e+02] [ 9.73307226e-01 4.49117215e-02 -2.25068835e-01 3.60270570e+01] [ 2.25228310e-01 1.54308364e-03 9.74304792e-01 -9.65198170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.026875 meters 0.01363470691373278 Centerline is valid? [True, True] Translation: X:249.32, Y:36.05, Z:-9.65 [[ 4.27575009e-02 -9.99048929e-01 -8.54594502e-03 2.49318585e+02] [ 9.73376281e-01 4.35836933e-02 -2.25031282e-01 3.60533929e+01] [ 2.25189725e-01 1.30335504e-03 9.74314061e-01 -9.64581934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.056875 meters 0.013472218128345358 Centerline is valid? [True, True] Translation: X:249.32, Y:36.08, Z:-9.64 [[ 4.04809136e-02 -9.99144298e-01 -8.48335659e-03 2.49322453e+02] [ 9.73403785e-01 4.13512425e-02 -2.25333411e-01 3.60807026e+01] [ 2.25491390e-01 8.63970915e-04 9.74244778e-01 -9.63882313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.086875 meters 0.013614987942876942 Centerline is valid? [True, True] Translation: X:249.32, Y:36.11, Z:-9.63 [[ 3.93071828e-02 -9.99191698e-01 -8.42001608e-03 2.49324648e+02] [ 9.73433128e-01 4.01934098e-02 -2.25416137e-01 3.61071331e+01] [ 2.25572361e-01 6.64150687e-04 9.74226190e-01 -9.63311164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.116875 meters 0.013647750939289379 Centerline is valid? [True, True] Translation: X:249.33, Y:36.13, Z:-9.63 [[ 3.68988150e-02 -9.99284261e-01 -8.33329838e-03 2.49327841e+02] [ 9.73637149e-01 3.78276566e-02 -2.24943926e-01 3.61330754e+01] [ 2.25098154e-01 1.86555408e-04 9.74336075e-01 -9.62703986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.146875 meters 0.013554319837726697 Centerline is valid? [True, True] Translation: X:249.33, Y:36.16, Z:-9.62 [[ 3.57919109e-02 -9.99325168e-01 -8.25517416e-03 2.49330037e+02] [ 9.73812699e-01 3.67315765e-02 -2.24364924e-01 3.61592558e+01] [ 2.24516741e-01 -8.54405066e-06 9.74470232e-01 -9.62015714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.176875 meters 0.013536412263890345 Centerline is valid? [True, True] Translation: X:249.33, Y:36.19, Z:-9.61 [[ 3.43814966e-02 -9.99375507e-01 -8.15523807e-03 2.49332112e+02] [ 9.74046042e-01 3.53345341e-02 -2.23574995e-01 3.61857630e+01] [ 2.23723536e-01 -2.56734446e-04 9.74652612e-01 -9.61344680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.206875 meters 0.013401337880579078 Centerline is valid? [True, True] Translation: X:249.34, Y:36.21, Z:-9.61 [[ 3.20800299e-02 -9.99453492e-01 -7.97428767e-03 2.49335333e+02] [ 9.74818002e-01 3.30488969e-02 -2.20539416e-01 3.62111118e+01] [ 2.20682431e-01 -6.98568111e-04 9.75345465e-01 -9.60523060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.236875 meters 0.013612320011935042 Centerline is valid? [True, True] Translation: X:249.34, Y:36.24, Z:-9.60 [[ 3.12035092e-02 -9.99482293e-01 -7.84131466e-03 2.49337158e+02] [ 9.75218842e-01 3.21633028e-02 -2.18892055e-01 3.62369962e+01] [ 2.19030935e-01 -8.16797556e-04 9.75717573e-01 -9.59828386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.266875 meters 0.013481329174270728 Centerline is valid? [True, True] Translation: X:249.34, Y:36.26, Z:-9.59 [[ 2.99242360e-02 -9.99522396e-01 -7.71494501e-03 2.49339338e+02] [ 9.75619792e-01 3.08857578e-02 -2.17283434e-01 3.62637857e+01] [ 2.17417941e-01 -1.02481229e-03 9.76078065e-01 -9.59045483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.296875 meters 0.013637458877789912 Centerline is valid? [True, True] Translation: X:249.34, Y:36.29, Z:-9.58 [[ 2.95456437e-02 -9.99534156e-01 -7.65027225e-03 2.49340806e+02] [ 9.75641302e-01 3.05021127e-02 -2.17241042e-01 3.62903144e+01] [ 2.17373191e-01 -1.04539515e-03 9.76088010e-01 -9.58482385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.32687500000003 meters 0.013545854757044618 Centerline is valid? [True, True] Translation: X:249.34, Y:36.32, Z:-9.58 [[ 2.93043025e-02 -9.99541728e-01 -7.58897698e-03 2.49341283e+02] [ 9.75615575e-01 3.02533758e-02 -2.17391313e-01 3.63172688e+01] [ 2.17521281e-01 -1.03342335e-03 9.76055031e-01 -9.57959145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.356875 meters 0.013662889580182669 Centerline is valid? [True, True] Translation: X:249.34, Y:36.34, Z:-9.58 [[ 2.96119521e-02 -9.99532860e-01 -7.56261701e-03 2.49341856e+02] [ 9.75326931e-01 3.05491074e-02 -2.18641557e-01 3.63445411e+01] [ 2.18770452e-01 -9.01620723e-04 9.75775936e-01 -9.57547923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.38687500000003 meters 0.01353013524518866 Centerline is valid? [True, True] Translation: X:249.34, Y:36.37, Z:-9.57 [[ 2.95639013e-02 -9.99534647e-01 -7.51437361e-03 2.49342308e+02] [ 9.75190664e-01 3.04922051e-02 -2.19256458e-01 3.63717774e+01] [ 2.19383556e-01 -8.45870712e-04 9.75638324e-01 -9.57036688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.416875 meters 0.013786846361990273 Centerline is valid? [True, True] Translation: X:249.34, Y:36.40, Z:-9.57 [[ 2.97557861e-02 -9.99529121e-01 -7.49198370e-03 2.49343325e+02] [ 9.74867339e-01 3.06756010e-02 -2.20664176e-01 3.63988972e+01] [ 2.20790091e-01 -7.37654202e-04 9.75321071e-01 -9.56570224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.44687500000003 meters 0.01374087055041157 Centerline is valid? [True, True] Translation: X:249.34, Y:36.43, Z:-9.56 [[ 2.93737521e-02 -9.99540771e-01 -7.44515889e-03 2.49344297e+02] [ 9.74723266e-01 3.02931948e-02 -2.21352383e-01 3.64262833e+01] [ 2.21476269e-01 -7.55019551e-04 9.75165469e-01 -9.56031760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.476875 meters 0.013532207580568459 Centerline is valid? [True, True] Translation: X:249.35, Y:36.45, Z:-9.56 [[ 2.87662554e-02 -9.99558783e-01 -7.39881164e-03 2.49345120e+02] [ 9.74620565e-01 2.96909737e-02 -2.21885558e-01 3.64523338e+01] [ 2.22007336e-01 -8.28217344e-04 9.75044644e-01 -9.55547716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.50687500000004 meters 0.013536004268289725 Centerline is valid? [True, True] Translation: X:249.35, Y:36.48, Z:-9.55 [[ 2.82797056e-02 -9.99573007e-01 -7.35269378e-03 2.49345591e+02] [ 9.74434292e-01 2.92071174e-02 -2.22766144e-01 3.64799454e+01] [ 2.22885776e-01 -8.64955990e-04 9.74844184e-01 -9.55000346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.536875 meters 0.013536004268289725 Centerline is valid? [True, True] Translation: X:249.35, Y:36.51, Z:-9.54 [[ 2.79957399e-02 -9.99581474e-01 -7.28803217e-03 2.49346383e+02] [ 9.74442494e-01 2.89158829e-02 -2.22768260e-01 3.65069064e+01] [ 2.22885766e-01 -8.65205966e-04 9.74844186e-01 -9.54405270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56687500000004 meters 0.013671461782927814 Centerline is valid? [True, True] Translation: X:249.35, Y:36.53, Z:-9.54 [[ 2.79268734e-02 -9.99583714e-01 -7.24485379e-03 2.49347017e+02] [ 9.74291313e-01 2.88396941e-02 -2.23438381e-01 3.65329418e+01] [ 2.23554306e-01 -8.18662722e-04 9.74691132e-01 -9.53881876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.596875 meters 0.013648911417338004 Centerline is valid? [True, True] Translation: X:249.35, Y:36.56, Z:-9.53 [[ 2.84633118e-02 -9.99568712e-01 -7.22707030e-03 2.49347248e+02] [ 9.73993690e-01 2.93594175e-02 -2.24664900e-01 3.65605516e+01] [ 2.24780188e-01 -6.44413761e-04 9.74409284e-01 -9.53207146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62687500000004 meters 0.013588408429470898 Centerline is valid? [True, True] Translation: X:249.35, Y:36.59, Z:-9.53 [[ 2.89249416e-02 -9.99555901e-01 -7.16578469e-03 2.49347725e+02] [ 9.73947725e-01 2.97955297e-02 -2.24806705e-01 3.65863541e+01] [ 2.24920377e-01 -4.76578871e-04 9.74377030e-01 -9.52704445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.656875 meters 0.01364394951144156 Centerline is valid? [True, True] Translation: X:249.35, Y:36.61, Z:-9.52 [[ 3.00207880e-02 -9.99524071e-01 -7.09814114e-03 2.49347499e+02] [ 9.73846277e-01 3.08481343e-02 -2.25104023e-01 3.66124731e+01] [ 2.25215854e-01 -1.54698169e-04 9.74308881e-01 -9.52069702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.686875 meters 0.013583654534462884 Centerline is valid? [True, True] Translation: X:249.35, Y:36.64, Z:-9.51 [[ 3.01761868e-02 -9.99519866e-01 -7.03099568e-03 2.49347487e+02] [ 9.73800917e-01 3.09844281e-02 -2.25281465e-01 3.66385420e+01] [ 2.25391151e-01 -4.86544693e-05 9.74268355e-01 -9.51437590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.716875 meters 0.013749858147845751 Centerline is valid? [True, True] Translation: X:249.35, Y:36.66, Z:-9.51 [[ 3.14211985e-02 -9.99482051e-01 -6.95250124e-03 2.49347200e+02] [ 9.73771378e-01 3.21797236e-02 -2.25241577e-01 3.66645658e+01] [ 2.25348643e-01 3.07213598e-04 9.74278140e-01 -9.50821957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.746875 meters 0.01379185018406249 Centerline is valid? [True, True] Translation: X:249.35, Y:36.69, Z:-9.50 [[ 3.13607028e-02 -9.99484504e-01 -6.87257720e-03 2.49347736e+02] [ 9.73805206e-01 3.21028247e-02 -2.25106264e-01 3.66909235e+01] [ 2.25210852e-01 3.66939191e-04 9.74309980e-01 -9.50135226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.776875 meters 0.013890779390863533 Centerline is valid? [True, True] Translation: X:249.35, Y:36.72, Z:-9.49 [[ 3.16219827e-02 -9.99477190e-01 -6.73777684e-03 2.49348602e+02] [ 9.74290006e-01 3.23281790e-02 -2.22966079e-01 3.67160986e+01] [ 2.23067330e-01 4.86080854e-04 9.74802919e-01 -9.49378644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.806875 meters 0.013639870972694998 Centerline is valid? [True, True] Translation: X:249.35, Y:36.74, Z:-9.49 [[ 3.13786152e-02 -9.99485545e-01 -6.63532342e-03 2.49349316e+02] [ 9.74524493e-01 3.20686136e-02 -2.21976615e-01 3.67426512e+01] [ 2.22075203e-01 4.99033592e-04 9.75029412e-01 -9.48625978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.836875 meters 0.013868006827451899 Centerline is valid? [True, True] Translation: X:249.35, Y:36.77, Z:-9.48 [[ 3.13908073e-02 -9.99485709e-01 -6.55253352e-03 2.49349868e+02] [ 9.74631048e-01 3.20623912e-02 -2.21509194e-01 3.67694153e+01] [ 2.21605364e-01 5.67049808e-04 9.75136268e-01 -9.47966292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.866875 meters 0.01391025964002052 Centerline is valid? [True, True] Translation: X:249.35, Y:36.80, Z:-9.47 [[ 3.18746008e-02 -9.99471096e-01 -6.44507984e-03 2.49350039e+02] [ 9.74916693e-01 3.25113713e-02 -2.20182769e-01 3.67952484e+01] [ 2.20275851e-01 7.34821923e-04 9.75437343e-01 -9.47323821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.896875 meters 0.013805732842751281 Centerline is valid? [True, True] Translation: X:249.35, Y:36.82, Z:-9.47 [[ 3.15977375e-02 -9.99480442e-01 -6.35838404e-03 2.49350736e+02] [ 9.75043068e-01 3.22226109e-02 -2.19665015e-01 3.68221409e+01] [ 2.19755770e-01 7.41219191e-04 9.75554638e-01 -9.46621472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.926875 meters 0.014100929283173245 Centerline is valid? [True, True] Translation: X:249.35, Y:36.85, Z:-9.46 [[ 3.23140079e-02 -9.99457969e-01 -6.29070538e-03 2.49350842e+02] [ 9.75015105e-01 3.29064731e-02 -2.19687753e-01 3.68480644e+01] [ 2.19775680e-01 9.65459021e-04 9.75549957e-01 -9.46146931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.956875 meters 0.014207299826501889 Centerline is valid? [True, True] Translation: X:249.35, Y:36.87, Z:-9.46 [[ 3.26175096e-02 -9.99448444e-01 -6.23750468e-03 2.49350675e+02] [ 9.74858750e-01 3.31901301e-02 -2.20337996e-01 3.68736013e+01] [ 2.20423491e-01 1.10619068e-03 9.75403640e-01 -9.45685432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.986875 meters 0.014189756038339992 Centerline is valid? [True, True] Translation: X:249.35, Y:36.90, Z:-9.45 [[ 3.28441391e-02 -9.99441335e-01 -6.18705308e-03 2.49350978e+02] [ 9.74685665e-01 3.33991480e-02 -2.21070919e-01 3.69003199e+01] [ 2.21154057e-01 1.23045207e-03 9.75238109e-01 -9.45147178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.016875 meters 0.014152481980549431 Centerline is valid? [True, True] Translation: X:249.35, Y:36.93, Z:-9.45 [[ 3.35805660e-02 -9.99416908e-01 -6.17976722e-03 2.49350225e+02] [ 9.74148535e-01 3.41124037e-02 -2.23318103e-01 3.69277765e+01] [ 2.23398695e-01 1.47913711e-03 9.74726031e-01 -9.44824676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.046875 meters 0.014450131619380335 Centerline is valid? [True, True] Translation: X:249.35, Y:36.95, Z:-9.44 [[ 3.38705701e-02 -9.99407302e-01 -6.15055648e-03 2.49350275e+02] [ 9.73831232e-01 3.43863590e-02 -2.24655982e-01 3.69547073e+01] [ 2.24734325e-01 1.61962220e-03 9.74418729e-01 -9.44362401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07687500000003 meters 0.014707899216756545 Centerline is valid? [True, True] Translation: X:249.35, Y:36.98, Z:-9.44 [[ 3.41380447e-02 -9.99398344e-01 -6.12729560e-03 2.49351228e+02] [ 9.73429985e-01 3.46387490e-02 -2.26349777e-01 3.69827155e+01] [ 2.26425834e-01 1.76264556e-03 9.74026814e-01 -9.43830483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.106875 meters 0.014578609825867693 Centerline is valid? [True, True] Translation: X:249.35, Y:37.01, Z:-9.43 [[ 3.37568042e-02 -9.99411641e-01 -6.07034483e-03 2.49352070e+02] [ 9.73378279e-01 3.42540189e-02 -2.26630512e-01 3.70097263e+01] [ 2.26705106e-01 1.74158002e-03 9.73961889e-01 -9.43207679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13687500000003 meters 0.01500757370488495 Centerline is valid? [True, True] Translation: X:249.35, Y:37.04, Z:-9.43 [[ 3.35173889e-02 -9.99420029e-01 -6.01585111e-03 2.49351604e+02] [ 9.73236318e-01 3.40073245e-02 -2.27276420e-01 3.70354796e+01] [ 2.27349189e-01 1.76286737e-03 9.73811706e-01 -9.42823474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.166875 meters 0.014732714720396304 Centerline is valid? [True, True] Translation: X:249.35, Y:37.06, Z:-9.42 [[ 3.32017604e-02 -9.99430953e-01 -5.95094359e-03 2.49352819e+02] [ 9.73322205e-01 3.36857834e-02 -2.26956282e-01 3.70615610e+01] [ 2.27027595e-01 1.74316254e-03 9.73886766e-01 -9.42071117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19687500000003 meters 0.014754463254569458 Centerline is valid? [True, True] Translation: X:249.35, Y:37.09, Z:-9.41 [[ 3.26845991e-02 -9.99448437e-01 -5.87702614e-03 2.49353739e+02] [ 9.73374063e-01 3.31656048e-02 -2.26810443e-01 3.70884274e+01] [ 2.26880258e-01 1.69266359e-03 9.73921190e-01 -9.41386268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.226875 meters 0.014730350436881581 Centerline is valid? [True, True] Translation: X:249.36, Y:37.11, Z:-9.41 [[ 3.18140371e-02 -9.99477016e-01 -5.79330103e-03 2.49355159e+02] [ 9.73519004e-01 3.22995601e-02 -2.26312809e-01 3.71146285e+01] [ 2.26381572e-01 1.56003546e-03 9.74037448e-01 -9.40686748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25687500000004 meters 0.014686052693466877 Centerline is valid? [True, True] Translation: X:249.36, Y:37.14, Z:-9.40 [[ 3.07913331e-02 -9.99509474e-01 -5.71876125e-03 2.49356365e+02] [ 9.73584386e-01 3.12867420e-02 -2.26173790e-01 3.71415872e+01] [ 2.26241767e-01 1.39649585e-03 9.74070178e-01 -9.40019918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.286875 meters 0.014743762392033856 Centerline is valid? [True, True] Translation: X:249.36, Y:37.17, Z:-9.39 [[ 2.97226204e-02 -9.99542259e-01 -5.64251880e-03 2.49357376e+02] [ 9.73689819e-01 3.02288893e-02 -2.25863566e-01 3.71670787e+01] [ 2.25930746e-01 1.21919392e-03 9.74142603e-01 -9.39472698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31687500000004 meters 0.014386568075728964 Centerline is valid? [True, True] Translation: X:249.36, Y:37.19, Z:-9.39 [[ 2.86291896e-02 -9.99574619e-01 -5.56338487e-03 2.49358811e+02] [ 9.73758469e-01 2.91460249e-02 -2.25709888e-01 3.71930561e+01] [ 2.25776026e-01 1.04449805e-03 9.74178677e-01 -9.38777173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.346875 meters 0.014543463750252048 Centerline is valid? [True, True] Translation: X:249.36, Y:37.22, Z:-9.38 [[ 2.69677070e-02 -9.99621235e-01 -5.48904299e-03 2.49360621e+02] [ 9.73826346e-01 2.75107340e-02 -2.25622269e-01 3.72200586e+01] [ 2.25687819e-01 7.39140571e-04 9.74199396e-01 -9.38187433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37687500000004 meters 0.014499541168295615 Centerline is valid? [True, True] Translation: X:249.36, Y:37.25, Z:-9.38 [[ 2.52068598e-02 -9.99667500e-01 -5.43173354e-03 2.49362104e+02] [ 9.73732636e-01 2.57821359e-02 -2.26230050e-01 3.72463094e+01] [ 2.26294870e-01 4.13492914e-04 9.74058756e-01 -9.37645462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.406875 meters 0.014587440528413011 Centerline is valid? [True, True] Translation: X:249.36, Y:37.27, Z:-9.37 [[ 2.41568757e-02 -9.99693828e-01 -5.35674764e-03 2.49363177e+02] [ 9.73790148e-01 2.47424559e-02 -2.26098559e-01 3.72733467e+01] [ 2.26161873e-01 2.45486704e-04 9.74089702e-01 -9.37065951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.436875 meters 0.014536340924310397 Centerline is valid? [True, True] Translation: X:249.36, Y:37.30, Z:-9.36 [[ 2.33641901e-02 -9.99713046e-01 -5.28579389e-03 2.49364570e+02] [ 9.73806824e-01 2.39542609e-02 -2.26111615e-01 3.73007109e+01] [ 2.26173349e-01 1.35572589e-04 9.74087059e-01 -9.36424238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.466875 meters 0.014622458979889985 Centerline is valid? [True, True] Translation: X:249.37, Y:37.33, Z:-9.36 [[ 2.23433355e-02 -9.99736766e-01 -5.21296210e-03 2.49365746e+02] [ 9.73908215e-01 2.29433776e-02 -2.25779515e-01 3.73265771e+01] [ 2.25839685e-01 -3.22791448e-05 9.74164481e-01 -9.35956873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.496875 meters 0.014587689084865138 Centerline is valid? [True, True] Translation: X:249.37, Y:37.35, Z:-9.35 [[ 2.03213502e-02 -9.99780147e-01 -5.16723848e-03 2.49368066e+02] [ 9.73833537e-01 2.09635340e-02 -2.26293553e-01 3.73542653e+01] [ 2.26352125e-01 -4.33439581e-04 9.74045444e-01 -9.35274382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.526875 meters 0.014578778609774952 Centerline is valid? [True, True] Translation: X:249.37, Y:37.38, Z:-9.35 [[ 1.89845025e-02 -9.99806831e-01 -5.08806745e-03 2.49369405e+02] [ 9.73998668e-01 1.96430543e-02 -2.25700565e-01 3.73805324e+01] [ 2.25756912e-01 -6.70957971e-04 9.74183436e-01 -9.34702167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.556875 meters 0.014612318447054826 Centerline is valid? [True, True] Translation: X:249.37, Y:37.41, Z:-9.34 [[ 1.72421825e-02 -9.99838750e-01 -5.01812443e-03 2.49371616e+02] [ 9.74007199e-01 1.79300253e-02 -2.25806312e-01 3.74062801e+01] [ 2.25859876e-01 -9.94295666e-04 9.74159293e-01 -9.34187394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.586875 meters 0.014623891177470667 Centerline is valid? [True, True] Translation: X:249.37, Y:37.43, Z:-9.34 [[ 1.64226782e-02 -9.99852813e-01 -4.96464755e-03 2.49371874e+02] [ 9.73985720e-01 1.71197945e-02 -2.25961790e-01 3.74337983e+01] [ 2.26013525e-01 -1.12459805e-03 9.74123515e-01 -9.33549357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.616875 meters 0.014599868072193841 Centerline is valid? [True, True] Translation: X:249.37, Y:37.46, Z:-9.33 [[ 1.59902693e-02 -9.99860148e-01 -4.89864185e-03 2.49372728e+02] [ 9.73987627e-01 1.66836831e-02 -2.25986187e-01 3.74601700e+01] [ 2.26036310e-01 -1.15763656e-03 9.74118189e-01 -9.33047454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.646875 meters 0.014736182811476923 Centerline is valid? [True, True] Translation: X:249.37, Y:37.49, Z:-9.33 [[ 1.62094654e-02 -9.99856870e-01 -4.84684228e-03 2.49372582e+02] [ 9.73791683e-01 1.68863914e-02 -2.26814037e-01 3.74856751e+01] [ 2.26863419e-01 -1.04328041e-03 9.73926024e-01 -9.32637919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.676875 meters 0.014710410906228757 Centerline is valid? [True, True] Translation: X:249.37, Y:37.51, Z:-9.32 [[ 1.64568735e-02 -9.99853077e-01 -4.79531154e-03 2.49372428e+02] [ 9.73692671e-01 1.71160499e-02 -2.27221527e-01 3.75123238e+01] [ 2.27270220e-01 -9.29803773e-04 9.73831291e-01 -9.32149435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.706875 meters 0.014578365495166756 Centerline is valid? [True, True] Translation: X:249.37, Y:37.54, Z:-9.31 [[ 1.64475513e-02 -9.99853519e-01 -4.73475533e-03 2.49371942e+02] [ 9.73584598e-01 1.70936232e-02 -2.27685831e-01 3.75389998e+01] [ 2.27733414e-01 -8.64810468e-04 9.73723135e-01 -9.31488574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.736875 meters 0.014740395961889495 Centerline is valid? [True, True] Translation: X:249.37, Y:37.57, Z:-9.31 [[ 1.74089569e-02 -9.99837518e-01 -4.67614117e-03 2.49371823e+02] [ 9.73402636e-01 1.80168431e-02 -2.28391553e-01 3.75650357e+01] [ 2.28438692e-01 -5.75709442e-04 9.73558130e-01 -9.31029779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.766875 meters 0.014704497935869892 Centerline is valid? [True, True] Translation: X:249.37, Y:37.59, Z:-9.30 [[ 1.78305784e-02 -9.99830450e-01 -4.59812249e-03 2.49371798e+02] [ 9.73427889e-01 1.84094370e-02 -2.28252572e-01 3.75908193e+01] [ 2.28298521e-01 -4.06065281e-04 9.73591095e-01 -9.30457896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.796875 meters 0.014494748276350384 Centerline is valid? [True, True] Translation: X:249.37, Y:37.62, Z:-9.30 [[ 1.77857593e-02 -9.99831513e-01 -4.54017972e-03 2.49371480e+02] [ 9.73463557e-01 1.83525184e-02 -2.28104996e-01 3.76181863e+01] [ 2.28149887e-01 -3.62678944e-04 9.73625954e-01 -9.29633174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.82687500000003 meters 0.014628228957272088 Centerline is valid? [True, True] Translation: X:249.37, Y:37.64, Z:-9.29 [[ 1.84924776e-02 -9.99819139e-01 -4.44041996e-03 2.49371009e+02] [ 9.73860611e-01 1.90176194e-02 -2.26348933e-01 3.76438133e+01] [ 2.26392442e-01 -1.38597519e-04 9.74036161e-01 -9.29044353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.856875 meters 0.01441243263373888 Centerline is valid? [True, True] Translation: X:249.37, Y:37.67, Z:-9.28 [[ 1.82249523e-02 -9.99824380e-01 -4.36591686e-03 2.49370876e+02] [ 9.74070988e-01 1.87400504e-02 -2.25465121e-01 3.76705793e+01] [ 2.25507343e-01 -1.43621869e-04 9.74241458e-01 -9.28358014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.88687500000003 meters 0.014537403400736301 Centerline is valid? [True, True] Translation: X:249.37, Y:37.70, Z:-9.28 [[ 1.81371613e-02 -9.99826380e-01 -4.27232874e-03 2.49371121e+02] [ 9.74347870e-01 1.86333138e-02 -2.24274446e-01 3.76972983e+01] [ 2.24315115e-01 -9.50326077e-05 9.74516660e-01 -9.27676044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.916875 meters 0.014500534087758043 Centerline is valid? [True, True] Translation: X:249.37, Y:37.72, Z:-9.27 [[ 1.78325643e-02 -9.99832270e-01 -4.17506046e-03 2.49372079e+02] [ 9.74677955e-01 1.83145414e-02 -2.22861980e-01 3.77234913e+01] [ 2.22901064e-01 -9.51388125e-05 9.74841067e-01 -9.26872196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.94687500000003 meters 0.014365733134464282 Centerline is valid? [True, True] Translation: X:249.37, Y:37.75, Z:-9.26 [[ 1.69894279e-02 -9.99847279e-01 -4.09606413e-03 2.49372661e+02] [ 9.74802719e-01 1.74749051e-02 -2.22383196e-01 3.77503529e+01] [ 2.22420812e-01 -2.14691176e-04 9.74950735e-01 -9.26182387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.976875 meters 0.014411668568094197 Centerline is valid? [True, True] Translation: X:249.37, Y:37.78, Z:-9.26 [[ 1.63189694e-02 -9.99858735e-01 -4.02503437e-03 2.49373104e+02] [ 9.74897339e-01 1.68053309e-02 -2.22019725e-01 3.77763980e+01] [ 2.22056004e-01 -3.00862187e-04 9.75033866e-01 -9.25600863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.00687500000004 meters 0.014597686100515907 Centerline is valid? [True, True] Translation: X:249.37, Y:37.80, Z:-9.25 [[ 1.51895595e-02 -9.99876865e-01 -3.94101409e-03 2.49373406e+02] [ 9.75026666e-01 1.56852225e-02 -2.21533236e-01 3.78035951e+01] [ 2.21567774e-01 -4.77601560e-04 9.75144858e-01 -9.25081544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.036875 meters 0.014699502912798822 Centerline is valid? [True, True] Translation: X:249.37, Y:37.83, Z:-9.25 [[ 1.43941735e-02 -9.99888914e-01 -3.86879392e-03 2.49373948e+02] [ 9.75065892e-01 1.48935318e-02 -2.21415194e-01 3.78303293e+01] [ 2.21448218e-01 -5.85240278e-04 9.75171956e-01 -9.24558823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06687500000004 meters 0.014396033341775265 Centerline is valid? [True, True] Translation: X:249.37, Y:37.86, Z:-9.24 [[ 1.29983914e-02 -9.99908281e-01 -3.80404814e-03 2.49374348e+02] [ 9.75012634e-01 1.35183367e-02 -2.21737724e-01 3.78571221e+01] [ 2.21768811e-01 -8.26761270e-04 9.75098924e-01 -9.23948444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.096875 meters 0.014620339105778198 Centerline is valid? [True, True] Translation: X:249.38, Y:37.88, Z:-9.23 [[ 1.17117280e-02 -9.99924460e-01 -3.72966775e-03 2.49375203e+02] [ 9.75071799e-01 1.22470137e-02 -2.21551343e-01 3.78826225e+01] [ 2.21580284e-01 -1.04194478e-03 9.75141575e-01 -9.23451625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12687500000004 meters 0.014561807746122112 Centerline is valid? [True, True] Translation: X:249.38, Y:37.91, Z:-9.23 [[ 1.05384959e-02 -9.99937822e-01 -3.64595734e-03 2.49375299e+02] [ 9.75220277e-01 1.10836485e-02 -2.20958286e-01 3.79101843e+01] [ 2.20984958e-01 -1.22704354e-03 9.75276444e-01 -9.22795894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.156875 meters 0.014789479785746022 Centerline is valid? [True, True] Translation: X:249.38, Y:37.94, Z:-9.22 [[ 1.01763997e-02 -9.99941807e-01 -3.58087723e-03 2.49375705e+02] [ 9.75231745e-01 1.07160798e-02 -2.20925801e-01 3.79376480e+01] [ 2.20951317e-01 -1.24395590e-03 9.75284045e-01 -9.22213926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.186875 meters 0.014824854792230195 Centerline is valid? [True, True] Translation: X:249.38, Y:37.96, Z:-9.22 [[ 8.29092761e-03 -9.99959445e-01 -3.51681371e-03 2.49375916e+02] [ 9.75244748e-01 8.86308482e-03 -2.20950507e-01 3.79645452e+01] [ 2.20972717e-01 -1.59786944e-03 9.75278681e-01 -9.21693768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.216875 meters 0.014982098648975546 Centerline is valid? [True, True] Translation: X:249.38, Y:37.99, Z:-9.21 [[ 7.10062054e-03 -9.99968808e-01 -3.45906727e-03 2.49376505e+02] [ 9.75103473e-01 7.69066756e-03 -2.21616946e-01 3.79905244e+01] [ 2.21636636e-01 -1.79933067e-03 9.75127666e-01 -9.21153409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.246875 meters 0.015278503807461454 Centerline is valid? [True, True] Translation: X:249.38, Y:38.02, Z:-9.21 [[ 4.63900062e-03 -9.99983472e-01 -3.39650503e-03 2.49377510e+02] [ 9.74933066e-01 5.27830643e-03 -2.22435737e-01 3.80172193e+01] [ 2.22449989e-01 -2.27948553e-03 9.74941437e-01 -9.20701006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.276875 meters 0.015343445597837986 Centerline is valid? [True, True] Translation: X:249.38, Y:38.04, Z:-9.20 [[ 2.98078406e-03 -9.99989994e-01 -3.33576277e-03 2.49377633e+02] [ 9.74846200e-01 3.64921312e-03 -2.22848758e-01 3.80441435e+01] [ 2.22858701e-01 -2.58759163e-03 9.74847323e-01 -9.20144792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.306875 meters 0.015788563995806224 Centerline is valid? [True, True] Translation: X:249.38, Y:38.07, Z:-9.20 [[ 2.04102211e-03 -9.99992586e-01 -3.26521187e-03 2.49378066e+02] [ 9.74847449e-01 2.71737937e-03 -2.22856605e-01 3.80702129e+01] [ 2.22863825e-01 -2.72822820e-03 9.74845768e-01 -9.19631261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.336875 meters 0.01602567312657576 Centerline is valid? [True, True] Translation: X:249.38, Y:38.10, Z:-9.19 [[ 3.97630913e-04 -9.99994836e-01 -3.18915742e-03 2.49378027e+02] [ 9.74885552e-01 1.09788758e-03 -2.22703738e-01 3.80960775e+01] [ 2.22706090e-01 -3.02050960e-03 9.74880954e-01 -9.19029226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.366875 meters 0.016219955739694963 Centerline is valid? [True, True] Translation: X:249.38, Y:38.12, Z:-9.18 [[-3.22923976e-04 -9.99995118e-01 -3.10788695e-03 2.49377865e+02] [ 9.75030597e-01 3.75310295e-04 -2.22070245e-01 3.81223995e+01] [ 2.22070328e-01 -3.10199668e-03 9.75025716e-01 -9.18361433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.396875 meters 0.016298521298603253 Centerline is valid? [True, True] Translation: X:249.38, Y:38.15, Z:-9.18 [[-9.55023874e-04 -9.99994964e-01 -3.02653126e-03 2.49378005e+02] [ 9.75246884e-01 -2.62162939e-04 -2.21118627e-01 3.81491723e+01] [ 2.21116720e-01 -3.16278875e-03 9.75242223e-01 -9.17675369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.426875 meters 0.016298521298603253 Centerline is valid? [True, True] Translation: X:249.38, Y:38.18, Z:-9.17 [[-1.25397176e-03 -9.99994837e-01 -2.95859775e-03 2.49378215e+02] [ 9.75246547e-01 -5.68730803e-04 -2.21119537e-01 3.81753394e+01] [ 2.21116712e-01 -3.16263989e-03 9.75242225e-01 -9.17098336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.456875 meters 0.0164763544064649 Centerline is valid? [True, True] Translation: X:249.38, Y:38.20, Z:-9.16 [[-1.82078387e-03 -9.99994220e-01 -2.87146165e-03 2.49378323e+02] [ 9.75591966e-01 -1.14580947e-03 -2.19588259e-01 3.82003081e+01] [ 2.19583700e-01 -3.20119768e-03 9.75588413e-01 -9.16434214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.486875 meters 0.016528684712962084 Centerline is valid? [True, True] Translation: X:249.38, Y:38.23, Z:-9.16 [[-2.54067287e-03 -9.99992836e-01 -2.80579374e-03 2.49377409e+02] [ 9.75831452e-01 -1.86616941e-03 -2.18516578e-01 3.82262443e+01] [ 2.18509776e-01 -3.29316091e-03 9.75829203e-01 -9.15689044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.516875 meters 0.016498818953324345 Centerline is valid? [True, True] Translation: X:249.38, Y:38.25, Z:-9.15 [[-2.41464158e-03 -9.99993318e-01 -2.74460700e-03 2.49376872e+02] [ 9.75746189e-01 -1.75530032e-03 -2.18897905e-01 3.82525523e+01] [ 2.18891625e-01 -3.20659980e-03 9.75743908e-01 -9.15168993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.546875 meters 0.01666196385754229 Centerline is valid? [True, True] Translation: X:249.38, Y:38.28, Z:-9.15 [[-2.32604425e-03 -9.99993690e-01 -2.68487539e-03 2.49375453e+02] [ 9.75632797e-01 -1.68030504e-03 -2.19403333e-01 3.82785563e+01] [ 2.19397437e-01 -3.12979435e-03 9.75630549e-01 -9.14737854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57687500000003 meters 0.016450150586806947 Centerline is valid? [True, True] Translation: X:249.37, Y:38.30, Z:-9.14 [[-2.25905677e-03 -9.99994015e-01 -2.62043140e-03 2.49374168e+02] [ 9.75543252e-01 -1.62784250e-03 -2.19801530e-01 3.83041855e+01] [ 2.19795949e-01 -3.05288831e-03 9.75541091e-01 -9.14254168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.606875 meters 0.016348518282750312 Centerline is valid? [True, True] Translation: X:249.37, Y:38.33, Z:-9.14 [[-1.95582329e-03 -9.99994835e-01 -2.55033555e-03 2.49373271e+02] [ 9.75502258e-01 -1.34688067e-03 -2.19985294e-01 3.83300102e+01] [ 2.19980723e-01 -2.91811044e-03 9.75499854e-01 -9.13760769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63687500000003 meters 0.016288083634519574 Centerline is valid? [True, True] Translation: X:249.37, Y:38.36, Z:-9.13 [[-1.67134293e-03 -9.99995515e-01 -2.48535387e-03 2.49371863e+02] [ 9.75362247e-01 -1.08188392e-03 -2.20606702e-01 3.83551729e+01] [ 2.20603024e-01 -2.79282978e-03 9.75359680e-01 -9.13244211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.666875 meters 0.016271337307865754 Centerline is valid? [True, True] Translation: X:249.37, Y:38.38, Z:-9.13 [[-1.76726266e-03 -9.99995531e-01 -2.41158830e-03 2.49371228e+02] [ 9.75337048e-01 -1.19140229e-03 -2.20717517e-01 3.83809317e+01] [ 2.20713658e-01 -2.74217724e-03 9.75334795e-01 -9.12696040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69687500000003 meters 0.016299714328780097 Centerline is valid? [True, True] Translation: X:249.37, Y:38.41, Z:-9.12 [[-1.68661617e-03 -9.99995829e-01 -2.34478972e-03 2.49370604e+02] [ 9.75244025e-01 -1.12636715e-03 -2.21128523e-01 3.84068342e+01] [ 2.21124959e-01 -2.65970110e-03 9.75241856e-01 -9.12188289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.726875 meters 0.016137018118492108 Centerline is valid? [True, True] Translation: X:249.37, Y:38.43, Z:-9.12 [[-1.33808792e-03 -9.99996510e-01 -2.27793386e-03 2.49368752e+02] [ 9.75149662e-01 -8.00172321e-04 -2.21545700e-01 3.84319700e+01] [ 2.21543105e-01 -2.51777406e-03 9.75147329e-01 -9.11663232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75687500000004 meters 0.015551252816482413 Centerline is valid? [True, True] Translation: X:249.37, Y:38.46, Z:-9.11 [[-1.29311557e-03 -9.99996738e-01 -2.20286563e-03 2.49365448e+02] [ 9.75172463e-01 -7.73198734e-04 -2.21445410e-01 3.84584451e+01] [ 2.21442984e-01 -2.43452841e-03 9.75170281e-01 -9.10996686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.786875 meters 0.015372767692908467 Centerline is valid? [True, True] Translation: X:249.36, Y:38.48, Z:-9.10 [[-8.58912752e-04 -9.99997344e-01 -2.13856953e-03 2.49363950e+02] [ 9.75022799e-01 -3.62474559e-04 -2.22104501e-01 3.84845937e+01] [ 2.22103136e-01 -2.27592243e-03 9.75020521e-01 -9.10416589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81687500000004 meters 0.015355612533442121 Centerline is valid? [True, True] Translation: X:249.36, Y:38.51, Z:-9.10 [[-8.26555751e-04 -9.99997514e-01 -2.07092031e-03 2.49363557e+02] [ 9.74866983e-01 -3.44407711e-04 -2.22787449e-01 3.85113678e+01] [ 2.22786182e-01 -2.20301808e-03 9.74864844e-01 -9.09830316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.846875 meters 0.015327185863040306 Centerline is valid? [True, True] Translation: X:249.36, Y:38.54, Z:-9.09 [[-1.06247268e-03 -9.99997420e-01 -2.00769747e-03 2.49362912e+02] [ 9.74677460e-01 -5.86619140e-04 -2.23614637e-01 3.85385847e+01] [ 2.23612882e-01 -2.19444191e-03 9.74675568e-01 -9.09284346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87687500000004 meters 0.015414642443655537 Centerline is valid? [True, True] Translation: X:249.36, Y:38.57, Z:-9.09 [[-1.13363815e-03 -9.99997456e-01 -1.95024201e-03 2.49362313e+02] [ 9.74284745e-01 -6.65060853e-04 -2.25319313e-01 3.85661100e+01] [ 2.25317443e-01 -2.15552161e-03 9.74283020e-01 -9.08775526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.906875 meters 0.015301897198597238 Centerline is valid? [True, True] Translation: X:249.36, Y:38.59, Z:-9.08 [[-1.85643827e-03 -9.99996492e-01 -1.88960852e-03 2.49362520e+02] [ 9.74156923e-01 -1.38166483e-03 -2.25868059e-01 3.85934339e+01] [ 2.25864655e-01 -2.26008533e-03 9.74156070e-01 -9.08168129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.936875 meters 0.015443609088322924 Centerline is valid? [True, True] Translation: X:249.36, Y:38.62, Z:-9.08 [[-2.32894189e-03 -9.99995628e-01 -1.82192146e-03 2.49362398e+02] [ 9.74238315e-01 -1.85808500e-03 -2.25513311e-01 3.86210173e+01] [ 2.25508940e-01 -2.30019309e-03 9.74238383e-01 -9.07507985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.966875 meters 0.01548325765149352 Centerline is valid? [True, True] Translation: X:249.36, Y:38.65, Z:-9.07 [[-2.99597070e-03 -9.99993979e-01 -1.75106956e-03 2.49363324e+02] [ 9.74400804e-01 -2.52564458e-03 -2.24803680e-01 3.86472312e+01] [ 2.24797904e-01 -2.37974882e-03 9.74402504e-01 -9.06873288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.996875 meters 0.015564634359438126 Centerline is valid? [True, True] Translation: X:249.36, Y:38.67, Z:-9.06 [[-3.39112759e-03 -9.99992840e-01 -1.67906459e-03 2.49363343e+02] [ 9.74508203e-01 -2.92803342e-03 -2.24332765e-01 3.86743501e+01] [ 2.24326243e-01 -2.39700325e-03 9.74511155e-01 -9.06134298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.026875 meters 0.015540863376076516 Centerline is valid? [True, True] Translation: X:249.36, Y:38.70, Z:-9.05 [[-2.98264731e-03 -9.99994263e-01 -1.60532191e-03 2.49363330e+02] [ 9.74829410e-01 -2.54970052e-03 -2.22937480e-01 3.86999523e+01] [ 2.22932108e-01 -2.22985888e-03 9.74831423e-01 -9.05385889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.056875 meters 0.015377854320688292 Centerline is valid? [True, True] Translation: X:249.36, Y:38.73, Z:-9.05 [[-2.63225957e-03 -9.99995340e-01 -1.54641588e-03 2.49362519e+02] [ 9.74930955e-01 -2.22220956e-03 -2.22496504e-01 3.87269314e+01] [ 2.22492031e-01 -2.09331726e-03 9.74932261e-01 -9.04745325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.086875 meters 0.01536283816806873 Centerline is valid? [True, True] Translation: X:249.36, Y:38.75, Z:-9.04 [[-1.87132824e-03 -9.99997162e-01 -1.47463724e-03 2.49361237e+02] [ 9.74992427e-01 -1.49682198e-03 -2.22233045e-01 3.87540650e+01] [ 2.22230207e-01 -1.85363112e-03 9.74992461e-01 -9.04137548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.116875 meters 0.015081001879043375 Centerline is valid? [True, True] Translation: X:249.36, Y:38.78, Z:-9.04 [[ 5.85522024e-05 -9.99999008e-01 -1.40715962e-03 2.49358293e+02] [ 9.75025964e-01 3.69607203e-04 -2.22090595e-01 3.87805347e+01] [ 2.22090895e-01 -1.35901327e-03 9.75025019e-01 -9.03576970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.146875 meters 0.01517360266381098 Centerline is valid? [True, True] Translation: X:249.36, Y:38.81, Z:-9.03 [[ 5.32940436e-04 -9.99998964e-01 -1.33726297e-03 2.49357150e+02] [ 9.75006188e-01 8.16729085e-04 -2.22176207e-01 3.88073821e+01] [ 2.22177069e-01 -1.18543299e-03 9.75005613e-01 -9.03047991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.176875 meters 0.015042465991695222 Centerline is valid? [True, True] Translation: X:249.36, Y:38.83, Z:-9.03 [[ 1.72636765e-03 -9.99997701e-01 -1.27165553e-03 2.49355292e+02] [ 9.74804069e-01 1.96652280e-03 -2.23054164e-01 3.88341768e+01] [ 2.23056152e-01 -8.54541492e-04 9.74805223e-01 -9.02546141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.206875 meters 0.014930776191480642 Centerline is valid? [True, True] Translation: X:249.35, Y:38.86, Z:-9.02 [[ 1.67990963e-03 -9.99997865e-01 -1.20324266e-03 2.49354696e+02] [ 9.74658166e-01 1.90649670e-03 -2.23691360e-01 3.88612691e+01] [ 2.23693177e-01 -7.96969013e-04 9.74659288e-01 -9.01965915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.236875 meters 0.014792420092059926 Centerline is valid? [True, True] Translation: X:249.35, Y:38.89, Z:-9.01 [[ 1.57478966e-03 -9.99998110e-01 -1.13987530e-03 2.49354209e+02] [ 9.74583522e-01 1.79011923e-03 -2.24017308e-01 3.88871032e+01] [ 2.24018925e-01 -7.58123541e-04 9.74584499e-01 -9.01461402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.266875 meters 0.01477419960495335 Centerline is valid? [True, True] Translation: X:249.35, Y:38.91, Z:-9.01 [[ 1.41622855e-03 -9.99998424e-01 -1.07062067e-03 2.49353385e+02] [ 9.74256535e-01 1.62112936e-03 -2.25436410e-01 3.89127707e+01] [ 2.25437791e-01 -7.23789705e-04 9.74257296e-01 -9.01041999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.296875 meters 0.014737174692924224 Centerline is valid? [True, True] Translation: X:249.35, Y:38.94, Z:-9.00 [[ 1.28887142e-03 -9.99998654e-01 -1.01538851e-03 2.49352833e+02] [ 9.74193940e-01 1.48479372e-03 -2.25707694e-01 3.89401041e+01] [ 2.25708898e-01 -6.98277133e-04 9.74194542e-01 -9.00422239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.32687500000003 meters 0.014696370772208905 Centerline is valid? [True, True] Translation: X:249.35, Y:38.97, Z:-9.00 [[ 7.80361341e-04 -9.99999244e-01 -9.50470897e-04 2.49352740e+02] [ 9.74157408e-01 9.74876566e-04 -2.25868089e-01 3.89657104e+01] [ 2.25868845e-01 -7.49649540e-04 9.74157432e-01 -8.99953479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.356875 meters 0.014636110172000427 Centerline is valid? [True, True] Translation: X:249.35, Y:38.99, Z:-8.99 [[-8.23373274e-05 -9.99999613e-01 -8.75728247e-04 2.49352718e+02] [ 9.74062629e-01 1.17956850e-04 -2.26278548e-01 3.89929796e+01] [ 2.26278564e-01 -8.71645329e-04 9.74062242e-01 -8.99322435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.38687500000003 meters 0.014748249166602657 Centerline is valid? [True, True] Translation: X:249.35, Y:39.02, Z:-8.99 [[-1.00056128e-03 -9.99999171e-01 -8.09977895e-04 2.49352945e+02] [ 9.74089846e-01 -7.91452637e-04 -2.26160001e-01 3.90204357e+01] [ 2.26159173e-01 -1.01527818e-03 9.74089831e-01 -8.98734810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.416875 meters 0.01488906716246051 Centerline is valid? [True, True] Translation: X:249.35, Y:39.05, Z:-8.98 [[-3.20784217e-03 -9.99994579e-01 -7.43216101e-04 2.49353418e+02] [ 9.74224630e-01 -2.95753455e-03 -2.25560688e-01 3.90480125e+01] [ 2.25557267e-01 -1.44762252e-03 9.74228835e-01 -8.98031425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.44687500000003 meters 0.015052898924556501 Centerline is valid? [True, True] Translation: X:249.35, Y:39.07, Z:-8.97 [[-4.74913517e-03 -9.99988494e-01 -6.77153980e-04 2.49354413e+02] [ 9.74256594e-01 -4.47429887e-03 -2.25397580e-01 3.90736520e+01] [ 2.25391957e-01 -1.73016531e-03 9.74266633e-01 -8.97467273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.476875 meters 0.015252113718186005 Centerline is valid? [True, True] Translation: X:249.36, Y:39.10, Z:-8.97 [[-6.51265461e-03 -9.99978612e-01 -6.00090155e-04 2.49355184e+02] [ 9.74328053e-01 -6.21054626e-03 -2.25047270e-01 3.91005144e+01] [ 2.25038730e-01 -2.05033981e-03 9.74347662e-01 -8.96798130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.50687500000004 meters 0.01530275287233184 Centerline is valid? [True, True] Translation: X:249.36, Y:39.13, Z:-8.96 [[-8.11147228e-03 -9.99966961e-01 -5.30480626e-04 2.49355037e+02] [ 9.74302890e-01 -7.78387300e-03 -2.25107286e-01 3.91281229e+01] [ 2.25095720e-01 -2.34280032e-03 9.74333838e-01 -8.96057629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.536875 meters 0.015534933096998205 Centerline is valid? [True, True] Translation: X:249.36, Y:39.15, Z:-8.95 [[-1.03170017e-02 -9.99946671e-01 -4.63938130e-04 2.49355918e+02] [ 9.74427442e-01 -9.94955444e-03 -2.24481995e-01 3.91543339e+01] [ 2.24465408e-01 -2.76805517e-03 9.74478126e-01 -8.95386221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56687500000004 meters 0.015515905782775428 Centerline is valid? [True, True] Translation: X:249.36, Y:39.18, Z:-8.95 [[-1.11456983e-02 -9.99937807e-01 -3.94998236e-04 2.49355918e+02] [ 9.74492577e-01 -1.07735271e-02 -2.24160988e-01 3.91817600e+01] [ 2.24142791e-01 -2.88335360e-03 9.74552049e-01 -8.94704420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.596875 meters 0.015836866249576934 Centerline is valid? [True, True] Translation: X:249.36, Y:39.21, Z:-8.94 [[-1.19990230e-02 -9.99927955e-01 -3.29333124e-04 2.49356334e+02] [ 9.74689023e-01 -1.16226255e-02 -2.23262679e-01 3.92072225e+01] [ 2.23242767e-01 -2.99993140e-03 9.74758261e-01 -8.94141209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62687500000004 meters 0.015445492614337355 Centerline is valid? [True, True] Translation: X:249.35, Y:39.23, Z:-8.93 [[-1.20340282e-02 -9.99927556e-01 -2.54044197e-04 2.49354789e+02] [ 9.74760259e-01 -1.16744993e-02 -2.22948745e-01 3.92341957e+01] [ 2.22929628e-01 -2.93060366e-03 9.74830135e-01 -8.93460534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.656875 meters 0.015316293509534895 Centerline is valid? [True, True] Translation: X:249.35, Y:39.26, Z:-8.93 [[-1.15604120e-02 -9.99933158e-01 -1.89802742e-04 2.49354119e+02] [ 9.74905945e-01 -1.12288654e-02 -2.22333781e-01 3.92614692e+01] [ 2.22316789e-01 -2.75530993e-03 9.74970591e-01 -8.92830139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.686875 meters 0.015088359816301702 Centerline is valid? [True, True] Translation: X:249.35, Y:39.29, Z:-8.92 [[-1.00683497e-02 -9.99949305e-01 -1.25415751e-04 2.49352925e+02] [ 9.75026514e-01 -9.78957784e-03 -2.21872624e-01 3.92874584e+01] [ 2.21860149e-01 -2.35617485e-03 9.75075650e-01 -8.92317210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.716875 meters 0.014950989574138165 Centerline is valid? [True, True] Translation: X:249.35, Y:39.32, Z:-8.92 [[-9.17465185e-03 -9.99957911e-01 -5.03181009e-05 2.49351490e+02] [ 9.75085995e-01 -8.93529774e-03 -2.21647158e-01 3.93154790e+01] [ 2.21637379e-01 -2.08259998e-03 9.75126933e-01 -8.91757057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.746875 meters 0.014576131376466387 Centerline is valid? [True, True] Translation: X:249.35, Y:39.34, Z:-8.91 [[-6.39190757e-03 -9.99979571e-01 1.30998216e-05 2.49349209e+02] [ 9.75088214e-01 -6.23570574e-03 -2.21729771e-01 3.93414634e+01] [ 2.21725323e-01 -1.40450272e-03 9.75108152e-01 -8.91191889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.776875 meters 0.01436252665381384 Centerline is valid? [True, True] Translation: X:249.35, Y:39.37, Z:-8.91 [[-4.99969144e-03 -9.99987499e-01 6.86380878e-05 2.49347477e+02] [ 9.75148125e-01 -4.89070420e-03 -2.21499924e-01 3.93677157e+01] [ 2.21497490e-01 -1.04049897e-03 9.75160386e-01 -8.90613388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.806875 meters 0.0143383058724019 Centerline is valid? [True, True] Translation: X:249.35, Y:39.40, Z:-8.90 [[-3.32017908e-03 -9.99994479e-01 1.39139303e-04 2.49345875e+02] [ 9.75124155e-01 -3.26844304e-03 -2.21635285e-01 3.93954993e+01] [ 2.21634516e-01 -6.00190740e-04 9.75129623e-01 -8.89928544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.836875 meters 0.014477733869298286 Centerline is valid? [True, True] Translation: X:249.34, Y:39.42, Z:-8.89 [[ 2.27809096e-04 -9.99999954e-01 2.00075155e-04 2.49343042e+02] [ 9.75074054e-01 1.77738154e-04 -2.21879601e-01 3.94226116e+01] [ 2.21879555e-01 2.45634284e-04 9.75074050e-01 -8.89388281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.866875 meters 0.014499414858941354 Centerline is valid? [True, True] Translation: X:249.34, Y:39.45, Z:-8.89 [[ 1.91811586e-03 -9.99998125e-01 2.64895676e-04 2.49341577e+02] [ 9.75002290e-01 1.81131427e-03 -2.22187429e-01 3.94504647e+01] [ 2.22186533e-01 6.84455124e-04 9.75003937e-01 -8.88799830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.896875 meters 0.01486622524727915 Centerline is valid? [True, True] Translation: X:249.34, Y:39.48, Z:-8.88 [[ 5.49178397e-03 -9.99984865e-01 3.31735804e-04 2.49338357e+02] [ 9.74784205e-01 5.27937818e-03 -2.23087161e-01 3.94773470e+01] [ 2.23082033e-01 1.54851731e-03 9.74798445e-01 -8.88330017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.926875 meters 0.014881411379006886 Centerline is valid? [True, True] Translation: X:249.34, Y:39.51, Z:-8.88 [[ 6.88337461e-03 -9.99976229e-01 4.00677228e-04 2.49336811e+02] [ 9.74763328e-01 6.62041036e-03 -2.23142609e-01 3.95050207e+01] [ 2.23134652e-01 1.92653964e-03 9.74785728e-01 -8.87756906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.956875 meters 0.015450171348979719 Centerline is valid? [True, True] Translation: X:249.33, Y:39.53, Z:-8.87 [[ 9.55105752e-03 -9.99954279e-01 4.66002503e-04 2.49333677e+02] [ 9.74719711e-01 9.20599387e-03 -2.23241427e-01 3.95311487e+01] [ 2.23226930e-01 2.58641354e-03 9.74763073e-01 -8.87276191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.986875 meters 0.015588705310088094 Centerline is valid? [True, True] Translation: X:249.33, Y:39.56, Z:-8.87 [[ 1.08708896e-02 -9.99940776e-01 5.18169499e-04 2.49332851e+02] [ 9.74800510e-01 1.04821048e-02 -2.22831979e-01 3.95585939e+01] [ 2.22813351e-01 2.92749374e-03 9.74856728e-01 -8.86605810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.016875 meters 0.015727638223195485 Centerline is valid? [True, True] Translation: X:249.33, Y:39.58, Z:-8.86 [[ 1.14806658e-02 -9.99933926e-01 5.81706174e-04 2.49331206e+02] [ 9.74900882e-01 1.10638916e-02 -2.22364253e-01 3.95845941e+01] [ 2.22343125e-01 3.11999554e-03 9.74963487e-01 -8.86001918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.046875 meters 0.01583563006629991 Centerline is valid? [True, True] Translation: X:249.33, Y:39.61, Z:-8.85 [[ 1.24456896e-02 -9.99922334e-01 6.56732020e-04 2.49330546e+02] [ 9.74941252e-01 1.19888614e-02 -2.22139194e-01 3.96121915e+01] [ 2.22114068e-01 3.40495059e-03 9.75014742e-01 -8.85327306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07687500000003 meters 0.01631699414818097 Centerline is valid? [True, True] Translation: X:249.33, Y:39.64, Z:-8.85 [[ 1.43286700e-02 -9.99897082e-01 7.17507310e-04 2.49328411e+02] [ 9.75129886e-01 1.38150213e-02 -2.21203189e-01 3.96393371e+01] [ 2.21170511e-01 3.86921032e-03 9.75227478e-01 -8.84602962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.106875 meters 0.016740107053577702 Centerline is valid? [True, True] Translation: X:249.33, Y:39.67, Z:-8.84 [[ 1.49638451e-02 -9.99887732e-01 7.78381562e-04 2.49326868e+02] [ 9.75281353e-01 1.44239489e-02 -2.20495423e-01 3.96651620e+01] [ 2.20459441e-01 4.05860037e-03 9.75387699e-01 -8.84052340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13687500000003 meters 0.017018202379743837 Centerline is valid? [True, True] Translation: X:249.33, Y:39.69, Z:-8.83 [[ 1.55277895e-02 -9.99879091e-01 8.31204385e-04 2.49325499e+02] [ 9.75425348e-01 1.49652924e-02 -2.19821361e-01 3.96921217e+01] [ 2.19782344e-01 4.22411765e-03 9.75539788e-01 -8.83415962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.166875 meters 0.01711713980022978 Centerline is valid? [True, True] Translation: X:249.32, Y:39.72, Z:-8.83 [[ 1.69422685e-02 -9.99856066e-01 8.97815510e-04 2.49324356e+02] [ 9.75596949e-01 1.63345903e-02 -2.18960668e-01 3.97194647e+01] [ 2.18914487e-01 4.58559651e-03 9.75733273e-01 -8.82752184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19687500000003 meters 0.017303157655344244 Centerline is valid? [True, True] Translation: X:249.32, Y:39.75, Z:-8.82 [[ 1.70227708e-02 -9.99854639e-01 9.62368430e-04 2.49322549e+02] [ 9.75573850e-01 1.63985385e-02 -2.19058785e-01 3.97460936e+01] [ 2.19011161e-01 4.66784897e-03 9.75711188e-01 -8.82217510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.226875 meters 0.01711394659435403 Centerline is valid? [True, True] Translation: X:249.32, Y:39.77, Z:-8.82 [[ 1.70572111e-02 -9.99853984e-01 1.03089489e-03 2.49322202e+02] [ 9.75523125e-01 1.64160429e-02 -2.19283258e-01 3.97734622e+01] [ 2.19234316e-01 4.74602263e-03 9.75660694e-01 -8.81636582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25687500000004 meters 0.01742266063813231 Centerline is valid? [True, True] Translation: X:249.32, Y:39.80, Z:-8.81 [[ 1.69863694e-02 -9.99855120e-01 1.09676991e-03 2.49321051e+02] [ 9.75439744e-01 1.63306291e-02 -2.19660232e-01 3.98000108e+01] [ 2.19610496e-01 4.80106280e-03 9.75575820e-01 -8.81145274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.286875 meters 0.017657256907189695 Centerline is valid? [True, True] Translation: X:249.32, Y:39.83, Z:-8.81 [[ 1.62468380e-02 -9.99867352e-01 1.14854560e-03 2.49319142e+02] [ 9.75268770e-01 1.55938807e-02 -2.20471444e-01 3.98255479e+01] [ 2.20424289e-01 4.70210449e-03 9.75392753e-01 -8.80716140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31687500000004 meters 0.017515356698284756 Centerline is valid? [True, True] Translation: X:249.32, Y:39.85, Z:-8.80 [[ 1.57151453e-02 -9.99875756e-01 1.22716020e-03 2.49318330e+02] [ 9.75141017e-01 1.50550611e-02 -2.21073161e-01 3.98526212e+01] [ 2.21027219e-01 4.67085108e-03 9.75256454e-01 -8.80227849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.346875 meters 0.017756633998904845 Centerline is valid? [True, True] Translation: X:249.32, Y:39.88, Z:-8.80 [[ 1.53344104e-02 -9.99881573e-01 1.30211457e-03 2.49317567e+02] [ 9.75008909e-01 1.46642690e-02 -2.21681274e-01 3.98787770e+01] [ 2.21635927e-01 4.66892495e-03 9.75118309e-01 -8.79650092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37687500000004 meters 0.017756633998904845 Centerline is valid? [True, True] Translation: X:249.32, Y:39.90, Z:-8.79 [[ 1.50229724e-02 -9.99886201e-01 1.37675354e-03 2.49317270e+02] [ 9.75013777e-01 1.43440376e-02 -2.21680812e-01 3.99049343e+01] [ 2.21635837e-01 4.67265839e-03 9.75118312e-01 -8.79073135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.406875 meters 0.017662649603176622 Centerline is valid? [True, True] Translation: X:249.32, Y:39.93, Z:-8.78 [[ 1.46640472e-02 -9.99891429e-01 1.44793485e-03 2.49316782e+02] [ 9.75007129e-01 1.39780126e-02 -2.21733429e-01 3.99316011e+01] [ 2.21689115e-01 4.66325627e-03 9.75106246e-01 -8.78451243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.436875 meters 0.018118447260810668 Centerline is valid? [True, True] Translation: X:249.32, Y:39.96, Z:-8.78 [[ 1.46726866e-02 -9.99891193e-01 1.52106596e-03 2.49315279e+02] [ 9.74942833e-01 1.39688487e-02 -2.22016539e-01 3.99577971e+01] [ 2.21971134e-01 4.74053144e-03 9.75041713e-01 -8.77920488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.466875 meters 0.018338665828684934 Centerline is valid? [True, True] Translation: X:249.31, Y:39.98, Z:-8.77 [[ 1.46505928e-02 -9.99891406e-01 1.59236125e-03 2.49313585e+02] [ 9.75022325e-01 1.39331903e-02 -2.21669419e-01 3.99832425e+01] [ 2.21623160e-01 4.80017614e-03 9.75120574e-01 -8.77318051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.496875 meters 0.017360923278194437 Centerline is valid? [True, True] Translation: X:249.31, Y:40.01, Z:-8.77 [[ 1.48211737e-02 -9.99888803e-01 1.64782818e-03 2.49314735e+02] [ 9.74984840e-01 1.40864573e-02 -2.21824555e-01 4.00103360e+01] [ 2.21776677e-01 4.89430776e-03 9.75085202e-01 -8.76667397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.526875 meters 0.017791367038904243 Centerline is valid? [True, True] Translation: X:249.31, Y:40.04, Z:-8.76 [[ 1.56124662e-02 -9.99876649e-01 1.71376885e-03 2.49312526e+02] [ 9.74946533e-01 1.48427907e-02 -2.21943573e-01 4.00377075e+01] [ 2.21890759e-01 5.13591953e-03 9.75058005e-01 -8.76048110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.556875 meters 0.017762582998558055 Centerline is valid? [True, True] Translation: X:249.31, Y:40.06, Z:-8.75 [[ 1.58611375e-02 -9.99872631e-01 1.77382577e-03 2.49311609e+02] [ 9.75066191e-01 1.50748511e-02 -2.21401608e-01 4.00647687e+01] [ 2.21346668e-01 5.24127889e-03 9.75181102e-01 -8.75419233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.586875 meters 0.01885122189562282 Centerline is valid? [True, True] Translation: X:249.31, Y:40.09, Z:-8.75 [[ 1.73872573e-02 -9.99847148e-01 1.83432715e-03 2.49307899e+02] [ 9.75155940e-01 1.65526141e-02 -2.20900210e-01 4.00908867e+01] [ 2.20836082e-01 5.62960381e-03 9.75294690e-01 -8.74809997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.616875 meters 0.01911377192778817 Centerline is valid? [True, True] Translation: X:249.31, Y:40.12, Z:-8.74 [[ 1.81250283e-02 -9.99833922e-01 1.90040683e-03 2.49306147e+02] [ 9.75193692e-01 1.72588989e-02 -2.20679393e-01 4.01177714e+01] [ 2.20609944e-01 5.85308499e-03 9.75344551e-01 -8.74183890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.646875 meters 0.019183830073696957 Centerline is valid? [True, True] Translation: X:249.31, Y:40.15, Z:-8.74 [[ 1.87558175e-02 -9.99822165e-01 1.96422022e-03 2.49305061e+02] [ 9.75251898e-01 1.78619601e-02 -2.20373970e-01 4.01455837e+01] [ 2.20299695e-01 6.04890347e-03 9.75413479e-01 -8.73561579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.676875 meters 0.0200991835482373 Centerline is valid? [True, True] Translation: X:249.30, Y:40.17, Z:-8.73 [[ 2.05363563e-02 -9.99787055e-01 2.02543998e-03 2.49302413e+02] [ 9.75264221e-01 1.95865976e-02 -2.20172804e-01 4.01731505e+01] [ 2.20086248e-01 6.49688630e-03 9.75458781e-01 -8.72915414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.706875 meters 0.020792480171650706 Centerline is valid? [True, True] Translation: X:249.30, Y:40.20, Z:-8.72 [[ 2.14449031e-02 -9.99767848e-01 2.08972167e-03 2.49300697e+02] [ 9.75211261e-01 2.04576358e-02 -2.20328122e-01 4.01997370e+01] [ 2.20234222e-01 6.76283532e-03 9.75423576e-01 -8.72362295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.736875 meters 0.020755614769861475 Centerline is valid? [True, True] Translation: X:249.30, Y:40.23, Z:-8.72 [[ 2.30656409e-02 -9.99731622e-01 2.15862770e-03 2.49299712e+02] [ 9.75117573e-01 2.20214461e-02 -2.20591872e-01 4.02272484e+01] [ 2.20485134e-01 7.19300872e-03 9.75363812e-01 -8.71790933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.766875 meters 0.021316747681653224 Centerline is valid? [True, True] Translation: X:249.30, Y:40.25, Z:-8.71 [[ 2.34145657e-02 -9.99723390e-01 2.21377097e-03 2.49298423e+02] [ 9.75291753e-01 2.23556591e-02 -2.19786762e-01 4.02537173e+01] [ 2.19676477e-01 7.30528417e-03 9.75545426e-01 -8.71190243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.796875 meters 0.02300403344415375 Centerline is valid? [True, True] Translation: X:249.30, Y:40.28, Z:-8.71 [[ 2.38540866e-02 -9.99712852e-01 2.27941000e-03 2.49295347e+02] [ 9.75304399e-01 2.27707751e-02 -2.19688008e-01 4.02806620e+01] [ 2.19573021e-01 7.46357535e-03 9.75567519e-01 -8.70662518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.82687500000003 meters 0.021606327468476853 Centerline is valid? [True, True] Translation: X:249.30, Y:40.31, Z:-8.70 [[ 2.36121302e-02 -9.99718432e-01 2.35035077e-03 2.49297991e+02] [ 9.75212256e-01 2.25158125e-02 -2.20122907e-01 4.03076702e+01] [ 2.20008008e-01 7.48966163e-03 9.75469313e-01 -8.70098389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.856875 meters 0.023331357430661507 Centerline is valid? [True, True] Translation: X:249.30, Y:40.33, Z:-8.70 [[ 2.31430543e-02 -9.99729224e-01 2.42431783e-03 2.49295513e+02] [ 9.75158848e-01 2.20397842e-02 -2.20407505e-01 4.03330528e+01] [ 2.20294392e-01 7.46499784e-03 9.75404867e-01 -8.69591505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.88687500000003 meters 0.021273002552604444 Centerline is valid? [True, True] Translation: X:249.30, Y:40.36, Z:-8.69 [[ 2.21537688e-02 -9.99751435e-01 2.50560556e-03 2.49300800e+02] [ 9.74967736e-01 2.10498320e-02 -2.21347734e-01 4.03603340e+01] [ 2.21239972e-01 7.34657110e-03 9.75191726e-01 -8.69057430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.916875 meters 0.020328312963040444 Centerline is valid? [True, True] Translation: X:249.30, Y:40.39, Z:-8.68 [[ 2.14615596e-02 -9.99766341e-01 2.58155945e-03 2.49303352e+02] [ 9.74902315e-01 2.03553472e-02 -2.21700555e-01 4.03875383e+01] [ 2.21596204e-01 7.27480795e-03 9.75111378e-01 -8.68469232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.94687500000003 meters 0.020790588630644206 Centerline is valid? [True, True] Translation: X:249.30, Y:40.41, Z:-8.68 [[ 2.12661310e-02 -9.99770321e-01 2.65658753e-03 2.49303600e+02] [ 9.74721595e-01 2.01420576e-02 -2.22513167e-01 4.04138617e+01] [ 2.22408551e-01 7.32142739e-03 9.74926066e-01 -8.67916515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.976875 meters 0.020591549505802956 Centerline is valid? [True, True] Translation: X:249.30, Y:40.44, Z:-8.67 [[ 2.05420728e-02 -9.99785277e-01 2.72454014e-03 2.49304857e+02] [ 9.74752073e-01 1.94215415e-02 -2.22443699e-01 4.04403268e+01] [ 2.22343020e-01 7.22520581e-03 9.74941730e-01 -8.67427926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.00687500000004 meters 0.01986253451214352 Centerline is valid? [True, True] Translation: X:249.31, Y:40.47, Z:-8.67 [[ 1.96489811e-02 -9.99803006e-01 2.80462122e-03 2.49309465e+02] [ 9.74632245e-01 1.85286264e-02 -2.23044115e-01 4.04674074e+01] [ 2.22948211e-01 7.11606388e-03 9.74804317e-01 -8.66834608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.036875 meters 0.01989033703348593 Centerline is valid? [True, True] Translation: X:249.31, Y:40.49, Z:-8.66 [[ 1.89417984e-02 -9.99816452e-01 2.87599704e-03 2.49311540e+02] [ 9.74545782e-01 1.78201951e-02 -2.23479214e-01 4.04949140e+01] [ 2.23386944e-01 7.03588902e-03 9.74704452e-01 -8.66227060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06687500000004 meters 0.019692699678018746 Centerline is valid? [True, True] Translation: X:249.31, Y:40.52, Z:-8.66 [[ 1.82006740e-02 -9.99830023e-01 2.94291800e-03 2.49313920e+02] [ 9.74532772e-01 1.70820393e-02 -2.23593562e-01 4.05221836e+01] [ 2.23505285e-01 6.93752355e-03 9.74678028e-01 -8.65651964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.096875 meters 0.020000236430048626 Centerline is valid? [True, True] Translation: X:249.32, Y:40.55, Z:-8.65 [[ 1.59923349e-02 -9.99867592e-01 3.00719710e-03 2.49317976e+02] [ 9.74585090e-01 1.49156959e-02 -2.23520525e-01 4.05487641e+01] [ 2.23446075e-01 6.50538456e-03 9.74694584e-01 -8.65091924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12687500000004 meters 0.01975593904458504 Centerline is valid? [True, True] Translation: X:249.32, Y:40.58, Z:-8.64 [[ 1.47038464e-02 -9.99887210e-01 3.05995127e-03 2.49320856e+02] [ 9.74767773e-01 1.36526077e-02 -2.22803490e-01 4.05764615e+01] [ 2.22736584e-01 6.25881017e-03 9.74858575e-01 -8.64479303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.156875 meters 0.018509971121447373 Centerline is valid? [True, True] Translation: X:249.33, Y:40.60, Z:-8.64 [[ 1.24922248e-02 -9.99917088e-01 3.12426903e-03 2.49328217e+02] [ 9.74773047e-01 1.14816276e-02 -2.22902848e-01 4.06041088e+01] [ 2.22848495e-01 5.83000574e-03 9.74835658e-01 -8.63766545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.186875 meters 0.01861919174399002 Centerline is valid? [True, True] Translation: X:249.33, Y:40.63, Z:-8.63 [[ 1.14383127e-02 -9.99929509e-01 3.18473268e-03 2.49330457e+02] [ 9.74848824e-01 1.04423690e-02 -2.22622386e-01 4.06296066e+01] [ 2.22573436e-01 5.65105736e-03 9.74899549e-01 -8.63219096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.216875 meters 0.018965468770841747 Centerline is valid? [True, True] Translation: X:249.33, Y:40.66, Z:-8.63 [[ 1.07164994e-02 -9.99937283e-01 3.25359842e-03 2.49331956e+02] [ 9.74950540e-01 9.72568786e-03 -2.22209037e-01 4.06555377e+01] [ 2.22163457e-01 5.55340055e-03 9.74993619e-01 -8.62650868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.246875 meters 0.018291968153205638 Centerline is valid? [True, True] Translation: X:249.34, Y:40.68, Z:-8.62 [[ 1.01284415e-02 -9.99943238e-01 3.30696925e-03 2.49335655e+02] [ 9.74985824e-01 9.14119733e-03 -2.22078997e-01 4.06817214e+01] [ 2.22036162e-01 5.47356227e-03 9.75023068e-01 -8.61991484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.276875 meters 0.0188534522409465 Centerline is valid? [True, True] Translation: X:249.34, Y:40.71, Z:-8.61 [[ 1.01987678e-02 -9.99942307e-01 3.37175940e-03 2.49339091e+02] [ 9.75073345e-01 9.19758494e-03 -2.21692077e-01 4.07079734e+01] [ 2.21648275e-01 5.54869873e-03 9.75110893e-01 -8.61458858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.306875 meters 0.0191153228639719 Centerline is valid? [True, True] Translation: X:249.34, Y:40.74, Z:-8.61 [[ 1.08220600e-02 -9.99935525e-01 3.43937888e-03 2.49340501e+02] [ 9.75155258e-01 9.79266507e-03 -2.21305958e-01 4.07356342e+01] [ 2.21258008e-01 5.74891475e-03 9.75198361e-01 -8.60783599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.336875 meters 0.02021623972258512 Centerline is valid? [True, True] Translation: X:249.34, Y:40.76, Z:-8.60 [[ 1.27650593e-02 -9.99912393e-01 3.50146697e-03 2.49341881e+02] [ 9.75132651e-01 1.16737240e-02 -2.21314341e-01 4.07626416e+01] [ 2.21254077e-01 6.23948546e-03 9.75196238e-01 -8.60261946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.366875 meters 0.01992098426149204 Centerline is valid? [True, True] Translation: X:249.34, Y:40.79, Z:-8.60 [[ 1.37087051e-02 -9.99899650e-01 3.57229556e-03 2.49344220e+02] [ 9.75038399e-01 1.25758699e-02 -2.21679878e-01 4.07902786e+01] [ 2.21612708e-01 6.52206943e-03 9.75112953e-01 -8.59680494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.396875 meters 0.020933299116561766 Centerline is valid? [True, True] Translation: X:249.34, Y:40.82, Z:-8.59 [[ 1.40862156e-02 -9.99894181e-01 3.63378306e-03 2.49343751e+02] [ 9.75009198e-01 1.29296287e-02 -2.21787936e-01 4.08165710e+01] [ 2.21717483e-01 6.66712458e-03 9.75088153e-01 -8.59166432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.426875 meters 0.02198519727526032 Centerline is valid? [True, True] Translation: X:249.35, Y:40.84, Z:-8.59 [[ 1.54792805e-02 -9.99873298e-01 3.71224676e-03 2.49346025e+02] [ 9.74836474e-01 1.42657326e-02 -2.22464240e-01 4.08427466e+01] [ 2.22383095e-01 7.06241991e-03 9.74933783e-01 -8.58684140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.456875 meters 0.02206043314904736 Centerline is valid? [True, True] Translation: X:249.35, Y:40.87, Z:-8.58 [[ 1.56041800e-02 -9.99871140e-01 3.77010739e-03 2.49347337e+02] [ 9.74722727e-01 1.43710352e-02 -2.22955330e-01 4.08697279e+01] [ 2.22872419e-01 7.15384446e-03 9.74821372e-01 -8.58134703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.486875 meters 0.021593196891037378 Centerline is valid? [True, True] Translation: X:249.35, Y:40.90, Z:-8.58 [[ 1.52196571e-02 -9.99876761e-01 3.85019293e-03 2.49350934e+02] [ 9.74586306e-01 1.39737805e-02 -2.23576083e-01 4.08961410e+01] [ 2.23494729e-01 7.15509664e-03 9.74678876e-01 -8.57597894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.516875 meters 0.021644726340330656 Centerline is valid? [True, True] Translation: X:249.35, Y:40.92, Z:-8.57 [[ 1.48712708e-02 -9.99881698e-01 3.92882246e-03 2.49352302e+02] [ 9.74479533e-01 1.36130549e-02 -2.24063214e-01 4.09228465e+01] [ 2.23983224e-01 7.16066181e-03 9.74566694e-01 -8.57065356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.546875 meters 0.020645933445339538 Centerline is valid? [True, True] Translation: X:249.36, Y:40.95, Z:-8.56 [[ 1.39292182e-02 -9.99894946e-01 4.00926337e-03 2.49355292e+02] [ 9.74361063e-01 1.26728069e-02 -2.24632854e-01 4.09498085e+01] [ 2.24558447e-01 7.03543015e-03 9.74435225e-01 -8.56455248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57687500000003 meters 0.02199977816404758 Centerline is valid? [True, True] Translation: X:249.36, Y:40.98, Z:-8.56 [[ 1.15704702e-02 -9.99924632e-01 4.10553577e-03 2.49356365e+02] [ 9.74072113e-01 1.03433960e-02 -2.26001180e-01 4.09765225e+01] [ 2.25941682e-01 6.61402783e-03 9.74118376e-01 -8.56035845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.606875 meters 0.019154442625141467 Centerline is valid? [True, True] Translation: X:249.36, Y:41.00, Z:-8.55 [[ 9.67072868e-03 -9.99944487e-01 4.18329339e-03 2.49362424e+02] [ 9.73892669e-01 8.46973805e-03 -2.26850907e-01 4.10035412e+01] [ 2.26802882e-01 6.26789233e-03 9.73920513e-01 -8.55331786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63687500000003 meters 0.018611791316197727 Centerline is valid? [True, True] Translation: X:249.37, Y:41.03, Z:-8.55 [[ 5.98033742e-03 -9.99973055e-01 4.25726832e-03 2.49365890e+02] [ 9.73786672e-01 4.85555238e-03 -2.27411394e-01 4.10303133e+01] [ 2.27384595e-01 5.50566801e-03 9.73789471e-01 -8.54828037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.666875 meters 0.01791434506899688 Centerline is valid? [True, True] Translation: X:249.37, Y:41.06, Z:-8.54 [[ 3.32255087e-03 -9.99985272e-01 4.29151388e-03 2.49367997e+02] [ 9.73970463e-01 2.26336950e-03 -2.26663661e-01 4.10581399e+01] [ 2.26650609e-01 4.93290930e-03 9.73963638e-01 -8.54136885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69687500000003 meters 0.016996537566863354 Centerline is valid? [True, True] Translation: X:249.37, Y:41.09, Z:-8.53 [[ 9.20859609e-04 -9.99990154e-01 4.34097019e-03 2.49370826e+02] [ 9.74089961e-01 -8.47583465e-05 -2.26160874e-01 4.10852190e+01] [ 2.26159015e-01 4.43675790e-03 9.74080292e-01 -8.53414155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.726875 meters 0.01569422810965368 Centerline is valid? [True, True] Translation: X:249.38, Y:41.11, Z:-8.53 [[-4.70757870e-03 -9.99979310e-01 4.38397024e-03 2.49376407e+02] [ 9.74313420e-01 -5.57372372e-03 -2.25127281e-01 4.11118652e+01] [ 2.25147058e-01 3.21155664e-03 9.74319500e-01 -8.52592943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75687500000004 meters 0.014932240584713426 Centerline is valid? [True, True] Translation: X:249.38, Y:41.14, Z:-8.52 [[-7.61121646e-03 -9.99961200e-01 4.43488417e-03 2.49378931e+02] [ 9.74445689e-01 -8.41252264e-03 -2.24465653e-01 4.11389145e+01] [ 2.24494252e-01 2.61309709e-03 9.74471910e-01 -8.51854467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.786875 meters 0.014576059179777367 Centerline is valid? [True, True] Translation: X:249.38, Y:41.17, Z:-8.51 [[-1.01273288e-02 -9.99938642e-01 4.48870959e-03 2.49380298e+02] [ 9.74535241e-01 -1.08754447e-02 -2.23970507e-01 4.11653909e+01] [ 2.24005581e-01 2.10618272e-03 9.74585586e-01 -8.51180129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81687500000004 meters 0.014020289830565809 Centerline is valid? [True, True] Translation: X:249.38, Y:41.19, Z:-8.50 [[-1.43524438e-02 -9.99886619e-01 4.55598752e-03 2.49383207e+02] [ 9.74527597e-01 -1.50080242e-02 -2.23764880e-01 4.11926875e+01] [ 2.23807886e-01 1.22836270e-03 9.74632506e-01 -8.50472318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.846875 meters 0.014096272243892557 Centerline is valid? [True, True] Translation: X:249.38, Y:41.22, Z:-8.50 [[-1.60652871e-02 -9.99860248e-01 4.62497388e-03 2.49383370e+02] [ 9.74464016e-01 -1.66930122e-02 -2.23922362e-01 4.12189867e+01] [ 2.23968273e-01 9.09493586e-04 9.74596011e-01 -8.49969167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87687500000004 meters 0.014178816778626072 Centerline is valid? [True, True] Translation: X:249.38, Y:41.25, Z:-8.49 [[-1.78011518e-02 -9.99830513e-01 4.69733742e-03 2.49383399e+02] [ 9.74398204e-01 -1.84010843e-02 -2.24074852e-01 4.12454682e+01] [ 2.24123310e-01 5.88286691e-04 9.74560617e-01 -8.49424495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.906875 meters 0.014168878601110104 Centerline is valid? [True, True] Translation: X:249.38, Y:41.27, Z:-8.49 [[-1.92552492e-02 -9.99803226e-01 4.76923032e-03 2.49383210e+02] [ 9.74364151e-01 -1.98343150e-02 -2.24100648e-01 4.12722370e+01] [ 2.24151145e-01 3.31853239e-04 9.74554336e-01 -8.48777609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.936875 meters 0.014074897877938317 Centerline is valid? [True, True] Translation: X:249.38, Y:41.30, Z:-8.48 [[-2.18424431e-02 -9.99749680e-01 4.84610807e-03 2.49383249e+02] [ 9.74271361e-01 -2.23728793e-02 -2.24264952e-01 4.12980263e+01] [ 2.24317236e-01 -1.77070149e-04 9.74516160e-01 -8.48170266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.966875 meters 0.014187251288838867 Centerline is valid? [True, True] Translation: X:249.38, Y:41.32, Z:-8.48 [[-2.33008604e-02 -9.99716383e-01 4.92175289e-03 2.49382966e+02] [ 9.74248526e-01 -2.38111181e-02 -2.24216056e-01 4.13242892e+01] [ 2.24269657e-01 -4.29416514e-04 9.74527032e-01 -8.47628860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.996875 meters 0.014284377813087022 Centerline is valid? [True, True] Translation: X:249.38, Y:41.35, Z:-8.47 [[-2.41326476e-02 -9.99696315e-01 4.98926613e-03 2.49382755e+02] [ 9.74302591e-01 -2.46370381e-02 -2.23891664e-01 4.13511041e+01] [ 2.23946592e-01 -5.42043710e-04 9.74601267e-01 -8.46968746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.026875 meters 0.014231139883084089 Centerline is valid? [True, True] Translation: X:249.38, Y:41.38, Z:-8.46 [[-2.57718904e-02 -9.99655219e-01 5.02530616e-03 2.49381573e+02] [ 9.74612107e-01 -2.62440553e-02 -2.22356675e-01 4.13770078e+01] [ 2.22411895e-01 -8.32827635e-04 9.74952438e-01 -8.46228340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.056875 meters 0.014296432710985043 Centerline is valid? [True, True] Translation: X:249.38, Y:41.40, Z:-8.46 [[-2.61610142e-02 -9.99644832e-01 5.08041944e-03 2.49379689e+02] [ 9.74750734e-01 -2.66362643e-02 -2.21701414e-01 4.14039716e+01] [ 2.21757996e-01 -8.47791265e-04 9.75101365e-01 -8.45592935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.086875 meters 0.014338564299594196 Centerline is valid? [True, True] Translation: X:249.38, Y:41.43, Z:-8.45 [[-2.49603848e-02 -9.99675205e-01 5.14427302e-03 2.49376221e+02] [ 9.74846524e-01 -2.54798443e-02 -2.21415971e-01 4.14294597e+01] [ 2.21475132e-01 -5.11751168e-04 9.75165885e-01 -8.45079230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.116875 meters 0.014291543143425458 Centerline is valid? [True, True] Translation: X:249.37, Y:41.46, Z:-8.44 [[-2.41743737e-02 -9.99694084e-01 5.22854080e-03 2.49373809e+02] [ 9.74763040e-01 -2.47318971e-02 -2.21867862e-01 4.14556966e+01] [ 2.21929301e-01 -2.66928286e-04 9.75062723e-01 -8.44483713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.146875 meters 0.014245294224018481 Centerline is valid? [True, True] Translation: X:249.37, Y:41.48, Z:-8.44 [[-2.29039251e-02 -9.99723590e-01 5.30610894e-03 2.49371002e+02] [ 9.74725216e-01 -2.35103723e-02 -2.22166640e-01 4.14824525e+01] [ 2.22229979e-01 8.35100986e-05 9.74994271e-01 -8.43901016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.176875 meters 0.014555492803823797 Centerline is valid? [True, True] Translation: X:249.37, Y:41.51, Z:-8.44 [[-1.91729819e-02 -9.99801574e-01 5.40453639e-03 2.49365019e+02] [ 9.74545720e-01 -1.98957513e-02 -2.23304274e-01 4.15080853e+01] [ 2.23367492e-01 9.85559002e-04 9.74733806e-01 -8.43533675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.206875 meters 0.014769888408642337 Centerline is valid? [True, True] Translation: X:249.36, Y:41.53, Z:-8.43 [[-1.71197664e-02 -9.99838419e-01 5.48170139e-03 2.49361292e+02] [ 9.74526931e-01 -1.79120243e-02 -2.23554064e-01 4.15348321e+01] [ 2.23616130e-01 1.51487227e-03 9.74676116e-01 -8.42965364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.236875 meters 0.014769888408642337 Centerline is valid? [True, True] Translation: X:249.36, Y:41.56, Z:-8.42 [[-1.74390998e-02 -9.99832496e-01 5.55499479e-03 2.49360506e+02] [ 9.74521272e-01 -1.82396605e-02 -2.23552243e-01 4.15610025e+01] [ 2.23616119e-01 1.51491069e-03 9.74676119e-01 -8.42388362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.266875 meters 0.015763668206077233 Centerline is valid? [True, True] Translation: X:249.35, Y:41.59, Z:-8.42 [[-1.27498864e-02 -9.99902968e-01 5.61199036e-03 2.49351951e+02] [ 9.74741221e-01 -1.36801805e-02 -2.22917933e-01 4.15871145e+01] [ 2.22973076e-01 2.62806002e-03 9.74821061e-01 -8.41862619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.296875 meters 0.01597165825740012 Centerline is valid? [True, True] Translation: X:249.35, Y:41.61, Z:-8.41 [[-1.00992786e-02 -9.99932866e-01 5.68055998e-03 2.49349642e+02] [ 9.74772132e-01 -1.11115835e-02 -2.22925599e-01 4.16141413e+01] [ 2.22973753e-01 3.28586384e-03 9.74818911e-01 -8.41178164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.32687500000003 meters 0.017363681095904627 Centerline is valid? [True, True] Translation: X:249.34, Y:41.64, Z:-8.41 [[-5.48687571e-03 -9.99968550e-01 5.72645386e-03 2.49343029e+02] [ 9.74969862e-01 -6.62238475e-03 -2.22238415e-01 4.16410995e+01] [ 2.22269348e-01 4.36372537e-03 9.74975536e-01 -8.40578714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.356875 meters 0.01743473275379583 Centerline is valid? [True, True] Translation: X:249.34, Y:41.67, Z:-8.40 [[-3.97269529e-03 -9.99975403e-01 5.78029130e-03 2.49340423e+02] [ 9.75063276e-01 -5.15621273e-03 -2.21867125e-01 4.16683655e+01] [ 2.21891472e-01 4.75473929e-03 9.75059776e-01 -8.39950885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.38687500000003 meters 0.017905643166552153 Centerline is valid? [True, True] Translation: X:249.34, Y:41.69, Z:-8.39 [[-2.43292371e-03 -9.99979992e-01 5.83928014e-03 2.49336841e+02] [ 9.75125544e-01 -3.66659788e-03 -2.21622947e-01 4.16944147e+01] [ 2.21639923e-01 5.15483950e-03 9.75114953e-01 -8.39313992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.416875 meters 0.01875409030687306 Centerline is valid? [True, True] Translation: X:249.33, Y:41.72, Z:-8.39 [[ 8.04810394e-04 -9.99982387e-01 5.88026981e-03 2.49331960e+02] [ 9.75366373e-01 -5.12155787e-04 -2.20590518e-01 4.17213825e+01] [ 2.20589644e-01 5.91295098e-03 9.75348782e-01 -8.38735058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.44687500000003 meters 0.019665370636232558 Centerline is valid? [True, True] Translation: X:249.33, Y:41.75, Z:-8.38 [[ 2.04340827e-03 -9.99980317e-01 5.93206434e-03 2.49328393e+02] [ 9.75498651e-01 6.88275676e-04 -2.20004337e-01 4.17480098e+01] [ 2.19995924e-01 6.23627944e-03 9.75480857e-01 -8.38205838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.476875 meters 0.019922912849257766 Centerline is valid? [True, True] Translation: X:249.33, Y:41.78, Z:-8.38 [[ 2.75039153e-03 -9.99978183e-01 6.00579818e-03 2.49325964e+02] [ 9.75445371e-01 1.36018545e-03 -2.20237323e-01 4.17750339e+01] [ 2.20224349e-01 6.46406690e-03 9.75427830e-01 -8.37655049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.50687500000004 meters 0.021032826439800215 Centerline is valid? [True, True] Translation: X:249.32, Y:41.80, Z:-8.37 [[ 3.79885326e-03 -9.99974332e-01 6.07495078e-03 2.49322059e+02] [ 9.75427519e-01 2.36720737e-03 -2.20307858e-01 4.18009896e+01] [ 2.20287823e-01 6.76259139e-03 9.75411473e-01 -8.37129105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.536875 meters 0.020795098373087482 Centerline is valid? [True, True] Translation: X:249.32, Y:41.83, Z:-8.37 [[ 3.56720775e-03 -9.99974802e-01 6.13754541e-03 2.49321513e+02] [ 9.75464568e-01 2.12858116e-03 -2.20146191e-01 4.18278383e+01] [ 2.20127580e-01 6.77226528e-03 9.75447582e-01 -8.36510995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56687500000004 meters 0.021240917944899042 Centerline is valid? [True, True] Translation: X:249.32, Y:41.85, Z:-8.36 [[ 2.95150702e-03 -9.99976318e-01 6.21700916e-03 2.49318782e+02] [ 9.75399025e-01 1.50844580e-03 -2.20441526e-01 4.18533308e+01] [ 2.20426928e-01 6.71469938e-03 9.75380378e-01 -8.36033219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.596875 meters 0.021066191166549 Centerline is valid? [True, True] Translation: X:249.32, Y:41.88, Z:-8.35 [[ 2.26723130e-03 -9.99977632e-01 6.29249434e-03 2.49317647e+02] [ 9.75382309e-01 8.23820542e-04 -2.20519099e-01 4.18800622e+01] [ 2.20508983e-01 6.63755546e-03 9.75362359e-01 -8.35489518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62687500000004 meters 0.020804892644624668 Centerline is valid? [True, True] Translation: X:249.32, Y:41.91, Z:-8.35 [[ 1.68135237e-03 -9.99978394e-01 6.35482047e-03 2.49316828e+02] [ 9.75435190e-01 2.40174437e-04 -2.20286479e-01 4.19071302e+01] [ 2.20280193e-01 6.56909470e-03 9.75414519e-01 -8.34954387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.656875 meters 0.021114696937653048 Centerline is valid? [True, True] Translation: X:249.32, Y:41.93, Z:-8.34 [[ 1.02316339e-03 -9.99978875e-01 6.41894164e-03 2.49315159e+02] [ 9.75479585e-01 -4.14675684e-04 -2.20089542e-01 4.19326041e+01] [ 2.20087555e-01 6.48673409e-03 9.75458554e-01 -8.34441761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.686875 meters 0.01965901033789173 Centerline is valid? [True, True] Translation: X:249.32, Y:41.96, Z:-8.34 [[-4.02120583e-05 -9.99978995e-01 6.48134471e-03 2.49316554e+02] [ 9.75558460e-01 -1.46343939e-03 -2.19735179e-01 4.19594803e+01] [ 2.19740048e-01 6.31409466e-03 9.75538028e-01 -8.33756876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.716875 meters 0.020008224189443036 Centerline is valid? [True, True] Translation: X:249.31, Y:41.99, Z:-8.33 [[-1.32235752e-03 -9.99977500e-01 6.57654678e-03 2.49314321e+02] [ 9.75383041e-01 -2.73999778e-03 -2.20500375e-01 4.19852301e+01] [ 2.20513434e-01 6.12307187e-03 9.75364718e-01 -8.33201370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.746875 meters 0.019442321693817634 Centerline is valid? [True, True] Translation: X:249.31, Y:42.01, Z:-8.33 [[-1.85787580e-03 -9.99976065e-01 6.66461085e-03 2.49314612e+02] [ 9.75290352e-01 -3.28427658e-03 -2.20902566e-01 4.20120814e+01] [ 2.20919167e-01 6.08952113e-03 9.75273110e-01 -8.32602639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.776875 meters 0.019828551524361995 Centerline is valid? [True, True] Translation: X:249.31, Y:42.04, Z:-8.32 [[-3.17826180e-03 -9.99972243e-01 6.73878205e-03 2.49312056e+02] [ 9.75265929e-01 -4.58896188e-03 -2.20987125e-01 4.20381574e+01] [ 2.21011915e-01 5.86974960e-03 9.75253444e-01 -8.32098908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.806875 meters 0.0189180666642327 Centerline is valid? [True, True] Translation: X:249.31, Y:42.06, Z:-8.31 [[-4.11932906e-03 -9.99968431e-01 6.79476954e-03 2.49312252e+02] [ 9.75396172e-01 -5.51565324e-03 -2.20390304e-01 4.20649671e+01] [ 2.20420824e-01 5.71973201e-03 9.75388100e-01 -8.31481675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.836875 meters 0.01814232277858152 Centerline is valid? [True, True] Translation: X:249.31, Y:42.09, Z:-8.31 [[-6.42952712e-03 -9.99955876e-01 6.84894368e-03 2.49311821e+02] [ 9.75501504e-01 -7.77813258e-03 -2.19855218e-01 4.20919513e+01] [ 2.19898789e-01 5.26758978e-03 9.75508470e-01 -8.30852641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.866875 meters 0.018309803584059654 Centerline is valid? [True, True] Translation: X:249.31, Y:42.12, Z:-8.30 [[-7.77585975e-03 -9.99945764e-01 6.92853860e-03 2.49310849e+02] [ 9.75377769e-01 -9.11161512e-03 -2.20352415e-01 4.21175571e+01] [ 2.20403594e-01 5.04451304e-03 9.75395719e-01 -8.30315300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.896875 meters 0.017853395725672162 Centerline is valid? [True, True] Translation: X:249.31, Y:42.14, Z:-8.30 [[-9.56580423e-03 -9.99929855e-01 6.98429776e-03 2.49311027e+02] [ 9.75496014e-01 -1.08669556e-02 -2.19748576e-01 4.21449915e+01] [ 2.19809060e-01 4.71108277e-03 9.75531539e-01 -8.29730104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.926875 meters 0.01692006366443837 Centerline is valid? [True, True] Translation: X:249.31, Y:42.17, Z:-8.29 [[-1.25498998e-02 -9.99896477e-01 7.03818189e-03 2.49312745e+02] [ 9.75515962e-01 -1.37889075e-02 -2.19495955e-01 4.21723226e+01] [ 2.19570281e-01 4.11120654e-03 9.75588023e-01 -8.29074335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.956875 meters 0.01633897318321427 Centerline is valid? [True, True] Translation: X:249.31, Y:42.20, Z:-8.28 [[-1.40753096e-02 -9.99875723e-01 7.10100746e-03 2.49313341e+02] [ 9.75490895e-01 -1.52909637e-02 -2.19507861e-01 4.21997067e+01] [ 2.19589163e-01 3.83732701e-03 9.75584888e-01 -8.28424950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.986875 meters 0.016610554361143403 Centerline is valid? [True, True] Translation: X:249.31, Y:42.23, Z:-8.28 [[-1.58242572e-02 -9.99849147e-01 7.16077867e-03 2.49311575e+02] [ 9.75490033e-01 -1.70099399e-02 -2.19385179e-01 4.22258841e+01] [ 2.19473888e-01 3.51366073e-03 9.75612047e-01 -8.27872511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.016875 meters 0.015688539046290344 Centerline is valid? [True, True] Translation: X:249.31, Y:42.25, Z:-8.27 [[-1.83794122e-02 -9.99804935e-01 7.23106623e-03 2.49312297e+02] [ 9.75450145e-01 -1.95181688e-02 -2.19353724e-01 4.22535442e+01] [ 2.19452073e-01 3.02195210e-03 9.75618602e-01 -8.27209892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.046875 meters 0.015313061791672404 Centerline is valid? [True, True] Translation: X:249.31, Y:42.28, Z:-8.27 [[-2.01138176e-02 -9.99771133e-01 7.28805253e-03 2.49312269e+02] [ 9.75448976e-01 -2.12224054e-02 -2.19200604e-01 4.22800246e+01] [ 2.19305107e-01 2.70016241e-03 9.75652592e-01 -8.26646893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07687500000003 meters 0.015015488236580308 Centerline is valid? [True, True] Translation: X:249.31, Y:42.31, Z:-8.26 [[-2.33909612e-02 -9.99699264e-01 7.36512738e-03 2.49311934e+02] [ 9.75333845e-01 -2.44370923e-02 -2.19378027e-01 4.23071350e+01] [ 2.19492034e-01 2.05199511e-03 9.75612134e-01 -8.26097253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.106875 meters 0.014603765805599215 Centerline is valid? [True, True] Translation: X:249.31, Y:42.33, Z:-8.26 [[-2.54158684e-02 -9.99649344e-01 7.43115181e-03 2.49312787e+02] [ 9.75261521e-01 -2.64272915e-02 -2.19468821e-01 4.23343304e+01] [ 2.19588249e-01 1.66932573e-03 9.75591213e-01 -8.25516854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13687500000003 meters 0.014281524672745611 Centerline is valid? [True, True] Translation: X:249.31, Y:42.36, Z:-8.25 [[-2.92767759e-02 -9.99543130e-01 7.51013175e-03 2.49313666e+02] [ 9.75069570e-01 -3.02116716e-02 -2.19833094e-01 4.23607879e+01] [ 2.19959553e-01 8.86896707e-04 9.75508590e-01 -8.24891982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.166875 meters 0.014342798780339752 Centerline is valid? [True, True] Translation: X:249.31, Y:42.39, Z:-8.24 [[-3.12762798e-02 -9.99482052e-01 7.57769436e-03 2.49313471e+02] [ 9.75027291e-01 -3.21770280e-02 -2.19741715e-01 4.23882436e+01] [ 2.19871728e-01 5.15755421e-04 9.75528655e-01 -8.24279753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19687500000003 meters 0.014243338525931373 Centerline is valid? [True, True] Translation: X:249.31, Y:42.41, Z:-8.24 [[-3.32874427e-02 -9.99416507e-01 7.65450498e-03 2.49313179e+02] [ 9.74874921e-01 -3.41559229e-02 -2.20118744e-01 4.24141402e+01] [ 2.20251753e-01 1.34994846e-04 9.75443052e-01 -8.23750926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.226875 meters 0.014419577734830115 Centerline is valid? [True, True] Translation: X:249.31, Y:42.44, Z:-8.23 [[-3.63928769e-02 -9.99307585e-01 7.74011483e-03 2.49313211e+02] [ 9.74571672e-01 -3.72035291e-02 -2.20965955e-01 4.24407143e+01] [ 2.21100914e-01 -4.98290148e-04 9.75250807e-01 -8.23213819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25687500000004 meters 0.0142963917214302 Centerline is valid? [True, True] Translation: X:249.31, Y:42.47, Z:-8.23 [[-3.85475183e-02 -9.99226192e-01 7.81705974e-03 2.49312411e+02] [ 9.74444809e-01 -3.93216664e-02 -2.21158586e-01 4.24661794e+01] [ 2.21294831e-01 -9.07821340e-04 9.75206529e-01 -8.22649365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.286875 meters 0.014397061213709848 Centerline is valid? [True, True] Translation: X:249.31, Y:42.49, Z:-8.22 [[-4.00385585e-02 -9.99166938e-01 7.89585778e-03 2.49311170e+02] [ 9.74349324e-01 -4.07929794e-02 -2.21312739e-01 4.24929598e+01] [ 2.21450467e-01 -1.16771934e-03 9.75170922e-01 -8.22043494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31687500000004 meters 0.014246967712975738 Centerline is valid? [True, True] Translation: X:249.31, Y:42.52, Z:-8.21 [[-4.16038582e-02 -9.99102419e-01 7.96715216e-03 2.49310006e+02] [ 9.74284287e-01 -4.23351904e-02 -2.21309421e-01 4.25192331e+01] [ 2.21448069e-01 -1.44505462e-03 9.75171095e-01 -8.21452195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.346875 meters 0.014640770158841947 Centerline is valid? [True, True] Translation: X:249.31, Y:42.55, Z:-8.21 [[-4.41671872e-02 -9.98991836e-01 8.03563820e-03 2.49309134e+02] [ 9.74190517e-01 -4.48501699e-02 -2.21226806e-01 4.25453595e+01] [ 2.21364173e-01 -1.94272322e-03 9.75189279e-01 -8.20830640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37687500000004 meters 0.014946385072008043 Centerline is valid? [True, True] Translation: X:249.31, Y:42.57, Z:-8.20 [[-4.55148565e-02 -9.98930776e-01 8.10575876e-03 2.49307877e+02] [ 9.74132907e-01 -4.61799459e-02 -2.21206899e-01 4.25718108e+01] [ 2.21344703e-01 -2.17211392e-03 9.75193214e-01 -8.20230413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.406875 meters 0.014962918606252111 Centerline is valid? [True, True] Translation: X:249.31, Y:42.60, Z:-8.20 [[-4.64432096e-02 -9.98887609e-01 8.15916745e-03 2.49306425e+02] [ 9.74192814e-01 -4.70981607e-02 -2.20749006e-01 4.25969185e+01] [ 2.20887729e-01 -2.30369007e-03 9.75296521e-01 -8.19659397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.436875 meters 0.015236306074433497 Centerline is valid? [True, True] Translation: X:249.30, Y:42.62, Z:-8.19 [[-4.78943188e-02 -9.98818659e-01 8.21097415e-03 2.49304252e+02] [ 9.74141719e-01 -4.85250568e-02 -2.20665426e-01 4.26228082e+01] [ 2.20803183e-01 -2.56996780e-03 9.75315000e-01 -8.19070491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.466875 meters 0.015027733401720918 Centerline is valid? [True, True] Translation: X:249.30, Y:42.65, Z:-8.18 [[-4.81261747e-02 -9.98806972e-01 8.27677309e-03 2.49302107e+02] [ 9.74174196e-01 -4.87662272e-02 -2.20468798e-01 4.26491438e+01] [ 2.20609399e-01 -2.54730110e-03 9.75358910e-01 -8.18446475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.496875 meters 0.014952107210325532 Centerline is valid? [True, True] Translation: X:249.30, Y:42.67, Z:-8.18 [[-4.81015067e-02 -9.98807625e-01 8.34103614e-03 2.49298436e+02] [ 9.74207892e-01 -4.87567171e-02 -2.20321958e-01 4.26747331e+01] [ 2.20465933e-01 -2.47191488e-03 9.75391543e-01 -8.17866306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.526875 meters 0.014984253385240537 Centerline is valid? [True, True] Translation: X:249.30, Y:42.70, Z:-8.17 [[-4.80423374e-02 -9.98809859e-01 8.41429705e-03 2.49296128e+02] [ 9.74208926e-01 -4.87151451e-02 -2.20326585e-01 4.27014565e+01] [ 2.20474269e-01 -2.38772083e-03 9.75389869e-01 -8.17289855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.556875 meters 0.014946066382402211 Centerline is valid? [True, True] Translation: X:249.29, Y:42.73, Z:-8.17 [[-4.77834395e-02 -9.98821785e-01 8.47256445e-03 2.49292812e+02] [ 9.74282581e-01 -4.84761050e-02 -2.20053449e-01 4.27267519e+01] [ 2.20204895e-01 -2.26023869e-03 9.75451022e-01 -8.16775362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.586875 meters 0.014967172940718754 Centerline is valid? [True, True] Translation: X:249.29, Y:42.75, Z:-8.16 [[-4.79086848e-02 -9.98815096e-01 8.55350124e-03 2.49290698e+02] [ 9.74224742e-01 -4.86155845e-02 -2.20278637e-01 4.27521200e+01] [ 2.20433461e-01 -2.22022726e-03 9.75399487e-01 -8.16229706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.616875 meters 0.014978271631182585 Centerline is valid? [True, True] Translation: X:249.29, Y:42.78, Z:-8.16 [[-4.75952540e-02 -9.98829447e-01 8.62715252e-03 2.49288281e+02] [ 9.74225101e-01 -4.83259726e-02 -2.20340764e-01 4.27784601e+01] [ 2.20499759e-01 -2.08238609e-03 9.75384806e-01 -8.15637142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.646875 meters 0.014525516091460609 Centerline is valid? [True, True] Translation: X:249.28, Y:42.81, Z:-8.15 [[-4.63333236e-02 -9.98888162e-01 8.69841875e-03 2.49282451e+02] [ 9.74259801e-01 -4.71106449e-02 -2.20450510e-01 4.28052606e+01] [ 2.20615193e-01 -1.73968512e-03 9.75359375e-01 -8.14975077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.676875 meters 0.014315533996887767 Centerline is valid? [True, True] Translation: X:249.28, Y:42.83, Z:-8.14 [[-4.56554132e-02 -9.98918794e-01 8.76500514e-03 2.49279532e+02] [ 9.74279122e-01 -4.64640573e-02 -2.20502346e-01 4.28313713e+01] [ 2.20671195e-01 -1.52756419e-03 9.75347061e-01 -8.14393776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.706875 meters 0.014258142331981733 Centerline is valid? [True, True] Translation: X:249.27, Y:42.86, Z:-8.14 [[-4.27968453e-02 -9.99045193e-01 8.78248813e-03 2.49273554e+02] [ 9.74689774e-01 -4.36809400e-02 -2.19252870e-01 4.28572793e+01] [ 2.19427153e-01 -8.23129776e-04 9.75628539e-01 -8.13813332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.736875 meters 0.014333997665952928 Centerline is valid? [True, True] Translation: X:249.27, Y:42.88, Z:-8.13 [[-4.10859278e-02 -9.99116412e-01 8.85108642e-03 2.49269614e+02] [ 9.74765664e-01 -4.20267876e-02 -2.19238796e-01 4.28837145e+01] [ 2.19417062e-01 -3.79894214e-04 9.75631082e-01 -8.13239160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.766875 meters 0.014255571238578223 Centerline is valid? [True, True] Translation: X:249.27, Y:42.91, Z:-8.13 [[-3.94407032e-02 -9.99181941e-01 8.93753667e-03 2.49265674e+02] [ 9.74740464e-01 -4.04406511e-02 -2.19648768e-01 4.29111735e+01] [ 2.19830523e-01 4.86767610e-05 9.75538077e-01 -8.12610403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.796875 meters 0.014313083941980258 Centerline is valid? [True, True] Translation: X:249.26, Y:42.94, Z:-8.12 [[-3.59250039e-02 -9.99313797e-01 9.01831343e-03 2.49258914e+02] [ 9.74785525e-01 -3.70290637e-02 -2.20050059e-01 4.29372478e+01] [ 2.20232999e-01 8.85622166e-04 9.75446893e-01 -8.12087927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.82687500000003 meters 0.01447514522050593 Centerline is valid? [True, True] Translation: X:249.25, Y:42.96, Z:-8.12 [[-3.43843043e-02 -9.99367298e-01 9.09526556e-03 2.49254699e+02] [ 9.74791825e-01 -3.55434142e-02 -2.20267030e-01 4.29626844e+01] [ 2.20450943e-01 1.29226194e-03 9.75397207e-01 -8.11588915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.856875 meters 0.014684357222603084 Centerline is valid? [True, True] Translation: X:249.25, Y:42.99, Z:-8.11 [[-3.07795779e-02 -9.99483841e-01 9.20161813e-03 2.49249232e+02] [ 9.74733596e-01 -3.20525328e-02 -2.21058932e-01 4.29897832e+01] [ 2.21239765e-01 2.16502571e-03 9.75217042e-01 -8.10970055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.88687500000003 meters 0.015118921783607164 Centerline is valid? [True, True] Translation: X:249.25, Y:43.02, Z:-8.10 [[-2.92100942e-02 -9.99530257e-01 9.27556129e-03 2.49245856e+02] [ 9.74729608e-01 -3.05388845e-02 -2.21290687e-01 4.30165610e+01] [ 2.21470002e-01 2.57724241e-03 9.75163779e-01 -8.10354832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.916875 meters 0.015293307886097817 Centerline is valid? [True, True] Translation: X:249.24, Y:43.04, Z:-8.10 [[-2.74891458e-02 -9.99578548e-01 9.33135609e-03 2.49242343e+02] [ 9.74843968e-01 -2.88721238e-02 -2.21010492e-01 4.30441311e+01] [ 2.21186763e-01 3.02122656e-03 9.75226788e-01 -8.09692295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.94687500000003 meters 0.015785387570381768 Centerline is valid? [True, True] Translation: X:249.24, Y:43.07, Z:-8.09 [[-2.47000588e-02 -9.99651021e-01 9.36718339e-03 2.49237667e+02] [ 9.75068023e-01 -2.61575100e-02 -2.20359104e-01 4.30712527e+01] [ 2.20527225e-01 3.69075818e-03 9.75373837e-01 -8.09020738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.976875 meters 0.016028306079681566 Centerline is valid? [True, True] Translation: X:249.23, Y:43.10, Z:-8.08 [[-2.32964004e-02 -9.99684266e-01 9.41523154e-03 2.49234901e+02] [ 9.75190384e-01 -2.47973664e-02 -2.19974555e-01 4.30991173e+01] [ 2.20138574e-01 4.05702796e-03 9.75460173e-01 -8.08366961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.00687500000004 meters 0.016762282124309316 Centerline is valid? [True, True] Translation: X:249.23, Y:43.13, Z:-8.08 [[-2.03195321e-02 -9.99749037e-01 9.43285318e-03 2.49230007e+02] [ 9.75488044e-01 -2.18923791e-02 -2.18960727e-01 4.31261978e+01] [ 2.19112283e-01 4.75245600e-03 9.75688076e-01 -8.07696216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.036875 meters 0.017247226742505645 Centerline is valid? [True, True] Translation: X:249.23, Y:43.15, Z:-8.07 [[-1.91412816e-02 -9.99771816e-01 9.48303488e-03 2.49226700e+02] [ 9.75574637e-01 -2.07522891e-02 -2.18685781e-01 4.31523041e+01] [ 2.18832675e-01 5.06548219e-03 9.75749251e-01 -8.07081820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06687500000004 meters 0.01772710248477867 Centerline is valid? [True, True] Translation: X:249.22, Y:43.18, Z:-8.06 [[-1.78887081e-02 -9.99794710e-01 9.51480049e-03 2.49223669e+02] [ 9.75679182e-01 -1.95350283e-02 -2.18331207e-01 4.31793817e+01] [ 2.18472258e-01 5.37772954e-03 9.75828342e-01 -8.06459711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.096875 meters 0.018809298424101964 Centerline is valid? [True, True] Translation: X:249.22, Y:43.21, Z:-8.06 [[-1.52165574e-02 -9.99838430e-01 9.56918583e-03 2.49218538e+02] [ 9.75775119e-01 -1.69378987e-02 -2.18119289e-01 4.32058582e+01] [ 2.18246130e-01 6.01834877e-03 9.75875200e-01 -8.05832107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12687500000004 meters 0.018168696255986976 Centerline is valid? [True, True] Translation: X:249.22, Y:43.23, Z:-8.05 [[-1.39756254e-02 -9.99855790e-01 9.64788550e-03 2.49217901e+02] [ 9.75736345e-01 -1.57457200e-02 -2.18381909e-01 4.32335168e+01] [ 2.18502329e-01 6.36176876e-03 9.75815690e-01 -8.05237795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.156875 meters 0.01901129404090936 Centerline is valid? [True, True] Translation: X:249.21, Y:43.26, Z:-8.05 [[-1.20665509e-02 -9.99880072e-01 9.70775126e-03 2.49213174e+02] [ 9.75773227e-01 -1.38955002e-02 -2.18342678e-01 4.32604863e+01] [ 2.18451386e-01 6.83792074e-03 9.75823875e-01 -8.04675518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.186875 meters 0.01901129404090936 Centerline is valid? [True, True] Translation: X:249.21, Y:43.29, Z:-8.04 [[-1.23560183e-02 -9.99875922e-01 9.77084159e-03 2.49211883e+02] [ 9.75769595e-01 -1.41917520e-02 -2.18339855e-01 4.32874247e+01] [ 2.18451429e-01 6.83627890e-03 9.75823877e-01 -8.04080109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.216875 meters 0.020111137147551143 Centerline is valid? [True, True] Translation: X:249.21, Y:43.31, Z:-8.04 [[-1.15357996e-02 -9.99884896e-01 9.85498809e-03 2.49208376e+02] [ 9.75684557e-01 -1.34128083e-02 -2.18768693e-01 4.33138801e+01] [ 2.18875695e-01 7.09168787e-03 9.75726979e-01 -8.03543699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.246875 meters 0.019468959627138058 Centerline is valid? [True, True] Translation: X:249.21, Y:43.34, Z:-8.03 [[-1.16682485e-02 -9.99882641e-01 9.92750067e-03 2.49207382e+02] [ 9.75559493e-01 -1.35619274e-02 -2.19316550e-01 4.33410394e+01] [ 2.19425447e-01 7.12582752e-03 9.75603247e-01 -8.02929964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.276875 meters 0.020739748527458014 Centerline is valid? [True, True] Translation: X:249.20, Y:43.37, Z:-8.02 [[-1.12694241e-02 -9.99886466e-01 1.00027448e-02 2.49204001e+02] [ 9.75515107e-01 -1.31909586e-02 -2.19536499e-01 4.33673467e+01] [ 2.19643520e-01 7.28377872e-03 9.75553008e-01 -8.02409311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.306875 meters 0.02007129006623285 Centerline is valid? [True, True] Translation: X:249.20, Y:43.39, Z:-8.02 [[-1.13902059e-02 -9.99883827e-01 1.01289181e-02 2.49203350e+02] [ 9.75231753e-01 -1.33459288e-02 -2.20782506e-01 4.33946880e+01] [ 2.20892036e-01 7.36328439e-03 9.75270470e-01 -8.01921967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.336875 meters 0.020930975539070105 Centerline is valid? [True, True] Translation: X:249.20, Y:43.42, Z:-8.01 [[-1.15105818e-02 -9.99881753e-01 1.01973444e-02 2.49200603e+02] [ 9.75212367e-01 -1.34790415e-02 -2.20860034e-01 4.34201385e+01] [ 2.20971369e-01 7.40234888e-03 9.75252203e-01 -8.01434472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.366875 meters 0.02012808141116908 Centerline is valid? [True, True] Translation: X:249.20, Y:43.45, Z:-8.01 [[-1.19025108e-02 -9.99876352e-01 1.02766991e-02 2.49200684e+02] [ 9.75189591e-01 -1.38794115e-02 -2.20935791e-01 4.34470454e+01] [ 2.21051108e-01 7.39203932e-03 9.75234211e-01 -8.00787250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.396875 meters 0.02038636155214227 Centerline is valid? [True, True] Translation: X:249.20, Y:43.47, Z:-8.00 [[-1.23395256e-02 -9.99870678e-01 1.03132677e-02 2.49200083e+02] [ 9.75319454e-01 -1.43091966e-02 -2.20334312e-01 4.34740980e+01] [ 2.20453393e-01 7.33990971e-03 9.75369893e-01 -8.00166747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.426875 meters 0.020783700671267884 Centerline is valid? [True, True] Translation: X:249.20, Y:43.50, Z:-8.00 [[-1.29586928e-02 -9.99862178e-01 1.03777563e-02 2.49198616e+02] [ 9.75345061e-01 -1.49262283e-02 -2.20179969e-01 4.34998515e+01] [ 2.20304524e-01 7.26864881e-03 9.75404062e-01 -7.99572868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.456875 meters 0.01953126126483011 Centerline is valid? [True, True] Translation: X:249.20, Y:43.53, Z:-7.99 [[-1.36110283e-02 -9.99852989e-01 1.04278600e-02 2.49200308e+02] [ 9.75361647e-01 -1.55727368e-02 -2.20061691e-01 4.35271223e+01] [ 2.20191730e-01 7.17566884e-03 9.75430219e-01 -7.98870374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.486875 meters 0.019202777722570945 Centerline is valid? [True, True] Translation: X:249.20, Y:43.56, Z:-7.98 [[-1.39025788e-02 -9.99848407e-01 1.04824120e-02 2.49200059e+02] [ 9.75406454e-01 -1.58675442e-02 -2.19841924e-01 4.35550377e+01] [ 2.19974927e-01 7.16824268e-03 9.75479189e-01 -7.98269557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.516875 meters 0.020353780543499206 Centerline is valid? [True, True] Translation: X:249.20, Y:43.58, Z:-7.98 [[-1.41940100e-02 -9.99843650e-01 1.05454345e-02 2.49197416e+02] [ 9.75412211e-01 -1.61653684e-02 -2.19794675e-01 4.35815352e+01] [ 2.19930780e-01 7.16637776e-03 9.75489157e-01 -7.97725244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.546875 meters 0.02112989250733611 Centerline is valid? [True, True] Translation: X:249.20, Y:43.61, Z:-7.97 [[-1.47020944e-02 -9.99835676e-01 1.06051153e-02 2.49196823e+02] [ 9.75348982e-01 -1.66759306e-02 -2.20036988e-01 4.36073479e+01] [ 2.20177681e-01 7.10868390e-03 9.75433881e-01 -7.97184442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57687500000003 meters 0.019778090804759944 Centerline is valid? [True, True] Translation: X:249.20, Y:43.63, Z:-7.97 [[-1.48669250e-02 -9.99832646e-01 1.06608935e-02 2.49198741e+02] [ 9.75343251e-01 -1.68490958e-02 -2.20049200e-01 4.36344277e+01] [ 2.20192000e-01 7.12657562e-03 9.75430518e-01 -7.96562681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.606875 meters 0.0199101816619663 Centerline is valid? [True, True] Translation: X:249.20, Y:43.66, Z:-7.96 [[-1.52097571e-02 -9.99826582e-01 1.07456820e-02 2.49198919e+02] [ 9.75242741e-01 -1.72052541e-02 -2.20466723e-01 4.36615365e+01] [ 2.20613372e-01 7.12640303e-03 9.75335304e-01 -7.95999483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63687500000003 meters 0.020259196018086678 Centerline is valid? [True, True] Translation: X:249.20, Y:43.69, Z:-7.95 [[-1.53104727e-02 -9.99824215e-01 1.08225888e-02 2.49198419e+02] [ 9.75217527e-01 -1.73212153e-02 -2.20569150e-01 4.36884752e+01] [ 2.20717837e-01 7.17736040e-03 9.75311295e-01 -7.95471189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.666875 meters 0.019820338306139093 Centerline is valid? [True, True] Translation: X:249.20, Y:43.71, Z:-7.95 [[-1.58438475e-02 -9.99815076e-01 1.08989185e-02 2.49198959e+02] [ 9.75187132e-01 -1.78589810e-02 -2.20660633e-01 4.37147888e+01] [ 2.20814472e-01 7.13237167e-03 9.75289751e-01 -7.94882616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69687500000003 meters 0.01962003576046381 Centerline is valid? [True, True] Translation: X:249.20, Y:43.74, Z:-7.94 [[-1.64901205e-02 -9.99803684e-01 1.09849556e-02 2.49200670e+02] [ 9.75113110e-01 -1.85103157e-02 -2.20933905e-01 4.37420504e+01] [ 2.21093867e-01 7.06834755e-03 9.75226917e-01 -7.94324353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.726875 meters 0.02026739648643359 Centerline is valid? [True, True] Translation: X:249.20, Y:43.77, Z:-7.94 [[-1.66533847e-02 -9.99800159e-01 1.10592759e-02 2.49199984e+02] [ 9.75100570e-01 -1.86862765e-02 -2.20974438e-01 4.37680607e+01] [ 2.21136934e-01 7.10393389e-03 9.75216894e-01 -7.93834953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75687500000004 meters 0.020225791336101265 Centerline is valid? [True, True] Translation: X:249.20, Y:43.80, Z:-7.93 [[-1.71758574e-02 -9.99790635e-01 1.11209557e-02 2.49200494e+02] [ 9.75152556e-01 -1.92074994e-02 -2.20700167e-01 4.37952466e+01] [ 2.20867566e-01 7.05391375e-03 9.75278299e-01 -7.93243562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.786875 meters 0.020443680505215344 Centerline is valid? [True, True] Translation: X:249.20, Y:43.82, Z:-7.93 [[-1.77427695e-02 -9.99779775e-01 1.12069631e-02 2.49200547e+02] [ 9.75075307e-01 -1.97815261e-02 -2.20990581e-01 4.38208847e+01] [ 2.21163604e-01 7.00664807e-03 9.75211550e-01 -7.92719201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81687500000004 meters 0.019099471273998487 Centerline is valid? [True, True] Translation: X:249.21, Y:43.85, Z:-7.92 [[-1.91872492e-02 -9.99752021e-01 1.13024687e-02 2.49205961e+02] [ 9.74951823e-01 -2.12142948e-02 -2.21402117e-01 4.38483629e+01] [ 2.21586987e-01 6.77126486e-03 9.75117099e-01 -7.92133102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.846875 meters 0.0190107768388555 Centerline is valid? [True, True] Translation: X:249.21, Y:43.87, Z:-7.92 [[-2.02573299e-02 -9.99730168e-01 1.13680052e-02 2.49206830e+02] [ 9.74925726e-01 -2.22724273e-02 -2.21413117e-01 4.38749184e+01] [ 2.21606566e-01 6.59772217e-03 9.75113839e-01 -7.91549130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87687500000004 meters 0.019612287079465534 Centerline is valid? [True, True] Translation: X:249.21, Y:43.90, Z:-7.91 [[-2.10532247e-02 -9.99712997e-01 1.14317620e-02 2.49206854e+02] [ 9.74945002e-01 -2.30616024e-02 -2.21247388e-01 4.39004149e+01] [ 2.21447524e-01 6.48736830e-03 9.75150711e-01 -7.90974578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.906875 meters 0.018889472321034655 Centerline is valid? [True, True] Translation: X:249.21, Y:43.93, Z:-7.90 [[-2.26475373e-02 -9.99677572e-01 1.14822154e-02 2.49210889e+02] [ 9.75014742e-01 -2.46245638e-02 -2.20771111e-01 4.39278658e+01] [ 2.20982673e-01 6.19540728e-03 9.75258056e-01 -7.90344585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.936875 meters 0.018368277303243887 Centerline is valid? [True, True] Translation: X:249.21, Y:43.96, Z:-7.90 [[-2.34307338e-02 -9.99658793e-01 1.15455137e-02 2.49212328e+02] [ 9.74996613e-01 -2.54023764e-02 -2.20763050e-01 4.39551620e+01] [ 2.20981007e-01 6.08419650e-03 9.75259133e-01 -7.89746604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.966875 meters 0.01937832673526111 Centerline is valid? [True, True] Translation: X:249.21, Y:43.98, Z:-7.89 [[-2.41477905e-02 -9.99641003e-01 1.16081714e-02 2.49211194e+02] [ 9.74987890e-01 -2.61153155e-02 -2.20718385e-01 4.39808768e+01] [ 2.20942299e-01 5.98796524e-03 9.75268499e-01 -7.89235401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.996875 meters 0.018080317515988938 Centerline is valid? [True, True] Translation: X:249.22, Y:44.01, Z:-7.89 [[-2.53742511e-02 -9.99609589e-01 1.16968475e-02 2.49215979e+02] [ 9.74902822e-01 -2.73324792e-02 -2.20946653e-01 4.40084788e+01] [ 2.21180097e-01 5.79693381e-03 9.75215751e-01 -7.88648573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.026875 meters 0.019580696267831967 Centerline is valid? [True, True] Translation: X:249.21, Y:44.03, Z:-7.88 [[-2.60308621e-02 -9.99591677e-01 1.17844321e-02 2.49213488e+02] [ 9.74789402e-01 -2.79946856e-02 -2.21363770e-01 4.40341331e+01] [ 2.21603283e-01 5.72504975e-03 9.75120100e-01 -7.88129500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.056875 meters 0.01830954867862887 Centerline is valid? [True, True] Translation: X:249.22, Y:44.06, Z:-7.88 [[-2.69325214e-02 -9.99566968e-01 1.18539499e-02 2.49217954e+02] [ 9.74795172e-01 -2.88885734e-02 -2.21223467e-01 4.40607991e+01] [ 2.21470113e-01 5.59706737e-03 9.75151097e-01 -7.87517875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.086875 meters 0.018556548911681726 Centerline is valid? [True, True] Translation: X:249.22, Y:44.09, Z:-7.87 [[-2.76237639e-02 -9.99547445e-01 1.19093436e-02 2.49217412e+02] [ 9.74841249e-01 -2.95732965e-02 -2.20929762e-01 4.40863218e+01] [ 2.21181978e-01 5.50680782e-03 9.75217005e-01 -7.86925072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.116875 meters 0.018279775233606355 Centerline is valid? [True, True] Translation: X:249.22, Y:44.11, Z:-7.86 [[-2.82349271e-02 -9.99530038e-01 1.19370096e-02 2.49218511e+02] [ 9.74938727e-01 -3.01726355e-02 -2.20417992e-01 4.41131977e+01] [ 2.20674575e-01 5.41436704e-03 9.75332465e-01 -7.86295473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.146875 meters 0.01730473848204382 Centerline is valid? [True, True] Translation: X:249.22, Y:44.14, Z:-7.86 [[-2.88444557e-02 -9.99512052e-01 1.19856609e-02 2.49222019e+02] [ 9.75010659e-01 -3.07757068e-02 -2.20016069e-01 4.41398717e+01] [ 2.20277579e-01 5.33990343e-03 9.75422613e-01 -7.85553724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.176875 meters 0.01804609026274789 Centerline is valid? [True, True] Translation: X:249.22, Y:44.17, Z:-7.85 [[-2.87410118e-02 -9.99514676e-01 1.20152577e-02 2.49220690e+02] [ 9.75189171e-01 -3.06770046e-02 -2.19237320e-01 4.41657717e+01] [ 2.19499511e-01 5.41604678e-03 9.75597577e-01 -7.84993025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.206875 meters 0.01840040844555302 Centerline is valid? [True, True] Translation: X:249.22, Y:44.19, Z:-7.84 [[-2.78432104e-02 -9.99539424e-01 1.20704132e-02 2.49221145e+02] [ 9.75279347e-01 -2.98115207e-02 -2.18955403e-01 4.41930737e+01] [ 2.19214395e-01 5.67560334e-03 9.75660205e-01 -7.84388758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.236875 meters 0.019320083543221796 Centerline is valid? [True, True] Translation: X:249.22, Y:44.22, Z:-7.84 [[-2.78292412e-02 -9.99539111e-01 1.21284052e-02 2.49219200e+02] [ 9.75300594e-01 -2.98100488e-02 -2.18860945e-01 4.42186129e+01] [ 2.19121623e-01 5.73810680e-03 9.75680680e-01 -7.83895955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.266875 meters 0.01976312812962304 Centerline is valid? [True, True] Translation: X:249.22, Y:44.24, Z:-7.83 [[-2.78434178e-02 -9.99537680e-01 1.22135359e-02 2.49217920e+02] [ 9.75256809e-01 -2.98436722e-02 -2.19051391e-01 4.42442059e+01] [ 2.19314616e-01 5.81219461e-03 9.75636878e-01 -7.83297447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.296875 meters 0.019184309653703012 Centerline is valid? [True, True] Translation: X:249.22, Y:44.27, Z:-7.83 [[-2.81754867e-02 -9.99527159e-01 1.23125996e-02 2.49220301e+02] [ 9.75137839e-01 -3.01922780e-02 -2.19532733e-01 4.42710958e+01] [ 2.19800674e-01 5.82104018e-03 9.75527436e-01 -7.82800575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.32687500000003 meters 0.019178990664690396 Centerline is valid? [True, True] Translation: X:249.22, Y:44.30, Z:-7.82 [[-2.90982573e-02 -9.99499848e-01 1.23832845e-02 2.49219812e+02] [ 9.75101674e-01 -3.11082602e-02 -2.19565484e-01 4.42973859e+01] [ 2.19840890e-01 5.68598853e-03 9.75519171e-01 -7.82218596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.356875 meters 0.019221571723882357 Centerline is valid? [True, True] Translation: X:249.22, Y:44.32, Z:-7.82 [[-2.99932872e-02 -9.99472732e-01 1.24362344e-02 2.49219426e+02] [ 9.75132984e-01 -3.19915698e-02 -2.19299345e-01 4.43235814e+01] [ 2.19581570e-01 5.54947408e-03 9.75578360e-01 -7.81585357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.38687500000003 meters 0.01922315455735101 Centerline is valid? [True, True] Translation: X:249.22, Y:44.35, Z:-7.81 [[-3.20277571e-02 -9.99409089e-01 1.24778294e-02 2.49219807e+02] [ 9.75167662e-01 -3.39832257e-02 -2.18845085e-01 4.43494804e+01] [ 2.19139804e-01 5.15885852e-03 9.75679831e-01 -7.80928814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.416875 meters 0.018744257849096297 Centerline is valid? [True, True] Translation: X:249.22, Y:44.38, Z:-7.80 [[-3.30794906e-02 -9.99374550e-01 1.25002436e-02 2.49220372e+02] [ 9.75249024e-01 -3.50116893e-02 -2.18319772e-01 4.43760530e+01] [ 2.18620879e-01 4.96894348e-03 9.75797223e-01 -7.80365928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.44687500000003 meters 0.018548706466011134 Centerline is valid? [True, True] Translation: X:249.22, Y:44.40, Z:-7.80 [[-3.44023563e-02 -9.99328983e-01 1.25722337e-02 2.49219934e+02] [ 9.75179896e-01 -3.63188212e-02 -2.18415001e-01 4.44016353e+01] [ 2.18725050e-01 4.74619884e-03 9.75774987e-01 -7.79813052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.476875 meters 0.01784658764266268 Centerline is valid? [True, True] Translation: X:249.22, Y:44.43, Z:-7.79 [[-3.65043306e-02 -9.99253529e-01 1.26419614e-02 2.49221553e+02] [ 9.75116327e-01 -3.83849371e-02 -2.18345473e-01 4.44270414e+01] [ 2.18667745e-01 4.35682763e-03 9.75789647e-01 -7.79240841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.50687500000004 meters 0.016810464629261918 Centerline is valid? [True, True] Translation: X:249.22, Y:44.45, Z:-7.79 [[-3.74766162e-02 -9.99216478e-01 1.27253054e-02 2.49222494e+02] [ 9.75026825e-01 -3.93529447e-02 -2.18572726e-01 4.44534770e+01] [ 2.18902248e-01 4.21614795e-03 9.75737685e-01 -7.78637167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.536875 meters 0.0165043735423969 Centerline is valid? [True, True] Translation: X:249.22, Y:44.48, Z:-7.78 [[-3.80683768e-02 -9.99193644e-01 1.27616920e-02 2.49222178e+02] [ 9.75126992e-01 -3.99360010e-02 -2.18019414e-01 4.44800908e+01] [ 2.18353264e-01 4.14462510e-03 9.75860991e-01 -7.78021467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56687500000004 meters 0.016875732839358785 Centerline is valid? [True, True] Translation: X:249.22, Y:44.51, Z:-7.77 [[-3.85470105e-02 -9.99174669e-01 1.28104645e-02 2.49219538e+02] [ 9.75190843e-01 -4.04121883e-02 -2.17645754e-01 4.45057662e+01] [ 2.17983823e-01 4.10305453e-03 9.75943758e-01 -7.77409642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.596875 meters 0.016630361871842872 Centerline is valid? [True, True] Translation: X:249.22, Y:44.53, Z:-7.77 [[-3.86122076e-02 -9.99171209e-01 1.28837997e-02 2.49218708e+02] [ 9.75191027e-01 -4.04917407e-02 -2.17630143e-01 4.45323344e+01] [ 2.17971461e-01 4.16098562e-03 9.75946273e-01 -7.76843936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62687500000004 meters 0.016675791461082695 Centerline is valid? [True, True] Translation: X:249.22, Y:44.56, Z:-7.76 [[-3.90796111e-02 -9.99152402e-01 1.29329306e-02 2.49216399e+02] [ 9.75248614e-01 -4.09571800e-02 -2.17284722e-01 4.45588006e+01] [ 2.17630248e-01 4.12142019e-03 9.76022586e-01 -7.76258225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.656875 meters 0.017304202446547054 Centerline is valid? [True, True] Translation: X:249.21, Y:44.58, Z:-7.76 [[-3.90208811e-02 -9.99153573e-01 1.30195655e-02 2.49212963e+02] [ 9.75185227e-01 -4.09199680e-02 -2.17576032e-01 4.45845220e+01] [ 2.17924630e-01 4.20647949e-03 9.75956536e-01 -7.75666141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.686875 meters 0.01639747519131269 Centerline is valid? [True, True] Translation: X:249.21, Y:44.61, Z:-7.75 [[-3.93390996e-02 -9.99140438e-01 1.30698425e-02 2.49212639e+02] [ 9.75242632e-01 -4.12401439e-02 -2.17258046e-01 4.46112982e+01] [ 2.17610301e-01 4.19953168e-03 9.76026701e-01 -7.75093100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.716875 meters 0.01720855801885574 Centerline is valid? [True, True] Translation: X:249.21, Y:44.64, Z:-7.75 [[-3.95240750e-02 -9.99132141e-01 1.31457998e-02 2.49208396e+02] [ 9.75218085e-01 -4.14375400e-02 -2.17330661e-01 4.46368492e+01] [ 2.17686778e-01 4.23022835e-03 9.76009514e-01 -7.74597504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.746875 meters 0.017514564001579493 Centerline is valid? [True, True] Translation: X:249.21, Y:44.66, Z:-7.74 [[-3.94553731e-02 -9.99133804e-01 1.32255575e-02 2.49205849e+02] [ 9.75197484e-01 -4.13882965e-02 -2.17432466e-01 4.46639584e+01] [ 2.17791510e-01 4.31865132e-03 9.75985762e-01 -7.74048190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.776875 meters 0.016787547007259547 Centerline is valid? [True, True] Translation: X:249.21, Y:44.69, Z:-7.73 [[-4.00059559e-02 -9.99110917e-01 1.33003095e-02 2.49205222e+02] [ 9.75143828e-01 -4.19425579e-02 -2.17566855e-01 4.46910624e+01] [ 2.17931269e-01 4.26574469e-03 9.75954797e-01 -7.73478893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.806875 meters 0.017065743026910298 Centerline is valid? [True, True] Translation: X:249.20, Y:44.72, Z:-7.73 [[-4.10493403e-02 -9.99068100e-01 1.33372566e-02 2.49202604e+02] [ 9.75215564e-01 -4.29667789e-02 -2.17044832e-01 4.47164511e+01] [ 2.17415627e-01 4.09715309e-03 9.76070519e-01 -7.72885779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.836875 meters 0.01753811756019369 Centerline is valid? [True, True] Translation: X:249.20, Y:44.74, Z:-7.72 [[-4.18447907e-02 -9.99034288e-01 1.33979697e-02 2.49199680e+02] [ 9.75221455e-01 -4.37556859e-02 -2.16860679e-01 4.47424808e+01] [ 2.17237492e-01 3.99149776e-03 9.76110619e-01 -7.72309463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.866875 meters 0.0158628711464387 Centerline is valid? [True, True] Translation: X:249.20, Y:44.77, Z:-7.72 [[-4.32295330e-02 -9.98974899e-01 1.34297955e-02 2.49201566e+02] [ 9.75268592e-01 -4.51124574e-02 -2.16370144e-01 4.47698807e+01] [ 2.16754194e-01 3.74407742e-03 9.76219033e-01 -7.71748996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.896875 meters 0.01590496454596193 Centerline is valid? [True, True] Translation: X:249.20, Y:44.80, Z:-7.71 [[-4.42277564e-02 -9.98930181e-01 1.35055299e-02 2.49198983e+02] [ 9.75194490e-01 -4.61038686e-02 -2.16495128e-01 4.47952940e+01] [ 2.16886175e-01 3.59542455e-03 9.76190279e-01 -7.71210271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.926875 meters 0.015749836975424102 Centerline is valid? [True, True] Translation: X:249.20, Y:44.82, Z:-7.71 [[-4.54096357e-02 -9.98876783e-01 1.35328385e-02 2.49196957e+02] [ 9.75238107e-01 -4.72620415e-02 -2.16048451e-01 4.48223304e+01] [ 2.16445372e-01 3.38705829e-03 9.76288855e-01 -7.70610272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.956875 meters 0.015880505580115372 Centerline is valid? [True, True] Translation: X:249.19, Y:44.85, Z:-7.70 [[-4.64898653e-02 -9.98826144e-01 1.36024105e-02 2.49194606e+02] [ 9.75171181e-01 -4.83319806e-02 -2.16113830e-01 4.48480693e+01] [ 2.16517575e-01 3.21757592e-03 9.76273418e-01 -7.70109274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.986875 meters 0.01559834502590323 Centerline is valid? [True, True] Translation: X:249.19, Y:44.87, Z:-7.69 [[-4.84966960e-02 -9.98729623e-01 1.36824922e-02 2.49193079e+02] [ 9.75047003e-01 -5.03089379e-02 -2.16222926e-01 4.48742119e+01] [ 2.16636593e-01 2.85497550e-03 9.76248143e-01 -7.69474966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.016875 meters 0.015310896257661907 Centerline is valid? [True, True] Translation: X:249.19, Y:44.90, Z:-7.69 [[-4.93186514e-02 -9.98688403e-01 1.37529852e-02 2.49192157e+02] [ 9.74992016e-01 -5.11268313e-02 -2.16279023e-01 4.49010845e+01] [ 2.16698499e-01 2.74246100e-03 9.76234726e-01 -7.68940992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.046875 meters 0.015310896257661907 Centerline is valid? [True, True] Translation: X:249.19, Y:44.93, Z:-7.68 [[-4.96310092e-02 -9.98671975e-01 1.38220543e-02 2.49190349e+02] [ 9.74976167e-01 -5.14467331e-02 -2.16274610e-01 4.49271998e+01] [ 2.16698491e-01 2.74224636e-03 9.76234728e-01 -7.68363960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07687500000003 meters 0.015085400849201213 Centerline is valid? [True, True] Translation: X:249.19, Y:44.95, Z:-7.68 [[-5.08811654e-02 -9.98606878e-01 1.39788996e-02 2.49188127e+02] [ 9.74608061e-01 -5.27047983e-02 -2.17626590e-01 4.49538120e+01] [ 2.18060164e-01 2.55085377e-03 9.75931994e-01 -7.67930128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.106875 meters 0.014972509678565548 Centerline is valid? [True, True] Translation: X:249.19, Y:44.98, Z:-7.67 [[-5.16045106e-02 -9.98567929e-01 1.41090958e-02 2.49186108e+02] [ 9.74358860e-01 -5.34415391e-02 -2.18560780e-01 4.49805495e+01] [ 2.19001797e-01 2.46860041e-03 9.75721333e-01 -7.67427416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13687500000003 meters 0.014858930163457832 Centerline is valid? [True, True] Translation: X:249.18, Y:45.01, Z:-7.67 [[-5.23591216e-02 -9.98527644e-01 1.41797807e-02 2.49183973e+02] [ 9.74316581e-01 -5.41933437e-02 -2.18564138e-01 4.50069406e+01] [ 2.19010784e-01 2.37176912e-03 9.75719556e-01 -7.66899173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.166875 meters 0.014795806263158434 Centerline is valid? [True, True] Translation: X:249.18, Y:45.03, Z:-7.66 [[-5.30822804e-02 -9.98488018e-01 1.42811213e-02 2.49181456e+02] [ 9.74169983e-01 -5.49222729e-02 -2.19035129e-01 4.50340806e+01] [ 2.19488303e-01 2.28535562e-03 9.75612455e-01 -7.66409697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19687500000003 meters 0.014845544840396501 Centerline is valid? [True, True] Translation: X:249.18, Y:45.06, Z:-7.66 [[-5.33798384e-02 -9.98470823e-01 1.43738564e-02 2.49179268e+02] [ 9.74075304e-01 -5.52337467e-02 -2.19377610e-01 4.50610446e+01] [ 2.19836065e-01 2.29087714e-03 9.75534139e-01 -7.65869166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.226875 meters 0.014678539371634543 Centerline is valid? [True, True] Translation: X:249.18, Y:45.09, Z:-7.65 [[-5.41883265e-02 -9.98425832e-01 1.44735441e-02 2.49176488e+02] [ 9.73927378e-01 -5.60454107e-02 -2.19828056e-01 4.50867445e+01] [ 2.20293186e-01 2.18406638e-03 9.75431260e-01 -7.65320963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25687500000004 meters 0.014647741046126836 Centerline is valid? [True, True] Translation: X:249.17, Y:45.11, Z:-7.65 [[-5.47644811e-02 -9.98393049e-01 1.45661325e-02 2.49174407e+02] [ 9.73828768e-01 -5.66284551e-02 -2.20115306e-01 4.51137906e+01] [ 2.20586449e-01 2.13041842e-03 9.75365101e-01 -7.64753101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.286875 meters 0.014474069803399336 Centerline is valid? [True, True] Translation: X:249.17, Y:45.14, Z:-7.64 [[-5.52356750e-02 -9.98365946e-01 1.46443805e-02 2.49173051e+02] [ 9.73769432e-01 -5.71056161e-02 -2.20254494e-01 4.51407161e+01] [ 2.20730862e-01 2.09434441e-03 9.75332507e-01 -7.64131616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31687500000004 meters 0.014374871275121732 Centerline is valid? [True, True] Translation: X:249.17, Y:45.17, Z:-7.63 [[-5.68343616e-02 -9.98276234e-01 1.46429698e-02 2.49170894e+02] [ 9.73923604e-01 -5.86626137e-02 -2.19160925e-01 4.51671095e+01] [ 2.19642138e-01 1.80526264e-03 9.75578840e-01 -7.63497048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.346875 meters 0.01428438528028061 Centerline is valid? [True, True] Translation: X:249.17, Y:45.19, Z:-7.63 [[-5.79620582e-02 -9.98210779e-01 1.46846792e-02 2.49168430e+02] [ 9.73956307e-01 -5.97712245e-02 -2.18715597e-01 4.51927673e+01] [ 2.19201988e-01 1.62502974e-03 9.75678148e-01 -7.62970664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37687500000004 meters 0.014086732562395067 Centerline is valid? [True, True] Translation: X:249.17, Y:45.22, Z:-7.62 [[-5.90548504e-02 -9.98145455e-01 1.47707764e-02 2.49166597e+02] [ 9.73852116e-01 -6.08565825e-02 -2.18880176e-01 4.52196393e+01] [ 2.19373152e-01 1.45861574e-03 9.75639940e-01 -7.62358301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.406875 meters 0.014183170176292002 Centerline is valid? [True, True] Translation: X:249.16, Y:45.25, Z:-7.62 [[-6.02816017e-02 -9.98071629e-01 1.48037615e-02 2.49164647e+02] [ 9.73903580e-01 -6.20599894e-02 -2.18312562e-01 4.52454091e+01] [ 2.18810296e-01 1.25720537e-03 9.75766608e-01 -7.61805291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.436875 meters 0.01391711064441232 Centerline is valid? [True, True] Translation: X:249.16, Y:45.27, Z:-7.61 [[-6.23064272e-02 -9.97946857e-01 1.48316900e-02 2.49162309e+02] [ 9.73927352e-01 -6.40412883e-02 -2.17633239e-01 4.52704413e+01] [ 2.18136247e-01 8.85038987e-04 9.75917924e-01 -7.61189532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.466875 meters 0.013913752111874293 Centerline is valid? [True, True] Translation: X:249.16, Y:45.30, Z:-7.61 [[-6.30928189e-02 -9.97896403e-01 1.49018261e-02 2.49159748e+02] [ 9.73823334e-01 -6.48242361e-02 -2.17866777e-01 4.52974706e+01] [ 2.18374473e-01 7.65916902e-04 9.75864746e-01 -7.60611796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.496875 meters 0.013917383210510068 Centerline is valid? [True, True] Translation: X:249.16, Y:45.32, Z:-7.60 [[-6.34449164e-02 -9.97872699e-01 1.49939877e-02 2.49156917e+02] [ 9.73723835e-01 -6.51882298e-02 -2.18202630e-01 4.53242748e+01] [ 2.18715879e-01 7.56155601e-04 9.75788293e-01 -7.60076964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.526875 meters 0.013867873916824154 Centerline is valid? [True, True] Translation: X:249.15, Y:45.35, Z:-7.60 [[-6.39032933e-02 -9.97841682e-01 1.51111389e-02 2.49153737e+02] [ 9.73537318e-01 -6.56616645e-02 -2.18891839e-01 4.53505410e+01] [ 2.19411623e-01 7.23348297e-04 9.75632111e-01 -7.59591454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.556875 meters 0.014001112648514273 Centerline is valid? [True, True] Translation: X:249.15, Y:45.38, Z:-7.59 [[-6.37430953e-02 -9.97849962e-01 1.52404282e-02 2.49149060e+02] [ 9.73352640e-01 -6.55344891e-02 -2.19749562e-01 4.53770875e+01] [ 2.20275866e-01 8.26793789e-04 9.75437266e-01 -7.59202886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.586875 meters 0.013825330112248192 Centerline is valid? [True, True] Translation: X:249.15, Y:45.40, Z:-7.59 [[-6.37289297e-02 -9.97849830e-01 1.53081864e-02 2.49145902e+02] [ 9.73358144e-01 -6.55355744e-02 -2.19724857e-01 4.54034203e+01] [ 2.20255642e-01 8.97517902e-04 9.75441770e-01 -7.58626898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.616875 meters 0.013983711004000992 Centerline is valid? [True, True] Translation: X:249.14, Y:45.43, Z:-7.58 [[-6.33765223e-02 -9.97871183e-01 1.53791835e-02 2.49141909e+02] [ 9.73378330e-01 -6.52074631e-02 -2.19733050e-01 4.54288051e+01] [ 2.20268116e-01 1.04384738e-03 9.75438808e-01 -7.58084736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.646875 meters 0.014110441655878807 Centerline is valid? [True, True] Translation: X:249.14, Y:45.45, Z:-7.58 [[-6.33189116e-02 -9.97873626e-01 1.54577350e-02 2.49138824e+02] [ 9.73365043e-01 -6.51686510e-02 -2.19803413e-01 4.54549105e+01] [ 2.20343388e-01 1.12830607e-03 9.75421713e-01 -7.57506737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.676875 meters 0.014006131866447957 Centerline is valid? [True, True] Translation: X:249.13, Y:45.48, Z:-7.57 [[-6.34085437e-02 -9.97866876e-01 1.55259524e-02 2.49134487e+02] [ 9.73360961e-01 -6.52710984e-02 -2.19791092e-01 4.54816410e+01] [ 2.20335646e-01 1.17572284e-03 9.75423406e-01 -7.56868013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.706875 meters 0.013997210734083287 Centerline is valid? [True, True] Translation: X:249.13, Y:45.51, Z:-7.56 [[-6.31958921e-02 -9.97879777e-01 1.55637151e-02 2.49131641e+02] [ 9.73474696e-01 -6.50714085e-02 -2.19346137e-01 4.55089891e+01] [ 2.19893827e-01 1.28910800e-03 9.75522959e-01 -7.56253636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.736875 meters 0.014146471179859486 Centerline is valid? [True, True] Translation: X:249.13, Y:45.54, Z:-7.56 [[-6.30746855e-02 -9.97886742e-01 1.56088011e-02 2.49128387e+02] [ 9.73542701e-01 -6.49627022e-02 -2.19076373e-01 4.55365003e+01] [ 2.19627398e-01 1.37766108e-03 9.75582856e-01 -7.55670670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.766875 meters 0.014179684378063624 Centerline is valid? [True, True] Translation: X:249.13, Y:45.56, Z:-7.55 [[-6.32737699e-02 -9.97873303e-01 1.56621148e-02 2.49125172e+02] [ 9.73563160e-01 -6.51684225e-02 -2.18924302e-01 4.55620817e+01] [ 2.19479391e-01 1.39589208e-03 9.75616138e-01 -7.55059092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.796875 meters 0.014157200620925995 Centerline is valid? [True, True] Translation: X:249.12, Y:45.59, Z:-7.54 [[-6.32373408e-02 -9.97875437e-01 1.56732399e-02 2.49121497e+02] [ 9.73765333e-01 -6.51340039e-02 -2.18033568e-01 4.55881466e+01] [ 2.18591203e-01 1.47419462e-03 9.75815409e-01 -7.54442365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.82687500000003 meters 0.0141594858586481 Centerline is valid? [True, True] Translation: X:249.12, Y:45.61, Z:-7.54 [[-6.37593441e-02 -9.97841429e-01 1.57235078e-02 2.49118679e+02] [ 9.73793752e-01 -6.56539715e-02 -2.17750508e-01 4.56145334e+01] [ 2.18312789e-01 1.42782409e-03 9.75877804e-01 -7.53800452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.856875 meters 0.01405095402324955 Centerline is valid? [True, True] Translation: X:249.12, Y:45.64, Z:-7.53 [[-6.41673794e-02 -9.97814859e-01 1.57497763e-02 2.49115407e+02] [ 9.73902177e-01 -6.60570458e-02 -2.17142846e-01 4.56412107e+01] [ 2.17708742e-01 1.40525403e-03 9.76012771e-01 -7.53169643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.88687500000003 meters 0.014205694718869273 Centerline is valid? [True, True] Translation: X:249.11, Y:45.67, Z:-7.53 [[-6.39678706e-02 -9.97826888e-01 1.57991229e-02 2.49110777e+02] [ 9.73977628e-01 -6.58726255e-02 -2.16860273e-01 4.56670235e+01] [ 2.17429741e-01 1.51590235e-03 9.76074797e-01 -7.52609146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.916875 meters 0.014237167692368062 Centerline is valid? [True, True] Translation: X:249.11, Y:45.69, Z:-7.52 [[-6.38306679e-02 -9.97834127e-01 1.58965942e-02 2.49107576e+02] [ 9.73911264e-01 -6.57604501e-02 -2.17192113e-01 4.56935368e+01] [ 2.17767070e-01 1.61835454e-03 9.75999428e-01 -7.52043041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.94687500000003 meters 0.014368639844974548 Centerline is valid? [True, True] Translation: X:249.10, Y:45.72, Z:-7.52 [[-6.27391642e-02 -9.97901902e-01 1.59872005e-02 2.49102323e+02] [ 9.73919277e-01 -6.47153957e-02 -2.17469903e-01 4.57194400e+01] [ 2.18048248e-01 1.92636283e-03 9.75936089e-01 -7.51581756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.976875 meters 0.014618344877399042 Centerline is valid? [True, True] Translation: X:249.10, Y:45.75, Z:-7.51 [[-6.23067266e-02 -9.97927477e-01 1.60817377e-02 2.49098090e+02] [ 9.73882740e-01 -6.43145736e-02 -2.17752256e-01 4.57461860e+01] [ 2.18335249e-01 2.09429648e-03 9.75871576e-01 -7.51073991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.00687500000004 meters 0.014591024557859447 Centerline is valid? [True, True] Translation: X:249.09, Y:45.77, Z:-7.51 [[-6.11569885e-02 -9.97997033e-01 1.61785398e-02 2.49094616e+02] [ 9.73869970e-01 -6.32146147e-02 -2.18131140e-01 4.57727167e+01] [ 2.18716951e-01 2.41555047e-03 9.75785356e-01 -7.50586198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.036875 meters 0.015195258064418241 Centerline is valid? [True, True] Translation: X:249.09, Y:45.80, Z:-7.50 [[-5.95846340e-02 -9.98090718e-01 1.62662389e-02 2.49088522e+02] [ 9.73915290e-01 -6.17001227e-02 -2.18362318e-01 4.57990137e+01] [ 2.18949032e-01 2.83090001e-03 9.75732191e-01 -7.50196533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06687500000004 meters 0.015076560916692877 Centerline is valid? [True, True] Translation: X:249.09, Y:45.83, Z:-7.50 [[-5.91931906e-02 -9.98112559e-01 1.63549939e-02 2.49086002e+02] [ 9.73810293e-01 -6.13393359e-02 -2.18931494e-01 4.58253883e+01] [ 2.19521479e-01 2.96740774e-03 9.75603154e-01 -7.49637053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.096875 meters 0.01529951107747789 Centerline is valid? [True, True] Translation: X:249.08, Y:45.85, Z:-7.49 [[-5.88904027e-02 -9.98128992e-01 1.64449101e-02 2.49082954e+02] [ 9.73769989e-01 -6.10644768e-02 -2.19187449e-01 4.58506894e+01] [ 2.19781547e-01 3.10552282e-03 9.75544170e-01 -7.49104028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12687500000004 meters 0.015185448027415704 Centerline is valid? [True, True] Translation: X:249.08, Y:45.88, Z:-7.49 [[-5.86077920e-02 -9.98144846e-01 1.64922270e-02 2.49080724e+02] [ 9.73809573e-01 -6.07988264e-02 -2.19085414e-01 4.58773042e+01] [ 2.19681685e-01 3.22017616e-03 9.75566291e-01 -7.48513672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.156875 meters 0.015268966021658061 Centerline is valid? [True, True] Translation: X:249.08, Y:45.90, Z:-7.48 [[-5.83977398e-02 -9.98156920e-01 1.65066005e-02 2.49077501e+02] [ 9.73991549e-01 -6.05945012e-02 -2.18331788e-01 4.59047104e+01] [ 2.18929595e-01 3.32720646e-03 9.75734986e-01 -7.47941427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.186875 meters 0.015335310322228799 Centerline is valid? [True, True] Translation: X:249.07, Y:45.93, Z:-7.47 [[-5.87755467e-02 -9.98133652e-01 1.65724758e-02 2.49074606e+02] [ 9.73962717e-01 -6.09776585e-02 -2.18353730e-01 4.59313496e+01] [ 2.18956756e-01 3.30711371e-03 9.75728959e-01 -7.47360600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.216875 meters 0.015447236521439771 Centerline is valid? [True, True] Translation: X:249.07, Y:45.96, Z:-7.47 [[-5.96469372e-02 -9.98081505e-01 1.65997805e-02 2.49072405e+02] [ 9.74026687e-01 -6.18322210e-02 -2.17827431e-01 4.59581108e+01] [ 2.18435931e-01 3.17589013e-03 9.75846124e-01 -7.46810356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.246875 meters 0.015344867530571106 Centerline is valid? [True, True] Translation: X:249.07, Y:45.99, Z:-7.46 [[-6.01347757e-02 -9.98051284e-01 1.66566580e-02 2.49070594e+02] [ 9.74035811e-01 -6.23201494e-02 -2.17647507e-01 4.59851347e+01] [ 2.18261419e-01 3.13599745e-03 9.75885300e-01 -7.46226057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.276875 meters 0.015347189660201046 Centerline is valid? [True, True] Translation: X:249.07, Y:46.01, Z:-7.46 [[-6.08919599e-02 -9.98004200e-01 1.67267804e-02 2.49068663e+02] [ 9.73989825e-01 -6.30743834e-02 -2.17636032e-01 4.60113634e+01] [ 2.18256705e-01 3.03942937e-03 9.75886660e-01 -7.45680583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.306875 meters 0.015303516581545598 Centerline is valid? [True, True] Translation: X:249.07, Y:46.04, Z:-7.45 [[-6.24597638e-02 -9.97905917e-01 1.68094856e-02 2.49066626e+02] [ 9.73854488e-01 -6.46229397e-02 -2.17787311e-01 4.60370159e+01] [ 2.18417524e-01 2.76704900e-03 9.75851489e-01 -7.45219699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.336875 meters 0.01507807133499189 Centerline is valid? [True, True] Translation: X:249.06, Y:46.06, Z:-7.45 [[-6.30747210e-02 -9.97866097e-01 1.68769746e-02 2.49064838e+02] [ 9.73833184e-01 -6.52375727e-02 -2.17699306e-01 4.60640602e+01] [ 2.18335770e-01 2.70403489e-03 9.75869961e-01 -7.44656802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.366875 meters 0.01523625128173188 Centerline is valid? [True, True] Translation: X:249.06, Y:46.09, Z:-7.44 [[-6.36995763e-02 -9.97824777e-01 1.69729003e-02 2.49062334e+02] [ 9.73718871e-01 -6.58691950e-02 -2.18020205e-01 4.60898761e+01] [ 2.18663953e-01 2.63903861e-03 9.75796655e-01 -7.44145067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.396875 meters 0.014905089506971956 Centerline is valid? [True, True] Translation: X:249.06, Y:46.12, Z:-7.44 [[-6.40465637e-02 -9.97801129e-01 1.70571247e-02 2.49060763e+02] [ 9.73665823e-01 -6.62265654e-02 -2.18148820e-01 4.61177788e+01] [ 2.18798774e-01 2.63625711e-03 9.75766441e-01 -7.43532559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.426875 meters 0.015293383797210664 Centerline is valid? [True, True] Translation: X:249.06, Y:46.14, Z:-7.43 [[-6.38351190e-02 -9.97813521e-01 1.71246754e-02 2.49057702e+02] [ 9.73656502e-01 -6.60352961e-02 -2.18248379e-01 4.61433297e+01] [ 2.18902017e-01 2.74164028e-03 9.75742994e-01 -7.43038455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.456875 meters 0.015117190093800813 Centerline is valid? [True, True] Translation: X:249.06, Y:46.17, Z:-7.42 [[-6.33798392e-02 -9.97840273e-01 1.72564697e-02 2.49056013e+02] [ 9.73522944e-01 -6.56220617e-02 -2.18967631e-01 4.61705511e+01] [ 2.19627126e-01 2.92143593e-03 9.75579515e-01 -7.42448226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.486875 meters 0.015611244074463262 Centerline is valid? [True, True] Translation: X:249.05, Y:46.20, Z:-7.42 [[-6.24501447e-02 -9.97896503e-01 1.73939163e-02 2.49052582e+02] [ 9.73374113e-01 -6.47482562e-02 -2.19887469e-01 4.61972978e+01] [ 2.20551162e-01 3.19878356e-03 9.75370162e-01 -7.42004408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.516875 meters 0.015832791548202618 Centerline is valid? [True, True] Translation: X:249.05, Y:46.22, Z:-7.42 [[-6.21593427e-02 -9.97913512e-01 1.74596093e-02 2.49049693e+02] [ 9.73399545e-01 -6.44789757e-02 -2.19854014e-01 4.62225095e+01] [ 2.20521069e-01 3.32919476e-03 9.75376530e-01 -7.41511683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.546875 meters 0.016094623085255663 Centerline is valid? [True, True] Translation: X:249.05, Y:46.25, Z:-7.41 [[-6.14253689e-02 -9.97957318e-01 1.75532024e-02 2.49047306e+02] [ 9.73392582e-01 -6.37845267e-02 -2.20087290e-01 4.62486019e+01] [ 2.20757345e-01 3.56721404e-03 9.75322239e-01 -7.40925109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57687500000003 meters 0.016110315934544827 Centerline is valid? [True, True] Translation: X:249.05, Y:46.28, Z:-7.40 [[-6.12959844e-02 -9.97964106e-01 1.76194481e-02 2.49045693e+02] [ 9.73411258e-01 -6.36727636e-02 -2.20037047e-01 4.62752996e+01] [ 2.20710954e-01 3.66358175e-03 9.75332381e-01 -7.40293111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.606875 meters 0.016526286423813784 Centerline is valid? [True, True] Translation: X:249.04, Y:46.30, Z:-7.40 [[-6.09422313e-02 -9.97984649e-01 1.76829043e-02 2.49042930e+02] [ 9.73453937e-01 -6.33413564e-02 -2.19943868e-01 4.63004980e+01] [ 2.20620663e-01 3.80962277e-03 9.75352249e-01 -7.39688016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63687500000003 meters 0.017300375391424046 Centerline is valid? [True, True] Translation: X:249.04, Y:46.33, Z:-7.39 [[-5.97188253e-02 -9.98056913e-01 1.77780659e-02 2.49039530e+02] [ 9.73470861e-01 -6.21701216e-02 -2.20202993e-01 4.63266182e+01] [ 2.20880384e-01 4.15616505e-03 9.75292050e-01 -7.39168826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.666875 meters 0.017352101668019086 Centerline is valid? [True, True] Translation: X:249.04, Y:46.35, Z:-7.39 [[-5.92162052e-02 -9.98085418e-01 1.78588613e-02 2.49037239e+02] [ 9.73458522e-01 -6.16985626e-02 -2.20390095e-01 4.63533368e+01] [ 2.21070006e-01 4.33419560e-03 9.75248311e-01 -7.38584822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69687500000003 meters 0.01672061928517636 Centerline is valid? [True, True] Translation: X:249.04, Y:46.38, Z:-7.38 [[-5.91671613e-02 -9.98087522e-01 1.79037813e-02 2.49036396e+02] [ 9.73526965e-01 -6.16593455e-02 -2.20098555e-01 4.63794555e+01] [ 2.20781557e-01 4.40720715e-03 9.75313324e-01 -7.37960619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.726875 meters 0.017106138557851393 Centerline is valid? [True, True] Translation: X:249.03, Y:46.40, Z:-7.37 [[-5.88410997e-02 -9.98106003e-01 1.79480340e-02 2.49034212e+02] [ 9.73620689e-01 -6.13495528e-02 -2.19770305e-01 4.64046075e+01] [ 2.20455164e-01 4.54305080e-03 9.75386529e-01 -7.37386561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75687500000004 meters 0.016669388311076623 Centerline is valid? [True, True] Translation: X:249.03, Y:46.43, Z:-7.37 [[-5.91879750e-02 -9.98084552e-01 1.80003040e-02 2.49033336e+02] [ 9.73607101e-01 -6.16992680e-02 -2.19732593e-01 4.64321729e+01] [ 2.20422312e-01 4.51969661e-03 9.75394062e-01 -7.36739973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.786875 meters 0.01670847958520539 Centerline is valid? [True, True] Translation: X:249.03, Y:46.46, Z:-7.36 [[-6.02683286e-02 -9.98018588e-01 1.80728373e-02 2.49031721e+02] [ 9.73517743e-01 -6.27695276e-02 -2.19825363e-01 4.64574540e+01] [ 2.20524222e-01 4.34572053e-03 9.75371818e-01 -7.36101678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81687500000004 meters 0.017194508569521646 Centerline is valid? [True, True] Translation: X:249.03, Y:46.48, Z:-7.36 [[-6.14646908e-02 -9.97944633e-01 1.81273817e-02 2.49028580e+02] [ 9.73500357e-01 -6.39474308e-02 -2.19562702e-01 4.64832313e+01] [ 2.20270619e-01 4.15165900e-03 9.75429966e-01 -7.35568661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.846875 meters 0.01612336348731451 Centerline is valid? [True, True] Translation: X:249.03, Y:46.51, Z:-7.35 [[-6.22861483e-02 -9.97891688e-01 1.82377334e-02 2.49029234e+02] [ 9.73348197e-01 -6.47748736e-02 -2.19994325e-01 4.65108471e+01] [ 2.20711855e-01 4.04906574e-03 9.75330653e-01 -7.34903952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87687500000004 meters 0.015833546622972844 Centerline is valid? [True, True] Translation: X:249.03, Y:46.54, Z:-7.34 [[-6.33901996e-02 -9.97820926e-01 1.83052605e-02 2.49028541e+02] [ 9.73266646e-01 -6.58668186e-02 -2.20030903e-01 4.65382076e+01] [ 2.20757149e-01 3.86809661e-03 9.75321136e-01 -7.34304961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.906875 meters 0.01564765309843187 Centerline is valid? [True, True] Translation: X:249.03, Y:46.56, Z:-7.34 [[-6.52214330e-02 -9.97700948e-01 1.84115008e-02 2.49027150e+02] [ 9.73033069e-01 -6.76781957e-02 -2.20513738e-01 4.65649729e+01] [ 2.21252822e-01 3.53277717e-03 9.75210084e-01 -7.33742043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.936875 meters 0.015809457432424744 Centerline is valid? [True, True] Translation: X:249.03, Y:46.59, Z:-7.33 [[-6.58984580e-02 -9.97654883e-01 1.84967076e-02 2.49025447e+02] [ 9.72937011e-01 -6.83580934e-02 -2.20727758e-01 4.65917288e+01] [ 2.21474526e-01 3.45051252e-03 9.75160053e-01 -7.33248389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.966875 meters 0.015691817664052383 Centerline is valid? [True, True] Translation: X:249.02, Y:46.62, Z:-7.33 [[-6.71815954e-02 -9.97567419e-01 1.85977964e-02 2.49024498e+02] [ 9.72769927e-01 -6.96329532e-02 -2.21065422e-01 4.66171132e+01] [ 2.21822682e-01 3.23984931e-03 9.75081638e-01 -7.32640957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.996875 meters 0.015691817664052383 Centerline is valid? [True, True] Translation: X:249.02, Y:46.64, Z:-7.32 [[-6.74908368e-02 -9.97545134e-01 1.86733297e-02 2.49022160e+02] [ 9.72748541e-01 -6.99512424e-02 -2.21059042e-01 4.66431759e+01] [ 2.21822594e-01 3.24499449e-03 9.75081641e-01 -7.32064164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.026875 meters 0.015740276389801845 Centerline is valid? [True, True] Translation: X:249.02, Y:46.67, Z:-7.32 [[-6.76885113e-02 -9.97529733e-01 1.87802370e-02 2.49020620e+02] [ 9.72636294e-01 -7.01691515e-02 -2.21483475e-01 4.66703085e+01] [ 2.22254145e-01 3.27445346e-03 9.74983268e-01 -7.31510201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.056875 meters 0.015773249040059847 Centerline is valid? [True, True] Translation: X:249.02, Y:46.70, Z:-7.31 [[-6.83830738e-02 -9.97480499e-01 1.88788034e-02 2.49018844e+02] [ 9.72511977e-01 -7.08693493e-02 -2.21806201e-01 4.66958644e+01] [ 2.22585288e-01 3.19207262e-03 9.74907996e-01 -7.30990380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.086875 meters 0.01573765248391329 Centerline is valid? [True, True] Translation: X:249.02, Y:46.72, Z:-7.30 [[-6.90847383e-02 -9.97429659e-01 1.90098698e-02 2.49018352e+02] [ 9.72308171e-01 -7.15847590e-02 -2.22468972e-01 4.67224644e+01] [ 2.23257968e-01 3.11424096e-03 9.74754421e-01 -7.30448829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.116875 meters 0.01541147023678183 Centerline is valid? [True, True] Translation: X:249.02, Y:46.75, Z:-7.30 [[-6.96266887e-02 -9.97390475e-01 1.90883312e-02 2.49017474e+02] [ 9.72247309e-01 -7.21308593e-02 -2.22558552e-01 4.67487011e+01] [ 2.23354638e-01 3.06256365e-03 9.74732438e-01 -7.29867508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.146875 meters 0.015345776946790098 Centerline is valid? [True, True] Translation: X:249.02, Y:46.78, Z:-7.29 [[-7.00952594e-02 -9.97356022e-01 1.91734309e-02 2.49016047e+02] [ 9.72180607e-01 -7.26070513e-02 -2.22695044e-01 4.67752863e+01] [ 2.23498370e-01 3.03017085e-03 9.74699593e-01 -7.29272255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.176875 meters 0.015427039530986867 Centerline is valid? [True, True] Translation: X:249.01, Y:46.80, Z:-7.29 [[-7.05906856e-02 -9.97319206e-01 1.92706333e-02 2.49014087e+02] [ 9.72081197e-01 -7.31125249e-02 -2.22963461e-01 4.68009796e+01] [ 2.23774666e-01 2.99347671e-03 9.74636311e-01 -7.28711944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.206875 meters 0.015520366062996093 Centerline is valid? [True, True] Translation: X:249.01, Y:46.83, Z:-7.28 [[-7.08088461e-02 -9.97302748e-01 1.93219021e-02 2.49012677e+02] [ 9.72131789e-01 -7.33357312e-02 -2.22669387e-01 4.68268649e+01] [ 2.23485777e-01 3.01647287e-03 9.74702523e-01 -7.28170683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.236875 meters 0.015389014751120072 Centerline is valid? [True, True] Translation: X:249.01, Y:46.85, Z:-7.28 [[-7.13169641e-02 -9.97265241e-01 1.93888897e-02 2.49010860e+02] [ 9.72114970e-01 -7.38457062e-02 -2.22574251e-01 4.68535115e+01] [ 2.23397351e-01 2.97491001e-03 9.74722922e-01 -7.27539343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.266875 meters 0.015498986863494135 Centerline is valid? [True, True] Translation: X:249.01, Y:46.88, Z:-7.27 [[-7.13399427e-02 -9.97262504e-01 1.94450532e-02 2.49008975e+02] [ 9.72153510e-01 -7.38800938e-02 -2.22394434e-01 4.68795368e+01] [ 2.23222233e-01 3.03797052e-03 9.74762846e-01 -7.26923756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.296875 meters 0.015369919274197733 Centerline is valid? [True, True] Translation: X:249.01, Y:46.91, Z:-7.26 [[-7.18083722e-02 -9.97227536e-01 1.95140543e-02 2.49006742e+02] [ 9.72126492e-01 -7.43520118e-02 -2.22355261e-01 4.69051462e+01] [ 2.23189699e-01 3.00315977e-03 9.74770403e-01 -7.26330430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.32687500000003 meters 0.015716579332142062 Centerline is valid? [True, True] Translation: X:249.00, Y:46.93, Z:-7.26 [[-7.11110168e-02 -9.97275318e-01 1.96255901e-02 2.49004195e+02] [ 9.72084270e-01 -7.36984447e-02 -2.22757067e-01 4.69315514e+01] [ 2.23596500e-01 3.23724595e-03 9.74676421e-01 -7.25811154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.356875 meters 0.01582665852546607 Centerline is valid? [True, True] Translation: X:249.00, Y:46.96, Z:-7.25 [[-7.09509043e-02 -9.97284861e-01 1.97199261e-02 2.49001038e+02] [ 9.72034536e-01 -7.35643704e-02 -2.23018260e-01 4.69581786e+01] [ 2.23863419e-01 3.34510198e-03 9.74614785e-01 -7.25217587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.38687500000003 meters 0.01591331289740141 Centerline is valid? [True, True] Translation: X:249.00, Y:46.98, Z:-7.25 [[-7.03239416e-02 -9.97327428e-01 1.98127335e-02 2.48998329e+02] [ 9.72021347e-01 -7.29749772e-02 -2.23269239e-01 4.69846951e+01] [ 2.24118370e-01 3.55722701e-03 9.74555438e-01 -7.24643446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.416875 meters 0.01566999551117907 Centerline is valid? [True, True] Translation: X:249.00, Y:47.01, Z:-7.24 [[-7.00454869e-02 -9.97344694e-01 1.99296500e-02 2.48996388e+02] [ 9.71921712e-01 -7.27317469e-02 -2.23781766e-01 4.70111428e+01] [ 2.24637076e-01 3.69515675e-03 9.74435493e-01 -7.24018744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.44687500000003 meters 0.015991829264376704 Centerline is valid? [True, True] Translation: X:248.99, Y:47.04, Z:-7.23 [[-6.96436635e-02 -9.97371402e-01 2.00011791e-02 2.48993454e+02] [ 9.71954166e-01 -7.23561593e-02 -2.23762566e-01 4.70378185e+01] [ 2.24621593e-01 3.85658447e-03 9.74438437e-01 -7.23462534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.476875 meters 0.016203919457294828 Centerline is valid? [True, True] Translation: X:248.99, Y:47.06, Z:-7.23 [[-6.99468568e-02 -9.97348042e-01 2.01076998e-02 2.48990304e+02] [ 9.71846260e-01 -7.26770053e-02 -2.24126971e-01 4.70635482e+01] [ 2.24993963e-01 3.86461568e-03 9.74352493e-01 -7.22878061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.50687500000004 meters 0.01576688911895134 Centerline is valid? [True, True] Translation: X:248.99, Y:47.09, Z:-7.22 [[-7.01161827e-02 -9.97334757e-01 2.01767995e-02 2.48989296e+02] [ 9.71852320e-01 -7.28572110e-02 -2.24042174e-01 4.70899814e+01] [ 2.24915072e-01 3.89988743e-03 9.74370567e-01 -7.22193162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.536875 meters 0.015624678674621128 Centerline is valid? [True, True] Translation: X:248.99, Y:47.12, Z:-7.22 [[-7.11079813e-02 -9.97263144e-01 2.02454147e-02 2.48987645e+02] [ 9.71789583e-01 -7.38389112e-02 -2.23992907e-01 4.71174729e+01] [ 2.24874770e-01 3.74659970e-03 9.74380470e-01 -7.21524145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56687500000004 meters 0.01584175503644162 Centerline is valid? [True, True] Translation: X:248.99, Y:47.14, Z:-7.21 [[-7.15093331e-02 -9.97234389e-01 2.02481567e-02 2.48985537e+02] [ 9.71859281e-01 -7.42289991e-02 -2.23561165e-01 4.71432245e+01] [ 2.24445882e-01 3.69164917e-03 9.74479563e-01 -7.20876616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.596875 meters 0.015536617412052277 Centerline is valid? [True, True] Translation: X:248.98, Y:47.17, Z:-7.20 [[-7.22867941e-02 -9.97177977e-01 2.02657693e-02 2.48983746e+02] [ 9.71904210e-01 -7.49889916e-02 -2.23111761e-01 4.71692626e+01] [ 2.24001844e-01 3.56835256e-03 9.74582188e-01 -7.20224322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62687500000004 meters 0.01575396634757147 Centerline is valid? [True, True] Translation: X:248.98, Y:47.19, Z:-7.20 [[-7.24960612e-02 -9.97162189e-01 2.02950558e-02 2.48980959e+02] [ 9.71999978e-01 -7.51977287e-02 -2.22623775e-01 4.71949060e+01] [ 2.23518153e-01 3.58744697e-03 9.74693165e-01 -7.19680189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.656875 meters 0.016143171455899875 Centerline is valid? [True, True] Translation: X:248.98, Y:47.22, Z:-7.19 [[-7.25750268e-02 -9.97154257e-01 2.04022906e-02 2.48976968e+02] [ 9.71916979e-01 -7.52999035e-02 -2.22951365e-01 4.72204482e+01] [ 2.23853193e-01 3.64863135e-03 9.74616045e-01 -7.19168122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.686875 meters 0.016067263473375018 Centerline is valid? [True, True] Translation: X:248.97, Y:47.25, Z:-7.19 [[-7.27924803e-02 -9.97136047e-01 2.05172609e-02 2.48974015e+02] [ 9.71799513e-01 -7.55392251e-02 -2.23382033e-01 4.72467256e+01] [ 2.24292136e-01 3.67813188e-03 9.74515012e-01 -7.18627633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.716875 meters 0.016478182050216752 Centerline is valid? [True, True] Translation: X:248.97, Y:47.27, Z:-7.18 [[-7.21674404e-02 -9.97179747e-01 2.06012715e-02 2.48970395e+02] [ 9.71812366e-01 -7.49494809e-02 -2.23524721e-01 4.72736188e+01] [ 2.24438380e-01 3.88936341e-03 9.74480521e-01 -7.18137078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.746875 meters 0.0160885092198409 Centerline is valid? [True, True] Translation: X:248.97, Y:47.30, Z:-7.17 [[-7.24077427e-02 -9.97160049e-01 2.07112630e-02 2.48968295e+02] [ 9.71685348e-01 -7.52102281e-02 -2.23988851e-01 4.73003884e+01] [ 2.24910433e-01 3.90630371e-03 9.74371612e-01 -7.17470715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.776875 meters 0.016103810034172234 Centerline is valid? [True, True] Translation: X:248.97, Y:47.33, Z:-7.17 [[-7.25062279e-02 -9.97151843e-01 2.07617051e-02 2.48965445e+02] [ 9.71732342e-01 -7.53165734e-02 -2.23749122e-01 4.73264498e+01] [ 2.24675550e-01 3.95161553e-03 9.74425617e-01 -7.16840213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.806875 meters 0.016461806002964124 Centerline is valid? [True, True] Translation: X:248.96, Y:47.35, Z:-7.16 [[-7.18537672e-02 -9.97198205e-01 2.08032738e-02 2.48961561e+02] [ 9.71857214e-01 -7.46886695e-02 -2.23417006e-01 4.73532173e+01] [ 2.24344806e-01 4.16445814e-03 9.74500931e-01 -7.16215095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.836875 meters 0.016808226523118402 Centerline is valid? [True, True] Translation: X:248.96, Y:47.38, Z:-7.16 [[-7.17281693e-02 -9.97205217e-01 2.09003772e-02 2.48957875e+02] [ 9.71800618e-01 -7.45892755e-02 -2.23696219e-01 4.73790689e+01] [ 2.24629980e-01 4.26567925e-03 9.74434798e-01 -7.15697548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.866875 meters 0.017070089172996596 Centerline is valid? [True, True] Translation: X:248.95, Y:47.41, Z:-7.15 [[-7.13193414e-02 -9.97233844e-01 2.09335051e-02 2.48954454e+02] [ 9.71886536e-01 -7.41972075e-02 -2.23453205e-01 4.74051761e+01] [ 2.24388306e-01 4.40845637e-03 9.74489843e-01 -7.15150186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.896875 meters 0.017051979305397938 Centerline is valid? [True, True] Translation: X:248.95, Y:47.43, Z:-7.15 [[-7.12125302e-02 -9.97239201e-01 2.10416456e-02 2.48950954e+02] [ 9.71800609e-01 -7.41192323e-02 -2.23852441e-01 4.74312161e+01] [ 2.24794020e-01 4.50718530e-03 9.74395882e-01 -7.14594940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.926875 meters 0.017712528611611274 Centerline is valid? [True, True] Translation: X:248.95, Y:47.46, Z:-7.14 [[-6.97803916e-02 -9.97338816e-01 2.11183018e-02 2.48946468e+02] [ 9.71887414e-01 -7.27412327e-02 -2.23927594e-01 4.74587482e+01] [ 2.24867853e-01 4.89885657e-03 9.74376955e-01 -7.14071215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.956875 meters 0.0179178976495586 Centerline is valid? [True, True] Translation: X:248.94, Y:47.48, Z:-7.13 [[-6.96700047e-02 -9.97344603e-01 2.12092632e-02 2.48943258e+02] [ 9.71817114e-01 -7.26558261e-02 -2.24260179e-01 4.74848246e+01] [ 2.25205656e-01 4.98731721e-03 9.74298486e-01 -7.13496818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.986875 meters 0.018409428811153008 Centerline is valid? [True, True] Translation: X:248.94, Y:47.51, Z:-7.13 [[-6.89856156e-02 -9.97391306e-01 2.12501195e-02 2.48939234e+02] [ 9.71938856e-01 -7.19964753e-02 -2.23945009e-01 4.75104720e+01] [ 2.24890738e-01 5.20483255e-03 9.74370087e-01 -7.12852018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.016875 meters 0.01748325814540334 Centerline is valid? [True, True] Translation: X:248.94, Y:47.54, Z:-7.12 [[-6.92722960e-02 -9.97370609e-01 2.12889000e-02 2.48938393e+02] [ 9.71984064e-01 -7.22830249e-02 -2.23656307e-01 4.75366480e+01] [ 2.24607053e-01 5.19928569e-03 9.74435549e-01 -7.12184124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.046875 meters 0.018659165479374327 Centerline is valid? [True, True] Translation: X:248.93, Y:47.56, Z:-7.12 [[-6.92999025e-02 -9.97368000e-01 2.13212409e-02 2.48933481e+02] [ 9.72077651e-01 -7.23149488e-02 -2.23238860e-01 4.75620634e+01] [ 2.24193140e-01 5.25547051e-03 9.74530562e-01 -7.11685054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07687500000003 meters 0.017767137488990198 Centerline is valid? [True, True] Translation: X:248.93, Y:47.59, Z:-7.11 [[-6.99706370e-02 -9.97320190e-01 2.13669983e-02 2.48932298e+02] [ 9.72053637e-01 -7.29783455e-02 -2.23127517e-01 4.75885229e+01] [ 2.24088906e-01 5.15749386e-03 9.74555059e-01 -7.11051102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.106875 meters 0.017545981979163155 Centerline is valid? [True, True] Translation: X:248.93, Y:47.62, Z:-7.11 [[-7.06171778e-02 -9.97272657e-01 2.14583873e-02 2.48929290e+02] [ 9.71957430e-01 -7.36300586e-02 -2.23332417e-01 4.76150093e+01] [ 2.24303296e-01 5.08553391e-03 9.74506115e-01 -7.10532550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13687500000003 meters 0.017510889447484964 Centerline is valid? [True, True] Translation: X:248.93, Y:47.64, Z:-7.10 [[-7.11107219e-02 -9.97234887e-01 2.15834655e-02 2.48926592e+02] [ 9.71792021e-01 -7.41419966e-02 -2.23882183e-01 4.76418249e+01] [ 2.24863365e-01 5.05421588e-03 9.74377197e-01 -7.10017523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.166875 meters 0.016822394928408327 Centerline is valid? [True, True] Translation: X:248.93, Y:47.67, Z:-7.09 [[-7.22753905e-02 -9.97147175e-01 2.17664922e-02 2.48925145e+02] [ 9.71436629e-01 -7.53238978e-02 -2.25027080e-01 4.76689889e+01] [ 2.26024654e-01 4.88084770e-03 9.74109354e-01 -7.09442281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19687500000003 meters 0.018370503871152754 Centerline is valid? [True, True] Translation: X:248.92, Y:47.69, Z:-7.09 [[-7.34148818e-02 -9.97063012e-01 2.18083929e-02 2.48919438e+02] [ 9.71414690e-01 -7.64421212e-02 -2.24744528e-01 4.76941835e+01] [ 2.25751536e-01 4.68540019e-03 9.74173645e-01 -7.09074247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.226875 meters 0.016286427167007775 Centerline is valid? [True, True] Translation: X:248.92, Y:47.72, Z:-7.08 [[-7.45736190e-02 -9.96975016e-01 2.18995880e-02 2.48921045e+02] [ 9.71244990e-01 -7.75932022e-02 -2.25083238e-01 4.77202985e+01] [ 2.26101624e-01 4.48459351e-03 9.74093396e-01 -7.08225955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25687500000004 meters 0.016091831319630285 Centerline is valid? [True, True] Translation: X:248.92, Y:47.75, Z:-7.08 [[-7.64343353e-02 -9.96832772e-01 2.19594400e-02 2.48918417e+02] [ 9.71132017e-01 -7.94187902e-02 -2.24933905e-01 4.77460623e+01] [ 2.25965480e-01 4.13284175e-03 9.74126543e-01 -7.07630990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.286875 meters 0.01555224970340739 Centerline is valid? [True, True] Translation: X:248.92, Y:47.77, Z:-7.07 [[-7.78722701e-02 -9.96720381e-01 2.20089188e-02 2.48915812e+02] [ 9.71082540e-01 -8.08296804e-02 -2.24644749e-01 4.77723246e+01] [ 2.25686974e-01 3.87888017e-03 9.74192150e-01 -7.07000348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31687500000004 meters 0.015309778992457238 Centerline is valid? [True, True] Translation: X:248.91, Y:47.80, Z:-7.06 [[-7.93733670e-02 -9.96599956e-01 2.20996714e-02 2.48913291e+02] [ 9.70917701e-01 -8.23132899e-02 -2.24818462e-01 4.77991462e+01] [ 2.25873166e-01 3.61236394e-03 9.74150021e-01 -7.06414662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.346875 meters 0.01502492585666378 Centerline is valid? [True, True] Translation: X:248.91, Y:47.83, Z:-7.06 [[-8.18420463e-02 -9.96399891e-01 2.21164285e-02 2.48910677e+02] [ 9.70843878e-01 -8.47202921e-02 -2.24242361e-01 4.78255517e+01] [ 2.25308775e-01 3.11914548e-03 9.74282416e-01 -7.05837755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37687500000004 meters 0.015095397101665213 Centerline is valid? [True, True] Translation: X:248.91, Y:47.85, Z:-7.05 [[-8.33299058e-02 -9.96275347e-01 2.21711560e-02 2.48907662e+02] [ 9.70740436e-01 -8.61819982e-02 -2.24133153e-01 4.78508001e+01] [ 2.25209089e-01 2.84544313e-03 9.74306302e-01 -7.05291705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.406875 meters 0.014564600453781568 Centerline is valid? [True, True] Translation: X:248.91, Y:47.88, Z:-7.05 [[-8.48414054e-02 -9.96145367e-01 2.22787779e-02 2.48906565e+02] [ 9.70531503e-01 -8.76798531e-02 -2.24456778e-01 4.78773819e+01] [ 2.25544979e-01 2.57902738e-03 9.74229342e-01 -7.04624407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.436875 meters 0.014207094282287912 Centerline is valid? [True, True] Translation: X:248.90, Y:47.90, Z:-7.04 [[-8.71859156e-02 -9.95940652e-01 2.23793212e-02 2.48904097e+02] [ 9.70256637e-01 -8.99873461e-02 -2.24731696e-01 4.79028138e+01] [ 2.25833288e-01 2.12024624e-03 9.74163657e-01 -7.04064906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.466875 meters 0.014233296858724702 Centerline is valid? [True, True] Translation: X:248.90, Y:47.93, Z:-7.04 [[-8.78707637e-02 -9.95878829e-01 2.24518720e-02 2.48900909e+02] [ 9.70200801e-01 -9.06708467e-02 -2.24698025e-01 4.79293899e+01] [ 2.25807737e-01 2.03843715e-03 9.74169755e-01 -7.03528878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.496875 meters 0.014280283893732221 Centerline is valid? [True, True] Translation: X:248.90, Y:47.96, Z:-7.03 [[-8.82885204e-02 -9.95840271e-01 2.25231478e-02 2.48897814e+02] [ 9.70160852e-01 -9.10939299e-02 -2.24699395e-01 4.79553987e+01] [ 2.25816428e-01 2.01269908e-03 9.74167793e-01 -7.02938288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.526875 meters 0.014392647620287018 Centerline is valid? [True, True] Translation: X:248.89, Y:47.98, Z:-7.02 [[-8.86508131e-02 -9.95807187e-01 2.25628062e-02 2.48893826e+02] [ 9.70200123e-01 -9.14551914e-02 -2.24382864e-01 4.79810173e+01] [ 2.25505554e-01 1.99871405e-03 9.74239832e-01 -7.02413737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.556875 meters 0.014172463684339897 Centerline is valid? [True, True] Translation: X:248.89, Y:48.01, Z:-7.02 [[-8.87287984e-02 -9.95798600e-01 2.26351182e-02 2.48891307e+02] [ 9.70196348e-01 -9.15474342e-02 -2.24361567e-01 4.80080927e+01] [ 2.25491121e-01 2.05317676e-03 9.74243059e-01 -7.01716234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.586875 meters 0.014494115895988247 Centerline is valid? [True, True] Translation: X:248.89, Y:48.03, Z:-7.01 [[-8.88006065e-02 -9.95789925e-01 2.27349295e-02 2.48887225e+02] [ 9.70111129e-01 -9.16406221e-02 -2.24691776e-01 4.80336190e+01] [ 2.25829250e-01 2.10264222e-03 9.74164631e-01 -7.01246639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.616875 meters 0.014193638156040928 Centerline is valid? [True, True] Translation: X:248.88, Y:48.06, Z:-7.01 [[-8.86543508e-02 -9.95800833e-01 2.28277607e-02 2.48884538e+02] [ 9.70085940e-01 -9.15194633e-02 -2.24849855e-01 4.80594220e+01] [ 2.25994857e-01 2.21097180e-03 9.74125986e-01 -7.00586661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.646875 meters 0.014224332859317769 Centerline is valid? [True, True] Translation: X:248.88, Y:48.09, Z:-7.00 [[-8.90044815e-02 -9.95768427e-01 2.28788467e-02 2.48881970e+02] [ 9.70065769e-01 -9.18719710e-02 -2.24793117e-01 4.80860731e+01] [ 2.25943814e-01 2.18639115e-03 9.74137882e-01 -6.99968316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.676875 meters 0.01397976344632162 Centerline is valid? [True, True] Translation: X:248.88, Y:48.11, Z:-6.99 [[-8.90718140e-02 -9.95760857e-01 2.29461990e-02 2.48879627e+02] [ 9.70070921e-01 -9.19526574e-02 -2.24737884e-01 4.81127735e+01] [ 2.25895152e-01 2.24162944e-03 9.74149042e-01 -6.99290403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.706875 meters 0.01437394419192191 Centerline is valid? [True, True] Translation: X:248.88, Y:48.14, Z:-6.99 [[-8.87501181e-02 -9.95790422e-01 2.29096514e-02 2.48876641e+02] [ 9.70333674e-01 -9.16286066e-02 -2.23733680e-01 4.81386026e+01] [ 2.24891035e-01 2.37361567e-03 9.74381028e-01 -6.98679984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.736875 meters 0.014161089332084249 Centerline is valid? [True, True] Translation: X:248.87, Y:48.17, Z:-6.98 [[-8.90021194e-02 -9.95768256e-01 2.28954683e-02 2.48873853e+02] [ 9.70498048e-01 -9.18690223e-02 -2.22920662e-01 4.81661157e+01] [ 2.24080703e-01 2.37959598e-03 9.74567687e-01 -6.98028184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.766875 meters 0.014424953564468079 Centerline is valid? [True, True] Translation: X:248.87, Y:48.19, Z:-6.98 [[-8.87725484e-02 -9.95788267e-01 2.29163996e-02 2.48870364e+02] [ 9.70616937e-01 -9.16488837e-02 -2.22493245e-01 4.81916333e+01] [ 2.23656425e-01 2.49175326e-03 9.74664863e-01 -6.97512106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.796875 meters 0.014448603474350083 Centerline is valid? [True, True] Translation: X:248.87, Y:48.22, Z:-6.97 [[-8.87711491e-02 -9.95786432e-01 2.30014268e-02 2.48867247e+02] [ 9.70553366e-01 -9.16672468e-02 -2.22762831e-01 4.82185969e+01] [ 2.23932683e-01 2.54919969e-03 9.74601280e-01 -6.96947262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.82687500000003 meters 0.014596982708121438 Centerline is valid? [True, True] Translation: X:248.86, Y:48.25, Z:-6.96 [[-8.77842900e-02 -9.95871449e-01 2.31079231e-02 2.48864420e+02] [ 9.70564404e-01 -9.07302253e-02 -2.23098103e-01 4.82452503e+01] [ 2.24273618e-01 2.84321905e-03 9.74522068e-01 -6.96399500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.856875 meters 0.014596982708121438 Centerline is valid? [True, True] Translation: X:248.86, Y:48.27, Z:-6.96 [[-8.80947311e-02 -9.95842368e-01 2.31796671e-02 2.48861585e+02] [ 9.70536279e-01 -9.10488472e-02 -2.23090649e-01 4.82712647e+01] [ 2.24273602e-01 2.84359709e-03 9.74522070e-01 -6.95822484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.88687500000003 meters 0.014673396379412099 Centerline is valid? [True, True] Translation: X:248.86, Y:48.30, Z:-6.95 [[-8.77324286e-02 -9.95871009e-01 2.33228231e-02 2.48858451e+02] [ 9.70409772e-01 -9.07299739e-02 -2.23769850e-01 4.82982671e+01] [ 2.24961986e-01 3.00082307e-03 9.74362920e-01 -6.95279110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.916875 meters 0.01495868284366968 Centerline is valid? [True, True] Translation: X:248.85, Y:48.32, Z:-6.95 [[-8.72969585e-02 -9.95906316e-01 2.34488798e-02 2.48854778e+02] [ 9.70328040e-01 -9.03356824e-02 -2.24283211e-01 4.83234045e+01] [ 2.25483337e-01 3.17386345e-03 9.74241855e-01 -6.94806775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.94687500000003 meters 0.015146794751814983 Centerline is valid? [True, True] Translation: X:248.85, Y:48.35, Z:-6.94 [[-8.65094179e-02 -9.95971879e-01 2.35825361e-02 2.48851826e+02] [ 9.70226994e-01 -8.96010933e-02 -2.25013832e-01 4.83506075e+01] [ 2.26220470e-01 3.41459746e-03 9.74070141e-01 -6.94226037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.976875 meters 0.015719165648606728 Centerline is valid? [True, True] Translation: X:248.85, Y:48.38, Z:-6.94 [[-8.52957714e-02 -9.96075905e-01 2.36098007e-02 2.48847919e+02] [ 9.70417400e-01 -8.84236201e-02 -2.24658257e-01 4.83771488e+01] [ 2.25864341e-01 3.74896213e-03 9.74151551e-01 -6.93640556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.00687500000004 meters 0.01569457271095888 Centerline is valid? [True, True] Translation: X:248.85, Y:48.40, Z:-6.93 [[-8.51812473e-02 -9.96085149e-01 2.36332493e-02 2.48845662e+02] [ 9.70525308e-01 -8.83156812e-02 -2.24234179e-01 4.84034592e+01] [ 2.25443522e-01 3.83611951e-03 9.74248686e-01 -6.92997289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.036875 meters 0.015531223975391152 Centerline is valid? [True, True] Translation: X:248.84, Y:48.43, Z:-6.92 [[-8.52542010e-02 -9.96078537e-01 2.36488622e-02 2.48844158e+02] [ 9.70643049e-01 -8.83881488e-02 -2.23695342e-01 4.84299535e+01] [ 2.24908408e-01 3.88363610e-03 9.74372170e-01 -6.92317088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06687500000004 meters 0.01622616826460396 Centerline is valid? [True, True] Translation: X:248.84, Y:48.46, Z:-6.92 [[-8.59539716e-02 -9.96015851e-01 2.37558281e-02 2.48839572e+02] [ 9.70506029e-01 -8.90953380e-02 -2.24009083e-01 4.84553650e+01] [ 2.25233131e-01 3.80070408e-03 9.74297486e-01 -6.91866706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.096875 meters 0.015438851667334162 Centerline is valid? [True, True] Translation: X:248.84, Y:48.48, Z:-6.91 [[-8.59846649e-02 -9.96012029e-01 2.38049294e-02 2.48839375e+02] [ 9.70520949e-01 -8.91359865e-02 -2.23928255e-01 4.84823468e+01] [ 2.25157112e-01 3.84878666e-03 9.74314868e-01 -6.91142128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12687500000004 meters 0.015835513773054675 Centerline is valid? [True, True] Translation: X:248.84, Y:48.51, Z:-6.91 [[-8.62930766e-02 -9.95984267e-01 2.38504868e-02 2.48835991e+02] [ 9.70554491e-01 -8.94457044e-02 -2.23659218e-01 4.85074949e+01] [ 2.24894386e-01 3.84795506e-03 9.74375548e-01 -6.90641471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.156875 meters 0.016241189506455388 Centerline is valid? [True, True] Translation: X:248.83, Y:48.53, Z:-6.90 [[-8.58030974e-02 -9.96024294e-01 2.39465012e-02 2.48832756e+02] [ 9.70556145e-01 -8.89905537e-02 -2.23833535e-01 4.85329190e+01] [ 2.25074651e-01 4.03581326e-03 9.74333164e-01 -6.90100791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.186875 meters 0.016598868987210295 Centerline is valid? [True, True] Translation: X:248.83, Y:48.56, Z:-6.90 [[-8.50068507e-02 -9.96089659e-01 2.40671305e-02 2.48829057e+02] [ 9.70527332e-01 -8.82436795e-02 -2.24253764e-01 4.85603670e+01] [ 2.25500627e-01 4.29470179e-03 9.74233557e-01 -6.89543388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.216875 meters 0.016645418074722605 Centerline is valid? [True, True] Translation: X:248.83, Y:48.59, Z:-6.89 [[-8.28297755e-02 -9.96269496e-01 2.42140543e-02 2.48827053e+02] [ 9.70535450e-01 -8.61594857e-02 -2.25027737e-01 4.85874571e+01] [ 2.26274541e-01 4.86160117e-03 9.74051434e-01 -6.88904851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.246875 meters 0.01807930265012581 Centerline is valid? [True, True] Translation: X:248.82, Y:48.61, Z:-6.88 [[-8.17345462e-02 -9.96357781e-01 2.43030221e-02 2.48821846e+02] [ 9.70579626e-01 -8.51137811e-02 -2.25235062e-01 4.86134865e+01] [ 2.26483229e-01 5.17853249e-03 9.74001299e-01 -6.88436630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.276875 meters 0.018573152939293718 Centerline is valid? [True, True] Translation: X:248.82, Y:48.64, Z:-6.88 [[-8.05990426e-02 -9.96447605e-01 2.44123802e-02 2.48818100e+02] [ 9.70589192e-01 -8.40344874e-02 -2.25598817e-01 4.86399809e+01] [ 2.26848883e-01 5.51134372e-03 9.73914375e-01 -6.87893640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.306875 meters 0.01825403544662713 Centerline is valid? [True, True] Translation: X:248.82, Y:48.67, Z:-6.87 [[-7.83034397e-02 -9.96627409e-01 2.45434011e-02 2.48816329e+02] [ 9.70640518e-01 -8.18318734e-02 -2.26186937e-01 4.86670948e+01] [ 2.27432533e-01 6.11160434e-03 9.73774661e-01 -6.87281571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.336875 meters 0.018577768299585885 Centerline is valid? [True, True] Translation: X:248.81, Y:48.69, Z:-6.87 [[-7.75285744e-02 -9.96687730e-01 2.45537994e-02 2.48813642e+02] [ 9.70822416e-01 -8.10762721e-02 -2.25677812e-01 4.86945215e+01] [ 2.26921037e-01 6.34089983e-03 9.73892518e-01 -6.86602090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.366875 meters 0.018260413166704632 Centerline is valid? [True, True] Translation: X:248.81, Y:48.72, Z:-6.86 [[-7.78243255e-02 -9.96664195e-01 2.45735074e-02 2.48812025e+02] [ 9.70897070e-01 -8.13660616e-02 -2.25251955e-01 4.87208794e+01] [ 2.26500008e-01 6.32826480e-03 9.73990605e-01 -6.85930528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.396875 meters 0.01882610131844266 Centerline is valid? [True, True] Translation: X:248.81, Y:48.75, Z:-6.85 [[-7.82405000e-02 -9.96630991e-01 2.45985992e-02 2.48809028e+02] [ 9.70967783e-01 -8.17742405e-02 -2.24798882e-01 4.87463372e+01] [ 2.26053064e-01 6.29607042e-03 9.74094642e-01 -6.85364108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.426875 meters 0.019510577872211766 Centerline is valid? [True, True] Translation: X:248.81, Y:48.77, Z:-6.85 [[-7.90009351e-02 -9.96570373e-01 2.46240320e-02 2.48805775e+02] [ 9.71015544e-01 -8.25178130e-02 -2.24320360e-01 4.87720920e+01] [ 2.25582946e-01 6.18879960e-03 9.74204308e-01 -6.84801857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.456875 meters 0.01832671866220724 Centerline is valid? [True, True] Translation: X:248.81, Y:48.80, Z:-6.84 [[-8.02236470e-02 -9.96472513e-01 2.46312401e-02 2.48807150e+02] [ 9.71056188e-01 -8.37070256e-02 -2.23702959e-01 4.87990106e+01] [ 2.24975658e-01 5.97205088e-03 9.74346082e-01 -6.84006047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.486875 meters 0.019021181363629566 Centerline is valid? [True, True] Translation: X:248.80, Y:48.82, Z:-6.84 [[-8.05676597e-02 -9.96443235e-01 2.46927553e-02 2.48804320e+02] [ 9.71049753e-01 -8.40554770e-02 -2.23600211e-01 4.88243506e+01] [ 2.24880479e-01 5.96294816e-03 9.74368110e-01 -6.83539139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.516875 meters 0.018703087842703327 Centerline is valid? [True, True] Translation: X:248.80, Y:48.85, Z:-6.83 [[-8.11678954e-02 -9.96391737e-01 2.48048185e-02 2.48802425e+02] [ 9.70914684e-01 -8.46677794e-02 -2.23955450e-01 4.88498262e+01] [ 2.25247529e-01 5.90536995e-03 9.74283674e-01 -6.82962102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.546875 meters 0.019355376256054067 Centerline is valid? [True, True] Translation: X:248.80, Y:48.88, Z:-6.82 [[-8.12504289e-02 -9.96382436e-01 2.49080231e-02 2.48799251e+02] [ 9.70849874e-01 -8.47729319e-02 -2.24196503e-01 4.88752003e+01] [ 2.25496984e-01 5.96588902e-03 9.74225599e-01 -6.82489891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57687500000003 meters 0.019370526384756812 Centerline is valid? [True, True] Translation: X:248.80, Y:48.90, Z:-6.82 [[-8.08809759e-02 -9.96408032e-01 2.50858927e-02 2.48797228e+02] [ 9.70662544e-01 -8.44589496e-02 -2.25124215e-01 4.89028111e+01] [ 2.26434304e-01 6.14167022e-03 9.74007077e-01 -6.81923784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.606875 meters 0.01953127424982953 Centerline is valid? [True, True] Translation: X:248.80, Y:48.93, Z:-6.81 [[-8.12171264e-02 -9.96378822e-01 2.51599169e-02 2.48795010e+02] [ 9.70602827e-01 -8.48039829e-02 -2.25251940e-01 4.89284489e+01] [ 2.26569924e-01 6.12597115e-03 9.73975637e-01 -6.81394487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63687500000003 meters 0.019794908349208166 Centerline is valid? [True, True] Translation: X:248.79, Y:48.96, Z:-6.81 [[-8.13015160e-02 -9.96369854e-01 2.52423872e-02 2.48792252e+02] [ 9.70577689e-01 -8.49053233e-02 -2.25322073e-01 4.89551430e+01] [ 2.26647334e-01 6.18067172e-03 9.73957281e-01 -6.80798751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.666875 meters 0.020534404143859694 Centerline is valid? [True, True] Translation: X:248.79, Y:48.98, Z:-6.80 [[-8.12313139e-02 -9.96371611e-01 2.53985605e-02 2.48790100e+02] [ 9.70402261e-01 -8.48773008e-02 -2.26086919e-01 4.89810217e+01] [ 2.27422348e-01 6.28148309e-03 9.73775959e-01 -6.80291923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69687500000003 meters 0.019873659933855377 Centerline is valid? [True, True] Translation: X:248.79, Y:49.01, Z:-6.80 [[-8.11411279e-02 -9.96375461e-01 2.55354315e-02 2.48788942e+02] [ 9.70269183e-01 -8.48244838e-02 -2.26677128e-01 4.90078612e+01] [ 2.28021558e-01 6.38340438e-03 9.73635158e-01 -6.79704976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.726875 meters 0.01835417109468928 Centerline is valid? [True, True] Translation: X:248.79, Y:49.04, Z:-6.79 [[-8.06190138e-02 -9.96414182e-01 2.56778460e-02 2.48790258e+02] [ 9.70163362e-01 -8.43527953e-02 -2.27305206e-01 4.90358569e+01] [ 2.28656130e-01 6.58658386e-03 9.73484972e-01 -6.79048112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75687500000004 meters 0.019925595605210907 Centerline is valid? [True, True] Translation: X:248.79, Y:49.06, Z:-6.79 [[-8.03662729e-02 -9.96433121e-01 2.57351522e-02 2.48785574e+02] [ 9.70202426e-01 -8.41192662e-02 -2.27225000e-01 4.90615139e+01] [ 2.28579338e-01 6.70708068e-03 9.73502183e-01 -6.78590458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.786875 meters 0.018678915150589195 Centerline is valid? [True, True] Translation: X:248.79, Y:49.09, Z:-6.78 [[-8.05722571e-02 -9.96414659e-01 2.58057978e-02 2.48785781e+02] [ 9.70159863e-01 -8.43366776e-02 -2.27326121e-01 4.90883055e+01] [ 2.28687454e-01 6.71957067e-03 9.73476705e-01 -6.77846005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81687500000004 meters 0.01828072780758079 Centerline is valid? [True, True] Translation: X:248.79, Y:49.12, Z:-6.77 [[-8.18147958e-02 -9.96311773e-01 2.58687218e-02 2.48785752e+02] [ 9.70079256e-01 -8.55601089e-02 -2.27212908e-01 4.91151987e+01] [ 2.28588225e-01 6.50533273e-03 9.73501466e-01 -6.77189176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.846875 meters 0.018609523952124268 Centerline is valid? [True, True] Translation: X:248.78, Y:49.14, Z:-6.77 [[-8.36775623e-02 -9.96154926e-01 2.59505186e-02 2.48783261e+02] [ 9.69902009e-01 -8.73928950e-02 -2.27272030e-01 4.91417495e+01] [ 2.28666043e-01 6.15189061e-03 9.73485488e-01 -6.76624676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87687500000004 meters 0.017414025995782796 Centerline is valid? [True, True] Translation: X:248.78, Y:49.17, Z:-6.76 [[-8.60420668e-02 -9.95950977e-01 2.60463679e-02 2.48783647e+02] [ 9.69630246e-01 -8.97184713e-02 -2.27525345e-01 4.91698432e+01] [ 2.28940930e-01 5.67859516e-03 9.73423754e-01 -6.75969779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.906875 meters 0.017279752818269337 Centerline is valid? [True, True] Translation: X:248.78, Y:49.20, Z:-6.75 [[-8.86092935e-02 -9.95724749e-01 2.60886333e-02 2.48781585e+02] [ 9.69439204e-01 -9.22265139e-02 -2.27336534e-01 4.91966659e+01] [ 2.28770677e-01 5.14721428e-03 9.73466735e-01 -6.75428703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.936875 meters 0.016028931686180716 Centerline is valid? [True, True] Translation: X:248.78, Y:49.22, Z:-6.75 [[-9.30513514e-02 -9.95316889e-01 2.61865524e-02 2.48782696e+02] [ 9.68948120e-01 -9.65748991e-02 -2.27624315e-01 4.92243838e+01] [ 2.29087289e-01 4.19266058e-03 9.73396854e-01 -6.74802080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.966875 meters 0.015538346570917808 Centerline is valid? [True, True] Translation: X:248.78, Y:49.25, Z:-6.74 [[-9.47014743e-02 -9.95157942e-01 2.63116076e-02 2.48781260e+02] [ 9.68665718e-01 -9.82119621e-02 -2.28125267e-01 4.92513911e+01] [ 2.29604786e-01 3.88335312e-03 9.73276200e-01 -6.74228165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.996875 meters 0.015269497109355126 Centerline is valid? [True, True] Translation: X:248.78, Y:49.28, Z:-6.74 [[-9.59845305e-02 -9.95032719e-01 2.63980604e-02 2.48779552e+02] [ 9.68512463e-01 -9.94810891e-02 -2.28226032e-01 4.92781468e+01] [ 2.29718477e-01 3.66068204e-03 9.73250236e-01 -6.73671724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.026875 meters 0.015093237803095568 Centerline is valid? [True, True] Translation: X:248.78, Y:49.31, Z:-6.73 [[-9.75697956e-02 -9.94877445e-01 2.64386824e-02 2.48777522e+02] [ 9.68421419e-01 -1.01032411e-01 -2.27930707e-01 4.93050961e+01] [ 2.29434283e-01 3.36463382e-03 9.73318339e-01 -6.73077378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.056875 meters 0.015342456881940601 Centerline is valid? [True, True] Translation: X:248.77, Y:49.33, Z:-6.73 [[-9.89467735e-02 -9.94740051e-01 2.64908713e-02 2.48774969e+02] [ 9.68326026e-01 -1.02384110e-01 -2.27732743e-01 4.93306696e+01] [ 2.29247124e-01 3.11838006e-03 9.73363258e-01 -6.72534040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.086875 meters 0.014946107337462997 Centerline is valid? [True, True] Translation: X:248.77, Y:49.36, Z:-6.72 [[-9.92888094e-02 -9.94705517e-01 2.65078610e-02 2.48772879e+02] [ 9.68413429e-01 -1.02719301e-01 -2.27209542e-01 4.93568409e+01] [ 2.28729454e-01 3.11120367e-03 9.73485058e-01 -6.71792532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.116875 meters 0.015560513787190963 Centerline is valid? [True, True] Translation: X:248.77, Y:49.38, Z:-6.71 [[-9.89947853e-02 -9.94734341e-01 2.65258907e-02 2.48768767e+02] [ 9.68554638e-01 -1.02435603e-01 -2.26735220e-01 4.93820443e+01] [ 2.28258505e-01 3.24617011e-03 9.73595151e-01 -6.71261061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.146875 meters 0.015651678370380093 Centerline is valid? [True, True] Translation: X:248.77, Y:49.41, Z:-6.70 [[-9.75710392e-02 -9.94874733e-01 2.65359580e-02 2.48765121e+02] [ 9.68832472e-01 -1.01049521e-01 -2.26169483e-01 4.94083830e+01] [ 2.27691750e-01 3.64130628e-03 9.73726454e-01 -6.70488090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.176875 meters 0.01589283448945085 Centerline is valid? [True, True] Translation: X:248.76, Y:49.44, Z:-6.70 [[-9.67278698e-02 -9.94954310e-01 2.66390562e-02 2.48760765e+02] [ 9.68847094e-01 -1.00253071e-01 -2.26461101e-01 4.94354498e+01] [ 2.27989096e-01 3.90407227e-03 9.73655858e-01 -6.69879411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.206875 meters 0.016944581815048498 Centerline is valid? [True, True] Translation: X:248.75, Y:49.46, Z:-6.69 [[-9.46279351e-02 -9.95153721e-01 2.67324720e-02 2.48753622e+02] [ 9.68997671e-01 -9.82306337e-02 -2.26703015e-01 4.94617012e+01] [ 2.28230297e-01 4.45126490e-03 9.73597000e-01 -6.69368704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.236875 meters 0.01685104264658614 Centerline is valid? [True, True] Translation: X:248.75, Y:49.49, Z:-6.69 [[-9.38692208e-02 -9.95224281e-01 2.67805728e-02 2.48749838e+02] [ 9.69103951e-01 -9.75021665e-02 -2.26563146e-01 4.94885385e+01] [ 2.28092308e-01 4.68585298e-03 9.73628236e-01 -6.68656497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.266875 meters 0.017515859865614436 Centerline is valid? [True, True] Translation: X:248.74, Y:49.52, Z:-6.68 [[-9.33295465e-02 -9.95273541e-01 2.68360538e-02 2.48744842e+02] [ 9.69174326e-01 -9.69889082e-02 -2.26482402e-01 4.95151529e+01] [ 2.28014742e-01 4.87131442e-03 9.73645494e-01 -6.68108895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.296875 meters 0.017850488109598977 Centerline is valid? [True, True] Translation: X:248.74, Y:49.54, Z:-6.68 [[-9.27660577e-02 -9.95325072e-01 2.68786012e-02 2.48739904e+02] [ 9.69277367e-01 -9.64488059e-02 -2.26271989e-01 4.95412743e+01] [ 2.27806593e-01 5.06245940e-03 9.73693241e-01 -6.67561152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.32687500000003 meters 0.01791975505494685 Centerline is valid? [True, True] Translation: X:248.74, Y:49.57, Z:-6.67 [[-9.30406743e-02 -9.95297594e-01 2.69468416e-02 2.48735780e+02] [ 9.69254932e-01 -9.67316554e-02 -2.26247353e-01 4.95672093e+01] [ 2.27790058e-01 5.06815285e-03 9.73697080e-01 -6.66984674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.356875 meters 0.017921933169973616 Centerline is valid? [True, True] Translation: X:248.73, Y:49.59, Z:-6.66 [[-9.35453095e-02 -9.95248133e-01 2.70264453e-02 2.48732254e+02] [ 9.69181602e-01 -9.72417144e-02 -2.26342819e-01 4.95924852e+01] [ 2.27895366e-01 5.02022452e-03 9.73672686e-01 -6.66385141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.38687500000003 meters 0.017682918129243483 Centerline is valid? [True, True] Translation: X:248.73, Y:49.62, Z:-6.66 [[-9.42094073e-02 -9.95184473e-01 2.70638533e-02 2.48728169e+02] [ 9.69189997e-01 -9.78953374e-02 -2.26024892e-01 4.96188118e+01] [ 2.27585888e-01 4.93634481e-03 9.73745499e-01 -6.65700259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.416875 meters 0.01749953613884809 Centerline is valid? [True, True] Translation: X:248.72, Y:49.64, Z:-6.65 [[-9.44484316e-02 -9.95160306e-01 2.71193332e-02 2.48724996e+02] [ 9.69195346e-01 -9.81400912e-02 -2.25895783e-01 4.96449500e+01] [ 2.27464010e-01 4.94842910e-03 9.73773915e-01 -6.65130516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.44687500000003 meters 0.017188867516540217 Centerline is valid? [True, True] Translation: X:248.72, Y:49.67, Z:-6.65 [[-9.54968463e-02 -9.95056539e-01 2.72550257e-02 2.48721096e+02] [ 9.68965423e-01 -9.91946150e-02 -2.26420929e-01 4.96716306e+01] [ 2.28005177e-01 4.78669290e-03 9.73648153e-01 -6.64541875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.476875 meters 0.01771943392343678 Centerline is valid? [True, True] Translation: X:248.72, Y:49.70, Z:-6.64 [[-9.65079378e-02 -9.94957391e-01 2.73131468e-02 2.48715911e+02] [ 9.68891018e-01 -1.00191873e-01 -2.26300207e-01 4.96967661e+01] [ 2.27895619e-01 4.62369638e-03 9.73674591e-01 -6.64057619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.50687500000004 meters 0.01651092727026767 Centerline is valid? [True, True] Translation: X:248.71, Y:49.72, Z:-6.63 [[-9.87481495e-02 -9.94734727e-01 2.74157788e-02 2.48714681e+02] [ 9.68602131e-01 -1.02397847e-01 -2.26549318e-01 4.97243923e+01] [ 2.28163791e-01 4.18365575e-03 9.73613774e-01 -6.63371426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.536875 meters 0.016108986660108193 Centerline is valid? [True, True] Translation: X:248.71, Y:49.75, Z:-6.63 [[-1.00625164e-01 -9.94545788e-01 2.74454480e-02 2.48711849e+02] [ 9.68478498e-01 -1.04231109e-01 -2.26241629e-01 4.97498247e+01] [ 2.27868329e-01 3.81472508e-03 9.73684483e-01 -6.62786909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56687500000004 meters 0.015794275811104423 Centerline is valid? [True, True] Translation: X:248.71, Y:49.78, Z:-6.62 [[-1.02401094e-01 -9.94362402e-01 2.75214485e-02 2.48708672e+02] [ 9.68291100e-01 -1.05977769e-01 -2.26232309e-01 4.97765482e+01] [ 2.27873564e-01 3.48233769e-03 9.73684503e-01 -6.62199268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.596875 meters 0.015328189718998995 Centerline is valid? [True, True] Translation: X:248.71, Y:49.80, Z:-6.62 [[-1.03891868e-01 -9.94206900e-01 2.75521419e-02 2.48706595e+02] [ 9.68202949e-01 -1.07435427e-01 -2.25921843e-01 4.98026749e+01] [ 2.27573131e-01 3.20462280e-03 9.73755719e-01 -6.61561448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62687500000004 meters 0.014947446633991777 Centerline is valid? [True, True] Translation: X:248.70, Y:49.83, Z:-6.61 [[-1.06557262e-01 -9.93922413e-01 2.76366773e-02 2.48703164e+02] [ 9.67890898e-01 -1.10050540e-01 -2.26000195e-01 4.98277837e+01] [ 2.27668090e-01 2.66732637e-03 9.73735142e-01 -6.60946670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.656875 meters 0.014823891283321705 Centerline is valid? [True, True] Translation: X:248.70, Y:49.85, Z:-6.60 [[-1.07705121e-01 -9.93797120e-01 2.76928167e-02 2.48700406e+02] [ 9.67802887e-01 -1.11180667e-01 -2.25823894e-01 4.98541978e+01] [ 2.27502041e-01 2.47879809e-03 9.73774449e-01 -6.60298007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.686875 meters 0.014751606294204252 Centerline is valid? [True, True] Translation: X:248.70, Y:49.88, Z:-6.60 [[-1.08874363e-01 -9.93669131e-01 2.77133611e-02 2.48696846e+02] [ 9.67772963e-01 -1.12322983e-01 -2.25386423e-01 4.98798804e+01] [ 2.27072378e-01 2.28143829e-03 9.73875213e-01 -6.59715021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.716875 meters 0.014522788022207528 Centerline is valid? [True, True] Translation: X:248.69, Y:49.91, Z:-6.59 [[-1.10675289e-01 -9.93468556e-01 2.77706564e-02 2.48692576e+02] [ 9.67602833e-01 -1.14089663e-01 -2.25229452e-01 4.99054433e+01] [ 2.26926723e-01 1.94363123e-03 9.73909896e-01 -6.59177444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.746875 meters 0.014510021579017054 Centerline is valid? [True, True] Translation: X:248.69, Y:49.93, Z:-6.59 [[-1.11367966e-01 -9.93390623e-01 2.77893335e-02 2.48688347e+02] [ 9.67595410e-01 -1.14767958e-01 -2.24916513e-01 4.99304381e+01] [ 2.26619280e-01 1.84033691e-03 9.73981681e-01 -6.58657786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.776875 meters 0.01420574100445745 Centerline is valid? [True, True] Translation: X:248.68, Y:49.96, Z:-6.58 [[-1.12383258e-01 -9.93273127e-01 2.79016024e-02 2.48684532e+02] [ 9.67404115e-01 -1.15782854e-01 -2.25219023e-01 4.99563673e+01] [ 2.26934530e-01 1.68127744e-03 9.73908565e-01 -6.58072236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.806875 meters 0.01420574100445745 Centerline is valid? [True, True] Translation: X:248.68, Y:49.98, Z:-6.57 [[-1.12690010e-01 -9.93236363e-01 2.79729962e-02 2.48681174e+02] [ 9.67368433e-01 -1.16097805e-01 -2.25210156e-01 4.99823242e+01] [ 2.26934520e-01 1.68125870e-03 9.73908567e-01 -6.57495229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.836875 meters 0.014117417873214907 Centerline is valid? [True, True] Translation: X:248.68, Y:50.01, Z:-6.57 [[-1.13254771e-01 -9.93170505e-01 2.80304413e-02 2.48677777e+02] [ 9.67328918e-01 -1.16660692e-01 -2.25088976e-01 5.00091709e+01] [ 2.26821783e-01 1.62225604e-03 9.73934930e-01 -6.56866279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.866875 meters 0.01421266755483562 Centerline is valid? [True, True] Translation: X:248.67, Y:50.03, Z:-6.56 [[-1.14209592e-01 -9.93061451e-01 2.80200569e-02 2.48673541e+02] [ 9.67373001e-01 -1.17587320e-01 -2.24416353e-01 5.00349678e+01] [ 2.26154032e-01 1.47534643e-03 9.74090436e-01 -6.56424809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.896875 meters 0.014018038297097624 Centerline is valid? [True, True] Translation: X:248.67, Y:50.06, Z:-6.56 [[-1.15261440e-01 -9.92939317e-01 2.80412693e-02 2.48670370e+02] [ 9.67350466e-01 -1.18616167e-01 -2.23971607e-01 5.00616289e+01] [ 2.25716362e-01 1.31044493e-03 9.74192181e-01 -6.55711314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.926875 meters 0.013893425376601199 Centerline is valid? [True, True] Translation: X:248.67, Y:50.09, Z:-6.55 [[-1.15402617e-01 -9.92922285e-01 2.80637027e-02 2.48666879e+02] [ 9.67426391e-01 -1.18758220e-01 -2.23568030e-01 5.00891162e+01] [ 2.25318474e-01 1.34923096e-03 9.74284232e-01 -6.55052646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.956875 meters 0.014137063827946262 Centerline is valid? [True, True] Translation: X:248.66, Y:50.11, Z:-6.55 [[-1.15544638e-01 -9.92903768e-01 2.81343979e-02 2.48662660e+02] [ 9.67399669e-01 -1.18912573e-01 -2.23601613e-01 5.01147768e+01] [ 2.25360418e-01 1.38123973e-03 9.74274486e-01 -6.54538524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.986875 meters 0.013992968698342764 Centerline is valid? [True, True] Translation: X:248.66, Y:50.14, Z:-6.54 [[-1.15577912e-01 -9.92901735e-01 2.80693981e-02 2.48658909e+02] [ 9.67657302e-01 -1.18928749e-01 -2.22475387e-01 5.01408923e+01] [ 2.24234456e-01 1.44831731e-03 9.74534151e-01 -6.53953275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.016875 meters 0.013980178613194524 Centerline is valid? [True, True] Translation: X:248.66, Y:50.17, Z:-6.53 [[-1.15738908e-01 -9.92880690e-01 2.81503133e-02 2.48655818e+02] [ 9.67620146e-01 -1.19103900e-01 -2.22543285e-01 5.01676620e+01] [ 2.24311742e-01 1.48189342e-03 9.74516314e-01 -6.53311724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.046875 meters 0.014154611345069727 Centerline is valid? [True, True] Translation: X:248.65, Y:50.19, Z:-6.53 [[-1.15727709e-01 -9.92880955e-01 2.81869905e-02 2.48652137e+02] [ 9.67688236e-01 -1.19100748e-01 -2.22248713e-01 5.01930890e+01] [ 2.24023606e-01 1.55588480e-03 9.74582476e-01 -6.52800677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07687500000003 meters 0.013968369307136628 Centerline is valid? [True, True] Translation: X:248.65, Y:50.22, Z:-6.52 [[-1.16489949e-01 -9.92792091e-01 2.81772101e-02 2.48649176e+02] [ 9.67752188e-01 -1.19840471e-01 -2.21571577e-01 5.02196473e+01] [ 2.23351279e-01 1.45769512e-03 9.74736929e-01 -6.52206783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.106875 meters 0.013838095634713445 Centerline is valid? [True, True] Translation: X:248.65, Y:50.25, Z:-6.52 [[-1.16893249e-01 -9.92743020e-01 2.82358644e-02 2.48645963e+02] [ 9.67721859e-01 -1.20246571e-01 -2.21484008e-01 5.02461671e+01] [ 2.23271969e-01 1.43447802e-03 9.74755133e-01 -6.51626399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13687500000003 meters 0.014059662106301022 Centerline is valid? [True, True] Translation: X:248.64, Y:50.27, Z:-6.51 [[-1.16648222e-01 -9.92770467e-01 2.82841178e-02 2.48643274e+02] [ 9.67787974e-01 -1.20018232e-01 -2.21318914e-01 5.02731646e+01] [ 2.23113491e-01 1.55657131e-03 9.74791233e-01 -6.51195063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.166875 meters 0.014032692048417263 Centerline is valid? [True, True] Translation: X:248.64, Y:50.30, Z:-6.51 [[-1.16551824e-01 -9.92779130e-01 2.83772993e-02 2.48640536e+02] [ 9.67755395e-01 -1.19945361e-01 -2.21500804e-01 5.02995009e+01] [ 2.23305101e-01 1.64596164e-03 9.74747210e-01 -6.50630611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19687500000003 meters 0.014075780728165805 Centerline is valid? [True, True] Translation: X:248.64, Y:50.33, Z:-6.50 [[-1.15747676e-01 -9.92873368e-01 2.83716343e-02 2.48638053e+02] [ 9.67990582e-01 -1.19159064e-01 -2.20896698e-01 5.03256742e+01] [ 2.22703186e-01 1.89519527e-03 9.74884454e-01 -6.50037355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.226875 meters 0.014245334719913967 Centerline is valid? [True, True] Translation: X:248.63, Y:50.35, Z:-6.50 [[-1.15335823e-01 -9.92921791e-01 2.83542604e-02 2.48634714e+02] [ 9.68197621e-01 -1.18752239e-01 -2.20207340e-01 5.03516295e+01] [ 2.22015799e-01 2.05473270e-03 9.75040903e-01 -6.49506882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25687500000004 meters 0.014734702114176233 Centerline is valid? [True, True] Translation: X:248.63, Y:50.38, Z:-6.49 [[-1.14629282e-01 -9.93003299e-01 2.83650533e-02 2.48630929e+02] [ 9.68360631e-01 -1.18064886e-01 -2.19859891e-01 5.03770812e+01] [ 2.21670514e-01 2.26521952e-03 9.75118994e-01 -6.48988143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.286875 meters 0.014810780130221182 Centerline is valid? [True, True] Translation: X:248.63, Y:50.40, Z:-6.48 [[-1.14055811e-01 -9.93068446e-01 2.83960041e-02 2.48628020e+02] [ 9.68497720e-01 -1.17511736e-01 -2.19552175e-01 5.04031885e+01] [ 2.21367201e-01 2.46026396e-03 9.75187423e-01 -6.48395515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31687500000004 meters 0.014921448413211183 Centerline is valid? [True, True] Translation: X:248.63, Y:50.43, Z:-6.48 [[-1.12239359e-01 -9.93277226e-01 2.83315705e-02 2.48625659e+02] [ 9.68946838e-01 -1.15722916e-01 -2.18518263e-01 5.04303292e+01] [ 2.20327826e-01 2.92543589e-03 9.75421494e-01 -6.47743647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.346875 meters 0.015163992068661333 Centerline is valid? [True, True] Translation: X:248.62, Y:50.46, Z:-6.47 [[-1.11134245e-01 -9.93400642e-01 2.83609506e-02 2.48622156e+02] [ 9.69133080e-01 -1.14650483e-01 -2.18257507e-01 5.04571825e+01] [ 2.20068745e-01 3.22965219e-03 9.75479019e-01 -6.47135952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37687500000004 meters 0.015695381090137645 Centerline is valid? [True, True] Translation: X:248.62, Y:50.48, Z:-6.47 [[-1.10323754e-01 -9.93490354e-01 2.83828586e-02 2.48617490e+02] [ 9.69296431e-01 -1.13863503e-01 -2.17943871e-01 5.04834789e+01] [ 2.19756905e-01 3.46701748e-03 9.75548503e-01 -6.46592657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.406875 meters 0.016000288932250206 Centerline is valid? [True, True] Translation: X:248.61, Y:50.51, Z:-6.46 [[-1.07961693e-01 -9.93748983e-01 2.84118077e-02 2.48614334e+02] [ 9.69627670e-01 -1.11564132e-01 -2.17659426e-01 5.05106521e+01] [ 2.19468572e-01 4.04999485e-03 9.75611164e-01 -6.45952948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.436875 meters 0.016406219039521185 Centerline is valid? [True, True] Translation: X:248.61, Y:50.54, Z:-6.45 [[-1.07472682e-01 -9.93800919e-01 2.84491813e-02 2.48610254e+02] [ 9.69726026e-01 -1.11094340e-01 -2.17461451e-01 5.05360360e+01] [ 2.19273933e-01 4.21674613e-03 9.75654222e-01 -6.45397872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.466875 meters 0.016677550924581057 Centerline is valid? [True, True] Translation: X:248.61, Y:50.56, Z:-6.45 [[-1.06570218e-01 -9.93895472e-01 2.85408257e-02 2.48606668e+02] [ 9.69795252e-01 -1.10234428e-01 -2.17590302e-01 5.05633941e+01] [ 2.19408197e-01 4.49011137e-03 9.75622817e-01 -6.44857604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.496875 meters 0.017471330318304886 Centerline is valid? [True, True] Translation: X:248.60, Y:50.59, Z:-6.44 [[-1.05338555e-01 -9.94025856e-01 2.85724752e-02 2.48601220e+02] [ 9.69983009e-01 -1.09038416e-01 -2.17355896e-01 5.05900327e+01] [ 2.19172878e-01 4.81885937e-03 9.75674140e-01 -6.44368615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.526875 meters 0.017661689373578756 Centerline is valid? [True, True] Translation: X:248.60, Y:50.62, Z:-6.44 [[-1.04933453e-01 -9.94066359e-01 2.86538743e-02 2.48597321e+02] [ 9.69998648e-01 -1.08661561e-01 -2.17474797e-01 5.06162523e+01] [ 2.19297954e-01 4.97383803e-03 9.75645257e-01 -6.43817506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.556875 meters 0.017907398943332157 Centerline is valid? [True, True] Translation: X:248.59, Y:50.64, Z:-6.43 [[-1.04784026e-01 -9.94081271e-01 2.86833314e-02 2.48593383e+02] [ 9.70081588e-01 -1.08520661e-01 -2.17174997e-01 5.06414075e+01] [ 2.19002331e-01 5.06870107e-03 9.75711170e-01 -6.43273650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.586875 meters 0.017301616432715463 Centerline is valid? [True, True] Translation: X:248.59, Y:50.67, Z:-6.43 [[-1.05166715e-01 -9.94041025e-01 2.86775611e-02 2.48590829e+02] [ 9.70171707e-01 -1.08889826e-01 -2.16586852e-01 5.06683258e+01] [ 2.18418911e-01 5.04443067e-03 9.75842064e-01 -6.42666929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.616875 meters 0.017372563342933273 Centerline is valid? [True, True] Translation: X:248.59, Y:50.69, Z:-6.42 [[-1.06150631e-01 -9.93937537e-01 2.86394258e-02 2.48587039e+02] [ 9.70246575e-01 -1.09837740e-01 -2.15771300e-01 5.06933757e+01] [ 2.17608884e-01 4.88304518e-03 9.76023837e-01 -6.42116017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.646875 meters 0.01665434031417237 Centerline is valid? [True, True] Translation: X:248.58, Y:50.72, Z:-6.41 [[-1.07505590e-01 -9.93790335e-01 2.86935375e-02 2.48584321e+02] [ 9.70095119e-01 -1.11172162e-01 -2.15768882e-01 5.07201247e+01] [ 2.17618952e-01 4.63909975e-03 9.76022782e-01 -6.41494928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.676875 meters 0.016440417259700708 Centerline is valid? [True, True] Translation: X:248.58, Y:50.75, Z:-6.41 [[-1.09888434e-01 -9.93530487e-01 2.86653734e-02 2.48581519e+02] [ 9.69989619e-01 -1.13488941e-01 -2.15035811e-01 5.07470757e+01] [ 2.16897837e-01 4.17516605e-03 9.76185380e-01 -6.40869518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.706875 meters 0.016209187293345945 Centerline is valid? [True, True] Translation: X:248.58, Y:50.77, Z:-6.40 [[-1.11539460e-01 -9.93344138e-01 2.87466928e-02 2.48578210e+02] [ 9.69758756e-01 -1.15119173e-01 -2.15210432e-01 5.07724823e+01] [ 2.17087317e-01 3.87290168e-03 9.76144506e-01 -6.40278868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.736875 meters 0.015508941811767835 Centerline is valid? [True, True] Translation: X:248.58, Y:50.80, Z:-6.40 [[-1.13371383e-01 -9.93136484e-01 2.87550687e-02 2.48575568e+02] [ 9.69652281e-01 -1.16907665e-01 -2.14725526e-01 5.07991904e+01] [ 2.16613442e-01 3.53868800e-03 9.76251041e-01 -6.39682256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.766875 meters 0.014921495699653004 Centerline is valid? [True, True] Translation: X:248.57, Y:50.83, Z:-6.39 [[-1.15009772e-01 -9.92946740e-01 2.88014694e-02 2.48572724e+02] [ 9.69492937e-01 -1.18516817e-01 -2.14562835e-01 5.08258798e+01] [ 2.16462926e-01 3.24599833e-03 9.76285443e-01 -6.39123094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.796875 meters 0.01453200152169436 Centerline is valid? [True, True] Translation: X:248.57, Y:50.85, Z:-6.38 [[-1.17526051e-01 -9.92651979e-01 2.88041059e-02 2.48568944e+02] [ 9.69299762e-01 -1.20972816e-01 -2.14064357e-01 5.08532208e+01] [ 2.15975921e-01 2.76167454e-03 9.76394784e-01 -6.38423360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.82687500000003 meters 0.014099278460234248 Centerline is valid? [True, True] Translation: X:248.57, Y:50.88, Z:-6.38 [[-1.19165509e-01 -9.92454235e-01 2.88820633e-02 2.48565672e+02] [ 9.69070360e-01 -1.22590835e-01 -2.14182454e-01 5.08799743e+01] [ 2.16106960e-01 2.46559037e-03 9.76366582e-01 -6.37762543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.856875 meters 0.013976880671696649 Centerline is valid? [True, True] Translation: X:248.56, Y:50.90, Z:-6.37 [[-1.21998679e-01 -9.92109756e-01 2.88886450e-02 2.48560949e+02] [ 9.68821075e-01 -1.25357733e-01 -2.13708126e-01 5.09048985e+01] [ 2.15643332e-01 1.91581900e-03 9.76470319e-01 -6.37155049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.88687500000003 meters 0.013670174746258154 Centerline is valid? [True, True] Translation: X:248.56, Y:50.93, Z:-6.37 [[-1.23297000e-01 -9.91949183e-01 2.88906205e-02 2.48557492e+02] [ 9.68772589e-01 -1.26625095e-01 -2.13180101e-01 5.09314893e+01] [ 2.15122105e-01 1.70397427e-03 9.76585673e-01 -6.36543760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.916875 meters 0.013571139895094163 Centerline is valid? [True, True] Translation: X:248.55, Y:50.96, Z:-6.36 [[-1.23963319e-01 -9.91864025e-01 2.89629195e-02 2.48553552e+02] [ 9.68677434e-01 -1.27291457e-01 -2.13215651e-01 5.09575837e+01] [ 2.15167666e-01 1.62480679e-03 9.76575770e-01 -6.35951397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.94687500000003 meters 0.013588918599580727 Centerline is valid? [True, True] Translation: X:248.55, Y:50.98, Z:-6.35 [[-1.24492369e-01 -9.91795559e-01 2.90382253e-02 2.48548727e+02] [ 9.68563652e-01 -1.27824662e-01 -2.13413466e-01 5.09824150e+01] [ 2.15374329e-01 1.55702147e-03 9.76530324e-01 -6.35388230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.976875 meters 0.013628104862265553 Centerline is valid? [True, True] Translation: X:248.54, Y:51.01, Z:-6.35 [[-1.24000482e-01 -9.91854141e-01 2.91417723e-02 2.48541503e+02] [ 9.68543741e-01 -1.27367247e-01 -2.13777003e-01 5.10086631e+01] [ 2.15747313e-01 1.71662982e-03 9.76447720e-01 -6.34955388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.00687500000004 meters 0.013606921821610506 Centerline is valid? [True, True] Translation: X:248.54, Y:51.03, Z:-6.34 [[-1.23791670e-01 -9.91876485e-01 2.92687573e-02 2.48536386e+02] [ 9.68471919e-01 -1.27191558e-01 -2.14206558e-01 5.10348955e+01] [ 2.16189187e-01 1.82898202e-03 9.76349779e-01 -6.34458352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.036875 meters 0.013764798322076282 Centerline is valid? [True, True] Translation: X:248.53, Y:51.06, Z:-6.34 [[-1.23077950e-01 -9.91962821e-01 2.93526679e-02 2.48530732e+02] [ 9.68539112e-01 -1.26513027e-01 -2.14304556e-01 5.10612346e+01] [ 2.16295647e-01 2.05304140e-03 9.76325754e-01 -6.33919817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06687500000004 meters 0.013919110434548226 Centerline is valid? [True, True] Translation: X:248.53, Y:51.09, Z:-6.33 [[-1.22606939e-01 -9.92017050e-01 2.94908720e-02 2.48525310e+02] [ 9.68486149e-01 -1.26084170e-01 -2.14796092e-01 5.10864350e+01] [ 2.16799717e-01 2.22600984e-03 9.76213566e-01 -6.33416553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.096875 meters 0.01440739009229847 Centerline is valid? [True, True] Translation: X:248.52, Y:51.11, Z:-6.33 [[-1.20708010e-01 -9.92248888e-01 2.95249096e-02 2.48518106e+02] [ 9.68788830e-01 -1.24236856e-01 -2.14507359e-01 5.11120895e+01] [ 2.16512771e-01 2.71064607e-03 9.76276023e-01 -6.32843648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12687500000004 meters 0.014687769075814039 Centerline is valid? [True, True] Translation: X:248.51, Y:51.14, Z:-6.32 [[-1.19727781e-01 -9.92367816e-01 2.95190968e-02 2.48512723e+02] [ 9.69025501e-01 -1.23276982e-01 -2.13991504e-01 5.11377721e+01] [ 2.15997306e-01 2.98402970e-03 9.76389399e-01 -6.32211468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.156875 meters 0.015450540012701033 Centerline is valid? [True, True] Translation: X:248.50, Y:51.16, Z:-6.32 [[-1.17616498e-01 -9.92621246e-01 2.94859580e-02 2.48504575e+02] [ 9.69448949e-01 -1.21205582e-01 -2.13255580e-01 5.11631590e+01] [ 2.15255882e-01 3.50275644e-03 9.76551400e-01 -6.31528724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.186875 meters 0.015926035395733684 Centerline is valid? [True, True] Translation: X:248.50, Y:51.19, Z:-6.31 [[-1.16602508e-01 -9.92738689e-01 2.95592835e-02 2.48498440e+02] [ 9.69555596e-01 -1.20231303e-01 -2.13322244e-01 5.11904749e+01] [ 2.15327196e-01 3.78546012e-03 9.76534622e-01 -6.30928692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.216875 meters 0.016458376307940382 Centerline is valid? [True, True] Translation: X:248.49, Y:51.22, Z:-6.30 [[-1.15692384e-01 -9.92842865e-01 2.96364300e-02 2.48492804e+02] [ 9.69636237e-01 -1.19359555e-01 -2.13445227e-01 5.12168147e+01] [ 2.15454962e-01 4.04256931e-03 9.76505411e-01 -6.30440449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.246875 meters 0.01693337981246562 Centerline is valid? [True, True] Translation: X:248.49, Y:51.24, Z:-6.30 [[-1.14865507e-01 -9.92936062e-01 2.97303093e-02 2.48487539e+02] [ 9.69690678e-01 -1.18573074e-01 -2.13636175e-01 5.12434924e+01] [ 2.15652276e-01 4.28977626e-03 9.76460800e-01 -6.29893623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.276875 meters 0.015634223526557092 Centerline is valid? [True, True] Translation: X:248.49, Y:51.27, Z:-6.29 [[-1.15406732e-01 -9.92869109e-01 2.98700186e-02 2.48486075e+02] [ 9.69506462e-01 -1.19134053e-01 -2.14159516e-01 5.12702449e+01] [ 2.16190905e-01 4.24372619e-03 9.76341889e-01 -6.29456908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.306875 meters 0.016574411150094306 Centerline is valid? [True, True] Translation: X:248.48, Y:51.30, Z:-6.29 [[-1.16940044e-01 -9.92686659e-01 2.99703767e-02 2.48479858e+02] [ 9.69273005e-01 -1.20653820e-01 -2.14365337e-01 5.12956385e+01] [ 2.16413651e-01 3.98158513e-03 9.76293644e-01 -6.28873425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.336875 meters 0.014774247269873853 Centerline is valid? [True, True] Translation: X:248.48, Y:51.32, Z:-6.28 [[-1.19746696e-01 -9.92348368e-01 3.00906044e-02 2.48481114e+02] [ 9.68822263e-01 -1.23421905e-01 -2.14826574e-01 5.13233753e+01] [ 2.16896640e-01 3.42767500e-03 9.76188557e-01 -6.28339253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.366875 meters 0.014620160384999603 Centerline is valid? [True, True] Translation: X:248.48, Y:51.35, Z:-6.28 [[-1.21488402e-01 -9.92133874e-01 3.01818563e-02 2.48478388e+02] [ 9.68556267e-01 -1.25142757e-01 -2.15030342e-01 5.13493450e+01] [ 2.17115927e-01 3.10913327e-03 9.76140875e-01 -6.27787384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.396875 meters 0.014948090409828672 Centerline is valid? [True, True] Translation: X:248.47, Y:51.38, Z:-6.27 [[-1.23404527e-01 -9.91895786e-01 3.02336356e-02 2.48474165e+02] [ 9.68344985e-01 -1.27024150e-01 -2.14878699e-01 5.13750402e+01] [ 2.16977677e-01 2.75958530e-03 9.76172665e-01 -6.27174149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.426875 meters 0.013880105170052084 Centerline is valid? [True, True] Translation: X:248.47, Y:51.40, Z:-6.27 [[-1.25080583e-01 -9.91682247e-01 3.03507740e-02 2.48473932e+02] [ 9.68055293e-01 -1.28686626e-01 -2.15194570e-01 5.14024074e+01] [ 2.17310373e-01 2.46456509e-03 9.76099446e-01 -6.26598151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.456875 meters 0.013359040779349572 Centerline is valid? [True, True] Translation: X:248.47, Y:51.43, Z:-6.26 [[-1.28243852e-01 -9.91278224e-01 3.03479371e-02 2.48472453e+02] [ 9.67720802e-01 -1.31773212e-01 -2.14830793e-01 5.14288530e+01] [ 2.16956132e-01 1.81760156e-03 9.76179662e-01 -6.26066129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.486875 meters 0.013301256149988614 Centerline is valid? [True, True] Translation: X:248.47, Y:51.45, Z:-6.26 [[-1.29973941e-01 -9.91047868e-01 3.05106153e-02 2.48469178e+02] [ 9.67338741e-01 -1.33498513e-01 -2.15485282e-01 5.14540351e+01] [ 2.17629351e-01 1.50662898e-03 9.76030325e-01 -6.25565074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.516875 meters 0.013144673895335008 Centerline is valid? [True, True] Translation: X:248.47, Y:51.48, Z:-6.25 [[-1.31490544e-01 -9.90843886e-01 3.06370628e-02 2.48466973e+02] [ 9.67046076e-01 -1.35006833e-01 -2.15858846e-01 5.14806710e+01] [ 2.18018631e-01 1.24405433e-03 9.75943815e-01 -6.25032121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.546875 meters 0.013136895196025134 Centerline is valid? [True, True] Translation: X:248.46, Y:51.51, Z:-6.24 [[-1.32986197e-01 -9.90642034e-01 3.07088339e-02 2.48464389e+02] [ 9.66835290e-01 -1.36482221e-01 -2.15875254e-01 5.15073407e+01] [ 2.18046310e-01 9.81955376e-04 9.75937930e-01 -6.24498265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57687500000003 meters 0.012905438521493366 Centerline is valid? [True, True] Translation: X:248.46, Y:51.53, Z:-6.24 [[-1.36123344e-01 -9.90216057e-01 3.07017315e-02 2.48462809e+02] [ 9.66518257e-01 -1.39542218e-01 -2.15337941e-01 5.15324896e+01] [ 2.17515274e-01 3.61263423e-04 9.76056850e-01 -6.23897073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.606875 meters 0.01296367457855258 Centerline is valid? [True, True] Translation: X:248.46, Y:51.56, Z:-6.23 [[-1.37575425e-01 -9.90012262e-01 3.08013680e-02 2.48460104e+02] [ 9.66267949e-01 -1.40981238e-01 -2.15523876e-01 5.15590861e+01] [ 2.17713695e-01 1.11585760e-04 9.76012671e-01 -6.23269077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63687500000003 meters 0.012853091631015447 Centerline is valid? [True, True] Translation: X:248.46, Y:51.58, Z:-6.23 [[-1.38892765e-01 -9.89825892e-01 3.08788435e-02 2.48457210e+02] [ 9.66066956e-01 -1.42283840e-01 -2.15568890e-01 5.15841256e+01] [ 2.17769229e-01 -1.09928780e-04 9.76000282e-01 -6.22719639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.666875 meters 0.012853091631015447 Centerline is valid? [True, True] Translation: X:248.45, Y:51.61, Z:-6.22 [[-1.39197424e-01 -9.89781410e-01 3.09327774e-02 2.48453363e+02] [ 9.66023108e-01 -1.42592932e-01 -2.15561151e-01 5.16100101e+01] [ 2.17769215e-01 -1.23779140e-04 9.76000284e-01 -6.22142001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69687500000003 meters 0.013030000929203058 Centerline is valid? [True, True] Translation: X:248.45, Y:51.64, Z:-6.22 [[-1.41178781e-01 -9.89496933e-01 3.10543430e-02 2.48450685e+02] [ 9.65650809e-01 -1.44553015e-01 -2.15923460e-01 5.16378938e+01] [ 2.18144600e-01 -4.96159313e-04 9.75916332e-01 -6.21559081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.726875 meters 0.013192029890119849 Centerline is valid? [True, True] Translation: X:248.45, Y:51.66, Z:-6.21 [[-1.41950337e-01 -9.89384843e-01 3.11084231e-02 2.48447405e+02] [ 9.65551400e-01 -1.45317816e-01 -2.15854640e-01 5.16630249e+01] [ 2.18083917e-01 -6.03857477e-04 9.75929834e-01 -6.21047398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75687500000004 meters 0.013208086500713792 Centerline is valid? [True, True] Translation: X:248.44, Y:51.69, Z:-6.21 [[-1.42347989e-01 -9.89325919e-01 3.11652991e-02 2.48443345e+02] [ 9.65489396e-01 -1.45718286e-01 -2.15862010e-01 5.16891283e+01] [ 2.18099235e-01 -6.37757090e-04 9.75926389e-01 -6.20511741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.786875 meters 0.013178991935790599 Centerline is valid? [True, True] Translation: X:248.44, Y:51.72, Z:-6.20 [[-1.42206924e-01 -9.89343048e-01 3.12653782e-02 2.48438488e+02] [ 9.65458208e-01 -1.45602331e-01 -2.16079640e-01 5.17151192e+01] [ 2.18329201e-01 -5.42604964e-04 9.75875026e-01 -6.19981383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81687500000004 meters 0.013210545976423418 Centerline is valid? [True, True] Translation: X:248.43, Y:51.74, Z:-6.19 [[-1.42069256e-01 -9.89361550e-01 3.13057496e-02 2.48434041e+02] [ 9.65522214e-01 -1.45476895e-01 -2.15878040e-01 5.17408238e+01] [ 2.18135695e-01 -4.43235954e-04 9.75918348e-01 -6.19417160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.846875 meters 0.013234954207454987 Centerline is valid? [True, True] Translation: X:248.43, Y:51.77, Z:-6.19 [[-1.40652870e-01 -9.89560055e-01 3.14271794e-02 2.48428552e+02] [ 9.65650961e-01 -1.44121107e-01 -2.16211306e-01 5.17660024e+01] [ 2.18483391e-01 -6.30547800e-05 9.75840665e-01 -6.18850448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87687500000004 meters 0.013254305120577911 Centerline is valid? [True, True] Translation: X:248.42, Y:51.79, Z:-6.18 [[-1.39467361e-01 -9.89725068e-01 3.15142184e-02 2.48423426e+02] [ 9.65797132e-01 -1.42983282e-01 -2.16313847e-01 5.17931614e+01] [ 2.18597243e-01 2.67620457e-04 9.75815133e-01 -6.18210276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.906875 meters 0.013306103397297948 Centerline is valid? [True, True] Translation: X:248.42, Y:51.82, Z:-6.18 [[-1.38247611e-01 -9.89895342e-01 3.15405939e-02 2.48417637e+02] [ 9.66029579e-01 -1.41798629e-01 -2.16055553e-01 5.18182541e+01] [ 2.18344799e-01 5.99982481e-04 9.75871502e-01 -6.17673055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.936875 meters 0.013451877287715719 Centerline is valid? [True, True] Translation: X:248.41, Y:51.84, Z:-6.17 [[-1.36968061e-01 -9.90070929e-01 3.16117899e-02 2.48411800e+02] [ 9.66186485e-01 -1.40565568e-01 -2.16159657e-01 5.18436738e+01] [ 2.18456921e-01 9.35915126e-04 9.75846144e-01 -6.17116148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.966875 meters 0.013719199307723839 Centerline is valid? [True, True] Translation: X:248.40, Y:51.87, Z:-6.17 [[-1.33870229e-01 -9.90493887e-01 3.16325967e-02 2.48404632e+02] [ 9.66699054e-01 -1.37546384e-01 -2.15809943e-01 5.18709328e+01] [ 2.18109379e-01 1.68867488e-03 9.75922870e-01 -6.16556396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.996875 meters 0.013969765800098576 Centerline is valid? [True, True] Translation: X:248.40, Y:51.90, Z:-6.16 [[-1.32661627e-01 -9.90653144e-01 3.17370550e-02 2.48399795e+02] [ 9.66799116e-01 -1.36390192e-01 -2.16095314e-01 5.18973758e+01] [ 2.18404125e-01 2.01580069e-03 9.75856329e-01 -6.15982671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.026875 meters 0.013907097236787336 Centerline is valid? [True, True] Translation: X:248.39, Y:51.92, Z:-6.15 [[-1.32081706e-01 -9.90729642e-01 3.17679123e-02 2.48394361e+02] [ 9.66940229e-01 -1.35830347e-01 -2.15816380e-01 5.19239225e+01] [ 2.18130732e-01 2.21227666e-03 9.75917051e-01 -6.15374724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.056875 meters 0.014776077782590071 Centerline is valid? [True, True] Translation: X:248.39, Y:51.95, Z:-6.15 [[-1.29251957e-01 -9.91102892e-01 3.17645966e-02 2.48387824e+02] [ 9.67436940e-01 -1.33066312e-01 -2.15311692e-01 5.19501241e+01] [ 2.17622838e-01 2.90078656e-03 9.76028630e-01 -6.14801412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.086875 meters 0.015041538272194234 Centerline is valid? [True, True] Translation: X:248.38, Y:51.98, Z:-6.14 [[-1.27852018e-01 -9.91280791e-01 3.18787481e-02 2.48383016e+02] [ 9.67549112e-01 -1.31725721e-01 -2.15631749e-01 5.19774117e+01] [ 2.17950862e-01 3.27530018e-03 9.75954248e-01 -6.14147033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.116875 meters 0.015589824737285244 Centerline is valid? [True, True] Translation: X:248.38, Y:52.00, Z:-6.14 [[-1.26631270e-01 -9.91437358e-01 3.18823908e-02 2.48377639e+02] [ 9.67799181e-01 -1.30533531e-01 -2.15234157e-01 5.20043734e+01] [ 2.17552905e-01 3.60037708e-03 9.76041890e-01 -6.13539337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.146875 meters 0.01588131004425053 Centerline is valid? [True, True] Translation: X:248.37, Y:52.03, Z:-6.13 [[-1.25059070e-01 -9.91631797e-01 3.20407341e-02 2.48372423e+02] [ 9.67856285e-01 -1.29035942e-01 -2.15879450e-01 5.20314620e+01] [ 2.18207333e-01 4.01314263e-03 9.75894182e-01 -6.12949029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.176875 meters 0.016337110856897284 Centerline is valid? [True, True] Translation: X:248.37, Y:52.06, Z:-6.12 [[-1.22205692e-01 -9.91983022e-01 3.21784622e-02 2.48366407e+02] [ 9.68107774e-01 -1.26283432e-01 -2.16378911e-01 5.20587458e+01] [ 2.18707813e-01 4.70948496e-03 9.75779029e-01 -6.12450414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.206875 meters 0.01742020632010177 Centerline is valid? [True, True] Translation: X:248.36, Y:52.08, Z:-6.12 [[-1.21215728e-01 -9.92099839e-01 3.23211667e-02 2.48359704e+02] [ 9.68112250e-01 -1.25351197e-01 -2.16900319e-01 5.20841960e+01] [ 2.19238268e-01 4.99878750e-03 9.75658544e-01 -6.11963591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.236875 meters 0.01736343073053576 Centerline is valid? [True, True] Translation: X:248.36, Y:52.11, Z:-6.11 [[-1.20015393e-01 -9.92241895e-01 3.24396043e-02 2.48355722e+02] [ 9.68184808e-01 -1.24207683e-01 -2.17234044e-01 5.21119100e+01] [ 2.19577968e-01 5.33610282e-03 9.75580362e-01 -6.11412508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.266875 meters 0.017202093091529636 Centerline is valid? [True, True] Translation: X:248.35, Y:52.14, Z:-6.11 [[-1.20227924e-01 -9.92211820e-01 3.25722262e-02 2.48352117e+02] [ 9.68053416e-01 -1.24446665e-01 -2.17682363e-01 5.21383842e+01] [ 2.20040519e-01 5.36015621e-03 9.75476006e-01 -6.10795049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.296875 meters 0.017521088745051865 Centerline is valid? [True, True] Translation: X:248.35, Y:52.17, Z:-6.10 [[-1.20620819e-01 -9.92163368e-01 3.25955304e-02 2.48348000e+02] [ 9.68078285e-01 -1.24833311e-01 -2.17350129e-01 5.21650006e+01] [ 2.19715844e-01 5.33807467e-03 9.75549308e-01 -6.10226550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.32687500000003 meters 0.017207406678815387 Centerline is valid? [True, True] Translation: X:248.35, Y:52.19, Z:-6.10 [[-1.21521876e-01 -9.92050876e-01 3.26725184e-02 2.48345053e+02] [ 9.67951183e-01 -1.25729674e-01 -2.17399534e-01 5.21919729e+01] [ 2.19779303e-01 5.20660373e-03 9.75535724e-01 -6.09621692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.356875 meters 0.016900967246469258 Centerline is valid? [True, True] Translation: X:248.34, Y:52.22, Z:-6.09 [[-1.23203144e-01 -9.91841256e-01 3.27400116e-02 2.48342904e+02] [ 9.67738776e-01 -1.27384837e-01 -2.17381613e-01 5.22188869e+01] [ 2.19778633e-01 4.90168050e-03 9.75537455e-01 -6.08965026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.38687500000003 meters 0.01697589582518367 Centerline is valid? [True, True] Translation: X:248.34, Y:52.24, Z:-6.08 [[-1.24583374e-01 -9.91666660e-01 3.28057553e-02 2.48338966e+02] [ 9.67558000e-01 -1.28745985e-01 -2.17384426e-01 5.22442003e+01] [ 2.19796497e-01 4.65898572e-03 9.75534619e-01 -6.08399803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.416875 meters 0.015974929769351824 Centerline is valid? [True, True] Translation: X:248.34, Y:52.27, Z:-6.08 [[-1.25684789e-01 -9.91524764e-01 3.28934115e-02 2.48337790e+02] [ 9.67395387e-01 -1.29840225e-01 -2.17457310e-01 5.22707571e+01] [ 2.19885196e-01 4.48985837e-03 9.75515424e-01 -6.07786492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.44687500000003 meters 0.015772845956427445 Centerline is valid? [True, True] Translation: X:248.33, Y:52.30, Z:-6.07 [[-1.27253823e-01 -9.91322982e-01 3.29425182e-02 2.48334688e+02] [ 9.67222727e-01 -1.31381187e-01 -2.17299747e-01 5.22973060e+01] [ 2.19742260e-01 4.21052883e-03 9.75548877e-01 -6.07222778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.476875 meters 0.015341916185713816 Centerline is valid? [True, True] Translation: X:248.33, Y:52.32, Z:-6.07 [[-1.29480210e-01 -9.91032438e-01 3.30088244e-02 2.48332732e+02] [ 9.66932080e-01 -1.33567850e-01 -2.17260171e-01 5.23235349e+01] [ 2.19720795e-01 3.78639864e-03 9.75555450e-01 -6.06697151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.50687500000004 meters 0.01517806991357756 Centerline is valid? [True, True] Translation: X:248.33, Y:52.35, Z:-6.06 [[-1.31186272e-01 -9.90804162e-01 3.31251291e-02 2.48329813e+02] [ 9.66620047e-01 -1.35259197e-01 -2.17602009e-01 5.23499514e+01] [ 2.20081454e-01 3.47301744e-03 9.75475316e-01 -6.06168422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.536875 meters 0.01468724488171604 Centerline is valid? [True, True] Translation: X:248.33, Y:52.38, Z:-6.06 [[-1.33039745e-01 -9.90553471e-01 3.32302179e-02 2.48327778e+02] [ 9.66305476e-01 -1.37091356e-01 -2.17852443e-01 5.23771863e+01] [ 2.20350069e-01 3.12750804e-03 9.75415842e-01 -6.05595750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56687500000004 meters 0.013931959591219033 Centerline is valid? [True, True] Translation: X:248.33, Y:52.41, Z:-6.05 [[-1.37214532e-01 -9.89977388e-01 3.34207125e-02 2.48328534e+02] [ 9.65532217e-01 -1.41207767e-01 -2.18650186e-01 5.24052503e+01] [ 2.21178004e-01 2.26679188e-03 9.75230820e-01 -6.05011122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.596875 meters 0.013746566311551729 Centerline is valid? [True, True] Translation: X:248.33, Y:52.43, Z:-6.04 [[-1.39479196e-01 -9.89659624e-01 3.34571790e-02 2.48326665e+02] [ 9.65248507e-01 -1.43424204e-01 -2.18460106e-01 5.24314413e+01] [ 2.20999715e-01 1.82385227e-03 9.75272167e-01 -6.04485719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62687500000004 meters 0.013445481456622981 Centerline is valid? [True, True] Translation: X:248.33, Y:52.46, Z:-6.04 [[-1.43284531e-01 -9.89114005e-01 3.35116264e-02 2.48327064e+02] [ 9.64720340e-01 -1.47147504e-01 -2.18316923e-01 5.24571915e+01] [ 2.20871478e-01 1.04790970e-03 9.75302359e-01 -6.03920322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.656875 meters 0.013424573315863192 Centerline is valid? [True, True] Translation: X:248.33, Y:52.48, Z:-6.03 [[-1.44894133e-01 -9.88878463e-01 3.35421572e-02 2.48325122e+02] [ 9.64541476e-01 -1.48723932e-01 -2.18038832e-01 5.24836947e+01] [ 2.20602426e-01 7.60254343e-04 9.75363518e-01 -6.03314298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.686875 meters 0.013221911567472492 Centerline is valid? [True, True] Translation: X:248.32, Y:52.51, Z:-6.03 [[-1.46618442e-01 -9.88624077e-01 3.35479747e-02 2.48322821e+02] [ 9.64373966e-01 -1.50406902e-01 -2.17624948e-01 5.25100721e+01] [ 2.20195111e-01 4.44962604e-04 9.75455747e-01 -6.02640546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.716875 meters 0.01307568809521598 Centerline is valid? [True, True] Translation: X:248.32, Y:52.54, Z:-6.02 [[-1.47881870e-01 -9.88436700e-01 3.35237486e-02 2.48320322e+02] [ 9.64319667e-01 -1.51633881e-01 -2.17013239e-01 5.25365307e+01] [ 2.19587186e-01 2.35286349e-04 9.75592852e-01 -6.01973738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.746875 meters 0.013074089518311856 Centerline is valid? [True, True] Translation: X:248.32, Y:52.56, Z:-6.01 [[-1.48183096e-01 -9.88389783e-01 3.35768675e-02 2.48317993e+02] [ 9.64299916e-01 -1.51939392e-01 -2.16887282e-01 5.25624748e+01] [ 2.19470822e-01 2.39141531e-04 9.75619035e-01 -6.01414910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.776875 meters 0.013033128956672973 Centerline is valid? [True, True] Translation: X:248.31, Y:52.59, Z:-6.01 [[-1.47729211e-01 -9.88454313e-01 3.36771747e-02 2.48314088e+02] [ 9.64330461e-01 -1.51518653e-01 -2.17045754e-01 5.25882443e+01] [ 2.19642532e-01 4.11927292e-04 9.75580334e-01 -6.00840027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.806875 meters 0.013053851688355711 Centerline is valid? [True, True] Translation: X:248.31, Y:52.61, Z:-6.00 [[-1.46872542e-01 -9.88577710e-01 3.38018854e-02 2.48309737e+02] [ 9.64382965e-01 -1.50710517e-01 -2.17374874e-01 5.26141338e+01] [ 2.19986255e-01 6.71562080e-04 9.75502740e-01 -6.00270804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.836875 meters 0.013295842818686725 Centerline is valid? [True, True] Translation: X:248.30, Y:52.64, Z:-6.00 [[-1.44455654e-01 -9.88929800e-01 3.39177572e-02 2.48303720e+02] [ 9.64678354e-01 -1.48378641e-01 -2.17668214e-01 5.26403614e+01] [ 2.20291254e-01 1.27632202e-03 9.75433306e-01 -5.99708497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.866875 meters 0.013433036027228574 Centerline is valid? [True, True] Translation: X:248.30, Y:52.67, Z:-5.99 [[-1.42904567e-01 -9.89152496e-01 3.39944892e-02 2.48298439e+02] [ 9.64897999e-01 -1.46882559e-01 -2.17709360e-01 5.26669203e+01] [ 2.20340954e-01 1.68955277e-03 9.75421452e-01 -5.99139802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.896875 meters 0.01378340453482734 Centerline is valid? [True, True] Translation: X:248.29, Y:52.69, Z:-5.99 [[-1.41325726e-01 -9.89376805e-01 3.40672407e-02 2.48292914e+02] [ 9.65124943e-01 -1.45358490e-01 -2.17726326e-01 5.26930948e+01] [ 2.20365339e-01 2.10881266e-03 9.75415127e-01 -5.98564825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.926875 meters 0.014136898732492714 Centerline is valid? [True, True] Translation: X:248.29, Y:52.72, Z:-5.98 [[-1.39706378e-01 -9.89603515e-01 3.41615566e-02 2.48287728e+02] [ 9.65316475e-01 -1.43800097e-01 -2.17911990e-01 5.27204502e+01] [ 2.20558906e-01 2.53301860e-03 9.75370367e-01 -5.97956592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.956875 meters 0.01460707373974037 Centerline is valid? [True, True] Translation: X:248.28, Y:52.75, Z:-5.97 [[-1.37226463e-01 -9.89947500e-01 3.42468377e-02 2.48282864e+02] [ 9.65604891e-01 -1.41400775e-01 -2.18204068e-01 5.27475230e+01] [ 2.20853101e-01 3.12554138e-03 9.75302076e-01 -5.97356405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.986875 meters 0.015020264179468416 Centerline is valid? [True, True] Translation: X:248.28, Y:52.77, Z:-5.97 [[-1.36547897e-01 -9.90039988e-01 3.42854757e-02 2.48277530e+02] [ 9.65736815e-01 -1.40746878e-01 -2.18042933e-01 5.27733879e+01] [ 2.20696796e-01 3.33744210e-03 9.75336755e-01 -5.96762307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.016875 meters 0.01481007069705227 Centerline is valid? [True, True] Translation: X:248.27, Y:52.80, Z:-5.96 [[-1.36301411e-01 -9.90069821e-01 3.44045847e-02 2.48273857e+02] [ 9.65694842e-01 -1.40533887e-01 -2.18365973e-01 5.27992896e+01] [ 2.21032570e-01 3.46073961e-03 9.75260286e-01 -5.96086504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.046875 meters 0.015489106798120322 Centerline is valid? [True, True] Translation: X:248.27, Y:52.83, Z:-5.96 [[-1.35790729e-01 -9.90139394e-01 3.44217594e-02 2.48268598e+02] [ 9.65848130e-01 -1.40038239e-01 -2.18006149e-01 5.28250252e+01] [ 2.20676839e-01 3.64297797e-03 9.75340177e-01 -5.95550060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07687500000003 meters 0.01496513171875544 Centerline is valid? [True, True] Translation: X:248.27, Y:52.85, Z:-5.95 [[-1.36320645e-01 -9.90064843e-01 3.44715690e-02 2.48265395e+02] [ 9.65809219e-01 -1.40565532e-01 -2.17839123e-01 5.28513000e+01] [ 2.20520371e-01 3.59698948e-03 9.75375737e-01 -5.94895313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.106875 meters 0.01529618511317745 Centerline is valid? [True, True] Translation: X:248.26, Y:52.88, Z:-5.94 [[-1.36972365e-01 -9.89973311e-01 3.45168771e-02 2.48260602e+02] [ 9.65752489e-01 -1.41210681e-01 -2.17673319e-01 5.28768512e+01] [ 2.20364928e-01 3.51953066e-03 9.75411150e-01 -5.94308213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13687500000003 meters 0.015080282600584366 Centerline is valid? [True, True] Translation: X:248.26, Y:52.90, Z:-5.94 [[-1.37969622e-01 -9.89835312e-01 3.45027446e-02 2.48257889e+02] [ 9.65731215e-01 -1.42178594e-01 -2.17136978e-01 5.29033988e+01] [ 2.19835400e-01 3.36207061e-03 9.75531185e-01 -5.93720062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.166875 meters 0.015010368311554433 Centerline is valid? [True, True] Translation: X:248.25, Y:52.93, Z:-5.93 [[-1.38942734e-01 -9.89698516e-01 3.45219458e-02 2.48253648e+02] [ 9.65662992e-01 -1.43131173e-01 -2.16814331e-01 5.29292941e+01] [ 2.19521988e-01 3.21178944e-03 9.75602266e-01 -5.93142756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19687500000003 meters 0.01456705842933972 Centerline is valid? [True, True] Translation: X:248.25, Y:52.96, Z:-5.93 [[-1.39728256e-01 -9.89585222e-01 3.45991816e-02 2.48251029e+02] [ 9.65535925e-01 -1.43914723e-01 -2.16861544e-01 5.29557496e+01] [ 2.19582311e-01 3.10506736e-03 9.75589036e-01 -5.92563489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.226875 meters 0.014530182491316993 Centerline is valid? [True, True] Translation: X:248.25, Y:52.98, Z:-5.92 [[-1.40554112e-01 -9.89466684e-01 3.46442244e-02 2.48246842e+02] [ 9.65453484e-01 -1.44729862e-01 -2.16686035e-01 5.29814401e+01] [ 2.19417667e-01 2.99127380e-03 9.75626435e-01 -5.92031298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25687500000004 meters 0.014591063678412864 Centerline is valid? [True, True] Translation: X:248.24, Y:53.01, Z:-5.91 [[-1.41191666e-01 -9.89370113e-01 3.48093733e-02 2.48242618e+02] [ 9.65230098e-01 -1.45389865e-01 -2.17238684e-01 5.30073598e+01] [ 2.19990392e-01 2.92676311e-03 9.75497648e-01 -5.91496204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.286875 meters 0.01466031406230741 Centerline is valid? [True, True] Translation: X:248.24, Y:53.03, Z:-5.91 [[-1.41425920e-01 -9.89330689e-01 3.49785282e-02 2.48237823e+02] [ 9.65058631e-01 -1.45657408e-01 -2.17820475e-01 5.30341439e+01] [ 2.20591362e-01 2.95086956e-03 9.75361853e-01 -5.90949686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31687500000004 meters 0.014640916912850584 Centerline is valid? [True, True] Translation: X:248.23, Y:53.06, Z:-5.91 [[-1.41689512e-01 -9.89284928e-01 3.52053007e-02 2.48233621e+02] [ 9.64791589e-01 -1.45967598e-01 -2.18793625e-01 5.30595268e+01] [ 2.21588068e-01 2.96501598e-03 9.75135855e-01 -5.90533789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.346875 meters 0.014610152706232865 Centerline is valid? [True, True] Translation: X:248.23, Y:53.09, Z:-5.90 [[-1.41842446e-01 -9.89257450e-01 3.53612444e-02 2.48229361e+02] [ 9.64648166e-01 -1.46152892e-01 -2.19301728e-01 5.30855525e+01] [ 2.22114017e-01 3.00486607e-03 9.75016069e-01 -5.89993757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37687500000004 meters 0.014741832737470404 Centerline is valid? [True, True] Translation: X:248.22, Y:53.11, Z:-5.90 [[-1.41913210e-01 -9.89242052e-01 3.55077822e-02 2.48224690e+02] [ 9.64525003e-01 -1.46255949e-01 -2.19774239e-01 5.31113005e+01] [ 2.22603144e-01 3.05927597e-03 9.74904345e-01 -5.89508598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.406875 meters 0.014645390701174784 Centerline is valid? [True, True] Translation: X:248.22, Y:53.14, Z:-5.89 [[-1.42098795e-01 -9.89213312e-01 3.55662102e-02 2.48220593e+02] [ 9.64516696e-01 -1.46449612e-01 -2.19681710e-01 5.31381936e+01] [ 2.22520730e-01 3.08769724e-03 9.74923069e-01 -5.88998726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.436875 meters 0.014845444625802801 Centerline is valid? [True, True] Translation: X:248.22, Y:53.16, Z:-5.88 [[-1.42733601e-01 -9.89121388e-01 3.55808676e-02 2.48215853e+02] [ 9.64499431e-01 -1.47070791e-01 -2.19342267e-01 5.31639336e+01] [ 2.22189034e-01 3.01021499e-03 9.74998960e-01 -5.88437160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.466875 meters 0.014576613982671686 Centerline is valid? [True, True] Translation: X:248.21, Y:53.19, Z:-5.88 [[-1.43114004e-01 -9.89065611e-01 3.56033433e-02 2.48212931e+02] [ 9.64508374e-01 -1.47445832e-01 -2.19050962e-01 5.31899182e+01] [ 2.21905338e-01 2.99046254e-03 9.75063628e-01 -5.87827452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.496875 meters 0.014389666829485753 Centerline is valid? [True, True] Translation: X:248.21, Y:53.22, Z:-5.87 [[-1.43743236e-01 -9.88972908e-01 3.56436435e-02 2.48209531e+02] [ 9.64455183e-01 -1.48067831e-01 -2.18865525e-01 5.32164822e+01] [ 2.21729751e-01 2.91625791e-03 9.75103796e-01 -5.87223448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.526875 meters 0.014189558918123594 Centerline is valid? [True, True] Translation: X:248.21, Y:53.24, Z:-5.87 [[-1.44974578e-01 -9.88796454e-01 3.55520035e-02 2.48207647e+02] [ 9.64470483e-01 -1.49245986e-01 -2.17996153e-01 5.32432693e+01] [ 2.20859817e-01 2.68495778e-03 9.75301867e-01 -5.86570707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.556875 meters 0.014086651876420974 Centerline is valid? [True, True] Translation: X:248.20, Y:53.27, Z:-5.86 [[-1.45332427e-01 -9.88741158e-01 3.56287432e-02 2.48204246e+02] [ 9.64407006e-01 -1.49612063e-01 -2.18026049e-01 5.32696188e+01] [ 2.20901818e-01 2.67435463e-03 9.75292384e-01 -5.85969695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.586875 meters 0.01400883453605829 Centerline is valid? [True, True] Translation: X:248.20, Y:53.30, Z:-5.85 [[-1.46058058e-01 -9.88633286e-01 3.56548732e-02 2.48200774e+02] [ 9.64354427e-01 -1.50324930e-01 -2.17768123e-01 5.32958259e+01] [ 2.20652632e-01 2.57714565e-03 9.75349053e-01 -5.85359134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.616875 meters 0.01400883453605829 Centerline is valid? [True, True] Translation: X:248.20, Y:53.32, Z:-5.85 [[-1.46371497e-01 -9.88584366e-01 3.57258575e-02 2.48196392e+02] [ 9.64306905e-01 -1.50646305e-01 -2.17756478e-01 5.33216384e+01] [ 2.20652618e-01 2.57734940e-03 9.75349055e-01 -5.84782136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.646875 meters 0.014466673102700998 Centerline is valid? [True, True] Translation: X:248.19, Y:53.35, Z:-5.84 [[-1.46531483e-01 -9.88559457e-01 3.57592493e-02 2.48192203e+02] [ 9.64335388e-01 -1.50809096e-01 -2.17517531e-01 5.33475627e+01] [ 2.20421832e-01 2.61074305e-03 9.75401148e-01 -5.84245096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.676875 meters 0.014332107838680176 Centerline is valid? [True, True] Translation: X:248.19, Y:53.37, Z:-5.84 [[-1.46484667e-01 -9.88561025e-01 3.59073998e-02 2.48188255e+02] [ 9.64238482e-01 -1.50797312e-01 -2.17954859e-01 5.33736244e+01] [ 2.20876418e-01 2.69625173e-03 9.75298077e-01 -5.83687125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.706875 meters 0.014381489883517336 Centerline is valid? [True, True] Translation: X:248.18, Y:53.40, Z:-5.83 [[-1.46957297e-01 -9.88486898e-01 3.60167293e-02 2.48184416e+02] [ 9.64109502e-01 -1.51283106e-01 -2.18188658e-01 5.34002905e+01] [ 2.21125353e-01 2.65965557e-03 9.75241767e-01 -5.83156863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.736875 meters 0.01418774595133034 Centerline is valid? [True, True] Translation: X:248.18, Y:53.43, Z:-5.83 [[-1.47644962e-01 -9.88379194e-01 3.61598382e-02 2.48180360e+02] [ 9.63899837e-01 -1.51986630e-01 -2.18625636e-01 5.34264077e+01] [ 2.21580842e-01 2.57548836e-03 9.75138604e-01 -5.82628633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.766875 meters 0.014216636524601953 Centerline is valid? [True, True] Translation: X:248.18, Y:53.45, Z:-5.82 [[-1.49140693e-01 -9.88147724e-01 3.63473464e-02 2.48177861e+02] [ 9.63496297e-01 -1.53488626e-01 -2.19353886e-01 5.34521266e+01] [ 2.22332948e-01 2.30594303e-03 9.74968073e-01 -5.82166858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.796875 meters 0.013940343150138574 Centerline is valid? [True, True] Translation: X:248.17, Y:53.48, Z:-5.82 [[-1.50614528e-01 -9.87920747e-01 3.64398248e-02 2.48174487e+02] [ 9.63238127e-01 -1.54946478e-01 -2.19462753e-01 5.34784994e+01] [ 2.22458030e-01 2.04594959e-03 9.74940121e-01 -5.81592580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.82687500000003 meters 0.013908724634188845 Centerline is valid? [True, True] Translation: X:248.17, Y:53.50, Z:-5.81 [[-1.51925007e-01 -9.87719979e-01 3.64422126e-02 2.48170837e+02] [ 9.63123069e-01 -1.56224005e-01 -2.19061667e-01 5.35047899e+01] [ 2.22064733e-01 1.81739042e-03 9.75030231e-01 -5.80985073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.856875 meters 0.013843088915517918 Centerline is valid? [True, True] Translation: X:248.17, Y:53.53, Z:-5.80 [[-1.53405281e-01 -9.87487171e-01 3.65500679e-02 2.48167069e+02] [ 9.62825336e-01 -1.57691773e-01 -2.19318664e-01 5.35303563e+01] [ 2.22338012e-01 1.54669022e-03 9.74968418e-01 -5.80401177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.88687500000003 meters 0.013472532608375698 Centerline is valid? [True, True] Translation: X:248.17, Y:53.56, Z:-5.80 [[-1.56021930e-01 -9.87079784e-01 3.64781634e-02 2.48165212e+02] [ 9.62603099e-01 -1.60226209e-01 -2.18455570e-01 5.35562952e+01] [ 2.21477835e-01 1.03013336e-03 9.75164862e-01 -5.79654485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.916875 meters 0.013435046330789895 Centerline is valid? [True, True] Translation: X:248.16, Y:53.58, Z:-5.79 [[-1.57375676e-01 -9.86862676e-01 3.65370425e-02 2.48160740e+02] [ 9.62398900e-01 -1.61559353e-01 -2.18373381e-01 5.35816415e+01] [ 2.21407440e-01 7.96551066e-04 9.75181066e-01 -5.79082411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.94687500000003 meters 0.013310332725586398 Centerline is valid? [True, True] Translation: X:248.16, Y:53.61, Z:-5.78 [[-1.60216070e-01 -9.86407126e-01 3.64937447e-02 2.48157604e+02] [ 9.62086719e-01 -1.64319592e-01 -2.17688347e-01 5.36058638e+01] [ 2.20725974e-01 2.32975552e-04 9.75335835e-01 -5.78448387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.976875 meters 0.013326858507988452 Centerline is valid? [True, True] Translation: X:248.15, Y:53.63, Z:-5.78 [[-1.61355773e-01 -9.86223008e-01 3.64485065e-02 2.48153245e+02] [ 9.62062908e-01 -1.65421207e-01 -2.16958026e-01 5.36316754e+01] [ 2.19998353e-01 5.83260577e-05 9.75500242e-01 -5.77855795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.00687500000004 meters 0.01332937923866281 Centerline is valid? [True, True] Translation: X:248.15, Y:53.66, Z:-5.77 [[-1.62512837e-01 -9.86030616e-01 3.65130498e-02 2.48148735e+02] [ 9.61877805e-01 -1.66564127e-01 -2.16904309e-01 5.36563746e+01] [ 2.19956053e-01 -1.28642334e-04 9.75509773e-01 -5.77288056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.036875 meters 0.01322638360236018 Centerline is valid? [True, True] Translation: X:248.14, Y:53.68, Z:-5.77 [[-1.63416612e-01 -9.85872179e-01 3.67567387e-02 2.48142878e+02] [ 9.61491661e-01 -1.67499182e-01 -2.17894032e-01 5.36820729e+01] [ 2.20972388e-01 -2.66206782e-04 9.75280028e-01 -5.76699865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06687500000004 meters 0.013333058858376457 Centerline is valid? [True, True] Translation: X:248.14, Y:53.71, Z:-5.76 [[-1.63923788e-01 -9.85784254e-01 3.68564202e-02 2.48137321e+02] [ 9.61364009e-01 -1.68015792e-01 -2.18059480e-01 5.37081381e+01] [ 2.21152062e-01 -3.12700158e-04 9.75239287e-01 -5.76201593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.096875 meters 0.013245588805967136 Centerline is valid? [True, True] Translation: X:248.13, Y:53.73, Z:-5.76 [[-1.64241620e-01 -9.85725964e-01 3.70001956e-02 2.48132021e+02] [ 9.61207546e-01 -1.68357424e-01 -2.18485311e-01 5.37345041e+01] [ 2.21595902e-01 -3.19514286e-04 9.75138531e-01 -5.75579953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12687500000004 meters 0.013405482268637232 Centerline is valid? [True, True] Translation: X:248.13, Y:53.76, Z:-5.75 [[-1.64538659e-01 -9.85671828e-01 3.71224627e-02 2.48126246e+02] [ 9.61084538e-01 -1.68674080e-01 -2.18782003e-01 5.37595215e+01] [ 2.21908854e-01 -3.20272580e-04 9.75067361e-01 -5.75101617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.156875 meters 0.013335335402757793 Centerline is valid? [True, True] Translation: X:248.12, Y:53.79, Z:-5.74 [[-1.65028810e-01 -9.85587656e-01 3.71815161e-02 2.48120863e+02] [ 9.61018804e-01 -1.69165141e-01 -2.18691595e-01 5.37852396e+01] [ 2.21829553e-01 -3.58277571e-04 9.75085392e-01 -5.74444186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.186875 meters 0.013466040450668513 Centerline is valid? [True, True] Translation: X:248.12, Y:53.81, Z:-5.74 [[-1.64991940e-01 -9.85591698e-01 3.72379537e-02 2.48115673e+02] [ 9.61042184e-01 -1.69141734e-01 -2.18606938e-01 5.38105577e+01] [ 2.21755676e-01 -2.81138390e-04 9.75102221e-01 -5.73893240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.216875 meters 0.013348595325125175 Centerline is valid? [True, True] Translation: X:248.11, Y:53.84, Z:-5.73 [[-1.65144599e-01 -9.85563517e-01 3.73070358e-02 2.48109943e+02] [ 9.61020188e-01 -1.69305918e-01 -2.18576542e-01 5.38370204e+01] [ 2.21737368e-01 -2.43920791e-04 9.75106394e-01 -5.73251251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.246875 meters 0.01326826186277554 Centerline is valid? [True, True] Translation: X:248.10, Y:53.86, Z:-5.73 [[-1.63717870e-01 -9.85801497e-01 3.73077403e-02 2.48102817e+02] [ 9.61356169e-01 -1.67914820e-01 -2.18171791e-01 5.38626751e+01] [ 2.21338601e-01 1.47405231e-04 9.75197007e-01 -5.72600353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.276875 meters 0.013452731893898867 Centerline is valid? [True, True] Translation: X:248.10, Y:53.89, Z:-5.72 [[-1.63550590e-01 -9.85826800e-01 3.73727883e-02 2.48096708e+02] [ 9.61392792e-01 -1.67766074e-01 -2.18124837e-01 5.38873867e+01] [ 2.21303196e-01 2.55483433e-04 9.75205019e-01 -5.72081387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.306875 meters 0.013379644454989544 Centerline is valid? [True, True] Translation: X:248.09, Y:53.91, Z:-5.71 [[-1.62681816e-01 -9.85971689e-01 3.73424007e-02 2.48090551e+02] [ 9.61681965e-01 -1.66911803e-01 -2.17504593e-01 5.39128768e+01] [ 2.20686259e-01 5.27471072e-04 9.75344707e-01 -5.71482274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.336875 meters 0.01357528492448395 Centerline is valid? [True, True] Translation: X:248.08, Y:53.94, Z:-5.71 [[-1.61082307e-01 -9.86232224e-01 3.73963993e-02 2.48082837e+02] [ 9.61972131e-01 -1.65363507e-01 -2.17404070e-01 5.39372308e+01] [ 2.20594899e-01 9.54344882e-04 9.75365050e-01 -5.70951047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.366875 meters 0.013538492463746329 Centerline is valid? [True, True] Translation: X:248.08, Y:53.96, Z:-5.70 [[-1.60607646e-01 -9.86310766e-01 3.73665225e-02 2.48076685e+02] [ 9.62189779e-01 -1.64893257e-01 -2.16797238e-01 5.39632784e+01] [ 2.19990937e-01 1.13439201e-03 9.75501256e-01 -5.70344539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.396875 meters 0.013567876196150281 Centerline is valid? [True, True] Translation: X:248.07, Y:53.99, Z:-5.70 [[-1.59494705e-01 -9.86487373e-01 3.74713630e-02 2.48070341e+02] [ 9.62326476e-01 -1.63830893e-01 -2.16995836e-01 5.39893053e+01] [ 2.20202619e-01 1.44999792e-03 9.75453076e-01 -5.69738194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.426875 meters 0.01390506176291606 Centerline is valid? [True, True] Translation: X:248.06, Y:54.02, Z:-5.69 [[-1.58394609e-01 -9.86661901e-01 3.75425307e-02 2.48063836e+02] [ 9.62505369e-01 -1.62773412e-01 -2.16998229e-01 5.40154475e+01] [ 2.20214811e-01 1.76353774e-03 9.75449808e-01 -5.69159273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.456875 meters 0.014340240195433767 Centerline is valid? [True, True] Translation: X:248.06, Y:54.04, Z:-5.69 [[-1.55894777e-01 -9.87054870e-01 3.76762885e-02 2.48055317e+02] [ 9.62827412e-01 -1.60365120e-01 -2.17362377e-01 5.40420250e+01] [ 2.20590555e-01 2.39010402e-03 9.75363570e-01 -5.68608489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.486875 meters 0.01473716089219788 Centerline is valid? [True, True] Translation: X:248.05, Y:54.07, Z:-5.68 [[-1.54407010e-01 -9.87284025e-01 3.77985393e-02 2.48048570e+02] [ 9.62987450e-01 -1.58941801e-01 -2.17698586e-01 5.40688411e+01] [ 2.20938104e-01 2.78533133e-03 9.75283854e-01 -5.68039455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.516875 meters 0.014996029145598657 Centerline is valid? [True, True] Translation: X:248.04, Y:54.09, Z:-5.68 [[-1.53524266e-01 -9.87417638e-01 3.79039362e-02 2.48041689e+02] [ 9.63072186e-01 -1.58104805e-01 -2.17933099e-01 5.40933617e+01] [ 2.21183780e-01 3.04620767e-03 9.75227387e-01 -5.67563300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.546875 meters 0.015627090618717508 Centerline is valid? [True, True] Translation: X:248.03, Y:54.12, Z:-5.67 [[-1.51228305e-01 -9.87767628e-01 3.80146388e-02 2.48033461e+02] [ 9.63367369e-01 -1.55891002e-01 -2.18223070e-01 5.41199851e+01] [ 2.21479824e-01 3.62055757e-03 9.75158233e-01 -5.67048800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57687500000003 meters 0.015777950696938433 Centerline is valid? [True, True] Translation: X:248.03, Y:54.15, Z:-5.66 [[-1.50361224e-01 -9.87897750e-01 3.80727861e-02 2.48027901e+02] [ 9.63508755e-01 -1.55058095e-01 -2.18192271e-01 5.41471271e+01] [ 2.21455148e-01 3.87580580e-03 9.75162856e-01 -5.66390851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.606875 meters 0.01575240765840063 Centerline is valid? [True, True] Translation: X:248.02, Y:54.17, Z:-5.66 [[-1.49891743e-01 -9.87967673e-01 3.81096154e-02 2.48022529e+02] [ 9.63616857e-01 -1.54607709e-01 -2.18034422e-01 5.41734499e+01] [ 2.21303001e-01 4.04150824e-03 9.75196723e-01 -5.65763134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63687500000003 meters 0.01610247290692023 Centerline is valid? [True, True] Translation: X:248.02, Y:54.20, Z:-5.65 [[-1.49502381e-01 -9.88025735e-01 3.81337781e-02 2.48016475e+02] [ 9.63740041e-01 -1.54232099e-01 -2.17755811e-01 5.41992215e+01] [ 2.21029798e-01 4.19603643e-03 9.75258028e-01 -5.65198371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.666875 meters 0.016432760930389888 Centerline is valid? [True, True] Translation: X:248.01, Y:54.22, Z:-5.65 [[-1.49047165e-01 -9.88095438e-01 3.81096759e-02 2.48009782e+02] [ 9.63937114e-01 -1.53780293e-01 -2.17202351e-01 5.42240434e+01] [ 2.20477170e-01 4.36193619e-03 9.75382382e-01 -5.64589242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69687500000003 meters 0.016561076393355 Centerline is valid? [True, True] Translation: X:248.00, Y:54.25, Z:-5.64 [[-1.48952579e-01 -9.88108349e-01 3.81447121e-02 2.48004789e+02] [ 9.64004295e-01 -1.53694664e-01 -2.16964672e-01 5.42507316e+01] [ 2.20247243e-01 4.45421877e-03 9.75433910e-01 -5.64029400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.726875 meters 0.01639750079666597 Centerline is valid? [True, True] Translation: X:248.00, Y:54.28, Z:-5.63 [[-1.49719291e-01 -9.87996031e-01 3.80522872e-02 2.47999478e+02] [ 9.64097834e-01 -1.54418236e-01 -2.16033271e-01 5.42765818e+01] [ 2.19315982e-01 4.34177948e-03 9.75644223e-01 -5.63420119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75687500000004 meters 0.016497104049100167 Centerline is valid? [True, True] Translation: X:247.99, Y:54.30, Z:-5.63 [[-1.50604266e-01 -9.87860781e-01 3.80714252e-02 2.47994492e+02] [ 9.64025611e-01 -1.55284716e-01 -2.15734277e-01 5.43017092e+01] [ 2.19027342e-01 4.21132654e-03 9.75709633e-01 -5.62875505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.786875 meters 0.01576836754899861 Centerline is valid? [True, True] Translation: X:247.99, Y:54.33, Z:-5.62 [[-1.51599143e-01 -9.87705347e-01 3.81555718e-02 2.47991206e+02] [ 9.63854617e-01 -1.56274225e-01 -2.15783791e-01 5.43285795e+01] [ 2.19093536e-01 4.06378626e-03 9.75695397e-01 -5.62317047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81687500000004 meters 0.015305560594727015 Centerline is valid? [True, True] Translation: X:247.99, Y:54.36, Z:-5.62 [[-1.53394782e-01 -9.87424442e-01 3.82493451e-02 2.47986666e+02] [ 9.63539702e-01 -1.58047481e-01 -2.15898673e-01 5.43551137e+01] [ 2.19228839e-01 3.73703262e-03 9.75666311e-01 -5.61767116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.846875 meters 0.015383616711142299 Centerline is valid? [True, True] Translation: X:247.98, Y:54.38, Z:-5.61 [[-1.55936518e-01 -9.87025131e-01 3.82778454e-02 2.47981217e+02] [ 9.63184691e-01 -1.60533131e-01 -2.15648708e-01 5.43816475e+01] [ 2.18995557e-01 3.24112609e-03 9.75720473e-01 -5.61215694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87687500000004 meters 0.014971213664719077 Centerline is valid? [True, True] Translation: X:247.98, Y:54.41, Z:-5.61 [[-1.57512782e-01 -9.86774362e-01 3.82894594e-02 2.47976917e+02] [ 9.62992883e-01 -1.62072969e-01 -2.15353339e-01 5.44080240e+01] [ 2.18710840e-01 2.95157330e-03 9.75785251e-01 -5.60664255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.906875 meters 0.014811943369854053 Centerline is valid? [True, True] Translation: X:247.97, Y:54.43, Z:-5.60 [[-1.58904228e-01 -9.86551911e-01 3.82723609e-02 2.47972297e+02] [ 9.62874421e-01 -1.63425784e-01 -2.14860100e-01 5.44346781e+01] [ 2.18225333e-01 2.70929894e-03 9.75894648e-01 -5.60089038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.936875 meters 0.014706855963230181 Centerline is valid? [True, True] Translation: X:247.97, Y:54.46, Z:-5.60 [[-1.60596309e-01 -9.86278512e-01 3.82560179e-02 2.47967565e+02] [ 9.62702456e-01 -1.65072493e-01 -2.14371299e-01 5.44594995e+01] [ 2.17744822e-01 2.40192317e-03 9.76002778e-01 -5.59524318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.966875 meters 0.014457876076592742 Centerline is valid? [True, True] Translation: X:247.96, Y:54.49, Z:-5.59 [[-1.62496039e-01 -9.85968508e-01 3.82248294e-02 2.47962594e+02] [ 9.62515153e-01 -1.66918796e-01 -2.13781887e-01 5.44859070e+01] [ 2.17162651e-01 2.05326755e-03 9.76133273e-01 -5.59014341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.996875 meters 0.01419788866672313 Centerline is valid? [True, True] Translation: X:247.96, Y:54.51, Z:-5.58 [[-1.64002731e-01 -9.85717898e-01 3.82535035e-02 2.47957805e+02] [ 9.62307983e-01 -1.68395457e-01 -2.13556353e-01 5.45119700e+01] [ 2.16948036e-01 1.78782660e-03 9.76181517e-01 -5.58459965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.026875 meters 0.013884754205316556 Centerline is valid? [True, True] Translation: X:247.95, Y:54.54, Z:-5.58 [[-1.66576221e-01 -9.85286656e-01 3.82435270e-02 2.47953147e+02] [ 9.61962825e-01 -1.70905074e-01 -2.13117287e-01 5.45383565e+01] [ 2.16517632e-01 1.28857890e-03 9.76277857e-01 -5.57994353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.056875 meters 0.013718658448811172 Centerline is valid? [True, True] Translation: X:247.95, Y:54.56, Z:-5.57 [[-1.68293821e-01 -9.84994094e-01 3.82599617e-02 2.47948664e+02] [ 9.61727969e-01 -1.72585274e-01 -2.12823018e-01 5.45643572e+01] [ 2.16232522e-01 9.78876338e-04 9.76341405e-01 -5.57427475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.086875 meters 0.013588359117287735 Centerline is valid? [True, True] Translation: X:247.94, Y:54.59, Z:-5.57 [[-1.69957473e-01 -9.84709223e-01 3.82387588e-02 2.47944063e+02] [ 9.61547525e-01 -1.74204703e-01 -2.12318342e-01 5.45903808e+01] [ 2.15733201e-01 6.83295091e-04 9.76452108e-01 -5.56853056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.116875 meters 0.013622914000116773 Centerline is valid? [True, True] Translation: X:247.94, Y:54.62, Z:-5.56 [[-1.72489326e-01 -9.84270290e-01 3.82024665e-02 2.47939912e+02] [ 9.61227687e-01 -1.76669057e-01 -2.11729495e-01 5.46159089e+01] [ 2.15148245e-01 2.00190786e-04 9.76581380e-01 -5.56250461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.146875 meters 0.013604979585097573 Centerline is valid? [True, True] Translation: X:247.94, Y:54.64, Z:-5.56 [[-1.74353147e-01 -9.83938404e-01 3.82909482e-02 2.47935476e+02] [ 9.60845783e-01 -1.78508240e-01 -2.11920243e-01 5.46422214e+01] [ 2.15351715e-01 -1.57264982e-04 9.76536540e-01 -5.55669993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.176875 meters 0.013583788305708748 Centerline is valid? [True, True] Translation: X:247.93, Y:54.67, Z:-5.55 [[-1.75998476e-01 -9.83643484e-01 3.83410188e-02 2.47930372e+02] [ 9.60566658e-01 -1.80125774e-01 -2.11816905e-01 5.46688038e+01] [ 2.15258524e-01 -4.50348156e-04 9.76556995e-01 -5.55144830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.206875 meters 0.013620010427915254 Centerline is valid? [True, True] Translation: X:247.93, Y:54.70, Z:-5.55 [[-1.78791985e-01 -9.83136979e-01 3.84071202e-02 2.47925508e+02] [ 9.60054029e-01 -1.82867967e-01 -2.11791331e-01 5.46953297e+01] [ 2.15243322e-01 -9.93681958e-04 9.76559944e-01 -5.54621710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.236875 meters 0.013659315015263847 Centerline is valid? [True, True] Translation: X:247.92, Y:54.72, Z:-5.54 [[-1.80435564e-01 -9.82834244e-01 3.84689109e-02 2.47920498e+02] [ 9.59755537e-01 -1.84486311e-01 -2.11740666e-01 5.47218999e+01] [ 2.15202965e-01 -1.28479625e-03 9.76568499e-01 -5.54070750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.266875 meters 0.013668061869034805 Centerline is valid? [True, True] Translation: X:247.92, Y:54.75, Z:-5.54 [[-1.81128685e-01 -9.82702270e-01 3.85830150e-02 2.47915211e+02] [ 9.59568986e-01 -1.85187387e-01 -2.11974036e-01 5.47484343e+01] [ 2.15452454e-01 -1.37151375e-03 9.76513369e-01 -5.53575138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.296875 meters 0.013754914260109495 Centerline is valid? [True, True] Translation: X:247.91, Y:54.77, Z:-5.53 [[-1.82259180e-01 -9.82485374e-01 3.87824949e-02 2.47910328e+02] [ 9.59192091e-01 -1.86333172e-01 -2.12674591e-01 5.47740508e+01] [ 2.16176140e-01 -1.56203431e-03 9.76353131e-01 -5.53065092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.32687500000003 meters 0.013684666667083444 Centerline is valid? [True, True] Translation: X:247.90, Y:54.80, Z:-5.53 [[-1.82219410e-01 -9.82489911e-01 3.88543548e-02 2.47903311e+02] [ 9.59200326e-01 -1.86309904e-01 -2.12657834e-01 5.48002811e+01] [ 2.16173128e-01 -1.48127527e-03 9.76353924e-01 -5.52700511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.356875 meters 0.013716891303810637 Centerline is valid? [True, True] Translation: X:247.90, Y:54.83, Z:-5.52 [[-1.81615550e-01 -9.82599342e-01 3.89143240e-02 2.47897701e+02] [ 9.59325031e-01 -1.85733396e-01 -2.12599603e-01 5.48257167e+01] [ 2.16127919e-01 -1.27990862e-03 9.76364217e-01 -5.52162653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.38687500000003 meters 0.013627241739900797 Centerline is valid? [True, True] Translation: X:247.89, Y:54.85, Z:-5.52 [[-1.80525173e-01 -9.82798037e-01 3.89702500e-02 2.47891140e+02] [ 9.59526486e-01 -1.84680921e-01 -2.12607340e-01 5.48521695e+01] [ 2.16147138e-01 -9.87989936e-04 9.76360302e-01 -5.51612322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.416875 meters 0.013450463119947327 Centerline is valid? [True, True] Translation: X:247.88, Y:54.88, Z:-5.51 [[-1.77081972e-01 -9.83422259e-01 3.90209745e-02 2.47883407e+02] [ 9.60190301e-01 -1.81330183e-01 -2.12494590e-01 5.48766213e+01] [ 2.16047590e-01 -1.61399896e-04 9.76382821e-01 -5.51033740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.44687500000003 meters 0.013409944485473784 Centerline is valid? [True, True] Translation: X:247.88, Y:54.90, Z:-5.50 [[-1.75329776e-01 -9.83734686e-01 3.90581221e-02 2.47876688e+02] [ 9.60555458e-01 -1.79627334e-01 -2.12290445e-01 5.49012630e+01] [ 2.15853381e-01 2.96656186e-04 9.76425742e-01 -5.50481098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.476875 meters 0.013409944485473784 Centerline is valid? [True, True] Translation: X:247.87, Y:54.93, Z:-5.50 [[-1.75626632e-01 -9.83678961e-01 3.91278316e-02 2.47871803e+02] [ 9.60501229e-01 -1.79932239e-01 -2.12277597e-01 5.49269637e+01] [ 2.15853364e-01 3.00730915e-04 9.76425745e-01 -5.49904334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.50687500000004 meters 0.013608611444965526 Centerline is valid? [True, True] Translation: X:247.87, Y:54.95, Z:-5.49 [[-1.73384560e-01 -9.84074378e-01 3.91843545e-02 2.47865079e+02] [ 9.60920032e-01 -1.77755121e-01 -2.12216418e-01 5.49527279e+01] [ 2.15801959e-01 8.57980951e-04 9.76436776e-01 -5.49346614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.536875 meters 0.01389648074853574 Centerline is valid? [True, True] Translation: X:247.86, Y:54.98, Z:-5.49 [[-1.68455415e-01 -9.84931678e-01 3.91454124e-02 2.47856942e+02] [ 9.61927674e-01 -1.72932283e-01 -2.11635479e-01 5.49793612e+01] [ 2.15215993e-01 2.00391309e-03 9.76564417e-01 -5.48717177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56687500000004 meters 0.014331067834012598 Centerline is valid? [True, True] Translation: X:247.85, Y:55.01, Z:-5.48 [[-1.66178458e-01 -9.85317557e-01 3.91667252e-02 2.47850060e+02] [ 9.62374441e-01 -1.70712475e-01 -2.11406448e-01 5.50060667e+01] [ 2.14988734e-01 2.56185780e-03 9.76613169e-01 -5.48135300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.596875 meters 0.014627967931464958 Centerline is valid? [True, True] Translation: X:247.84, Y:55.03, Z:-5.48 [[-1.64325851e-01 -9.85627197e-01 3.91923941e-02 2.47843382e+02] [ 9.62737628e-01 -1.68907881e-01 -2.11202244e-01 5.50326109e+01] [ 2.14786580e-01 3.02600413e-03 9.76656320e-01 -5.47622598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62687500000004 meters 0.015408467583289735 Centerline is valid? [True, True] Translation: X:247.84, Y:55.06, Z:-5.47 [[-1.60400377e-01 -9.86264684e-01 3.94169151e-02 2.47836303e+02] [ 9.63203923e-01 -1.65125294e-01 -2.12065650e-01 5.50587344e+01] [ 2.15661591e-01 3.95111708e-03 9.76460172e-01 -5.47155605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.656875 meters 0.01571437994236153 Centerline is valid? [True, True] Translation: X:247.83, Y:55.09, Z:-5.47 [[-1.59123568e-01 -9.86464697e-01 3.95865112e-02 2.47830521e+02] [ 9.63264499e-01 -1.63917851e-01 -2.12726217e-01 5.50851819e+01] [ 2.16335839e-01 4.28252622e-03 9.76309615e-01 -5.46582357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.686875 meters 0.015619098911672201 Centerline is valid? [True, True] Translation: X:247.83, Y:55.11, Z:-5.46 [[-1.58332636e-01 -9.86586543e-01 3.97211588e-02 2.47825905e+02] [ 9.63310907e-01 -1.63176331e-01 -2.13085857e-01 5.51125676e+01] [ 2.16709191e-01 4.52538025e-03 9.76225715e-01 -5.45980726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.716875 meters 0.01672760792744109 Centerline is valid? [True, True] Translation: X:247.82, Y:55.14, Z:-5.45 [[-1.56368526e-01 -9.86892991e-01 3.98887040e-02 2.47820151e+02] [ 9.63505731e-01 -1.61297710e-01 -2.13634632e-01 5.51387785e+01] [ 2.17268477e-01 5.02726249e-03 9.76098937e-01 -5.45498959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.746875 meters 0.017301370035570123 Centerline is valid? [True, True] Translation: X:247.81, Y:55.16, Z:-5.45 [[-1.55795821e-01 -9.86977621e-01 4.00354583e-02 2.47814747e+02] [ 9.63500723e-01 -1.60772721e-01 -2.14052536e-01 5.51643258e+01] [ 2.17701673e-01 5.22570247e-03 9.76001370e-01 -5.44932965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.776875 meters 0.016898035857626986 Centerline is valid? [True, True] Translation: X:247.81, Y:55.19, Z:-5.44 [[-1.55397535e-01 -9.87036804e-01 4.01242343e-02 2.47811299e+02] [ 9.63537444e-01 -1.60403855e-01 -2.14163951e-01 5.51912542e+01] [ 2.17823784e-01 5.38065206e-03 9.75973282e-01 -5.44339203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.806875 meters 0.01694187857312631 Centerline is valid? [True, True] Translation: X:247.81, Y:55.22, Z:-5.44 [[-1.54798751e-01 -9.87121959e-01 4.03433429e-02 2.47807291e+02] [ 9.63453250e-01 -1.59871563e-01 -2.14939339e-01 5.52181763e+01] [ 2.18621094e-01 5.59658372e-03 9.75793777e-01 -5.43823338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.836875 meters 0.017229467732951757 Centerline is valid? [True, True] Translation: X:247.80, Y:55.24, Z:-5.43 [[-1.54718114e-01 -9.87132961e-01 4.03834344e-02 2.47802633e+02] [ 9.63495301e-01 -1.59800838e-01 -2.14803393e-01 5.52442915e+01] [ 2.18492817e-01 5.67527349e-03 9.75822054e-01 -5.43259642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.866875 meters 0.017200385110231513 Centerline is valid? [True, True] Translation: X:247.80, Y:55.27, Z:-5.43 [[-1.54659297e-01 -9.87139716e-01 4.04435759e-02 2.47798620e+02] [ 9.63518049e-01 -1.59756168e-01 -2.14734570e-01 5.52709355e+01] [ 2.18434133e-01 5.75741771e-03 9.75834710e-01 -5.42665946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.896875 meters 0.017819116157681995 Centerline is valid? [True, True] Translation: X:247.79, Y:55.30, Z:-5.42 [[-1.54810957e-01 -9.87110700e-01 4.05713494e-02 2.47793719e+02] [ 9.63424646e-01 -1.59933828e-01 -2.15021214e-01 5.52959892e+01] [ 2.18738472e-01 5.79979800e-03 9.75766285e-01 -5.42071281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.926875 meters 0.018037347225210408 Centerline is valid? [True, True] Translation: X:247.79, Y:55.32, Z:-5.41 [[-1.55475390e-01 -9.87007741e-01 4.05354373e-02 2.47790357e+02] [ 9.63452062e-01 -1.60570982e-01 -2.14422675e-01 5.53217006e+01] [ 2.18145655e-01 5.71650174e-03 9.75899480e-01 -5.41468842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.956875 meters 0.017885754643453232 Centerline is valid? [True, True] Translation: X:247.79, Y:55.35, Z:-5.41 [[-1.56098991e-01 -9.86907207e-01 4.05865719e-02 2.47786797e+02] [ 9.63354261e-01 -1.61190709e-01 -2.14397116e-01 5.53479045e+01] [ 2.18132237e-01 5.63207351e-03 9.75902970e-01 -5.40859421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.986875 meters 0.016887094336208375 Centerline is valid? [True, True] Translation: X:247.79, Y:55.38, Z:-5.40 [[-1.57730915e-01 -9.86639989e-01 4.07736608e-02 2.47785987e+02] [ 9.62942968e-01 -1.62827872e-01 -2.15006803e-01 5.53752874e+01] [ 2.18773398e-01 5.34949016e-03 9.75761028e-01 -5.40276698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.016875 meters 0.016116845516524453 Centerline is valid? [True, True] Translation: X:247.78, Y:55.40, Z:-5.40 [[-1.58828285e-01 -9.86456971e-01 4.09416792e-02 2.47783725e+02] [ 9.62632555e-01 -1.63938567e-01 -2.15552105e-01 5.54020004e+01] [ 2.19344797e-01 5.17602208e-03 9.75633676e-01 -5.39716940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.046875 meters 0.016484681004858674 Centerline is valid? [True, True] Translation: X:247.78, Y:55.43, Z:-5.39 [[-1.60465403e-01 -9.86183253e-01 4.11515021e-02 2.47779353e+02] [ 9.62189784e-01 -1.65585812e-01 -2.16268720e-01 5.54270375e+01] [ 2.20094695e-01 4.89190751e-03 9.75466245e-01 -5.39232942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07687500000003 meters 0.01539541315779895 Centerline is valid? [True, True] Translation: X:247.78, Y:55.46, Z:-5.39 [[-1.64626973e-01 -9.85489062e-01 4.13433085e-02 2.47779597e+02] [ 9.61314736e-01 -1.69691246e-01 -2.16976635e-01 5.54553402e+01] [ 2.20843698e-01 4.02372516e-03 9.75300913e-01 -5.38715064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.106875 meters 0.014721035524860303 Centerline is valid? [True, True] Translation: X:247.78, Y:55.48, Z:-5.38 [[-1.67026662e-01 -9.85078387e-01 4.15050035e-02 2.47777941e+02] [ 9.60776399e-01 -1.72069645e-01 -2.17487352e-01 5.54825642e+01] [ 2.21383842e-01 3.55084127e-03 9.75180284e-01 -5.38053289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13687500000003 meters 0.01420971696221762 Centerline is valid? [True, True] Translation: X:247.78, Y:55.51, Z:-5.37 [[-1.69506662e-01 -9.84651519e-01 4.15797649e-02 2.47776205e+02] [ 9.60325041e-01 -1.74505154e-01 -2.17540266e-01 5.55101003e+01] [ 2.21457237e-01 3.05556502e-03 9.75165297e-01 -5.37383280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.166875 meters 0.013948934613123683 Centerline is valid? [True, True] Translation: X:247.77, Y:55.54, Z:-5.37 [[-1.72184425e-01 -9.84185805e-01 4.16031872e-02 2.47773456e+02] [ 9.59895933e-01 -1.77121351e-01 -2.17319637e-01 5.55368260e+01] [ 2.21251715e-01 2.51567328e-03 9.75213489e-01 -5.36743111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19687500000003 meters 0.013381856186593752 Centerline is valid? [True, True] Translation: X:247.77, Y:55.56, Z:-5.36 [[-1.76778511e-01 -9.83366722e-01 4.17042940e-02 2.47774793e+02] [ 9.59011726e-01 -1.81624626e-01 -2.17506334e-01 5.55636232e+01] [ 2.21463018e-01 1.54446107e-03 9.75167548e-01 -5.36052482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.226875 meters 0.013139922498417514 Centerline is valid? [True, True] Translation: X:247.77, Y:55.59, Z:-5.35 [[-1.79217490e-01 -9.82922452e-01 4.17677553e-02 2.47772402e+02] [ 9.58556274e-01 -1.84017223e-01 -2.17502946e-01 5.55898842e+01] [ 2.21474515e-01 1.05641180e-03 9.75165588e-01 -5.35393455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25687500000004 meters 0.012953839515265022 Centerline is valid? [True, True] Translation: X:247.77, Y:55.62, Z:-5.35 [[-1.83042745e-01 -9.82210389e-01 4.19297711e-02 2.47772129e+02] [ 9.57717436e-01 -1.87783614e-01 -2.17978501e-01 5.56172140e+01] [ 2.21974472e-01 2.57489830e-04 9.75052443e-01 -5.34759127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.286875 meters 0.012979352001801718 Centerline is valid? [True, True] Translation: X:247.77, Y:55.64, Z:-5.34 [[-1.84953591e-01 -9.81847798e-01 4.20365448e-02 2.47769066e+02] [ 9.57303644e-01 -1.89670478e-01 -2.18162425e-01 5.56431989e+01] [ 2.22175388e-01 -1.08186212e-04 9.75006710e-01 -5.34190269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31687500000004 meters 0.01303564515496038 Centerline is valid? [True, True] Translation: X:247.77, Y:55.67, Z:-5.34 [[-1.86609309e-01 -9.81531832e-01 4.20978463e-02 2.47765496e+02] [ 9.56995753e-01 -1.91298443e-01 -2.18091805e-01 5.56697112e+01] [ 2.22117301e-01 -4.10500877e-04 9.75019864e-01 -5.33550290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.346875 meters 0.013000742658655353 Centerline is valid? [True, True] Translation: X:247.76, Y:55.70, Z:-5.33 [[-1.88041705e-01 -9.81252421e-01 4.22374648e-02 2.47761729e+02] [ 9.56630453e-01 -1.92725810e-01 -2.18437493e-01 5.56960226e+01] [ 2.22482568e-01 -6.69713572e-04 9.74936438e-01 -5.32973554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37687500000004 meters 0.013226847430389148 Centerline is valid? [True, True] Translation: X:247.76, Y:55.72, Z:-5.32 [[-1.91323094e-01 -9.80608386e-01 4.24578280e-02 2.47760275e+02] [ 9.55793378e-01 -1.95972819e-01 -2.19211479e-01 5.57222616e+01] [ 2.23281195e-01 -1.35930760e-03 9.74753128e-01 -5.32359922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.406875 meters 0.013482466167531642 Centerline is valid? [True, True] Translation: X:247.76, Y:55.75, Z:-5.32 [[-1.92990484e-01 -9.80274781e-01 4.26148775e-02 2.47756787e+02] [ 9.55349459e-01 -1.97632320e-01 -2.19656272e-01 5.57485656e+01] [ 2.23745581e-01 -1.67947005e-03 9.74646138e-01 -5.31728245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.436875 meters 0.013704105441638232 Centerline is valid? [True, True] Translation: X:247.75, Y:55.78, Z:-5.31 [[-1.94595638e-01 -9.79948793e-01 4.28123790e-02 2.47752977e+02] [ 9.54869479e-01 -1.99239587e-01 -2.20290411e-01 5.57752517e+01] [ 2.24403244e-01 -1.98731927e-03 9.74494348e-01 -5.31169805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.466875 meters 0.013995243977536608 Centerline is valid? [True, True] Translation: X:247.75, Y:55.80, Z:-5.31 [[-1.96551292e-01 -9.79544958e-01 4.31191908e-02 2.47749840e+02] [ 9.54179082e-01 -2.01211239e-01 -2.21486609e-01 5.58018724e+01] [ 2.25632157e-01 -2.39004908e-03 9.74209637e-01 -5.30624501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.496875 meters 0.013951896690434824 Centerline is valid? [True, True] Translation: X:247.74, Y:55.83, Z:-5.30 [[-1.96561152e-01 -9.79536346e-01 4.32696141e-02 2.47744465e+02] [ 9.54073965e-01 -2.01253810e-01 -2.21900367e-01 5.58284112e+01] [ 2.26067650e-01 -2.33457957e-03 9.74108807e-01 -5.30064053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.526875 meters 0.014034236862728868 Centerline is valid? [True, True] Translation: X:247.74, Y:55.85, Z:-5.30 [[-1.96044490e-01 -9.79636362e-01 4.33492383e-02 2.47738699e+02] [ 9.54167595e-01 -2.00768494e-01 -2.21937405e-01 5.58537859e+01] [ 2.26121113e-01 -2.14716695e-03 9.74096829e-01 -5.29524610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.556875 meters 0.013706302244729575 Centerline is valid? [True, True] Translation: X:247.73, Y:55.88, Z:-5.29 [[-1.93422843e-01 -9.80146241e-01 4.35998844e-02 2.47730947e+02] [ 9.54459902e-01 -1.98270227e-01 -2.22924228e-01 5.58787177e+01] [ 2.27142903e-01 -1.50429648e-03 9.73860277e-01 -5.28996695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.586875 meters 0.013540095946284941 Centerline is valid? [True, True] Translation: X:247.72, Y:55.91, Z:-5.28 [[-1.92084080e-01 -9.80398429e-01 4.38477589e-02 2.47724236e+02] [ 9.54512954e-01 -1.97021903e-01 -2.23802125e-01 5.59052429e+01] [ 2.28054221e-01 -1.13557154e-03 9.73647772e-01 -5.28485429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.616875 meters 0.013535050425050718 Centerline is valid? [True, True] Translation: X:247.72, Y:55.93, Z:-5.28 [[-1.91153352e-01 -9.80571404e-01 4.40467739e-02 2.47717583e+02] [ 9.54538409e-01 -1.96160605e-01 -2.24449200e-01 5.59313942e+01] [ 2.28728709e-01 -8.59879515e-04 9.73489824e-01 -5.27921827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.646875 meters 0.013485741160171216 Centerline is valid? [True, True] Translation: X:247.71, Y:55.96, Z:-5.27 [[-1.88581525e-01 -9.81061915e-01 4.42100310e-02 2.47709405e+02] [ 9.54932595e-01 -1.93694294e-01 -2.24913892e-01 5.59565816e+01] [ 2.29217685e-01 -1.97005044e-04 9.73375166e-01 -5.27441744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.676875 meters 0.013487811715461491 Centerline is valid? [True, True] Translation: X:247.70, Y:55.98, Z:-5.27 [[-1.87412030e-01 -9.81285506e-01 4.42208801e-02 2.47702384e+02] [ 9.55235153e-01 -1.92558390e-01 -2.24604251e-01 5.59811144e+01] [ 2.28915998e-01 1.47800516e-04 9.73446169e-01 -5.26849651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.706875 meters 0.013542574432118579 Centerline is valid? [True, True] Translation: X:247.70, Y:56.01, Z:-5.26 [[-1.86186931e-01 -9.81520627e-01 4.41778899e-02 2.47695309e+02] [ 9.55618093e-01 -1.91355685e-01 -2.24002369e-01 5.60053839e+01] [ 2.28316636e-01 5.10877217e-04 9.73586798e-01 -5.26270122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.736875 meters 0.01345717246367979 Centerline is valid? [True, True] Translation: X:247.69, Y:56.03, Z:-5.25 [[-1.84284421e-01 -9.81883843e-01 4.40836912e-02 2.47687492e+02] [ 9.56198912e-01 -1.89480992e-01 -2.23115654e-01 5.60308457e+01] [ 2.27426677e-01 1.03603846e-03 9.73794657e-01 -5.25383674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.766875 meters 0.013669909020889649 Centerline is valid? [True, True] Translation: X:247.68, Y:56.06, Z:-5.25 [[-1.83799910e-01 -9.81974351e-01 4.40904490e-02 2.47680524e+02] [ 9.56371517e-01 -1.89010275e-01 -2.22774858e-01 5.60556330e+01] [ 2.27092744e-01 1.22085076e-03 9.73872371e-01 -5.24905425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.796875 meters 0.013840330468811085 Centerline is valid? [True, True] Translation: X:247.67, Y:56.08, Z:-5.24 [[-1.83378772e-01 -9.82050275e-01 4.41529566e-02 2.47674187e+02] [ 9.56467649e-01 -1.88614203e-01 -2.22697820e-01 5.60797312e+01] [ 2.27028330e-01 1.39282179e-03 9.73887158e-01 -5.24369463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.82687500000003 meters 0.013626294642463298 Centerline is valid? [True, True] Translation: X:247.67, Y:56.11, Z:-5.24 [[-1.83164368e-01 -9.82089954e-01 4.41603472e-02 2.47668451e+02] [ 9.56592569e-01 -1.88406512e-01 -2.22336777e-01 5.61054025e+01] [ 2.26674812e-01 1.51928481e-03 9.73969312e-01 -5.23631965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.856875 meters 0.014042584641768528 Centerline is valid? [True, True] Translation: X:247.66, Y:56.13, Z:-5.23 [[-1.81368315e-01 -9.82419223e-01 4.42493367e-02 2.47660195e+02] [ 9.56911961e-01 -1.86677419e-01 -2.22420863e-01 5.61312432e+01] [ 2.26770884e-01 2.00262244e-03 9.73946074e-01 -5.23054299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.88687500000003 meters 0.014285919074217189 Centerline is valid? [True, True] Translation: X:247.65, Y:56.16, Z:-5.22 [[-1.80675802e-01 -9.82539594e-01 4.44094631e-02 2.47653381e+02] [ 9.56934220e-01 -1.86040224e-01 -2.22858553e-01 5.61573541e+01] [ 2.27229299e-01 2.23178718e-03 9.73838726e-01 -5.22461298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.916875 meters 0.014363201520016557 Centerline is valid? [True, True] Translation: X:247.65, Y:56.18, Z:-5.22 [[-1.79235673e-01 -9.82800442e-01 4.44731871e-02 2.47645820e+02] [ 9.57212466e-01 -1.84651988e-01 -2.22818172e-01 5.61837158e+01] [ 2.27197860e-01 2.63332401e-03 9.73845058e-01 -5.21735348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.94687500000003 meters 0.014569236223137423 Centerline is valid? [True, True] Translation: X:247.64, Y:56.21, Z:-5.21 [[-1.78927291e-01 -9.82851617e-01 4.45838884e-02 2.47638909e+02] [ 9.57213661e-01 -1.84377425e-01 -2.23040291e-01 5.62084032e+01] [ 2.27435773e-01 2.76831203e-03 9.73789148e-01 -5.21206543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.976875 meters 0.01463158235959769 Centerline is valid? [True, True] Translation: X:247.63, Y:56.23, Z:-5.21 [[-1.78793137e-01 -9.82875828e-01 4.45883553e-02 2.47632420e+02] [ 9.57322973e-01 -1.84246734e-01 -2.22678841e-01 5.62338677e+01] [ 2.27080909e-01 2.87200828e-03 9.73871661e-01 -5.20616879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.00687500000004 meters 0.014585706010695714 Centerline is valid? [True, True] Translation: X:247.63, Y:56.26, Z:-5.20 [[-1.79329446e-01 -9.82774751e-01 4.46624900e-02 2.47625396e+02] [ 9.57218426e-01 -1.84785943e-01 -2.22681478e-01 5.62595370e+01] [ 2.27098734e-01 2.81841239e-03 9.73867661e-01 -5.20013158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.036875 meters 0.014560696881134955 Centerline is valid? [True, True] Translation: X:247.62, Y:56.29, Z:-5.19 [[-1.79910217e-01 -9.82663451e-01 4.47756265e-02 2.47619602e+02] [ 9.57058738e-01 -1.85377861e-01 -2.22875795e-01 5.62854997e+01] [ 2.27312307e-01 2.75527208e-03 9.73818014e-01 -5.19423465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06687500000004 meters 0.014565057389713814 Centerline is valid? [True, True] Translation: X:247.61, Y:56.31, Z:-5.19 [[-1.80732019e-01 -9.82507676e-01 4.48843450e-02 2.47613652e+02] [ 9.56858917e-01 -1.86203426e-01 -2.23045503e-01 5.63107787e+01] [ 2.27501538e-01 2.63652155e-03 9.73774152e-01 -5.18912115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.096875 meters 0.014012816427160653 Centerline is valid? [True, True] Translation: X:247.61, Y:56.34, Z:-5.18 [[-1.82689100e-01 -9.82137361e-01 4.50654823e-02 2.47608979e+02] [ 9.56357527e-01 -1.88151833e-01 -2.23560213e-01 5.63370756e+01] [ 2.28045991e-01 2.25669904e-03 9.73647746e-01 -5.18239049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12687500000004 meters 0.013845654403770048 Centerline is valid? [True, True] Translation: X:247.60, Y:56.36, Z:-5.18 [[-1.83748021e-01 -9.81936027e-01 4.51475729e-02 2.47603574e+02] [ 9.56142539e-01 -1.89201747e-01 -2.23593701e-01 5.63633135e+01] [ 2.28096711e-01 2.08261488e-03 9.73636253e-01 -5.17614791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.156875 meters 0.01382278114692974 Centerline is valid? [True, True] Translation: X:247.60, Y:56.39, Z:-5.17 [[-1.84664680e-01 -9.81760991e-01 4.52140790e-02 2.47597839e+02] [ 9.55973416e-01 -1.90109402e-01 -2.23546959e-01 5.63892723e+01] [ 2.28065306e-01 1.94222985e-03 9.73643900e-01 -5.17014351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.186875 meters 0.01391776437825431 Centerline is valid? [True, True] Translation: X:247.59, Y:56.41, Z:-5.16 [[-1.86055995e-01 -9.81497455e-01 4.52317765e-02 2.47592165e+02] [ 9.55769162e-01 -1.91467709e-01 -2.23260892e-01 5.64144349e+01] [ 2.27790422e-01 1.69210975e-03 9.73708714e-01 -5.16483561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.216875 meters 0.013785327375011022 Centerline is valid? [True, True] Translation: X:247.59, Y:56.44, Z:-5.16 [[-1.87784555e-01 -9.81165876e-01 4.52822865e-02 2.47586638e+02] [ 9.55460764e-01 -1.93162255e-01 -2.23121203e-01 5.64399309e+01] [ 2.27665739e-01 1.36673216e-03 9.73738385e-01 -5.15833613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.246875 meters 0.01366453691974032 Centerline is valid? [True, True] Translation: X:247.58, Y:56.47, Z:-5.15 [[-1.88743330e-01 -9.80980109e-01 4.53208707e-02 2.47581192e+02] [ 9.55309574e-01 -1.94104481e-01 -2.22950821e-01 5.64657263e+01] [ 2.27507305e-01 1.21498136e-03 9.73775616e-01 -5.15215491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.276875 meters 0.01374930848331576 Centerline is valid? [True, True] Translation: X:247.58, Y:56.49, Z:-5.15 [[-1.89947607e-01 -9.80747807e-01 4.53171689e-02 2.47575293e+02] [ 9.55161199e-01 -1.95276008e-01 -2.22563170e-01 5.64909036e+01] [ 2.27127696e-01 1.00985994e-03 9.73864462e-01 -5.14763043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.306875 meters 0.013470257118011574 Centerline is valid? [True, True] Translation: X:247.57, Y:56.52, Z:-5.14 [[-1.92191543e-01 -9.80302859e-01 4.54831335e-02 2.47570070e+02] [ 9.54603915e-01 -1.97499341e-01 -2.22991875e-01 5.65168493e+01] [ 2.27582462e-01 5.61224739e-04 9.73758650e-01 -5.14098723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.336875 meters 0.013541292500408033 Centerline is valid? [True, True] Translation: X:247.56, Y:56.54, Z:-5.14 [[-1.93122322e-01 -9.80119733e-01 4.54871137e-02 2.47564652e+02] [ 9.54493923e-01 -1.98406488e-01 -2.22657173e-01 5.65421724e+01] [ 2.27255627e-01 4.17103483e-04 9.73835051e-01 -5.13572546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.366875 meters 0.013332138654452859 Centerline is valid? [True, True] Translation: X:247.56, Y:56.57, Z:-5.13 [[-1.94186165e-01 -9.79911294e-01 4.54487616e-02 2.47559170e+02] [ 9.54388657e-01 -1.99433708e-01 -2.22190207e-01 5.65682893e+01] [ 2.26790708e-01 2.29518382e-04 9.73943490e-01 -5.12832977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.396875 meters 0.013444313399698036 Centerline is valid? [True, True] Translation: X:247.55, Y:56.59, Z:-5.12 [[-1.95303535e-01 -9.79693090e-01 4.53649453e-02 2.47553878e+02] [ 9.54344157e-01 -2.00502984e-01 -2.21417666e-01 5.65927314e+01] [ 2.26017164e-01 5.01176329e-05 9.74123318e-01 -5.12176645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.426875 meters 0.013444313399698036 Centerline is valid? [True, True] Translation: X:247.55, Y:56.62, Z:-5.12 [[-1.95607380e-01 -9.79629018e-01 4.54394078e-02 2.47548487e+02] [ 9.54281929e-01 -2.00815796e-01 -2.21402385e-01 5.66183411e+01] [ 2.26017151e-01 5.40653264e-05 9.74123321e-01 -5.11599855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.456875 meters 0.013466194920233127 Centerline is valid? [True, True] Translation: X:247.54, Y:56.64, Z:-5.11 [[-1.95737564e-01 -9.79599700e-01 4.55108037e-02 2.47542896e+02] [ 9.54254258e-01 -2.00958748e-01 -2.21391944e-01 5.66444847e+01] [ 2.26021276e-01 9.41583441e-05 9.74122361e-01 -5.10882818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.486875 meters 0.01344303280489466 Centerline is valid? [True, True] Translation: X:247.54, Y:56.67, Z:-5.10 [[-1.95140266e-01 -9.79718901e-01 4.55099045e-02 2.47535726e+02] [ 9.54462016e-01 -2.00376597e-01 -2.21023707e-01 5.66698108e+01] [ 2.25660223e-01 3.06850284e-04 9.74206020e-01 -5.10235090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.516875 meters 0.013497531365223454 Centerline is valid? [True, True] Translation: X:247.53, Y:56.70, Z:-5.10 [[-1.94511809e-01 -9.79844176e-01 4.55032514e-02 2.47528913e+02] [ 9.54682362e-01 -1.99762641e-01 -2.20627459e-01 5.66953354e+01] [ 2.25270381e-01 5.26505209e-04 9.74296145e-01 -5.09715438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.546875 meters 0.013528737494458374 Centerline is valid? [True, True] Translation: X:247.52, Y:56.72, Z:-5.09 [[-1.93703146e-01 -9.80005058e-01 4.54882041e-02 2.47522013e+02] [ 9.54947712e-01 -1.98971020e-01 -2.20194006e-01 5.67216381e+01] [ 2.24842074e-01 7.86584682e-04 9.74394901e-01 -5.09148353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57687500000003 meters 0.013533147932044921 Centerline is valid? [True, True] Translation: X:247.52, Y:56.75, Z:-5.09 [[-1.93284629e-01 -9.80081171e-01 4.56283892e-02 2.47515297e+02] [ 9.54952867e-01 -1.98595046e-01 -2.20510838e-01 5.67467670e+01] [ 2.25180092e-01 9.51605578e-04 9.74316694e-01 -5.08624861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.606875 meters 0.013540726326274831 Centerline is valid? [True, True] Translation: X:247.51, Y:56.77, Z:-5.08 [[-1.91762589e-01 -9.80371046e-01 4.58227291e-02 2.47508403e+02] [ 9.55099835e-01 -1.97156737e-01 -2.21164025e-01 5.67728077e+01] [ 2.25857066e-01 1.35429501e-03 9.74159510e-01 -5.07966650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63687500000003 meters 0.013934656933485074 Centerline is valid? [True, True] Translation: X:247.50, Y:56.80, Z:-5.07 [[-1.90818431e-01 -9.80548066e-01 4.59762688e-02 2.47501332e+02] [ 9.55194678e-01 -1.96272245e-01 -2.21540816e-01 5.67982360e+01] [ 2.26255284e-01 1.64221631e-03 9.74066656e-01 -5.07494565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.666875 meters 0.013930223229207117 Centerline is valid? [True, True] Translation: X:247.50, Y:56.82, Z:-5.07 [[-1.89646207e-01 -9.80773526e-01 4.60174735e-02 2.47495008e+02] [ 9.55468536e-01 -1.95139282e-01 -2.21360649e-01 5.68240906e+01] [ 2.26084481e-01 1.98804066e-03 9.74105669e-01 -5.06810423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69687500000003 meters 0.014505514521893928 Centerline is valid? [True, True] Translation: X:247.49, Y:56.85, Z:-5.06 [[-1.88569578e-01 -9.80983101e-01 4.59746727e-02 2.47487035e+02] [ 9.55814964e-01 -1.94079443e-01 -2.20796115e-01 5.68488721e+01] [ 2.25519996e-01 2.30784979e-03 9.74235806e-01 -5.06297883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.726875 meters 0.014744708819312643 Centerline is valid? [True, True] Translation: X:247.48, Y:56.87, Z:-5.06 [[-1.85811777e-01 -9.81514127e-01 4.58694081e-02 2.47479314e+02] [ 9.56563752e-01 -1.91365982e-01 -2.19920099e-01 5.68749255e+01] [ 2.24632528e-01 3.01326876e-03 9.74438889e-01 -5.05530876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75687500000004 meters 0.01499335791643135 Centerline is valid? [True, True] Translation: X:247.47, Y:56.90, Z:-5.05 [[-1.84847983e-01 -9.81694242e-01 4.59090272e-02 2.47472367e+02] [ 9.56778008e-01 -1.90435167e-01 -2.19796021e-01 5.69005580e+01] [ 2.24515181e-01 3.29589641e-03 9.74465018e-01 -5.04985028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.786875 meters 0.015529988987722867 Centerline is valid? [True, True] Translation: X:247.46, Y:56.93, Z:-5.04 [[-1.83094213e-01 -9.82021907e-01 4.59291110e-02 2.47464586e+02] [ 9.57173927e-01 -1.88729432e-01 -2.19543335e-01 5.69262034e+01] [ 2.24264539e-01 3.76503341e-03 9.74521032e-01 -5.04396701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81687500000004 meters 0.015647314304751886 Centerline is valid? [True, True] Translation: X:247.46, Y:56.95, Z:-5.04 [[-1.82876625e-01 -9.82060876e-01 4.59627625e-02 2.47458298e+02] [ 9.57252478e-01 -1.88524238e-01 -2.19377084e-01 5.69520014e+01] [ 2.24106747e-01 3.87902763e-03 9.74556884e-01 -5.03770327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.846875 meters 0.015812992759885135 Centerline is valid? [True, True] Translation: X:247.45, Y:56.98, Z:-5.03 [[-1.82965134e-01 -9.82043485e-01 4.59821052e-02 2.47452222e+02] [ 9.57288985e-01 -1.88613901e-01 -2.19140583e-01 5.69773642e+01] [ 2.23878446e-01 3.92307666e-03 9.74609179e-01 -5.03177490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87687500000004 meters 0.016249675220876756 Centerline is valid? [True, True] Translation: X:247.45, Y:57.00, Z:-5.03 [[-1.82830418e-01 -9.82066855e-01 4.60188172e-02 2.47445782e+02] [ 9.57356928e-01 -1.88490019e-01 -2.18950281e-01 5.70021289e+01] [ 2.23697901e-01 4.02566215e-03 9.74650216e-01 -5.02619192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.906875 meters 0.016426366314484176 Centerline is valid? [True, True] Translation: X:247.44, Y:57.03, Z:-5.02 [[-1.82492197e-01 -9.82127008e-01 4.60775233e-02 2.47439482e+02] [ 9.57437537e-01 -1.88173102e-01 -2.18870389e-01 5.70271136e+01] [ 2.23629071e-01 4.17421212e-03 9.74665386e-01 -5.02096657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.936875 meters 0.015568190792559286 Centerline is valid? [True, True] Translation: X:247.44, Y:57.05, Z:-5.01 [[-1.82725494e-01 -9.82078987e-01 4.61763657e-02 2.47436078e+02] [ 9.57361680e-01 -1.88423146e-01 -2.18987057e-01 5.70530345e+01] [ 2.23763283e-01 4.19296483e-03 9.74634502e-01 -5.01469202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.966875 meters 0.016162415408558947 Centerline is valid? [True, True] Translation: X:247.43, Y:57.08, Z:-5.01 [[-1.82845053e-01 -9.82054208e-01 4.62300629e-02 2.47429628e+02] [ 9.57363102e-01 -1.88551209e-01 -2.18870584e-01 5.70784039e+01] [ 2.23659512e-01 4.23955284e-03 9.74658119e-01 -5.01026189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.996875 meters 0.015990937495316784 Centerline is valid? [True, True] Translation: X:247.42, Y:57.10, Z:-5.00 [[-1.83276831e-01 -9.81971535e-01 4.62764255e-02 2.47424452e+02] [ 9.57311791e-01 -1.88981868e-01 -2.18723543e-01 5.71041134e+01] [ 2.23525699e-01 4.21400998e-03 9.74688927e-01 -5.00436298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.026875 meters 0.015318898001255863 Centerline is valid? [True, True] Translation: X:247.42, Y:57.13, Z:-5.00 [[-1.83938968e-01 -9.81846565e-01 4.63009588e-02 2.47420300e+02] [ 9.57234822e-01 -1.89631908e-01 -2.18497677e-01 5.71310135e+01] [ 2.23311333e-01 4.13065273e-03 9.74738419e-01 -4.99768881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.056875 meters 0.015138490221953864 Centerline is valid? [True, True] Translation: X:247.42, Y:57.16, Z:-4.99 [[-1.85320359e-01 -9.81588337e-01 4.62677044e-02 2.47416465e+02] [ 9.57076705e-01 -1.90969376e-01 -2.18024951e-01 5.71573674e+01] [ 2.22846463e-01 3.87727999e-03 9.74845844e-01 -4.99118326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.086875 meters 0.015174618912244541 Centerline is valid? [True, True] Translation: X:247.41, Y:57.18, Z:-4.99 [[-1.86289572e-01 -9.81398598e-01 4.64003024e-02 2.47411629e+02] [ 9.56820315e-01 -1.91944973e-01 -2.18293409e-01 5.71825736e+01] [ 2.23139151e-01 3.73096606e-03 9.74779462e-01 -4.98620877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.116875 meters 0.014909111241889714 Centerline is valid? [True, True] Translation: X:247.41, Y:57.21, Z:-4.98 [[-1.87708288e-01 -9.81127972e-01 4.64058223e-02 2.47407001e+02] [ 9.56619921e-01 -1.93328168e-01 -2.17950791e-01 5.72091250e+01] [ 2.22809170e-01 3.48156420e-03 9.74855862e-01 -4.98015096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.146875 meters 0.014565540695455218 Centerline is valid? [True, True] Translation: X:247.40, Y:57.24, Z:-4.97 [[-1.90132679e-01 -9.80661293e-01 4.64003450e-02 2.47403949e+02] [ 9.56223543e-01 -1.95689627e-01 -2.17582413e-01 5.72360428e+01] [ 2.22454717e-01 2.99957520e-03 9.74938409e-01 -4.97427704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.176875 meters 0.014193920708477198 Centerline is valid? [True, True] Translation: X:247.40, Y:57.26, Z:-4.97 [[-1.91604421e-01 -9.80367922e-01 4.65455090e-02 2.47400135e+02] [ 9.55836546e-01 -1.97158044e-01 -2.17956884e-01 5.72625795e+01] [ 2.22854759e-01 2.72839608e-03 9.74847841e-01 -4.96859467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.206875 meters 0.014233963058678497 Centerline is valid? [True, True] Translation: X:247.40, Y:57.29, Z:-4.96 [[-1.93228597e-01 -9.80044438e-01 4.66434251e-02 2.47395206e+02] [ 9.55478998e-01 -1.98763664e-01 -2.18066253e-01 5.72878182e+01] [ 2.22985636e-01 2.43017703e-03 9.74818701e-01 -4.96379766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.236875 meters 0.01385254634575677 Centerline is valid? [True, True] Translation: X:247.39, Y:57.31, Z:-4.96 [[-1.94871827e-01 -9.79718435e-01 4.66557591e-02 2.47392123e+02] [ 9.55213512e-01 -2.00367784e-01 -2.17761100e-01 5.73138666e+01] [ 2.22692875e-01 2.13070811e-03 9.74886323e-01 -4.95696146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.266875 meters 0.013510059658475808 Centerline is valid? [True, True] Translation: X:247.39, Y:57.34, Z:-4.95 [[-1.98066391e-01 -9.79076428e-01 4.66803175e-02 2.47390349e+02] [ 9.54606665e-01 -2.03487514e-01 -2.17529188e-01 5.73395560e+01] [ 2.22476562e-01 1.47612092e-03 9.74936921e-01 -4.95090806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.296875 meters 0.013450288742295227 Centerline is valid? [True, True] Translation: X:247.39, Y:57.37, Z:-4.95 [[-1.99916122e-01 -9.78695606e-01 4.67809187e-02 2.47386704e+02] [ 9.54190909e-01 -2.05313507e-01 -2.17637481e-01 5.73650707e+01] [ 2.22605601e-01 1.12868627e-03 9.74907930e-01 -4.94534745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.32687500000003 meters 0.013363546494862485 Centerline is valid? [True, True] Translation: X:247.39, Y:57.39, Z:-4.94 [[-2.02475209e-01 -9.78166477e-01 4.68415678e-02 2.47385020e+02] [ 9.53663502e-01 -2.07821942e-01 -2.17568300e-01 5.73917125e+01] [ 2.22552723e-01 6.18906709e-04 9.74920460e-01 -4.93960268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.356875 meters 0.013255400103130468 Centerline is valid? [True, True] Translation: X:247.38, Y:57.42, Z:-4.93 [[-2.03608986e-01 -9.77925042e-01 4.69679999e-02 2.47380881e+02] [ 9.53357492e-01 -2.08955570e-01 -2.17823465e-01 5.74180149e+01] [ 2.22829246e-01 4.26479797e-04 9.74857397e-01 -4.93306182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.38687500000003 meters 0.013323551890197 Centerline is valid? [True, True] Translation: X:247.38, Y:57.44, Z:-4.93 [[-2.03838059e-01 -9.77870395e-01 4.71119572e-02 2.47376787e+02] [ 9.53226121e-01 -2.09211130e-01 -2.18152851e-01 5.74431607e+01] [ 2.23181560e-01 4.40494466e-04 9.74776794e-01 -4.92807985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.416875 meters 0.013432829486403723 Centerline is valid? [True, True] Translation: X:247.37, Y:57.47, Z:-4.92 [[-2.04104585e-01 -9.77803551e-01 4.73448413e-02 2.47373753e+02] [ 9.52971401e-01 -2.09523349e-01 -2.18964554e-01 5.74701888e+01] [ 2.24024168e-01 4.26610134e-04 9.74583496e-01 -4.92199194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.44687500000003 meters 0.013441613462490381 Centerline is valid? [True, True] Translation: X:247.37, Y:57.50, Z:-4.92 [[-2.04119594e-01 -9.77794589e-01 4.74650747e-02 2.47369058e+02] [ 9.52910994e-01 -2.09565031e-01 -2.19187442e-01 5.74969047e+01] [ 2.24267315e-01 4.89539928e-04 9.74527543e-01 -4.91607685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.476875 meters 0.013422250028704868 Centerline is valid? [True, True] Translation: X:247.36, Y:57.52, Z:-4.91 [[-2.04043405e-01 -9.77805147e-01 4.75750234e-02 2.47363932e+02] [ 9.52881793e-01 -2.09515547e-01 -2.19361629e-01 5.75232180e+01] [ 2.24460637e-01 5.74080036e-04 9.74482988e-01 -4.91061225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.50687500000004 meters 0.01345534633135669 Centerline is valid? [True, True] Translation: X:247.36, Y:57.55, Z:-4.91 [[-2.03658089e-01 -9.77875287e-01 4.77839562e-02 2.47359053e+02] [ 9.52810965e-01 -2.09187460e-01 -2.19981526e-01 5.75481322e+01] [ 2.25110302e-01 7.28060245e-04 9.74333014e-01 -4.90571857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.536875 meters 0.013443383850470328 Centerline is valid? [True, True] Translation: X:247.35, Y:57.57, Z:-4.90 [[-2.02084018e-01 -9.78198372e-01 4.78538947e-02 2.47354019e+02] [ 9.53151404e-01 -2.07669423e-01 -2.19945018e-01 5.75742112e+01] [ 2.25087650e-01 1.16463398e-03 9.74337823e-01 -4.89976601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56687500000004 meters 0.013554577299974878 Centerline is valid? [True, True] Translation: X:247.35, Y:57.60, Z:-4.89 [[-2.01228107e-01 -9.78380479e-01 4.77376915e-02 2.47348649e+02] [ 9.53537978e-01 -2.06808075e-01 -2.19079310e-01 5.75999192e+01] [ 2.24215460e-01 1.43478707e-03 9.74538541e-01 -4.89253328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.596875 meters 0.01401731746847192 Centerline is valid? [True, True] Translation: X:247.34, Y:57.63, Z:-4.88 [[-1.97864544e-01 -9.79069861e-01 4.76637047e-02 2.47342199e+02] [ 9.54402112e-01 -2.03511732e-01 -2.18402342e-01 5.76254287e+01] [ 2.23531274e-01 2.27626062e-03 9.74694100e-01 -4.88491857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62687500000004 meters 0.01441773603342545 Centerline is valid? [True, True] Translation: X:247.34, Y:57.65, Z:-4.88 [[-1.96195124e-01 -9.79404228e-01 4.76951940e-02 2.47335338e+02] [ 9.54785807e-01 -2.01890918e-01 -2.18229513e-01 5.76511743e+01] [ 2.23364134e-01 2.72312783e-03 9.74731270e-01 -4.87868665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.656875 meters 0.014815448566990175 Centerline is valid? [True, True] Translation: X:247.33, Y:57.68, Z:-4.87 [[-1.94901230e-01 -9.79664893e-01 4.76466976e-02 2.47329062e+02] [ 9.55176518e-01 -2.00617042e-01 -2.17693870e-01 5.76769282e+01] [ 2.22825782e-01 3.08220352e-03 9.74853410e-01 -4.87266762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.686875 meters 0.015099438821309649 Centerline is valid? [True, True] Translation: X:247.32, Y:57.70, Z:-4.87 [[-1.91812454e-01 -9.80269019e-01 4.77559706e-02 2.47323220e+02] [ 9.55760041e-01 -1.97630453e-01 -2.17864520e-01 5.77035761e+01] [ 2.23003873e-01 3.85412033e-03 9.74809940e-01 -4.86627526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.716875 meters 0.01579481627093647 Centerline is valid? [True, True] Translation: X:247.32, Y:57.73, Z:-4.86 [[-1.91023354e-01 -9.80418128e-01 4.78578361e-02 2.47315943e+02] [ 9.55877641e-01 -1.96884474e-01 -2.18023942e-01 5.77294632e+01] [ 2.23177090e-01 4.09857073e-03 9.74769300e-01 -4.86158383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.746875 meters 0.016078104453565674 Centerline is valid? [True, True] Translation: X:247.31, Y:57.76, Z:-4.86 [[-1.90142159e-01 -9.80572552e-01 4.82019592e-02 2.47310686e+02] [ 9.55752753e-01 -1.96107905e-01 -2.19267791e-01 5.77567054e+01] [ 2.24460762e-01 4.37710407e-03 9.74473297e-01 -4.85742155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.776875 meters 0.01615127388201912 Centerline is valid? [True, True] Translation: X:247.31, Y:57.78, Z:-4.85 [[-1.89962341e-01 -9.80598453e-01 4.83837014e-02 2.47305288e+02] [ 9.55659073e-01 -1.95975894e-01 -2.19793507e-01 5.77824871e+01] [ 2.25011212e-01 4.48583405e-03 9.74345848e-01 -4.85146778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.806875 meters 0.016307372446753298 Centerline is valid? [True, True] Translation: X:247.30, Y:57.81, Z:-4.85 [[-1.90435259e-01 -9.80497769e-01 4.85647774e-02 2.47299653e+02] [ 9.55440795e-01 -1.96479842e-01 -2.20291985e-01 5.78073913e+01] [ 2.25537800e-01 4.44940807e-03 9.74224257e-01 -4.84647221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.836875 meters 0.015559330684981224 Centerline is valid? [True, True] Translation: X:247.30, Y:57.83, Z:-4.84 [[-1.90833288e-01 -9.80414022e-01 4.86929278e-02 2.47295647e+02] [ 9.55303576e-01 -1.96897625e-01 -2.20513953e-01 5.78340398e+01] [ 2.25782494e-01 4.43512530e-03 9.74167642e-01 -4.83957980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.866875 meters 0.016153775900379173 Centerline is valid? [True, True] Translation: X:247.29, Y:57.86, Z:-4.83 [[-1.91298804e-01 -9.80328181e-01 4.85944913e-02 2.47288855e+02] [ 9.55395375e-01 -1.97325527e-01 -2.19732367e-01 5.78592522e+01] [ 2.24998765e-01 4.39241340e-03 9.74349148e-01 -4.83378321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.896875 meters 0.015878798240893787 Centerline is valid? [True, True] Translation: X:247.28, Y:57.88, Z:-4.83 [[-1.91776777e-01 -9.80233861e-01 4.86132202e-02 2.47283723e+02] [ 9.55339542e-01 -1.97794763e-01 -2.19553164e-01 5.78849891e+01] [ 2.24828886e-01 4.33693341e-03 9.74388610e-01 -4.82687521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.926875 meters 0.01578932562961645 Centerline is valid? [True, True] Translation: X:247.28, Y:57.91, Z:-4.82 [[-1.91952678e-01 -9.80200472e-01 4.85922183e-02 2.47278201e+02] [ 9.55400598e-01 -1.97959637e-01 -2.19138496e-01 5.79106964e+01] [ 2.24418955e-01 4.36081321e-03 9.74482999e-01 -4.82104085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.956875 meters 0.015923501832545036 Centerline is valid? [True, True] Translation: X:247.27, Y:57.94, Z:-4.82 [[-1.92676771e-01 -9.80056860e-01 4.86231828e-02 2.47271553e+02] [ 9.55299643e-01 -1.98671467e-01 -2.18934329e-01 5.79353229e+01] [ 2.24228130e-01 4.26614959e-03 9.74527345e-01 -4.81532103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.986875 meters 0.015831337352415212 Centerline is valid? [True, True] Translation: X:247.27, Y:57.96, Z:-4.81 [[-1.92541760e-01 -9.80078005e-01 4.87316585e-02 2.47265594e+02] [ 9.55291833e-01 -1.98564785e-01 -2.19065150e-01 5.79612634e+01] [ 2.24377327e-01 4.37376578e-03 9.74492527e-01 -4.80910244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.016875 meters 0.016217142503334215 Centerline is valid? [True, True] Translation: X:247.26, Y:57.99, Z:-4.80 [[-1.92689890e-01 -9.80041757e-01 4.88749489e-02 2.47258806e+02] [ 9.55182498e-01 -1.98742767e-01 -2.19380283e-01 5.79857329e+01] [ 2.24715380e-01 4.41213326e-03 9.74414455e-01 -4.80401694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.046875 meters 0.015776386486957915 Centerline is valid? [True, True] Translation: X:247.25, Y:58.01, Z:-4.80 [[-1.92930227e-01 -9.79989424e-01 4.89760835e-02 2.47253439e+02] [ 9.55084223e-01 -1.99000623e-01 -2.19574312e-01 5.80121517e+01] [ 2.24926775e-01 4.41376290e-03 9.74365673e-01 -4.79785578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07687500000003 meters 0.016034429503853236 Centerline is valid? [True, True] Translation: X:247.25, Y:58.04, Z:-4.79 [[-1.93970828e-01 -9.79778039e-01 4.90949265e-02 2.47246066e+02] [ 9.54821227e-01 -2.00042375e-01 -2.19771409e-01 5.80369016e+01] [ 2.25148266e-01 4.24763560e-03 9.74315255e-01 -4.79315099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.106875 meters 0.015962762541866432 Centerline is valid? [True, True] Translation: X:247.24, Y:58.06, Z:-4.79 [[-1.94639157e-01 -9.79643169e-01 4.91412306e-02 2.47239699e+02] [ 9.54714606e-01 -2.00703510e-01 -2.19631787e-01 5.80631082e+01] [ 2.25023597e-01 4.16690478e-03 9.74344404e-01 -4.78711215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13687500000003 meters 0.014989515050318609 Centerline is valid? [True, True] Translation: X:247.24, Y:58.09, Z:-4.78 [[-1.96772518e-01 -9.79212776e-01 4.92231160e-02 2.47235298e+02] [ 9.54260722e-01 -2.02801165e-01 -2.19677405e-01 5.80903016e+01] [ 2.25093427e-01 3.74520991e-03 9.74329986e-01 -4.78013353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.166875 meters 0.014660931042861714 Centerline is valid? [True, True] Translation: X:247.23, Y:58.12, Z:-4.77 [[-1.97964587e-01 -9.78970818e-01 4.92560655e-02 2.47229876e+02] [ 9.54045888e-01 -2.03969731e-01 -2.19528569e-01 5.81161265e+01] [ 2.24958809e-01 3.53366416e-03 9.74361867e-01 -4.77414416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19687500000003 meters 0.014563359652268473 Centerline is valid? [True, True] Translation: X:247.22, Y:58.14, Z:-4.77 [[-1.98898447e-01 -9.78775535e-01 4.93746899e-02 2.47223608e+02] [ 9.53799898e-01 -2.04907187e-01 -2.19724370e-01 5.81409730e+01] [ 2.25178067e-01 3.39073819e-03 9.74311727e-01 -4.76888402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.226875 meters 0.014634894728027157 Centerline is valid? [True, True] Translation: X:247.22, Y:58.17, Z:-4.76 [[-2.00711952e-01 -9.78408239e-01 4.93156174e-02 2.47216161e+02] [ 9.53542354e-01 -2.06659495e-01 -2.19200437e-01 5.81660677e+01] [ 2.24659054e-01 3.02838231e-03 9.74432726e-01 -4.76368727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25687500000004 meters 0.014012081170427026 Centerline is valid? [True, True] Translation: X:247.21, Y:58.19, Z:-4.76 [[-2.01701936e-01 -9.78201724e-01 4.93732275e-02 2.47211333e+02] [ 9.53350479e-01 -2.07636996e-01 -2.19111254e-01 5.81919269e+01] [ 2.24586715e-01 2.87482589e-03 9.74449867e-01 -4.75698371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.286875 meters 0.014012081170427026 Centerline is valid? [True, True] Translation: X:247.21, Y:58.22, Z:-4.75 [[-2.02005581e-01 -9.78135532e-01 4.94431731e-02 2.47205435e+02] [ 9.53286189e-01 -2.07948591e-01 -2.19095470e-01 5.82174297e+01] [ 2.24586703e-01 2.87498633e-03 9.74449869e-01 -4.75121356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31687500000004 meters 0.01405016965093444 Centerline is valid? [True, True] Translation: X:247.20, Y:58.24, Z:-4.75 [[-2.02868016e-01 -9.77955834e-01 4.94667010e-02 2.47199410e+02] [ 9.53152128e-01 -2.08793781e-01 -2.18874799e-01 5.82420482e+01] [ 2.24378226e-01 2.74659504e-03 9.74498265e-01 -4.74524828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.346875 meters 0.013886477501009607 Centerline is valid? [True, True] Translation: X:247.19, Y:58.27, Z:-4.74 [[-2.03741548e-01 -9.77774532e-01 4.94605545e-02 2.47193073e+02] [ 9.53049539e-01 -2.09642807e-01 -2.18509655e-01 5.82678246e+01] [ 2.24022225e-01 2.61886335e-03 9.74580517e-01 -4.73915588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37687500000004 meters 0.01382202166475289 Centerline is valid? [True, True] Translation: X:247.19, Y:58.29, Z:-4.73 [[-2.05139659e-01 -9.77481952e-01 4.94646653e-02 2.47186385e+02] [ 9.52817780e-01 -2.11005751e-01 -2.18208277e-01 5.82922713e+01] [ 2.23731981e-01 2.36764103e-03 9.74647831e-01 -4.73401681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.406875 meters 0.01368484357334568 Centerline is valid? [True, True] Translation: X:247.18, Y:58.32, Z:-4.73 [[-2.05916656e-01 -9.77312826e-01 4.95779343e-02 2.47180469e+02] [ 9.52606199e-01 -2.11788872e-01 -2.18373313e-01 5.83181051e+01] [ 2.23919094e-01 2.26154523e-03 9.74605112e-01 -4.72802725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.436875 meters 0.013501426726015283 Centerline is valid? [True, True] Translation: X:247.17, Y:58.34, Z:-4.72 [[-2.07013592e-01 -9.77077470e-01 4.96486687e-02 2.47174122e+02] [ 9.52365294e-01 -2.12873902e-01 -2.18369066e-01 5.83442195e+01] [ 2.23932400e-01 2.07830439e-03 9.74602463e-01 -4.72226252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.466875 meters 0.013224055782833408 Centerline is valid? [True, True] Translation: X:247.17, Y:58.37, Z:-4.72 [[-2.09444673e-01 -9.76558291e-01 4.96672217e-02 2.47168133e+02] [ 9.51884318e-01 -2.15247249e-01 -2.18139557e-01 5.83691827e+01] [ 2.23716726e-01 1.58928124e-03 9.74652913e-01 -4.71748950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.496875 meters 0.012862438840933967 Centerline is valid? [True, True] Translation: X:247.16, Y:58.39, Z:-4.71 [[-2.11123398e-01 -9.76193859e-01 4.97238444e-02 2.47163400e+02] [ 9.51509055e-01 -2.16896216e-01 -2.18143414e-01 5.83949033e+01] [ 2.23735175e-01 1.25750922e-03 9.74649163e-01 -4.71063904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.526875 meters 0.012894446957183715 Centerline is valid? [True, True] Translation: X:247.16, Y:58.42, Z:-4.71 [[-2.12781744e-01 -9.75829525e-01 4.98063106e-02 2.47157643e+02] [ 9.51126708e-01 -2.18531099e-01 -2.18179158e-01 5.84201709e+01] [ 2.23789892e-01 9.47570463e-04 9.74636951e-01 -4.70563231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.556875 meters 0.012589898671046103 Centerline is valid? [True, True] Translation: X:247.15, Y:58.45, Z:-4.70 [[-2.15001943e-01 -9.75343479e-01 4.97922008e-02 2.47152444e+02] [ 9.50719605e-01 -2.20691714e-01 -2.17778328e-01 5.84461358e+01] [ 2.23397398e-01 5.15657920e-04 9.74727314e-01 -4.69782407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.586875 meters 0.012632590625198304 Centerline is valid? [True, True] Translation: X:247.15, Y:58.47, Z:-4.69 [[-2.16175361e-01 -9.75081194e-01 4.98485630e-02 2.47146182e+02] [ 9.50469475e-01 -2.21848065e-01 -2.17695229e-01 5.84713033e+01] [ 2.23329331e-01 3.19192688e-04 9.74742996e-01 -4.69202245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.616875 meters 0.012518689228129175 Centerline is valid? [True, True] Translation: X:247.14, Y:58.50, Z:-4.69 [[-2.17369497e-01 -9.74821979e-01 4.97253495e-02 2.47139528e+02] [ 9.50404633e-01 -2.22984510e-01 -2.16815455e-01 5.84958907e+01] [ 2.22444453e-01 1.30136188e-04 9.74945357e-01 -4.68613626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.646875 meters 0.012473628959019047 Centerline is valid? [True, True] Translation: X:247.13, Y:58.52, Z:-4.68 [[-2.17959676e-01 -9.74684339e-01 4.98399294e-02 2.47132691e+02] [ 9.50226618e-01 -2.23585407e-01 -2.16976819e-01 5.85213123e+01] [ 2.22627388e-01 6.70304452e-05 9.74903606e-01 -4.68045030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.676875 meters 0.012662943731910539 Centerline is valid? [True, True] Translation: X:247.13, Y:58.55, Z:-4.68 [[-2.18013949e-01 -9.74670509e-01 4.98730128e-02 2.47125973e+02] [ 9.50252908e-01 -2.23645665e-01 -2.16799509e-01 5.85459398e+01] [ 2.22461971e-01 1.26658279e-04 9.74941360e-01 -4.67581530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.706875 meters 0.012568971136450804 Centerline is valid? [True, True] Translation: X:247.12, Y:58.57, Z:-4.67 [[-2.18354616e-01 -9.74592572e-01 4.99057230e-02 2.47119272e+02] [ 9.50216928e-01 -2.23985053e-01 -2.16606752e-01 5.85706581e+01] [ 2.22281468e-01 1.24178729e-04 9.74982530e-01 -4.67081974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.736875 meters 0.012516841030754903 Centerline is valid? [True, True] Translation: X:247.11, Y:58.60, Z:-4.67 [[-2.18827247e-01 -9.74487794e-01 4.98816159e-02 2.47112167e+02] [ 9.50208284e-01 -2.24440484e-01 -2.16172814e-01 5.85963004e+01] [ 2.21853223e-01 9.34228808e-05 9.75080068e-01 -4.66506881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.766875 meters 0.012506641983183544 Centerline is valid? [True, True] Translation: X:247.11, Y:58.62, Z:-4.66 [[-2.19166458e-01 -9.74409499e-01 4.99218650e-02 2.47105450e+02] [ 9.50158058e-01 -2.24780163e-01 -2.16040605e-01 5.86224113e+01] [ 2.21733462e-01 8.48082979e-05 9.75107309e-01 -4.65841489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.796875 meters 0.012568295435950791 Centerline is valid? [True, True] Translation: X:247.10, Y:58.65, Z:-4.65 [[-2.18880044e-01 -9.74478207e-01 4.98372487e-02 2.47098511e+02] [ 9.50381284e-01 -2.24482014e-01 -2.15367687e-01 5.86483651e+01] [ 2.21058683e-01 2.24699677e-04 9.75260482e-01 -4.65212075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.82687500000003 meters 0.012530503418956269 Centerline is valid? [True, True] Translation: X:247.09, Y:58.67, Z:-4.64 [[-2.18043536e-01 -9.74671968e-01 4.97149020e-02 2.47090715e+02] [ 9.50768081e-01 -2.23638806e-01 -2.14536107e-01 5.86740204e+01] [ 2.20220511e-01 4.89130744e-04 9.75449992e-01 -4.64485729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.856875 meters 0.01252258815442057 Centerline is valid? [True, True] Translation: X:247.08, Y:58.70, Z:-4.64 [[-2.17131448e-01 -9.74872535e-01 4.97742447e-02 2.47083413e+02] [ 9.50987520e-01 -2.22762105e-01 -2.14475597e-01 5.86983453e+01] [ 2.20174184e-01 7.65288596e-04 9.75460272e-01 -4.63934002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.88687500000003 meters 0.012687406974342846 Centerline is valid? [True, True] Translation: X:247.08, Y:58.72, Z:-4.63 [[-2.16198022e-01 -9.75081858e-01 4.97371596e-02 2.47075775e+02] [ 9.51293618e-01 -2.21842969e-01 -2.14070433e-01 5.87240999e+01] [ 2.19770035e-01 1.03303818e-03 9.75551159e-01 -4.63342321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.916875 meters 0.013116640135600021 Centerline is valid? [True, True] Translation: X:247.07, Y:58.75, Z:-4.63 [[-2.12793325e-01 -9.75827639e-01 4.97937717e-02 2.47065237e+02] [ 9.52074287e-01 -2.18533582e-01 -2.14003798e-01 5.87496076e+01] [ 2.19712432e-01 1.86879004e-03 9.75562891e-01 -4.62864291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.94687500000003 meters 0.01337168572464171 Centerline is valid? [True, True] Translation: X:247.06, Y:58.77, Z:-4.62 [[-2.11652690e-01 -9.76072546e-01 4.98550281e-02 2.47056843e+02] [ 9.52332652e-01 -2.17434099e-01 -2.13974139e-01 5.87742907e+01] [ 2.19694465e-01 2.19036914e-03 9.75566268e-01 -4.62339600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.976875 meters 0.01405867062775272 Centerline is valid? [True, True] Translation: X:247.05, Y:58.80, Z:-4.62 [[-2.09424766e-01 -9.76546858e-01 4.99750025e-02 2.47047433e+02] [ 9.52777386e-01 -2.15287241e-01 -2.14165024e-01 5.87995300e+01] [ 2.19901161e-01 2.76359235e-03 9.75518243e-01 -4.61777098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.00687500000004 meters 0.013934679249767028 Centerline is valid? [True, True] Translation: X:247.04, Y:58.83, Z:-4.61 [[-2.08727338e-01 -9.76690677e-01 5.00821366e-02 2.47040971e+02] [ 9.52886813e-01 -2.14630878e-01 -2.14336902e-01 5.88251622e+01] [ 2.20090027e-01 2.98463649e-03 9.75474998e-01 -4.61132028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.036875 meters 0.014300064634724411 Centerline is valid? [True, True] Translation: X:247.03, Y:58.85, Z:-4.61 [[-2.07861708e-01 -9.76867856e-01 5.02265195e-02 2.47033725e+02] [ 9.52999215e-01 -2.13819173e-01 -2.14648217e-01 5.88504299e+01] [ 2.20422336e-01 3.24868871e-03 9.75399118e-01 -4.60540731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06687500000004 meters 0.014205948133780618 Centerline is valid? [True, True] Translation: X:247.03, Y:58.88, Z:-4.60 [[-2.07585311e-01 -9.76923235e-01 5.02924655e-02 2.47026895e+02] [ 9.53061494e-01 -2.13563990e-01 -2.14625744e-01 5.88758490e+01] [ 2.20413536e-01 3.37866053e-03 9.75400665e-01 -4.59984579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.096875 meters 0.014720722125376133 Centerline is valid? [True, True] Translation: X:247.02, Y:58.90, Z:-4.59 [[-2.06394651e-01 -9.77162012e-01 5.05534348e-02 2.47018443e+02] [ 9.53125803e-01 -2.12463088e-01 -2.15431289e-01 5.89011462e+01] [ 2.21252011e-01 3.71991752e-03 9.75209572e-01 -4.59481701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12687500000004 meters 0.01493994591927412 Centerline is valid? [True, True] Translation: X:247.01, Y:58.93, Z:-4.59 [[-2.06424216e-01 -9.77147503e-01 5.07129183e-02 2.47011461e+02] [ 9.53003451e-01 -2.12529082e-01 -2.15906951e-01 5.89272675e+01] [ 2.21750909e-01 3.76116286e-03 9.75096092e-01 -4.58949977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.156875 meters 0.01426403770284469 Centerline is valid? [True, True] Translation: X:247.01, Y:58.95, Z:-4.58 [[-2.06860016e-01 -9.77047555e-01 5.08626564e-02 2.47006197e+02] [ 9.52825519e-01 -2.12988611e-01 -2.16239179e-01 5.89532678e+01] [ 2.22109128e-01 3.73199686e-03 9.75014670e-01 -4.58331014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.186875 meters 0.01541478253141874 Centerline is valid? [True, True] Translation: X:247.00, Y:58.98, Z:-4.58 [[-2.07239983e-01 -9.76967352e-01 5.08564963e-02 2.46997542e+02] [ 9.52819868e-01 -2.13356514e-01 -2.15901127e-01 5.89778608e+01] [ 2.21778917e-01 3.71373425e-03 9.75089904e-01 -4.57856499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.216875 meters 0.014138278962349001 Centerline is valid? [True, True] Translation: X:246.99, Y:59.01, Z:-4.57 [[-2.07287453e-01 -9.76949133e-01 5.10127789e-02 2.46993922e+02] [ 9.52706302e-01 -2.13439116e-01 -2.16320241e-01 5.90050586e+01] [ 2.22221995e-01 3.75972403e-03 9.74988846e-01 -4.57136783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.246875 meters 0.014525437759342945 Centerline is valid? [True, True] Translation: X:246.99, Y:59.03, Z:-4.57 [[-2.07336118e-01 -9.76936315e-01 5.10604574e-02 2.46987281e+02] [ 9.52712114e-01 -2.13496849e-01 -2.16237657e-01 5.90302021e+01] [ 2.22151667e-01 3.81203996e-03 9.75004669e-01 -4.56564957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.276875 meters 0.01443488723779504 Centerline is valid? [True, True] Translation: X:246.98, Y:59.06, Z:-4.56 [[-2.07353724e-01 -9.76919042e-01 5.13188002e-02 2.46981128e+02] [ 9.52522183e-01 -2.13574519e-01 -2.16996348e-01 5.90558539e+01] [ 2.22948253e-01 3.88729475e-03 9.74822530e-01 -4.55933219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.306875 meters 0.015558345975442296 Centerline is valid? [True, True] Translation: X:246.97, Y:59.08, Z:-4.55 [[-2.07389012e-01 -9.76905802e-01 5.14281293e-02 2.46972453e+02] [ 9.52475941e-01 -2.13633895e-01 -2.17140833e-01 5.90809442e+01] [ 2.23112931e-01 3.95143301e-03 9.74784595e-01 -4.55494907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.336875 meters 0.015151946484511309 Centerline is valid? [True, True] Translation: X:246.97, Y:59.11, Z:-4.55 [[-2.07472734e-01 -9.76886013e-01 5.14663191e-02 2.46966817e+02] [ 9.52494508e-01 -2.13723353e-01 -2.16971291e-01 5.91065250e+01] [ 2.22955773e-01 4.00575940e-03 9.74820331e-01 -4.54855334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.366875 meters 0.01516396774839904 Centerline is valid? [True, True] Translation: X:246.96, Y:59.13, Z:-4.54 [[-2.07369426e-01 -9.76900915e-01 5.15996489e-02 2.46961156e+02] [ 9.52451704e-01 -2.13653445e-01 -2.17227893e-01 5.91322204e+01] [ 2.23234571e-01 4.09974997e-03 9.74756133e-01 -4.54211813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.396875 meters 0.014752839749549943 Centerline is valid? [True, True] Translation: X:246.96, Y:59.16, Z:-4.54 [[-2.07887439e-01 -9.76786170e-01 5.16874256e-02 2.46955902e+02] [ 9.52320071e-01 -2.14178343e-01 -2.17288103e-01 5.91583527e+01] [ 2.23314341e-01 4.05150561e-03 9.74738062e-01 -4.53575074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.426875 meters 0.01492080007046149 Centerline is valid? [True, True] Translation: X:246.95, Y:59.18, Z:-4.53 [[-2.08450322e-01 -9.76656188e-01 5.18763391e-02 2.46949664e+02] [ 9.52077828e-01 -2.14771302e-01 -2.17763855e-01 5.91828642e+01] [ 2.23821965e-01 3.99736672e-03 9.74621849e-01 -4.53048083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.456875 meters 0.01495343742203105 Centerline is valid? [True, True] Translation: X:246.94, Y:59.21, Z:-4.52 [[-2.09060352e-01 -9.76518963e-01 5.20046592e-02 2.46943356e+02] [ 9.51889383e-01 -2.15395548e-01 -2.17971010e-01 5.92086369e+01] [ 2.24054397e-01 3.93358681e-03 9.74568702e-01 -4.52498041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.486875 meters 0.014778357491286647 Centerline is valid? [True, True] Translation: X:246.94, Y:59.23, Z:-4.52 [[-2.10683184e-01 -9.76152136e-01 5.23412127e-02 2.46937972e+02] [ 9.51260111e-01 -2.17057098e-01 -2.19067152e-01 5.92337091e+01] [ 2.25203900e-01 3.63634267e-03 9.74304870e-01 -4.52032192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.516875 meters 0.015008473912206912 Centerline is valid? [True, True] Translation: X:246.93, Y:59.26, Z:-4.52 [[-2.11789431e-01 -9.75905495e-01 5.24757319e-02 2.46931670e+02] [ 9.50952186e-01 -2.18166270e-01 -2.19302118e-01 5.92583925e+01] [ 2.25466576e-01 3.45604114e-03 9.74244774e-01 -4.51569674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.546875 meters 0.014018902824115682 Centerline is valid? [True, True] Translation: X:246.93, Y:59.29, Z:-4.51 [[-2.14528895e-01 -9.75304259e-01 5.25257704e-02 2.46928632e+02] [ 9.50359841e-01 -2.20846585e-01 -2.19187041e-01 5.92854563e+01] [ 2.25374192e-01 2.89642912e-03 9.74267974e-01 -4.50865423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57687500000003 meters 0.013791688758570377 Centerline is valid? [True, True] Translation: X:246.92, Y:59.31, Z:-4.50 [[-2.16321722e-01 -9.74899870e-01 5.26797436e-02 2.46923770e+02] [ 9.49860084e-01 -2.22629211e-01 -2.19549664e-01 5.93114116e+01] [ 2.25766989e-01 2.54502437e-03 9.74178007e-01 -4.50223642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.606875 meters 0.013558404451214996 Centerline is valid? [True, True] Translation: X:246.92, Y:59.34, Z:-4.50 [[-2.18171660e-01 -9.74484178e-01 5.27419588e-02 2.46918833e+02] [ 9.49445156e-01 -2.24445539e-01 -2.19495092e-01 5.93373513e+01] [ 2.25732192e-01 2.18798884e-03 9.74186938e-01 -4.49626601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63687500000003 meters 0.013538491570216067 Centerline is valid? [True, True] Translation: X:246.91, Y:59.36, Z:-4.49 [[-2.20194856e-01 -9.74029596e-01 5.27311207e-02 2.46913670e+02] [ 9.49059922e-01 -2.26413639e-01 -2.19139519e-01 5.93640327e+01] [ 2.25387422e-01 1.79159868e-03 9.74267571e-01 -4.49050137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.666875 meters 0.01328638684987534 Centerline is valid? [True, True] Translation: X:246.91, Y:59.39, Z:-4.49 [[-2.24962984e-01 -9.72937663e-01 5.27632376e-02 2.46911208e+02] [ 9.47974517e-01 -2.31066511e-01 -2.18980780e-01 5.93895669e+01] [ 2.25246466e-01 7.55634953e-04 9.74301524e-01 -4.48542355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69687500000003 meters 0.01320291631008731 Centerline is valid? [True, True] Translation: X:246.91, Y:59.42, Z:-4.48 [[-2.27823277e-01 -9.72262470e-01 5.29362152e-02 2.46907613e+02] [ 9.47189959e-01 -2.33892416e-01 -2.19375295e-01 5.94157599e+01] [ 2.25671746e-01 1.61852782e-04 9.74203386e-01 -4.47826486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.726875 meters 0.013282014276433267 Centerline is valid? [True, True] Translation: X:246.90, Y:59.44, Z:-4.47 [[-2.30408853e-01 -9.71651250e-01 5.29680042e-02 2.46903379e+02] [ 9.46604757e-01 -2.36418520e-01 -2.19193333e-01 5.94424160e+01] [ 2.25502093e-01 -3.64319787e-04 9.74242615e-01 -4.47221015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75687500000004 meters 0.013459814622870927 Centerline is valid? [True, True] Translation: X:246.90, Y:59.47, Z:-4.47 [[-2.34289134e-01 -9.70710941e-01 5.31871216e-02 2.46901130e+02] [ 9.45502377e-01 -2.40247405e-01 -2.19787260e-01 5.94690386e+01] [ 2.26127966e-01 -1.20521692e-03 9.74096859e-01 -4.46630993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.786875 meters 0.013417427631696455 Centerline is valid? [True, True] Translation: X:246.90, Y:59.50, Z:-4.46 [[-2.36023020e-01 -9.70292006e-01 5.31653812e-02 2.46896197e+02] [ 9.45161614e-01 -2.41931950e-01 -2.19404773e-01 5.94950067e+01] [ 2.25749102e-01 -1.53469954e-03 9.74184268e-01 -4.45988398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81687500000004 meters 0.013596975419600772 Centerline is valid? [True, True] Translation: X:246.89, Y:59.52, Z:-4.45 [[-2.37129217e-01 -9.70017243e-01 5.32567625e-02 2.46891748e+02] [ 9.44865023e-01 -2.43030005e-01 -2.19468687e-01 5.95205274e+01] [ 2.25831402e-01 -1.72198599e-03 9.74164880e-01 -4.45456018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.846875 meters 0.013609257921035138 Centerline is valid? [True, True] Translation: X:246.89, Y:59.55, Z:-4.45 [[-2.37697412e-01 -9.69873911e-01 5.33342026e-02 2.46885645e+02] [ 9.44719739e-01 -2.43600965e-01 -2.19461125e-01 5.95465394e+01] [ 2.25841883e-01 -1.77946756e-03 9.74162346e-01 -4.44820677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87687500000004 meters 0.013573736879371495 Centerline is valid? [True, True] Translation: X:246.88, Y:59.57, Z:-4.44 [[-2.37500355e-01 -9.69913941e-01 5.34839116e-02 2.46879463e+02] [ 9.44689902e-01 -2.43442320e-01 -2.19765391e-01 5.95716987e+01] [ 2.26173764e-01 -1.66864713e-03 9.74085543e-01 -4.44307365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.906875 meters 0.013504036209219696 Centerline is valid? [True, True] Translation: X:246.87, Y:59.60, Z:-4.44 [[-2.36194902e-01 -9.70228401e-01 5.35613397e-02 2.46872995e+02] [ 9.45013554e-01 -2.42188326e-01 -2.19759407e-01 5.95972494e+01] [ 2.26188750e-01 -1.28985973e-03 9.74082638e-01 -4.43899516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.936875 meters 0.013376648960723863 Centerline is valid? [True, True] Translation: X:246.87, Y:59.62, Z:-4.43 [[-2.35494743e-01 -9.70391138e-01 5.36960499e-02 2.46866202e+02] [ 9.45126276e-01 -2.41536585e-01 -2.19991818e-01 5.96228465e+01] [ 2.26447671e-01 -1.05736886e-03 9.74022759e-01 -4.43289419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.966875 meters 0.013207103174464878 Centerline is valid? [True, True] Translation: X:246.86, Y:59.65, Z:-4.43 [[-2.34673032e-01 -9.70587489e-01 5.37447232e-02 2.46859014e+02] [ 9.45351439e-01 -2.40747369e-01 -2.19889431e-01 5.96487113e+01] [ 2.26360831e-01 -7.94467954e-04 9.74043194e-01 -4.42648059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.996875 meters 0.013019327780913246 Centerline is valid? [True, True] Translation: X:246.85, Y:59.67, Z:-4.42 [[-2.32956319e-01 -9.71002968e-01 5.37083789e-02 2.46851976e+02] [ 9.45883599e-01 -2.39067222e-01 -2.19433546e-01 5.96738222e+01] [ 2.25910537e-01 -3.16556400e-04 9.74148002e-01 -4.42016491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.026875 meters 0.013041888534864082 Centerline is valid? [True, True] Translation: X:246.85, Y:59.70, Z:-4.41 [[-2.31882827e-01 -9.71259975e-01 5.37067579e-02 2.46845280e+02] [ 9.46219479e-01 -2.38021136e-01 -2.19122424e-01 5.96993705e+01] [ 2.25608183e-01 7.65349412e-06 9.74218121e-01 -4.41341501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.056875 meters 0.012995755798537225 Centerline is valid? [True, True] Translation: X:246.84, Y:59.73, Z:-4.41 [[-2.30991839e-01 -9.71469834e-01 5.37506475e-02 2.46838559e+02] [ 9.46462887e-01 -2.37162983e-01 -2.19001649e-01 5.97251362e+01] [ 2.25501160e-01 2.85399335e-04 9.74242858e-01 -4.40721482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.086875 meters 0.013106321809424117 Centerline is valid? [True, True] Translation: X:246.83, Y:59.75, Z:-4.40 [[-2.29863424e-01 -9.71736632e-01 5.37654633e-02 2.46831415e+02] [ 9.46792058e-01 -2.36066803e-01 -2.18763032e-01 5.97505602e+01] [ 2.25272293e-01 6.19094077e-04 9.74295649e-01 -4.40102002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.116875 meters 0.013305565414214963 Centerline is valid? [True, True] Translation: X:246.82, Y:59.77, Z:-4.40 [[-2.26954145e-01 -9.72421141e-01 5.37488577e-02 2.46822311e+02] [ 9.47579716e-01 -2.33227915e-01 -2.18397396e-01 5.97748293e+01] [ 2.24909979e-01 1.36513296e-03 9.74378591e-01 -4.39545649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.146875 meters 0.013544394657932047 Centerline is valid? [True, True] Translation: X:246.81, Y:59.80, Z:-4.39 [[-2.25230097e-01 -9.72821341e-01 5.37591117e-02 2.46814220e+02] [ 9.48052834e-01 -2.31549701e-01 -2.18129687e-01 5.97998566e+01] [ 2.24649121e-01 1.83710750e-03 9.74437991e-01 -4.38984613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.176875 meters 0.014032643852431942 Centerline is valid? [True, True] Translation: X:246.81, Y:59.83, Z:-4.38 [[-2.23483745e-01 -9.73216695e-01 5.38913679e-02 2.46805732e+02] [ 9.48402936e-01 -2.29878099e-01 -2.18375666e-01 5.98251886e+01] [ 2.24915290e-01 2.30731967e-03 9.74375589e-01 -4.38441567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.206875 meters 0.01441656451140012 Centerline is valid? [True, True] Translation: X:246.80, Y:59.85, Z:-4.38 [[-2.20142167e-01 -9.73965288e-01 5.41206491e-02 2.46796246e+02] [ 9.49022426e-01 -2.26675397e-01 -2.19031274e-01 5.98515510e+01] [ 2.25596678e-01 3.14369019e-03 9.74215713e-01 -4.37918922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.236875 meters 0.01441656451140012 Centerline is valid? [True, True] Translation: X:246.79, Y:59.88, Z:-4.37 [[-2.20444575e-01 -9.73893413e-01 5.41831152e-02 2.46789832e+02] [ 9.48952204e-01 -2.26984105e-01 -2.19015822e-01 5.98769243e+01] [ 2.25596772e-01 3.13633699e-03 9.74215715e-01 -4.37341535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.266875 meters 0.015203895796959669 Centerline is valid? [True, True] Translation: X:246.78, Y:59.90, Z:-4.37 [[-2.19486816e-01 -9.74100366e-01 5.43508399e-02 2.46780714e+02] [ 9.49078219e-01 -2.26090065e-01 -2.19394205e-01 5.99020891e+01] [ 2.26000160e-01 3.42906295e-03 9.74121229e-01 -4.36877620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.296875 meters 0.014953987255418636 Centerline is valid? [True, True] Translation: X:246.77, Y:59.93, Z:-4.36 [[-2.17944104e-01 -9.74446788e-01 5.43491078e-02 2.46774197e+02] [ 9.49501564e-01 -2.24585452e-01 -2.19107633e-01 5.99284414e+01] [ 2.25714748e-01 3.85134600e-03 9.74185824e-01 -4.36135609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.32687500000003 meters 0.01566372282373092 Centerline is valid? [True, True] Translation: X:246.77, Y:59.95, Z:-4.36 [[-2.17632458e-01 -9.74509800e-01 5.44679967e-02 2.46765973e+02] [ 9.49518639e-01 -2.24309485e-01 -2.19316231e-01 5.99534574e+01] [ 2.25943505e-01 3.98804772e-03 9.74132244e-01 -4.35628958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.356875 meters 0.01642117367051466 Centerline is valid? [True, True] Translation: X:246.76, Y:59.98, Z:-4.35 [[-2.17783184e-01 -9.74471685e-01 5.45474163e-02 2.46757991e+02] [ 9.49477925e-01 -2.24474326e-01 -2.19323841e-01 5.99780448e+01] [ 2.25969367e-01 4.02652323e-03 9.74126086e-01 -4.35134757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.38687500000003 meters 0.014936514995267396 Centerline is valid? [True, True] Translation: X:246.75, Y:60.00, Z:-4.34 [[-2.18386603e-01 -9.74332178e-01 5.46268989e-02 2.46754825e+02] [ 9.49313096e-01 -2.25080605e-01 -2.19415967e-01 6.00038949e+01] [ 2.26079492e-01 3.94052294e-03 9.74100886e-01 -4.34337349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.416875 meters 0.015281787056771084 Centerline is valid? [True, True] Translation: X:246.75, Y:60.03, Z:-4.34 [[-2.18838728e-01 -9.74234165e-01 5.45655786e-02 2.46748486e+02] [ 9.49339304e-01 -2.25505085e-01 -2.18866037e-01 6.00288612e+01] [ 2.25531586e-01 3.90488336e-03 9.74228031e-01 -4.33766740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.44687500000003 meters 0.014807584216375137 Centerline is valid? [True, True] Translation: X:246.74, Y:60.05, Z:-4.33 [[-2.19573793e-01 -9.74066696e-01 5.46023902e-02 2.46742947e+02] [ 9.49206234e-01 -2.26229006e-01 -2.18696050e-01 6.00548223e+01] [ 2.25377184e-01 3.80900778e-03 9.74264141e-01 -4.33071551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.476875 meters 0.015620943103708429 Centerline is valid? [True, True] Translation: X:246.73, Y:60.08, Z:-4.33 [[-2.20082600e-01 -9.73956218e-01 5.45246212e-02 2.46734932e+02] [ 9.49233253e-01 -2.26704982e-01 -2.18085033e-01 6.00791680e+01] [ 2.24766278e-01 3.75986235e-03 9.74405452e-01 -4.32613593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.50687500000004 meters 0.014930073633874209 Centerline is valid? [True, True] Translation: X:246.73, Y:60.11, Z:-4.32 [[-2.20531492e-01 -9.73852595e-01 5.45617388e-02 2.46729842e+02] [ 9.49146924e-01 -2.27150489e-01 -2.17997185e-01 6.01054118e+01] [ 2.24690850e-01 3.71186199e-03 9.74423031e-01 -4.31926441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.536875 meters 0.015023938942887591 Centerline is valid? [True, True] Translation: X:246.72, Y:60.13, Z:-4.31 [[-2.20615403e-01 -9.73828746e-01 5.46481278e-02 2.46723596e+02] [ 9.49112349e-01 -2.27251860e-01 -2.18042061e-01 6.01309424e+01] [ 2.24754516e-01 3.76377589e-03 9.74408149e-01 -4.31325458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56687500000004 meters 0.015141782914910567 Centerline is valid? [True, True] Translation: X:246.72, Y:60.16, Z:-4.31 [[-2.20742682e-01 -9.73797967e-01 5.46826183e-02 2.46717634e+02] [ 9.49117763e-01 -2.27383039e-01 -2.17881677e-01 6.01553289e+01] [ 2.24606634e-01 3.80445873e-03 9.74442090e-01 -4.30718902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.596875 meters 0.01600880472143543 Centerline is valid? [True, True] Translation: X:246.71, Y:60.18, Z:-4.30 [[-2.20844843e-01 -9.73773602e-01 5.47039930e-02 2.46709543e+02] [ 9.49145106e-01 -2.27486520e-01 -2.17654429e-01 6.01799578e+01] [ 2.24390558e-01 3.85416914e-03 9.74491674e-01 -4.30308706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62687500000004 meters 0.015291879839592173 Centerline is valid? [True, True] Translation: X:246.70, Y:60.21, Z:-4.30 [[-2.20755282e-01 -9.73791547e-01 5.47460347e-02 2.46704133e+02] [ 9.49195991e-01 -2.27408096e-01 -2.17514435e-01 6.02055766e+01] [ 2.24263410e-01 3.94725611e-03 9.74520570e-01 -4.29582831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.656875 meters 0.015620091294340334 Centerline is valid? [True, True] Translation: X:246.70, Y:60.23, Z:-4.29 [[-2.20309464e-01 -9.73890205e-01 5.47869378e-02 2.46697009e+02] [ 9.49329038e-01 -2.26982140e-01 -2.17378668e-01 6.02298329e+01] [ 2.24138612e-01 4.12025320e-03 9.74548565e-01 -4.29033576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.686875 meters 0.015568264395899986 Centerline is valid? [True, True] Translation: X:246.69, Y:60.26, Z:-4.28 [[-2.20276337e-01 -9.73900333e-01 5.47400871e-02 2.46690482e+02] [ 9.49453516e-01 -2.26937232e-01 -2.16881335e-01 6.02561372e+01] [ 2.23643369e-01 4.19934212e-03 9.74661997e-01 -4.28436729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.716875 meters 0.015771254405456785 Centerline is valid? [True, True] Translation: X:246.68, Y:60.28, Z:-4.28 [[-2.20184897e-01 -9.73914965e-01 5.48475428e-02 2.46683442e+02] [ 9.49439041e-01 -2.26872704e-01 -2.17012173e-01 6.02818923e+01] [ 2.23794813e-01 4.29159549e-03 9.74626833e-01 -4.27864793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.746875 meters 0.016029000531206244 Centerline is valid? [True, True] Translation: X:246.68, Y:60.31, Z:-4.27 [[-2.20489363e-01 -9.73838903e-01 5.49748315e-02 2.46676286e+02] [ 9.49313096e-01 -2.27198942e-01 -2.17221744e-01 6.03067686e+01] [ 2.24029209e-01 4.29324337e-03 9.74572974e-01 -4.27373026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.776875 meters 0.015951947292476603 Centerline is valid? [True, True] Translation: X:246.67, Y:60.33, Z:-4.27 [[-2.20700180e-01 -9.73782282e-01 5.51316429e-02 2.46669472e+02] [ 9.49183707e-01 -2.27440986e-01 -2.17533647e-01 6.03324779e+01] [ 2.24369606e-01 4.32034209e-03 9.74494543e-01 -4.26805912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.806875 meters 0.01570966260714037 Centerline is valid? [True, True] Translation: X:246.66, Y:60.36, Z:-4.26 [[-2.21256121e-01 -9.73649513e-01 5.52481259e-02 2.46663290e+02] [ 9.49008065e-01 -2.28009776e-01 -2.17704469e-01 6.03580693e+01] [ 2.24564963e-01 4.26247078e-03 9.74449798e-01 -4.26185474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.836875 meters 0.015850806060009076 Centerline is valid? [True, True] Translation: X:246.66, Y:60.38, Z:-4.26 [[-2.21735250e-01 -9.73540473e-01 5.52487651e-02 2.46656576e+02] [ 9.48961956e-01 -2.28475686e-01 -2.17416807e-01 6.03831003e+01] [ 2.24287060e-01 4.22000614e-03 9.74513985e-01 -4.25591736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.866875 meters 0.015432272637877388 Centerline is valid? [True, True] Translation: X:246.65, Y:60.41, Z:-4.25 [[-2.22558611e-01 -9.73356598e-01 5.51778773e-02 2.46651546e+02] [ 9.48905361e-01 -2.29259956e-01 -2.16837470e-01 6.04088967e+01] [ 2.23710260e-01 4.09953747e-03 9.74647071e-01 -4.24889600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.896875 meters 0.014836747297325942 Centerline is valid? [True, True] Translation: X:246.65, Y:60.44, Z:-4.24 [[-2.23615362e-01 -9.73105859e-01 5.53277170e-02 2.46646087e+02] [ 9.48579766e-01 -2.30324888e-01 -2.17133306e-01 6.04355324e+01] [ 2.24037043e-01 3.92840989e-03 9.74572712e-01 -4.24247247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.926875 meters 0.015170807966541432 Centerline is valid? [True, True] Translation: X:246.64, Y:60.46, Z:-4.24 [[-2.24608678e-01 -9.72876770e-01 5.53329137e-02 2.46639053e+02] [ 9.48400393e-01 -2.31293384e-01 -2.16887217e-01 6.04602884e+01] [ 2.23802672e-01 3.76300608e-03 9.74627213e-01 -4.23726359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.956875 meters 0.014733732693392117 Centerline is valid? [True, True] Translation: X:246.63, Y:60.49, Z:-4.23 [[-2.26967843e-01 -9.72329322e-01 5.53289020e-02 2.46633803e+02] [ 9.47893644e-01 -2.33591436e-01 -2.16639520e-01 6.04867929e+01] [ 2.23569315e-01 3.27571000e-03 9.74682528e-01 -4.23132846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.986875 meters 0.014542882200155162 Centerline is valid? [True, True] Translation: X:246.63, Y:60.51, Z:-4.23 [[-2.28652730e-01 -9.71930859e-01 5.53925395e-02 2.46628007e+02] [ 9.47485049e-01 -2.35248176e-01 -2.16634200e-01 6.05122542e+01] [ 2.23584458e-01 2.94960162e-03 9.74680096e-01 -4.22549002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.016875 meters 0.014371300536379514 Centerline is valid? [True, True] Translation: X:246.62, Y:60.54, Z:-4.22 [[-2.30182989e-01 -9.71570792e-01 5.53713651e-02 2.46622178e+02] [ 9.47198089e-01 -2.36734216e-01 -2.16269950e-01 6.05382821e+01] [ 2.23229863e-01 2.66598767e-03 9.74762187e-01 -4.21883306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.046875 meters 0.013649846243115762 Centerline is valid? [True, True] Translation: X:246.62, Y:60.56, Z:-4.21 [[-2.33012946e-01 -9.70899041e-01 5.53174469e-02 2.46618744e+02] [ 9.46619022e-01 -2.39480077e-01 -2.15781649e-01 6.05641422e+01] [ 2.22749623e-01 2.08462958e-03 9.74873458e-01 -4.21096648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07687500000003 meters 0.013552950845977269 Centerline is valid? [True, True] Translation: X:246.61, Y:60.59, Z:-4.21 [[-2.34276260e-01 -9.70587154e-01 5.54545894e-02 2.46612454e+02] [ 9.46243778e-01 -2.40742810e-01 -2.16022250e-01 6.05889671e+01] [ 2.23018714e-01 1.86467550e-03 9.74812380e-01 -4.20533554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.106875 meters 0.013512366838838188 Centerline is valid? [True, True] Translation: X:246.61, Y:60.61, Z:-4.20 [[-2.36384592e-01 -9.70073426e-01 5.54966103e-02 2.46605967e+02] [ 9.45747888e-01 -2.42807401e-01 -2.15883069e-01 6.06135968e+01] [ 2.22897416e-01 1.45437086e-03 9.74840821e-01 -4.20050660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13687500000003 meters 0.013257187529592892 Centerline is valid? [True, True] Translation: X:246.60, Y:60.64, Z:-4.19 [[-2.37956445e-01 -9.69688619e-01 5.55041638e-02 2.46599722e+02] [ 9.45396953e-01 -2.44341283e-01 -2.15689450e-01 6.06391933e+01] [ 2.22713563e-01 1.14877264e-03 9.74883249e-01 -4.19491106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.166875 meters 0.013158244305476352 Centerline is valid? [True, True] Translation: X:246.59, Y:60.66, Z:-4.19 [[-2.38907967e-01 -9.69448188e-01 5.56164867e-02 2.46593435e+02] [ 9.45115607e-01 -2.45294138e-01 -2.15840857e-01 6.06649397e+01] [ 2.22888926e-01 9.97909362e-04 9.74843337e-01 -4.18930159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19687500000003 meters 0.013079052538761978 Centerline is valid? [True, True] Translation: X:246.59, Y:60.69, Z:-4.18 [[-2.40556985e-01 -9.69031861e-01 5.57636955e-02 2.46587202e+02] [ 9.44624074e-01 -2.46934773e-01 -2.16121669e-01 6.06903870e+01] [ 2.23198779e-01 6.86151951e-04 9.74772709e-01 -4.18433260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.226875 meters 0.013002550906959138 Centerline is valid? [True, True] Translation: X:246.58, Y:60.72, Z:-4.18 [[-2.43403885e-01 -9.68311331e-01 5.59259756e-02 2.46582164e+02] [ 9.43810340e-01 -2.49746183e-01 -2.16446034e-01 6.07164848e+01] [ 2.23554446e-01 9.97086123e-05 9.74691438e-01 -4.17906698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25687500000004 meters 0.013076080145804681 Centerline is valid? [True, True] Translation: X:246.58, Y:60.74, Z:-4.17 [[-2.44928073e-01 -9.67924989e-01 5.59594027e-02 2.46576460e+02] [ 9.43450229e-01 -2.51239294e-01 -2.16287961e-01 6.07421688e+01] [ 2.23409723e-01 -1.80082162e-04 9.74724609e-01 -4.17332293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.286875 meters 0.013093694870236896 Centerline is valid? [True, True] Translation: X:246.57, Y:60.77, Z:-4.17 [[-2.46108832e-01 -9.67624935e-01 5.59681032e-02 2.46570774e+02] [ 9.43200472e-01 -2.52392239e-01 -2.16034784e-01 6.07669690e+01] [ 2.23166558e-01 -3.78927017e-04 9.74780254e-01 -4.16745166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31687500000004 meters 0.012980084317027369 Centerline is valid? [True, True] Translation: X:246.56, Y:60.79, Z:-4.16 [[-2.46939211e-01 -9.67409737e-01 5.60305842e-02 2.46564044e+02] [ 9.42993386e-01 -2.53215628e-01 -2.15975278e-01 6.07930456e+01] [ 2.23124407e-01 -4.96294540e-04 9.74789851e-01 -4.16092324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.346875 meters 0.01302750004838353 Centerline is valid? [True, True] Translation: X:246.56, Y:60.82, Z:-4.16 [[-2.47582405e-01 -9.67240917e-01 5.61067018e-02 2.46557353e+02] [ 9.42818479e-01 -2.53859565e-01 -2.15982956e-01 6.08181293e+01] [ 2.23150776e-01 -5.75144563e-04 9.74783771e-01 -4.15614336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37687500000004 meters 0.013043146101085711 Centerline is valid? [True, True] Translation: X:246.55, Y:60.84, Z:-4.15 [[-2.47778688e-01 -9.67185249e-01 5.61997886e-02 2.46550447e+02] [ 9.42747513e-01 -2.54071630e-01 -2.16043362e-01 6.08437807e+01] [ 2.23232725e-01 -5.48729849e-04 9.74765023e-01 -4.14985883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.406875 meters 0.013034665825586152 Centerline is valid? [True, True] Translation: X:246.54, Y:60.87, Z:-4.14 [[-2.48600236e-01 -9.66974363e-01 5.62005727e-02 2.46544310e+02] [ 9.42596434e-01 -2.54872796e-01 -2.15758708e-01 6.08687440e+01] [ 2.22957137e-01 -6.63206419e-04 9.74828024e-01 -4.14460596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.436875 meters 0.013089777615784849 Centerline is valid? [True, True] Translation: X:246.54, Y:60.89, Z:-4.14 [[-2.48956792e-01 -9.66878604e-01 5.62697222e-02 2.46538161e+02] [ 9.42506126e-01 -2.55235803e-01 -2.15724102e-01 6.08946174e+01] [ 2.22941067e-01 -6.71422487e-04 9.74831693e-01 -4.13948095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.466875 meters 0.013121134438298371 Centerline is valid? [True, True] Translation: X:246.53, Y:60.92, Z:-4.13 [[-2.49428093e-01 -9.66745706e-01 5.64656236e-02 2.46532052e+02] [ 9.42263358e-01 -2.55738587e-01 -2.16188665e-01 6.09199563e+01] [ 2.23439902e-01 -7.18038276e-04 9.74717443e-01 -4.13472832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.496875 meters 0.013105551172197279 Centerline is valid? [True, True] Translation: X:246.53, Y:60.95, Z:-4.13 [[-2.49333834e-01 -9.66760424e-01 5.66296920e-02 2.46525449e+02] [ 9.42202796e-01 -2.55683178e-01 -2.16517907e-01 6.09456356e+01] [ 2.23800203e-01 -6.28585643e-04 9.74634841e-01 -4.12873603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.526875 meters 0.013154574290788194 Centerline is valid? [True, True] Translation: X:246.52, Y:60.97, Z:-4.12 [[-2.49298499e-01 -9.66773350e-01 5.65645504e-02 2.46519375e+02] [ 9.42338071e-01 -2.55634498e-01 -2.15986026e-01 6.09707387e+01] [ 2.23269384e-01 -5.42062839e-04 9.74756630e-01 -4.12333386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.556875 meters 0.013249654137120585 Centerline is valid? [True, True] Translation: X:246.51, Y:61.00, Z:-4.12 [[-2.48548993e-01 -9.66966180e-01 5.65668204e-02 2.46512627e+02] [ 9.42601428e-01 -2.54904535e-01 -2.15699386e-01 6.09953724e+01] [ 2.22993151e-01 -2.91899472e-04 9.74819968e-01 -4.11791947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.586875 meters 0.013191217024081853 Centerline is valid? [True, True] Translation: X:246.51, Y:61.02, Z:-4.11 [[-2.47662549e-01 -9.67193106e-01 5.65752472e-02 2.46505162e+02] [ 9.42892711e-01 -2.54042312e-01 -2.15443353e-01 6.10209263e+01] [ 2.22747833e-01 -1.28617203e-05 9.74876096e-01 -4.11120291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.616875 meters 0.01354039502900384 Centerline is valid? [True, True] Translation: X:246.50, Y:61.05, Z:-4.11 [[-2.44215089e-01 -9.68081599e-01 5.63649585e-02 2.46496590e+02] [ 9.44051368e-01 -2.50633748e-01 -2.14358900e-01 6.10452957e+01] [ 2.21643867e-01 8.61738333e-04 9.75127301e-01 -4.10525832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.646875 meters 0.013655026336962858 Centerline is valid? [True, True] Translation: X:246.49, Y:61.07, Z:-4.10 [[-2.42838488e-01 -9.68431641e-01 5.62994324e-02 2.46488369e+02] [ 9.44534335e-01 -2.49276119e-01 -2.13813719e-01 6.10702345e+01] [ 2.21098075e-01 1.25454668e-03 9.75250772e-01 -4.09882750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.676875 meters 0.013918873405160542 Centerline is valid? [True, True] Translation: X:246.48, Y:61.09, Z:-4.09 [[-2.41235418e-01 -9.68834811e-01 5.62546280e-02 2.46480002e+02] [ 9.45048397e-01 -2.47701941e-01 -2.13371216e-01 6.10942695e+01] [ 2.20655842e-01 1.69065163e-03 9.75350266e-01 -4.09319659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.706875 meters 0.014236172190220324 Centerline is valid? [True, True] Translation: X:246.47, Y:61.12, Z:-4.09 [[-2.37956024e-01 -9.69647220e-01 5.62245382e-02 2.46471111e+02] [ 9.45972604e-01 -2.44495349e-01 -2.12973840e-01 6.11202980e+01] [ 2.20256130e-01 2.50846456e-03 9.75438847e-01 -4.08710706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.736875 meters 0.014654723969600011 Centerline is valid? [True, True] Translation: X:246.46, Y:61.15, Z:-4.08 [[-2.36246492e-01 -9.70065573e-01 5.62172490e-02 2.46463244e+02] [ 9.46465428e-01 -2.42825095e-01 -2.12695010e-01 6.11455719e+01] [ 2.19979066e-01 2.95923263e-03 9.75500104e-01 -4.08131648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.766875 meters 0.014914462036481911 Centerline is valid? [True, True] Translation: X:246.46, Y:61.17, Z:-4.08 [[-2.35833889e-01 -9.70159021e-01 5.63369363e-02 2.46455697e+02] [ 9.46501473e-01 -2.42449724e-01 -2.12962658e-01 6.11712217e+01] [ 2.20266519e-01 3.09918137e-03 9.75434804e-01 -4.07574914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.796875 meters 0.015250234158021124 Centerline is valid? [True, True] Translation: X:246.45, Y:61.20, Z:-4.07 [[-2.34936089e-01 -9.70375038e-01 5.63677219e-02 2.46448466e+02] [ 9.46760696e-01 -2.41580031e-01 -2.12798670e-01 6.11966500e+01] [ 2.20111833e-01 3.37265635e-03 9.75468813e-01 -4.07021707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.82687500000003 meters 0.015790972958467674 Centerline is valid? [True, True] Translation: X:246.44, Y:61.22, Z:-4.07 [[-2.35505951e-01 -9.70235789e-01 5.63867127e-02 2.46439948e+02] [ 9.46664456e-01 -2.42139503e-01 -2.12590847e-01 6.12210730e+01] [ 2.19916699e-01 3.31288726e-03 9.75513029e-01 -4.06530583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.856875 meters 0.015513235796484974 Centerline is valid? [True, True] Translation: X:246.43, Y:61.25, Z:-4.06 [[-2.36136812e-01 -9.70079180e-01 5.64428155e-02 2.46433788e+02] [ 9.46504781e-01 -2.42767359e-01 -2.12585767e-01 6.12469687e+01] [ 2.19927500e-01 3.22406939e-03 9.75510892e-01 -4.05927054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.88687500000003 meters 0.014996093678331747 Centerline is valid? [True, True] Translation: X:246.43, Y:61.27, Z:-4.05 [[-2.37176596e-01 -9.69819749e-01 5.65412856e-02 2.46428028e+02] [ 9.46215297e-01 -2.43803852e-01 -2.12688256e-01 6.12730380e+01] [ 2.20054254e-01 3.05555266e-03 9.75482849e-01 -4.05311494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.916875 meters 0.01479303202570453 Centerline is valid? [True, True] Translation: X:246.42, Y:61.30, Z:-4.05 [[-2.39466304e-01 -9.69263800e-01 5.64231752e-02 2.46422602e+02] [ 9.45804834e-01 -2.46009957e-01 -2.11972443e-01 6.12979797e+01] [ 2.19337878e-01 2.60505458e-03 9.75645483e-01 -4.04753681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.94687500000003 meters 0.014296858907622004 Centerline is valid? [True, True] Translation: X:246.42, Y:61.32, Z:-4.04 [[-2.40788779e-01 -9.68936578e-01 5.64151784e-02 2.46416927e+02] [ 9.45522453e-01 -2.47298088e-01 -2.11733198e-01 6.13235007e+01] [ 2.19107406e-01 2.35883963e-03 9.75697894e-01 -4.04081344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.976875 meters 0.014250938825053407 Centerline is valid? [True, True] Translation: X:246.41, Y:61.35, Z:-4.03 [[-2.41987166e-01 -9.68640829e-01 5.63662664e-02 2.46410451e+02] [ 9.45320823e-01 -2.48455809e-01 -2.11277669e-01 6.13492830e+01] [ 2.18656703e-01 2.15772085e-03 9.75799462e-01 -4.03495026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.00687500000004 meters 0.013940241666389084 Centerline is valid? [True, True] Translation: X:246.40, Y:61.37, Z:-4.03 [[-2.44373467e-01 -9.68045650e-01 5.62959050e-02 2.46404050e+02] [ 9.44828807e-01 -2.50768352e-01 -2.10745722e-01 6.13739519e+01] [ 2.18128710e-01 1.68933005e-03 9.75918548e-01 -4.02907809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.036875 meters 0.01375006385605776 Centerline is valid? [True, True] Translation: X:246.40, Y:61.40, Z:-4.02 [[-2.45917926e-01 -9.67653775e-01 5.63075924e-02 2.46397216e+02] [ 9.44463436e-01 -2.52278073e-01 -2.10581555e-01 6.13995883e+01] [ 2.17975207e-01 1.39468295e-03 9.75953310e-01 -4.02299086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06687500000004 meters 0.013662723293466097 Centerline is valid? [True, True] Translation: X:246.39, Y:61.43, Z:-4.02 [[-2.47392806e-01 -9.67277507e-01 5.63118457e-02 2.46390388e+02] [ 9.44132543e-01 -2.53718243e-01 -2.10334958e-01 6.14251241e+01] [ 2.17739616e-01 1.13049066e-03 9.76006241e-01 -4.01731100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.096875 meters 0.013451511094200666 Centerline is valid? [True, True] Translation: X:246.38, Y:61.45, Z:-4.01 [[-2.50147394e-01 -9.66574653e-01 5.62113931e-02 2.46384157e+02] [ 9.43553148e-01 -2.56384673e-01 -2.09700634e-01 6.14495959e+01] [ 2.17103057e-01 5.82369736e-04 9.76148515e-01 -4.01181251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12687500000004 meters 0.013451511094200666 Centerline is valid? [True, True] Translation: X:246.38, Y:61.47, Z:-4.01 [[-2.50436614e-01 -9.66495806e-01 5.62793007e-02 2.46377229e+02] [ 9.43476430e-01 -2.56681737e-01 -2.09682408e-01 6.14748279e+01] [ 2.17103037e-01 5.86041309e-04 9.76148517e-01 -4.00604472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.156875 meters 0.013446253067064479 Centerline is valid? [True, True] Translation: X:246.37, Y:61.50, Z:-4.00 [[-2.52305079e-01 -9.66015168e-01 5.61857890e-02 2.46370622e+02] [ 9.43117941e-01 -2.58485278e-01 -2.09078717e-01 6.15001030e+01] [ 2.16496411e-01 2.38203415e-04 9.76283385e-01 -3.99988724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.186875 meters 0.013249696233466224 Centerline is valid? [True, True] Translation: X:246.36, Y:61.53, Z:-3.99 [[-2.54046520e-01 -9.65553946e-01 5.62667082e-02 2.46364052e+02] [ 9.42635728e-01 -2.60202938e-01 -2.09122726e-01 6.15254037e+01] [ 2.16560036e-01 -8.78912916e-05 9.76269299e-01 -3.99389277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.216875 meters 0.013343795468732952 Centerline is valid? [True, True] Translation: X:246.36, Y:61.55, Z:-3.99 [[-2.55406630e-01 -9.65194443e-01 5.62773608e-02 2.46356949e+02] [ 9.42316279e-01 -2.61533139e-01 -2.08902960e-01 6.15513807e+01] [ 2.16350371e-01 -3.24127750e-04 9.76315734e-01 -3.98765490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.246875 meters 0.013231162514101058 Centerline is valid? [True, True] Translation: X:246.35, Y:61.58, Z:-3.98 [[-2.57386788e-01 -9.64657844e-01 5.64560453e-02 2.46348624e+02] [ 9.41676886e-01 -2.63504725e-01 -2.09308150e-01 6.15766642e+01] [ 2.16787184e-01 -7.09799638e-04 9.76218630e-01 -3.98248636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.276875 meters 0.013351219636334904 Centerline is valid? [True, True] Translation: X:246.34, Y:61.60, Z:-3.98 [[-2.58427302e-01 -9.64367652e-01 5.66600531e-02 2.46340497e+02] [ 9.41269405e-01 -2.64564256e-01 -2.09803866e-01 6.16023135e+01] [ 2.17318286e-01 -8.86672520e-04 9.76100393e-01 -3.97784141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.306875 meters 0.013420476082458225 Centerline is valid? [True, True] Translation: X:246.33, Y:61.63, Z:-3.97 [[-2.59254856e-01 -9.64136393e-01 5.68149197e-02 2.46333463e+02] [ 9.40964712e-01 -2.65405339e-01 -2.10108106e-01 6.16270765e+01] [ 2.17651854e-01 -1.01071207e-03 9.76025947e-01 -3.97318099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.336875 meters 0.013458005718679734 Centerline is valid? [True, True] Translation: X:246.32, Y:61.65, Z:-3.97 [[-2.61626062e-01 -9.63488467e-01 5.69366086e-02 2.46324834e+02] [ 9.40263462e-01 -2.67745751e-01 -2.10277995e-01 6.16530634e+01] [ 2.17844958e-01 -1.47879110e-03 9.75982268e-01 -3.96844768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.366875 meters 0.013600686867731273 Centerline is valid? [True, True] Translation: X:246.32, Y:61.68, Z:-3.96 [[-2.62769493e-01 -9.63177572e-01 5.69311683e-02 2.46317334e+02] [ 9.40007449e-01 -2.68860911e-01 -2.09999539e-01 6.16785451e+01] [ 2.17573412e-01 -1.66575012e-03 9.76042538e-01 -3.96234841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.396875 meters 0.01368825523004533 Centerline is valid? [True, True] Translation: X:246.31, Y:61.70, Z:-3.96 [[-2.64192156e-01 -9.62784622e-01 5.69936449e-02 2.46310017e+02] [ 9.39611859e-01 -2.70262987e-01 -2.09970171e-01 6.17038529e+01] [ 2.17559324e-01 -1.92056751e-03 9.76045210e-01 -3.95638541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.426875 meters 0.0137781841480364 Centerline is valid? [True, True] Translation: X:246.30, Y:61.73, Z:-3.95 [[-2.66502650e-01 -9.62146132e-01 5.70189371e-02 2.46301424e+02] [ 9.38995803e-01 -2.72523745e-01 -2.09803934e-01 6.17301042e+01] [ 2.17401058e-01 -2.37276174e-03 9.76079479e-01 -3.95062922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.456875 meters 0.01389117989574733 Centerline is valid? [True, True] Translation: X:246.29, Y:61.76, Z:-3.95 [[-2.67673780e-01 -9.61816696e-01 5.70910688e-02 2.46293408e+02] [ 9.38652660e-01 -2.73682295e-01 -2.09831325e-01 6.17552579e+01] [ 2.17444087e-01 -2.57766050e-03 9.76069375e-01 -3.94540854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.486875 meters 0.014144351645539167 Centerline is valid? [True, True] Translation: X:246.28, Y:61.78, Z:-3.94 [[-2.68656704e-01 -9.61537550e-01 5.71761792e-02 2.46284599e+02] [ 9.38356866e-01 -2.74659917e-01 -2.09876921e-01 6.17795342e+01] [ 2.17508545e-01 -2.73318160e-03 9.76054590e-01 -3.94063449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.516875 meters 0.014108920571811803 Centerline is valid? [True, True] Translation: X:246.28, Y:61.80, Z:-3.93 [[-2.68921174e-01 -9.61463095e-01 5.71849625e-02 2.46275768e+02] [ 9.38335562e-01 -2.74920614e-01 -2.09630699e-01 6.18049511e+01] [ 2.17273505e-01 -2.71544971e-03 9.76106987e-01 -3.93468226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.546875 meters 0.013860582997557951 Centerline is valid? [True, True] Translation: X:246.27, Y:61.83, Z:-3.93 [[-2.68982359e-01 -9.61445278e-01 5.71967552e-02 2.46266341e+02] [ 9.38365534e-01 -2.74983486e-01 -2.09413963e-01 6.18304521e+01] [ 2.17068229e-01 -2.65719804e-03 9.76152818e-01 -3.92907512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57687500000003 meters 0.013899229863664717 Centerline is valid? [True, True] Translation: X:246.26, Y:61.86, Z:-3.92 [[-2.69169741e-01 -9.61392384e-01 5.72043166e-02 2.46257392e+02] [ 9.38364395e-01 -2.75168660e-01 -2.09175695e-01 6.18558131e+01] [ 2.16840755e-01 -2.62527373e-03 9.76203460e-01 -3.92317394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.606875 meters 0.013585478229604703 Centerline is valid? [True, True] Translation: X:246.25, Y:61.88, Z:-3.92 [[-2.67808712e-01 -9.61766063e-01 5.73108464e-02 2.46246007e+02] [ 9.38718564e-01 -2.73863033e-01 -2.09300018e-01 6.18807448e+01] [ 2.16992977e-01 -2.25361288e-03 9.76170564e-01 -3.91795567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63687500000003 meters 0.013494239699696818 Centerline is valid? [True, True] Translation: X:246.24, Y:61.91, Z:-3.91 [[-2.66985032e-01 -9.61995236e-01 5.73075697e-02 2.46236547e+02] [ 9.39014560e-01 -2.73058953e-01 -2.09022641e-01 6.19062813e+01] [ 2.16727130e-01 -1.99327416e-03 9.76230187e-01 -3.91239376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.666875 meters 0.013383310500188648 Centerline is valid? [True, True] Translation: X:246.23, Y:61.93, Z:-3.91 [[-2.66076073e-01 -9.62234733e-01 5.75138368e-02 2.46227008e+02] [ 9.39151272e-01 -2.72215580e-01 -2.09507915e-01 6.19313364e+01] [ 2.17251955e-01 -1.73085027e-03 9.76114026e-01 -3.90679855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69687500000003 meters 0.013280388979433263 Centerline is valid? [True, True] Translation: X:246.22, Y:61.96, Z:-3.90 [[-2.64655604e-01 -9.62622182e-01 5.75842578e-02 2.46217477e+02] [ 9.39549604e-01 -2.70844485e-01 -2.09498944e-01 6.19567944e+01] [ 2.17264709e-01 -1.34180293e-03 9.76111800e-01 -3.90123538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.726875 meters 0.0129984545569806 Centerline is valid? [True, True] Translation: X:246.21, Y:61.98, Z:-3.90 [[-2.61694406e-01 -9.63416600e-01 5.78315904e-02 2.46206045e+02] [ 9.40221703e-01 -2.68007605e-01 -2.10131086e-01 6.19800956e+01] [ 2.17943082e-01 -6.15613333e-04 9.75961287e-01 -3.89645045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75687500000004 meters 0.01295813354527165 Centerline is valid? [True, True] Translation: X:246.20, Y:62.01, Z:-3.89 [[-2.60346098e-01 -9.63773199e-01 5.79752625e-02 2.46196607e+02] [ 9.40532735e-01 -2.66723008e-01 -2.10373503e-01 6.20054810e+01] [ 2.18215681e-01 -2.42288467e-04 9.75900537e-01 -3.89044048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.786875 meters 0.013045706444045777 Centerline is valid? [True, True] Translation: X:246.19, Y:62.03, Z:-3.89 [[-2.58446536e-01 -9.64279937e-01 5.80481736e-02 2.46187609e+02] [ 9.41052270e-01 -2.64885139e-01 -2.10372261e-01 6.20295254e+01] [ 2.18233849e-01 2.56383380e-04 9.75896471e-01 -3.88513927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81687500000004 meters 0.013360526466358585 Centerline is valid? [True, True] Translation: X:246.18, Y:62.05, Z:-3.88 [[-2.54299739e-01 -9.65376924e-01 5.81294815e-02 2.46175614e+02] [ 9.42157323e-01 -2.60855973e-01 -2.10460779e-01 6.20542682e+01] [ 2.18337402e-01 1.24699571e-03 9.75872545e-01 -3.87915112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.846875 meters 0.013627025290791156 Centerline is valid? [True, True] Translation: X:246.17, Y:62.08, Z:-3.87 [[-2.52075050e-01 -9.65956775e-01 5.81865849e-02 2.46165791e+02] [ 9.42763517e-01 -2.58697137e-01 -2.10410891e-01 6.20797257e+01] [ 2.18300529e-01 1.81685344e-03 9.75879899e-01 -3.87358227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87687500000004 meters 0.014052087332671062 Centerline is valid? [True, True] Translation: X:246.16, Y:62.11, Z:-3.87 [[-2.50170362e-01 -9.66440912e-01 5.83674111e-02 2.46156092e+02] [ 9.43165875e-01 -2.56878667e-01 -2.10835202e-01 6.21051476e+01] [ 2.18753108e-01 2.30543160e-03 9.75777517e-01 -3.86793160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.906875 meters 0.014294878163058017 Centerline is valid? [True, True] Translation: X:246.15, Y:62.13, Z:-3.86 [[-2.46790780e-01 -9.67303295e-01 5.84691942e-02 2.46146307e+02] [ 9.44020899e-01 -2.53603117e-01 -2.10973934e-01 6.21306832e+01] [ 2.18903751e-01 3.12971960e-03 9.75741437e-01 -3.86238607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.936875 meters 0.015276139275969514 Centerline is valid? [True, True] Translation: X:246.14, Y:62.16, Z:-3.86 [[-2.45478923e-01 -9.67634841e-01 5.85056600e-02 2.46136198e+02] [ 9.44385960e-01 -2.52330424e-01 -2.10866107e-01 6.21556452e+01] [ 2.18804150e-01 3.48873889e-03 9.75762560e-01 -3.85606689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.966875 meters 0.015285851211149962 Centerline is valid? [True, True] Translation: X:246.13, Y:62.18, Z:-3.85 [[-2.42912485e-01 -9.68281829e-01 5.85134504e-02 2.46128296e+02] [ 9.45101340e-01 -2.49826367e-01 -2.10642455e-01 6.21815770e+01] [ 2.18579465e-01 4.13345813e-03 9.75810398e-01 -3.84929451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.996875 meters 0.01700355352833801 Centerline is valid? [True, True] Translation: X:246.12, Y:62.21, Z:-3.84 [[-2.42006378e-01 -9.68508023e-01 5.85245395e-02 2.46116699e+02] [ 9.45378553e-01 -2.48943481e-01 -2.10443665e-01 6.22063785e+01] [ 2.18385680e-01 4.39913534e-03 9.75852623e-01 -3.84378614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.026875 meters 0.016020879713758488 Centerline is valid? [True, True] Translation: X:246.11, Y:62.23, Z:-3.84 [[-2.40888165e-01 -9.68781024e-01 5.86192677e-02 2.46110829e+02] [ 9.45640086e-01 -2.47873086e-01 -2.10532090e-01 6.22335475e+01] [ 2.18489633e-01 4.71804038e-03 9.75827864e-01 -3.83790340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.056875 meters 0.016899010744293154 Centerline is valid? [True, True] Translation: X:246.10, Y:62.26, Z:-3.83 [[-2.39503272e-01 -9.69112187e-01 5.88196560e-02 2.46100740e+02] [ 9.45874071e-01 -2.46567605e-01 -2.11013409e-01 6.22583814e+01] [ 2.18998688e-01 5.09758565e-03 9.75711837e-01 -3.83363865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.086875 meters 0.017275514694361265 Centerline is valid? [True, True] Translation: X:246.09, Y:62.28, Z:-3.83 [[-2.39128967e-01 -9.69191985e-01 5.90273982e-02 2.46092273e+02] [ 9.45846541e-01 -2.46250477e-01 -2.11506557e-01 6.22839729e+01] [ 2.19525984e-01 5.25351592e-03 9.75592509e-01 -3.82829226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.116875 meters 0.016710736415394455 Centerline is valid? [True, True] Translation: X:246.09, Y:62.31, Z:-3.82 [[-2.38750663e-01 -9.69279885e-01 5.91153663e-02 2.46085536e+02] [ 9.45925396e-01 -2.45900902e-01 -2.11560608e-01 6.23099551e+01] [ 2.19597963e-01 5.40849106e-03 9.75575462e-01 -3.82241263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.146875 meters 0.01717477830161628 Centerline is valid? [True, True] Translation: X:246.08, Y:62.33, Z:-3.82 [[-2.38681972e-01 -9.69290328e-01 5.92214209e-02 2.46077881e+02] [ 9.45911612e-01 -2.45857796e-01 -2.11672311e-01 6.23343696e+01] [ 2.19731971e-01 5.49586524e-03 9.75544800e-01 -3.81710554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.176875 meters 0.01704865589277905 Centerline is valid? [True, True] Translation: X:246.07, Y:62.36, Z:-3.81 [[-2.39103469e-01 -9.69173546e-01 5.94320440e-02 2.46071744e+02] [ 9.45686084e-01 -2.46318109e-01 -2.12144337e-01 6.23602389e+01] [ 2.20243868e-01 5.47961006e-03 9.75429450e-01 -3.81109332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.206875 meters 0.016784674745213654 Centerline is valid? [True, True] Translation: X:246.07, Y:62.39, Z:-3.81 [[-2.39839395e-01 -9.68986907e-01 5.95099865e-02 2.46065391e+02] [ 9.45491503e-01 -2.47053437e-01 -2.12156588e-01 6.23859075e+01] [ 2.20279103e-01 5.38267880e-03 9.75422034e-01 -3.80514957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.236875 meters 0.01666172308308307 Centerline is valid? [True, True] Translation: X:246.06, Y:62.41, Z:-3.80 [[-2.40674402e-01 -9.68771428e-01 5.96468980e-02 2.46058882e+02] [ 9.45220294e-01 -2.47899566e-01 -2.12377967e-01 6.24117606e+01] [ 2.20532147e-01 5.26551821e-03 9.75365494e-01 -3.79929709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.266875 meters 0.016553438715156694 Centerline is valid? [True, True] Translation: X:246.05, Y:62.44, Z:-3.79 [[-2.41367273e-01 -9.68593189e-01 5.97417288e-02 2.46052616e+02] [ 9.45021155e-01 -2.48596888e-01 -2.12449061e-01 6.24377175e+01] [ 2.20628321e-01 5.17894722e-03 9.75344207e-01 -3.79313004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.296875 meters 0.016051281428366804 Centerline is valid? [True, True] Translation: X:246.05, Y:62.46, Z:-3.79 [[-2.42955910e-01 -9.68185717e-01 5.99069603e-02 2.46047446e+02] [ 9.44529846e-01 -2.50184937e-01 -2.12769518e-01 6.24646894e+01] [ 2.20988227e-01 4.89030011e-03 9.75264215e-01 -3.78727060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.32687500000003 meters 0.016075506115543564 Centerline is valid? [True, True] Translation: X:246.04, Y:62.49, Z:-3.78 [[-2.43913753e-01 -9.67946562e-01 5.98793348e-02 2.46040869e+02] [ 9.44359720e-01 -2.51111645e-01 -2.12432722e-01 6.24913601e+01] [ 2.20659921e-01 4.73236932e-03 9.75339328e-01 -3.78106027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.356875 meters 0.016290809427160755 Centerline is valid? [True, True] Translation: X:246.03, Y:62.52, Z:-3.78 [[-2.45327262e-01 -9.67580510e-01 6.00207552e-02 2.46033838e+02] [ 9.43924110e-01 -2.52523128e-01 -2.12695427e-01 6.25165679e+01] [ 2.20956579e-01 4.47505127e-03 9.75273379e-01 -3.77562236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.38687500000003 meters 0.01545615067302655 Centerline is valid? [True, True] Translation: X:246.03, Y:62.54, Z:-3.77 [[-2.47843401e-01 -9.66933913e-01 6.01037084e-02 2.46029820e+02] [ 9.43255879e-01 -2.54996099e-01 -2.12709511e-01 6.25439482e+01] [ 2.21002251e-01 3.97452762e-03 9.75265199e-01 -3.76926547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.416875 meters 0.015420220815616332 Centerline is valid? [True, True] Translation: X:246.02, Y:62.57, Z:-3.76 [[-2.49557279e-01 -9.66496516e-01 6.00470558e-02 2.46023389e+02] [ 9.42904066e-01 -2.56653866e-01 -2.12275093e-01 6.25691496e+01] [ 2.20574447e-01 3.64381855e-03 9.75363335e-01 -3.76379130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.44687500000003 meters 0.015150058827663501 Centerline is valid? [True, True] Translation: X:246.02, Y:62.60, Z:-3.76 [[-2.51405914e-01 -9.66012040e-01 6.01315644e-02 2.46017919e+02] [ 9.42385114e-01 -2.58476311e-01 -2.12368295e-01 6.25954887e+01] [ 2.20692915e-01 3.27644582e-03 9.75337840e-01 -3.75733969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.476875 meters 0.014531094413324253 Centerline is valid? [True, True] Translation: X:246.01, Y:62.62, Z:-3.75 [[-2.54389605e-01 -9.65235328e-01 6.00557365e-02 2.46014263e+02] [ 9.41704296e-01 -2.61368841e-01 -2.11847462e-01 6.26233197e+01] [ 2.20179353e-01 2.66295292e-03 9.75455771e-01 -3.75143893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.50687500000004 meters 0.014215772096743374 Centerline is valid? [True, True] Translation: X:246.01, Y:62.65, Z:-3.75 [[-2.56032402e-01 -9.64799562e-01 6.00767322e-02 2.46008886e+02] [ 9.41291096e-01 -2.62975830e-01 -2.11695028e-01 6.26493859e+01] [ 2.20041998e-01 2.34890673e-03 9.75487571e-01 -3.74516489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.536875 meters 0.013942009000210134 Centerline is valid? [True, True] Translation: X:246.00, Y:62.68, Z:-3.74 [[-2.58500031e-01 -9.64125521e-01 6.03300406e-02 2.46004990e+02] [ 9.40456014e-01 -2.65440305e-01 -2.12329766e-01 6.26753020e+01] [ 2.20726571e-01 1.85049845e-03 9.75333972e-01 -3.74001524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56687500000004 meters 0.013787339610013893 Centerline is valid? [True, True] Translation: X:246.00, Y:62.70, Z:-3.73 [[-2.59305859e-01 -9.63903482e-01 6.04197645e-02 2.45999566e+02] [ 9.40217490e-01 -2.66246238e-01 -2.12377054e-01 6.27017187e+01] [ 2.20797517e-01 1.73710487e-03 9.75318122e-01 -3.73449543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.596875 meters 0.013782458959928277 Centerline is valid? [True, True] Translation: X:245.99, Y:62.73, Z:-3.73 [[-2.60748562e-01 -9.63499381e-01 6.06558357e-02 2.45992910e+02] [ 9.39674952e-01 -2.67706508e-01 -2.12941798e-01 6.27271394e+01] [ 2.21407252e-01 1.47250194e-03 9.75180322e-01 -3.72977449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62687500000004 meters 0.013650763111155297 Centerline is valid? [True, True] Translation: X:245.99, Y:62.75, Z:-3.72 [[-2.62477199e-01 -9.63024958e-01 6.07342683e-02 2.45988900e+02] [ 9.39188117e-01 -2.69409747e-01 -2.12941469e-01 6.27542211e+01] [ 2.21430353e-01 1.14862277e-03 9.75175512e-01 -3.72425189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.656875 meters 0.01369223873762845 Centerline is valid? [True, True] Translation: X:245.98, Y:62.78, Z:-3.72 [[-2.63347132e-01 -9.62776951e-01 6.09001739e-02 2.45983048e+02] [ 9.38860230e-01 -2.70295237e-01 -2.13264983e-01 6.27802515e+01] [ 2.21787637e-01 1.01402958e-03 9.75094465e-01 -3.71778075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.686875 meters 0.013650954818624585 Centerline is valid? [True, True] Translation: X:245.98, Y:62.81, Z:-3.71 [[-2.64773613e-01 -9.62384555e-01 6.09171745e-02 2.45977330e+02] [ 9.38502505e-01 -2.71689890e-01 -2.13067248e-01 6.28052265e+01] [ 2.21603209e-01 7.56335781e-04 9.75136629e-01 -3.71210146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.716875 meters 0.013497938463888876 Centerline is valid? [True, True] Translation: X:245.97, Y:62.83, Z:-3.71 [[-2.65932235e-01 -9.62061679e-01 6.09702579e-02 2.45971005e+02] [ 9.38190164e-01 -2.72831468e-01 -2.12984051e-01 6.28313889e+01] [ 2.21538398e-01 5.62371551e-04 9.75151487e-01 -3.70625658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.746875 meters 0.013486733143952021 Centerline is valid? [True, True] Translation: X:245.96, Y:62.86, Z:-3.70 [[-2.67166399e-01 -9.61720108e-01 6.09635001e-02 2.45964773e+02] [ 9.37902206e-01 -2.74033412e-01 -2.12709051e-01 6.28574741e+01] [ 2.21272608e-01 3.49090079e-04 9.75211931e-01 -3.70060289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.776875 meters 0.013477747405149045 Centerline is valid? [True, True] Translation: X:245.96, Y:62.88, Z:-3.69 [[-2.69538324e-01 -9.61065345e-01 6.08481339e-02 2.45960286e+02] [ 9.37378482e-01 -2.76321170e-01 -2.12057048e-01 6.28837316e+01] [ 2.20614308e-01 -1.19769886e-04 9.75361119e-01 -3.69394670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.806875 meters 0.013383561160728539 Centerline is valid? [True, True] Translation: X:245.95, Y:62.91, Z:-3.69 [[-2.70409070e-01 -9.60814867e-01 6.09403537e-02 2.45953504e+02] [ 9.37107658e-01 -2.77190781e-01 -2.12119090e-01 6.29100061e+01] [ 2.20699280e-01 -2.51253887e-04 9.75341871e-01 -3.68799384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.836875 meters 0.013553436785869505 Centerline is valid? [True, True] Translation: X:245.95, Y:62.94, Z:-3.68 [[-2.71944164e-01 -9.60374446e-01 6.10515791e-02 2.45947143e+02] [ 9.36627248e-01 -2.78712461e-01 -2.12246936e-01 6.29355499e+01] [ 2.20852370e-01 -5.36743244e-04 9.75307102e-01 -3.68257204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.866875 meters 0.013593236965145663 Centerline is valid? [True, True] Translation: X:245.94, Y:62.96, Z:-3.68 [[-2.72861406e-01 -9.60111014e-01 6.11023252e-02 2.45940266e+02] [ 9.36376576e-01 -2.79618283e-01 -2.12161549e-01 6.29607998e+01] [ 2.20783967e-01 -6.75912558e-04 9.75322502e-01 -3.67720526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.896875 meters 0.01354540135664508 Centerline is valid? [True, True] Translation: X:245.93, Y:62.99, Z:-3.67 [[-2.73530345e-01 -9.59916904e-01 6.11611557e-02 2.45932733e+02] [ 9.36193243e-01 -2.80283725e-01 -2.12092537e-01 6.29863145e+01] [ 2.20733688e-01 -7.55084141e-04 9.75333824e-01 -3.67103933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.926875 meters 0.013617407111362527 Centerline is valid? [True, True] Translation: X:245.93, Y:63.01, Z:-3.67 [[-2.74809093e-01 -9.59539179e-01 6.13557374e-02 2.45925270e+02] [ 9.35710812e-01 -2.81573410e-01 -2.12512803e-01 6.30120338e+01] [ 2.21190505e-01 -9.89223829e-04 9.75230117e-01 -3.66531903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.956875 meters 0.01356453275077344 Centerline is valid? [True, True] Translation: X:245.92, Y:63.04, Z:-3.66 [[-2.75654249e-01 -9.59289303e-01 6.14716934e-02 2.45918176e+02] [ 9.35422360e-01 -2.82423061e-01 -2.12655173e-01 6.30374450e+01] [ 2.21358856e-01 -1.11730529e-03 9.75191780e-01 -3.65948319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.986875 meters 0.013806892321404677 Centerline is valid? [True, True] Translation: X:245.91, Y:63.06, Z:-3.65 [[-2.77162714e-01 -9.58851250e-01 6.15232475e-02 2.45912067e+02] [ 9.34991401e-01 -2.83905504e-01 -2.12576446e-01 6.30626849e+01] [ 2.21295980e-01 -1.39455727e-03 9.75205694e-01 -3.65487630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.016875 meters 0.013831573014722993 Centerline is valid? [True, True] Translation: X:245.90, Y:63.09, Z:-3.65 [[-2.78134592e-01 -9.58568958e-01 6.15361864e-02 2.45904023e+02] [ 9.34752845e-01 -2.84856414e-01 -2.12353344e-01 6.30882956e+01] [ 2.21084301e-01 -1.54168539e-03 9.75253482e-01 -3.64885846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.046875 meters 0.013831573014722993 Centerline is valid? [True, True] Translation: X:245.90, Y:63.11, Z:-3.64 [[-2.78424208e-01 -9.58480649e-01 6.16019937e-02 2.45896598e+02] [ 9.34666623e-01 -2.85153412e-01 -2.12334253e-01 6.31133829e+01] [ 2.21084291e-01 -1.54166876e-03 9.75253485e-01 -3.64308884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07687500000003 meters 0.013802983228929588 Centerline is valid? [True, True] Translation: X:245.89, Y:63.14, Z:-3.64 [[-2.79132181e-01 -9.58274870e-01 6.15995009e-02 2.45888453e+02] [ 9.34513421e-01 -2.85843675e-01 -2.12080311e-01 6.31389220e+01] [ 2.20839060e-01 -1.63287947e-03 9.75308896e-01 -3.63725313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.106875 meters 0.013750537316902968 Centerline is valid? [True, True] Translation: X:245.88, Y:63.16, Z:-3.63 [[-2.79916206e-01 -9.58038465e-01 6.17188599e-02 2.45880424e+02] [ 9.34234048e-01 -2.86634323e-01 -2.12243984e-01 6.31640368e+01] [ 2.21028644e-01 -1.75067031e-03 9.75265745e-01 -3.63209292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13687500000003 meters 0.014002036901564069 Centerline is valid? [True, True] Translation: X:245.87, Y:63.19, Z:-3.63 [[-2.81243238e-01 -9.57641695e-01 6.18435581e-02 2.45873188e+02] [ 9.33787127e-01 -2.87955570e-01 -2.12422201e-01 6.31885999e+01] [ 2.21232553e-01 -1.99358901e-03 9.75219044e-01 -3.62754469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.166875 meters 0.013960149534102262 Centerline is valid? [True, True] Translation: X:245.87, Y:63.21, Z:-3.62 [[-2.82183862e-01 -9.57361662e-01 6.18943956e-02 2.45865425e+02] [ 9.33519968e-01 -2.88884193e-01 -2.12335564e-01 6.32136843e+01] [ 2.21162241e-01 -2.13801536e-03 9.75234686e-01 -3.62129654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19687500000003 meters 0.013860332139789424 Centerline is valid? [True, True] Translation: X:245.86, Y:63.24, Z:-3.62 [[-2.83142772e-01 -9.57070126e-01 6.20237484e-02 2.45857867e+02] [ 9.33177754e-01 -2.89847376e-01 -2.12527124e-01 6.32393981e+01] [ 2.21380782e-01 -2.29633688e-03 9.75184739e-01 -3.61508602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.226875 meters 0.014029072517949843 Centerline is valid? [True, True] Translation: X:245.85, Y:63.27, Z:-3.61 [[-2.83947096e-01 -9.56829833e-01 6.20541475e-02 2.45850681e+02] [ 9.32966143e-01 -2.90638724e-01 -2.12375397e-01 6.32652149e+01] [ 2.21242454e-01 -2.40895863e-03 9.75215860e-01 -3.60870717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25687500000004 meters 0.014429021330578565 Centerline is valid? [True, True] Translation: X:245.84, Y:63.29, Z:-3.60 [[-2.85367306e-01 -9.56414237e-01 6.19460152e-02 2.45844877e+02] [ 9.32682964e-01 -2.92001342e-01 -2.11749157e-01 6.32896685e+01] [ 2.20608228e-01 -2.65029348e-03 9.75358901e-01 -3.60240903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.286875 meters 0.01404844095755752 Centerline is valid? [True, True] Translation: X:245.84, Y:63.31, Z:-3.60 [[-2.85735863e-01 -9.56308073e-01 6.18860686e-02 2.45836187e+02] [ 9.32681203e-01 -2.92348849e-01 -2.11276888e-01 6.33143619e+01] [ 2.20138115e-01 -2.64941116e-03 9.75465115e-01 -3.59644513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31687500000004 meters 0.013964415266634255 Centerline is valid? [True, True] Translation: X:245.83, Y:63.34, Z:-3.59 [[-2.84967469e-01 -9.56542131e-01 6.18117513e-02 2.45828203e+02] [ 9.33034999e-01 -2.91584358e-01 -2.10770618e-01 6.33383429e+01] [ 2.19634316e-01 -2.39024240e-03 9.75579343e-01 -3.59017190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.346875 meters 0.013864257971209036 Centerline is valid? [True, True] Translation: X:245.82, Y:63.36, Z:-3.58 [[-2.84407818e-01 -9.56715659e-01 6.17036528e-02 2.45819566e+02] [ 9.33354839e-01 -2.91016190e-01 -2.10138814e-01 6.33640891e+01] [ 2.18999855e-01 -2.17371850e-03 9.75722470e-01 -3.58424686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37687500000004 meters 0.013848903300365775 Centerline is valid? [True, True] Translation: X:245.81, Y:63.39, Z:-3.58 [[-2.83600978e-01 -9.56957843e-01 6.16617490e-02 2.45811852e+02] [ 9.33688242e-01 -2.90220640e-01 -2.09757588e-01 6.33889211e+01] [ 2.18624682e-01 -1.91460710e-03 9.75807144e-01 -3.57830624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.406875 meters 0.013569868917815538 Centerline is valid? [True, True] Translation: X:245.80, Y:63.41, Z:-3.57 [[-2.80870640e-01 -9.57752678e-01 6.18182101e-02 2.45802728e+02] [ 9.34441779e-01 -2.87590523e-01 -2.10024411e-01 6.34134356e+01] [ 2.18929774e-01 -1.22417277e-03 9.75739850e-01 -3.57253318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.436875 meters 0.0135261268911051 Centerline is valid? [True, True] Translation: X:245.79, Y:63.44, Z:-3.57 [[-2.79573236e-01 -9.58129148e-01 6.18655124e-02 2.45794050e+02] [ 9.34849220e-01 -2.86335127e-01 -2.09926490e-01 6.34388103e+01] [ 2.18850958e-01 -8.54901951e-04 9.75757925e-01 -3.56675897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.466875 meters 0.013615650845396598 Centerline is valid? [True, True] Translation: X:245.79, Y:63.46, Z:-3.56 [[-2.76319863e-01 -9.59053896e-01 6.21527018e-02 2.45785328e+02] [ 9.35634125e-01 -2.83223626e-01 -2.10649379e-01 6.34627823e+01] [ 2.19627221e-01 -5.44189071e-05 9.75583867e-01 -3.56147403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.496875 meters 0.013606362039039949 Centerline is valid? [True, True] Translation: X:245.78, Y:63.49, Z:-3.56 [[-2.74673437e-01 -9.59521764e-01 6.22293099e-02 2.45776657e+02] [ 9.36114372e-01 -2.81634210e-01 -2.10646752e-01 6.34877858e+01] [ 2.19646045e-01 3.94684237e-04 9.75579550e-01 -3.55555936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.526875 meters 0.013808487093214831 Centerline is valid? [True, True] Translation: X:245.77, Y:63.51, Z:-3.55 [[-2.72670617e-01 -9.60080037e-01 6.24264205e-02 2.45767977e+02] [ 9.36592282e-01 -2.79723942e-01 -2.11067319e-01 6.35130164e+01] [ 2.20103684e-01 9.16247550e-04 9.75476052e-01 -3.54996614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.556875 meters 0.01383971866396762 Centerline is valid? [True, True] Translation: X:245.76, Y:63.54, Z:-3.54 [[-2.71099861e-01 -9.60516786e-01 6.25489318e-02 2.45759719e+02] [ 9.37002626e-01 -2.78218800e-01 -2.11235361e-01 6.35385985e+01] [ 2.20297399e-01 1.34263632e-03 9.75431829e-01 -3.54399445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.586875 meters 0.0141903296213623 Centerline is valid? [True, True] Translation: X:245.75, Y:63.56, Z:-3.54 [[-2.69606266e-01 -9.60922105e-01 6.27787330e-02 2.45751356e+02] [ 9.37300934e-01 -2.76813368e-01 -2.11757687e-01 6.35632152e+01] [ 2.20860635e-01 1.75136584e-03 9.75303805e-01 -3.53898603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.616875 meters 0.01472703000226761 Centerline is valid? [True, True] Translation: X:245.74, Y:63.59, Z:-3.53 [[-2.66614981e-01 -9.61733287e-01 6.31311085e-02 2.45742390e+02] [ 9.37925381e-01 -2.73975898e-01 -2.12680950e-01 6.35885237e+01] [ 2.21838752e-01 2.50834161e-03 9.75080139e-01 -3.53361054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.646875 meters 0.015177990164338268 Centerline is valid? [True, True] Translation: X:245.73, Y:63.61, Z:-3.53 [[-2.65285283e-01 -9.62095485e-01 6.32138911e-02 2.45733723e+02] [ 9.38271411e-01 -2.72697816e-01 -2.12797229e-01 6.36141607e+01] [ 2.21969543e-01 2.85981383e-03 9.75049406e-01 -3.52848276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.676875 meters 0.015519026008140315 Centerline is valid? [True, True] Translation: X:245.73, Y:63.64, Z:-3.52 [[-2.64216774e-01 -9.62383904e-01 6.32986304e-02 2.45725558e+02] [ 9.38555764e-01 -2.71674750e-01 -2.12851843e-01 6.36403153e+01] [ 2.22041827e-01 3.17026705e-03 9.75031987e-01 -3.52278577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.706875 meters 0.015934340366204894 Centerline is valid? [True, True] Translation: X:245.72, Y:63.67, Z:-3.52 [[-2.62650605e-01 -9.62789447e-01 6.36485707e-02 2.45718673e+02] [ 9.38754840e-01 -2.70228746e-01 -2.13812477e-01 6.36672357e+01] [ 2.23056070e-01 3.59242739e-03 9.74798997e-01 -3.51703143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.736875 meters 0.01584965349978696 Centerline is valid? [True, True] Translation: X:245.71, Y:63.69, Z:-3.51 [[-2.62559954e-01 -9.62805314e-01 6.37824264e-02 2.45712429e+02] [ 9.38718899e-01 -2.70171101e-01 -2.14042996e-01 6.36925852e+01] [ 2.23313902e-01 3.67465007e-03 9.74739657e-01 -3.51072713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.766875 meters 0.015425812259451046 Centerline is valid? [True, True] Translation: X:245.71, Y:63.72, Z:-3.50 [[-2.62549007e-01 -9.62798109e-01 6.39360583e-02 2.45706393e+02] [ 9.38651086e-01 -2.70195782e-01 -2.14309071e-01 6.37189432e+01] [ 2.23611621e-01 3.74701691e-03 9.74671125e-01 -3.50415347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.796875 meters 0.01594137753069594 Centerline is valid? [True, True] Translation: X:245.70, Y:63.74, Z:-3.50 [[-2.62557868e-01 -9.62786496e-01 6.40744078e-02 2.45699620e+02] [ 9.38592365e-01 -2.70236181e-01 -2.14515218e-01 6.37441193e+01] [ 2.23847579e-01 3.81709150e-03 9.74616689e-01 -3.49924401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.82687500000003 meters 0.01571901204541481 Centerline is valid? [True, True] Translation: X:245.69, Y:63.77, Z:-3.49 [[-2.62998557e-01 -9.62657270e-01 6.42085658e-02 2.45693452e+02] [ 9.38418186e-01 -2.70696547e-01 -2.14696736e-01 6.37704590e+01] [ 2.24060411e-01 3.78955408e-03 9.74567890e-01 -3.49320602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.856875 meters 0.015684795418706377 Centerline is valid? [True, True] Translation: X:245.69, Y:63.80, Z:-3.49 [[-2.63608047e-01 -9.62474334e-01 6.44511708e-02 2.45686975e+02] [ 9.38101849e-01 -2.71347251e-01 -2.15257034e-01 6.37968264e+01] [ 2.24668019e-01 3.71827606e-03 9.74428271e-01 -3.48762139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.88687500000003 meters 0.015927777436191438 Centerline is valid? [True, True] Translation: X:245.68, Y:63.82, Z:-3.48 [[-2.64767051e-01 -9.62133711e-01 6.47852639e-02 2.45681983e+02] [ 9.37552653e-01 -2.72555220e-01 -2.16121899e-01 6.38225581e+01] [ 2.25595727e-01 3.51763814e-03 9.74214655e-01 -3.48213899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.916875 meters 0.015372361565366498 Centerline is valid? [True, True] Translation: X:245.68, Y:63.85, Z:-3.48 [[-2.65560515e-01 -9.61901759e-01 6.49816856e-02 2.45677341e+02] [ 9.37223335e-01 -2.73374134e-01 -2.16515598e-01 6.38487373e+01] [ 2.26031046e-01 3.40435844e-03 9.74114150e-01 -3.47537504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.94687500000003 meters 0.015003714970271982 Centerline is valid? [True, True] Translation: X:245.67, Y:63.88, Z:-3.47 [[-2.67027066e-01 -9.61493631e-01 6.50118657e-02 2.45673461e+02] [ 9.36838050e-01 -2.74809388e-01 -2.16366050e-01 6.38754147e+01] [ 2.25900450e-01 3.12999792e-03 9.74145364e-01 -3.46850722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.976875 meters 0.014793556018807972 Centerline is valid? [True, True] Translation: X:245.67, Y:63.90, Z:-3.46 [[-2.67968575e-01 -9.61233481e-01 6.49848985e-02 2.45667343e+02] [ 9.36646803e-01 -2.75719661e-01 -2.16035728e-01 6.39015676e+01] [ 2.25578389e-01 2.97711107e-03 9.74220472e-01 -3.46236568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.00687500000004 meters 0.014871474673397668 Centerline is valid? [True, True] Translation: X:245.66, Y:63.93, Z:-3.46 [[-2.68667923e-01 -9.61024659e-01 6.51855178e-02 2.45661164e+02] [ 9.36337789e-01 -2.76447621e-01 -2.16444581e-01 6.39261534e+01] [ 2.26028961e-01 2.88394753e-03 9.74116313e-01 -3.45725777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.036875 meters 0.014628455074186591 Centerline is valid? [True, True] Translation: X:245.66, Y:63.95, Z:-3.45 [[-2.69873641e-01 -9.60680644e-01 6.52757105e-02 2.45655629e+02] [ 9.35973423e-01 -2.77642873e-01 -2.16490617e-01 6.39524526e+01] [ 2.26101681e-01 2.67121907e-03 9.74100043e-01 -3.45156075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06687500000004 meters 0.014597716071660577 Centerline is valid? [True, True] Translation: X:245.65, Y:63.98, Z:-3.45 [[-2.72058702e-01 -9.60055371e-01 6.54044877e-02 2.45652707e+02] [ 9.35290751e-01 -2.79801220e-01 -2.16662151e-01 6.39784750e+01] [ 2.26307917e-01 2.22738909e-03 9.74053266e-01 -3.44604811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.096875 meters 0.01436931313852506 Centerline is valid? [True, True] Translation: X:245.65, Y:64.01, Z:-3.44 [[-2.73445926e-01 -9.59661876e-01 6.53942620e-02 2.45647971e+02] [ 9.34954472e-01 -2.81149747e-01 -2.16367641e-01 6.40053337e+01] [ 2.26025356e-01 1.97580783e-03 9.74119415e-01 -3.43986662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12687500000004 meters 0.014017944468215289 Centerline is valid? [True, True] Translation: X:245.64, Y:64.03, Z:-3.43 [[-2.74994713e-01 -9.59205441e-01 6.55959531e-02 2.45643367e+02] [ 9.34371551e-01 -2.82705109e-01 -2.16858537e-01 6.40313163e+01] [ 2.26556200e-01 1.65604127e-03 9.73996687e-01 -3.43343226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.156875 meters 0.013769911641562556 Centerline is valid? [True, True] Translation: X:245.64, Y:64.06, Z:-3.43 [[-2.78276233e-01 -9.58260268e-01 6.55713108e-02 2.45641634e+02] [ 9.33477176e-01 -2.85895692e-01 -2.16527170e-01 6.40581923e+01] [ 2.26235939e-01 9.54956988e-04 9.74072065e-01 -3.42819025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.186875 meters 0.013754006370279964 Centerline is valid? [True, True] Translation: X:245.64, Y:64.08, Z:-3.42 [[-2.80804798e-01 -9.57522345e-01 6.55715270e-02 2.45637243e+02] [ 9.32779333e-01 -2.88358753e-01 -2.16268227e-01 6.40845410e+01] [ 2.25989784e-01 4.34609515e-04 9.74129575e-01 -3.42250075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.216875 meters 0.01364658358672545 Centerline is valid? [True, True] Translation: X:245.63, Y:64.11, Z:-3.42 [[-2.83888787e-01 -9.56602473e-01 6.57180796e-02 2.45632845e+02] [ 9.31779122e-01 -2.91396048e-01 -2.16508688e-01 6.41099992e+01] [ 2.26262735e-01 -2.29654349e-04 9.74066282e-01 -3.41730066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.246875 meters 0.013836484982229494 Centerline is valid? [True, True] Translation: X:245.63, Y:64.14, Z:-3.41 [[-2.88834516e-01 -9.55115487e-01 6.57953589e-02 2.45630508e+02] [ 9.30252739e-01 -2.96230719e-01 -2.16511438e-01 6.41369212e+01] [ 2.26284034e-01 -1.32966371e-03 9.74060454e-01 -3.41015715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.276875 meters 0.014057251203842432 Centerline is valid? [True, True] Translation: X:245.62, Y:64.16, Z:-3.40 [[-2.91225600e-01 -9.54387369e-01 6.58209637e-02 2.45624670e+02] [ 9.29543419e-01 -2.98565612e-01 -2.16350658e-01 6.41630887e+01] [ 2.26134212e-01 -1.82340657e-03 9.74094448e-01 -3.40457391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.306875 meters 0.014209945124785848 Centerline is valid? [True, True] Translation: X:245.62, Y:64.19, Z:-3.40 [[-2.93147652e-01 -9.53792887e-01 6.59058635e-02 2.45618438e+02] [ 9.28925549e-01 -3.00456715e-01 -2.16386431e-01 6.41885959e+01] [ 2.26189698e-01 -2.21153373e-03 9.74080761e-01 -3.39875783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.336875 meters 0.014773856275800624 Centerline is valid? [True, True] Translation: X:245.61, Y:64.21, Z:-3.39 [[-2.95618825e-01 -9.53015685e-01 6.61106244e-02 2.45612113e+02] [ 9.28027906e-01 -3.02908531e-01 -2.16819342e-01 6.42141747e+01] [ 2.26657706e-01 -2.74337484e-03 9.73970615e-01 -3.39445786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.366875 meters 0.014548462676906482 Centerline is valid? [True, True] Translation: X:245.60, Y:64.24, Z:-3.39 [[-2.96624928e-01 -9.52711649e-01 6.59860965e-02 2.45602805e+02] [ 9.27852703e-01 -3.03861835e-01 -2.16234471e-01 6.42393494e+01] [ 2.26059756e-01 -2.91515638e-03 9.74109074e-01 -3.38850842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.396875 meters 0.014920519286228007 Centerline is valid? [True, True] Translation: X:245.60, Y:64.26, Z:-3.38 [[-2.97329906e-01 -9.52496150e-01 6.59242870e-02 2.45595498e+02] [ 9.27736775e-01 -3.04535866e-01 -2.15783183e-01 6.42637094e+01] [ 2.25608961e-01 -2.99840804e-03 9.74213327e-01 -3.38370008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.426875 meters 0.01431718199331243 Centerline is valid? [True, True] Translation: X:245.58, Y:64.29, Z:-3.38 [[-2.97337406e-01 -9.52515531e-01 6.56096857e-02 2.45584583e+02] [ 9.28054741e-01 -3.04476307e-01 -2.14496098e-01 6.42881224e+01] [ 2.24287459e-01 -2.88833356e-03 9.74518749e-01 -3.37551357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.456875 meters 0.014356071861626189 Centerline is valid? [True, True] Translation: X:245.58, Y:64.31, Z:-3.37 [[-2.97467883e-01 -9.52492273e-01 6.53554084e-02 2.45576823e+02] [ 9.28278779e-01 -3.04549721e-01 -2.13419719e-01 6.43123393e+01] [ 2.23184605e-01 -2.81747329e-03 9.74772124e-01 -3.36910380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.486875 meters 0.014236055881841812 Centerline is valid? [True, True] Translation: X:245.57, Y:64.34, Z:-3.36 [[-2.96909777e-01 -9.52661298e-01 6.54296287e-02 2.45567937e+02] [ 9.28440210e-01 -3.04022229e-01 -2.13469579e-01 6.43378428e+01] [ 2.23256267e-01 -2.63370673e-03 9.74756227e-01 -3.36241946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.516875 meters 0.013839743023310704 Centerline is valid? [True, True] Translation: X:245.56, Y:64.36, Z:-3.36 [[-2.95500817e-01 -9.53093169e-01 6.55185379e-02 2.45557675e+02] [ 9.28868809e-01 -3.02668789e-01 -2.13528314e-01 6.43610494e+01] [ 2.23342794e-01 -2.23966503e-03 9.74737391e-01 -3.35651771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.546875 meters 0.013867369190031661 Centerline is valid? [True, True] Translation: X:245.55, Y:64.39, Z:-3.35 [[-2.94933135e-01 -9.53256569e-01 6.56990021e-02 2.45547541e+02] [ 9.28959540e-01 -3.02155158e-01 -2.13860783e-01 6.43865628e+01] [ 2.23715488e-01 -2.04291638e-03 9.74652352e-01 -3.35163684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57687500000003 meters 0.013783167403635804 Centerline is valid? [True, True] Translation: X:245.54, Y:64.41, Z:-3.35 [[-2.94249927e-01 -9.53459601e-01 6.58161740e-02 2.45537015e+02] [ 9.29135000e-01 -3.01515313e-01 -2.14001561e-01 6.44119177e+01] [ 2.23886427e-01 -1.81783297e-03 9.74613546e-01 -3.34709101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.606875 meters 0.013518710221903277 Centerline is valid? [True, True] Translation: X:245.53, Y:64.44, Z:-3.34 [[-2.93701546e-01 -9.53620536e-01 6.59338689e-02 2.45525091e+02] [ 9.29266879e-01 -3.01007034e-01 -2.14144420e-01 6.44361196e+01] [ 2.24059075e-01 -1.62438671e-03 9.74574211e-01 -3.34115741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63687500000003 meters 0.013779806773292767 Centerline is valid? [True, True] Translation: X:245.52, Y:64.46, Z:-3.34 [[-2.94328117e-01 -9.53438289e-01 6.57752820e-02 2.45516981e+02] [ 9.29255484e-01 -3.01583486e-01 -2.13381458e-01 6.44605283e+01] [ 2.23282791e-01 -1.68212144e-03 9.74752259e-01 -3.33631382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.666875 meters 0.013819348315910503 Centerline is valid? [True, True] Translation: X:245.51, Y:64.49, Z:-3.33 [[-2.95051568e-01 -9.53214843e-01 6.57726001e-02 2.45508297e+02] [ 9.29087707e-01 -3.02288480e-01 -2.13114307e-01 6.44861018e+01] [ 2.23026020e-01 -1.77119609e-03 9.74810883e-01 -3.33003591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69687500000003 meters 0.014065184977776948 Centerline is valid? [True, True] Translation: X:245.50, Y:64.51, Z:-3.32 [[-2.97009543e-01 -9.52619203e-01 6.55895161e-02 2.45500201e+02] [ 9.28667457e-01 -3.04157978e-01 -2.12284430e-01 6.45104877e+01] [ 2.22175799e-01 -2.13965233e-03 9.75004275e-01 -3.32365823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.726875 meters 0.014047904521496447 Centerline is valid? [True, True] Translation: X:245.49, Y:64.54, Z:-3.32 [[-2.98048361e-01 -9.52303114e-01 6.54672031e-02 2.45491553e+02] [ 9.28490450e-01 -3.05145079e-01 -2.11641123e-01 6.45355170e+01] [ 2.21523495e-01 -2.29361685e-03 9.75152337e-01 -3.31741873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75687500000004 meters 0.013989204835654384 Centerline is valid? [True, True] Translation: X:245.48, Y:64.56, Z:-3.31 [[-2.98894560e-01 -9.52031051e-01 6.55661551e-02 2.45482550e+02] [ 9.28192428e-01 -3.05991822e-01 -2.11725817e-01 6.45608024e+01] [ 2.21632259e-01 -2.42568631e-03 9.75127303e-01 -3.31122032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.786875 meters 0.014045200541578595 Centerline is valid? [True, True] Translation: X:245.47, Y:64.59, Z:-3.31 [[-2.99427093e-01 -9.51868259e-01 6.54998792e-02 2.45472697e+02] [ 9.28128570e-01 -3.06497509e-01 -2.11273837e-01 6.45853917e+01] [ 2.21180409e-01 -2.46880160e-03 9.75229784e-01 -3.30504416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81687500000004 meters 0.014092246378573297 Centerline is valid? [True, True] Translation: X:245.46, Y:64.61, Z:-3.30 [[-2.99538096e-01 -9.51829968e-01 6.55487746e-02 2.45464167e+02] [ 9.28107711e-01 -3.06616760e-01 -2.11192424e-01 6.46098804e+01] [ 2.21117631e-01 -2.42385340e-03 9.75244133e-01 -3.29977679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.846875 meters 0.0138707671130878 Centerline is valid? [True, True] Translation: X:245.45, Y:64.63, Z:-3.29 [[-2.99328174e-01 -9.51891779e-01 6.56101089e-02 2.45454648e+02] [ 9.28182290e-01 -3.06425750e-01 -2.11141885e-01 6.46349785e+01] [ 2.21088852e-01 -2.30257380e-03 9.75250951e-01 -3.29421054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87687500000004 meters 0.01382693545862751 Centerline is valid? [True, True] Translation: X:245.45, Y:64.66, Z:-3.29 [[-2.98204338e-01 -9.52227996e-01 6.58484365e-02 2.45445003e+02] [ 9.28406004e-01 -3.05381557e-01 -2.11670490e-01 6.46588344e+01] [ 2.21667464e-01 -1.98697433e-03 9.75120294e-01 -3.28937535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.906875 meters 0.013674854296189132 Centerline is valid? [True, True] Translation: X:245.44, Y:64.68, Z:-3.28 [[-2.97525787e-01 -9.52430031e-01 6.59957723e-02 2.45435719e+02] [ 9.28561420e-01 -3.04752238e-01 -2.11895642e-01 6.46836056e+01] [ 2.21928132e-01 -1.76328971e-03 9.75061431e-01 -3.28358674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.936875 meters 0.013674854296189132 Centerline is valid? [True, True] Translation: X:245.43, Y:64.71, Z:-3.28 [[-2.97815043e-01 -9.52335056e-01 6.60616435e-02 2.45427795e+02] [ 9.28468690e-01 -3.05048899e-01 -2.11875105e-01 6.47085473e+01] [ 2.21928121e-01 -1.76342584e-03 9.75061434e-01 -3.27781697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.966875 meters 0.013625562633761818 Centerline is valid? [True, True] Translation: X:245.42, Y:64.73, Z:-3.27 [[-2.97001133e-01 -9.52578767e-01 6.62119368e-02 2.45418483e+02] [ 9.28661348e-01 -3.04288359e-01 -2.12124247e-01 6.47333520e+01] [ 2.22212575e-01 -1.51267538e-03 9.74997068e-01 -3.27245433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.996875 meters 0.01334756228649076 Centerline is valid? [True, True] Translation: X:245.41, Y:64.76, Z:-3.27 [[-2.94925982e-01 -9.53221521e-01 6.62374307e-02 2.45408621e+02] [ 9.29354527e-01 -3.02271094e-01 -2.11972520e-01 6.47570006e+01] [ 2.22078428e-01 -9.58147492e-04 9.75028335e-01 -3.26657259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.026875 meters 0.013301664423369348 Centerline is valid? [True, True] Translation: X:245.40, Y:64.78, Z:-3.26 [[-2.94179438e-01 -9.53453419e-01 6.62195968e-02 2.45399647e+02] [ 9.29660467e-01 -3.01539509e-01 -2.11672721e-01 6.47823946e+01] [ 2.21787904e-01 -7.08020895e-04 9.75094675e-01 -3.26068397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.056875 meters 0.01324984947667705 Centerline is valid? [True, True] Translation: X:245.39, Y:64.81, Z:-3.25 [[-2.93337790e-01 -9.53712796e-01 6.62181495e-02 2.45391065e+02] [ 9.29979727e-01 -3.00718652e-01 -2.11437933e-01 6.48070791e+01] [ 2.21564095e-01 -4.41199283e-04 9.75145711e-01 -3.25467611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.086875 meters 0.013387189551841587 Centerline is valid? [True, True] Translation: X:245.38, Y:64.83, Z:-3.25 [[-2.91173007e-01 -9.54376992e-01 6.62030027e-02 2.45381309e+02] [ 9.30723812e-01 -2.98604320e-01 -2.11160238e-01 6.48312243e+01] [ 2.21294975e-01 1.32549686e-04 9.75206910e-01 -3.24941710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.116875 meters 0.013259437407906917 Centerline is valid? [True, True] Translation: X:245.37, Y:64.86, Z:-3.24 [[-2.89946693e-01 -9.54745516e-01 6.62715221e-02 2.45371885e+02] [ 9.31106675e-01 -2.97423540e-01 -2.11138813e-01 6.48566518e+01] [ 2.21294546e-01 4.86855959e-04 9.75206894e-01 -3.24318935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.146875 meters 0.013487978885178213 Centerline is valid? [True, True] Translation: X:245.36, Y:64.88, Z:-3.24 [[-2.87501755e-01 -9.55480134e-01 6.63359193e-02 2.45362033e+02] [ 9.31867153e-01 -2.95053308e-01 -2.11109344e-01 6.48814265e+01] [ 2.21283417e-01 1.12195720e-03 9.75208896e-01 -3.23743544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.176875 meters 0.013789773519575515 Centerline is valid? [True, True] Translation: X:245.35, Y:64.91, Z:-3.23 [[-2.86684578e-01 -9.55714755e-01 6.64925516e-02 2.45353342e+02] [ 9.32048717e-01 -2.94291368e-01 -2.11371191e-01 6.49055208e+01] [ 2.21578750e-01 1.37743686e-03 9.75141508e-01 -3.23198972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.206875 meters 0.013793827346152726 Centerline is valid? [True, True] Translation: X:245.35, Y:64.93, Z:-3.23 [[-2.86069931e-01 -9.55890212e-01 6.66175424e-02 2.45345528e+02] [ 9.32194890e-01 -2.93719887e-01 -2.11521430e-01 6.49312409e+01] [ 2.21758161e-01 1.59061187e-03 9.75100399e-01 -3.22571186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.236875 meters 0.013932988447744162 Centerline is valid? [True, True] Translation: X:245.34, Y:64.96, Z:-3.22 [[-2.85819151e-01 -9.55965191e-01 6.66180699e-02 2.45337653e+02] [ 9.32324323e-01 -2.93475042e-01 -2.11290690e-01 6.49572475e+01] [ 2.21537286e-01 1.71872112e-03 9.75150387e-01 -3.21992653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.266875 meters 0.014225044283494493 Centerline is valid? [True, True] Translation: X:245.33, Y:64.98, Z:-3.22 [[-2.85580407e-01 -9.56021335e-01 6.68359131e-02 2.45329446e+02] [ 9.32279676e-01 -2.93291359e-01 -2.11742260e-01 6.49813060e+01] [ 2.22032514e-01 1.84032269e-03 9.75037526e-01 -3.21510767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.296875 meters 0.014175194447362765 Centerline is valid? [True, True] Translation: X:245.32, Y:65.01, Z:-3.21 [[-2.85839605e-01 -9.55922564e-01 6.71399382e-02 2.45322484e+02] [ 9.32016500e-01 -2.93613073e-01 -2.12453778e-01 6.50073846e+01] [ 2.22802524e-01 1.84782618e-03 9.74861847e-01 -3.20972881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.32687500000003 meters 0.014311083525872863 Centerline is valid? [True, True] Translation: X:245.31, Y:65.03, Z:-3.21 [[-2.86170369e-01 -9.55798299e-01 6.74991170e-02 2.45314597e+02] [ 9.31683616e-01 -2.94017436e-01 -2.13352729e-01 6.50320219e+01] [ 2.23768092e-01 1.83259236e-03 9.74640694e-01 -3.20531142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.356875 meters 0.014116103330471837 Centerline is valid? [True, True] Translation: X:245.31, Y:65.06, Z:-3.20 [[-2.86658878e-01 -9.55648420e-01 6.75483932e-02 2.45308929e+02] [ 9.31550837e-01 -2.94504478e-01 -2.13260756e-01 6.50585772e+01] [ 2.23695609e-01 1.79167318e-03 9.74657409e-01 -3.19902522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.38687500000003 meters 0.014060719657931386 Centerline is valid? [True, True] Translation: X:245.30, Y:65.08, Z:-3.19 [[-2.86839936e-01 -9.55590996e-01 6.75921573e-02 2.45301516e+02] [ 9.31514543e-01 -2.94690579e-01 -2.13162189e-01 6.50828812e+01] [ 2.23614641e-01 1.81964892e-03 9.74675937e-01 -3.19323584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.416875 meters 0.014347824478724635 Centerline is valid? [True, True] Translation: X:245.29, Y:65.11, Z:-3.19 [[-2.86485207e-01 -9.55690316e-01 6.76922947e-02 2.45293436e+02] [ 9.31600755e-01 -2.94367326e-01 -2.13232058e-01 6.51073304e+01] [ 2.23710212e-01 1.97436259e-03 9.74653704e-01 -3.18739843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.44687500000003 meters 0.014574668543982245 Centerline is valid? [True, True] Translation: X:245.29, Y:65.13, Z:-3.18 [[-2.84712917e-01 -9.56228216e-01 6.75733295e-02 2.45285120e+02] [ 9.32280551e-01 -2.92611721e-01 -2.12676646e-01 6.51326931e+01] [ 2.23140158e-01 2.44551277e-03 9.74783304e-01 -3.18027570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.476875 meters 0.01492557040722095 Centerline is valid? [True, True] Translation: X:245.28, Y:65.16, Z:-3.17 [[-2.83947342e-01 -9.56453558e-01 6.76054659e-02 2.45276892e+02] [ 9.32539378e-01 -2.91872162e-01 -2.12558107e-01 6.51570114e+01] [ 2.23034112e-01 2.68944963e-03 9.74806931e-01 -3.17424897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.50687500000004 meters 0.015063838720085519 Centerline is valid? [True, True] Translation: X:245.27, Y:65.18, Z:-3.17 [[-2.83142857e-01 -9.56695952e-01 6.75498207e-02 2.45269200e+02] [ 9.32883514e-01 -2.91074141e-01 -2.12141918e-01 6.51820789e+01] [ 2.22617320e-01 2.94964538e-03 9.74901446e-01 -3.16760554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.536875 meters 0.01585894706739665 Centerline is valid? [True, True] Translation: X:245.26, Y:65.21, Z:-3.16 [[-2.81138386e-01 -9.57295892e-01 6.74224195e-02 2.45259519e+02] [ 9.33643411e-01 -2.89088974e-01 -2.11512520e-01 6.52067786e+01] [ 2.21971145e-01 3.48420933e-03 9.75047010e-01 -3.16193945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56687500000004 meters 0.01633878290934716 Centerline is valid? [True, True] Translation: X:245.25, Y:65.23, Z:-3.16 [[-2.80005832e-01 -9.57638454e-01 6.72705395e-02 2.45250636e+02] [ 9.34137675e-01 -2.87948295e-01 -2.10885236e-01 6.52321909e+01] [ 2.21322248e-01 3.79084957e-03 9.75193361e-01 -3.15550593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.596875 meters 0.016967389821162006 Centerline is valid? [True, True] Translation: X:245.24, Y:65.26, Z:-3.15 [[-2.78908887e-01 -9.57952330e-01 6.73584859e-02 2.45241007e+02] [ 9.34441300e-01 -2.86898095e-01 -2.10971420e-01 6.52568860e+01] [ 2.21425585e-01 4.10074706e-03 9.75168649e-01 -3.14980422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62687500000004 meters 0.01689111108518184 Centerline is valid? [True, True] Translation: X:245.23, Y:65.28, Z:-3.14 [[-2.75960726e-01 -9.58796669e-01 6.74879637e-02 2.45233299e+02] [ 9.35267301e-01 -2.84051856e-01 -2.11162541e-01 6.52830422e+01] [ 2.21632022e-01 4.84671769e-03 9.75118329e-01 -3.14330704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.656875 meters 0.01708878562691059 Centerline is valid? [True, True] Translation: X:245.22, Y:65.31, Z:-3.14 [[-2.75111841e-01 -9.59025988e-01 6.76951150e-02 2.45224604e+02] [ 9.35404276e-01 -2.83272067e-01 -2.11602873e-01 6.53085647e+01] [ 2.22108790e-01 5.10784399e-03 9.75008510e-01 -3.13716231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.686875 meters 0.018289144694519057 Centerline is valid? [True, True] Translation: X:245.21, Y:65.33, Z:-3.13 [[-2.74069688e-01 -9.59315685e-01 6.78175706e-02 2.45214820e+02] [ 9.35646057e-01 -2.82284181e-01 -2.11853950e-01 6.53331380e+01] [ 2.22378644e-01 5.39049668e-03 9.74945476e-01 -3.13238944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.716875 meters 0.01856355235577447 Centerline is valid? [True, True] Translation: X:245.21, Y:65.36, Z:-3.13 [[-2.73646359e-01 -9.59426512e-01 6.79590924e-02 2.45206241e+02] [ 9.35695753e-01 -2.81904420e-01 -2.12139943e-01 6.53594662e+01] [ 2.22690654e-01 5.53771102e-03 9.74873431e-01 -3.12664340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.746875 meters 0.016378136614529706 Centerline is valid? [True, True] Translation: X:245.20, Y:65.39, Z:-3.12 [[-2.76740318e-01 -9.58525599e-01 6.81430240e-02 2.45201735e+02] [ 9.34684335e-01 -2.84964628e-01 -2.12509659e-01 6.53868660e+01] [ 2.23114300e-01 4.88222638e-03 9.74780064e-01 -3.12143319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.776875 meters 0.016359993605234675 Centerline is valid? [True, True] Translation: X:245.19, Y:65.41, Z:-3.12 [[-2.79496399e-01 -9.57716529e-01 6.82701439e-02 2.45193839e+02] [ 9.33809975e-01 -2.87681286e-01 -2.12693224e-01 6.54119411e+01] [ 2.23339860e-01 4.30435112e-03 9.74731132e-01 -3.11610564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.806875 meters 0.016250186600095626 Centerline is valid? [True, True] Translation: X:245.19, Y:65.44, Z:-3.11 [[-2.81642765e-01 -9.57109548e-01 6.79607629e-02 2.45187361e+02] [ 9.33439659e-01 -2.89700707e-01 -2.11574817e-01 6.54371158e+01] [ 2.22188559e-01 3.84875477e-03 9.74996119e-01 -3.10965193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.836875 meters 0.014825748005608026 Centerline is valid? [True, True] Translation: X:245.18, Y:65.46, Z:-3.10 [[-2.86155654e-01 -9.55783176e-01 6.77750797e-02 2.45184028e+02] [ 9.32240870e-01 -2.94058517e-01 -2.10847217e-01 6.54644007e+01] [ 2.21454062e-01 2.84757610e-03 9.75166647e-01 -3.10193406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.866875 meters 0.01428979809568454 Centerline is valid? [True, True] Translation: X:245.18, Y:65.49, Z:-3.10 [[-2.88388135e-01 -9.55099952e-01 6.79438349e-02 2.45177644e+02] [ 9.31466898e-01 -2.96274147e-01 -2.11165923e-01 6.54906518e+01] [ 2.21814565e-01 2.38968652e-03 9.75085939e-01 -3.09619487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.896875 meters 0.014136699770015674 Centerline is valid? [True, True] Translation: X:245.17, Y:65.52, Z:-3.09 [[-2.90843750e-01 -9.54342668e-01 6.81174400e-02 2.45170715e+02] [ 9.30620373e-01 -2.98708071e-01 -2.11469170e-01 6.55158027e+01] [ 2.22161281e-01 1.88699099e-03 9.75008105e-01 -3.09117849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.926875 meters 0.013551845364430796 Centerline is valid? [True, True] Translation: X:245.17, Y:65.54, Z:-3.08 [[-2.96030086e-01 -9.52737790e-01 6.82414281e-02 2.45166618e+02] [ 9.28941157e-01 -3.03792927e-01 -2.11608563e-01 6.55423766e+01] [ 2.22338737e-01 7.49770205e-04 9.74969191e-01 -3.08495801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.956875 meters 0.013478213799886977 Centerline is valid? [True, True] Translation: X:245.16, Y:65.57, Z:-3.08 [[-2.98398328e-01 -9.51998175e-01 6.82489051e-02 2.45160304e+02] [ 9.28230937e-01 -3.06103580e-01 -2.11395191e-01 6.55675624e+01] [ 2.22139070e-01 2.70773628e-04 9.75014954e-01 -3.07912738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.986875 meters 0.013457123925941561 Centerline is valid? [True, True] Translation: X:245.15, Y:65.59, Z:-3.07 [[-3.01003166e-01 -9.51185775e-01 6.81374831e-02 2.45153988e+02] [ 9.27532365e-01 -3.08618791e-01 -2.10803588e-01 6.55938477e+01] [ 2.21541882e-01 -2.52826604e-04 9.75150824e-01 -3.07258522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.016875 meters 0.013501708912402528 Centerline is valid? [True, True] Translation: X:245.15, Y:65.62, Z:-3.06 [[-3.05341158e-01 -9.49826490e-01 6.77968815e-02 2.45149686e+02] [ 9.26428355e-01 -3.12775117e-01 -2.09528591e-01 6.56198110e+01] [ 2.20220983e-01 -1.16874904e-03 9.75449308e-01 -3.06454569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.046875 meters 0.013658630770620813 Centerline is valid? [True, True] Translation: X:245.14, Y:65.65, Z:-3.06 [[-3.07611159e-01 -9.49098891e-01 6.77249608e-02 2.45142498e+02] [ 9.25784152e-01 -3.14974095e-01 -2.09081380e-01 6.56452143e+01] [ 2.19770514e-01 -1.61707014e-03 9.75550258e-01 -3.05800217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07687500000003 meters 0.013855392876578738 Centerline is valid? [True, True] Translation: X:245.14, Y:65.67, Z:-3.05 [[-3.09469524e-01 -9.48493260e-01 6.77432634e-02 2.45135712e+02] [ 9.25202414e-01 -3.16791152e-01 -2.08911129e-01 6.56698012e+01] [ 2.19611264e-01 -1.97539688e-03 9.75585460e-01 -3.05276079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.106875 meters 0.01408683312161088 Centerline is valid? [True, True] Translation: X:245.13, Y:65.70, Z:-3.05 [[-3.11604501e-01 -9.47783062e-01 6.78962671e-02 2.45127605e+02] [ 9.24422262e-01 -3.18906694e-01 -2.09145889e-01 6.56962002e+01] [ 2.19877505e-01 -2.40597953e-03 9.75524523e-01 -3.04755280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13687500000003 meters 0.014150641891886183 Centerline is valid? [True, True] Translation: X:245.12, Y:65.72, Z:-3.04 [[-3.12108505e-01 -9.47607875e-01 6.80264388e-02 2.45119283e+02] [ 9.24196694e-01 -3.19426383e-01 -2.09349602e-01 6.57216105e+01] [ 2.20110771e-01 -2.46998139e-03 9.75471757e-01 -3.04188499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.166875 meters 0.013968056176595927 Centerline is valid? [True, True] Translation: X:245.11, Y:65.75, Z:-3.04 [[-3.12212861e-01 -9.47555007e-01 6.82835089e-02 2.45110215e+02] [ 9.24013453e-01 -3.19583375e-01 -2.09918093e-01 6.57466610e+01] [ 2.20731215e-01 -2.44424763e-03 9.75331614e-01 -3.03602146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19687500000003 meters 0.013899862663572937 Centerline is valid? [True, True] Translation: X:245.10, Y:65.77, Z:-3.03 [[-3.11576327e-01 -9.47740327e-01 6.86182560e-02 2.45100906e+02] [ 9.24020571e-01 -3.19034806e-01 -2.10719665e-01 6.57707962e+01] [ 2.21599136e-01 -2.25057922e-03 9.75135251e-01 -3.03148927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.226875 meters 0.013556523806329455 Centerline is valid? [True, True] Translation: X:245.09, Y:65.80, Z:-3.03 [[-3.11075475e-01 -9.47895068e-01 6.87531058e-02 2.45090517e+02] [ 9.24138538e-01 -3.18575999e-01 -2.10896411e-01 6.57956556e+01] [ 2.21810757e-01 -2.06730664e-03 9.75087542e-01 -3.02538947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25687500000004 meters 0.013585748314895564 Centerline is valid? [True, True] Translation: X:245.08, Y:65.82, Z:-3.02 [[-3.10815206e-01 -9.47983037e-01 6.87173091e-02 2.45081827e+02] [ 9.24307153e-01 -3.18315016e-01 -2.10551271e-01 6.58199852e+01] [ 2.21472784e-01 -1.92663634e-03 9.75164650e-01 -3.01981761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.286875 meters 0.013467355096769766 Centerline is valid? [True, True] Translation: X:245.07, Y:65.85, Z:-3.01 [[-3.10442780e-01 -9.48110715e-01 6.86392962e-02 2.45072313e+02] [ 9.24547933e-01 -3.17935525e-01 -2.10066947e-01 6.58450125e+01] [ 2.20989594e-01 -1.75344783e-03 9.75274589e-01 -3.01339809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31687500000004 meters 0.01343592968725739 Centerline is valid? [True, True] Translation: X:245.06, Y:65.87, Z:-3.01 [[-3.08725786e-01 -9.48716364e-01 6.80121314e-02 2.45063055e+02] [ 9.25652883e-01 -3.16126140e-01 -2.07920667e-01 6.58683665e+01] [ 2.18758151e-01 -1.23484587e-03 9.75778329e-01 -3.00644969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.346875 meters 0.01326802328403496 Centerline is valid? [True, True] Translation: X:245.05, Y:65.89, Z:-3.00 [[-3.07765341e-01 -9.49047334e-01 6.77469692e-02 2.45053149e+02] [ 9.26226333e-01 -3.15132213e-01 -2.06873073e-01 6.58926531e+01] [ 2.17681590e-01 -9.19334890e-04 9.76019406e-01 -2.99993272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37687500000004 meters 0.013150385179057363 Centerline is valid? [True, True] Translation: X:245.04, Y:65.92, Z:-2.99 [[-3.06981763e-01 -9.49305357e-01 6.76870493e-02 2.45043572e+02] [ 9.26579661e-01 -3.14354729e-01 -2.06473331e-01 6.59169477e+01] [ 2.17283983e-01 -6.66104026e-04 9.76108205e-01 -2.99351492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.406875 meters 0.013186990238259248 Centerline is valid? [True, True] Translation: X:245.03, Y:65.94, Z:-2.99 [[-3.04026934e-01 -9.50266632e-01 6.75348256e-02 2.45031584e+02] [ 9.27715473e-01 -3.11437508e-01 -2.05792805e-01 6.59415786e+01] [ 2.16590914e-01 8.65471135e-05 9.76262449e-01 -2.98755698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.436875 meters 0.01334140728754307 Centerline is valid? [True, True] Translation: X:245.02, Y:65.97, Z:-2.98 [[-3.02250931e-01 -9.50817263e-01 6.77562281e-02 2.45020932e+02] [ 9.28175457e-01 -3.09751890e-01 -2.06262184e-01 6.59663367e+01] [ 2.17105265e-01 5.46730777e-04 9.76148045e-01 -2.98244830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.466875 meters 0.013454133549612536 Centerline is valid? [True, True] Translation: X:245.01, Y:65.99, Z:-2.98 [[-3.00823932e-01 -9.51255883e-01 6.79500357e-02 2.45010584e+02] [ 9.28543189e-01 -3.08401315e-01 -2.06630526e-01 6.59902367e+01] [ 2.17514384e-01 9.35135357e-04 9.76056668e-01 -2.97718680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.496875 meters 0.013735001290271205 Centerline is valid? [True, True] Translation: X:245.00, Y:66.02, Z:-2.97 [[-2.97668446e-01 -9.52214087e-01 6.84238961e-02 2.44998799e+02] [ 9.29256803e-01 -3.05426565e-01 -2.07837453e-01 6.60152179e+01] [ 2.18804226e-01 1.71671915e-03 9.75767269e-01 -2.97244806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.526875 meters 0.013809851013714956 Centerline is valid? [True, True] Translation: X:244.99, Y:66.04, Z:-2.97 [[-2.96746914e-01 -9.52480895e-01 6.87125496e-02 2.44989326e+02] [ 9.29379068e-01 -3.04591874e-01 -2.08514602e-01 6.60402544e+01] [ 2.19535458e-01 1.98394075e-03 9.75602504e-01 -2.96749146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.556875 meters 0.014258498502770469 Centerline is valid? [True, True] Translation: X:244.98, Y:66.06, Z:-2.96 [[-2.95868610e-01 -9.52734153e-01 6.89883950e-02 2.44979534e+02] [ 9.29502111e-01 -3.03796913e-01 -2.09124989e-01 6.60643581e+01] [ 2.20198981e-01 2.25133904e-03 9.75452377e-01 -2.96302852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.586875 meters 0.014504126003743612 Centerline is valid? [True, True] Translation: X:244.97, Y:66.09, Z:-2.96 [[-2.94573769e-01 -9.53098054e-01 6.95010305e-02 2.44969784e+02] [ 9.29578950e-01 -3.02650384e-01 -2.10441730e-01 6.60897132e+01] [ 2.21606117e-01 2.61608131e-03 9.75132752e-01 -2.95795474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.616875 meters 0.01445453398315032 Centerline is valid? [True, True] Translation: X:244.96, Y:66.11, Z:-2.95 [[-2.94172019e-01 -9.53209540e-01 6.96734920e-02 2.44961509e+02] [ 9.29608377e-01 -3.02297862e-01 -2.10818094e-01 6.61148739e+01] [ 2.22015966e-01 2.75227726e-03 9.75039146e-01 -2.95241900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.646875 meters 0.01506925172943968 Centerline is valid? [True, True] Translation: X:244.95, Y:66.14, Z:-2.95 [[-2.93135331e-01 -9.53515708e-01 6.98532215e-02 2.44951751e+02] [ 9.29851121e-01 -3.01327764e-01 -2.11136147e-01 6.61394459e+01] [ 2.22370348e-01 3.06163200e-03 9.74957463e-01 -2.94745875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.676875 meters 0.014999084465814265 Centerline is valid? [True, True] Translation: X:244.94, Y:66.16, Z:-2.94 [[-2.92968760e-01 -9.53560864e-01 6.99355725e-02 2.44943412e+02] [ 9.29889368e-01 -3.01183765e-01 -2.11173160e-01 6.61647467e+01] [ 2.22429920e-01 3.16520648e-03 9.74943543e-01 -2.94157361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.706875 meters 0.015206397502075548 Centerline is valid? [True, True] Translation: X:244.93, Y:66.19, Z:-2.94 [[-2.92747184e-01 -9.53612480e-01 7.01592832e-02 2.44934701e+02] [ 9.29840048e-01 -3.01019022e-01 -2.11624747e-01 6.61900189e+01] [ 2.22927279e-01 3.28436256e-03 9.74829545e-01 -2.93580170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.736875 meters 0.015427022484599914 Centerline is valid? [True, True] Translation: X:244.93, Y:66.22, Z:-2.93 [[-2.92536384e-01 -9.53675147e-01 7.01867397e-02 2.44925922e+02] [ 9.29936361e-01 -3.00819117e-01 -2.11485751e-01 6.62154295e+01] [ 2.22802218e-01 3.40192452e-03 9.74857733e-01 -2.92969768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.766875 meters 0.015530075885498125 Centerline is valid? [True, True] Translation: X:244.92, Y:66.24, Z:-2.92 [[-2.92529113e-01 -9.53670554e-01 7.02793956e-02 2.44917222e+02] [ 9.29918618e-01 -3.00832886e-01 -2.11544177e-01 6.62412043e+01] [ 2.22885806e-01 3.47128795e-03 9.74838380e-01 -2.92408885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.796875 meters 0.015396827175110938 Centerline is valid? [True, True] Translation: X:244.91, Y:66.27, Z:-2.92 [[-2.92916241e-01 -9.53545647e-01 7.03617443e-02 2.44910131e+02] [ 9.29784160e-01 -3.01228829e-01 -2.11571756e-01 6.62673496e+01] [ 2.22938313e-01 3.44843181e-03 9.74826455e-01 -2.91832229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.82687500000003 meters 0.014971076258640198 Centerline is valid? [True, True] Translation: X:244.90, Y:66.29, Z:-2.91 [[-2.93645211e-01 -9.53313558e-01 7.04680788e-02 2.44902903e+02] [ 9.29524383e-01 -3.01963668e-01 -2.11665693e-01 6.62934564e+01] [ 2.23062574e-01 3.34718038e-03 9.74798381e-01 -2.91202707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.856875 meters 0.014971076258640198 Centerline is valid? [True, True] Translation: X:244.89, Y:66.32, Z:-2.91 [[-2.93945545e-01 -9.53215926e-01 7.05366259e-02 2.44894502e+02] [ 9.29429454e-01 -3.02271722e-01 -2.11642848e-01 6.63182483e+01] [ 2.23062561e-01 3.34734547e-03 9.74798384e-01 -2.90625692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.88687500000003 meters 0.014538844430875046 Centerline is valid? [True, True] Translation: X:244.89, Y:66.34, Z:-2.90 [[-2.95852757e-01 -9.52623764e-01 7.05628169e-02 2.44889106e+02] [ 9.28854832e-01 -3.04136703e-01 -2.11493659e-01 6.63438804e+01] [ 2.22934628e-01 2.97163143e-03 9.74828868e-01 -2.89929281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.916875 meters 0.014766739999616533 Centerline is valid? [True, True] Translation: X:244.88, Y:66.37, Z:-2.89 [[-2.96924678e-01 -9.52287795e-01 7.05952613e-02 2.44881380e+02] [ 9.28539885e-01 -3.05188727e-01 -2.11361119e-01 6.63687389e+01] [ 2.22821492e-01 2.79218370e-03 9.74855264e-01 -2.89387746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.94687500000003 meters 0.01441109158801655 Centerline is valid? [True, True] Translation: X:244.87, Y:66.39, Z:-2.89 [[-2.98177516e-01 -9.51888579e-01 7.06986764e-02 2.44874951e+02] [ 9.28113929e-01 -3.06433543e-01 -2.11430886e-01 6.63944911e+01] [ 2.22923091e-01 2.57249004e-03 9.74832641e-01 -2.88737694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.976875 meters 0.01428030433464799 Centerline is valid? [True, True] Translation: X:244.87, Y:66.42, Z:-2.88 [[-2.99472375e-01 -9.51469030e-01 7.08729925e-02 2.44867790e+02] [ 9.27616823e-01 -3.07735627e-01 -2.11721077e-01 6.64201830e+01] [ 2.23256193e-01 2.33836647e-03 9.74756998e-01 -2.88111519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.00687500000004 meters 0.01407139057314313 Centerline is valid? [True, True] Translation: X:244.86, Y:66.45, Z:-2.88 [[-3.02109984e-01 -9.50620687e-01 7.10624193e-02 2.44862108e+02] [ 9.26669160e-01 -3.10349987e-01 -2.12054602e-01 6.64450205e+01] [ 2.23637713e-01 1.78753992e-03 9.74670702e-01 -2.87598498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.036875 meters 0.013937015983485387 Centerline is valid? [True, True] Translation: X:244.85, Y:66.47, Z:-2.87 [[-3.03370119e-01 -9.50210527e-01 7.11795258e-02 2.44854946e+02] [ 9.26223404e-01 -3.11604728e-01 -2.12161963e-01 6.64710629e+01] [ 2.23778408e-01 1.56454247e-03 9.74638793e-01 -2.86995214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06687500000004 meters 0.01386744655470133 Centerline is valid? [True, True] Translation: X:244.85, Y:66.50, Z:-2.86 [[-3.04810812e-01 -9.49751838e-01 7.11464325e-02 2.44847764e+02] [ 9.25825611e-01 -3.13001219e-01 -2.11842334e-01 6.64967731e+01] [ 2.23466566e-01 1.29735535e-03 9.74710732e-01 -2.86384648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.096875 meters 0.013654751968747741 Centerline is valid? [True, True] Translation: X:244.84, Y:66.52, Z:-2.86 [[-3.06165121e-01 -9.49308737e-01 7.12449335e-02 2.44840890e+02] [ 9.25354015e-01 -3.14343488e-01 -2.11915355e-01 6.65223493e+01] [ 2.23568479e-01 1.04569496e-03 9.74687664e-01 -2.85774185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12687500000004 meters 0.013686803519424381 Centerline is valid? [True, True] Translation: X:244.83, Y:66.55, Z:-2.85 [[-3.08234558e-01 -9.48644203e-01 7.11732662e-02 2.44834912e+02] [ 9.24772000e-01 -3.16344392e-01 -2.11478067e-01 6.65477647e+01] [ 2.23132706e-01 6.34195208e-04 9.74787871e-01 -2.85004603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.156875 meters 0.013570097640080495 Centerline is valid? [True, True] Translation: X:244.83, Y:66.57, Z:-2.84 [[-3.09104334e-01 -9.48356935e-01 7.12294494e-02 2.44826778e+02] [ 9.24490185e-01 -3.17204782e-01 -2.11421437e-01 6.65734098e+01] [ 2.23097308e-01 4.99644400e-04 9.74796051e-01 -2.84402974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.186875 meters 0.013652534061710742 Centerline is valid? [True, True] Translation: X:244.82, Y:66.60, Z:-2.84 [[-3.09712430e-01 -9.48164569e-01 7.11488569e-02 2.44818168e+02] [ 9.24398720e-01 -3.17779422e-01 -2.10957925e-01 6.65988182e+01] [ 2.22632473e-01 4.33620579e-04 9.74902351e-01 -2.83784027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.216875 meters 0.013607784625527796 Centerline is valid? [True, True] Translation: X:244.81, Y:66.62, Z:-2.83 [[-3.10257794e-01 -9.47978146e-01 7.12568398e-02 2.44810218e+02] [ 9.24185235e-01 -3.18335195e-01 -2.11055335e-01 6.66231132e+01] [ 2.22759405e-01 3.72956601e-04 9.74873381e-01 -2.83282150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.246875 meters 0.013517391393152067 Centerline is valid? [True, True] Translation: X:244.80, Y:66.65, Z:-2.83 [[-3.10675099e-01 -9.47829384e-01 7.14173724e-02 2.44801680e+02] [ 9.23963800e-01 -3.18777906e-01 -2.11356434e-01 6.66484338e+01] [ 2.23096119e-01 3.23885819e-04 9.74796398e-01 -2.82669962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.276875 meters 0.01364117483233485 Centerline is valid? [True, True] Translation: X:244.79, Y:66.67, Z:-2.82 [[-3.10909586e-01 -9.47748768e-01 7.14667830e-02 2.44793341e+02] [ 9.23898766e-01 -3.19017487e-01 -2.11279233e-01 6.66728635e+01] [ 2.23038786e-01 3.39333758e-04 9.74809512e-01 -2.82181403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.306875 meters 0.0135695246253524 Centerline is valid? [True, True] Translation: X:244.78, Y:66.70, Z:-2.82 [[-3.11081729e-01 -9.47682169e-01 7.16007306e-02 2.44784592e+02] [ 9.23792964e-01 -3.19215243e-01 -2.11443108e-01 6.66976680e+01] [ 2.23236908e-01 3.68163369e-04 9.74764150e-01 -2.81566361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.336875 meters 0.013589670088061815 Centerline is valid? [True, True] Translation: X:244.78, Y:66.72, Z:-2.81 [[-3.10804858e-01 -9.47770735e-01 7.16308186e-02 2.44775433e+02] [ 9.23913023e-01 -3.18952005e-01 -2.11315745e-01 6.67225258e+01] [ 2.23125672e-01 5.02686057e-04 9.74789558e-01 -2.80924567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.366875 meters 0.01362071688572549 Centerline is valid? [True, True] Translation: X:244.77, Y:66.75, Z:-2.80 [[-3.10292922e-01 -9.47940912e-01 7.15983860e-02 2.44765959e+02] [ 9.24160919e-01 -3.18445504e-01 -2.10995396e-01 6.67461107e+01] [ 2.22811352e-01 6.98052132e-04 9.74861331e-01 -2.80409982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.396875 meters 0.013742083209822661 Centerline is valid? [True, True] Translation: X:244.75, Y:66.77, Z:-2.80 [[-3.08910774e-01 -9.48405817e-01 7.14180671e-02 2.44754929e+02] [ 9.24812313e-01 -3.17057067e-01 -2.10230828e-01 6.67693258e+01] [ 2.22027743e-01 1.10574012e-03 9.75039722e-01 -2.79865809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.426875 meters 0.013841376750199018 Centerline is valid? [True, True] Translation: X:244.74, Y:66.79, Z:-2.79 [[-3.07743679e-01 -9.48781812e-01 7.14625843e-02 2.44744834e+02] [ 9.25220196e-01 -3.15928739e-01 -2.10134770e-01 6.67937845e+01] [ 2.21949132e-01 1.45097914e-03 9.75057166e-01 -2.79337235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.456875 meters 0.014050278362082908 Centerline is valid? [True, True] Translation: X:244.73, Y:66.82, Z:-2.79 [[-3.06760776e-01 -9.49099204e-01 7.14739637e-02 2.44734941e+02] [ 9.25573678e-01 -3.14972549e-01 -2.10013474e-01 6.68190997e+01] [ 2.21835958e-01 1.73052314e-03 9.75082465e-01 -2.78809762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.486875 meters 0.014431260943994413 Centerline is valid? [True, True] Translation: X:244.72, Y:66.84, Z:-2.78 [[-3.04739284e-01 -9.49745980e-01 7.15300130e-02 2.44723762e+02] [ 9.26250427e-01 -3.13013437e-01 -2.09958888e-01 6.68448285e+01] [ 2.21797465e-01 2.27198395e-03 9.75090110e-01 -2.78261247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.516875 meters 0.014753335920343703 Centerline is valid? [True, True] Translation: X:244.71, Y:66.87, Z:-2.78 [[-3.03925364e-01 -9.50010277e-01 7.14831974e-02 2.44713559e+02] [ 9.26596576e-01 -3.12208428e-01 -2.09629873e-01 6.68700298e+01] [ 2.21468190e-01 2.52425045e-03 9.75164329e-01 -2.77720488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.546875 meters 0.01498783781271381 Centerline is valid? [True, True] Translation: X:244.70, Y:66.89, Z:-2.77 [[-3.03020118e-01 -9.50303536e-01 7.14282650e-02 2.44704086e+02] [ 9.26980211e-01 -3.11312294e-01 -2.09266203e-01 6.68941045e+01] [ 2.21102910e-01 2.80071860e-03 9.75246461e-01 -2.77141185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57687500000003 meters 0.015329175284630833 Centerline is valid? [True, True] Translation: X:244.69, Y:66.92, Z:-2.77 [[-3.02292285e-01 -9.50554967e-01 7.11662073e-02 2.44694218e+02] [ 9.27461959e-01 -3.10541443e-01 -2.08274644e-01 6.69185159e+01] [ 2.20076554e-01 3.04413192e-03 9.75477854e-01 -2.76506781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.606875 meters 0.01564256390057238 Centerline is valid? [True, True] Translation: X:244.68, Y:66.94, Z:-2.76 [[-3.00503131e-01 -9.51165708e-01 7.05809015e-02 2.44684203e+02] [ 9.28518439e-01 -3.08660600e-01 -2.06354409e-01 6.69438164e+01] [ 2.18062781e-01 3.52552251e-03 9.75928376e-01 -2.75759441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63687500000003 meters 0.015970564475072266 Centerline is valid? [True, True] Translation: X:244.67, Y:66.97, Z:-2.75 [[-2.99682937e-01 -9.51433169e-01 7.04632009e-02 2.44673959e+02] [ 9.28911875e-01 -3.07832241e-01 -2.05820407e-01 6.69695706e+01] [ 2.17515207e-01 3.77323989e-03 9.76049639e-01 -2.75079447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.666875 meters 0.016732338502947836 Centerline is valid? [True, True] Translation: X:244.66, Y:66.99, Z:-2.74 [[-2.98617760e-01 -9.51781710e-01 7.02780905e-02 2.44663761e+02] [ 9.29431087e-01 -3.06749043e-01 -2.05092365e-01 6.69943422e+01] [ 2.16760899e-01 4.07441955e-03 9.76216222e-01 -2.74483049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69687500000003 meters 0.017318337845381955 Centerline is valid? [True, True] Translation: X:244.65, Y:67.02, Z:-2.74 [[-2.96220626e-01 -9.52533936e-01 7.02313407e-02 2.44652752e+02] [ 9.30277747e-01 -3.04396435e-01 -2.04758695e-01 6.70191764e+01] [ 2.16417775e-01 4.68090463e-03 9.76289627e-01 -2.73920525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.726875 meters 0.01791073236238106 Centerline is valid? [True, True] Translation: X:244.64, Y:67.04, Z:-2.73 [[-2.95052811e-01 -9.52888413e-01 7.03385494e-02 2.44642242e+02] [ 9.30614923e-01 -3.03279749e-01 -2.04883527e-01 6.70441202e+01] [ 2.16563397e-01 5.00664306e-03 9.76255719e-01 -2.73408667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75687500000004 meters 0.01764295800388364 Centerline is valid? [True, True] Translation: X:244.63, Y:67.07, Z:-2.73 [[-2.93715963e-01 -9.53287105e-01 7.05310394e-02 2.44633067e+02] [ 9.30945757e-01 -3.02017851e-01 -2.05244284e-01 6.70700235e+01] [ 2.16958362e-01 5.37704922e-03 9.76166050e-01 -2.72930226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.786875 meters 0.017975995265840518 Centerline is valid? [True, True] Translation: X:244.62, Y:67.10, Z:-2.73 [[-2.91452339e-01 -9.53943339e-01 7.10467525e-02 2.44622802e+02] [ 9.31332681e-01 -2.99927462e-01 -2.06550128e-01 6.70958378e+01] [ 2.18345991e-01 5.96864459e-03 9.75853167e-01 -2.72548212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81687500000004 meters 0.019548415877324452 Centerline is valid? [True, True] Translation: X:244.61, Y:67.12, Z:-2.72 [[-2.90747782e-01 -9.54134726e-01 7.13628132e-02 2.44611699e+02] [ 9.31369987e-01 -2.99313324e-01 -2.07271517e-01 6.71205819e+01] [ 2.19124793e-01 6.20144835e-03 9.75677133e-01 -2.72052753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.846875 meters 0.01913182467282313 Centerline is valid? [True, True] Translation: X:244.60, Y:67.15, Z:-2.72 [[-2.90635351e-01 -9.54154491e-01 7.15562783e-02 2.44603921e+02] [ 9.31311696e-01 -2.99248309e-01 -2.07627010e-01 6.71459128e+01] [ 2.19521339e-01 6.29744997e-03 9.75587374e-01 -2.71506744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87687500000004 meters 0.019390690022871807 Centerline is valid? [True, True] Translation: X:244.60, Y:67.17, Z:-2.71 [[-2.91076991e-01 -9.54010780e-01 7.16771716e-02 2.44595056e+02] [ 9.31133999e-01 -2.99706802e-01 -2.07762627e-01 6.71706612e+01] [ 2.19689921e-01 6.26613125e-03 9.75549627e-01 -2.70974646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.906875 meters 0.018967434612409784 Centerline is valid? [True, True] Translation: X:244.59, Y:67.20, Z:-2.70 [[-2.92747017e-01 -9.53506935e-01 7.15800831e-02 2.44588833e+02] [ 9.30725872e-01 -3.01312446e-01 -2.07268331e-01 6.71968192e+01] [ 2.19199761e-01 5.94424946e-03 9.75661894e-01 -2.70365148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.936875 meters 0.018499512099023157 Centerline is valid? [True, True] Translation: X:244.58, Y:67.22, Z:-2.70 [[-2.94498191e-01 -9.52970743e-01 7.15372487e-02 2.44581784e+02] [ 9.30245222e-01 -3.03010552e-01 -2.06950313e-01 6.72221556e+01] [ 2.18894135e-01 5.60069098e-03 9.75732540e-01 -2.69695430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.966875 meters 0.01797206035071276 Centerline is valid? [True, True] Translation: X:244.57, Y:67.25, Z:-2.69 [[-2.96371901e-01 -9.52403455e-01 7.13537369e-02 2.44574564e+02] [ 9.29821939e-01 -3.04795593e-01 -2.06229990e-01 6.72484245e+01] [ 2.18162460e-01 5.22549581e-03 9.75898476e-01 -2.68976647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.996875 meters 0.01639090671512198 Centerline is valid? [True, True] Translation: X:244.57, Y:67.28, Z:-2.68 [[-3.00227772e-01 -9.51233776e-01 7.08349317e-02 2.44569878e+02] [ 9.28991585e-01 -3.08439610e-01 -2.04547406e-01 6.72754932e+01] [ 2.16420700e-01 4.39424358e-03 9.76290311e-01 -2.68245147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.026875 meters 0.01629193031333415 Centerline is valid? [True, True] Translation: X:244.56, Y:67.30, Z:-2.68 [[-3.02015555e-01 -9.50669141e-01 7.08151714e-02 2.44561789e+02] [ 9.28466462e-01 -3.10180267e-01 -2.04299365e-01 6.73013823e+01] [ 2.16186570e-01 4.04792581e-03 9.76343680e-01 -2.67618647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.056875 meters 0.016064997914287633 Centerline is valid? [True, True] Translation: X:244.55, Y:67.33, Z:-2.67 [[-3.03630722e-01 -9.50148149e-01 7.09004934e-02 2.44554241e+02] [ 9.27919180e-01 -3.11776362e-01 -2.04356295e-01 6.73259831e+01] [ 2.16273853e-01 3.74107836e-03 9.76325573e-01 -2.67029938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.086875 meters 0.01570022221091476 Centerline is valid? [True, True] Translation: X:244.55, Y:67.35, Z:-2.66 [[-3.05149847e-01 -9.49647116e-01 7.10909651e-02 2.44546532e+02] [ 9.27333685e-01 -3.13302305e-01 -2.04679998e-01 6.73518196e+01] [ 2.16646733e-01 3.46697679e-03 9.76243911e-01 -2.66492449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.116875 meters 0.014849716896343108 Centerline is valid? [True, True] Translation: X:244.54, Y:67.38, Z:-2.66 [[-3.08208344e-01 -9.48639293e-01 7.13520045e-02 2.44539694e+02] [ 9.26179158e-01 -3.16347064e-01 -2.05223542e-01 6.73791086e+01] [ 2.17255113e-01 2.83313146e-03 9.76110746e-01 -2.65977509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.146875 meters 0.014786566393173663 Centerline is valid? [True, True] Translation: X:244.53, Y:67.40, Z:-2.65 [[-3.09814843e-01 -9.48102215e-01 7.15328733e-02 2.44531958e+02] [ 9.25553886e-01 -3.17955698e-01 -2.05558214e-01 6.74034927e+01] [ 2.17634482e-01 2.52254314e-03 9.76027084e-01 -2.65464491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.176875 meters 0.014507395178403416 Centerline is valid? [True, True] Translation: X:244.52, Y:67.43, Z:-2.65 [[-3.11158365e-01 -9.47642278e-01 7.17954384e-02 2.44524773e+02] [ 9.24963314e-01 -3.19325712e-01 -2.06092110e-01 6.74288834e+01] [ 2.18227726e-01 2.28086277e-03 9.75895208e-01 -2.64952140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.206875 meters 0.013945851173951569 Centerline is valid? [True, True] Translation: X:244.52, Y:67.45, Z:-2.64 [[-3.13631048e-01 -9.46813489e-01 7.19707028e-02 2.44517850e+02] [ 9.24047303e-01 -3.21777976e-01 -2.06386813e-01 6.74546124e+01] [ 2.18568405e-01 1.77502131e-03 9.75820015e-01 -2.64398755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.236875 meters 0.013860216814408658 Centerline is valid? [True, True] Translation: X:244.51, Y:67.48, Z:-2.64 [[-3.14587170e-01 -9.46480135e-01 7.21821756e-02 2.44509507e+02] [ 9.23617149e-01 -3.22758015e-01 -2.06781588e-01 6.74804131e+01] [ 2.19012041e-01 1.61786064e-03 9.75720815e-01 -2.63833383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.266875 meters 0.013740378662145041 Centerline is valid? [True, True] Translation: X:244.50, Y:67.51, Z:-2.63 [[-3.15740686e-01 -9.46079872e-01 7.23926438e-02 2.44501685e+02] [ 9.23116562e-01 -3.23930372e-01 -2.07183318e-01 6.75053369e+01] [ 2.19462143e-01 1.41064540e-03 9.75619997e-01 -2.63283894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.296875 meters 0.01362557567614932 Centerline is valid? [True, True] Translation: X:244.49, Y:67.53, Z:-2.63 [[-3.17580108e-01 -9.45433863e-01 7.27852032e-02 2.44494432e+02] [ 9.22251912e-01 -3.25812401e-01 -2.08080970e-01 6.75306125e+01] [ 2.20441117e-01 1.04391583e-03 9.75399725e-01 -2.62841884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.32687500000003 meters 0.01364770471297194 Centerline is valid? [True, True] Translation: X:244.49, Y:67.56, Z:-2.62 [[-3.18180756e-01 -9.45211145e-01 7.30540753e-02 2.44486067e+02] [ 9.21899697e-01 -3.26458200e-01 -2.08628839e-01 6.75564502e+01] [ 2.21047406e-01 9.66848170e-04 9.75262585e-01 -2.62314729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.356875 meters 0.013621999379907908 Centerline is valid? [True, True] Translation: X:244.48, Y:67.58, Z:-2.62 [[-3.18578080e-01 -9.45035886e-01 7.35879094e-02 2.44477810e+02] [ 9.21421074e-01 -3.26965326e-01 -2.09944946e-01 6.75817986e+01] [ 2.22466203e-01 9.21592694e-04 9.74939967e-01 -2.61838926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.38687500000003 meters 0.013630131762997972 Centerline is valid? [True, True] Translation: X:244.47, Y:67.61, Z:-2.61 [[-3.18594900e-01 -9.45027361e-01 7.36245590e-02 2.44468648e+02] [ 9.21435636e-01 -3.26989778e-01 -2.09842926e-01 6.76069280e+01] [ 2.22381785e-01 9.85406340e-04 9.74959164e-01 -2.61251481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.416875 meters 0.013498856510304275 Centerline is valid? [True, True] Translation: X:244.46, Y:67.63, Z:-2.61 [[-3.18564346e-01 -9.45036865e-01 7.36347863e-02 2.44459280e+02] [ 9.21485683e-01 -3.26962075e-01 -2.09666253e-01 6.76317992e+01] [ 2.22218120e-01 1.06120867e-03 9.74996400e-01 -2.60630969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.44687500000003 meters 0.01361195928217284 Centerline is valid? [True, True] Translation: X:244.45, Y:67.66, Z:-2.60 [[-3.18271343e-01 -9.45138143e-01 7.36019195e-02 2.44450348e+02] [ 9.21657323e-01 -3.26668718e-01 -2.09368881e-01 6.76565564e+01] [ 2.21925960e-01 1.19963305e-03 9.75062782e-01 -2.59998612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.476875 meters 0.013699946300262947 Centerline is valid? [True, True] Translation: X:244.44, Y:67.68, Z:-2.59 [[-3.17532760e-01 -9.45393548e-01 7.35118089e-02 2.44440358e+02] [ 9.22025519e-01 -3.25927826e-01 -2.08901878e-01 6.76812932e+01] [ 2.21454032e-01 1.44657383e-03 9.75169739e-01 -2.59383101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.50687500000004 meters 0.013849770471543902 Centerline is valid? [True, True] Translation: X:244.43, Y:67.70, Z:-2.59 [[-3.17443239e-01 -9.45420811e-01 7.35478098e-02 2.44430634e+02] [ 9.22078614e-01 -3.25848318e-01 -2.08791532e-01 6.77047513e+01] [ 2.21361289e-01 1.53740244e-03 9.75190656e-01 -2.58839157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.536875 meters 0.013688523415268036 Centerline is valid? [True, True] Translation: X:244.42, Y:67.73, Z:-2.58 [[-3.17358162e-01 -9.45450837e-01 7.35289892e-02 2.44421637e+02] [ 9.22171727e-01 -3.25760728e-01 -2.08516794e-01 6.77293571e+01] [ 2.21095235e-01 1.63184838e-03 9.75250857e-01 -2.58194358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56687500000004 meters 0.014191702766690378 Centerline is valid? [True, True] Translation: X:244.41, Y:67.75, Z:-2.58 [[-3.16851762e-01 -9.45625901e-01 7.34616578e-02 2.44409878e+02] [ 9.22440807e-01 -3.25251197e-01 -2.08121639e-01 6.77526003e+01] [ 2.20698705e-01 1.82032276e-03 9.75340335e-01 -2.57755443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.596875 meters 0.014025281102285894 Centerline is valid? [True, True] Translation: X:244.40, Y:67.78, Z:-2.57 [[-3.16607381e-01 -9.45686035e-01 7.37406910e-02 2.44400968e+02] [ 9.22375802e-01 -3.25075586e-01 -2.08683357e-01 6.77781469e+01] [ 2.21320234e-01 1.94593807e-03 9.75199245e-01 -2.57121102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62687500000004 meters 0.013952348315324067 Centerline is valid? [True, True] Translation: X:244.39, Y:67.80, Z:-2.57 [[-3.16005524e-01 -9.45861713e-01 7.40684049e-02 2.44391469e+02] [ 9.22393475e-01 -3.24562792e-01 -2.09402178e-01 6.78027263e+01] [ 2.22105351e-01 2.14796836e-03 9.75020307e-01 -2.56563697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.656875 meters 0.014254768564102908 Centerline is valid? [True, True] Translation: X:244.38, Y:67.83, Z:-2.56 [[-3.15591120e-01 -9.45977950e-01 7.43502696e-02 2.44380617e+02] [ 9.22380691e-01 -3.24222734e-01 -2.09984472e-01 6.78264205e+01] [ 2.22746728e-01 2.31001823e-03 9.74873612e-01 -2.56067742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.686875 meters 0.014306213475645113 Centerline is valid? [True, True] Translation: X:244.37, Y:67.85, Z:-2.56 [[-3.14716263e-01 -9.46238979e-01 7.47359945e-02 2.44369385e+02] [ 9.22452044e-01 -3.23458071e-01 -2.10848531e-01 6.78513933e+01] [ 2.23687059e-01 2.58290916e-03 9.74657595e-01 -2.55596328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.716875 meters 0.014553159684827137 Centerline is valid? [True, True] Translation: X:244.36, Y:67.87, Z:-2.55 [[-3.14503152e-01 -9.46289940e-01 7.49874426e-02 2.44359501e+02] [ 9.22387766e-01 -3.23308042e-01 -2.11359218e-01 6.78748134e+01] [ 2.24251145e-01 2.69435918e-03 9.74527662e-01 -2.55129834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.746875 meters 0.014553159684827137 Centerline is valid? [True, True] Translation: X:244.35, Y:67.90, Z:-2.55 [[-3.14787211e-01 -9.46190627e-01 7.50487182e-02 2.44350602e+02] [ 9.22290854e-01 -3.23598609e-01 -2.11337460e-01 6.78994249e+01] [ 2.24251184e-01 2.69041701e-03 9.74527664e-01 -2.54552637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.776875 meters 0.014384581725462376 Centerline is valid? [True, True] Translation: X:244.34, Y:67.92, Z:-2.54 [[-3.14871397e-01 -9.46134057e-01 7.54078875e-02 2.44341239e+02] [ 9.22048492e-01 -3.23763615e-01 -2.12140754e-01 6.79243416e+01] [ 2.25127922e-01 2.73267348e-03 9.74325383e-01 -2.53973680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.806875 meters 0.014631332876841752 Centerline is valid? [True, True] Translation: X:244.33, Y:67.95, Z:-2.53 [[-3.15555408e-01 -9.45909153e-01 7.53701411e-02 2.44330766e+02] [ 9.21890390e-01 -3.24420867e-01 -2.11823537e-01 6.79485131e+01] [ 2.24817469e-01 2.64094630e-03 9.74397317e-01 -2.53473905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.836875 meters 0.013872691253292374 Centerline is valid? [True, True] Translation: X:244.32, Y:67.97, Z:-2.53 [[-3.17410395e-01 -9.45291794e-01 7.53263931e-02 2.44323067e+02] [ 9.21334806e-01 -3.26218102e-01 -2.11480320e-01 6.79740810e+01] [ 2.24483444e-01 2.27477570e-03 9.74475248e-01 -2.52754497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.866875 meters 0.013857635218021167 Centerline is valid? [True, True] Translation: X:244.31, Y:68.00, Z:-2.52 [[-3.18512391e-01 -9.44917447e-01 7.53715884e-02 2.44314123e+02] [ 9.20969813e-01 -3.27302124e-01 -2.11395182e-01 6.79982611e+01] [ 2.24420276e-01 2.08297295e-03 9.74490226e-01 -2.52147675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.896875 meters 0.0133984723019835 Centerline is valid? [True, True] Translation: X:244.31, Y:68.02, Z:-2.51 [[-3.20033963e-01 -9.44393700e-01 7.54904064e-02 2.44305707e+02] [ 9.20406029e-01 -3.28811993e-01 -2.11507483e-01 6.80237190e+01] [ 2.24568486e-01 1.79224715e-03 9.74456661e-01 -2.51454440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.926875 meters 0.013370506383829701 Centerline is valid? [True, True] Translation: X:244.30, Y:68.05, Z:-2.51 [[-3.20567931e-01 -9.44212188e-01 7.54953292e-02 2.44296331e+02] [ 9.20266044e-01 -3.29333148e-01 -2.11305671e-01 6.80481685e+01] [ 2.24380504e-01 1.73796622e-03 9.74500061e-01 -2.50862836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.956875 meters 0.013353803977744818 Centerline is valid? [True, True] Translation: X:244.29, Y:68.07, Z:-2.50 [[-3.20948132e-01 -9.44087535e-01 7.54388680e-02 2.44286450e+02] [ 9.20223168e-01 -3.29690404e-01 -2.10934962e-01 6.80732760e+01] [ 2.24012539e-01 1.72141222e-03 9.74584742e-01 -2.50190000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.986875 meters 0.013476539648833753 Centerline is valid? [True, True] Translation: X:244.28, Y:68.10, Z:-2.50 [[-3.21129901e-01 -9.44017013e-01 7.55477719e-02 2.44276092e+02] [ 9.20130256e-01 -3.29892143e-01 -2.11024846e-01 6.80971859e+01] [ 2.24133662e-01 1.74740258e-03 9.74556847e-01 -2.49634370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.016875 meters 0.013212444632601386 Centerline is valid? [True, True] Translation: X:244.27, Y:68.12, Z:-2.49 [[-3.21543922e-01 -9.43868563e-01 7.56415366e-02 2.44265379e+02] [ 9.19969288e-01 -3.30316773e-01 -2.11062406e-01 6.81215619e+01] [ 2.24200838e-01 1.72205662e-03 9.74541440e-01 -2.49020386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.046875 meters 0.013193772898820285 Centerline is valid? [True, True] Translation: X:244.26, Y:68.15, Z:-2.48 [[-3.22299824e-01 -9.43604215e-01 7.57225786e-02 2.44255687e+02] [ 9.19695863e-01 -3.31071718e-01 -2.11071167e-01 6.81450589e+01] [ 2.24237247e-01 1.61354211e-03 9.74533249e-01 -2.48474054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07687500000003 meters 0.013124370732152158 Centerline is valid? [True, True] Translation: X:244.25, Y:68.17, Z:-2.48 [[-3.23118343e-01 -9.43324828e-01 7.57152906e-02 2.44246227e+02] [ 9.19465608e-01 -3.31867488e-01 -2.10824490e-01 6.81698350e+01] [ 2.24003419e-01 1.49634576e-03 9.74587210e-01 -2.47879930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.106875 meters 0.012873720336188327 Centerline is valid? [True, True] Translation: X:244.24, Y:68.19, Z:-2.47 [[-3.25585330e-01 -9.42477027e-01 7.57049995e-02 2.44236969e+02] [ 9.18650926e-01 -3.34269480e-01 -2.10581081e-01 6.81937282e+01] [ 2.23773702e-01 9.84357003e-04 9.74640632e-01 -2.47289079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13687500000003 meters 0.012773418542148435 Centerline is valid? [True, True] Translation: X:244.23, Y:68.22, Z:-2.47 [[-3.27556488e-01 -9.41792189e-01 7.57246295e-02 2.44227721e+02] [ 9.17987058e-01 -3.36195064e-01 -2.10410647e-01 6.82180462e+01] [ 2.23621350e-01 5.92857259e-04 9.74675915e-01 -2.46781276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.166875 meters 0.01269034312858839 Centerline is valid? [True, True] Translation: X:244.22, Y:68.24, Z:-2.46 [[-3.29625890e-01 -9.41068639e-01 7.57402756e-02 2.44218749e+02] [ 9.17285386e-01 -3.38215590e-01 -2.10232575e-01 6.82434877e+01] [ 2.23459826e-01 1.77348175e-04 9.74713124e-01 -2.46171433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19687500000003 meters 0.012757154356411369 Centerline is valid? [True, True] Translation: X:244.21, Y:68.27, Z:-2.46 [[-3.34037977e-01 -9.39508401e-01 7.57799021e-02 2.44210885e+02] [ 9.15707234e-01 -3.42524922e-01 -2.10135527e-01 6.82693429e+01] [ 2.23380598e-01 -8.01041848e-04 9.74730971e-01 -2.45579478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.226875 meters 0.012918151167722478 Centerline is valid? [True, True] Translation: X:244.20, Y:68.29, Z:-2.45 [[-3.36014071e-01 -9.38789129e-01 7.59573240e-02 2.44202177e+02] [ 9.14904226e-01 -3.44490211e-01 -2.10420417e-01 6.82941395e+01] [ 2.23706955e-01 -1.21054429e-03 9.74655700e-01 -2.44914645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25687500000004 meters 0.013143637931475194 Centerline is valid? [True, True] Translation: X:244.19, Y:68.32, Z:-2.44 [[-3.38535761e-01 -9.37875496e-01 7.60466452e-02 2.44194114e+02] [ 9.13959193e-01 -3.46967597e-01 -2.10456838e-01 6.83182469e+01] [ 2.23768033e-01 -1.74363538e-03 9.74640871e-01 -2.44434583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.286875 meters 0.013526211983605482 Centerline is valid? [True, True] Translation: X:244.18, Y:68.34, Z:-2.44 [[-3.41985388e-01 -9.36615021e-01 7.61465472e-02 2.44184536e+02] [ 9.12641621e-01 -3.50351205e-01 -2.10569003e-01 6.83437542e+01] [ 2.23900126e-01 -2.51701406e-03 9.74608844e-01 -2.43748788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31687500000004 meters 0.013779351382103611 Centerline is valid? [True, True] Translation: X:244.18, Y:68.37, Z:-2.43 [[-3.43367254e-01 -9.36090878e-01 7.63727471e-02 2.44175505e+02] [ 9.12002289e-01 -3.51747089e-01 -2.11011397e-01 6.83682024e+01] [ 2.24389736e-01 -2.80228378e-03 9.74495456e-01 -2.43220482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.346875 meters 0.01402339372338691 Centerline is valid? [True, True] Translation: X:244.17, Y:68.39, Z:-2.43 [[-3.44745494e-01 -9.35573667e-01 7.65013658e-02 2.44165690e+02] [ 9.11420140e-01 -3.53117992e-01 -2.11236864e-01 6.83931409e+01] [ 2.24641656e-01 -3.09807160e-03 9.74436518e-01 -2.42651455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37687500000004 meters 0.01395846128055074 Centerline is valid? [True, True] Translation: X:244.15, Y:68.42, Z:-2.42 [[-3.46654688e-01 -9.34850437e-01 7.67149759e-02 2.44153418e+02] [ 9.10589912e-01 -3.55024484e-01 -2.11621427e-01 6.84172630e+01] [ 2.25070079e-01 -3.50367670e-03 9.74336279e-01 -2.42006802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.406875 meters 0.01415917308662664 Centerline is valid? [True, True] Translation: X:244.14, Y:68.44, Z:-2.41 [[-3.47545424e-01 -9.34522193e-01 7.66840828e-02 2.44143139e+02] [ 9.10319896e-01 -3.55886230e-01 -2.11335461e-01 6.84422720e+01] [ 2.24788488e-01 -3.64162619e-03 9.74400777e-01 -2.41392335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.436875 meters 0.0142906395023316 Centerline is valid? [True, True] Translation: X:244.13, Y:68.47, Z:-2.41 [[-3.48199323e-01 -9.34273594e-01 7.67468750e-02 2.44132907e+02] [ 9.10074066e-01 -3.56537451e-01 -2.11296569e-01 6.84672840e+01] [ 2.24771940e-01 -3.72798180e-03 9.74404268e-01 -2.40737517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.466875 meters 0.014959084292217912 Centerline is valid? [True, True] Translation: X:244.12, Y:68.49, Z:-2.40 [[-3.49107730e-01 -9.33952589e-01 7.65268214e-02 2.44124066e+02] [ 9.09934042e-01 -3.57376228e-01 -2.10481045e-01 6.84916424e+01] [ 2.23928184e-01 -3.84619991e-03 9.74598058e-01 -2.40095935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.496875 meters 0.014784846614960056 Centerline is valid? [True, True] Translation: X:244.11, Y:68.52, Z:-2.39 [[-3.50410326e-01 -9.33501332e-01 7.60780326e-02 2.44111819e+02] [ 9.09806226e-01 -3.58551283e-01 -2.09030162e-01 6.85152531e+01] [ 2.22407810e-01 -4.03005941e-03 9.74945396e-01 -2.39236910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.526875 meters 0.014420120656460965 Centerline is valid? [True, True] Translation: X:244.10, Y:68.54, Z:-2.39 [[-3.51368125e-01 -9.33147005e-01 7.60072886e-02 2.44100287e+02] [ 9.09535025e-01 -3.59470774e-01 -2.08630775e-01 6.85392925e+01] [ 2.22005581e-01 -4.17491305e-03 9.75036457e-01 -2.38564238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.556875 meters 0.015648769406977216 Centerline is valid? [True, True] Translation: X:244.09, Y:68.56, Z:-2.38 [[-3.52399805e-01 -9.32763697e-01 7.59359143e-02 2.44090222e+02] [ 9.09235714e-01 -3.60462339e-01 -2.08224204e-01 6.85628304e+01] [ 2.21596016e-01 -4.33452367e-03 9.75128924e-01 -2.38025171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.586875 meters 0.015459307940177967 Centerline is valid? [True, True] Translation: X:244.08, Y:68.59, Z:-2.37 [[-3.52634662e-01 -9.32668942e-01 7.60094728e-02 2.44078902e+02] [ 9.09142716e-01 -3.60707650e-01 -2.08205462e-01 6.85871839e+01] [ 2.21603966e-01 -4.31700415e-03 9.75127195e-01 -2.37449123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.616875 meters 0.014734630687125742 Centerline is valid? [True, True] Translation: X:244.07, Y:68.61, Z:-2.37 [[-3.52611116e-01 -9.32673214e-01 7.60662613e-02 2.44066376e+02] [ 9.09156698e-01 -3.60697467e-01 -2.08162042e-01 6.86111617e+01] [ 2.21584068e-01 -4.24409892e-03 9.75132036e-01 -2.36859686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.646875 meters 0.014181817218851207 Centerline is valid? [True, True] Translation: X:244.05, Y:68.63, Z:-2.36 [[-3.51850865e-01 -9.32932941e-01 7.64008989e-02 2.44052868e+02] [ 9.09259862e-01 -3.60027702e-01 -2.08869715e-01 6.86346278e+01] [ 2.22367877e-01 -4.02271901e-03 9.74954535e-01 -2.36302260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.676875 meters 0.014900479760818465 Centerline is valid? [True, True] Translation: X:244.04, Y:68.66, Z:-2.36 [[-3.51646610e-01 -9.33006230e-01 7.64462965e-02 2.44044143e+02] [ 9.09354590e-01 -3.59839073e-01 -2.08782356e-01 6.86591879e+01] [ 2.22303603e-01 -3.90081721e-03 9.74969687e-01 -2.35831425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.706875 meters 0.013896001697600083 Centerline is valid? [True, True] Translation: X:244.03, Y:68.68, Z:-2.35 [[-3.50855922e-01 -9.33288168e-01 7.66375688e-02 2.44031856e+02] [ 9.09573584e-01 -3.59109825e-01 -2.09083784e-01 6.86830365e+01] [ 2.22656726e-01 -3.65077569e-03 9.74890073e-01 -2.35202830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.736875 meters 0.013917859353599972 Centerline is valid? [True, True] Translation: X:244.02, Y:68.71, Z:-2.35 [[-3.50405784e-01 -9.33431649e-01 7.69489649e-02 2.44021683e+02] [ 9.09572548e-01 -3.58738232e-01 -2.09725205e-01 6.87071366e+01] [ 2.23368680e-01 -3.49825881e-03 9.74727754e-01 -2.34666308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.766875 meters 0.013205951602236372 Centerline is valid? [True, True] Translation: X:244.01, Y:68.73, Z:-2.34 [[-3.48606708e-01 -9.34103285e-01 7.69702223e-02 2.44009411e+02] [ 9.10283979e-01 -3.56990180e-01 -2.09621300e-01 6.87315671e+01] [ 2.23285559e-01 -3.01063128e-03 9.74748427e-01 -2.34069187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.796875 meters 0.01320705530596851 Centerline is valid? [True, True] Translation: X:244.00, Y:68.76, Z:-2.34 [[-3.47362749e-01 -9.34562779e-01 7.70164495e-02 2.43999759e+02] [ 9.10768325e-01 -3.55788411e-01 -2.09560648e-01 6.87556951e+01] [ 2.23249142e-01 -2.64942003e-03 9.74757817e-01 -2.33581797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.82687500000003 meters 0.012868275344934189 Centerline is valid? [True, True] Translation: X:243.99, Y:68.78, Z:-2.33 [[-3.46041886e-01 -9.35038443e-01 7.71888840e-02 2.43988566e+02] [ 9.11185265e-01 -3.54538957e-01 -2.09865533e-01 6.87804605e+01] [ 2.23598807e-01 -2.28889115e-03 9.74678580e-01 -2.32975237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.856875 meters 0.01257389849482058 Centerline is valid? [True, True] Translation: X:243.98, Y:68.80, Z:-2.32 [[-3.42880045e-01 -9.36191461e-01 7.73228512e-02 2.43976637e+02] [ 9.12328056e-01 -3.51487382e-01 -2.10033661e-01 6.88046262e+01] [ 2.23809727e-01 -1.47254467e-03 9.74631745e-01 -2.32404520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.88687500000003 meters 0.012513505275595664 Centerline is valid? [True, True] Translation: X:243.97, Y:68.83, Z:-2.32 [[-3.41821942e-01 -9.36568403e-01 7.74427990e-02 2.43966108e+02] [ 9.12686823e-01 -3.50482946e-01 -2.10153441e-01 6.88292108e+01] [ 2.23965453e-01 -1.15403513e-03 9.74596401e-01 -2.31777797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.916875 meters 0.012461407309675002 Centerline is valid? [True, True] Translation: X:243.96, Y:68.85, Z:-2.31 [[-3.40611283e-01 -9.36995352e-01 7.76122712e-02 2.43956373e+02] [ 9.13067026e-01 -3.49340908e-01 -2.10403272e-01 6.88531056e+01] [ 2.24260029e-01 -8.00522929e-04 9.74529014e-01 -2.31232592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.94687500000003 meters 0.012264616717382836 Centerline is valid? [True, True] Translation: X:243.95, Y:68.88, Z:-2.31 [[-3.39010359e-01 -9.37589456e-01 7.74466838e-02 2.43945150e+02] [ 9.13829554e-01 -3.47744020e-01 -2.09737080e-01 6.88773806e+01] [ 2.23578896e-01 -3.29974215e-04 9.74685779e-01 -2.30575615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.976875 meters 0.012202603520520413 Centerline is valid? [True, True] Translation: X:243.93, Y:68.90, Z:-2.30 [[-3.38664612e-01 -9.37723775e-01 7.73330618e-02 2.43934706e+02] [ 9.14084188e-01 -3.47381769e-01 -2.09227158e-01 6.89018018e+01] [ 2.23061376e-01 -1.68905310e-04 9.74804388e-01 -2.29916924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.00687500000004 meters 0.012174133810192398 Centerline is valid? [True, True] Translation: X:243.92, Y:68.93, Z:-2.29 [[-3.38001143e-01 -9.37978807e-01 7.71426316e-02 2.43924449e+02] [ 9.14510488e-01 -3.46692591e-01 -2.08506150e-01 6.89257632e+01] [ 2.22319129e-01 7.24286111e-05 9.74973948e-01 -2.29301256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.036875 meters 0.012299760026083658 Centerline is valid? [True, True] Translation: X:243.92, Y:68.95, Z:-2.29 [[-3.37662527e-01 -9.38093264e-01 7.72337148e-02 2.43915180e+02] [ 9.14620963e-01 -3.46382705e-01 -2.08536607e-01 6.89498886e+01] [ 2.22379209e-01 2.24576931e-04 9.74960223e-01 -2.28761453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06687500000004 meters 0.01229322131917741 Centerline is valid? [True, True] Translation: X:243.91, Y:68.97, Z:-2.28 [[-3.37676181e-01 -9.38084437e-01 7.72812176e-02 2.43905486e+02] [ 9.14631456e-01 -3.46406557e-01 -2.08450946e-01 6.89746579e+01] [ 2.22315309e-01 2.94913148e-04 9.74974777e-01 -2.28158222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.096875 meters 0.012391315955745717 Centerline is valid? [True, True] Translation: X:243.90, Y:69.00, Z:-2.28 [[-3.36858890e-01 -9.38352010e-01 7.75989308e-02 2.43895177e+02] [ 9.14756756e-01 -3.45680790e-01 -2.09104925e-01 6.89998437e+01] [ 2.23038486e-01 5.45293285e-04 9.74809487e-01 -2.27594129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12687500000004 meters 0.012349153202842755 Centerline is valid? [True, True] Translation: X:243.89, Y:69.02, Z:-2.27 [[-3.36444754e-01 -9.38489267e-01 7.77356021e-02 2.43885202e+02] [ 9.14861074e-01 -3.45307676e-01 -2.09264965e-01 6.90244047e+01] [ 2.23235623e-01 7.11176716e-04 9.74764254e-01 -2.27040756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.156875 meters 0.012556464076206775 Centerline is valid? [True, True] Translation: X:243.87, Y:69.05, Z:-2.27 [[-3.35222537e-01 -9.38900040e-01 7.80548861e-02 2.43874815e+02] [ 9.15133636e-01 -3.44188301e-01 -2.09916274e-01 6.90482281e+01] [ 2.23955976e-01 1.06198600e-03 9.74598683e-01 -2.26560650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.186875 meters 0.01246990622070012 Centerline is valid? [True, True] Translation: X:243.87, Y:69.07, Z:-2.26 [[-3.34245441e-01 -9.39223296e-01 7.83555052e-02 2.43865087e+02] [ 9.15329854e-01 -3.43304167e-01 -2.10507737e-01 6.90729386e+01] [ 2.24613542e-01 1.35988160e-03 9.74446975e-01 -2.25880437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.216875 meters 0.01289474426576374 Centerline is valid? [True, True] Translation: X:243.85, Y:69.10, Z:-2.25 [[-3.31805397e-01 -9.40061927e-01 7.86686249e-02 2.43853708e+02] [ 9.16045860e-01 -3.40997872e-01 -2.11140791e-01 6.90970285e+01] [ 2.25311253e-01 2.00641411e-03 9.74284770e-01 -2.25344235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.246875 meters 0.01298509189392239 Centerline is valid? [True, True] Translation: X:243.84, Y:69.12, Z:-2.25 [[-3.30811373e-01 -9.40398202e-01 7.88356323e-02 2.43843961e+02] [ 9.16320352e-01 -3.40067616e-01 -2.11449827e-01 6.91220910e+01] [ 2.25656483e-01 2.28868668e-03 9.74204246e-01 -2.24788741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.276875 meters 0.013054036655298454 Centerline is valid? [True, True] Translation: X:243.83, Y:69.15, Z:-2.24 [[-3.30286937e-01 -9.40569629e-01 7.89893191e-02 2.43834291e+02] [ 9.16450272e-01 -3.39591818e-01 -2.11651354e-01 6.91472049e+01] [ 2.25896962e-01 2.48410548e-03 9.74148034e-01 -2.24220485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.306875 meters 0.013108756929806405 Centerline is valid? [True, True] Translation: X:243.82, Y:69.17, Z:-2.24 [[-3.29809630e-01 -9.40713612e-01 7.92685846e-02 2.43824865e+02] [ 9.16474106e-01 -3.39191386e-01 -2.12189577e-01 6.91722378e+01] [ 2.26496844e-01 2.66543935e-03 9.74008252e-01 -2.23644797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.336875 meters 0.013168529987042397 Centerline is valid? [True, True] Translation: X:243.82, Y:69.20, Z:-2.23 [[-3.28634603e-01 -9.41142120e-01 7.90620569e-02 2.43815599e+02] [ 9.17091059e-01 -3.37997577e-01 -2.11427593e-01 6.91977018e+01] [ 2.25706196e-01 3.02468261e-03 9.74190723e-01 -2.22946101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.366875 meters 0.013356186285008498 Centerline is valid? [True, True] Translation: X:243.81, Y:69.22, Z:-2.22 [[-3.28386632e-01 -9.41234163e-01 7.89966502e-02 2.43806054e+02] [ 9.17269985e-01 -3.37740020e-01 -2.11062676e-01 6.92226746e+01] [ 2.25339732e-01 3.15109486e-03 9.74275154e-01 -2.22289258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.396875 meters 0.014129986068504501 Centerline is valid? [True, True] Translation: X:243.80, Y:69.25, Z:-2.22 [[-3.27856889e-01 -9.41438978e-01 7.87560186e-02 2.43795692e+02] [ 9.17674219e-01 -3.37166764e-01 -2.10220362e-01 6.92464700e+01] [ 2.24463555e-01 3.35017389e-03 9.74476726e-01 -2.21793255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.426875 meters 0.014406282326697337 Centerline is valid? [True, True] Translation: X:243.79, Y:69.27, Z:-2.21 [[-3.26610386e-01 -9.41896392e-01 7.84655547e-02 2.43785446e+02] [ 9.18371638e-01 -3.35882889e-01 -2.09227674e-01 6.92715345e+01] [ 2.23426028e-01 3.72460859e-03 9.74713772e-01 -2.21039915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.456875 meters 0.01513242969442861 Centerline is valid? [True, True] Translation: X:243.78, Y:69.29, Z:-2.20 [[-3.25928232e-01 -9.42142007e-01 7.83532094e-02 2.43775314e+02] [ 9.18733401e-01 -3.35190762e-01 -2.08748872e-01 6.92946826e+01] [ 2.22934353e-01 3.94855980e-03 9.74825463e-01 -2.20418011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.486875 meters 0.014349929116103222 Centerline is valid? [True, True] Translation: X:243.77, Y:69.32, Z:-2.20 [[-3.24169668e-01 -9.42762179e-01 7.81888721e-02 2.43767925e+02] [ 9.19518131e-01 -3.33436349e-01 -2.08102397e-01 6.93203309e+01] [ 2.22262082e-01 4.43560050e-03 9.74976868e-01 -2.19581322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.516875 meters 0.014893260407387502 Centerline is valid? [True, True] Translation: X:243.76, Y:69.34, Z:-2.19 [[-3.23599996e-01 -9.42945644e-01 7.83361674e-02 2.43757458e+02] [ 9.19660547e-01 -3.32914461e-01 -2.08308522e-01 6.93437045e+01] [ 2.22502856e-01 4.63404590e-03 9.74921025e-01 -2.19060513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.546875 meters 0.01560803478364537 Centerline is valid? [True, True] Translation: X:243.75, Y:69.37, Z:-2.19 [[-3.22996213e-01 -9.43131065e-01 7.85954253e-02 2.43746496e+02] [ 9.19732453e-01 -3.32385960e-01 -2.08834355e-01 6.93679945e+01] [ 2.23082183e-01 4.83405763e-03 9.74787655e-01 -2.18536000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57687500000003 meters 0.01508239737092822 Centerline is valid? [True, True] Translation: X:243.74, Y:69.39, Z:-2.18 [[-3.22803828e-01 -9.43177081e-01 7.88332544e-02 2.43738230e+02] [ 9.19680705e-01 -3.32253691e-01 -2.09272276e-01 6.93931651e+01] [ 2.23573454e-01 4.94753135e-03 9.74674527e-01 -2.18037817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.606875 meters 0.01611600424182201 Centerline is valid? [True, True] Translation: X:243.73, Y:69.42, Z:-2.18 [[-3.23121554e-01 -9.43042333e-01 7.91430376e-02 2.43727665e+02] [ 9.19402666e-01 -3.32635986e-01 -2.09885775e-01 6.94169329e+01] [ 2.24256993e-01 4.94570199e-03 9.74517491e-01 -2.17605559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63687500000003 meters 0.016105047682971965 Centerline is valid? [True, True] Translation: X:243.72, Y:69.44, Z:-2.17 [[-3.23742994e-01 -9.42811559e-01 7.93526167e-02 2.43718835e+02] [ 9.19075731e-01 -3.33290854e-01 -2.10278402e-01 6.94419371e+01] [ 2.24700409e-01 4.85490488e-03 9.74415802e-01 -2.17103756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.666875 meters 0.016105047682971965 Centerline is valid? [True, True] Translation: X:243.71, Y:69.47, Z:-2.17 [[-3.24029365e-01 -9.42707656e-01 7.94181660e-02 2.43709456e+02] [ 9.18974810e-01 -3.33584628e-01 -2.10253643e-01 6.94663584e+01] [ 2.24700399e-01 4.85493945e-03 9.74415805e-01 -2.16526656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69687500000003 meters 0.014670608518332368 Centerline is valid? [True, True] Translation: X:243.70, Y:69.49, Z:-2.16 [[-3.25530494e-01 -9.42145917e-01 7.99435392e-02 2.43703570e+02] [ 9.18123820e-01 -3.35171922e-01 -2.11443691e-01 6.94922059e+01] [ 2.26005640e-01 4.56669825e-03 9.74115289e-01 -2.15898940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.726875 meters 0.014781702722040421 Centerline is valid? [True, True] Translation: X:243.69, Y:69.52, Z:-2.15 [[-3.26643140e-01 -9.41757795e-01 7.99782118e-02 2.43694852e+02] [ 9.17751528e-01 -3.36263503e-01 -2.11326736e-01 6.95161328e+01] [ 2.25912355e-01 4.37169742e-03 9.74137822e-01 -2.15372149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75687500000004 meters 0.014428626697858198 Centerline is valid? [True, True] Translation: X:243.69, Y:69.54, Z:-2.15 [[-3.27839377e-01 -9.41325698e-01 8.01702714e-02 2.43686255e+02] [ 9.17240361e-01 -3.37473896e-01 -2.11616374e-01 6.95413030e+01] [ 2.26255305e-01 4.15922844e-03 9.74059155e-01 -2.14735800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.786875 meters 0.014485508365834157 Centerline is valid? [True, True] Translation: X:243.68, Y:69.57, Z:-2.14 [[-3.28647918e-01 -9.41037911e-01 8.02383669e-02 2.43677725e+02] [ 9.16950534e-01 -3.38277046e-01 -2.11590071e-01 6.95656681e+01] [ 2.26257077e-01 4.03597703e-03 9.74059262e-01 -2.14169864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81687500000004 meters 0.013863051232030852 Centerline is valid? [True, True] Translation: X:243.67, Y:69.59, Z:-2.14 [[-3.30835966e-01 -9.40266299e-01 8.02922800e-02 2.43669995e+02] [ 9.16173265e-01 -3.40420981e-01 -2.11518570e-01 6.95921660e+01] [ 2.26216960e-01 3.58368977e-03 9.74070349e-01 -2.13530090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.846875 meters 0.01367716602448703 Centerline is valid? [True, True] Translation: X:243.66, Y:69.62, Z:-2.13 [[-3.32286478e-01 -9.39746340e-01 8.03897516e-02 2.43661760e+02] [ 9.15621151e-01 -3.41856618e-01 -2.11593859e-01 6.96178941e+01] [ 2.26326323e-01 3.29677853e-03 9.74045957e-01 -2.12930687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87687500000004 meters 0.013184358711879413 Centerline is valid? [True, True] Translation: X:243.65, Y:69.64, Z:-2.12 [[-3.35002053e-01 -9.38772174e-01 8.05011159e-02 2.43654973e+02] [ 9.14598629e-01 -3.44527867e-01 -2.11683481e-01 6.96441851e+01] [ 2.26457439e-01 2.71180946e-03 9.74017286e-01 -2.12273427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.906875 meters 0.01287977311042317 Centerline is valid? [True, True] Translation: X:243.65, Y:69.67, Z:-2.12 [[-3.36644812e-01 -9.38181407e-01 8.05352043e-02 2.43646808e+02] [ 9.14014725e-01 -3.46135773e-01 -2.11582392e-01 6.96701042e+01] [ 2.26378782e-01 2.38224795e-03 9.74036433e-01 -2.11680994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.936875 meters 0.012565993713169495 Centerline is valid? [True, True] Translation: X:243.64, Y:69.70, Z:-2.11 [[-3.38728786e-01 -9.37429917e-01 8.05478747e-02 2.43639454e+02] [ 9.13268111e-01 -3.48168671e-01 -2.11470880e-01 6.96958759e+01] [ 2.26283376e-01 1.93053081e-03 9.74059601e-01 -2.11039197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.966875 meters 0.012480659818163941 Centerline is valid? [True, True] Translation: X:243.63, Y:69.72, Z:-2.11 [[-3.42625746e-01 -9.36005765e-01 8.06275735e-02 2.43633529e+02] [ 9.11804064e-01 -3.51983073e-01 -2.11474029e-01 6.97216269e+01] [ 2.26320452e-01 1.06010204e-03 9.74052324e-01 -2.10584767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.996875 meters 0.012376945494561297 Centerline is valid? [True, True] Translation: X:243.63, Y:69.75, Z:-2.10 [[-3.44893630e-01 -9.35170032e-01 8.06560297e-02 2.43626473e+02] [ 9.10966075e-01 -3.54198655e-01 -2.11386194e-01 6.97475435e+01] [ 2.26250291e-01 5.69154885e-04 9.74069033e-01 -2.09914806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.026875 meters 0.012258057127047063 Centerline is valid? [True, True] Translation: X:243.62, Y:69.77, Z:-2.09 [[-3.46927641e-01 -9.34401781e-01 8.08363982e-02 2.43619237e+02] [ 9.10115210e-01 -3.56220847e-01 -2.11653049e-01 6.97733472e+01] [ 2.26564596e-01 1.42142549e-04 9.73996131e-01 -2.09269949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.056875 meters 0.012444128303293904 Centerline is valid? [True, True] Translation: X:243.61, Y:69.80, Z:-2.09 [[-3.50086872e-01 -9.33191612e-01 8.11948137e-02 2.43613892e+02] [ 9.08702080e-01 -3.59378755e-01 -2.12385121e-01 6.97988127e+01] [ 2.27375705e-01 -5.71346663e-04 9.73806943e-01 -2.08771600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.086875 meters 0.012518358088393269 Centerline is valid? [True, True] Translation: X:243.61, Y:69.82, Z:-2.08 [[-3.51102861e-01 -9.32780666e-01 8.15291971e-02 2.43606428e+02] [ 9.08125222e-01 -3.60443681e-01 -2.13046789e-01 6.98232053e+01] [ 2.28112609e-01 -7.62616811e-04 9.73634457e-01 -2.08302584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.116875 meters 0.012675039935284972 Centerline is valid? [True, True] Translation: X:243.60, Y:69.85, Z:-2.08 [[-3.52111233e-01 -9.32382909e-01 8.17299874e-02 2.43598729e+02] [ 9.07631314e-01 -3.61470860e-01 -2.13410906e-01 6.98475719e+01] [ 2.28523690e-01 -9.63681216e-04 9.73537875e-01 -2.07766308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.146875 meters 0.012815121409541995 Centerline is valid? [True, True] Translation: X:243.59, Y:69.87, Z:-2.07 [[-3.52550459e-01 -9.32199661e-01 8.19265862e-02 2.43590288e+02] [ 9.07372165e-01 -3.61943060e-01 -2.13712367e-01 6.98725986e+01] [ 2.28875355e-01 -1.00648899e-03 9.73455217e-01 -2.07175361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.176875 meters 0.012709938011621366 Centerline is valid? [True, True] Translation: X:243.58, Y:69.90, Z:-2.07 [[-3.51434784e-01 -9.32614361e-01 8.20002826e-02 2.43581449e+02] [ 9.07800106e-01 -3.60873959e-01 -2.13702954e-01 6.98979302e+01] [ 2.28894210e-01 -6.62786108e-04 9.73451078e-01 -2.06513883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.206875 meters 0.012657382468706256 Centerline is valid? [True, True] Translation: X:243.57, Y:69.92, Z:-2.06 [[-3.50150614e-01 -9.33098073e-01 8.19910539e-02 2.43571946e+02] [ 9.08349984e-01 -3.59621901e-01 -2.13476918e-01 6.99221417e+01] [ 2.28680679e-01 -2.72501380e-04 9.73501450e-01 -2.05841370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.236875 meters 0.012866267115514118 Centerline is valid? [True, True] Translation: X:243.56, Y:69.95, Z:-2.05 [[-3.46489031e-01 -9.34496405e-01 8.16199781e-02 2.43561664e+02] [ 9.10060250e-01 -3.55971846e-01 -2.12307291e-01 6.99454468e+01] [ 2.27454814e-01 7.16950251e-04 9.73788372e-01 -2.05288643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.266875 meters 0.012886525935723024 Centerline is valid? [True, True] Translation: X:243.55, Y:69.97, Z:-2.05 [[-3.44661718e-01 -9.35188476e-01 8.14298107e-02 2.43551130e+02] [ 9.10935863e-01 -3.54148218e-01 -2.11600790e-01 6.99693357e+01] [ 2.26724842e-01 1.24664310e-03 9.73958054e-01 -2.04669346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.296875 meters 0.01310324132412172 Centerline is valid? [True, True] Translation: X:243.54, Y:69.99, Z:-2.04 [[-3.42243369e-01 -9.36074846e-01 8.14454348e-02 2.43540379e+02] [ 9.11885362e-01 -3.51795746e-01 -2.11435189e-01 6.99946267e+01] [ 2.26571319e-01 1.90660853e-03 9.73992712e-01 -2.04023462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.32687500000003 meters 0.013715875401379276 Centerline is valid? [True, True] Translation: X:243.53, Y:70.02, Z:-2.03 [[-3.37657026e-01 -9.37747613e-01 8.13458477e-02 2.43528633e+02] [ 9.13707094e-01 -3.47303780e-01 -2.10996281e-01 7.00192659e+01] [ 2.26112979e-01 3.08190151e-03 9.74096208e-01 -2.03458649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.356875 meters 0.01494565304969447 Centerline is valid? [True, True] Translation: X:243.52, Y:70.04, Z:-2.03 [[-3.35308349e-01 -9.38579948e-01 8.14615998e-02 2.43516328e+02] [ 9.14536502e-01 -3.45041892e-01 -2.11113903e-01 7.00435848e+01] [ 2.26254941e-01 3.71135206e-03 9.74061049e-01 -2.03039462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.38687500000003 meters 0.015112156716319856 Centerline is valid? [True, True] Translation: X:243.51, Y:70.07, Z:-2.02 [[-3.32977068e-01 -9.39395474e-01 8.16236198e-02 2.43506469e+02] [ 9.15310754e-01 -3.42808220e-01 -2.11397135e-01 7.00688062e+01] [ 2.26566759e-01 4.32057886e-03 9.73986055e-01 -2.02431153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.416875 meters 0.016465225885030205 Centerline is valid? [True, True] Translation: X:243.49, Y:70.09, Z:-2.02 [[-3.29127370e-01 -9.40739988e-01 8.17523727e-02 2.43494939e+02] [ 9.16660765e-01 -3.39087086e-01 -2.11549024e-01 7.00943908e+01] [ 2.26733800e-01 5.31261869e-03 9.73942278e-01 -2.01968630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.44687500000003 meters 0.0175325395985201 Centerline is valid? [True, True] Translation: X:243.48, Y:70.12, Z:-2.01 [[-3.27943909e-01 -9.41145102e-01 8.18455209e-02 2.43484065e+02] [ 9.17065183e-01 -3.37955373e-01 -2.11607220e-01 7.01183529e+01] [ 2.26813232e-01 5.66237890e-03 9.73921812e-01 -2.01457051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.476875 meters 0.0172490168768491 Centerline is valid? [True, True] Translation: X:243.48, Y:70.14, Z:-2.01 [[-3.27416363e-01 -9.41325594e-01 8.18819301e-02 2.43475219e+02] [ 9.17274204e-01 -3.37448998e-01 -2.11509359e-01 7.01440960e+01] [ 2.26730148e-01 5.85655731e-03 9.73940009e-01 -2.00878537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.50687500000004 meters 0.017466732449883345 Centerline is valid? [True, True] Translation: X:243.47, Y:70.17, Z:-2.00 [[-3.26982441e-01 -9.41464390e-01 8.20200345e-02 2.43465562e+02] [ 9.17377254e-01 -3.37058584e-01 -2.11684871e-01 7.01697015e+01] [ 2.26939325e-01 6.02607810e-03 9.73890255e-01 -2.00320526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.536875 meters 0.017679115868064824 Centerline is valid? [True, True] Translation: X:243.46, Y:70.19, Z:-2.00 [[-3.27750693e-01 -9.41224973e-01 8.17008782e-02 2.43458341e+02] [ 9.17361249e-01 -3.37728840e-01 -2.10683578e-01 7.01944298e+01] [ 2.25893388e-01 5.89753078e-03 9.74134178e-01 -1.99786696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56687500000004 meters 0.01753817718267037 Centerline is valid? [True, True] Translation: X:243.45, Y:70.22, Z:-1.99 [[-3.28693300e-01 -9.40903079e-01 8.16217543e-02 2.43450201e+02] [ 9.17112895e-01 -3.38627555e-01 -2.10321938e-01 7.02197667e+01] [ 2.25531934e-01 5.72495163e-03 9.74218955e-01 -1.99198571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.596875 meters 0.01750336646861128 Centerline is valid? [True, True] Translation: X:243.44, Y:70.25, Z:-1.99 [[-3.29474945e-01 -9.40636221e-01 8.15460683e-02 2.43442031e+02] [ 9.16928600e-01 -3.39370116e-01 -2.09928242e-01 7.02451577e+01] [ 2.25140406e-01 5.60582638e-03 9.74310203e-01 -1.98610291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62687500000004 meters 0.01629356753978535 Centerline is valid? [True, True] Translation: X:243.44, Y:70.27, Z:-1.98 [[-3.32048563e-01 -9.39756140e-01 8.12536068e-02 2.43436780e+02] [ 9.16239588e-01 -3.41808173e-01 -2.08978921e-01 7.02727085e+01] [ 2.24162371e-01 5.05662087e-03 9.74538692e-01 -1.97969580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.656875 meters 0.01583460178049972 Centerline is valid? [True, True] Translation: X:243.43, Y:70.30, Z:-1.97 [[-3.33866897e-01 -9.39124991e-01 8.10996086e-02 2.43429057e+02] [ 9.15721074e-01 -3.43543740e-01 -2.08404929e-01 7.02990232e+01] [ 2.23579540e-01 4.68511389e-03 9.74674427e-01 -1.97328731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.686875 meters 0.015464511205802145 Centerline is valid? [True, True] Translation: X:243.42, Y:70.33, Z:-1.97 [[-3.37543559e-01 -9.37857058e-01 8.05511261e-02 2.43422336e+02] [ 9.14776710e-01 -3.47000170e-01 -2.06819855e-01 7.03251607e+01] [ 2.21918715e-01 3.87558411e-03 9.75057467e-01 -1.96717269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.716875 meters 0.01455434229899891 Centerline is valid? [True, True] Translation: X:243.42, Y:70.35, Z:-1.96 [[-3.39547217e-01 -9.37136986e-01 8.05106025e-02 2.43415861e+02] [ 9.14100020e-01 -3.48944504e-01 -2.06540280e-01 7.03515258e+01] [ 2.21650268e-01 3.46456602e-03 9.75120072e-01 -1.96060370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.746875 meters 0.014048430018226143 Centerline is valid? [True, True] Translation: X:243.41, Y:70.38, Z:-1.95 [[-3.41768169e-01 -9.36324331e-01 8.05683890e-02 2.43409129e+02] [ 9.13262512e-01 -3.51123659e-01 -2.06552075e-01 7.03772248e+01] [ 2.21689201e-01 2.98716480e-03 9.75112801e-01 -1.95464348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.776875 meters 0.01361364958694776 Centerline is valid? [True, True] Translation: X:243.40, Y:70.40, Z:-1.95 [[-3.46724910e-01 -9.34484693e-01 8.07477311e-02 2.43403255e+02] [ 9.11314725e-01 -3.55998348e-01 -2.06810659e-01 7.04037449e+01] [ 2.22007454e-01 1.88018929e-03 9.75043156e-01 -1.94993254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.806875 meters 0.013214859253811918 Centerline is valid? [True, True] Translation: X:243.40, Y:70.43, Z:-1.94 [[-3.49328050e-01 -9.33516739e-01 8.07242909e-02 2.43396240e+02] [ 9.10374193e-01 -3.58531364e-01 -2.06577078e-01 7.04300123e+01] [ 2.21785350e-01 1.32614356e-03 9.75094611e-01 -1.94374014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.836875 meters 0.012896558667464298 Centerline is valid? [True, True] Translation: X:243.39, Y:70.46, Z:-1.94 [[-3.52512150e-01 -9.32314267e-01 8.07792750e-02 2.43389075e+02] [ 9.09151797e-01 -3.61648588e-01 -2.06526775e-01 7.04563131e+01] [ 2.21761569e-01 6.37425656e-04 9.75100713e-01 -1.93772385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.866875 meters 0.01293363073223988 Centerline is valid? [True, True] Translation: X:243.38, Y:70.48, Z:-1.93 [[-3.59027123e-01 -9.29814479e-01 8.08984583e-02 2.43384758e+02] [ 9.06563747e-01 -3.68027603e-01 -2.06634596e-01 7.04833379e+01] [ 2.21904705e-01 -8.47814876e-04 9.75067989e-01 -1.93273716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.896875 meters 0.013212315757774033 Centerline is valid? [True, True] Translation: X:243.38, Y:70.51, Z:-1.93 [[-3.62162955e-01 -9.28586028e-01 8.10307545e-02 2.43378569e+02] [ 9.05272281e-01 -3.71114056e-01 -2.06776339e-01 7.05084557e+01] [ 2.22081271e-01 -1.53183398e-03 9.75026955e-01 -1.92725368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.926875 meters 0.01346252842361268 Centerline is valid? [True, True] Translation: X:243.37, Y:70.53, Z:-1.92 [[-3.65356293e-01 -9.27341602e-01 8.09464794e-02 2.43370852e+02] [ 9.04092725e-01 -3.74209386e-01 -2.06358136e-01 7.05348571e+01] [ 2.21655417e-01 -2.21112067e-03 9.75122550e-01 -1.92037797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.956875 meters 0.013854391414208673 Centerline is valid? [True, True] Translation: X:243.36, Y:70.56, Z:-1.91 [[-3.67998866e-01 -9.26308852e-01 8.08006502e-02 2.43363943e+02] [ 9.03159405e-01 -3.76754929e-01 -2.05812565e-01 7.05603152e+01] [ 2.21088044e-01 -2.76292331e-03 9.75249939e-01 -1.91350870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.986875 meters 0.014258449414208068 Centerline is valid? [True, True] Translation: X:243.36, Y:70.59, Z:-1.91 [[-3.70063788e-01 -9.25501450e-01 8.06217008e-02 2.43356022e+02] [ 9.02475331e-01 -3.78730774e-01 -2.05185958e-01 7.05855246e+01] [ 2.20433821e-01 -3.17279658e-03 9.75396773e-01 -1.90712843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.016875 meters 0.014620301408591182 Centerline is valid? [True, True] Translation: X:243.35, Y:70.61, Z:-1.90 [[-3.72117453e-01 -9.24725721e-01 8.00683648e-02 2.43347574e+02] [ 9.02028644e-01 -3.80617492e-01 -2.03653258e-01 7.06113121e+01] [ 2.18798826e-01 -3.55897309e-03 9.75763500e-01 -1.90045446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.046875 meters 0.014689194589121662 Centerline is valid? [True, True] Translation: X:243.34, Y:70.63, Z:-1.90 [[-3.72467061e-01 -9.24591503e-01 7.99927544e-02 2.43338397e+02] [ 9.01972112e-01 -3.80943321e-01 -2.03294109e-01 7.06348973e+01] [ 2.18436711e-01 -3.56912569e-03 9.75844590e-01 -1.89509700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07687500000003 meters 0.014086481615685473 Centerline is valid? [True, True] Translation: X:243.33, Y:70.66, Z:-1.89 [[-3.70395429e-01 -9.25424111e-01 7.99840058e-02 2.43325854e+02] [ 9.02872532e-01 -3.78921095e-01 -2.03076326e-01 7.06598352e+01] [ 2.18239355e-01 -3.00318095e-03 9.75890652e-01 -1.89000898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.106875 meters 0.013783351807652604 Centerline is valid? [True, True] Translation: X:243.31, Y:70.68, Z:-1.88 [[-3.68818898e-01 -9.26052169e-01 8.00000027e-02 2.43314572e+02] [ 9.03543354e-01 -3.77386783e-01 -2.02949802e-01 7.06839252e+01] [ 2.18133048e-01 -2.56825180e-03 9.75915661e-01 -1.88494913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13687500000003 meters 0.013470490769575589 Centerline is valid? [True, True] Translation: X:243.30, Y:70.71, Z:-1.88 [[-3.66935596e-01 -9.26779826e-01 8.02335536e-02 2.43302708e+02] [ 9.04196862e-01 -3.75599341e-01 -2.03354788e-01 7.07085493e+01] [ 2.18600784e-01 -2.07118277e-03 9.75812178e-01 -1.87951591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.166875 meters 0.01305434908701023 Centerline is valid? [True, True] Translation: X:243.29, Y:70.73, Z:-1.88 [[-3.62980158e-01 -9.28324605e-01 8.03668597e-02 2.43289459e+02] [ 9.05742465e-01 -3.71769096e-01 -2.03514931e-01 7.07327048e+01] [ 2.18805833e-01 -1.08020438e-03 9.75767821e-01 -1.87513477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19687500000003 meters 0.012945778137707717 Centerline is valid? [True, True] Translation: X:243.28, Y:70.76, Z:-1.87 [[-3.60933532e-01 -9.29109161e-01 8.05180278e-02 2.43277570e+02] [ 9.06497371e-01 -3.69805180e-01 -2.03731796e-01 7.07569854e+01] [ 2.19065062e-01 -5.44256162e-04 9.75710102e-01 -1.86986164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.226875 meters 0.013075374493238385 Centerline is valid? [True, True] Translation: X:243.26, Y:70.78, Z:-1.87 [[-3.57185466e-01 -9.30548674e-01 8.06083671e-02 2.43263936e+02] [ 9.07962795e-01 -3.66167999e-01 -2.03775759e-01 7.07799423e+01] [ 2.19139467e-01 4.03658570e-04 9.75693462e-01 -1.86576833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25687500000004 meters 0.01312999464355386 Centerline is valid? [True, True] Translation: X:243.25, Y:70.80, Z:-1.86 [[-3.55583842e-01 -9.31160723e-01 8.06215822e-02 2.43252254e+02] [ 9.08626084e-01 -3.64607984e-01 -2.03616448e-01 7.08043859e+01] [ 2.18994912e-01 8.52153644e-04 9.75725629e-01 -1.86027054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.286875 meters 0.01337168607754527 Centerline is valid? [True, True] Translation: X:243.24, Y:70.83, Z:-1.85 [[-3.53904561e-01 -9.31792588e-01 8.07101861e-02 2.43241562e+02] [ 9.09264487e-01 -3.62988779e-01 -2.03659617e-01 7.08292658e+01] [ 2.19065413e-01 1.31083874e-03 9.75709294e-01 -1.85446285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31687500000004 meters 0.013793643469626422 Centerline is valid? [True, True] Translation: X:243.23, Y:70.85, Z:-1.85 [[-3.52500144e-01 -9.32315623e-01 8.08160165e-02 2.43229739e+02] [ 9.09784526e-01 -3.61641617e-01 -2.03733791e-01 7.08524116e+01] [ 2.19170631e-01 1.70897061e-03 9.75685049e-01 -1.84909556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.346875 meters 0.01474231390757003 Centerline is valid? [True, True] Translation: X:243.22, Y:70.88, Z:-1.84 [[-3.49480778e-01 -9.33451026e-01 8.08230697e-02 2.43216529e+02] [ 9.10979248e-01 -3.58696343e-01 -2.03601926e-01 7.08762452e+01] [ 2.19043366e-01 2.47317986e-03 9.75711990e-01 -1.84371525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37687500000004 meters 0.015034459144837678 Centerline is valid? [True, True] Translation: X:243.21, Y:70.90, Z:-1.84 [[-3.48858680e-01 -9.33682765e-01 8.08338796e-02 2.43205341e+02] [ 9.11250609e-01 -3.58091179e-01 -2.03452782e-01 7.08992408e+01] [ 2.18906255e-01 2.68365331e-03 9.75742204e-01 -1.83860646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.406875 meters 0.01511065111166237 Centerline is valid? [True, True] Translation: X:243.19, Y:70.92, Z:-1.83 [[-3.48887296e-01 -9.33665906e-01 8.09050719e-02 2.43194590e+02] [ 9.11239347e-01 -3.58134624e-01 -2.03426755e-01 7.09231287e+01] [ 2.18907533e-01 2.75087435e-03 9.75741731e-01 -1.83345879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.436875 meters 0.015146310960571825 Centerline is valid? [True, True] Translation: X:243.18, Y:70.95, Z:-1.83 [[-3.50216692e-01 -9.33174796e-01 8.08274061e-02 2.43184491e+02] [ 9.10822590e-01 -3.59414089e-01 -2.03036257e-01 7.09463489e+01] [ 2.18518827e-01 2.51274089e-03 9.75829498e-01 -1.82843960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.466875 meters 0.014316484187944822 Centerline is valid? [True, True] Translation: X:243.18, Y:70.97, Z:-1.82 [[-3.51238375e-01 -9.32794047e-01 8.07890500e-02 2.43176818e+02] [ 9.10496405e-01 -3.60402227e-01 -2.02747456e-01 7.09718203e+01] [ 2.18238174e-01 2.34545257e-03 9.75892719e-01 -1.82185931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.496875 meters 0.014360233351371631 Centerline is valid? [True, True] Translation: X:243.17, Y:71.00, Z:-1.82 [[-3.52417658e-01 -9.32345509e-01 8.08309770e-02 2.43167036e+02] [ 9.10054343e-01 -3.61562283e-01 -2.02666741e-01 7.09956962e+01] [ 2.18180858e-01 2.13724346e-03 9.75906013e-01 -1.81595781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.526875 meters 0.013955076109702333 Centerline is valid? [True, True] Translation: X:243.16, Y:71.02, Z:-1.81 [[-3.54661177e-01 -9.31501777e-01 8.07458236e-02 2.43158394e+02] [ 9.09279281e-01 -3.63732862e-01 -2.02261204e-01 7.10205464e+01] [ 2.17776581e-01 1.68630771e-03 9.75997191e-01 -1.81033105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.556875 meters 0.013955076109702333 Centerline is valid? [True, True] Translation: X:243.15, Y:71.04, Z:-1.80 [[-3.54948052e-01 -9.31386924e-01 8.08101340e-02 2.43148553e+02] [ 9.09167337e-01 -3.64026857e-01 -2.02235507e-01 7.10447999e+01] [ 2.17776566e-01 1.68683488e-03 9.75997194e-01 -1.80456176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.586875 meters 0.013838298498762664 Centerline is valid? [True, True] Translation: X:243.14, Y:71.07, Z:-1.80 [[-3.56137093e-01 -9.30903966e-01 8.11429446e-02 2.43138839e+02] [ 9.08528083e-01 -3.65261078e-01 -2.02881906e-01 7.10689988e+01] [ 2.18501930e-01 1.46687161e-03 9.75835414e-01 -1.79918526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.616875 meters 0.013562152403850107 Centerline is valid? [True, True] Translation: X:243.13, Y:71.09, Z:-1.79 [[-3.59135092e-01 -9.29710295e-01 8.16134366e-02 2.43130162e+02] [ 9.07084433e-01 -3.68290784e-01 -2.03862039e-01 7.10940282e+01] [ 2.19590113e-01 8.16265823e-04 9.75591880e-01 -1.79445772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.646875 meters 0.013463616297787707 Centerline is valid? [True, True] Translation: X:243.12, Y:71.12, Z:-1.79 [[-3.61112601e-01 -9.28905923e-01 8.20455735e-02 2.43121242e+02] [ 9.06057895e-01 -3.70315580e-01 -2.04757081e-01 7.11190101e+01] [ 2.20582819e-01 3.97677627e-04 9.75368167e-01 -1.78881210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.676875 meters 0.013401698675326403 Centerline is valid? [True, True] Translation: X:243.11, Y:71.14, Z:-1.78 [[-3.62830545e-01 -9.28221250e-01 8.22149975e-02 2.43112067e+02] [ 9.05303632e-01 -3.72028638e-01 -2.04987870e-01 7.11442040e+01] [ 2.20860431e-01 5.36751711e-05 9.75305423e-01 -1.78390623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.706875 meters 0.013463836235902894 Centerline is valid? [True, True] Translation: X:243.10, Y:71.17, Z:-1.78 [[-3.64832609e-01 -9.27413135e-01 8.24745021e-02 2.43102706e+02] [ 9.04371769e-01 -3.74038425e-01 -2.05443328e-01 7.11691339e+01] [ 2.21379474e-01 -3.64814028e-04 9.75187672e-01 -1.77890626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.736875 meters 0.013655894538300028 Centerline is valid? [True, True] Translation: X:243.09, Y:71.19, Z:-1.77 [[-3.68480336e-01 -9.25951312e-01 8.26825915e-02 2.43094151e+02] [ 9.02798874e-01 -3.77641079e-01 -2.05770281e-01 7.11930814e+01] [ 2.21757604e-01 -1.17655157e-03 9.75101113e-01 -1.77373437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.766875 meters 0.01373124440179997 Centerline is valid? [True, True] Translation: X:243.08, Y:71.22, Z:-1.77 [[-3.70626519e-01 -9.25095545e-01 8.26693156e-02 2.43084224e+02] [ 9.01974786e-01 -3.79731001e-01 -2.05537960e-01 7.12179418e+01] [ 2.21534353e-01 -1.61218056e-03 9.75151235e-01 -1.76764394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.796875 meters 0.014004342057058496 Centerline is valid? [True, True] Translation: X:243.07, Y:71.24, Z:-1.76 [[-3.72488645e-01 -9.24363903e-01 8.24838384e-02 2.43074611e+02] [ 9.01372784e-01 -3.81506871e-01 -2.04889267e-01 7.12426338e+01] [ 2.20860394e-01 -1.97023850e-03 9.75303442e-01 -1.76173701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.82687500000003 meters 0.01423992380328686 Centerline is valid? [True, True] Translation: X:243.07, Y:71.27, Z:-1.76 [[-3.74388101e-01 -9.23601639e-01 8.24230745e-02 2.43065699e+02] [ 9.00668672e-01 -3.83346462e-01 -2.04551786e-01 7.12662269e+01] [ 2.20520959e-01 -2.34587378e-03 9.75379415e-01 -1.75556828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.856875 meters 0.014619538756245212 Centerline is valid? [True, True] Translation: X:243.06, Y:71.29, Z:-1.75 [[-3.77249240e-01 -9.22471534e-01 8.20321927e-02 2.43056041e+02] [ 8.99775069e-01 -3.86054084e-01 -2.03388962e-01 7.12918059e+01] [ 2.19289391e-01 -2.91780937e-03 9.75655497e-01 -1.74793136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.88687500000003 meters 0.01468239294973152 Centerline is valid? [True, True] Translation: X:243.05, Y:71.32, Z:-1.74 [[-3.78395985e-01 -9.22017714e-01 8.18523928e-02 2.43045619e+02] [ 8.99447969e-01 -3.87135208e-01 -2.02779884e-01 7.13163295e+01] [ 2.18654588e-01 -3.10912539e-03 9.75797369e-01 -1.74154923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.916875 meters 0.014592246590468146 Centerline is valid? [True, True] Translation: X:243.03, Y:71.34, Z:-1.74 [[-3.79833337e-01 -9.21442478e-01 8.16724916e-02 2.43033200e+02] [ 8.99000994e-01 -3.88500285e-01 -2.02150296e-01 7.13404999e+01] [ 2.17999656e-01 -3.35977034e-03 9.75943063e-01 -1.73559881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.94687500000003 meters 0.014737420518934525 Centerline is valid? [True, True] Translation: X:243.02, Y:71.36, Z:-1.73 [[-3.80069575e-01 -9.21342502e-01 8.17013608e-02 2.43023157e+02] [ 8.98925175e-01 -3.88737471e-01 -2.02031457e-01 7.13643478e+01] [ 2.17900548e-01 -3.34259988e-03 9.75965255e-01 -1.73043198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.976875 meters 0.014445597777470086 Centerline is valid? [True, True] Translation: X:243.01, Y:71.39, Z:-1.72 [[-3.79412743e-01 -9.21617432e-01 8.16534146e-02 2.43011037e+02] [ 8.99277300e-01 -3.88087201e-01 -2.01714311e-01 7.13880570e+01] [ 2.17592070e-01 -3.10391758e-03 9.76034865e-01 -1.72481779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.00687500000004 meters 0.014443168037611849 Centerline is valid? [True, True] Translation: X:243.00, Y:71.41, Z:-1.72 [[-3.78539200e-01 -9.21981744e-01 8.15949554e-02 2.43000287e+02] [ 8.99723308e-01 -3.87223079e-01 -2.01385837e-01 7.14114344e+01] [ 2.17269515e-01 -2.81955060e-03 9.76107580e-01 -1.71961176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.036875 meters 0.01416407695228717 Centerline is valid? [True, True] Translation: X:242.99, Y:71.44, Z:-1.71 [[-3.77243188e-01 -9.22496037e-01 8.17840949e-02 2.42988547e+02] [ 9.00187999e-01 -3.85998758e-01 -2.01659430e-01 7.14358471e+01] [ 2.17598585e-01 -2.45358570e-03 9.76035264e-01 -1.71414025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06687500000004 meters 0.013471236759131715 Centerline is valid? [True, True] Translation: X:242.97, Y:71.46, Z:-1.71 [[-3.73419919e-01 -9.24024497e-01 8.20749233e-02 2.42973941e+02] [ 9.01632108e-01 -3.82330318e-01 -2.02195625e-01 7.14594724e+01] [ 2.18213442e-01 -1.50248803e-03 9.75899911e-01 -1.70900977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.096875 meters 0.013366414356789728 Centerline is valid? [True, True] Translation: X:242.96, Y:71.48, Z:-1.70 [[-3.71679840e-01 -9.24722918e-01 8.21073790e-02 2.42961610e+02] [ 9.02368379e-01 -3.80639557e-01 -2.02101054e-01 7.14830730e+01] [ 2.18140793e-01 -1.02578475e-03 9.75916770e-01 -1.70277113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12687500000004 meters 0.01328181208190599 Centerline is valid? [True, True] Translation: X:242.95, Y:71.51, Z:-1.70 [[-3.69400328e-01 -9.25641880e-01 8.20396683e-02 2.42949538e+02] [ 9.03387971e-01 -3.78400501e-01 -2.01750427e-01 7.15059061e+01] [ 2.17792496e-01 -4.13024382e-04 9.75995009e-01 -1.69718095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.156875 meters 0.013226449537823053 Centerline is valid? [True, True] Translation: X:242.94, Y:71.53, Z:-1.69 [[-3.67531621e-01 -9.26385749e-01 8.20362813e-02 2.42937023e+02] [ 9.04194744e-01 -3.76575933e-01 -2.01550071e-01 7.15297144e+01] [ 2.17606002e-01 1.00750187e-04 9.76036689e-01 -1.69126183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.186875 meters 0.013236021165845576 Centerline is valid? [True, True] Translation: X:242.92, Y:71.55, Z:-1.69 [[-3.65437516e-01 -9.27203946e-01 8.21478177e-02 2.42924865e+02] [ 9.05012504e-01 -3.74556285e-01 -2.01643143e-01 7.15538545e+01] [ 2.17733300e-01 6.56832781e-04 9.76008083e-01 -1.68552593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.216875 meters 0.013683278498350498 Centerline is valid? [True, True] Translation: X:242.91, Y:71.58, Z:-1.68 [[-3.61674938e-01 -9.28656092e-01 8.23960050e-02 2.42911919e+02] [ 9.06407652e-01 -3.70938396e-01 -2.02064037e-01 7.15775874e+01] [ 2.18211841e-01 1.60287125e-03 9.75900109e-01 -1.68012467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.246875 meters 0.013956354404770593 Centerline is valid? [True, True] Translation: X:242.90, Y:71.60, Z:-1.67 [[-3.60600483e-01 -9.29035113e-01 8.28314623e-02 2.42901162e+02] [ 9.06597730e-01 -3.69986640e-01 -2.02954286e-01 7.16015578e+01] [ 2.19198192e-01 1.90940217e-03 9.75678485e-01 -1.67417329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.276875 meters 0.014207235388366088 Centerline is valid? [True, True] Translation: X:242.89, Y:71.63, Z:-1.67 [[-3.59852570e-01 -9.29317848e-01 8.29124015e-02 2.42890603e+02] [ 9.06884458e-01 -3.69274565e-01 -2.02970134e-01 7.16257593e+01] [ 2.19241209e-01 2.15264411e-03 9.75668314e-01 -1.66839454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.306875 meters 0.014258109410443575 Centerline is valid? [True, True] Translation: X:242.88, Y:71.65, Z:-1.66 [[-3.59077633e-01 -9.29608339e-01 8.30155980e-02 2.42880582e+02] [ 9.07166752e-01 -3.68541137e-01 -2.03041657e-01 7.16502287e+01] [ 2.19343880e-01 2.40127297e-03 9.75644657e-01 -1.66318904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.336875 meters 0.014615764188722798 Centerline is valid? [True, True] Translation: X:242.87, Y:71.67, Z:-1.66 [[-3.58787096e-01 -9.29725282e-01 8.29621526e-02 2.42869752e+02] [ 9.07357769e-01 -3.68245083e-01 -2.02725029e-01 7.16735396e+01] [ 2.19028989e-01 2.54122932e-03 9.75715042e-01 -1.65809128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.366875 meters 0.014812213031313208 Centerline is valid? [True, True] Translation: X:242.86, Y:71.70, Z:-1.65 [[-3.57288912e-01 -9.30306337e-01 8.29141318e-02 2.42858774e+02] [ 9.08012676e-01 -3.66771622e-01 -2.02463719e-01 7.16985404e+01] [ 2.18763831e-01 2.94904110e-03 9.75773380e-01 -1.65179950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.396875 meters 0.01500968940465841 Centerline is valid? [True, True] Translation: X:242.85, Y:71.72, Z:-1.65 [[-3.56429904e-01 -9.30634192e-01 8.29320425e-02 2.42848327e+02] [ 9.08376268e-01 -3.65936718e-01 -2.02343457e-01 7.17230445e+01] [ 2.18655619e-01 3.21224029e-03 9.75796803e-01 -1.64582285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.426875 meters 0.015449880591369397 Centerline is valid? [True, True] Translation: X:242.84, Y:71.75, Z:-1.64 [[-3.56013566e-01 -9.30769784e-01 8.31982557e-02 2.42837132e+02] [ 9.08412874e-01 -3.65590213e-01 -2.02804945e-01 7.17461541e+01] [ 2.19181183e-01 3.37705488e-03 9.75678330e-01 -1.63993425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.456875 meters 0.01574677010462478 Centerline is valid? [True, True] Translation: X:242.83, Y:71.77, Z:-1.63 [[-3.54882417e-01 -9.31162006e-01 8.36408362e-02 2.42825958e+02] [ 9.08619015e-01 -3.64586796e-01 -2.03685917e-01 7.17714540e+01] [ 2.20158931e-01 3.71310379e-03 9.75456948e-01 -1.63426081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.486875 meters 0.015931736480102827 Centerline is valid? [True, True] Translation: X:242.82, Y:71.80, Z:-1.63 [[-3.54690710e-01 -9.31215988e-01 8.38527503e-02 2.42815129e+02] [ 9.08593893e-01 -3.64447844e-01 -2.04046333e-01 7.17956770e+01] [ 2.20571161e-01 3.81475831e-03 9.75363425e-01 -1.62917279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.516875 meters 0.016161696678225514 Centerline is valid? [True, True] Translation: X:242.80, Y:71.82, Z:-1.62 [[-3.54474865e-01 -9.31259601e-01 8.42800416e-02 2.42804346e+02] [ 9.08447538e-01 -3.64335130e-01 -2.04897496e-01 7.18195915e+01] [ 2.21518940e-01 3.93298409e-03 9.75148138e-01 -1.62403796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.546875 meters 0.01585287743051878 Centerline is valid? [True, True] Translation: X:242.80, Y:71.84, Z:-1.62 [[-3.54362785e-01 -9.31238333e-01 8.49834290e-02 2.42795117e+02] [ 9.08084230e-01 -3.64388439e-01 -2.06407600e-01 7.18447962e+01] [ 2.23181648e-01 4.02893979e-03 9.74768547e-01 -1.61890862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57687500000003 meters 0.01553731903535207 Centerline is valid? [True, True] Translation: X:242.79, Y:71.87, Z:-1.61 [[-3.55087967e-01 -9.30921770e-01 8.54236188e-02 2.42786107e+02] [ 9.07558290e-01 -3.65197595e-01 -2.07288848e-01 7.18701018e+01] [ 2.24166202e-01 3.92113769e-03 9.74543041e-01 -1.61335682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.606875 meters 0.01567664830182151 Centerline is valid? [True, True] Translation: X:242.78, Y:71.89, Z:-1.61 [[-3.56365133e-01 -9.30416902e-01 8.56053742e-02 2.42776406e+02] [ 9.06982209e-01 -3.66484412e-01 -2.07539029e-01 7.18941435e+01] [ 2.24470856e-01 3.68287763e-03 9.74473843e-01 -1.60834552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63687500000003 meters 0.0150172699739609 Centerline is valid? [True, True] Translation: X:242.77, Y:71.92, Z:-1.60 [[-3.58031655e-01 -9.29763196e-01 8.57539164e-02 2.42768351e+02] [ 9.06273514e-01 -3.68142845e-01 -2.07699697e-01 7.19191454e+01] [ 2.24681225e-01 3.35343691e-03 9.74426550e-01 -1.60216870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.666875 meters 0.014260318835950518 Centerline is valid? [True, True] Translation: X:242.76, Y:71.95, Z:-1.59 [[-3.62420333e-01 -9.28055938e-01 8.58118815e-02 2.42762699e+02] [ 9.04529455e-01 -3.72433349e-01 -2.07653236e-01 7.19462389e+01] [ 2.24673025e-01 2.36161948e-03 9.74431349e-01 -1.59458976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69687500000003 meters 0.014069338058399506 Centerline is valid? [True, True] Translation: X:242.75, Y:71.97, Z:-1.59 [[-3.64735863e-01 -9.27155160e-01 8.57383208e-02 2.42754468e+02] [ 9.03683295e-01 -3.74672953e-01 -2.07308179e-01 7.19713847e+01] [ 2.24330678e-01 1.86756047e-03 9.74511292e-01 -1.58792072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.726875 meters 0.01382063237107127 Centerline is valid? [True, True] Translation: X:242.75, Y:72.00, Z:-1.58 [[-3.66656150e-01 -9.26399906e-01 8.57116186e-02 2.42746005e+02] [ 9.02965165e-01 -3.76538227e-01 -2.07057661e-01 7.19964348e+01] [ 2.24091899e-01 1.47564078e-03 9.74566900e-01 -1.58125443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75687500000004 meters 0.013640110903986147 Centerline is valid? [True, True] Translation: X:242.74, Y:72.02, Z:-1.57 [[-3.69247398e-01 -9.25378689e-01 8.56191629e-02 2.42737636e+02] [ 9.02010561e-01 -3.79042776e-01 -2.06648305e-01 7.20214028e+01] [ 2.23681263e-01 9.25040117e-04 9.74661909e-01 -1.57430945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.786875 meters 0.013428397955227264 Centerline is valid? [True, True] Translation: X:242.73, Y:72.05, Z:-1.57 [[-3.70291507e-01 -9.24955958e-01 8.56777486e-02 2.42727868e+02] [ 9.01586801e-01 -3.80073580e-01 -2.06604247e-01 7.20454200e+01] [ 2.23663678e-01 7.42129426e-04 9.74666101e-01 -1.56832700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81687500000004 meters 0.013299967056138999 Centerline is valid? [True, True] Translation: X:242.72, Y:72.07, Z:-1.56 [[-3.71434581e-01 -9.24470278e-01 8.59712610e-02 2.42717570e+02] [ 9.00970534e-01 -3.81253758e-01 -2.07117523e-01 7.20699667e+01] [ 2.24250860e-01 5.26962627e-04 9.74531310e-01 -1.56333292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.846875 meters 0.013284508059864992 Centerline is valid? [True, True] Translation: X:242.71, Y:72.09, Z:-1.56 [[-3.71765486e-01 -9.24324972e-01 8.61032462e-02 2.42707060e+02] [ 9.00790065e-01 -3.81605928e-01 -2.07253891e-01 7.20945539e+01] [ 2.24427456e-01 5.11105521e-04 9.74490665e-01 -1.55724457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87687500000004 meters 0.013239970663203007 Centerline is valid? [True, True] Translation: X:242.70, Y:72.12, Z:-1.55 [[-3.72359019e-01 -9.24089183e-01 8.60694116e-02 2.42696641e+02] [ 9.00609505e-01 -3.82176644e-01 -2.06986792e-01 7.21187909e+01] [ 2.24167974e-01 4.41531456e-04 9.74550422e-01 -1.55155777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.906875 meters 0.013188360570542951 Centerline is valid? [True, True] Translation: X:242.69, Y:72.14, Z:-1.55 [[-3.72233472e-01 -9.24119939e-01 8.62819771e-02 2.42685339e+02] [ 9.00566106e-01 -3.82102149e-01 -2.07312894e-01 7.21424133e+01] [ 2.24550508e-01 5.33825694e-04 9.74462305e-01 -1.54511725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.936875 meters 0.013225179872240237 Centerline is valid? [True, True] Translation: X:242.67, Y:72.17, Z:-1.54 [[-3.72192632e-01 -9.24126952e-01 8.63829874e-02 2.42674134e+02] [ 9.00559855e-01 -3.82085072e-01 -2.07371516e-01 7.21660411e+01] [ 2.24643257e-01 6.10900407e-04 9.74440883e-01 -1.53857195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.966875 meters 0.013228573264250762 Centerline is valid? [True, True] Translation: X:242.66, Y:72.19, Z:-1.53 [[-3.72129620e-01 -9.24161425e-01 8.62856041e-02 2.42662586e+02] [ 9.00691620e-01 -3.82001525e-01 -2.06952750e-01 7.21901352e+01] [ 2.24218981e-01 7.03472155e-04 9.74538534e-01 -1.53220192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.996875 meters 0.013240229751010846 Centerline is valid? [True, True] Translation: X:242.65, Y:72.21, Z:-1.53 [[-3.72197320e-01 -9.24128704e-01 8.63440423e-02 2.42651345e+02] [ 9.00668066e-01 -3.82080576e-01 -2.06909322e-01 7.22136327e+01] [ 2.24201225e-01 7.56226270e-04 9.74542579e-01 -1.52570158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.026875 meters 0.01330829772772541 Centerline is valid? [True, True] Translation: X:242.64, Y:72.24, Z:-1.52 [[-3.72259492e-01 -9.24079290e-01 8.66044886e-02 2.42639049e+02] [ 9.00516687e-01 -3.82199978e-01 -2.07347229e-01 7.22375770e+01] [ 2.24705514e-01 8.01812898e-04 9.74426390e-01 -1.52027986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.056875 meters 0.013335340924971342 Centerline is valid? [True, True] Translation: X:242.63, Y:72.26, Z:-1.52 [[-3.72664867e-01 -9.23894026e-01 8.68373560e-02 2.42628277e+02] [ 9.00241120e-01 -3.82647675e-01 -2.07717797e-01 7.22610627e+01] [ 2.25137344e-01 7.65433593e-04 9.74326737e-01 -1.51503319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.086875 meters 0.013435745164260274 Centerline is valid? [True, True] Translation: X:242.62, Y:72.29, Z:-1.51 [[-3.72962795e-01 -9.23750263e-01 8.70873411e-02 2.42617393e+02] [ 9.00000635e-01 -3.82994618e-01 -2.08120108e-01 7.22857761e+01] [ 2.25604988e-01 7.57605099e-04 9.74218567e-01 -1.50982965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.116875 meters 0.013426389595781492 Centerline is valid? [True, True] Translation: X:242.61, Y:72.31, Z:-1.50 [[-3.73343659e-01 -9.23569935e-01 8.73675409e-02 2.42605989e+02] [ 8.99702760e-01 -3.83429332e-01 -2.08607025e-01 7.23101321e+01] [ 2.26162455e-01 7.22707549e-04 9.74089329e-01 -1.50434059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.146875 meters 0.01344053796183744 Centerline is valid? [True, True] Translation: X:242.60, Y:72.33, Z:-1.50 [[-3.73522067e-01 -9.23479285e-01 8.75629837e-02 2.42595341e+02] [ 8.99544009e-01 -3.83647573e-01 -2.08890198e-01 7.23347904e+01] [ 2.26499097e-01 7.41659015e-04 9.74011093e-01 -1.49854231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.176875 meters 0.013499536671087388 Centerline is valid? [True, True] Translation: X:242.59, Y:72.36, Z:-1.49 [[-3.73981387e-01 -9.23253226e-01 8.79852423e-02 2.42585186e+02] [ 8.99121207e-01 -3.84191379e-01 -2.09709415e-01 7.23588760e+01] [ 2.27418066e-01 6.81979211e-04 9.73796980e-01 -1.49317694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.206875 meters 0.013653615494774264 Centerline is valid? [True, True] Translation: X:242.58, Y:72.38, Z:-1.49 [[-3.74626244e-01 -9.22988356e-01 8.80208564e-02 2.42575270e+02] [ 8.98875150e-01 -3.84827410e-01 -2.09598020e-01 7.23827664e+01] [ 2.27329370e-01 5.98841360e-04 9.73817744e-01 -1.48809500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.236875 meters 0.013607343374045901 Centerline is valid? [True, True] Translation: X:242.57, Y:72.41, Z:-1.48 [[-3.75974877e-01 -9.22443039e-01 8.79871139e-02 2.42566903e+02] [ 8.98378547e-01 -3.86133036e-01 -2.09325738e-01 7.24076502e+01] [ 2.27065801e-01 3.44516950e-04 9.73879358e-01 -1.48109275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.266875 meters 0.013649656200110074 Centerline is valid? [True, True] Translation: X:242.56, Y:72.43, Z:-1.48 [[-3.77034681e-01 -9.21994286e-01 8.81554634e-02 2.42557750e+02] [ 8.97866882e-01 -3.87203454e-01 -2.09543662e-01 7.24320885e+01] [ 2.27332159e-01 1.46643128e-04 9.73817266e-01 -1.47529269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.296875 meters 0.01362237531998842 Centerline is valid? [True, True] Translation: X:242.55, Y:72.46, Z:-1.47 [[-3.78176788e-01 -9.21563021e-01 8.77719488e-02 2.42549024e+02] [ 8.97679986e-01 -3.88228794e-01 -2.08444347e-01 7.24571533e+01] [ 2.26170200e-01 -3.76917190e-05 9.74087799e-01 -1.46688737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.32687500000003 meters 0.013632208732731693 Centerline is valid? [True, True] Translation: X:242.54, Y:72.48, Z:-1.46 [[-3.78300296e-01 -9.21539195e-01 8.74894199e-02 2.42539259e+02] [ 8.97853947e-01 -3.88285349e-01 -2.07587998e-01 7.24803697e+01] [ 2.25271337e-01 2.21196769e-05 9.74296066e-01 -1.46080279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.356875 meters 0.01362327876838668 Centerline is valid? [True, True] Translation: X:242.53, Y:72.50, Z:-1.45 [[-3.78170665e-01 -9.21622067e-01 8.71763399e-02 2.42528707e+02] [ 8.98154635e-01 -3.88088578e-01 -2.06653106e-01 7.25042970e+01] [ 2.24288205e-01 1.47691048e-04 9.74522847e-01 -1.45404464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.38687500000003 meters 0.013621836497692375 Centerline is valid? [True, True] Translation: X:242.52, Y:72.53, Z:-1.45 [[-3.76620642e-01 -9.22269698e-01 8.70373221e-02 2.42519026e+02] [ 8.98937239e-01 -3.86546554e-01 -2.06139764e-01 7.25274747e+01] [ 2.23760435e-01 6.04599579e-04 9.74643987e-01 -1.44672954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.416875 meters 0.013613450774031347 Centerline is valid? [True, True] Translation: X:242.51, Y:72.55, Z:-1.44 [[-3.76207998e-01 -9.22431091e-01 8.71115702e-02 2.42508951e+02] [ 8.99095954e-01 -3.86160986e-01 -2.06170216e-01 7.25520872e+01] [ 2.23816907e-01 7.58776258e-04 9.74630913e-01 -1.43965460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.44687500000003 meters 0.013719535717924102 Centerline is valid? [True, True] Translation: X:242.50, Y:72.58, Z:-1.43 [[-3.75436858e-01 -9.22749060e-01 8.70708827e-02 2.42498373e+02] [ 8.99487350e-01 -3.85399960e-01 -2.05886810e-01 7.25752810e+01] [ 2.23538975e-01 1.02166053e-03 9.74694456e-01 -1.43434615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.476875 meters 0.013719535717924102 Centerline is valid? [True, True] Translation: X:242.49, Y:72.60, Z:-1.43 [[-3.75722700e-01 -9.22626076e-01 8.71411282e-02 2.42488041e+02] [ 8.99367998e-01 -3.85694269e-01 -2.05857076e-01 7.25993281e+01] [ 2.23538940e-01 1.02676575e-03 9.74694459e-01 -1.42857897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.50687500000004 meters 0.013930013578687214 Centerline is valid? [True, True] Translation: X:242.48, Y:72.62, Z:-1.42 [[-3.73649863e-01 -9.23406189e-01 8.77883247e-02 2.42475980e+02] [ 8.99860406e-01 -3.83820955e-01 -2.07202133e-01 7.26241552e+01] [ 2.25026731e-01 1.57618889e-03 9.74351316e-01 -1.42333947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.536875 meters 0.014025315635798438 Centerline is valid? [True, True] Translation: X:242.46, Y:72.65, Z:-1.42 [[-3.73022602e-01 -9.23635891e-01 8.80390796e-02 2.42464885e+02] [ 8.99997740e-01 -3.83266954e-01 -2.07630705e-01 7.26485108e+01] [ 2.25517641e-01 1.78402708e-03 9.74237451e-01 -1.41850743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56687500000004 meters 0.014189274072675092 Centerline is valid? [True, True] Translation: X:242.45, Y:72.67, Z:-1.41 [[-3.72614795e-01 -9.23779757e-01 8.82563076e-02 2.42454460e+02] [ 9.00069395e-01 -3.82919272e-01 -2.07961331e-01 7.26731461e+01] [ 2.25905509e-01 1.94733278e-03 9.74147273e-01 -1.41294665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.596875 meters 0.014164582782747761 Centerline is valid? [True, True] Translation: X:242.44, Y:72.70, Z:-1.41 [[-3.73322208e-01 -9.23449649e-01 8.87202005e-02 2.42444529e+02] [ 8.99520350e-01 -3.83715251e-01 -2.08867772e-01 7.26981945e+01] [ 2.26922165e-01 1.83064806e-03 9.73911177e-01 -1.40763693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62687500000004 meters 0.014005609544724625 Centerline is valid? [True, True] Translation: X:242.44, Y:72.72, Z:-1.40 [[-3.74724013e-01 -9.22870645e-01 8.88351642e-02 2.42435616e+02] [ 8.98905242e-01 -3.85106943e-01 -2.08954563e-01 7.27221252e+01] [ 2.27049071e-01 1.55410229e-03 9.73882079e-01 -1.40232460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.656875 meters 0.013800231866880395 Centerline is valid? [True, True] Translation: X:242.43, Y:72.75, Z:-1.39 [[-3.78281634e-01 -9.21416272e-01 8.88541484e-02 2.42429324e+02] [ 8.97434438e-01 -3.88576265e-01 -2.08853813e-01 7.27478585e+01] [ 2.26967915e-01 7.35211041e-04 9.73901959e-01 -1.39478030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.686875 meters 0.013662095444911999 Centerline is valid? [True, True] Translation: X:242.42, Y:72.77, Z:-1.39 [[-3.80475752e-01 -9.20510413e-01 8.88750930e-02 2.42420966e+02] [ 8.96535506e-01 -3.90717940e-01 -2.08718896e-01 7.27720568e+01] [ 2.26853010e-01 2.67197475e-04 9.73928971e-01 -1.38872504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.716875 meters 0.013713370787451615 Centerline is valid? [True, True] Translation: X:242.41, Y:72.80, Z:-1.38 [[-3.82461470e-01 -9.19688734e-01 8.88586319e-02 2.42411939e+02] [ 8.95745403e-01 -3.92648203e-01 -2.08488754e-01 7.27972077e+01] [ 2.26634941e-01 -1.44204304e-04 9.73979765e-01 -1.38199858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.746875 meters 0.013753101318545685 Centerline is valid? [True, True] Translation: X:242.40, Y:72.82, Z:-1.38 [[-3.85676751e-01 -9.18361032e-01 8.86930596e-02 2.42402955e+02] [ 8.94514861e-01 -3.95742704e-01 -2.07920361e-01 7.28227202e+01] [ 2.26045588e-01 -8.52789352e-04 9.74116351e-01 -1.37559061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.776875 meters 0.013943489266276927 Centerline is valid? [True, True] Translation: X:242.39, Y:72.85, Z:-1.37 [[-3.87009274e-01 -9.17787810e-01 8.88220569e-02 2.42393745e+02] [ 8.93898419e-01 -3.97069629e-01 -2.08041646e-01 7.28465418e+01] [ 2.26206628e-01 -1.11615018e-03 9.74078701e-01 -1.37017094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.806875 meters 0.014105057834118279 Centerline is valid? [True, True] Translation: X:242.38, Y:72.87, Z:-1.36 [[-3.88147629e-01 -9.17290680e-01 8.89900410e-02 2.42383548e+02] [ 8.93340645e-01 -3.98216066e-01 -2.08246143e-01 7.28710830e+01] [ 2.26459510e-01 -1.33182584e-03 9.74019670e-01 -1.36463138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.836875 meters 0.014295149151762852 Centerline is valid? [True, True] Translation: X:242.37, Y:72.90, Z:-1.36 [[-3.89408975e-01 -9.16736264e-01 8.91923325e-02 2.42373322e+02] [ 8.92702821e-01 -3.99489809e-01 -2.08541520e-01 7.28959340e+01] [ 2.26809002e-01 -1.58569293e-03 9.73937966e-01 -1.35953562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.866875 meters 0.014550200816605121 Centerline is valid? [True, True] Translation: X:242.37, Y:72.92, Z:-1.35 [[-3.91301089e-01 -9.15906723e-01 8.94333981e-02 2.42365404e+02] [ 8.91760986e-01 -4.01386186e-01 -2.08929350e-01 7.29199541e+01] [ 2.27257127e-01 -2.00106675e-03 9.73832734e-01 -1.35402795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.896875 meters 0.014857749943456247 Centerline is valid? [True, True] Translation: X:242.36, Y:72.94, Z:-1.35 [[-3.92719182e-01 -9.15289510e-01 8.95363426e-02 2.42356440e+02] [ 8.91106077e-01 -4.02790044e-01 -2.09021864e-01 7.29438907e+01] [ 2.27379867e-01 -2.30051616e-03 9.73803422e-01 -1.34776948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.926875 meters 0.015015361979692124 Centerline is valid? [True, True] Translation: X:242.35, Y:72.97, Z:-1.34 [[-3.93621905e-01 -9.14902829e-01 8.95243470e-02 2.42346660e+02] [ 8.90758545e-01 -4.03666717e-01 -2.08811869e-01 7.29681634e+01] [ 2.27180569e-01 -2.44834870e-03 9.73849575e-01 -1.34111247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.956875 meters 0.014321882393203195 Centerline is valid? [True, True] Translation: X:242.33, Y:72.99, Z:-1.33 [[-3.94083027e-01 -9.14744018e-01 8.91176141e-02 2.42334563e+02] [ 8.90857075e-01 -4.04026415e-01 -2.07692870e-01 7.29915201e+01] [ 2.25991681e-01 -2.45717801e-03 9.74126133e-01 -1.33157005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.986875 meters 0.014516705418828055 Centerline is valid? [True, True] Translation: X:242.32, Y:73.02, Z:-1.33 [[-3.93809373e-01 -9.14865644e-01 8.90787929e-02 2.42324604e+02] [ 8.91045630e-01 -4.03751803e-01 -2.07417857e-01 7.30150643e+01] [ 2.25725194e-01 -2.30982710e-03 9.74188278e-01 -1.32607944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.016875 meters 0.014025590046341695 Centerline is valid? [True, True] Translation: X:242.31, Y:73.04, Z:-1.32 [[-3.91224081e-01 -9.15937634e-01 8.94537231e-02 2.42312090e+02] [ 8.91986580e-01 -4.01317358e-01 -2.08096900e-01 7.30382165e+01] [ 2.26503114e-01 -1.62099792e-03 9.74009092e-01 -1.32007589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.046875 meters 0.013947231697549021 Centerline is valid? [True, True] Translation: X:242.30, Y:73.06, Z:-1.32 [[-3.89699574e-01 -9.16569912e-01 8.96316766e-02 2.42300233e+02] [ 8.92581469e-01 -3.99872730e-01 -2.08326957e-01 7.30612456e+01] [ 2.26787484e-01 -1.18135295e-03 9.73943551e-01 -1.31545219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07687500000003 meters 0.013800778486806562 Centerline is valid? [True, True] Translation: X:242.29, Y:73.09, Z:-1.31 [[-3.87708496e-01 -9.17384442e-01 8.99327924e-02 2.42287683e+02] [ 8.93299061e-01 -3.98001744e-01 -2.08833426e-01 7.30851714e+01] [ 2.27373945e-01 -6.29614642e-04 9.73807318e-01 -1.31056892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.106875 meters 0.013641605099252526 Centerline is valid? [True, True] Translation: X:242.28, Y:73.11, Z:-1.30 [[-3.85720131e-01 -9.18199619e-01 9.01634056e-02 2.42275099e+02] [ 8.94053234e-01 -3.96117979e-01 -2.09187384e-01 7.31086363e+01] [ 2.27791123e-01 -7.69009442e-05 9.73710018e-01 -1.30463506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13687500000003 meters 0.013886063548615664 Centerline is valid? [True, True] Translation: X:242.26, Y:73.13, Z:-1.30 [[-3.80597150e-01 -9.20334321e-01 9.01695490e-02 2.42261255e+02] [ 8.96286338e-01 -3.91130583e-01 -2.09015952e-01 7.31307115e+01] [ 2.27632622e-01 1.26685935e-03 9.73746263e-01 -1.29894600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.166875 meters 0.013954629610706532 Centerline is valid? [True, True] Translation: X:242.25, Y:73.15, Z:-1.29 [[-3.78335416e-01 -9.21287553e-01 8.99530858e-02 2.42248983e+02] [ 8.97427417e-01 -3.88877352e-01 -2.08322914e-01 7.31542179e+01] [ 2.26906026e-01 1.91042902e-03 9.73914784e-01 -1.29195234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19687500000003 meters 0.014576682291209259 Centerline is valid? [True, True] Translation: X:242.24, Y:73.18, Z:-1.29 [[-3.76045500e-01 -9.22225906e-01 8.99397598e-02 2.42236093e+02] [ 8.98441283e-01 -3.86643111e-01 -2.08111427e-01 7.31776044e+01] [ 2.26700338e-01 2.54622744e-03 9.73961228e-01 -1.28596520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.226875 meters 0.015122447012512471 Centerline is valid? [True, True] Translation: X:242.22, Y:73.20, Z:-1.28 [[-3.71946582e-01 -9.23924398e-01 8.95513663e-02 2.42223413e+02] [ 9.00434468e-01 -3.82557917e-01 -2.07043977e-01 7.32021073e+01] [ 2.25551566e-01 3.62583721e-03 9.74224484e-01 -1.27862192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25687500000004 meters 0.01619111010090203 Centerline is valid? [True, True] Translation: X:242.21, Y:73.23, Z:-1.27 [[-3.70456813e-01 -9.24524757e-01 8.95305741e-02 2.42209875e+02] [ 9.01100925e-01 -3.81100436e-01 -2.06832253e-01 7.32255882e+01] [ 2.25341679e-01 4.05366574e-03 9.74271366e-01 -1.27358780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.286875 meters 0.01722777021019686 Centerline is valid? [True, True] Translation: X:242.20, Y:73.25, Z:-1.27 [[-3.67193243e-01 -9.25786236e-01 8.99386891e-02 2.42196876e+02] [ 9.02220437e-01 -3.78015513e-01 -2.07611549e-01 7.32485212e+01] [ 2.26202134e-01 4.91096559e-03 9.74068004e-01 -1.26863256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31687500000004 meters 0.01643222117585704 Centerline is valid? [True, True] Translation: X:242.19, Y:73.27, Z:-1.26 [[-3.65951880e-01 -9.26255267e-01 9.01687403e-02 2.42187807e+02] [ 9.02613492e-01 -3.76859955e-01 -2.08003505e-01 7.32743273e+01] [ 2.26645330e-01 5.26824774e-03 9.73963110e-01 -1.26240739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.346875 meters 0.018424972159986303 Centerline is valid? [True, True] Translation: X:242.17, Y:73.30, Z:-1.26 [[-3.65212244e-01 -9.26500368e-01 9.06481397e-02 2.42173626e+02] [ 9.02650346e-01 -3.76253424e-01 -2.08939498e-01 7.32976942e+01] [ 2.27689195e-01 5.51631165e-03 9.73718235e-01 -1.25904860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37687500000004 meters 0.018123949867470998 Centerline is valid? [True, True] Translation: X:242.16, Y:73.32, Z:-1.25 [[-3.64064097e-01 -9.26888969e-01 9.12916914e-02 2.42163857e+02] [ 9.02748633e-01 -3.75289714e-01 -2.10243992e-01 7.33233818e+01] [ 2.29133670e-01 5.87116040e-03 9.73377260e-01 -1.25431941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.406875 meters 0.018348155498902036 Centerline is valid? [True, True] Translation: X:242.15, Y:73.35, Z:-1.25 [[-3.64186890e-01 -9.26809218e-01 9.16110416e-02 2.42153152e+02] [ 9.02533613e-01 -3.75486080e-01 -2.10815752e-01 7.33475245e+01] [ 2.29784653e-01 5.90571146e-03 9.73223580e-01 -1.24969583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.436875 meters 0.01883993760205521 Centerline is valid? [True, True] Translation: X:242.14, Y:73.37, Z:-1.24 [[-3.64444869e-01 -9.26699593e-01 9.16940683e-02 2.42141977e+02] [ 9.02420779e-01 -3.75756400e-01 -2.10817135e-01 7.33723751e+01] [ 2.29818786e-01 5.91540946e-03 9.73215461e-01 -1.24442217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.466875 meters 0.017206453704781206 Centerline is valid? [True, True] Translation: X:242.14, Y:73.40, Z:-1.24 [[-3.65877762e-01 -9.26136726e-01 9.16745811e-02 2.42135693e+02] [ 9.01890978e-01 -3.77146017e-01 -2.10602817e-01 7.33992250e+01] [ 2.29621707e-01 5.62559024e-03 9.73263697e-01 -1.23665734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.496875 meters 0.018504720493604236 Centerline is valid? [True, True] Translation: X:242.12, Y:73.42, Z:-1.23 [[-3.66800853e-01 -9.25767871e-01 9.17114126e-02 2.42123884e+02] [ 9.01530214e-01 -3.78052938e-01 -2.10521376e-01 7.34223665e+01] [ 2.29565695e-01 5.46118932e-03 9.73277847e-01 -1.23204419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.526875 meters 0.01672530831123506 Centerline is valid? [True, True] Translation: X:242.12, Y:73.45, Z:-1.22 [[-3.67694138e-01 -9.25410998e-01 9.17360631e-02 2.42117609e+02] [ 9.01183757e-01 -3.78928001e-01 -2.10431477e-01 7.34480232e+01] [ 2.29496966e-01 5.29662945e-03 9.73294965e-01 -1.22410686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.556875 meters 0.018249259768971987 Centerline is valid? [True, True] Translation: X:242.11, Y:73.47, Z:-1.22 [[-3.68472681e-01 -9.25101981e-01 9.17289932e-02 2.42105440e+02] [ 9.00913602e-01 -3.79683449e-01 -2.10226449e-01 7.34708876e+01] [ 2.29308885e-01 5.17719445e-03 9.73339937e-01 -1.22005683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.586875 meters 0.017754270819438 Centerline is valid? [True, True] Translation: X:242.10, Y:73.50, Z:-1.21 [[-3.69409157e-01 -9.24721585e-01 9.17979606e-02 2.42097353e+02] [ 9.00530877e-01 -3.80611059e-01 -2.10188871e-01 7.34960748e+01] [ 2.29305505e-01 5.02120420e-03 9.73341550e-01 -1.21374954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.616875 meters 0.017424563089517092 Centerline is valid? [True, True] Translation: X:242.09, Y:73.52, Z:-1.21 [[-3.69351634e-01 -9.24723943e-01 9.20054302e-02 2.42087377e+02] [ 9.00464399e-01 -3.80604223e-01 -2.10485845e-01 7.35205945e+01] [ 2.29658956e-01 5.10432342e-03 9.73257782e-01 -1.20779121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.646875 meters 0.01701528372098112 Centerline is valid? [True, True] Translation: X:242.08, Y:73.55, Z:-1.20 [[-3.69142874e-01 -9.24766743e-01 9.24121693e-02 2.42078443e+02] [ 9.00333248e-01 -3.80498577e-01 -2.11236540e-01 7.35462186e+01] [ 2.30507226e-01 5.22528503e-03 9.73056584e-01 -1.20152031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.676875 meters 0.01788553253999639 Centerline is valid? [True, True] Translation: X:242.07, Y:73.57, Z:-1.20 [[-3.69447538e-01 -9.24632570e-01 9.25371652e-02 2.42066872e+02] [ 9.00166721e-01 -3.80824678e-01 -2.11358557e-01 7.35689678e+01] [ 2.30669442e-01 5.21297782e-03 9.73018208e-01 -1.19667880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.706875 meters 0.017566429749579778 Centerline is valid? [True, True] Translation: X:242.06, Y:73.59, Z:-1.19 [[-3.69782435e-01 -9.24503583e-01 9.24882450e-02 2.42057115e+02] [ 9.00094183e-01 -3.81138070e-01 -2.11102423e-01 7.35939695e+01] [ 2.30415738e-01 5.18616325e-03 9.73078461e-01 -1.18992202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.736875 meters 0.01863114036043413 Centerline is valid? [True, True] Translation: X:242.05, Y:73.62, Z:-1.18 [[-3.70773500e-01 -9.24145141e-01 9.21019540e-02 2.42045936e+02] [ 8.99971212e-01 -3.82008741e-01 -2.10050327e-01 7.36175318e+01] [ 2.29300741e-01 5.00801204e-03 9.73342740e-01 -1.18375257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.766875 meters 0.017242197707692204 Centerline is valid? [True, True] Translation: X:242.04, Y:73.64, Z:-1.18 [[-3.70870643e-01 -9.24135542e-01 9.18066765e-02 2.42037615e+02] [ 9.00160187e-01 -3.82031337e-01 -2.09197744e-01 7.36420577e+01] [ 2.28400098e-01 5.05541325e-03 9.73554230e-01 -1.17604452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.796875 meters 0.017478589741034965 Centerline is valid? [True, True] Translation: X:242.03, Y:73.67, Z:-1.17 [[-3.70941429e-01 -9.24111827e-01 9.17593966e-02 2.42026219e+02] [ 9.00202804e-01 -3.82087993e-01 -2.08910693e-01 7.36663619e+01] [ 2.28117006e-01 5.10843526e-03 9.73620324e-01 -1.17023637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.82687500000003 meters 0.016396105186312595 Centerline is valid? [True, True] Translation: X:242.02, Y:73.69, Z:-1.16 [[-3.71492645e-01 -9.23860500e-01 9.20597179e-02 2.42017257e+02] [ 8.99827101e-01 -3.82696172e-01 -2.09415444e-01 7.36915439e+01] [ 2.28701558e-01 5.04153214e-03 9.73483529e-01 -1.16346822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.856875 meters 0.016532682338501286 Centerline is valid? [True, True] Translation: X:242.01, Y:73.72, Z:-1.16 [[-3.72557892e-01 -9.23395888e-01 9.24156412e-02 2.42007110e+02] [ 8.99203975e-01 -3.83818338e-01 -2.10037365e-01 7.37155638e+01] [ 2.29418457e-01 4.84943379e-03 9.73315804e-01 -1.15936768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.88687500000003 meters 0.016915849973873222 Centerline is valid? [True, True] Translation: X:242.00, Y:73.74, Z:-1.15 [[-3.73856456e-01 -9.22852845e-01 9.25957723e-02 2.41996240e+02] [ 8.98594753e-01 -3.85125239e-01 -2.10252278e-01 7.37393639e+01] [ 2.29692882e-01 4.60190349e-03 9.73252281e-01 -1.15478582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.916875 meters 0.015967977755430487 Centerline is valid? [True, True] Translation: X:241.99, Y:73.76, Z:-1.15 [[-3.75604611e-01 -9.22116401e-01 9.28575241e-02 2.41987658e+02] [ 8.97742298e-01 -3.86889354e-01 -2.10654681e-01 7.37649817e+01] [ 2.30173724e-01 4.23925767e-03 9.73140322e-01 -1.14855149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.94687500000003 meters 0.016145768811578386 Centerline is valid? [True, True] Translation: X:241.98, Y:73.79, Z:-1.14 [[-3.76763629e-01 -9.21653259e-01 9.27601080e-02 2.41976902e+02] [ 8.97360365e-01 -3.87993651e-01 -2.10250571e-01 7.37883779e+01] [ 2.29768457e-01 4.02447639e-03 9.73237001e-01 -1.14308586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.976875 meters 0.01548908875631308 Centerline is valid? [True, True] Translation: X:241.97, Y:73.81, Z:-1.14 [[-3.78103369e-01 -9.21132961e-01 9.24765455e-02 2.41967486e+02] [ 8.97019747e-01 -3.89229807e-01 -2.09417601e-01 7.38132375e+01] [ 2.28896082e-01 3.77178723e-03 9.73443556e-01 -1.13561241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.00687500000004 meters 0.014748786100731456 Centerline is valid? [True, True] Translation: X:241.96, Y:73.84, Z:-1.13 [[-3.81471520e-01 -9.19783938e-01 9.20705595e-02 2.41958517e+02] [ 8.95887201e-01 -3.92413571e-01 -2.08321176e-01 7.38393300e+01] [ 2.27740209e-01 3.01624018e-03 9.73717259e-01 -1.12805771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.036875 meters 0.014502012029503138 Centerline is valid? [True, True] Translation: X:241.95, Y:73.86, Z:-1.12 [[-3.83929323e-01 -9.18766414e-01 9.20138665e-02 2.41948195e+02] [ 8.94905679e-01 -3.94793839e-01 -2.08042425e-01 7.38643494e+01] [ 2.27468901e-01 2.47014416e-03 9.73782213e-01 -1.12306248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06687500000004 meters 0.013701467360247473 Centerline is valid? [True, True] Translation: X:241.94, Y:73.89, Z:-1.12 [[-3.89069865e-01 -9.16582867e-01 9.21980913e-02 2.41941042e+02] [ 8.92601310e-01 -3.99842816e-01 -2.08299360e-01 7.38913799e+01] [ 2.27788369e-01 1.25313328e-03 9.73709859e-01 -1.11724430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.096875 meters 0.013531791671793665 Centerline is valid? [True, True] Translation: X:241.93, Y:73.92, Z:-1.11 [[-3.91625285e-01 -9.15456966e-01 9.25644640e-02 2.41931778e+02] [ 8.91289294e-01 -4.02415332e-01 -2.08962423e-01 7.39161440e+01] [ 2.28545465e-01 6.66747157e-04 9.73533012e-01 -1.11211991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12687500000004 meters 0.013538080497934453 Centerline is valid? [True, True] Translation: X:241.92, Y:73.94, Z:-1.11 [[-3.94003288e-01 -9.14398263e-01 9.29366778e-02 2.41922804e+02] [ 8.90047122e-01 -4.04815762e-01 -2.09619464e-01 7.39400088e+01] [ 2.29297905e-01 1.27264685e-04 9.73356283e-01 -1.10745344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.156875 meters 0.013521613180561593 Centerline is valid? [True, True] Translation: X:241.91, Y:73.96, Z:-1.10 [[-3.96501326e-01 -9.13288051e-01 9.32289415e-02 2.41913444e+02] [ 8.88796223e-01 -4.07314062e-01 -2.10086955e-01 7.39643675e+01] [ 2.29843365e-01 -4.38225193e-04 9.73227535e-01 -1.10213956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.186875 meters 0.013724231902068357 Centerline is valid? [True, True] Translation: X:241.90, Y:73.99, Z:-1.10 [[-4.00590860e-01 -9.11481048e-01 9.34305174e-02 2.41903660e+02] [ 8.86876955e-01 -4.11339672e-01 -2.10354322e-01 7.39903914e+01] [ 2.30165657e-01 -1.40464622e-03 9.73150450e-01 -1.09614022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.216875 meters 0.014057162574034767 Centerline is valid? [True, True] Translation: X:241.89, Y:74.01, Z:-1.09 [[-4.02562855e-01 -9.10615530e-01 9.33943468e-02 2.41893845e+02] [ 8.86045776e-01 -4.13250532e-01 -2.10111589e-01 7.40138916e+01] [ 2.29926140e-01 -1.83145484e-03 9.73206358e-01 -1.09080495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.246875 meters 0.014409945562227428 Centerline is valid? [True, True] Translation: X:241.88, Y:74.04, Z:-1.08 [[-4.05298415e-01 -9.09449181e-01 9.29267606e-02 2.41883923e+02] [ 8.85141331e-01 -4.15808145e-01 -2.08874153e-01 7.40380305e+01] [ 2.28600131e-01 -2.40304664e-03 9.73517440e-01 -1.08366774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.276875 meters 0.014516864627096228 Centerline is valid? [True, True] Translation: X:241.87, Y:74.06, Z:-1.08 [[-4.06635376e-01 -9.08879704e-01 9.26571903e-02 2.41872885e+02] [ 8.84740797e-01 -4.17050010e-01 -2.08093755e-01 7.40624275e+01] [ 2.27774873e-01 -2.64068597e-03 9.73710241e-01 -1.07695458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.306875 meters 0.01461898315744212 Centerline is valid? [True, True] Translation: X:241.86, Y:74.09, Z:-1.07 [[-4.07570269e-01 -9.08482211e-01 9.24475436e-02 2.41861468e+02] [ 8.84484183e-01 -4.17914265e-01 -2.07449746e-01 7.40861778e+01] [ 2.27099551e-01 -2.78195880e-03 9.73867575e-01 -1.07099245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.336875 meters 0.014721754456367255 Centerline is valid? [True, True] Translation: X:241.85, Y:74.11, Z:-1.07 [[-4.08248749e-01 -9.08195969e-01 9.22661361e-02 2.41848161e+02] [ 8.84326204e-01 -4.18535417e-01 -2.06870176e-01 7.41098693e+01] [ 2.26495306e-01 -2.86112897e-03 9.74008055e-01 -1.06505341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.366875 meters 0.014721754456367255 Centerline is valid? [True, True] Translation: X:241.84, Y:74.13, Z:-1.06 [[-4.08521266e-01 -9.08066936e-01 9.23299279e-02 2.41837361e+02] [ 8.84200348e-01 -4.18815299e-01 -2.06841702e-01 7.41337143e+01] [ 2.26495297e-01 -2.86107965e-03 9.74008057e-01 -1.05928340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.396875 meters 0.01460652881964443 Centerline is valid? [True, True] Translation: X:241.82, Y:74.16, Z:-1.05 [[-4.08188646e-01 -9.08204566e-01 9.24472619e-02 2.41824986e+02] [ 8.84319845e-01 -4.18517738e-01 -2.06933119e-01 7.41572528e+01] [ 2.26628422e-01 -2.71480125e-03 9.73977509e-01 -1.05336059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.426875 meters 0.014374084383641472 Centerline is valid? [True, True] Translation: X:241.81, Y:74.18, Z:-1.05 [[-4.07557822e-01 -9.08490729e-01 9.24187054e-02 2.41812471e+02] [ 8.84667881e-01 -4.17897638e-01 -2.06698583e-01 7.41802389e+01] [ 2.26405305e-01 -2.48176383e-03 9.74030019e-01 -1.04690611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.456875 meters 0.013879662658023371 Centerline is valid? [True, True] Translation: X:241.80, Y:74.20, Z:-1.04 [[-4.05240141e-01 -9.09543435e-01 9.22559890e-02 2.41797507e+02] [ 8.85871587e-01 -4.15604895e-01 -2.06165233e-01 7.42020892e+01] [ 2.25858275e-01 -1.81946881e-03 9.74158472e-01 -1.04050804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.486875 meters 0.013640661748787882 Centerline is valid? [True, True] Translation: X:241.78, Y:74.22, Z:-1.03 [[-4.04022582e-01 -9.10060450e-01 9.24971927e-02 2.41784147e+02] [ 8.86312080e-01 -4.14472939e-01 -2.06550429e-01 7.42246904e+01] [ 2.26310960e-01 -1.46965860e-03 9.74053997e-01 -1.03406688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.516875 meters 0.013475286155116955 Centerline is valid? [True, True] Translation: X:241.77, Y:74.25, Z:-1.03 [[-4.00773647e-01 -9.11454352e-01 9.29055813e-02 2.41767535e+02] [ 8.87570074e-01 -4.11400759e-01 -2.07289122e-01 7.42459121e+01] [ 2.27155999e-01 -6.15803912e-04 9.73858189e-01 -1.03039760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.546875 meters 0.013242501884243196 Centerline is valid? [True, True] Translation: X:241.75, Y:74.27, Z:-1.02 [[-3.99267728e-01 -9.12096291e-01 9.30894027e-02 2.41753147e+02] [ 8.88175524e-01 -4.09976005e-01 -2.07518466e-01 7.42690920e+01] [ 2.27441245e-01 -1.75697335e-04 9.73791790e-01 -1.02470975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57687500000003 meters 0.013271696299162444 Centerline is valid? [True, True] Translation: X:241.74, Y:74.29, Z:-1.02 [[-3.98084402e-01 -9.12597839e-01 9.32415787e-02 2.41739707e+02] [ 8.88652912e-01 -4.08858349e-01 -2.07679689e-01 7.42920120e+01] [ 2.27650633e-01 1.85355472e-04 9.73742859e-01 -1.01921428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.606875 meters 0.013305840764992341 Centerline is valid? [True, True] Translation: X:241.73, Y:74.31, Z:-1.01 [[-3.96656831e-01 -9.13195213e-01 9.34765244e-02 2.41726945e+02] [ 8.89186206e-01 -4.07521947e-01 -2.08023445e-01 7.43144076e+01] [ 2.28059750e-01 6.04115465e-04 9.73646951e-01 -1.01389865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63687500000003 meters 0.01342698718750914 Centerline is valid? [True, True] Translation: X:241.71, Y:74.34, Z:-1.01 [[-3.95119161e-01 -9.13861108e-01 9.34811446e-02 2.41712565e+02] [ 8.89911634e-01 -4.06025542e-01 -2.07847401e-01 7.43366964e+01] [ 2.27899389e-01 1.06546735e-03 9.73684103e-01 -1.00761765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.666875 meters 0.013574344714121335 Centerline is valid? [True, True] Translation: X:241.70, Y:74.36, Z:-1.00 [[-3.94790740e-01 -9.13983554e-01 9.36714233e-02 2.41699900e+02] [ 8.89980475e-01 -4.05749420e-01 -2.08091714e-01 7.43590790e+01] [ 2.28199530e-01 1.21305613e-03 9.73613631e-01 -1.00246743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69687500000003 meters 0.013607344201376997 Centerline is valid? [True, True] Translation: X:241.69, Y:74.38, Z:-1.00 [[-3.94610258e-01 -9.14050568e-01 9.37779486e-02 2.41687439e+02] [ 8.90037616e-01 -4.05598062e-01 -2.08142389e-01 7.43825332e+01] [ 2.28288823e-01 1.33078023e-03 9.73592544e-01 -9.96534019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.726875 meters 0.013455315960189111 Centerline is valid? [True, True] Translation: X:241.67, Y:74.40, Z:-0.99 [[-3.94680711e-01 -9.14049114e-01 9.34952096e-02 2.41673627e+02] [ 8.90223184e-01 -4.05601113e-01 -2.07341312e-01 7.44048359e+01] [ 2.27441904e-01 1.39798675e-03 9.73790648e-01 -9.89536242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75687500000004 meters 0.01350272172481166 Centerline is valid? [True, True] Translation: X:241.66, Y:74.43, Z:-0.98 [[-3.95226112e-01 -9.13836475e-01 9.32695952e-02 2.41661469e+02] [ 8.90161322e-01 -4.06080152e-01 -2.06668166e-01 7.44281860e+01] [ 2.26735840e-01 1.34433019e-03 9.73955364e-01 -9.83059226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.786875 meters 0.013320217227738932 Centerline is valid? [True, True] Translation: X:241.65, Y:74.45, Z:-0.98 [[-3.96153426e-01 -9.13456838e-01 9.30541133e-02 2.41649957e+02] [ 8.89921729e-01 -4.06933872e-01 -2.06019758e-01 7.44521790e+01] [ 2.26057027e-01 1.19544469e-03 9.74113336e-01 -9.75452694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81687500000004 meters 0.01324479125847228 Centerline is valid? [True, True] Translation: X:241.64, Y:74.47, Z:-0.97 [[-3.97316242e-01 -9.13003471e-01 9.25443992e-02 2.41637640e+02] [ 8.89757679e-01 -4.07950548e-01 -2.04713516e-01 7.44740721e+01] [ 2.24657689e-01 1.00608503e-03 9.74437228e-01 -9.68342737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.846875 meters 0.013197501665674925 Centerline is valid? [True, True] Translation: X:241.63, Y:74.50, Z:-0.96 [[-3.98146698e-01 -9.12656644e-01 9.23961901e-02 2.41625928e+02] [ 8.89519396e-01 -4.08726148e-01 -2.04201322e-01 7.44970286e+01] [ 2.24130433e-01 8.86120914e-04 9.74558754e-01 -9.62264801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87687500000004 meters 0.013097313805497755 Centerline is valid? [True, True] Translation: X:241.61, Y:74.52, Z:-0.96 [[-3.99919436e-01 -9.11877069e-01 9.24373113e-02 2.41613657e+02] [ 8.88729953e-01 -4.10463098e-01 -2.04154636e-01 7.45203891e+01] [ 2.24106037e-01 5.06400394e-04 9.74564635e-01 -9.56182860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.906875 meters 0.013045243532476705 Centerline is valid? [True, True] Translation: X:241.60, Y:74.54, Z:-0.95 [[-4.01074090e-01 -9.11359875e-01 9.25351440e-02 2.41602056e+02] [ 8.88190410e-01 -4.11610366e-01 -2.04192805e-01 7.45439347e+01] [ 2.24181554e-01 2.92384103e-04 9.74547354e-01 -9.51036270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.936875 meters 0.013056997111805194 Centerline is valid? [True, True] Translation: X:241.59, Y:74.57, Z:-0.95 [[-4.02415611e-01 -9.10741228e-01 9.28013588e-02 2.41590507e+02] [ 8.87463044e-01 -4.12977500e-01 -2.04594551e-01 7.45677726e+01] [ 2.24657566e-01 2.57349165e-05 9.74437775e-01 -9.45178184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.966875 meters 0.01307753877493652 Centerline is valid? [True, True] Translation: X:241.58, Y:74.59, Z:-0.94 [[-4.05010308e-01 -9.09537881e-01 9.33139486e-02 2.41579057e+02] [ 8.86006530e-01 -4.15620636e-01 -2.05552709e-01 7.45918996e+01] [ 2.25741178e-01 -5.74198331e-04 9.74187144e-01 -9.39856268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.996875 meters 0.013084851203136544 Centerline is valid? [True, True] Translation: X:241.57, Y:74.62, Z:-0.93 [[-4.06365439e-01 -9.08907307e-01 9.35662145e-02 2.41568547e+02] [ 8.85271245e-01 -4.16997338e-01 -2.05932133e-01 7.46150934e+01] [ 2.26190083e-01 -8.52222506e-04 9.74082810e-01 -9.34708030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.026875 meters 0.013298898860359393 Centerline is valid? [True, True] Translation: X:241.56, Y:74.64, Z:-0.93 [[-4.07685205e-01 -9.08271292e-01 9.40001749e-02 2.41558182e+02] [ 8.84428529e-01 -4.18380131e-01 -2.06746809e-01 7.46385667e+01] [ 2.27109997e-01 -1.15117869e-03 9.73868433e-01 -9.29615325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.056875 meters 0.013588880788842204 Centerline is valid? [True, True] Translation: X:241.55, Y:74.66, Z:-0.92 [[-4.09048558e-01 -9.07631408e-01 9.42576441e-02 2.41547644e+02] [ 8.83682490e-01 -4.19765622e-01 -2.07128175e-01 7.46620918e+01] [ 2.27562156e-01 -1.43165165e-03 9.73762505e-01 -9.24120192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.086875 meters 0.013727057491389982 Centerline is valid? [True, True] Translation: X:241.54, Y:74.69, Z:-0.92 [[-4.11460012e-01 -9.06557029e-01 9.41010678e-02 2.41535864e+02] [ 8.82702459e-01 -4.22078859e-01 -2.06605435e-01 7.46859188e+01] [ 2.27017681e-01 -1.94663086e-03 9.73888691e-01 -9.17163010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.116875 meters 0.013758394578975765 Centerline is valid? [True, True] Translation: X:241.52, Y:74.71, Z:-0.91 [[-4.12741309e-01 -9.05981814e-01 9.40295919e-02 2.41524677e+02] [ 8.82189818e-01 -4.23310966e-01 -2.06273973e-01 7.47096910e+01] [ 2.26684226e-01 -2.18584089e-03 9.73965854e-01 -9.10075893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.146875 meters 0.013867624546535421 Centerline is valid? [True, True] Translation: X:241.51, Y:74.73, Z:-0.90 [[-4.13724281e-01 -9.05559569e-01 9.37767930e-02 2.41513235e+02] [ 8.81926689e-01 -4.24212701e-01 -2.05545369e-01 7.47339647e+01] [ 2.25914882e-01 -2.33485351e-03 9.74144247e-01 -9.02882061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.176875 meters 0.013844934619507055 Centerline is valid? [True, True] Translation: X:241.50, Y:74.76, Z:-0.89 [[-4.15162407e-01 -9.04968462e-01 9.31249555e-02 2.41500905e+02] [ 8.81692429e-01 -4.25470936e-01 -2.03943481e-01 7.47568094e+01] [ 2.24184380e-01 -2.56209815e-03 9.74543380e-01 -8.94800163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.206875 meters 0.014074015329683305 Centerline is valid? [True, True] Translation: X:241.49, Y:74.78, Z:-0.89 [[-4.15728978e-01 -9.04757245e-01 9.26485052e-02 2.41490140e+02] [ 8.81756801e-01 -4.25919765e-01 -2.02724684e-01 7.47797260e+01] [ 2.22877456e-01 -2.58507604e-03 9.74843042e-01 -8.88818991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.236875 meters 0.01390211111048184 Centerline is valid? [True, True] Translation: X:241.48, Y:74.80, Z:-0.88 [[-4.16244086e-01 -9.04542262e-01 9.24346113e-02 2.41477100e+02] [ 8.81685780e-01 -4.26375968e-01 -2.02073551e-01 7.48026434e+01] [ 2.22195964e-01 -2.61363834e-03 9.74998524e-01 -8.81521668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.266875 meters 0.014142288372929948 Centerline is valid? [True, True] Translation: X:241.47, Y:74.83, Z:-0.88 [[-4.16364308e-01 -9.04505607e-01 9.22516690e-02 2.41466172e+02] [ 8.81778705e-01 -4.26454090e-01 -2.01502418e-01 7.48257429e+01] [ 2.21601169e-01 -2.55285778e-03 9.75134045e-01 -8.76226535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.296875 meters 0.013800821238962518 Centerline is valid? [True, True] Translation: X:241.45, Y:74.85, Z:-0.87 [[-4.16417774e-01 -9.04486189e-01 9.22007176e-02 2.41453236e+02] [ 8.81824863e-01 -4.26495682e-01 -2.01212188e-01 7.48485946e+01] [ 2.21316853e-01 -2.48344638e-03 9.75198792e-01 -8.69804170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.32687500000003 meters 0.013639073867248564 Centerline is valid? [True, True] Translation: X:241.44, Y:74.87, Z:-0.86 [[-4.16169096e-01 -9.04601089e-01 9.21962797e-02 2.41441117e+02] [ 8.81983557e-01 -4.26252695e-01 -2.01031453e-01 7.48720748e+01] [ 2.21152184e-01 -2.34747558e-03 9.75236485e-01 -8.64099046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.356875 meters 0.013479967461487991 Centerline is valid? [True, True] Translation: X:241.43, Y:74.90, Z:-0.86 [[-4.14583555e-01 -9.05313218e-01 9.23496235e-02 2.41426633e+02] [ 8.82675665e-01 -4.24740365e-01 -2.01194663e-01 7.48951533e+01] [ 2.21368800e-01 -1.89723304e-03 9.75188318e-01 -8.58636009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.38687500000003 meters 0.013301998294435912 Centerline is valid? [True, True] Translation: X:241.41, Y:74.92, Z:-0.85 [[-4.13205455e-01 -9.05902975e-01 9.27418600e-02 2.41413816e+02] [ 8.83123800e-01 -4.23482593e-01 -2.01878300e-01 7.49173016e+01] [ 2.22156716e-01 -1.51467093e-03 9.75009795e-01 -8.53594707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.416875 meters 0.013032807066589625 Centerline is valid? [True, True] Translation: X:241.40, Y:74.94, Z:-0.85 [[-4.09468894e-01 -9.07552325e-01 9.31879962e-02 2.41397945e+02] [ 8.84623169e-01 -4.19938631e-01 -2.02715057e-01 7.49392493e+01] [ 2.23107761e-01 -5.69249697e-04 9.74793621e-01 -8.49210347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.44687500000003 meters 0.013090571048351608 Centerline is valid? [True, True] Translation: X:241.38, Y:74.96, Z:-0.84 [[-4.07692193e-01 -9.08324161e-01 9.34574451e-02 2.41384404e+02] [ 8.85318941e-01 -4.18266915e-01 -2.03133357e-01 7.49623702e+01] [ 2.23601093e-01 -7.62373625e-05 9.74680740e-01 -8.43920855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.476875 meters 0.013135790253759367 Centerline is valid? [True, True] Translation: X:241.37, Y:74.99, Z:-0.84 [[-4.06161397e-01 -9.08985416e-01 9.36932874e-02 2.41371289e+02] [ 8.85918234e-01 -4.16827762e-01 -2.03478500e-01 7.49854948e+01] [ 2.24012952e-01 3.59479719e-04 9.74586101e-01 -8.37928044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.50687500000004 meters 0.013187734222942924 Centerline is valid? [True, True] Translation: X:241.36, Y:75.01, Z:-0.83 [[-4.05058915e-01 -9.09482308e-01 9.36440437e-02 2.41358189e+02] [ 8.86492114e-01 -4.15742026e-01 -2.03200150e-01 7.50087259e+01] [ 2.23738706e-01 7.06674113e-04 9.74648907e-01 -8.32537026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.536875 meters 0.013393621218888797 Centerline is valid? [True, True] Translation: X:241.34, Y:75.03, Z:-0.83 [[-4.03667246e-01 -9.10111866e-01 9.35368708e-02 2.41344540e+02] [ 8.87231090e-01 -4.14361100e-01 -2.02795148e-01 7.50307685e+01] [ 2.23324311e-01 1.12706103e-03 9.74743547e-01 -8.27095249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56687500000004 meters 0.013381624814613597 Centerline is valid? [True, True] Translation: X:241.33, Y:75.05, Z:-0.82 [[-4.03111400e-01 -9.10373442e-01 9.33884136e-02 2.41332987e+02] [ 8.87614192e-01 -4.13785433e-01 -2.02293506e-01 7.50540621e+01] [ 2.22805400e-01 1.34606309e-03 9.74862012e-01 -8.20533060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.596875 meters 0.013624172177822191 Centerline is valid? [True, True] Translation: X:241.32, Y:75.08, Z:-0.81 [[-4.01345748e-01 -9.11176428e-01 9.31617280e-02 2.41319527e+02] [ 8.88590968e-01 -4.12012197e-01 -2.01623513e-01 7.50759023e+01] [ 2.22098361e-01 1.86193030e-03 9.75022488e-01 -8.14388672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62687500000004 meters 0.01391669355243762 Centerline is valid? [True, True] Translation: X:241.31, Y:75.10, Z:-0.81 [[-4.00664894e-01 -9.11509699e-01 9.28316295e-02 2.41307081e+02] [ 8.89124547e-01 -4.11273247e-01 -2.00778128e-01 7.50978881e+01] [ 2.21190376e-01 2.09413318e-03 9.75228400e-01 -8.08320357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.656875 meters 0.014098629394613585 Centerline is valid? [True, True] Translation: X:241.30, Y:75.12, Z:-0.80 [[-3.99564696e-01 -9.12005477e-01 9.27041700e-02 2.41295018e+02] [ 8.89724786e-01 -4.10170889e-01 -2.00373767e-01 7.51210568e+01] [ 2.20766525e-01 2.41891449e-03 9.75323685e-01 -8.02121813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.686875 meters 0.014771938882365693 Centerline is valid? [True, True] Translation: X:241.28, Y:75.14, Z:-0.80 [[-3.97215438e-01 -9.13040163e-01 9.26150965e-02 2.41280629e+02] [ 8.90869632e-01 -4.07858168e-01 -2.00007532e-01 7.51443253e+01] [ 2.20388733e-01 3.06189756e-03 9.75407315e-01 -7.95835124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.716875 meters 0.01470699949537257 Centerline is valid? [True, True] Translation: X:241.27, Y:75.17, Z:-0.79 [[-3.95994025e-01 -9.13572148e-01 9.25994723e-02 2.41268718e+02] [ 8.91456350e-01 -4.06662330e-01 -1.99828242e-01 7.51685417e+01] [ 2.20214233e-01 3.41759761e-03 9.75445545e-01 -7.89663324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.746875 meters 0.014914518792528617 Centerline is valid? [True, True] Translation: X:241.26, Y:75.19, Z:-0.78 [[-3.95233088e-01 -9.13891258e-01 9.27015320e-02 2.41255998e+02] [ 8.91769077e-01 -4.05942548e-01 -1.99896375e-01 7.51915468e+01] [ 2.20315046e-01 3.66269796e-03 9.75421891e-01 -7.83940356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.776875 meters 0.014980488349096077 Centerline is valid? [True, True] Translation: X:241.24, Y:75.22, Z:-0.78 [[-3.94033034e-01 -9.14399610e-01 9.27972039e-02 2.41243687e+02] [ 8.92281180e-01 -4.04792805e-01 -1.99942696e-01 7.52161464e+01] [ 2.20391163e-01 4.01717161e-03 9.75403300e-01 -7.77996978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.806875 meters 0.015987109745839324 Centerline is valid? [True, True] Translation: X:241.23, Y:75.24, Z:-0.77 [[-3.92105241e-01 -9.15183191e-01 9.32373670e-02 2.41228791e+02] [ 8.92908964e-01 -4.03012512e-01 -2.00734892e-01 7.52392401e+01] [ 2.21285024e-01 4.54327768e-03 9.75198593e-01 -7.73820727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.836875 meters 0.016510866946631546 Centerline is valid? [True, True] Translation: X:241.22, Y:75.26, Z:-0.77 [[-3.91681212e-01 -9.15328850e-01 9.35891291e-02 2.41216527e+02] [ 8.92925568e-01 -4.02679646e-01 -2.01328171e-01 7.52622236e+01] [ 2.21967921e-01 4.71166420e-03 9.75042585e-01 -7.68722193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.866875 meters 0.01594481219784454 Centerline is valid? [True, True] Translation: X:241.21, Y:75.29, Z:-0.76 [[-3.91558248e-01 -9.15359711e-01 9.38015871e-02 2.41206211e+02] [ 8.92884201e-01 -4.02608506e-01 -2.01653651e-01 7.52863538e+01] [ 2.22350944e-01 4.79480496e-03 9.74954905e-01 -7.63021363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.896875 meters 0.016224455589321476 Centerline is valid? [True, True] Translation: X:241.19, Y:75.31, Z:-0.76 [[-3.91898007e-01 -9.15191569e-01 9.40231017e-02 2.41194931e+02] [ 8.92643009e-01 -4.02990721e-01 -2.01957761e-01 7.53096603e+01] [ 2.22720477e-01 4.78222065e-03 9.74870617e-01 -7.58034718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.926875 meters 0.01547213957575462 Centerline is valid? [True, True] Translation: X:241.19, Y:75.33, Z:-0.75 [[-3.92828330e-01 -9.14768345e-01 9.42591070e-02 2.41185059e+02] [ 8.92134268e-01 -4.03952288e-01 -2.02284446e-01 7.53342273e+01] [ 2.23119590e-01 4.62871828e-03 9.74780090e-01 -7.52286580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.956875 meters 0.015116327045162777 Centerline is valid? [True, True] Translation: X:241.18, Y:75.36, Z:-0.75 [[-3.94728327e-01 -9.13935327e-01 9.44021459e-02 2.41175036e+02] [ 8.91247921e-01 -4.05837746e-01 -2.02417557e-01 7.53594683e+01] [ 2.23308510e-01 4.23577273e-03 9.74738615e-01 -7.45985878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.986875 meters 0.01504806588637457 Centerline is valid? [True, True] Translation: X:241.16, Y:75.38, Z:-0.74 [[-3.96093245e-01 -9.13373420e-01 9.41229866e-02 2.41164981e+02] [ 8.90841251e-01 -4.07103463e-01 -2.01664664e-01 7.53828973e+01] [ 2.22512938e-01 3.97062798e-03 9.74921652e-01 -7.39669707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.016875 meters 0.014632421202126735 Centerline is valid? [True, True] Translation: X:241.16, Y:75.41, Z:-0.73 [[-3.97873964e-01 -9.12636135e-01 9.37634951e-02 2.41155127e+02] [ 8.90298415e-01 -4.08756888e-01 -2.00715068e-01 7.54079927e+01] [ 2.21506298e-01 3.61819135e-03 9.75152228e-01 -7.32302845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.046875 meters 0.014107808453550688 Centerline is valid? [True, True] Translation: X:241.15, Y:75.43, Z:-0.72 [[-4.00407311e-01 -9.11557069e-01 9.34756413e-02 2.41146384e+02] [ 8.89362858e-01 -4.11162094e-01 -1.99948595e-01 7.54334261e+01] [ 2.20698195e-01 3.07288441e-03 9.75337308e-01 -7.24570766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07687500000003 meters 0.013929557238808333 Centerline is valid? [True, True] Translation: X:241.14, Y:75.46, Z:-0.72 [[-4.01345396e-01 -9.11149101e-01 9.34301328e-02 2.41136234e+02] [ 8.89001715e-01 -4.12066531e-01 -1.99692574e-01 7.54579073e+01] [ 2.20449140e-01 2.91385296e-03 9.75394118e-01 -7.18501614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.106875 meters 0.013695537501055914 Centerline is valid? [True, True] Translation: X:241.13, Y:75.48, Z:-0.71 [[-4.02479144e-01 -9.10668041e-01 9.32430044e-02 2.41125376e+02] [ 8.88635700e-01 -4.13129935e-01 -1.99123703e-01 7.54818960e+01] [ 2.19857069e-01 2.71592508e-03 9.75528315e-01 -7.12550932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13687500000003 meters 0.013685624403412887 Centerline is valid? [True, True] Translation: X:241.11, Y:75.51, Z:-0.71 [[-4.03293747e-01 -9.10306916e-01 9.32495181e-02 2.41114526e+02] [ 8.88299923e-01 -4.13925848e-01 -1.98968939e-01 7.55064603e+01] [ 2.19721187e-01 2.59061053e-03 9.75559270e-01 -7.07233478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.166875 meters 0.013405938492357222 Centerline is valid? [True, True] Translation: X:241.10, Y:75.53, Z:-0.70 [[-4.04794392e-01 -9.09623674e-01 9.34145154e-02 2.41104866e+02] [ 8.87557803e-01 -4.15426894e-01 -1.99152308e-01 7.55314686e+01] [ 2.19960556e-01 2.29504448e-03 9.75506067e-01 -7.01823988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19687500000003 meters 0.013357337056858338 Centerline is valid? [True, True] Translation: X:241.09, Y:75.56, Z:-0.70 [[-4.05777785e-01 -9.09178265e-01 9.34840743e-02 2.41094554e+02] [ 8.87105251e-01 -4.16401682e-01 -1.99132903e-01 7.55552666e+01] [ 2.19974233e-01 2.12650465e-03 9.75503365e-01 -6.96402923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.226875 meters 0.013235825573208296 Centerline is valid? [True, True] Translation: X:241.08, Y:75.58, Z:-0.69 [[-4.06514232e-01 -9.08802810e-01 9.39341844e-02 2.41084629e+02] [ 8.86544176e-01 -4.17221066e-01 -1.99915000e-01 7.55800322e+01] [ 2.20874634e-01 2.00851143e-03 9.75300139e-01 -6.91149390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25687500000004 meters 0.013016650366387853 Centerline is valid? [True, True] Translation: X:241.08, Y:75.60, Z:-0.69 [[-4.07909219e-01 -9.08130728e-01 9.43856429e-02 2.41075401e+02] [ 8.85675610e-01 -4.18683180e-01 -2.00706522e-01 7.56046799e+01] [ 2.21785441e-01 1.72502109e-03 9.75093966e-01 -6.86219904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.286875 meters 0.013016650366387853 Centerline is valid? [True, True] Translation: X:241.06, Y:75.63, Z:-0.68 [[-4.08189799e-01 -9.07997604e-01 9.44533702e-02 2.41064139e+02] [ 8.85546344e-01 -4.18971789e-01 -2.00674645e-01 7.56282882e+01] [ 2.21785395e-01 1.72949355e-03 9.75093969e-01 -6.80452242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31687500000004 meters 0.012824541058267814 Centerline is valid? [True, True] Translation: X:241.05, Y:75.65, Z:-0.67 [[-4.08951762e-01 -9.07634407e-01 9.46479778e-02 2.41053785e+02] [ 8.85117456e-01 -4.19758503e-01 -2.00922592e-01 7.56525250e+01] [ 2.22093551e-01 1.60692947e-03 9.75024037e-01 -6.74850009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.346875 meters 0.012644227869480901 Centerline is valid? [True, True] Translation: X:241.04, Y:75.68, Z:-0.67 [[-4.09770253e-01 -9.07238593e-01 9.49024521e-02 2.41043346e+02] [ 8.84626669e-01 -4.20613812e-01 -2.01295000e-01 7.56774280e+01] [ 2.22539875e-01 1.46853717e-03 9.74922483e-01 -6.69787145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37687500000004 meters 0.012667838004428252 Centerline is valid? [True, True] Translation: X:241.03, Y:75.70, Z:-0.66 [[-4.10084558e-01 -9.07092734e-01 9.49390739e-02 2.41032329e+02] [ 8.84497381e-01 -4.20928302e-01 -2.01205735e-01 7.57018514e+01] [ 2.22474803e-01 1.46199745e-03 9.74937344e-01 -6.64447321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.406875 meters 0.012716545002958608 Centerline is valid? [True, True] Translation: X:241.02, Y:75.73, Z:-0.66 [[-4.10308117e-01 -9.06994832e-01 9.49085042e-02 2.41021277e+02] [ 8.84449805e-01 -4.21139149e-01 -2.00973532e-01 7.57264040e+01] [ 2.22251641e-01 1.48073642e-03 9.74988213e-01 -6.58853217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.436875 meters 0.012517642870952224 Centerline is valid? [True, True] Translation: X:241.01, Y:75.75, Z:-0.65 [[-4.10208677e-01 -9.07026704e-01 9.50336763e-02 2.41010772e+02] [ 8.84460558e-01 -4.21070166e-01 -2.01070726e-01 7.57510991e+01] [ 2.22392364e-01 1.57258197e-03 9.74955980e-01 -6.53584678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.466875 meters 0.012739796060559657 Centerline is valid? [True, True] Translation: X:241.00, Y:75.78, Z:-0.65 [[-4.09764046e-01 -9.07222364e-01 9.50842200e-02 2.40999739e+02] [ 8.84675468e-01 -4.20647729e-01 -2.01009464e-01 7.57752190e+01] [ 2.22357243e-01 1.75222552e-03 9.74963685e-01 -6.48649383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.496875 meters 0.01270042920002633 Centerline is valid? [True, True] Translation: X:240.99, Y:75.80, Z:-0.64 [[-4.09387232e-01 -9.07389102e-01 9.51163132e-02 2.40988440e+02] [ 8.84869483e-01 -4.20287221e-01 -2.00909557e-01 7.57998005e+01] [ 2.22279314e-01 1.91571535e-03 9.74981147e-01 -6.42768116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.526875 meters 0.013140309481181407 Centerline is valid? [True, True] Translation: X:240.98, Y:75.82, Z:-0.64 [[-4.07254013e-01 -9.08365290e-01 9.49561457e-02 2.40977234e+02] [ 8.85986244e-01 -4.18170037e-01 -2.00405080e-01 7.58235468e+01] [ 2.21748833e-01 2.51406590e-03 9.75100577e-01 -6.36793739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.556875 meters 0.013478854460307395 Centerline is valid? [True, True] Translation: X:240.97, Y:75.85, Z:-0.63 [[-4.06199173e-01 -9.08865159e-01 9.46908394e-02 2.40966266e+02] [ 8.86650553e-01 -4.17080499e-01 -1.99736461e-01 7.58461320e+01] [ 2.21027213e-01 2.82489987e-03 9.75263550e-01 -6.30905549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.586875 meters 0.013938492199103775 Centerline is valid? [True, True] Translation: X:240.95, Y:75.87, Z:-0.62 [[-4.04906283e-01 -9.09459771e-01 9.45189200e-02 2.40954100e+02] [ 8.87373428e-01 -4.15779603e-01 -1.99237850e-01 7.58709668e+01] [ 2.20497848e-01 3.20092080e-03 9.75382209e-01 -6.24689207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.616875 meters 0.013922365499113775 Centerline is valid? [True, True] Translation: X:240.94, Y:75.90, Z:-0.62 [[-4.03909215e-01 -9.09902877e-01 9.45203736e-02 2.40942194e+02] [ 8.87860347e-01 -4.14806555e-01 -1.99096776e-01 7.58960615e+01] [ 2.20366399e-01 3.50386930e-03 9.75410874e-01 -6.18530086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.646875 meters 0.014814253571738364 Centerline is valid? [True, True] Translation: X:240.93, Y:75.92, Z:-0.61 [[-4.01194772e-01 -9.11058817e-01 9.49451746e-02 2.40930314e+02] [ 8.88880423e-01 -4.12254817e-01 -1.99843837e-01 7.59196340e+01] [ 2.21211095e-01 4.21860455e-03 9.75216825e-01 -6.14477822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.676875 meters 0.015308192510545054 Centerline is valid? [True, True] Translation: X:240.92, Y:75.94, Z:-0.61 [[-4.00499527e-01 -9.11333517e-01 9.52436279e-02 2.40918509e+02] [ 8.89048860e-01 -4.11644925e-01 -2.00351139e-01 7.59434676e+01] [ 2.21793265e-01 4.43570218e-03 9.75083623e-01 -6.09737366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.706875 meters 0.014995907012445239 Centerline is valid? [True, True] Translation: X:240.91, Y:75.97, Z:-0.60 [[-3.99791507e-01 -9.11620429e-01 9.54722181e-02 2.40908139e+02] [ 8.89270955e-01 -4.11006526e-01 -2.00675871e-01 7.59685653e+01] [ 2.22179928e-01 4.67216180e-03 9.74994487e-01 -6.03776931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.736875 meters 0.015119733276304913 Centerline is valid? [True, True] Translation: X:240.90, Y:75.99, Z:-0.60 [[-3.99602475e-01 -9.11721370e-01 9.52995616e-02 2.40898134e+02] [ 8.89490356e-01 -4.10781300e-01 -2.00164008e-01 7.59935245e+01] [ 2.21641082e-01 4.78200788e-03 9.75116590e-01 -5.98343429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.766875 meters 0.015560139149196526 Centerline is valid? [True, True] Translation: X:240.89, Y:76.02, Z:-0.59 [[-3.99920392e-01 -9.11569982e-01 9.54140839e-02 2.40886948e+02] [ 8.89319243e-01 -4.11117210e-01 -2.00234671e-01 7.60167438e+01] [ 2.21754288e-01 4.77565251e-03 9.75090882e-01 -5.92684803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.796875 meters 0.015105042416146243 Centerline is valid? [True, True] Translation: X:240.88, Y:76.04, Z:-0.59 [[-4.01478441e-01 -9.10880056e-01 9.54598634e-02 2.40877691e+02] [ 8.88628822e-01 -4.12646982e-01 -2.00153154e-01 7.60418810e+01] [ 2.21706741e-01 4.47120975e-03 9.75103138e-01 -5.86737288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.82687500000003 meters 0.014759128046649752 Centerline is valid? [True, True] Translation: X:240.87, Y:76.07, Z:-0.58 [[-4.02843533e-01 -9.10293264e-01 9.53061478e-02 2.40867765e+02] [ 8.88133934e-01 -4.13942595e-01 -1.99673843e-01 7.60664501e+01] [ 2.21213028e-01 4.20730776e-03 9.75216435e-01 -5.81113634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.856875 meters 0.014893085465190728 Centerline is valid? [True, True] Translation: X:240.86, Y:76.09, Z:-0.58 [[-4.04200053e-01 -9.09683955e-01 9.53803910e-02 2.40857529e+02] [ 8.87509977e-01 -4.15282471e-01 -1.99665998e-01 7.60903206e+01] [ 2.21242759e-01 3.94604163e-03 9.75210783e-01 -5.75259098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.88687500000003 meters 0.014630128985309025 Centerline is valid? [True, True] Translation: X:240.85, Y:76.12, Z:-0.57 [[-4.07444801e-01 -9.08246070e-01 9.52775464e-02 2.40848566e+02] [ 8.86110070e-01 -4.18424133e-01 -1.99324330e-01 7.61150696e+01] [ 2.20901964e-01 3.21273137e-03 9.75290726e-01 -5.69650837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.916875 meters 0.013187015926579566 Centerline is valid? [True, True] Translation: X:240.84, Y:76.14, Z:-0.56 [[-4.09642951e-01 -9.07263342e-01 9.52149211e-02 2.40841268e+02] [ 8.85161520e-01 -4.20554073e-01 -1.99056159e-01 7.61413046e+01] [ 2.20639379e-01 2.73863181e-03 9.75351611e-01 -5.62908437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.94687500000003 meters 0.01292247925380329 Centerline is valid? [True, True] Translation: X:240.83, Y:76.16, Z:-0.56 [[-4.11803705e-01 -9.06280956e-01 9.52498732e-02 2.40831479e+02] [ 8.84174139e-01 -4.22669628e-01 -1.98963508e-01 7.61649748e+01] [ 2.20576067e-01 2.28356491e-03 9.75367102e-01 -5.57824948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.976875 meters 0.0126368075958095 Centerline is valid? [True, True] Translation: X:240.82, Y:76.19, Z:-0.55 [[-4.13888334e-01 -9.05306438e-01 9.54814127e-02 2.40822099e+02] [ 8.83104356e-01 -4.24755054e-01 -1.99273281e-01 7.61901119e+01] [ 2.20959597e-01 1.84316542e-03 9.75281221e-01 -5.52220390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.00687500000004 meters 0.012358073926572259 Centerline is valid? [True, True] Translation: X:240.82, Y:76.22, Z:-0.55 [[-4.17553339e-01 -9.03576232e-01 9.59124663e-02 2.40815033e+02] [ 8.81161971e-01 -4.28426183e-01 -2.00011469e-01 7.62155436e+01] [ 2.21817021e-01 9.98961197e-04 9.75087797e-01 -5.47244487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.036875 meters 0.01227399811441827 Centerline is valid? [True, True] Translation: X:240.81, Y:76.24, Z:-0.54 [[-4.19403855e-01 -9.02713614e-01 9.59611219e-02 2.40805329e+02] [ 8.80282479e-01 -4.30241529e-01 -1.99987457e-01 7.62404707e+01] [ 2.21817860e-01 5.97383725e-04 9.75087934e-01 -5.41131548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06687500000004 meters 0.012214247225525353 Centerline is valid? [True, True] Translation: X:240.80, Y:76.27, Z:-0.53 [[-4.21089942e-01 -9.01944671e-01 9.58074645e-02 2.40795630e+02] [ 8.79602227e-01 -4.31851527e-01 -1.99509850e-01 7.62650864e+01] [ 2.21321446e-01 2.60867866e-04 9.75200876e-01 -5.34337519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.096875 meters 0.012244252602586877 Centerline is valid? [True, True] Translation: X:240.79, Y:76.29, Z:-0.53 [[-4.23584022e-01 -9.00791454e-01 9.56626038e-02 2.40786627e+02] [ 8.78525171e-01 -4.34251867e-01 -1.99044820e-01 7.62895824e+01] [ 2.20839537e-01 -2.70199845e-04 9.75310118e-01 -5.28455425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12687500000004 meters 0.012261397750664916 Centerline is valid? [True, True] Translation: X:240.78, Y:76.31, Z:-0.52 [[-4.24565015e-01 -9.00313853e-01 9.58097832e-02 2.40775501e+02] [ 8.78004906e-01 -4.35241048e-01 -1.99179856e-01 7.63143074e+01] [ 2.21024734e-01 -4.43338814e-04 9.75268102e-01 -5.23140197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.156875 meters 0.012265332249470075 Centerline is valid? [True, True] Translation: X:240.76, Y:76.34, Z:-0.52 [[-4.24957759e-01 -9.00093251e-01 9.61407423e-02 2.40764228e+02] [ 8.77659027e-01 -4.35697029e-01 -1.99706612e-01 7.63390952e+01] [ 2.21642810e-01 -4.88084103e-04 9.75127800e-01 -5.17774677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.186875 meters 0.012475017002981025 Centerline is valid? [True, True] Translation: X:240.75, Y:76.36, Z:-0.51 [[-4.24905949e-01 -9.00071629e-01 9.65712057e-02 2.40754002e+02] [ 8.77470492e-01 -4.35741758e-01 -2.00436164e-01 7.63632084e+01] [ 2.22487011e-01 -4.28135067e-04 9.74935560e-01 -5.13341516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.216875 meters 0.012412413767196966 Centerline is valid? [True, True] Translation: X:240.74, Y:76.39, Z:-0.51 [[-4.24909467e-01 -9.00068880e-01 9.65813503e-02 2.40742873e+02] [ 8.77501872e-01 -4.35747504e-01 -2.00286237e-01 7.63870827e+01] [ 2.22356491e-01 -3.53202451e-04 9.74965367e-01 -5.07341853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.246875 meters 0.012461649780891874 Centerline is valid? [True, True] Translation: X:240.73, Y:76.41, Z:-0.50 [[-4.23342922e-01 -9.00778224e-01 9.68471016e-02 2.40730973e+02] [ 8.78140765e-01 -4.34279383e-01 -2.00674400e-01 7.64098136e+01] [ 2.22821829e-01 9.13010189e-05 9.74859182e-01 -5.02618665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.276875 meters 0.012430028636560621 Centerline is valid? [True, True] Translation: X:240.72, Y:76.43, Z:-0.50 [[-4.21925107e-01 -9.01437420e-01 9.69008892e-02 2.40718137e+02] [ 8.78820777e-01 -4.32909151e-01 -2.00658190e-01 7.64330275e+01] [ 2.22830083e-01 4.95786388e-04 9.74857173e-01 -4.97164501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.306875 meters 0.012690599091883675 Centerline is valid? [True, True] Translation: X:240.71, Y:76.46, Z:-0.49 [[-4.20230682e-01 -9.02228163e-01 9.69046695e-02 2.40705049e+02] [ 8.79666801e-01 -4.31257895e-01 -2.00506726e-01 7.64555149e+01] [ 2.22693719e-01 9.84742511e-04 9.74887962e-01 -4.91923068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.336875 meters 0.012789715331048512 Centerline is valid? [True, True] Translation: X:240.69, Y:76.48, Z:-0.49 [[-4.18470853e-01 -9.03052136e-01 9.68451585e-02 2.40692419e+02] [ 8.80578530e-01 -4.29528352e-01 -2.00216998e-01 7.64789113e+01] [ 2.22404129e-01 1.49478932e-03 9.74953419e-01 -4.85284972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.366875 meters 0.013211191543070462 Centerline is valid? [True, True] Translation: X:240.68, Y:76.50, Z:-0.48 [[-4.15470285e-01 -9.04482187e-01 9.64179190e-02 2.40677622e+02] [ 8.82283452e-01 -4.26505099e-01 -1.99171562e-01 7.65025166e+01] [ 2.21269864e-01 2.31806887e-03 9.75209862e-01 -4.78630708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.396875 meters 0.013552432889665407 Centerline is valid? [True, True] Translation: X:240.66, Y:76.53, Z:-0.47 [[-4.14407960e-01 -9.04983597e-01 9.62846353e-02 2.40664967e+02] [ 8.82893053e-01 -4.25438237e-01 -1.98751512e-01 7.65260615e+01] [ 2.20830023e-01 2.64482715e-03 9.75308723e-01 -4.72674693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.426875 meters 0.013901478103297196 Centerline is valid? [True, True] Translation: X:240.65, Y:76.55, Z:-0.47 [[-4.13559872e-01 -9.05368131e-01 9.63160344e-02 2.40652979e+02] [ 8.83310030e-01 -4.24617487e-01 -1.98653922e-01 7.65482685e+01] [ 2.20752403e-01 2.92162839e-03 9.75325505e-01 -4.67234178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.456875 meters 0.013843881011257069 Centerline is valid? [True, True] Translation: X:240.64, Y:76.57, Z:-0.46 [[-4.12749404e-01 -9.05733912e-01 9.63535683e-02 2.40641617e+02] [ 8.83702658e-01 -4.23834802e-01 -1.98579132e-01 7.65724728e+01] [ 2.20697850e-01 3.18448596e-03 9.75337028e-01 -4.60690927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.486875 meters 0.013948664479765881 Centerline is valid? [True, True] Translation: X:240.63, Y:76.60, Z:-0.45 [[-4.12907002e-01 -9.05645731e-01 9.65070874e-02 2.40629592e+02] [ 8.83578417e-01 -4.24022968e-01 -1.98730228e-01 7.65961322e+01] [ 2.20900404e-01 3.21447709e-03 9.75291074e-01 -4.54853242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.516875 meters 0.014293472003586482 Centerline is valid? [True, True] Translation: X:240.62, Y:76.62, Z:-0.45 [[-4.13329722e-01 -9.05458333e-01 9.64559425e-02 2.40616578e+02] [ 8.83446648e-01 -4.24423223e-01 -1.98461450e-01 7.66187883e+01] [ 2.20636716e-01 3.18366308e-03 9.75350862e-01 -4.50036116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.546875 meters 0.014082229431700326 Centerline is valid? [True, True] Translation: X:240.61, Y:76.64, Z:-0.44 [[-4.13790125e-01 -9.05234164e-01 9.65859267e-02 2.40605004e+02] [ 8.83185216e-01 -4.24901577e-01 -1.98601420e-01 7.66428594e+01] [ 2.20820303e-01 3.12395625e-03 9.75309507e-01 -4.44082734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57687500000003 meters 0.014217007494155215 Centerline is valid? [True, True] Translation: X:240.59, Y:76.67, Z:-0.44 [[-4.14312809e-01 -9.04978841e-01 9.67377597e-02 2.40593720e+02] [ 8.82889135e-01 -4.25445552e-01 -1.98753256e-01 7.66654522e+01] [ 2.21024141e-01 3.06269718e-03 9.75263528e-01 -4.38610269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.606875 meters 0.013988293150729272 Centerline is valid? [True, True] Translation: X:240.58, Y:76.69, Z:-0.43 [[-4.14717486e-01 -9.04779210e-01 9.68709826e-02 2.40582515e+02] [ 8.82660626e-01 -4.25870140e-01 -1.98858855e-01 7.66892011e+01] [ 2.21177817e-01 3.03395759e-03 9.75228778e-01 -4.32818053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63687500000003 meters 0.01353252830282161 Centerline is valid? [True, True] Translation: X:240.57, Y:76.71, Z:-0.43 [[-4.15980727e-01 -9.04160542e-01 9.72303947e-02 2.40570612e+02] [ 8.81895498e-01 -4.27183747e-01 -1.99435144e-01 7.67131705e+01] [ 2.21856632e-01 2.78587142e-03 9.75075317e-01 -4.27762413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.666875 meters 0.013288821109876364 Centerline is valid? [True, True] Translation: X:240.56, Y:76.74, Z:-0.42 [[-4.17133504e-01 -9.03615606e-01 9.73574643e-02 2.40559539e+02] [ 8.81314126e-01 -4.28336581e-01 -1.99532415e-01 7.67370755e+01] [ 2.22002368e-01 2.57085312e-03 9.75042737e-01 -4.22370513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69687500000003 meters 0.013156023083959476 Centerline is valid? [True, True] Translation: X:240.55, Y:76.76, Z:-0.42 [[-4.19005751e-01 -9.02703793e-01 9.77754735e-02 2.40548072e+02] [ 8.80221723e-01 -4.30257077e-01 -2.00221292e-01 7.67605983e+01] [ 2.22809109e-01 2.17022301e-03 9.74859678e-01 -4.16726504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.726875 meters 0.013067906600376818 Centerline is valid? [True, True] Translation: X:240.54, Y:76.78, Z:-0.41 [[-4.20224885e-01 -9.02109553e-01 9.80275484e-02 2.40536603e+02] [ 8.79532036e-01 -4.31502742e-01 -2.00571140e-01 7.67844728e+01] [ 2.23236297e-01 1.93338517e-03 9.74762442e-01 -4.11672018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75687500000004 meters 0.01286380824909601 Centerline is valid? [True, True] Translation: X:240.52, Y:76.81, Z:-0.41 [[-4.21967320e-01 -9.01269002e-01 9.82739370e-02 2.40524933e+02] [ 8.78591716e-01 -4.33257124e-01 -2.00910082e-01 7.68088717e+01] [ 2.23651912e-01 1.56517823e-03 9.74667827e-01 -4.06378101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.786875 meters 0.012756236626386195 Centerline is valid? [True, True] Translation: X:240.51, Y:76.83, Z:-0.40 [[-4.23664324e-01 -9.00446278e-01 9.85141631e-02 2.40513677e+02] [ 8.77672310e-01 -4.34965567e-01 -2.01236856e-01 7.68323153e+01] [ 2.24053247e-01 1.20627657e-03 9.74576158e-01 -4.01376922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81687500000004 meters 0.012609780019490717 Centerline is valid? [True, True] Translation: X:240.50, Y:76.86, Z:-0.39 [[-4.27073755e-01 -8.98876839e-01 9.81245955e-02 2.40502583e+02] [ 8.76282541e-01 -4.38201121e-01 -2.00271531e-01 7.68567839e+01] [ 2.23017748e-01 4.54155307e-04 9.74814279e-01 -3.94962271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.846875 meters 0.012642024032844566 Centerline is valid? [True, True] Translation: X:240.49, Y:76.88, Z:-0.39 [[-4.28947012e-01 -8.98000767e-01 9.79749094e-02 2.40491127e+02] [ 8.75490275e-01 -4.39993883e-01 -1.99805308e-01 7.68806891e+01] [ 2.22533680e-01 7.01907491e-05 9.74925000e-01 -3.88518466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87687500000004 meters 0.012635994689778772 Centerline is valid? [True, True] Translation: X:240.48, Y:76.90, Z:-0.38 [[-4.31202342e-01 -8.96953852e-01 9.76643622e-02 2.40480248e+02] [ 8.74597720e-01 -4.42123998e-01 -1.99010546e-01 7.69041620e+01] [ 2.21683034e-01 -3.96784955e-04 9.75118698e-01 -3.82439344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.906875 meters 0.012834078224538824 Centerline is valid? [True, True] Translation: X:240.47, Y:76.93, Z:-0.38 [[-4.34423708e-01 -8.95453278e-01 9.71569234e-02 2.40469465e+02] [ 8.73332273e-01 -4.45154191e-01 -1.97809217e-01 7.69278177e+01] [ 2.20378724e-01 -1.08273685e-03 9.75413782e-01 -3.75572854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.936875 meters 0.012999383466496869 Centerline is valid? [True, True] Translation: X:240.46, Y:76.95, Z:-0.37 [[-4.35941609e-01 -8.94711050e-01 9.71959402e-02 2.40458017e+02] [ 8.72590330e-01 -4.46643279e-01 -1.97726824e-01 7.69508562e+01] [ 2.20320287e-01 -1.38511204e-03 9.75426600e-01 -3.69796918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.966875 meters 0.012984962877112642 Centerline is valid? [True, True] Translation: X:240.45, Y:76.97, Z:-0.36 [[-4.37238593e-01 -8.94071869e-01 9.72517641e-02 2.40445824e+02] [ 8.71947902e-01 -4.47920565e-01 -1.97671504e-01 7.69744963e+01] [ 2.20293596e-01 -1.63113850e-03 9.75432248e-01 -3.63943952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.996875 meters 0.013331589675741384 Centerline is valid? [True, True] Translation: X:240.43, Y:77.00, Z:-0.36 [[-4.39113423e-01 -8.93115683e-01 9.75898438e-02 2.40432883e+02] [ 8.70849191e-01 -4.49822406e-01 -1.98195585e-01 7.69981691e+01] [ 2.20909684e-01 -2.04430545e-03 9.75292127e-01 -3.59293176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.026875 meters 0.013418571030493306 Centerline is valid? [True, True] Translation: X:240.42, Y:77.02, Z:-0.35 [[-4.39957988e-01 -8.92685636e-01 9.77206399e-02 2.40420039e+02] [ 8.70382962e-01 -4.50674546e-01 -1.98307721e-01 7.70215408e+01] [ 2.21066659e-01 -2.19268574e-03 9.75256235e-01 -3.53916388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.056875 meters 0.013488849149472829 Centerline is valid? [True, True] Translation: X:240.41, Y:77.05, Z:-0.35 [[-4.40618154e-01 -8.92307162e-01 9.82016890e-02 2.40406869e+02] [ 8.69809333e-01 -4.51422805e-01 -1.99121006e-01 7.70451109e+01] [ 2.22007582e-01 -2.31958463e-03 9.75042180e-01 -3.49103233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.086875 meters 0.013580234319320334 Centerline is valid? [True, True] Translation: X:240.39, Y:77.07, Z:-0.34 [[-4.40836737e-01 -8.92183513e-01 9.83440434e-02 2.40394935e+02] [ 8.69653521e-01 -4.51667181e-01 -1.99247360e-01 7.70677479e+01] [ 2.22183986e-01 -2.31031237e-03 9.75002020e-01 -3.43470347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.116875 meters 0.013632636483762959 Centerline is valid? [True, True] Translation: X:240.38, Y:77.09, Z:-0.34 [[-4.41207513e-01 -8.91984689e-01 9.84847446e-02 2.40381858e+02] [ 8.69423150e-01 -4.52059576e-01 -1.99362800e-01 7.70913354e+01] [ 2.22349537e-01 -2.33544839e-03 9.74964219e-01 -3.37571701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.146875 meters 0.01386964404469543 Centerline is valid? [True, True] Translation: X:240.37, Y:77.11, Z:-0.33 [[-4.41508256e-01 -8.91799215e-01 9.88160938e-02 2.40370498e+02] [ 8.69116531e-01 -4.52425225e-01 -1.99869633e-01 7.71142724e+01] [ 2.22950475e-01 -2.36139251e-03 9.74826913e-01 -3.33068962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.176875 meters 0.01386964404469543 Centerline is valid? [True, True] Translation: X:240.36, Y:77.14, Z:-0.33 [[-4.41774808e-01 -8.91659714e-01 9.88836326e-02 2.40358763e+02] [ 8.68981057e-01 -4.52700133e-01 -1.99836215e-01 7.71376556e+01] [ 2.22950536e-01 -2.35460182e-03 9.74826915e-01 -3.27302379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.206875 meters 0.013588817233041511 Centerline is valid? [True, True] Translation: X:240.34, Y:77.16, Z:-0.32 [[-4.41766864e-01 -8.91647124e-01 9.90325378e-02 2.40343828e+02] [ 8.68934343e-01 -4.52725247e-01 -1.99982395e-01 7.71601702e+01] [ 2.23148257e-01 -2.29282238e-03 9.74781821e-01 -3.21750590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.236875 meters 0.013542317646662591 Centerline is valid? [True, True] Translation: X:240.33, Y:77.18, Z:-0.32 [[-4.41414893e-01 -8.91822814e-01 9.90200000e-02 2.40330429e+02] [ 8.69157282e-01 -4.52379859e-01 -1.99795098e-01 7.71840793e+01] [ 2.22976480e-01 -2.12857768e-03 9.74821501e-01 -3.15661004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.266875 meters 0.013407198532176826 Centerline is valid? [True, True] Translation: X:240.32, Y:77.21, Z:-0.31 [[-4.40980030e-01 -8.92055347e-01 9.88628887e-02 2.40317655e+02] [ 8.69502022e-01 -4.51922002e-01 -1.99330723e-01 7.72075125e+01] [ 2.22492352e-01 -1.93938656e-03 9.74932506e-01 -3.09399630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.296875 meters 0.013428806004134644 Centerline is valid? [True, True] Translation: X:240.31, Y:77.23, Z:-0.30 [[-4.40320848e-01 -8.92389934e-01 9.87813520e-02 2.40305459e+02] [ 8.69919997e-01 -4.51261941e-01 -1.99002159e-01 7.72296092e+01] [ 2.22163788e-01 -1.69292614e-03 9.75007890e-01 -3.03388468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.32687500000003 meters 0.013302941578367504 Centerline is valid? [True, True] Translation: X:240.29, Y:77.25, Z:-0.30 [[-4.38528659e-01 -8.93319998e-01 9.83463069e-02 2.40291241e+02] [ 8.71111614e-01 -4.49419719e-01 -1.97955734e-01 7.72516710e+01] [ 2.21036586e-01 -1.13865247e-03 9.75264852e-01 -2.96660962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.356875 meters 0.01323324018555026 Centerline is valid? [True, True] Translation: X:240.28, Y:77.27, Z:-0.29 [[-4.37928840e-01 -8.93607392e-01 9.84081278e-02 2.40278100e+02] [ 8.71414112e-01 -4.48848505e-01 -1.97920348e-01 7.72748452e+01] [ 2.21033427e-01 -9.20797064e-04 9.75265798e-01 -2.90883761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.38687500000003 meters 0.013067098507302194 Centerline is valid? [True, True] Translation: X:240.26, Y:77.30, Z:-0.29 [[-4.36175408e-01 -8.94445603e-01 9.85803039e-02 2.40263581e+02] [ 8.72230843e-01 -4.47176568e-01 -1.98107230e-01 7.72979573e+01] [ 2.21278942e-01 -4.24720142e-04 9.75210464e-01 -2.85591383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.416875 meters 0.013079669670022385 Centerline is valid? [True, True] Translation: X:240.25, Y:77.32, Z:-0.28 [[-4.35494057e-01 -8.94781523e-01 9.85441673e-02 2.40250821e+02] [ 8.72627756e-01 -4.46504192e-01 -1.97875733e-01 7.73210729e+01] [ 2.21055934e-01 -1.81330133e-04 9.75261114e-01 -2.79605313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.44687500000003 meters 0.013249096027713469 Centerline is valid? [True, True] Translation: X:240.24, Y:77.34, Z:-0.27 [[-4.35276997e-01 -8.94897616e-01 9.84489352e-02 2.40238693e+02] [ 8.72826726e-01 -4.46271503e-01 -1.97522789e-01 7.73433359e+01] [ 2.20697627e-01 -4.82646874e-05 9.75342276e-01 -2.73932880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.476875 meters 0.013159036981417427 Centerline is valid? [True, True] Translation: X:240.23, Y:77.37, Z:-0.27 [[-4.35567157e-01 -8.94773292e-01 9.82955076e-02 2.40225893e+02] [ 8.72806937e-01 -4.46520721e-01 -1.97046432e-01 7.73667831e+01] [ 2.20202865e-01 -3.39530975e-05 9.75454098e-01 -2.67972067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.50687500000004 meters 0.013166615641565321 Centerline is valid? [True, True] Translation: X:240.21, Y:77.39, Z:-0.26 [[-4.35794275e-01 -8.94639248e-01 9.85087079e-02 2.40213843e+02] [ 8.72609288e-01 -4.46789228e-01 -1.97312989e-01 7.73897556e+01] [ 2.20536574e-01 -2.82574243e-05 9.75378705e-01 -2.63593926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.536875 meters 0.013128736590089847 Centerline is valid? [True, True] Translation: X:240.20, Y:77.41, Z:-0.26 [[-4.36398625e-01 -8.94324985e-01 9.86866832e-02 2.40201770e+02] [ 8.72244453e-01 -4.47417936e-01 -1.97501404e-01 7.74139146e+01] [ 2.20784633e-01 -1.10429307e-04 9.75322579e-01 -2.57804126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56687500000004 meters 0.013134910986158056 Centerline is valid? [True, True] Translation: X:240.19, Y:77.44, Z:-0.25 [[-4.36918198e-01 -8.93987214e-01 9.94452071e-02 2.40190690e+02] [ 8.71589766e-01 -4.48092420e-01 -1.98857896e-01 7.74382725e+01] [ 2.22337060e-01 -2.09209014e-04 9.74969839e-01 -2.53208095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.596875 meters 0.01315310732401165 Centerline is valid? [True, True] Translation: X:240.18, Y:77.46, Z:-0.25 [[-4.37426395e-01 -8.93704487e-01 9.97518854e-02 2.40179307e+02] [ 8.71196230e-01 -4.48656005e-01 -1.99311110e-01 7.74619961e+01] [ 2.22879516e-01 -2.80474049e-04 9.74845958e-01 -2.47374308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62687500000004 meters 0.013205543840568976 Centerline is valid? [True, True] Translation: X:240.17, Y:77.49, Z:-0.24 [[-4.37712580e-01 -8.93543191e-01 9.99413007e-02 2.40167384e+02] [ 8.70980890e-01 -4.48977151e-01 -1.99528961e-01 7.74862038e+01] [ 2.23159105e-01 -2.89373015e-04 9.74781991e-01 -2.42208276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.656875 meters 0.01312775463993964 Centerline is valid? [True, True] Translation: X:240.16, Y:77.51, Z:-0.24 [[-4.38217301e-01 -8.93287854e-01 1.00012039e-01 2.40155431e+02] [ 8.70723297e-01 -4.49484918e-01 -1.99510020e-01 7.75102284e+01] [ 2.23173781e-01 -3.45929962e-04 9.74778613e-01 -2.36428536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.686875 meters 0.013070431565029975 Centerline is valid? [True, True] Translation: X:240.14, Y:77.53, Z:-0.23 [[-4.38730426e-01 -8.93037899e-01 9.99946205e-02 2.40143667e+02] [ 8.70511725e-01 -4.49981279e-01 -1.99314287e-01 7.75347835e+01] [ 2.22990919e-01 -3.98752325e-04 9.74820440e-01 -2.30897755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.716875 meters 0.013095212751100666 Centerline is valid? [True, True] Translation: X:240.13, Y:77.56, Z:-0.22 [[-4.38678566e-01 -8.93060701e-01 1.00018502e-01 2.40131982e+02] [ 8.70560907e-01 -4.49936092e-01 -1.99201459e-01 7.75585164e+01] [ 2.22900929e-01 -3.13212522e-04 9.74841053e-01 -2.24623479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.746875 meters 0.013244450710079292 Centerline is valid? [True, True] Translation: X:240.12, Y:77.58, Z:-0.22 [[-4.37530805e-01 -8.93637826e-01 9.98910942e-02 2.40119720e+02] [ 8.71247443e-01 -4.48788852e-01 -1.98787473e-01 7.75813931e+01] [ 2.22474015e-01 5.42171570e-05 9.74938618e-01 -2.18807991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.776875 meters 0.01322586448173824 Centerline is valid? [True, True] Translation: X:240.11, Y:77.60, Z:-0.21 [[-4.36602737e-01 -8.94126378e-01 9.95794665e-02 2.40106961e+02] [ 8.71927576e-01 -4.47814557e-01 -1.98001076e-01 7.76047096e+01] [ 2.21631119e-01 3.78271097e-04 9.75130506e-01 -2.11843863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.806875 meters 0.013203117968604561 Centerline is valid? [True, True] Translation: X:240.09, Y:77.63, Z:-0.21 [[-4.35686467e-01 -8.94602469e-01 9.93162887e-02 2.40094151e+02] [ 8.72569763e-01 -4.46862335e-01 -1.97322230e-01 7.76276849e+01] [ 2.20905663e-01 6.89765198e-04 9.75294936e-01 -2.05412259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.836875 meters 0.013392337356415287 Centerline is valid? [True, True] Translation: X:240.08, Y:77.65, Z:-0.20 [[-4.33256844e-01 -8.95813330e-01 9.90302208e-02 2.40079728e+02] [ 8.73975557e-01 -4.44428387e-01 -1.96596376e-01 7.76493785e+01] [ 2.20125495e-01 1.37326716e-03 9.75470594e-01 -1.99278333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.866875 meters 0.013563689935160024 Centerline is valid? [True, True] Translation: X:240.07, Y:77.67, Z:-0.19 [[-4.32113939e-01 -8.96375736e-01 9.89347499e-02 2.40066656e+02] [ 8.74622800e-01 -4.43291782e-01 -1.96283860e-01 7.76713973e+01] [ 2.19801051e-01 1.71359624e-03 9.75543214e-01 -1.93033357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.896875 meters 0.01393505897458305 Centerline is valid? [True, True] Translation: X:240.05, Y:77.69, Z:-0.19 [[-4.30966695e-01 -8.96929726e-01 9.89180148e-02 2.40053876e+02] [ 8.75235232e-01 -4.42168276e-01 -1.96088001e-01 7.76933607e+01] [ 2.19615566e-01 2.06913377e-03 9.75584298e-01 -1.87895451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.926875 meters 0.014299789185575026 Centerline is valid? [True, True] Translation: X:240.04, Y:77.72, Z:-0.18 [[-4.29152642e-01 -8.97762595e-01 9.92488389e-02 2.40040084e+02] [ 8.75979329e-01 -4.40472117e-01 -1.96582120e-01 7.77160906e+01] [ 2.20200421e-01 2.57619497e-03 9.75451248e-01 -1.82589994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.956875 meters 0.014231853262241809 Centerline is valid? [True, True] Translation: X:240.03, Y:77.74, Z:-0.18 [[-4.28799570e-01 -8.97930359e-01 9.92572361e-02 2.40027663e+02] [ 8.76179994e-01 -4.40129111e-01 -1.96456061e-01 7.77393274e+01] [ 2.20089861e-01 2.72692995e-03 9.75475790e-01 -1.76806283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.986875 meters 0.014797408652315849 Centerline is valid? [True, True] Translation: X:240.01, Y:77.76, Z:-0.17 [[-4.28427529e-01 -8.98127910e-01 9.90762830e-02 2.40014630e+02] [ 8.76497314e-01 -4.39724795e-01 -1.95945306e-01 7.77619444e+01] [ 2.19550246e-01 2.89173257e-03 9.75596908e-01 -1.71538187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.016875 meters 0.014567062751193065 Centerline is valid? [True, True] Translation: X:240.00, Y:77.79, Z:-0.17 [[-4.28628881e-01 -8.98031594e-01 9.90784423e-02 2.40002329e+02] [ 8.76433469e-01 -4.39921312e-01 -1.95789719e-01 7.77851561e+01] [ 2.19412072e-01 2.91453477e-03 9.75627925e-01 -1.65764194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.046875 meters 0.014796390062218636 Centerline is valid? [True, True] Translation: X:239.99, Y:77.81, Z:-0.16 [[-4.28651460e-01 -8.98019568e-01 9.90897648e-02 2.39990493e+02] [ 8.76450060e-01 -4.39945444e-01 -1.95661183e-01 7.78075450e+01] [ 2.19301662e-01 2.97677864e-03 9.75652561e-01 -1.60446361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07687500000003 meters 0.014739921784511225 Centerline is valid? [True, True] Translation: X:239.98, Y:77.83, Z:-0.15 [[-4.29099777e-01 -8.97787820e-01 9.92492402e-02 2.39978515e+02] [ 8.76177472e-01 -4.40418459e-01 -1.95817820e-01 7.78315540e+01] [ 2.19514051e-01 2.93456574e-03 9.75604925e-01 -1.54893822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.106875 meters 0.014888074702349116 Centerline is valid? [True, True] Translation: X:239.97, Y:77.85, Z:-0.15 [[-4.29584128e-01 -8.97496375e-01 9.97884482e-02 2.39966901e+02] [ 8.75673983e-01 -4.41012497e-01 -1.96730916e-01 7.78549517e+01] [ 2.20573237e-01 2.86966883e-03 9.75366194e-01 -1.50207564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13687500000003 meters 0.014084289612844131 Centerline is valid? [True, True] Translation: X:239.96, Y:77.88, Z:-0.14 [[-4.30026333e-01 -8.97273249e-01 9.98902914e-02 2.39956836e+02] [ 8.75435347e-01 -4.41466548e-01 -1.96774593e-01 7.78799516e+01] [ 2.20658801e-01 2.82923522e-03 9.75346958e-01 -1.43765538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.166875 meters 0.014212302474457672 Centerline is valid? [True, True] Translation: X:239.94, Y:77.90, Z:-0.14 [[-4.30390919e-01 -8.97112917e-01 9.97600697e-02 2.39944548e+02] [ 8.75364067e-01 -4.41792362e-01 -1.96360025e-01 7.79037432e+01] [ 2.20230352e-01 2.81480867e-03 9.75443832e-01 -1.38097390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19687500000003 meters 0.014265553108111765 Centerline is valid? [True, True] Translation: X:239.93, Y:77.93, Z:-0.13 [[-4.30427294e-01 -8.97111473e-01 9.96160125e-02 2.39931757e+02] [ 8.75461398e-01 -4.41794870e-01 -1.95919966e-01 7.79270019e+01] [ 2.19771893e-01 2.88067263e-03 9.75547035e-01 -1.32435731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.226875 meters 0.01436294376035151 Centerline is valid? [True, True] Translation: X:239.92, Y:77.95, Z:-0.13 [[-4.30450721e-01 -8.97101440e-01 9.96051349e-02 2.39919478e+02] [ 8.75491037e-01 -4.41814811e-01 -1.95742476e-01 7.79509587e+01] [ 2.19607881e-01 2.94591290e-03 9.75583774e-01 -1.27155722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25687500000004 meters 0.014307229271418847 Centerline is valid? [True, True] Translation: X:239.91, Y:77.98, Z:-0.12 [[-4.30449446e-01 -8.97077471e-01 9.98262792e-02 2.39907433e+02] [ 8.75404650e-01 -4.41863034e-01 -1.96019791e-01 7.79751106e+01] [ 2.19954480e-01 3.01177877e-03 9.75505487e-01 -1.21465687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.286875 meters 0.01459135264944602 Centerline is valid? [True, True] Translation: X:239.90, Y:78.00, Z:-0.12 [[-4.30181458e-01 -8.97193345e-01 9.99400590e-02 2.39895860e+02] [ 8.75509188e-01 -4.41626770e-01 -1.96085333e-01 7.79981321e+01] [ 2.20062661e-01 3.14616542e-03 9.75480664e-01 -1.15842113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31687500000004 meters 0.014517395327847897 Centerline is valid? [True, True] Translation: X:239.88, Y:78.02, Z:-0.11 [[-4.29870084e-01 -8.97361727e-01 9.97679407e-02 2.39884563e+02] [ 8.75794566e-01 -4.41283396e-01 -1.95583339e-01 7.80216424e+01] [ 2.19534939e-01 3.30079391e-03 9.75599055e-01 -1.09391647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.346875 meters 0.014679533509129043 Centerline is valid? [True, True] Translation: X:239.87, Y:78.04, Z:-0.10 [[-4.29744680e-01 -8.97440967e-01 9.95952826e-02 2.39871913e+02] [ 8.75986573e-01 -4.41121423e-01 -1.95088223e-01 7.80447611e+01] [ 2.19013776e-01 3.40600445e-03 9.75715822e-01 -1.03322258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37687500000004 meters 0.015305190202663558 Centerline is valid? [True, True] Translation: X:239.86, Y:78.07, Z:-0.10 [[-4.29048140e-01 -8.97804703e-01 9.93197315e-02 2.39858602e+02] [ 8.76514531e-01 -4.40378685e-01 -1.94393651e-01 7.80678155e+01] [ 2.18265827e-01 3.65095342e-03 9.75882523e-01 -9.75405735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.406875 meters 0.014969620166046409 Centerline is valid? [True, True] Translation: X:239.85, Y:78.09, Z:-0.09 [[-4.29104749e-01 -8.97760562e-01 9.94740533e-02 2.39847316e+02] [ 8.76434983e-01 -4.40468250e-01 -1.94549330e-01 7.80918941e+01] [ 2.18473878e-01 3.70049893e-03 9.75835781e-01 -9.16812679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.436875 meters 0.015886202061532642 Centerline is valid? [True, True] Translation: X:239.83, Y:78.11, Z:-0.09 [[-4.29102622e-01 -8.97759728e-01 9.94907533e-02 2.39833925e+02] [ 8.76462142e-01 -4.40469344e-01 -1.94424459e-01 7.81139503e+01] [ 2.18369077e-01 3.77183344e-03 9.75858965e-01 -8.67685686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.466875 meters 0.015133387950780704 Centerline is valid? [True, True] Translation: X:239.82, Y:78.14, Z:-0.08 [[-4.29172661e-01 -8.97662309e-01 1.00066011e-01 2.39824923e+02] [ 8.76149415e-01 -4.40667435e-01 -1.95382737e-01 7.81390236e+01] [ 2.19483551e-01 3.81984794e-03 9.75608723e-01 -8.17324110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.496875 meters 0.015355025268130273 Centerline is valid? [True, True] Translation: X:239.81, Y:78.16, Z:-0.08 [[-4.29619839e-01 -8.97416903e-01 1.00347879e-01 2.39813231e+02] [ 8.75810307e-01 -4.41167356e-01 -1.95774538e-01 7.81620060e+01] [ 2.19961588e-01 3.77708162e-03 9.75501222e-01 -7.68746876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.526875 meters 0.015308072967694484 Centerline is valid? [True, True] Translation: X:239.80, Y:78.19, Z:-0.07 [[-4.30045934e-01 -8.97186110e-01 1.00586177e-01 2.39801184e+02] [ 8.75506774e-01 -4.41636810e-01 -1.96073500e-01 7.81862143e+01] [ 2.20336979e-01 3.74326787e-03 9.75416631e-01 -7.12900770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.556875 meters 0.015225082903586632 Centerline is valid? [True, True] Translation: X:239.79, Y:78.21, Z:-0.07 [[-4.30414745e-01 -8.96993924e-01 1.00722626e-01 2.39789728e+02] [ 8.75284494e-01 -4.42027222e-01 -1.96186109e-01 7.82108744e+01] [ 2.20499890e-01 3.71955839e-03 9.75379907e-01 -6.60509182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.586875 meters 0.01514965784803712 Centerline is valid? [True, True] Translation: X:239.78, Y:78.24, Z:-0.06 [[-4.30939572e-01 -8.96741758e-01 1.00723900e-01 2.39778131e+02] [ 8.75059764e-01 -4.42539061e-01 -1.96034662e-01 7.82352973e+01] [ 2.20366727e-01 3.66033867e-03 9.75410225e-01 -6.01328480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.616875 meters 0.015401956474400994 Centerline is valid? [True, True] Translation: X:239.77, Y:78.26, Z:-0.06 [[-4.31792682e-01 -8.96331416e-01 1.00722755e-01 2.39766688e+02] [ 8.74673563e-01 -4.43370725e-01 -1.95878937e-01 7.82581612e+01] [ 2.20229966e-01 3.52043928e-03 9.75441627e-01 -5.50763761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.646875 meters 0.014560910337297821 Centerline is valid? [True, True] Translation: X:239.76, Y:78.28, Z:-0.05 [[-4.32910160e-01 -8.95747714e-01 1.01117886e-01 2.39757649e+02] [ 8.73938304e-01 -4.44550422e-01 -1.96486040e-01 7.82840388e+01] [ 2.20953920e-01 3.30999104e-03 9.75278632e-01 -4.92611101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.676875 meters 0.014490603402759757 Centerline is valid? [True, True] Translation: X:239.75, Y:78.31, Z:-0.04 [[-4.33587533e-01 -8.95417883e-01 1.01136866e-01 2.39746492e+02] [ 8.73624875e-01 -4.45215128e-01 -1.96374816e-01 7.83083476e+01] [ 2.20865184e-01 3.21001019e-03 9.75299065e-01 -4.36998090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.706875 meters 0.014597115373298976 Centerline is valid? [True, True] Translation: X:239.74, Y:78.33, Z:-0.04 [[-4.35124907e-01 -8.94658536e-01 1.01254232e-01 2.39735493e+02] [ 8.72829613e-01 -4.46741198e-01 -1.96445335e-01 7.83323543e+01] [ 2.20985933e-01 2.89943338e-03 9.75272685e-01 -3.87853128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.736875 meters 0.014153982953296415 Centerline is valid? [True, True] Translation: X:239.73, Y:78.36, Z:-0.03 [[-4.35967505e-01 -8.94264715e-01 1.01108628e-01 2.39725004e+02] [ 8.72523946e-01 -4.47529849e-01 -1.96007650e-01 7.83569558e+01] [ 2.20531854e-01 2.76673342e-03 9.75375849e-01 -3.23659143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.766875 meters 0.014112447956921972 Centerline is valid? [True, True] Translation: X:239.71, Y:78.38, Z:-0.03 [[-4.36617459e-01 -8.93946819e-01 1.01115184e-01 2.39714167e+02] [ 8.72229965e-01 -4.48165053e-01 -1.95864680e-01 7.83807463e+01] [ 2.20408900e-01 2.67775429e-03 9.75403889e-01 -2.60074863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.796875 meters 0.013978742696515587 Centerline is valid? [True, True] Translation: X:239.70, Y:78.41, Z:-0.02 [[-4.37285401e-01 -8.93629530e-01 1.01033365e-01 2.39703388e+02] [ 8.71974733e-01 -4.48797919e-01 -1.95551767e-01 7.84054009e+01] [ 2.20094397e-01 2.58660852e-03 9.75475149e-01 -1.95936289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.82687500000003 meters 0.01383135904652267 Centerline is valid? [True, True] Translation: X:239.69, Y:78.43, Z:-0.01 [[-4.37979208e-01 -8.93283366e-01 1.01089273e-01 2.39692805e+02] [ 8.71630298e-01 -4.49487096e-01 -1.95504410e-01 7.84292628e+01] [ 2.20079161e-01 2.48560656e-03 9.75478849e-01 -1.32505932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.856875 meters 0.013922753161408346 Centerline is valid? [True, True] Translation: X:239.68, Y:78.45, Z:-0.01 [[-4.38777358e-01 -8.92953609e-01 1.00539952e-01 2.39682672e+02] [ 8.71564205e-01 -4.50142418e-01 -1.94287519e-01 7.84530555e+01] [ 2.18747038e-01 2.37805877e-03 9.75778704e-01 -7.11483810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.88687500000003 meters 0.013859877649190947 Centerline is valid? [True, True] Translation: X:239.67, Y:78.48, Z:-0.00 [[-4.39389817e-01 -8.92680099e-01 1.00293719e-01 2.39671833e+02] [ 8.71416377e-01 -4.50685024e-01 -1.93691784e-01 7.84771719e+01] [ 2.18105679e-01 2.29139194e-03 9.75922467e-01 -1.11615155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.916875 meters 0.013946103137532171 Centerline is valid? [True, True] Translation: X:239.66, Y:78.50, Z:0.00 [[-4.39570116e-01 -8.92598181e-01 1.00232730e-01 2.39660420e+02] [ 8.71392857e-01 -4.50847095e-01 -1.93420233e-01 7.85002379e+01] [ 2.17836183e-01 2.32033040e-03 9.75982589e-01 4.45176313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.94687500000003 meters 0.013907641282729996 Centerline is valid? [True, True] Translation: X:239.65, Y:78.53, Z:0.01 [[-4.39888329e-01 -8.92436207e-01 1.00278987e-01 2.39650293e+02] [ 8.71242790e-01 -4.51167658e-01 -1.93348767e-01 7.85252989e+01] [ 2.17794076e-01 2.31547799e-03 9.75991998e-01 9.07358470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.976875 meters 0.014138049621422238 Centerline is valid? [True, True] Translation: X:239.64, Y:78.55, Z:0.01 [[-4.40101199e-01 -8.92302525e-01 1.00534270e-01 2.39639085e+02] [ 8.71030299e-01 -4.51431940e-01 -1.93688984e-01 7.85483051e+01] [ 2.18213550e-01 2.32564095e-03 9.75898272e-01 1.38798163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.00687500000004 meters 0.014112519485501808 Centerline is valid? [True, True] Translation: X:239.63, Y:78.57, Z:0.02 [[-4.40420855e-01 -8.92142862e-01 1.00551398e-01 2.39628383e+02] [ 8.70894604e-01 -4.51747418e-01 -1.93563580e-01 7.85724041e+01] [ 2.18110200e-01 2.32023223e-03 9.75921389e-01 1.91968326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.036875 meters 0.014322675727623977 Centerline is valid? [True, True] Translation: X:239.62, Y:78.60, Z:0.02 [[-4.40393955e-01 -8.92161262e-01 1.00505958e-01 2.39618103e+02] [ 8.70965734e-01 -4.51710683e-01 -1.93329122e-01 7.85961106e+01] [ 2.17880368e-01 2.39626852e-03 9.75972542e-01 2.45658572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06687500000004 meters 0.014165799891840187 Centerline is valid? [True, True] Translation: X:239.61, Y:78.62, Z:0.03 [[-4.40294343e-01 -8.92228506e-01 1.00345329e-01 2.39606893e+02] [ 8.71137325e-01 -4.51577304e-01 -1.92867051e-01 7.86202981e+01] [ 2.17395154e-01 2.49629052e-03 9.76080486e-01 2.99678694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.096875 meters 0.014165799891840187 Centerline is valid? [True, True] Translation: X:239.59, Y:78.64, Z:0.04 [[-4.40571060e-01 -8.92085015e-01 1.00406508e-01 2.39594684e+02] [ 8.70997412e-01 -4.51860703e-01 -1.92835196e-01 7.86434452e+01] [ 2.17395144e-01 2.49620214e-03 9.76080489e-01 3.57376197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12687500000004 meters 0.014165188034847356 Centerline is valid? [True, True] Translation: X:239.58, Y:78.67, Z:0.04 [[-4.40537790e-01 -8.92090131e-01 1.00506985e-01 2.39583393e+02] [ 8.70993282e-01 -4.51850185e-01 -1.92878493e-01 7.86679161e+01] [ 2.17479100e-01 2.57064348e-03 9.76061593e-01 4.18368251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.156875 meters 0.014627187365840379 Centerline is valid? [True, True] Translation: X:239.57, Y:78.69, Z:0.05 [[-4.40479366e-01 -8.92104792e-01 1.00632836e-01 2.39572862e+02] [ 8.70988664e-01 -4.51820771e-01 -1.92968231e-01 7.86916750e+01] [ 2.17615889e-01 2.65153582e-03 9.76030888e-01 4.76362643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.186875 meters 0.014482167218941881 Centerline is valid? [True, True] Translation: X:239.56, Y:78.72, Z:0.05 [[-4.40735008e-01 -8.91981058e-01 1.00610358e-01 2.39561895e+02] [ 8.70906643e-01 -4.52064927e-01 -1.92766492e-01 7.87158226e+01] [ 2.17426474e-01 2.66328761e-03 9.76073069e-01 5.33854953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.216875 meters 0.01451704939201268 Centerline is valid? [True, True] Translation: X:239.55, Y:78.74, Z:0.06 [[-4.41063175e-01 -8.91841299e-01 1.00411022e-01 2.39550388e+02] [ 8.70880441e-01 -4.52340620e-01 -1.92237406e-01 7.87402685e+01] [ 2.16865242e-01 2.65715482e-03 9.76197934e-01 5.89340772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.246875 meters 0.014298573594273391 Centerline is valid? [True, True] Translation: X:239.54, Y:78.76, Z:0.06 [[-4.42318110e-01 -8.91216939e-01 1.00434343e-01 2.39541476e+02] [ 8.70263058e-01 -4.53570847e-01 -1.92134578e-01 7.87647675e+01] [ 2.16787681e-01 2.41969457e-03 9.76215779e-01 6.38886631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.276875 meters 0.014125711614097492 Centerline is valid? [True, True] Translation: X:239.53, Y:78.79, Z:0.07 [[-4.43245379e-01 -8.90747534e-01 1.00510519e-01 2.39530621e+02] [ 8.69784045e-01 -4.54492800e-01 -1.92124985e-01 7.87890452e+01] [ 2.16816164e-01 2.26393399e-03 9.76209827e-01 6.90753208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.306875 meters 0.014044413452020704 Centerline is valid? [True, True] Translation: X:239.52, Y:78.81, Z:0.08 [[-4.43963775e-01 -8.90393160e-01 1.00479783e-01 2.39519524e+02] [ 8.69465915e-01 -4.55187175e-01 -1.91920970e-01 7.88137440e+01] [ 2.16622227e-01 2.15778822e-03 9.76253120e-01 7.51115250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.336875 meters 0.014016819386071732 Centerline is valid? [True, True] Translation: X:239.51, Y:78.84, Z:0.08 [[-4.44625378e-01 -8.90070090e-01 1.00416672e-01 2.39510202e+02] [ 8.69192032e-01 -4.55819016e-01 -1.91661774e-01 7.88383931e+01] [ 2.16364241e-01 2.06368276e-03 9.76310533e-01 8.08151737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.366875 meters 0.013869055719109845 Centerline is valid? [True, True] Translation: X:239.50, Y:78.86, Z:0.09 [[-4.44868111e-01 -8.89943841e-01 1.00460561e-01 2.39499705e+02] [ 8.69078498e-01 -4.56065403e-01 -1.91590481e-01 7.88627215e+01] [ 2.16321355e-01 2.07561770e-03 9.76320011e-01 8.64922794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.396875 meters 0.014101183714251678 Centerline is valid? [True, True] Translation: X:239.49, Y:78.89, Z:0.09 [[-4.44922354e-01 -8.89878349e-01 1.00799919e-01 2.39488051e+02] [ 8.68901911e-01 -4.56192968e-01 -1.92087074e-01 7.88858800e+01] [ 2.16918343e-01 2.12140901e-03 9.76187447e-01 9.16552075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.426875 meters 0.013880071348647624 Centerline is valid? [True, True] Translation: X:239.48, Y:78.91, Z:0.10 [[-4.44989864e-01 -8.89812880e-01 1.01079468e-01 2.39477307e+02] [ 8.68752103e-01 -4.56320426e-01 -1.92461561e-01 7.89105998e+01] [ 2.17379402e-01 2.16955657e-03 9.76084775e-01 9.69534360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.456875 meters 0.01377805505722886 Centerline is valid? [True, True] Translation: X:239.47, Y:78.94, Z:0.10 [[-4.45694955e-01 -8.89391315e-01 1.01681346e-01 2.39467544e+02] [ 8.68099376e-01 -4.57142095e-01 -1.93454335e-01 7.89354101e+01] [ 2.18539428e-01 2.04789174e-03 9.75825970e-01 1.00944565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.486875 meters 0.013687290431603947 Centerline is valid? [True, True] Translation: X:239.46, Y:78.96, Z:0.11 [[-4.46548884e-01 -8.88900915e-01 1.02221611e-01 2.39456966e+02] [ 8.67402843e-01 -4.58095600e-01 -1.94321201e-01 7.89592135e+01] [ 2.19559563e-01 1.89340027e-03 9.75597260e-01 1.05666923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.516875 meters 0.013578751102964106 Centerline is valid? [True, True] Translation: X:239.45, Y:78.98, Z:0.11 [[-4.47664436e-01 -8.88316500e-01 1.02422401e-01 2.39446245e+02] [ 8.66753241e-01 -4.59228658e-01 -1.94545264e-01 7.89833551e+01] [ 2.19853070e-01 1.68395152e-03 9.75531543e-01 1.10788506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.546875 meters 0.013506989827783462 Centerline is valid? [True, True] Translation: X:239.43, Y:79.01, Z:0.12 [[-4.47836512e-01 -8.88293671e-01 1.01866642e-01 2.39434409e+02] [ 8.66998841e-01 -4.59272637e-01 -1.93343362e-01 7.90068065e+01] [ 2.18530246e-01 1.73204405e-03 9.75828638e-01 1.17639381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57687500000003 meters 0.013516734414477077 Centerline is valid? [True, True] Translation: X:239.42, Y:79.03, Z:0.12 [[-4.48154465e-01 -8.88151966e-01 1.01703788e-01 2.39422214e+02] [ 8.66955700e-01 -4.59546614e-01 -1.92885262e-01 7.90294485e+01] [ 2.18049056e-01 1.73028716e-03 9.75936276e-01 1.24226035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.606875 meters 0.013433454044456847 Centerline is valid? [True, True] Translation: X:239.41, Y:79.05, Z:0.13 [[-4.49036707e-01 -8.87733982e-01 1.01461388e-01 2.39410631e+02] [ 8.66663945e-01 -4.60354025e-01 -1.92270066e-01 7.90532107e+01] [ 2.17392829e-01 1.59660916e-03 9.76082890e-01 1.31150967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63687500000003 meters 0.013091678335909497 Centerline is valid? [True, True] Translation: X:239.40, Y:79.08, Z:0.14 [[-4.51819552e-01 -8.86342358e-01 1.01273479e-01 2.39399927e+02] [ 8.65349322e-01 -4.63029414e-01 -1.91766298e-01 7.90779544e+01] [ 2.16863193e-01 9.93173714e-04 9.76201500e-01 1.37348106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.666875 meters 0.01291610884888998 Centerline is valid? [True, True] Translation: X:239.39, Y:79.10, Z:0.14 [[-4.55411410e-01 -8.84476565e-01 1.01497063e-01 2.39389216e+02] [ 8.63376483e-01 -4.66584586e-01 -1.92041332e-01 7.91013890e+01] [ 2.17213023e-01 1.72363731e-04 9.76124210e-01 1.41541717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69687500000003 meters 0.01343185504142119 Centerline is valid? [True, True] Translation: X:239.38, Y:79.13, Z:0.15 [[-4.63991892e-01 -8.79962343e-01 1.01871480e-01 2.39379903e+02] [ 8.58629542e-01 -4.75039676e-01 -1.92594436e-01 7.91280888e+01] [ 2.17868846e-01 -1.89239473e-03 9.75976221e-01 1.45143560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.726875 meters 0.014009720138617525 Centerline is valid? [True, True] Translation: X:239.37, Y:79.15, Z:0.15 [[-4.67216129e-01 -8.78330290e-01 1.01217544e-01 2.39369995e+02] [ 8.57264173e-01 -4.78047350e-01 -1.91229884e-01 7.91528947e+01] [ 2.16349778e-01 -2.57551214e-03 9.76312522e-01 1.53833189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75687500000004 meters 0.01440485564578432 Centerline is valid? [True, True] Translation: X:239.36, Y:79.18, Z:0.16 [[-4.69651143e-01 -8.77059550e-01 1.00967074e-01 2.39358145e+02] [ 8.56097625e-01 -4.80371716e-01 -1.90630191e-01 7.91769963e+01] [ 2.15695757e-01 -3.09201460e-03 9.76455724e-01 1.60828546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.786875 meters 0.014951201562506301 Centerline is valid? [True, True] Translation: X:239.34, Y:79.20, Z:0.17 [[-4.72994704e-01 -8.75162835e-01 1.01813663e-01 2.39344198e+02] [ 8.53829041e-01 -4.83812537e-01 -1.92097364e-01 7.92009338e+01] [ 2.17375201e-01 -3.92957350e-03 9.76080212e-01 1.65408217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81687500000004 meters 0.015347331226554751 Centerline is valid? [True, True] Translation: X:239.33, Y:79.22, Z:0.17 [[-4.74253537e-01 -8.74409394e-01 1.02429461e-01 2.39330931e+02] [ 8.52825826e-01 -4.85170346e-01 -1.93126503e-01 7.92244929e+01] [ 2.18567366e-01 -4.23643761e-03 9.75812666e-01 1.70113686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.846875 meters 0.015577457713625368 Centerline is valid? [True, True] Translation: X:239.32, Y:79.25, Z:0.17 [[-4.74711589e-01 -8.74058549e-01 1.03298405e-01 2.39316798e+02] [ 8.52116732e-01 -4.85800784e-01 -1.94665543e-01 7.92474743e+01] [ 2.20331528e-01 -4.38769049e-03 9.75415176e-01 1.74435194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87687500000004 meters 0.015504493596729674 Centerline is valid? [True, True] Translation: X:239.30, Y:79.27, Z:0.18 [[-4.74521124e-01 -8.74108596e-01 1.03749048e-01 2.39301579e+02] [ 8.52007292e-01 -4.85711418e-01 -1.95366305e-01 7.92705118e+01] [ 2.21163464e-01 -4.31049287e-03 9.75227226e-01 1.78759807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.906875 meters 0.015378279422926704 Centerline is valid? [True, True] Translation: X:239.29, Y:79.29, Z:0.19 [[-4.73204434e-01 -8.74825994e-01 1.03716175e-01 2.39285570e+02] [ 8.52789191e-01 -4.84421574e-01 -1.95157202e-01 7.92923345e+01] [ 2.20970946e-01 -3.90122024e-03 9.75272588e-01 1.85063079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.936875 meters 0.015000163349506815 Centerline is valid? [True, True] Translation: X:239.27, Y:79.31, Z:0.19 [[-4.72649538e-01 -8.75194934e-01 1.03132156e-01 2.39271271e+02] [ 8.53446593e-01 -4.83756715e-01 -1.93928733e-01 7.93146878e+01] [ 2.19616318e-01 -3.64253892e-03 9.75579523e-01 1.93570123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.966875 meters 0.014534416614515239 Centerline is valid? [True, True] Translation: X:239.26, Y:79.34, Z:0.20 [[-4.71855088e-01 -8.75641607e-01 1.02978409e-01 2.39256177e+02] [ 8.54001526e-01 -4.82949787e-01 -1.93496503e-01 7.93369258e+01] [ 2.19166989e-01 -3.35859129e-03 9.75681583e-01 2.00455317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.996875 meters 0.014040702183589987 Centerline is valid? [True, True] Translation: X:239.24, Y:79.36, Z:0.21 [[-4.70462700e-01 -8.76370141e-01 1.03151460e-01 2.39237763e+02] [ 8.54706376e-01 -4.81629167e-01 -1.93675905e-01 7.93574020e+01] [ 2.19412532e-01 -2.95307913e-03 9.75627706e-01 2.05004255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.026875 meters 0.014170772309893694 Centerline is valid? [True, True] Translation: X:239.22, Y:79.38, Z:0.21 [[-4.69746840e-01 -8.76732196e-01 1.03337126e-01 2.39224732e+02] [ 8.55031342e-01 -4.80971181e-01 -1.93876580e-01 7.93793029e+01] [ 2.19680019e-01 -2.71642902e-03 9.75568199e-01 2.10421394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.056875 meters 0.01322927230760481 Centerline is valid? [True, True] Translation: X:239.21, Y:79.40, Z:0.22 [[-4.67372025e-01 -8.78047887e-01 1.02933467e-01 2.39207927e+02] [ 8.56584025e-01 -4.78568537e-01 -1.92966223e-01 7.94006928e+01] [ 2.18694303e-01 -2.01585068e-03 9.75791340e-01 2.18326515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.086875 meters 0.012974612637358857 Centerline is valid? [True, True] Translation: X:239.19, Y:79.42, Z:0.23 [[-4.65929341e-01 -8.78810278e-01 1.02967684e-01 2.39193418e+02] [ 8.57379153e-01 -4.77168678e-01 -1.92901637e-01 7.94228816e+01] [ 2.18656895e-01 -1.59618663e-03 9.75800499e-01 2.25311253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.116875 meters 0.012773256292154771 Centerline is valid? [True, True] Translation: X:239.18, Y:79.44, Z:0.23 [[-4.64567046e-01 -8.79541503e-01 1.02879562e-01 2.39178835e+02] [ 8.58197177e-01 -4.75820710e-01 -1.92593504e-01 7.94442549e+01] [ 2.18346206e-01 -1.18164564e-03 9.75870656e-01 2.31348164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.146875 meters 0.012590072474411714 Centerline is valid? [True, True] Translation: X:239.16, Y:79.47, Z:0.24 [[-4.63302213e-01 -8.80196506e-01 1.02981405e-01 2.39163516e+02] [ 8.58850253e-01 -4.74608721e-01 -1.92672793e-01 7.94661447e+01] [ 2.18465792e-01 -8.20125293e-04 9.75844263e-01 2.37320990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.176875 meters 0.012416950684626823 Centerline is valid? [True, True] Translation: X:239.15, Y:79.49, Z:0.24 [[-4.60613635e-01 -8.81566797e-01 1.03320193e-01 2.39145985e+02] [ 8.60145629e-01 -4.72059290e-01 -1.93156733e-01 7.94866882e+01] [ 2.19053819e-01 -1.00212973e-04 9.75712772e-01 2.41383836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.206875 meters 0.012466040210232603 Centerline is valid? [True, True] Translation: X:239.13, Y:79.51, Z:0.25 [[-4.59275485e-01 -8.82241360e-01 1.03519135e-01 2.39130457e+02] [ 8.60788664e-01 -4.70797296e-01 -1.93372134e-01 7.95093845e+01] [ 2.19337424e-01 2.97017146e-04 9.75649018e-01 2.46189090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.236875 meters 0.012559426314540127 Centerline is valid? [True, True] Translation: X:239.12, Y:79.53, Z:0.25 [[-4.58170747e-01 -8.82763878e-01 1.03959139e-01 2.39116651e+02] [ 8.61171426e-01 -4.69816511e-01 -1.94052108e-01 7.95307615e+01] [ 2.20143912e-01 6.17640953e-04 9.75467209e-01 2.51213564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.266875 meters 0.01254566623092401 Centerline is valid? [True, True] Translation: X:239.10, Y:79.55, Z:0.26 [[-4.55953748e-01 -8.83892622e-01 1.04115381e-01 2.39102826e+02] [ 8.62288232e-01 -4.67688309e-01 -1.94233493e-01 7.95535941e+01] [ 2.20375098e-01 1.21597889e-03 9.75414444e-01 2.57832315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.296875 meters 0.012664187658675533 Centerline is valid? [True, True] Translation: X:239.09, Y:79.58, Z:0.26 [[-4.55472739e-01 -8.84103038e-01 1.04433720e-01 2.39089414e+02] [ 8.62404027e-01 -4.67289927e-01 -1.94677728e-01 7.95762467e+01] [ 2.20915996e-01 1.39366214e-03 9.75291844e-01 2.63818583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.32687500000003 meters 0.013020349227797021 Centerline is valid? [True, True] Translation: X:239.07, Y:79.60, Z:0.27 [[-4.55262428e-01 -8.84158758e-01 1.04878084e-01 2.39074927e+02] [ 8.62307876e-01 -4.67184165e-01 -1.95356297e-01 7.95983411e+01] [ 2.21723361e-01 1.49881583e-03 9.75108458e-01 2.68002394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.356875 meters 0.012800712650496095 Centerline is valid? [True, True] Translation: X:239.06, Y:79.62, Z:0.27 [[-4.55145418e-01 -8.84141798e-01 1.05526916e-01 2.39061371e+02] [ 8.62051830e-01 -4.67216008e-01 -1.96407342e-01 7.96217417e+01] [ 2.22955804e-01 1.57576898e-03 9.74827280e-01 2.73449585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.38687500000003 meters 0.013212542777594144 Centerline is valid? [True, True] Translation: X:239.05, Y:79.64, Z:0.28 [[-4.55352564e-01 -8.84008895e-01 1.05746470e-01 2.39047671e+02] [ 8.61855863e-01 -4.67467392e-01 -1.96669031e-01 7.96441262e+01] [ 2.23290200e-01 1.58446776e-03 9.74750725e-01 2.77562948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.416875 meters 0.012900946402326346 Centerline is valid? [True, True] Translation: X:239.04, Y:79.67, Z:0.28 [[-4.55912694e-01 -8.83697226e-01 1.05937855e-01 2.39035976e+02] [ 8.61489811e-01 -4.68056555e-01 -1.96871446e-01 7.96675796e+01] [ 2.23559658e-01 1.50819120e-03 9.74689081e-01 2.84376101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.44687500000003 meters 0.012597779891175167 Centerline is valid? [True, True] Translation: X:239.03, Y:79.69, Z:0.29 [[-4.57781739e-01 -8.82754448e-01 1.05737714e-01 2.39025061e+02] [ 8.60640117e-01 -4.69833314e-01 -1.96354899e-01 7.96916871e+01] [ 2.23012261e-01 1.11443134e-03 9.74815003e-01 2.92048017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.476875 meters 0.012513594518555948 Centerline is valid? [True, True] Translation: X:239.01, Y:79.71, Z:0.30 [[-4.59219333e-01 -8.81995241e-01 1.05839494e-01 2.39013038e+02] [ 8.59852654e-01 -4.71257597e-01 -1.96391676e-01 7.97144663e+01] [ 2.23094189e-01 8.19515789e-04 9.74796549e-01 2.97967982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.50687500000004 meters 0.012490798819098889 Centerline is valid? [True, True] Translation: X:239.00, Y:79.74, Z:0.30 [[-4.60451980e-01 -8.81357729e-01 1.05794738e-01 2.39001050e+02] [ 8.59253505e-01 -4.72449160e-01 -1.96150974e-01 7.97373112e+01] [ 2.22861812e-01 5.86394889e-04 9.74849870e-01 3.03902762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.536875 meters 0.012416816733185895 Centerline is valid? [True, True] Translation: X:238.99, Y:79.76, Z:0.31 [[-4.62887274e-01 -8.80142551e-01 1.05282765e-01 2.38989352e+02] [ 8.58249290e-01 -4.74709476e-01 -1.95087339e-01 7.97612658e+01] [ 2.21683395e-01 5.54113995e-05 9.75118695e-01 3.11280339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56687500000004 meters 0.012481800901008068 Centerline is valid? [True, True] Translation: X:238.98, Y:79.78, Z:0.32 [[-4.63913768e-01 -8.79610856e-01 1.05208164e-01 2.38977158e+02] [ 8.57768689e-01 -4.75693941e-01 -1.94802849e-01 7.97844295e+01] [ 2.21397587e-01 -1.27454818e-04 9.75183620e-01 3.18029999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.596875 meters 0.012441669485327921 Centerline is valid? [True, True] Translation: X:238.96, Y:79.81, Z:0.32 [[-4.64949773e-01 -8.79084770e-01 1.05031783e-01 2.38964747e+02] [ 8.57336521e-01 -4.76665368e-01 -1.94330171e-01 7.98079792e+01] [ 2.20897708e-01 -3.06185555e-04 9.75296934e-01 3.24485710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62687500000004 meters 0.0124448139040927 Centerline is valid? [True, True] Translation: X:238.95, Y:79.83, Z:0.33 [[-4.65971571e-01 -8.78522715e-01 1.05206154e-01 2.38952658e+02] [ 8.56720971e-01 -4.77700313e-01 -1.94503440e-01 7.98310895e+01] [ 2.21132703e-01 -5.00755233e-04 9.75243599e-01 3.30816902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.656875 meters 0.012491921583735598 Centerline is valid? [True, True] Translation: X:238.94, Y:79.85, Z:0.34 [[-4.67463048e-01 -8.77644548e-01 1.05916695e-01 2.38940706e+02] [ 8.55555688e-01 -4.79311304e-01 -1.95665885e-01 7.98538766e+01] [ 2.22492166e-01 -8.48940494e-04 9.74934108e-01 3.35262896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.686875 meters 0.012643427760246156 Centerline is valid? [True, True] Translation: X:238.93, Y:79.88, Z:0.34 [[-4.67922428e-01 -8.77367043e-01 1.06186974e-01 2.38928183e+02] [ 8.55192787e-01 -4.79818978e-01 -1.96007770e-01 7.98760411e+01] [ 2.22921283e-01 -9.06097514e-04 9.74836028e-01 3.39864559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.716875 meters 0.012523973181286448 Centerline is valid? [True, True] Translation: X:238.92, Y:79.90, Z:0.35 [[-4.68477157e-01 -8.77016525e-01 1.06635683e-01 2.38915135e+02] [ 8.54678746e-01 -4.80459169e-01 -1.96680521e-01 7.98988723e+01] [ 2.23726158e-01 -1.00107958e-03 9.74651530e-01 3.45294467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.746875 meters 0.01266561228464168 Centerline is valid? [True, True] Translation: X:238.90, Y:79.92, Z:0.35 [[-4.68536245e-01 -8.76952900e-01 1.06899012e-01 2.38903247e+02] [ 8.54536248e-01 -4.80575374e-01 -1.97015508e-01 7.99214620e+01] [ 2.24146354e-01 -9.59825552e-04 9.74555022e-01 3.49883532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.776875 meters 0.012589923996553145 Centerline is valid? [True, True] Translation: X:238.89, Y:79.94, Z:0.36 [[-4.68460575e-01 -8.76946826e-01 1.07279793e-01 2.38890365e+02] [ 8.54404296e-01 -4.80586594e-01 -1.97559676e-01 7.99449145e+01] [ 2.24806561e-01 -8.88603046e-04 9.74403007e-01 3.55262867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.806875 meters 0.012615111389483133 Centerline is valid? [True, True] Translation: X:238.88, Y:79.97, Z:0.36 [[-4.68041462e-01 -8.77149513e-01 1.07451951e-01 2.38877043e+02] [ 8.54572301e-01 -4.80216838e-01 -1.97732069e-01 7.99685340e+01] [ 2.25040824e-01 -7.21345590e-04 9.74349068e-01 3.61176866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.836875 meters 0.012481758079797855 Centerline is valid? [True, True] Translation: X:238.86, Y:79.99, Z:0.37 [[-4.66978202e-01 -8.77745285e-01 1.07212747e-01 2.38863631e+02] [ 8.55318274e-01 -4.79127417e-01 -1.97148596e-01 7.99916546e+01] [ 2.24414817e-01 -3.63074861e-04 9.74493642e-01 3.68885377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.866875 meters 0.01238599790247583 Centerline is valid? [True, True] Translation: X:238.85, Y:80.01, Z:0.38 [[-4.66580787e-01 -8.77982890e-01 1.06997260e-01 2.38851083e+02] [ 8.55687776e-01 -4.78691983e-01 -1.96602175e-01 8.00143632e+01] [ 2.23832076e-01 -1.74549700e-04 9.74627709e-01 3.75148094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.896875 meters 0.012423132329831381 Centerline is valid? [True, True] Translation: X:238.84, Y:80.04, Z:0.38 [[-4.64968580e-01 -8.78931535e-01 1.06224181e-01 2.38837879e+02] [ 8.57020998e-01 -4.76947829e-01 -1.95027634e-01 8.00376495e+01] [ 2.22079330e-01 3.54631757e-04 9.75028536e-01 3.82721109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.926875 meters 0.012440986789123558 Centerline is valid? [True, True] Translation: X:238.82, Y:80.06, Z:0.39 [[-4.64044998e-01 -8.79436997e-01 1.06079254e-01 2.38824902e+02] [ 8.57623360e-01 -4.76014865e-01 -1.94658731e-01 8.00605811e+01] [ 2.21685392e-01 6.45635482e-04 9.75118029e-01 3.88953797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.956875 meters 0.012608367126357718 Centerline is valid? [True, True] Translation: X:238.81, Y:80.08, Z:0.39 [[-4.63119219e-01 -8.79928281e-01 1.06050978e-01 2.38811757e+02] [ 8.58172098e-01 -4.75105585e-01 -1.94461651e-01 8.00841254e+01] [ 2.21497718e-01 9.51061821e-04 9.75160426e-01 3.94827310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.986875 meters 0.012608367126357718 Centerline is valid? [True, True] Translation: X:238.80, Y:80.11, Z:0.40 [[-4.63387367e-01 -8.79779774e-01 1.06111720e-01 2.38799097e+02] [ 8.58027338e-01 -4.75380526e-01 -1.94428501e-01 8.01070238e+01] [ 2.21497708e-01 9.51044931e-04 9.75160428e-01 4.00596797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.016875 meters 0.012893717633700747 Centerline is valid? [True, True] Translation: X:238.79, Y:80.13, Z:0.41 [[-4.60495670e-01 -8.81271611e-01 1.06320678e-01 2.38786274e+02] [ 8.59504229e-01 -4.72606942e-01 -1.94666791e-01 8.01311084e+01] [ 2.21802207e-01 1.73985814e-03 9.75090126e-01 4.06951065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.046875 meters 0.01296774906688921 Centerline is valid? [True, True] Translation: X:238.77, Y:80.15, Z:0.41 [[-4.59273063e-01 -8.81885435e-01 1.06519165e-01 2.38773413e+02] [ 8.60082229e-01 -4.71459066e-01 -1.94897173e-01 8.01546701e+01] [ 2.22096405e-01 2.10421907e-03 9.75022440e-01 4.12672187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07687500000003 meters 0.013291225143244836 Centerline is valid? [True, True] Translation: X:238.76, Y:80.18, Z:0.42 [[-4.57821046e-01 -8.82623223e-01 1.06658969e-01 2.38760037e+02] [ 8.60816169e-01 -4.70074255e-01 -1.95001841e-01 8.01789281e+01] [ 2.22250788e-01 2.53781847e-03 9.74986229e-01 4.18419434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.106875 meters 0.013586803182039179 Centerline is valid? [True, True] Translation: X:238.75, Y:80.20, Z:0.42 [[-4.57005387e-01 -8.83031235e-01 1.06779747e-01 2.38746859e+02] [ 8.61216065e-01 -4.69305841e-01 -1.95086948e-01 8.02012002e+01] [ 2.22380228e-01 2.80464755e-03 9.74955983e-01 4.23893936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13687500000003 meters 0.014147358073852659 Centerline is valid? [True, True] Translation: X:238.73, Y:80.23, Z:0.43 [[-4.55238713e-01 -8.83954867e-01 1.06684146e-01 2.38734065e+02] [ 8.62240107e-01 -4.67560392e-01 -1.94754404e-01 8.02251881e+01] [ 2.22035385e-01 3.32760519e-03 9.75032930e-01 4.30079561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.166875 meters 0.01438878971890101 Centerline is valid? [True, True] Translation: X:238.72, Y:80.25, Z:0.44 [[-4.55052209e-01 -8.84048823e-01 1.06701290e-01 2.38721837e+02] [ 8.62359471e-01 -4.67381926e-01 -1.94654249e-01 8.02479592e+01] [ 2.21954115e-01 3.43702205e-03 9.75051054e-01 4.36161587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19687500000003 meters 0.014376190082836379 Centerline is valid? [True, True] Translation: X:238.71, Y:80.27, Z:0.44 [[-4.54304397e-01 -8.84433123e-01 1.06703162e-01 2.38709901e+02] [ 8.62788482e-01 -4.66652303e-01 -1.94503633e-01 8.02722458e+01] [ 2.21818732e-01 3.69840337e-03 9.75080905e-01 4.41890196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.226875 meters 0.0145381141774465 Centerline is valid? [True, True] Translation: X:238.70, Y:80.30, Z:0.45 [[-4.54318775e-01 -8.84397280e-01 1.06938777e-01 2.38697127e+02] [ 8.62687053e-01 -4.66719760e-01 -1.94791464e-01 8.02960891e+01] [ 2.22183481e-01 3.75727920e-03 9.74997633e-01 4.47397352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25687500000004 meters 0.014708802501747107 Centerline is valid? [True, True] Translation: X:238.68, Y:80.32, Z:0.45 [[-4.54866958e-01 -8.84092111e-01 1.07131650e-01 2.38684976e+02] [ 8.62328144e-01 -4.67298139e-01 -1.94993900e-01 8.03188346e+01] [ 2.22454989e-01 3.68635446e-03 9.74935992e-01 4.52714869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.286875 meters 0.01440609065952186 Centerline is valid? [True, True] Translation: X:238.67, Y:80.34, Z:0.46 [[-4.56056865e-01 -8.83411090e-01 1.07689281e-01 2.38674394e+02] [ 8.61425301e-01 -4.68586266e-01 -1.95891198e-01 8.03433565e+01] [ 2.23514175e-01 3.42874545e-03 9.74694648e-01 4.57218573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31687500000004 meters 0.014118908175126342 Centerline is valid? [True, True] Translation: X:238.66, Y:80.37, Z:0.46 [[-4.57110923e-01 -8.82817909e-01 1.08083965e-01 2.38662697e+02] [ 8.60686434e-01 -4.69704330e-01 -1.96460444e-01 8.03679067e+01] [ 2.24206304e-01 3.22218760e-03 9.74536377e-01 4.63035533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.346875 meters 0.014116419310864122 Centerline is valid? [True, True] Translation: X:238.65, Y:80.39, Z:0.47 [[-4.58221222e-01 -8.82236457e-01 1.08130231e-01 2.38651235e+02] [ 8.60104219e-01 -4.70796951e-01 -1.96394918e-01 8.03909223e+01] [ 2.24174140e-01 3.01094868e-03 9.74544452e-01 4.68937158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37687500000004 meters 0.01361139474318801 Centerline is valid? [True, True] Translation: X:238.64, Y:80.42, Z:0.48 [[-4.60315012e-01 -8.81169633e-01 1.07935946e-01 2.38640889e+02] [ 8.59124417e-01 -4.72793318e-01 -1.95886995e-01 8.04158364e+01] [ 2.23641066e-01 2.56068223e-03 9.74668208e-01 4.76109926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.406875 meters 0.013464778194656168 Centerline is valid? [True, True] Translation: X:238.63, Y:80.44, Z:0.48 [[-4.61362345e-01 -8.80604366e-01 1.08077459e-01 2.38628962e+02] [ 8.58517539e-01 -4.73846379e-01 -1.96003174e-01 8.04392835e+01] [ 2.23813363e-01 2.35791067e-03 9.74629170e-01 4.82057710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.436875 meters 0.013268550176788478 Centerline is valid? [True, True] Translation: X:238.62, Y:80.46, Z:0.49 [[-4.62457897e-01 -8.80048688e-01 1.07921268e-01 2.38616800e+02] [ 8.58045294e-01 -4.74878567e-01 -1.95572545e-01 8.04630104e+01] [ 2.23362859e-01 2.15726817e-03 9.74732979e-01 4.88056134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.466875 meters 0.01314055092390945 Centerline is valid? [True, True] Translation: X:238.61, Y:80.49, Z:0.49 [[-4.64486310e-01 -8.78982694e-01 1.07897594e-01 2.38605186e+02] [ 8.56994382e-01 -4.76850586e-01 -1.95382058e-01 8.04862206e+01] [ 2.23188479e-01 1.71534068e-03 9.74773800e-01 4.92893421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.496875 meters 0.012901435896293702 Centerline is valid? [True, True] Translation: X:238.59, Y:80.51, Z:0.50 [[-4.65898709e-01 -8.78234608e-01 1.07899792e-01 2.38593599e+02] [ 8.56260759e-01 -4.78227898e-01 -1.95232146e-01 8.05104675e+01] [ 2.23060318e-01 1.43195333e-03 9.74803593e-01 4.99253880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.526875 meters 0.012884573539792889 Centerline is valid? [True, True] Translation: X:238.58, Y:80.53, Z:0.51 [[-4.67039761e-01 -8.77609081e-01 1.08056297e-01 2.38582032e+02] [ 8.55587679e-01 -4.79375474e-01 -1.95368571e-01 8.05343425e+01] [ 2.23256771e-01 1.20674563e-03 9.74758923e-01 5.05410056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.556875 meters 0.012718859176116804 Centerline is valid? [True, True] Translation: X:238.57, Y:80.56, Z:0.51 [[-4.69041456e-01 -8.76555351e-01 1.07939004e-01 2.38571468e+02] [ 8.54588170e-01 -4.81300441e-01 -1.95010117e-01 8.05572168e+01] [ 2.22888252e-01 7.75566988e-04 9.74843693e-01 5.11771917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.586875 meters 0.012664810249963271 Centerline is valid? [True, True] Translation: X:238.56, Y:80.58, Z:0.52 [[-4.70338059e-01 -8.75852604e-01 1.08001514e-01 2.38558900e+02] [ 8.53876397e-01 -4.82578437e-01 -1.94969614e-01 8.05808695e+01] [ 2.22883846e-01 5.18313537e-04 9.74844871e-01 5.18288514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.616875 meters 0.012606969392543183 Centerline is valid? [True, True] Translation: X:238.55, Y:80.60, Z:0.52 [[-4.72672234e-01 -8.74651855e-01 1.07541114e-01 2.38547748e+02] [ 8.52867479e-01 -4.84751618e-01 -1.93992094e-01 8.06038545e+01] [ 2.21806274e-01 2.36419700e-05 9.75090753e-01 5.24254280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.646875 meters 0.012650624853590618 Centerline is valid? [True, True] Translation: X:238.54, Y:80.63, Z:0.53 [[-4.74138102e-01 -8.73889802e-01 1.07283151e-01 2.38535665e+02] [ 8.52226370e-01 -4.86124005e-01 -1.93374418e-01 8.06266736e+01] [ 2.21140847e-01 -2.56649558e-04 9.75241847e-01 5.30476860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.676875 meters 0.012671249218888755 Centerline is valid? [True, True] Translation: X:238.52, Y:80.65, Z:0.54 [[-4.75327615e-01 -8.73274512e-01 1.07029362e-01 2.38523099e+02] [ 8.51733185e-01 -4.87228291e-01 -1.92767148e-01 8.06496164e+01] [ 2.20486371e-01 -4.67089440e-04 9.75389944e-01 5.36711710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.706875 meters 0.012629117685681299 Centerline is valid? [True, True] Translation: X:238.51, Y:80.67, Z:0.54 [[-4.76494270e-01 -8.72660948e-01 1.06846063e-01 2.38510375e+02] [ 8.51210747e-01 -4.88326129e-01 -1.92296271e-01 8.06726020e+01] [ 2.19985170e-01 -6.79554117e-04 9.75502980e-01 5.42770456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.736875 meters 0.012663579701858945 Centerline is valid? [True, True] Translation: X:238.50, Y:80.70, Z:0.55 [[-4.77781728e-01 -8.71945023e-01 1.06941558e-01 2.38497550e+02] [ 8.50469943e-01 -4.89602893e-01 -1.92327544e-01 8.06954674e+01] [ 2.20057941e-01 -9.40005554e-04 9.75486350e-01 5.49002370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.766875 meters 0.012819878356142544 Centerline is valid? [True, True] Translation: X:238.49, Y:80.72, Z:0.55 [[-4.78323813e-01 -8.71617530e-01 1.07187739e-01 2.38485105e+02] [ 8.50066735e-01 -4.90185515e-01 -1.92625819e-01 8.07176716e+01] [ 2.20437917e-01 -1.02078502e-03 9.75400473e-01 5.53919702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.796875 meters 0.012812832971424614 Centerline is valid? [True, True] Translation: X:238.47, Y:80.74, Z:0.56 [[-4.78602568e-01 -8.71379937e-01 1.07873013e-01 2.38470671e+02] [ 8.49577827e-01 -4.90607663e-01 -1.93705025e-01 8.07403707e+01] [ 2.21713999e-01 -1.06120229e-03 9.75111161e-01 5.58610589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.82687500000003 meters 0.012963011194579151 Centerline is valid? [True, True] Translation: X:238.46, Y:80.76, Z:0.56 [[-4.78854154e-01 -8.71195483e-01 1.08245689e-01 2.38458044e+02] [ 8.49269554e-01 -4.90935098e-01 -1.94226555e-01 8.07629248e+01] [ 2.22350905e-01 -1.07642493e-03 9.74966110e-01 5.63026438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.856875 meters 0.012860667525914199 Centerline is valid? [True, True] Translation: X:238.45, Y:80.79, Z:0.57 [[-4.78763113e-01 -8.71197005e-01 1.08635451e-01 2.38445363e+02] [ 8.49146011e-01 -4.90932556e-01 -1.94772373e-01 8.07851043e+01] [ 2.23017788e-01 -1.00246804e-03 9.74813860e-01 5.67933436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.88687500000003 meters 0.012719664497336162 Centerline is valid? [True, True] Translation: X:238.43, Y:80.81, Z:0.57 [[-4.78231558e-01 -8.71452510e-01 1.08927041e-01 2.38431176e+02] [ 8.49313535e-01 -4.90479189e-01 -1.95183721e-01 8.08077836e+01] [ 2.23519790e-01 -8.29804323e-04 9.74699038e-01 5.74580020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.916875 meters 0.012656167453636888 Centerline is valid? [True, True] Translation: X:238.42, Y:80.83, Z:0.58 [[-4.78142141e-01 -8.71504394e-01 1.08904476e-01 2.38417929e+02] [ 8.49410340e-01 -4.90387152e-01 -1.94993629e-01 8.08301168e+01] [ 2.23343161e-01 -7.30083531e-04 9.74739606e-01 5.79802520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.94687500000003 meters 0.012512804623450838 Centerline is valid? [True, True] Translation: X:238.40, Y:80.85, Z:0.59 [[-4.77989405e-01 -8.71601614e-01 1.08796849e-01 2.38403916e+02] [ 8.49589798e-01 -4.90214503e-01 -1.94645619e-01 8.08527686e+01] [ 2.22987229e-01 -6.05851120e-04 9.74821178e-01 5.85718936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.976875 meters 0.012477952288023179 Centerline is valid? [True, True] Translation: X:238.39, Y:80.88, Z:0.59 [[-4.77685820e-01 -8.71769437e-01 1.08785596e-01 2.38389984e+02] [ 8.49799994e-01 -4.89916159e-01 -1.94479120e-01 8.08756255e+01] [ 2.22836774e-01 -4.53919615e-04 9.74855664e-01 5.91138159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.00687500000004 meters 0.012331684767191969 Centerline is valid? [True, True] Translation: X:238.37, Y:80.90, Z:0.60 [[-4.76473357e-01 -8.72487880e-01 1.08342234e-01 2.38374734e+02] [ 8.50750626e-01 -4.88635751e-01 -1.93541921e-01 8.08974572e+01] [ 2.21802870e-01 -4.53452976e-05 9.75091526e-01 5.97099424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.036875 meters 0.012292543901397187 Centerline is valid? [True, True] Translation: X:238.36, Y:80.92, Z:0.60 [[-4.75559955e-01 -8.73008336e-01 1.08162722e-01 2.38360976e+02] [ 8.51390395e-01 -4.87705210e-01 -1.93075176e-01 8.09188447e+01] [ 2.21307761e-01 2.69880516e-04 9.75203980e-01 6.02978489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06687500000004 meters 0.012526130938384289 Centerline is valid? [True, True] Translation: X:238.35, Y:80.94, Z:0.61 [[-4.72941888e-01 -8.74462765e-01 1.07892739e-01 2.38345576e+02] [ 8.53025327e-01 -4.85091568e-01 -1.92442099e-01 8.09394526e+01] [ 2.20621308e-01 1.02130931e-03 9.75359008e-01 6.08782685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.096875 meters 0.012584962938709279 Centerline is valid? [True, True] Translation: X:238.33, Y:80.96, Z:0.61 [[-4.71914857e-01 -8.75024589e-01 1.07834765e-01 2.38331377e+02] [ 8.53650185e-01 -4.84076623e-01 -1.92226909e-01 8.09616115e+01] [ 2.20403561e-01 1.33843269e-03 9.75407853e-01 6.14528654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.126875 meters 0.012840426228046296 Centerline is valid? [True, True] Translation: X:238.32, Y:80.98, Z:0.62 [[-4.71107970e-01 -8.75415074e-01 1.08193014e-01 2.38316388e+02] [ 8.53940237e-01 -4.83369310e-01 -1.92717882e-01 8.09831411e+01] [ 2.21005321e-01 1.59943808e-03 9.75271290e-01 6.18979390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.156875 meters 0.01322393500135198 Centerline is valid? [True, True] Translation: X:238.30, Y:81.00, Z:0.62 [[-4.69073614e-01 -8.76461582e-01 1.08558926e-01 2.38300340e+02] [ 8.54902019e-01 -4.81466889e-01 -1.93215355e-01 8.10045208e+01] [ 2.21613363e-01 2.17501990e-03 9.75132189e-01 6.23125713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.186875 meters 0.013436511917363449 Centerline is valid? [True, True] Translation: X:238.29, Y:81.03, Z:0.63 [[-4.68464043e-01 -8.76760259e-01 1.08779081e-01 2.38286191e+02] [ 8.55150055e-01 -4.80921775e-01 -1.93475140e-01 8.10274650e+01] [ 2.21945543e-01 2.38629085e-03 9.75056143e-01 6.28750694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.216875 meters 0.01333629806735029 Centerline is valid? [True, True] Translation: X:238.27, Y:81.05, Z:0.63 [[-4.68065828e-01 -8.76943783e-01 1.09013677e-01 2.38273042e+02] [ 8.55275466e-01 -4.80586219e-01 -1.93754390e-01 8.10509219e+01] [ 2.22302178e-01 2.54691462e-03 9.74974489e-01 6.34890704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.246875 meters 0.013326941293573326 Centerline is valid? [True, True] Translation: X:238.26, Y:81.07, Z:0.64 [[-4.67025807e-01 -8.77401184e-01 1.09790978e-01 2.38258785e+02] [ 8.55464305e-01 -4.79748899e-01 -1.94991837e-01 8.10744769e+01] [ 2.23758169e-01 2.85604247e-03 9.74640511e-01 6.39572570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.276875 meters 0.013292101924455017 Centerline is valid? [True, True] Translation: X:238.25, Y:81.10, Z:0.64 [[-4.67201888e-01 -8.77259833e-01 1.10170689e-01 2.38245436e+02] [ 8.55195336e-01 -4.80007279e-01 -1.95535034e-01 8.10975082e+01] [ 2.24417764e-01 2.86312219e-03 9.74488825e-01 6.44473095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.306875 meters 0.013520756613733 Centerline is valid? [True, True] Translation: X:238.23, Y:81.12, Z:0.65 [[-4.67640041e-01 -8.77004197e-01 1.10346862e-01 2.38232537e+02] [ 8.54895040e-01 -4.80474453e-01 -1.95700719e-01 8.11197753e+01] [ 2.24649200e-01 2.81749286e-03 9.74435631e-01 6.49093588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.336875 meters 0.01305272301141725 Centerline is valid? [True, True] Translation: X:238.22, Y:81.14, Z:0.66 [[-4.68632569e-01 -8.76498114e-01 1.10157030e-01 2.38221632e+02] [ 8.54487255e-01 -4.81398025e-01 -1.95211356e-01 8.11434925e+01] [ 2.24131762e-01 2.64537861e-03 9.74555260e-01 6.55803997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.366875 meters 0.012980878177436013 Centerline is valid? [True, True] Translation: X:238.21, Y:81.17, Z:0.66 [[-4.69564547e-01 -8.76044815e-01 1.09793528e-01 2.38208797e+02] [ 8.54202088e-01 -4.82223257e-01 -1.94420995e-01 8.11670085e+01] [ 2.23266497e-01 2.49265453e-03 9.74754255e-01 6.62289186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.396875 meters 0.012885088672524322 Centerline is valid? [True, True] Translation: X:238.20, Y:81.19, Z:0.67 [[-4.70491319e-01 -8.75598720e-01 1.09383725e-01 2.38196055e+02] [ 8.53941912e-01 -4.83033528e-01 -1.93550567e-01 8.11906390e+01] [ 2.22308636e-01 2.34348571e-03 9.74973527e-01 6.69360139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.426875 meters 0.012985277002386972 Centerline is valid? [True, True] Translation: X:238.18, Y:81.21, Z:0.68 [[-4.71509542e-01 -8.75123343e-01 1.08802053e-01 2.38183268e+02] [ 8.53718817e-01 -4.83895022e-01 -1.92379287e-01 8.12128006e+01] [ 2.21004377e-01 2.17769038e-03 9.75270385e-01 6.75496200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.456875 meters 0.012450327891360514 Centerline is valid? [True, True] Translation: X:238.17, Y:81.24, Z:0.68 [[-4.73386240e-01 -8.74241616e-01 1.07736084e-01 2.38172994e+02] [ 8.53261322e-01 -4.85487747e-01 -1.90385826e-01 8.12365071e+01] [ 2.18747761e-01 1.80100312e-03 9.75779777e-01 6.83624587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.486875 meters 0.012472981650594826 Centerline is valid? [True, True] Translation: X:238.16, Y:81.26, Z:0.69 [[-4.74394992e-01 -8.73706226e-01 1.07642104e-01 2.38160963e+02] [ 8.52781451e-01 -4.86451224e-01 -1.90076311e-01 8.12592620e+01] [ 2.18433490e-01 1.62393977e-03 9.75850487e-01 6.89753403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.516875 meters 0.012336666606238245 Centerline is valid? [True, True] Translation: X:238.15, Y:81.28, Z:0.70 [[-4.76206549e-01 -8.72712129e-01 1.07707301e-01 2.38149479e+02] [ 8.51770139e-01 -4.88233545e-01 -1.90041143e-01 8.12821915e+01] [ 2.18437527e-01 1.24302577e-03 9.75850143e-01 6.95092802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.546875 meters 0.012237620078053409 Centerline is valid? [True, True] Translation: X:238.14, Y:81.30, Z:0.70 [[-4.77336152e-01 -8.72066380e-01 1.07937146e-01 2.38136906e+02] [ 8.51050788e-01 -4.89386536e-01 -1.90298120e-01 8.13049552e+01] [ 2.18775578e-01 1.02382091e-03 9.75774666e-01 7.00303440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57687500000003 meters 0.012246767798529904 Centerline is valid? [True, True] Translation: X:238.12, Y:81.33, Z:0.71 [[-4.78207727e-01 -8.71561123e-01 1.08159966e-01 2.38124250e+02] [ 8.50477819e-01 -4.90286095e-01 -1.90544020e-01 8.13287832e+01] [ 2.19100087e-01 8.68029393e-04 9.75702003e-01 7.05064862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.606875 meters 0.012150344524717988 Centerline is valid? [True, True] Translation: X:238.11, Y:81.35, Z:0.71 [[-4.79973701e-01 -8.70434455e-01 1.09403414e-01 2.38113817e+02] [ 8.48860429e-01 -4.92284142e-01 -1.92593600e-01 8.13525559e+01] [ 2.21497671e-01 4.28365853e-04 9.75160806e-01 7.08953725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63687500000003 meters 0.012188043429010795 Centerline is valid? [True, True] Translation: X:238.10, Y:81.38, Z:0.71 [[-4.81175969e-01 -8.69706943e-01 1.09906875e-01 2.38101710e+02] [ 8.47946063e-01 -4.93568441e-01 -1.93333050e-01 8.13764834e+01] [ 2.22389661e-01 1.67884806e-04 9.74957851e-01 7.14144627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.666875 meters 0.012252563759222184 Centerline is valid? [True, True] Translation: X:238.09, Y:81.40, Z:0.72 [[-4.82404074e-01 -8.69015415e-01 1.09993259e-01 2.38089115e+02] [ 8.47234711e-01 -4.94785006e-01 -1.93342038e-01 8.14004958e+01] [ 2.22440227e-01 -7.88802735e-05 9.74946326e-01 7.19695645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69687500000003 meters 0.012273043963979205 Centerline is valid? [True, True] Translation: X:238.08, Y:81.42, Z:0.73 [[-4.84494160e-01 -8.67807865e-01 1.10340017e-01 2.38076867e+02] [ 8.45889867e-01 -4.96899581e-01 -1.93806967e-01 8.14247125e+01] [ 2.23015118e-01 -5.62841318e-04 9.74814824e-01 7.25489686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.726875 meters 0.01239011486117639 Centerline is valid? [True, True] Translation: X:238.06, Y:81.45, Z:0.73 [[-4.85550399e-01 -8.67209387e-01 1.10402397e-01 2.38064560e+02] [ 8.45284920e-01 -4.97943067e-01 -1.93768178e-01 8.14477022e+01] [ 2.23011691e-01 -7.62735100e-04 9.74815472e-01 7.30846937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75687500000004 meters 0.01239098956833119 Centerline is valid? [True, True] Translation: X:238.05, Y:81.47, Z:0.74 [[-4.86705563e-01 -8.66578454e-01 1.10270027e-01 2.38051335e+02] [ 8.44726472e-01 -4.99039918e-01 -1.93381353e-01 8.14707269e+01] [ 2.22609259e-01 -9.71769597e-04 9.74907264e-01 7.37057718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.786875 meters 0.012416888440479315 Centerline is valid? [True, True] Translation: X:238.04, Y:81.49, Z:0.74 [[-4.87661262e-01 -8.66060829e-01 1.10114190e-01 2.38038448e+02] [ 8.44290459e-01 -4.99937351e-01 -1.92967009e-01 8.14935118e+01] [ 2.22171364e-01 -1.13417520e-03 9.75006974e-01 7.42510332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81687500000004 meters 0.012494939499439653 Centerline is valid? [True, True] Translation: X:238.02, Y:81.52, Z:0.75 [[-4.87942459e-01 -8.65904391e-01 1.10098786e-01 2.38024952e+02] [ 8.44161443e-01 -5.00208223e-01 -1.92829435e-01 8.15165098e+01] [ 2.22044172e-01 -1.14851868e-03 9.75035931e-01 7.48876532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.846875 meters 0.012424734981799319 Centerline is valid? [True, True] Translation: X:238.01, Y:81.54, Z:0.76 [[-4.87684465e-01 -8.66079844e-01 1.09861574e-01 2.38010774e+02] [ 8.44467803e-01 -4.99904705e-01 -1.92274323e-01 8.15389193e+01] [ 2.21445233e-01 -9.94638438e-04 9.75172302e-01 7.55883825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.876875 meters 0.012424734981799319 Centerline is valid? [True, True] Translation: X:238.00, Y:81.56, Z:0.76 [[-4.87953275e-01 -8.65920632e-01 1.09922978e-01 2.37997667e+02] [ 8.44312510e-01 -5.00180438e-01 -1.92239213e-01 8.15615739e+01] [ 2.21445224e-01 -9.94407635e-04 9.75172305e-01 7.61653048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.906875 meters 0.012400501258277472 Centerline is valid? [True, True] Translation: X:237.98, Y:81.58, Z:0.77 [[-4.87544936e-01 -8.66180071e-01 1.09690563e-01 2.37983836e+02] [ 8.44702866e-01 -4.99731369e-01 -1.91691489e-01 8.15842783e+01] [ 2.20855163e-01 -8.02281895e-04 9.75306287e-01 7.67869814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.936875 meters 0.012408641326485424 Centerline is valid? [True, True] Translation: X:237.97, Y:81.61, Z:0.77 [[-4.87175580e-01 -8.66392140e-01 1.09656800e-01 2.37969649e+02] [ 8.44965505e-01 -4.99363853e-01 -1.91491610e-01 8.16070378e+01] [ 2.20665468e-01 -6.33822415e-04 9.75349347e-01 7.74019834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.966875 meters 0.01243758299062362 Centerline is valid? [True, True] Translation: X:237.95, Y:81.63, Z:0.78 [[-4.85617410e-01 -8.67286670e-01 1.09496866e-01 2.37954921e+02] [ 8.45977263e-01 -4.97809008e-01 -1.91072399e-01 8.16279522e+01] [ 2.20223071e-01 -1.56224089e-04 9.75449524e-01 7.79639657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.996875 meters 0.01240368260388157 Centerline is valid? [True, True] Translation: X:237.94, Y:81.65, Z:0.79 [[-4.85384885e-01 -8.67433339e-01 1.09365967e-01 2.37940552e+02] [ 8.46203646e-01 -4.97553415e-01 -1.90735392e-01 8.16505278e+01] [ 2.19865648e-01 -3.41961137e-05 9.75530161e-01 7.85356054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.026875 meters 0.01245534226475303 Centerline is valid? [True, True] Translation: X:237.93, Y:81.67, Z:0.79 [[-4.85250862e-01 -8.67524560e-01 1.09237077e-01 2.37925638e+02] [ 8.46378680e-01 -4.97394343e-01 -1.90373312e-01 8.16726247e+01] [ 2.19487428e-01 7.71189773e-05 9.75615325e-01 7.90930399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.056875 meters 0.012402678887071587 Centerline is valid? [True, True] Translation: X:237.91, Y:81.70, Z:0.80 [[-4.85424156e-01 -8.67445889e-01 1.09091788e-01 2.37911918e+02] [ 8.46386237e-01 -4.97531523e-01 -1.89980846e-01 8.16953446e+01] [ 2.19074707e-01 1.12495829e-04 9.75708081e-01 7.97687293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.086875 meters 0.012379920809024553 Centerline is valid? [True, True] Translation: X:237.90, Y:81.72, Z:0.80 [[-4.85387394e-01 -8.67454511e-01 1.09186760e-01 2.37898453e+02] [ 8.46389659e-01 -4.97516467e-01 -1.90005028e-01 8.17173194e+01] [ 2.19142930e-01 1.88499073e-04 9.75692749e-01 8.03354954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.116875 meters 0.0124515975179173 Centerline is valid? [True, True] Translation: X:237.88, Y:81.74, Z:0.81 [[-4.86156080e-01 -8.66942727e-01 1.09829749e-01 2.37883883e+02] [ 8.45646387e-01 -4.98407771e-01 -1.90976127e-01 8.17405209e+01] [ 2.20305365e-01 3.29254139e-05 9.75430953e-01 8.07812314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.146875 meters 0.012465198790623732 Centerline is valid? [True, True] Translation: X:237.87, Y:81.76, Z:0.81 [[-4.86582961e-01 -8.66636764e-01 1.10352801e-01 2.37870822e+02] [ 8.45158642e-01 -4.98939593e-01 -1.91745019e-01 8.17631473e+01] [ 2.21232664e-01 -3.42359289e-05 9.75221056e-01 8.12462179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.176875 meters 0.012504454255067292 Centerline is valid? [True, True] Translation: X:237.86, Y:81.79, Z:0.82 [[-4.87345006e-01 -8.66142446e-01 1.10869781e-01 2.37857462e+02] [ 8.44480827e-01 -4.99797188e-01 -1.92496500e-01 8.17863323e+01] [ 2.22141794e-01 -1.84803886e-04 9.75014353e-01 8.17643883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.206875 meters 0.012539893534528484 Centerline is valid? [True, True] Translation: X:237.84, Y:81.81, Z:0.82 [[-4.88101165e-01 -8.65696107e-01 1.11029292e-01 2.37844051e+02] [ 8.43991640e-01 -5.00569826e-01 -1.92634269e-01 8.18092149e+01] [ 2.22340650e-01 -3.17216877e-04 9.74968992e-01 8.23760229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.236875 meters 0.01258770115305799 Centerline is valid? [True, True] Translation: X:237.83, Y:81.83, Z:0.83 [[-4.89362017e-01 -8.65050258e-01 1.10511844e-01 2.37830671e+02] [ 8.43565963e-01 -5.01684925e-01 -1.91595152e-01 8.18310200e+01] [ 2.21181562e-01 -5.35360076e-04 9.75232500e-01 8.29358432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.266875 meters 0.012509814653227116 Centerline is valid? [True, True] Translation: X:237.82, Y:81.85, Z:0.84 [[-4.90162977e-01 -8.64638818e-01 1.10181535e-01 2.37816972e+02] [ 8.43307349e-01 -5.02393572e-01 -1.90875389e-01 8.18535654e+01] [ 2.20392765e-01 -6.43150671e-04 9.75410998e-01 8.36462552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.296875 meters 0.012593890138989127 Centerline is valid? [True, True] Translation: X:237.80, Y:81.88, Z:0.84 [[-4.90396084e-01 -8.64540812e-01 1.09912987e-01 2.37803752e+02] [ 8.43343777e-01 -5.02562243e-01 -1.90269453e-01 8.18753145e+01] [ 2.19733825e-01 -6.12960833e-04 9.75559670e-01 8.41926470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.32687500000003 meters 0.012532048740449444 Centerline is valid? [True, True] Translation: X:237.79, Y:81.90, Z:0.85 [[-4.90340994e-01 -8.64564321e-01 1.09973838e-01 2.37789300e+02] [ 8.43368831e-01 -5.02521877e-01 -1.90265018e-01 8.18978657e+01] [ 2.19760606e-01 -5.46230537e-04 9.75553678e-01 8.48363316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.356875 meters 0.012462316238863493 Centerline is valid? [True, True] Translation: X:237.77, Y:81.92, Z:0.85 [[-4.90121335e-01 -8.64721113e-01 1.09719975e-01 2.37773403e+02] [ 8.43659495e-01 -5.02252161e-01 -1.89687699e-01 8.19194144e+01] [ 2.19134053e-01 -4.03689289e-04 9.75694678e-01 8.53853918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.38687500000003 meters 0.012420924315520073 Centerline is valid? [True, True] Translation: X:237.76, Y:81.94, Z:0.86 [[-4.90442249e-01 -8.64545731e-01 1.09668043e-01 2.37759088e+02] [ 8.43531214e-01 -5.02553988e-01 -1.89458652e-01 8.19410872e+01] [ 2.18909781e-01 -4.10110369e-04 9.75745018e-01 8.59231857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.416875 meters 0.012346976805070086 Centerline is valid? [True, True] Translation: X:237.74, Y:81.96, Z:0.87 [[-4.91165350e-01 -8.64138567e-01 1.09640945e-01 2.37744344e+02] [ 8.43157208e-01 -5.03253684e-01 -1.89266089e-01 8.19639138e+01] [ 2.18729336e-01 -5.16392145e-04 9.75785433e-01 8.65222803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.44687500000003 meters 0.012438357730135786 Centerline is valid? [True, True] Translation: X:237.73, Y:81.99, Z:0.87 [[-4.93170225e-01 -8.62997621e-01 1.09627710e-01 2.37729661e+02] [ 8.42025133e-01 -5.05207090e-01 -1.89101749e-01 8.19868531e+01] [ 2.18579056e-01 -9.50065167e-04 9.75818781e-01 8.70789713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.476875 meters 0.012559032719112273 Centerline is valid? [True, True] Translation: X:237.72, Y:82.01, Z:0.88 [[-4.94656831e-01 -8.62100928e-01 1.09984587e-01 2.37716964e+02] [ 8.41000167e-01 -5.06734999e-01 -1.89574153e-01 8.20089797e+01] [ 2.19165093e-01 -1.27709401e-03 9.75686954e-01 8.76633912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.50687500000004 meters 0.012613957234613785 Centerline is valid? [True, True] Translation: X:237.70, Y:82.03, Z:0.88 [[-4.96195181e-01 -8.61228389e-01 1.09890879e-01 2.37703279e+02] [ 8.40176185e-01 -5.08215656e-01 -1.89263904e-01 8.20315758e+01] [ 2.18847712e-01 -1.58413759e-03 9.75757741e-01 8.82554710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.536875 meters 0.012775051357624748 Centerline is valid? [True, True] Translation: X:237.69, Y:82.05, Z:0.89 [[-4.98258267e-01 -8.59965979e-01 1.10441001e-01 2.37688077e+02] [ 8.38701020e-01 -5.10347139e-01 -1.90069451e-01 8.20545643e+01] [ 2.19816511e-01 -2.07669530e-03 9.75539025e-01 8.88494232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56687500000004 meters 0.013066497654765006 Centerline is valid? [True, True] Translation: X:237.67, Y:82.08, Z:0.89 [[-4.99303378e-01 -8.59299356e-01 1.10908764e-01 2.37674155e+02] [ 8.37864133e-01 -5.11467752e-01 -1.90747039e-01 8.20768833e+01] [ 2.20635064e-01 -2.31416532e-03 9.75353686e-01 8.93085991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.596875 meters 0.013097971221004182 Centerline is valid? [True, True] Translation: X:237.66, Y:82.10, Z:0.90 [[-5.00670921e-01 -8.58441826e-01 1.11383394e-01 2.37659445e+02] [ 8.36833432e-01 -5.12904218e-01 -1.91413350e-01 8.20990843e+01] [ 2.21446239e-01 -2.62575051e-03 9.75169046e-01 8.97961431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.626875 meters 0.013201409225598159 Centerline is valid? [True, True] Translation: X:237.64, Y:82.12, Z:0.90 [[-5.01649075e-01 -8.57846637e-01 1.11567702e-01 2.37644897e+02] [ 8.36183714e-01 -5.13898048e-01 -1.91587039e-01 8.21220500e+01] [ 2.21686722e-01 -2.81836555e-03 9.75113867e-01 9.03208588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.656875 meters 0.013562297259541709 Centerline is valid? [True, True] Translation: X:237.63, Y:82.15, Z:0.91 [[-5.04193320e-01 -8.56351922e-01 1.11581725e-01 2.37629188e+02] [ 8.34679520e-01 -5.16381458e-01 -1.91468768e-01 8.21451561e+01] [ 2.21583382e-01 -3.40229283e-03 9.75135493e-01 9.08719230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.686875 meters 0.013701464509705084 Centerline is valid? [True, True] Translation: X:237.61, Y:82.17, Z:0.92 [[-5.05025236e-01 -8.55867367e-01 1.11537264e-01 2.37614884e+02] [ 8.34229856e-01 -5.17183216e-01 -1.91264396e-01 8.21675734e+01] [ 2.21382156e-01 -3.54563092e-03 9.75180686e-01 9.15008137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.716875 meters 0.013894336971388055 Centerline is valid? [True, True] Translation: X:237.60, Y:82.19, Z:0.92 [[-5.06330452e-01 -8.55136442e-01 1.11225620e-01 2.37599967e+02] [ 8.33636009e-01 -5.18389224e-01 -1.90587559e-01 8.21894731e+01] [ 2.20636530e-01 -3.77860259e-03 9.75348781e-01 9.22953702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.746875 meters 0.015085292968950573 Centerline is valid? [True, True] Translation: X:237.59, Y:82.21, Z:0.93 [[-5.06862022e-01 -8.54854293e-01 1.10973099e-01 2.37587983e+02] [ 8.33477789e-01 -5.18854091e-01 -1.90013701e-01 8.22119702e+01] [ 2.20012874e-01 -3.81711533e-03 9.75489500e-01 9.29025999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.776875 meters 0.013789044846930986 Centerline is valid? [True, True] Translation: X:237.57, Y:82.23, Z:0.94 [[-5.06797097e-01 -8.54918595e-01 1.10774089e-01 2.37570966e+02] [ 8.33654332e-01 -5.18748955e-01 -1.89525661e-01 8.22328359e+01] [ 2.19492955e-01 -3.70375604e-03 9.75607055e-01 9.36183826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.806875 meters 0.013314387999919661 Centerline is valid? [True, True] Translation: X:237.55, Y:82.25, Z:0.94 [[-5.04318152e-01 -8.56414259e-01 1.10534246e-01 2.37553564e+02] [ 8.35309859e-01 -5.16280715e-01 -1.88975295e-01 8.22531969e+01] [ 2.18907837e-01 -2.97332625e-03 9.75741010e-01 9.42231986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.836875 meters 0.012908034547786159 Centerline is valid? [True, True] Translation: X:237.54, Y:82.27, Z:0.95 [[-5.02567408e-01 -8.57428814e-01 1.10642795e-01 2.37537086e+02] [ 8.36327317e-01 -5.14596587e-01 -1.89068697e-01 8.22747814e+01] [ 2.19049354e-01 -2.48617324e-03 9.75710613e-01 9.47789333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.866875 meters 0.012344100413761001 Centerline is valid? [True, True] Translation: X:237.52, Y:82.29, Z:0.95 [[-4.98713039e-01 -8.59601290e-01 1.11224668e-01 2.37518316e+02] [ 8.38358678e-01 -5.10963263e-01 -1.89924381e-01 8.22948001e+01] [ 2.20090962e-01 -1.47159988e-03 9.75478243e-01 9.51697466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.896875 meters 0.012059880028738415 Centerline is valid? [True, True] Translation: X:237.50, Y:82.32, Z:0.96 [[-4.97129044e-01 -8.60470442e-01 1.11594501e-01 2.37501774e+02] [ 8.39134002e-01 -5.09499328e-01 -1.90432564e-01 8.23166357e+01] [ 2.20718915e-01 -1.02681798e-03 9.75336919e-01 9.57286724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.926875 meters 0.012030256993084281 Centerline is valid? [True, True] Translation: X:237.49, Y:82.34, Z:0.96 [[-4.95867856e-01 -8.61184151e-01 1.11700169e-01 2.37486466e+02] [ 8.39856841e-01 -5.08292685e-01 -1.90470555e-01 8.23379499e+01] [ 2.20806602e-01 -6.36074280e-04 9.75317405e-01 9.62131679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.956875 meters 0.012011804080617106 Centerline is valid? [True, True] Translation: X:237.47, Y:82.36, Z:0.97 [[-4.93056947e-01 -8.62761756e-01 1.11968743e-01 2.37469047e+02] [ 8.41404205e-01 -5.05610652e-01 -1.90779540e-01 8.23588619e+01] [ 2.21209880e-01 1.45793816e-04 9.75226214e-01 9.67742616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.986875 meters 0.011951873940807807 Centerline is valid? [True, True] Translation: X:237.45, Y:82.38, Z:0.97 [[-4.92272022e-01 -8.63178048e-01 1.12213697e-01 2.37454197e+02] [ 8.41767497e-01 -5.04899489e-01 -1.91060167e-01 8.23811795e+01] [ 2.21575580e-01 4.04267986e-04 9.75143117e-01 9.73608609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.016875 meters 0.012056492969073136 Centerline is valid? [True, True] Translation: X:237.44, Y:82.40, Z:0.98 [[-4.92216401e-01 -8.63114979e-01 1.12940458e-01 2.37439640e+02] [ 8.41452615e-01 -5.05007258e-01 -1.92159221e-01 8.24038980e+01] [ 2.22891253e-01 4.50123394e-04 9.74843211e-01 9.78495665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.046875 meters 0.01195126113802345 Centerline is valid? [True, True] Translation: X:237.43, Y:82.43, Z:0.98 [[-4.93188968e-01 -8.62510833e-01 1.13312419e-01 2.37426076e+02] [ 8.40719656e-01 -5.06038536e-01 -1.92653732e-01 8.24269222e+01] [ 2.23506382e-01 2.49282167e-04 9.74702434e-01 9.83846301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07687500000003 meters 0.01194515556146824 Centerline is valid? [True, True] Translation: X:237.41, Y:82.45, Z:0.99 [[-4.94660159e-01 -8.61614202e-01 1.13720248e-01 2.37413524e+02] [ 8.39673619e-01 -5.07563750e-01 -1.93202622e-01 8.24500516e+01] [ 2.24186398e-01 -8.17478042e-05 9.74546280e-01 9.88507054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.106875 meters 0.012135498451942686 Centerline is valid? [True, True] Translation: X:237.40, Y:82.47, Z:0.99 [[-4.96572965e-01 -8.60465443e-01 1.14081161e-01 2.37401713e+02] [ 8.38388290e-01 -5.09508534e-01 -1.93664994e-01 8.24736061e+01] [ 2.24767360e-01 -5.24490673e-04 9.74412315e-01 9.94558340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13687500000003 meters 0.012536866960593227 Centerline is valid? [True, True] Translation: X:237.39, Y:82.50, Z:1.00 [[-5.00816345e-01 -8.57978287e-01 1.14263934e-01 2.37391445e+02] [ 8.35797014e-01 -5.13683538e-01 -1.93836461e-01 8.24993307e+01] [ 2.25002977e-01 -1.57501268e-03 9.74356803e-01 1.00212592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.166875 meters 0.0139119147675737 Centerline is valid? [True, True] Translation: X:237.38, Y:82.53, Z:1.01 [[-5.04950046e-01 -8.55498890e-01 1.14660807e-01 2.37382130e+02] [ 8.33127312e-01 -5.17797986e-01 -1.94381400e-01 8.25250765e+01] [ 2.25664207e-01 -2.62584679e-03 9.74201607e-01 1.00632182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19687500000003 meters 0.013547927411608932 Centerline is valid? [True, True] Translation: X:237.37, Y:82.55, Z:1.01 [[-5.07259351e-01 -8.54116575e-01 1.14772937e-01 2.37367937e+02] [ 8.31696646e-01 -5.20071921e-01 -1.94437359e-01 8.25484045e+01] [ 2.25762352e-01 -3.17390171e-03 9.74177236e-01 1.01391478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.226875 meters 0.014212335624722216 Centerline is valid? [True, True] Translation: X:237.36, Y:82.57, Z:1.02 [[-5.08748128e-01 -8.53201822e-01 1.14986931e-01 2.37356471e+02] [ 8.30703895e-01 -5.21569049e-01 -1.94670920e-01 8.25720244e+01] [ 2.26067207e-01 -3.51837463e-03 9.74105353e-01 1.01997845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25687500000004 meters 0.01453297110028967 Centerline is valid? [True, True] Translation: X:237.34, Y:82.60, Z:1.03 [[-5.10423859e-01 -8.52260657e-01 1.14539321e-01 2.37344776e+02] [ 8.29947512e-01 -5.23103210e-01 -1.93778635e-01 8.25953681e+01] [ 2.25065793e-01 -3.84761432e-03 9.74335971e-01 1.02734493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.286875 meters 0.014998664055545643 Centerline is valid? [True, True] Translation: X:237.33, Y:82.62, Z:1.03 [[-5.10488970e-01 -8.52219267e-01 1.14557117e-01 2.37332819e+02] [ 8.29930920e-01 -5.23171059e-01 -1.93666495e-01 8.26180244e+01] [ 2.24979287e-01 -3.79011613e-03 9.74356175e-01 1.03344888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31687500000004 meters 0.014786923675714976 Centerline is valid? [True, True] Translation: X:237.32, Y:82.64, Z:1.04 [[-5.09986817e-01 -8.52499582e-01 1.14707928e-01 2.37319180e+02] [ 8.30193026e-01 -5.22715564e-01 -1.93773011e-01 8.26404885e+01] [ 2.25151030e-01 -3.59195928e-03 9.74317254e-01 1.03954166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.346875 meters 0.014150731877448017 Centerline is valid? [True, True] Translation: X:237.30, Y:82.66, Z:1.04 [[-5.06699261e-01 -8.54353727e-01 1.15479732e-01 2.37302884e+02] [ 8.31821217e-01 -5.19684835e-01 -1.94938799e-01 8.26627648e+01] [ 2.26559755e-01 -2.71685375e-03 9.73993478e-01 1.04488885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.376875 meters 0.01373402369224137 Centerline is valid? [True, True] Translation: X:237.29, Y:82.68, Z:1.05 [[-5.04750964e-01 -8.55431438e-01 1.16032406e-01 2.37288026e+02] [ 8.32737105e-01 -5.17911487e-01 -1.95746281e-01 8.26844439e+01] [ 2.27542039e-01 -2.17863428e-03 9.73765821e-01 1.05067280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.406875 meters 0.013273249238090408 Centerline is valid? [True, True] Translation: X:237.27, Y:82.71, Z:1.06 [[-5.00764208e-01 -8.57712729e-01 1.16464944e-01 2.37272031e+02] [ 8.34940429e-01 -5.14128115e-01 -1.96333292e-01 8.27057928e+01] [ 2.28275466e-01 -1.07539552e-03 9.73595992e-01 1.05609669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.436875 meters 0.013298846321349712 Centerline is valid? [True, True] Translation: X:237.26, Y:82.73, Z:1.06 [[-4.98855868e-01 -8.58828419e-01 1.16432687e-01 2.37257379e+02] [ 8.36131935e-01 -5.12263122e-01 -1.96137403e-01 8.27271108e+01] [ 2.28092547e-01 -4.91206033e-04 9.73639332e-01 1.06104217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.466875 meters 0.013187099975960749 Centerline is valid? [True, True] Translation: X:237.24, Y:82.75, Z:1.07 [[-4.97681956e-01 -8.59516971e-01 1.16375463e-01 2.37242958e+02] [ 8.36896146e-01 -5.11107198e-01 -1.95893526e-01 8.27492637e+01] [ 2.27854147e-01 -9.84968840e-05 9.73695270e-01 1.06869353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.496875 meters 0.013286575751338162 Centerline is valid? [True, True] Translation: X:237.23, Y:82.77, Z:1.08 [[-4.96943922e-01 -8.59954196e-01 1.16299268e-01 2.37229390e+02] [ 8.37409096e-01 -5.10371188e-01 -1.95620186e-01 8.27719267e+01] [ 2.27580195e-01 1.77802885e-04 9.73759325e-01 1.07534244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.526875 meters 0.013281857206801025 Centerline is valid? [True, True] Translation: X:237.22, Y:82.79, Z:1.08 [[-4.95811914e-01 -8.60662316e-01 1.15891861e-01 2.37216488e+02] [ 8.38329180e-01 -5.09175851e-01 -1.94792552e-01 8.27936113e+01] [ 2.26659946e-01 5.75060487e-04 9.73973787e-01 1.08245605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.556875 meters 0.013312995844849271 Centerline is valid? [True, True] Translation: X:237.20, Y:82.82, Z:1.09 [[-4.95469535e-01 -8.60908731e-01 1.15525309e-01 2.37202745e+02] [ 8.38751052e-01 -5.08758885e-01 -1.94064600e-01 8.28161842e+01] [ 2.25846436e-01 7.43877260e-04 9.74162632e-01 1.08925442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.586875 meters 0.01346594613832825 Centerline is valid? [True, True] Translation: X:237.19, Y:82.84, Z:1.10 [[-4.94825699e-01 -8.61316249e-01 1.15246897e-01 2.37189531e+02] [ 8.39310225e-01 -5.08068222e-01 -1.93455495e-01 8.28375837e+01] [ 2.25179647e-01 1.00114810e-03 9.74316747e-01 1.09510659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.616875 meters 0.013364961303061517 Centerline is valid? [True, True] Translation: X:237.18, Y:82.86, Z:1.10 [[-4.94824760e-01 -8.61307693e-01 1.15314848e-01 2.37176546e+02] [ 8.39309341e-01 -5.08082574e-01 -1.93421635e-01 8.28603643e+01] [ 2.25185007e-01 1.07501449e-03 9.74315430e-01 1.10187657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.646875 meters 0.013492973277969134 Centerline is valid? [True, True] Translation: X:237.16, Y:82.88, Z:1.11 [[-4.93648188e-01 -8.61961577e-01 1.15471664e-01 2.37162467e+02] [ 8.39953292e-01 -5.06971536e-01 -1.93541545e-01 8.28818689e+01] [ 2.25366222e-01 1.44937171e-03 9.74273045e-01 1.10690362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.676875 meters 0.013673213821518204 Centerline is valid? [True, True] Translation: X:237.15, Y:82.90, Z:1.11 [[-4.93120964e-01 -8.62211778e-01 1.15855789e-01 2.37148728e+02] [ 8.40096563e-01 -5.06545295e-01 -1.94035123e-01 8.29040121e+01] [ 2.25985573e-01 1.64726284e-03 9.74129256e-01 1.11249520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.706875 meters 0.013700802682595527 Centerline is valid? [True, True] Translation: X:237.13, Y:82.93, Z:1.12 [[-4.92465565e-01 -8.62543829e-01 1.16171467e-01 2.37134772e+02] [ 8.40349985e-01 -5.05978854e-01 -1.94415282e-01 8.29272316e+01] [ 2.26472008e-01 1.88185882e-03 9.74015856e-01 1.11819894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.736875 meters 0.013830624285492152 Centerline is valid? [True, True] Translation: X:237.12, Y:82.95, Z:1.13 [[-4.90754765e-01 -8.63496881e-01 1.16330979e-01 2.37120557e+02] [ 8.41300246e-01 -5.04348482e-01 -1.94541781e-01 8.29509254e+01] [ 2.26657574e-01 2.39697535e-03 9.73971559e-01 1.12552460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.766875 meters 0.014160455286265018 Centerline is valid? [True, True] Translation: X:237.11, Y:82.97, Z:1.13 [[-4.90059667e-01 -8.63865113e-01 1.16527203e-01 2.37106679e+02] [ 8.41633185e-01 -5.03716291e-01 -1.94739520e-01 8.29722980e+01] [ 2.26925328e-01 2.63917675e-03 9.73908584e-01 1.13065009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.796875 meters 0.014160455286265018 Centerline is valid? [True, True] Translation: X:237.09, Y:82.99, Z:1.14 [[-4.90327739e-01 -8.63703945e-01 1.16594183e-01 2.37093120e+02] [ 8.41477058e-01 -5.03992560e-01 -1.94699412e-01 8.29946712e+01] [ 2.26925251e-01 2.64480728e-03 9.73908587e-01 1.13641765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.82687500000003 meters 0.014491321994543867 Centerline is valid? [True, True] Translation: X:237.08, Y:83.02, Z:1.14 [[-4.89455739e-01 -8.64142104e-01 1.17010696e-01 2.37079349e+02] [ 8.41799248e-01 -5.03239338e-01 -1.95254180e-01 8.30188591e+01] [ 2.27611744e-01 2.93123707e-03 9.73747556e-01 1.14180282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.856875 meters 0.014310185263465607 Centerline is valid? [True, True] Translation: X:237.07, Y:83.04, Z:1.15 [[-4.89609277e-01 -8.64036623e-01 1.17147216e-01 2.37066651e+02] [ 8.41667360e-01 -5.03420309e-01 -1.95356209e-01 8.30427636e+01] [ 2.27769206e-01 2.95077561e-03 9.73710677e-01 1.14798753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.88687500000003 meters 0.014556013046395916 Centerline is valid? [True, True] Translation: X:237.05, Y:83.07, Z:1.15 [[-4.89926435e-01 -8.63807729e-01 1.17508703e-01 2.37053544e+02] [ 8.41325733e-01 -5.03813092e-01 -1.95814655e-01 8.30653768e+01] [ 2.28348635e-01 2.92831978e-03 9.73575023e-01 1.15306049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.916875 meters 0.014498497872147232 Centerline is valid? [True, True] Translation: X:237.04, Y:83.09, Z:1.16 [[-4.90543043e-01 -8.63359900e-01 1.18225231e-01 2.37042440e+02] [ 8.40622147e-01 -5.04580769e-01 -1.96856934e-01 8.30887359e+01] [ 2.29612561e-01 2.81594789e-03 9.73278040e-01 1.15770310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.94687500000003 meters 0.014211457793760996 Centerline is valid? [True, True] Translation: X:237.03, Y:83.11, Z:1.16 [[-4.90899280e-01 -8.63135620e-01 1.18384113e-01 2.37030931e+02] [ 8.40364097e-01 -5.04964465e-01 -1.96974803e-01 8.31125864e+01] [ 2.29795739e-01 2.79096966e-03 9.73234879e-01 1.16454852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.976875 meters 0.014400620278520347 Centerline is valid? [True, True] Translation: X:237.02, Y:83.14, Z:1.17 [[-4.91374725e-01 -8.62859094e-01 1.18427462e-01 2.37018139e+02] [ 8.40096776e-01 -5.05437128e-01 -1.96902811e-01 8.31352042e+01] [ 2.29757017e-01 2.73746446e-03 9.73244173e-01 1.17007965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.00687500000004 meters 0.014117620560480482 Centerline is valid? [True, True] Translation: X:237.01, Y:83.16, Z:1.18 [[-4.92475047e-01 -8.62283677e-01 1.18047398e-01 2.37006602e+02] [ 8.39687336e-01 -5.06419219e-01 -1.96124327e-01 8.31596905e+01] [ 2.28896277e-01 2.53656799e-03 9.73447513e-01 1.17664081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.036875 meters 0.013907467512740856 Centerline is valid? [True, True] Translation: X:236.99, Y:83.18, Z:1.18 [[-4.93530824e-01 -8.61711807e-01 1.17813782e-01 2.36994296e+02] [ 8.39213019e-01 -5.07392738e-01 -1.95637722e-01 8.31831133e+01] [ 2.28361192e-01 2.31761312e-03 9.73573723e-01 1.18278801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06687500000004 meters 0.013778387453135404 Centerline is valid? [True, True] Translation: X:236.98, Y:83.21, Z:1.19 [[-4.94485591e-01 -8.61159377e-01 1.17849600e-01 2.36982112e+02] [ 8.38663809e-01 -5.08330570e-01 -1.95558297e-01 8.32067363e+01] [ 2.28313415e-01 2.13543408e-03 9.73585345e-01 1.18895620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.096875 meters 0.013476074022638933 Centerline is valid? [True, True] Translation: X:236.97, Y:83.23, Z:1.20 [[-4.96649834e-01 -8.59908849e-01 1.17880080e-01 2.36971331e+02] [ 8.37399359e-01 -5.10445007e-01 -1.95469202e-01 8.32317601e+01] [ 2.28256995e-01 1.63295671e-03 9.73599547e-01 1.19507078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.126875 meters 0.01325597522797196 Centerline is valid? [True, True] Translation: X:236.96, Y:83.26, Z:1.20 [[-4.97946753e-01 -8.59193435e-01 1.17625134e-01 2.36959187e+02] [ 8.36795087e-01 -5.11649052e-01 -1.94908260e-01 8.32555054e+01] [ 2.27646686e-01 1.37419896e-03 9.73742830e-01 1.20116634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.156875 meters 0.013221691710461362 Centerline is valid? [True, True] Translation: X:236.95, Y:83.28, Z:1.21 [[-4.99055518e-01 -8.58592304e-01 1.17315157e-01 2.36947861e+02] [ 8.36329477e-01 -5.12657671e-01 -1.94255291e-01 8.32781888e+01] [ 2.26928612e-01 1.16994879e-03 9.73910692e-01 1.20676440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.186875 meters 0.013153268111702601 Centerline is valid? [True, True] Translation: X:236.94, Y:83.30, Z:1.21 [[-4.99438690e-01 -8.58370537e-01 1.17307356e-01 2.36935083e+02] [ 8.36138519e-01 -5.13028955e-01 -1.94097060e-01 8.33009739e+01] [ 2.26789268e-01 1.14561769e-03 9.73943179e-01 1.21298021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.216875 meters 0.013040001279098499 Centerline is valid? [True, True] Translation: X:236.92, Y:83.32, Z:1.22 [[-4.99971496e-01 -8.58066767e-01 1.17260082e-01 2.36921717e+02] [ 8.35876657e-01 -5.13537007e-01 -1.93881293e-01 8.33244249e+01] [ 2.26580486e-01 1.07984540e-03 9.73991847e-01 1.21925584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.246875 meters 0.012974155469793766 Centerline is valid? [True, True] Translation: X:236.91, Y:83.35, Z:1.22 [[-5.00701059e-01 -8.57622291e-01 1.17398701e-01 2.36908549e+02] [ 8.35399858e-01 -5.14279199e-01 -1.93969026e-01 8.33472924e+01] [ 2.26727871e-01 9.54361135e-04 9.73957680e-01 1.22460704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.276875 meters 0.013136934236697652 Centerline is valid? [True, True] Translation: X:236.89, Y:83.37, Z:1.23 [[-5.01178040e-01 -8.57356369e-01 1.17305704e-01 2.36894874e+02] [ 8.35195066e-01 -5.14722481e-01 -1.93674905e-01 8.33693087e+01] [ 2.26428297e-01 9.07535774e-04 9.74027414e-01 1.22884725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.306875 meters 0.012970171983740779 Centerline is valid? [True, True] Translation: X:236.88, Y:83.39, Z:1.24 [[-5.01619682e-01 -8.57075789e-01 1.17468236e-01 2.36881807e+02] [ 8.34878766e-01 -5.15189628e-01 -1.93796527e-01 8.33919455e+01] [ 2.26616728e-01 8.59583683e-04 9.73983634e-01 1.23560761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.336875 meters 0.012856070020721437 Centerline is valid? [True, True] Translation: X:236.87, Y:83.41, Z:1.24 [[-5.03353905e-01 -8.56003987e-01 1.17864412e-01 2.36869516e+02] [ 8.33658366e-01 -5.16969022e-01 -1.94310987e-01 8.34143629e+01] [ 2.27263230e-01 4.51459128e-04 9.73833261e-01 1.23983812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.366875 meters 0.012834827377678886 Centerline is valid? [True, True] Translation: X:236.86, Y:83.44, Z:1.25 [[-5.04892307e-01 -8.55121720e-01 1.17688582e-01 2.36856689e+02] [ 8.32845322e-01 -5.18427267e-01 -1.93911936e-01 8.34375827e+01] [ 2.26831278e-01 1.11739797e-04 9.73934063e-01 1.24559810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.396875 meters 0.012828626640897895 Centerline is valid? [True, True] Translation: X:236.84, Y:83.46, Z:1.25 [[-5.06814356e-01 -8.53962321e-01 1.17845503e-01 2.36844479e+02] [ 8.31625985e-01 -5.20334738e-01 -1.94036031e-01 8.34606639e+01] [ 2.27018569e-01 -3.36863856e-04 9.73890372e-01 1.25125899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.426875 meters 0.013045666127577732 Centerline is valid? [True, True] Translation: X:236.83, Y:83.48, Z:1.26 [[-5.10920328e-01 -8.51531518e-01 1.17705111e-01 2.36833167e+02] [ 8.29209633e-01 -5.24301648e-01 -1.93698646e-01 8.34844730e+01] [ 2.26653486e-01 -1.36236360e-03 9.73974508e-01 1.25831703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.456875 meters 0.013475856069749178 Centerline is valid? [True, True] Translation: X:236.82, Y:83.51, Z:1.26 [[-5.12698703e-01 -8.50459682e-01 1.17721573e-01 2.36821569e+02] [ 8.28135926e-01 -5.26037284e-01 -1.93586323e-01 8.35071622e+01] [ 2.26563300e-01 -1.76199339e-03 9.73994849e-01 1.26353404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.486875 meters 0.013600162948698537 Centerline is valid? [True, True] Translation: X:236.81, Y:83.53, Z:1.27 [[-5.14976018e-01 -8.49114323e-01 1.17492843e-01 2.36809242e+02] [ 8.26869140e-01 -5.28204145e-01 -1.93100511e-01 8.35299998e+01] [ 2.26024616e-01 -2.29092659e-03 9.74118896e-01 1.27051610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.516875 meters 0.014446476580807216 Centerline is valid? [True, True] Translation: X:236.80, Y:83.55, Z:1.28 [[-5.17711638e-01 -8.47445725e-01 1.17517676e-01 2.36798387e+02] [ 8.25181333e-01 -5.30873877e-01 -1.92999206e-01 8.35536173e+01] [ 2.25943416e-01 -2.94454193e-03 9.74135977e-01 1.27703123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.546875 meters 0.014485529330190499 Centerline is valid? [True, True] Translation: X:236.78, Y:83.58, Z:1.28 [[-5.19132080e-01 -8.46547701e-01 1.17723717e-01 2.36783968e+02] [ 8.24202183e-01 -5.32302684e-01 -1.93247545e-01 8.35766389e+01] [ 2.26257916e-01 -3.29285538e-03 9.74061863e-01 1.28259752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57687500000003 meters 0.014766269962044467 Centerline is valid? [True, True] Translation: X:236.77, Y:83.60, Z:1.29 [[-5.19900528e-01 -8.46019929e-01 1.18125864e-01 2.36769899e+02] [ 8.23534508e-01 -5.33139991e-01 -1.93785098e-01 8.35996955e+01] [ 2.26923678e-01 -3.46824942e-03 9.73906369e-01 1.28749660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.606875 meters 0.01537344662796558 Centerline is valid? [True, True] Translation: X:236.76, Y:83.62, Z:1.29 [[-5.20971903e-01 -8.45310453e-01 1.18484236e-01 2.36756416e+02] [ 8.22700317e-01 -5.34262519e-01 -1.94236323e-01 8.36232016e+01] [ 2.27491681e-01 -3.71464815e-03 9.73772939e-01 1.29161923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63687500000003 meters 0.0152553377393836 Centerline is valid? [True, True] Translation: X:236.74, Y:83.65, Z:1.30 [[-5.21370767e-01 -8.45065467e-01 1.18477334e-01 2.36742203e+02] [ 8.22481716e-01 -5.34649686e-01 -1.94096732e-01 8.36461391e+01] [ 2.27368315e-01 -3.75092072e-03 9.73801612e-01 1.29779226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.666875 meters 0.014586615957747018 Centerline is valid? [True, True] Translation: X:236.73, Y:83.67, Z:1.31 [[-5.21250778e-01 -8.45191934e-01 1.18102586e-01 2.36727316e+02] [ 8.22787319e-01 -5.34450714e-01 -1.93348033e-01 8.36681644e+01] [ 2.26536210e-01 -3.60950249e-03 9.73996056e-01 1.30589867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69687500000003 meters 0.01472537101028956 Centerline is valid? [True, True] Translation: X:236.71, Y:83.69, Z:1.31 [[-5.21045919e-01 -8.45324374e-01 1.18058688e-01 2.36714304e+02] [ 8.22972702e-01 -5.34242117e-01 -1.93135426e-01 8.36898248e+01] [ 2.26334006e-01 -3.47334757e-03 9.74043558e-01 1.31196401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.726875 meters 0.014542564269664928 Centerline is valid? [True, True] Translation: X:236.70, Y:83.71, Z:1.32 [[-5.20637056e-01 -8.45581953e-01 1.18017866e-01 2.36700042e+02] [ 8.23286496e-01 -5.33835558e-01 -1.92922114e-01 8.37120492e+01] [ 2.26133592e-01 -3.27988567e-03 9.74090777e-01 1.31834545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75687500000004 meters 0.014912676900887734 Centerline is valid? [True, True] Translation: X:236.69, Y:83.74, Z:1.32 [[-5.18548024e-01 -8.46854207e-01 1.18092754e-01 2.36686825e+02] [ 8.24594831e-01 -5.31818502e-01 -1.92905276e-01 8.37354221e+01] [ 2.26166556e-01 -2.65197547e-03 9.74085035e-01 1.32219785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.786875 meters 0.014547553962003535 Centerline is valid? [True, True] Translation: X:236.67, Y:83.76, Z:1.33 [[-5.17309982e-01 -8.47598323e-01 1.18184031e-01 2.36672524e+02] [ 8.25352350e-01 -5.30633558e-01 -1.92928812e-01 8.37563439e+01] [ 2.26238550e-01 -2.26053241e-03 9.74069304e-01 1.32715675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81687500000004 meters 0.013316772068293719 Centerline is valid? [True, True] Translation: X:236.65, Y:83.78, Z:1.33 [[-5.13545621e-01 -8.49923738e-01 1.17900531e-01 2.36654008e+02] [ 8.27879810e-01 -5.26904451e-01 -1.92319316e-01 8.37766308e+01] [ 2.25579066e-01 -1.15727367e-03 9.74224176e-01 1.33452244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.846875 meters 0.01334656719261759 Centerline is valid? [True, True] Translation: X:236.64, Y:83.80, Z:1.34 [[-5.11777626e-01 -8.51025086e-01 1.17643382e-01 2.36639281e+02] [ 8.29135811e-01 -5.25124688e-01 -1.91775567e-01 8.37976878e+01] [ 2.24983263e-01 -6.04103901e-04 9.74362441e-01 1.33926890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.876875 meters 0.01330174766466573 Centerline is valid? [True, True] Translation: X:236.62, Y:83.82, Z:1.35 [[-5.10196546e-01 -8.51901182e-01 1.18168784e-01 2.36623864e+02] [ 8.29870516e-01 -5.23702546e-01 -1.92485247e-01 8.38193051e+01] [ 2.25863703e-01 -1.40518416e-04 9.74158903e-01 1.34511826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.906875 meters 0.013239200419941114 Centerline is valid? [True, True] Translation: X:236.61, Y:83.84, Z:1.35 [[-5.07920539e-01 -8.53167565e-01 1.18835316e-01 2.36608406e+02] [ 8.30951012e-01 -5.21636710e-01 -1.93431017e-01 8.38418096e+01] [ 2.27017933e-01 4.98739578e-04 9.73890450e-01 1.35041104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.936875 meters 0.013395051836546051 Centerline is valid? [True, True] Translation: X:236.59, Y:83.86, Z:1.36 [[-5.07469638e-01 -8.53410105e-01 1.19019995e-01 2.36594317e+02] [ 8.31162777e-01 -5.21239605e-01 -1.93591613e-01 8.38645606e+01] [ 2.27250974e-01 6.83123541e-04 9.73835986e-01 1.35601352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.966875 meters 0.013437041726123191 Centerline is valid? [True, True] Translation: X:236.58, Y:83.89, Z:1.36 [[-5.07727504e-01 -8.53255268e-01 1.19030369e-01 2.36581485e+02] [ 8.31032502e-01 -5.21493023e-01 -1.93468363e-01 8.38867734e+01] [ 2.27151407e-01 6.88896474e-04 9.73859211e-01 1.36281701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.996875 meters 0.013399887478083183 Centerline is valid? [True, True] Translation: X:236.57, Y:83.91, Z:1.37 [[-5.08462555e-01 -8.52830988e-01 1.18933322e-01 2.36567917e+02] [ 8.30667379e-01 -5.22186722e-01 -1.93165039e-01 8.39094522e+01] [ 2.26842533e-01 5.76841305e-04 9.73931277e-01 1.36946879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.026875 meters 0.013441737383551977 Centerline is valid? [True, True] Translation: X:236.55, Y:83.93, Z:1.38 [[-5.09262926e-01 -8.52358182e-01 1.18898284e-01 2.36554863e+02] [ 8.30227485e-01 -5.22958254e-01 -1.92968877e-01 8.39312051e+01] [ 2.26657440e-01 4.40728198e-04 9.73974440e-01 1.37507124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.056875 meters 0.013609881453126485 Centerline is valid? [True, True] Translation: X:236.54, Y:83.95, Z:1.38 [[-5.10321511e-01 -8.51692879e-01 1.19126801e-01 2.36541448e+02] [ 8.29491863e-01 -5.24041209e-01 -1.93194357e-01 8.39528713e+01] [ 2.26969611e-01 2.23475929e-04 9.73901815e-01 1.38022996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.086875 meters 0.013680793727347004 Centerline is valid? [True, True] Translation: X:236.53, Y:83.98, Z:1.39 [[-5.11931108e-01 -8.50732834e-01 1.19080582e-01 2.36527458e+02] [ 8.28556854e-01 -5.25598353e-01 -1.92976450e-01 8.39751353e+01] [ 2.26759960e-01 -1.25615340e-04 9.73950668e-01 1.38573892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.116875 meters 0.013756104877762852 Centerline is valid? [True, True] Translation: X:236.51, Y:84.00, Z:1.39 [[-5.12579256e-01 -8.50320068e-01 1.19240464e-01 2.36513552e+02] [ 8.28104264e-01 -5.26265832e-01 -1.93099978e-01 8.39972737e+01] [ 2.26948968e-01 -2.35506692e-04 9.73906623e-01 1.39210430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.146875 meters 0.013658024379213632 Centerline is valid? [True, True] Translation: X:236.50, Y:84.02, Z:1.40 [[-5.13964874e-01 -8.49547851e-01 1.18779452e-01 2.36499901e+02] [ 8.27516699e-01 -5.27511325e-01 -1.92218402e-01 8.40191389e+01] [ 2.25956237e-01 -5.01526524e-04 9.74137325e-01 1.39945977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.176875 meters 0.013595463600887028 Centerline is valid? [True, True] Translation: X:236.49, Y:84.04, Z:1.41 [[-5.14687254e-01 -8.49136259e-01 1.18594454e-01 2.36485853e+02] [ 8.27196413e-01 -5.28173502e-01 -1.91778119e-01 8.40412783e+01] [ 2.25484203e-01 -6.04846241e-04 9.74246636e-01 1.40599314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.206875 meters 0.013473312773869392 Centerline is valid? [True, True] Translation: X:236.47, Y:84.06, Z:1.41 [[-5.15508987e-01 -8.48638098e-01 1.18591155e-01 2.36471207e+02] [ 8.26717823e-01 -5.28973361e-01 -1.91637222e-01 8.40637919e+01] [ 2.25362210e-01 -7.49289369e-04 9.74274763e-01 1.41270430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.236875 meters 0.013653252799197416 Centerline is valid? [True, True] Translation: X:236.46, Y:84.09, Z:1.42 [[-5.15842727e-01 -8.48429756e-01 1.18630644e-01 2.36456415e+02] [ 8.26521310e-01 -5.29307437e-01 -1.91562421e-01 8.40855635e+01] [ 2.25319340e-01 -7.65325906e-04 9.74284665e-01 1.41681921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.266875 meters 0.013534614236102261 Centerline is valid? [True, True] Translation: X:236.44, Y:84.11, Z:1.42 [[-5.15121401e-01 -8.48829911e-01 1.18902165e-01 2.36440598e+02] [ 8.26863789e-01 -5.28665791e-01 -1.91856082e-01 8.41072949e+01] [ 2.25712688e-01 -5.13279376e-04 9.74193779e-01 1.42304644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.296875 meters 0.013598953598148805 Centerline is valid? [True, True] Translation: X:236.43, Y:84.13, Z:1.43 [[-5.14713407e-01 -8.49036417e-01 1.19194257e-01 2.36426187e+02] [ 8.26998019e-01 -5.28334212e-01 -1.92190628e-01 8.41286250e+01] [ 2.26151246e-01 -3.49678603e-04 9.74092137e-01 1.42729587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.32687500000003 meters 0.013493280245474255 Centerline is valid? [True, True] Translation: X:236.41, Y:84.15, Z:1.43 [[-5.13950797e-01 -8.49462716e-01 1.19447366e-01 2.36410482e+02] [ 8.27373886e-01 -5.27648640e-01 -1.92456137e-01 8.41507457e+01] [ 2.26510553e-01 -8.53538785e-05 9.74008707e-01 1.43301481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.356875 meters 0.013510293086314462 Centerline is valid? [True, True] Translation: X:236.39, Y:84.17, Z:1.44 [[-5.13024350e-01 -8.50008249e-01 1.19549120e-01 2.36394750e+02] [ 8.27927010e-01 -5.26769327e-01 -1.92486213e-01 8.41727146e+01] [ 2.26589678e-01 2.27831049e-04 9.73990280e-01 1.43973051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.38687500000003 meters 0.01363600237304947 Centerline is valid? [True, True] Translation: X:236.38, Y:84.19, Z:1.44 [[-5.12032163e-01 -8.50577189e-01 1.19756040e-01 2.36379386e+02] [ 8.28466462e-01 -5.25849918e-01 -1.92678967e-01 8.41941198e+01] [ 2.26862038e-01 5.56034387e-04 9.73926746e-01 1.44468296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.416875 meters 0.013845180145844946 Centerline is valid? [True, True] Translation: X:236.36, Y:84.22, Z:1.45 [[-5.09682685e-01 -8.51925625e-01 1.20192722e-01 2.36362076e+02] [ 8.29722234e-01 -5.23661338e-01 -1.93235134e-01 8.42152989e+01] [ 2.27562244e-01 1.23797165e-03 9.73762750e-01 1.44941704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.44687500000003 meters 0.01378191127957794 Centerline is valid? [True, True] Translation: X:236.35, Y:84.24, Z:1.46 [[-5.08778388e-01 -8.52484228e-01 1.20063286e-01 2.36347086e+02] [ 8.30374782e-01 -5.22750631e-01 -1.92897641e-01 8.42371625e+01] [ 2.27205355e-01 1.55537390e-03 9.73845628e-01 1.45624657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.476875 meters 0.01409211130390384 Centerline is valid? [True, True] Translation: X:236.33, Y:84.26, Z:1.46 [[-5.07645057e-01 -8.53235790e-01 1.19520636e-01 2.36330894e+02] [ 8.31380976e-01 -5.21521676e-01 -1.91887504e-01 8.42577295e+01] [ 2.26057888e-01 1.95643971e-03 9.74111905e-01 1.46165492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.50687500000004 meters 0.014069425606661136 Centerline is valid? [True, True] Translation: X:236.32, Y:84.28, Z:1.47 [[-5.07848878e-01 -8.53156893e-01 1.19217585e-01 2.36316406e+02] [ 8.31445275e-01 -5.21650595e-01 -1.91257446e-01 8.42784434e+01] [ 2.25362533e-01 1.99301836e-03 9.74272937e-01 1.46724169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.536875 meters 0.013948994299946518 Centerline is valid? [True, True] Translation: X:236.30, Y:84.30, Z:1.47 [[-5.08844199e-01 -8.52681048e-01 1.18374880e-01 2.36302155e+02] [ 8.31298004e-01 -5.22428595e-01 -1.89768259e-01 8.43000960e+01] [ 2.23654220e-01 1.84232396e-03 9.74666813e-01 1.47454915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56687500000004 meters 0.013844803589888821 Centerline is valid? [True, True] Translation: X:236.29, Y:84.32, Z:1.48 [[-5.09791869e-01 -8.52192522e-01 1.17814071e-01 2.36288305e+02] [ 8.31030991e-01 -5.23225621e-01 -1.88739083e-01 8.43227044e+01] [ 2.22485375e-01 1.68949446e-03 9.74934564e-01 1.48120378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.596875 meters 0.013704657207881723 Centerline is valid? [True, True] Translation: X:236.27, Y:84.35, Z:1.49 [[-5.10735560e-01 -8.51653848e-01 1.17621899e-01 2.36274779e+02] [ 8.30577801e-01 -5.24102476e-01 -1.88300588e-01 8.43450254e+01] [ 2.22012849e-01 1.52233198e-03 9.75042552e-01 1.48765148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.626875 meters 0.0134631941684492 Centerline is valid? [True, True] Translation: X:236.26, Y:84.37, Z:1.49 [[-5.12617235e-01 -8.50620976e-01 1.16908194e-01 2.36261642e+02] [ 8.29805910e-01 -5.25778149e-01 -1.87028044e-01 8.43665512e+01] [ 2.20557751e-01 1.13731134e-03 9.75373254e-01 1.49383126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.656875 meters 0.013341469255264197 Centerline is valid? [True, True] Translation: X:236.25, Y:84.39, Z:1.50 [[-5.13512369e-01 -8.50055173e-01 1.17095044e-01 2.36248177e+02] [ 8.29189134e-01 -5.26692759e-01 -1.87190058e-01 8.43892580e+01] [ 2.20794989e-01 9.69528252e-04 9.75319759e-01 1.49985031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.686875 meters 0.013341469255264197 Centerline is valid? [True, True] Translation: X:236.23, Y:84.41, Z:1.51 [[-5.13773285e-01 -8.49889384e-01 1.17153940e-01 2.36234178e+02] [ 8.29027496e-01 -5.26960240e-01 -1.87153191e-01 8.44113584e+01] [ 2.20794979e-01 9.69528210e-04 9.75319762e-01 1.50561963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.716875 meters 0.01330956702780075 Centerline is valid? [True, True] Translation: X:236.22, Y:84.43, Z:1.51 [[-5.14845000e-01 -8.49189614e-01 1.17522869e-01 2.36220211e+02] [ 8.28206345e-01 -5.28087537e-01 -1.87610776e-01 8.44336066e+01] [ 2.21379485e-01 7.42715861e-04 9.75187455e-01 1.51034521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.746875 meters 0.013280556321582615 Centerline is valid? [True, True] Translation: X:236.21, Y:84.46, Z:1.51 [[-5.15039685e-01 -8.48902075e-01 1.18740853e-01 2.36205439e+02] [ 8.27500516e-01 -5.28549690e-01 -1.89415211e-01 8.44565641e+01] [ 2.23555407e-01 7.01766046e-04 9.74690970e-01 1.51395622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.776875 meters 0.013276604175395557 Centerline is valid? [True, True] Translation: X:236.19, Y:84.48, Z:1.52 [[-5.15022033e-01 -8.48805056e-01 1.19508505e-01 2.36190985e+02] [ 8.27150382e-01 -5.28705433e-01 -1.90506722e-01 8.44783953e+01] [ 2.24887864e-01 7.36346283e-04 9.74384373e-01 1.51805626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.806875 meters 0.013415431004418336 Centerline is valid? [True, True] Translation: X:236.18, Y:84.50, Z:1.52 [[-5.13767961e-01 -8.49450550e-01 1.20317265e-01 2.36175705e+02] [ 8.27547553e-01 -5.27667083e-01 -1.91657240e-01 8.45010168e+01] [ 2.26290809e-01 1.10090844e-03 9.74059166e-01 1.52315047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.836875 meters 0.013595750694061826 Centerline is valid? [True, True] Translation: X:236.16, Y:84.52, Z:1.53 [[-5.13083248e-01 -8.49819601e-01 1.20632608e-01 2.36160978e+02] [ 8.27838559e-01 -5.27071977e-01 -1.92037633e-01 8.45219479e+01] [ 2.26779412e-01 1.33303220e-03 9.73945235e-01 1.52791234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.866875 meters 0.013786517646159211 Centerline is valid? [True, True] Translation: X:236.15, Y:84.54, Z:1.53 [[-5.11988021e-01 -8.50457966e-01 1.20787063e-01 2.36145418e+02] [ 8.28470447e-01 -5.26040281e-01 -1.92141459e-01 8.45438851e+01] [ 2.26947095e-01 1.69438687e-03 9.73905614e-01 1.53379443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.896875 meters 0.013943804225709849 Centerline is valid? [True, True] Translation: X:236.13, Y:84.57, Z:1.54 [[-5.10851181e-01 -8.51133747e-01 1.20840455e-01 2.36130181e+02] [ 8.29175718e-01 -5.24944832e-01 -1.92095164e-01 8.45654242e+01] [ 2.26933249e-01 2.06592949e-03 9.73908123e-01 1.53969461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.926875 meters 0.01436592908005933 Centerline is valid? [True, True] Translation: X:236.11, Y:84.59, Z:1.55 [[-5.09121338e-01 -8.52172578e-01 1.20819537e-01 2.36114381e+02] [ 8.30281545e-01 -5.23254381e-01 -1.91930739e-01 8.45861456e+01] [ 2.26777464e-01 2.59819690e-03 9.73943135e-01 1.54546985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.956875 meters 0.014658045810390288 Centerline is valid? [True, True] Translation: X:236.10, Y:84.61, Z:1.55 [[-5.08754933e-01 -8.52397020e-01 1.20779707e-01 2.36099722e+02] [ 8.30546582e-01 -5.22887939e-01 -1.91782635e-01 8.46074319e+01] [ 2.26629199e-01 2.74281091e-03 9.73977250e-01 1.55138108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.986875 meters 0.014695955836913726 Centerline is valid? [True, True] Translation: X:236.09, Y:84.63, Z:1.56 [[-5.08028098e-01 -8.52914969e-01 1.20181141e-01 2.36085043e+02] [ 8.31329236e-01 -5.22041058e-01 -1.90695662e-01 8.46296730e+01] [ 2.25386674e-01 3.03134136e-03 9.74264676e-01 1.55944335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.016875 meters 0.014742927028358412 Centerline is valid? [True, True] Translation: X:236.07, Y:84.65, Z:1.57 [[-5.08280187e-01 -8.52803481e-01 1.19906108e-01 2.36070632e+02] [ 8.31344962e-01 -5.22223085e-01 -1.90127862e-01 8.46516339e+01] [ 2.24759440e-01 3.04511354e-03 9.74409524e-01 1.56610127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.046875 meters 0.014415769580272438 Centerline is valid? [True, True] Translation: X:236.06, Y:84.67, Z:1.57 [[-5.08671969e-01 -8.52593903e-01 1.19734977e-01 2.36056647e+02] [ 8.31221936e-01 -5.22565331e-01 -1.89724982e-01 8.46741643e+01] [ 2.24327710e-01 3.01855896e-03 9.74509090e-01 1.57301232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07687500000003 meters 0.014359764526679194 Centerline is valid? [True, True] Translation: X:236.04, Y:84.70, Z:1.58 [[-5.09054269e-01 -8.52458307e-01 1.19073869e-01 2.36041226e+02] [ 8.31351688e-01 -5.22786529e-01 -1.88543408e-01 8.46959496e+01] [ 2.22975609e-01 3.01343467e-03 9.74819366e-01 1.57987745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.106875 meters 0.014922457612447574 Centerline is valid? [True, True] Translation: X:236.02, Y:84.72, Z:1.58 [[-5.09349479e-01 -8.52321570e-01 1.18789939e-01 2.36024904e+02] [ 8.31343820e-01 -5.23009398e-01 -1.87959096e-01 8.47166289e+01] [ 2.22329846e-01 3.01841387e-03 9.74966835e-01 1.58498052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13687500000003 meters 0.014312062186442437 Centerline is valid? [True, True] Translation: X:236.01, Y:84.74, Z:1.59 [[-5.09687277e-01 -8.52118729e-01 1.18796258e-01 2.36011259e+02] [ 8.31165400e-01 -5.23339887e-01 -1.87828222e-01 8.47389574e+01] [ 2.22222766e-01 3.00568469e-03 9.74991286e-01 1.59100984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.166875 meters 0.014160915366791687 Centerline is valid? [True, True] Translation: X:236.00, Y:84.76, Z:1.60 [[-5.10829768e-01 -8.51378068e-01 1.19198714e-01 2.35997063e+02] [ 8.30291215e-01 -5.24545273e-01 -1.88331503e-01 8.47612950e+01] [ 2.22866433e-01 2.76430706e-03 9.74845071e-01 1.59635675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19687500000003 meters 0.014118486131049815 Centerline is valid? [True, True] Translation: X:235.98, Y:84.78, Z:1.60 [[-5.11472498e-01 -8.50951917e-01 1.19485221e-01 2.35982425e+02] [ 8.29781322e-01 -5.25236876e-01 -1.88650953e-01 8.47830853e+01] [ 2.23290934e-01 2.65683044e-03 9.74748224e-01 1.60133248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.226875 meters 0.01403381536496768 Centerline is valid? [True, True] Translation: X:235.97, Y:84.80, Z:1.61 [[-5.12285390e-01 -8.50382436e-01 1.20055787e-01 2.35967357e+02] [ 8.29023387e-01 -5.26159179e-01 -1.89411570e-01 8.48048848e+01] [ 2.24240726e-01 2.49627466e-03 9.74530587e-01 1.60507178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25687500000004 meters 0.014089339601968046 Centerline is valid? [True, True] Translation: X:235.95, Y:84.83, Z:1.61 [[-5.12693090e-01 -8.50024227e-01 1.20849535e-01 2.35953368e+02] [ 8.28400726e-01 -5.26737982e-01 -1.90523844e-01 8.48261490e+01] [ 2.25605923e-01 2.43158441e-03 9.74215610e-01 1.60951800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.286875 meters 0.013917905251721131 Centerline is valid? [True, True] Translation: X:235.94, Y:84.85, Z:1.61 [[-5.13276431e-01 -8.49608408e-01 1.21296572e-01 2.35938363e+02] [ 8.27843185e-01 -5.27408868e-01 -1.91090418e-01 8.48485858e+01] [ 2.26324913e-01 2.33233278e-03 9.74049072e-01 1.61443362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31687500000004 meters 0.013826695471568617 Centerline is valid? [True, True] Translation: X:235.92, Y:84.87, Z:1.62 [[-5.13951373e-01 -8.49198506e-01 1.21309041e-01 2.35923352e+02] [ 8.27447791e-01 -5.28069083e-01 -1.90979572e-01 8.48708677e+01] [ 2.26239122e-01 2.22268480e-03 9.74069258e-01 1.62009106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.346875 meters 0.01390120592391117 Centerline is valid? [True, True] Translation: X:235.91, Y:84.89, Z:1.63 [[-5.14271044e-01 -8.49010342e-01 1.21271323e-01 2.35909027e+02] [ 8.27298230e-01 -5.28371610e-01 -1.90790670e-01 8.48931505e+01] [ 2.26059576e-01 2.20943353e-03 9.74110972e-01 1.62566990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.376875 meters 0.013834174566975554 Centerline is valid? [True, True] Translation: X:235.89, Y:84.91, Z:1.63 [[-5.14693975e-01 -8.48736843e-01 1.21391447e-01 2.35894692e+02] [ 8.27004033e-01 -5.28811019e-01 -1.90848725e-01 8.49143677e+01] [ 2.26173479e-01 2.16252747e-03 9.74084637e-01 1.63098148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.406875 meters 0.013670228575819702 Centerline is valid? [True, True] Translation: X:235.88, Y:84.94, Z:1.64 [[-5.14759993e-01 -8.48681092e-01 1.21501249e-01 2.35880147e+02] [ 8.26938617e-01 -5.28900275e-01 -1.90884842e-01 8.49365301e+01] [ 2.26262400e-01 2.21419508e-03 9.74063870e-01 1.63774754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.436875 meters 0.013781518025651196 Centerline is valid? [True, True] Translation: X:235.87, Y:84.96, Z:1.64 [[-5.15040684e-01 -8.48509207e-01 1.21512220e-01 2.35865916e+02] [ 8.26789047e-01 -5.29175997e-01 -1.90768541e-01 8.49577787e+01] [ 2.26170214e-01 2.21141214e-03 9.74085286e-01 1.64285044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.466875 meters 0.013581618327412842 Centerline is valid? [True, True] Translation: X:235.85, Y:84.98, Z:1.65 [[-5.15801428e-01 -8.48039207e-01 1.21566404e-01 2.35851622e+02] [ 8.26318848e-01 -5.29929401e-01 -1.90714426e-01 8.49806200e+01] [ 2.26154922e-01 2.08183725e-03 9.74089122e-01 1.64914548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.496875 meters 0.013455593243171787 Centerline is valid? [True, True] Translation: X:235.84, Y:85.00, Z:1.65 [[-5.16881909e-01 -8.47406049e-01 1.21392259e-01 2.35837777e+02] [ 8.25761944e-01 -5.30942066e-01 -1.90309575e-01 8.50021388e+01] [ 2.25721742e-01 1.87353085e-03 9.74190015e-01 1.65417846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.526875 meters 0.01328742338109046 Centerline is valid? [True, True] Translation: X:235.82, Y:85.03, Z:1.66 [[-5.17796838e-01 -8.46881597e-01 1.21152774e-01 2.35823780e+02] [ 8.25341376e-01 -5.31778728e-01 -1.89797251e-01 8.50250652e+01] [ 2.25162267e-01 1.71598091e-03 9.74319767e-01 1.66082353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.556875 meters 0.01304513880950957 Centerline is valid? [True, True] Translation: X:235.81, Y:85.05, Z:1.67 [[-5.20068844e-01 -8.45497914e-01 1.21085401e-01 2.35811824e+02] [ 8.23975330e-01 -5.33977403e-01 -1.89559460e-01 8.50478635e+01] [ 2.24928996e-01 1.18741386e-03 9.74374434e-01 1.66673406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.586875 meters 0.012887597774154255 Centerline is valid? [True, True] Translation: X:235.80, Y:85.07, Z:1.67 [[-5.21702709e-01 -8.44479183e-01 1.21165975e-01 2.35798984e+02] [ 8.22932322e-01 -5.35587743e-01 -1.89547258e-01 8.50705097e+01] [ 2.24963724e-01 8.24079127e-04 9.74366791e-01 1.67181927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.616875 meters 0.012747033762286145 Centerline is valid? [True, True] Translation: X:235.79, Y:85.09, Z:1.68 [[-5.23154862e-01 -8.43575539e-01 1.21199422e-01 2.35786363e+02] [ 8.22024111e-01 -5.37010287e-01 -1.89463222e-01 8.50924963e+01] [ 2.24911877e-01 5.10241435e-04 9.74378975e-01 1.67702342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.646875 meters 0.01262331896626614 Centerline is valid? [True, True] Translation: X:235.77, Y:85.12, Z:1.68 [[-5.24277156e-01 -8.42839082e-01 1.21473231e-01 2.35773267e+02] [ 8.21200262e-01 -5.38165598e-01 -1.89757526e-01 8.51157228e+01] [ 2.25307773e-01 2.68312800e-04 9.74287604e-01 1.68349193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.676875 meters 0.012519853930302688 Centerline is valid? [True, True] Translation: X:235.76, Y:85.14, Z:1.69 [[-5.24912989e-01 -8.42391254e-01 1.21833204e-01 2.35760704e+02] [ 8.20641560e-01 -5.38866359e-01 -1.90185374e-01 8.51387446e+01] [ 2.25862310e-01 1.50617361e-04 9.74159224e-01 1.68790791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.706875 meters 0.012535599801668903 Centerline is valid? [True, True] Translation: X:235.75, Y:85.16, Z:1.69 [[-5.24758338e-01 -8.42475776e-01 1.21914941e-01 2.35746562e+02] [ 8.20731248e-01 -5.38734161e-01 -1.90172874e-01 8.51615399e+01] [ 2.25895783e-01 2.64600866e-04 9.74151439e-01 1.69426925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.736875 meters 0.012601863939453024 Centerline is valid? [True, True] Translation: X:235.73, Y:85.18, Z:1.70 [[-5.23219396e-01 -8.43414314e-01 1.22039989e-01 2.35731872e+02] [ 8.21681158e-01 -5.37263195e-01 -1.90232317e-01 8.51827630e+01] [ 2.26012253e-01 7.44721059e-04 9.74124174e-01 1.69881053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.766875 meters 0.012660520793791765 Centerline is valid? [True, True] Translation: X:235.72, Y:85.20, Z:1.70 [[-5.22362248e-01 -8.43962195e-01 1.21924141e-01 2.35716859e+02] [ 8.22318135e-01 -5.36401617e-01 -1.89911007e-01 8.52046937e+01] [ 2.25678016e-01 1.05809177e-03 9.74201372e-01 1.70434588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.796875 meters 0.012754497149111806 Centerline is valid? [True, True] Translation: X:235.70, Y:85.23, Z:1.71 [[-5.21354096e-01 -8.44626555e-01 1.21638356e-01 2.35701578e+02] [ 8.23133099e-01 -5.35354074e-01 -1.89335459e-01 8.52270396e+01] [ 2.25037346e-01 1.41373977e-03 9.74349113e-01 1.71024512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.82687500000003 meters 0.013197901041431877 Centerline is valid? [True, True] Translation: X:235.69, Y:85.25, Z:1.72 [[-5.18979368e-01 -8.46092265e-01 1.21607136e-01 2.35685593e+02] [ 8.24679660e-01 -5.33032260e-01 -1.89156200e-01 8.52487341e+01] [ 2.24864124e-01 2.11876598e-03 9.74387827e-01 1.71659854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.856875 meters 0.013459998619633954 Centerline is valid? [True, True] Translation: X:235.67, Y:85.27, Z:1.72 [[-5.18193880e-01 -8.46559816e-01 1.21702835e-01 2.35670252e+02] [ 8.25154422e-01 -5.32288230e-01 -1.89180920e-01 8.52705705e+01] [ 2.24933951e-01 2.39123768e-03 9.74371079e-01 1.72237744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.88687500000003 meters 0.013759380195634906 Centerline is valid? [True, True] Translation: X:235.65, Y:85.29, Z:1.73 [[-5.16894789e-01 -8.47344535e-01 1.21766240e-01 2.35654895e+02] [ 8.25968103e-01 -5.31036131e-01 -1.89148936e-01 8.52930746e+01] [ 2.24936591e-01 2.80493114e-03 9.74369367e-01 1.72861307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.916875 meters 0.013529173660833166 Centerline is valid? [True, True] Translation: X:235.64, Y:85.32, Z:1.74 [[-5.16781958e-01 -8.47372327e-01 1.22051416e-01 2.35641040e+02] [ 8.25922146e-01 -5.30991338e-01 -1.89475083e-01 8.53159787e+01] [ 2.25364187e-01 2.88766264e-03 9.74270314e-01 1.73505657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.94687500000003 meters 0.013923295920711851 Centerline is valid? [True, True] Translation: X:235.63, Y:85.34, Z:1.74 [[-5.16550201e-01 -8.47453641e-01 1.22467208e-01 2.35626349e+02] [ 8.25888644e-01 -5.30860890e-01 -1.89985955e-01 8.53376479e+01] [ 2.26017341e-01 3.00699324e-03 9.74118637e-01 1.74006535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.976875 meters 0.013773780669868266 Centerline is valid? [True, True] Translation: X:235.61, Y:85.36, Z:1.74 [[-5.17383126e-01 -8.46909746e-01 1.22713420e-01 2.35611194e+02] [ 8.25274290e-01 -5.31729020e-01 -1.90227747e-01 8.53597450e+01] [ 2.26356019e-01 2.85160411e-03 9.74040462e-01 1.74455485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.00687500000004 meters 0.013493233864130797 Centerline is valid? [True, True] Translation: X:235.60, Y:85.38, Z:1.75 [[-5.18639454e-01 -8.46127914e-01 1.22803375e-01 2.35597293e+02] [ 8.24469123e-01 -5.32973618e-01 -1.90236139e-01 8.53823011e+01] [ 2.26415067e-01 2.58362337e-03 9.74027486e-01 1.74999147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.036875 meters 0.012827798865723867 Centerline is valid? [True, True] Translation: X:235.59, Y:85.41, Z:1.76 [[-5.21138864e-01 -8.44573987e-01 1.22918939e-01 2.35585001e+02] [ 8.22861098e-01 -5.35435208e-01 -1.90285972e-01 8.54064270e+01] [ 2.26525710e-01 1.97979840e-03 9.74003174e-01 1.75672635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06687500000004 meters 0.01281436662444274 Centerline is valid? [True, True] Translation: X:235.57, Y:85.43, Z:1.76 [[-5.22874345e-01 -8.43481465e-01 1.23050551e-01 2.35571262e+02] [ 8.21714079e-01 -5.37156013e-01 -1.90392724e-01 8.54278876e+01] [ 2.26690077e-01 1.56089991e-03 9.73965694e-01 1.76145408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.096875 meters 0.012355125385392402 Centerline is valid? [True, True] Translation: X:235.56, Y:85.45, Z:1.77 [[-5.26876203e-01 -8.41049579e-01 1.22625740e-01 2.35558734e+02] [ 8.19401557e-01 -5.40957725e-01 -1.89593851e-01 8.54516720e+01] [ 2.25793170e-01 5.87233599e-04 9.74175087e-01 1.76844873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.126875 meters 0.012262356778187145 Centerline is valid? [True, True] Translation: X:235.55, Y:85.47, Z:1.77 [[-5.29251416e-01 -8.39566571e-01 1.22559829e-01 2.35546311e+02] [ 8.17934395e-01 -5.43256820e-01 -1.89355097e-01 8.54736162e+01] [ 2.25557672e-01 2.94469368e-05 9.74229817e-01 1.77429361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.156875 meters 0.012350317373974708 Centerline is valid? [True, True] Translation: X:235.53, Y:85.50, Z:1.78 [[-5.31255617e-01 -8.38292082e-01 1.22612620e-01 2.35533344e+02] [ 8.16640453e-01 -5.45221238e-01 -1.89293877e-01 8.54963776e+01] [ 2.25534562e-01 -4.33009996e-04 9.74235071e-01 1.78123098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.186875 meters 0.012500382200498764 Centerline is valid? [True, True] Translation: X:235.52, Y:85.52, Z:1.79 [[-5.33478374e-01 -8.36872239e-01 1.22660836e-01 2.35520409e+02] [ 8.15197536e-01 -5.47397421e-01 -1.89232770e-01 8.55185332e+01] [ 2.25507878e-01 -9.58778914e-04 9.74240873e-01 1.78603900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.216875 meters 0.012784803858210608 Centerline is valid? [True, True] Translation: X:235.51, Y:85.54, Z:1.79 [[-5.36606498e-01 -8.34801300e-01 1.23126991e-01 2.35506107e+02] [ 8.12938116e-01 -5.50548541e-01 -1.89810231e-01 8.55421717e+01] [ 2.26241213e-01 -1.75877956e-03 9.74069720e-01 1.79187376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.246875 meters 0.012898124566602118 Centerline is valid? [True, True] Translation: X:235.49, Y:85.57, Z:1.80 [[-5.37825404e-01 -8.34014816e-01 1.23138630e-01 2.35491904e+02] [ 8.12155149e-01 -5.51738344e-01 -1.89707177e-01 8.55650398e+01] [ 2.26158900e-01 -2.02166650e-03 9.74088325e-01 1.79773369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.276875 meters 0.013068581769190004 Centerline is valid? [True, True] Translation: X:235.48, Y:85.59, Z:1.80 [[-5.38738945e-01 -8.33397927e-01 1.23321713e-01 2.35477173e+02] [ 8.11487742e-01 -5.52668998e-01 -1.89854216e-01 8.55874416e+01] [ 2.26380197e-01 -2.20780181e-03 9.74036515e-01 1.80415281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.306875 meters 0.013113651329111466 Centerline is valid? [True, True] Translation: X:235.46, Y:85.61, Z:1.81 [[-5.38994233e-01 -8.33231988e-01 1.23327495e-01 2.35461517e+02] [ 8.11346933e-01 -5.52919173e-01 -1.89727550e-01 8.56086265e+01] [ 2.26277200e-01 -2.20067006e-03 9.74060463e-01 1.80903969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.336875 meters 0.01318512862568433 Centerline is valid? [True, True] Translation: X:235.45, Y:85.63, Z:1.81 [[-5.38534050e-01 -8.33513771e-01 1.23433666e-01 2.35446475e+02] [ 8.11630709e-01 -5.52495047e-01 -1.89749349e-01 8.56291675e+01] [ 2.26355185e-01 -2.00393208e-03 9.74042768e-01 1.81404786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.366875 meters 0.012704864805228592 Centerline is valid? [True, True] Translation: X:235.43, Y:85.65, Z:1.82 [[-5.36734463e-01 -8.34677676e-01 1.23407028e-01 2.35429157e+02] [ 8.12866105e-01 -5.50736883e-01 -1.89572100e-01 8.56495857e+01] [ 2.26196402e-01 -1.43648913e-03 9.74080656e-01 1.82071889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.396875 meters 0.012656932173811279 Centerline is valid? [True, True] Translation: X:235.41, Y:85.67, Z:1.83 [[-5.35961108e-01 -8.35164850e-01 1.23472120e-01 2.35412977e+02] [ 8.13373380e-01 -5.49998486e-01 -1.89539995e-01 8.56704990e+01] [ 2.26206620e-01 -1.15713034e-03 9.74078655e-01 1.82621269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.426875 meters 0.012521008885214187 Centerline is valid? [True, True] Translation: X:235.40, Y:85.69, Z:1.83 [[-5.35098276e-01 -8.35700585e-01 1.23589510e-01 2.35396617e+02] [ 8.13912204e-01 -5.49184667e-01 -1.89586723e-01 8.56915290e+01] [ 2.26311200e-01 -8.56518436e-04 9.74054674e-01 1.83170014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.456875 meters 0.01254548640739391 Centerline is valid? [True, True] Translation: X:235.38, Y:85.71, Z:1.84 [[-5.33102613e-01 -8.36950577e-01 1.23755143e-01 2.35379564e+02] [ 8.15167304e-01 -5.47278419e-01 -1.89706612e-01 8.57109891e+01] [ 2.26503577e-01 -2.51943991e-04 9.74010301e-01 1.83701218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.486875 meters 0.012618841327662667 Centerline is valid? [True, True] Translation: X:235.36, Y:85.73, Z:1.84 [[-5.32134033e-01 -8.37594625e-01 1.23566238e-01 2.35363350e+02] [ 8.15928091e-01 -5.46292261e-01 -1.89277880e-01 8.57324600e+01] [ 2.26041414e-01 9.99632051e-05 9.74117687e-01 1.84289673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.516875 meters 0.012720306122134043 Centerline is valid? [True, True] Translation: X:235.35, Y:85.75, Z:1.85 [[-5.31008812e-01 -8.38301879e-01 1.23610683e-01 2.35346892e+02] [ 8.16668810e-01 -5.45206140e-01 -1.89215008e-01 8.57536113e+01] [ 2.26012600e-01 4.74153055e-04 9.74124263e-01 1.84884586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.546875 meters 0.012723527679262946 Centerline is valid? [True, True] Translation: X:235.33, Y:85.77, Z:1.86 [[-5.28311664e-01 -8.40046711e-01 1.23321974e-01 2.35329019e+02] [ 8.18592584e-01 -5.42512548e-01 -1.88643360e-01 8.57730400e+01] [ 2.25372952e-01 1.28796585e-03 9.74271715e-01 1.85573444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57687500000003 meters 0.013139924304149531 Centerline is valid? [True, True] Translation: X:235.31, Y:85.79, Z:1.86 [[-5.27085456e-01 -8.40811921e-01 1.23354107e-01 2.35312608e+02] [ 8.19398075e-01 -5.41324726e-01 -1.88558574e-01 8.57926487e+01] [ 2.25316925e-01 1.68963558e-03 9.74284060e-01 1.86037476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.606875 meters 0.013139924304149531 Centerline is valid? [True, True] Translation: X:235.30, Y:85.81, Z:1.87 [[-5.27338939e-01 -8.40644585e-01 1.23411203e-01 2.35298162e+02] [ 8.19234964e-01 -5.41584556e-01 -1.88521198e-01 8.58144490e+01] [ 2.25316926e-01 1.68820431e-03 9.74284062e-01 1.86614494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63687500000003 meters 0.013639185173347128 Centerline is valid? [True, True] Translation: X:235.28, Y:85.83, Z:1.87 [[-5.25356948e-01 -8.41908403e-01 1.23249006e-01 2.35280073e+02] [ 8.20619143e-01 -5.39615574e-01 -1.88146897e-01 8.58339660e+01] [ 2.24909537e-01 2.29621362e-03 9.74376943e-01 1.87172840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.666875 meters 0.013835153654360947 Centerline is valid? [True, True] Translation: X:235.26, Y:85.86, Z:1.88 [[-5.24933524e-01 -8.42164922e-01 1.23300607e-01 2.35264190e+02] [ 8.20892118e-01 -5.39214362e-01 -1.88106360e-01 8.58550395e+01] [ 2.24902036e-01 2.47316149e-03 9.74378242e-01 1.87730858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69687500000003 meters 0.01387475665288063 Centerline is valid? [True, True] Translation: X:235.25, Y:85.88, Z:1.88 [[-5.24655417e-01 -8.42316896e-01 1.23446102e-01 2.35249148e+02] [ 8.21026384e-01 -5.38976279e-01 -1.88202678e-01 8.58768952e+01] [ 2.25060816e-01 2.61095260e-03 9.74341219e-01 1.88320220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.726875 meters 0.013714141913032375 Centerline is valid? [True, True] Translation: X:235.23, Y:85.90, Z:1.89 [[-5.24692453e-01 -8.42255072e-01 1.23710242e-01 2.35233771e+02] [ 8.20899992e-01 -5.39072643e-01 -1.88477821e-01 8.58987639e+01] [ 2.25435208e-01 2.66084615e-03 9.74254529e-01 1.88995324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75687500000004 meters 0.01395036605022273 Centerline is valid? [True, True] Translation: X:235.22, Y:85.92, Z:1.89 [[-5.25040851e-01 -8.42028654e-01 1.23773388e-01 2.35218368e+02] [ 8.20675135e-01 -5.39426358e-01 -1.88445022e-01 8.59189901e+01] [ 2.25442736e-01 2.63640707e-03 9.74252853e-01 1.89474803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.786875 meters 0.013970145309547549 Centerline is valid? [True, True] Translation: X:235.20, Y:85.94, Z:1.90 [[-5.25441395e-01 -8.41751909e-01 1.23955894e-01 2.35202784e+02] [ 8.20350518e-01 -5.39858387e-01 -1.88621180e-01 8.59408876e+01] [ 2.25690867e-01 2.57790584e-03 9.74195559e-01 1.89977779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81687500000004 meters 0.013690610267934524 Centerline is valid? [True, True] Translation: X:235.19, Y:85.96, Z:1.91 [[-5.26674848e-01 -8.40969583e-01 1.24031304e-01 2.35187932e+02] [ 8.19549259e-01 -5.41077453e-01 -1.88611248e-01 8.59613560e+01] [ 2.25726865e-01 2.31296336e-03 9.74187884e-01 1.90510957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.846875 meters 0.013420618174204554 Centerline is valid? [True, True] Translation: X:235.17, Y:85.98, Z:1.91 [[-5.27630222e-01 -8.40401995e-01 1.23817752e-01 2.35173403e+02] [ 8.19063545e-01 -5.41959398e-01 -1.88188525e-01 8.59836448e+01] [ 2.25258206e-01 2.12065414e-03 9.74296794e-01 1.91181700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.876875 meters 0.013031275578517175 Centerline is valid? [True, True] Translation: X:235.16, Y:86.01, Z:1.92 [[-5.30120396e-01 -8.38865547e-01 1.23599999e-01 2.35159386e+02] [ 8.17590900e-01 -5.44336514e-01 -1.87730874e-01 8.60052694e+01] [ 2.24760954e-01 1.53426893e-03 9.74412725e-01 1.91766820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.906875 meters 0.012823638323072987 Centerline is valid? [True, True] Translation: X:235.15, Y:86.03, Z:1.92 [[-5.32107741e-01 -8.37617967e-01 1.23521226e-01 2.35145694e+02] [ 8.16368020e-01 -5.46255412e-01 -1.87478751e-01 8.60268133e+01] [ 2.24509708e-01 1.07988400e-03 9.74471254e-01 1.92342056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.936875 meters 0.012690261808107407 Centerline is valid? [True, True] Translation: X:235.13, Y:86.05, Z:1.93 [[-5.34190764e-01 -8.36279325e-01 1.23600642e-01 2.35131875e+02] [ 8.14996333e-01 -5.48303331e-01 -1.87468488e-01 8.60492222e+01] [ 2.24546664e-01 5.90134577e-04 9.74463159e-01 1.92916004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.966875 meters 0.012505635951934515 Centerline is valid? [True, True] Translation: X:235.12, Y:86.07, Z:1.94 [[-5.38665242e-01 -8.33391258e-01 1.23688187e-01 2.35118745e+02] [ 8.12030574e-01 -5.52683191e-01 -1.87477033e-01 8.60721453e+01] [ 2.24602102e-01 -5.48771413e-04 9.74450406e-01 1.93557362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.996875 meters 0.012781232439954786 Centerline is valid? [True, True] Translation: X:235.10, Y:86.09, Z:1.94 [[-5.40946319e-01 -8.31898935e-01 1.23779004e-01 2.35104661e+02] [ 8.10497993e-01 -5.54926086e-01 -1.87483444e-01 8.60944441e+01] [ 2.24655476e-01 -1.09584510e-03 9.74437641e-01 1.94085115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.026875 meters 0.01322202665846808 Centerline is valid? [True, True] Translation: X:235.09, Y:86.12, Z:1.95 [[-5.45625569e-01 -8.28881033e-01 1.23486730e-01 2.35090786e+02] [ 8.07535233e-01 -5.59420334e-01 -1.86911044e-01 8.61183995e+01] [ 2.24008007e-01 -2.26355937e-03 9.74584675e-01 1.94704941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.056875 meters 0.013523008485471945 Centerline is valid? [True, True] Translation: X:235.08, Y:86.14, Z:1.95 [[-5.48149280e-01 -8.27238901e-01 1.23321399e-01 2.35076660e+02] [ 8.05936419e-01 -5.61843031e-01 -1.86544627e-01 8.61411829e+01] [ 2.23604240e-01 -2.86509639e-03 9.74675810e-01 1.95365560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.086875 meters 0.013902410195335049 Centerline is valid? [True, True] Translation: X:235.06, Y:86.16, Z:1.96 [[-5.50287514e-01 -8.25846463e-01 1.23131113e-01 2.35062237e+02] [ 8.04604059e-01 -5.63885059e-01 -1.86134222e-01 8.61644959e+01] [ 2.23150084e-01 -3.35554552e-03 9.74778324e-01 1.96099985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.116875 meters 0.014441841207555716 Centerline is valid? [True, True] Translation: X:235.05, Y:86.19, Z:1.97 [[-5.52159483e-01 -8.24608395e-01 1.23048367e-01 2.35048077e+02] [ 8.03390790e-01 -5.65691305e-01 -1.85894019e-01 8.61867772e+01] [ 2.22897160e-01 -3.78722074e-03 9.74834608e-01 1.96688041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.146875 meters 0.017097867899553025 Centerline is valid? [True, True] Translation: X:235.04, Y:86.21, Z:1.97 [[-5.54589196e-01 -8.22950696e-01 1.23219219e-01 2.35035370e+02] [ 8.01660589e-01 -5.68095832e-01 -1.86030710e-01 8.62105924e+01] [ 2.23094427e-01 -4.39063036e-03 9.74786951e-01 1.97133814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.176875 meters 0.015675208556288293 Centerline is valid? [True, True] Translation: X:235.02, Y:86.23, Z:1.98 [[-5.55585513e-01 -8.22357032e-01 1.22693316e-01 2.35016185e+02] [ 8.01263451e-01 -5.68953697e-01 -1.85117728e-01 8.62294063e+01] [ 2.22039681e-01 -4.53905830e-03 9.75027065e-01 1.97906197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.206875 meters 0.015547167458201823 Centerline is valid? [True, True] Translation: X:235.00, Y:86.25, Z:1.99 [[-5.55630524e-01 -8.22352215e-01 1.22521654e-01 2.34999979e+02] [ 8.01346321e-01 -5.68961266e-01 -1.84735355e-01 8.62499642e+01] [ 2.21627603e-01 -4.46232557e-03 9.75121168e-01 1.98528114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.236875 meters 0.01436694858147648 Centerline is valid? [True, True] Translation: X:234.98, Y:86.27, Z:1.99 [[-5.55505922e-01 -8.22479737e-01 1.22230328e-01 2.34981661e+02] [ 8.01605877e-01 -5.68777940e-01 -1.84172943e-01 8.62693465e+01] [ 2.21000428e-01 -4.32861157e-03 9.75264105e-01 1.99178251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.266875 meters 0.015300366936019938 Centerline is valid? [True, True] Translation: X:234.97, Y:86.29, Z:2.00 [[-5.54868005e-01 -8.22894413e-01 1.22336754e-01 2.34967024e+02] [ 8.02023225e-01 -5.68179589e-01 -1.84202882e-01 8.62908766e+01] [ 2.21088769e-01 -4.09136718e-03 9.75245106e-01 1.99721642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.296875 meters 0.013874898353224762 Centerline is valid? [True, True] Translation: X:234.95, Y:86.31, Z:2.00 [[-5.53143628e-01 -8.24057063e-01 1.22319599e-01 2.34945661e+02] [ 8.03242722e-01 -5.66495566e-01 -1.84075810e-01 8.63095262e+01] [ 2.20982482e-01 -3.56803367e-03 9.75271250e-01 2.00368143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.32687500000003 meters 0.01360799753372332 Centerline is valid? [True, True] Translation: X:234.93, Y:86.33, Z:2.01 [[-5.52356618e-01 -8.24557967e-01 1.22500308e-01 2.34927922e+02] [ 8.03719566e-01 -5.65767822e-01 -1.84232545e-01 8.63304232e+01] [ 2.21217145e-01 -3.30617155e-03 9.75218972e-01 2.00918827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.356875 meters 0.013431883487664891 Centerline is valid? [True, True] Translation: X:234.91, Y:86.35, Z:2.01 [[-5.50945209e-01 -8.25425971e-01 1.23009524e-01 2.34909308e+02] [ 8.04461181e-01 -5.64502931e-01 -1.84874686e-01 8.63495966e+01] [ 2.22039604e-01 -2.89943528e-03 9.75033337e-01 2.01260194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.38687500000003 meters 0.013651600401582307 Centerline is valid? [True, True] Translation: X:234.89, Y:86.37, Z:2.02 [[-5.50744691e-01 -8.25490759e-01 1.23471825e-01 2.34893907e+02] [ 8.04398949e-01 -5.64408661e-01 -1.85432455e-01 8.63699053e+01] [ 2.22761345e-01 -2.80533366e-03 9.74868972e-01 2.01714408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.416875 meters 0.013331075089966896 Centerline is valid? [True, True] Translation: X:234.88, Y:86.39, Z:2.02 [[-5.50868789e-01 -8.25349229e-01 1.23863749e-01 2.34877078e+02] [ 8.04149016e-01 -5.64615662e-01 -1.85885758e-01 8.63906430e+01] [ 2.23356079e-01 -2.79375089e-03 9.74732916e-01 2.02256447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.44687500000003 meters 0.013269777925419593 Centerline is valid? [True, True] Translation: X:234.86, Y:86.41, Z:2.03 [[-5.50864805e-01 -8.25262416e-01 1.24458475e-01 2.34859856e+02] [ 8.03883334e-01 -5.64742673e-01 -1.86647524e-01 8.64110938e+01] [ 2.24320198e-01 -2.76745790e-03 9.74511565e-01 2.02804119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.476875 meters 0.013319369764094322 Centerline is valid? [True, True] Translation: X:234.84, Y:86.43, Z:2.03 [[-5.50546692e-01 -8.25446233e-01 1.24646927e-01 2.34843702e+02] [ 8.04036506e-01 -5.64474666e-01 -1.86798418e-01 8.64319739e+01] [ 2.24552083e-01 -2.62057190e-03 9.74458565e-01 2.03370749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.50687500000004 meters 0.013184214638384335 Centerline is valid? [True, True] Translation: X:234.83, Y:86.45, Z:2.04 [[-5.49661519e-01 -8.26039293e-01 1.24624642e-01 2.34826113e+02] [ 8.04682581e-01 -5.63607831e-01 -1.86633748e-01 8.64513870e+01] [ 2.24406234e-01 -2.30211118e-03 9.74492967e-01 2.03968815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.536875 meters 0.01311016533198069 Centerline is valid? [True, True] Translation: X:234.81, Y:86.47, Z:2.05 [[-5.49306123e-01 -8.26298011e-01 1.24476426e-01 2.34810122e+02] [ 8.05030756e-01 -5.63229195e-01 -1.86274947e-01 8.64720743e+01] [ 2.24027375e-01 -2.11461783e-03 9.74580558e-01 2.04523896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56687500000004 meters 0.013002444073619071 Centerline is valid? [True, True] Translation: X:234.79, Y:86.49, Z:2.05 [[-5.48718952e-01 -8.26669148e-01 1.24601891e-01 2.34793161e+02] [ 8.05398942e-01 -5.62685132e-01 -1.86327632e-01 8.64930592e+01] [ 2.24142937e-01 -1.88727142e-03 9.74554453e-01 2.05123704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.596875 meters 0.012677883751038682 Centerline is valid? [True, True] Translation: X:234.78, Y:86.51, Z:2.06 [[-5.47261200e-01 -8.27624779e-01 1.24669182e-01 2.34775066e+02] [ 8.06385170e-01 -5.61279965e-01 -1.86300183e-01 8.65126987e+01] [ 2.24160962e-01 -1.42348195e-03 9.74551095e-01 2.05640792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.626875 meters 0.012514209282297057 Centerline is valid? [True, True] Translation: X:234.76, Y:86.53, Z:2.06 [[-5.46468935e-01 -8.28132061e-01 1.24775771e-01 2.34758386e+02] [ 8.06898354e-01 -5.60531877e-01 -1.86330520e-01 8.65338867e+01] [ 2.24247074e-01 -1.14247655e-03 9.74531654e-01 2.06239410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.656875 meters 0.012485128997792989 Centerline is valid? [True, True] Translation: X:234.74, Y:86.55, Z:2.07 [[-5.44505258e-01 -8.29346250e-01 1.25294941e-01 2.34741851e+02] [ 8.07995177e-01 -5.58734706e-01 -1.86974120e-01 8.65534651e+01] [ 2.25072917e-01 -5.70683204e-04 9.74341755e-01 2.06770852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.686875 meters 0.012529477389563455 Centerline is valid? [True, True] Translation: X:234.73, Y:86.57, Z:2.07 [[-5.43596870e-01 -8.29921895e-01 1.25427631e-01 2.34725625e+02] [ 8.08571770e-01 -5.57879542e-01 -1.87035048e-01 8.65746898e+01] [ 2.25197991e-01 -2.54425246e-04 9.74312989e-01 2.07371990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.716875 meters 0.012503158335762437 Centerline is valid? [True, True] Translation: X:234.71, Y:86.60, Z:2.08 [[-5.42636569e-01 -8.30531560e-01 1.25550317e-01 2.34709451e+02] [ 8.09185124e-01 -5.56971564e-01 -1.87088515e-01 8.65954786e+01] [ 2.25310873e-01 7.23786817e-05 9.74286922e-01 2.07973323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.746875 meters 0.01257009769975586 Centerline is valid? [True, True] Translation: X:234.69, Y:86.62, Z:2.08 [[-5.40174990e-01 -8.32062608e-01 1.26026969e-01 2.34692360e+02] [ 8.10623299e-01 -5.54681166e-01 -1.87666381e-01 8.66158525e+01] [ 2.26054964e-01 7.87712557e-04 9.74114230e-01 2.08490295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.776875 meters 0.012710270688077787 Centerline is valid? [True, True] Translation: X:234.68, Y:86.64, Z:2.09 [[-5.39164574e-01 -8.32677487e-01 1.26292375e-01 2.34677170e+02] [ 8.11194020e-01 -5.53757114e-01 -1.87929030e-01 8.66366790e+01] [ 2.26419574e-01 1.12294397e-03 9.74029217e-01 2.09033049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.806875 meters 0.01293399265919494 Centerline is valid? [True, True] Translation: X:234.66, Y:86.66, Z:2.10 [[-5.36847311e-01 -8.34062550e-01 1.27022151e-01 2.34660695e+02] [ 8.12397288e-01 -5.51666966e-01 -1.88876163e-01 8.66591024e+01] [ 2.27608459e-01 1.79479090e-03 9.73751081e-01 2.09660585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.836875 meters 0.01313370356404563 Centerline is valid? [True, True] Translation: X:234.65, Y:86.68, Z:2.10 [[-5.35887762e-01 -8.34624560e-01 1.27381912e-01 2.34645990e+02] [ 8.12878200e-01 -5.50815221e-01 -1.89292430e-01 8.66795952e+01] [ 2.28152007e-01 2.10648263e-03 9.73623246e-01 2.10179264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.866875 meters 0.013204578318072037 Centerline is valid? [True, True] Translation: X:234.63, Y:86.70, Z:2.11 [[-5.35037275e-01 -8.35140089e-01 1.27578000e-01 2.34631055e+02] [ 8.13366585e-01 -5.50032094e-01 -1.89471620e-01 8.67014662e+01] [ 2.28407340e-01 2.39330239e-03 9.73562715e-01 2.10842633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.896875 meters 0.013494880549318557 Centerline is valid? [True, True] Translation: X:234.62, Y:86.72, Z:2.11 [[-5.34283251e-01 -8.35619795e-01 1.27596891e-01 2.34615737e+02] [ 8.13884750e-01 -5.49301744e-01 -1.89365276e-01 8.67226455e+01] [ 2.28326568e-01 2.67446854e-03 9.73580929e-01 2.11412667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.926875 meters 0.01420478834231537 Centerline is valid? [True, True] Translation: X:234.60, Y:86.74, Z:2.12 [[-5.32149323e-01 -8.36995004e-01 1.27500826e-01 2.34598964e+02] [ 8.15364482e-01 -5.47200342e-01 -1.89083439e-01 8.67430204e+01] [ 2.28030390e-01 3.33902127e-03 9.73648290e-01 2.11948768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.956875 meters 0.015008592208783776 Centerline is valid? [True, True] Translation: X:234.58, Y:86.76, Z:2.13 [[-5.30564584e-01 -8.37962168e-01 1.27752208e-01 2.34582623e+02] [ 8.16301861e-01 -5.45714874e-01 -1.89331845e-01 8.67642528e+01] [ 2.28369204e-01 3.83159340e-03 9.73567063e-01 2.12501745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.986875 meters 0.01490948607715613 Centerline is valid? [True, True] Translation: X:234.57, Y:86.79, Z:2.13 [[-5.30054032e-01 -8.38273890e-01 1.27826481e-01 2.34568742e+02] [ 8.16625843e-01 -5.45234433e-01 -1.89318901e-01 8.67866889e+01] [ 2.28396490e-01 4.03716079e-03 9.73559831e-01 2.13188059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.016875 meters 0.015081252026726957 Centerline is valid? [True, True] Translation: X:234.55, Y:86.81, Z:2.14 [[-5.29754064e-01 -8.38478474e-01 1.27728148e-01 2.34554313e+02] [ 8.16900498e-01 -5.44918574e-01 -1.89043179e-01 8.68084680e+01] [ 2.28110077e-01 4.19479551e-03 9.73626313e-01 2.13800294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.046875 meters 0.014811027561138385 Centerline is valid? [True, True] Translation: X:234.54, Y:86.83, Z:2.14 [[-5.29766053e-01 -8.38515133e-01 1.27437439e-01 2.34540392e+02] [ 8.17068029e-01 -5.44861552e-01 -1.88482695e-01 8.68308606e+01] [ 2.27481353e-01 4.27332396e-03 9.73773060e-01 2.14473828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07687500000003 meters 0.015038005023517789 Centerline is valid? [True, True] Translation: X:234.53, Y:86.85, Z:2.15 [[-5.30032120e-01 -8.38342550e-01 1.27466544e-01 2.34526499e+02] [ 8.16911701e-01 -5.45127044e-01 -1.88392616e-01 8.68520113e+01] [ 2.27423006e-01 4.27477383e-03 9.73786682e-01 2.15062990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.106875 meters 0.015200011937126617 Centerline is valid? [True, True] Translation: X:234.51, Y:86.87, Z:2.16 [[-5.30558844e-01 -8.38014631e-01 1.27431516e-01 2.34513383e+02] [ 8.16618777e-01 -5.45631513e-01 -1.88202087e-01 8.68737981e+01] [ 2.27246753e-01 4.21068698e-03 9.73828108e-01 2.15603294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13687500000003 meters 0.01515332295751941 Centerline is valid? [True, True] Translation: X:234.50, Y:86.90, Z:2.16 [[-5.30880592e-01 -8.37791145e-01 1.27560942e-01 2.34499635e+02] [ 8.16376906e-01 -5.45974713e-01 -1.88256101e-01 8.68964474e+01] [ 2.27364344e-01 4.19629700e-03 9.73800722e-01 2.16206124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.166875 meters 0.014861161952423235 Centerline is valid? [True, True] Translation: X:234.49, Y:86.92, Z:2.17 [[-5.31127731e-01 -8.37570975e-01 1.27977321e-01 2.34486235e+02] [ 8.16039209e-01 -5.46312465e-01 -1.88739768e-01 8.69193731e+01] [ 2.27998557e-01 4.18958674e-03 9.73652456e-01 2.16867096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19687500000003 meters 0.014970366366444629 Centerline is valid? [True, True] Translation: X:234.47, Y:86.94, Z:2.17 [[-5.30870223e-01 -8.37601926e-01 1.28840290e-01 2.34473182e+02] [ 8.15807212e-01 -5.46264092e-01 -1.89879263e-01 8.69431957e+01] [ 2.29424060e-01 4.30759142e-03 9.73317032e-01 2.17444227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.226875 meters 0.01563553706693409 Centerline is valid? [True, True] Translation: X:234.46, Y:86.97, Z:2.18 [[-5.30616589e-01 -8.37672149e-01 1.29427228e-01 2.34457855e+02] [ 8.15706130e-01 -5.46155456e-01 -1.90624573e-01 8.69652768e+01] [ 2.30368282e-01 4.42602271e-03 9.73093451e-01 2.17872359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25687500000004 meters 0.01618973071924318 Centerline is valid? [True, True] Translation: X:234.44, Y:86.99, Z:2.18 [[-5.30195509e-01 -8.37827950e-01 1.30142420e-01 2.34443524e+02] [ 8.15649246e-01 -5.45915071e-01 -1.91554281e-01 8.69879682e+01] [ 2.31536239e-01 4.58934756e-03 9.72815454e-01 2.18241291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.286875 meters 0.015431540553814118 Centerline is valid? [True, True] Translation: X:234.43, Y:87.01, Z:2.19 [[-5.30425120e-01 -8.37598886e-01 1.30680137e-01 2.34431394e+02] [ 8.15248314e-01 -5.46266716e-01 -1.92257281e-01 8.70113725e+01] [ 2.32420694e-01 4.55866977e-03 9.72604668e-01 2.18882358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31687500000004 meters 0.015259414422159834 Centerline is valid? [True, True] Translation: X:234.42, Y:87.04, Z:2.19 [[-5.30885757e-01 -8.37261718e-01 1.30969951e-01 2.34418307e+02] [ 8.14832456e-01 -5.46783866e-01 -1.92549924e-01 8.70350845e+01] [ 2.32826936e-01 4.49655421e-03 9.72507788e-01 2.19485590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.346875 meters 0.014890072485017015 Centerline is valid? [True, True] Translation: X:234.41, Y:87.06, Z:2.20 [[-5.32325890e-01 -8.36307199e-01 1.31222773e-01 2.34407582e+02] [ 8.13793736e-01 -5.48245329e-01 -1.92786967e-01 8.70600286e+01] [ 2.33171401e-01 4.16277668e-03 9.72426742e-01 2.20179073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.376875 meters 0.014601222440131342 Centerline is valid? [True, True] Translation: X:234.39, Y:87.08, Z:2.21 [[-5.33551964e-01 -8.35515389e-01 1.31287227e-01 2.34394451e+02] [ 8.12988367e-01 -5.49453241e-01 -1.92746080e-01 8.70836453e+01] [ 2.33178508e-01 3.89493905e-03 9.72426148e-01 2.20816986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.406875 meters 0.014477559265342055 Centerline is valid? [True, True] Translation: X:234.38, Y:87.11, Z:2.21 [[-5.34904869e-01 -8.34609991e-01 1.31540658e-01 2.34381289e+02] [ 8.12000279e-01 -5.50829665e-01 -1.92982454e-01 8.71068862e+01] [ 2.33521580e-01 3.58379642e-03 9.72345015e-01 2.21393260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.436875 meters 0.014140718615756926 Centerline is valid? [True, True] Translation: X:234.37, Y:87.13, Z:2.22 [[-5.36952258e-01 -8.33284798e-01 1.31600600e-01 2.34370815e+02] [ 8.10646916e-01 -5.52835361e-01 -1.92936883e-01 8.71324845e+01] [ 2.33524837e-01 3.08372595e-03 9.72345947e-01 2.22045744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.466875 meters 0.014138899741667708 Centerline is valid? [True, True] Translation: X:234.36, Y:87.16, Z:2.23 [[-5.37996859e-01 -8.32592358e-01 1.31716915e-01 2.34358499e+02] [ 8.09922354e-01 -5.53878886e-01 -1.92986942e-01 8.71559400e+01] [ 2.33634672e-01 2.85410537e-03 9.72320263e-01 2.22652085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.496875 meters 0.014138899741667708 Centerline is valid? [True, True] Translation: X:234.34, Y:87.18, Z:2.23 [[-5.38257487e-01 -8.32414055e-01 1.31779056e-01 2.34343640e+02] [ 8.09749173e-01 -5.54146818e-01 -1.92944503e-01 8.71774617e+01] [ 2.33634660e-01 2.85415889e-03 9.72320266e-01 2.23229135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.526875 meters 0.014053813966918913 Centerline is valid? [True, True] Translation: X:234.33, Y:87.20, Z:2.24 [[-5.39050251e-01 -8.31904308e-01 1.31757544e-01 2.34332947e+02] [ 8.09264002e-01 -5.54912502e-01 -1.92779381e-01 8.72010447e+01] [ 2.33487906e-01 2.70886392e-03 9.72355933e-01 2.23922497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.556875 meters 0.014208224514538964 Centerline is valid? [True, True] Translation: X:234.32, Y:87.22, Z:2.25 [[-5.38941675e-01 -8.31957563e-01 1.31865405e-01 2.34319030e+02] [ 8.09314626e-01 -5.54832134e-01 -1.92798181e-01 8.72235304e+01] [ 2.33563069e-01 2.81362646e-03 9.72337584e-01 2.24562084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.586875 meters 0.014364137354455483 Centerline is valid? [True, True] Translation: X:234.30, Y:87.25, Z:2.25 [[-5.38823114e-01 -8.31993318e-01 1.32124075e-01 2.34304698e+02] [ 8.09293155e-01 -5.54778017e-01 -1.93043886e-01 8.72452101e+01] [ 2.33910756e-01 2.91060139e-03 9.72253715e-01 2.25046492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.616875 meters 0.01461930858985972 Centerline is valid? [True, True] Translation: X:234.29, Y:87.27, Z:2.26 [[-5.38439698e-01 -8.32146915e-01 1.32718514e-01 2.34290052e+02] [ 8.09276911e-01 -5.54546742e-01 -1.93775109e-01 8.72686303e+01] [ 2.34847978e-01 3.06981813e-03 9.72027265e-01 2.25602893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.646875 meters 0.014805838560547537 Centerline is valid? [True, True] Translation: X:234.28, Y:87.29, Z:2.26 [[-5.37273708e-01 -8.32793346e-01 1.33387425e-01 2.34276646e+02] [ 8.09736913e-01 -5.53573331e-01 -1.94634784e-01 8.72926185e+01] [ 2.35930274e-01 3.43656953e-03 9.71763909e-01 2.26184105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.676875 meters 0.014753966457048932 Centerline is valid? [True, True] Translation: X:234.26, Y:87.32, Z:2.27 [[-5.36867444e-01 -8.32982209e-01 1.33843145e-01 2.34262602e+02] [ 8.09800455e-01 -5.53288062e-01 -1.95180797e-01 8.73156380e+01] [ 2.36635946e-01 3.60002472e-03 9.71591719e-01 2.26825614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.706875 meters 0.01553253151208994 Centerline is valid? [True, True] Translation: X:234.25, Y:87.34, Z:2.27 [[-5.36486310e-01 -8.33089589e-01 1.34700318e-01 2.34249573e+02] [ 8.09637938e-01 -5.53125441e-01 -1.96312651e-01 8.73388672e+01] [ 2.38052198e-01 3.73943749e-03 9.71245163e-01 2.27277599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.736875 meters 0.015814235198907067 Centerline is valid? [True, True] Translation: X:234.24, Y:87.36, Z:2.28 [[-5.36889473e-01 -8.32718002e-01 1.35389894e-01 2.34235998e+02] [ 8.09033149e-01 -5.53685318e-01 -1.97225586e-01 8.73619086e+01] [ 2.39196693e-01 3.64657108e-03 9.70964286e-01 2.27847899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.766875 meters 0.01580616155621114 Centerline is valid? [True, True] Translation: X:234.22, Y:87.38, Z:2.28 [[-5.37423056e-01 -8.32306442e-01 1.35802965e-01 2.34223035e+02] [ 8.08492432e-01 -5.54304444e-01 -1.97703240e-01 8.73847494e+01] [ 2.39825867e-01 3.54538967e-03 9.70809448e-01 2.28477954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.796875 meters 0.015170851893644366 Centerline is valid? [True, True] Translation: X:234.21, Y:87.41, Z:2.29 [[-5.37972445e-01 -8.31794416e-01 1.36761467e-01 2.34211724e+02] [ 8.07654146e-01 -5.55073309e-01 -1.98968344e-01 8.74099972e+01] [ 2.41413397e-01 3.41647964e-03 9.70416354e-01 2.29245934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.82687500000003 meters 0.015590559051032966 Centerline is valid? [True, True] Translation: X:234.20, Y:87.43, Z:2.30 [[-5.38176128e-01 -8.31579904e-01 1.37263683e-01 2.34197916e+02] [ 8.07282783e-01 -5.55394711e-01 -1.99577612e-01 8.74327256e+01] [ 2.42200255e-01 3.40270189e-03 9.70220314e-01 2.29798591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.856875 meters 0.01580296567803847 Centerline is valid? [True, True] Translation: X:234.19, Y:87.46, Z:2.31 [[-5.38055899e-01 -8.31485063e-01 1.38305607e-01 2.34186100e+02] [ 8.06841042e-01 -5.55536333e-01 -2.00964963e-01 8.74573365e+01] [ 2.43933154e-01 3.46025605e-03 9.69785875e-01 2.30586132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.88687500000003 meters 0.015263326724295936 Centerline is valid? [True, True] Translation: X:234.17, Y:87.48, Z:2.31 [[-5.37999706e-01 -8.31394516e-01 1.39066440e-01 2.34172814e+02] [ 8.06501962e-01 -5.55671530e-01 -2.01949834e-01 8.74807319e+01] [ 2.45175246e-01 3.50840571e-03 9.69472429e-01 2.31464213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.916875 meters 0.01554589384197689 Centerline is valid? [True, True] Translation: X:234.16, Y:87.50, Z:2.32 [[-5.37966775e-01 -8.31352829e-01 1.39442540e-01 2.34158165e+02] [ 8.06353786e-01 -5.55733496e-01 -2.02370582e-01 8.75031556e+01] [ 2.45734246e-01 3.57137104e-03 9.69330659e-01 2.32047306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.94687500000003 meters 0.015433482432529634 Centerline is valid? [True, True] Translation: X:234.15, Y:87.53, Z:2.33 [[-5.38117634e-01 -8.31138358e-01 1.40137222e-01 2.34145132e+02] [ 8.05912014e-01 -5.56054228e-01 -2.03247438e-01 8.75266583e+01] [ 2.46850637e-01 3.56724057e-03 9.69046974e-01 2.32948310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.976875 meters 0.015792539210556504 Centerline is valid? [True, True] Translation: X:234.13, Y:87.55, Z:2.34 [[-5.38408353e-01 -8.30949945e-01 1.40137911e-01 2.34131636e+02] [ 8.05749443e-01 -5.56335833e-01 -2.03121334e-01 8.75477873e+01] [ 2.46747403e-01 3.55382089e-03 9.69073315e-01 2.33611965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.00687500000004 meters 0.015416631434219086 Centerline is valid? [True, True] Translation: X:234.12, Y:87.57, Z:2.35 [[-5.39231229e-01 -8.30561867e-01 1.39271920e-01 2.34118297e+02] [ 8.05699605e-01 -5.56915781e-01 -2.01724960e-01 8.75707303e+01] [ 2.45107789e-01 3.43493303e-03 9.69489749e-01 2.34838448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.036875 meters 0.015563160217347213 Centerline is valid? [True, True] Translation: X:234.10, Y:87.59, Z:2.36 [[-5.39656544e-01 -8.30393412e-01 1.38627542e-01 2.34103513e+02] [ 8.05787399e-01 -5.57167094e-01 -2.00677595e-01 8.75923020e+01] [ 2.43880058e-01 3.40734944e-03 9.69799416e-01 2.35677264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06687500000004 meters 0.014991832924613393 Centerline is valid? [True, True] Translation: X:234.09, Y:87.61, Z:2.37 [[-5.40111078e-01 -8.30419230e-01 1.36689156e-01 2.34089534e+02] [ 8.06536640e-01 -5.57128439e-01 -1.97753765e-01 8.76135411e+01] [ 2.40371945e-01 3.43581340e-03 9.70674777e-01 2.37126901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.096875 meters 0.014881884936360142 Centerline is valid? [True, True] Translation: X:234.07, Y:87.64, Z:2.38 [[-5.40207468e-01 -8.30510331e-01 1.35751545e-01 2.34074239e+02] [ 8.06991527e-01 -5.56992099e-01 -1.96276531e-01 8.76350387e+01] [ 2.38622225e-01 3.52029894e-03 9.71106092e-01 2.38048849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.126875 meters 0.015066898730486384 Centerline is valid? [True, True] Translation: X:234.06, Y:87.66, Z:2.39 [[-5.40185503e-01 -8.30662200e-01 1.34907126e-01 2.34058886e+02] [ 8.07473508e-01 -5.56764861e-01 -1.94934408e-01 8.76553526e+01] [ 2.37036191e-01 3.63318916e-03 9.71494027e-01 2.38876579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.156875 meters 0.014877374368198646 Centerline is valid? [True, True] Translation: X:234.04, Y:87.68, Z:2.40 [[-5.39873350e-01 -8.31176858e-01 1.32972918e-01 2.34042606e+02] [ 8.08705401e-01 -5.55994597e-01 -1.92004121e-01 8.76761952e+01] [ 2.33521606e-01 3.87800830e-03 9.72343880e-01 2.40132564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.186875 meters 0.015066311182857454 Centerline is valid? [True, True] Translation: X:234.03, Y:87.70, Z:2.41 [[-5.39688260e-01 -8.31447770e-01 1.32027223e-01 2.34026516e+02] [ 8.09333641e-01 -5.55588315e-01 -1.90527378e-01 8.76966725e+01] [ 2.31766346e-01 4.02868406e-03 9.72763142e-01 2.40906755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.216875 meters 0.015388428910960846 Centerline is valid? [True, True] Translation: X:234.01, Y:87.72, Z:2.42 [[-5.39461661e-01 -8.31845343e-01 1.30439418e-01 2.34009259e+02] [ 8.10308934e-01 -5.54991455e-01 -1.88106132e-01 8.77157562e+01] [ 2.28867972e-01 4.22017946e-03 9.73448325e-01 2.41762490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.246875 meters 0.015659858445310048 Centerline is valid? [True, True] Translation: X:233.99, Y:87.74, Z:2.42 [[-5.39834201e-01 -8.31739914e-01 1.29567551e-01 2.33993924e+02] [ 8.10521282e-01 -5.55149449e-01 -1.86719953e-01 8.77360347e+01] [ 2.27231793e-01 4.21944072e-03 9.73831561e-01 2.42431971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.276875 meters 0.015379138941979112 Centerline is valid? [True, True] Translation: X:233.98, Y:87.76, Z:2.43 [[-5.40962020e-01 -8.31141653e-01 1.28699827e-01 2.33978406e+02] [ 8.10223932e-01 -5.56046247e-01 -1.85336858e-01 8.77581827e+01] [ 2.25604238e-01 4.01547872e-03 9.74210759e-01 2.43237936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.306875 meters 0.015479794018719597 Centerline is valid? [True, True] Translation: X:233.96, Y:87.78, Z:2.44 [[-5.42297995e-01 -8.30433718e-01 1.27642958e-01 2.33963302e+02] [ 8.09868371e-01 -5.57104809e-01 -1.83704798e-01 8.77792463e+01] [ 2.23665164e-01 3.75125094e-03 9.74658824e-01 2.43964573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.336875 meters 0.014420521632859415 Centerline is valid? [True, True] Translation: X:233.95, Y:87.80, Z:2.45 [[-5.44617159e-01 -8.29110461e-01 1.26364524e-01 2.33949409e+02] [ 8.08949477e-01 -5.59075468e-01 -1.81756334e-01 8.78029576e+01] [ 2.21343383e-01 3.23489742e-03 9.75190567e-01 2.44798510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.366875 meters 0.014509616119363706 Centerline is valid? [True, True] Translation: X:233.93, Y:87.82, Z:2.45 [[-5.46025696e-01 -8.28264755e-01 1.25830977e-01 2.33934424e+02] [ 8.08277446e-01 -5.60329238e-01 -1.80883152e-01 8.78235182e+01] [ 2.20325915e-01 2.93949186e-03 9.75421883e-01 2.45356593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.396875 meters 0.014183581310692561 Centerline is valid? [True, True] Translation: X:233.92, Y:87.85, Z:2.46 [[-5.48242604e-01 -8.26962433e-01 1.24752482e-01 2.33917941e+02] [ 8.07316176e-01 -5.62251761e-01 -1.79202536e-01 8.78458063e+01] [ 2.18336068e-01 2.46823211e-03 9.75870519e-01 2.45948422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.426875 meters 0.01433641293215312 Centerline is valid? [True, True] Translation: X:233.90, Y:87.87, Z:2.46 [[-5.49147359e-01 -8.26413194e-01 1.24412265e-01 2.33902113e+02] [ 8.06885437e-01 -5.63059426e-01 -1.78605637e-01 8.78658513e+01] [ 2.17653553e-01 2.30563084e-03 9.76023368e-01 2.46467901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.456875 meters 0.014032977916404146 Centerline is valid? [True, True] Translation: X:233.89, Y:87.89, Z:2.47 [[-5.49733791e-01 -8.26024990e-01 1.24400466e-01 2.33887025e+02] [ 8.06519617e-01 -5.63629102e-01 -1.78461039e-01 8.78876500e+01] [ 2.17529001e-01 2.22535291e-03 9.76051321e-01 2.47028431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.486875 meters 0.014190546413816337 Centerline is valid? [True, True] Translation: X:233.87, Y:87.91, Z:2.47 [[-5.49988175e-01 -8.25664508e-01 1.25662757e-01 2.33870076e+02] [ 8.05774995e-01 -5.64157233e-01 -1.80147924e-01 8.79078654e+01] [ 2.19635300e-01 2.17667957e-03 9.75579621e-01 2.47219885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.516875 meters 0.014359754420901922 Centerline is valid? [True, True] Translation: X:233.85, Y:87.93, Z:2.48 [[-5.49531825e-01 -8.25766534e-01 1.26981904e-01 2.33854249e+02] [ 8.05476764e-01 -5.64007402e-01 -1.81941842e-01 8.79280962e+01] [ 2.21860218e-01 2.29814058e-03 9.75075773e-01 2.47544242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.546875 meters 0.013878645986824308 Centerline is valid? [True, True] Translation: X:233.84, Y:87.95, Z:2.48 [[-5.49556013e-01 -8.25544833e-01 1.28311794e-01 2.33838518e+02] [ 8.04840201e-01 -5.64331880e-01 -1.83743791e-01 8.79507608e+01] [ 2.24099173e-01 2.29298498e-03 9.74563647e-01 2.47999376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57687500000003 meters 0.014242188366925231 Centerline is valid? [True, True] Translation: X:233.82, Y:87.97, Z:2.48 [[-5.48241740e-01 -8.25934056e-01 1.31392277e-01 2.33819903e+02] [ 8.04249003e-01 -5.63760820e-01 -1.88035314e-01 8.79709593e+01] [ 2.29378587e-01 2.58329986e-03 9.73333854e-01 2.48060388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.606875 meters 0.014422730818526717 Centerline is valid? [True, True] Translation: X:233.80, Y:87.99, Z:2.48 [[-5.47854308e-01 -8.25988401e-01 1.32660539e-01 2.33803009e+02] [ 8.03902223e-01 -5.63680693e-01 -1.89750606e-01 8.79933242e+01] [ 2.31509984e-01 2.69041558e-03 9.72828808e-01 2.48470182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63687500000003 meters 0.014865762468944116 Centerline is valid? [True, True] Translation: X:233.79, Y:88.01, Z:2.49 [[-5.47621299e-01 -8.25962674e-01 1.33778078e-01 2.33785349e+02] [ 8.03525378e-01 -5.63717993e-01 -1.91230206e-01 8.80145334e+01] [ 2.33362122e-01 2.77234656e-03 9.72385949e-01 2.48775198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.666875 meters 0.014882062942234235 Centerline is valid? [True, True] Translation: X:233.77, Y:88.04, Z:2.49 [[-5.47425514e-01 -8.25807686e-01 1.35524804e-01 2.33768514e+02] [ 8.02798347e-01 -5.63944792e-01 -1.93600324e-01 8.80358258e+01] [ 2.36305143e-01 2.81733158e-03 9.71674813e-01 2.49293792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69687500000003 meters 0.014633745373493165 Centerline is valid? [True, True] Translation: X:233.75, Y:88.06, Z:2.50 [[-5.47642886e-01 -8.25582073e-01 1.36020256e-01 2.33752815e+02] [ 8.02425146e-01 -5.64275099e-01 -1.94184188e-01 8.80574521e+01] [ 2.37067827e-01 2.80248438e-03 9.71489059e-01 2.49960029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.726875 meters 0.01466445709346169 Centerline is valid? [True, True] Translation: X:233.74, Y:88.08, Z:2.51 [[-5.47777235e-01 -8.25383996e-01 1.36679773e-01 2.33736758e+02] [ 8.02025141e-01 -5.64564766e-01 -1.94993071e-01 8.80796036e+01] [ 2.38108744e-01 2.80784906e-03 9.71234442e-01 2.50603611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75687500000004 meters 0.01470448513637272 Centerline is valid? [True, True] Translation: X:233.72, Y:88.10, Z:2.51 [[-5.48139378e-01 -8.25054007e-01 1.37219197e-01 2.33721513e+02] [ 8.01527331e-01 -5.65047205e-01 -1.95641493e-01 8.81010592e+01] [ 2.38950122e-01 2.74613045e-03 9.71027959e-01 2.51325396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.786875 meters 0.01447150112033198 Centerline is valid? [True, True] Translation: X:233.71, Y:88.12, Z:2.52 [[-5.49721014e-01 -8.23952293e-01 1.37511546e-01 2.33706198e+02] [ 8.00322968e-01 -5.66654299e-01 -1.95923589e-01 8.81224986e+01] [ 2.39353199e-01 2.35033453e-03 9.70929720e-01 2.52261132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81687500000004 meters 0.014556608872463472 Centerline is valid? [True, True] Translation: X:233.69, Y:88.14, Z:2.53 [[-5.50605176e-01 -8.23431725e-01 1.37091699e-01 2.33691098e+02] [ 7.99964881e-01 -5.67411123e-01 -1.95194280e-01 8.81426654e+01] [ 2.38516518e-01 2.19356359e-03 9.71135963e-01 2.52954866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.846875 meters 0.014122096639379448 Centerline is valid? [True, True] Translation: X:233.68, Y:88.16, Z:2.54 [[-5.52622021e-01 -8.22382136e-01 1.35264646e-01 2.33675251e+02] [ 7.99539240e-01 -5.68932748e-01 -1.92490343e-01 8.81633749e+01] [ 2.35257106e-01 1.77498984e-03 9.71931553e-01 2.54151053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.876875 meters 0.014071826249887577 Centerline is valid? [True, True] Translation: X:233.66, Y:88.19, Z:2.55 [[-5.53474299e-01 -8.22011587e-01 1.34026681e-01 2.33658670e+02] [ 7.99608154e-01 -5.69468313e-01 -1.90611228e-01 8.81851687e+01] [ 2.33008586e-01 1.67041110e-03 9.72473243e-01 2.55045642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.906875 meters 0.01398053523274466 Centerline is valid? [True, True] Translation: X:233.64, Y:88.21, Z:2.56 [[-5.54344082e-01 -8.21662225e-01 1.32566309e-01 2.33642528e+02] [ 7.99766613e-01 -5.69972567e-01 -1.88426744e-01 8.82065046e+01] [ 2.30382297e-01 1.56885768e-03 9.73098934e-01 2.55947184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.936875 meters 0.014037461231948309 Centerline is valid? [True, True] Translation: X:233.63, Y:88.23, Z:2.57 [[-5.55677386e-01 -8.21190122e-01 1.29882360e-01 2.33625557e+02] [ 8.00196494e-01 -5.70652961e-01 -1.84501408e-01 8.82255761e+01] [ 2.25628487e-01 1.40814885e-03 9.74212401e-01 2.57007738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.966875 meters 0.013893348129323944 Centerline is valid? [True, True] Translation: X:233.61, Y:88.25, Z:2.58 [[-5.56297087e-01 -8.20921458e-01 1.28924441e-01 2.33610093e+02] [ 8.00252416e-01 -5.71039552e-01 -1.83057095e-01 8.82462466e+01] [ 2.23896453e-01 1.33796671e-03 9.74612019e-01 2.57838823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.996875 meters 0.01398288777180495 Centerline is valid? [True, True] Translation: X:233.59, Y:88.27, Z:2.58 [[-5.56966424e-01 -8.20629819e-01 1.27887066e-01 2.33592358e+02] [ 8.00316978e-01 -5.71458706e-01 -1.81459863e-01 8.82653882e+01] [ 2.21993552e-01 1.28313955e-03 9.75047289e-01 2.58496341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.026875 meters 0.013826622182734099 Centerline is valid? [True, True] Translation: X:233.58, Y:88.29, Z:2.59 [[-5.57472322e-01 -8.20324311e-01 1.27642609e-01 2.33575696e+02] [ 8.00111665e-01 -5.71897280e-01 -1.80982941e-01 8.82871914e+01] [ 2.21463167e-01 1.23536009e-03 9.75167954e-01 2.59154026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.056875 meters 0.013989754513569215 Centerline is valid? [True, True] Translation: X:233.56, Y:88.31, Z:2.60 [[-5.57962423e-01 -8.20041929e-01 1.27315232e-01 2.33559025e+02] [ 7.99952144e-01 -5.72302217e-01 -1.80407149e-01 8.83072763e+01] [ 2.20804216e-01 1.18568244e-03 9.75317432e-01 2.59649595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.086875 meters 0.013723207398322205 Centerline is valid? [True, True] Translation: X:233.54, Y:88.33, Z:2.60 [[-5.59933796e-01 -8.18690949e-01 1.27354913e-01 2.33542212e+02] [ 7.98576022e-01 -5.74233947e-01 -1.80365492e-01 8.83283387e+01] [ 2.20795110e-01 7.09844647e-04 9.75319955e-01 2.60110292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.116875 meters 0.013539123105084743 Centerline is valid? [True, True] Translation: X:233.53, Y:88.35, Z:2.61 [[-5.61678976e-01 -8.17484279e-01 1.27421278e-01 2.33527284e+02] [ 7.97345545e-01 -5.75950831e-01 -1.80335030e-01 8.83492678e+01] [ 2.20809443e-01 3.08393829e-04 9.75316920e-01 2.60576916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.146875 meters 0.013511078153979896 Centerline is valid? [True, True] Translation: X:233.51, Y:88.37, Z:2.61 [[-5.63716255e-01 -8.16028737e-01 1.27754000e-01 2.33512472e+02] [ 7.95768438e-01 -5.78011296e-01 -1.80708424e-01 8.83713260e+01] [ 2.21306522e-01 -2.05674809e-04 9.75204276e-01 2.61109875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.176875 meters 0.013652969997425478 Centerline is valid? [True, True] Translation: X:233.50, Y:88.39, Z:2.62 [[-5.65789954e-01 -8.14510718e-01 1.28273216e-01 2.33497663e+02] [ 7.94072859e-01 -5.80148047e-01 -1.81318884e-01 8.83935378e+01] [ 2.22103630e-01 -7.30123723e-04 9.75022792e-01 2.61630026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.206875 meters 0.013870301130868977 Centerline is valid? [True, True] Translation: X:233.48, Y:88.42, Z:2.62 [[-5.69272714e-01 -8.11855846e-01 1.29686786e-01 2.33482817e+02] [ 7.90920066e-01 -5.83855420e-01 -1.83189240e-01 8.84157153e+01] [ 2.24441588e-01 -1.71275420e-03 9.74486039e-01 2.61915097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.236875 meters 0.01410076561102338 Centerline is valid? [True, True] Translation: X:233.47, Y:88.44, Z:2.62 [[-5.70756444e-01 -8.10720135e-01 1.30268740e-01 2.33467116e+02] [ 7.89585806e-01 -5.85430093e-01 -1.83918085e-01 8.84377235e+01] [ 2.25369335e-01 -2.11408402e-03 9.74271109e-01 2.62342369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.266875 meters 0.014402856479885363 Centerline is valid? [True, True] Translation: X:233.45, Y:88.46, Z:2.63 [[-5.72970080e-01 -8.08910167e-01 1.31793886e-01 2.33450387e+02] [ 7.87252109e-01 -5.87925644e-01 -1.85950407e-01 8.84596322e+01] [ 2.27902180e-01 -2.78900449e-03 9.73680039e-01 2.62737393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.296875 meters 0.01460665058296148 Centerline is valid? [True, True] Translation: X:233.43, Y:88.48, Z:2.63 [[-5.73961804e-01 -8.08088579e-01 1.32516777e-01 2.33433906e+02] [ 7.86194402e-01 -5.89053021e-01 -1.86855294e-01 8.84820405e+01] [ 2.29055036e-01 -3.06385324e-03 9.73408652e-01 2.63217703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.32687500000003 meters 0.014737246194254672 Centerline is valid? [True, True] Translation: X:233.42, Y:88.50, Z:2.64 [[-5.74592028e-01 -8.07525645e-01 1.33215366e-01 2.33417594e+02] [ 7.85409119e-01 -5.89823581e-01 -1.87724956e-01 8.85038598e+01] [ 2.30166280e-01 -3.23670014e-03 9.73145933e-01 2.63754449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.356875 meters 0.014788121042791352 Centerline is valid? [True, True] Translation: X:233.40, Y:88.53, Z:2.64 [[-5.74678477e-01 -8.07181270e-01 1.34918666e-01 2.33399711e+02] [ 7.84506147e-01 -5.90294150e-01 -1.90007687e-01 8.85254136e+01] [ 2.33012345e-01 -3.34880570e-03 9.72468011e-01 2.64330481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.38687500000003 meters 0.014807196458374326 Centerline is valid? [True, True] Translation: X:233.38, Y:88.55, Z:2.65 [[-5.74404408e-01 -8.07270395e-01 1.35551045e-01 2.33383508e+02] [ 7.84410488e-01 -5.90172778e-01 -1.90778088e-01 8.85461453e+01] [ 2.34008039e-01 -3.25611304e-03 9.72229209e-01 2.64857465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.416875 meters 0.014807196458374326 Centerline is valid? [True, True] Translation: X:233.37, Y:88.57, Z:2.65 [[-5.74661000e-01 -8.07076720e-01 1.35616752e-01 2.33368255e+02] [ 7.84222515e-01 -5.90437627e-01 -1.90731370e-01 8.85673944e+01] [ 2.34008082e-01 -3.25216914e-03 9.72229212e-01 2.65434374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.44687500000003 meters 0.015078578176006288 Centerline is valid? [True, True] Translation: X:233.35, Y:88.59, Z:2.66 [[-5.73002221e-01 -8.08050548e-01 1.36831165e-01 2.33350514e+02] [ 7.84839168e-01 -5.89106502e-01 -1.92304475e-01 8.85871697e+01] [ 2.35999865e-01 -2.80043354e-03 9.71749053e-01 2.65859151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.476875 meters 0.01463868036931029 Centerline is valid? [True, True] Translation: X:233.33, Y:88.61, Z:2.67 [[-5.72295101e-01 -8.08486189e-01 1.37216617e-01 2.33333416e+02] [ 7.85188197e-01 -5.88509651e-01 -1.92706735e-01 8.86071335e+01] [ 2.36554037e-01 -2.54425219e-03 9.71615003e-01 2.66550972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.50687500000004 meters 0.014352058970878455 Centerline is valid? [True, True] Translation: X:233.32, Y:88.63, Z:2.67 [[-5.71459544e-01 -8.09078567e-01 1.37207368e-01 2.33316396e+02] [ 7.85832445e-01 -5.87696303e-01 -1.92562778e-01 8.86279545e+01] [ 2.36434679e-01 -2.21983569e-03 9.71644850e-01 2.67280047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.536875 meters 0.01394090566552942 Centerline is valid? [True, True] Translation: X:233.30, Y:88.65, Z:2.68 [[-5.69850302e-01 -8.10396192e-01 1.36119968e-01 2.33298600e+02] [ 7.87588912e-01 -5.85880105e-01 -1.90914138e-01 8.86479624e+01] [ 2.34466071e-01 -1.58590136e-03 9.72123010e-01 2.68253129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56687500000004 meters 0.013853712555626636 Centerline is valid? [True, True] Translation: X:233.28, Y:88.67, Z:2.69 [[-5.69428319e-01 -8.10835134e-01 1.35269272e-01 2.33282094e+02] [ 7.88355955e-01 -5.85273122e-01 -1.89605540e-01 8.86689037e+01] [ 2.32908302e-01 -1.32642774e-03 9.72497796e-01 2.69012391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.596875 meters 0.013391601566335187 Centerline is valid? [True, True] Translation: X:233.26, Y:88.69, Z:2.70 [[-5.68552357e-01 -8.11974089e-01 1.32084426e-01 2.33264648e+02] [ 7.90611077e-01 -5.83692968e-01 -1.85031468e-01 8.86880979e+01] [ 2.27337509e-01 -7.72667176e-04 9.73815722e-01 2.70115155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.626875 meters 0.013238564091243667 Centerline is valid? [True, True] Translation: X:233.25, Y:88.71, Z:2.71 [[-5.68164213e-01 -8.12525228e-01 1.30354058e-01 2.33247183e+02] [ 7.91765234e-01 -5.82925831e-01 -1.82497371e-01 8.87089696e+01] [ 2.24270465e-01 -4.78663718e-04 9.74526823e-01 2.70967905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.656875 meters 0.013002905593501984 Centerline is valid? [True, True] Translation: X:233.23, Y:88.73, Z:2.72 [[-5.67400334e-01 -8.13280591e-01 1.28963331e-01 2.33229545e+02] [ 7.93010989e-01 -5.81871693e-01 -1.80440862e-01 8.87298730e+01] [ 2.21789162e-01 -1.12866494e-04 9.75094639e-01 2.71791539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.686875 meters 0.013057107079001774 Centerline is valid? [True, True] Translation: X:233.21, Y:88.75, Z:2.73 [[-5.66140977e-01 -8.14431442e-01 1.27223503e-01 2.33211564e+02] [ 7.94764902e-01 -5.80259655e-01 -1.77897395e-01 8.87487186e+01] [ 2.18707898e-01 3.97769585e-04 9.75790294e-01 2.72505197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.716875 meters 0.01304818897689547 Centerline is valid? [True, True] Translation: X:233.19, Y:88.77, Z:2.73 [[-5.65680448e-01 -8.14784646e-01 1.27010280e-01 2.33194876e+02] [ 7.95211709e-01 -5.79763437e-01 -1.77518155e-01 8.87696241e+01] [ 2.18274984e-01 5.81512092e-04 9.75887131e-01 2.73095446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.746875 meters 0.013053305958247528 Centerline is valid? [True, True] Translation: X:233.18, Y:88.79, Z:2.74 [[-5.64494891e-01 -8.15511977e-01 1.27615565e-01 2.33177044e+02] [ 7.95795551e-01 -5.78739434e-01 -1.78241713e-01 8.87904478e+01] [ 2.19214411e-01 9.39362373e-04 9.75676258e-01 2.73500498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.776875 meters 0.013096150082611979 Centerline is valid? [True, True] Translation: X:233.16, Y:88.81, Z:2.74 [[-5.63827141e-01 -8.15873961e-01 1.28252233e-01 2.33160381e+02] [ 7.95995128e-01 -5.78228619e-01 -1.79006760e-01 8.88114442e+01] [ 2.20206066e-01 1.15928300e-03 9.75452687e-01 2.73946514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.806875 meters 0.01327665009933323 Centerline is valid? [True, True] Translation: X:233.14, Y:88.83, Z:2.74 [[-5.62861027e-01 -8.16423167e-01 1.28998747e-01 2.33143230e+02] [ 7.96351816e-01 -5.77452242e-01 -1.79924130e-01 8.88317817e+01] [ 2.21384844e-01 1.45610573e-03 9.75185434e-01 2.74307603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.836875 meters 0.01336272456833155 Centerline is valid? [True, True] Translation: X:233.13, Y:88.85, Z:2.75 [[-5.61810713e-01 -8.17048660e-01 1.29615625e-01 2.33126336e+02] [ 7.96828591e-01 -5.76565947e-01 -1.80654107e-01 8.88530266e+01] [ 2.22335152e-01 1.78802318e-03 9.74968658e-01 2.74833657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.866875 meters 0.013650761610557002 Centerline is valid? [True, True] Translation: X:233.11, Y:88.87, Z:2.75 [[-5.59663588e-01 -8.18269550e-01 1.31193033e-01 2.33107456e+02] [ 7.97608543e-01 -5.74829816e-01 -1.82732848e-01 8.88743563e+01] [ 2.24938392e-01 2.37176247e-03 9.74370101e-01 2.75161390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.896875 meters 0.013867144002096076 Centerline is valid? [True, True] Translation: X:233.09, Y:88.90, Z:2.76 [[-5.59201094e-01 -8.18439568e-01 1.32101515e-01 2.33090404e+02] [ 7.97518962e-01 -5.74587065e-01 -1.83883686e-01 8.88954677e+01] [ 2.26401506e-01 2.52550432e-03 9.74030790e-01 2.75570508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.926875 meters 0.013911187000166253 Centerline is valid? [True, True] Translation: X:233.07, Y:88.92, Z:2.76 [[-5.58871433e-01 -8.18549536e-01 1.32813324e-01 2.33074473e+02] [ 7.97431236e-01 -5.74429807e-01 -1.84753404e-01 8.89172704e+01] [ 2.27521745e-01 2.65609359e-03 9.73769378e-01 2.76084366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.956875 meters 0.014372356289151886 Centerline is valid? [True, True] Translation: X:233.06, Y:88.94, Z:2.77 [[-5.58433620e-01 -8.18602144e-01 1.34322083e-01 2.33058063e+02] [ 7.97026731e-01 -5.74354220e-01 -1.86723378e-01 8.89386582e+01] [ 2.30000612e-01 2.78567869e-03 9.73186497e-01 2.76513635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.986875 meters 0.014295324590470324 Centerline is valid? [True, True] Translation: X:233.04, Y:88.96, Z:2.77 [[-5.58651385e-01 -8.18394386e-01 1.34682066e-01 2.33042561e+02] [ 7.96724216e-01 -5.74650247e-01 -1.87103229e-01 8.89603012e+01] [ 2.30519315e-01 2.77898568e-03 9.73063781e-01 2.77101720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.016875 meters 0.014148452104547241 Centerline is valid? [True, True] Translation: X:233.03, Y:88.98, Z:2.78 [[-5.58521122e-01 -8.18401527e-01 1.35178017e-01 2.33027960e+02] [ 7.96599061e-01 -5.74639648e-01 -1.87667821e-01 8.89819210e+01] [ 2.31266279e-01 2.86623932e-03 9.72886269e-01 2.77841355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.046875 meters 0.014214772416529804 Centerline is valid? [True, True] Translation: X:233.01, Y:89.00, Z:2.79 [[-5.58347292e-01 -8.18462127e-01 1.35528775e-01 2.33012395e+02] [ 7.96577307e-01 -5.74552777e-01 -1.88025799e-01 8.90030234e+01] [ 2.31760430e-01 2.97545073e-03 9.72768343e-01 2.78515586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07687500000003 meters 0.014992263702809486 Centerline is valid? [True, True] Translation: X:232.99, Y:89.02, Z:2.79 [[-5.57784548e-01 -8.18835152e-01 1.35592740e-01 2.32994924e+02] [ 7.96971101e-01 -5.74019773e-01 -1.87985012e-01 8.90217792e+01] [ 2.31761650e-01 3.20836021e-03 9.72767312e-01 2.79051898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.106875 meters 0.014343932335544584 Centerline is valid? [True, True] Translation: X:232.98, Y:89.04, Z:2.80 [[-5.57287843e-01 -8.19222694e-01 1.35293893e-01 2.32980335e+02] [ 7.97499351e-01 -5.73465203e-01 -1.87436512e-01 8.90432971e+01] [ 2.31138584e-01 3.44070259e-03 9.72914753e-01 2.80109421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13687500000003 meters 0.015543524775973667 Centerline is valid? [True, True] Translation: X:232.96, Y:89.06, Z:2.81 [[-5.57317747e-01 -8.19232417e-01 1.35111715e-01 2.32962576e+02] [ 7.97599324e-01 -5.73450855e-01 -1.87054630e-01 8.90625390e+01] [ 2.30721145e-01 3.51614731e-03 9.73013561e-01 2.80531516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.166875 meters 0.014287617603627697 Centerline is valid? [True, True] Translation: X:232.95, Y:89.09, Z:2.82 [[-5.57675607e-01 -8.19051600e-01 1.34730820e-01 2.32949336e+02] [ 7.97568272e-01 -5.73709123e-01 -1.86393921e-01 8.90859949e+01] [ 2.29962540e-01 3.50968406e-03 9.73193153e-01 2.81565990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19687500000003 meters 0.014558660581460216 Centerline is valid? [True, True] Translation: X:232.93, Y:89.11, Z:2.82 [[-5.58293807e-01 -8.18760588e-01 1.33937018e-01 2.32933981e+02] [ 7.97551773e-01 -5.74124804e-01 -1.85180664e-01 8.91058562e+01] [ 2.28515194e-01 3.43648858e-03 9.73534281e-01 2.82233031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.226875 meters 0.013958733939469262 Centerline is valid? [True, True] Translation: X:232.92, Y:89.13, Z:2.83 [[-5.59831859e-01 -8.18009162e-01 1.32095802e-01 2.32919753e+02] [ 7.97396450e-01 -5.75196506e-01 -1.82504468e-01 8.91281425e+01] [ 2.25271370e-01 3.16090787e-03 9.74290931e-01 2.83303920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25687500000004 meters 0.013969269687815429 Centerline is valid? [True, True] Translation: X:232.90, Y:89.15, Z:2.84 [[-5.60819064e-01 -8.17495035e-01 1.31087171e-01 2.32904108e+02] [ 7.97211693e-01 -5.75927851e-01 -1.80998972e-01 8.91501154e+01] [ 2.23462514e-01 2.99655115e-03 9.74707918e-01 2.84056260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.286875 meters 0.013772105395666239 Centerline is valid? [True, True] Translation: X:232.89, Y:89.17, Z:2.85 [[-5.61962593e-01 -8.16825294e-01 1.30362891e-01 2.32888447e+02] [ 7.96775802e-01 -5.76878420e-01 -1.79887771e-01 8.91726106e+01] [ 2.22140420e-01 2.77979844e-03 9.75010721e-01 2.84827852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31687500000004 meters 0.01364376145500345 Centerline is valid? [True, True] Translation: X:232.87, Y:89.20, Z:2.86 [[-5.64258521e-01 -8.15489402e-01 1.28799674e-01 2.32873972e+02] [ 7.95913820e-01 -5.78767480e-01 -1.77621495e-01 8.91950988e+01] [ 2.19393510e-01 2.28899865e-03 9.75633768e-01 2.85594894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.346875 meters 0.01357162813959995 Centerline is valid? [True, True] Translation: X:232.86, Y:89.22, Z:2.86 [[-5.65308241e-01 -8.14771950e-01 1.28737182e-01 2.32859124e+02] [ 7.95221868e-01 -5.79777859e-01 -1.77425518e-01 8.92166087e+01] [ 2.19200303e-01 2.07451513e-03 9.75677674e-01 2.86212691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.376875 meters 0.013457294462467503 Centerline is valid? [True, True] Translation: X:232.84, Y:89.24, Z:2.87 [[-5.66493589e-01 -8.13927134e-01 1.28870613e-01 2.32844559e+02] [ 7.94340216e-01 -5.80964127e-01 -1.77494520e-01 8.92390176e+01] [ 2.19336809e-01 1.81760311e-03 9.75647508e-01 2.86758870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.406875 meters 0.013134679365904381 Centerline is valid? [True, True] Translation: X:232.83, Y:89.26, Z:2.87 [[-5.67808935e-01 -8.12887550e-01 1.29641214e-01 2.32830385e+02] [ 7.93063713e-01 -5.82418739e-01 -1.78433069e-01 8.92625371e+01] [ 2.20551493e-01 1.49785179e-03 9.75374182e-01 2.87248630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.436875 meters 0.013219044612231985 Centerline is valid? [True, True] Translation: X:232.81, Y:89.28, Z:2.88 [[-5.68087060e-01 -8.12589003e-01 1.30292766e-01 2.32814722e+02] [ 7.92580474e-01 -5.82835305e-01 -1.79218302e-01 8.92837054e+01] [ 2.21570045e-01 1.45590398e-03 9.75143372e-01 2.87655583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.466875 meters 0.01314083418935534 Centerline is valid? [True, True] Translation: X:232.80, Y:89.31, Z:2.88 [[-5.68120584e-01 -8.12412980e-01 1.31240817e-01 2.32798655e+02] [ 7.92123032e-01 -5.83080658e-01 -1.80438489e-01 8.93056886e+01] [ 2.23114552e-01 1.44805444e-03 9.74791157e-01 2.88012117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.496875 meters 0.013263229438064461 Centerline is valid? [True, True] Translation: X:232.78, Y:89.33, Z:2.88 [[-5.66969001e-01 -8.12807615e-01 1.33753255e-01 2.32781807e+02] [ 7.91763620e-01 -5.82529699e-01 -1.83764849e-01 8.93288077e+01] [ 2.27280712e-01 1.71198812e-03 9.73827781e-01 2.88176294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.526875 meters 0.013325416658814008 Centerline is valid? [True, True] Translation: X:232.77, Y:89.35, Z:2.89 [[-5.66576290e-01 -8.12892652e-01 1.34895675e-01 2.32765683e+02] [ 7.91511846e-01 -5.82410670e-01 -1.85220976e-01 8.93514996e+01] [ 2.29129451e-01 1.82971103e-03 9.73394240e-01 2.88640659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.556875 meters 0.013622300536159655 Centerline is valid? [True, True] Translation: X:232.75, Y:89.37, Z:2.89 [[-5.65770115e-01 -8.13170469e-01 1.36594163e-01 2.32751124e+02] [ 7.91275319e-01 -5.82022030e-01 -1.87439927e-01 8.93733515e+01] [ 2.31921425e-01 2.03568090e-03 9.72732393e-01 2.89054415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.586875 meters 0.013718425121374824 Centerline is valid? [True, True] Translation: X:232.74, Y:89.39, Z:2.90 [[-5.66033417e-01 -8.12926599e-01 1.36954429e-01 2.32736458e+02] [ 7.90929730e-01 -5.82362734e-01 -1.87839849e-01 8.93943390e+01] [ 2.32457165e-01 1.99769812e-03 9.72604583e-01 2.89592563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.616875 meters 0.01363738438830651 Centerline is valid? [True, True] Translation: X:232.72, Y:89.42, Z:2.90 [[-5.65740512e-01 -8.13053010e-01 1.37413521e-01 2.32721347e+02] [ 7.90941549e-01 -5.82185746e-01 -1.88338058e-01 8.94164952e+01] [ 2.33129018e-01 2.13559345e-03 9.72443469e-01 2.90303642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.646875 meters 0.013571155703928027 Centerline is valid? [True, True] Translation: X:232.71, Y:89.44, Z:2.91 [[-5.65785055e-01 -8.13019781e-01 1.37426732e-01 2.32706174e+02] [ 7.90933591e-01 -5.82231914e-01 -1.88228723e-01 8.94383268e+01] [ 2.33047904e-01 2.19842051e-03 9.72462771e-01 2.91014591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.676875 meters 0.013582421727012203 Centerline is valid? [True, True] Translation: X:232.69, Y:89.46, Z:2.92 [[-5.65634238e-01 -8.13161104e-01 1.37211252e-01 2.32690051e+02] [ 7.91179814e-01 -5.82034013e-01 -1.87805510e-01 8.94606143e+01] [ 2.32577752e-01 2.32954598e-03 9.72575016e-01 2.91750188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.706875 meters 0.01375869207630018 Centerline is valid? [True, True] Translation: X:232.68, Y:89.48, Z:2.93 [[-5.65297131e-01 -8.13580830e-01 1.36107997e-01 2.32676155e+02] [ 7.91995570e-01 -5.81446243e-01 -1.86180781e-01 8.94810450e+01] [ 2.30612598e-01 2.54946969e-03 9.73042306e-01 2.92556786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.736875 meters 0.013975538244674863 Centerline is valid? [True, True] Translation: X:232.66, Y:89.50, Z:2.93 [[-5.64908927e-01 -8.13903652e-01 1.35789354e-01 2.32661016e+02] [ 7.92461502e-01 -5.80993337e-01 -1.85611179e-01 8.95019743e+01] [ 2.29962326e-01 2.75442317e-03 9.73195634e-01 2.93212950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.766875 meters 0.014158534899041302 Centerline is valid? [True, True] Translation: X:232.65, Y:89.52, Z:2.94 [[-5.64595588e-01 -8.14182992e-01 1.35417419e-01 2.32645404e+02] [ 7.92898602e-01 -5.80600914e-01 -1.84971308e-01 8.95234529e+01] [ 2.29223970e-01 2.93829742e-03 9.73369271e-01 2.93949431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.796875 meters 0.01441789007376261 Centerline is valid? [True, True] Translation: X:232.63, Y:89.54, Z:2.95 [[-5.63983524e-01 -8.14827735e-01 1.34083361e-01 2.32630046e+02] [ 7.94012550e-01 -5.79694115e-01 -1.83026784e-01 8.95441459e+01] [ 2.26862636e-01 3.23978083e-03 9.73921377e-01 2.94684858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.82687500000003 meters 0.01457629344323737 Centerline is valid? [True, True] Translation: X:232.61, Y:89.57, Z:2.95 [[-5.63826821e-01 -8.14983444e-01 1.33795748e-01 2.32614200e+02] [ 7.94291295e-01 -5.79474456e-01 -1.82512175e-01 8.95655446e+01] [ 2.26275619e-01 3.36753888e-03 9.74057495e-01 2.95376466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.856875 meters 0.014910166551012396 Centerline is valid? [True, True] Translation: X:232.60, Y:89.59, Z:2.96 [[-5.64099174e-01 -8.15002123e-01 1.32527963e-01 2.32599827e+02] [ 7.94733150e-01 -5.79447924e-01 -1.80663566e-01 8.95868643e+01] [ 2.24034243e-01 3.41219663e-03 9.74575300e-01 2.96126666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.88687500000003 meters 0.014279332095313487 Centerline is valid? [True, True] Translation: X:232.59, Y:89.61, Z:2.97 [[-5.64713042e-01 -8.14686719e-01 1.31851163e-01 2.32586243e+02] [ 7.94646697e-01 -5.79891691e-01 -1.79616965e-01 8.96106514e+01] [ 2.22790950e-01 3.34304842e-03 9.74860511e-01 2.96918364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.916875 meters 0.014222917225903915 Centerline is valid? [True, True] Translation: X:232.57, Y:89.63, Z:2.98 [[-5.65654764e-01 -8.14111491e-01 1.31366540e-01 2.32572040e+02] [ 7.94229879e-01 -5.80699953e-01 -1.78847597e-01 8.96320676e+01] [ 2.21886428e-01 3.16923557e-03 9.75067366e-01 2.97538513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.94687500000003 meters 0.013911723293525299 Centerline is valid? [True, True] Translation: X:232.56, Y:89.66, Z:2.98 [[-5.68126709e-01 -8.12467673e-01 1.30875223e-01 2.32558822e+02] [ 7.92714639e-01 -5.83000569e-01 -1.78083794e-01 8.96554061e+01] [ 2.20987656e-01 2.57254554e-03 9.75273212e-01 2.98066994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.976875 meters 0.013458980910566432 Centerline is valid? [True, True] Translation: X:232.54, Y:89.68, Z:2.99 [[-5.69771272e-01 -8.11368945e-01 1.30541690e-01 2.32544619e+02] [ 7.91713276e-01 -5.84530219e-01 -1.77523268e-01 8.96785228e+01] [ 2.20342430e-01 2.20393071e-03 9.75420092e-01 2.98647376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.00687500000004 meters 0.013720308703827715 Centerline is valid? [True, True] Translation: X:232.53, Y:89.70, Z:2.99 [[-5.71225117e-01 -8.10337279e-01 1.30596170e-01 2.32529568e+02] [ 7.90662992e-01 -5.85960741e-01 -1.77488149e-01 8.96991344e+01] [ 2.20349492e-01 1.87186948e-03 9.75419191e-01 2.99069947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.036875 meters 0.013082385270454761 Centerline is valid? [True, True] Translation: X:232.52, Y:89.72, Z:3.00 [[-5.73833805e-01 -8.08414917e-01 1.31072827e-01 2.32517401e+02] [ 7.88574417e-01 -5.88611797e-01 -1.78007139e-01 8.97239041e+01] [ 2.21054639e-01 1.21416440e-03 9.75260669e-01 2.99522432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06687500000004 meters 0.012861245555648104 Centerline is valid? [True, True] Translation: X:232.50, Y:89.75, Z:3.00 [[-5.75166613e-01 -8.07415152e-01 1.31393072e-01 2.32502961e+02] [ 7.87477490e-01 -5.89983013e-01 -1.78323435e-01 8.97469236e+01] [ 2.21500723e-01 9.03400379e-04 9.75159789e-01 3.00073840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.096875 meters 0.012922397297453501 Centerline is valid? [True, True] Translation: X:232.49, Y:89.77, Z:3.00 [[-5.76314993e-01 -8.06481838e-01 1.32091161e-01 2.32488805e+02] [ 7.86332977e-01 -5.91258537e-01 -1.79147401e-01 8.97684896e+01] [ 2.22579152e-01 6.22302798e-04 9.74914424e-01 3.00467818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.126875 meters 0.012840622556350056 Centerline is valid? [True, True] Translation: X:232.47, Y:89.79, Z:3.01 [[-5.78041830e-01 -8.04988483e-01 1.33645747e-01 2.32474838e+02] [ 7.84347049e-01 -5.93290423e-01 -1.81124763e-01 8.97913856e+01] [ 2.25094090e-01 1.26958468e-04 9.74337023e-01 3.00809323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.156875 meters 0.012886792598078657 Centerline is valid? [True, True] Translation: X:232.46, Y:89.81, Z:3.01 [[-5.78779972e-01 -8.04318887e-01 1.34480007e-01 2.32459821e+02] [ 7.83426093e-01 -5.94197883e-01 -1.82133009e-01 8.98132797e+01] [ 2.26400755e-01 -5.97915786e-05 9.74034237e-01 3.01332411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.186875 meters 0.012994515812846642 Centerline is valid? [True, True] Translation: X:232.44, Y:89.84, Z:3.02 [[-5.79570999e-01 -8.03524965e-01 1.35812693e-01 2.32444744e+02] [ 7.82218256e-01 -5.95270982e-01 -1.83812564e-01 8.98365256e+01] [ 2.28543339e-01 -2.97263442e-04 9.73533694e-01 3.01790332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.216875 meters 0.013081294267381178 Centerline is valid? [True, True] Translation: X:232.43, Y:89.86, Z:3.02 [[-5.79872889e-01 -8.03242346e-01 1.36195325e-01 2.32429536e+02] [ 7.81832301e-01 -5.95652261e-01 -1.84218992e-01 8.98581299e+01] [ 2.29097549e-01 -3.41695174e-04 9.73403409e-01 3.02357230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.246875 meters 0.013150363111915331 Centerline is valid? [True, True] Translation: X:232.41, Y:89.88, Z:3.03 [[-5.80118189e-01 -8.02989871e-01 1.36638774e-01 2.32414278e+02] [ 7.81460745e-01 -5.95992562e-01 -1.84694263e-01 8.98792737e+01] [ 2.29743316e-01 -3.66662886e-04 9.73251188e-01 3.02971862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.276875 meters 0.013127244223660055 Centerline is valid? [True, True] Translation: X:232.40, Y:89.90, Z:3.04 [[-5.79720689e-01 -8.03230646e-01 1.36910378e-01 2.32398212e+02] [ 7.81652195e-01 -5.95668105e-01 -1.84930676e-01 8.99009578e+01] [ 2.30095132e-01 -1.91841348e-04 9.73168122e-01 3.03624353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.306875 meters 0.013127244223660055 Centerline is valid? [True, True] Translation: X:232.38, Y:89.92, Z:3.04 [[-5.79971013e-01 -8.03039821e-01 1.36969596e-01 2.32382542e+02] [ 7.81466479e-01 -5.95925339e-01 -1.84886808e-01 8.99218949e+01] [ 2.30095122e-01 -1.91841338e-04 9.73168124e-01 3.04201329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.336875 meters 0.01309956649206072 Centerline is valid? [True, True] Translation: X:232.37, Y:89.94, Z:3.05 [[-5.78511422e-01 -8.04173508e-01 1.36489942e-01 2.32365960e+02] [ 7.82812905e-01 -5.94394532e-01 -1.84117072e-01 8.99427029e+01] [ 2.29190947e-01 3.32259282e-04 9.73381426e-01 3.05112306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.366875 meters 0.013159106819322324 Centerline is valid? [True, True] Translation: X:232.35, Y:89.96, Z:3.06 [[-5.76896809e-01 -8.05484802e-01 1.35588739e-01 2.32349876e+02] [ 7.84471005e-01 -5.92615724e-01 -1.82789073e-01 8.99618762e+01] [ 2.27585840e-01 9.15001409e-04 9.73757592e-01 3.05964397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.396875 meters 0.013305716586075225 Centerline is valid? [True, True] Translation: X:232.33, Y:89.98, Z:3.07 [[-5.76350003e-01 -8.06051486e-01 1.34542471e-01 2.32333584e+02] [ 7.85410267e-01 -5.91844187e-01 -1.81248920e-01 8.99824141e+01] [ 2.25724141e-01 1.20822266e-03 9.74190511e-01 3.06730592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.426875 meters 0.013351325748233007 Centerline is valid? [True, True] Translation: X:232.32, Y:90.00, Z:3.07 [[-5.75821630e-01 -8.06575040e-01 1.33664340e-01 2.32317242e+02] [ 7.86247870e-01 -5.91129868e-01 -1.79943787e-01 9.00031634e+01] [ 2.24151151e-01 1.47777737e-03 9.74553271e-01 3.07472063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.456875 meters 0.013458751807619105 Centerline is valid? [True, True] Translation: X:232.30, Y:90.02, Z:3.08 [[-5.74969757e-01 -8.07471924e-01 1.31904776e-01 2.32300713e+02] [ 7.87733329e-01 -5.89903026e-01 -1.77455974e-01 9.00246172e+01] [ 2.21101743e-01 1.87396976e-03 9.75248946e-01 3.08432614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.486875 meters 0.013599957638728247 Centerline is valid? [True, True] Translation: X:232.28, Y:90.05, Z:3.09 [[-5.74715323e-01 -8.07730368e-01 1.31430397e-01 2.32283822e+02] [ 7.88166363e-01 -5.89548578e-01 -1.76709529e-01 9.00462990e+01] [ 2.20218257e-01 2.03134354e-03 9.75448509e-01 3.09144665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.516875 meters 0.013676158866131301 Centerline is valid? [True, True] Translation: X:232.27, Y:90.07, Z:3.10 [[-5.74475417e-01 -8.08000898e-01 1.30814922e-01 2.32267422e+02] [ 7.88652978e-01 -5.89177185e-01 -1.75774645e-01 9.00670705e+01] [ 2.19099239e-01 2.18936495e-03 9.75700123e-01 3.09796595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.546875 meters 0.013865485133045015 Centerline is valid? [True, True] Translation: X:232.25, Y:90.09, Z:3.10 [[-5.74055376e-01 -8.08308235e-01 1.30760177e-01 2.32250829e+02] [ 7.89011512e-01 -5.88754739e-01 -1.75581009e-01 9.00878575e+01] [ 2.18909249e-01 2.37806313e-03 9.75742325e-01 3.10360236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57687500000003 meters 0.014202450427756383 Centerline is valid? [True, True] Translation: X:232.23, Y:90.11, Z:3.11 [[-5.72757143e-01 -8.09190492e-01 1.30996192e-01 2.32233446e+02] [ 7.89872758e-01 -5.87539745e-01 -1.75778479e-01 9.01094183e+01] [ 2.19203743e-01 2.79194435e-03 9.75675112e-01 3.10861541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.606875 meters 0.014462336016439193 Centerline is valid? [True, True] Translation: X:232.22, Y:90.13, Z:3.11 [[-5.72304087e-01 -8.09410206e-01 1.31617440e-01 2.32217447e+02] [ 7.89936370e-01 -5.87236229e-01 -1.76505363e-01 9.01292912e+01] [ 2.20155771e-01 2.95466250e-03 9.75460254e-01 3.11304165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63687500000003 meters 0.014486852460117198 Centerline is valid? [True, True] Translation: X:232.20, Y:90.15, Z:3.12 [[-5.72055772e-01 -8.09539916e-01 1.31898890e-01 2.32200949e+02] [ 7.90013371e-01 -5.87056723e-01 -1.76757678e-01 9.01510370e+01] [ 2.20524526e-01 3.08663641e-03 9.75376546e-01 3.11801781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.666875 meters 0.014689036242158497 Centerline is valid? [True, True] Translation: X:232.18, Y:90.17, Z:3.12 [[-5.71333489e-01 -8.09826794e-01 1.33261431e-01 2.32184750e+02] [ 7.89924883e-01 -5.86659734e-01 -1.78462982e-01 9.01724237e+01] [ 2.22703220e-01 3.30464210e-03 9.74880688e-01 3.12094139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69687500000003 meters 0.014729246671951388 Centerline is valid? [True, True] Translation: X:232.17, Y:90.19, Z:3.13 [[-5.71254495e-01 -8.09719824e-01 1.34246450e-01 2.32168762e+02] [ 7.89542143e-01 -5.86807071e-01 -1.79668213e-01 9.01937622e+01] [ 2.24257680e-01 3.35695528e-03 9.74524101e-01 3.12512968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.726875 meters 0.014784759756037677 Centerline is valid? [True, True] Translation: X:232.15, Y:90.22, Z:3.13 [[-5.71538462e-01 -8.09304536e-01 1.35535809e-01 2.32153655e+02] [ 7.88748923e-01 -5.87380016e-01 -1.81272869e-01 9.02155389e+01] [ 2.26315981e-01 3.29930619e-03 9.74048352e-01 3.12926348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75687500000004 meters 0.014870711853522135 Centerline is valid? [True, True] Translation: X:232.14, Y:90.24, Z:3.13 [[-5.71952412e-01 -8.08887342e-01 1.36278050e-01 2.32138857e+02] [ 7.88120561e-01 -5.87954802e-01 -1.82140418e-01 9.02359453e+01] [ 2.27456412e-01 3.22788175e-03 9.73782913e-01 3.13453583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.786875 meters 0.014687672668052869 Centerline is valid? [True, True] Translation: X:232.12, Y:90.26, Z:3.14 [[-5.72336658e-01 -8.08545043e-01 1.36695514e-01 2.32124006e+02] [ 7.87662891e-01 -5.88425793e-01 -1.82598618e-01 9.02575795e+01] [ 2.28074374e-01 3.16210111e-03 9.73638578e-01 3.14059292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81687500000004 meters 0.014723224822075246 Centerline is valid? [True, True] Translation: X:232.11, Y:90.28, Z:3.15 [[-5.73045697e-01 -8.08046121e-01 1.36675145e-01 2.32108953e+02] [ 7.87183871e-01 -5.89111415e-01 -1.82453541e-01 9.02789125e+01] [ 2.27947764e-01 3.03425346e-03 9.73668635e-01 3.14646368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.846875 meters 0.014385912531255433 Centerline is valid? [True, True] Translation: X:232.10, Y:90.30, Z:3.15 [[-5.74675049e-01 -8.06830807e-01 1.37013270e-01 2.32096291e+02] [ 7.85858673e-01 -5.90776705e-01 -1.82781376e-01 9.03010188e+01] [ 2.28417893e-01 2.63316980e-03 9.73559619e-01 3.15311512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.876875 meters 0.01409038520560476 Centerline is valid? [True, True] Translation: X:232.08, Y:90.32, Z:3.16 [[-5.76063191e-01 -8.05861860e-01 1.36886314e-01 2.32081932e+02] [ 7.84930313e-01 -5.92099047e-01 -1.82491429e-01 9.03236830e+01] [ 2.28113138e-01 2.31962299e-03 9.73631869e-01 3.15999274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.906875 meters 0.013375809308300258 Centerline is valid? [True, True] Translation: X:232.07, Y:90.35, Z:3.17 [[-5.79054868e-01 -8.03842121e-01 1.36137079e-01 2.32070084e+02] [ 7.83112871e-01 -5.94840603e-01 -1.81380507e-01 9.03464946e+01] [ 2.26781153e-01 1.58143310e-03 9.73944458e-01 3.16757244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.936875 meters 0.013209555874609391 Centerline is valid? [True, True] Translation: X:232.06, Y:90.37, Z:3.17 [[-5.80723556e-01 -8.02685948e-01 1.35850730e-01 2.32056576e+02] [ 7.82034355e-01 -5.96400766e-01 -1.80909907e-01 9.03678864e+01] [ 2.26235319e-01 1.18129342e-03 9.74071961e-01 3.17410242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.966875 meters 0.012943373697458106 Centerline is valid? [True, True] Translation: X:232.04, Y:90.39, Z:3.18 [[-5.82327188e-01 -8.01623390e-01 1.35258964e-01 2.32042759e+02] [ 7.81153609e-01 -5.97828768e-01 -1.79999454e-01 9.03907178e+01] [ 2.25153473e-01 8.39451839e-04 9.74322949e-01 3.18228991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.996875 meters 0.01283318004380039 Centerline is valid? [True, True] Translation: X:232.03, Y:90.41, Z:3.19 [[-5.85818127e-01 -7.99231655e-01 1.34334968e-01 2.32031532e+02] [ 7.79008170e-01 -6.01023095e-01 -1.78654722e-01 9.04135796e+01] [ 2.23524927e-01 -1.11368699e-05 9.74698213e-01 3.18962396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.026875 meters 0.012857715985965423 Centerline is valid? [True, True] Translation: X:232.02, Y:90.44, Z:3.20 [[-5.87734221e-01 -7.97890644e-01 1.33936573e-01 2.32017932e+02] [ 7.77781534e-01 -6.02802058e-01 -1.78004392e-01 9.04358402e+01] [ 2.22765280e-01 -4.45879420e-04 9.74872008e-01 3.19705764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.056875 meters 0.013115475990882126 Centerline is valid? [True, True] Translation: X:232.01, Y:90.46, Z:3.20 [[-5.90901784e-01 -7.95678791e-01 1.33155337e-01 2.32006655e+02] [ 7.75777523e-01 -6.05717607e-01 -1.76848568e-01 9.04588719e+01] [ 2.21369187e-01 -1.20121682e-03 9.75189336e-01 3.20427043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.086875 meters 0.013257557136705492 Centerline is valid? [True, True] Translation: X:231.99, Y:90.48, Z:3.21 [[-5.92815343e-01 -7.94337603e-01 1.32656482e-01 2.31992158e+02] [ 7.74581491e-01 -6.07474402e-01 -1.76063525e-01 9.04809399e+01] [ 2.20439295e-01 -1.61990346e-03 9.75399351e-01 3.21117780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.116875 meters 0.013341622237603925 Centerline is valid? [True, True] Translation: X:231.98, Y:90.50, Z:3.22 [[-5.94279822e-01 -7.93305657e-01 1.32278597e-01 2.31977152e+02] [ 7.73664470e-01 -6.08820526e-01 -1.75444734e-01 9.05033775e+01] [ 2.19715225e-01 -1.92401423e-03 9.75562155e-01 3.21744938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.146875 meters 0.013483687426280786 Centerline is valid? [True, True] Translation: X:231.96, Y:90.53, Z:3.22 [[-5.95466864e-01 -7.92420629e-01 1.32245077e-01 2.31962037e+02] [ 7.72794393e-01 -6.09971154e-01 -1.75282682e-01 9.05257005e+01] [ 2.19563295e-01 -2.17677529e-03 9.75595829e-01 3.22372594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.176875 meters 0.01361551153541296 Centerline is valid? [True, True] Translation: X:231.95, Y:90.55, Z:3.23 [[-5.96350202e-01 -7.91770738e-01 1.32157236e-01 2.31947031e+02] [ 7.72181645e-01 -6.10813899e-01 -1.75048242e-01 9.05473484e+01] [ 2.19321552e-01 -2.34066219e-03 9.75649823e-01 3.22893028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.206875 meters 0.01371613826535103 Centerline is valid? [True, True] Translation: X:231.93, Y:90.57, Z:3.23 [[-5.96761208e-01 -7.91375940e-01 1.32665679e-01 2.31932647e+02] [ 7.71651013e-01 -6.11325002e-01 -1.75603122e-01 9.05691587e+01] [ 2.20069932e-01 -2.42152592e-03 9.75481092e-01 3.23335883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.236875 meters 0.01359506869813952 Centerline is valid? [True, True] Translation: X:231.92, Y:90.59, Z:3.24 [[-5.96512534e-01 -7.91455577e-01 1.33307415e-01 2.31916221e+02] [ 7.71567105e-01 -6.11222266e-01 -1.76327944e-01 9.05909133e+01] [ 2.21036195e-01 -2.32621275e-03 9.75262831e-01 3.23806649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.266875 meters 0.013389874437822571 Centerline is valid? [True, True] Translation: X:231.90, Y:90.61, Z:3.24 [[-5.95047562e-01 -7.92293961e-01 1.34865413e-01 2.31900003e+02] [ 7.71980235e-01 -6.10136392e-01 -1.78269739e-01 9.06111519e+01] [ 2.23528334e-01 -1.96554007e-03 9.74695450e-01 3.24125909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.296875 meters 0.013326027406548601 Centerline is valid? [True, True] Translation: X:231.88, Y:90.63, Z:3.25 [[-5.94119918e-01 -7.92893776e-01 1.35428886e-01 2.31883794e+02] [ 7.72451607e-01 -6.09357589e-01 -1.78890593e-01 9.06308381e+01] [ 2.24365857e-01 -1.67020334e-03 9.74503552e-01 3.24559234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.32687500000003 meters 0.013012147581811842 Centerline is valid? [True, True] Translation: X:231.87, Y:90.65, Z:3.25 [[-5.91052902e-01 -7.95017706e-01 1.36393971e-01 2.31865488e+02] [ 7.74363391e-01 -6.06585703e-01 -1.80042005e-01 9.06504318e+01] [ 2.25871214e-01 -7.95851220e-04 9.74156846e-01 3.25048807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.356875 meters 0.012849266465104928 Centerline is valid? [True, True] Translation: X:231.85, Y:90.67, Z:3.26 [[-5.89639954e-01 -7.96012719e-01 1.36705801e-01 2.31848000e+02] [ 7.75315883e-01 -6.05279797e-01 -1.80337597e-01 9.06707852e+01] [ 2.26296280e-01 -3.44073608e-04 9.74058456e-01 3.25621407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.38687500000003 meters 0.013042247612453475 Centerline is valid? [True, True] Translation: X:231.83, Y:90.69, Z:3.26 [[-5.87949263e-01 -7.97226141e-01 1.36916560e-01 2.31831484e+02] [ 7.76523869e-01 -6.03680746e-01 -1.80499968e-01 9.06899723e+01] [ 2.26553184e-01 1.94154121e-04 9.73998777e-01 3.26210287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.416875 meters 0.013032093215996838 Centerline is valid? [True, True] Translation: X:231.81, Y:90.71, Z:3.27 [[-5.86590658e-01 -7.98226370e-01 1.36916261e-01 2.31814331e+02] [ 7.77579014e-01 -6.02357231e-01 -1.80379168e-01 9.07096793e+01] [ 2.26455908e-01 6.54476634e-04 9.74021198e-01 3.26872069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.44687500000003 meters 0.013447781688984065 Centerline is valid? [True, True] Translation: X:231.80, Y:90.73, Z:3.28 [[-5.83846738e-01 -8.00391229e-01 1.36003192e-01 2.31796352e+02] [ 7.80105559e-01 -5.99476001e-01 -1.79063791e-01 9.07273505e+01] [ 2.24851737e-01 1.55103633e-03 9.74391754e-01 3.27627008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.476875 meters 0.013846391096471218 Centerline is valid? [True, True] Translation: X:231.78, Y:90.75, Z:3.28 [[-5.83088967e-01 -8.01106362e-01 1.35040195e-01 2.31779125e+02] [ 7.81156187e-01 -5.98519044e-01 -1.77679389e-01 9.07467920e+01] [ 2.23164217e-01 1.88459230e-03 9.74779042e-01 3.28318351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.50687500000004 meters 0.014071494180898479 Centerline is valid? [True, True] Translation: X:231.76, Y:90.77, Z:3.29 [[-5.82377284e-01 -8.01783132e-01 1.34091417e-01 2.31761409e+02] [ 7.82158247e-01 -5.97611071e-01 -1.76322105e-01 9.07666507e+01] [ 2.21506605e-01 2.19471955e-03 9.75156401e-01 3.29083518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.536875 meters 0.01396567720046265 Centerline is valid? [True, True] Translation: X:231.74, Y:90.79, Z:3.30 [[-5.80703955e-01 -8.03187705e-01 1.32937683e-01 2.31744790e+02] [ 7.83963521e-01 -5.95719594e-01 -1.74697919e-01 9.07877466e+01] [ 2.19508803e-01 2.77052188e-03 9.75606585e-01 3.29970371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56687500000004 meters 0.015251945049410336 Centerline is valid? [True, True] Translation: X:231.73, Y:90.81, Z:3.30 [[-5.80074459e-01 -8.03632368e-01 1.32998645e-01 2.31726029e+02] [ 7.84425626e-01 -5.95118467e-01 -1.74672399e-01 9.08060622e+01] [ 2.19522344e-01 3.00454814e-03 9.75602846e-01 3.30477665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.596875 meters 0.01470797002837623 Centerline is valid? [True, True] Translation: X:231.71, Y:90.83, Z:3.31 [[-5.78564110e-01 -8.04674417e-01 1.33276602e-01 2.31709906e+02] [ 7.85441529e-01 -5.93706118e-01 -1.74913263e-01 9.08283174e+01] [ 2.19875362e-01 3.48244204e-03 9.75521757e-01 3.31085713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.626875 meters 0.014828046738964441 Centerline is valid? [True, True] Translation: X:231.69, Y:90.85, Z:3.32 [[-5.77674927e-01 -8.05288896e-01 1.33422159e-01 2.31693111e+02] [ 7.86052996e-01 -5.92870542e-01 -1.75000595e-01 9.08498097e+01] [ 2.20028104e-01 3.78343245e-03 9.75486196e-01 3.31632597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.656875 meters 0.015168946924973906 Centerline is valid? [True, True] Translation: X:231.68, Y:90.87, Z:3.32 [[-5.77147225e-01 -8.05637509e-01 1.33601214e-01 2.31675682e+02] [ 7.86382380e-01 -5.92395405e-01 -1.75129769e-01 9.08704307e+01] [ 2.20235856e-01 3.98598017e-03 9.75438506e-01 3.32151482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.686875 meters 0.015930669494989502 Centerline is valid? [True, True] Translation: X:231.66, Y:90.89, Z:3.33 [[-5.75407776e-01 -8.06766845e-01 1.34287561e-01 2.31657612e+02] [ 7.87366619e-01 -5.90852709e-01 -1.75917262e-01 9.08909511e+01] [ 2.21268384e-01 4.50938227e-03 9.75202527e-01 3.32543235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.716875 meters 0.015713943904047366 Centerline is valid? [True, True] Translation: X:231.64, Y:90.91, Z:3.33 [[-5.74728048e-01 -8.07176431e-01 1.34736336e-01 2.31641295e+02] [ 7.87681045e-01 -5.90291150e-01 -1.76394246e-01 9.09135195e+01] [ 2.21914945e-01 4.75053790e-03 9.75054455e-01 3.33163447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.746875 meters 0.016393001407752284 Centerline is valid? [True, True] Translation: X:231.62, Y:90.93, Z:3.34 [[-5.73685884e-01 -8.07769698e-01 1.35619397e-01 2.31624280e+02] [ 7.88055913e-01 -5.89476301e-01 -1.77441732e-01 9.09342018e+01] [ 2.23276475e-01 5.07985034e-03 9.74741920e-01 3.33567851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.776875 meters 0.01640722687377148 Centerline is valid? [True, True] Translation: X:231.61, Y:90.96, Z:3.34 [[-5.73693592e-01 -8.07737766e-01 1.35776887e-01 2.31608528e+02] [ 7.88002829e-01 -5.89519512e-01 -1.77533901e-01 9.09558848e+01] [ 2.23443961e-01 5.14250997e-03 9.74703212e-01 3.34121665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.806875 meters 0.01556477123385087 Centerline is valid? [True, True] Translation: X:231.59, Y:90.98, Z:3.35 [[-5.74545994e-01 -8.07110560e-01 1.35902338e-01 2.31594169e+02] [ 7.87348699e-01 -5.90379361e-01 -1.77578815e-01 9.09793498e+01] [ 2.23559673e-01 4.97533216e-03 9.74677546e-01 3.34814293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.836875 meters 0.016529074378592024 Centerline is valid? [True, True] Translation: X:231.58, Y:91.00, Z:3.35 [[-5.75334234e-01 -8.06525742e-01 1.36039503e-01 2.31577316e+02] [ 7.86732560e-01 -5.91179329e-01 -1.77648191e-01 9.09991234e+01] [ 2.23701581e-01 4.81962098e-03 9.74645768e-01 3.35317629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.866875 meters 0.015286360669004517 Centerline is valid? [True, True] Translation: X:231.56, Y:91.02, Z:3.36 [[-5.76445643e-01 -8.05712307e-01 1.36154684e-01 2.31563588e+02] [ 7.85892248e-01 -5.92289329e-01 -1.77670271e-01 9.10223737e+01] [ 2.23794090e-01 4.58565688e-03 9.74625660e-01 3.36032068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.896875 meters 0.0150299034272448 Centerline is valid? [True, True] Translation: X:231.55, Y:91.04, Z:3.37 [[-5.77631511e-01 -8.04873373e-01 1.36090742e-01 2.31548400e+02] [ 7.85077065e-01 -5.93430775e-01 -1.77465254e-01 9.10443154e+01] [ 2.23597492e-01 4.33219749e-03 9.74671942e-01 3.36662248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.926875 meters 0.01463869623347738 Centerline is valid? [True, True] Translation: X:231.53, Y:91.07, Z:3.38 [[-5.79732196e-01 -8.03501052e-01 1.35265078e-01 2.31534634e+02] [ 7.83937422e-01 -5.95290883e-01 -1.76269350e-01 9.10672930e+01] [ 2.22154676e-01 3.85033927e-03 9.75003833e-01 3.37510681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.956875 meters 0.014641684414212324 Centerline is valid? [True, True] Translation: X:231.52, Y:91.09, Z:3.38 [[-5.80724444e-01 -8.02824715e-01 1.35024435e-01 2.31519452e+02] [ 7.83337677e-01 -5.96203955e-01 -1.75849160e-01 9.10885108e+01] [ 2.21678153e-01 3.64982180e-03 9.75113058e-01 3.38109398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.986875 meters 0.014303935287846781 Centerline is valid? [True, True] Translation: X:231.50, Y:91.11, Z:3.39 [[-5.81635650e-01 -8.02163019e-01 1.35035040e-01 2.31503732e+02] [ 7.82682164e-01 -5.97095008e-01 -1.75744646e-01 9.11115229e+01] [ 2.21604604e-01 3.47016582e-03 9.75130431e-01 3.38764272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.016875 meters 0.014149294932686693 Centerline is valid? [True, True] Translation: X:231.49, Y:91.13, Z:3.39 [[-5.83279106e-01 -8.01102875e-01 1.34237357e-01 2.31489616e+02] [ 7.81848989e-01 -5.98518604e-01 -1.74607096e-01 9.11330251e+01] [ 2.20221802e-01 3.10867123e-03 9.75444870e-01 3.39396292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.046875 meters 0.01406310327449565 Centerline is valid? [True, True] Translation: X:231.47, Y:91.15, Z:3.40 [[-5.84206965e-01 -8.00501022e-01 1.33792137e-01 2.31474692e+02] [ 7.81388572e-01 -5.99324139e-01 -1.73903639e-01 9.11536716e+01] [ 2.19394899e-01 2.94792995e-03 9.75631687e-01 3.40003509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07687500000003 meters 0.013559156685085349 Centerline is valid? [True, True] Translation: X:231.46, Y:91.18, Z:3.41 [[-5.86130981e-01 -7.99184349e-01 1.33247323e-01 2.31461056e+02] [ 7.80222794e-01 -6.01080719e-01 -1.73073281e-01 9.11778348e+01] [ 2.18409854e-01 2.51898617e-03 9.75853878e-01 3.40740557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.106875 meters 0.013355646375918635 Centerline is valid? [True, True] Translation: X:231.45, Y:91.20, Z:3.41 [[-5.87283394e-01 -7.98407753e-01 1.32827991e-01 2.31446670e+02] [ 7.79570675e-01 -6.02112802e-01 -1.72423131e-01 9.11990144e+01] [ 2.17641399e-01 2.28756469e-03 9.76026121e-01 3.41363805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13687500000003 meters 0.013510821219286154 Centerline is valid? [True, True] Translation: X:231.43, Y:91.22, Z:3.42 [[-5.88327244e-01 -7.97676311e-01 1.32603002e-01 2.31431923e+02] [ 7.78905781e-01 -6.03082265e-01 -1.72039432e-01 9.12194790e+01] [ 2.17202298e-01 2.06976026e-03 9.76124417e-01 3.41946928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.166875 meters 0.013173451057451725 Centerline is valid? [True, True] Translation: X:231.42, Y:91.24, Z:3.43 [[-5.90321738e-01 -7.96235634e-01 1.32397361e-01 2.31418455e+02] [ 7.77515211e-01 -6.04984477e-01 -1.71650458e-01 9.12429848e+01] [ 2.16772559e-01 1.61196499e-03 9.76220805e-01 3.42510433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19687500000003 meters 0.013076077889044264 Centerline is valid? [True, True] Translation: X:231.40, Y:91.27, Z:3.43 [[-5.91166819e-01 -7.95579353e-01 1.32571810e-01 2.31403006e+02] [ 7.76818359e-01 -6.05847675e-01 -1.71760974e-01 9.12654610e+01] [ 2.16967807e-01 1.44482691e-03 9.76177690e-01 3.43060844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.226875 meters 0.013076077889044264 Centerline is valid? [True, True] Translation: X:231.39, Y:91.29, Z:3.44 [[-5.91420990e-01 -7.95381605e-01 1.32624716e-01 2.31386917e+02] [ 7.76624862e-01 -6.06107273e-01 -1.71720114e-01 9.12860940e+01] [ 2.16967825e-01 1.44077175e-03 9.76177692e-01 3.43637959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25687500000004 meters 0.013046904974891617 Centerline is valid? [True, True] Translation: X:231.37, Y:91.31, Z:3.44 [[-5.91994290e-01 -7.94882245e-01 1.33060052e-01 2.31371755e+02] [ 7.76014242e-01 -6.06762256e-01 -1.72166958e-01 9.13077650e+01] [ 2.17588276e-01 1.33463937e-03 9.76039733e-01 3.44129201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.286875 meters 0.012969634303225565 Centerline is valid? [True, True] Translation: X:231.36, Y:91.33, Z:3.44 [[-5.92600258e-01 -7.94253071e-01 1.34115602e-01 2.31357790e+02] [ 7.75091526e-01 -6.07585921e-01 -1.73414168e-01 9.13296159e+01] [ 2.19221487e-01 1.18658573e-03 9.75674398e-01 3.44496508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31687500000004 meters 0.012873963634144827 Centerline is valid? [True, True] Translation: X:231.34, Y:91.35, Z:3.45 [[-5.92982227e-01 -7.93910482e-01 1.34455292e-01 2.31342330e+02] [ 7.74669610e-01 -6.08033592e-01 -1.73730099e-01 9.13518164e+01] [ 2.19679481e-01 1.13956700e-03 9.75571436e-01 3.45051629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.346875 meters 0.012884504930216673 Centerline is valid? [True, True] Translation: X:231.33, Y:91.37, Z:3.46 [[-5.92773467e-01 -7.93936953e-01 1.35217347e-01 2.31327255e+02] [ 7.74501936e-01 -6.07998850e-01 -1.74597103e-01 9.13743179e+01] [ 2.20831084e-01 1.22956650e-03 9.75311294e-01 3.45534623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.376875 meters 0.01286093069081136 Centerline is valid? [True, True] Translation: X:231.31, Y:91.40, Z:3.46 [[-5.92600693e-01 -7.93984773e-01 1.35693031e-01 2.31311338e+02] [ 7.74438922e-01 -6.07936201e-01 -1.75094067e-01 9.13960684e+01] [ 2.21514729e-01 1.32509897e-03 9.75156126e-01 3.46078563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.406875 meters 0.012955387749470498 Centerline is valid? [True, True] Translation: X:231.30, Y:91.42, Z:3.47 [[-5.92492786e-01 -7.94053271e-01 1.35763402e-01 2.31295955e+02] [ 7.74515275e-01 -6.07846505e-01 -1.75067745e-01 9.14163273e+01] [ 2.21536426e-01 1.42445258e-03 9.75151057e-01 3.46638522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.436875 meters 0.012932632099742748 Centerline is valid? [True, True] Translation: X:231.28, Y:91.44, Z:3.47 [[-5.92305024e-01 -7.94235188e-01 1.35518360e-01 2.31280368e+02] [ 7.74800876e-01 -6.07608440e-01 -1.74629858e-01 9.14378280e+01] [ 2.21039277e-01 1.56560136e-03 9.75263650e-01 3.47278461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.466875 meters 0.013062694749915452 Centerline is valid? [True, True] Translation: X:231.27, Y:91.46, Z:3.48 [[-5.91650949e-01 -7.94752729e-01 1.35341247e-01 2.31265589e+02] [ 7.75409613e-01 -6.06930600e-01 -1.74284764e-01 9.14588441e+01] [ 2.20656036e-01 1.82915746e-03 9.75349972e-01 3.48001439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.496875 meters 0.013189581694700046 Centerline is valid? [True, True] Translation: X:231.25, Y:91.48, Z:3.49 [[-5.91253627e-01 -7.95063771e-01 1.35250688e-01 2.31249597e+02] [ 7.75782486e-01 -6.06522481e-01 -1.74046015e-01 9.14798932e+01] [ 2.20410263e-01 2.01977739e-03 9.75405165e-01 3.48608516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.526875 meters 0.013340955553579314 Centerline is valid? [True, True] Translation: X:231.23, Y:91.50, Z:3.49 [[-5.90154890e-01 -7.95885377e-01 1.35217130e-01 2.31234483e+02] [ 7.76660689e-01 -6.05442585e-01 -1.73889188e-01 9.15011845e+01] [ 2.20262071e-01 2.39627493e-03 9.75437788e-01 3.49218970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.556875 meters 0.013633152102321088 Centerline is valid? [True, True] Translation: X:231.22, Y:91.52, Z:3.50 [[-5.89973427e-01 -7.96086636e-01 1.34823677e-01 2.31218628e+02] [ 7.77000447e-01 -6.05177429e-01 -1.73293351e-01 9.15213625e+01] [ 2.19548767e-01 2.51958462e-03 9.75598273e-01 3.49817372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.586875 meters 0.013450116345173936 Centerline is valid? [True, True] Translation: X:231.20, Y:91.54, Z:3.50 [[-5.90017444e-01 -7.96158730e-01 1.34203924e-01 2.31203286e+02] [ 7.77278216e-01 -6.05082206e-01 -1.72377781e-01 9.15435563e+01] [ 2.18444481e-01 2.60788863e-03 9.75845893e-01 3.50481299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.616875 meters 0.013611779313390178 Centerline is valid? [True, True] Translation: X:231.19, Y:91.57, Z:3.51 [[-5.89700294e-01 -7.96510875e-01 1.33506514e-01 2.31188243e+02] [ 7.77862731e-01 -6.04617747e-01 -1.71367885e-01 9.15657366e+01] [ 2.17216792e-01 2.79404902e-03 9.76119388e-01 3.51139176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.646875 meters 0.014026585360891072 Centerline is valid? [True, True] Translation: X:231.17, Y:91.59, Z:3.52 [[-5.89711089e-01 -7.96534416e-01 1.33318252e-01 2.31172565e+02] [ 7.77965359e-01 -6.04586382e-01 -1.71012304e-01 9.15861913e+01] [ 2.16819585e-01 2.86912953e-03 9.76207476e-01 3.51705483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.676875 meters 0.014066370997278883 Centerline is valid? [True, True] Translation: X:231.16, Y:91.61, Z:3.52 [[-5.89905558e-01 -7.96367201e-01 1.33456784e-01 2.31157478e+02] [ 7.77781472e-01 -6.04806546e-01 -1.71070232e-01 9.16082176e+01] [ 2.16950258e-01 2.88493320e-03 9.76178397e-01 3.52297571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.706875 meters 0.01399795245517417 Centerline is valid? [True, True] Translation: X:231.14, Y:91.63, Z:3.53 [[-5.90252963e-01 -7.95980855e-01 1.34223388e-01 2.31144370e+02] [ 7.77193253e-01 -6.05315191e-01 -1.71942338e-01 9.16304747e+01] [ 2.18110265e-01 2.82803669e-03 9.75920035e-01 3.52751833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.736875 meters 0.013737244002570037 Centerline is valid? [True, True] Translation: X:231.13, Y:91.65, Z:3.53 [[-5.90600646e-01 -7.95641616e-01 1.34704473e-01 2.31129480e+02] [ 7.76734717e-01 -6.05761226e-01 -1.72442790e-01 9.16533418e+01] [ 2.18801406e-01 2.78481760e-03 9.75765438e-01 3.53293918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.766875 meters 0.013536237380682214 Centerline is valid? [True, True] Translation: X:231.12, Y:91.68, Z:3.54 [[-5.91367408e-01 -7.94969360e-01 1.35308185e-01 2.31115401e+02] [ 7.75898453e-01 -6.06643935e-01 -1.73103227e-01 9.16759952e+01] [ 2.19695652e-01 2.61780437e-03 9.75564948e-01 3.53730089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.796875 meters 0.013359141636549833 Centerline is valid? [True, True] Translation: X:231.10, Y:91.70, Z:3.54 [[-5.91683447e-01 -7.94710709e-01 1.35445881e-01 2.31100453e+02] [ 7.75618963e-01 -6.06982833e-01 -1.73167733e-01 9.16978892e+01] [ 2.19831576e-01 2.59391219e-03 9.75534392e-01 3.54274903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.82687500000003 meters 0.013331297365383283 Centerline is valid? [True, True] Translation: X:231.09, Y:91.72, Z:3.55 [[-5.92084581e-01 -7.94348055e-01 1.35819795e-01 2.31085373e+02] [ 7.75165789e-01 -6.07457595e-01 -1.73531754e-01 9.17195196e+01] [ 2.20349377e-01 2.53738270e-03 9.75417713e-01 3.54843682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.856875 meters 0.013461820205435817 Centerline is valid? [True, True] Translation: X:231.07, Y:91.74, Z:3.55 [[-5.92397224e-01 -7.94106039e-01 1.35871733e-01 2.31071125e+02] [ 7.74928205e-01 -6.07774016e-01 -1.73484937e-01 9.17426061e+01] [ 2.20344745e-01 2.51884292e-03 9.75418807e-01 3.55470325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.88687500000003 meters 0.013544535260344602 Centerline is valid? [True, True] Translation: X:231.06, Y:91.76, Z:3.56 [[-5.92586633e-01 -7.93915968e-01 1.36156225e-01 2.31056159e+02] [ 7.74677372e-01 -6.08022257e-01 -1.73735154e-01 9.17629299e+01] [ 2.20717128e-01 2.52401693e-03 9.75334598e-01 3.56045424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.916875 meters 0.013688351139588214 Centerline is valid? [True, True] Translation: X:231.04, Y:91.78, Z:3.57 [[-5.92379119e-01 -7.94010142e-01 1.36509615e-01 2.31039975e+02] [ 7.74699614e-01 -6.07898780e-01 -1.74067748e-01 9.17843551e+01] [ 2.21195586e-01 2.63984653e-03 9.75225894e-01 3.56583980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.94687500000003 meters 0.013900200454338572 Centerline is valid? [True, True] Translation: X:231.02, Y:91.81, Z:3.57 [[-5.91689785e-01 -7.94441057e-01 1.36991261e-01 2.31023955e+02] [ 7.75029098e-01 -6.07334429e-01 -1.74570296e-01 9.18057815e+01] [ 2.21885319e-01 2.88075293e-03 9.75068514e-01 3.57085288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.976875 meters 0.013558000597500773 Centerline is valid? [True, True] Translation: X:231.01, Y:91.83, Z:3.58 [[-5.91462340e-01 -7.94567201e-01 1.37241624e-01 2.31009409e+02] [ 7.75112192e-01 -6.07168793e-01 -1.74777422e-01 9.18274208e+01] [ 2.22201239e-01 3.00339276e-03 9.74996200e-01 3.57739315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.00687500000004 meters 0.014524529305342466 Centerline is valid? [True, True] Translation: X:230.99, Y:91.85, Z:3.58 [[-5.91261656e-01 -7.94692107e-01 1.37383072e-01 2.30992468e+02] [ 7.75228242e-01 -6.07004654e-01 -1.74832846e-01 9.18465204e+01] [ 2.22330447e-01 3.13127880e-03 9.74966342e-01 3.58220063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.036875 meters 0.013744036107868311 Centerline is valid? [True, True] Translation: X:230.98, Y:91.87, Z:3.59 [[-5.91309650e-01 -7.94662190e-01 1.37349561e-01 2.30978226e+02] [ 7.75235201e-01 -6.07043483e-01 -1.74667092e-01 9.18687130e+01] [ 2.22178489e-01 3.19587731e-03 9.75000772e-01 3.58957686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06687500000004 meters 0.013862882450147248 Centerline is valid? [True, True] Translation: X:230.96, Y:91.89, Z:3.60 [[-5.91119706e-01 -7.94873386e-01 1.36944489e-01 2.30962341e+02] [ 7.75594203e-01 -6.06766151e-01 -1.74035830e-01 9.18904182e+01] [ 2.21429730e-01 3.33734294e-03 9.75170619e-01 3.59641355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.096875 meters 0.014558128357594988 Centerline is valid? [True, True] Translation: X:230.95, Y:91.91, Z:3.60 [[-5.91201876e-01 -7.94837662e-01 1.36797050e-01 2.30945135e+02] [ 7.75626269e-01 -6.06812636e-01 -1.73730588e-01 9.19093440e+01] [ 2.21097792e-01 3.39353599e-03 9.75245738e-01 3.60186897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.126875 meters 0.014498315135642786 Centerline is valid? [True, True] Translation: X:230.93, Y:91.93, Z:3.61 [[-5.90745416e-01 -7.95280363e-01 1.36194704e-01 2.30929222e+02] [ 7.76279153e-01 -6.06231018e-01 -1.72842790e-01 9.19305736e+01] [ 2.20023931e-01 3.61902349e-03 9.75487761e-01 3.60869504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.156875 meters 0.01453843867146887 Centerline is valid? [True, True] Translation: X:230.91, Y:91.95, Z:3.62 [[-5.90458956e-01 -7.95505204e-01 1.36123808e-01 2.30912574e+02] [ 7.76555486e-01 -6.05935019e-01 -1.72639304e-01 9.19513146e+01] [ 2.19817647e-01 3.77126631e-03 9.75533690e-01 3.61512896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.186875 meters 0.014522477323695354 Centerline is valid? [True, True] Translation: X:230.90, Y:91.97, Z:3.62 [[-5.90466282e-01 -7.95505434e-01 1.36090683e-01 2.30895254e+02] [ 7.76590961e-01 -6.05934274e-01 -1.72482275e-01 9.19720541e+01] [ 2.19672596e-01 3.84182659e-03 9.75566087e-01 3.62097717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.216875 meters 0.014648763831363206 Centerline is valid? [True, True] Translation: X:230.88, Y:91.99, Z:3.63 [[-5.90066944e-01 -7.95857034e-01 1.35766653e-01 2.30877620e+02] [ 7.77068543e-01 -6.05471147e-01 -1.71956882e-01 9.19921220e+01] [ 2.19055885e-01 4.03392362e-03 9.75703975e-01 3.62658274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.246875 meters 0.01470940831476175 Centerline is valid? [True, True] Translation: X:230.86, Y:92.01, Z:3.63 [[-5.90344885e-01 -7.95626289e-01 1.35910725e-01 2.30860616e+02] [ 7.76817326e-01 -6.05774391e-01 -1.72023922e-01 9.20124236e+01] [ 2.19197991e-01 4.02436329e-03 9.75672099e-01 3.63245735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.276875 meters 0.014969503406079759 Centerline is valid? [True, True] Translation: X:230.84, Y:92.03, Z:3.64 [[-5.90457175e-01 -7.95494206e-01 1.36195788e-01 2.30843496e+02] [ 7.76627699e-01 -6.05947622e-01 -1.72269836e-01 9.20317089e+01] [ 2.19567170e-01 4.05546075e-03 9.75588956e-01 3.63774921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.306875 meters 0.014986320881152267 Centerline is valid? [True, True] Translation: X:230.83, Y:92.05, Z:3.64 [[-5.90882209e-01 -7.95116791e-01 1.36555864e-01 2.30826544e+02] [ 7.76159394e-01 -6.06443267e-01 -1.72635915e-01 9.20521029e+01] [ 2.20079099e-01 3.98162543e-03 9.75473904e-01 3.64273325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.336875 meters 0.014679079848164106 Centerline is valid? [True, True] Translation: X:230.81, Y:92.07, Z:3.65 [[-5.91695928e-01 -7.94357252e-01 1.37449935e-01 2.30809083e+02] [ 7.75153223e-01 -6.07439012e-01 -1.73652892e-01 9.20727994e+01] [ 2.21434887e-01 3.79505145e-03 9.75167775e-01 3.64698105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.366875 meters 0.014165541483658556 Centerline is valid? [True, True] Translation: X:230.79, Y:92.09, Z:3.65 [[-5.92342828e-01 -7.93817753e-01 1.37780075e-01 2.30792584e+02] [ 7.74531626e-01 -6.08144624e-01 -1.73956540e-01 9.20944897e+01] [ 2.21880001e-01 3.67311656e-03 9.75067061e-01 3.65254782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.396875 meters 0.014276631519404889 Centerline is valid? [True, True] Translation: X:230.78, Y:92.11, Z:3.66 [[-5.93898065e-01 -7.92581214e-01 1.38203141e-01 2.30775252e+02] [ 7.73167345e-01 -6.09757485e-01 -1.74379087e-01 9.21135538e+01] [ 2.22479988e-01 3.29075323e-03 9.74931703e-01 3.65674124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.426875 meters 0.01356711301772848 Centerline is valid? [True, True] Translation: X:230.76, Y:92.13, Z:3.66 [[-5.95189786e-01 -7.91623216e-01 1.38136899e-01 2.30759711e+02] [ 7.72230568e-01 -6.11002160e-01 -1.74173217e-01 9.21346129e+01] [ 2.22281506e-01 3.00741608e-03 9.74977891e-01 3.66288034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.456875 meters 0.013509938827320774 Centerline is valid? [True, True] Translation: X:230.74, Y:92.15, Z:3.67 [[-5.96007219e-01 -7.91040502e-01 1.37950422e-01 2.30743050e+02] [ 7.71711745e-01 -6.11757103e-01 -1.73822411e-01 9.21547794e+01] [ 2.21892717e-01 2.85854898e-03 9.75066896e-01 3.66879269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.486875 meters 0.013306483423935837 Centerline is valid? [True, True] Translation: X:230.73, Y:92.17, Z:3.68 [[-5.97872273e-01 -7.89742065e-01 1.37317934e-01 2.30726502e+02] [ 7.70584097e-01 -6.13434217e-01 -1.72912150e-01 9.21745622e+01] [ 2.20791518e-01 2.43563593e-03 9.75317986e-01 3.67509590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.516875 meters 0.01316450967042317 Centerline is valid? [True, True] Translation: X:230.71, Y:92.19, Z:3.68 [[-5.98884198e-01 -7.89018159e-01 1.37069551e-01 2.30709772e+02] [ 7.69938229e-01 -6.14365797e-01 -1.72481276e-01 9.21946150e+01] [ 2.20301703e-01 2.23877712e-03 9.75429212e-01 3.68101174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.546875 meters 0.012934263256785719 Centerline is valid? [True, True] Translation: X:230.69, Y:92.22, Z:3.69 [[-5.99941360e-01 -7.88268520e-01 1.36759299e-01 2.30692944e+02] [ 7.69282862e-01 -6.15328053e-01 -1.71974607e-01 9.22157364e+01] [ 2.19714002e-01 2.03190541e-03 9.75562212e-01 3.68751222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57687500000003 meters 0.01275570779589536 Centerline is valid? [True, True] Translation: X:230.68, Y:92.24, Z:3.69 [[-6.01374233e-01 -7.87259355e-01 1.36278171e-01 2.30675579e+02] [ 7.68406534e-01 -6.16619608e-01 -1.71264876e-01 9.22360875e+01] [ 2.18861669e-01 1.72275381e-03 9.75754376e-01 3.69343169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.606875 meters 0.012754930742123203 Centerline is valid? [True, True] Translation: X:230.66, Y:92.26, Z:3.70 [[-6.02233344e-01 -7.86638468e-01 1.36069539e-01 2.30658611e+02] [ 7.67853031e-01 -6.17411916e-01 -1.70892508e-01 9.22568336e+01] [ 2.18441576e-01 1.56424124e-03 9.75848775e-01 3.69930813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63687500000003 meters 0.012468668016577816 Centerline is valid? [True, True] Translation: X:230.64, Y:92.28, Z:3.70 [[-6.03112305e-01 -7.85969301e-01 1.36043399e-01 2.30641047e+02] [ 7.67199108e-01 -6.18263958e-01 -1.70748959e-01 9.22776375e+01] [ 2.18314170e-01 1.39157661e-03 9.75877547e-01 3.70480486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.666875 meters 0.012432388793354125 Centerline is valid? [True, True] Translation: X:230.62, Y:92.30, Z:3.71 [[-6.03170742e-01 -7.85884089e-01 1.36276391e-01 2.30623490e+02] [ 7.67064549e-01 -6.18372218e-01 -1.70961336e-01 9.22982730e+01] [ 2.18625328e-01 1.41391240e-03 9.75807854e-01 3.71003460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69687500000003 meters 0.012581032469224209 Centerline is valid? [True, True] Translation: X:230.61, Y:92.32, Z:3.71 [[-6.02838440e-01 -7.86017388e-01 1.36976205e-01 2.30605214e+02] [ 7.67030828e-01 -6.18202464e-01 -1.71724846e-01 9.23175029e+01] [ 2.19657743e-01 1.54263386e-03 9.75575777e-01 3.71389835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.726875 meters 0.01270137183012904 Centerline is valid? [True, True] Translation: X:230.59, Y:92.34, Z:3.72 [[-6.02273983e-01 -7.86323592e-01 1.37699888e-01 2.30587897e+02] [ 7.67168550e-01 -6.17812417e-01 -1.72511546e-01 9.23364913e+01] [ 2.20722599e-01 1.73980716e-03 9.75335074e-01 3.71819651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75687500000004 meters 0.012901527646530141 Centerline is valid? [True, True] Translation: X:230.57, Y:92.36, Z:3.72 [[-6.01803905e-01 -7.86572717e-01 1.38330837e-01 2.30569707e+02] [ 7.67273112e-01 -6.17494689e-01 -1.73182793e-01 9.23564967e+01] [ 2.21639417e-01 1.91545116e-03 9.75126812e-01 3.72293093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.786875 meters 0.012978048853686166 Centerline is valid? [True, True] Translation: X:230.55, Y:92.38, Z:3.73 [[-6.00335018e-01 -7.87552515e-01 1.39136269e-01 2.30550380e+02] [ 7.68076332e-01 -6.16243018e-01 -1.74078404e-01 9.23762855e+01] [ 2.22837639e-01 2.36191336e-03 9.74852711e-01 3.72730131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81687500000004 meters 0.013455082356658614 Centerline is valid? [True, True] Translation: X:230.53, Y:92.40, Z:3.73 [[-5.99889616e-01 -7.87867244e-01 1.39275462e-01 2.30532264e+02] [ 7.68383617e-01 -6.15839849e-01 -1.74149069e-01 9.23953518e+01] [ 2.22977726e-01 2.54676555e-03 9.74820213e-01 3.73237695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.846875 meters 0.013446376294967846 Centerline is valid? [True, True] Translation: X:230.51, Y:92.42, Z:3.74 [[-5.98626818e-01 -7.88724150e-01 1.39857599e-01 2.30513845e+02] [ 7.69126146e-01 -6.14740177e-01 -1.74755505e-01 9.24158572e+01] [ 2.23809972e-01 2.95480389e-03 9.74628322e-01 3.73923470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.876875 meters 0.013641682040186927 Centerline is valid? [True, True] Translation: X:230.50, Y:92.44, Z:3.75 [[-5.98151321e-01 -7.89076477e-01 1.39904648e-01 2.30496379e+02] [ 7.69498252e-01 -6.14286884e-01 -1.74711375e-01 9.24356308e+01] [ 2.23802227e-01 3.15254227e-03 9.74629481e-01 3.74572268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.906875 meters 0.013935781159175807 Centerline is valid? [True, True] Translation: X:230.48, Y:92.45, Z:3.75 [[-5.97692258e-01 -7.89477124e-01 1.39605999e-01 2.30479274e+02] [ 7.70020153e-01 -6.13770753e-01 -1.74225218e-01 9.24546370e+01] [ 2.23232903e-01 3.36636893e-03 9.74759323e-01 3.75208805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.936875 meters 0.014166392844474329 Centerline is valid? [True, True] Translation: X:230.46, Y:92.47, Z:3.76 [[-5.97166536e-01 -7.89876102e-01 1.39598968e-01 2.30461582e+02] [ 7.70452222e-01 -6.13256055e-01 -1.74127492e-01 9.24747377e+01] [ 2.23149057e-01 3.57122356e-03 9.74777793e-01 3.75852387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.966875 meters 0.015004700027321176 Centerline is valid? [True, True] Translation: X:230.44, Y:92.49, Z:3.77 [[-5.95746419e-01 -7.91088487e-01 1.38799169e-01 2.30442290e+02] [ 7.71947121e-01 -6.11688184e-01 -1.73017945e-01 9.24934232e+01] [ 2.21774316e-01 4.07079759e-03 9.75089525e-01 3.76517175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.996875 meters 0.015257432623326893 Centerline is valid? [True, True] Translation: X:230.42, Y:92.51, Z:3.77 [[-5.95115316e-01 -7.91646967e-01 1.38321509e-01 2.30423919e+02] [ 7.72677321e-01 -6.10963452e-01 -1.72317784e-01 9.25141561e+01] [ 2.20924237e-01 4.32894068e-03 9.75281365e-01 3.77167842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.026875 meters 0.015798632557714187 Centerline is valid? [True, True] Translation: X:230.41, Y:92.53, Z:3.78 [[-5.94138287e-01 -7.92575782e-01 1.37198125e-01 2.30405313e+02] [ 7.73963020e-01 -6.09755348e-01 -1.70820548e-01 9.25337980e+01] [ 2.19045520e-01 4.69524692e-03 9.75703344e-01 3.77871145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.056875 meters 0.01608751929675968 Centerline is valid? [True, True] Translation: X:230.39, Y:92.55, Z:3.79 [[-5.93995000e-01 -7.92752760e-01 1.36795474e-01 2.30388199e+02] [ 7.74276951e-01 -6.09524367e-01 -1.70221178e-01 9.25537424e+01] [ 2.18323483e-01 4.80705394e-03 9.75864616e-01 3.78518386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.086875 meters 0.016201323617213863 Centerline is valid? [True, True] Translation: X:230.37, Y:92.57, Z:3.79 [[-5.94111872e-01 -7.92713737e-01 1.36513788e-01 2.30370934e+02] [ 7.74338241e-01 -6.09574771e-01 -1.69761267e-01 9.25742740e+01] [ 2.17787450e-01 4.85066280e-03 9.75984169e-01 3.79179548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.116875 meters 0.016201323617213863 Centerline is valid? [True, True] Translation: X:230.35, Y:92.59, Z:3.80 [[-5.94355585e-01 -7.92521808e-01 1.36567281e-01 2.30354422e+02] [ 7.74151194e-01 -6.09824281e-01 -1.69718224e-01 9.25945742e+01] [ 2.17787437e-01 4.85074945e-03 9.75984171e-01 3.79756604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.146875 meters 0.016744585193250776 Centerline is valid? [True, True] Translation: X:230.34, Y:92.61, Z:3.80 [[-5.94429044e-01 -7.92556546e-01 1.36044969e-01 2.30336951e+02] [ 7.74352827e-01 -6.09778646e-01 -1.68960653e-01 9.26135439e+01] [ 2.16868189e-01 4.91168694e-03 9.76188539e-01 3.80349695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.176875 meters 0.016921090189733985 Centerline is valid? [True, True] Translation: X:230.32, Y:92.63, Z:3.81 [[-5.94732831e-01 -7.92304388e-01 1.36185963e-01 2.30319571e+02] [ 7.74081343e-01 -6.10106370e-01 -1.69021573e-01 9.26339052e+01] [ 2.17004457e-01 4.89633475e-03 9.76158333e-01 3.80903585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.206875 meters 0.016418774471483367 Centerline is valid? [True, True] Translation: X:230.30, Y:92.65, Z:3.81 [[-5.94977451e-01 -7.92083510e-01 1.36402149e-01 2.30303072e+02] [ 7.73819915e-01 -6.10393149e-01 -1.69183165e-01 9.26548910e+01] [ 2.17266132e-01 4.89053073e-03 9.76100154e-01 3.81376512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.236875 meters 0.015405584160221659 Centerline is valid? [True, True] Translation: X:230.29, Y:92.68, Z:3.82 [[-5.95487377e-01 -7.91634441e-01 1.36783388e-01 2.30286682e+02] [ 7.73280014e-01 -6.10976095e-01 -1.69547139e-01 9.26764899e+01] [ 2.17790734e-01 4.80867942e-03 9.75983644e-01 3.81829043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.266875 meters 0.01567506135382653 Centerline is valid? [True, True] Translation: X:230.27, Y:92.70, Z:3.82 [[-5.95699286e-01 -7.91420157e-01 1.37100309e-01 2.30269028e+02] [ 7.72999415e-01 -6.11253604e-01 -1.69826195e-01 9.26965452e+01] [ 2.18206932e-01 4.81311495e-03 9.75890654e-01 3.82297923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.296875 meters 0.017026373400551877 Centerline is valid? [True, True] Translation: X:230.25, Y:92.71, Z:3.83 [[-5.96253024e-01 -7.90911716e-01 1.37626265e-01 2.30249872e+02] [ 7.72359863e-01 -6.11912091e-01 -1.70363831e-01 9.27146336e+01] [ 2.18957926e-01 4.71705391e-03 9.75722899e-01 3.82765121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.32687500000003 meters 0.015217461158393673 Centerline is valid? [True, True] Translation: X:230.24, Y:92.74, Z:3.83 [[-5.97055193e-01 -7.90205232e-01 1.38205600e-01 2.30235335e+02] [ 7.71503289e-01 -6.12825394e-01 -1.70961141e-01 9.27376069e+01] [ 2.19790290e-01 4.55283788e-03 9.75536519e-01 3.83317881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.356875 meters 0.016858898476714155 Centerline is valid? [True, True] Translation: X:230.22, Y:92.76, Z:3.84 [[-5.97765428e-01 -7.89604759e-01 1.38567015e-01 2.30216259e+02] [ 7.70813490e-01 -6.13599892e-01 -1.71294298e-01 9.27553784e+01] [ 2.20279498e-01 4.41551458e-03 9.75426802e-01 3.83793647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.38687500000003 meters 0.015347132660857018 Centerline is valid? [True, True] Translation: X:230.20, Y:92.78, Z:3.84 [[-5.98481886e-01 -7.89050603e-01 1.38631091e-01 2.30201370e+02] [ 7.70253886e-01 -6.14313240e-01 -1.71254765e-01 9.27779244e+01] [ 2.20291590e-01 4.28826158e-03 9.75424639e-01 3.84425386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.416875 meters 0.014481534725668618 Centerline is valid? [True, True] Translation: X:230.19, Y:92.80, Z:3.85 [[-5.99808112e-01 -7.88081128e-01 1.38413746e-01 2.30185743e+02] [ 7.69343299e-01 -6.15558428e-01 -1.70876298e-01 9.27990479e+01] [ 2.19866134e-01 3.99469876e-03 9.75521873e-01 3.85073716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.44687500000003 meters 0.014454914467417404 Centerline is valid? [True, True] Translation: X:230.17, Y:92.82, Z:3.86 [[-6.00491495e-01 -7.87596895e-01 1.38206712e-01 2.30168946e+02] [ 7.68928615e-01 -6.16178589e-01 -1.70507277e-01 9.28193168e+01] [ 2.19451019e-01 3.88292595e-03 9.75615792e-01 3.85656275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.476875 meters 0.014260466419244442 Centerline is valid? [True, True] Translation: X:230.15, Y:92.84, Z:3.86 [[-6.01292124e-01 -7.87052647e-01 1.37825663e-01 2.30152337e+02] [ 7.68499550e-01 -6.16874467e-01 -1.69924492e-01 9.28395376e+01] [ 2.18760654e-01 3.74470112e-03 9.75771363e-01 3.86268060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.50687500000004 meters 0.014872972852908308 Centerline is valid? [True, True] Translation: X:230.13, Y:92.86, Z:3.87 [[-6.01809899e-01 -7.86707240e-01 1.37537501e-01 2.30134432e+02] [ 7.68248845e-01 -6.17315283e-01 -1.69456641e-01 9.28582106e+01] [ 2.18216767e-01 3.68234274e-03 9.75893377e-01 3.86810726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.536875 meters 0.014537079141337467 Centerline is valid? [True, True] Translation: X:230.12, Y:92.88, Z:3.87 [[-6.02055728e-01 -7.86534031e-01 1.37452240e-01 2.30117607e+02] [ 7.68113794e-01 -6.17536016e-01 -1.69264491e-01 9.28788903e+01] [ 2.18013991e-01 3.67230543e-03 9.75938735e-01 3.87413341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56687500000004 meters 0.014814967120613748 Centerline is valid? [True, True] Translation: X:230.10, Y:92.90, Z:3.88 [[-6.02083590e-01 -7.86533371e-01 1.37333925e-01 2.30100617e+02] [ 7.68169669e-01 -6.17536463e-01 -1.69009100e-01 9.28978544e+01] [ 2.17740004e-01 3.73814962e-03 9.75999650e-01 3.87980702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.596875 meters 0.014785812302322357 Centerline is valid? [True, True] Translation: X:230.08, Y:92.92, Z:3.88 [[-6.02198119e-01 -7.86460553e-01 1.37248763e-01 2.30082529e+02] [ 7.68136971e-01 -6.17629044e-01 -1.68819305e-01 9.29176096e+01] [ 2.17538547e-01 3.76318099e-03 9.76044476e-01 3.88472357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.626875 meters 0.015240855308639402 Centerline is valid? [True, True] Translation: X:230.06, Y:92.94, Z:3.89 [[-6.02256602e-01 -7.86370093e-01 1.37510227e-01 2.30064532e+02] [ 7.67998058e-01 -6.17743942e-01 -1.69030778e-01 9.29363305e+01] [ 2.17866859e-01 3.80768512e-03 9.75971072e-01 3.88978066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.656875 meters 0.014914989546956704 Centerline is valid? [True, True] Translation: X:230.05, Y:92.96, Z:3.90 [[-6.02394848e-01 -7.86251140e-01 1.37584852e-01 2.30047100e+02] [ 7.67881606e-01 -6.17895137e-01 -1.69007216e-01 9.29567246e+01] [ 2.17895127e-01 3.83980087e-03 9.75964635e-01 3.89543850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.686875 meters 0.014943177457408518 Centerline is valid? [True, True] Translation: X:230.03, Y:92.98, Z:3.90 [[-6.02928328e-01 -7.85837817e-01 1.37609438e-01 2.30030492e+02] [ 7.67475500e-01 -6.18421203e-01 -1.68927715e-01 9.29758918e+01] [ 2.17850381e-01 3.76056807e-03 9.75974933e-01 3.90082088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.716875 meters 0.01492655280589827 Centerline is valid? [True, True] Translation: X:230.01, Y:93.00, Z:3.91 [[-6.03438811e-01 -7.85407157e-01 1.37830328e-01 2.30013255e+02] [ 7.66999799e-01 -6.18968516e-01 -1.69083662e-01 9.29960957e+01] [ 2.18112152e-01 3.68418984e-03 9.75916757e-01 3.90603067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.746875 meters 0.014962927805762936 Centerline is valid? [True, True] Translation: X:230.00, Y:93.02, Z:3.91 [[-6.03780880e-01 -7.85064717e-01 1.38282460e-01 2.29995756e+02] [ 7.66550597e-01 -6.19403039e-01 -1.69528930e-01 9.30153843e+01] [ 2.18743758e-01 3.64217571e-03 9.75775539e-01 3.91155344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.776875 meters 0.015153596231305837 Centerline is valid? [True, True] Translation: X:229.98, Y:93.03, Z:3.92 [[-6.03975742e-01 -7.84888680e-01 1.38430713e-01 2.29978773e+02] [ 7.66355459e-01 -6.19626017e-01 -1.69596314e-01 9.30343038e+01] [ 2.18889499e-01 3.65507305e-03 9.75742808e-01 3.91661607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.806875 meters 0.015148573625676998 Centerline is valid? [True, True] Translation: X:229.96, Y:93.05, Z:3.92 [[-6.03960558e-01 -7.84885212e-01 1.38516601e-01 2.29961327e+02] [ 7.66354002e-01 -6.19629975e-01 -1.69588433e-01 9.30544341e+01] [ 2.18936491e-01 3.72802675e-03 9.75731989e-01 3.92162739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.836875 meters 0.014810347180169492 Centerline is valid? [True, True] Translation: X:229.94, Y:93.07, Z:3.93 [[-6.03730620e-01 -7.84977041e-01 1.38997784e-01 2.29944675e+02] [ 7.66342102e-01 -6.19512929e-01 -1.70069144e-01 9.30749992e+01] [ 2.19611298e-01 3.84390404e-03 9.75579880e-01 3.92769343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.866875 meters 0.01448158831659236 Centerline is valid? [True, True] Translation: X:229.93, Y:93.10, Z:3.93 [[-6.03617058e-01 -7.85015518e-01 1.39273412e-01 2.29926977e+02] [ 7.66331961e-01 -6.19463587e-01 -1.70294423e-01 9.30958242e+01] [ 2.19958572e-01 3.93704795e-03 9.75501269e-01 3.93373334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.896875 meters 0.015084124747811322 Centerline is valid? [True, True] Translation: X:229.91, Y:93.11, Z:3.94 [[-6.03917574e-01 -7.84801885e-01 1.39174587e-01 2.29909137e+02] [ 7.66162657e-01 -6.19734317e-01 -1.70071041e-01 9.31143938e+01] [ 2.19723341e-01 3.92148059e-03 9.75554343e-01 3.93914768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.926875 meters 0.014523748058698074 Centerline is valid? [True, True] Translation: X:229.89, Y:93.14, Z:3.95 [[-6.04586676e-01 -7.84315246e-01 1.39012755e-01 2.29892292e+02] [ 7.65734156e-01 -6.20350732e-01 -1.69753263e-01 9.31353642e+01] [ 2.19376737e-01 3.81625374e-03 9.75632761e-01 3.94544013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.956875 meters 0.015384225911049425 Centerline is valid? [True, True] Translation: X:229.87, Y:93.15, Z:3.95 [[-6.05195127e-01 -7.83869439e-01 1.38879666e-01 2.29873998e+02] [ 7.65338279e-01 -6.20914520e-01 -1.69477074e-01 9.31536340e+01] [ 2.19080300e-01 3.72322536e-03 9.75699728e-01 3.95081204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.986875 meters 0.014534643369177064 Centerline is valid? [True, True] Translation: X:229.86, Y:93.18, Z:3.96 [[-6.05672765e-01 -7.83511942e-01 1.38814765e-01 2.29858401e+02] [ 7.65015730e-01 -6.21365902e-01 -1.69278908e-01 9.31753647e+01] [ 2.18886808e-01 3.66785461e-03 9.75743364e-01 3.95703962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.016875 meters 0.014477524679353771 Centerline is valid? [True, True] Translation: X:229.84, Y:93.19, Z:3.96 [[-6.06709155e-01 -7.82718887e-01 1.38762911e-01 2.29841692e+02] [ 7.64241331e-01 -6.22365832e-01 -1.69103395e-01 9.31948002e+01] [ 2.18721716e-01 3.45177385e-03 9.75781172e-01 3.96300773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.046875 meters 0.014341324351692917 Centerline is valid? [True, True] Translation: X:229.82, Y:93.22, Z:3.97 [[-6.07401534e-01 -7.82219756e-01 1.38548293e-01 2.29824495e+02] [ 7.63813362e-01 -6.22993650e-01 -1.68724807e-01 9.32151821e+01] [ 2.18294585e-01 3.34133074e-03 9.75877200e-01 3.96901916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07687500000003 meters 0.014217990589710265 Centerline is valid? [True, True] Translation: X:229.81, Y:93.24, Z:3.97 [[-6.08107355e-01 -7.81671146e-01 1.38548419e-01 2.29806676e+02] [ 7.63275439e-01 -6.23682517e-01 -1.68614121e-01 9.32350863e+01] [ 2.18211020e-01 3.21511785e-03 9.75896313e-01 3.97467151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.106875 meters 0.014323709984657077 Centerline is valid? [True, True] Translation: X:229.79, Y:93.25, Z:3.98 [[-6.08539174e-01 -7.81352647e-01 1.38448963e-01 2.29789258e+02] [ 7.63000282e-01 -6.24081722e-01 -1.68382224e-01 9.32545908e+01] [ 2.17969363e-01 3.16941859e-03 9.75950466e-01 3.98025489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13687500000003 meters 0.014212528605940678 Centerline is valid? [True, True] Translation: X:229.77, Y:93.28, Z:3.99 [[-6.08858085e-01 -7.81082023e-01 1.38573824e-01 2.29771444e+02] [ 7.62708454e-01 -6.24420590e-01 -1.68448038e-01 9.32751578e+01] [ 2.18100083e-01 3.13047742e-03 9.75921387e-01 3.98573445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.166875 meters 0.01445908570053917 Centerline is valid? [True, True] Translation: X:229.75, Y:93.29, Z:3.99 [[-6.09305885e-01 -7.80698679e-01 1.38765672e-01 2.29753809e+02] [ 7.62288777e-01 -6.24900115e-01 -1.68569473e-01 9.32945096e+01] [ 2.18316650e-01 3.06914261e-03 9.75873158e-01 3.99092865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19687500000003 meters 0.014667654229984908 Centerline is valid? [True, True] Translation: X:229.74, Y:93.31, Z:4.00 [[-6.09555276e-01 -7.80437572e-01 1.39138643e-01 2.29736513e+02] [ 7.61947003e-01 -6.25226229e-01 -1.68905082e-01 9.33135114e+01] [ 2.18813002e-01 3.05928830e-03 9.75762016e-01 3.99638460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.226875 meters 0.01431610464702552 Centerline is valid? [True, True] Translation: X:229.72, Y:93.33, Z:4.00 [[-6.10175913e-01 -7.79837781e-01 1.39779794e-01 2.29719555e+02] [ 7.61185005e-01 -6.25974788e-01 -1.69566959e-01 9.33337883e+01] [ 2.19733348e-01 2.93260910e-03 9.75555563e-01 4.00117027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25687500000004 meters 0.014343643366808292 Centerline is valid? [True, True] Translation: X:229.70, Y:93.35, Z:4.01 [[-6.10691529e-01 -7.79433384e-01 1.39783603e-01 2.29702179e+02] [ 7.60793802e-01 -6.26478598e-01 -1.69461963e-01 9.33543084e+01] [ 2.19655747e-01 2.85751306e-03 9.75573261e-01 4.00674151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.286875 meters 0.014324696154135489 Centerline is valid? [True, True] Translation: X:229.69, Y:93.37, Z:4.01 [[-6.11105599e-01 -7.79079796e-01 1.39945059e-01 2.29685521e+02] [ 7.60412108e-01 -6.26918503e-01 -1.69548271e-01 9.33736152e+01] [ 2.19825780e-01 2.80401973e-03 9.75535117e-01 4.01233221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31687500000004 meters 0.014102809647364942 Centerline is valid? [True, True] Translation: X:229.67, Y:93.39, Z:4.02 [[-6.12009031e-01 -7.78358164e-01 1.40012550e-01 2.29668823e+02] [ 7.59672795e-01 -6.27815103e-01 -1.69544802e-01 9.33947006e+01] [ 2.19868575e-01 2.60077513e-03 9.75526035e-01 4.01917200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.346875 meters 0.014026460252482954 Centerline is valid? [True, True] Translation: X:229.65, Y:93.41, Z:4.02 [[-6.12747738e-01 -7.77832298e-01 1.39703706e-01 2.29652583e+02] [ 7.59241474e-01 -6.28467008e-01 -1.69060948e-01 9.34142861e+01] [ 2.19300235e-01 2.47713420e-03 9.75654278e-01 4.02497992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.376875 meters 0.013949290326543939 Centerline is valid? [True, True] Translation: X:229.64, Y:93.43, Z:4.03 [[-6.13338737e-01 -7.77335213e-01 1.39876948e-01 2.29635844e+02] [ 7.58710860e-01 -6.29082124e-01 -1.69155291e-01 9.34346571e+01] [ 2.19484452e-01 2.37666749e-03 9.75613103e-01 4.03119384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.406875 meters 0.014124301573064718 Centerline is valid? [True, True] Translation: X:229.62, Y:93.45, Z:4.04 [[-6.13959415e-01 -7.76881841e-01 1.39672624e-01 2.29618857e+02] [ 7.58325090e-01 -6.29642283e-01 -1.68800633e-01 9.34544789e+01] [ 2.19081936e-01 2.28051686e-03 9.75703800e-01 4.03697063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.436875 meters 0.013783697222167011 Centerline is valid? [True, True] Translation: X:229.60, Y:93.48, Z:4.04 [[-6.15123146e-01 -7.75982619e-01 1.39551031e-01 2.29602265e+02] [ 7.57454418e-01 -6.30751081e-01 -1.68570102e-01 9.34756750e+01] [ 2.18829432e-01 2.01217348e-03 9.75761052e-01 4.04311062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.466875 meters 0.013631064784740526 Centerline is valid? [True, True] Translation: X:229.59, Y:93.50, Z:4.05 [[-6.15940310e-01 -7.75359343e-01 1.39410992e-01 2.29585530e+02] [ 7.56876841e-01 -6.31517568e-01 -1.68294412e-01 9.34960280e+01] [ 2.18529135e-01 1.85763891e-03 9.75828656e-01 4.04904875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.496875 meters 0.013525435757560204 Centerline is valid? [True, True] Translation: X:229.57, Y:93.52, Z:4.06 [[-6.16336762e-01 -7.75026131e-01 1.39511619e-01 2.29568232e+02] [ 7.56532093e-01 -6.31926595e-01 -1.68309153e-01 9.35166980e+01] [ 2.18605094e-01 1.80989875e-03 9.75811732e-01 4.05517026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.526875 meters 0.01363856905351192 Centerline is valid? [True, True] Translation: X:229.55, Y:93.54, Z:4.06 [[-6.16185646e-01 -7.75081038e-01 1.39873638e-01 2.29550883e+02] [ 7.56515744e-01 -6.31858967e-01 -1.68636222e-01 9.35369376e+01] [ 2.19087150e-01 1.90538952e-03 9.75703433e-01 4.06117770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.556875 meters 0.013889792425860702 Centerline is valid? [True, True] Translation: X:229.53, Y:93.56, Z:4.07 [[-6.16105951e-01 -7.75055419e-01 1.40365788e-01 2.29533083e+02] [ 7.56381759e-01 -6.31890179e-01 -1.69119594e-01 9.35556465e+01] [ 2.19772820e-01 1.97453340e-03 9.75549081e-01 4.06581186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.586875 meters 0.013649497553178597 Centerline is valid? [True, True] Translation: X:229.52, Y:93.58, Z:4.07 [[-6.15944201e-01 -7.75101180e-01 1.40822238e-01 2.29516976e+02] [ 7.56331619e-01 -6.31833733e-01 -1.69554165e-01 9.35762594e+01] [ 2.20397874e-01 2.07240680e-03 9.75407854e-01 4.07208358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.616875 meters 0.013769286126757103 Centerline is valid? [True, True] Translation: X:229.50, Y:93.60, Z:4.08 [[-6.15087763e-01 -7.75600818e-01 1.41811196e-01 2.29498633e+02] [ 7.56602613e-01 -6.31219364e-01 -1.70630012e-01 9.35953248e+01] [ 2.21854750e-01 2.34228944e-03 9.75076912e-01 4.07735117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.646875 meters 0.013870649362892984 Centerline is valid? [True, True] Translation: X:229.48, Y:93.62, Z:4.08 [[-6.14707091e-01 -7.75828894e-01 1.42213641e-01 2.29480374e+02] [ 7.56753414e-01 -6.30938387e-01 -1.71000063e-01 9.36154442e+01] [ 2.22394835e-01 2.50570703e-03 9.74953465e-01 4.08294715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.676875 meters 0.014099182475754745 Centerline is valid? [True, True] Translation: X:229.46, Y:93.64, Z:4.09 [[-6.13809717e-01 -7.76525484e-01 1.42287753e-01 2.29461027e+02] [ 7.57474304e-01 -6.30079477e-01 -1.70975236e-01 9.36354126e+01] [ 2.22419221e-01 2.83305516e-03 9.74947006e-01 4.08931393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.706875 meters 0.014347796280334616 Centerline is valid? [True, True] Translation: X:229.44, Y:93.65, Z:4.10 [[-6.13457477e-01 -7.76872163e-01 1.41913940e-01 2.29443466e+02] [ 7.57954620e-01 -6.29651128e-01 -1.70423742e-01 9.36544694e+01] [ 2.21753733e-01 3.01660766e-03 9.75098037e-01 4.09544352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.736875 meters 0.014535320053564962 Centerline is valid? [True, True] Translation: X:229.43, Y:93.67, Z:4.10 [[-6.13150067e-01 -7.77137314e-01 1.41790660e-01 2.29425359e+02] [ 7.58287244e-01 -6.29323001e-01 -1.70155859e-01 9.36743538e+01] [ 2.21466591e-01 3.18697246e-03 9.75162752e-01 4.10219042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.766875 meters 0.014697598497121135 Centerline is valid? [True, True] Translation: X:229.41, Y:93.69, Z:4.11 [[-6.12597918e-01 -7.77699230e-01 1.41094645e-01 2.29406960e+02] [ 7.59075979e-01 -6.28627109e-01 -1.69208793e-01 9.36937094e+01] [ 2.20289467e-01 3.44460157e-03 9.75428462e-01 4.10987013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.796875 meters 0.014691134327261973 Centerline is valid? [True, True] Translation: X:229.39, Y:93.71, Z:4.12 [[-6.12260032e-01 -7.78031960e-01 1.40726410e-01 2.29388848e+02] [ 7.59541026e-01 -6.28214226e-01 -1.68654431e-01 9.37140556e+01] [ 2.19624870e-01 3.62711449e-03 9.75577655e-01 4.11634782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.82687500000003 meters 0.015236769890756372 Centerline is valid? [True, True] Translation: X:229.37, Y:93.73, Z:4.12 [[-6.11909499e-01 -7.78340372e-01 1.40545476e-01 2.29370015e+02] [ 7.59928399e-01 -6.27831060e-01 -1.68335942e-01 9.37332211e+01] [ 2.19261475e-01 3.79813681e-03 9.75658741e-01 4.12262844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.856875 meters 0.01554903169864967 Centerline is valid? [True, True] Translation: X:229.35, Y:93.75, Z:4.13 [[-6.11557032e-01 -7.78658276e-01 1.40318515e-01 2.29351482e+02] [ 7.60338628e-01 -6.27435651e-01 -1.67957358e-01 9.37508163e+01] [ 2.18822226e-01 3.97408374e-03 9.75756650e-01 4.12860998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.88687500000003 meters 0.015350675348901626 Centerline is valid? [True, True] Translation: X:229.33, Y:93.77, Z:4.13 [[-6.11293793e-01 -7.78856192e-01 1.40367132e-01 2.29333963e+02] [ 7.60555136e-01 -6.27189002e-01 -1.67898307e-01 9.37711140e+01] [ 2.18805358e-01 4.12175013e-03 9.75759820e-01 4.13445582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.916875 meters 0.01584781606141069 Centerline is valid? [True, True] Translation: X:229.31, Y:93.79, Z:4.14 [[-6.10519207e-01 -7.79422891e-01 1.40592515e-01 2.29314504e+02] [ 7.61102411e-01 -6.26482688e-01 -1.68055233e-01 9.37896698e+01] [ 2.19064873e-01 4.40435472e-03 9.75700355e-01 4.14009604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.94687500000003 meters 0.015998974369119484 Centerline is valid? [True, True] Translation: X:229.30, Y:93.81, Z:4.15 [[-6.10268677e-01 -7.79586657e-01 1.40772106e-01 2.29296012e+02] [ 7.61246855e-01 -6.26277941e-01 -1.68164106e-01 9.38088991e+01] [ 2.19260958e-01 4.53703619e-03 9.75655701e-01 4.14547570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.976875 meters 0.016292822912587598 Centerline is valid? [True, True] Translation: X:229.28, Y:93.83, Z:4.15 [[-6.09948523e-01 -7.79725779e-01 1.41387796e-01 2.29277501e+02] [ 7.61252259e-01 -6.26103670e-01 -1.68787417e-01 9.38278024e+01] [ 2.20131319e-01 4.68014348e-03 9.75459020e-01 4.15043418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.00687500000004 meters 0.017159721616320695 Centerline is valid? [True, True] Translation: X:229.26, Y:93.85, Z:4.16 [[-6.09350260e-01 -7.80112689e-01 1.41832480e-01 2.29258173e+02] [ 7.61556695e-01 -6.25619786e-01 -1.69207813e-01 9.38464286e+01] [ 2.20734367e-01 4.90664978e-03 9.75321621e-01 4.15538654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.036875 meters 0.017159721616320695 Centerline is valid? [True, True] Translation: X:229.24, Y:93.87, Z:4.16 [[-6.09588342e-01 -7.79920155e-01 1.41868270e-01 2.29241265e+02] [ 7.61365997e-01 -6.25859961e-01 -1.69177800e-01 9.38663783e+01] [ 2.20734846e-01 4.88486193e-03 9.75321622e-01 4.16116611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.06687500000004 meters 0.016512340233135282 Centerline is valid? [True, True] Translation: X:229.22, Y:93.89, Z:4.17 [[-6.08809275e-01 -7.80313138e-01 1.43047804e-01 2.29222930e+02] [ 7.61480882e-01 -6.25367873e-01 -1.70475481e-01 9.38873514e+01] [ 2.22481759e-01 5.14111381e-03 9.74923298e-01 4.16685903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.096875 meters 0.016811333639707143 Centerline is valid? [True, True] Translation: X:229.20, Y:93.91, Z:4.17 [[-6.08646172e-01 -7.80406931e-01 1.43230094e-01 2.29204916e+02] [ 7.61551705e-01 -6.25249942e-01 -1.70591647e-01 9.39066340e+01] [ 2.22685511e-01 5.24716968e-03 9.74876213e-01 4.17256110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.126875 meters 0.017183811031857576 Centerline is valid? [True, True] Translation: X:229.19, Y:93.93, Z:4.18 [[-6.08290973e-01 -7.80568688e-01 1.43856231e-01 2.29185717e+02] [ 7.61576549e-01 -6.25046661e-01 -1.71224505e-01 9.39256492e+01] [ 2.23569344e-01 5.40321119e-03 9.74673050e-01 4.17847269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.156875 meters 0.017326600579032948 Centerline is valid? [True, True] Translation: X:229.17, Y:93.95, Z:4.18 [[-6.08300509e-01 -7.80509309e-01 1.44137812e-01 2.29167411e+02] [ 7.61464575e-01 -6.25120308e-01 -1.71453497e-01 9.39450188e+01] [ 2.23924524e-01 5.46058759e-03 9.74591191e-01 4.18438417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.186875 meters 0.017712974638431304 Centerline is valid? [True, True] Translation: X:229.15, Y:93.96, Z:4.19 [[-6.07965720e-01 -7.80724840e-01 1.44382850e-01 2.29149187e+02] [ 7.61646126e-01 -6.24849682e-01 -1.71633487e-01 9.39643887e+01] [ 2.24216105e-01 5.62136177e-03 9.74523237e-01 4.19021835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.216875 meters 0.017613411223450077 Centerline is valid? [True, True] Translation: X:229.13, Y:93.98, Z:4.20 [[-6.07991847e-01 -7.80670425e-01 1.44566942e-01 2.29131364e+02] [ 7.61565159e-01 -6.24917167e-01 -1.71747030e-01 9.39840228e+01] [ 2.24420191e-01 5.67635276e-03 9.74475940e-01 4.19688409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.246875 meters 0.017397772670531848 Centerline is valid? [True, True] Translation: X:229.11, Y:94.00, Z:4.20 [[-6.07736032e-01 -7.80897149e-01 1.44418000e-01 2.29113882e+02] [ 7.61863517e-01 -6.24632464e-01 -1.71459228e-01 9.40039769e+01] [ 2.24100193e-01 5.82485409e-03 9.74548703e-01 4.20419659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.276875 meters 0.017541198334160322 Centerline is valid? [True, True] Translation: X:229.10, Y:94.02, Z:4.21 [[-6.07872396e-01 -7.80884697e-01 1.43910528e-01 2.29096117e+02] [ 7.62011575e-01 -6.24647602e-01 -1.70744642e-01 9.40229626e+01] [ 2.23225245e-01 5.87053320e-03 9.74749212e-01 4.21080507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.306875 meters 0.017791817547716308 Centerline is valid? [True, True] Translation: X:229.08, Y:94.04, Z:4.22 [[-6.08130783e-01 -7.80715197e-01 1.43738418e-01 2.29078808e+02] [ 7.61908804e-01 -6.24859415e-01 -1.70427949e-01 9.40418529e+01] [ 2.22871993e-01 5.87308436e-03 9.74830027e-01 4.21657623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.336875 meters 0.01802658057658055 Centerline is valid? [True, True] Translation: X:229.06, Y:94.06, Z:4.22 [[-6.08626092e-01 -7.80344584e-01 1.43654480e-01 2.29060951e+02] [ 7.61577127e-01 -6.25322783e-01 -1.70210745e-01 9.40608646e+01] [ 2.22653452e-01 5.80926577e-03 9.74880348e-01 4.22261822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.366875 meters 0.018324039753338694 Centerline is valid? [True, True] Translation: X:229.04, Y:94.08, Z:4.23 [[-6.09179376e-01 -7.79901421e-01 1.43715906e-01 2.29043134e+02] [ 7.61132143e-01 -6.25876189e-01 -1.70167145e-01 9.40793365e+01] [ 2.22661962e-01 5.72447993e-03 9.74878906e-01 4.22753190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.396875 meters 0.018098743444796846 Centerline is valid? [True, True] Translation: X:229.03, Y:94.10, Z:4.23 [[-6.09712609e-01 -7.79405680e-01 1.44143402e-01 2.29025779e+02] [ 7.60535956e-01 -6.26494241e-01 -1.70557985e-01 9.40995404e+01] [ 2.23238873e-01 5.63488554e-03 9.74747482e-01 4.23342350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.426875 meters 0.0181119758790358 Centerline is valid? [True, True] Translation: X:229.01, Y:94.12, Z:4.24 [[-6.10905077e-01 -7.78413701e-01 1.44454482e-01 2.29008529e+02] [ 7.59458994e-01 -6.27728799e-01 -1.70817423e-01 9.41192339e+01] [ 2.23644861e-01 5.35402455e-03 9.74655996e-01 4.23834025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.456875 meters 0.016323730238562713 Centerline is valid? [True, True] Translation: X:228.99, Y:94.14, Z:4.24 [[-6.11742481e-01 -7.77684652e-01 1.44836872e-01 2.28994117e+02] [ 7.58634216e-01 -6.28633282e-01 -1.71155847e-01 9.41417589e+01] [ 2.24154554e-01 5.17490391e-03 9.74539869e-01 4.24468867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.486875 meters 0.01624866338928722 Centerline is valid? [True, True] Translation: X:228.98, Y:94.16, Z:4.25 [[-6.12771070e-01 -7.76857309e-01 1.44928733e-01 2.28977151e+02] [ 7.57785832e-01 -6.29657232e-01 -1.71150237e-01 9.41620201e+01] [ 2.24214737e-01 4.94902707e-03 9.74527198e-01 4.24954970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.516875 meters 0.015688381580801762 Centerline is valid? [True, True] Translation: X:228.96, Y:94.18, Z:4.26 [[-6.13791701e-01 -7.75958979e-01 1.45421492e-01 2.28960453e+02] [ 7.56757383e-01 -6.30765780e-01 -1.71618165e-01 9.41831964e+01] [ 2.24895557e-01 4.71098195e-03 9.74371487e-01 4.25528219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.546875 meters 0.015262465800347558 Centerline is valid? [True, True] Translation: X:228.94, Y:94.20, Z:4.26 [[-6.15929203e-01 -7.74135142e-01 1.46102702e-01 2.28944092e+02] [ 7.54726929e-01 -6.33006834e-01 -1.72306734e-01 9.42046049e+01] [ 2.25872706e-01 4.13889438e-03 9.74148033e-01 4.25971043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57687500000003 meters 0.015296663576296618 Centerline is valid? [True, True] Translation: X:228.93, Y:94.22, Z:4.26 [[-6.17168194e-01 -7.73076021e-01 1.46481692e-01 2.28927362e+02] [ 7.53560025e-01 -6.34301832e-01 -1.72651310e-01 9.42246532e+01] [ 2.26386193e-01 3.82785064e-03 9.74030102e-01 4.26452416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.606875 meters 0.014400048946968311 Centerline is valid? [True, True] Translation: X:228.91, Y:94.25, Z:4.27 [[-6.19177742e-01 -7.71457816e-01 1.46532462e-01 2.28912183e+02] [ 7.51910678e-01 -6.36271845e-01 -1.72593371e-01 9.42481045e+01] [ 2.26382985e-01 3.31334907e-03 9.74032733e-01 4.27177939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63687500000003 meters 0.014338702814878049 Centerline is valid? [True, True] Translation: X:228.90, Y:94.27, Z:4.28 [[-6.20202481e-01 -7.70610251e-01 1.46658528e-01 2.28895589e+02] [ 7.51021142e-01 -6.37299410e-01 -1.72675146e-01 9.42686156e+01] [ 2.26530631e-01 3.05010068e-03 9.73999266e-01 4.27812302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.666875 meters 0.01473519479330677 Centerline is valid? [True, True] Translation: X:228.88, Y:94.29, Z:4.28 [[-6.21291626e-01 -7.69759247e-01 1.46517635e-01 2.28878651e+02] [ 7.50211640e-01 -6.38328123e-01 -1.72394031e-01 9.42877924e+01] [ 2.26228227e-01 2.81226769e-03 9.74070265e-01 4.28262351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69687500000003 meters 0.014134060625803305 Centerline is valid? [True, True] Translation: X:228.86, Y:94.31, Z:4.29 [[-6.22881672e-01 -7.68553899e-01 1.46093555e-01 2.28863323e+02] [ 7.49115605e-01 -6.39780373e-01 -1.71775683e-01 9.43097301e+01] [ 2.25486660e-01 2.44503726e-03 9.74243187e-01 4.29020709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.726875 meters 0.014140256080110129 Centerline is valid? [True, True] Translation: X:228.85, Y:94.33, Z:4.30 [[-6.23353547e-01 -7.68191173e-01 1.45988620e-01 2.28846491e+02] [ 7.48797309e-01 -6.40216080e-01 -1.71539969e-01 9.43304692e+01] [ 2.25239752e-01 2.38583803e-03 9.74300447e-01 4.29649879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75687500000004 meters 0.014061002254593629 Centerline is valid? [True, True] Translation: X:228.83, Y:94.35, Z:4.30 [[-6.23850927e-01 -7.67783038e-01 1.46011057e-01 2.28830119e+02] [ 7.48398120e-01 -6.40705750e-01 -1.71453772e-01 9.43499174e+01] [ 2.25189422e-01 2.31280621e-03 9.74312258e-01 4.30224002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.786875 meters 0.014150428603375223 Centerline is valid? [True, True] Translation: X:228.81, Y:94.37, Z:4.31 [[-6.23239322e-01 -7.68327256e-01 1.45759989e-01 2.28812831e+02] [ 7.49044774e-01 -6.40052076e-01 -1.71070941e-01 9.43705012e+01] [ 2.24732450e-01 2.56262090e-03 9.74417138e-01 4.30899545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81687500000004 meters 0.014205512975579091 Centerline is valid? [True, True] Translation: X:228.79, Y:94.39, Z:4.32 [[-6.22861364e-01 -7.68631609e-01 1.45770951e-01 2.28794899e+02] [ 7.49377964e-01 -6.39685816e-01 -1.70981648e-01 9.43907344e+01] [ 2.24669509e-01 2.73967583e-03 9.74431170e-01 4.31521175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.846875 meters 0.014555542750304335 Centerline is valid? [True, True] Translation: X:228.78, Y:94.41, Z:4.32 [[-6.22176858e-01 -7.69202811e-01 1.45681134e-01 2.28777224e+02] [ 7.50012270e-01 -6.38997628e-01 -1.70773611e-01 9.44090904e+01] [ 2.24449441e-01 3.01124932e-03 9.74481083e-01 4.32097211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.876875 meters 0.015323261372367263 Centerline is valid? [True, True] Translation: X:228.76, Y:94.43, Z:4.33 [[-6.19582389e-01 -7.71293138e-01 1.45686505e-01 2.28756931e+02] [ 7.52185411e-01 -6.36468468e-01 -1.70660472e-01 9.44278975e+01] [ 2.24354117e-01 3.84504070e-03 9.74500100e-01 4.32676377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.906875 meters 0.015582773667419227 Centerline is valid? [True, True] Translation: X:228.74, Y:94.45, Z:4.33 [[-6.18336284e-01 -7.72283151e-01 1.45735978e-01 2.28737643e+02] [ 7.53212428e-01 -6.35264115e-01 -1.70618123e-01 9.44479935e+01] [ 2.24346338e-01 4.27077370e-03 9.74500119e-01 4.33274561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.936875 meters 0.016620501065671905 Centerline is valid? [True, True] Translation: X:228.72, Y:94.47, Z:4.34 [[-6.15302660e-01 -7.74617369e-01 1.46186759e-01 2.28717179e+02] [ 7.55515014e-01 -6.32408783e-01 -1.71044421e-01 9.44669637e+01] [ 2.24943770e-01 5.20220364e-03 9.74357859e-01 4.33833694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.966875 meters 0.01742705695164551 Centerline is valid? [True, True] Translation: X:228.70, Y:94.49, Z:4.34 [[-6.14214235e-01 -7.75438344e-01 1.46411231e-01 2.28698363e+02] [ 7.56322803e-01 -6.31398664e-01 -1.71206148e-01 9.44856809e+01] [ 2.25203668e-01 5.57689950e-03 9.74295749e-01 4.34382617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.996875 meters 0.018056660026662934 Centerline is valid? [True, True] Translation: X:228.68, Y:94.51, Z:4.35 [[-6.13052950e-01 -7.76392047e-01 1.46224038e-01 2.28679570e+02] [ 7.57377036e-01 -6.30221819e-01 -1.70881491e-01 9.45050514e+01] [ 2.24824610e-01 5.98732634e-03 9.74380853e-01 4.34951933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.026875 meters 0.01806168777616385 Centerline is valid? [True, True] Translation: X:228.66, Y:94.53, Z:4.36 [[-6.12238291e-01 -7.77029822e-01 1.46249551e-01 2.28661580e+02] [ 7.58050195e-01 -6.29432354e-01 -1.70806362e-01 9.45251178e+01] [ 2.24775836e-01 6.29030584e-03 9.74390197e-01 4.35533001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.056875 meters 0.019519064624931304 Centerline is valid? [True, True] Translation: X:228.64, Y:94.54, Z:4.36 [[-6.10943284e-01 -7.78058122e-01 1.46198025e-01 2.28641669e+02] [ 7.59145489e-01 -6.28156196e-01 -1.70639739e-01 9.45431896e+01] [ 2.24602830e-01 6.73436855e-03 9.74427122e-01 4.36061144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.086875 meters 0.01861880935233879 Centerline is valid? [True, True] Translation: X:228.63, Y:94.56, Z:4.37 [[-6.10761821e-01 -7.78172039e-01 1.46349842e-01 2.28625380e+02] [ 7.59247360e-01 -6.28013794e-01 -1.70710634e-01 9.45641044e+01] [ 2.24751962e-01 6.85219345e-03 9.74391915e-01 4.36701781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.116875 meters 0.02056343255534099 Centerline is valid? [True, True] Translation: X:228.61, Y:94.58, Z:4.37 [[-6.10541169e-01 -7.78366458e-01 1.46236580e-01 2.28606009e+02] [ 7.59502810e-01 -6.27771287e-01 -1.70466104e-01 9.45811659e+01] [ 2.24488224e-01 6.99051919e-03 9.74451728e-01 4.37190141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.146875 meters 0.018884694832211186 Centerline is valid? [True, True] Translation: X:228.59, Y:94.60, Z:4.38 [[-6.10193982e-01 -7.78664190e-01 1.46100591e-01 2.28590574e+02] [ 7.59864645e-01 -6.27400161e-01 -1.70219740e-01 9.46031925e+01] [ 2.24207551e-01 7.14961274e-03 9.74515191e-01 4.37974680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.176875 meters 0.019154831328316153 Centerline is valid? [True, True] Translation: X:228.57, Y:94.62, Z:4.39 [[-6.09868059e-01 -7.78936849e-01 1.46007995e-01 2.28572027e+02] [ 7.60192318e-01 -6.27059765e-01 -1.70010855e-01 9.46236316e+01] [ 2.23983459e-01 7.30996606e-03 9.74565531e-01 4.38591651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.206875 meters 0.01976425242848378 Centerline is valid? [True, True] Translation: X:228.55, Y:94.64, Z:4.39 [[-6.09968115e-01 -7.78860081e-01 1.45999565e-01 2.28553839e+02] [ 7.60138946e-01 -6.27154685e-01 -1.69899335e-01 9.46424320e+01] [ 2.23892121e-01 7.34677792e-03 9.74586242e-01 4.39104327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.236875 meters 0.019346812605542413 Centerline is valid? [True, True] Translation: X:228.54, Y:94.66, Z:4.40 [[-6.09566436e-01 -7.79146525e-01 1.46148734e-01 2.28536263e+02] [ 7.60422051e-01 -6.26796534e-01 -1.69954139e-01 9.46633287e+01] [ 2.24024697e-01 7.53638131e-03 9.74554328e-01 4.39681495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.266875 meters 0.01968167088127006 Centerline is valid? [True, True] Translation: X:228.52, Y:94.68, Z:4.40 [[-6.09843367e-01 -7.78808422e-01 1.46794108e-01 2.28518628e+02] [ 7.59930332e-01 -6.27216865e-01 -1.70601565e-01 9.46826014e+01] [ 2.24937676e-01 7.51306282e-03 9.74344188e-01 4.40265988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.296875 meters 0.01930920342039986 Centerline is valid? [True, True] Translation: X:228.50, Y:94.70, Z:4.41 [[-6.09989445e-01 -7.78676700e-01 1.46885922e-01 2.28501110e+02] [ 7.59798538e-01 -6.27379989e-01 -1.70588778e-01 9.47035192e+01] [ 2.24986795e-01 7.54635508e-03 9.74332589e-01 4.40831007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.32687500000003 meters 0.021985031448010686 Centerline is valid? [True, True] Translation: X:228.48, Y:94.72, Z:4.41 [[-6.09943750e-01 -7.78624943e-01 1.47349310e-01 2.28480409e+02] [ 7.59648419e-01 -6.27443345e-01 -1.71023765e-01 9.47199935e+01] [ 2.25616713e-01 7.61879377e-03 9.74186354e-01 4.41238280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.356875 meters 0.019794317449958895 Centerline is valid? [True, True] Translation: X:228.47, Y:94.74, Z:4.42 [[-6.10039051e-01 -7.78505420e-01 1.47586134e-01 2.28465370e+02] [ 7.59491546e-01 -6.27591077e-01 -1.71178365e-01 9.47421546e+01] [ 2.25887026e-01 7.66493371e-03 9.74123350e-01 4.41957632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.38687500000003 meters 0.01969917912381994 Centerline is valid? [True, True] Translation: X:228.45, Y:94.76, Z:4.43 [[-6.09977831e-01 -7.78555690e-01 1.47573993e-01 2.28447786e+02] [ 7.59572892e-01 -6.27527590e-01 -1.71050129e-01 9.47619608e+01] [ 2.25778803e-01 7.75641770e-03 9.74147715e-01 4.42563130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.416875 meters 0.02075714836244473 Centerline is valid? [True, True] Translation: X:228.43, Y:94.78, Z:4.43 [[-6.09588672e-01 -7.78793980e-01 1.47924264e-01 2.28428242e+02] [ 7.59753456e-01 -6.27229559e-01 -1.71341084e-01 9.47801408e+01] [ 2.26221876e-01 7.93838676e-03 9.74043451e-01 4.43123550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.44687500000003 meters 0.020066021473993494 Centerline is valid? [True, True] Translation: X:228.41, Y:94.80, Z:4.44 [[-6.09406983e-01 -7.78948385e-01 1.47859874e-01 2.28411470e+02] [ 7.59954125e-01 -6.27036225e-01 -1.71158700e-01 9.48012108e+01] [ 2.26037290e-01 8.06141453e-03 9.74085292e-01 4.43760982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.476875 meters 0.019952268197610597 Centerline is valid? [True, True] Translation: X:228.39, Y:94.82, Z:4.44 [[-6.09341893e-01 -7.78955234e-01 1.48091870e-01 2.28393561e+02] [ 7.59927359e-01 -6.27026559e-01 -1.71312879e-01 9.48213733e+01] [ 2.26302599e-01 8.15094979e-03 9.74022944e-01 4.44390566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.50687500000004 meters 0.020613057552508966 Centerline is valid? [True, True] Translation: X:228.37, Y:94.84, Z:4.45 [[-6.08878219e-01 -7.79348896e-01 1.47927728e-01 2.28373958e+02] [ 7.60398796e-01 -6.26534534e-01 -1.71020899e-01 9.48409190e+01] [ 2.25966779e-01 8.35316594e-03 9.74099194e-01 4.45025488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.536875 meters 0.020699436872943316 Centerline is valid? [True, True] Translation: X:228.36, Y:94.86, Z:4.46 [[-6.08537945e-01 -7.79668818e-01 1.47641810e-01 2.28355194e+02] [ 7.60825497e-01 -6.26134130e-01 -1.70589022e-01 9.48613251e+01] [ 2.25446517e-01 8.51976127e-03 9.74218293e-01 4.45691463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.56687500000004 meters 0.021055333524702426 Centerline is valid? [True, True] Translation: X:228.34, Y:94.88, Z:4.46 [[-6.08695766e-01 -7.79584368e-01 1.47437028e-01 2.28336590e+02] [ 7.60815089e-01 -6.26238974e-01 -1.70250249e-01 9.48807848e+01] [ 2.25055246e-01 8.54170959e-03 9.74308563e-01 4.46302437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.596875 meters 0.021310304577034977 Centerline is valid? [True, True] Translation: X:228.32, Y:94.90, Z:4.47 [[-6.09040840e-01 -7.79388752e-01 1.47045670e-01 2.28318529e+02] [ 7.60740593e-01 -6.26482731e-01 -1.69685407e-01 9.49002310e+01] [ 2.24372470e-01 8.51826717e-03 9.74466230e-01 4.46959850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.626875 meters 0.021144478237314513 Centerline is valid? [True, True] Translation: X:228.30, Y:94.92, Z:4.48 [[-6.09608552e-01 -7.78977961e-01 1.46869838e-01 2.28301507e+02] [ 7.60388999e-01 -6.26994652e-01 -1.69370236e-01 9.49201996e+01] [ 2.24022284e-01 8.42866520e-03 9.74547574e-01 4.47612578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.656875 meters 0.02039447921810611 Centerline is valid? [True, True] Translation: X:228.28, Y:94.94, Z:4.48 [[-6.11180839e-01 -7.77842968e-01 1.46349919e-01 2.28284475e+02] [ 7.59380312e-01 -6.28407078e-01 -1.68659676e-01 9.49417162e+01] [ 2.23158068e-01 8.05368477e-03 9.74749001e-01 4.48296191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.686875 meters 0.019062665404216337 Centerline is valid? [True, True] Translation: X:228.27, Y:94.96, Z:4.49 [[-6.12099469e-01 -7.77128460e-01 1.46306517e-01 2.28267811e+02] [ 7.58679554e-01 -6.29292983e-01 -1.68510167e-01 9.49640549e+01] [ 2.23023711e-01 7.85477898e-03 9.74781374e-01 4.48944785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.716875 meters 0.019442545318114728 Centerline is valid? [True, True] Translation: X:228.25, Y:94.98, Z:4.49 [[-6.13093846e-01 -7.76316585e-01 1.46453051e-01 2.28249623e+02] [ 7.57829531e-01 -6.30297033e-01 -1.68582481e-01 9.49830300e+01] [ 2.23182299e-01 7.62956517e-03 9.74746865e-01 4.49453370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.746875 meters 0.019017393605386332 Centerline is valid? [True, True] Translation: X:228.23, Y:95.00, Z:4.50 [[-6.14832929e-01 -7.74842236e-01 1.46969312e-01 2.28230952e+02] [ 7.56205269e-01 -6.32113798e-01 -1.69073172e-01 9.50038719e+01] [ 2.23906365e-01 7.18721449e-03 9.74584159e-01 4.49927468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.776875 meters 0.018828008798070187 Centerline is valid? [True, True] Translation: X:228.21, Y:95.02, Z:4.50 [[-6.15810988e-01 -7.74015515e-01 1.47230462e-01 2.28213167e+02] [ 7.55311447e-01 -6.33128321e-01 -1.69272406e-01 9.50240261e+01] [ 2.24235244e-01 6.96504565e-03 9.74510156e-01 4.50442458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.806875 meters 0.018477278811733475 Centerline is valid? [True, True] Translation: X:228.20, Y:95.04, Z:4.51 [[-6.16940224e-01 -7.73035558e-01 1.47650893e-01 2.28195651e+02] [ 7.54221523e-01 -6.34327291e-01 -1.69643104e-01 9.50447227e+01] [ 2.24799142e-01 6.70182647e-03 9.74382077e-01 4.51000480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.836875 meters 0.01852640158876816 Centerline is valid? [True, True] Translation: X:228.18, Y:95.06, Z:4.52 [[-6.18063108e-01 -7.72066387e-01 1.48025296e-01 2.28178776e+02] [ 7.53151678e-01 -6.35509340e-01 -1.69971847e-01 9.50638454e+01] [ 2.25301008e-01 6.43217186e-03 9.74267973e-01 4.51570925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.866875 meters 0.017878796236567546 Centerline is valid? [True, True] Translation: X:228.16, Y:95.08, Z:4.52 [[-6.20265475e-01 -7.70225425e-01 1.48403284e-01 2.28161728e+02] [ 7.51188102e-01 -6.37744864e-01 -1.70287769e-01 9.50848440e+01] [ 2.25803401e-01 5.85515740e-03 9.74155296e-01 4.52181762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.896875 meters 0.017352092488720057 Centerline is valid? [True, True] Translation: X:228.14, Y:95.11, Z:4.53 [[-6.21678281e-01 -7.69093349e-01 1.48362852e-01 2.28143775e+02] [ 7.50057632e-01 -6.39112741e-01 -1.70142450e-01 9.51058415e+01] [ 2.25676016e-01 5.50682323e-03 9.74186846e-01 4.52764816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.926875 meters 0.017352092488720057 Centerline is valid? [True, True] Translation: X:228.13, Y:95.13, Z:4.53 [[-6.21921089e-01 -7.68887511e-01 1.48412112e-01 2.28126487e+02] [ 7.49856264e-01 -6.39360426e-01 -1.70099472e-01 9.51254642e+01] [ 2.25676190e-01 5.49930293e-03 9.74186848e-01 4.53342225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.956875 meters 0.016509361627194578 Centerline is valid? [True, True] Translation: X:228.11, Y:95.15, Z:4.54 [[-6.23938263e-01 -7.67235355e-01 1.48495641e-01 2.28109661e+02] [ 7.48161831e-01 -6.41346353e-01 -1.70084478e-01 9.51466697e+01] [ 2.25731963e-01 4.97655689e-03 9.74176737e-01 4.54002862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.986875 meters 0.0162355052039104 Centerline is valid? [True, True] Translation: X:228.09, Y:95.17, Z:4.55 [[-6.25182488e-01 -7.66250145e-01 1.48349495e-01 2.28092418e+02] [ 7.47210381e-01 -6.42525329e-01 -1.69817104e-01 9.51669602e+01] [ 2.25440688e-01 4.68160295e-03 9.74245646e-01 4.54647084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.016875 meters 0.01603607739648412 Centerline is valid? [True, True] Translation: X:228.08, Y:95.19, Z:4.55 [[-6.26521570e-01 -7.65186571e-01 1.48189857e-01 2.28076132e+02] [ 7.46184731e-01 -6.43793784e-01 -1.69522598e-01 9.51861318e+01] [ 2.25120125e-01 4.36744422e-03 9.74321228e-01 4.55260952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.046875 meters 0.015227519451695586 Centerline is valid? [True, True] Translation: X:228.06, Y:95.21, Z:4.56 [[-6.28448770e-01 -7.63687280e-01 1.47762923e-01 2.28059695e+02] [ 7.44781801e-01 -6.45574606e-01 -1.68918612e-01 9.52080520e+01] [ 2.24392987e-01 3.89444167e-03 9.74490955e-01 4.55987455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07687500000003 meters 0.015292453128627493 Centerline is valid? [True, True] Translation: X:228.04, Y:95.23, Z:4.57 [[-6.29598455e-01 -7.62780199e-01 1.47553904e-01 2.28042875e+02] [ 7.43927163e-01 -6.46647647e-01 -1.68579942e-01 9.52266896e+01] [ 2.24004827e-01 3.63168633e-03 9.74581268e-01 4.56590987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.106875 meters 0.014800589305965133 Centerline is valid? [True, True] Translation: X:228.03, Y:95.25, Z:4.57 [[-6.31617096e-01 -7.61153711e-01 1.47325737e-01 2.28025176e+02] [ 7.42335939e-01 -6.48564087e-01 -1.68231922e-01 9.52481727e+01] [ 2.23600534e-01 3.10703139e-03 9.74675919e-01 4.57206767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13687500000003 meters 0.014651423964301497 Centerline is valid? [True, True] Translation: X:228.01, Y:95.27, Z:4.58 [[-6.32732400e-01 -7.60254888e-01 1.47180893e-01 2.28007818e+02] [ 7.41473064e-01 -6.49618636e-01 -1.67968218e-01 9.52684024e+01] [ 2.23310110e-01 2.85173400e-03 9.74743280e-01 4.57841193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.166875 meters 0.014559669357983725 Centerline is valid? [True, True] Translation: X:227.99, Y:95.29, Z:4.58 [[-6.33747803e-01 -7.59400524e-01 1.47222844e-01 2.27990960e+02] [ 7.40610244e-01 -6.50618134e-01 -1.67906254e-01 9.52884019e+01] [ 2.23293949e-01 2.62452694e-03 9.74747621e-01 4.58443845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19687500000003 meters 0.014248035910804497 Centerline is valid? [True, True] Translation: X:227.97, Y:95.31, Z:4.59 [[-6.35739816e-01 -7.57737347e-01 1.47203935e-01 2.27974718e+02] [ 7.38932849e-01 -6.52556243e-01 -1.67775428e-01 9.53086643e+01] [ 2.23188555e-01 2.11230306e-03 9.74773003e-01 4.58986307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.226875 meters 0.0141621679718752 Centerline is valid? [True, True] Translation: X:227.96, Y:95.33, Z:4.60 [[-6.36646519e-01 -7.56995719e-01 1.47100953e-01 2.27957416e+02] [ 7.38224330e-01 -6.53416994e-01 -1.67544237e-01 9.53290540e+01] [ 2.22948533e-01 1.92704649e-03 9.74828312e-01 4.59634048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25687500000004 meters 0.01408228065526264 Centerline is valid? [True, True] Translation: X:227.94, Y:95.35, Z:4.60 [[-6.37206194e-01 -7.56533865e-01 1.47053654e-01 2.27939747e+02] [ 7.37786968e-01 -6.53951939e-01 -1.67383546e-01 9.53494057e+01] [ 2.22797343e-01 1.83643747e-03 9.74863053e-01 4.60212812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.286875 meters 0.014060604907378607 Centerline is valid? [True, True] Translation: X:227.92, Y:95.37, Z:4.61 [[-6.37877116e-01 -7.55845536e-01 1.47683142e-01 2.27922362e+02] [ 7.36942099e-01 -6.54747829e-01 -1.67992926e-01 9.53689038e+01] [ 2.23671920e-01 1.67508127e-03 9.74663053e-01 4.60625784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31687500000004 meters 0.014050657594678167 Centerline is valid? [True, True] Translation: X:227.90, Y:95.39, Z:4.61 [[-6.38023636e-01 -7.55655156e-01 1.48024070e-01 2.27904769e+02] [ 7.36683861e-01 -6.54967509e-01 -1.68268984e-01 9.53885599e+01] [ 2.24104282e-01 1.68735418e-03 9.74563709e-01 4.61141272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.346875 meters 0.01399146777006407 Centerline is valid? [True, True] Translation: X:227.89, Y:95.41, Z:4.62 [[-6.38547184e-01 -7.55181403e-01 1.48184148e-01 2.27887467e+02] [ 7.36180015e-01 -6.55513928e-01 -1.68346298e-01 9.54084012e+01] [ 2.24268766e-01 1.59315315e-03 9.74526030e-01 4.61693786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.376875 meters 0.01393271008672684 Centerline is valid? [True, True] Translation: X:227.87, Y:95.43, Z:4.62 [[-6.38815519e-01 -7.54881640e-01 1.48554510e-01 2.27869602e+02] [ 7.35800082e-01 -6.55859184e-01 -1.68662296e-01 9.54287530e+01] [ 2.24750910e-01 1.56232850e-03 9.74414998e-01 4.62269581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.406875 meters 0.013901674911786902 Centerline is valid? [True, True] Translation: X:227.85, Y:95.45, Z:4.63 [[-6.39043757e-01 -7.54689067e-01 1.48551300e-01 2.27852942e+02] [ 7.35627173e-01 -6.56080761e-01 -1.68554734e-01 9.54485496e+01] [ 2.24668064e-01 1.56452228e-03 9.74434099e-01 4.62886190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.436875 meters 0.014007619644076317 Centerline is valid? [True, True] Translation: X:227.84, Y:95.47, Z:4.64 [[-6.39259903e-01 -7.54578637e-01 1.48181837e-01 2.27835439e+02] [ 7.35634519e-01 -6.56207695e-01 -1.68027722e-01 9.54680097e+01] [ 2.24028191e-01 1.59428911e-03 9.74581360e-01 4.63525211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.466875 meters 0.014073698518706683 Centerline is valid? [True, True] Translation: X:227.82, Y:95.49, Z:4.64 [[-6.39090776e-01 -7.54743129e-01 1.48073593e-01 2.27817749e+02] [ 7.35854699e-01 -6.56018181e-01 -1.67803480e-01 9.54873936e+01] [ 2.23787493e-01 1.71899308e-03 9.74636447e-01 4.64134613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.496875 meters 0.013978874075584683 Centerline is valid? [True, True] Translation: X:227.80, Y:95.51, Z:4.65 [[-6.38617687e-01 -7.55186496e-01 1.47854002e-01 2.27800878e+02] [ 7.36389603e-01 -6.55507129e-01 -1.67453748e-01 9.55071898e+01] [ 2.23378161e-01 1.93922471e-03 9.74729930e-01 4.64834928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.526875 meters 0.014009653872803755 Centerline is valid? [True, True] Translation: X:227.78, Y:95.53, Z:4.65 [[-6.38329524e-01 -7.55448529e-01 1.47759735e-01 2.27783491e+02] [ 7.36707574e-01 -6.55204625e-01 -1.67238899e-01 9.55266669e+01] [ 2.23153242e-01 2.10218941e-03 9.74781110e-01 4.65446846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.556875 meters 0.014318960466459113 Centerline is valid? [True, True] Translation: X:227.77, Y:95.54, Z:4.66 [[-6.37306995e-01 -7.56360499e-01 1.47507934e-01 2.27765955e+02] [ 7.37733104e-01 -6.54150286e-01 -1.66845053e-01 9.55447504e+01] [ 2.22687365e-01 2.48996642e-03 9.74886731e-01 4.66087424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.586875 meters 0.01435522648086034 Centerline is valid? [True, True] Translation: X:227.75, Y:95.56, Z:4.67 [[-6.36724349e-01 -7.56856863e-01 1.47478108e-01 2.27748254e+02] [ 7.38269722e-01 -6.53575007e-01 -1.66725907e-01 9.55645890e+01] [ 2.22575652e-01 2.72017712e-03 9.74911627e-01 4.66701283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.616875 meters 0.01463606003193725 Centerline is valid? [True, True] Translation: X:227.73, Y:95.58, Z:4.67 [[-6.36056266e-01 -7.57430620e-01 1.47415341e-01 2.27730384e+02] [ 7.38899874e-01 -6.52908795e-01 -1.66544533e-01 9.55828767e+01] [ 2.22394701e-01 2.99348340e-03 9.74952120e-01 4.67261926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.646875 meters 0.015098652181757079 Centerline is valid? [True, True] Translation: X:227.71, Y:95.60, Z:4.68 [[-6.34665759e-01 -7.58544099e-01 1.47682851e-01 2.27711385e+02] [ 7.40001101e-01 -6.51612487e-01 -1.66731931e-01 9.56009892e+01] [ 2.22705512e-01 3.46642442e-03 9.74879602e-01 4.67749894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.676875 meters 0.015257144334888902 Centerline is valid? [True, True] Translation: X:227.69, Y:95.62, Z:4.68 [[-6.34116726e-01 -7.58974696e-01 1.47828916e-01 2.27692764e+02] [ 7.40424266e-01 -6.51109751e-01 -1.66817261e-01 9.56207309e+01] [ 2.22862928e-01 3.67450137e-03 9.74842866e-01 4.68316924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.706875 meters 0.015414629030554738 Centerline is valid? [True, True] Translation: X:227.67, Y:95.64, Z:4.69 [[-6.33745662e-01 -7.59224979e-01 1.48134625e-01 2.27674665e+02] [ 7.40628459e-01 -6.50816917e-01 -1.67053364e-01 9.56402460e+01] [ 2.23239606e-01 3.84337442e-03 9.74756024e-01 4.68899896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.736875 meters 0.015772437130401513 Centerline is valid? [True, True] Translation: X:227.66, Y:95.66, Z:4.69 [[-6.33254527e-01 -7.59608061e-01 1.48271030e-01 2.27656520e+02] [ 7.41012114e-01 -6.50368474e-01 -1.67098459e-01 9.56595847e+01] [ 2.23360140e-01 4.05477340e-03 9.74727555e-01 4.69431810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.766875 meters 0.0158026119474525 Centerline is valid? [True, True] Translation: X:227.64, Y:95.68, Z:4.70 [[-6.33066464e-01 -7.59762857e-01 1.48280995e-01 2.27639199e+02] [ 7.41191961e-01 -6.50186856e-01 -1.67007573e-01 9.56792798e+01] [ 2.23296505e-01 4.17778762e-03 9.74741615e-01 4.70032230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.796875 meters 0.015914126156176784 Centerline is valid? [True, True] Translation: X:227.62, Y:95.70, Z:4.71 [[-6.33011639e-01 -7.59779567e-01 1.48429360e-01 2.27621087e+02] [ 7.41196338e-01 -6.50166793e-01 -1.67066245e-01 9.56989671e+01] [ 2.23437360e-01 4.26042004e-03 9.74708980e-01 4.70636585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.82687500000003 meters 0.01587379521346837 Centerline is valid? [True, True] Translation: X:227.60, Y:95.72, Z:4.71 [[-6.32793534e-01 -7.59977559e-01 1.48345722e-01 2.27603636e+02] [ 7.41445527e-01 -6.49934423e-01 -1.66864542e-01 9.57186363e+01] [ 2.23228298e-01 4.39946927e-03 9.74756263e-01 4.71226717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.856875 meters 0.017226896780123586 Centerline is valid? [True, True] Translation: X:227.58, Y:95.74, Z:4.72 [[-6.31914811e-01 -7.60656923e-01 1.48609276e-01 2.27583389e+02] [ 7.42101721e-01 -6.49136935e-01 -1.67051714e-01 9.57366086e+01] [ 2.23536812e-01 4.72074694e-03 9.74684056e-01 4.71702266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.88687500000003 meters 0.016198992156745657 Centerline is valid? [True, True] Translation: X:227.57, Y:95.76, Z:4.72 [[-6.31778950e-01 -7.60735354e-01 1.48785348e-01 2.27567364e+02] [ 7.42161378e-01 -6.49044267e-01 -1.67146728e-01 9.57575250e+01] [ 2.23722702e-01 4.82295504e-03 9.74640904e-01 4.72358349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.916875 meters 0.01775007621672685 Centerline is valid? [True, True] Translation: X:227.55, Y:95.78, Z:4.73 [[-6.31315632e-01 -7.61128662e-01 1.48740489e-01 2.27547788e+02] [ 7.42601990e-01 -6.48581391e-01 -1.66986420e-01 9.57753234e+01] [ 2.23568464e-01 5.03384597e-03 9.74675229e-01 4.72861006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.94687500000003 meters 0.016344547214909997 Centerline is valid? [True, True] Translation: X:227.53, Y:95.80, Z:4.74 [[-6.31416494e-01 -7.61066028e-01 1.48632813e-01 2.27532551e+02] [ 7.42588422e-01 -6.48654555e-01 -1.66762418e-01 9.57968562e+01] [ 2.23328562e-01 5.07646453e-03 9.74730005e-01 4.73536804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.976875 meters 0.015912670544907852 Centerline is valid? [True, True] Translation: X:227.52, Y:95.82, Z:4.74 [[-6.31675027e-01 -7.60782100e-01 1.48987436e-01 2.27515059e+02] [ 7.42232779e-01 -6.48987649e-01 -1.67049496e-01 9.58185046e+01] [ 2.23779272e-01 5.06236335e-03 9.74626703e-01 4.74200784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.00687500000004 meters 0.016260666843876635 Centerline is valid? [True, True] Translation: X:227.50, Y:95.84, Z:4.75 [[-6.32196792e-01 -7.60301314e-01 1.49228443e-01 2.27497307e+02] [ 7.41701354e-01 -6.49551560e-01 -1.67218041e-01 9.58376808e+01] [ 2.24067664e-01 4.96822902e-03 9.74560926e-01 4.74732517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.036875 meters 0.016221786971199144 Centerline is valid? [True, True] Translation: X:227.48, Y:95.86, Z:4.75 [[-6.32560321e-01 -7.59990708e-01 1.49270108e-01 2.27479100e+02] [ 7.41396132e-01 -6.49915237e-01 -1.67158487e-01 9.58586776e+01] [ 2.24051815e-01 4.93045465e-03 9.74564762e-01 4.75337650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.06687500000004 meters 0.016112172291908766 Centerline is valid? [True, True] Translation: X:227.46, Y:95.88, Z:4.76 [[-6.32869328e-01 -7.59683441e-01 1.49524192e-01 2.27461038e+02] [ 7.41039100e-01 -6.50274630e-01 -1.67343831e-01 9.58796701e+01] [ 2.24360126e-01 4.89649534e-03 9.74494001e-01 4.75967017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.096875 meters 0.016108144702052848 Centerline is valid? [True, True] Translation: X:227.44, Y:95.90, Z:4.77 [[-6.33461476e-01 -7.59146154e-01 1.49745370e-01 2.27443447e+02] [ 7.40454142e-01 -6.50902655e-01 -1.67491484e-01 9.59002031e+01] [ 2.24620175e-01 4.78017633e-03 9.74434670e-01 4.76568191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.126875 meters 0.016188456293540394 Centerline is valid? [True, True] Translation: X:227.43, Y:95.92, Z:4.77 [[-6.33803277e-01 -7.58856123e-01 1.49769127e-01 2.27425792e+02] [ 7.40175716e-01 -6.51240970e-01 -1.67407018e-01 9.59203910e+01] [ 2.24573633e-01 4.75235430e-03 9.74445534e-01 4.77189455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.156875 meters 0.016455871848443646 Centerline is valid? [True, True] Translation: X:227.41, Y:95.94, Z:4.78 [[-6.34290244e-01 -7.58435377e-01 1.49838796e-01 2.27408339e+02] [ 7.39751150e-01 -6.51731451e-01 -1.67374883e-01 9.59389694e+01] [ 2.24597689e-01 4.67916665e-03 9.74440344e-01 4.77726611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.186875 meters 0.015927831693174674 Centerline is valid? [True, True] Translation: X:227.39, Y:95.96, Z:4.78 [[-6.35044174e-01 -7.57727977e-01 1.50223868e-01 2.27391664e+02] [ 7.38946941e-01 -6.52555034e-01 -1.67718055e-01 9.59597061e+01] [ 2.25114004e-01 4.49909455e-03 9.74322043e-01 4.78327774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.216875 meters 0.015865109243155557 Centerline is valid? [True, True] Translation: X:227.37, Y:95.98, Z:4.79 [[-6.35762196e-01 -7.57125647e-01 1.50223783e-01 2.27374192e+02] [ 7.38353597e-01 -6.53254733e-01 -1.67607340e-01 9.59799889e+01] [ 2.25034213e-01 4.35986021e-03 9.74341108e-01 4.78930560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.246875 meters 0.015411593696443078 Centerline is valid? [True, True] Translation: X:227.36, Y:96.00, Z:4.80 [[-6.37135982e-01 -7.55922247e-01 1.50463604e-01 2.27357810e+02] [ 7.37081921e-01 -6.54649091e-01 -1.67764148e-01 9.60006721e+01] [ 2.25317513e-01 4.01542719e-03 9.74277114e-01 4.79586791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.276875 meters 0.01528637213758656 Centerline is valid? [True, True] Translation: X:227.34, Y:96.02, Z:4.80 [[-6.38034536e-01 -7.55185795e-01 1.50354071e-01 2.27340775e+02] [ 7.36378519e-01 -6.55499637e-01 -1.67531795e-01 9.60209869e+01] [ 2.25074671e-01 3.82643728e-03 9.74334004e-01 4.80205553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.306875 meters 0.0151712448978888 Centerline is valid? [True, True] Translation: X:227.32, Y:96.04, Z:4.81 [[-6.38928641e-01 -7.54409370e-01 1.50454958e-01 2.27323428e+02] [ 7.35580685e-01 -6.56394189e-01 -1.67534249e-01 9.60415462e+01] [ 2.25147168e-01 3.62933092e-03 9.74318008e-01 4.80824374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.336875 meters 0.014683008119042011 Centerline is valid? [True, True] Translation: X:227.31, Y:96.06, Z:4.81 [[-6.39852742e-01 -7.53654083e-01 1.50312980e-01 2.27306563e+02] [ 7.34865790e-01 -6.57262305e-01 -1.67267850e-01 9.60625556e+01] [ 2.24857154e-01 3.43307402e-03 9.74385691e-01 4.81496376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.366875 meters 0.014398718751434721 Centerline is valid? [True, True] Translation: X:227.29, Y:96.08, Z:4.82 [[-6.41415449e-01 -7.52532466e-01 1.49268580e-01 2.27289439e+02] [ 7.33999937e-01 -6.58547935e-01 -1.66008163e-01 9.60837671e+01] [ 2.23227048e-01 3.08292788e-03 9.74761602e-01 4.82207439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.396875 meters 0.014387653531908247 Centerline is valid? [True, True] Translation: X:227.27, Y:96.10, Z:4.83 [[-6.42052651e-01 -7.52001705e-01 1.49203986e-01 2.27272111e+02] [ 7.33493740e-01 -6.59154499e-01 -1.65838111e-01 9.61035766e+01] [ 2.23059020e-01 2.96339105e-03 9.74800437e-01 4.82847075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.426875 meters 0.01416030313347473 Centerline is valid? [True, True] Translation: X:227.25, Y:96.12, Z:4.83 [[-6.42632236e-01 -7.51599120e-01 1.48736588e-01 2.27254578e+02] [ 7.33222502e-01 -6.59613844e-01 -1.65209982e-01 9.61247105e+01] [ 2.22280389e-01 2.88775292e-03 9.74978507e-01 4.83491490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.456875 meters 0.014202512813236704 Centerline is valid? [True, True] Translation: X:227.24, Y:96.15, Z:4.84 [[-6.43482335e-01 -7.50882209e-01 1.48682192e-01 2.27236919e+02] [ 7.32522806e-01 -6.60430608e-01 -1.65050756e-01 9.61451386e+01] [ 2.22127946e-01 2.70585058e-03 9.75013771e-01 4.84032260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.486875 meters 0.013995905421731377 Centerline is valid? [True, True] Translation: X:227.22, Y:96.17, Z:4.85 [[-6.43943443e-01 -7.50515603e-01 1.48536771e-01 2.27219067e+02] [ 7.32206262e-01 -6.60847431e-01 -1.64786720e-01 9.61658614e+01] [ 2.21835148e-01 2.64622589e-03 9.75080594e-01 4.84632945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.516875 meters 0.01412539255697437 Centerline is valid? [True, True] Translation: X:227.20, Y:96.18, Z:4.85 [[-6.44272156e-01 -7.50240213e-01 1.48502567e-01 2.27201687e+02] [ 7.31954196e-01 -6.61160176e-01 -1.64651986e-01 9.61845072e+01] [ 2.21712524e-01 2.61638694e-03 9.75108564e-01 4.85157727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.546875 meters 0.014036680803524 Centerline is valid? [True, True] Translation: X:227.18, Y:96.21, Z:4.86 [[-6.44069422e-01 -7.50439315e-01 1.48375919e-01 2.27183929e+02] [ 7.32209265e-01 -6.60933679e-01 -1.64427077e-01 9.62054923e+01] [ 2.21459185e-01 2.73976975e-03 9.75165793e-01 4.85733599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57687500000003 meters 0.014283656099248913 Centerline is valid? [True, True] Translation: X:227.17, Y:96.22, Z:4.86 [[-6.44296778e-01 -7.50204458e-01 1.48576357e-01 2.27166169e+02] [ 7.31940375e-01 -6.61200292e-01 -1.64552305e-01 9.62238924e+01] [ 2.21686603e-01 2.72851450e-03 9.75114150e-01 4.86265189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.606875 meters 0.014134373637397259 Centerline is valid? [True, True] Translation: X:227.15, Y:96.24, Z:4.87 [[-6.44406100e-01 -7.50128865e-01 1.48483886e-01 2.27149031e+02] [ 7.31905058e-01 -6.61285928e-01 -1.64365164e-01 9.62440796e+01] [ 2.21485358e-01 2.75819291e-03 9.75159796e-01 4.86859082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63687500000003 meters 0.013982802611670396 Centerline is valid? [True, True] Translation: X:227.13, Y:96.26, Z:4.87 [[-6.44318826e-01 -7.50136502e-01 1.48823652e-01 2.27131055e+02] [ 7.31853069e-01 -6.61276914e-01 -1.64632706e-01 9.62647651e+01] [ 2.21910647e-01 2.84109480e-03 9.75062866e-01 4.87496350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.666875 meters 0.014090596971892843 Centerline is valid? [True, True] Translation: X:227.11, Y:96.28, Z:4.88 [[-6.44509845e-01 -7.49949542e-01 1.48938723e-01 2.27113410e+02] [ 7.31654848e-01 -6.61488917e-01 -1.64662067e-01 9.62843303e+01] [ 2.22009557e-01 2.84541557e-03 9.75040338e-01 4.88082666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69687500000003 meters 0.013885833059003544 Centerline is valid? [True, True] Translation: X:227.09, Y:96.31, Z:4.89 [[-6.44804060e-01 -7.49688615e-01 1.48978872e-01 2.27094971e+02] [ 7.31401822e-01 -6.61784686e-01 -1.64597705e-01 9.63052394e+01] [ 2.21988962e-01 2.83015024e-03 9.75045071e-01 4.88675245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.726875 meters 0.014036028301414356 Centerline is valid? [True, True] Translation: X:227.08, Y:96.32, Z:4.89 [[-6.45424494e-01 -7.49157953e-01 1.48961689e-01 2.27077352e+02] [ 7.30883803e-01 -6.62385837e-01 -1.64480607e-01 9.63245830e+01] [ 2.21892068e-01 2.71387315e-03 9.75067457e-01 4.89217535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75687500000004 meters 0.013870287392267156 Centerline is valid? [True, True] Translation: X:227.06, Y:96.34, Z:4.90 [[-6.45794421e-01 -7.48828865e-01 1.49013077e-01 2.27060171e+02] [ 7.30559461e-01 -6.62757987e-01 -1.64422394e-01 9.63444236e+01] [ 2.21883842e-01 2.67984885e-03 9.75069423e-01 4.89812936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.786875 meters 0.013810903563549446 Centerline is valid? [True, True] Translation: X:227.04, Y:96.36, Z:4.90 [[-6.46397254e-01 -7.48307590e-01 1.49017924e-01 2.27042672e+02] [ 7.30047945e-01 -6.63346910e-01 -1.64319431e-01 9.63643989e+01] [ 2.21812057e-01 2.57460036e-03 9.75086039e-01 4.90378584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81687500000004 meters 0.013691485860605538 Centerline is valid? [True, True] Translation: X:227.03, Y:96.39, Z:4.91 [[-6.47271722e-01 -7.47583500e-01 1.48856403e-01 2.27025740e+02] [ 7.29369392e-01 -6.64163509e-01 -1.64033911e-01 9.63856036e+01] [ 2.21494036e-01 2.39679204e-03 9.75158781e-01 4.90971858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.846875 meters 0.013691485860605538 Centerline is valid? [True, True] Translation: X:227.01, Y:96.40, Z:4.92 [[-6.47512059e-01 -7.47364627e-01 1.48910203e-01 2.27008066e+02] [ 7.29156039e-01 -6.64409792e-01 -1.63985058e-01 9.64048844e+01] [ 2.21494029e-01 2.39647061e-03 9.75158783e-01 4.91548831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.876875 meters 0.013483201488378671 Centerline is valid? [True, True] Translation: X:226.99, Y:96.43, Z:4.92 [[-6.48250974e-01 -7.46703172e-01 1.49013580e-01 2.26990698e+02] [ 7.28476406e-01 -6.65153612e-01 -1.63990240e-01 9.64252637e+01] [ 2.21568954e-01 2.24604444e-03 9.75142120e-01 4.92186333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.906875 meters 0.013577210591583722 Centerline is valid? [True, True] Translation: X:226.97, Y:96.45, Z:4.93 [[-6.48727045e-01 -7.46246358e-01 1.49230001e-01 2.26973980e+02] [ 7.27978780e-01 -6.65666339e-01 -1.64119534e-01 9.64459561e+01] [ 2.21810993e-01 2.16749355e-03 9.75087271e-01 4.92778795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.936875 meters 0.013409045886728189 Centerline is valid? [True, True] Translation: X:226.96, Y:96.47, Z:4.93 [[-6.48984270e-01 -7.45990390e-01 1.49391281e-01 2.26956408e+02] [ 7.27700626e-01 -6.65953219e-01 -1.64189248e-01 9.64663334e+01] [ 2.21971205e-01 2.15588975e-03 9.75050838e-01 4.93378620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.966875 meters 0.013382256062662466 Centerline is valid? [True, True] Translation: X:226.94, Y:96.49, Z:4.94 [[-6.49020931e-01 -7.45926047e-01 1.49553211e-01 2.26938291e+02] [ 7.27619049e-01 -6.66025110e-01 -1.64259163e-01 9.64875157e+01] [ 2.22131383e-01 2.21013014e-03 9.75014238e-01 4.93988877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.996875 meters 0.013525254812224915 Centerline is valid? [True, True] Translation: X:226.92, Y:96.51, Z:4.95 [[-6.49154885e-01 -7.45832538e-01 1.49438153e-01 2.26921604e+02] [ 7.27573847e-01 -6.66129713e-01 -1.64035067e-01 9.65069892e+01] [ 2.21887884e-01 2.24312704e-03 9.75069605e-01 4.94514090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.026875 meters 0.013398415352311377 Centerline is valid? [True, True] Translation: X:226.90, Y:96.53, Z:4.95 [[-6.49453506e-01 -7.45613540e-01 1.49233348e-01 2.26903746e+02] [ 7.27425630e-01 -6.66374833e-01 -1.63696472e-01 9.65282445e+01] [ 2.21499653e-01 2.24291426e-03 9.75157871e-01 4.95122142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.056875 meters 0.013326220760775333 Centerline is valid? [True, True] Translation: X:226.89, Y:96.55, Z:4.96 [[-6.49720228e-01 -7.45412683e-01 1.49075678e-01 2.26885788e+02] [ 7.27280505e-01 -6.66599521e-01 -1.63426269e-01 9.65493018e+01] [ 2.21193789e-01 2.23848186e-03 9.75227305e-01 4.95729486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.086875 meters 0.01337509705410626 Centerline is valid? [True, True] Translation: X:226.87, Y:96.57, Z:4.96 [[-6.49754465e-01 -7.45331059e-01 1.49334349e-01 2.26868741e+02] [ 7.27155268e-01 -6.66690637e-01 -1.63611770e-01 9.65700638e+01] [ 2.21504746e-01 2.28178029e-03 9.75156624e-01 4.96305323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.116875 meters 0.013377442494968273 Centerline is valid? [True, True] Translation: X:226.85, Y:96.59, Z:4.97 [[-6.49612809e-01 -7.45360791e-01 1.49801502e-01 2.26850900e+02] [ 7.27094037e-01 -6.66657089e-01 -1.64020084e-01 9.65910065e+01] [ 2.22120373e-01 2.37023122e-03 9.75016370e-01 4.96899991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.146875 meters 0.013513132015091925 Centerline is valid? [True, True] Translation: X:226.83, Y:96.61, Z:4.97 [[-6.49613529e-01 -7.45344314e-01 1.49880342e-01 2.26833544e+02] [ 7.27079759e-01 -6.66675287e-01 -1.64009406e-01 9.66106594e+01] [ 2.22164998e-01 2.43223351e-03 9.75006050e-01 4.97417088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.176875 meters 0.013532719499460654 Centerline is valid? [True, True] Translation: X:226.82, Y:96.63, Z:4.98 [[-6.49383510e-01 -7.45466676e-01 1.50268066e-01 2.26816711e+02] [ 7.27129110e-01 -6.66538061e-01 -1.64348019e-01 9.66319878e+01] [ 2.22675357e-01 2.53939158e-03 9.74889346e-01 4.98011988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.206875 meters 0.013400396053479154 Centerline is valid? [True, True] Translation: X:226.80, Y:96.65, Z:4.99 [[-6.49449432e-01 -7.45447183e-01 1.50079753e-01 2.26799382e+02] [ 7.27179989e-01 -6.66559618e-01 -1.64035178e-01 9.66527120e+01] [ 2.22316664e-01 2.60243929e-03 9.74971040e-01 4.98614769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.236875 meters 0.013569477696984474 Centerline is valid? [True, True] Translation: X:226.78, Y:96.67, Z:4.99 [[-6.49496261e-01 -7.45451769e-01 1.49854154e-01 2.26783099e+02] [ 7.27262322e-01 -6.66554237e-01 -1.63691671e-01 9.66728762e+01] [ 2.21910167e-01 2.66615178e-03 9.75063469e-01 4.99240665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.266875 meters 0.013548600743268599 Centerline is valid? [True, True] Translation: X:226.77, Y:96.69, Z:5.00 [[-6.49709665e-01 -7.45324190e-01 1.49563374e-01 2.26765850e+02] [ 7.27228533e-01 -6.66696776e-01 -1.63260741e-01 9.66931618e+01] [ 2.21395599e-01 2.69467181e-03 9.75180356e-01 4.99879327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.296875 meters 0.01344588263371019 Centerline is valid? [True, True] Translation: X:226.75, Y:96.71, Z:5.01 [[-6.50046747e-01 -7.45117303e-01 1.49128909e-01 2.26748784e+02] [ 7.27146392e-01 -6.66928016e-01 -1.62681120e-01 9.67137395e+01] [ 2.20674765e-01 2.68821479e-03 9.75343745e-01 5.00518007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.32687500000003 meters 0.013532762720702215 Centerline is valid? [True, True] Translation: X:226.73, Y:96.73, Z:5.01 [[-6.50248512e-01 -7.44964916e-01 1.49010558e-01 2.26731600e+02] [ 7.27043024e-01 -6.67098152e-01 -1.62445365e-01 9.67337026e+01] [ 2.20420766e-01 2.70722972e-03 9.75401126e-01 5.01115896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.356875 meters 0.013458571150500115 Centerline is valid? [True, True] Translation: X:226.72, Y:96.75, Z:5.02 [[-6.50557943e-01 -7.44736978e-01 1.48799178e-01 2.26715443e+02] [ 7.26884521e-01 -6.67352644e-01 -1.62109044e-01 9.67545428e+01] [ 2.20030125e-01 2.69849304e-03 9.75489345e-01 5.01776792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.38687500000003 meters 0.013424199596006948 Centerline is valid? [True, True] Translation: X:226.70, Y:96.77, Z:5.02 [[-6.50880697e-01 -7.44511541e-01 1.48515601e-01 2.26697987e+02] [ 7.26745926e-01 -6.67604174e-01 -1.61694240e-01 9.67745736e+01] [ 2.19532863e-01 2.68944874e-03 9.75601399e-01 5.02366642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.416875 meters 0.013491772098544108 Centerline is valid? [True, True] Translation: X:226.68, Y:96.79, Z:5.03 [[-6.50912407e-01 -7.44515735e-01 1.48355516e-01 2.26681870e+02] [ 7.26812641e-01 -6.67599209e-01 -1.61414628e-01 9.67941960e+01] [ 2.19217755e-01 2.75988029e-03 9.75672055e-01 5.02924797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.44687500000003 meters 0.013662342902958698 Centerline is valid? [True, True] Translation: X:226.66, Y:96.81, Z:5.03 [[-6.51009562e-01 -7.44450805e-01 1.48255013e-01 2.26664838e+02] [ 7.26788769e-01 -6.67671477e-01 -1.61223088e-01 9.68130759e+01] [ 2.19008302e-01 2.79230661e-03 9.75719000e-01 5.03418009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.476875 meters 0.01386869618083079 Centerline is valid? [True, True] Translation: X:226.65, Y:96.83, Z:5.04 [[-6.50372725e-01 -7.44893687e-01 1.48824439e-01 2.26648065e+02] [ 7.27130179e-01 -6.67176308e-01 -1.61732732e-01 9.68327574e+01] [ 2.19765831e-01 3.02818289e-03 9.75547954e-01 5.03884333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.50687500000004 meters 0.013672862678666546 Centerline is valid? [True, True] Translation: X:226.63, Y:96.85, Z:5.04 [[-6.50255035e-01 -7.44898443e-01 1.49314092e-01 2.26630876e+02] [ 7.27034769e-01 -6.67170688e-01 -1.62184206e-01 9.68536220e+01] [ 2.20428748e-01 3.09543984e-03 9.75398168e-01 5.04409554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.536875 meters 0.013561686319781276 Centerline is valid? [True, True] Translation: X:226.61, Y:96.87, Z:5.05 [[-6.50059287e-01 -7.44999490e-01 1.49661898e-01 2.26613115e+02] [ 7.27078140e-01 -6.67057311e-01 -1.62455906e-01 9.68739823e+01] [ 2.20862631e-01 3.20992447e-03 9.75299644e-01 5.04947334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.56687500000004 meters 0.013821198076967174 Centerline is valid? [True, True] Translation: X:226.60, Y:96.89, Z:5.05 [[-6.49907462e-01 -7.45039302e-01 1.50122379e-01 2.26595981e+02] [ 7.27031643e-01 -6.67012367e-01 -1.62848062e-01 9.68929192e+01] [ 2.21461690e-01 3.30754911e-03 9.75163463e-01 5.05430602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.596875 meters 0.01387696801323239 Centerline is valid? [True, True] Translation: X:226.58, Y:96.91, Z:5.06 [[-6.49649833e-01 -7.45256262e-01 1.50160575e-01 2.26577757e+02] [ 7.27270499e-01 -6.66769179e-01 -1.62777402e-01 9.69130755e+01] [ 2.21433322e-01 3.45904421e-03 9.75169380e-01 5.05988982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.626875 meters 0.013697160923742383 Centerline is valid? [True, True] Translation: X:226.56, Y:96.93, Z:5.07 [[-6.48942070e-01 -7.45939912e-01 1.49826027e-01 2.26560785e+02] [ 7.28076898e-01 -6.66002663e-01 -1.62309838e-01 9.69339916e+01] [ 2.20857919e-01 3.75518678e-03 9.75298764e-01 5.06670482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.656875 meters 0.01404631750656363 Centerline is valid? [True, True] Translation: X:226.54, Y:96.95, Z:5.07 [[-6.48472860e-01 -7.46355599e-01 1.49787415e-01 2.26543413e+02] [ 7.28534615e-01 -6.65535594e-01 -1.62171782e-01 9.69527402e+01] [ 2.20726674e-01 3.96131759e-03 9.75327659e-01 5.07204642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.686875 meters 0.014198451085399987 Centerline is valid? [True, True] Translation: X:226.53, Y:96.97, Z:5.08 [[-6.48160414e-01 -7.46584154e-01 1.50000594e-01 2.26525546e+02] [ 7.28736972e-01 -6.65278338e-01 -1.62318078e-01 9.69721996e+01] [ 2.20976251e-01 4.10282646e-03 9.75270559e-01 5.07769145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.716875 meters 0.01464046108817896 Centerline is valid? [True, True] Translation: X:226.51, Y:96.99, Z:5.08 [[-6.47279806e-01 -7.47364586e-01 1.49916738e-01 2.26507146e+02] [ 7.29582293e-01 -6.64399331e-01 -1.62120966e-01 9.69928591e+01] [ 2.20768049e-01 4.43896951e-03 9.75316238e-01 5.08367912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.746875 meters 0.01499265254294129 Centerline is valid? [True, True] Translation: X:226.49, Y:97.01, Z:5.09 [[-6.46362759e-01 -7.48171728e-01 1.49847419e-01 2.26488495e+02] [ 7.30448819e-01 -6.63487943e-01 -1.61951449e-01 9.70134816e+01] [ 2.20589451e-01 4.77648501e-03 9.75355053e-01 5.08940785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.776875 meters 0.015169304048496746 Centerline is valid? [True, True] Translation: X:226.47, Y:97.03, Z:5.10 [[-6.45914755e-01 -7.48542849e-01 1.49925759e-01 2.26469989e+02] [ 7.30832384e-01 -6.63067796e-01 -1.61941730e-01 9.70337198e+01] [ 2.20631267e-01 4.97004703e-03 9.75344628e-01 5.09517249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.806875 meters 0.015217186550086501 Centerline is valid? [True, True] Translation: X:226.45, Y:97.05, Z:5.10 [[-6.45348616e-01 -7.48985987e-01 1.50150443e-01 2.26451855e+02] [ 7.31255000e-01 -6.62565480e-01 -1.62089820e-01 9.70541930e+01] [ 2.20887504e-01 5.19382106e-03 9.75285463e-01 5.10081128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.836875 meters 0.015518901471831673 Centerline is valid? [True, True] Translation: X:226.43, Y:97.07, Z:5.11 [[-6.45108167e-01 -7.49161694e-01 1.50307049e-01 2.26433635e+02] [ 7.31419663e-01 -6.62365762e-01 -1.62163110e-01 9.70736657e+01] [ 2.21044633e-01 5.32478487e-03 9.75249156e-01 5.10617294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.866875 meters 0.016745939349999923 Centerline is valid? [True, True] Translation: X:226.41, Y:97.09, Z:5.11 [[-6.44563055e-01 -7.49580303e-01 1.50558419e-01 2.26414376e+02] [ 7.31813682e-01 -6.61890143e-01 -1.62327365e-01 9.70923089e+01] [ 2.21330529e-01 5.55048828e-03 9.75183054e-01 5.11109079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.896875 meters 0.016456125033163783 Centerline is valid? [True, True] Translation: X:226.40, Y:97.11, Z:5.12 [[-6.43304478e-01 -7.50592676e-01 1.50897260e-01 2.26397419e+02] [ 7.32795236e-01 -6.60738125e-01 -1.62592351e-01 9.71140010e+01] [ 2.21744201e-01 5.98040557e-03 9.75086532e-01 5.11691483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.926875 meters 0.01623927673541821 Centerline is valid? [True, True] Translation: X:226.38, Y:97.14, Z:5.12 [[-6.42917597e-01 -7.50916551e-01 1.50934744e-01 2.26379126e+02] [ 7.33140427e-01 -6.60368395e-01 -1.62538294e-01 9.71350452e+01] [ 2.21725230e-01 6.15763277e-03 9.75089743e-01 5.12297108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.956875 meters 0.01687943412975014 Centerline is valid? [True, True] Translation: X:226.36, Y:97.16, Z:5.13 [[-6.41803372e-01 -7.51945264e-01 1.50554811e-01 2.26360576e+02] [ 7.34309052e-01 -6.59192905e-01 -1.62033732e-01 9.71554736e+01] [ 2.21085161e-01 6.55996517e-03 9.75232443e-01 5.12853309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.986875 meters 0.017366141351788208 Centerline is valid? [True, True] Translation: X:226.34, Y:97.18, Z:5.13 [[-6.41474991e-01 -7.52283489e-01 1.50264394e-01 2.26342141e+02] [ 7.34746696e-01 -6.58805204e-01 -1.61626098e-01 9.71751423e+01] [ 2.20583610e-01 6.72716760e-03 9.75344870e-01 5.13483452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.016875 meters 0.017749105232861002 Centerline is valid? [True, True] Translation: X:226.32, Y:97.20, Z:5.14 [[-6.41135710e-01 -7.52619049e-01 1.50031889e-01 2.26323693e+02] [ 7.35167514e-01 -6.58420095e-01 -1.61281447e-01 9.71950628e+01] [ 2.20167500e-01 6.89527568e-03 9.75437711e-01 5.14071251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.046875 meters 0.0184471710466372 Centerline is valid? [True, True] Translation: X:226.31, Y:97.21, Z:5.15 [[-6.40959835e-01 -7.52815354e-01 1.49798308e-01 2.26305403e+02] [ 7.35445273e-01 -6.58194374e-01 -1.60936063e-01 9.72143667e+01] [ 2.19751542e-01 7.01490504e-03 9.75530651e-01 5.14691294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07687500000003 meters 0.01830219316799308 Centerline is valid? [True, True] Translation: X:226.29, Y:97.24, Z:5.15 [[-6.40498553e-01 -7.53272325e-01 1.49473770e-01 2.26288475e+02] [ 7.36012793e-01 -6.57669101e-01 -1.60488383e-01 9.72357031e+01] [ 2.19195737e-01 7.22202973e-03 9.75654176e-01 5.15316893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.106875 meters 0.01859942570411855 Centerline is valid? [True, True] Translation: X:226.27, Y:97.26, Z:5.16 [[-6.40662829e-01 -7.53095847e-01 1.49658896e-01 2.26270078e+02] [ 7.35809565e-01 -6.57871039e-01 -1.60592589e-01 9.72555012e+01] [ 2.19397865e-01 7.23474498e-03 9.75608649e-01 5.15894351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13687500000003 meters 0.018999376238532713 Centerline is valid? [True, True] Translation: X:226.25, Y:97.28, Z:5.16 [[-6.40616063e-01 -7.53135543e-01 1.49659327e-01 2.26251499e+02] [ 7.35873872e-01 -6.57824660e-01 -1.60487886e-01 9.72752736e+01] [ 2.19318727e-01 7.31927091e-03 9.75625812e-01 5.16482514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.166875 meters 0.01919054070812007 Centerline is valid? [True, True] Translation: X:226.23, Y:97.30, Z:5.17 [[-6.40524340e-01 -7.53194417e-01 1.49755601e-01 2.26233806e+02] [ 7.35935329e-01 -6.57756179e-01 -1.60486762e-01 9.72959881e+01] [ 2.19380405e-01 7.41476063e-03 9.75611223e-01 5.16966570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19687500000003 meters 0.020152545464479487 Centerline is valid? [True, True] Translation: X:226.22, Y:97.31, Z:5.17 [[-6.40897258e-01 -7.52826685e-01 1.50008956e-01 2.26215381e+02] [ 7.35522149e-01 -6.58177505e-01 -1.60653479e-01 9.73143278e+01] [ 2.19676746e-01 7.37253571e-03 9.75544859e-01 5.17466269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.226875 meters 0.01866863403071871 Centerline is valid? [True, True] Translation: X:226.20, Y:97.34, Z:5.18 [[-6.41336921e-01 -7.52404170e-01 1.50249522e-01 2.26199834e+02] [ 7.35056801e-01 -6.58661118e-01 -1.60801216e-01 9.73368236e+01] [ 2.19951024e-01 7.31417589e-03 9.75483496e-01 5.17992834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25687500000004 meters 0.01820969982837166 Centerline is valid? [True, True] Translation: X:226.18, Y:97.36, Z:5.19 [[-6.41746998e-01 -7.51993421e-01 1.50554592e-01 2.26182642e+02] [ 7.34587462e-01 -6.59130628e-01 -1.61021973e-01 9.73575654e+01] [ 2.20322607e-01 7.26014818e-03 9.75400041e-01 5.18561570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.286875 meters 0.019825976403707115 Centerline is valid? [True, True] Translation: X:226.16, Y:97.37, Z:5.19 [[-6.42165121e-01 -7.51645858e-01 1.50507347e-01 2.26164033e+02] [ 7.34265601e-01 -6.59527491e-01 -1.60864897e-01 9.73748926e+01] [ 2.20177167e-01 7.21054169e-03 9.75433249e-01 5.19066100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31687500000004 meters 0.01968512952019248 Centerline is valid? [True, True] Translation: X:226.15, Y:97.40, Z:5.20 [[-6.42631883e-01 -7.51204695e-01 1.50717516e-01 2.26146219e+02] [ 7.33788478e-01 -6.60030648e-01 -1.60978300e-01 9.73952637e+01] [ 2.20405834e-01 7.14498855e-03 9.75382088e-01 5.19644842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.346875 meters 0.01825809991572374 Centerline is valid? [True, True] Translation: X:226.13, Y:97.42, Z:5.20 [[-6.43029027e-01 -7.50847297e-01 1.50804531e-01 2.26130736e+02] [ 7.33424174e-01 -6.60437721e-01 -1.60968936e-01 9.74178766e+01] [ 2.20460091e-01 7.09599067e-03 9.75370184e-01 5.20211896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.376875 meters 0.019119458689232597 Centerline is valid? [True, True] Translation: X:226.11, Y:97.44, Z:5.21 [[-6.43233685e-01 -7.50654600e-01 1.50891013e-01 2.26113065e+02] [ 7.33230118e-01 -6.60656622e-01 -1.60954723e-01 9.74361580e+01] [ 2.20508550e-01 7.10633522e-03 9.75359154e-01 5.20798295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.406875 meters 0.018928914511810772 Centerline is valid? [True, True] Translation: X:226.10, Y:97.46, Z:5.21 [[-6.43621786e-01 -7.50381633e-01 1.50593498e-01 2.26095838e+02] [ 7.33044197e-01 -6.60967000e-01 -1.60526726e-01 9.74573177e+01] [ 2.19993640e-01 7.07319156e-03 9.75475663e-01 5.21360517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.436875 meters 0.01908699201029016 Centerline is valid? [True, True] Translation: X:226.08, Y:97.48, Z:5.22 [[-6.43902164e-01 -7.50151382e-01 1.50542045e-01 2.26077551e+02] [ 7.32841862e-01 -6.61228464e-01 -1.60373700e-01 9.74772743e+01] [ 2.19847238e-01 7.05853992e-03 9.75508774e-01 5.21884045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.466875 meters 0.01936348675804132 Centerline is valid? [True, True] Translation: X:226.06, Y:97.50, Z:5.22 [[-6.44373142e-01 -7.49705126e-01 1.50749722e-01 2.26059176e+02] [ 7.32358631e-01 -6.61735152e-01 -1.60491200e-01 9.74969719e+01] [ 2.20077465e-01 6.98664144e-03 9.75457378e-01 5.22426247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.496875 meters 0.019404687372739784 Centerline is valid? [True, True] Translation: X:226.04, Y:97.52, Z:5.23 [[-6.44653127e-01 -7.49409580e-01 1.51021941e-01 2.26041477e+02] [ 7.32014937e-01 -6.62070025e-01 -1.60677984e-01 9.75167990e+01] [ 2.20400721e-01 6.96875201e-03 9.75384518e-01 5.22932018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.526875 meters 0.01985762855431123 Centerline is valid? [True, True] Translation: X:226.02, Y:97.54, Z:5.23 [[-6.45439585e-01 -7.48646989e-01 1.51444476e-01 2.26024848e+02] [ 7.31156363e-01 -6.62933989e-01 -1.61024527e-01 9.75366750e+01] [ 2.20948218e-01 6.79798850e-03 9.75261848e-01 5.23455485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.556875 meters 0.01758268295514394 Centerline is valid? [True, True] Translation: X:226.01, Y:97.56, Z:5.24 [[-6.46186992e-01 -7.48001157e-01 1.51448475e-01 2.26009976e+02] [ 7.30516339e-01 -6.63664106e-01 -1.60921819e-01 9.75592912e+01] [ 2.20880624e-01 6.64999945e-03 9.75278179e-01 5.24093345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.586875 meters 0.01941075737503276 Centerline is valid? [True, True] Translation: X:225.99, Y:97.58, Z:5.25 [[-6.47670207e-01 -7.46867131e-01 1.50707638e-01 2.25990842e+02] [ 7.29548337e-01 -6.64943435e-01 -1.60029534e-01 9.75781418e+01] [ 2.19732854e-01 6.30214507e-03 9.75539726e-01 5.24747203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.616875 meters 0.017111702923952848 Centerline is valid? [True, True] Translation: X:225.98, Y:97.60, Z:5.25 [[-6.48645279e-01 -7.46109286e-01 1.50267217e-01 2.25976523e+02] [ 7.28893450e-01 -6.65795651e-01 -1.59469397e-01 9.76004105e+01] [ 2.19028858e-01 6.08971868e-03 9.75699377e-01 5.25460198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.646875 meters 0.01715172645521551 Centerline is valid? [True, True] Translation: X:225.96, Y:97.62, Z:5.26 [[-6.49693061e-01 -7.45266095e-01 1.49924565e-01 2.25958507e+02] [ 7.28130654e-01 -6.66741392e-01 -1.59002096e-01 9.76205165e+01] [ 2.18459784e-01 5.86211265e-03 9.75828345e-01 5.26052330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.676875 meters 0.01657332372879793 Centerline is valid? [True, True] Translation: X:225.94, Y:97.64, Z:5.27 [[-6.51634873e-01 -7.43695839e-01 1.49293307e-01 2.25942367e+02] [ 7.26688124e-01 -6.68496478e-01 -1.58230304e-01 9.76416395e+01] [ 2.17477269e-01 5.38128942e-03 9.76050552e-01 5.26725163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.706875 meters 0.015886848856556068 Centerline is valid? [True, True] Translation: X:225.93, Y:97.66, Z:5.27 [[-6.52593290e-01 -7.42879589e-01 1.49170759e-01 2.25925757e+02] [ 7.25898779e-01 -6.69405135e-01 -1.58011794e-01 9.76624122e+01] [ 2.17239409e-01 5.16543534e-03 9.76104686e-01 5.27333438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.736875 meters 0.015886848856556068 Centerline is valid? [True, True] Translation: X:225.91, Y:97.68, Z:5.28 [[-6.52831251e-01 -7.42660076e-01 1.49222550e-01 2.25907686e+02] [ 7.25684781e-01 -6.69648661e-01 -1.57962870e-01 9.76813580e+01] [ 2.17239398e-01 5.16543507e-03 9.76104688e-01 5.27910507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.766875 meters 0.015623382905422417 Centerline is valid? [True, True] Translation: X:225.89, Y:97.70, Z:5.29 [[-6.53683096e-01 -7.41905104e-01 1.49248875e-01 2.25890129e+02] [ 7.24927401e-01 -6.70486354e-01 -1.57887024e-01 9.77017512e+01] [ 2.17206523e-01 4.98652017e-03 9.76112935e-01 5.28552710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.796875 meters 0.01590464338791943 Centerline is valid? [True, True] Translation: X:225.87, Y:97.72, Z:5.29 [[-6.54392125e-01 -7.41291949e-01 1.49188449e-01 2.25872703e+02] [ 7.24335479e-01 -6.71165184e-01 -1.57719406e-01 9.77202515e+01] [ 2.17046218e-01 4.85214972e-03 9.76149269e-01 5.29073978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.82687500000003 meters 0.01575547270300014 Centerline is valid? [True, True] Translation: X:225.86, Y:97.74, Z:5.30 [[-6.55568970e-01 -7.40221812e-01 1.49335175e-01 2.25855522e+02] [ 7.23222015e-01 -6.72347304e-01 -1.57794233e-01 9.77401739e+01] [ 2.17207835e-01 4.55748380e-03 9.76114740e-01 5.29579799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.856875 meters 0.015512782007902924 Centerline is valid? [True, True] Translation: X:225.84, Y:97.76, Z:5.30 [[-6.56429295e-01 -7.39438095e-01 1.49438564e-01 2.25837509e+02] [ 7.22417113e-01 -6.73210364e-01 -1.57801527e-01 9.77604112e+01] [ 2.17288050e-01 4.37143095e-03 9.76097738e-01 5.30138243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.88687500000003 meters 0.01544868715075125 Centerline is valid? [True, True] Translation: X:225.82, Y:97.78, Z:5.31 [[-6.57089746e-01 -7.38822014e-01 1.49583079e-01 2.25819964e+02] [ 7.21774543e-01 -6.73887259e-01 -1.57852689e-01 9.77801538e+01] [ 2.17427173e-01 4.24187521e-03 9.76067329e-01 5.30653432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.916875 meters 0.015050369377242492 Centerline is valid? [True, True] Translation: X:225.80, Y:97.80, Z:5.31 [[-6.58414288e-01 -7.37574378e-01 1.49915519e-01 2.25803784e+02] [ 7.20440779e-01 -6.75254590e-01 -1.58102255e-01 9.77999480e+01] [ 2.17843314e-01 3.90846994e-03 9.75975929e-01 5.31136940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.94687500000003 meters 0.01459419752785459 Centerline is valid? [True, True] Translation: X:225.79, Y:97.82, Z:5.32 [[-6.59228921e-01 -7.36801867e-01 1.50134069e-01 2.25786320e+02] [ 7.19615419e-01 -6.76098530e-01 -1.58254309e-01 9.78208427e+01] [ 2.18107494e-01 3.71297315e-03 9.75917689e-01 5.31679266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.976875 meters 0.014715180337026186 Centerline is valid? [True, True] Translation: X:225.77, Y:97.84, Z:5.32 [[-6.60687447e-01 -7.35292852e-01 1.51117565e-01 2.25768894e+02] [ 7.17861835e-01 -6.77741455e-01 -1.59188274e-01 9.78405626e+01] [ 2.19468638e-01 3.30783840e-03 9.75613948e-01 5.32078847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.00687500000004 meters 0.014145630749937112 Centerline is valid? [True, True] Translation: X:225.75, Y:97.86, Z:5.33 [[-6.61755317e-01 -7.34251516e-01 1.51507794e-01 2.25752310e+02] [ 7.16726442e-01 -6.78870709e-01 -1.59492216e-01 9.78610215e+01] [ 2.19961605e-01 3.04482048e-03 9.75503778e-01 5.32640105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.036875 meters 0.014076856990236065 Centerline is valid? [True, True] Translation: X:225.74, Y:97.88, Z:5.33 [[-6.62842250e-01 -7.33223248e-01 1.51736025e-01 2.25735167e+02] [ 7.15641090e-01 -6.79982314e-01 -1.59630455e-01 9.78802003e+01] [ 2.20222574e-01 2.77872385e-03 9.75445691e-01 5.33161347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.06687500000004 meters 0.013232132556134998 Centerline is valid? [True, True] Translation: X:225.72, Y:97.90, Z:5.34 [[-6.65426695e-01 -7.30895589e-01 1.51654052e-01 2.25719350e+02] [ 7.13295600e-01 -6.82486136e-01 -1.59442974e-01 9.79026507e+01] [ 2.20037954e-01 2.07655674e-03 9.75489101e-01 5.33810678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.096875 meters 0.01310347692981201 Centerline is valid? [True, True] Translation: X:225.70, Y:97.92, Z:5.34 [[-6.66975423e-01 -7.29544599e-01 1.51355418e-01 2.25702871e+02] [ 7.12001242e-01 -6.83931147e-01 -1.59035899e-01 9.79218804e+01] [ 2.19540466e-01 1.69220946e-03 9.75601927e-01 5.34351688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.126875 meters 0.012988439098438826 Centerline is valid? [True, True] Translation: X:225.69, Y:97.94, Z:5.35 [[-6.68612924e-01 -7.28104252e-01 1.51066063e-01 2.25685753e+02] [ 7.10616422e-01 -6.85465192e-01 -1.58624623e-01 9.79417494e+01] [ 2.19045790e-01 1.29155173e-03 9.75713725e-01 5.34923256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.156875 meters 0.012729068866403652 Centerline is valid? [True, True] Translation: X:225.67, Y:97.96, Z:5.36 [[-6.71312652e-01 -7.25661163e-01 1.50848269e-01 2.25670395e+02] [ 7.08185484e-01 -6.88052005e-01 -1.58296427e-01 9.79635774e+01] [ 2.18661023e-01 5.62159665e-04 9.75800718e-01 5.35568461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.186875 meters 0.012660629914184198 Centerline is valid? [True, True] Translation: X:225.65, Y:97.98, Z:5.36 [[-6.72705056e-01 -7.24413323e-01 1.50642775e-01 2.25653292e+02] [ 7.06977193e-01 -6.89365858e-01 -1.57980894e-01 9.79839910e+01] [ 2.18291450e-01 2.26459943e-04 9.75883595e-01 5.36172472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.216875 meters 0.012649303862395215 Centerline is valid? [True, True] Translation: X:225.64, Y:98.00, Z:5.37 [[-6.73895631e-01 -7.23307994e-01 1.50632747e-01 2.25636455e+02] [ 7.05869644e-01 -6.90525555e-01 -1.57868626e-01 9.80037561e+01] [ 2.18203401e-01 -5.98937213e-05 9.75903311e-01 5.36766649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.246875 meters 0.012782592504432932 Centerline is valid? [True, True] Translation: X:225.62, Y:98.02, Z:5.37 [[-6.74922440e-01 -7.22363875e-01 1.50566037e-01 2.25618883e+02] [ 7.04935527e-01 -6.91513077e-01 -1.57719898e-01 9.80242084e+01] [ 2.18049540e-01 -3.09349512e-04 9.75937653e-01 5.37357112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.276875 meters 0.012745952444800993 Centerline is valid? [True, True] Translation: X:225.60, Y:98.04, Z:5.38 [[-6.76151753e-01 -7.21064433e-01 1.51277526e-01 2.25602705e+02] [ 7.03459905e-01 -6.92867699e-01 -1.58361970e-01 9.80442059e+01] [ 2.19004495e-01 -6.59049396e-04 9.75723627e-01 5.37817570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.306875 meters 0.012703466994947826 Centerline is valid? [True, True] Translation: X:225.58, Y:98.06, Z:5.38 [[-6.76719052e-01 -7.20441141e-01 1.51709879e-01 2.25584680e+02] [ 7.02743204e-01 -6.93515640e-01 -1.58707426e-01 9.80643603e+01] [ 2.19552533e-01 -7.87251952e-04 9.75600362e-01 5.38302071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.336875 meters 0.012800803709895926 Centerline is valid? [True, True] Translation: X:225.57, Y:98.08, Z:5.39 [[-6.77492146e-01 -7.19477895e-01 1.52826537e-01 2.25567344e+02] [ 7.01512970e-01 -6.94514564e-01 -1.59778202e-01 9.80849580e+01] [ 2.21097140e-01 -1.03867878e-03 9.75251237e-01 5.38810107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.366875 meters 0.012867069150671118 Centerline is valid? [True, True] Translation: X:225.55, Y:98.10, Z:5.39 [[-6.77784967e-01 -7.19169529e-01 1.52979501e-01 2.25550323e+02] [ 7.01184425e-01 -6.94833833e-01 -1.59832246e-01 9.81046857e+01] [ 2.21241814e-01 -1.06505052e-03 9.75218399e-01 5.39293431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.396875 meters 0.013042286787554782 Centerline is valid? [True, True] Translation: X:225.53, Y:98.12, Z:5.40 [[-6.78395284e-01 -7.18513051e-01 1.53358514e-01 2.25533166e+02] [ 7.00446074e-01 -6.95512434e-01 -1.60117929e-01 9.81240700e+01] [ 2.21709575e-01 -1.20387883e-03 9.75112001e-01 5.39818637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.426875 meters 0.012993459233621106 Centerline is valid? [True, True] Translation: X:225.52, Y:98.14, Z:5.40 [[-6.79204085e-01 -7.17781640e-01 1.53203553e-01 2.25515866e+02] [ 6.99757364e-01 -6.96266941e-01 -1.59849862e-01 9.81439352e+01] [ 2.21407866e-01 -1.36536505e-03 9.75180339e-01 5.40438372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.456875 meters 0.013072803359139573 Centerline is valid? [True, True] Translation: X:225.50, Y:98.16, Z:5.41 [[-6.79400252e-01 -7.17586877e-01 1.53246114e-01 2.25498093e+02] [ 6.99571187e-01 -6.96467686e-01 -1.59790228e-01 9.81635863e+01] [ 2.21394337e-01 -1.35495570e-03 9.75183425e-01 5.41064345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.486875 meters 0.012962662407026367 Centerline is valid? [True, True] Translation: X:225.48, Y:98.18, Z:5.42 [[-6.79422637e-01 -7.17579951e-01 1.53179286e-01 2.25479918e+02] [ 6.99603462e-01 -6.96474959e-01 -1.59617128e-01 9.81833081e+01] [ 2.21223588e-01 -1.28273170e-03 9.75222271e-01 5.41665616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.516875 meters 0.012962829924261796 Centerline is valid? [True, True] Translation: X:225.46, Y:98.20, Z:5.42 [[-6.79182743e-01 -7.17828685e-01 1.53077697e-01 2.25462036e+02] [ 6.99905898e-01 -6.96218865e-01 -1.59408361e-01 9.82021617e+01] [ 2.21003474e-01 -1.12742504e-03 9.75272369e-01 5.42274667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.546875 meters 0.012882016084589097 Centerline is valid? [True, True] Translation: X:225.44, Y:98.22, Z:5.43 [[-6.78133682e-01 -7.18858932e-01 1.52893899e-01 2.25443366e+02] [ 7.01023634e-01 -6.95155592e-01 -1.59136945e-01 9.82207877e+01] [ 2.20682063e-01 -7.33885529e-04 9.75345523e-01 5.42874066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57687500000003 meters 0.012798292123960619 Centerline is valid? [True, True] Translation: X:225.43, Y:98.24, Z:5.43 [[-6.77453625e-01 -7.19536420e-01 1.52721729e-01 2.25425122e+02] [ 7.01781706e-01 -6.94454568e-01 -1.58856194e-01 9.82387561e+01] [ 2.20361120e-01 -4.40388711e-04 9.75418261e-01 5.43426061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.606875 meters 0.012829136526338556 Centerline is valid? [True, True] Translation: X:225.41, Y:98.26, Z:5.44 [[-6.76640212e-01 -7.20326321e-01 1.52604111e-01 2.25406147e+02] [ 7.02636834e-01 -6.93635333e-01 -1.58655300e-01 9.82574774e+01] [ 2.20135192e-01 -1.27286468e-04 9.75469365e-01 5.44022824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63687500000003 meters 0.012962849026415353 Centerline is valid? [True, True] Translation: X:225.39, Y:98.27, Z:5.45 [[-6.74378551e-01 -7.22518223e-01 1.52253040e-01 2.25386762e+02] [ 7.04989186e-01 -6.91351563e-01 -1.58187433e-01 9.82746995e+01] [ 2.19553680e-01 6.58534990e-04 9.75600199e-01 5.44595312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.666875 meters 0.013102475180451253 Centerline is valid? [True, True] Translation: X:225.37, Y:98.29, Z:5.45 [[-6.73444446e-01 -7.23354097e-01 1.52418595e-01 2.25367528e+02] [ 7.05825692e-01 -6.90476554e-01 -1.58278930e-01 9.82932825e+01] [ 2.19733179e-01 9.88893523e-04 9.75559507e-01 5.45177846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69687500000003 meters 0.013290710271848971 Centerline is valid? [True, True] Translation: X:225.35, Y:98.31, Z:5.46 [[-6.72404394e-01 -7.24321116e-01 1.52418017e-01 2.25349082e+02] [ 7.06840329e-01 -6.89461402e-01 -1.58176244e-01 9.83107504e+01] [ 2.19656733e-01 1.37680021e-03 9.75576252e-01 5.45741152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.726875 meters 0.013507610707194055 Centerline is valid? [True, True] Translation: X:225.33, Y:98.33, Z:5.46 [[-6.70571346e-01 -7.25974790e-01 1.52625927e-01 2.25328308e+02] [ 7.08511945e-01 -6.87718417e-01 -1.58285197e-01 9.83296591e+01] [ 2.19874723e-01 1.99577463e-03 9.75526075e-01 5.46278813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75687500000004 meters 0.01371225971963143 Centerline is valid? [True, True] Translation: X:225.31, Y:98.35, Z:5.47 [[-6.69894779e-01 -7.26608460e-01 1.52581553e-01 2.25309070e+02] [ 7.09192371e-01 -6.87048040e-01 -1.58149209e-01 9.83488216e+01] [ 2.19743410e-01 2.26634398e-03 9.75555071e-01 5.46833137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.786875 meters 0.0137524485987798 Centerline is valid? [True, True] Translation: X:225.29, Y:98.37, Z:5.47 [[-6.69513490e-01 -7.26899918e-01 1.52866598e-01 2.25290256e+02] [ 7.09448304e-01 -6.86739081e-01 -1.58343103e-01 9.83675927e+01] [ 2.20079056e-01 2.43810483e-03 9.75478993e-01 5.47372549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81687500000004 meters 0.014041843420332404 Centerline is valid? [True, True] Translation: X:225.27, Y:98.39, Z:5.48 [[-6.68390317e-01 -7.27884166e-01 1.53098088e-01 2.25270755e+02] [ 7.10427341e-01 -6.85694239e-01 -1.58481557e-01 9.83865149e+01] [ 2.20334693e-01 2.83752910e-03 9.75420202e-01 5.47879883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.846875 meters 0.014260778702304942 Centerline is valid? [True, True] Translation: X:225.25, Y:98.40, Z:5.48 [[-6.68223661e-01 -7.27988412e-01 1.53329747e-01 2.25251795e+02] [ 7.10496040e-01 -6.85583199e-01 -1.58653880e-01 9.84044264e+01] [ 2.20618485e-01 2.92390187e-03 9.75355799e-01 5.48427632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.876875 meters 0.014301822555713894 Centerline is valid? [True, True] Translation: X:225.23, Y:98.42, Z:5.49 [[-6.68149067e-01 -7.28111238e-01 1.53071384e-01 2.25232945e+02] [ 7.10705804e-01 -6.85452272e-01 -1.58279633e-01 9.84237391e+01] [ 2.20168308e-01 3.03433146e-03 9.75457180e-01 5.48986648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.906875 meters 0.014374712969367326 Centerline is valid? [True, True] Translation: X:225.21, Y:98.44, Z:5.50 [[-6.68469519e-01 -7.27838391e-01 1.52969861e-01 2.25214499e+02] [ 7.10472311e-01 -6.85742073e-01 -1.58072464e-01 9.84418223e+01] [ 2.19949077e-01 3.01422689e-03 9.75506698e-01 5.49500423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.936875 meters 0.014295090782189922 Centerline is valid? [True, True] Translation: X:225.20, Y:98.46, Z:5.50 [[-6.69071158e-01 -7.27317683e-01 1.52816147e-01 2.25196304e+02] [ 7.09997529e-01 -6.86294755e-01 -1.57806899e-01 9.84608357e+01] [ 2.19652668e-01 2.91504242e-03 9.75573784e-01 5.50056682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.966875 meters 0.013903144906145136 Centerline is valid? [True, True] Translation: X:225.18, Y:98.48, Z:5.51 [[-6.70014490e-01 -7.26458747e-01 1.52768686e-01 2.25178115e+02] [ 7.09149851e-01 -6.87204762e-01 -1.57658187e-01 9.84809229e+01] [ 2.19515538e-01 2.70262162e-03 9.75605261e-01 5.50661523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.996875 meters 0.014022591637702525 Centerline is valid? [True, True] Translation: X:225.16, Y:98.50, Z:5.51 [[-6.70813564e-01 -7.25685687e-01 1.52936085e-01 2.25160369e+02] [ 7.08341240e-01 -6.88021741e-01 -1.57730057e-01 9.84997418e+01] [ 2.19685796e-01 2.52347444e-03 9.75567416e-01 5.51239563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.026875 meters 0.013568323981237728 Centerline is valid? [True, True] Translation: X:225.14, Y:98.52, Z:5.52 [[-6.72747573e-01 -7.23884885e-01 1.52975082e-01 2.25142678e+02] [ 7.06509060e-01 -6.89917847e-01 -1.57665193e-01 9.85201182e+01] [ 2.19671689e-01 2.00940599e-03 9.75571787e-01 5.51831593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.056875 meters 0.013255702514782322 Centerline is valid? [True, True] Translation: X:225.12, Y:98.54, Z:5.52 [[-6.74042522e-01 -7.22715681e-01 1.52802889e-01 2.25124569e+02] [ 7.05371824e-01 -6.91143378e-01 -1.57389393e-01 9.85398847e+01] [ 2.19356487e-01 1.69570873e-03 9.75643304e-01 5.52434219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.086875 meters 0.012795870024603537 Centerline is valid? [True, True] Translation: X:225.11, Y:98.56, Z:5.53 [[-6.76835801e-01 -7.20071808e-01 1.52937534e-01 2.25107474e+02] [ 7.02652257e-01 -6.93898960e-01 -1.57429472e-01 9.85599103e+01] [ 2.19483721e-01 9.08000767e-04 9.75615740e-01 5.53012242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.116875 meters 0.012712297582093385 Centerline is valid? [True, True] Translation: X:225.09, Y:98.58, Z:5.53 [[-6.78429320e-01 -7.18582768e-01 1.52880554e-01 2.25090116e+02] [ 7.01161288e-01 -6.95441269e-01 -1.57271385e-01 9.85785766e+01] [ 2.19331954e-01 4.96407765e-04 9.75650167e-01 5.53486396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.146875 meters 0.012691928072092434 Centerline is valid? [True, True] Translation: X:225.07, Y:98.60, Z:5.54 [[-6.79788045e-01 -7.17250781e-01 1.53099742e-01 2.25071902e+02] [ 6.99768668e-01 -6.96815110e-01 -1.57392862e-01 9.85986096e+01] [ 2.19572367e-01 1.40617055e-04 9.75596205e-01 5.54085852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.176875 meters 0.012673364694508327 Centerline is valid? [True, True] Translation: X:225.05, Y:98.62, Z:5.55 [[-6.81209480e-01 -7.15855876e-01 1.53310176e-01 2.25054389e+02] [ 6.98313312e-01 -6.98248029e-01 -1.57506216e-01 9.86177271e+01] [ 2.19800278e-01 -2.36191111e-04 9.75544864e-01 5.54557541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.206875 meters 0.012971908758663843 Centerline is valid? [True, True] Translation: X:225.04, Y:98.64, Z:5.55 [[-6.84147975e-01 -7.12941211e-01 1.53806303e-01 2.25038467e+02] [ 6.95234955e-01 -7.01222945e-01 -1.57907373e-01 9.86377739e+01] [ 2.20431182e-01 -1.10049103e-03 9.75401908e-01 5.55064928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.236875 meters 0.01298426072300775 Centerline is valid? [True, True] Translation: X:225.02, Y:98.66, Z:5.56 [[-6.85588355e-01 -7.11510123e-01 1.54019326e-01 2.25020293e+02] [ 6.93741324e-01 -7.02674266e-01 -1.58024843e-01 9.86577357e+01] [ 2.20661693e-01 -1.49042100e-03 9.75349269e-01 5.55703899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.266875 meters 0.013175135491512223 Centerline is valid? [True, True] Translation: X:225.00, Y:98.68, Z:5.56 [[-6.86823800e-01 -7.10247533e-01 1.54342184e-01 2.25002219e+02] [ 6.92394079e-01 -7.03949640e-01 -1.58257208e-01 9.86777524e+01] [ 2.21050917e-01 -1.82920246e-03 9.75260553e-01 5.56321544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.296875 meters 0.013603566175707913 Centerline is valid? [True, True] Translation: X:224.98, Y:98.70, Z:5.57 [[-6.89018397e-01 -7.08122363e-01 1.54325523e-01 2.24984121e+02] [ 6.90242338e-01 -7.06085521e-01 -1.58141556e-01 9.86979875e+01] [ 2.20950590e-01 -2.44043155e-03 9.75281950e-01 5.56900665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.32687500000003 meters 0.013800348109056176 Centerline is valid? [True, True] Translation: X:224.97, Y:98.72, Z:5.57 [[-6.89662275e-01 -7.07436661e-01 1.54594039e-01 2.24966322e+02] [ 6.89496722e-01 -7.06771963e-01 -1.58327708e-01 9.87164150e+01] [ 2.21269557e-01 -2.60056445e-03 9.75209219e-01 5.57459702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.356875 meters 0.014183391943793049 Centerline is valid? [True, True] Translation: X:224.95, Y:98.73, Z:5.58 [[-6.90750478e-01 -7.06381095e-01 1.54562368e-01 2.24948322e+02] [ 6.88446085e-01 -7.07825934e-01 -1.58191135e-01 9.87347413e+01] [ 2.21146480e-01 -2.86274517e-03 9.75236402e-01 5.57946759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.38687500000003 meters 0.014228882840932646 Centerline is valid? [True, True] Translation: X:224.93, Y:98.75, Z:5.59 [[-6.91185666e-01 -7.05960963e-01 1.54536384e-01 2.24929686e+02] [ 6.88045073e-01 -7.08244719e-01 -1.58061367e-01 9.87533750e+01] [ 2.21034733e-01 -2.92175355e-03 9.75261560e-01 5.58534210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.416875 meters 0.013935896752680829 Centerline is valid? [True, True] Translation: X:224.91, Y:98.77, Z:5.59 [[-6.91529961e-01 -7.05628339e-01 1.54515247e-01 2.24909873e+02] [ 6.87731283e-01 -7.08575970e-01 -1.57942323e-01 9.87716187e+01] [ 2.20934370e-01 -2.95687925e-03 9.75284195e-01 5.59183314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.44687500000003 meters 0.013943937076074326 Centerline is valid? [True, True] Translation: X:224.89, Y:98.79, Z:5.60 [[-6.91597837e-01 -7.05523236e-01 1.54691290e-01 2.24890664e+02] [ 6.87605637e-01 -7.08680776e-01 -1.58019133e-01 9.87905571e+01] [ 2.21112913e-01 -2.91908735e-03 9.75243846e-01 5.59781509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.476875 meters 0.013913392328079092 Centerline is valid? [True, True] Translation: X:224.87, Y:98.81, Z:5.60 [[-6.91087414e-01 -7.06012905e-01 1.54738371e-01 2.24871561e+02] [ 6.88119734e-01 -7.08193864e-01 -1.57964181e-01 9.88083114e+01] [ 2.21109516e-01 -2.68853085e-03 9.75245279e-01 5.60328431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.50687500000004 meters 0.01382344954525845 Centerline is valid? [True, True] Translation: X:224.85, Y:98.83, Z:5.61 [[-6.90570957e-01 -7.06487362e-01 1.54878537e-01 2.24851931e+02] [ 6.88597350e-01 -7.07721377e-01 -1.58000448e-01 9.88266003e+01] [ 2.21236171e-01 -2.46157027e-03 9.75217154e-01 5.60903615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.536875 meters 0.013623406670126363 Centerline is valid? [True, True] Translation: X:224.83, Y:98.84, Z:5.61 [[-6.89936900e-01 -7.07161741e-01 1.54626471e-01 2.24832029e+02] [ 6.89369801e-01 -7.07048488e-01 -1.57644263e-01 9.88439928e+01] [ 2.20808404e-01 -2.16977496e-03 9.75314791e-01 5.61489867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.56687500000004 meters 0.013279393791263252 Centerline is valid? [True, True] Translation: X:224.81, Y:98.86, Z:5.62 [[-6.87807666e-01 -7.09335036e-01 1.54157132e-01 2.24811376e+02] [ 6.91728694e-01 -7.04870100e-01 -1.57065452e-01 9.88602777e+01] [ 2.20072781e-01 -1.39591013e-03 9.75482456e-01 5.62109910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.596875 meters 0.013088350085663798 Centerline is valid? [True, True] Translation: X:224.79, Y:98.88, Z:5.63 [[-6.86606662e-01 -7.10469199e-01 1.54288072e-01 2.24792404e+02] [ 6.92883320e-01 -7.03727641e-01 -1.57099054e-01 9.88775335e+01] [ 2.20190820e-01 -9.61625623e-04 9.75456344e-01 5.62634856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.626875 meters 0.013088350085663798 Centerline is valid? [True, True] Translation: X:224.77, Y:98.90, Z:5.63 [[-6.86821631e-01 -7.10250076e-01 1.54340130e-01 2.24773947e+02] [ 6.92670229e-01 -7.03948800e-01 -1.57047895e-01 9.88960989e+01] [ 2.20190828e-01 -9.57078244e-04 9.75456346e-01 5.63211534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.656875 meters 0.012972242114588648 Centerline is valid? [True, True] Translation: X:224.75, Y:98.91, Z:5.64 [[-6.85708322e-01 -7.11335221e-01 1.54292906e-01 2.24753517e+02] [ 6.93815321e-01 -7.02852697e-01 -1.56902476e-01 9.89139616e+01] [ 2.20055443e-01 -5.38551838e-04 9.75487218e-01 5.63840242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.686875 meters 0.012929783099687646 Centerline is valid? [True, True] Translation: X:224.73, Y:98.93, Z:5.64 [[-6.84505955e-01 -7.12491208e-01 1.54298011e-01 2.24733710e+02] [ 6.95021058e-01 -7.01681030e-01 -1.56810269e-01 9.89312872e+01] [ 2.19993925e-01 -9.71963820e-05 9.75501237e-01 5.64435516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.716875 meters 0.013030842332801065 Centerline is valid? [True, True] Translation: X:224.71, Y:98.95, Z:5.65 [[-6.81600749e-01 -7.15296899e-01 1.54177704e-01 2.24711706e+02] [ 6.97946938e-01 -6.98820133e-01 -1.56590209e-01 9.89473065e+01] [ 2.19750975e-01 8.75852490e-04 9.75555607e-01 5.65003467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.746875 meters 0.013093526511784937 Centerline is valid? [True, True] Translation: X:224.69, Y:98.96, Z:5.66 [[-6.80330030e-01 -7.16482039e-01 1.54287195e-01 2.24691758e+02] [ 6.99159496e-01 -6.97604271e-01 -1.56602299e-01 9.89647178e+01] [ 2.19834141e-01 1.33011046e-03 9.75536356e-01 5.65505392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.776875 meters 0.013583609358698465 Centerline is valid? [True, True] Translation: X:224.67, Y:98.98, Z:5.66 [[-6.77849487e-01 -7.18732839e-01 1.54735839e-01 2.24670224e+02] [ 7.01388781e-01 -6.95283063e-01 -1.56956169e-01 9.89809683e+01] [ 2.20394761e-01 2.13732253e-03 9.75408418e-01 5.65937030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.806875 meters 0.013787178486911206 Centerline is valid? [True, True] Translation: X:224.65, Y:99.00, Z:5.66 [[-6.77182290e-01 -7.19328697e-01 1.54888254e-01 2.24651039e+02] [ 7.01986905e-01 -6.94665717e-01 -1.57015689e-01 9.89983589e+01] [ 2.20541451e-01 2.40128248e-03 9.75374647e-01 5.66450944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.836875 meters 0.01396254633692431 Centerline is valid? [True, True] Translation: X:224.63, Y:99.02, Z:5.67 [[-6.76832027e-01 -7.19632152e-01 1.55009593e-01 2.24631582e+02] [ 7.02294517e-01 -6.94350722e-01 -1.57033393e-01 9.90167751e+01] [ 2.20637301e-01 2.57715721e-03 9.75352521e-01 5.67020386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.866875 meters 0.014254182585176594 Centerline is valid? [True, True] Translation: X:224.61, Y:99.03, Z:5.68 [[-6.76193095e-01 -7.20245180e-01 1.54950894e-01 2.24612396e+02] [ 7.02959211e-01 -6.93713757e-01 -1.56874380e-01 9.90346098e+01] [ 2.20479583e-01 2.84678556e-03 9.75387435e-01 5.67649740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.896875 meters 0.01408194772710191 Centerline is valid? [True, True] Translation: X:224.59, Y:99.05, Z:5.68 [[-6.76711368e-01 -7.19790016e-01 1.54803290e-01 2.24593553e+02] [ 7.02547875e-01 -6.94186346e-01 -1.56626309e-01 9.90533999e+01] [ 2.20200384e-01 2.76591812e-03 9.75450737e-01 5.68229969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.926875 meters 0.014180337986887889 Centerline is valid? [True, True] Translation: X:224.57, Y:99.07, Z:5.69 [[-6.76982391e-01 -7.19517683e-01 1.54884298e-01 2.24574776e+02] [ 7.02272715e-01 -6.94468677e-01 -1.56608715e-01 9.90713213e+01] [ 2.20245034e-01 2.74967403e-03 9.75440703e-01 5.68761724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.956875 meters 0.01378363956832144 Centerline is valid? [True, True] Translation: X:224.56, Y:99.09, Z:5.69 [[-6.78443057e-01 -7.18202359e-01 1.54597512e-01 2.24556224e+02] [ 7.01011490e-01 -6.95830190e-01 -1.56215355e-01 9.90909048e+01] [ 2.19767853e-01 2.39140883e-03 9.75549267e-01 5.69354124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.986875 meters 0.013428419184670278 Centerline is valid? [True, True] Translation: X:224.54, Y:99.11, Z:5.70 [[-6.79481495e-01 -7.17181339e-01 1.54776696e-01 2.24538441e+02] [ 6.99946064e-01 -6.96883330e-01 -1.56298216e-01 9.91105791e+01] [ 2.19955463e-01 2.13359379e-03 9.75507582e-01 5.69909594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.016875 meters 0.013424094806959603 Centerline is valid? [True, True] Translation: X:224.52, Y:99.13, Z:5.70 [[-6.80559314e-01 -7.16148873e-01 1.54821872e-01 2.24520530e+02] [ 6.98899733e-01 -6.97945046e-01 -1.56243004e-01 9.91293263e+01] [ 2.19950410e-01 1.87233367e-03 9.75509258e-01 5.70449524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.046875 meters 0.013169488771365472 Centerline is valid? [True, True] Translation: X:224.50, Y:99.15, Z:5.71 [[-6.81747614e-01 -7.15040050e-01 1.54718833e-01 2.24502699e+02] [ 6.97809555e-01 -6.99081686e-01 -1.56034038e-01 9.91485486e+01] [ 2.19731689e-01 1.58844736e-03 9.75559051e-01 5.71031826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07687500000003 meters 0.012871324305520699 Centerline is valid? [True, True] Translation: X:224.48, Y:99.17, Z:5.72 [[-6.84153541e-01 -7.12803360e-01 1.54419244e-01 2.24484970e+02] [ 6.95606337e-01 -7.01363307e-01 -1.55632052e-01 9.91678912e+01] [ 2.19239041e-01 9.38785439e-04 9.75670724e-01 5.71609446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.106875 meters 0.012820417572538125 Centerline is valid? [True, True] Translation: X:224.47, Y:99.19, Z:5.72 [[-6.85327911e-01 -7.11727328e-01 1.54174788e-01 2.24466325e+02] [ 6.94580775e-01 -7.02455528e-01 -1.55286119e-01 9.91875027e+01] [ 2.18822306e-01 6.64932131e-04 9.75764498e-01 5.72214770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13687500000003 meters 0.012654063149028793 Centerline is valid? [True, True] Translation: X:224.45, Y:99.21, Z:5.73 [[-6.86617572e-01 -7.10536361e-01 1.53929824e-01 2.24447669e+02] [ 6.93438065e-01 -7.03660396e-01 -1.54937724e-01 9.92071683e+01] [ 2.18403208e-01 3.57835573e-04 9.75858551e-01 5.72828271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.166875 meters 0.012680377032496087 Centerline is valid? [True, True] Translation: X:224.43, Y:99.23, Z:5.73 [[-6.88872669e-01 -7.08442480e-01 1.53504720e-01 2.24430187e+02] [ 6.91410896e-01 -7.05768516e-01 -1.54407820e-01 9.92265376e+01] [ 2.17727858e-01 -2.32490701e-04 9.76009491e-01 5.73378607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19687500000003 meters 0.012591516860264433 Centerline is valid? [True, True] Translation: X:224.41, Y:99.25, Z:5.74 [[-6.89933703e-01 -7.07415847e-01 1.53474116e-01 2.24412511e+02] [ 6.90389549e-01 -7.06797417e-01 -1.54271453e-01 9.92454013e+01] [ 2.17609179e-01 -4.80148662e-04 9.76035867e-01 5.73949111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.226875 meters 0.012622281567649446 Centerline is valid? [True, True] Translation: X:224.39, Y:99.26, Z:5.75 [[-6.90964667e-01 -7.06437446e-01 1.53342634e-01 2.24394136e+02] [ 6.89440145e-01 -7.07775125e-01 -1.54034600e-01 9.92642179e+01] [ 2.17347911e-01 -7.11898349e-04 9.76093940e-01 5.74522094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25687500000004 meters 0.012654339914388588 Centerline is valid? [True, True] Translation: X:224.38, Y:99.28, Z:5.75 [[-6.92162545e-01 -7.05374746e-01 1.52831541e-01 2.24375207e+02] [ 6.88488321e-01 -7.08833921e-01 -1.53421984e-01 9.92830457e+01] [ 2.16552173e-01 -9.70220308e-04 9.76270564e-01 5.75031569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.286875 meters 0.012643697085247332 Centerline is valid? [True, True] Translation: X:224.36, Y:99.30, Z:5.76 [[-6.92492042e-01 -7.05073663e-01 1.52728192e-01 2.24356872e+02] [ 6.88225079e-01 -7.09133377e-01 -1.53219105e-01 9.93010321e+01] [ 2.16335415e-01 -9.91638859e-04 9.76318598e-01 5.75547166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31687500000004 meters 0.012601092168032318 Centerline is valid? [True, True] Translation: X:224.34, Y:99.32, Z:5.76 [[-6.92378224e-01 -7.05171589e-01 1.52792096e-01 2.24337155e+02] [ 6.88334169e-01 -7.09036138e-01 -1.53179066e-01 9.93192633e+01] [ 2.16352643e-01 -8.85829240e-04 9.76314882e-01 5.76115519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.346875 meters 0.012481231968379216 Centerline is valid? [True, True] Translation: X:224.32, Y:99.34, Z:5.77 [[-6.91647506e-01 -7.05881885e-01 1.52821765e-01 2.24317578e+02] [ 6.89077019e-01 -7.08329312e-01 -1.53109264e-01 9.93362960e+01] [ 2.16325192e-01 -5.91674119e-04 9.76321188e-01 5.76631522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.376875 meters 0.012422744803101892 Centerline is valid? [True, True] Translation: X:224.30, Y:99.35, Z:5.77 [[-6.91038101e-01 -7.06520472e-01 1.52627542e-01 2.24298037e+02] [ 6.89797318e-01 -7.07692535e-01 -1.52810130e-01 9.93540286e+01] [ 2.15976857e-01 -3.15552827e-04 9.76398432e-01 5.77217951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.406875 meters 0.01246674384866058 Centerline is valid? [True, True] Translation: X:224.28, Y:99.37, Z:5.78 [[-6.90555886e-01 -7.07034067e-01 1.52431611e-01 2.24278695e+02] [ 6.90388032e-01 -7.07179483e-01 -1.52517359e-01 9.93713844e+01] [ 2.15631477e-01 -8.47998788e-05 9.76474812e-01 5.77756223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.436875 meters 0.012397451699254814 Centerline is valid? [True, True] Translation: X:224.27, Y:99.34, Z:5.79 [[-6.39794370e-01 -7.56642141e-01 1.34743590e-01 2.24273489e+02] [ 7.37580452e-01 -6.53770862e-01 -1.68993303e-01 9.93413024e+01] [ 2.15958888e-01 -8.73672586e-03 9.76363369e-01 5.78538271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.466875 meters 0.01243604006876217 Centerline is valid? [True, True] Translation: X:224.25, Y:99.36, Z:5.79 [[-6.39297162e-01 -7.55791560e-01 1.41697768e-01 2.24252436e+02] [ 7.38070088e-01 -6.54812034e-01 -1.62707545e-01 9.93592036e+01] [ 2.15758393e-01 5.64411911e-04 9.76446618e-01 5.78657295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.496875 meters 0.012445881387492325 Centerline is valid? [True, True] Translation: X:224.23, Y:99.38, Z:5.79 [[-6.39094609e-01 -7.55985359e-01 1.41577604e-01 2.24234120e+02] [ 7.38321982e-01 -6.54588152e-01 -1.62465389e-01 9.93781868e+01] [ 2.15496477e-01 6.99102694e-04 9.76504367e-01 5.79238142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.526875 meters 0.01251813121029435 Centerline is valid? [True, True] Translation: X:224.22, Y:99.40, Z:5.80 [[-6.38640570e-01 -7.56343186e-01 1.41715232e-01 2.24215514e+02] [ 7.38676545e-01 -6.54174437e-01 -1.62520053e-01 9.93977611e+01] [ 2.15627417e-01 8.89818447e-04 9.76475307e-01 5.79795251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.556875 meters 0.0125458851269563 Centerline is valid? [True, True] Translation: X:224.20, Y:99.42, Z:5.80 [[-6.37825129e-01 -7.57050998e-01 1.41608232e-01 2.24196569e+02] [ 7.39451224e-01 -6.53354692e-01 -1.62294590e-01 9.94170590e+01] [ 2.15385684e-01 1.19681245e-03 9.76528328e-01 5.80376128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.586875 meters 0.012650050709747347 Centerline is valid? [True, True] Translation: X:224.18, Y:99.44, Z:5.81 [[-6.37395611e-01 -7.57366743e-01 1.41853631e-01 2.24178815e+02] [ 7.39736773e-01 -6.52988299e-01 -1.62467806e-01 9.94351182e+01] [ 2.15676474e-01 1.37808064e-03 9.76463906e-01 5.80933269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.616875 meters 0.012778768663131006 Centerline is valid? [True, True] Translation: X:224.16, Y:99.45, Z:5.81 [[-6.36367675e-01 -7.58178094e-01 1.42134301e-01 2.24159591e+02] [ 7.40515919e-01 -6.52045280e-01 -1.62705648e-01 9.94539710e+01] [ 2.16037858e-01 1.71209729e-03 9.76383486e-01 5.81471642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.646875 meters 0.012918666592999131 Centerline is valid? [True, True] Translation: X:224.14, Y:99.47, Z:5.82 [[-6.36060249e-01 -7.58446868e-01 1.42076417e-01 2.24141360e+02] [ 7.40829506e-01 -6.51732182e-01 -1.62532480e-01 9.94725860e+01] [ 2.15868024e-01 1.87395226e-03 9.76420752e-01 5.81988262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.676875 meters 0.013054009352621061 Centerline is valid? [True, True] Translation: X:224.12, Y:99.49, Z:5.83 [[-6.35731197e-01 -7.58660955e-01 1.42405761e-01 2.24123189e+02] [ 7.40990974e-01 -6.51482501e-01 -1.62797194e-01 9.94913082e+01] [ 2.16282736e-01 2.02612856e-03 9.76328671e-01 5.82523786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.706875 meters 0.01320025118331226 Centerline is valid? [True, True] Translation: X:224.11, Y:99.51, Z:5.83 [[-6.35485968e-01 -7.58845252e-01 1.42518309e-01 2.24105090e+02] [ 7.41175999e-01 -6.51267380e-01 -1.62815658e-01 9.95108412e+01] [ 2.16369415e-01 2.16408411e-03 9.76309169e-01 5.83088666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.736875 meters 0.013052916303549201 Centerline is valid? [True, True] Translation: X:224.09, Y:99.53, Z:5.84 [[-6.35302633e-01 -7.58968275e-01 1.42680489e-01 2.24087347e+02] [ 7.41284352e-01 -6.51123621e-01 -1.62897330e-01 9.95309758e+01] [ 2.16536543e-01 2.27771111e-03 9.76271857e-01 5.83642444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.766875 meters 0.013433767596343226 Centerline is valid? [True, True] Translation: X:224.07, Y:99.55, Z:5.84 [[-6.35518398e-01 -7.58773949e-01 1.42753145e-01 2.24069540e+02] [ 7.41090815e-01 -6.51350041e-01 -1.62872735e-01 9.95488855e+01] [ 2.16565855e-01 2.28442480e-03 9.76265339e-01 5.84261047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.796875 meters 0.013215951075729523 Centerline is valid? [True, True] Translation: X:224.05, Y:99.57, Z:5.85 [[-6.36214680e-01 -7.58349838e-01 1.41902800e-01 2.24052006e+02] [ 7.40886782e-01 -6.51844128e-01 -1.61820916e-01 9.95695246e+01] [ 2.15215372e-01 2.18106648e-03 9.76564174e-01 5.84880363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.82687500000003 meters 0.013097083915270726 Centerline is valid? [True, True] Translation: X:224.03, Y:99.59, Z:5.85 [[-6.36731990e-01 -7.57931769e-01 1.41816100e-01 2.24034683e+02] [ 7.40502460e-01 -6.52330435e-01 -1.61620269e-01 9.95899728e+01] [ 2.15008094e-01 2.10637518e-03 9.76609995e-01 5.85494205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.856875 meters 0.013324902395330473 Centerline is valid? [True, True] Translation: X:224.02, Y:99.61, Z:5.86 [[-6.37248173e-01 -7.57520401e-01 1.41695478e-01 2.24018308e+02] [ 7.40133469e-01 -6.52808322e-01 -1.61380737e-01 9.96115499e+01] [ 2.14749188e-01 2.03398613e-03 9.76667113e-01 5.85936375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.88687500000003 meters 0.01250120583726521 Centerline is valid? [True, True] Translation: X:224.00, Y:99.63, Z:5.87 [[-6.38727181e-01 -7.56329047e-01 1.41400001e-01 2.24001476e+02] [ 7.39009837e-01 -6.54189178e-01 -1.60937816e-01 9.96316565e+01] [ 2.14224295e-01 1.70063461e-03 9.76783015e-01 5.86592934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.916875 meters 0.012624917221857667 Centerline is valid? [True, True] Translation: X:223.98, Y:99.65, Z:5.87 [[-6.39580847e-01 -7.55633317e-01 1.41260860e-01 2.23984661e+02] [ 7.38354989e-01 -6.54993075e-01 -1.60673529e-01 9.96508218e+01] [ 2.13935157e-01 1.53694912e-03 9.76846655e-01 5.87136668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.94687500000003 meters 0.012267762665442675 Centerline is valid? [True, True] Translation: X:223.97, Y:99.67, Z:5.88 [[-6.40451368e-01 -7.54832281e-01 1.41598984e-01 2.23967715e+02] [ 7.37475339e-01 -6.55916467e-01 -1.60946306e-01 9.96713447e+01] [ 2.14364573e-01 1.34747651e-03 9.76752791e-01 5.87664120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.976875 meters 0.012405882221759094 Centerline is valid? [True, True] Translation: X:223.95, Y:99.69, Z:5.88 [[-6.40877231e-01 -7.54405752e-01 1.41944838e-01 2.23950608e+02] [ 7.36976054e-01 -6.56407133e-01 -1.61232665e-01 9.96905805e+01] [ 2.14808454e-01 1.27960239e-03 9.76655359e-01 5.88196254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.00687500000004 meters 0.0122577246660346 Centerline is valid? [True, True] Translation: X:223.93, Y:99.71, Z:5.89 [[-6.41548912e-01 -7.53787104e-01 1.42197033e-01 2.23933114e+02] [ 7.36304289e-01 -6.57117707e-01 -1.61407291e-01 9.97109725e+01] [ 2.15106923e-01 1.14961393e-03 9.76589827e-01 5.88675308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.036875 meters 0.012014607412271304 Centerline is valid? [True, True] Translation: X:223.92, Y:99.73, Z:5.89 [[-6.42991113e-01 -7.52371491e-01 1.43176705e-01 2.23916522e+02] [ 7.34632741e-01 -6.58738624e-01 -1.62413551e-01 9.97306837e+01] [ 2.16511351e-01 7.51825130e-04 9.76279811e-01 5.89089110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.06687500000004 meters 0.011871719734599157 Centerline is valid? [True, True] Translation: X:223.90, Y:99.75, Z:5.90 [[-6.44942514e-01 -7.50563216e-01 1.43888891e-01 2.23899348e+02] [ 7.32625565e-01 -6.60798616e-01 -1.63110302e-01 9.97520457e+01] [ 2.17506173e-01 2.19912319e-04 9.76058921e-01 5.89552023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.096875 meters 0.011853496818948211 Centerline is valid? [True, True] Translation: X:223.88, Y:99.77, Z:5.90 [[-6.47919466e-01 -7.47937992e-01 1.44184347e-01 2.23884615e+02] [ 7.29885251e-01 -6.63768341e-01 -1.63337414e-01 9.97730572e+01] [ 2.17871263e-01 -5.91461792e-04 9.75977337e-01 5.90140337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.126875 meters 0.011936222038967262 Centerline is valid? [True, True] Translation: X:223.87, Y:99.79, Z:5.91 [[-6.49058548e-01 -7.46892318e-01 1.44481373e-01 2.23867379e+02] [ 7.28763811e-01 -6.64944443e-01 -1.63560982e-01 9.97935927e+01] [ 2.18234526e-01 -8.67857509e-04 9.75895967e-01 5.90734610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.156875 meters 0.011872859272823638 Centerline is valid? [True, True] Translation: X:223.85, Y:99.81, Z:5.91 [[-6.49847071e-01 -7.46121341e-01 1.44919733e-01 2.23849350e+02] [ 7.27886075e-01 -6.65809151e-01 -1.63951323e-01 9.98133963e+01] [ 2.18816465e-01 -1.05823156e-03 9.75765461e-01 5.91289631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.186875 meters 0.01180881954315313 Centerline is valid? [True, True] Translation: X:223.83, Y:99.83, Z:5.92 [[-6.50452891e-01 -7.45472610e-01 1.45539081e-01 2.23831191e+02] [ 7.27087826e-01 -6.66535168e-01 -1.64542287e-01 9.98320864e+01] [ 2.19668683e-01 -1.20731219e-03 9.75573786e-01 5.91732940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.216875 meters 0.011861550100779134 Centerline is valid? [True, True] Translation: X:223.81, Y:99.85, Z:5.92 [[-6.50373799e-01 -7.45491453e-01 1.45795799e-01 2.23813801e+02] [ 7.27067233e-01 -6.66514236e-01 -1.64717974e-01 9.98508547e+01] [ 2.19970818e-01 -1.12490672e-03 9.75505804e-01 5.92252258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.246875 meters 0.011665111783479825 Centerline is valid? [True, True] Translation: X:223.80, Y:99.87, Z:5.93 [[-6.49679155e-01 -7.46084722e-01 1.45858093e-01 2.23795679e+02] [ 7.27684812e-01 -6.65850486e-01 -1.64675271e-01 9.98699273e+01] [ 2.19981386e-01 -8.47372282e-04 9.75503702e-01 5.92887814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.276875 meters 0.011689304798632425 Centerline is valid? [True, True] Translation: X:223.78, Y:99.89, Z:5.94 [[-6.49480035e-01 -7.46306113e-01 1.45612052e-01 2.23778473e+02] [ 7.27998489e-01 -6.65602508e-01 -1.64290907e-01 9.98892549e+01] [ 2.19531056e-01 -6.98310356e-04 9.75605262e-01 5.93516894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.306875 meters 0.01160897105439708 Centerline is valid? [True, True] Translation: X:223.76, Y:99.91, Z:5.94 [[-6.49484642e-01 -7.46322574e-01 1.45507101e-01 2.23761513e+02] [ 7.28067091e-01 -6.65584132e-01 -1.64061191e-01 9.99083778e+01] [ 2.19289787e-01 -6.16292411e-04 9.75659577e-01 5.94122840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.336875 meters 0.011638165677000404 Centerline is valid? [True, True] Translation: X:223.74, Y:99.93, Z:5.95 [[-6.49589036e-01 -7.46208948e-01 1.45623795e-01 2.23743865e+02] [ 7.27939350e-01 -6.65711534e-01 -1.64111112e-01 9.99283997e+01] [ 2.19404620e-01 -5.99488120e-04 9.75633770e-01 5.94703825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.366875 meters 0.011575726274553196 Centerline is valid? [True, True] Translation: X:223.73, Y:99.95, Z:5.95 [[-6.49735829e-01 -7.46076920e-01 1.45645398e-01 2.23725804e+02] [ 7.27821674e-01 -6.65859519e-01 -1.64032654e-01 9.99487340e+01] [ 2.19360352e-01 -5.74014791e-04 9.75643739e-01 5.95278686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.396875 meters 0.011656038828435734 Centerline is valid? [True, True] Translation: X:223.71, Y:99.97, Z:5.96 [[-6.49808799e-01 -7.45976028e-01 1.45836520e-01 2.23708368e+02] [ 7.27692852e-01 -6.65972579e-01 -1.64145170e-01 9.99687232e+01] [ 2.19571485e-01 -5.38782500e-04 9.75596265e-01 5.95893823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.426875 meters 0.01165138557610304 Centerline is valid? [True, True] Translation: X:223.69, Y:99.99, Z:5.97 [[-6.49886765e-01 -7.45950142e-01 1.45621351e-01 2.23691513e+02] [ 7.27744181e-01 -6.66001621e-01 -1.63799414e-01 9.99887987e+01] [ 2.19170252e-01 -4.75980709e-04 9.75686514e-01 5.96547473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.456875 meters 0.011623208129659238 Centerline is valid? [True, True] Translation: X:223.67, Y:100.01, Z:5.97 [[-6.49984192e-01 -7.45866440e-01 1.45615261e-01 2.23674817e+02] [ 7.27684070e-01 -6.66095390e-01 -1.63685141e-01 1.00008148e+02] [ 2.19080908e-01 -4.30848635e-04 9.75706601e-01 5.97119830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.486875 meters 0.011722424110736927 Centerline is valid? [True, True] Translation: X:223.66, Y:100.03, Z:5.98 [[-6.50238853e-01 -7.45597188e-01 1.45857007e-01 2.23657049e+02] [ 7.27372237e-01 -6.66396754e-01 -1.63844423e-01 1.00028620e+02] [ 2.19360577e-01 -4.45672680e-04 9.75643756e-01 5.97684858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.516875 meters 0.01158292216771987 Centerline is valid? [True, True] Translation: X:223.64, Y:100.05, Z:5.98 [[-6.50495128e-01 -7.45358265e-01 1.45935416e-01 2.23639788e+02] [ 7.27130940e-01 -6.66663970e-01 -1.63828407e-01 1.00047870e+02] [ 2.19400741e-01 -4.55424086e-04 9.75634720e-01 5.98171529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.546875 meters 0.01158292216771987 Centerline is valid? [True, True] Translation: X:223.62, Y:100.07, Z:5.99 [[-6.50720130e-01 -7.45153993e-01 1.45975477e-01 2.23622275e+02] [ 7.26929600e-01 -6.66892275e-01 -1.63792705e-01 1.00067307e+02] [ 2.19400706e-01 -4.69315647e-04 9.75634722e-01 5.98752074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57687500000003 meters 0.011554849897046101 Centerline is valid? [True, True] Translation: X:223.60, Y:100.09, Z:5.99 [[-6.50520084e-01 -7.45202656e-01 1.46617262e-01 2.23604512e+02] [ 7.26840087e-01 -6.66837951e-01 -1.64409961e-01 1.00087101e+02] [ 2.20288694e-01 -3.84678447e-04 9.75434643e-01 5.99249594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.606875 meters 0.011592738824448867 Centerline is valid? [True, True] Translation: X:223.59, Y:100.11, Z:6.00 [[-6.50722966e-01 -7.45015864e-01 1.46666234e-01 2.23587156e+02] [ 7.26659274e-01 -6.67046640e-01 -1.64362645e-01 1.00106661e+02] [ 2.20285997e-01 -3.78168305e-04 9.75435255e-01 5.99850829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63687500000003 meters 0.011583967591391346 Centerline is valid? [True, True] Translation: X:223.57, Y:100.13, Z:6.00 [[-6.50784777e-01 -7.44876729e-01 1.47098040e-01 2.23569460e+02] [ 7.26430732e-01 -6.67202018e-01 -1.64741795e-01 1.00127163e+02] [ 2.20856439e-01 -3.54915263e-04 9.75306263e-01 6.00448183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.666875 meters 0.01151047186857672 Centerline is valid? [True, True] Translation: X:223.55, Y:100.15, Z:6.01 [[-6.51170321e-01 -7.44433175e-01 1.47636245e-01 2.23552381e+02] [ 7.25863476e-01 -6.67696832e-01 -1.65236661e-01 1.00146356e+02] [ 2.21583905e-01 -4.33451240e-04 9.75141213e-01 6.01031829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69687500000003 meters 0.011571875345317185 Centerline is valid? [True, True] Translation: X:223.53, Y:100.17, Z:6.02 [[-6.51248019e-01 -7.44333363e-01 1.47796695e-01 2.23534259e+02] [ 7.25739307e-01 -6.67808114e-01 -1.65332335e-01 1.00165922e+02] [ 2.21762205e-01 -4.10484561e-04 9.75100690e-01 6.01580337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.726875 meters 0.011530958832215938 Centerline is valid? [True, True] Translation: X:223.52, Y:100.18, Z:6.02 [[-6.51148911e-01 -7.44417041e-01 1.47811922e-01 2.23516086e+02] [ 7.25845553e-01 -6.67714890e-01 -1.65242424e-01 1.00184904e+02] [ 2.21705498e-01 -3.08798274e-04 9.75113623e-01 6.02140102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75687500000004 meters 0.01146464116156385 Centerline is valid? [True, True] Translation: X:223.50, Y:100.20, Z:6.03 [[-6.49863165e-01 -7.45509661e-01 1.47963552e-01 2.23497194e+02] [ 7.26951859e-01 -6.66494806e-01 -1.65304772e-01 1.00202163e+02] [ 2.21853244e-01 1.36897052e-04 9.75080058e-01 6.02655550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.786875 meters 0.011589316614429943 Centerline is valid? [True, True] Translation: X:223.48, Y:100.22, Z:6.03 [[-6.49175978e-01 -7.46066867e-01 1.48171451e-01 2.23478336e+02] [ 7.27495973e-01 -6.65870908e-01 -1.65425342e-01 1.00221074e+02] [ 2.22081425e-01 4.03975164e-04 9.75028039e-01 6.03222408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81687500000004 meters 0.011551579352288966 Centerline is valid? [True, True] Translation: X:223.46, Y:100.24, Z:6.04 [[-6.48766261e-01 -7.46424622e-01 1.48164170e-01 2.23459449e+02] [ 7.27888641e-01 -6.65469703e-01 -1.65312434e-01 1.00239873e+02] [ 2.21992037e-01 5.97887062e-04 9.75048295e-01 6.03804371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.846875 meters 0.011639228675748176 Centerline is valid? [True, True] Translation: X:223.44, Y:100.26, Z:6.04 [[-6.47167323e-01 -7.47747654e-01 1.48485358e-01 2.23439519e+02] [ 7.29188267e-01 -6.63982064e-01 -1.65566573e-01 1.00257966e+02] [ 2.22393631e-01 1.12450512e-03 9.74956311e-01 6.04429690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.876875 meters 0.011916575930148606 Centerline is valid? [True, True] Translation: X:223.42, Y:100.28, Z:6.05 [[-6.46520230e-01 -7.48299637e-01 1.48523555e-01 2.23420247e+02] [ 7.29769714e-01 -6.63359424e-01 -1.65500568e-01 1.00275727e+02] [ 2.22368515e-01 1.38852744e-03 9.74961700e-01 6.04904858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.906875 meters 0.012042721547238917 Centerline is valid? [True, True] Translation: X:223.40, Y:100.29, Z:6.06 [[-6.45932687e-01 -7.48822155e-01 1.48446438e-01 2.23401282e+02] [ 7.30351204e-01 -6.62768946e-01 -1.65301068e-01 1.00294670e+02] [ 2.22166791e-01 1.64467217e-03 9.75007288e-01 6.05540739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.936875 meters 0.012388793066851604 Centerline is valid? [True, True] Translation: X:223.38, Y:100.31, Z:6.06 [[-6.44384905e-01 -7.50200041e-01 1.48216035e-01 2.23380611e+02] [ 7.31846737e-01 -6.61207318e-01 -1.64940100e-01 1.00312030e+02] [ 2.21739596e-01 2.18651071e-03 9.75103467e-01 6.06142481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.966875 meters 0.012538095293329988 Centerline is valid? [True, True] Translation: X:223.36, Y:100.33, Z:6.07 [[-6.43887585e-01 -7.50648348e-01 1.48107513e-01 2.23361484e+02] [ 7.32356316e-01 -6.60697563e-01 -1.64720843e-01 1.00330591e+02] [ 2.21501702e-01 2.40576678e-03 9.75157017e-01 6.06742402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.996875 meters 0.013002675502644383 Centerline is valid? [True, True] Translation: X:223.34, Y:100.35, Z:6.07 [[-6.43218070e-01 -7.51252058e-01 1.47955603e-01 2.23342502e+02] [ 7.33037272e-01 -6.60009969e-01 -1.64448164e-01 1.00348749e+02] [ 2.21194195e-01 2.68094106e-03 9.75226097e-01 6.07335219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.026875 meters 0.013260187400584558 Centerline is valid? [True, True] Translation: X:223.32, Y:100.37, Z:6.08 [[-6.41890321e-01 -7.52359256e-01 1.48095798e-01 2.23322526e+02] [ 7.34162063e-01 -6.58745566e-01 -1.64500285e-01 1.00367993e+02] [ 2.21320763e-01 3.13517568e-03 9.75196027e-01 6.07983349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.056875 meters 0.013971173189090687 Centerline is valid? [True, True] Translation: X:223.30, Y:100.39, Z:6.09 [[-6.41070879e-01 -7.53004508e-01 1.48365554e-01 2.23302314e+02] [ 7.34778817e-01 -6.58006425e-01 -1.64704690e-01 1.00386020e+02] [ 2.21648862e-01 3.42848609e-03 9.75120519e-01 6.08509954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.086875 meters 0.014119872245880325 Centerline is valid? [True, True] Translation: X:223.28, Y:100.41, Z:6.09 [[-6.40132373e-01 -7.53714035e-01 1.48814306e-01 2.23283309e+02] [ 7.35417099e-01 -6.57191823e-01 -1.65107838e-01 1.00405268e+02] [ 2.22243640e-01 3.74971293e-03 9.74983951e-01 6.09087265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.116875 meters 0.014783521290358929 Centerline is valid? [True, True] Translation: X:223.26, Y:100.42, Z:6.10 [[-6.37861229e-01 -7.55493505e-01 1.49541356e-01 2.23262160e+02] [ 7.37086308e-01 -6.55140963e-01 -1.65813427e-01 1.00423688e+02] [ 2.23241635e-01 4.45893013e-03 9.74752938e-01 6.09604347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.146875 meters 0.015588028543768194 Centerline is valid? [True, True] Translation: X:223.24, Y:100.44, Z:6.10 [[-6.37016656e-01 -7.56155918e-01 1.49793218e-01 2.23242677e+02] [ 7.37725710e-01 -6.54374160e-01 -1.65997696e-01 1.00441673e+02] [ 2.23540952e-01 4.76301059e-03 9.74682901e-01 6.10109396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.176875 meters 0.0157954097244873 Centerline is valid? [True, True] Translation: X:223.22, Y:100.46, Z:6.11 [[-6.36239619e-01 -7.56737916e-01 1.50156168e-01 2.23223007e+02] [ 7.38256081e-01 -6.53698902e-01 -1.66300042e-01 1.00461503e+02] [ 2.24002469e-01 5.04702907e-03 9.74575508e-01 6.10653993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.206875 meters 0.01677960035334643 Centerline is valid? [True, True] Translation: X:223.20, Y:100.48, Z:6.11 [[-6.35183850e-01 -7.57554592e-01 1.50507530e-01 2.23203009e+02] [ 7.39029337e-01 -6.52749385e-01 -1.66594954e-01 1.00479772e+02] [ 2.24448470e-01 5.41105554e-03 9.74470936e-01 6.11111188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.236875 meters 0.01595493183102048 Centerline is valid? [True, True] Translation: X:223.19, Y:100.50, Z:6.12 [[-6.35141598e-01 -7.57511534e-01 1.50902044e-01 2.23185853e+02] [ 7.38909644e-01 -6.52798800e-01 -1.66931920e-01 1.00500415e+02] [ 2.24961528e-01 5.47756881e-03 9.74352250e-01 6.11721785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.266875 meters 0.01617756198891638 Centerline is valid? [True, True] Translation: X:223.17, Y:100.52, Z:6.12 [[-6.35312286e-01 -7.57342671e-01 1.51031049e-01 2.23167668e+02] [ 7.38728901e-01 -6.52994549e-01 -1.66966255e-01 1.00519700e+02] [ 2.25073122e-01 5.49528776e-03 9.74326378e-01 6.12297203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.296875 meters 0.015446476031412202 Centerline is valid? [True, True] Translation: X:223.15, Y:100.54, Z:6.13 [[-6.36623263e-01 -7.56288703e-01 1.50791968e-01 2.23150867e+02] [ 7.37730078e-01 -6.54217476e-01 -1.66594795e-01 1.00540764e+02] [ 2.24644502e-01 5.18564836e-03 9.74426989e-01 6.12993178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.32687500000003 meters 0.015156304721663181 Centerline is valid? [True, True] Translation: X:223.13, Y:100.56, Z:6.14 [[-6.37497102e-01 -7.55495750e-01 1.51074874e-01 2.23133767e+02] [ 7.36867207e-01 -6.55134609e-01 -1.66809365e-01 1.00560980e+02] [ 2.24998145e-01 4.98163383e-03 9.74346457e-01 6.13604286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.356875 meters 0.015238499723667342 Centerline is valid? [True, True] Translation: X:223.12, Y:100.58, Z:6.14 [[-6.38671404e-01 -7.54499703e-01 1.51092806e-01 2.23116816e+02] [ 7.35864454e-01 -6.56283524e-01 -1.66719647e-01 1.00580130e+02] [ 2.24949643e-01 4.70475416e-03 9.74359032e-01 6.14138455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.38687500000003 meters 0.01460572009298497 Centerline is valid? [True, True] Translation: X:223.10, Y:100.60, Z:6.15 [[-6.41226888e-01 -7.52378128e-01 1.50848366e-01 2.23100600e+02] [ 7.33771873e-01 -6.58719152e-01 -1.66336758e-01 1.00601810e+02] [ 2.24514847e-01 4.02868609e-03 9.74462341e-01 6.14721090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.416875 meters 0.013965251751874649 Centerline is valid? [True, True] Translation: X:223.08, Y:100.62, Z:6.15 [[-6.42904726e-01 -7.50908809e-01 1.51028058e-01 2.23083134e+02] [ 7.32239614e-01 -6.60396180e-01 -1.66439276e-01 1.00623475e+02] [ 2.24719071e-01 3.58413036e-03 9.74417002e-01 6.15356003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.44687500000003 meters 0.013177153668729045 Centerline is valid? [True, True] Translation: X:223.07, Y:100.65, Z:6.16 [[-6.45671991e-01 -7.48592362e-01 1.50722114e-01 2.23067227e+02] [ 7.29958884e-01 -6.63024465e-01 -1.66007792e-01 1.00645689e+02] [ 2.24204614e-01 2.83436512e-03 9.74537971e-01 6.16007207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.476875 meters 0.012964230035282541 Centerline is valid? [True, True] Translation: X:223.05, Y:100.67, Z:6.17 [[-6.47227553e-01 -7.47271291e-01 1.50605814e-01 2.23049874e+02] [ 7.28653465e-01 -6.64514610e-01 -1.65784379e-01 1.00666249e+02] [ 2.23965670e-01 2.43923040e-03 9.74593981e-01 6.16605139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.50687500000004 meters 0.012803550374505377 Centerline is valid? [True, True] Translation: X:223.03, Y:100.69, Z:6.17 [[-6.48544937e-01 -7.46115530e-01 1.50668780e-01 2.23032550e+02] [ 7.27475678e-01 -6.65813149e-01 -1.65746760e-01 1.00686662e+02] [ 2.23983486e-01 2.11365036e-03 9.74590648e-01 6.17211693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.536875 meters 0.012602636913127288 Centerline is valid? [True, True] Translation: X:223.02, Y:100.71, Z:6.18 [[-6.49594321e-01 -7.45209369e-01 1.50632714e-01 2.23015239e+02] [ 7.26579031e-01 -6.66827929e-01 -1.65600197e-01 1.00707357e+02] [ 2.23852919e-01 1.87362358e-03 9.74621137e-01 6.17832714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.56687500000004 meters 0.01255798913473598 Centerline is valid? [True, True] Translation: X:223.00, Y:100.73, Z:6.18 [[-6.51352369e-01 -7.43607423e-01 1.50957253e-01 2.22998061e+02] [ 7.24878170e-01 -6.68615017e-01 -1.65848118e-01 1.00728425e+02] [ 2.24258177e-01 1.40005259e-03 9.74528763e-01 6.18386037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.596875 meters 0.012615256104411988 Centerline is valid? [True, True] Translation: X:222.98, Y:100.75, Z:6.19 [[-6.52072966e-01 -7.42889950e-01 1.51378235e-01 2.22981099e+02] [ 7.24060613e-01 -6.69412434e-01 -1.66202350e-01 1.00747598e+02] [ 2.24804528e-01 1.23095790e-03 9.74403104e-01 6.18943556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.626875 meters 0.012482966369085672 Centerline is valid? [True, True] Translation: X:222.96, Y:100.77, Z:6.20 [[-6.52760301e-01 -7.42238895e-01 1.51609408e-01 2.22962910e+02] [ 7.23360041e-01 -6.70134496e-01 -1.66343040e-01 1.00767785e+02] [ 2.25064969e-01 1.08605435e-03 9.74343153e-01 6.19520572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.656875 meters 0.012555030731086632 Centerline is valid? [True, True] Translation: X:222.95, Y:100.79, Z:6.20 [[-6.53714476e-01 -7.41378150e-01 1.51709668e-01 2.22945173e+02] [ 7.22475972e-01 -6.71086948e-01 -1.66345356e-01 1.00786949e+02] [ 2.25135190e-01 8.64222550e-04 9.74327152e-01 6.20050540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.686875 meters 0.012575258765447773 Centerline is valid? [True, True] Translation: X:222.93, Y:100.81, Z:6.21 [[-6.54254920e-01 -7.40891792e-01 1.51755898e-01 2.22927379e+02] [ 7.21990862e-01 -6.71623967e-01 -1.66284222e-01 1.00806566e+02] [ 2.25121514e-01 7.74100717e-04 9.74330388e-01 6.20645011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.716875 meters 0.012451832645055458 Centerline is valid? [True, True] Translation: X:222.91, Y:100.83, Z:6.21 [[-6.55076653e-01 -7.40171254e-01 1.51727038e-01 2.22909550e+02] [ 7.21282819e-01 -6.72418141e-01 -1.66147341e-01 1.00826398e+02] [ 2.25001499e-01 5.98861459e-04 9.74358233e-01 6.21301380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.746875 meters 0.012484411228281622 Centerline is valid? [True, True] Translation: X:222.89, Y:100.85, Z:6.22 [[-6.56501702e-01 -7.38929484e-01 1.51620361e-01 2.22891957e+02] [ 7.20060215e-01 -6.73782722e-01 -1.65922058e-01 1.00845219e+02] [ 2.24763880e-01 2.47675943e-04 9.74413227e-01 6.21828460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.776875 meters 0.01246048699165142 Centerline is valid? [True, True] Translation: X:222.87, Y:100.86, Z:6.22 [[-6.57258945e-01 -7.38314636e-01 1.51334657e-01 2.22874080e+02] [ 7.19527138e-01 -6.74456437e-01 -1.65496865e-01 1.00864342e+02] [ 2.24257391e-01 1.15097425e-04 9.74529943e-01 6.22487650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.806875 meters 0.012531412988303741 Centerline is valid? [True, True] Translation: X:222.86, Y:100.88, Z:6.23 [[-6.57998626e-01 -7.37677656e-01 1.51226595e-01 2.22856602e+02] [ 7.18925287e-01 -6.75153075e-01 -1.65271766e-01 1.00882640e+02] [ 2.24018390e-01 -2.79716253e-05 9.74584917e-01 6.23043563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.836875 meters 0.01255517391159669 Centerline is valid? [True, True] Translation: X:222.84, Y:100.90, Z:6.24 [[-6.59001586e-01 -7.36782709e-01 1.51222186e-01 2.22837786e+02] [ 7.18033806e-01 -6.76129555e-01 -1.65155316e-01 1.00901528e+02] [ 2.23929371e-01 -2.54973501e-04 9.74605342e-01 6.23669487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.866875 meters 0.012591287206978444 Centerline is valid? [True, True] Translation: X:222.82, Y:100.92, Z:6.24 [[-6.59715221e-01 -7.36145122e-01 1.51215697e-01 2.22819342e+02] [ 7.17405304e-01 -6.76823611e-01 -1.65043721e-01 1.00920320e+02] [ 2.23842485e-01 -3.98911899e-04 9.74625253e-01 6.24302106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.896875 meters 0.012653374221390583 Centerline is valid? [True, True] Translation: X:222.80, Y:100.94, Z:6.25 [[-6.60099054e-01 -7.35798634e-01 1.51227013e-01 2.22800631e+02] [ 7.17071612e-01 -6.77200248e-01 -1.64948865e-01 1.00937692e+02] [ 2.23780120e-01 -4.41991968e-04 9.74639555e-01 6.24845378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.926875 meters 0.012700950913622765 Centerline is valid? [True, True] Translation: X:222.78, Y:100.96, Z:6.25 [[-6.60093663e-01 -7.35799987e-01 1.51243959e-01 2.22781262e+02] [ 7.17094481e-01 -6.77198824e-01 -1.64855266e-01 1.00956194e+02] [ 2.23722734e-01 -3.63708432e-04 9.74652762e-01 6.25499327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.956875 meters 0.01284934367091178 Centerline is valid? [True, True] Translation: X:222.76, Y:100.97, Z:6.26 [[-6.59895678e-01 -7.35887598e-01 1.51681039e-01 2.22762357e+02] [ 7.17099720e-01 -6.77103667e-01 -1.65222929e-01 1.00974098e+02] [ 2.24289292e-01 -2.59466465e-04 9.74522573e-01 6.26002724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.986875 meters 0.012738709831387267 Centerline is valid? [True, True] Translation: X:222.74, Y:100.99, Z:6.27 [[-6.59582356e-01 -7.36206734e-01 1.51495081e-01 2.22743122e+02] [ 7.17499767e-01 -6.76756706e-01 -1.64907384e-01 1.00991964e+02] [ 2.23931239e-01 -7.23159462e-05 9.74604943e-01 6.26638227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.016875 meters 0.012754570548696392 Centerline is valid? [True, True] Translation: X:222.72, Y:101.01, Z:6.27 [[-6.58376799e-01 -7.37260521e-01 1.51614359e-01 2.22722341e+02] [ 7.18576155e-01 -6.75608462e-01 -1.64928821e-01 1.01008854e+02] [ 2.24027452e-01 3.61154149e-04 9.74582767e-01 6.27206884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.046875 meters 0.012843856219180856 Centerline is valid? [True, True] Translation: X:222.70, Y:101.03, Z:6.28 [[-6.57934078e-01 -7.37650711e-01 1.51638311e-01 2.22703534e+02] [ 7.18995503e-01 -6.75182275e-01 -1.64846480e-01 1.01026141e+02] [ 2.23982623e-01 5.69146767e-04 9.74592972e-01 6.27744930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07687500000003 meters 0.012806404154716476 Centerline is valid? [True, True] Translation: X:222.68, Y:101.04, Z:6.28 [[-6.57426444e-01 -7.38074236e-01 1.51779091e-01 2.22684257e+02] [ 7.19414583e-01 -6.74719071e-01 -1.64914624e-01 1.01044138e+02] [ 2.24127482e-01 7.72856485e-04 9.74559528e-01 6.28297842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.106875 meters 0.012919473665464982 Centerline is valid? [True, True] Translation: X:222.66, Y:101.06, Z:6.29 [[-6.56086697e-01 -7.39345332e-01 1.51389322e-01 2.22663583e+02] [ 7.20840318e-01 -6.73325219e-01 -1.64384869e-01 1.01060562e+02] [ 2.23471434e-01 1.27680130e-03 9.74709643e-01 6.28922587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13687500000003 meters 0.013140083266457166 Centerline is valid? [True, True] Translation: X:222.64, Y:101.08, Z:6.29 [[-6.55372037e-01 -7.40003992e-01 1.51266606e-01 2.22644288e+02] [ 7.21571143e-01 -6.72600636e-01 -1.64144660e-01 1.01078048e+02] [ 2.23209718e-01 1.57379770e-03 9.74769175e-01 6.29490519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.166875 meters 0.013289164005773027 Centerline is valid? [True, True] Translation: X:222.62, Y:101.10, Z:6.30 [[-6.54719872e-01 -7.40587636e-01 1.51234398e-01 2.22624793e+02] [ 7.22203644e-01 -6.71957241e-01 -1.63998054e-01 1.01095968e+02] [ 2.23077980e-01 1.84924835e-03 9.74798849e-01 6.30063368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19687500000003 meters 0.013454687445066633 Centerline is valid? [True, True] Translation: X:222.61, Y:101.11, Z:6.31 [[-6.53926177e-01 -7.41259114e-01 1.51378605e-01 2.22605714e+02] [ 7.22881405e-01 -6.71215534e-01 -1.64049328e-01 1.01114452e+02] [ 2.23210731e-01 2.15262885e-03 9.74767837e-01 6.30679785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.226875 meters 0.01392252166983556 Centerline is valid? [True, True] Translation: X:222.58, Y:101.13, Z:6.31 [[-6.52162965e-01 -7.42789025e-01 1.51485748e-01 2.22584260e+02] [ 7.24450084e-01 -6.69519900e-01 -1.64058464e-01 1.01130879e+02] [ 2.23283549e-01 2.75100840e-03 9.74749654e-01 6.31151698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25687500000004 meters 0.013999646848588104 Centerline is valid? [True, True] Translation: X:222.57, Y:101.15, Z:6.32 [[-6.51432090e-01 -7.43450303e-01 1.51386522e-01 2.22565019e+02] [ 7.25176227e-01 -6.68784254e-01 -1.63850729e-01 1.01149560e+02] [ 2.23059797e-01 3.04428409e-03 9.74800010e-01 6.31737265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.286875 meters 0.014944873720857102 Centerline is valid? [True, True] Translation: X:222.54, Y:101.17, Z:6.32 [[-6.49722834e-01 -7.44899444e-01 1.51608235e-01 2.22543198e+02] [ 7.26634442e-01 -6.67166932e-01 -1.63983754e-01 1.01165592e+02] [ 2.23299408e-01 3.61977581e-03 9.74743182e-01 6.32191310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31687500000004 meters 0.015269017355515968 Centerline is valid? [True, True] Translation: X:222.52, Y:101.18, Z:6.33 [[-6.49158769e-01 -7.45406616e-01 1.51531742e-01 2.22523748e+02] [ 7.27189989e-01 -6.66599002e-01 -1.63830680e-01 1.01184334e+02] [ 2.23131381e-01 3.84024279e-03 9.74780816e-01 6.32780596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.346875 meters 0.015081278937779477 Centerline is valid? [True, True] Translation: X:222.50, Y:101.20, Z:6.33 [[-6.48334683e-01 -7.46044074e-01 1.51922279e-01 2.22504728e+02] [ 7.27773195e-01 -6.65883692e-01 -1.64149584e-01 1.01204558e+02] [ 2.23625392e-01 4.14109374e-03 9.74666371e-01 6.33411572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.376875 meters 0.015977294252903194 Centerline is valid? [True, True] Translation: X:222.48, Y:101.22, Z:6.34 [[-6.47409076e-01 -7.46786522e-01 1.52221481e-01 2.22483902e+02] [ 7.28484831e-01 -6.65048792e-01 -1.64377477e-01 1.01222139e+02] [ 2.23989596e-01 4.47156945e-03 9.74581277e-01 6.33894331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.406875 meters 0.01602482071841249 Centerline is valid? [True, True] Translation: X:222.47, Y:101.24, Z:6.34 [[-6.47484625e-01 -7.46708597e-01 1.52282408e-01 2.22465413e+02] [ 7.28413053e-01 -6.65135990e-01 -1.64342748e-01 1.01241038e+02] [ 2.24004653e-01 4.51509155e-03 9.74577616e-01 6.34440976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.436875 meters 0.01602482071841249 Centerline is valid? [True, True] Translation: X:222.45, Y:101.26, Z:6.35 [[-6.47714296e-01 -7.46498812e-01 1.52334218e-01 2.22447527e+02] [ 7.28208837e-01 -6.65371428e-01 -1.64294711e-01 1.01260122e+02] [ 2.24004643e-01 4.51509134e-03 9.74577618e-01 6.35020968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.466875 meters 0.01572045409115554 Centerline is valid? [True, True] Translation: X:222.43, Y:101.28, Z:6.36 [[-6.47698372e-01 -7.46502853e-01 1.52382116e-01 2.22429673e+02] [ 7.28225243e-01 -6.65366389e-01 -1.64242390e-01 1.01279981e+02] [ 2.23997351e-01 4.58897485e-03 9.74578949e-01 6.35627639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.496875 meters 0.015695856883837876 Centerline is valid? [True, True] Translation: X:222.41, Y:101.30, Z:6.36 [[-6.47817710e-01 -7.46331306e-01 1.52714756e-01 2.22411501e+02] [ 7.27992675e-01 -6.65558639e-01 -1.64494266e-01 1.01299393e+02] [ 2.24407845e-01 4.61292508e-03 9.74484397e-01 6.36214604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.526875 meters 0.016035629288721064 Centerline is valid? [True, True] Translation: X:222.39, Y:101.32, Z:6.37 [[-6.48090683e-01 -7.46127053e-01 1.52554537e-01 2.22393413e+02] [ 7.27846265e-01 -6.65787631e-01 -1.64215238e-01 1.01317767e+02] [ 2.24094356e-01 4.60988447e-03 9.74556550e-01 6.36758829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.556875 meters 0.015310991678789307 Centerline is valid? [True, True] Translation: X:222.38, Y:101.34, Z:6.37 [[-6.48453153e-01 -7.45800276e-01 1.52612113e-01 2.22376340e+02] [ 7.27522217e-01 -6.66153901e-01 -1.64165782e-01 1.01338750e+02] [ 2.24098040e-01 4.57488340e-03 9.74555868e-01 6.37386142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.586875 meters 0.015563052316470328 Centerline is valid? [True, True] Translation: X:222.36, Y:101.36, Z:6.38 [[-6.48980653e-01 -7.45305275e-01 1.52787955e-01 2.22358423e+02] [ 7.26996051e-01 -6.66708290e-01 -1.64246151e-01 1.01357344e+02] [ 2.24278519e-01 4.48366565e-03 9.74514773e-01 6.37945474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.616875 meters 0.014964333661694312 Centerline is valid? [True, True] Translation: X:222.34, Y:101.38, Z:6.39 [[-6.50323787e-01 -7.44185327e-01 1.52535801e-01 2.22341330e+02] [ 7.25932696e-01 -6.67960204e-01 -1.63862404e-01 1.01378904e+02] [ 2.23831842e-01 4.16710560e-03 9.74618870e-01 6.38545904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.646875 meters 0.014601933744854741 Centerline is valid? [True, True] Translation: X:222.32, Y:101.40, Z:6.39 [[-6.51167000e-01 -7.43433195e-01 1.52606104e-01 2.22324320e+02] [ 7.25165115e-01 -6.68798383e-01 -1.63842240e-01 1.01398947e+02] [ 2.23868475e-01 3.97596276e-03 9.74611255e-01 6.39121144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.676875 meters 0.014134728121347827 Centerline is valid? [True, True] Translation: X:222.31, Y:101.42, Z:6.40 [[-6.53124086e-01 -7.41734024e-01 1.52510874e-01 2.22307861e+02] [ 7.23467870e-01 -6.70685199e-01 -1.63632528e-01 1.01419988e+02] [ 2.23658599e-01 3.46437207e-03 9.74661392e-01 6.39694680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.706875 meters 0.013807438107028436 Centerline is valid? [True, True] Translation: X:222.29, Y:101.44, Z:6.40 [[-6.54571113e-01 -7.40504324e-01 1.52282650e-01 2.22290712e+02] [ 7.22282367e-01 -6.72044425e-01 -1.63292599e-01 1.01440555e+02] [ 2.23259582e-01 3.10445473e-03 9.74754083e-01 6.40307817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.736875 meters 0.013641925343731175 Centerline is valid? [True, True] Translation: X:222.27, Y:101.46, Z:6.41 [[-6.55996120e-01 -7.39257582e-01 1.52208142e-01 2.22273843e+02] [ 7.21044805e-01 -6.73417149e-01 -1.63106510e-01 1.01460781e+02] [ 2.23077297e-01 2.75165224e-03 9.74796875e-01 6.40921603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.766875 meters 0.013061530189925508 Centerline is valid? [True, True] Translation: X:222.26, Y:101.48, Z:6.42 [[-6.58657691e-01 -7.36923114e-01 1.52034109e-01 2.22257508e+02] [ 7.18714939e-01 -6.75973522e-01 -1.62814721e-01 1.01483144e+02] [ 2.22752963e-01 2.03001734e-03 9.74872810e-01 6.41566844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.796875 meters 0.012913901119321588 Centerline is valid? [True, True] Translation: X:222.24, Y:101.50, Z:6.42 [[-6.60089306e-01 -7.35606712e-01 1.52200110e-01 2.22240560e+02] [ 7.17345495e-01 -6.77406843e-01 -1.62896932e-01 1.01502565e+02] [ 2.22929473e-01 1.65354001e-03 9.74833173e-01 6.42110286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.82687500000003 meters 0.012731296834995555 Centerline is valid? [True, True] Translation: X:222.22, Y:101.52, Z:6.43 [[-6.61536766e-01 -7.34327982e-01 1.52090506e-01 2.22223590e+02] [ 7.16085448e-01 -6.78793583e-01 -1.62668076e-01 1.01523359e+02] [ 2.22689779e-01 1.29888520e-03 9.74888494e-01 6.42721255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.856875 meters 0.012495520292808465 Centerline is valid? [True, True] Translation: X:222.21, Y:101.54, Z:6.43 [[-6.63953088e-01 -7.32142258e-01 1.52098690e-01 2.22207746e+02] [ 7.13864881e-01 -6.81151457e-01 -1.62571905e-01 1.01544926e+02] [ 2.22628006e-01 6.37794436e-04 9.74903259e-01 6.43305231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.88687500000003 meters 0.012467540340153453 Centerline is valid? [True, True] Translation: X:222.19, Y:101.57, Z:6.44 [[-6.65104065e-01 -7.31038078e-01 1.52380809e-01 2.22190564e+02] [ 7.12687554e-01 -6.82336582e-01 -1.62767440e-01 1.01565116e+02] [ 2.22964197e-01 3.42619811e-04 9.74826574e-01 6.43835486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.916875 meters 0.012405904308643863 Centerline is valid? [True, True] Translation: X:222.17, Y:101.58, Z:6.44 [[-6.66125561e-01 -7.30043631e-01 1.52686067e-01 2.22173659e+02] [ 7.11616891e-01 -6.83400535e-01 -1.62988068e-01 1.01584728e+02] [ 2.23334141e-01 8.34664143e-05 9.74741943e-01 6.44349387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.94687500000003 meters 0.012440850014167443 Centerline is valid? [True, True] Translation: X:222.16, Y:101.61, Z:6.45 [[-6.67776254e-01 -7.28443238e-01 1.53118659e-01 2.22156368e+02] [ 7.09894350e-01 -6.85106056e-01 -1.63339229e-01 1.01605982e+02] [ 2.23885877e-01 -3.75988004e-04 9.74615295e-01 6.44859727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.976875 meters 0.012490530178492915 Centerline is valid? [True, True] Translation: X:222.14, Y:101.63, Z:6.45 [[-6.68609865e-01 -7.27590419e-01 1.53535109e-01 2.22138530e+02] [ 7.08941671e-01 -6.86011542e-01 -1.63676117e-01 1.01625992e+02] [ 2.24416031e-01 -5.88029497e-04 9.74493252e-01 6.45436805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.00687500000004 meters 0.012560277036971705 Centerline is valid? [True, True] Translation: X:222.12, Y:101.65, Z:6.46 [[-6.70089473e-01 -7.26234643e-01 1.53503553e-01 2.22122517e+02] [ 7.07583331e-01 -6.87446223e-01 -1.63534462e-01 1.01646233e+02] [ 2.24289829e-01 -9.66166038e-04 9.74522006e-01 6.45965667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.036875 meters 0.012616165023084302 Centerline is valid? [True, True] Translation: X:222.10, Y:101.67, Z:6.47 [[-6.70799677e-01 -7.25534537e-01 1.53712160e-01 2.22104969e+02] [ 7.06839676e-01 -6.88184841e-01 -1.63643812e-01 1.01665863e+02] [ 2.24511616e-01 -1.12236297e-03 9.74470766e-01 6.46565495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.06687500000004 meters 0.012663324198610465 Centerline is valid? [True, True] Translation: X:222.09, Y:101.69, Z:6.47 [[-6.71338014e-01 -7.25003319e-01 1.53868315e-01 2.22087153e+02] [ 7.06280324e-01 -6.88744278e-01 -1.63705293e-01 1.01685744e+02] [ 2.24662802e-01 -1.22742327e-03 9.74435795e-01 6.47176811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.096875 meters 0.012712542759753653 Centerline is valid? [True, True] Translation: X:222.07, Y:101.71, Z:6.48 [[-6.71798886e-01 -7.24591859e-01 1.53794977e-01 2.22069656e+02] [ 7.05900664e-01 -6.89177027e-01 -1.63521490e-01 1.01705089e+02] [ 2.24478305e-01 -1.28957795e-03 9.74478233e-01 6.47765390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.126875 meters 0.01276570223894723 Centerline is valid? [True, True] Translation: X:222.05, Y:101.72, Z:6.48 [[-6.72662954e-01 -7.23799756e-01 1.53748051e-01 2.22052073e+02] [ 7.05125076e-01 -6.90008504e-01 -1.63361230e-01 1.01724644e+02] [ 2.24328282e-01 -1.47544174e-03 9.74512517e-01 6.48437833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.156875 meters 0.012913434968582209 Centerline is valid? [True, True] Translation: X:222.04, Y:101.74, Z:6.49 [[-6.72998848e-01 -7.23559039e-01 1.53410778e-01 2.22035040e+02] [ 7.04985070e-01 -6.90260915e-01 -1.62898493e-01 1.01743289e+02] [ 2.23760141e-01 -1.47818977e-03 9.74643121e-01 6.48986518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.186875 meters 0.012817420451058178 Centerline is valid? [True, True] Translation: X:222.02, Y:101.76, Z:6.50 [[-6.72904697e-01 -7.23807180e-01 1.52651348e-01 2.22015013e+02] [ 7.05443832e-01 -6.90001010e-01 -1.62011130e-01 1.01761370e+02] [ 2.22594404e-01 -1.33109860e-03 9.74910232e-01 6.49671353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.216875 meters 0.012697406591653023 Centerline is valid? [True, True] Translation: X:222.00, Y:101.78, Z:6.50 [[-6.72657578e-01 -7.24053649e-01 1.52571612e-01 2.21995767e+02] [ 7.05739080e-01 -6.89742654e-01 -1.61825283e-01 1.01779740e+02] [ 2.22405335e-01 -1.17725382e-03 9.74953579e-01 6.50303127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.246875 meters 0.012683602468912567 Centerline is valid? [True, True] Translation: X:221.98, Y:101.80, Z:6.51 [[-6.72251661e-01 -7.24437208e-01 1.52539949e-01 2.21976358e+02] [ 7.06163290e-01 -6.89340101e-01 -1.61689929e-01 1.01797589e+02] [ 2.22286105e-01 -9.78210732e-04 9.74980990e-01 6.50887849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.276875 meters 0.012511657240889795 Centerline is valid? [True, True] Translation: X:221.96, Y:101.81, Z:6.51 [[-6.70581595e-01 -7.25910611e-01 1.52885935e-01 2.21956243e+02] [ 7.07614146e-01 -6.87788929e-01 -1.61952492e-01 1.01813862e+02] [ 2.22716286e-01 -4.18110527e-04 9.74883214e-01 6.51388676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.306875 meters 0.012546201465697317 Centerline is valid? [True, True] Translation: X:221.94, Y:101.83, Z:6.52 [[-6.69913782e-01 -7.26492599e-01 1.53049102e-01 2.21936181e+02] [ 7.08196427e-01 -6.87174273e-01 -1.62016479e-01 1.01831876e+02] [ 2.22875179e-01 -1.48244808e-04 9.74846979e-01 6.51982196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.336875 meters 0.012587601171631843 Centerline is valid? [True, True] Translation: X:221.92, Y:101.85, Z:6.52 [[-6.68841206e-01 -7.27399238e-01 1.53433338e-01 2.21916949e+02] [ 7.09057611e-01 -6.86214468e-01 -1.62317614e-01 1.01848906e+02] [ 2.23357885e-01 2.28367739e-04 9.74736479e-01 6.52448401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.366875 meters 0.012593552620460663 Centerline is valid? [True, True] Translation: X:221.90, Y:101.87, Z:6.53 [[-6.68089040e-01 -7.28046948e-01 1.53638137e-01 2.21896912e+02] [ 7.09697851e-01 -6.85527074e-01 -1.62424110e-01 1.01867051e+02] [ 2.23575480e-01 5.22888271e-04 9.74686478e-01 6.53011717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.396875 meters 0.01280722716166449 Centerline is valid? [True, True] Translation: X:221.88, Y:101.88, Z:6.53 [[-6.66009640e-01 -7.29738683e-01 1.54637037e-01 2.21875376e+02] [ 7.11216298e-01 -6.83725151e-01 -1.63374709e-01 1.01883845e+02] [ 2.24950076e-01 1.17125024e-03 9.74369587e-01 6.53467439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.426875 meters 0.012919448256356313 Centerline is valid? [True, True] Translation: X:221.86, Y:101.90, Z:6.54 [[-6.65341271e-01 -7.30292435e-01 1.54899814e-01 2.21855954e+02] [ 7.11743885e-01 -6.83133160e-01 -1.63553441e-01 1.01901914e+02] [ 2.25259040e-01 1.43014064e-03 9.74297860e-01 6.54060183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.456875 meters 0.01300488466594842 Centerline is valid? [True, True] Translation: X:221.84, Y:101.92, Z:6.55 [[-6.64359406e-01 -7.31230686e-01 1.54687634e-01 2.21835835e+02] [ 7.12782792e-01 -6.82127830e-01 -1.63224739e-01 1.01918916e+02] [ 2.24871678e-01 1.81879272e-03 9.74386689e-01 6.54639277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.486875 meters 0.013247217278131655 Centerline is valid? [True, True] Translation: X:221.82, Y:101.94, Z:6.55 [[-6.64137979e-01 -7.31503449e-01 1.54348465e-01 2.21816919e+02] [ 7.13170108e-01 -6.81834854e-01 -1.62756349e-01 1.01936002e+02] [ 2.24296994e-01 1.98403893e-03 9.74518816e-01 6.55167637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.516875 meters 0.01312053868675033 Centerline is valid? [True, True] Translation: X:221.80, Y:101.95, Z:6.56 [[-6.63966407e-01 -7.31706901e-01 1.54122100e-01 2.21798746e+02] [ 7.13458522e-01 -6.81616088e-01 -1.62408271e-01 1.01954864e+02] [ 2.23887356e-01 2.12608926e-03 9.74612709e-01 6.55833635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.546875 meters 0.013504386114820735 Centerline is valid? [True, True] Translation: X:221.78, Y:101.97, Z:6.56 [[-6.63993977e-01 -7.31727914e-01 1.53903407e-01 2.21779395e+02] [ 7.13556707e-01 -6.81593283e-01 -1.62072280e-01 1.01972072e+02] [ 2.23492340e-01 2.20379075e-03 9.74703195e-01 6.56348581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57687500000003 meters 0.013252160217049442 Centerline is valid? [True, True] Translation: X:221.76, Y:101.99, Z:6.57 [[-6.63758559e-01 -7.31943327e-01 1.53894578e-01 2.21760353e+02] [ 7.13805240e-01 -6.81361452e-01 -1.61952620e-01 1.01990876e+02] [ 2.23397973e-01 2.35331856e-03 9.74724478e-01 6.56964183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.606875 meters 0.0133567572886026 Centerline is valid? [True, True] Translation: X:221.74, Y:102.01, Z:6.58 [[-6.63560186e-01 -7.32102711e-01 1.53991887e-01 2.21741484e+02] [ 7.13969797e-01 -6.81189738e-01 -1.61949590e-01 1.02009397e+02] [ 2.23461427e-01 2.48225632e-03 9.74709613e-01 6.57527743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63687500000003 meters 0.01334297959422314 Centerline is valid? [True, True] Translation: X:221.72, Y:102.03, Z:6.58 [[-6.63127922e-01 -7.32534662e-01 1.53799636e-01 2.21722519e+02] [ 7.14482964e-01 -6.80724389e-01 -1.61642820e-01 1.02027949e+02] [ 2.23104132e-01 2.69735251e-03 9.74790886e-01 6.58145271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.666875 meters 0.013549438370255663 Centerline is valid? [True, True] Translation: X:221.70, Y:102.05, Z:6.59 [[-6.63097965e-01 -7.32510711e-01 1.54042681e-01 2.21703991e+02] [ 7.14425008e-01 -6.80749877e-01 -1.61791573e-01 1.02045593e+02] [ 2.23378596e-01 2.76828026e-03 9.74727828e-01 6.58669224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69687500000003 meters 0.01359042907352122 Centerline is valid? [True, True] Translation: X:221.68, Y:102.06, Z:6.59 [[-6.62911416e-01 -7.32620650e-01 1.54322514e-01 2.21684829e+02] [ 7.14496889e-01 -6.80631060e-01 -1.61973938e-01 1.02064709e+02] [ 2.23702148e-01 2.88858328e-03 9.74653274e-01 6.59258795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.726875 meters 0.013394307609143138 Centerline is valid? [True, True] Translation: X:221.67, Y:102.08, Z:6.60 [[-6.62800125e-01 -7.32632299e-01 1.54744657e-01 2.21666287e+02] [ 7.14432435e-01 -6.80618152e-01 -1.62312125e-01 1.02083401e+02] [ 2.24237128e-01 2.97410533e-03 9.74530074e-01 6.59798103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75687500000004 meters 0.013561301182224803 Centerline is valid? [True, True] Translation: X:221.65, Y:102.10, Z:6.60 [[-6.62918929e-01 -7.32500230e-01 1.54860927e-01 2.21647535e+02] [ 7.14293593e-01 -6.80760146e-01 -1.62327714e-01 1.02101700e+02] [ 2.24328235e-01 3.00605383e-03 9.74509008e-01 6.60280534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.786875 meters 0.01356117903065509 Centerline is valid? [True, True] Translation: X:221.63, Y:102.12, Z:6.61 [[-6.63100365e-01 -7.32336710e-01 1.54857512e-01 2.21628946e+02] [ 7.14145654e-01 -6.80936039e-01 -1.62240858e-01 1.02120917e+02] [ 2.24262997e-01 3.00884734e-03 9.74524015e-01 6.60888361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81687500000004 meters 0.013651763845417053 Centerline is valid? [True, True] Translation: X:221.61, Y:102.14, Z:6.61 [[-6.63127533e-01 -7.32258671e-01 1.55110007e-01 2.21610087e+02] [ 7.14029709e-01 -6.81019726e-01 -1.62399836e-01 1.02140180e+02] [ 2.24551662e-01 3.06135083e-03 9.74457377e-01 6.61434764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.846875 meters 0.013649047625721781 Centerline is valid? [True, True] Translation: X:221.59, Y:102.16, Z:6.62 [[-6.63038073e-01 -7.32247310e-01 1.55545462e-01 2.21592041e+02] [ 7.13938643e-01 -6.81031581e-01 -1.62750113e-01 1.02159284e+02] [ 2.25104705e-01 3.14039492e-03 9.74329518e-01 6.61993232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.876875 meters 0.013720610964976676 Centerline is valid? [True, True] Translation: X:221.57, Y:102.18, Z:6.63 [[-6.63326931e-01 -7.31969366e-01 1.55622076e-01 2.21574129e+02] [ 7.13659398e-01 -6.81330391e-01 -1.62724190e-01 1.02177552e+02] [ 2.25139172e-01 3.12182008e-03 9.74321614e-01 6.62526928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.906875 meters 0.013634180228078078 Centerline is valid? [True, True] Translation: X:221.56, Y:102.20, Z:6.63 [[-6.63612273e-01 -7.31627589e-01 1.56012247e-01 2.21556097e+02] [ 7.13240992e-01 -6.81697522e-01 -1.63020784e-01 1.02196979e+02] [ 2.25623665e-01 3.09173668e-03 9.74209630e-01 6.63133894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.936875 meters 0.013464581221047319 Centerline is valid? [True, True] Translation: X:221.54, Y:102.22, Z:6.64 [[-6.64525615e-01 -7.30772932e-01 1.56130165e-01 2.21538437e+02] [ 7.12359209e-01 -6.82614564e-01 -1.63038994e-01 1.02216918e+02] [ 2.25721208e-01 2.87717251e-03 9.74187691e-01 6.63711904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.966875 meters 0.013415896397401402 Centerline is valid? [True, True] Translation: X:221.52, Y:102.24, Z:6.64 [[-6.65225074e-01 -7.30160256e-01 1.56017952e-01 2.21520654e+02] [ 7.11780942e-01 -6.83270437e-01 -1.62817079e-01 1.02236694e+02] [ 2.25485014e-01 2.74060158e-03 9.74242782e-01 6.64284191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.996875 meters 0.013158516961759948 Centerline is valid? [True, True] Translation: X:221.50, Y:102.26, Z:6.65 [[-6.67155499e-01 -7.28386020e-01 1.56068400e-01 2.21504448e+02] [ 7.09970953e-01 -6.85163412e-01 -1.62764693e-01 1.02256862e+02] [ 2.25487884e-01 2.21467086e-03 9.74243455e-01 6.64835285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.026875 meters 0.0129821051020901 Centerline is valid? [True, True] Translation: X:221.49, Y:102.28, Z:6.65 [[-6.68223442e-01 -7.27366069e-01 1.56256304e-01 2.21487366e+02] [ 7.08903916e-01 -6.86246894e-01 -1.62850973e-01 1.02276998e+02] [ 2.25682676e-01 1.94986803e-03 9.74198916e-01 6.65415096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.056875 meters 0.01291081893472715 Centerline is valid? [True, True] Translation: X:221.47, Y:102.30, Z:6.66 [[-6.69393236e-01 -7.26306022e-01 1.56180209e-01 2.21470226e+02] [ 7.07857363e-01 -6.87369474e-01 -1.62668866e-01 1.02296866e+02] [ 2.25500885e-01 1.66387249e-03 9.74241542e-01 6.65981982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.086875 meters 0.012549801366628623 Centerline is valid? [True, True] Translation: X:221.45, Y:102.32, Z:6.67 [[-6.71740585e-01 -7.24180561e-01 1.55971477e-01 2.21453526e+02] [ 7.05748663e-01 -6.89609654e-01 -1.62349467e-01 1.02318369e+02] [ 2.25129764e-01 1.01993559e-03 9.74328255e-01 6.66551952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.116875 meters 0.012401206129569676 Centerline is valid? [True, True] Translation: X:221.44, Y:102.34, Z:6.67 [[-6.72970094e-01 -7.23019982e-01 1.56055625e-01 2.21436862e+02] [ 7.04560902e-01 -6.90826758e-01 -1.62333996e-01 1.02337478e+02] [ 2.25178125e-01 7.04767260e-04 9.74317359e-01 6.67069734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.146875 meters 0.012397583844775207 Centerline is valid? [True, True] Translation: X:221.42, Y:102.36, Z:6.68 [[-6.74252893e-01 -7.21859849e-01 1.55889046e-01 2.21419924e+02] [ 7.03434811e-01 -6.92039163e-01 -1.62053274e-01 1.02357026e+02] [ 2.24861077e-01 3.92892913e-04 9.74390754e-01 6.67651899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.176875 meters 0.012289736532275223 Centerline is valid? [True, True] Translation: X:221.40, Y:102.38, Z:6.68 [[-6.76369157e-01 -7.19960901e-01 1.55502619e-01 2.21403906e+02] [ 7.01603028e-01 -6.94014607e-01 -1.61545402e-01 1.02377992e+02] [ 2.24227462e-01 -1.63218614e-04 9.74536823e-01 6.68293883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.206875 meters 0.012233339755089421 Centerline is valid? [True, True] Translation: X:221.39, Y:102.40, Z:6.69 [[-6.77501298e-01 -7.18986686e-01 1.55081063e-01 2.21387357e+02] [ 7.00727695e-01 -6.95023723e-01 -1.61005346e-01 1.02396985e+02] [ 2.23545718e-01 -4.11735611e-04 9.74693358e-01 6.68859619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.236875 meters 0.012295007603546829 Centerline is valid? [True, True] Translation: X:221.37, Y:102.42, Z:6.69 [[-6.78550738e-01 -7.18065415e-01 1.54760963e-01 2.21369766e+02] [ 6.99877231e-01 -6.95975307e-01 -1.60593379e-01 1.02416969e+02] [ 2.23026360e-01 -6.57081955e-04 9.74812193e-01 6.69469444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.266875 meters 0.012231463931227173 Centerline is valid? [True, True] Translation: X:221.35, Y:102.44, Z:6.70 [[-6.79423370e-01 -7.17327170e-01 1.54355486e-01 2.21352363e+02] [ 6.99239550e-01 -6.96735998e-01 -1.60071863e-01 1.02436455e+02] [ 2.22368919e-01 -8.25104129e-04 9.74962247e-01 6.70072109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.296875 meters 0.012248715451937035 Centerline is valid? [True, True] Translation: X:221.34, Y:102.46, Z:6.71 [[-6.79682623e-01 -7.17225151e-01 1.53686744e-01 2.21335334e+02] [ 6.99316028e-01 -6.96841065e-01 -1.59278444e-01 1.02455816e+02] [ 2.21333740e-01 -7.83187594e-04 9.75197807e-01 6.70685925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.32687500000003 meters 0.01211197292948327 Centerline is valid? [True, True] Translation: X:221.32, Y:102.47, Z:6.71 [[-6.79424622e-01 -7.17507110e-01 1.53511336e-01 2.21317639e+02] [ 6.99670191e-01 -6.96550908e-01 -1.58992002e-01 1.02474021e+02] [ 2.21006352e-01 -6.15774901e-04 9.75272174e-01 6.71246132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.356875 meters 0.01211197292948327 Centerline is valid? [True, True] Translation: X:221.30, Y:102.49, Z:6.72 [[-6.79639766e-01 -7.17292274e-01 1.53562959e-01 2.21299362e+02] [ 6.99461208e-01 -6.96772143e-01 -1.58942127e-01 1.02492727e+02] [ 2.21006351e-01 -6.12056922e-04 9.75272176e-01 6.71825814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.38687500000003 meters 0.012172884115418881 Centerline is valid? [True, True] Translation: X:221.28, Y:102.51, Z:6.72 [[-6.77585511e-01 -7.19292591e-01 1.53284194e-01 2.21279836e+02] [ 7.01599455e-01 -6.94707245e-01 -1.58556136e-01 1.02510294e+02] [ 2.20535894e-01 1.08766840e-04 9.75378853e-01 6.72396544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.416875 meters 0.012251490489762288 Centerline is valid? [True, True] Translation: X:221.26, Y:102.53, Z:6.73 [[-6.76352262e-01 -7.20519533e-01 1.52968034e-01 2.21260283e+02] [ 7.02953922e-01 -6.93434400e-01 -1.58128165e-01 1.02528507e+02] [ 2.20007729e-01 5.79137063e-04 9.75497957e-01 6.72966767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.44687500000003 meters 0.012319792821645286 Centerline is valid? [True, True] Translation: X:221.24, Y:102.55, Z:6.73 [[-6.75205045e-01 -7.21598492e-01 1.52950198e-01 2.21241285e+02] [ 7.04087324e-01 -6.92311065e-01 -1.58007690e-01 1.02545658e+02] [ 2.19907225e-01 1.00270670e-03 9.75520275e-01 6.73459791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.476875 meters 0.013205420451388263 Centerline is valid? [True, True] Translation: X:221.22, Y:102.56, Z:6.74 [[-6.71716091e-01 -7.24803079e-01 1.53160010e-01 2.21219855e+02] [ 7.07349152e-01 -6.88952807e-01 -1.58117701e-01 1.02561578e+02] [ 2.20124216e-01 2.12739933e-03 9.75469530e-01 6.73863568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.50687500000004 meters 0.013217815190112442 Centerline is valid? [True, True] Translation: X:221.20, Y:102.58, Z:6.74 [[-6.70141430e-01 -7.26243019e-01 1.53236879e-01 2.21200932e+02] [ 7.08824724e-01 -6.87432937e-01 -1.58124847e-01 1.02581194e+02] [ 2.20177144e-01 2.65207705e-03 9.75456299e-01 6.74481194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.536875 meters 0.01373718775455019 Centerline is valid? [True, True] Translation: X:221.18, Y:102.60, Z:6.75 [[-6.68578114e-01 -7.27672464e-01 1.53284346e-01 2.21181296e+02] [ 7.10300696e-01 -6.85917362e-01 -1.58083184e-01 1.02598829e+02] [ 2.20173175e-01 3.18702100e-03 9.75455594e-01 6.75025763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.56687500000004 meters 0.014449234956626582 Centerline is valid? [True, True] Translation: X:221.16, Y:102.62, Z:6.76 [[-6.67190995e-01 -7.28938629e-01 1.53312269e-01 2.21161666e+02] [ 7.11614862e-01 -6.84569202e-01 -1.58016761e-01 1.02616186e+02] [ 2.20137379e-01 3.67192890e-03 9.75461968e-01 6.75544041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.596875 meters 0.017233358236562094 Centerline is valid? [True, True] Translation: X:221.14, Y:102.63, Z:6.76 [[-6.64662750e-01 -7.31258077e-01 1.53248344e-01 2.21139137e+02] [ 7.14024128e-01 -6.82086165e-01 -1.57886060e-01 1.02630989e+02] [ 2.19984032e-01 4.48203207e-03 9.75493176e-01 6.75954100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.626875 meters 0.016083120242936805 Centerline is valid? [True, True] Translation: X:221.12, Y:102.65, Z:6.77 [[-6.63787828e-01 -7.32044659e-01 1.53285147e-01 2.21121493e+02] [ 7.14839495e-01 -6.81239771e-01 -1.57850784e-01 1.02651810e+02] [ 2.19977762e-01 4.79484800e-03 9.75493103e-01 6.76578312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.656875 meters 0.017104938032331433 Centerline is valid? [True, True] Translation: X:221.10, Y:102.67, Z:6.77 [[-6.62045000e-01 -7.33568355e-01 1.53537898e-01 2.21100703e+02] [ 7.16365929e-01 -6.79594453e-01 -1.58022896e-01 1.02670312e+02] [ 2.20264100e-01 5.37105119e-03 9.75425486e-01 6.77074924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.686875 meters 0.017581978384582655 Centerline is valid? [True, True] Translation: X:221.08, Y:102.69, Z:6.78 [[-6.61362777e-01 -7.34142539e-01 1.53733565e-01 2.21081023e+02] [ 7.16930841e-01 -6.78972037e-01 -1.58136470e-01 1.02689448e+02] [ 2.20475501e-01 5.63075911e-03 9.75376260e-01 6.77645023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.716875 meters 0.01842475568931865 Centerline is valid? [True, True] Translation: X:221.06, Y:102.71, Z:6.78 [[-6.60755086e-01 -7.34627599e-01 1.54029244e-01 2.21061537e+02] [ 7.17381739e-01 -6.78445198e-01 -1.58352625e-01 1.02707565e+02] [ 2.20830610e-01 5.86546425e-03 9.75294539e-01 6.78210778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.746875 meters 0.016732065167752427 Centerline is valid? [True, True] Translation: X:221.04, Y:102.73, Z:6.79 [[-6.59876242e-01 -7.35392763e-01 1.54145477e-01 2.21044561e+02] [ 7.18162059e-01 -6.77612840e-01 -1.58379595e-01 1.02729343e+02] [ 2.20922163e-01 6.19050087e-03 9.75271796e-01 6.78786696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.776875 meters 0.019708757241622358 Centerline is valid? [True, True] Translation: X:221.02, Y:102.74, Z:6.79 [[-6.59679458e-01 -7.35499770e-01 1.54476863e-01 2.21022810e+02] [ 7.18218145e-01 -6.77495631e-01 -1.58626498e-01 1.02744467e+02] [ 2.21327152e-01 6.30544353e-03 9.75179231e-01 6.79258679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.806875 meters 0.018401004341919165 Centerline is valid? [True, True] Translation: X:221.01, Y:102.76, Z:6.80 [[-6.59707417e-01 -7.35441893e-01 1.54632938e-01 2.21006196e+02] [ 7.18141859e-01 -6.77558048e-01 -1.58705271e-01 1.02764931e+02] [ 2.21491297e-01 6.34934127e-03 9.75141678e-01 6.79833106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.836875 meters 0.017255818760876406 Centerline is valid? [True, True] Translation: X:220.99, Y:102.79, Z:6.80 [[-6.60306865e-01 -7.34810000e-01 1.55077746e-01 2.20990106e+02] [ 7.17414875e-01 -6.78244425e-01 -1.59060987e-01 1.02786297e+02] [ 2.22060220e-01 6.22602058e-03 9.75013074e-01 6.80406455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.866875 meters 0.017218060763986628 Centerline is valid? [True, True] Translation: X:220.97, Y:102.81, Z:6.81 [[-6.60645099e-01 -7.34384128e-01 1.55653482e-01 2.20971892e+02] [ 7.16870247e-01 -6.78705951e-01 -1.59547112e-01 1.02806175e+02] [ 2.22811811e-01 6.17933258e-03 9.74841891e-01 6.80993266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.896875 meters 0.01651283146221876 Centerline is valid? [True, True] Translation: X:220.96, Y:102.83, Z:6.82 [[-6.61176890e-01 -7.33875030e-01 1.55796538e-01 2.20955159e+02] [ 7.16338392e-01 -6.79257243e-01 -1.59589805e-01 1.02826501e+02] [ 2.22944900e-01 6.08595033e-03 9.74812050e-01 6.81562802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.926875 meters 0.01692650976499911 Centerline is valid? [True, True] Translation: X:220.94, Y:102.85, Z:6.82 [[-6.61880023e-01 -7.33144213e-01 1.56251077e-01 2.20936859e+02] [ 7.15508170e-01 -6.80047334e-01 -1.59949000e-01 1.02845079e+02] [ 2.23523812e-01 5.93187446e-03 9.74680418e-01 6.82079675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.956875 meters 0.01858531148805484 Centerline is valid? [True, True] Translation: X:220.92, Y:102.86, Z:6.83 [[-6.63760485e-01 -7.31337487e-01 1.56740227e-01 2.20917630e+02] [ 7.13565240e-01 -6.81994228e-01 -1.60338768e-01 1.02863870e+02] [ 2.24157682e-01 5.41783927e-03 9.74537829e-01 6.82572375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.986875 meters 0.015735651851960263 Centerline is valid? [True, True] Translation: X:220.90, Y:102.89, Z:6.83 [[-6.64963197e-01 -7.30222032e-01 1.56843011e-01 2.20903107e+02] [ 7.12416059e-01 -6.83190821e-01 -1.60354796e-01 1.02888037e+02] [ 2.24248311e-01 5.10744163e-03 9.74518655e-01 6.83350071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.016875 meters 0.015267605642909588 Centerline is valid? [True, True] Translation: X:220.89, Y:102.91, Z:6.84 [[-6.66346993e-01 -7.28993651e-01 1.56684213e-01 2.20885421e+02] [ 7.11211805e-01 -6.84503954e-01 -1.60100298e-01 1.02908965e+02] [ 2.23963064e-01 4.75330927e-03 9.74586041e-01 6.84037370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.046875 meters 0.014147145198218997 Centerline is valid? [True, True] Translation: X:220.87, Y:102.93, Z:6.85 [[-6.69003649e-01 -7.26669405e-01 1.56159195e-01 2.20869412e+02] [ 7.08966165e-01 -6.86975535e-01 -1.59472851e-01 1.02931804e+02] [ 2.23161588e-01 4.02366613e-03 9.74773161e-01 6.84760862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07687500000003 meters 0.013803641572139735 Centerline is valid? [True, True] Translation: X:220.85, Y:102.95, Z:6.85 [[-6.70723196e-01 -7.25148060e-01 1.55854694e-01 2.20851342e+02] [ 7.07487488e-01 -6.88583822e-01 -1.59103029e-01 1.02952636e+02] [ 2.22692274e-01 3.55115443e-03 9.74882321e-01 6.85420589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.106875 meters 0.013938627614207263 Centerline is valid? [True, True] Translation: X:220.83, Y:102.97, Z:6.86 [[-6.72484562e-01 -7.23523343e-01 1.55815548e-01 2.20833748e+02] [ 7.05849836e-01 -6.90293055e-01 -1.58970150e-01 1.02971542e+02] [ 2.22577005e-01 3.07740774e-03 9.74910256e-01 6.86020573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13687500000003 meters 0.013040109190979667 Centerline is valid? [True, True] Translation: X:220.82, Y:102.99, Z:6.87 [[-6.76032627e-01 -7.20316428e-01 1.55319447e-01 2.20817672e+02] [ 7.02697294e-01 -6.93642473e-01 -1.58356032e-01 1.02993844e+02] [ 2.21802616e-01 2.08871098e-03 9.75089348e-01 6.86708146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.166875 meters 0.012609003600545919 Centerline is valid? [True, True] Translation: X:220.80, Y:103.01, Z:6.87 [[-6.78002898e-01 -7.18394440e-01 1.55632581e-01 2.20800557e+02] [ 7.00673278e-01 -6.95634317e-01 -1.58587054e-01 1.03014428e+02] [ 2.22191422e-01 1.52510839e-03 9.75001870e-01 6.87307816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19687500000003 meters 0.012294986039354736 Centerline is valid? [True, True] Translation: X:220.78, Y:103.04, Z:6.88 [[-6.80105450e-01 -7.16402624e-01 1.55640154e-01 2.20783774e+02] [ 6.98650557e-01 -6.97686455e-01 -1.58496086e-01 1.03035579e+02] [ 2.22135039e-01 9.44028248e-04 9.75015453e-01 6.87936776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.226875 meters 0.012070062916845358 Centerline is valid? [True, True] Translation: X:220.77, Y:103.06, Z:6.88 [[-6.83639330e-01 -7.12873117e-01 1.56362356e-01 2.20768849e+02] [ 6.94886001e-01 -7.01293022e-01 -1.59127442e-01 1.03056458e+02] [ 2.23093505e-01 -1.31765437e-04 9.74797041e-01 6.88482457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25687500000004 meters 0.012101536894121433 Centerline is valid? [True, True] Translation: X:220.75, Y:103.08, Z:6.89 [[-6.85322712e-01 -7.11244598e-01 1.56409405e-01 2.20750898e+02] [ 6.93229285e-01 -7.02944365e-01 -1.59067212e-01 1.03076541e+02] [ 2.23082805e-01 -5.84793161e-04 9.74799323e-01 6.89053974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.286875 meters 0.012189372420709683 Centerline is valid? [True, True] Translation: X:220.73, Y:103.10, Z:6.90 [[-6.87546499e-01 -7.08965673e-01 1.56995177e-01 2.20733308e+02] [ 6.90778647e-01 -7.05241874e-01 -1.59558015e-01 1.03096383e+02] [ 2.23840728e-01 -1.25463855e-03 9.74624930e-01 6.89568696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31687500000004 meters 0.012336034566481073 Centerline is valid? [True, True] Translation: X:220.71, Y:103.12, Z:6.90 [[-6.88462941e-01 -7.08003958e-01 1.57318704e-01 2.20714739e+02] [ 6.89740131e-01 -7.06206882e-01 -1.59782329e-01 1.03115986e+02] [ 2.24226072e-01 -1.49518856e-03 9.74536009e-01 6.90149300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.346875 meters 0.012568538202003343 Centerline is valid? [True, True] Translation: X:220.70, Y:103.13, Z:6.91 [[-6.89106850e-01 -7.07257035e-01 1.57858278e-01 2.20697040e+02] [ 6.88870805e-01 -7.06954526e-01 -1.60225818e-01 1.03134994e+02] [ 2.24919461e-01 -1.66875023e-03 9.74375929e-01 6.90639984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.376875 meters 0.012787722732676933 Centerline is valid? [True, True] Translation: X:220.68, Y:103.15, Z:6.91 [[-6.89754348e-01 -7.06516168e-01 1.58347225e-01 2.20679054e+02] [ 6.88020140e-01 -7.07694515e-01 -1.60613697e-01 1.03153711e+02] [ 2.25537637e-01 -1.83791598e-03 9.74232722e-01 6.91143532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.406875 meters 0.012826597293258666 Centerline is valid? [True, True] Translation: X:220.66, Y:103.17, Z:6.92 [[-6.90890718e-01 -7.05315202e-01 1.58746593e-01 2.20660618e+02] [ 6.86711433e-01 -7.08890484e-01 -1.60940020e-01 1.03172772e+02] [ 2.26047392e-01 -2.17886579e-03 9.74113869e-01 6.91720852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.436875 meters 0.012947542540839959 Centerline is valid? [True, True] Translation: X:220.64, Y:103.19, Z:6.92 [[-6.91757450e-01 -7.04405721e-01 1.59010095e-01 2.20642521e+02] [ 6.85739380e-01 -7.09793485e-01 -1.61104659e-01 1.03191723e+02] [ 2.26347372e-01 -2.40586424e-03 9.74043674e-01 6.92336246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.466875 meters 0.013257217581621994 Centerline is valid? [True, True] Translation: X:220.62, Y:103.21, Z:6.93 [[-6.92536522e-01 -7.03633819e-01 1.59036517e-01 2.20624981e+02] [ 6.84964645e-01 -7.10558068e-01 -1.61030021e-01 1.03210719e+02] [ 2.26310849e-01 -2.58477904e-03 9.74051702e-01 6.92906328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.496875 meters 0.0134960010360311 Centerline is valid? [True, True] Translation: X:220.61, Y:103.23, Z:6.94 [[-6.93709058e-01 -7.02545613e-01 1.58736906e-01 2.20606196e+02] [ 6.83937931e-01 -7.11632903e-01 -1.60647183e-01 1.03230092e+02] [ 2.25824379e-01 -2.87621484e-03 9.74163784e-01 6.93556081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.526875 meters 0.0139549277167785 Centerline is valid? [True, True] Translation: X:220.59, Y:103.25, Z:6.94 [[-6.95362585e-01 -7.01089749e-01 1.57936819e-01 2.20589356e+02] [ 6.82657490e-01 -7.13065595e-01 -1.59737940e-01 1.03248707e+02] [ 2.24609944e-01 -3.25903481e-03 9.74443303e-01 6.94238172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.556875 meters 0.013809693700066678 Centerline is valid? [True, True] Translation: X:220.57, Y:103.27, Z:6.95 [[-6.95919209e-01 -7.00596598e-01 1.57673278e-01 2.20570843e+02] [ 6.82238074e-01 -7.13549773e-01 -1.59367288e-01 1.03267120e+02] [ 2.24159911e-01 -3.33604359e-03 9.74546666e-01 6.94904293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.586875 meters 0.013990715189890509 Centerline is valid? [True, True] Translation: X:220.55, Y:103.28, Z:6.95 [[-6.96126017e-01 -7.00413265e-01 1.57574828e-01 2.20552514e+02] [ 6.82096235e-01 -7.13729807e-01 -1.59168116e-01 1.03284532e+02] [ 2.23949311e-01 -3.31986975e-03 9.74595139e-01 6.95464201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.616875 meters 0.014007707646058666 Centerline is valid? [True, True] Translation: X:220.53, Y:103.30, Z:6.96 [[-6.95835429e-01 -7.00679371e-01 1.57675219e-01 2.20533826e+02] [ 6.82369266e-01 -7.13469292e-01 -1.59165811e-01 1.03302117e+02] [ 2.24020627e-01 -3.16048729e-03 9.74579278e-01 6.96041336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.646875 meters 0.013951649296971656 Centerline is valid? [True, True] Translation: X:220.52, Y:103.32, Z:6.97 [[-6.95558984e-01 -7.00973450e-01 1.57587823e-01 2.20515095e+02] [ 6.82708932e-01 -7.13181025e-01 -1.59001070e-01 1.03319272e+02] [ 2.23844173e-01 -3.00800838e-03 9.74620305e-01 6.96551806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.676875 meters 0.013391813575372972 Centerline is valid? [True, True] Translation: X:220.49, Y:103.34, Z:6.97 [[-6.93888672e-01 -7.02566858e-01 1.57855380e-01 2.20494415e+02] [ 6.84303506e-01 -7.11613611e-01 -1.59169033e-01 1.03335252e+02] [ 2.24158924e-01 -2.42459899e-03 9.74549587e-01 6.97071151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.706875 meters 0.013165794821197976 Centerline is valid? [True, True] Translation: X:220.47, Y:103.35, Z:6.98 [[-6.93036283e-01 -7.03382021e-01 1.57969754e-01 2.20474421e+02] [ 6.85135967e-01 -7.10808954e-01 -1.59183348e-01 1.03352527e+02] [ 2.24253021e-01 -2.08907566e-03 9.74528716e-01 6.97622093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.736875 meters 0.012449158240930767 Centerline is valid? [True, True] Translation: X:220.45, Y:103.37, Z:6.98 [[-6.90660986e-01 -7.05571129e-01 1.58608903e-01 2.20452584e+02] [ 6.87254107e-01 -7.08637884e-01 -1.59731468e-01 1.03367908e+02] [ 2.25098190e-01 -1.31567350e-03 9.74335196e-01 6.98207677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.766875 meters 0.01242490804385622 Centerline is valid? [True, True] Translation: X:220.43, Y:103.39, Z:6.99 [[-6.89678326e-01 -7.06468043e-01 1.58892136e-01 2.20432497e+02] [ 6.88131359e-01 -7.07744302e-01 -1.59916338e-01 1.03385645e+02] [ 2.25430786e-01 -9.52170590e-04 9.74258720e-01 6.98775150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.796875 meters 0.012291916326563155 Centerline is valid? [True, True] Translation: X:220.41, Y:103.40, Z:6.99 [[-6.88865625e-01 -7.07215947e-01 1.59090399e-01 2.20412251e+02] [ 6.88875878e-01 -7.06997313e-01 -1.60015077e-01 1.03403589e+02] [ 2.25641699e-01 -6.35347702e-04 9.74210152e-01 6.99368964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.82687500000003 meters 0.012373369151924789 Centerline is valid? [True, True] Translation: X:220.39, Y:103.42, Z:7.00 [[-6.87886659e-01 -7.08097617e-01 1.59404232e-01 2.20393067e+02] [ 6.89731094e-01 -7.06114502e-01 -1.60228988e-01 1.03420566e+02] [ 2.26015405e-01 -2.73328387e-04 9.74123689e-01 6.99921804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.856875 meters 0.012336164970726425 Centerline is valid? [True, True] Translation: X:220.37, Y:103.44, Z:7.01 [[-6.85617746e-01 -7.10261409e-01 1.59552613e-01 2.20372266e+02] [ 6.91942479e-01 -7.03937827e-01 -1.60272087e-01 1.03436882e+02] [ 2.26150199e-01 5.15843590e-04 9.74092307e-01 7.00546284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.88687500000003 meters 0.012543877181245876 Centerline is valid? [True, True] Translation: X:220.35, Y:103.45, Z:7.01 [[-6.84814347e-01 -7.11007195e-01 1.59681180e-01 2.20353002e+02] [ 6.92702025e-01 -7.03184236e-01 -1.60299205e-01 1.03453627e+02] [ 2.26259177e-01 8.36281359e-04 9.74066777e-01 7.01062001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.916875 meters 0.012702429149774309 Centerline is valid? [True, True] Translation: X:220.33, Y:103.47, Z:7.02 [[-6.84242800e-01 -7.11545183e-01 1.59734918e-01 2.20333921e+02] [ 6.93266715e-01 -7.02639496e-01 -1.60246684e-01 1.03470451e+02] [ 2.26258818e-01 1.09126205e-03 9.74066608e-01 7.01605018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.94687500000003 meters 0.012619039461602113 Centerline is valid? [True, True] Translation: X:220.31, Y:103.49, Z:7.02 [[-6.83756542e-01 -7.12015805e-01 1.59720021e-01 2.20314445e+02] [ 6.93777636e-01 -7.02162194e-01 -1.60127590e-01 1.03489041e+02] [ 2.26162735e-01 1.32189205e-03 9.74088636e-01 7.02294945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.976875 meters 0.012942875992530613 Centerline is valid? [True, True] Translation: X:220.29, Y:103.51, Z:7.03 [[-6.83601690e-01 -7.12162170e-01 1.59730313e-01 2.20294236e+02] [ 6.93949629e-01 -7.02013500e-01 -1.60034240e-01 1.03505531e+02] [ 2.26103167e-01 1.44511487e-03 9.74102289e-01 7.02684426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.00687500000004 meters 0.012844117674856997 Centerline is valid? [True, True] Translation: X:220.28, Y:103.52, Z:7.03 [[-6.83831098e-01 -7.11945629e-01 1.59713651e-01 2.20275641e+02] [ 6.93756167e-01 -7.02233091e-01 -1.59909557e-01 1.03524151e+02] [ 2.26003121e-01 1.45120238e-03 9.74125497e-01 7.03326599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.036875 meters 0.012816948180526049 Centerline is valid? [True, True] Translation: X:220.26, Y:103.54, Z:7.04 [[-6.84294749e-01 -7.11405100e-01 1.60135821e-01 2.20257068e+02] [ 6.93126742e-01 -7.02780881e-01 -1.60232187e-01 1.03542879e+02] [ 2.26530388e-01 1.34837518e-03 9.74003165e-01 7.03940274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.06687500000004 meters 0.01268793519868521 Centerline is valid? [True, True] Translation: X:219.73, Y:102.80, Z:7.70 [[-7.43447991e-01 6.52448287e-01 -1.46956859e-01 2.19732783e+02] [ 6.35681454e-01 7.57652953e-01 1.47888783e-01 1.02799855e+02] [ 2.07832082e-01 1.65298687e-02 -9.78024841e-01 7.69874788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.096875 meters 0.012649085003096902 Centerline is valid? [True, True] Translation: X:219.77, Y:102.81, Z:7.70 [[-7.87091204e-01 5.96570270e-01 -1.56816297e-01 2.19765312e+02] [ 5.80983359e-01 8.02395409e-01 1.36454914e-01 1.02814916e+02] [ 2.07233621e-01 1.62948035e-02 -9.78155768e-01 7.70283906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.126875 meters 0.012586221134352244 Centerline is valid? [True, True] Translation: X:219.79, Y:102.83, Z:7.71 [[-8.25889310e-01 5.38990150e-01 -1.65518780e-01 2.19793841e+02] [ 5.24718234e-01 8.42165083e-01 1.24212515e-01 1.02833939e+02] [ 2.06343459e-01 1.57350663e-02 -9.78353098e-01 7.70811517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.156875 meters 0.012594412839551795 Centerline is valid? [True, True] Translation: X:219.82, Y:102.86, Z:7.71 [[-8.61125649e-01 4.77780554e-01 -1.73747976e-01 2.19819630e+02] [ 4.64798019e-01 8.78343835e-01 1.11691134e-01 1.02856345e+02] [ 2.05974315e-01 1.54223854e-02 -9.78435860e-01 7.71373222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.186875 meters 0.012589469451709825 Centerline is valid? [True, True] Translation: X:220.14, Y:103.71, Z:7.06 [[-8.23561203e-01 -5.32550792e-01 1.95285941e-01 2.20137993e+02] [ 5.20843228e-01 -8.46340233e-01 -1.11492337e-01 1.03712932e+02] [ 2.24653681e-01 9.89259717e-03 9.74388454e-01 7.05671458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.216875 meters 0.01273091419275992 Centerline is valid? [True, True] Translation: X:219.79, Y:102.87, Z:7.72 [[-8.60805249e-01 4.78332484e-01 -1.73817023e-01 2.19787872e+02] [ 4.65535433e-01 8.78058968e-01 1.10856710e-01 1.02870278e+02] [ 2.05647961e-01 1.45080545e-02 -9.78518489e-01 7.72049729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.246875 meters 0.01273091419275992 Centerline is valid? [True, True] Translation: X:219.81, Y:102.89, Z:7.73 [[-8.92349355e-01 4.13498743e-01 -1.80918263e-01 2.19812324e+02] [ 4.02048251e-01 9.10389956e-01 9.77104501e-02 1.02894830e+02] [ 2.05109318e-01 1.44539860e-02 -9.78632337e-01 7.72579464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.276875 meters 0.012861304189540087 Centerline is valid? [True, True] Translation: X:220.07, Y:103.78, Z:7.07 [[-8.63193507e-01 -4.62960114e-01 2.01407302e-01 2.20066347e+02] [ 4.53010982e-01 -8.86338259e-01 -9.58412297e-02 1.03777061e+02] [ 2.22885664e-01 8.51019256e-03 9.74807446e-01 7.07258073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.306875 meters 0.012953990993058958 Centerline is valid? [True, True] Translation: X:219.78, Y:102.91, Z:7.73 [[-8.92539359e-01 4.13101201e-01 -1.80889163e-01 2.19777944e+02] [ 4.01821547e-01 9.10581097e-01 9.68581993e-02 1.02907446e+02] [ 2.04726491e-01 1.37645917e-02 -9.78722433e-01 7.73394049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.336875 meters 0.01325103575257101 Centerline is valid? [True, True] Translation: X:220.02, Y:103.80, Z:7.08 [[-8.66293633e-01 -4.57242097e-01 2.01159158e-01 2.20023030e+02] [ 4.47502253e-01 -8.89302831e-01 -9.42454698e-02 1.03797280e+02] [ 2.21984405e-01 8.37492576e-03 9.75014248e-01 7.08260039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.366875 meters 0.013618837076385367 Centerline is valid? [True, True] Translation: X:219.74, Y:102.92, Z:7.74 [[-8.92686954e-01 4.12799436e-01 -1.80849736e-01 2.19742909e+02] [ 4.01697240e-01 9.10728666e-01 9.59824139e-02 1.02919716e+02] [ 2.04326525e-01 1.30354091e-02 -9.78815994e-01 7.74240036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.396875 meters 0.013716647322332305 Centerline is valid? [True, True] Translation: X:219.76, Y:102.95, Z:7.75 [[-9.19223403e-01 3.46535126e-01 -1.86927103e-01 2.19760674e+02] [ 3.36834712e-01 9.37949701e-01 8.24180486e-02 1.02947968e+02] [ 2.03888969e-01 1.27970623e-02 -9.78910376e-01 7.74849942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.426875 meters 0.01403269320612419 Centerline is valid? [True, True] Translation: X:219.78, Y:102.97, Z:7.75 [[-9.41060995e-01 2.78459120e-01 -1.92001881e-01 2.19783735e+02] [ 2.70192691e-01 9.60365458e-01 6.85134816e-02 1.02974312e+02] [ 2.03470178e-01 1.25978602e-02 -9.79000092e-01 7.75353942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.456875 meters 0.014129856818647254 Centerline is valid? [True, True] Translation: X:219.80, Y:103.00, Z:7.76 [[-9.57952370e-01 2.09410968e-01 -1.96148678e-01 2.19796450e+02] [ 2.02613217e-01 9.77750249e-01 5.43353888e-02 1.03004950e+02] [ 2.03162846e-01 1.23083996e-02 -9.79067598e-01 7.75907992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.486875 meters 0.014285437459396788 Centerline is valid? [True, True] Translation: X:219.82, Y:103.03, Z:7.76 [[-9.70079606e-01 1.38718639e-01 -1.99255359e-01 2.19816781e+02] [ 1.33407355e-01 9.90257549e-01 3.99057049e-02 1.03034593e+02] [ 2.02849789e-01 1.21295801e-02 -9.79134739e-01 7.76323463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.516875 meters 0.014278043704972765 Centerline is valid? [True, True] Translation: X:219.80, Y:103.96, Z:7.11 [[-9.60683061e-01 -1.74125754e-01 2.16259748e-01 2.19801700e+02] [ 1.71682062e-01 -9.84689865e-01 -3.01850736e-02 1.03960959e+02] [ 2.18204781e-01 8.12963053e-03 9.75869142e-01 7.11297994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.546875 meters 0.01436217244521173 Centerline is valid? [True, True] Translation: X:219.77, Y:103.04, Z:7.77 [[-9.70516116e-01 1.35946295e-01 -1.99040382e-01 2.19769789e+02] [ 1.30747487e-01 9.90644492e-01 3.90971175e-02 1.03040602e+02] [ 2.02493367e-01 1.19203528e-02 -9.79211081e-01 7.77395988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57687500000003 meters 0.014941388480364224 Centerline is valid? [True, True] Translation: X:219.78, Y:103.07, Z:7.78 [[-9.77540645e-01 6.43243988e-02 -2.00690456e-01 2.19784840e+02] [ 6.06493108e-02 9.97860526e-01 2.44137772e-02 1.03071385e+02] [ 2.01831485e-01 1.16937217e-02 -9.79350452e-01 7.77969430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.606875 meters 0.01454528634546606 Centerline is valid? [True, True] Translation: X:219.70, Y:103.99, Z:7.13 [[-9.71653754e-01 -9.61755432e-02 2.15961218e-01 2.19697075e+02] [ 9.56086410e-02 -9.95332853e-01 -1.30957904e-02 1.03993211e+02] [ 2.16212790e-01 7.92318468e-03 9.76314116e-01 7.12879426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63687500000003 meters 0.01471510724911647 Centerline is valid? [True, True] Translation: X:219.73, Y:103.07, Z:7.79 [[-9.77635808e-01 6.09090123e-02 -2.01291627e-01 2.19726865e+02] [ 5.73113393e-02 9.98075998e-01 2.36582406e-02 1.03074475e+02] [ 2.02345342e-01 1.15928505e-02 -9.79245612e-01 7.79172142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.666875 meters 0.014376936094288221 Centerline is valid? [True, True] Translation: X:219.74, Y:103.11, Z:7.80 [[-9.79215252e-01 -1.17475955e-02 -2.02483295e-01 2.19736476e+02] [-1.38163741e-02 9.99865767e-01 8.80658175e-03 1.03108389e+02] [ 2.02352659e-01 1.14211241e-02 -9.79246118e-01 7.79677069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69687500000003 meters 0.014611123312262804 Centerline is valid? [True, True] Translation: X:219.58, Y:104.02, Z:7.15 [[-9.76762924e-01 -1.92652198e-02 2.13455013e-01 2.19580171e+02] [ 2.06440943e-02 -9.99777929e-01 4.23248140e-03 1.04018208e+02] [ 2.13326071e-01 8.54071632e-03 9.76943726e-01 7.14780204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.726875 meters 0.01412846169346855 Centerline is valid? [True, True] Translation: X:219.67, Y:103.11, Z:7.81 [[-9.79241797e-01 -1.88172886e-02 -2.01820250e-01 2.19666757e+02] [-2.08652367e-02 9.99750093e-01 8.02459542e-03 1.03109556e+02] [ 2.01618812e-01 1.20690465e-02 -9.79389704e-01 7.81288688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75687500000004 meters 0.014100402463264723 Centerline is valid? [True, True] Translation: X:219.67, Y:103.14, Z:7.82 [[-9.75201447e-01 -9.28289901e-02 -2.00910219e-01 2.19669724e+02] [-9.33616352e-02 9.95608743e-01 -6.84361590e-03 1.03143516e+02] [ 2.00663256e-01 1.20834024e-02 -9.79585754e-01 7.82006597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.786875 meters 0.013515607019870242 Centerline is valid? [True, True] Translation: X:219.44, Y:104.03, Z:7.17 [[-9.75873461e-01 5.37884779e-02 2.11607626e-01 2.19443322e+02] [-5.04110977e-02 -9.98500813e-01 2.13271453e-02 1.04027451e+02] [ 2.12437541e-01 1.01452224e-02 9.77121981e-01 7.16876004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81687500000004 meters 0.013149957769416071 Centerline is valid? [True, True] Translation: X:219.58, Y:103.14, Z:7.84 [[-9.74384909e-01 -1.03479093e-01 -1.99665034e-01 2.19577036e+02] [-1.04082741e-01 9.94540363e-01 -7.49997415e-03 1.03140604e+02] [ 1.99351026e-01 1.34738225e-02 -9.79835509e-01 7.84064547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.846875 meters 0.012970639606205961 Centerline is valid? [True, True] Translation: X:219.35, Y:104.01, Z:7.19 [[-9.76046249e-01 5.47368426e-02 2.10564950e-01 2.19348676e+02] [-5.12404878e-02 -9.98443355e-01 2.20290741e-02 1.04012890e+02] [ 2.11442977e-01 1.07119444e-02 9.77331633e-01 7.18863616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.876875 meters 0.012813764488375711 Centerline is valid? [True, True] Translation: X:219.49, Y:103.13, Z:7.86 [[-9.73431983e-01 -1.12578093e-01 -1.99389938e-01 2.19486873e+02] [-1.13116483e-01 9.93543409e-01 -8.72672039e-03 1.03134347e+02] [ 1.99084996e-01 1.40594198e-02 -9.79881369e-01 7.86031778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.906875 meters 0.012834223981701972 Centerline is valid? [True, True] Translation: X:219.49, Y:103.17, Z:7.87 [[-9.62524426e-01 -1.85916699e-01 -1.97437863e-01 2.19485432e+02] [-1.84943813e-01 9.82467551e-01 -2.35222676e-02 1.03168384e+02] [ 1.98349476e-01 1.38741541e-02 -9.80033159e-01 7.86694635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.936875 meters 0.012746127844534987 Centerline is valid? [True, True] Translation: X:219.48, Y:103.20, Z:7.87 [[-9.45786805e-01 -2.59310812e-01 -1.95563858e-01 2.19478790e+02] [-2.56923338e-01 9.65687041e-01 -3.79333227e-02 1.03202448e+02] [ 1.98690004e-01 1.43680832e-02 -9.79957061e-01 7.87345116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.966875 meters 0.012621611663608246 Centerline is valid? [True, True] Translation: X:219.12, Y:104.02, Z:7.22 [[-9.59311232e-01 1.98432751e-01 2.00864143e-01 2.19123925e+02] [-1.91531122e-01 -9.80031116e-01 5.34307125e-02 1.04018140e+02] [ 2.07455514e-01 1.27849480e-02 9.78160904e-01 7.22236505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.996875 meters 0.012697170991125677 Centerline is valid? [True, True] Translation: X:219.36, Y:103.18, Z:7.90 [[-9.43183592e-01 -2.68642619e-01 -1.95539905e-01 2.19363880e+02] [-2.66280464e-01 9.63115289e-01 -3.87769893e-02 1.03175104e+02] [ 1.98744624e-01 1.54946366e-02 -9.79928819e-01 7.89882374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.026875 meters 0.01274270926585972 Centerline is valid? [True, True] Translation: X:219.34, Y:103.20, Z:7.91 [[-9.20945226e-01 -3.39238191e-01 -1.91774191e-01 2.19336416e+02] [-3.35343930e-01 9.40579284e-01 -5.34327522e-02 1.03200790e+02] [ 1.98505261e-01 1.51016728e-02 -9.79983470e-01 7.91001052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.056875 meters 0.012762579138977275 Centerline is valid? [True, True] Translation: X:219.31, Y:103.23, Z:7.92 [[-8.93048129e-01 -4.09334444e-01 -1.86843119e-01 2.19310653e+02] [-4.04108695e-01 9.12250526e-01 -6.70458096e-02 1.03225983e+02] [ 1.97891893e-01 1.56297942e-02 -9.80099234e-01 7.92056926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.086875 meters 0.01283907607685516 Centerline is valid? [True, True] Translation: X:219.26, Y:103.24, Z:7.94 [[-8.59682064e-01 -4.77834510e-01 -1.80612654e-01 2.19258226e+02] [-4.71282306e-01 8.78305017e-01 -8.04567211e-02 1.03236412e+02] [ 1.97077998e-01 1.59523479e-02 -9.80258020e-01 7.93674957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.116875 meters 0.012916064589870924 Centerline is valid? [True, True] Translation: X:219.20, Y:103.24, Z:7.96 [[-8.21442389e-01 -5.43297033e-01 -1.73380322e-01 2.19197094e+02] [-5.35447204e-01 8.39386202e-01 -9.34189227e-02 1.03237979e+02] [ 1.96287273e-01 1.60977455e-02 -9.80414284e-01 7.95505108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.146875 meters 0.01305235424342779 Centerline is valid? [True, True] Translation: X:219.13, Y:103.23, Z:7.98 [[-7.78306397e-01 -6.05817292e-01 -1.64998672e-01 2.19127524e+02] [-5.96758728e-01 7.95437797e-01 -1.05630162e-01 1.03229148e+02] [ 1.95238759e-01 1.62517667e-02 -9.80621082e-01 7.97555268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.176875 meters 0.013159678365123984 Centerline is valid? [True, True] Translation: X:219.05, Y:103.21, Z:8.00 [[-7.30183250e-01 -6.65254011e-01 -1.55786787e-01 2.19049459e+02] [-6.55030159e-01 7.46437572e-01 -1.17330483e-01 1.03206398e+02] [ 1.94339685e-01 1.63722901e-02 -9.80797652e-01 7.99853741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.206875 meters 0.013132303318378107 Centerline is valid? [True, True] Translation: X:218.97, Y:103.18, Z:8.02 [[-6.77622745e-01 -7.20981608e-01 -1.44958393e-01 2.18973055e+02] [-7.09805458e-01 6.92758219e-01 -1.27523572e-01 1.03176109e+02] [ 1.92363268e-01 1.64793855e-02 -9.81185407e-01 8.02301159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.236875 meters 0.01316272413924514 Centerline is valid? [True, True] Translation: X:218.89, Y:103.13, Z:8.05 [[-6.20713030e-01 -7.72521463e-01 -1.33887729e-01 2.18891624e+02] [-7.60385481e-01 6.34773578e-01 -1.37391503e-01 1.03132929e+02] [ 1.91126277e-01 1.65255892e-02 -9.81426335e-01 8.04881926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.266875 meters 0.013059447630479984 Centerline is valid? [True, True] Translation: X:218.81, Y:103.08, Z:8.08 [[-5.60172419e-01 -8.19374706e-01 -1.21786504e-01 2.18813526e+02] [-8.06454221e-01 5.73020762e-01 -1.45872536e-01 1.03079833e+02] [ 1.89310461e-01 1.65014690e-02 -9.81778616e-01 8.07594093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.296875 meters 0.013277491187030496 Centerline is valid? [True, True] Translation: X:218.74, Y:103.02, Z:8.10 [[-4.95753203e-01 -8.61510908e-01 -1.09670952e-01 2.18735931e+02] [-8.47747309e-01 5.07471024e-01 -1.54264901e-01 1.03019212e+02] [ 1.88555725e-01 1.64959359e-02 -9.81923939e-01 8.10367243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.32687500000003 meters 0.013307824597965387 Centerline is valid? [True, True] Translation: X:218.66, Y:102.95, Z:8.13 [[-4.28285991e-01 -8.98437926e-01 -9.68524807e-02 2.18662129e+02] [-8.83957576e-01 4.38792386e-01 -1.61493795e-01 1.02948047e+02] [ 1.87590281e-01 1.64479542e-02 -9.82109643e-01 8.13114960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.356875 meters 0.013148716930236674 Centerline is valid? [True, True] Translation: X:218.60, Y:102.87, Z:8.16 [[-3.58384087e-01 -9.29815740e-01 -8.36871288e-02 2.18595002e+02] [-9.14654614e-01 3.67662963e-01 -1.68020483e-01 1.02865817e+02] [ 1.86996747e-01 1.63289512e-02 -9.82224812e-01 8.15850085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.38687500000003 meters 0.013027775018559598 Centerline is valid? [True, True] Translation: X:218.53, Y:102.78, Z:8.19 [[-2.85973832e-01 -9.55670607e-01 -7.00903662e-02 2.18532114e+02] [-9.39908636e-01 2.93990283e-01 -1.73612988e-01 1.02779053e+02] [ 1.86522716e-01 1.62297693e-02 -9.82316584e-01 8.18595374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.416875 meters 0.013026754532886316 Centerline is valid? [True, True] Translation: X:218.48, Y:102.69, Z:8.21 [[-2.12053241e-01 -9.75647259e-01 -5.60878732e-02 2.18478086e+02] [-9.59404573e-01 2.18756513e-01 -1.78012507e-01 1.02686401e+02] [ 1.85947002e-01 1.60628330e-02 -9.82428470e-01 8.21314263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.44687500000003 meters 0.013031056272683972 Centerline is valid? [True, True] Translation: X:218.42, Y:102.57, Z:8.25 [[-1.35924699e-01 -9.89832275e-01 -4.19111421e-02 2.18424893e+02] [-9.73111535e-01 1.41329639e-01 -1.81878733e-01 1.02567134e+02] [ 1.85952727e-01 1.60624037e-02 -9.82427393e-01 8.24553288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.476875 meters 0.013007940915450975 Centerline is valid? [True, True] Translation: X:218.38, Y:102.47, Z:8.27 [[-5.86880426e-02 -9.97900253e-01 -2.74007150e-02 2.18384298e+02] [-9.80911667e-01 6.27427242e-02 -1.84053396e-01 1.02474546e+02] [ 1.85386126e-01 1.60759475e-02 -9.82534248e-01 8.27188505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.50687500000004 meters 0.012955599281826899 Centerline is valid? [True, True] Translation: X:218.35, Y:102.37, Z:8.30 [[ 1.87843893e-02 -9.99741959e-01 -1.27735208e-02 2.18350587e+02] [-9.82494340e-01 -1.60889886e-02 -1.85596379e-01 1.02374927e+02] [ 1.85342975e-01 1.60362265e-02 -9.82543038e-01 8.29885668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.536875 meters 0.013014602790639802 Centerline is valid? [True, True] Translation: X:218.33, Y:102.27, Z:8.33 [[ 9.63204850e-02 -9.95348512e-01 1.92476240e-03 2.18325721e+02] [-9.77968030e-01 -9.49980251e-02 -1.85886813e-01 1.02268545e+02] [ 1.85205011e-01 1.60223519e-02 -9.82569279e-01 8.32662659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.56687500000004 meters 0.013154250919290346 Centerline is valid? [True, True] Translation: X:218.31, Y:102.16, Z:8.35 [[ 1.71648526e-01 -9.85020355e-01 1.64828236e-02 2.18307452e+02] [-9.67717356e-01 -1.71720424e-01 -1.84486353e-01 1.02161956e+02] [ 1.84553250e-01 1.57160960e-02 -9.82696852e-01 8.35478505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.596875 meters 0.012996886204566365 Centerline is valid? [True, True] Translation: X:218.30, Y:102.05, Z:8.38 [[ 2.47230745e-01 -9.68470866e-01 3.06780024e-02 2.18299922e+02] [-9.51260227e-01 -2.48617121e-01 -1.82465088e-01 1.02052739e+02] [ 1.84339198e-01 1.59282160e-02 -9.82733612e-01 8.38174648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.626875 meters 0.012970649319250465 Centerline is valid? [True, True] Translation: X:218.31, Y:101.93, Z:8.41 [[ 3.20031089e-01 -9.46344607e-01 4.48551872e-02 2.18306861e+02] [-9.29385801e-01 -3.22782028e-01 -1.79035737e-01 1.01925129e+02] [ 1.83907952e-01 1.56092277e-02 -9.82819524e-01 8.41400107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.656875 meters 0.012916210408553628 Centerline is valid? [True, True] Translation: X:218.31, Y:101.83, Z:8.44 [[ 3.91300450e-01 -9.18383734e-01 5.87815910e-02 2.18310824e+02] [-9.01730749e-01 -3.95391722e-01 -1.74777125e-01 1.01829105e+02] [ 1.83754223e-01 1.53851997e-02 -9.82851810e-01 8.43898725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.686875 meters 0.012882278224321005 Centerline is valid? [True, True] Translation: X:218.33, Y:101.72, Z:8.47 [[ 4.60101520e-01 -8.84915363e-01 7.23283588e-02 2.18329514e+02] [-8.68671358e-01 -4.65505853e-01 -1.69453157e-01 1.01717927e+02] [ 1.83620977e-01 1.51360817e-02 -9.82880581e-01 8.46743364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.716875 meters 0.012757102962543182 Centerline is valid? [True, True] Translation: X:218.35, Y:101.62, Z:8.49 [[ 5.25092795e-01 -8.46782471e-01 8.50705800e-02 2.18354218e+02] [-8.31152594e-01 -5.31736790e-01 -1.62607972e-01 1.01616255e+02] [ 1.82928738e-01 1.46776413e-02 -9.83016604e-01 8.49484151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.746875 meters 0.012846173607251956 Centerline is valid? [True, True] Translation: X:218.38, Y:101.52, Z:8.52 [[ 5.87825811e-01 -8.03122514e-01 9.72370475e-02 2.18383534e+02] [-7.88173805e-01 -5.95639452e-01 -1.54905444e-01 1.01518808e+02] [ 1.82326272e-01 1.44177246e-02 -9.83132372e-01 8.52148855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.776875 meters 0.012835206657989253 Centerline is valid? [True, True] Translation: X:218.42, Y:101.42, Z:8.55 [[ 6.46817572e-01 -7.54858920e-01 1.08697003e-01 2.18421383e+02] [-7.40678589e-01 -6.55735043e-01 -1.46310566e-01 1.01422416e+02] [ 1.81720270e-01 1.41267024e-02 -9.83248788e-01 8.54768444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.806875 meters 0.012893537994303405 Centerline is valid? [True, True] Translation: X:218.47, Y:101.33, Z:8.57 [[ 7.01353259e-01 -7.02676483e-01 1.19788842e-01 2.18467805e+02] [-6.89269901e-01 -7.11377111e-01 -1.37293883e-01 1.01329460e+02] [ 1.81688223e-01 1.37246689e-02 -9.83260404e-01 8.57448745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.836875 meters 0.01294478390949601 Centerline is valid? [True, True] Translation: X:218.45, Y:101.33, Z:8.58 [[ 7.53590714e-01 -6.44358587e-01 1.30011721e-01 2.18453410e+02] [-6.31789671e-01 -7.64597664e-01 -1.27405750e-01 1.01327669e+02] [ 1.81501647e-01 1.38717280e-02 -9.83292798e-01 8.58079539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.866875 meters 0.012903340525181634 Centerline is valid? [True, True] Translation: X:218.44, Y:101.33, Z:8.59 [[ 8.01374571e-01 -5.81673157e-01 1.39481664e-01 2.18441217e+02] [-5.70070912e-01 -8.13305906e-01 -1.16415883e-01 1.01325564e+02] [ 1.81157255e-01 1.37782888e-02 -9.83357619e-01 8.58696190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.896875 meters 0.01298093580527002 Centerline is valid? [True, True] Translation: X:218.43, Y:101.32, Z:8.59 [[ 8.44377467e-01 -5.15004745e-01 1.47637416e-01 2.18428699e+02] [-5.04478637e-01 -8.57076903e-01 -1.04501137e-01 1.01321774e+02] [ 1.80355200e-01 1.37584828e-02 -9.83505316e-01 8.59328616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.926875 meters 0.01292180477429358 Centerline is valid? [True, True] Translation: X:218.42, Y:101.32, Z:8.60 [[ 8.81957381e-01 -4.45085728e-01 1.55080214e-01 2.18416018e+02] [-4.35651703e-01 -8.95382540e-01 -9.21829720e-02 1.01317977e+02] [ 1.79885441e-01 1.37404934e-02 -9.83591596e-01 8.59933066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.956875 meters 0.012903036960162996 Centerline is valid? [True, True] Translation: X:218.40, Y:101.31, Z:8.60 [[ 9.13949597e-01 -3.72149701e-01 1.61866408e-01 2.18401482e+02] [-3.63823194e-01 -9.28070862e-01 -7.94805576e-02 1.01314204e+02] [ 1.79802162e-01 1.37504700e-02 -9.83606683e-01 8.60459426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.986875 meters 0.012776937087855647 Centerline is valid? [True, True] Translation: X:218.39, Y:101.31, Z:8.61 [[ 9.40195277e-01 -2.96676059e-01 1.67380277e-01 2.18386143e+02] [-2.89525542e-01 -9.54878865e-01 -6.61914986e-02 1.01306443e+02] [ 1.79465321e-01 1.37720690e-02 -9.83667895e-01 8.60927258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.016875 meters 0.01271423062032847 Centerline is valid? [True, True] Translation: X:218.37, Y:101.30, Z:8.61 [[ 9.60351946e-01 -2.19413091e-01 1.71994287e-01 2.18370550e+02] [-2.13466000e-01 -9.75534790e-01 -5.25750894e-02 1.01298992e+02] [ 1.79322074e-01 1.37756569e-02 -9.83693969e-01 8.61470482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.046875 meters 0.012652646535611763 Centerline is valid? [True, True] Translation: X:218.36, Y:101.29, Z:8.62 [[ 9.74337044e-01 -1.40887266e-01 1.75550854e-01 2.18356856e+02] [-1.36177303e-01 -9.89930058e-01 -3.86551689e-02 1.01290835e+02] [ 1.79229088e-01 1.37571212e-02 -9.83711175e-01 8.62025143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07687500000003 meters 0.012682765904149965 Centerline is valid? [True, True] Translation: X:218.34, Y:101.28, Z:8.63 [[ 9.82225025e-01 -6.17698058e-02 1.77252621e-01 2.18343565e+02] [-5.83463671e-02 -9.97996534e-01 -2.44667198e-02 1.01281025e+02] [ 1.78408806e-01 1.36897779e-02 -9.83861214e-01 8.62575175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.106875 meters 0.012729380287264554 Centerline is valid? [True, True] Translation: X:218.33, Y:101.27, Z:8.63 [[ 9.83874971e-01 1.74984532e-02 1.77999567e-01 2.18331473e+02] [ 1.96346226e-02 -9.99754717e-01 -1.02463879e-02 1.01270673e+02] [ 1.77776610e-01 1.35761189e-02 -9.83977218e-01 8.63142139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13687500000003 meters 0.012723127446104652 Centerline is valid? [True, True] Translation: X:218.32, Y:101.26, Z:8.64 [[ 9.79398361e-01 9.68341540e-02 1.77206086e-01 2.18318990e+02] [ 9.76936388e-02 -9.95208936e-01 3.88940113e-03 1.01259924e+02] [ 1.76733707e-01 1.35026343e-02 -9.84166081e-01 8.63639718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.166875 meters 0.012723127446104652 Centerline is valid? [True, True] Translation: X:218.31, Y:101.25, Z:8.64 [[ 9.68609045e-01 1.75780149e-01 1.75777866e-01 2.18307845e+02] [ 1.75380410e-01 -9.84337432e-01 1.79313206e-02 1.01249217e+02] [ 1.76176703e-01 1.34595548e-02 -9.84266534e-01 8.64149381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19687500000003 meters 0.012773263392009493 Centerline is valid? [True, True] Translation: X:218.30, Y:101.24, Z:8.65 [[ 9.51936750e-01 2.52535028e-01 1.73327676e-01 2.18296450e+02] [ 2.50874671e-01 -9.67497424e-01 3.17904785e-02 1.01238113e+02] [ 1.75722289e-01 1.32209990e-02 -9.84350995e-01 8.64675834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.226875 meters 0.01274580353670995 Centerline is valid? [True, True] Translation: X:218.29, Y:101.23, Z:8.65 [[ 9.29279889e-01 3.28039336e-01 1.69791291e-01 2.18287124e+02] [ 3.25148469e-01 -9.44573981e-01 4.53703361e-02 1.01226722e+02] [ 1.75263691e-01 1.30456376e-02 -9.84435092e-01 8.65226861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25687500000004 meters 0.012947989898963206 Centerline is valid? [True, True] Translation: X:218.28, Y:101.22, Z:8.66 [[ 9.00957825e-01 4.01354404e-01 1.64892811e-01 2.18277040e+02] [ 3.97284988e-01 -9.15832594e-01 5.84405478e-02 1.01215120e+02] [ 1.74469582e-01 1.28569696e-02 -9.84578622e-01 8.65775673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.286875 meters 0.012993980665706176 Centerline is valid? [True, True] Translation: X:218.27, Y:101.20, Z:8.66 [[ 8.67593206e-01 4.71295191e-01 1.58628093e-01 2.18271779e+02] [ 4.66110108e-01 -8.81887107e-01 7.08272343e-02 1.01197985e+02] [ 1.73272605e-01 1.24889303e-02 -9.84794715e-01 8.66366083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31687500000004 meters 0.013238501375352 Centerline is valid? [True, True] Translation: X:218.27, Y:101.18, Z:8.67 [[ 8.28385137e-01 5.39139503e-01 1.52008752e-01 2.18265806e+02] [ 5.32859312e-01 -8.42127047e-01 8.29637964e-02 1.01181621e+02] [ 1.72739741e-01 1.22733031e-02 -9.84891033e-01 8.66884246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.346875 meters 0.013291850135942937 Centerline is valid? [True, True] Translation: X:218.26, Y:101.16, Z:8.67 [[ 7.84006668e-01 6.03725775e-01 1.44390907e-01 2.18262211e+02] [ 5.96415782e-01 -7.97100600e-01 9.44396561e-02 1.01164644e+02] [ 1.72109733e-01 1.20756956e-02 -9.85003765e-01 8.67363289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.376875 meters 0.013821983430231475 Centerline is valid? [True, True] Translation: X:218.26, Y:101.15, Z:8.68 [[ 7.34708328e-01 6.64668728e-01 1.35717187e-01 2.18258005e+02] [ 6.56423848e-01 -7.47043235e-01 1.05043504e-01 1.01148097e+02] [ 1.71205739e-01 1.19116610e-02 -9.85163290e-01 8.67909011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.406875 meters 0.013629499888230534 Centerline is valid? [True, True] Translation: X:218.26, Y:101.13, Z:8.68 [[ 6.80546991e-01 7.21630729e-01 1.26905020e-01 2.18257401e+02] [ 7.12416665e-01 -6.92178100e-01 1.15550739e-01 1.01129848e+02] [ 1.71225839e-01 1.17715429e-02 -9.85161481e-01 8.68320115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.436875 meters 0.013607853477325911 Centerline is valid? [True, True] Translation: X:218.26, Y:101.11, Z:8.69 [[ 6.21612289e-01 7.74543560e-01 1.16963393e-01 2.18256510e+02] [ 7.64495039e-01 -6.32411060e-01 1.24914320e-01 1.01112195e+02] [ 1.70720525e-01 1.17696573e-02 -9.85249196e-01 8.68825314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.466875 meters 0.013451626866679537 Centerline is valid? [True, True] Translation: X:218.26, Y:101.09, Z:8.69 [[ 5.58050032e-01 8.23025820e-01 1.05870963e-01 2.18258354e+02] [ 8.12338136e-01 -5.67878740e-01 1.32742188e-01 1.01094467e+02] [ 1.69372117e-01 1.19262389e-02 -9.85480010e-01 8.69361187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.496875 meters 0.013261746942496688 Centerline is valid? [True, True] Translation: X:218.26, Y:101.08, Z:8.70 [[ 4.91176058e-01 8.65924259e-01 9.44524138e-02 2.18261195e+02] [ 8.54633276e-01 -5.00030975e-01 1.39896350e-01 1.01077088e+02] [ 1.68368776e-01 1.20084379e-02 -9.85650928e-01 8.69849515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.526875 meters 0.013137128563271079 Centerline is valid? [True, True] Translation: X:218.27, Y:101.06, Z:8.70 [[ 4.21079190e-01 9.03260446e-01 8.25401875e-02 2.18267990e+02] [ 8.91462358e-01 -4.28922166e-01 1.46015892e-01 1.01058753e+02] [ 1.67293696e-01 1.20972166e-02 -9.85832885e-01 8.70361395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.556875 meters 0.013206167892879293 Centerline is valid? [True, True] Translation: X:218.28, Y:101.04, Z:8.71 [[ 3.47708348e-01 9.34982990e-01 7.00407957e-02 2.18275233e+02] [ 9.22865677e-01 -3.54479460e-01 1.50543201e-01 1.01040062e+02] [ 1.65583356e-01 1.22931185e-02 -9.86119177e-01 8.70940664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.586875 meters 0.01308767541152883 Centerline is valid? [True, True] Translation: X:218.28, Y:101.02, Z:8.71 [[ 2.72478385e-01 9.60434027e-01 5.76368834e-02 2.18279740e+02] [ 9.47915639e-01 -2.78232081e-01 1.55057574e-01 1.01024708e+02] [ 1.64959000e-01 1.23850657e-02 -9.86222662e-01 8.71437282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.616875 meters 0.012932715358764524 Centerline is valid? [True, True] Translation: X:218.29, Y:101.01, Z:8.72 [[ 1.95554262e-01 9.79658303e-01 4.50348806e-02 2.18285785e+02] [ 9.66761252e-01 -2.00285765e-01 1.58928580e-01 1.01010079e+02] [ 1.64715548e-01 1.24588165e-02 -9.86262423e-01 8.71904766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.646875 meters 0.012805549063071037 Centerline is valid? [True, True] Translation: X:218.30, Y:101.00, Z:8.72 [[ 1.17401099e-01 9.92563872e-01 3.21549799e-02 2.18296348e+02] [ 9.79406273e-01 -1.21078852e-01 1.61565048e-01 1.00995268e+02] [ 1.64256917e-01 1.25248748e-02 -9.86338072e-01 8.72226885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.676875 meters 0.012855320758497052 Centerline is valid? [True, True] Translation: X:218.31, Y:100.98, Z:8.73 [[ 3.89690985e-02 9.99056767e-01 1.91568765e-02 2.18305631e+02] [ 9.85659109e-01 -4.15824832e-02 1.63545154e-01 1.00980637e+02] [ 1.64187484e-01 1.25089425e-02 -9.86349835e-01 8.72678630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.706875 meters 0.012725022360547572 Centerline is valid? [True, True] Translation: X:218.32, Y:100.97, Z:8.73 [[-3.96616287e-02 9.99194599e-01 6.09164677e-03 2.18318027e+02] [ 9.85765337e-01 3.81302856e-02 1.63746087e-01 1.00967796e+02] [ 1.63381930e-01 1.24993708e-02 -9.86483710e-01 8.73026558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.736875 meters 0.012768696985122997 Centerline is valid? [True, True] Translation: X:218.33, Y:100.95, Z:8.73 [[-1.17883548e-01 9.93002587e-01 -7.02369911e-03 2.18330864e+02] [ 9.79447281e-01 1.17434262e-01 1.63988470e-01 1.00954889e+02] [ 1.63665798e-01 1.24521996e-02 -9.86437251e-01 8.73430853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.766875 meters 0.012778217750769453 Centerline is valid? [True, True] Translation: X:218.35, Y:100.94, Z:8.74 [[-1.95852072e-01 9.80427239e-01 -2.01095897e-02 2.18346481e+02] [ 9.66860002e-01 1.96485543e-01 1.63018920e-01 1.00944453e+02] [ 1.63779433e-01 1.24844353e-02 -9.86417982e-01 8.73761665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.796875 meters 0.012828285088250114 Centerline is valid? [True, True] Translation: X:218.36, Y:100.94, Z:8.74 [[-2.72296918e-01 9.61652475e-01 -3.28467014e-02 2.18360822e+02] [ 9.48295203e-01 2.73986964e-01 1.60210335e-01 1.00935215e+02] [ 1.63066233e-01 1.24764111e-02 -9.86536235e-01 8.74186546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.82687500000003 meters 0.012744868036483573 Centerline is valid? [True, True] Translation: X:218.38, Y:100.93, Z:8.75 [[-3.47191030e-01 9.36694022e-01 -4.54169261e-02 2.18376154e+02] [ 9.23560742e-01 3.49925949e-01 1.56803651e-01 1.00925430e+02] [ 1.62769604e-01 1.24955312e-02 -9.86584978e-01 8.74586258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.856875 meters 0.01274389256999928 Centerline is valid? [True, True] Translation: X:218.39, Y:100.92, Z:8.75 [[-4.20777522e-01 9.05335895e-01 -5.75603481e-02 2.18394173e+02] [ 8.92537012e-01 4.24507028e-01 1.52221766e-01 1.00919589e+02] [ 1.62246601e-01 1.26767565e-02 -9.86668810e-01 8.74995252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.88687500000003 meters 0.012728947826993556 Centerline is valid? [True, True] Translation: X:218.41, Y:100.91, Z:8.75 [[-4.90743749e-01 8.68546762e-01 -6.92610676e-02 2.18412040e+02] [ 8.56162271e-01 4.95444655e-01 1.46699558e-01 1.00914369e+02] [ 1.61730452e-01 1.26931781e-02 -9.86753335e-01 8.75458297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.916875 meters 0.012658318403078874 Centerline is valid? [True, True] Translation: X:218.43, Y:100.91, Z:8.76 [[-5.57533319e-01 8.26236940e-01 -8.05550599e-02 2.18429383e+02] [ 8.14313010e-01 5.63179516e-01 1.40439150e-01 1.00909960e+02] [ 1.61402973e-01 1.27024724e-02 -9.86806834e-01 8.75903072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.94687500000003 meters 0.012692705975199605 Centerline is valid? [True, True] Translation: X:218.45, Y:100.91, Z:8.76 [[-6.20569361e-01 7.78825527e-01 -9.12385167e-02 2.18446130e+02] [ 7.67445719e-01 6.27112578e-01 1.33254957e-01 1.00907573e+02] [ 1.60999184e-01 1.26733345e-02 -9.86873168e-01 8.76313869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.976875 meters 0.01264068751653588 Centerline is valid? [True, True] Translation: X:218.46, Y:100.90, Z:8.77 [[-6.79558309e-01 7.26557962e-01 -1.01558024e-01 2.18463020e+02] [ 7.15740393e-01 6.86989163e-01 1.25545129e-01 1.00904734e+02] [ 1.60985075e-01 1.26260553e-02 -9.86876076e-01 8.76755617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.00687500000004 meters 0.012715981278628437 Centerline is valid? [True, True] Translation: X:218.48, Y:100.90, Z:8.77 [[-7.33869402e-01 6.70127558e-01 -1.11196926e-01 2.18478054e+02] [ 6.59950213e-01 7.42140864e-01 1.17015618e-01 1.00903092e+02] [ 1.60939173e-01 1.24897465e-02 -9.86885297e-01 8.77102450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.036875 meters 0.012767372692084113 Centerline is valid? [True, True] Translation: X:218.50, Y:100.93, Z:8.78 [[-7.79119154e-01 6.15310328e-01 -1.19860522e-01 2.18501838e+02] [ 6.05948576e-01 7.88206416e-01 1.07503344e-01 1.00925557e+02] [ 1.60622750e-01 1.11286014e-02 -9.86953133e-01 8.77663998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.06687500000004 meters 0.012810366883173692 Centerline is valid? [True, True] Translation: X:218.53, Y:100.94, Z:8.78 [[-8.20601224e-01 5.57241594e-01 -1.26867796e-01 2.18532941e+02] [ 5.48606340e-01 8.30276148e-01 9.83493893e-02 1.00942763e+02] [ 1.60139676e-01 1.11051518e-02 -9.87031894e-01 8.77987923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.096875 meters 0.01272988670903225 Centerline is valid? [True, True] Translation: X:218.56, Y:100.96, Z:8.78 [[-8.57447323e-01 4.97068824e-01 -1.33066423e-01 2.18563202e+02] [ 4.89216784e-01 8.67642156e-01 8.86793493e-02 1.00963671e+02] [ 1.59533778e-01 1.09395430e-02 -9.87131855e-01 8.78338081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.126875 meters 0.013000490133901369 Centerline is valid? [True, True] Translation: X:218.59, Y:100.99, Z:8.79 [[-8.90143655e-01 4.34001345e-01 -1.38878027e-01 2.18588584e+02] [ 4.26928995e-01 9.00847080e-01 7.87792576e-02 1.00986268e+02] [ 1.59298169e-01 1.08337996e-02 -9.87171070e-01 8.78787128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.156875 meters 0.013121392285583764 Centerline is valid? [True, True] Translation: X:218.61, Y:101.01, Z:8.79 [[-9.18361888e-01 3.68808042e-01 -1.43499378e-01 2.18609773e+02] [ 3.62581632e-01 9.29443757e-01 6.83290794e-02 1.01012049e+02] [ 1.58574915e-01 1.07205836e-02 -9.87288745e-01 8.79264172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.186875 meters 0.013169467480203171 Centerline is valid? [True, True] Translation: X:218.63, Y:101.04, Z:8.80 [[-9.41900106e-01 3.01771346e-01 -1.47506765e-01 2.18631332e+02] [ 2.96400365e-01 9.53321501e-01 5.76622877e-02 1.01038638e+02] [ 1.58022197e-01 1.05910558e-02 -9.87378760e-01 8.79687818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.216875 meters 0.013430862137104566 Centerline is valid? [True, True] Translation: X:218.65, Y:101.07, Z:8.80 [[-9.60505435e-01 2.34152148e-01 -1.50339882e-01 2.18650860e+02] [ 2.29682367e-01 9.72145279e-01 4.66858356e-02 1.01067349e+02] [ 1.57083795e-01 1.03115788e-02 -9.87531444e-01 8.80134500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.246875 meters 0.013560200496468765 Centerline is valid? [True, True] Translation: X:218.66, Y:101.10, Z:8.81 [[-9.74473788e-01 1.64385454e-01 -1.52899509e-01 2.18659425e+02] [ 1.60788490e-01 9.86343538e-01 3.56859331e-02 1.01098049e+02] [ 1.56677691e-01 1.01905252e-02 -9.87597213e-01 8.80731085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.276875 meters 0.013686697192576296 Centerline is valid? [True, True] Translation: X:218.68, Y:101.13, Z:8.81 [[-9.83730377e-01 9.34966771e-02 -1.53404425e-01 2.18677838e+02] [ 9.08099164e-02 9.95568200e-01 2.44441797e-02 1.01129089e+02] [ 1.55010017e-01 1.01158391e-02 -9.87861106e-01 8.81198302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.306875 meters 0.01365101732360547 Centerline is valid? [True, True] Translation: X:218.69, Y:101.16, Z:8.82 [[-9.87847505e-01 2.14811610e-02 -1.53934617e-01 2.18686034e+02] [ 1.96627738e-02 9.99717861e-01 1.33256462e-02 1.01161676e+02] [ 1.54177437e-01 1.01369248e-02 -9.87991174e-01 8.81705873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.336875 meters 0.013429408810192648 Centerline is valid? [True, True] Translation: X:218.69, Y:101.19, Z:8.82 [[-9.86785387e-01 -5.08865106e-02 -1.53834857e-01 2.18691838e+02] [-5.18462483e-02 9.98652587e-01 2.23079996e-03 1.01194801e+02] [ 1.53514061e-01 1.01770810e-02 -9.88094054e-01 8.82186831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.366875 meters 0.013647308270168685 Centerline is valid? [True, True] Translation: X:218.69, Y:101.23, Z:8.83 [[-9.80496818e-01 -1.23520972e-01 -1.52867786e-01 2.18693869e+02] [-1.23639050e-01 9.92288497e-01 -8.77061433e-03 1.01228028e+02] [ 1.52772300e-01 1.03008684e-02 -9.88207729e-01 8.82840260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.396875 meters 0.013483023646745654 Centerline is valid? [True, True] Translation: X:218.47, Y:102.10, Z:8.15 [[-9.83114686e-01 7.30328361e-02 1.67784742e-01 2.18473068e+02] [-7.05093524e-02 -9.97290955e-01 2.09566555e-02 1.02102465e+02] [ 1.68860730e-01 8.77240225e-03 9.85600882e-01 8.15084030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.426875 meters 0.013117666199205014 Centerline is valid? [True, True] Translation: X:218.59, Y:101.22, Z:8.85 [[-9.79454965e-01 -1.32747718e-01 -1.51809141e-01 2.18592044e+02] [-1.32893443e-01 9.91087338e-01 -9.23158986e-03 1.01220898e+02] [ 1.51681589e-01 1.11325128e-02 -9.88366715e-01 8.84547572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.456875 meters 0.013104108793488865 Centerline is valid? [True, True] Translation: X:218.59, Y:101.25, Z:8.85 [[-9.67057745e-01 -2.05387494e-01 -1.50383826e-01 2.18589967e+02] [-2.04653626e-01 9.78619559e-01 -2.05098198e-02 1.01253883e+02] [ 1.51381014e-01 1.09424151e-02 -9.88414919e-01 8.85118129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.486875 meters 0.013071877090643443 Centerline is valid? [True, True] Translation: X:218.58, Y:101.28, Z:8.86 [[-9.49351954e-01 -2.77015088e-01 -1.48302085e-01 2.18576562e+02] [-2.75471064e-01 9.60800671e-01 -3.12692133e-02 1.01284963e+02] [ 1.51150786e-01 1.11674442e-02 -9.88447635e-01 8.85746315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.516875 meters 0.013139251317600834 Centerline is valid? [True, True] Translation: X:218.56, Y:101.31, Z:8.87 [[-9.26264128e-01 -3.47627953e-01 -1.45566380e-01 2.18555194e+02] [-3.45283328e-01 9.37562640e-01 -4.19013002e-02 1.01312760e+02] [ 1.51043663e-01 1.14499727e-02 -9.88460778e-01 8.86552894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.546875 meters 0.013095258617033272 Centerline is valid? [True, True] Translation: X:218.51, Y:101.33, Z:8.88 [[-8.97428106e-01 -4.17638633e-01 -1.42129402e-01 2.18507364e+02] [-4.14505333e-01 9.08535711e-01 -5.24231944e-02 1.01328844e+02] [ 1.51023589e-01 1.18673470e-02 -9.88458923e-01 8.87570612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57687500000003 meters 0.013224191119554715 Centerline is valid? [True, True] Translation: X:218.45, Y:101.34, Z:8.89 [[-8.62383773e-01 -4.87000500e-01 -1.38292233e-01 2.18447509e+02] [-4.83058068e-01 8.73313536e-01 -6.30743237e-02 1.01337369e+02] [ 1.51489706e-01 1.24089058e-02 -9.88380943e-01 8.88826527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.606875 meters 0.013298609534311518 Centerline is valid? [True, True] Translation: X:218.38, Y:101.33, Z:8.90 [[-8.22748543e-01 -5.52641189e-01 -1.32938148e-01 2.18377743e+02] [-5.47934916e-01 8.33322339e-01 -7.30835695e-02 1.01333825e+02] [ 1.51169319e-01 1.27120525e-02 -9.88426143e-01 8.90322645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63687500000003 meters 0.01393405761035918 Centerline is valid? [True, True] Translation: X:218.30, Y:101.32, Z:8.92 [[-7.77150682e-01 -6.16517766e-01 -1.26264250e-01 2.18296599e+02] [-6.11142150e-01 7.87230276e-01 -8.23028893e-02 1.01319786e+02] [ 1.50140234e-01 1.32036588e-02 -9.88576539e-01 8.92190908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.666875 meters 0.014368398200456187 Centerline is valid? [True, True] Translation: X:218.22, Y:101.30, Z:8.94 [[-7.27323480e-01 -6.75855895e-01 -1.19244977e-01 2.18217297e+02] [-6.69801824e-01 7.36910264e-01 -9.12621463e-02 1.01297330e+02] [ 1.49552907e-01 1.34934015e-02 -9.88661649e-01 8.94006484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69687500000003 meters 0.01430314349355692 Centerline is valid? [True, True] Translation: X:218.14, Y:101.26, Z:8.96 [[-6.72758152e-01 -7.31421597e-01 -1.11440193e-01 2.18136258e+02] [-7.24740482e-01 6.81786605e-01 -9.95904596e-02 1.01263842e+02] [ 1.48821044e-01 1.37649254e-02 -9.88768337e-01 8.95857210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.726875 meters 0.014922176680280176 Centerline is valid? [True, True] Translation: X:218.05, Y:101.22, Z:8.98 [[-6.12591240e-01 -7.83668598e-01 -1.02934452e-01 2.18051303e+02] [-7.76431772e-01 6.21015720e-01 -1.07206245e-01 1.01220022e+02] [ 1.47938080e-01 1.42479729e-02 -9.88893988e-01 8.97942503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75687500000004 meters 0.01511578550841363 Centerline is valid? [True, True] Translation: X:217.97, Y:101.16, Z:9.00 [[-5.50110464e-01 -8.29787362e-01 -9.39755870e-02 2.17968636e+02] [-8.22012223e-01 5.57893740e-01 -1.14238703e-01 1.01164542e+02] [ 1.47222224e-01 1.44051752e-02 -9.88998538e-01 8.99967298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.786875 meters 0.015221102930522196 Centerline is valid? [True, True] Translation: X:217.89, Y:101.10, Z:9.02 [[-4.84563435e-01 -8.70650393e-01 -8.46532346e-02 2.17887293e+02] [-8.62354133e-01 4.91689240e-01 -1.20776824e-01 1.01096345e+02] [ 1.46777474e-01 1.44770338e-02 -9.89063592e-01 9.02103641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81687500000004 meters 0.015266488597321574 Centerline is valid? [True, True] Translation: X:217.81, Y:101.03, Z:9.04 [[-4.16169469e-01 -9.06198008e-01 -7.48875321e-02 2.17814921e+02] [-8.97422342e-01 4.22604883e-01 -1.26642226e-01 1.01028180e+02] [ 1.46410769e-01 1.45011166e-02 -9.89117589e-01 9.04109607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.846875 meters 0.015384676245046337 Centerline is valid? [True, True] Translation: X:217.74, Y:100.95, Z:9.06 [[-3.45696766e-01 -9.36117191e-01 -6.46401698e-02 2.17743511e+02] [-9.26926228e-01 3.51393005e-01 -1.31646209e-01 1.00945647e+02] [ 1.45950383e-01 1.44070000e-02 -9.89187002e-01 9.06329982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.876875 meters 0.015174439459346054 Centerline is valid? [True, True] Translation: X:217.68, Y:100.86, Z:9.08 [[-2.73051879e-01 -9.60482365e-01 -5.40027656e-02 2.17680357e+02] [-9.50961552e-01 2.77972617e-01 -1.35658948e-01 1.00859281e+02] [ 1.45309317e-01 1.43126233e-02 -9.89282746e-01 9.08494187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.906875 meters 0.01509103615282972 Centerline is valid? [True, True] Translation: X:217.62, Y:100.76, Z:9.11 [[-1.99693815e-01 -9.78909577e-01 -4.31093882e-02 2.17622192e+02] [-9.69123340e-01 2.03809365e-01 -1.38786508e-01 1.00762449e+02] [ 1.44645539e-01 1.40635069e-02 -9.89383589e-01 9.10844195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.936875 meters 0.01496687096849762 Centerline is valid? [True, True] Translation: X:217.57, Y:100.67, Z:9.13 [[-1.24823564e-01 -9.91661548e-01 -3.20382824e-02 2.17572563e+02] [-9.81692056e-01 1.28122267e-01 -1.40944641e-01 1.00665214e+02] [ 1.43874199e-01 1.38585148e-02 -9.89498942e-01 9.13134338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.966875 meters 0.014126123611898304 Centerline is valid? [True, True] Translation: X:217.53, Y:100.56, Z:9.15 [[-5.08680333e-02 -9.98487221e-01 -2.08737376e-02 2.17533327e+02] [-9.88427983e-01 5.33243202e-02 -1.42009292e-01 1.00562461e+02] [ 1.42907542e-01 1.34084530e-02 -9.89645213e-01 9.15369715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.996875 meters 0.013813189472393813 Centerline is valid? [True, True] Translation: X:217.50, Y:100.45, Z:9.18 [[ 2.45841518e-02 -9.99650588e-01 -9.71187103e-03 2.17500599e+02] [-9.89563720e-01 -2.29540335e-02 -1.42255957e-01 1.00449514e+02] [ 1.41983325e-01 1.31077573e-02 -9.89782260e-01 9.17672249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.026875 meters 0.013673633189308932 Centerline is valid? [True, True] Translation: X:217.48, Y:100.33, Z:9.20 [[ 1.00053416e-01 -9.94981115e-01 1.37658895e-03 2.17476669e+02] [-9.84910306e-01 -9.92368824e-02 -1.41787627e-01 1.00334406e+02] [ 1.41212619e-01 1.28305197e-02 -9.89896143e-01 9.20000503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.056875 meters 0.013673633189308932 Centerline is valid? [True, True] Translation: X:217.46, Y:100.22, Z:9.22 [[ 1.76597668e-01 -9.84205011e-01 1.23999757e-02 2.17459887e+02] [-9.74165970e-01 -1.76570235e-01 -1.40796360e-01 1.00221454e+02] [ 1.40761949e-01 1.27846744e-02 -9.89960921e-01 9.22226995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.086875 meters 0.013576042535222661 Centerline is valid? [True, True] Translation: X:217.45, Y:100.12, Z:9.24 [[ 2.48480439e-01 -9.68356632e-01 2.33003180e-02 2.17452167e+02] [-9.58395471e-01 -2.49270815e-01 -1.39076176e-01 1.00117846e+02] [ 1.40483426e-01 1.22267899e-02 -9.90007532e-01 9.24311990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.116875 meters 0.01350731762865685 Centerline is valid? [True, True] Translation: X:217.45, Y:100.00, Z:9.26 [[ 3.20714698e-01 -9.46567484e-01 3.39423241e-02 2.17454094e+02] [-9.36774906e-01 -3.22285241e-01 -1.36326812e-01 1.00004346e+02] [ 1.39981638e-01 1.19256950e-02 -9.90082279e-01 9.26499964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.146875 meters 0.013329606232168483 Centerline is valid? [True, True] Translation: X:217.46, Y:99.90, Z:9.29 [[ 3.90909058e-01 -9.19357571e-01 4.44045738e-02 2.17462969e+02] [-9.09756075e-01 -3.93251799e-01 -1.33029719e-01 9.98964578e+01] [ 1.39764058e-01 1.16051913e-02 -9.90116825e-01 9.28513111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.176875 meters 0.013436837119975268 Centerline is valid? [True, True] Translation: X:217.48, Y:99.79, Z:9.31 [[ 4.58887999e-01 -8.86825954e-01 5.44199532e-02 2.17482253e+02] [-8.77507109e-01 -4.61965027e-01 -1.28722911e-01 9.97852823e+01] [ 1.39294933e-01 1.13155030e-02 -9.90186286e-01 9.30698308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.206875 meters 0.013592214308596773 Centerline is valid? [True, True] Translation: X:217.51, Y:99.68, Z:9.33 [[ 5.23577327e-01 -8.49566930e-01 6.40532028e-02 2.17508920e+02] [-8.40585974e-01 -5.27367845e-01 -1.23686608e-01 9.96798711e+01] [ 1.38859652e-01 1.09172800e-02 -9.90251892e-01 9.32795334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.236875 meters 0.013625535987468504 Centerline is valid? [True, True] Translation: X:217.54, Y:99.58, Z:9.35 [[ 5.86298754e-01 -8.06764960e-01 7.33762270e-02 2.17543050e+02] [-7.98141582e-01 -5.90775722e-01 -1.18127311e-01 9.95752765e+01] [ 1.38649869e-01 1.06932774e-02 -9.90283731e-01 9.34849374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.266875 meters 0.013653768100966029 Centerline is valid? [True, True] Translation: X:217.58, Y:99.48, Z:9.37 [[ 6.45331578e-01 -7.59499990e-01 8.18957799e-02 2.17579039e+02] [-7.51337424e-01 -6.50423373e-01 -1.11541524e-01 9.94822880e+01] [ 1.37982716e-01 1.04499037e-02 -9.90379508e-01 9.36742093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.296875 meters 0.013705496962912208 Centerline is valid? [True, True] Translation: X:217.62, Y:99.39, Z:9.39 [[ 7.01342390e-01 -7.07117089e-01 9.00237491e-02 2.17623665e+02] [-6.99420804e-01 -7.07020469e-01 -1.04559049e-01 9.93898051e+01] [ 1.37584123e-01 1.03672101e-02 -9.90435828e-01 9.38787982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.32687500000003 meters 0.01350779626393003 Centerline is valid? [True, True] Translation: X:217.61, Y:99.38, Z:9.39 [[ 7.54718829e-01 -6.48722210e-01 9.77700526e-02 2.17612632e+02] [-6.41482356e-01 -7.60950523e-01 -9.72352227e-02 9.93835104e+01] [ 1.37476821e-01 1.06674897e-02 -9.90447539e-01 9.39154250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.356875 meters 0.01352023325361431 Centerline is valid? [True, True] Translation: X:217.60, Y:99.38, Z:9.40 [[ 8.03599064e-01 -5.85885589e-01 1.04721634e-01 2.17600702e+02] [-5.79206902e-01 -8.10322391e-01 -8.88649978e-02 9.93780644e+01] [ 1.36923007e-01 1.07563357e-02 -9.90523292e-01 9.39627050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.38687500000003 meters 0.013346540904545625 Centerline is valid? [True, True] Translation: X:217.59, Y:99.37, Z:9.40 [[ 8.47634829e-01 -5.18835809e-01 1.11016215e-01 2.17591162e+02] [-5.12742423e-01 -8.54804238e-01 -8.00307606e-02 9.93714508e+01] [ 1.36419955e-01 1.09141372e-02 -9.90590974e-01 9.40114307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.416875 meters 0.013268313209512213 Centerline is valid? [True, True] Translation: X:217.58, Y:99.36, Z:9.41 [[ 8.86388600e-01 -4.48037791e-01 1.16522045e-01 2.17581740e+02] [-4.42559599e-01 -8.93945387e-01 -7.07293849e-02 9.93637276e+01] [ 1.35853782e-01 1.11257708e-02 -9.90666426e-01 9.40616652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.44687500000003 meters 0.013261113562718052 Centerline is valid? [True, True] Translation: X:217.57, Y:99.35, Z:9.41 [[ 9.20286655e-01 -3.72349991e-01 1.20116433e-01 2.17572323e+02] [-3.67568071e-01 -9.28019565e-01 -6.06085817e-02 9.93546939e+01] [ 1.34038005e-01 1.16263034e-02 -9.90907989e-01 9.41148478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.476875 meters 0.013348985406862848 Centerline is valid? [True, True] Translation: X:217.56, Y:99.35, Z:9.42 [[ 9.47209647e-01 -2.95844020e-01 1.23572652e-01 2.17561008e+02] [-2.91727531e-01 -9.55162471e-01 -5.05935039e-02 9.93464086e+01] [ 1.32999745e-01 1.18731103e-02 -9.91044952e-01 9.41572554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.50687500000004 meters 0.013492008785787423 Centerline is valid? [True, True] Translation: X:217.55, Y:99.34, Z:9.42 [[ 9.67801753e-01 -2.17209071e-01 1.27200573e-01 2.17550407e+02] [-2.13720740e-01 -9.76049713e-01 -4.06251645e-02 9.93360758e+01] [ 1.32978237e-01 1.21317048e-02 -9.91044706e-01 9.41966007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.536875 meters 0.013860101867394682 Centerline is valid? [True, True] Translation: X:217.54, Y:99.33, Z:9.42 [[ 9.82200501e-01 -1.35912022e-01 1.29653762e-01 2.17539415e+02] [-1.33073868e-01 -9.90641353e-01 -3.03489037e-02 9.93255402e+01] [ 1.32565159e-01 1.25551809e-02 -9.91094772e-01 9.42334577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.56687500000004 meters 0.014063948832699829 Centerline is valid? [True, True] Translation: X:217.53, Y:99.31, Z:9.43 [[ 9.89775301e-01 -5.52015508e-02 1.31520500e-01 2.17530407e+02] [-5.30300210e-02 -9.98393431e-01 -1.99593270e-02 9.93147111e+01] [ 1.32410989e-01 1.27807140e-02 -9.91112498e-01 9.42727990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.596875 meters 0.014545156241257457 Centerline is valid? [True, True] Translation: X:217.52, Y:99.30, Z:9.43 [[ 9.90925873e-01 2.52806069e-02 1.32010625e-01 2.17521821e+02] [ 2.67626113e-02 -9.99597017e-01 -9.46397131e-03 9.93031065e+01] [ 1.31718172e-01 1.29110431e-02 -9.91203122e-01 9.43188998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.626875 meters 0.014931175270079209 Centerline is valid? [True, True] Translation: X:217.51, Y:99.30, Z:9.44 [[ 9.85544623e-01 1.06770051e-01 1.31536887e-01 2.17514672e+02] [ 1.07577865e-01 -9.94196189e-01 9.70001533e-04 9.92950600e+01] [ 1.30877039e-01 1.31944777e-02 -9.91310802e-01 9.43508395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.656875 meters 0.015226267977392984 Centerline is valid? [True, True] Translation: X:217.51, Y:99.29, Z:9.44 [[ 9.73845383e-01 1.86250377e-01 1.30138262e-01 2.17507943e+02] [ 1.86385624e-01 -9.82412270e-01 1.12486194e-02 9.92852601e+01] [ 1.29944485e-01 1.33014851e-02 -9.91432046e-01 9.43910997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.686875 meters 0.015607460793668012 Centerline is valid? [True, True] Translation: X:217.50, Y:99.27, Z:9.44 [[ 9.55939589e-01 2.64313452e-01 1.27741537e-01 2.17501089e+02] [ 2.63796457e-01 -9.64344073e-01 2.12588241e-02 9.92748027e+01] [ 1.28805788e-01 1.33756134e-02 -9.91579630e-01 9.44376162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.716875 meters 0.016354486881230014 Centerline is valid? [True, True] Translation: X:217.50, Y:99.27, Z:9.45 [[ 9.31535210e-01 3.41823748e-01 1.24091412e-01 2.17495763e+02] [ 3.40705367e-01 -9.39665742e-01 3.07919768e-02 9.92651260e+01] [ 1.27129878e-01 1.35947996e-02 -9.91792910e-01 9.44863955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.746875 meters 0.015845057130229837 Centerline is valid? [True, True] Translation: X:217.49, Y:99.25, Z:9.45 [[ 9.01483605e-01 4.15690760e-01 1.20534239e-01 2.17492006e+02] [ 4.13963581e-01 -9.09403915e-01 4.02327382e-02 9.92542107e+01] [ 1.26338686e-01 1.36276312e-02 -9.91893555e-01 9.45171790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.776875 meters 0.016443374976197904 Centerline is valid? [True, True] Translation: X:217.49, Y:99.24, Z:9.46 [[ 8.65636581e-01 4.86957276e-01 1.16386941e-01 2.17488803e+02] [ 4.84642077e-01 -8.73318695e-01 4.93610543e-02 9.92415779e+01] [ 1.25679616e-01 1.36772745e-02 -9.91976596e-01 9.45597590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.806875 meters 0.016460707451760124 Centerline is valid? [True, True] Translation: X:217.49, Y:99.23, Z:9.46 [[ 8.24305338e-01 5.54991769e-01 1.11825069e-01 2.17485630e+02] [ 5.52096013e-01 -8.31742755e-01 5.82578884e-02 9.92307020e+01] [ 1.25342339e-01 1.37158862e-02 -9.92018736e-01 9.45935145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.836875 meters 0.01638718393824868 Centerline is valid? [True, True] Translation: X:217.48, Y:99.22, Z:9.46 [[ 7.77976595e-01 6.19186529e-01 1.06585461e-01 2.17484113e+02] [ 6.15730367e-01 -7.85124467e-01 6.67509329e-02 9.92194093e+01] [ 1.25014132e-01 1.36972415e-02 -9.92060408e-01 9.46263517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.866875 meters 0.01645474883676126 Centerline is valid? [True, True] Translation: X:217.48, Y:99.21, Z:9.47 [[ 7.26680991e-01 6.79560137e-01 1.00661599e-01 2.17483522e+02] [ 6.75576741e-01 -7.33491972e-01 7.47368321e-02 9.92065623e+01] [ 1.24622646e-01 1.36947996e-02 -9.92109696e-01 9.46583501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.896875 meters 0.017786946215963308 Centerline is valid? [True, True] Translation: X:217.48, Y:99.19, Z:9.47 [[ 6.70394664e-01 7.35919872e-01 9.48310934e-02 2.17484590e+02] [ 7.31362843e-01 -6.76928683e-01 8.29213522e-02 9.91921982e+01] [ 1.25217358e-01 1.37659060e-02 -9.92033827e-01 9.46975086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.926875 meters 0.01733664935178716 Centerline is valid? [True, True] Translation: X:217.48, Y:99.18, Z:9.47 [[ 6.10093778e-01 7.87450704e-01 8.77893489e-02 2.17483551e+02] [ 7.82413728e-01 -6.16223407e-01 8.99859509e-02 9.91813184e+01] [ 1.24957352e-01 1.37877230e-02 -9.92066308e-01 9.47289669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.956875 meters 0.017361332062049147 Centerline is valid? [True, True] Translation: X:217.48, Y:99.17, Z:9.48 [[ 5.46204016e-01 8.33820873e-01 8.00245226e-02 2.17483753e+02] [ 8.28370853e-01 -5.51863523e-01 9.61685028e-02 9.91704421e+01] [ 1.24349920e-01 1.37623597e-02 -9.92142981e-01 9.47631036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.986875 meters 0.01741926723737254 Centerline is valid? [True, True] Translation: X:217.48, Y:99.16, Z:9.48 [[ 4.79513599e-01 8.74569392e-01 7.20769521e-02 2.17484031e+02] [ 8.68696485e-01 -4.84708091e-01 1.02100360e-01 9.91590269e+01] [ 1.24230132e-01 1.36544839e-02 -9.92159478e-01 9.47968127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.016875 meters 0.01704737870318283 Centerline is valid? [True, True] Translation: X:217.48, Y:99.15, Z:9.48 [[ 4.09913102e-01 9.09910249e-01 6.35184122e-02 2.17483714e+02] [ 9.03697680e-01 -4.14584204e-01 1.07006728e-01 9.91486387e+01] [ 1.23700249e-01 1.35379820e-02 -9.92227278e-01 9.48272519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.046875 meters 0.016705500488335634 Centerline is valid? [True, True] Translation: X:217.49, Y:99.14, Z:9.49 [[ 3.37990251e-01 9.39561546e-01 5.46506306e-02 2.17486218e+02] [ 9.33047255e-01 -3.42118196e-01 1.11256276e-01 9.91365726e+01] [ 1.23229094e-01 1.33880843e-02 -9.92287937e-01 9.48613934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07687500000003 meters 0.016456418225890876 Centerline is valid? [True, True] Translation: X:217.49, Y:99.12, Z:9.49 [[ 2.65321085e-01 9.63083789e-01 4.55448897e-02 2.17488238e+02] [ 9.56295703e-01 -2.68884267e-01 1.14890294e-01 9.91241175e+01] [ 1.22895284e-01 1.30715648e-02 -9.92333554e-01 9.48942026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.106875 meters 0.016076819605890014 Centerline is valid? [True, True] Translation: X:217.49, Y:99.11, Z:9.49 [[ 1.90178006e-01 9.81078630e-01 3.62911625e-02 2.17489822e+02] [ 9.74022171e-01 -1.93181026e-01 1.18160493e-01 9.91129682e+01] [ 1.22935498e-01 1.28768700e-02 -9.92331119e-01 9.49249094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13687500000003 meters 0.015300396393648266 Centerline is valid? [True, True] Translation: X:217.49, Y:99.10, Z:9.49 [[ 1.15546347e-01 9.92936876e-01 2.69332947e-02 2.17489876e+02] [ 9.85533328e-01 -1.17985092e-01 1.21669950e-01 9.91023918e+01] [ 1.23988308e-01 1.24851412e-02 -9.92205130e-01 9.49499319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.166875 meters 0.014575672295282777 Centerline is valid? [True, True] Translation: X:217.50, Y:99.09, Z:9.50 [[ 3.86089968e-02 9.99106704e-01 1.71796409e-02 2.17496417e+02] [ 9.91560864e-01 -4.04353898e-02 1.23174802e-01 9.90907322e+01] [ 1.23759436e-01 1.22790040e-02 -9.92236276e-01 9.49721950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19687500000003 meters 0.01458748217800289 Centerline is valid? [True, True] Translation: X:217.50, Y:99.08, Z:9.50 [[-3.87055197e-02 9.99223515e-01 7.36550109e-03 2.17504743e+02] [ 9.91579463e-01 3.74957406e-02 1.23952563e-01 9.90783605e+01] [ 1.23580141e-01 1.21011280e-02 -9.92260808e-01 9.50089234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.226875 meters 0.014249311843869204 Centerline is valid? [True, True] Translation: X:217.51, Y:99.07, Z:9.50 [[-1.15635438e-01 9.93288561e-01 -2.50596350e-03 2.17511954e+02] [ 9.85555548e-01 1.15048716e-01 1.24274111e-01 9.90672834e+01] [ 1.23728361e-01 1.19007250e-02 -9.92244761e-01 9.50364869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25687500000004 meters 0.0144113866891501 Centerline is valid? [True, True] Translation: X:217.52, Y:99.06, Z:9.51 [[-1.92567235e-01 9.81206369e-01 -1.23256345e-02 2.17522304e+02] [ 9.73471816e-01 1.92600924e-01 1.23521287e-01 9.90566602e+01] [ 1.23573802e-01 1.17874948e-02 -9.92265373e-01 9.50735201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.286875 meters 0.014034947203030064 Centerline is valid? [True, True] Translation: X:217.53, Y:99.05, Z:9.51 [[-2.68932320e-01 9.62908047e-01 -2.19886180e-02 2.17533490e+02] [ 9.55244457e-01 2.69573591e-01 1.21811764e-01 9.90479374e+01] [ 1.23221078e-01 1.17546148e-02 -9.92309627e-01 9.50979511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31687500000004 meters 0.014421738421607001 Centerline is valid? [True, True] Translation: X:217.55, Y:99.04, Z:9.51 [[-3.44444401e-01 9.38284394e-01 -3.13121368e-02 2.17546751e+02] [ 9.30791761e-01 3.45662700e-01 1.18928530e-01 9.90393680e+01] [ 1.22412221e-01 1.18191872e-02 -9.92408966e-01 9.51394139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.346875 meters 0.014460623228215843 Centerline is valid? [True, True] Translation: X:217.56, Y:99.03, Z:9.52 [[-4.17577616e-01 9.07755636e-01 -4.01078633e-02 2.17558783e+02] [ 9.00534640e-01 4.19331831e-01 1.14883324e-01 9.90312683e+01] [ 1.21104488e-01 1.18541841e-02 -9.92568981e-01 9.51772533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.376875 meters 0.014779914092419386 Centerline is valid? [True, True] Translation: X:217.57, Y:99.02, Z:9.52 [[-4.88078618e-01 8.71454739e-01 -4.84345031e-02 2.17571702e+02] [ 8.64548592e-01 4.90331991e-01 1.10137511e-01 9.90230544e+01] [ 1.19728842e-01 1.18817826e-02 -9.92735528e-01 9.52207878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.406875 meters 0.015075441811841327 Centerline is valid? [True, True] Translation: X:217.58, Y:99.02, Z:9.53 [[-5.55936991e-01 8.29329691e-01 -5.60921216e-02 2.17582308e+02] [ 8.22800894e-01 5.58631396e-01 1.04544980e-01 9.90159701e+01] [ 1.18037076e-01 1.19677737e-02 -9.92937068e-01 9.52666748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.436875 meters 0.014754400861369268 Centerline is valid? [True, True] Translation: X:217.60, Y:99.01, Z:9.53 [[-6.19682787e-01 7.82276342e-01 -6.35371435e-02 2.17596395e+02] [ 7.76090846e-01 6.22816328e-01 9.89081438e-02 9.90128327e+01] [ 1.16945471e-01 1.19810787e-02 -9.93066066e-01 9.52920470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.466875 meters 0.015213986182665713 Centerline is valid? [True, True] Translation: X:217.61, Y:99.01, Z:9.53 [[-6.79178734e-01 7.30540634e-01 -7.08987278e-02 2.17611803e+02] [ 7.24662321e-01 6.82764452e-01 9.32589041e-02 9.90100378e+01] [ 1.16536550e-01 1.19618277e-02 -9.93114368e-01 9.53386160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.496875 meters 0.014808981339405704 Centerline is valid? [True, True] Translation: X:217.63, Y:99.01, Z:9.54 [[-7.34634450e-01 6.73954014e-01 -7.80910458e-02 2.17625394e+02] [ 6.68375735e-01 7.38676122e-01 8.73582464e-02 9.90074614e+01] [ 1.16559432e-01 1.19822171e-02 -9.93111437e-01 9.53527417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.526875 meters 0.015102565004310875 Centerline is valid? [True, True] Translation: X:217.64, Y:99.03, Z:9.54 [[-7.80354389e-01 6.19584257e-01 -8.46308226e-02 2.17642676e+02] [ 6.14410601e-01 7.84853988e-01 8.06463300e-02 9.90328406e+01] [ 1.16390035e-01 1.09346430e-02 -9.93143390e-01 9.54069845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.556875 meters 0.015074625433708235 Centerline is valid? [True, True] Translation: X:217.68, Y:99.04, Z:9.54 [[-8.22176736e-01 5.62060659e-01 -9.00734715e-02 2.17683524e+02] [ 5.57231820e-01 8.27023982e-01 7.43238272e-02 9.90394371e+01] [ 1.16267420e-01 1.09155172e-02 -9.93157962e-01 9.54102046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.586875 meters 0.015217476034449897 Centerline is valid? [True, True] Translation: X:217.71, Y:99.06, Z:9.54 [[-8.59898927e-01 5.01389269e-01 -9.58260722e-02 2.17710268e+02] [ 4.96864524e-01 8.65152660e-01 6.80919952e-02 9.90570310e+01] [ 1.17044777e-01 1.09396579e-02 -9.93066385e-01 9.54261808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.616875 meters 0.015268104400928389 Centerline is valid? [True, True] Translation: X:217.73, Y:99.08, Z:9.55 [[-8.93170339e-01 4.38331979e-01 -1.00557553e-01 2.17730700e+02] [ 4.34186714e-01 8.98746625e-01 6.11261159e-02 9.90805380e+01] [ 1.17169293e-01 1.09352804e-02 -9.93051749e-01 9.54609131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.646875 meters 0.015249073401079236 Centerline is valid? [True, True] Translation: X:217.74, Y:99.11, Z:9.55 [[-9.20621543e-01 3.76503492e-01 -1.03446102e-01 2.17742449e+02] [ 3.72500570e-01 9.26318962e-01 5.63605047e-02 9.91093583e+01] [ 1.17044013e-01 1.33529629e-02 -9.93036957e-01 9.54927917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.676875 meters 0.015323298589818539 Centerline is valid? [True, True] Translation: X:218.05, Y:99.99, Z:8.88 [[-8.76754113e-01 -4.64134928e-01 1.26019820e-01 2.18054764e+02] [ 4.60351031e-01 -8.85744860e-01 -5.94388025e-02 9.99863944e+01] [ 1.39209032e-01 5.90013952e-03 9.90245441e-01 8.88048589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.706875 meters 0.01557306153065201 Centerline is valid? [True, True] Translation: X:217.72, Y:99.12, Z:9.55 [[-9.21929178e-01 3.72895906e-01 -1.04858161e-01 2.17718499e+02] [ 3.69151327e-01 9.27808909e-01 5.38323801e-02 9.91191614e+01] [ 1.17362210e-01 1.09211126e-02 -9.93029124e-01 9.55432289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.736875 meters 0.015097872641051972 Centerline is valid? [True, True] Translation: X:218.00, Y:100.01, Z:8.89 [[-8.78675269e-01 -4.60202975e-01 1.27055080e-01 2.18003005e+02] [ 4.56773611e-01 -8.87775552e-01 -5.66783721e-02 1.00008531e+02] [ 1.38879949e-01 8.23352360e-03 9.90274997e-01 8.88687150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.766875 meters 0.015122461322711238 Centerline is valid? [True, True] Translation: X:218.00, Y:99.98, Z:8.89 [[-8.46024888e-01 -5.18567609e-01 1.23812453e-01 2.17999169e+02] [ 5.14766643e-01 -8.54977710e-01 -6.34698297e-02 9.99805223e+01] [ 1.38770286e-01 1.00374654e-02 9.90273728e-01 8.88868696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.796875 meters 0.014510988471732305 Centerline is valid? [True, True] Translation: X:217.63, Y:99.12, Z:9.56 [[-8.95178994e-01 4.34392702e-01 -9.97875251e-02 2.17625462e+02] [ 4.30397141e-01 9.00662315e-01 5.97134453e-02 9.91200567e+01] [ 1.15813948e-01 1.05059564e-02 -9.93215362e-01 9.56048747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.82687500000003 meters 0.014455284364437798 Centerline is valid? [True, True] Translation: X:217.97, Y:100.00, Z:8.89 [[-8.49401094e-01 -5.13313860e-01 1.22583292e-01 2.17974918e+02] [ 5.09238360e-01 -8.58170364e-01 -6.49609088e-02 9.99965522e+01] [ 1.38542683e-01 7.24624741e-03 9.90329954e-01 8.89395034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.856875 meters 0.01404485973465615 Centerline is valid? [True, True] Translation: X:217.58, Y:99.14, Z:9.57 [[-8.94946339e-01 4.34991182e-01 -9.92659151e-02 2.17579306e+02] [ 4.31092784e-01 9.00379526e-01 5.89552375e-02 9.91385196e+01] [ 1.15022006e-01 9.96895428e-03 -9.93312921e-01 9.56791224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.88687500000003 meters 0.01382482436601346 Centerline is valid? [True, True] Translation: X:217.62, Y:99.15, Z:9.57 [[-9.22766549e-01 3.71313600e-01 -1.03092710e-01 2.17616733e+02] [ 3.67834498e-01 9.28456578e-01 5.16349268e-02 9.91528514e+01] [ 1.14889856e-01 9.72592788e-03 -9.93330623e-01 9.56901152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.916875 meters 0.013640045133080972 Centerline is valid? [True, True] Translation: X:217.90, Y:100.07, Z:8.90 [[-8.88123200e-01 -4.41749548e-01 1.26864171e-01 2.17895142e+02] [ 4.38314039e-01 -8.97115313e-01 -5.53617054e-02 1.00068293e+02] [ 1.38267798e-01 6.43833206e-03 9.90373952e-01 8.90303027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.94687500000003 meters 0.013256514892354137 Centerline is valid? [True, True] Translation: X:217.58, Y:99.16, Z:9.57 [[-9.21913989e-01 3.73358673e-01 -1.03333918e-01 2.17576738e+02] [ 3.69932813e-01 9.27643075e-01 5.12644031e-02 9.91616644e+01] [ 1.14997003e-01 9.03476335e-03 -9.93324752e-01 9.57292606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.976875 meters 0.013256514892354137 Centerline is valid? [True, True] Translation: X:217.60, Y:99.19, Z:9.58 [[-9.45987710e-01 3.06231460e-01 -1.06440342e-01 2.17598050e+02] [ 3.03242041e-01 9.51914662e-01 4.36204209e-02 9.91864658e+01] [ 1.14680067e-01 8.98719561e-03 -9.93361824e-01 9.57611091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.00687500000004 meters 0.013389984908053472 Centerline is valid? [True, True] Translation: X:217.61, Y:99.21, Z:9.58 [[-9.64804746e-01 2.39167136e-01 -1.09320100e-01 2.17614933e+02] [ 2.36619531e-01 9.70938782e-01 3.59037438e-02 9.92113258e+01] [ 1.14730120e-01 8.77283168e-03 -9.93357960e-01 9.57925271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.036875 meters 0.01349945527363616 Centerline is valid? [True, True] Translation: X:217.63, Y:99.24, Z:9.58 [[-9.78885358e-01 1.71219945e-01 -1.11656559e-01 2.17631028e+02] [ 1.69130063e-01 9.85195963e-01 2.79988637e-02 9.92371517e+01] [ 1.14797555e-01 8.52319695e-03 -9.93352343e-01 9.58252312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.06687500000004 meters 0.01346357715199945 Centerline is valid? [True, True] Translation: X:217.73, Y:100.21, Z:8.92 [[-9.64839628e-01 -2.26643675e-01 1.33105733e-01 2.17728467e+02] [ 2.25290486e-01 -9.73962006e-01 -2.53418029e-02 1.00206507e+02] [ 1.35383486e-01 5.53667960e-03 9.90777804e-01 8.91861229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.096875 meters 0.013685932723177833 Centerline is valid? [True, True] Translation: X:217.58, Y:99.24, Z:9.59 [[-9.78852467e-01 1.71285283e-01 -1.11844529e-01 2.17575649e+02] [ 1.69242813e-01 9.85188449e-01 2.75787933e-02 9.92423715e+01] [ 1.14911780e-01 8.06668715e-03 -9.93342948e-01 9.58860636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.126875 meters 0.013720381681065966 Centerline is valid? [True, True] Translation: X:217.68, Y:100.22, Z:8.92 [[-9.66230673e-01 -2.20696774e-01 1.33008347e-01 2.17681927e+02] [ 2.19408633e-01 -9.75326631e-01 -2.44502666e-02 1.00215485e+02] [ 1.35122678e-01 5.55858203e-03 9.90813284e-01 8.92345325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.156875 meters 0.01390394169140446 Centerline is valid? [True, True] Translation: X:217.54, Y:99.24, Z:9.59 [[-9.79293269e-01 1.69413981e-01 -1.10831384e-01 2.17538734e+02] [ 1.67443167e-01 9.85514053e-01 2.69228164e-02 9.92448662e+01] [ 1.13786987e-01 7.80737503e-03 -9.93474492e-01 9.59434265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.186875 meters 0.014121093472345891 Centerline is valid? [True, True] Translation: X:217.56, Y:99.27, Z:9.60 [[-9.88828576e-01 9.85510633e-02 -1.11829044e-01 2.17557035e+02] [ 9.70499996e-02 9.95101908e-01 1.88013600e-02 9.92723660e+01] [ 1.13134189e-01 7.73831338e-03 -9.93549583e-01 9.59772815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.216875 meters 0.013924841182721647 Centerline is valid? [True, True] Translation: X:217.57, Y:100.26, Z:8.93 [[-9.80263188e-01 -1.45107561e-01 1.34267935e-01 2.17574641e+02] [ 1.44532310e-01 -9.89399984e-01 -1.40742129e-02 1.00259101e+02] [ 1.34886967e-01 5.60962198e-03 9.90845113e-01 8.93256947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.246875 meters 0.014001919921039599 Centerline is valid? [True, True] Translation: X:217.49, Y:99.28, Z:9.61 [[-9.89377488e-01 9.34835507e-02 -1.11323904e-01 2.17491765e+02] [ 9.20093959e-02 9.95589636e-01 1.83179815e-02 9.92775813e+01] [ 1.12545355e-01 7.88055337e-03 -9.93615338e-01 9.60691565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.276875 meters 0.013759541969699909 Centerline is valid? [True, True] Translation: X:217.51, Y:100.26, Z:8.94 [[-9.80761198e-01 -1.42098619e-01 1.33848629e-01 2.17506433e+02] [ 1.41587470e-01 -9.89835337e-01 -1.33788319e-02 1.00264844e+02] [ 1.34389217e-01 5.82984959e-03 9.90911475e-01 8.94046940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.306875 meters 0.013362787835301258 Centerline is valid? [True, True] Translation: X:217.42, Y:99.29, Z:9.61 [[-9.90042076e-01 8.56000344e-02 -1.11755635e-01 2.17422586e+02] [ 8.41324325e-02 9.96295737e-01 1.77915080e-02 9.92852835e+01] [ 1.12864616e-01 8.21206818e-03 -9.93576439e-01 9.61360104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.336875 meters 0.013340239075295504 Centerline is valid? [True, True] Translation: X:217.42, Y:99.32, Z:9.62 [[-9.93543509e-01 1.25697787e-02 -1.12753254e-01 2.17421254e+02] [ 1.15559314e-02 9.99886751e-01 9.64082641e-03 9.93158440e+01] [ 1.12861667e-01 8.27561164e-03 -9.93576247e-01 9.61956333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.366875 meters 0.013140979307886987 Centerline is valid? [True, True] Translation: X:217.36, Y:100.30, Z:8.96 [[-9.88630641e-01 -7.22292003e-02 1.31880239e-01 2.17357980e+02] [ 7.25088405e-02 -9.97364150e-01 -2.68693370e-03 1.00297028e+02] [ 1.31726698e-01 6.90609826e-03 9.91262015e-01 8.95639116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.396875 meters 0.013072637065287822 Centerline is valid? [True, True] Translation: X:217.34, Y:99.32, Z:9.63 [[-9.93525018e-01 3.02543284e-03 -1.13573257e-01 2.17340436e+02] [ 1.99048270e-03 9.99955468e-01 9.22491600e-03 9.93195771e+01] [ 1.13596108e-01 8.93911924e-03 -9.93486797e-01 9.62847700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.426875 meters 0.01308014089137537 Centerline is valid? [True, True] Translation: X:217.34, Y:99.35, Z:9.63 [[-9.90852161e-01 -7.17459763e-02 -1.14300085e-01 2.17341505e+02] [-7.23013961e-02 9.97382572e-01 7.15731136e-04 9.93526246e+01] [ 1.13949562e-01 8.97323945e-03 -9.93446012e-01 9.63356315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.456875 meters 0.01309934588251984 Centerline is valid? [True, True] Translation: X:217.35, Y:99.39, Z:9.64 [[-9.82903066e-01 -1.44498223e-01 -1.14113214e-01 2.17349218e+02] [-1.44592771e-01 9.89462884e-01 -7.49212493e-03 9.93850709e+01] [ 1.13993389e-01 9.13591330e-03 -9.93439501e-01 9.63683452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.486875 meters 0.01320047305302604 Centerline is valid? [True, True] Translation: X:217.14, Y:100.33, Z:8.97 [[-9.89346714e-01 6.96341200e-02 1.27844314e-01 2.17141252e+02] [-6.79848702e-02 -9.97537656e-01 1.72244569e-02 1.00332771e+02] [ 1.28728928e-01 8.34948074e-03 9.91644669e-01 8.97427976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.516875 meters 0.013330842946821032 Centerline is valid? [True, True] Translation: X:217.24, Y:99.37, Z:9.65 [[-9.81531888e-01 -1.54018017e-01 -1.13461903e-01 2.17241343e+02] [-1.54128424e-01 9.88019626e-01 -7.85162926e-03 9.93729779e+01] [ 1.13311879e-01 9.78107975e-03 -9.93511323e-01 9.65106162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.546875 meters 0.013331608634233421 Centerline is valid? [True, True] Translation: X:217.03, Y:100.32, Z:8.99 [[-9.89019781e-01 7.42072181e-02 1.27801259e-01 2.17031967e+02] [-7.25258749e-02 -9.97208285e-01 1.77660827e-02 1.00316607e+02] [ 1.28762846e-01 8.30210910e-03 9.91640663e-01 8.98736735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57687500000003 meters 0.013505603206561311 Centerline is valid? [True, True] Translation: X:217.12, Y:99.36, Z:9.67 [[-9.80371943e-01 -1.62222911e-01 -1.12047226e-01 2.17122248e+02] [-1.62299818e-01 9.86704914e-01 -8.49601736e-03 9.93582355e+01] [ 1.11935797e-01 9.85598737e-03 -9.93666562e-01 9.66775207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.606875 meters 0.013451881764545466 Centerline is valid? [True, True] Translation: X:217.12, Y:99.39, Z:9.67 [[-9.66175738e-01 -2.32840253e-01 -1.10859638e-01 2.17123514e+02] [-2.32426379e-01 9.72468477e-01 -1.68237756e-02 9.93884925e+01] [ 1.11724755e-01 9.51198040e-03 -9.93693666e-01 9.67156138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63687500000003 meters 0.013299056339682591 Centerline is valid? [True, True] Translation: X:217.10, Y:99.41, Z:9.68 [[-9.46888884e-01 -3.02395861e-01 -1.09353483e-01 2.17102804e+02] [-3.01530120e-01 9.53134884e-01 -2.47685356e-02 9.94134316e+01] [ 1.11718522e-01 9.52031778e-03 -9.93694287e-01 9.67750172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.666875 meters 0.013315837359935809 Centerline is valid? [True, True] Translation: X:217.06, Y:99.43, Z:9.69 [[-9.22260768e-01 -3.71402643e-01 -1.07215446e-01 2.17060011e+02] [-3.70092941e-01 9.28422221e-01 -3.26097328e-02 9.94299089e+01] [ 1.11652543e-01 9.60500226e-03 -9.93700887e-01 9.68634021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69687500000003 meters 0.01317819473113065 Centerline is valid? [True, True] Translation: X:216.99, Y:99.43, Z:9.70 [[-8.92892482e-01 -4.37945033e-01 -1.04628694e-01 2.16992019e+02] [-4.36170156e-01 8.98951923e-01 -4.05096889e-02 9.94311733e+01] [ 1.11797183e-01 9.46511715e-03 -9.93685967e-01 9.69826865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.726875 meters 0.013103497847157428 Centerline is valid? [True, True] Translation: X:216.93, Y:99.43, Z:9.71 [[-8.57885322e-01 -5.03811199e-01 -1.01029943e-01 2.16934961e+02] [-5.01609794e-01 8.63761530e-01 -4.79961837e-02 9.94331780e+01] [ 1.11446793e-01 9.50238756e-03 -9.93724970e-01 9.70826483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75687500000004 meters 0.0129869163593849 Centerline is valid? [True, True] Translation: X:216.86, Y:99.42, Z:9.72 [[-8.18295303e-01 -5.66631422e-01 -9.65485817e-02 2.16864091e+02] [-5.64019951e-01 8.23918456e-01 -5.51350379e-02 9.94213506e+01] [ 1.10789403e-01 9.33858385e-03 -9.93800030e-01 9.72088932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.786875 meters 0.012981433746470043 Centerline is valid? [True, True] Translation: X:216.78, Y:99.40, Z:9.74 [[-7.73189447e-01 -6.27457195e-01 -9.20627419e-02 2.16783952e+02] [-6.24424411e-01 7.78595465e-01 -6.23157851e-02 9.93990507e+01] [ 1.10780121e-01 9.30431592e-03 -9.93801386e-01 9.73546132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81687500000004 meters 0.013016917498084542 Centerline is valid? [True, True] Translation: X:216.69, Y:99.36, Z:9.75 [[-7.23121716e-01 -6.85245102e-01 -8.67993852e-02 2.16690632e+02] [-6.81830007e-01 7.28252953e-01 -6.89599830e-02 9.93576598e+01] [ 1.10466399e-01 9.31596407e-03 -9.93836198e-01 9.75202803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.846875 meters 0.013021367779635 Centerline is valid? [True, True] Translation: X:216.60, Y:99.31, Z:9.77 [[-6.68499096e-01 -7.39287219e-01 -8.10146030e-02 2.16603410e+02] [-7.35516595e-01 6.73325368e-01 -7.51550899e-02 9.93122596e+01] [ 1.10110385e-01 9.34647529e-03 -9.93875418e-01 9.76800793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.876875 meters 0.01294987739815977 Centerline is valid? [True, True] Translation: X:216.52, Y:99.26, Z:9.78 [[-6.08963058e-01 -7.89664926e-01 -7.47883536e-02 2.16519024e+02] [-7.85562714e-01 6.13465398e-01 -8.09408873e-02 9.92592857e+01] [ 1.09796247e-01 9.46093175e-03 -9.93909088e-01 9.78422428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.906875 meters 0.01305613675839954 Centerline is valid? [True, True] Translation: X:216.43, Y:99.19, Z:9.80 [[-5.45944145e-01 -8.35034665e-01 -6.82795702e-02 2.16428196e+02] [-8.30599442e-01 5.50115263e-01 -8.64740670e-02 9.91851066e+01] [ 1.09770477e-01 9.50296244e-03 -9.93911533e-01 9.80224573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.936875 meters 0.013011917392139138 Centerline is valid? [True, True] Translation: X:216.35, Y:99.12, Z:9.82 [[-4.79324459e-01 -8.75519025e-01 -6.09466970e-02 2.16353818e+02] [-8.70856363e-01 4.83088670e-01 -9.07443195e-02 9.91214282e+01] [ 1.08891037e-01 9.57984713e-03 -9.94007529e-01 9.81813556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.966875 meters 0.01324894523692109 Centerline is valid? [True, True] Translation: X:216.27, Y:99.02, Z:9.84 [[-4.09304075e-01 -9.10821315e-01 -5.36162877e-02 2.16270583e+02] [-9.05898228e-01 4.12687778e-01 -9.50641777e-02 9.90247728e+01] [ 1.08713266e-01 9.66074472e-03 -9.94026205e-01 9.83767005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.996875 meters 0.01336512092620298 Centerline is valid? [True, True] Translation: X:216.21, Y:98.95, Z:9.85 [[-3.36063343e-01 -9.40724748e-01 -4.58080524e-02 2.16208623e+02] [-9.35626792e-01 3.39028622e-01 -9.82959761e-02 9.89534897e+01] [ 1.07999698e-01 9.82556683e-03 -9.94102371e-01 9.85294990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.026875 meters 0.013402584688589132 Centerline is valid? [True, True] Translation: X:216.14, Y:98.85, Z:9.87 [[-2.61554737e-01 -9.64446725e-01 -3.78369435e-02 2.16142737e+02] [-9.59184695e-01 2.64093646e-01 -1.01090388e-01 9.88487866e+01] [ 1.07488790e-01 9.85194736e-03 -9.94157482e-01 9.87153542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.056875 meters 0.013700306691317018 Centerline is valid? [True, True] Translation: X:216.09, Y:98.75, Z:9.89 [[-1.85091993e-01 -9.82270218e-01 -2.97686506e-02 2.16086439e+02] [-9.76852311e-01 1.87207828e-01 -1.03502616e-01 9.87453075e+01] [ 1.07240461e-01 9.92206969e-03 -9.94183603e-01 9.88901988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.086875 meters 0.013605278718842631 Centerline is valid? [True, True] Translation: X:216.04, Y:98.66, Z:9.90 [[-1.08166478e-01 -9.93898528e-01 -2.15807811e-02 2.16041887e+02] [-9.88319673e-01 1.09852786e-01 -1.05624758e-01 9.86556809e+01] [ 1.07351001e-01 9.90365242e-03 -9.94171857e-01 9.90413891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.116875 meters 0.013503658356819673 Centerline is valid? [True, True] Translation: X:216.00, Y:98.55, Z:9.92 [[-3.07990713e-02 -9.99438155e-01 -1.32208437e-02 2.16002901e+02] [-9.93758978e-01 3.20374867e-02 -1.06848931e-01 9.85487173e+01] [ 1.07212461e-01 9.84748429e-03 -9.94187364e-01 9.92114327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.146875 meters 0.013284405907433005 Centerline is valid? [True, True] Translation: X:215.97, Y:98.43, Z:9.94 [[ 4.60849522e-02 -9.98925982e-01 -4.80200292e-03 2.15972361e+02] [-9.93182895e-01 -4.53036957e-02 -1.07402575e-01 9.84348583e+01] [ 1.07069674e-01 9.71890968e-03 -9.94204017e-01 9.93921678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.176875 meters 0.013434527603424095 Centerline is valid? [True, True] Translation: X:215.95, Y:98.31, Z:9.96 [[ 1.23204787e-01 -9.92374498e-01 3.66560361e-03 2.15951863e+02] [-9.86559121e-01 -1.22880655e-01 -1.07710004e-01 9.83093361e+01] [ 1.07339093e-01 9.65405342e-03 -9.94175597e-01 9.95824489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.206875 meters 0.013370617217437297 Centerline is valid? [True, True] Translation: X:215.94, Y:98.17, Z:9.98 [[ 1.98956714e-01 -9.79934348e-01 1.20373902e-02 2.15942983e+02] [-9.74148894e-01 -1.99093404e-01 -1.06750870e-01 9.81749318e+01] [ 1.07005410e-01 9.51259210e-03 -9.94212931e-01 9.97780358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.236875 meters 0.01314175981381435 Centerline is valid? [True, True] Translation: X:215.94, Y:98.08, Z:9.99 [[ 2.74292969e-01 -9.61433784e-01 2.02100559e-02 2.15936459e+02] [-9.55712262e-01 -2.74871306e-01 -1.05165757e-01 9.80778913e+01] [ 1.06665076e-01 9.53122941e-03 -9.94249324e-01 9.99196298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.266875 meters 0.0131980510301006 Centerline is valid? [True, True] Translation: X:215.94, Y:97.97, Z:10.01 [[ 3.48045747e-01 -9.37053615e-01 2.81900884e-02 2.15938529e+02] [-9.31462441e-01 -3.49057114e-01 -1.02649168e-01 9.79715421e+01] [ 1.06027725e-01 9.46859782e-03 -9.94318092e-01 1.00085980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.296875 meters 0.013159004312223662 Centerline is valid? [True, True] Translation: X:215.95, Y:97.86, Z:10.03 [[ 4.19369599e-01 -9.07102449e-01 3.59762012e-02 2.15953488e+02] [-9.01651837e-01 -4.20805206e-01 -9.97343633e-02 9.78556270e+01] [ 1.05608258e-01 9.38755207e-03 -9.94363500e-01 1.00258260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.32687500000003 meters 0.01307801249723239 Centerline is valid? [True, True] Translation: X:215.98, Y:97.74, Z:10.04 [[ 4.87806685e-01 -8.71866246e-01 4.35188120e-02 2.15976319e+02] [-8.66575672e-01 -4.89655971e-01 -9.63516169e-02 9.77431094e+01] [ 1.05314969e-01 9.28861902e-03 -9.94395534e-01 1.00424737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.356875 meters 0.013038416603407177 Centerline is valid? [True, True] Translation: X:216.01, Y:97.62, Z:10.06 [[ 5.53393357e-01 -8.31377404e-01 5.06695643e-02 2.16012798e+02] [-8.26291804e-01 -5.55632098e-01 -9.22758202e-02 9.76239947e+01] [ 1.04869668e-01 9.19698024e-03 -9.94443447e-01 1.00607903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.38687500000003 meters 0.012956006409508183 Centerline is valid? [True, True] Translation: X:216.05, Y:97.52, Z:10.08 [[ 6.15351518e-01 -7.86148368e-01 5.75608588e-02 2.16047908e+02] [-7.81278949e-01 -6.17971144e-01 -8.78343275e-02 9.75233564e+01] [ 1.04621763e-01 9.07789948e-03 -9.94470652e-01 1.00768067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.416875 meters 0.012790929636580036 Centerline is valid? [True, True] Translation: X:216.10, Y:97.42, Z:10.09 [[ 6.70984428e-01 -7.38748442e-01 6.34872863e-02 2.16099578e+02] [-7.34204698e-01 -6.73926631e-01 -8.22578768e-02 9.74181908e+01] [ 1.03553651e-01 8.58109061e-03 -9.94586852e-01 1.00947995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.44687500000003 meters 0.01333471981682524 Centerline is valid? [True, True] Translation: X:216.13, Y:97.35, Z:10.11 [[ 7.20481005e-01 -6.90072343e-01 6.86096396e-02 2.16127387e+02] [-6.85913400e-01 -7.23699154e-01 -7.60417176e-02 9.73480037e+01] [ 1.02127024e-01 7.72634199e-03 -9.94741361e-01 1.01100325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.476875 meters 0.013782971669121041 Centerline is valid? [True, True] Translation: X:216.12, Y:97.35, Z:10.11 [[ 7.70059619e-01 -6.33534854e-01 7.51117322e-02 2.16116598e+02] [-6.29572201e-01 -7.73677832e-01 -7.11439158e-02 9.73500813e+01] [ 1.03184432e-01 7.49679818e-03 -9.94633988e-01 1.01108211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.50687500000004 meters 0.014261078365297478 Centerline is valid? [True, True] Translation: X:216.11, Y:97.35, Z:10.11 [[ 8.15411831e-01 -5.73179021e-01 8.10515610e-02 2.16105634e+02] [-5.69483073e-01 -8.19398952e-01 -6.53788027e-02 9.73491786e+01] [ 1.03887322e-01 7.15315716e-03 -9.94563350e-01 1.01124243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.536875 meters 0.015314437659752798 Centerline is valid? [True, True] Translation: X:216.09, Y:97.34, Z:10.12 [[ 8.54839606e-01 -5.11951768e-01 8.45850722e-02 2.16092299e+02] [-5.08697984e-01 -8.58989210e-01 -5.79991334e-02 9.73447153e+01] [ 1.02350423e-01 6.55170072e-03 -9.94726830e-01 1.01166710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.56687500000004 meters 0.016666383907609647 Centerline is valid? [True, True] Translation: X:216.08, Y:97.34, Z:10.12 [[ 8.91102701e-01 -4.45222933e-01 8.78209321e-02 2.16079430e+02] [-4.42378186e-01 -8.95397768e-01 -5.06396856e-02 9.73410045e+01] [ 1.01180616e-01 6.27509599e-03 -9.94848283e-01 1.01223319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.596875 meters 0.01621279854217571 Centerline is valid? [True, True] Translation: X:216.06, Y:97.33, Z:10.13 [[ 9.22048388e-01 -3.76403938e-01 9.02598777e-02 2.16061110e+02] [-3.73979031e-01 -9.26436493e-01 -4.30709751e-02 9.73296771e+01] [ 9.98321292e-02 5.95822157e-03 -9.94986455e-01 1.01266161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.626875 meters 0.01718330959310186 Centerline is valid? [True, True] Translation: X:216.04, Y:97.32, Z:10.13 [[ 9.48377515e-01 -3.03045486e-01 9.35068039e-02 2.16044669e+02] [-3.00975810e-01 -9.52958177e-01 -3.58367845e-02 9.73221377e+01] [ 9.99682492e-02 5.84351460e-03 -9.94973468e-01 1.01304106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.656875 meters 0.018216960006765363 Centerline is valid? [True, True] Translation: X:216.03, Y:97.32, Z:10.13 [[ 9.69090226e-01 -2.27101470e-01 9.63797516e-02 2.16029414e+02] [-2.25392257e-01 -9.73853776e-01 -2.84104329e-02 9.73172983e+01] [ 1.00311836e-01 5.80902301e-03 -9.94939089e-01 1.01330215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.686875 meters 0.017640687457779556 Centerline is valid? [True, True] Translation: X:216.02, Y:97.31, Z:10.13 [[ 9.83878579e-01 -1.49326146e-01 9.84105921e-02 2.16015338e+02] [-1.47996725e-01 -9.88770890e-01 -2.07146312e-02 9.73093151e+01] [ 1.00398765e-01 5.81623655e-03 -9.94930279e-01 1.01346400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.716875 meters 0.017524083245289552 Centerline is valid? [True, True] Translation: X:216.00, Y:97.30, Z:10.14 [[ 9.92612806e-01 -6.90367071e-02 9.97684835e-02 2.16001335e+02] [-6.80889083e-02 -9.97596138e-01 -1.28781149e-02 9.72992523e+01] [ 1.00417716e-01 5.98985463e-03 -9.94927336e-01 1.01369966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.746875 meters 0.016834566254767393 Centerline is valid? [True, True] Translation: X:215.99, Y:97.29, Z:10.14 [[ 9.94984186e-01 1.11112900e-02 9.94133201e-02 2.15989090e+02] [ 1.16650168e-02 -9.99919508e-01 -4.99039375e-03 9.72870574e+01] [ 9.93498685e-02 6.12502091e-03 -9.95033712e-01 1.01409236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.776875 meters 0.016753241885892525 Centerline is valid? [True, True] Translation: X:215.98, Y:97.28, Z:10.15 [[ 9.90827882e-01 9.17039265e-02 9.92496810e-02 2.15977454e+02] [ 9.18754680e-02 -9.95766425e-01 2.85054546e-03 9.72759266e+01] [ 9.90909062e-02 6.29421096e-03 -9.95058478e-01 1.01455717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.806875 meters 0.015163116872180488 Centerline is valid? [True, True] Translation: X:215.97, Y:97.26, Z:10.15 [[ 9.79718737e-01 1.74185239e-01 9.90489716e-02 2.15969180e+02] [ 1.73982862e-01 -9.84690066e-01 1.07442285e-02 9.72590650e+01] [ 9.94040243e-02 6.70650157e-03 -9.95024554e-01 1.01481286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.836875 meters 0.014287573353037078 Centerline is valid? [True, True] Translation: X:215.96, Y:97.24, Z:10.15 [[ 9.62408480e-01 2.53464407e-01 9.75997542e-02 2.15962308e+02] [ 2.52886787e-01 -9.67319929e-01 1.84506991e-02 9.72440027e+01] [ 9.90867828e-02 6.92457893e-03 -9.95054702e-01 1.01499443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.866875 meters 0.014287573353037078 Centerline is valid? [True, True] Translation: X:215.95, Y:97.23, Z:10.15 [[ 9.39552034e-01 3.28810553e-01 9.55279879e-02 2.15954905e+02] [ 3.27854273e-01 -9.44370703e-01 2.59913773e-02 9.72319176e+01] [ 9.87600722e-02 6.89900761e-03 -9.95087359e-01 1.01529374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.896875 meters 0.013916659665153638 Centerline is valid? [True, True] Translation: X:215.95, Y:97.22, Z:10.16 [[ 9.09840429e-01 4.04380751e-01 9.30945859e-02 2.15948979e+02] [ 4.03060714e-01 -9.14563014e-01 3.34148896e-02 9.72175729e+01] [ 9.86532032e-02 7.12055275e-03 -9.95096399e-01 1.01554290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.926875 meters 0.013142662422723567 Centerline is valid? [True, True] Translation: X:215.95, Y:97.20, Z:10.16 [[ 8.72956750e-01 4.79476512e-01 8.97150319e-02 2.15947311e+02] [ 4.77830746e-01 -8.77521883e-01 4.04119176e-02 9.71992320e+01] [ 9.81034690e-02 7.59074433e-03 -9.95147271e-01 1.01594198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.956875 meters 0.012871569675906814 Centerline is valid? [True, True] Translation: X:215.95, Y:97.18, Z:10.16 [[ 8.31171710e-01 5.49395750e-01 8.55447214e-02 2.15946023e+02] [ 5.47445965e-01 -8.35525448e-01 4.69056636e-02 9.71824195e+01] [ 9.72445639e-02 7.84445193e-03 -9.95229601e-01 1.01636746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.986875 meters 0.012776013552749106 Centerline is valid? [True, True] Translation: X:215.95, Y:97.17, Z:10.17 [[ 7.83834454e-01 6.15680695e-01 8.08754031e-02 2.15946049e+02] [ 6.13450857e-01 -7.87954203e-01 5.29737654e-02 9.71666064e+01] [ 9.63410386e-02 8.09042287e-03 -9.95315502e-01 1.01676229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.016875 meters 0.012749458073278139 Centerline is valid? [True, True] Translation: X:215.95, Y:97.15, Z:10.17 [[ 7.29784546e-01 6.79409750e-01 7.62686569e-02 2.15947662e+02] [ 6.76893796e-01 -7.33709366e-01 5.90368985e-02 9.71493328e+01] [ 9.60692723e-02 8.54156444e-03 -9.95338001e-01 1.01710759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.046875 meters 0.012775066933161541 Centerline is valid? [True, True] Translation: X:215.95, Y:97.13, Z:10.17 [[ 6.72841076e-01 7.36330130e-01 7.14340703e-02 2.15950435e+02] [ 7.33512230e-01 -6.76566496e-01 6.49429308e-02 9.71342419e+01] [ 9.61493353e-02 8.70149273e-03 -9.95328885e-01 1.01729279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07687500000003 meters 0.012958090822841797 Centerline is valid? [True, True] Translation: X:215.95, Y:97.12, Z:10.18 [[ 6.11828705e-01 7.88246321e-01 6.58283621e-02 2.15953359e+02] [ 7.85175873e-01 -6.15296633e-01 7.00635572e-02 9.71187744e+01] [ 9.57313107e-02 8.81994620e-03 -9.95368135e-01 1.01759581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.106875 meters 0.013010291345850345 Centerline is valid? [True, True] Translation: X:215.96, Y:97.10, Z:10.18 [[ 5.46743666e-01 8.35143287e-01 6.00587543e-02 2.15959503e+02] [ 8.31816467e-01 -5.49959636e-01 7.50050976e-02 9.71035248e+01] [ 9.56698944e-02 8.94929880e-03 -9.95372886e-01 1.01793098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13687500000003 meters 0.013049703065244417 Centerline is valid? [True, True] Translation: X:215.96, Y:97.09, Z:10.18 [[ 4.79352172e-01 8.75968191e-01 5.38630071e-02 2.15964314e+02] [ 8.72410594e-01 -4.82285960e-01 7.93725941e-02 9.70904368e+01] [ 9.55052397e-02 8.94323269e-03 -9.95388752e-01 1.01824915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.166875 meters 0.012957977329003357 Centerline is valid? [True, True] Translation: X:215.97, Y:97.08, Z:10.19 [[ 4.09495955e-01 9.11069399e-01 4.75984666e-02 2.15969605e+02] [ 9.07255400e-01 -4.12157183e-01 8.37501928e-02 9.70778907e+01] [ 9.59202877e-02 8.88860067e-03 -9.95349331e-01 1.01850451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19687500000003 meters 0.012927587954704252 Centerline is valid? [True, True] Translation: X:215.97, Y:97.07, Z:10.19 [[ 3.37352133e-01 9.40493623e-01 4.08078790e-02 2.15974280e+02] [ 9.36485590e-01 -3.39697235e-01 8.71810086e-02 9.70653971e+01] [ 9.58555063e-02 8.80529136e-03 -9.95356312e-01 1.01874835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.226875 meters 0.012737111724223586 Centerline is valid? [True, True] Translation: X:215.98, Y:97.05, Z:10.19 [[ 2.63431988e-01 9.64082733e-01 3.38832038e-02 2.15981275e+02] [ 9.59870798e-01 -2.65459625e-01 9.04391425e-02 9.70539971e+01] [ 9.61854382e-02 8.69893471e-03 -9.95325419e-01 1.01888024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25687500000004 meters 0.012717955164967964 Centerline is valid? [True, True] Translation: X:215.99, Y:97.04, Z:10.19 [[ 1.87745549e-01 9.81857898e-01 2.65833961e-02 2.15989078e+02] [ 9.77521623e-01 -1.89422867e-01 9.25767512e-02 9.70424582e+01] [ 9.59327174e-02 8.60497150e-03 -9.95350626e-01 1.01916922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.286875 meters 0.012712997872538758 Centerline is valid? [True, True] Translation: X:216.00, Y:97.03, Z:10.20 [[ 1.11441822e-01 9.93588193e-01 1.90584076e-02 2.15997095e+02] [ 9.89235593e-01 -1.12742953e-01 9.32843390e-02 9.70312067e+01] [ 9.48349190e-02 8.45747844e-03 -9.95457086e-01 1.01951559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31687500000004 meters 0.012683476997070274 Centerline is valid? [True, True] Translation: X:216.01, Y:97.02, Z:10.20 [[ 3.36644496e-02 9.99365820e-01 1.16044355e-02 2.16007207e+02] [ 9.94989668e-01 -3.46061932e-02 9.37975096e-02 9.70220648e+01] [ 9.41396104e-02 8.38865186e-03 -9.95523663e-01 1.01979216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.346875 meters 0.01269098581537894 Centerline is valid? [True, True] Translation: X:216.02, Y:97.01, Z:10.20 [[-4.46903296e-02 9.98992128e-01 4.18366073e-03 2.16018089e+02] [ 9.94614678e-01 4.41017185e-02 9.37906197e-02 9.70135679e+01] [ 9.35115841e-02 8.35266407e-03 -9.95583154e-01 1.02009570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.376875 meters 0.012726976812866159 Centerline is valid? [True, True] Translation: X:216.03, Y:97.00, Z:10.20 [[-1.22887918e-01 9.92415479e-01 -3.17441753e-03 2.16029277e+02] [ 9.88052983e-01 1.22646234e-01 9.33231165e-02 9.70048633e+01] [ 9.30046357e-02 8.33179081e-03 -9.95630815e-01 1.02041265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.406875 meters 0.012776276162914364 Centerline is valid? [True, True] Translation: X:216.04, Y:97.00, Z:10.21 [[-2.00639426e-01 9.79608936e-01 -1.04953564e-02 2.16041053e+02] [ 9.75260509e-01 2.00740632e-01 9.25750370e-02 9.69982656e+01] [ 9.27941780e-02 8.33849565e-03 -9.95650396e-01 1.02051508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.436875 meters 0.012804045419141739 Centerline is valid? [True, True] Translation: X:216.05, Y:96.99, Z:10.21 [[-2.76732622e-01 9.60784545e-01 -1.76667673e-02 2.16053274e+02] [ 9.56494496e-01 2.77171596e-01 9.10724158e-02 9.69912655e+01] [ 9.23976956e-02 8.30454278e-03 -9.95687552e-01 1.02079447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.466875 meters 0.012781620420377499 Centerline is valid? [True, True] Translation: X:216.07, Y:96.99, Z:10.21 [[-3.51205150e-01 9.35975647e-01 -2.45872038e-02 2.16065345e+02] [ 9.31791431e-01 3.51967530e-01 8.87895688e-02 9.69864534e+01] [ 9.17587715e-02 8.27320808e-03 -9.95746897e-01 1.02102506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.496875 meters 0.012751102290376681 Centerline is valid? [True, True] Translation: X:216.08, Y:96.98, Z:10.21 [[-4.22508945e-01 9.05814778e-01 -3.13971164e-02 2.16077878e+02] [ 9.01731727e-01 4.23595552e-01 8.62942684e-02 9.69809383e+01] [ 9.14663025e-02 8.14832426e-03 -9.95774834e-01 1.02137043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.526875 meters 0.0126616575565097 Centerline is valid? [True, True] Translation: X:216.09, Y:96.98, Z:10.22 [[-4.91368879e-01 8.70123743e-01 -3.79644048e-02 2.16090808e+02] [ 8.66166799e-01 4.92767789e-01 8.32765432e-02 9.69776865e+01] [ 9.11685333e-02 8.03599477e-03 -9.95803054e-01 1.02155743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.556875 meters 0.01258369809116986 Centerline is valid? [True, True] Translation: X:216.10, Y:96.97, Z:10.22 [[-5.56943715e-01 8.29394970e-01 -4.37913456e-02 2.16103299e+02] [ 8.25654541e-01 5.58607049e-01 7.90742916e-02 9.69734569e+01] [ 9.00459741e-02 7.88340633e-03 -9.95906409e-01 1.02180645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.586875 meters 0.012708801017400241 Centerline is valid? [True, True] Translation: X:216.12, Y:96.97, Z:10.22 [[-6.19757525e-01 7.83227944e-01 -4.95439027e-02 2.16115600e+02] [ 7.79675509e-01 6.21685679e-01 7.49200730e-02 9.69703140e+01] [ 8.94802295e-02 7.80411144e-03 -9.95958023e-01 1.02209316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.616875 meters 0.012688026911599518 Centerline is valid? [True, True] Translation: X:216.13, Y:96.97, Z:10.22 [[-6.78807232e-01 7.32256575e-01 -5.49640740e-02 2.16128514e+02] [ 7.28905113e-01 6.80985020e-01 7.04041079e-02 9.69707025e+01] [ 8.89835821e-02 7.72722305e-03 -9.96003119e-01 1.02230296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.646875 meters 0.012809760484861663 Centerline is valid? [True, True] Translation: X:216.14, Y:96.97, Z:10.23 [[-7.34013459e-01 6.76473008e-01 -6.00708934e-02 2.16141854e+02] [ 6.73329868e-01 7.36427222e-01 6.55883774e-02 9.69710721e+01] [ 8.86066081e-02 7.69522496e-03 -9.96036973e-01 1.02263029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.676875 meters 0.012834867170393957 Centerline is valid? [True, True] Translation: X:216.17, Y:96.99, Z:10.23 [[-7.79961342e-01 6.22551929e-01 -6.39484298e-02 2.16168464e+02] [ 6.19724645e-01 7.82548017e-01 5.96654434e-02 9.69879409e+01] [ 8.71875539e-02 6.90632130e-03 -9.96167974e-01 1.02295867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.706875 meters 0.012891375416867901 Centerline is valid? [True, True] Translation: X:216.19, Y:97.01, Z:10.23 [[-8.22069907e-01 5.65377504e-01 -6.74488380e-02 2.16194213e+02] [ 5.62781035e-01 8.24803472e-01 5.45595094e-02 9.70060882e+01] [ 8.64787550e-02 6.89280401e-03 -9.96229850e-01 1.02317605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.736875 meters 0.012898413442989684 Centerline is valid? [True, True] Translation: X:216.21, Y:97.03, Z:10.24 [[-8.60043308e-01 5.05324925e-01 -7.05140348e-02 2.16214539e+02] [ 5.02967657e-01 8.62901738e-01 4.92354278e-02 9.70282187e+01] [ 8.57265720e-02 6.87832130e-03 -9.96294958e-01 1.02352101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.766875 meters 0.01300043523964185 Centerline is valid? [True, True] Translation: X:216.24, Y:97.05, Z:10.24 [[-8.93585229e-01 4.42922105e-01 -7.29756698e-02 2.16235906e+02] [ 4.40818637e-01 8.96534007e-01 4.36543686e-02 9.70487066e+01] [ 8.47606544e-02 6.83986366e-03 -9.96377864e-01 1.02373071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.796875 meters 0.013061930212514101 Centerline is valid? [True, True] Translation: X:216.57, Y:97.85, Z:9.56 [[-8.60268579e-01 -5.00533467e-01 9.69753564e-02 2.16572781e+02] [ 4.97964072e-01 -8.65705273e-01 -5.08543343e-02 9.78507615e+01] [ 1.09406374e-01 4.54185745e-03 9.93986729e-01 9.56275262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.82687500000003 meters 0.013105166557309703 Centerline is valid? [True, True] Translation: X:216.20, Y:97.06, Z:10.24 [[-8.94980456e-01 4.40227585e-01 -7.21779576e-02 2.16199760e+02] [ 4.38183784e-01 8.97860659e-01 4.29093111e-02 9.70635017e+01] [ 8.36956110e-02 6.77578424e-03 -9.96468330e-01 1.02400072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.856875 meters 0.013253147377520225 Centerline is valid? [True, True] Translation: X:216.22, Y:97.09, Z:10.24 [[-9.24114466e-01 3.74541822e-01 -7.57025549e-02 2.16217188e+02] [ 3.72681113e-01 9.27184968e-01 3.79054512e-02 9.70883394e+01] [ 8.43874477e-02 6.81606340e-03 -9.96409705e-01 1.02418726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.88687500000003 meters 0.01331986926767679 Centerline is valid? [True, True] Translation: X:216.49, Y:97.92, Z:9.57 [[-8.94549061e-01 -4.35780136e-01 9.93863744e-02 2.16493581e+02] [ 4.33709622e-01 -9.00039827e-01 -4.27115202e-02 9.79167281e+01] [ 1.08064527e-01 4.89727655e-03 9.94131820e-01 9.57121971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.916875 meters 0.013301332139080557 Centerline is valid? [True, True] Translation: X:216.18, Y:97.10, Z:10.24 [[-9.26306438e-01 3.69152668e-01 -7.53836285e-02 2.16177485e+02] [ 3.67316453e-01 9.29342535e-01 3.74309502e-02 9.71036168e+01] [ 8.38749475e-02 6.98288307e-03 -9.96451822e-01 1.02440832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.94687500000003 meters 0.0134874410014482 Centerline is valid? [True, True] Translation: X:216.19, Y:97.13, Z:10.25 [[-9.50831737e-01 2.99829449e-01 -7.75970967e-02 2.16187755e+02] [ 2.98217664e-01 9.53966003e-01 3.18604839e-02 9.71333466e+01] [ 8.35777035e-02 7.15313430e-03 -9.96475589e-01 1.02468287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.976875 meters 0.01351934782422208 Centerline is valid? [True, True] Translation: X:216.21, Y:97.16, Z:10.25 [[-9.69936819e-01 2.30118637e-01 -7.91705753e-02 2.16209082e+02] [ 2.28745094e-01 9.73135723e-01 2.61255885e-02 9.71590504e+01] [ 8.30556999e-02 7.23028951e-03 -9.96518677e-01 1.02483401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.00687500000004 meters 0.013651078290304285 Centerline is valid? [True, True] Translation: X:216.22, Y:97.19, Z:10.25 [[-9.83960575e-01 1.59184982e-01 -8.05091859e-02 2.16220110e+02] [ 1.58046918e-01 9.87221737e-01 2.03571548e-02 9.71877344e+01] [ 8.27209717e-02 7.30640909e-03 -9.96545963e-01 1.02502272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.036875 meters 0.013842076189558699 Centerline is valid? [True, True] Translation: X:216.23, Y:97.22, Z:10.25 [[-9.92796360e-01 8.81659002e-02 -8.11305184e-02 2.16226277e+02] [ 8.72725236e-02 9.96078948e-01 1.44995178e-02 9.72174323e+01] [ 8.20907645e-02 7.31460338e-03 -9.96598015e-01 1.02535391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.06687500000004 meters 0.013882538881995797 Centerline is valid? [True, True] Translation: X:216.26, Y:98.08, Z:9.59 [[-9.79898844e-01 -1.68020966e-01 1.07550964e-01 2.16258907e+02] [ 1.67697536e-01 -9.85764115e-01 -1.21097680e-02 9.80821155e+01] [ 1.08054576e-01 6.16968399e-03 9.94125819e-01 9.58894691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.096875 meters 0.013785872724009976 Centerline is valid? [True, True] Translation: X:216.17, Y:97.22, Z:10.26 [[-9.93295856e-01 8.35277031e-02 -7.99153602e-02 2.16173600e+02] [ 8.26627466e-02 9.96478153e-01 1.40769879e-02 9.72212845e+01] [ 8.08097290e-02 7.37659059e-03 -9.96702249e-01 1.02578301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.126875 meters 0.013863989065115108 Centerline is valid? [True, True] Translation: X:216.20, Y:98.09, Z:9.60 [[-9.80506614e-01 -1.63681053e-01 1.08698169e-01 2.16197142e+02] [ 1.63359769e-01 -9.86494611e-01 -1.19150413e-02 9.80894768e+01] [ 1.09180424e-01 6.07413091e-03 9.94003390e-01 9.59523621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.156875 meters 0.013988846730527383 Centerline is valid? [True, True] Translation: X:216.11, Y:97.22, Z:10.26 [[-9.93809436e-01 7.90636712e-02 -7.80496061e-02 2.16114192e+02] [ 7.82420398e-02 9.96842517e-01 1.35343626e-02 9.72248932e+01] [ 7.88732423e-02 7.34381683e-03 -9.96857603e-01 1.02640763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.186875 meters 0.014035684566600372 Centerline is valid? [True, True] Translation: X:216.12, Y:97.25, Z:10.27 [[-9.96916041e-01 7.82185851e-03 -7.80847330e-02 2.16119073e+02] [ 7.23174115e-03 9.99943138e-01 7.83731929e-03 9.72541521e+01] [ 7.81415953e-02 7.24846074e-03 -9.96915920e-01 1.02674723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.216875 meters 0.013988813845926672 Centerline is valid? [True, True] Translation: X:216.12, Y:97.28, Z:10.27 [[-9.94949683e-01 -6.32683765e-02 -7.79245845e-02 2.16120652e+02] [-6.36380034e-02 9.97970474e-01 2.26680247e-03 9.72829711e+01] [ 7.76230176e-02 7.21431937e-03 -9.96956679e-01 1.02696332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.246875 meters 0.01392072402185216 Centerline is valid? [True, True] Translation: X:216.12, Y:97.31, Z:10.27 [[-9.87887403e-01 -1.34387245e-01 -7.75792987e-02 2.16118287e+02] [-1.34540219e-01 9.90902721e-01 -3.27535417e-03 9.73104741e+01] [ 7.73137040e-02 7.20185470e-03 -9.96980804e-01 1.02715411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.276875 meters 0.014200153093557785 Centerline is valid? [True, True] Translation: X:216.12, Y:97.34, Z:10.27 [[-9.75764960e-01 -2.04846931e-01 -7.69446415e-02 2.16121827e+02] [-2.04784831e-01 9.78767623e-01 -8.78138798e-03 9.73404478e+01] [ 7.71097643e-02 7.18852474e-03 -9.96996695e-01 1.02741597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.306875 meters 0.014026335195264257 Centerline is valid? [True, True] Translation: X:216.10, Y:97.36, Z:10.28 [[-9.58513500e-01 -2.74690101e-01 -7.61394662e-02 2.16102469e+02] [-2.74412961e-01 9.61505841e-01 -1.42844267e-02 9.73645716e+01] [ 7.71323321e-02 7.20184058e-03 -9.96994853e-01 1.02766990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.336875 meters 0.014074617021186227 Centerline is valid? [True, True] Translation: X:216.06, Y:97.38, Z:10.28 [[-9.35904762e-01 -3.44141663e-01 -7.51584481e-02 2.16064441e+02] [-3.43646507e-01 9.38889622e-01 -1.98332198e-02 9.73817950e+01] [ 7.73909241e-02 7.26593327e-03 -9.96974348e-01 1.02817670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.366875 meters 0.01410905298679132 Centerline is valid? [True, True] Translation: X:216.01, Y:97.39, Z:10.29 [[-9.07796474e-01 -4.12864631e-01 -7.38129976e-02 2.16011188e+02] [-4.12147715e-01 9.10762692e-01 -2.54082763e-02 9.73911767e+01] [ 7.77163031e-02 7.35631465e-03 -9.96948374e-01 1.02879594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.396875 meters 0.01407761474528644 Centerline is valid? [True, True] Translation: X:215.94, Y:97.39, Z:10.30 [[-8.74427944e-01 -4.79839907e-01 -7.16200756e-02 2.15943332e+02] [-4.78910335e-01 8.77324822e-01 -3.07578772e-02 9.73900962e+01] [ 7.75929270e-02 7.40404715e-03 -9.96957631e-01 1.02963128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.426875 meters 0.01414509150077208 Centerline is valid? [True, True] Translation: X:215.87, Y:97.38, Z:10.31 [[-8.35717455e-01 -5.44857971e-01 -6.86012193e-02 2.15868422e+02] [-5.43739229e-01 8.38495031e-01 -3.56894079e-02 9.73787549e+01] [ 7.69674399e-02 7.47491295e-03 -9.97005586e-01 1.03062049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.456875 meters 0.014379729119155029 Centerline is valid? [True, True] Translation: X:215.79, Y:97.36, Z:10.32 [[-7.91966128e-01 -6.07036612e-01 -6.55454333e-02 2.15785111e+02] [-6.05722343e-01 7.94638216e-01 -4.06269567e-02 9.73572086e+01] [ 7.67469563e-02 7.52715980e-03 -9.97022190e-01 1.03182661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.486875 meters 0.014426872401172242 Centerline is valid? [True, True] Translation: X:215.70, Y:97.33, Z:10.33 [[-7.43126885e-01 -6.66342041e-01 -6.12430962e-02 2.15703388e+02] [-6.64893910e-01 7.45607427e-01 -4.45606767e-02 9.73260010e+01] [ 7.53559596e-02 7.60592478e-03 -9.97127690e-01 1.03283143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.516875 meters 0.01466313928087388 Centerline is valid? [True, True] Translation: X:215.61, Y:97.28, Z:10.34 [[-6.89640983e-01 -7.21885242e-01 -5.72451893e-02 2.15614487e+02] [-7.20283279e-01 6.91970326e-01 -4.86730482e-02 9.72822212e+01] [ 7.47483274e-02 7.66582382e-03 -9.97172965e-01 1.03412359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.546875 meters 0.014714996916210895 Centerline is valid? [True, True] Translation: X:215.52, Y:97.22, Z:10.35 [[-6.32029799e-01 -7.73125406e-01 -5.30607202e-02 2.15517060e+02] [-7.71374550e-01 6.34206396e-01 -5.25694861e-02 9.72178001e+01] [ 7.42942533e-02 7.70420745e-03 -9.97206603e-01 1.03548842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57687500000003 meters 0.015086233615153424 Centerline is valid? [True, True] Translation: X:215.44, Y:97.17, Z:10.37 [[-5.69270535e-01 -8.20697202e-01 -4.88585857e-02 2.15443664e+02] [-8.18790314e-01 5.71309280e-01 -5.64635200e-02 9.71715732e+01] [ 7.42528163e-02 7.86191848e-03 -9.97208458e-01 1.03669248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.606875 meters 0.015177858389439214 Centerline is valid? [True, True] Translation: X:215.36, Y:97.10, Z:10.38 [[-5.03734907e-01 -8.62719053e-01 -4.43506240e-02 2.15360551e+02] [-8.60660295e-01 5.05621776e-01 -6.00872332e-02 9.70981717e+01] [ 7.42630423e-02 7.90278431e-03 -9.97207374e-01 1.03792758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63687500000003 meters 0.015332031297288613 Centerline is valid? [True, True] Translation: X:215.29, Y:97.02, Z:10.39 [[-4.35054216e-01 -8.99527001e-01 -3.97366807e-02 2.15285038e+02] [-8.97305972e-01 4.36792729e-01 -6.36718542e-02 9.70214474e+01] [ 7.46312453e-02 7.95525228e-03 -9.97179468e-01 1.03919238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.666875 meters 0.01540117106861251 Centerline is valid? [True, True] Translation: X:215.21, Y:96.93, Z:10.41 [[-3.63994087e-01 -9.30753421e-01 -3.47328966e-02 2.15210307e+02] [-9.28394553e-01 3.65560656e-01 -6.67005378e-02 9.69269720e+01] [ 7.47787342e-02 7.96723059e-03 -9.97168323e-01 1.04053221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69687500000003 meters 0.015765275248179795 Centerline is valid? [True, True] Translation: X:215.15, Y:96.84, Z:10.42 [[-2.90475103e-01 -9.56430512e-01 -2.94090228e-02 2.15147285e+02] [-9.53966882e-01 2.91850635e-01 -6.90680470e-02 9.68396396e+01] [ 7.46418296e-02 7.99268571e-03 -9.97178376e-01 1.04186777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.726875 meters 0.015513952671496314 Centerline is valid? [True, True] Translation: X:215.09, Y:96.73, Z:10.43 [[-2.15274341e-01 -9.76263644e-01 -2.37961200e-02 2.15089714e+02] [-9.73744500e-01 2.16438279e-01 -7.05416149e-02 9.67318414e+01] [ 7.40176053e-02 7.98554128e-03 -9.97224962e-01 1.04319906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75687500000004 meters 0.015608425239902983 Centerline is valid? [True, True] Translation: X:215.04, Y:96.63, Z:10.44 [[-1.38828764e-01 -9.90147981e-01 -1.82633512e-02 2.15041208e+02] [-9.87529790e-01 1.39797082e-01 -7.23995129e-02 9.66328604e+01] [ 7.42393947e-02 7.98446844e-03 -9.97208484e-01 1.04449969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.786875 meters 0.015608425239902983 Centerline is valid? [True, True] Translation: X:215.00, Y:96.52, Z:10.46 [[-6.15662826e-02 -9.98024077e-01 -1.25512974e-02 2.14998463e+02] [-9.95358154e-01 6.23240839e-02 -7.33338459e-02 9.65221199e+01] [ 7.39711920e-02 7.97814389e-03 -9.97228465e-01 1.04586439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81687500000004 meters 0.0155113747792898 Centerline is valid? [True, True] Translation: X:214.97, Y:96.41, Z:10.47 [[ 1.58492411e-02 -9.99851358e-01 -6.78700052e-03 2.14966607e+02] [-9.97129022e-01 -1.53026964e-02 -7.41588907e-02 9.64065011e+01] [ 7.40440082e-02 7.94287732e-03 -9.97223343e-01 1.04722857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.846875 meters 0.015122590481477806 Centerline is valid? [True, True] Translation: X:214.94, Y:96.28, Z:10.49 [[ 9.31870030e-02 -9.95648102e-01 -1.01961274e-03 2.14944776e+02] [-9.92938160e-01 -9.28577582e-02 -7.38325621e-02 9.62788198e+01] [ 7.34165714e-02 7.89264758e-03 -9.97270131e-01 1.04859221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.876875 meters 0.015341792233846437 Centerline is valid? [True, True] Translation: X:214.93, Y:96.16, Z:10.50 [[ 1.69760069e-01 -9.85474125e-01 4.71878958e-03 2.14930635e+02] [-9.82762694e-01 -1.69644801e-01 -7.34719620e-02 9.61580851e+01] [ 7.32052357e-02 7.83515500e-03 -9.97286119e-01 1.05004397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.906875 meters 0.015063497414260489 Centerline is valid? [True, True] Translation: X:214.92, Y:96.07, Z:10.51 [[ 2.41572040e-01 -9.70326259e-01 1.04833660e-02 2.14918904e+02] [-9.67620406e-01 -2.41684870e-01 -7.27954166e-02 9.60666793e+01] [ 7.31689753e-02 7.44141840e-03 -9.97291796e-01 1.05110635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.936875 meters 0.014865744088960452 Centerline is valid? [True, True] Translation: X:214.93, Y:95.95, Z:10.52 [[ 3.14814839e-01 -9.49021313e-01 1.58165916e-02 2.14925298e+02] [-9.46337342e-01 -3.15119948e-01 -7.17290334e-02 9.59460880e+01] [ 7.30565050e-02 7.61353283e-03 -9.97298742e-01 1.05241760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.966875 meters 0.014816329187381485 Centerline is valid? [True, True] Translation: X:214.94, Y:95.83, Z:10.54 [[ 3.86959737e-01 -9.21849545e-01 2.13442815e-02 2.14939440e+02] [-9.19202944e-01 -3.87474425e-01 -7.02105237e-02 9.58257980e+01] [ 7.29939025e-02 7.54891937e-03 -9.97303817e-01 1.05379735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.996875 meters 0.014732918723016413 Centerline is valid? [True, True] Translation: X:214.96, Y:95.71, Z:10.55 [[ 4.56680184e-01 -8.89231779e-01 2.66468042e-02 2.14963269e+02] [-8.86651890e-01 -4.57395889e-01 -6.80986508e-02 9.57060143e+01] [ 7.27436232e-02 7.47286504e-03 -9.97322677e-01 1.05518584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.026875 meters 0.014616523284194258 Centerline is valid? [True, True] Translation: X:214.99, Y:95.60, Z:10.56 [[ 5.23732862e-01 -8.51289156e-01 3.17909137e-02 2.14989251e+02] [-8.48784754e-01 -5.24644513e-01 -6.56702063e-02 9.56045098e+01] [ 7.25832629e-02 7.41000227e-03 -9.97334829e-01 1.05637785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.056875 meters 0.014700580840455163 Centerline is valid? [True, True] Translation: X:215.03, Y:95.49, Z:10.58 [[ 5.88211969e-01 -8.07869235e-01 3.67964527e-02 2.15028710e+02] [-8.05446083e-01 -5.89315358e-01 -6.29604295e-02 9.54929275e+01] [ 7.25485087e-02 7.39651956e-03 -9.97337458e-01 1.05771315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.086875 meters 0.014654594275448485 Centerline is valid? [True, True] Translation: X:215.07, Y:95.39, Z:10.59 [[ 6.48883665e-01 -7.59732433e-01 4.19120547e-02 2.15071384e+02] [-7.57371995e-01 -6.50193927e-01 -6.02952616e-02 9.53936892e+01] [ 7.30592292e-02 7.38159379e-03 -9.97300286e-01 1.05889228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.116875 meters 0.01452387205504743 Centerline is valid? [True, True] Translation: X:215.12, Y:95.30, Z:10.60 [[ 7.05473879e-01 -7.07209065e-01 4.64967188e-02 2.15117276e+02] [-7.04956767e-01 -7.06966335e-01 -5.68731674e-02 9.53013368e+01] [ 7.30928344e-02 7.34435744e-03 -9.97298099e-01 1.06002889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.146875 meters 0.014528813400959186 Centerline is valid? [True, True] Translation: X:215.18, Y:95.20, Z:10.61 [[ 7.57462902e-01 -6.50885532e-01 5.09703520e-02 2.15181351e+02] [-6.48742956e-01 -7.59140954e-01 -5.32690252e-02 9.52018073e+01] [ 7.33657194e-02 7.28265352e-03 -9.97278514e-01 1.06135971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.176875 meters 0.014395051039102295 Centerline is valid? [True, True] Translation: X:215.17, Y:95.20, Z:10.62 [[ 8.05764883e-01 -5.89648013e-01 5.53007575e-02 2.15173077e+02] [-5.87615912e-01 -8.07626811e-01 -4.94618391e-02 9.52024230e+01] [ 7.38274495e-02 7.35900798e-03 -9.97243878e-01 1.06159242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.206875 meters 0.014306074248219497 Centerline is valid? [True, True] Translation: X:215.16, Y:95.20, Z:10.62 [[ 8.48721383e-01 -5.25549571e-01 5.89038349e-02 2.15164193e+02] [-5.23679763e-01 -8.50732129e-01 -4.48815171e-02 9.52043965e+01] [ 7.36988469e-02 7.24515696e-03 -9.97254224e-01 1.06193839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.236875 meters 0.01415034350716018 Centerline is valid? [True, True] Translation: X:215.16, Y:95.21, Z:10.62 [[ 8.86688776e-01 -4.58192070e-01 6.19922772e-02 2.15155814e+02] [-4.56501255e-01 -8.88824523e-01 -3.99696429e-02 9.52063459e+01] [ 7.34140296e-02 7.14108139e-03 -9.97275982e-01 1.06215276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.266875 meters 0.014015417673234852 Centerline is valid? [True, True] Translation: X:215.15, Y:95.21, Z:10.62 [[ 9.19314575e-01 -3.88176278e-01 6.46520644e-02 2.15146963e+02] [-3.86673496e-01 -9.21558331e-01 -3.48403592e-02 9.52062905e+01] [ 7.31048495e-02 7.03001025e-03 -9.97299484e-01 1.06241025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.296875 meters 0.013910536225664847 Centerline is valid? [True, True] Translation: X:215.14, Y:95.21, Z:10.63 [[ 9.46255047e-01 -3.16409355e-01 6.69813865e-02 2.15138770e+02] [-3.15099568e-01 -9.48597833e-01 -2.95704760e-02 9.52061517e+01] [ 7.28947733e-02 6.87540621e-03 -9.97315938e-01 1.06268079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.32687500000003 meters 0.013779413162447178 Centerline is valid? [True, True] Translation: X:215.13, Y:95.21, Z:10.63 [[ 9.67961356e-01 -2.41481326e-01 6.88301054e-02 2.15126495e+02] [-2.40368381e-01 -9.70381472e-01 -2.41420704e-02 9.52059018e+01] [ 7.26213182e-02 6.82401028e-03 -9.97336241e-01 1.06295134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.356875 meters 0.01379020300950696 Centerline is valid? [True, True] Translation: X:215.11, Y:95.20, Z:10.63 [[ 9.83760637e-01 -1.65370053e-01 6.97692940e-02 2.15114070e+02] [-1.64468647e-01 -9.86208579e-01 -1.85122202e-02 9.52020004e+01] [ 7.18684432e-02 6.73673219e-03 -9.97391369e-01 1.06323895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.38687500000003 meters 0.013660405091346464 Centerline is valid? [True, True] Translation: X:215.10, Y:95.20, Z:10.64 [[ 9.93511730e-01 -8.90726028e-02 7.07143148e-02 2.15101593e+02] [-8.83758760e-02 -9.96003309e-01 -1.29271944e-02 9.51971651e+01] [ 7.15831504e-02 6.59387971e-03 -9.97412840e-01 1.06351203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.416875 meters 0.0137161283263027 Centerline is valid? [True, True] Translation: X:215.09, Y:95.19, Z:10.64 [[ 9.97392564e-01 -1.17687374e-02 7.12009077e-02 2.15088539e+02] [-1.12767086e-02 -9.99909707e-01 -7.30846701e-03 9.51927190e+01] [ 7.12804902e-02 6.48649877e-03 -9.97435220e-01 1.06375486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.44687500000003 meters 0.013811838160559673 Centerline is valid? [True, True] Translation: X:215.08, Y:95.18, Z:10.64 [[ 9.95430419e-01 6.35292565e-02 7.12903585e-02 2.15077568e+02] [ 6.38117133e-02 -9.97960526e-01 -1.68929234e-03 9.51845941e+01] [ 7.10376442e-02 6.23073290e-03 -9.97454175e-01 1.06391215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.476875 meters 0.01414657035968615 Centerline is valid? [True, True] Translation: X:215.07, Y:95.18, Z:10.64 [[ 9.87714715e-01 1.39150375e-01 7.11112871e-02 2.15065499e+02] [ 1.39225531e-01 -9.90252929e-01 3.92287509e-03 9.51761344e+01] [ 7.09640299e-02 6.02582527e-03 -9.97460674e-01 1.06423405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.50687500000004 meters 0.014450080964926906 Centerline is valid? [True, True] Translation: X:215.05, Y:95.17, Z:10.64 [[ 9.74292273e-01 2.13953785e-01 7.05573841e-02 2.15055000e+02] [ 2.13821557e-01 -9.76826441e-01 9.51033130e-03 9.51683251e+01] [ 7.09570897e-02 5.82084738e-03 -9.97462385e-01 1.06447621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.536875 meters 0.015380729758114373 Centerline is valid? [True, True] Translation: X:215.05, Y:95.16, Z:10.65 [[ 9.56238134e-01 2.84036760e-01 7.02264215e-02 2.15045224e+02] [ 2.83677760e-01 -9.58798494e-01 1.52439218e-02 9.51609469e+01] [ 7.16628213e-02 5.34485462e-03 -9.97414594e-01 1.06454861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.56687500000004 meters 0.016148238907561334 Centerline is valid? [True, True] Translation: X:215.03, Y:95.15, Z:10.65 [[ 9.32040125e-01 3.55667937e-01 6.92930340e-02 2.15034832e+02] [ 3.55088209e-01 -9.34598485e-01 2.09293225e-02 9.51508905e+01] [ 7.22050535e-02 5.09817101e-03 -9.97376779e-01 1.06472693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.596875 meters 0.01695052853858366 Centerline is valid? [True, True] Translation: X:215.02, Y:95.14, Z:10.65 [[ 9.02409898e-01 4.25538610e-01 6.76259375e-02 2.15024737e+02] [ 4.24745245e-01 -9.04927132e-01 2.64265470e-02 9.51404661e+01] [ 7.24420618e-02 4.87621781e-03 -9.97360702e-01 1.06489437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.626875 meters 0.01795461776021356 Centerline is valid? [True, True] Translation: X:215.02, Y:95.13, Z:10.65 [[ 8.68507583e-01 4.91285551e-01 6.58261783e-02 2.15017867e+02] [ 4.90264959e-01 -8.70986912e-01 3.19698082e-02 9.51265960e+01] [ 7.30400446e-02 4.50624773e-03 -9.97318828e-01 1.06511896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.656875 meters 0.021001080800059677 Centerline is valid? [True, True] Translation: X:215.01, Y:95.12, Z:10.65 [[ 8.28166387e-01 5.56902164e-01 6.32488405e-02 2.15007320e+02] [ 5.55677710e-01 -8.30566626e-01 3.71666835e-02 9.51162201e+01] [ 7.32305825e-02 4.36577295e-03 -9.97305481e-01 1.06543823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.686875 meters 0.018464677499067897 Centerline is valid? [True, True] Translation: X:215.01, Y:95.10, Z:10.66 [[ 7.82766569e-01 6.19347927e-01 6.07012665e-02 2.15005945e+02] [ 6.17901026e-01 -7.85105284e-01 4.25207514e-02 9.50971886e+01] [ 7.39920243e-02 4.22355221e-03 -9.97249889e-01 1.06553960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.716875 meters 0.019097862156601742 Centerline is valid? [True, True] Translation: X:215.00, Y:95.08, Z:10.66 [[ 7.32293460e-01 6.78584009e-01 5.71841892e-02 2.15000784e+02] [ 6.76953223e-01 -7.34511092e-01 4.71994673e-02 9.50820530e+01] [ 7.40312250e-02 4.14715998e-03 -9.97247301e-01 1.06581692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.746875 meters 0.019712909677000373 Centerline is valid? [True, True] Translation: X:215.00, Y:95.07, Z:10.66 [[ 6.78136243e-01 7.33024220e-01 5.29785703e-02 2.14998552e+02] [ 7.31244320e-01 -6.80190697e-01 5.12089858e-02 9.50663044e+01] [ 7.35729575e-02 4.01360937e-03 -9.97281761e-01 1.06616877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.776875 meters 0.0193930016280696 Centerline is valid? [True, True] Translation: X:215.00, Y:95.05, Z:10.66 [[ 6.18690479e-01 7.84150025e-01 4.82786691e-02 2.14997798e+02] [ 7.82260244e-01 -6.20558320e-01 5.45553100e-02 9.50501783e+01] [ 7.27392775e-02 4.01363265e-03 -9.97342914e-01 1.06641775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.806875 meters 0.01929853557005478 Centerline is valid? [True, True] Translation: X:215.00, Y:95.03, Z:10.67 [[ 5.55347785e-01 8.30469109e-01 4.37023676e-02 2.14998317e+02] [ 8.28451747e-01 -5.57050309e-01 5.79884109e-02 9.50346563e+01] [ 7.25020013e-02 4.00156729e-03 -9.97360239e-01 1.06665051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.836875 meters 0.0202492919918984 Centerline is valid? [True, True] Translation: X:215.00, Y:95.02, Z:10.67 [[ 4.88322997e-01 8.71805315e-01 3.86800226e-02 2.14997283e+02] [ 8.69702080e-01 -4.89836018e-01 6.06545004e-02 9.50193316e+01] [ 7.18257840e-02 4.02110873e-03 -9.97409087e-01 1.06689785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.866875 meters 0.01962903149801473 Centerline is valid? [True, True] Translation: X:215.00, Y:95.00, Z:10.67 [[ 4.17071941e-01 9.08227165e-01 3.42697090e-02 2.14999378e+02] [ 9.05930419e-01 -4.18457700e-01 6.46778880e-02 9.50036134e+01] [ 7.30826385e-02 4.07063956e-03 -9.97317581e-01 1.06705696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.896875 meters 0.019133435985750593 Centerline is valid? [True, True] Translation: X:215.00, Y:94.99, Z:10.67 [[ 3.43498197e-01 9.38698151e-01 2.92364367e-02 2.15001574e+02] [ 9.36263636e-01 -3.44715515e-01 6.76876535e-02 9.49894200e+01] [ 7.36165286e-02 4.12242561e-03 -9.97278102e-01 1.06723912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.926875 meters 0.019034572511007816 Centerline is valid? [True, True] Translation: X:215.00, Y:94.97, Z:10.67 [[ 2.67457029e-01 9.63273198e-01 2.39057409e-02 2.15002874e+02] [ 9.60723475e-01 -2.68490417e-01 7.01662362e-02 9.49741804e+01] [ 7.40077171e-02 4.20035336e-03 -9.97248823e-01 1.06741842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.956875 meters 0.016018936310154903 Centerline is valid? [True, True] Translation: X:215.02, Y:94.96, Z:10.68 [[ 1.88011949e-01 9.81992708e-01 1.84885911e-02 2.15018265e+02] [ 9.79286839e-01 -1.88867938e-01 7.29807368e-02 9.49588033e+01] [ 7.51584534e-02 4.38438335e-03 -9.97161965e-01 1.06752358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.986875 meters 0.01567408214286956 Centerline is valid? [True, True] Translation: X:215.03, Y:94.95, Z:10.68 [[ 1.08593597e-01 9.94004980e-01 1.27094824e-02 2.15028473e+02] [ 9.91213495e-01 -1.09242202e-01 7.45784757e-02 9.49457613e+01] [ 7.55197881e-02 4.49906553e-03 -9.97134153e-01 1.06772527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.016875 meters 0.015171089193416263 Centerline is valid? [True, True] Translation: X:215.04, Y:94.93, Z:10.68 [[ 2.84685832e-02 9.99571613e-01 6.79186011e-03 2.15039616e+02] [ 9.96723547e-01 -2.89007731e-02 7.55441340e-02 9.49333507e+01] [ 7.57080619e-02 4.61897243e-03 -9.97119328e-01 1.06791380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.046875 meters 0.014400329369276045 Centerline is valid? [True, True] Translation: X:215.05, Y:94.92, Z:10.68 [[-5.37063692e-02 9.98556499e-01 7.37727836e-04 2.15052687e+02] [ 9.95602401e-01 5.34906679e-02 7.69064927e-02 9.49212586e+01] [ 7.67560166e-02 4.86485210e-03 -9.97038037e-01 1.06806725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07687500000003 meters 0.014063504891756772 Centerline is valid? [True, True] Translation: X:215.06, Y:94.91, Z:10.68 [[-1.33714117e-01 9.91005706e-01 -5.31270666e-03 2.15062961e+02] [ 9.88049914e-01 1.33726194e-01 7.66464060e-02 9.49101295e+01] [ 7.66674738e-02 4.99948714e-03 -9.97044183e-01 1.06827398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.106875 meters 0.013114323141665668 Centerline is valid? [True, True] Translation: X:215.08, Y:94.90, Z:10.69 [[-2.12689489e-01 9.77054471e-01 -1.13023200e-02 2.15079726e+02] [ 9.74120857e-01 2.12928070e-01 7.58300249e-02 9.49025125e+01] [ 7.64966460e-02 5.11842354e-03 -9.97056701e-01 1.06851396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13687500000003 meters 0.012682715850434137 Centerline is valid? [True, True] Translation: X:215.10, Y:94.90, Z:10.69 [[-2.91254515e-01 9.56495625e-01 -1.69389267e-02 2.15096462e+02] [ 9.53663692e-01 2.91698098e-01 7.37413212e-02 9.48952869e+01] [ 7.54743039e-02 5.32345332e-03 -9.97133537e-01 1.06885678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.166875 meters 0.012595196469587759 Centerline is valid? [True, True] Translation: X:215.11, Y:94.89, Z:10.69 [[-3.66311256e-01 9.30223343e-01 -2.23740090e-02 2.15110022e+02] [ 9.27496525e-01 3.66954262e-01 7.13776292e-02 9.48879330e+01] [ 7.46073749e-02 5.39461339e-03 -9.97198394e-01 1.06918502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19687500000003 meters 0.012515969605344282 Centerline is valid? [True, True] Translation: X:215.12, Y:94.88, Z:10.70 [[-4.38970147e-01 8.98075716e-01 -2.76625811e-02 2.15123148e+02] [ 8.95449065e-01 4.39807075e-01 6.88528038e-02 9.48826511e+01] [ 7.40012300e-02 5.45389303e-03 -9.97243237e-01 1.06950476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.226875 meters 0.01226861210225857 Centerline is valid? [True, True] Translation: X:215.14, Y:94.88, Z:10.70 [[-5.09267966e-01 8.59996254e-01 -3.24435280e-02 2.15137472e+02] [ 8.57513934e-01 5.10270146e-01 6.55303900e-02 9.48773668e+01] [ 7.29108536e-02 5.55175114e-03 -9.97323010e-01 1.06982803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25687500000004 meters 0.012150287377367433 Centerline is valid? [True, True] Translation: X:215.15, Y:94.87, Z:10.70 [[-5.75979588e-01 8.16617201e-01 -3.72002806e-02 2.15149117e+02] [ 8.14253652e-01 5.77152329e-01 6.23392268e-02 9.48730345e+01] [ 7.23775135e-02 5.61565784e-03 -9.97361499e-01 1.07008213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.286875 meters 0.01214641748611161 Centerline is valid? [True, True] Translation: X:215.16, Y:94.87, Z:10.70 [[-6.38447043e-01 7.68541540e-01 -4.15845524e-02 2.15160959e+02] [ 7.66315628e-01 6.39775183e-01 5.87203074e-02 9.48691711e+01] [ 7.17337601e-02 5.62291421e-03 -9.97407966e-01 1.07029812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31687500000004 meters 0.011983036181412885 Centerline is valid? [True, True] Translation: X:215.18, Y:94.87, Z:10.70 [[-6.97478046e-01 7.15120907e-01 -4.61135992e-02 2.15176139e+02] [ 7.13002934e-01 6.98977662e-01 5.52905542e-02 9.48707471e+01] [ 7.17718070e-02 5.68481617e-03 -9.97404878e-01 1.07047940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.346875 meters 0.011858205555412633 Centerline is valid? [True, True] Translation: X:215.19, Y:94.87, Z:10.71 [[-7.51791975e-01 6.57479837e-01 -5.02900631e-02 2.15189708e+02] [ 6.55488310e-01 7.53450441e-01 5.14539444e-02 9.48723080e+01] [ 7.17210012e-02 5.71811397e-03 -9.97408342e-01 1.07067494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.376875 meters 0.011769141195882828 Centerline is valid? [True, True] Translation: X:215.21, Y:94.89, Z:10.71 [[-7.96703694e-01 6.01911322e-01 -5.44608614e-02 2.15212845e+02] [ 6.00056380e-01 7.98546239e-01 4.74999431e-02 9.48926473e+01] [ 7.20802696e-02 5.16379276e-03 -9.97385467e-01 1.07089366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.406875 meters 0.011739914880240756 Centerline is valid? [True, True] Translation: X:215.24, Y:94.91, Z:10.71 [[-8.37499157e-01 5.43377466e-01 -5.77589077e-02 2.15244279e+02] [ 5.41654272e-01 8.39472461e-01 4.35503914e-02 9.49077940e+01] [ 7.21513137e-02 5.18805704e-03 -9.97380204e-01 1.07102837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.436875 meters 0.011683071813769246 Centerline is valid? [True, True] Translation: X:215.27, Y:94.93, Z:10.71 [[-8.74305787e-01 4.81477140e-01 -6.13934434e-02 2.15267285e+02] [ 4.79863985e-01 8.76442760e-01 3.97321602e-02 9.49305282e+01] [ 7.29379658e-02 5.27755518e-03 -9.97322516e-01 1.07123438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.466875 meters 0.011667048290435224 Centerline is valid? [True, True] Translation: X:215.29, Y:94.95, Z:10.71 [[-9.06258297e-01 4.17813087e-01 -6.42504704e-02 2.15288580e+02] [ 4.16348203e-01 9.08517608e-01 3.53543456e-02 9.49533937e+01] [ 7.31441920e-02 5.28960114e-03 -9.97307348e-01 1.07146190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.496875 meters 0.011655442422124436 Centerline is valid? [True, True] Translation: X:215.31, Y:94.98, Z:10.72 [[-9.33583482e-01 3.52101770e-01 -6.66800210e-02 2.15306987e+02] [ 3.50798637e-01 9.35946758e-01 3.07242991e-02 9.49780057e+01] [ 7.32270296e-02 5.29243770e-03 -9.97301255e-01 1.07161625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.526875 meters 0.011676159026874586 Centerline is valid? [True, True] Translation: X:215.58, Y:95.81, Z:10.06 [[-9.07624228e-01 -4.13822897e-01 7.04902107e-02 2.15575773e+02] [ 4.12894738e-01 -9.10349743e-01 -2.79514076e-02 9.58111174e+01] [ 7.57376776e-02 3.73566234e-03 9.97120780e-01 1.00615008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.556875 meters 0.011578112868236325 Centerline is valid? [True, True] Translation: X:215.26, Y:94.99, Z:10.72 [[-9.34936416e-01 3.48330972e-01 -6.75235622e-02 2.15261147e+02] [ 3.47012287e-01 9.37356561e-01 3.07433125e-02 9.49940604e+01] [ 7.40025020e-02 5.31153672e-03 -9.97243911e-01 1.07184003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.586875 meters 0.011555904581374666 Centerline is valid? [True, True] Translation: X:215.28, Y:95.02, Z:10.72 [[-9.57202274e-01 2.80918676e-01 -6.96312016e-02 2.15283419e+02] [ 2.79774517e-01 9.59717021e-01 2.58739005e-02 9.50174618e+01] [ 7.40947113e-02 5.28552060e-03 -9.97237202e-01 1.07195197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.616875 meters 0.011546916575320568 Centerline is valid? [True, True] Translation: X:215.49, Y:95.87, Z:10.07 [[-9.36171472e-01 -3.44230292e-01 7.13335959e-02 2.15492884e+02] [ 3.43539639e-01 -9.38877576e-01 -2.21227122e-02 9.58683107e+01] [ 7.45888212e-02 3.79526574e-03 9.97207152e-01 1.00675675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.646875 meters 0.011455571378693588 Centerline is valid? [True, True] Translation: X:215.24, Y:95.03, Z:10.72 [[-9.58150822e-01 2.77893659e-01 -6.87176585e-02 2.15238437e+02] [ 2.76787536e-01 9.60597563e-01 2.53176166e-02 9.50291939e+01] [ 7.30456204e-02 5.23790378e-03 -9.97314846e-01 1.07241308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.676875 meters 0.011455571378693588 Centerline is valid? [True, True] Translation: X:215.25, Y:95.06, Z:10.73 [[-9.75410227e-01 2.08929402e-01 -7.01669038e-02 2.15252490e+02] [ 2.08005793e-01 9.77916854e-01 2.03031007e-02 9.50559507e+01] [ 7.28593125e-02 5.20872959e-03 -9.97328627e-01 1.07260843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.706875 meters 0.01142607367700165 Centerline is valid? [True, True] Translation: X:215.26, Y:95.08, Z:10.73 [[-9.87728928e-01 1.39010548e-01 -7.11873011e-02 2.15264829e+02] [ 1.38272399e-01 9.90277310e-01 1.52182128e-02 9.50833135e+01] [ 7.26106611e-02 5.18823009e-03 -9.97346868e-01 1.07286313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.736875 meters 0.011403888877437153 Centerline is valid? [True, True] Translation: X:215.27, Y:95.11, Z:10.73 [[-9.95104436e-01 6.85082770e-02 -7.12304552e-02 2.15272664e+02] [ 6.79626806e-02 9.97637164e-01 1.00580325e-02 9.51115659e+01] [ 7.17512078e-02 5.16778008e-03 -9.97409173e-01 1.07316936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.766875 meters 0.011407732653666625 Centerline is valid? [True, True] Translation: X:215.30, Y:95.99, Z:10.07 [[-9.88208548e-01 -1.33275486e-01 7.53757932e-02 2.15297576e+02] [ 1.33207275e-01 -9.91070314e-01 -5.95429736e-03 9.59898381e+01] [ 7.54962730e-02 4.15651646e-03 9.97137421e-01 1.00741895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.796875 meters 0.0114295849526282 Centerline is valid? [True, True] Translation: X:215.21, Y:95.11, Z:10.74 [[-9.95483084e-01 6.39217207e-02 -7.01957468e-02 2.15208507e+02] [ 6.33944463e-02 9.97941252e-01 9.71601690e-03 9.51146207e+01] [ 7.06722960e-02 5.22210997e-03 -9.97485918e-01 1.07365544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.82687500000003 meters 0.011387129897721527 Centerline is valid? [True, True] Translation: X:215.21, Y:95.14, Z:10.74 [[-9.97545462e-01 -7.39255042e-03 -6.96304614e-02 2.15214646e+02] [-7.73289278e-03 9.99959430e-01 4.61955286e-03 9.51430245e+01] [ 6.95934863e-02 5.14665888e-03 -9.97562158e-01 1.07392614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.856875 meters 0.011312611120998016 Centerline is valid? [True, True] Translation: X:215.17, Y:96.02, Z:10.08 [[-9.95391869e-01 -5.79333690e-02 7.64117221e-02 2.15171072e+02] [ 5.80895818e-02 -9.98311359e-01 -1.78543808e-04 9.60242886e+01] [ 7.62930337e-02 4.26100393e-03 9.97076335e-01 1.00810585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.88687500000003 meters 0.011315168751126023 Centerline is valid? [True, True] Translation: X:215.13, Y:95.14, Z:10.75 [[-9.97494715e-01 -1.36368671e-02 -6.94141926e-02 2.15129087e+02] [-1.39724124e-02 9.99892916e-01 4.35070539e-03 9.51423217e+01] [ 6.93474295e-02 5.30968935e-03 -9.97578439e-01 1.07452433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.916875 meters 0.011382348384246717 Centerline is valid? [True, True] Translation: X:215.13, Y:95.17, Z:10.75 [[-9.93932641e-01 -8.56583908e-02 -6.89966987e-02 2.15129077e+02] [-8.58130124e-02 9.96310996e-01 -7.25288658e-04 9.51715513e+01] [ 6.88042967e-02 5.19992649e-03 -9.97616625e-01 1.07474497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.94687500000003 meters 0.01132668284227547 Centerline is valid? [True, True] Translation: X:215.13, Y:95.20, Z:10.75 [[-9.85032203e-01 -1.58257716e-01 -6.83085178e-02 2.15129173e+02] [-1.58248440e-01 9.87383552e-01 -5.58137574e-03 9.52019459e+01] [ 6.83300028e-02 5.31188158e-03 -9.97648633e-01 1.07503961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.976875 meters 0.01147422660525386 Centerline is valid? [True, True] Translation: X:215.12, Y:95.23, Z:10.75 [[-9.70990429e-01 -2.29349094e-01 -6.76504321e-02 2.15115815e+02] [-2.29174388e-01 9.73329422e-01 -1.04372427e-02 9.52300654e+01] [ 6.82399282e-02 5.36928360e-03 -9.97654491e-01 1.07542607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.00687500000004 meters 0.011738211801569417 Centerline is valid? [True, True] Translation: X:215.09, Y:95.26, Z:10.76 [[-9.51464619e-01 -3.00620988e-01 -6.58946076e-02 2.15092225e+02] [-3.00296918e-01 9.53727759e-01 -1.50040907e-02 9.52550613e+01] [ 6.73560610e-02 5.51208612e-03 -9.97713776e-01 1.07588621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.036875 meters 0.01162852427274431 Centerline is valid? [True, True] Translation: X:215.04, Y:95.27, Z:10.76 [[-9.26926729e-01 -3.69663974e-01 -6.44622737e-02 2.15037200e+02] [-3.69181413e-01 9.29148909e-01 -1.96821848e-02 9.52661005e+01] [ 6.71708460e-02 5.55433014e-03 -9.97726028e-01 1.07643800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.06687500000004 meters 0.01171526016942823 Centerline is valid? [True, True] Translation: X:214.98, Y:95.27, Z:10.77 [[-8.96770122e-01 -4.38077376e-01 -6.23823759e-02 2.14981843e+02] [-4.37449661e-01 8.98919439e-01 -2.41171314e-02 9.52741684e+01] [ 6.66419000e-02 5.66162631e-03 -9.97760895e-01 1.07709187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.096875 meters 0.011855980241522249 Centerline is valid? [True, True] Translation: X:214.91, Y:95.27, Z:10.78 [[-8.61493709e-01 -5.04228766e-01 -5.98493205e-02 2.14908774e+02] [-5.03461768e-01 8.63551402e-01 -2.83764772e-02 9.52687718e+01] [ 6.59912007e-02 5.68568812e-03 -9.97804006e-01 1.07786642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.126875 meters 0.011913656996603798 Centerline is valid? [True, True] Translation: X:214.83, Y:95.25, Z:10.79 [[-8.21205725e-01 -5.67794863e-01 -5.68344235e-02 2.14831624e+02] [-5.66904716e-01 8.23150327e-01 -3.22890460e-02 9.52527417e+01] [ 6.51168288e-02 5.70375333e-03 -9.97861346e-01 1.07865679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.156875 meters 0.011975403249227022 Centerline is valid? [True, True] Translation: X:214.75, Y:95.23, Z:10.80 [[-7.76161449e-01 -6.28235196e-01 -5.37953966e-02 2.14747339e+02] [-6.27220399e-01 7.78002690e-01 -3.61439603e-02 9.52260728e+01] [ 6.45598713e-02 5.68802156e-03 -9.97897625e-01 1.07957715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.186875 meters 0.01203444120656821 Centerline is valid? [True, True] Translation: X:214.66, Y:95.19, Z:10.80 [[-7.26290745e-01 -6.85520356e-01 -5.06319673e-02 2.14660205e+02] [-6.84383294e-01 7.28031222e-01 -3.98753952e-02 9.51884280e+01] [ 6.41970481e-02 5.69054209e-03 -9.97921017e-01 1.08049277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.216875 meters 0.01200256795717684 Centerline is valid? [True, True] Translation: X:214.57, Y:95.14, Z:10.81 [[-6.72201867e-01 -7.38868248e-01 -4.70994785e-02 2.14574370e+02] [-7.37623215e-01 6.73826063e-01 -4.32484623e-02 9.51425241e+01] [ 6.36917718e-02 5.66997168e-03 -9.97953511e-01 1.08145204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.246875 meters 0.012198188503462838 Centerline is valid? [True, True] Translation: X:214.49, Y:95.08, Z:10.83 [[-6.13719649e-01 -7.88327311e-01 -4.34539272e-02 2.14488011e+02] [-7.86976056e-01 6.15229968e-01 -4.64841272e-02 9.50849766e+01] [ 6.33788652e-02 5.66897801e-03 -9.97973438e-01 1.08256606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.276875 meters 0.012233297424229322 Centerline is valid? [True, True] Translation: X:214.40, Y:95.02, Z:10.84 [[-5.51324372e-01 -8.33344687e-01 -3.97249384e-02 2.14402604e+02] [-8.31883636e-01 5.52724570e-01 -4.96504462e-02 9.50159584e+01] [ 6.33328850e-02 5.67302514e-03 -9.97976334e-01 1.08355963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.306875 meters 0.012292719180294391 Centerline is valid? [True, True] Translation: X:214.32, Y:94.94, Z:10.85 [[-4.85301916e-01 -8.73617423e-01 -3.57022081e-02 2.14323405e+02] [-8.72061651e-01 4.86580094e-01 -5.24241338e-02 9.49422269e+01] [ 6.31706205e-02 5.69299389e-03 -9.97986504e-01 1.08456903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.336875 meters 0.012661727413588899 Centerline is valid? [True, True] Translation: X:214.25, Y:94.85, Z:10.86 [[-4.14871757e-01 -9.09338690e-01 -3.13779044e-02 2.14245686e+02] [-9.07712424e-01 4.16016212e-01 -5.46687056e-02 9.48546116e+01] [ 6.27660860e-02 5.80161177e-03 -9.98011403e-01 1.08571072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.366875 meters 0.012882141498411942 Centerline is valid? [True, True] Translation: X:214.18, Y:94.76, Z:10.87 [[-3.42402640e-01 -9.39168577e-01 -2.68852491e-02 2.14175829e+02] [-9.37485922e-01 3.43406543e-01 -5.64986039e-02 9.47638348e+01] [ 6.22942839e-02 5.85927135e-03 -9.98040626e-01 1.08673026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.396875 meters 0.013055678755799525 Centerline is valid? [True, True] Translation: X:214.11, Y:94.66, Z:10.88 [[-2.67618919e-01 -9.63264780e-01 -2.23847655e-02 2.14111538e+02] [-9.61517648e-01 2.68488133e-01 -5.82918083e-02 9.46646103e+01] [ 6.21604898e-02 5.92335636e-03 -9.98048590e-01 1.08782958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.426875 meters 0.0132513827468827 Centerline is valid? [True, True] Translation: X:214.06, Y:94.56, Z:10.89 [[-1.91379872e-01 -9.81354000e-01 -1.78345626e-02 2.14055582e+02] [-9.79530816e-01 1.92116345e-01 -6.00890283e-02 9.45622400e+01] [ 6.23949192e-02 5.96967311e-03 -9.98033685e-01 1.08890359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.456875 meters 0.013645277499177794 Centerline is valid? [True, True] Translation: X:214.01, Y:94.45, Z:10.90 [[-1.13294829e-01 -9.93474811e-01 -1.31179965e-02 2.14006827e+02] [-9.91592779e-01 1.13891218e-01 -6.14211053e-02 9.44504924e+01] [ 6.25143455e-02 6.04901699e-03 -9.98025734e-01 1.09005757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.486875 meters 0.01349110345082565 Centerline is valid? [True, True] Translation: X:213.97, Y:94.35, Z:10.91 [[-3.77598591e-02 -9.99252539e-01 -8.27989542e-03 2.13969348e+02] [-9.97331584e-01 3.82027592e-02 -6.22114182e-02 9.43485624e+01] [ 6.24812325e-02 5.90870683e-03 -9.98028648e-01 1.09103866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.516875 meters 0.013385030068981157 Centerline is valid? [True, True] Translation: X:213.94, Y:94.23, Z:10.92 [[ 3.94587954e-02 -9.99215007e-01 -3.51752934e-03 2.13939881e+02] [-9.97279754e-01 -3.91625477e-02 -6.24450794e-02 9.42312382e+01] [ 6.22583051e-02 5.97196841e-03 -9.98042203e-01 1.09215267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.546875 meters 0.013557201322880585 Centerline is valid? [True, True] Translation: X:213.92, Y:94.12, Z:10.93 [[ 1.15845084e-01 -9.93266495e-01 1.25916913e-03 2.13919247e+02] [-9.91374725e-01 -1.15702480e-01 -6.15555878e-02 9.41157033e+01] [ 6.12867919e-02 5.88260379e-03 -9.98102863e-01 1.09332890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57687500000003 meters 0.013107307274641976 Centerline is valid? [True, True] Translation: X:213.91, Y:93.99, Z:10.94 [[ 1.90227595e-01 -9.81722146e-01 5.92361683e-03 2.13911738e+02] [-9.79869025e-01 -1.90233941e-01 -6.05618792e-02 9.39945002e+01] [ 6.05818111e-02 5.71617198e-03 -9.98146868e-01 1.09442163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.606875 meters 0.013101135762012151 Centerline is valid? [True, True] Translation: X:213.91, Y:93.87, Z:10.96 [[ 2.64385287e-01 -9.64360422e-01 1.04592361e-02 2.13910715e+02] [-9.62552568e-01 -2.64532673e-01 -5.92875922e-02 9.38703308e+01] [ 5.99414171e-02 5.60720252e-03 -9.98186148e-01 1.09570345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63687500000003 meters 0.012854202618171742 Centerline is valid? [True, True] Translation: X:213.92, Y:93.76, Z:10.97 [[ 3.37277059e-01 -9.41286547e-01 1.49606895e-02 2.13917017e+02] [-9.39511551e-01 -3.37563565e-01 -5.80421031e-02 9.37591053e+01] [ 5.96844345e-02 5.52052927e-03 -9.98202030e-01 1.09667696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.666875 meters 0.01274818103032692 Centerline is valid? [True, True] Translation: X:213.94, Y:93.64, Z:10.98 [[ 4.07181110e-01 -9.13144261e-01 1.92640179e-02 2.13935178e+02] [-9.11423455e-01 -4.07601282e-01 -5.62892593e-02 9.36422637e+01] [ 5.92522525e-02 5.36224533e-03 -9.98228640e-01 1.09781100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69687500000003 meters 0.012752629356006871 Centerline is valid? [True, True] Translation: X:213.96, Y:93.53, Z:10.99 [[ 4.75881528e-01 -8.79196879e-01 2.34439690e-02 2.13958914e+02] [-8.77531052e-01 -4.76429247e-01 -5.43546257e-02 9.35298856e+01] [ 5.89578098e-02 5.29355154e-03 -9.98246440e-01 1.09892525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.726875 meters 0.012783423194271087 Centerline is valid? [True, True] Translation: X:213.99, Y:93.42, Z:11.00 [[ 5.41815332e-01 -8.40053207e-01 2.73268093e-02 2.13992262e+02] [-8.38462530e-01 -5.42478836e-01 -5.19355100e-02 9.34180106e+01] [ 5.84528075e-02 5.22694993e-03 -9.98276489e-01 1.10002806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75687500000004 meters 0.012933068473848548 Centerline is valid? [True, True] Translation: X:214.04, Y:93.31, Z:11.01 [[ 6.03558052e-01 -7.96721652e-01 3.08591549e-02 2.14037468e+02] [-7.95223998e-01 -6.04324994e-01 -4.90927175e-02 9.33083720e+01] [ 5.77621895e-02 5.09036443e-03 -9.98317393e-01 1.10113897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.786875 meters 0.01289810675049667 Centerline is valid? [True, True] Translation: X:214.08, Y:93.22, Z:11.02 [[ 6.62138497e-01 -7.48582920e-01 3.45864448e-02 2.14077685e+02] [-7.47150230e-01 -6.63022424e-01 -4.65596242e-02 9.32164720e+01] [ 5.77853279e-02 4.98764941e-03 -9.98316573e-01 1.10203470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81687500000004 meters 0.01302747302397938 Centerline is valid? [True, True] Translation: X:214.13, Y:93.12, Z:11.03 [[ 7.16740505e-01 -6.96293668e-01 3.81860746e-02 2.14131736e+02] [-6.94929787e-01 -7.17740423e-01 -4.38323638e-02 9.31205579e+01] [ 5.79278867e-02 4.87978992e-03 -9.98308844e-01 1.10301808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.846875 meters 0.013339374793601103 Centerline is valid? [True, True] Translation: X:214.13, Y:93.12, Z:11.03 [[ 7.66759875e-01 -6.40568110e-01 4.18543950e-02 2.14125872e+02] [-6.39266493e-01 -7.67886665e-01 -4.10903919e-02 9.31239990e+01] [ 5.84606265e-02 4.75035147e-03 -9.98278413e-01 1.10321708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.876875 meters 0.01345165596534933 Centerline is valid? [True, True] Translation: X:214.12, Y:93.12, Z:11.03 [[ 8.13444315e-01 -5.79878711e-01 4.52661741e-02 2.14117521e+02] [-5.78657923e-01 -8.14689667e-01 -3.78913484e-02 9.31244923e+01] [ 5.88502705e-02 4.62887163e-03 -9.98256089e-01 1.10340684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.906875 meters 0.013933393423144622 Centerline is valid? [True, True] Translation: X:214.11, Y:93.13, Z:11.04 [[ 8.55273371e-01 -5.15930427e-01 4.82001668e-02 2.14109552e+02] [-5.14810587e-01 -8.56618686e-01 -3.42707834e-02 9.31258352e+01] [ 5.89705035e-02 4.49693228e-03 -9.98249597e-01 1.10362271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.936875 meters 0.014550483583894765 Centerline is valid? [True, True] Translation: X:214.10, Y:93.13, Z:11.04 [[ 8.91316809e-01 -4.50470473e-01 5.12903280e-02 2.14102911e+02] [-4.49447158e-01 -8.92781157e-01 -3.06440476e-02 9.31293830e+01] [ 5.95952771e-02 4.26126259e-03 -9.98213527e-01 1.10387479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.966875 meters 0.014669708620471606 Centerline is valid? [True, True] Translation: X:214.09, Y:93.13, Z:11.04 [[ 9.23401705e-01 -3.80139779e-01 5.31322822e-02 2.14093453e+02] [-3.79247993e-01 -9.24919565e-01 -2.63582777e-02 9.31275738e+01] [ 5.91629172e-02 4.18896719e-03 -9.98239551e-01 1.10407333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.996875 meters 0.015141399053674414 Centerline is valid? [True, True] Translation: X:214.08, Y:93.13, Z:11.04 [[ 9.50072900e-01 -3.07096963e-01 5.52534160e-02 2.14083135e+02] [-3.06323832e-01 -9.51669251e-01 -2.21663255e-02 9.31271911e+01] [ 5.93901883e-02 4.13418709e-03 -9.98226284e-01 1.10430115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.026875 meters 0.015328593773516055 Centerline is valid? [True, True] Translation: X:214.07, Y:93.13, Z:11.04 [[ 9.71043513e-01 -2.31902607e-01 5.74079929e-02 2.14071364e+02] [-2.31248672e-01 -9.72730443e-01 -1.78756077e-02 9.31275350e+01] [ 5.99879024e-02 4.08247076e-03 -9.98190756e-01 1.10443494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.056875 meters 0.015715736006354217 Centerline is valid? [True, True] Translation: X:214.06, Y:93.13, Z:11.05 [[ 9.86220776e-01 -1.54801265e-01 5.83536673e-02 2.14058256e+02] [-1.54285971e-01 -9.87937221e-01 -1.32622537e-02 9.31278731e+01] [ 5.97027735e-02 4.07635794e-03 -9.98207875e-01 1.10463290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.086875 meters 0.014767385187142996 Centerline is valid? [True, True] Translation: X:214.05, Y:93.12, Z:11.05 [[ 9.95297882e-01 -7.66081274e-02 5.92732797e-02 2.14045369e+02] [-7.62291920e-02 -9.97052963e-01 -8.63132863e-03 9.31202170e+01] [ 5.97598291e-02 4.07238888e-03 -9.98204477e-01 1.10476728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.116875 meters 0.014746852602806159 Centerline is valid? [True, True] Translation: X:214.03, Y:93.11, Z:11.05 [[ 9.98209944e-01 1.88304827e-03 5.97776070e-02 2.14033420e+02] [ 2.12228767e-03 -9.99989990e-01 -3.93892041e-03 9.31125596e+01] [ 5.97695915e-02 4.05873480e-03 -9.98203948e-01 1.10495855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.146875 meters 0.014782349986609548 Centerline is valid? [True, True] Translation: X:214.02, Y:93.10, Z:11.05 [[ 9.94851043e-01 8.14157781e-02 6.03562289e-02 2.14020959e+02] [ 8.15149562e-02 -9.96671780e-01 8.21278747e-04 9.31049502e+01] [ 6.02222151e-02 4.10288534e-03 -9.98176563e-01 1.10510180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.176875 meters 0.014797594378888397 Centerline is valid? [True, True] Translation: X:214.01, Y:93.10, Z:11.05 [[ 9.85290903e-01 1.59924352e-01 6.02165975e-02 2.14009643e+02] [ 1.59879745e-01 -9.87120674e-01 5.58942735e-03 9.30983015e+01] [ 6.03349339e-02 4.12020232e-03 -9.98169685e-01 1.10529211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.206875 meters 0.014789184565717033 Centerline is valid? [True, True] Translation: X:214.00, Y:93.09, Z:11.05 [[ 9.69510645e-01 2.37705254e-01 5.95425976e-02 2.13998351e+02] [ 2.37518514e-01 -9.71328429e-01 1.02975586e-02 9.30919085e+01] [ 6.02832015e-02 4.15887660e-03 -9.98172650e-01 1.10548474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.236875 meters 0.013940844060547285 Centerline is valid? [True, True] Translation: X:213.99, Y:93.08, Z:11.06 [[ 9.47412817e-01 3.14556548e-01 5.88483858e-02 2.13990934e+02] [ 3.14224602e-01 -9.49229313e-01 1.50536073e-02 9.30775897e+01] [ 6.05958236e-02 4.22963014e-03 -9.98153423e-01 1.10560527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.266875 meters 0.014049542179571191 Centerline is valid? [True, True] Translation: X:213.98, Y:93.07, Z:11.06 [[ 9.19530336e-01 3.88765198e-01 5.76678595e-02 2.13982514e+02] [ 3.88288122e-01 -9.21327022e-01 1.97193800e-02 9.30662412e+01] [ 6.07971659e-02 4.25917672e-03 -9.98141054e-01 1.10578839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.296875 meters 0.013751192538156482 Centerline is valid? [True, True] Translation: X:213.98, Y:93.05, Z:11.06 [[ 8.85994545e-01 4.60300966e-01 5.60061341e-02 2.13976110e+02] [ 4.59682397e-01 -8.87752647e-01 2.42349418e-02 9.30525108e+01] [ 6.08749609e-02 4.27300777e-03 -9.98136254e-01 1.10597805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.32687500000003 meters 0.01364270178880494 Centerline is valid? [True, True] Translation: X:213.97, Y:93.04, Z:11.06 [[ 8.46908861e-01 5.28964596e-01 5.42387084e-02 2.13970012e+02] [ 5.28199203e-01 -8.48633069e-01 2.87665935e-02 9.30400310e+01] [ 6.12452711e-02 4.28615962e-03 -9.98113543e-01 1.10617440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.356875 meters 0.013363710285900289 Centerline is valid? [True, True] Translation: X:213.97, Y:93.02, Z:11.06 [[ 8.02533240e-01 5.94342224e-01 5.19395772e-02 2.13967461e+02] [ 5.93438475e-01 -8.04200723e-01 3.30450148e-02 9.30240439e+01] [ 6.14098931e-02 4.30322066e-03 -9.98103355e-01 1.10630967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.38687500000003 meters 0.013597610422316561 Centerline is valid? [True, True] Translation: X:213.96, Y:93.01, Z:11.06 [[ 7.53513691e-01 6.55597290e-01 4.90847343e-02 2.13963554e+02] [ 6.54569464e-01 -7.55098530e-01 3.69462541e-02 9.30091702e+01] [ 6.12856748e-02 4.28985999e-03 -9.98111048e-01 1.10647455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.416875 meters 0.013626394468076059 Centerline is valid? [True, True] Translation: X:213.96, Y:93.00, Z:11.07 [[ 6.99820359e-01 7.12841932e-01 4.59112699e-02 2.13959412e+02] [ 7.11698846e-01 -7.01311691e-01 4.05791248e-02 9.29965905e+01] [ 6.11246121e-02 4.27690011e-03 -9.98120980e-01 1.10664893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.44687500000003 meters 0.013398730792655855 Centerline is valid? [True, True] Translation: X:213.96, Y:92.98, Z:11.07 [[ 6.41801110e-01 7.65702133e-01 4.23270460e-02 2.13958428e+02] [ 7.64462227e-01 -6.43181177e-01 4.37661599e-02 9.29812841e+01] [ 6.07358012e-02 4.26825780e-03 -9.98144751e-01 1.10683924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.476875 meters 0.013470094796934463 Centerline is valid? [True, True] Translation: X:213.96, Y:92.97, Z:11.07 [[ 5.79407317e-01 8.14126999e-01 3.85278028e-02 2.13957379e+02] [ 8.12800968e-01 -5.80671021e-01 4.66449492e-02 9.29655266e+01] [ 6.03468911e-02 4.28901058e-03 -9.98168251e-01 1.10700908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.50687500000004 meters 0.01346747217700691 Centerline is valid? [True, True] Translation: X:213.96, Y:92.95, Z:11.07 [[ 5.13686744e-01 8.57272616e-01 3.47791740e-02 2.13957329e+02] [ 8.55847131e-01 -5.14844924e-01 4.96023360e-02 9.29519085e+01] [ 6.04286056e-02 4.28559379e-03 -9.98163322e-01 1.10713141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.536875 meters 0.013308736300316006 Centerline is valid? [True, True] Translation: X:213.96, Y:92.94, Z:11.07 [[ 4.44003988e-01 8.95494801e-01 3.08142810e-02 2.13960421e+02] [ 8.93977642e-01 -4.45050884e-01 5.22846721e-02 9.29372726e+01] [ 6.05345750e-02 4.33267530e-03 -9.98156698e-01 1.10732330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.56687500000004 meters 0.013170424393302715 Centerline is valid? [True, True] Translation: X:213.96, Y:92.92, Z:11.08 [[ 3.71977999e-01 9.27864657e-01 2.64489399e-02 2.13964382e+02] [ 9.26292996e-01 -3.72891702e-01 5.41577705e-02 9.29226100e+01] [ 6.01136714e-02 4.35396869e-03 -9.98182042e-01 1.10754195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.596875 meters 0.0131075407753168 Centerline is valid? [True, True] Translation: X:213.97, Y:92.91, Z:11.08 [[ 2.97734183e-01 9.54393986e-01 2.20562057e-02 2.13967394e+02] [ 9.52764266e-01 -2.98518122e-01 5.59212370e-02 9.29081586e+01] [ 5.99550694e-02 4.36470087e-03 -9.98191534e-01 1.10776223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.626875 meters 0.0131075407753168 Centerline is valid? [True, True] Translation: X:213.97, Y:92.90, Z:11.08 [[ 2.22070754e-01 9.74872716e-01 1.75433169e-02 2.13968759e+02] [ 9.73197078e-01 -2.22720176e-01 5.72989549e-02 9.28950682e+01] [ 5.97664384e-02 4.34868265e-03 -9.98202916e-01 1.10792202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.656875 meters 0.013068558600989499 Centerline is valid? [True, True] Translation: X:213.97, Y:92.88, Z:11.08 [[ 1.44473965e-01 9.89424016e-01 1.29379144e-02 2.13973842e+02] [ 9.87720316e-01 -1.44986265e-01 5.82027439e-02 9.28826063e+01] [ 5.94630125e-02 4.37025968e-03 -9.98220943e-01 1.10808208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.686875 meters 0.012982181370331648 Centerline is valid? [True, True] Translation: X:213.98, Y:92.87, Z:11.08 [[ 6.56808030e-02 9.97805862e-01 8.33626852e-03 2.13980191e+02] [ 9.96045536e-01 -6.60612515e-02 5.94070835e-02 9.28705036e+01] [ 5.98274405e-02 4.40139810e-03 -9.98199031e-01 1.10820662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.716875 meters 0.01297649680548899 Centerline is valid? [True, True] Translation: X:213.99, Y:92.86, Z:11.08 [[-1.28479388e-02 9.99910813e-01 3.64651805e-03 2.13986552e+02] [ 9.98161188e-01 1.26092380e-02 5.92895363e-02 9.28582161e+01] [ 5.92382686e-02 4.40156113e-03 -9.98234168e-01 1.10839396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.746875 meters 0.012947806564823626 Centerline is valid? [True, True] Translation: X:214.00, Y:92.85, Z:11.09 [[-9.15693037e-02 9.95798272e-01 -9.29277918e-04 2.13997666e+02] [ 9.94097763e-01 9.14673735e-02 5.83383086e-02 9.28470832e+01] [ 5.81781855e-02 4.41820520e-03 -9.98296438e-01 1.10861927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.776875 meters 0.012876876068678983 Centerline is valid? [True, True] Translation: X:214.01, Y:92.84, Z:11.09 [[-1.69919227e-01 9.85444320e-01 -5.19123571e-03 2.14010039e+02] [ 9.83848647e-01 1.69940316e-01 5.62328155e-02 9.28375631e+01] [ 5.62965089e-02 4.44764629e-03 -9.98404187e-01 1.10895480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.806875 meters 0.01292840505892442 Centerline is valid? [True, True] Translation: X:214.02, Y:92.83, Z:11.09 [[-2.46677120e-01 9.69050695e-01 -9.54723326e-03 2.14020808e+02] [ 9.67474265e-01 2.46821935e-01 5.54299529e-02 9.28277378e+01] [ 5.60709010e-02 4.43659865e-03 -9.98416932e-01 1.10915469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.836875 meters 0.012929495596003768 Centerline is valid? [True, True] Translation: X:214.03, Y:92.82, Z:11.09 [[-3.21923604e-01 9.46666550e-01 -1.36980269e-02 2.14031702e+02] [ 9.45137159e-01 3.22184472e-01 5.39714381e-02 9.28195462e+01] [ 5.55062466e-02 4.42816563e-03 -9.98448520e-01 1.10927767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.866875 meters 0.012900622712208633 Centerline is valid? [True, True] Translation: X:214.04, Y:92.81, Z:11.09 [[-3.95312338e-01 9.18376573e-01 -1.76812084e-02 2.14043314e+02] [ 9.16901976e-01 3.95682787e-01 5.22101294e-02 9.28106208e+01] [ 5.49447095e-02 4.42737342e-03 -9.98479583e-01 1.10944569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.896875 meters 0.013012400475916962 Centerline is valid? [True, True] Translation: X:214.05, Y:92.80, Z:11.10 [[-4.66493109e-01 8.84267387e-01 -2.13393699e-02 2.14054365e+02] [ 8.82868934e-01 4.66959796e-01 4.99098563e-02 9.28019149e+01] [ 5.40982860e-02 4.44273728e-03 -9.98525732e-01 1.10963873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.926875 meters 0.013031802152721686 Centerline is valid? [True, True] Translation: X:214.07, Y:92.79, Z:11.10 [[-5.34777364e-01 8.44618016e-01 -2.51709797e-02 2.14065164e+02] [ 8.43263448e-01 5.35350869e-01 4.80229586e-02 9.27949955e+01] [ 5.40363619e-02 4.45582410e-03 -9.98529027e-01 1.10983092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.956875 meters 0.012909703041117737 Centerline is valid? [True, True] Translation: X:214.08, Y:92.79, Z:11.10 [[-6.00023668e-01 7.99477843e-01 -2.84038216e-02 2.14079418e+02] [ 7.98207980e-01 6.00678811e-01 4.52657413e-02 9.27914415e+01] [ 5.32505310e-02 4.48835908e-03 -9.98571097e-01 1.10998786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.986875 meters 0.012994319097153218 Centerline is valid? [True, True] Translation: X:214.09, Y:92.79, Z:11.10 [[-6.60991918e-01 7.49728096e-01 -3.15827022e-02 2.14093122e+02] [ 7.48533101e-01 6.61730814e-01 4.25502904e-02 9.27875394e+01] [ 5.28003955e-02 4.48470001e-03 -9.98595016e-01 1.11020541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.016875 meters 0.012922354882723511 Centerline is valid? [True, True] Translation: X:214.10, Y:92.78, Z:11.10 [[-7.18089164e-01 6.95085006e-01 -3.47100375e-02 2.14103129e+02] [ 6.93958500e-01 7.18913465e-01 3.98124365e-02 9.27814603e+01] [ 5.26265410e-02 4.50155370e-03 -9.98604117e-01 1.11035814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.046875 meters 0.012881615259568185 Centerline is valid? [True, True] Translation: X:214.72, Y:93.46, Z:10.41 [[-6.72146008e-01 -7.39009416e-01 4.56599069e-02 2.14716905e+02] [ 7.37548133e-01 -6.73690777e-01 -4.65133270e-02 9.34639803e+01] [ 6.51344448e-02 2.41263205e-03 9.97873581e-01 1.04058899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07687500000003 meters 0.012863295783656832 Centerline is valid? [True, True] Translation: X:214.70, Y:93.48, Z:10.41 [[-6.72338265e-01 -7.38949754e-01 4.37552016e-02 2.14699150e+02] [ 7.37377892e-01 -6.73760525e-01 -4.81725895e-02 9.34845191e+01] [ 6.50776508e-02 -1.24156964e-04 9.97880195e-01 1.04099354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.106875 meters 0.012846643967096357 Centerline is valid? [True, True] Translation: X:214.68, Y:93.50, Z:10.41 [[-6.72515787e-01 -7.38787799e-01 4.37618989e-02 2.14680681e+02] [ 7.37217025e-01 -6.73938108e-01 -4.81506516e-02 9.35045048e+01] [ 6.50659252e-02 -1.20056427e-04 9.97880960e-01 1.04122005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13687500000003 meters 0.01283346173358099 Centerline is valid? [True, True] Translation: X:214.66, Y:93.52, Z:10.41 [[-6.72725095e-01 -7.38626429e-01 4.32659731e-02 2.14662101e+02] [ 7.37092620e-01 -6.74114964e-01 -4.75760858e-02 9.35242703e+01] [ 6.43071943e-02 -1.14597341e-04 9.97930144e-01 1.04137618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.166875 meters 0.012734780179598797 Centerline is valid? [True, True] Translation: X:214.64, Y:93.54, Z:10.42 [[-6.72439985e-01 -7.38894407e-01 4.31221901e-02 2.14642727e+02] [ 7.37373186e-01 -6.73821231e-01 -4.73891639e-02 9.35439715e+01] [ 6.40722353e-02 -6.92219431e-05 9.97945261e-01 1.04164356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19687500000003 meters 0.01279867191018091 Centerline is valid? [True, True] Translation: X:214.62, Y:93.56, Z:10.42 [[-6.72197844e-01 -7.39141009e-01 4.26688215e-02 2.14623888e+02] [ 7.37653945e-01 -6.73550717e-01 -4.68624389e-02 9.35639090e+01] [ 6.33775657e-02 -2.60058984e-05 9.97989621e-01 1.04189685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.226875 meters 0.012756271767520897 Centerline is valid? [True, True] Translation: X:214.61, Y:93.58, Z:10.42 [[-6.72030184e-01 -7.39303145e-01 4.25004916e-02 2.14605855e+02] [ 7.37830002e-01 -6.73372749e-01 -4.66479270e-02 9.35827354e+01] [ 6.31056321e-02 9.32287262e-06 9.98006853e-01 1.04204795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25687500000004 meters 0.012693388604627839 Centerline is valid? [True, True] Translation: X:214.59, Y:93.60, Z:10.42 [[-6.72213713e-01 -7.39152716e-01 4.22135845e-02 2.14587386e+02] [ 7.37701031e-01 -6.73537870e-01 -4.63025470e-02 9.36025684e+01] [ 6.26571012e-02 1.57977259e-05 9.98035113e-01 1.04224699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.286875 meters 0.01271932475594814 Centerline is valid? [True, True] Translation: X:214.57, Y:93.62, Z:10.42 [[-6.73449968e-01 -7.38003365e-01 4.26166041e-02 2.14569560e+02] [ 7.36523328e-01 -6.74797028e-01 -4.67157287e-02 9.36234456e+01] [ 6.32339227e-02 -7.25828766e-05 9.97998730e-01 1.04237787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31687500000004 meters 0.012751406476419673 Centerline is valid? [True, True] Translation: X:214.55, Y:93.64, Z:10.42 [[-6.74411179e-01 -7.37095937e-01 4.31177594e-02 2.14551923e+02] [ 7.35580894e-01 -6.75788103e-01 -4.72354581e-02 9.36446673e+01] [ 6.39555331e-02 -1.39521010e-04 9.97952740e-01 1.04249236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.346875 meters 0.012951929304090082 Centerline is valid? [True, True] Translation: X:214.54, Y:93.67, Z:10.43 [[-6.76803132e-01 -7.34870459e-01 4.36225706e-02 2.14536312e+02] [ 7.33317001e-01 -6.78207414e-01 -4.77585521e-02 9.36665577e+01] [ 6.46814999e-02 -3.33964953e-04 9.97905903e-01 1.04258389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.376875 meters 0.013082362288935515 Centerline is valid? [True, True] Translation: X:214.52, Y:93.69, Z:10.43 [[-6.77980944e-01 -7.33764862e-01 4.39427749e-02 2.14519552e+02] [ 7.32188203e-01 -6.79403378e-01 -4.80779118e-02 9.36870459e+01] [ 6.51327520e-02 -4.21526642e-04 9.97876519e-01 1.04269478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.406875 meters 0.013176772068473726 Centerline is valid? [True, True] Translation: X:214.50, Y:93.71, Z:10.43 [[-6.78914830e-01 -7.32867669e-01 4.44930600e-02 2.14502005e+02] [ 7.31251351e-01 -6.80371028e-01 -4.86489976e-02 9.37080595e+01] [ 6.59250665e-02 -4.92915741e-04 9.97824455e-01 1.04286965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.436875 meters 0.01337395764686046 Centerline is valid? [True, True] Translation: X:214.49, Y:93.73, Z:10.43 [[-6.80335691e-01 -7.31537829e-01 4.46738439e-02 2.14485272e+02] [ 7.29907369e-01 -6.81800586e-01 -4.88179711e-02 9.37289644e+01] [ 6.61708456e-02 -6.04840247e-04 9.97808125e-01 1.04302636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.466875 meters 0.013444895069602692 Centerline is valid? [True, True] Translation: X:214.47, Y:93.75, Z:10.43 [[-6.81182898e-01 -7.30771130e-01 4.43104371e-02 2.14467290e+02] [ 7.29167019e-01 -6.82622240e-01 -4.83976907e-02 9.37493885e+01] [ 6.56149250e-02 -6.57969945e-04 9.97844802e-01 1.04321971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.496875 meters 0.013401454971629766 Centerline is valid? [True, True] Translation: X:214.45, Y:93.77, Z:10.43 [[-6.81789876e-01 -7.30233937e-01 4.38287853e-02 2.14449113e+02] [ 7.28665307e-01 -6.83196847e-01 -4.78428544e-02 9.37697132e+01] [ 6.48801639e-02 -6.82258465e-04 9.97892829e-01 1.04345966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.526875 meters 0.013593892474104446 Centerline is valid? [True, True] Translation: X:214.43, Y:93.79, Z:10.44 [[-6.83247364e-01 -7.28902052e-01 4.32993939e-02 2.14432149e+02] [ 7.27370309e-01 -6.84617551e-01 -4.72360327e-02 9.37908782e+01] [ 6.40739662e-02 -7.79201351e-04 9.97944848e-01 1.04378768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.556875 meters 0.013887323280362698 Centerline is valid? [True, True] Translation: X:214.42, Y:93.81, Z:10.44 [[-6.83730259e-01 -7.28452671e-01 4.32393098e-02 2.14415634e+02] [ 7.26926171e-01 -6.85095662e-01 -4.71410327e-02 9.38112659e+01] [ 6.39630748e-02 -7.99964634e-04 9.97951945e-01 1.04393597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.586875 meters 0.013594508828550763 Centerline is valid? [True, True] Translation: X:214.40, Y:93.83, Z:10.44 [[-6.84187468e-01 -7.28035656e-01 4.30301439e-02 2.14397055e+02] [ 7.26525012e-01 -6.85538782e-01 -4.68826696e-02 9.38309717e+01] [ 6.36310875e-02 -8.14059178e-04 9.97973157e-01 1.04412205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.616875 meters 0.013609068015413535 Centerline is valid? [True, True] Translation: X:214.38, Y:93.85, Z:10.44 [[-6.84401126e-01 -7.27811279e-01 4.34262641e-02 2.14378753e+02] [ 7.26274107e-01 -6.85776979e-01 -4.72848473e-02 9.38516049e+01] [ 6.41951774e-02 -8.22431590e-04 9.97937023e-01 1.04422725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.646875 meters 0.013401964645923175 Centerline is valid? [True, True] Translation: X:214.36, Y:93.87, Z:10.44 [[-6.84565229e-01 -7.27647631e-01 4.35817984e-02 2.14359883e+02] [ 7.26101001e-01 -6.85950620e-01 -4.74245059e-02 9.38710181e+01] [ 6.44032910e-02 -8.20380326e-04 9.97923616e-01 1.04436583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.676875 meters 0.013899388067133658 Centerline is valid? [True, True] Translation: X:214.34, Y:93.89, Z:10.44 [[-6.84741310e-01 -7.27461520e-01 4.39212424e-02 2.14342565e+02] [ 7.25892301e-01 -6.86147986e-01 -4.77630484e-02 9.38915014e+01] [ 6.48822518e-02 -8.23240588e-04 9.97892587e-01 1.04436770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.706875 meters 0.013485083048845697 Centerline is valid? [True, True] Translation: X:214.32, Y:93.91, Z:10.45 [[-6.84703598e-01 -7.27478757e-01 4.42226343e-02 2.14323389e+02] [ 7.25890039e-01 -6.86129732e-01 -4.80587318e-02 9.39105521e+01] [ 6.53041708e-02 -8.05216831e-04 9.97865080e-01 1.04452236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.736875 meters 0.0137494516410984 Centerline is valid? [True, True] Translation: X:214.31, Y:93.93, Z:10.44 [[-6.84338643e-01 -7.27753309e-01 4.53403021e-02 2.14306126e+02] [ 7.26085884e-01 -6.85838550e-01 -4.92419728e-02 9.39303215e+01] [ 6.69321357e-02 -7.77231486e-04 9.97757228e-01 1.04448560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.766875 meters 0.013453168623632187 Centerline is valid? [True, True] Translation: X:214.29, Y:93.95, Z:10.45 [[-6.84293449e-01 -7.27757403e-01 4.59525723e-02 2.14287410e+02] [ 7.26046809e-01 -6.85834220e-01 -4.98743830e-02 9.39499100e+01] [ 6.78122980e-02 -7.64995097e-04 9.97697803e-01 1.04465639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.796875 meters 0.013706632018461477 Centerline is valid? [True, True] Translation: X:214.27, Y:93.97, Z:10.45 [[-6.84579840e-01 -7.27462905e-01 4.63482934e-02 2.14269930e+02] [ 7.25724175e-01 -6.86146569e-01 -5.02723324e-02 9.39697844e+01] [ 6.83729795e-02 -7.79348278e-04 9.97659525e-01 1.04474590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.82687500000003 meters 0.013786521864046641 Centerline is valid? [True, True] Translation: X:214.25, Y:93.99, Z:10.45 [[-6.85638551e-01 -7.26455634e-01 4.64972043e-02 2.14252271e+02] [ 7.24705622e-01 -6.87212829e-01 -5.04012881e-02 9.39901820e+01] [ 6.85677750e-02 -8.60280815e-04 9.97646090e-01 1.04493909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.856875 meters 0.01409001190474372 Centerline is valid? [True, True] Translation: X:214.24, Y:94.01, Z:10.45 [[-6.86742782e-01 -7.25426023e-01 4.62756583e-02 2.14235083e+02] [ 7.23692440e-01 -6.88299504e-01 -5.01302843e-02 9.40102179e+01] [ 6.82173254e-02 -9.37266794e-04 9.97670045e-01 1.04510842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.88687500000003 meters 0.013983279885137168 Centerline is valid? [True, True] Translation: X:214.22, Y:94.03, Z:10.45 [[-6.87686149e-01 -7.24567728e-01 4.57096067e-02 2.14216598e+02] [ 7.22876569e-01 -6.89202896e-01 -4.94856979e-02 9.40297756e+01] [ 6.73589330e-02 -9.88225372e-04 9.97728319e-01 1.04539848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.916875 meters 0.014510852338872346 Centerline is valid? [True, True] Translation: X:214.20, Y:94.05, Z:10.46 [[-6.88936996e-01 -7.23410578e-01 4.51990189e-02 2.14199805e+02] [ 7.21756581e-01 -6.90417262e-01 -4.89023819e-02 9.40502851e+01] [ 6.65826832e-02 -1.06797077e-03 9.97780339e-01 1.04563412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.94687500000003 meters 0.014722279497260442 Centerline is valid? [True, True] Translation: X:214.18, Y:94.07, Z:10.46 [[-6.91358256e-01 -7.21154524e-01 4.42709309e-02 2.14182014e+02] [ 7.19565181e-01 -6.92773138e-01 -4.78678447e-02 9.40717468e+01] [ 6.51898244e-02 -1.23800926e-03 9.97872113e-01 1.04608057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.976875 meters 0.015203187398369693 Centerline is valid? [True, True] Translation: X:214.16, Y:94.09, Z:10.46 [[-6.92881714e-01 -7.19713888e-01 4.38959010e-02 2.14163572e+02] [ 7.18150181e-01 -6.94269482e-01 -4.74363225e-02 9.40933046e+01] [ 6.46161646e-02 -1.34391119e-03 9.97909287e-01 1.04631464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.00687500000004 meters 0.01751355432517157 Centerline is valid? [True, True] Translation: X:214.15, Y:94.12, Z:10.46 [[-6.95572933e-01 -7.17121037e-01 4.37688623e-02 2.14147971e+02] [ 7.15562884e-01 -6.96946897e-01 -4.72734790e-02 9.41150159e+01] [ 6.44053790e-02 -1.56277916e-03 9.97922595e-01 1.04642765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.036875 meters 0.017103482081315634 Centerline is valid? [True, True] Translation: X:214.13, Y:94.13, Z:10.47 [[-6.96906827e-01 -7.15800842e-01 4.41591214e-02 2.14127699e+02] [ 7.14213572e-01 -6.98302454e-01 -4.76723841e-02 9.41344504e+01] [ 6.49603555e-02 -1.68416617e-03 9.97886424e-01 1.04662222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.06687500000004 meters 0.017644378474020863 Centerline is valid? [True, True] Translation: X:214.11, Y:94.15, Z:10.47 [[-6.98186588e-01 -7.14547948e-01 4.42348204e-02 2.14108868e+02] [ 7.12954359e-01 -6.99584191e-01 -4.77288360e-02 9.41546354e+01] [ 6.50505228e-02 -1.78622512e-03 9.97880373e-01 1.04673605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.096875 meters 0.01830985190501832 Centerline is valid? [True, True] Translation: X:214.09, Y:94.17, Z:10.47 [[-7.00656663e-01 -7.12081459e-01 4.49470408e-02 2.14089207e+02] [ 7.10432354e-01 -7.02093911e-01 -4.84769103e-02 9.41749402e+01] [ 6.60765527e-02 -2.03383824e-03 9.97812484e-01 1.04685902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.126875 meters 0.018599481040151078 Centerline is valid? [True, True] Translation: X:214.07, Y:94.19, Z:10.47 [[-7.02087417e-01 -7.10656024e-01 4.51804685e-02 2.14070233e+02] [ 7.08988583e-01 -7.03536317e-01 -4.87015324e-02 9.41949660e+01] [ 6.63961378e-02 -2.16029673e-03 9.97791003e-01 1.04699340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.156875 meters 0.019483966281462425 Centerline is valid? [True, True] Translation: X:214.05, Y:94.22, Z:10.47 [[-7.03390060e-01 -7.09344181e-01 4.55330269e-02 2.14052256e+02] [ 7.07649778e-01 -7.04858586e-01 -4.90526845e-02 9.42153420e+01] [ 6.68895813e-02 -2.28173430e-03 9.97757775e-01 1.04707801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.186875 meters 0.021500976270847152 Centerline is valid? [True, True] Translation: X:214.04, Y:94.24, Z:10.47 [[-7.06229013e-01 -7.06460003e-01 4.64203228e-02 2.14035461e+02] [ 7.04694555e-01 -7.07748247e-01 -4.99800239e-02 9.42358181e+01] [ 6.81627900e-02 -2.58519421e-03 9.97670863e-01 1.04710864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.216875 meters 0.02234980718276797 Centerline is valid? [True, True] Translation: X:214.02, Y:94.26, Z:10.47 [[-7.07651460e-01 -7.05009014e-01 4.68156108e-02 2.14016562e+02] [ 7.03211781e-01 -7.09193083e-01 -5.03821637e-02 9.42570187e+01] [ 6.87211869e-02 -2.73172267e-03 9.97632165e-01 1.04728702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.246875 meters 0.023147247756927405 Centerline is valid? [True, True] Translation: X:214.00, Y:94.28, Z:10.47 [[-7.08845540e-01 -7.03795389e-01 4.70111654e-02 2.13997792e+02] [ 7.01982308e-01 -7.10397053e-01 -5.05654799e-02 9.42782585e+01] [ 6.89843450e-02 -2.84210862e-03 9.97613694e-01 1.04741634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.276875 meters 0.02389477251941375 Centerline is valid? [True, True] Translation: X:213.98, Y:94.30, Z:10.48 [[-7.10064764e-01 -7.02552239e-01 4.72057493e-02 2.13978906e+02] [ 7.00723240e-01 -7.11626035e-01 -5.07476789e-02 9.42986682e+01] [ 6.92457357e-02 -2.95597303e-03 9.97595254e-01 1.04759833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.306875 meters 0.0228251761640929 Centerline is valid? [True, True] Translation: X:213.96, Y:94.32, Z:10.48 [[-7.10949252e-01 -7.01670445e-01 4.70079561e-02 2.13957382e+02] [ 6.99856693e-01 -7.12495282e-01 -5.05082366e-02 9.43164093e+01] [ 6.89330838e-02 -3.00996029e-03 9.97616745e-01 1.04784292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.336875 meters 0.022527220449824085 Centerline is valid? [True, True] Translation: X:213.94, Y:94.34, Z:10.48 [[-7.10902450e-01 -7.01726707e-01 4.68757332e-02 2.13937288e+02] [ 6.99925196e-01 -7.12440012e-01 -5.03383440e-02 9.43351691e+01] [ 6.87199083e-02 -2.97614538e-03 9.97631554e-01 1.04799567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.366875 meters 0.021227134654657757 Centerline is valid? [True, True] Translation: X:213.92, Y:94.35, Z:10.48 [[-7.10690738e-01 -7.01944966e-01 4.68181538e-02 2.13916175e+02] [ 7.00150480e-01 -7.12225163e-01 -5.02456181e-02 9.43524807e+01] [ 6.86147259e-02 -2.92934256e-03 9.97638932e-01 1.04819223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.396875 meters 0.021105984925918284 Centerline is valid? [True, True] Translation: X:213.90, Y:94.37, Z:10.48 [[-7.09397082e-01 -7.03266833e-01 4.65998152e-02 2.13895484e+02] [ 7.01493976e-01 -7.10920605e-01 -4.99809451e-02 9.43697763e+01] [ 6.82787098e-02 -2.76684695e-03 9.97662449e-01 1.04835614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.426875 meters 0.022995926485900323 Centerline is valid? [True, True] Translation: X:213.88, Y:94.39, Z:10.48 [[-7.08560755e-01 -7.04121588e-01 4.64160083e-02 2.13877576e+02] [ 7.02366264e-01 -7.10074458e-01 -4.97583704e-02 9.43905398e+01] [ 6.79947648e-02 -2.65579017e-03 9.97682143e-01 1.04844739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.456875 meters 0.021646008566449153 Centerline is valid? [True, True] Translation: X:213.86, Y:94.41, Z:10.49 [[-7.07613243e-01 -7.05077814e-01 4.63548721e-02 2.13855823e+02] [ 7.03330935e-01 -7.09125387e-01 -4.96667125e-02 9.44083541e+01] [ 6.78903137e-02 -2.54200800e-03 9.97689553e-01 1.04866486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.486875 meters 0.021646008566449153 Centerline is valid? [True, True] Translation: X:213.84, Y:94.43, Z:10.49 [[-7.07824022e-01 -7.04865331e-01 4.63683054e-02 2.13837464e+02] [ 7.03118816e-01 -7.09336587e-01 -4.96541686e-02 9.44278335e+01] [ 6.78902375e-02 -2.54398531e-03 9.97689553e-01 1.04882165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.516875 meters 0.02031661790650872 Centerline is valid? [True, True] Translation: X:213.81, Y:94.44, Z:10.49 [[-7.05321160e-01 -7.07395763e-01 4.59705899e-02 2.13814733e+02] [ 7.05686432e-01 -7.06814067e-01 -4.91989248e-02 9.44435934e+01] [ 6.72957706e-02 -2.26022121e-03 9.97730510e-01 1.04897905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.546875 meters 0.01953894744069811 Centerline is valid? [True, True] Translation: X:213.79, Y:94.46, Z:10.49 [[-7.04349473e-01 -7.08358454e-01 4.60447550e-02 2.13793263e+02] [ 7.06647620e-01 -7.05849611e-01 -4.92490446e-02 9.44619083e+01] [ 6.73866495e-02 -2.15112213e-03 9.97724617e-01 1.04914277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57687500000003 meters 0.01864049673075615 Centerline is valid? [True, True] Translation: X:213.77, Y:94.48, Z:10.49 [[-7.03162010e-01 -7.09536729e-01 4.60523429e-02 2.13771872e+02] [ 7.07829625e-01 -7.04665559e-01 -4.92308051e-02 9.44803522e+01] [ 6.73825643e-02 -2.02001923e-03 9.97725167e-01 1.04928633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.606875 meters 0.017214199283242894 Centerline is valid? [True, True] Translation: X:213.75, Y:94.50, Z:10.49 [[-7.00602832e-01 -7.12014380e-01 4.68102007e-02 2.13748258e+02] [ 7.10257917e-01 -7.02162595e-01 -5.00138207e-02 9.44970122e+01] [ 6.84789316e-02 -1.79250878e-03 9.97650952e-01 1.04935778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63687500000003 meters 0.016211185771978907 Centerline is valid? [True, True] Translation: X:213.73, Y:94.51, Z:10.49 [[-6.99506509e-01 -7.13080998e-01 4.69695055e-02 2.13726570e+02] [ 7.11316761e-01 -7.01079656e-01 -5.01575660e-02 9.45146330e+01] [ 6.86957719e-02 -1.67534738e-03 9.97636248e-01 1.04948283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.666875 meters 0.016254620956104658 Centerline is valid? [True, True] Translation: X:213.71, Y:94.53, Z:10.50 [[-6.98135392e-01 -7.14396163e-01 4.73824558e-02 2.13706484e+02] [ 7.12605701e-01 -6.99739773e-01 -5.05703955e-02 9.45334729e+01] [ 6.92826854e-02 -1.53997475e-03 9.97595879e-01 1.04950853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69687500000003 meters 0.015267171211003646 Centerline is valid? [True, True] Translation: X:213.68, Y:94.55, Z:10.50 [[-6.95812914e-01 -7.16623772e-01 4.79036357e-02 2.13683891e+02] [ 7.14800879e-01 -6.97458704e-01 -5.10985330e-02 9.45504423e+01] [ 7.00292312e-02 -1.31345820e-03 9.97544075e-01 1.04956370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.726875 meters 0.015548732829787196 Centerline is valid? [True, True] Translation: X:213.67, Y:94.57, Z:10.50 [[-6.94972400e-01 -7.17417306e-01 4.82262571e-02 2.13665599e+02] [ 7.15573705e-01 -6.96642603e-01 -5.14135732e-02 9.45692000e+01] [ 7.04814524e-02 -1.22157287e-03 9.97512342e-01 1.04962673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75687500000004 meters 0.01481464180086986 Centerline is valid? [True, True] Translation: X:213.65, Y:94.59, Z:10.50 [[-6.94321459e-01 -7.18059220e-01 4.80485940e-02 2.13645430e+02] [ 7.16233024e-01 -6.95981092e-01 -5.11915511e-02 9.45870026e+01] [ 7.01994782e-02 -1.12940272e-03 9.97532334e-01 1.04982743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.786875 meters 0.014674463898125037 Centerline is valid? [True, True] Translation: X:213.63, Y:94.61, Z:10.50 [[-6.93978726e-01 -7.18388514e-01 4.80777612e-02 2.13626212e+02] [ 7.16563085e-01 -6.95641278e-01 -5.11913865e-02 9.46058053e+01] [ 7.02201793e-02 -1.07498426e-03 9.97530937e-01 1.04998922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81687500000004 meters 0.014968420589040486 Centerline is valid? [True, True] Translation: X:213.61, Y:94.62, Z:10.50 [[-6.93530747e-01 -7.18884264e-01 4.71223601e-02 2.13607885e+02] [ 7.17133969e-01 -6.95129087e-01 -5.01440294e-02 9.46244997e+01] [ 6.88038768e-02 -9.83381076e-04 9.97629721e-01 1.05017565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.846875 meters 0.01382195034691086 Centerline is valid? [True, True] Translation: X:213.59, Y:94.64, Z:10.51 [[-6.93610476e-01 -7.18834065e-01 4.67128920e-02 2.13586742e+02] [ 7.17116117e-01 -6.95181033e-01 -4.96770131e-02 9.46422883e+01] [ 6.81834458e-02 -9.57929013e-04 9.97672341e-01 1.05059937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.876875 meters 0.01368491162384258 Centerline is valid? [True, True] Translation: X:213.57, Y:94.66, Z:10.51 [[-6.93248375e-01 -7.19229393e-01 4.59975238e-02 2.13567693e+02] [ 7.17566658e-01 -6.94772121e-01 -4.88854943e-02 9.46605322e+01] [ 6.71176816e-02 -8.83500029e-04 9.97744675e-01 1.05084311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.906875 meters 0.013740336134587713 Centerline is valid? [True, True] Translation: X:213.55, Y:94.68, Z:10.51 [[-6.93142206e-01 -7.19344912e-01 4.57906072e-02 2.13548844e+02] [ 7.17699455e-01 -6.94652561e-01 -4.86344724e-02 9.46794078e+01] [ 6.67935229e-02 -8.46711683e-04 9.97766460e-01 1.05100638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.936875 meters 0.01354943339497871 Centerline is valid? [True, True] Translation: X:213.53, Y:94.70, Z:10.51 [[-6.93063903e-01 -7.19420135e-01 4.57940585e-02 2.13529357e+02] [ 7.17776217e-01 -6.94574685e-01 -4.86138795e-02 9.46984513e+01] [ 6.67811974e-02 -8.22638982e-04 9.97767305e-01 1.05119196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.966875 meters 0.013521753755473888 Centerline is valid? [True, True] Translation: X:213.51, Y:94.72, Z:10.51 [[-6.92750453e-01 -7.19723461e-01 4.57706147e-02 2.13510494e+02] [ 7.18083912e-01 -6.94260430e-01 -4.85587427e-02 9.47171547e+01] [ 6.67255930e-02 -7.71948957e-04 9.97771066e-01 1.05131591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.996875 meters 0.013156605387443366 Centerline is valid? [True, True] Translation: X:213.49, Y:94.74, Z:10.51 [[-6.91653784e-01 -7.20769028e-01 4.59026309e-02 2.13489624e+02] [ 7.19124402e-01 -6.93175002e-01 -4.86673428e-02 9.47350032e+01] [ 6.68964696e-02 -6.51249747e-04 9.97759710e-01 1.05142159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.026875 meters 0.01302339094968115 Centerline is valid? [True, True] Translation: X:213.47, Y:94.75, Z:10.52 [[-6.91341432e-01 -7.21070362e-01 4.58754559e-02 2.13469609e+02] [ 7.19430346e-01 -6.92861582e-01 -4.86086954e-02 9.47539814e+01] [ 6.68356306e-02 -6.01009966e-04 9.97763818e-01 1.05160162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.056875 meters 0.012955386118853208 Centerline is valid? [True, True] Translation: X:213.45, Y:94.77, Z:10.52 [[-6.91033647e-01 -7.21354568e-01 4.60444004e-02 2.13449910e+02] [ 7.19705118e-01 -6.92565723e-01 -4.87571877e-02 9.47730233e+01] [ 6.70599935e-02 -5.54466606e-04 9.97748791e-01 1.05171292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.086875 meters 0.013093450943595025 Centerline is valid? [True, True] Translation: X:213.43, Y:94.79, Z:10.52 [[-6.90921647e-01 -7.21437758e-01 4.64202461e-02 2.13431427e+02] [ 7.19763527e-01 -6.92479084e-01 -4.91241757e-02 9.47919599e+01] [ 6.75850846e-02 -5.29356319e-04 9.97713374e-01 1.05177558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.116875 meters 0.012775421489629886 Centerline is valid? [True, True] Translation: X:213.41, Y:94.81, Z:10.52 [[-6.90935555e-01 -7.21422360e-01 4.64525199e-02 2.13411548e+02] [ 7.19747926e-01 -6.92495140e-01 -4.91264059e-02 9.48108804e+01] [ 6.76090320e-02 -5.09075657e-04 9.97711762e-01 1.05199080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.146875 meters 0.01288294158741637 Centerline is valid? [True, True] Translation: X:213.39, Y:94.83, Z:10.52 [[-6.91489070e-01 -7.20877941e-01 4.66675605e-02 2.13393036e+02] [ 7.19188847e-01 -6.93061830e-01 -4.93224423e-02 9.48304220e+01] [ 6.78989655e-02 -5.43140715e-04 9.97692054e-01 1.05212943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.176875 meters 0.013035695516645109 Centerline is valid? [True, True] Translation: X:213.38, Y:94.85, Z:10.52 [[-6.92069858e-01 -7.20306961e-01 4.68742442e-02 2.13375733e+02] [ 7.18603713e-01 -6.93655207e-01 -4.95091708e-02 9.48499787e+01] [ 6.81763639e-02 -5.79798895e-04 9.97673116e-01 1.05220956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.206875 meters 0.013133636144541988 Centerline is valid? [True, True] Translation: X:213.36, Y:94.87, Z:10.52 [[-6.92599026e-01 -7.19791942e-01 4.69696564e-02 2.13357725e+02] [ 7.18082798e-01 -6.94189592e-01 -4.95772774e-02 9.48701575e+01] [ 6.82911714e-02 -6.09071742e-04 9.97665247e-01 1.05245506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.236875 meters 0.013134152102246168 Centerline is valid? [True, True] Translation: X:213.34, Y:94.89, Z:10.53 [[-6.92961117e-01 -7.19449208e-01 4.68799349e-02 2.13340284e+02] [ 7.17747916e-01 -6.94544781e-01 -4.94517519e-02 9.48895883e+01] [ 6.81382379e-02 -6.20165628e-04 9.97675697e-01 1.05264377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.266875 meters 0.01297439296235537 Centerline is valid? [True, True] Translation: X:213.32, Y:94.91, Z:10.53 [[-6.93031954e-01 -7.19389518e-01 4.67486088e-02 2.13321365e+02] [ 7.17699787e-01 -6.94606622e-01 -4.92814067e-02 9.49094236e+01] [ 6.79244206e-02 -6.02122970e-04 9.97690288e-01 1.05290156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.296875 meters 0.01311724745901299 Centerline is valid? [True, True] Translation: X:213.30, Y:94.93, Z:10.53 [[-6.93266396e-01 -7.19199840e-01 4.61875990e-02 2.13303974e+02] [ 7.17552109e-01 -6.94803023e-01 -4.86593329e-02 9.49288713e+01] [ 6.70870678e-02 -5.91871265e-04 9.97746949e-01 1.05300557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.32687500000003 meters 0.01277790089759664 Centerline is valid? [True, True] Translation: X:213.29, Y:94.95, Z:10.53 [[-6.92977732e-01 -7.19516092e-01 4.55901034e-02 2.13285056e+02] [ 7.17913525e-01 -6.94475565e-01 -4.79985422e-02 9.49482542e+01] [ 6.61969363e-02 -5.32169081e-04 9.97806435e-01 1.05327652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.356875 meters 0.012964145044903327 Centerline is valid? [True, True] Translation: X:213.27, Y:94.97, Z:10.53 [[-6.92907366e-01 -7.19604035e-01 4.52704684e-02 2.13268124e+02] [ 7.18026069e-01 -6.94384464e-01 -4.76317209e-02 9.49682861e+01] [ 6.57110885e-02 -4.98993800e-04 9.97838566e-01 1.05335896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.38687500000003 meters 0.012746405207931931 Centerline is valid? [True, True] Translation: X:213.25, Y:94.99, Z:10.54 [[-6.92874440e-01 -7.19643900e-01 4.51405318e-02 2.13249716e+02] [ 7.18077125e-01 -6.94343167e-01 -4.74637526e-02 9.49884908e+01] [ 6.55000199e-02 -4.72037685e-04 9.97852456e-01 1.05358888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.416875 meters 0.012639385640806848 Centerline is valid? [True, True] Translation: X:213.23, Y:95.01, Z:10.54 [[-6.92154166e-01 -7.20349945e-01 4.49284776e-02 2.13231582e+02] [ 7.18801191e-01 -6.93610705e-01 -4.72126957e-02 9.50095111e+01] [ 6.51725358e-02 -3.83820792e-04 9.97873937e-01 1.05377815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.44687500000003 meters 0.012583729479308605 Centerline is valid? [True, True] Translation: X:213.21, Y:95.03, Z:10.54 [[-6.91850450e-01 -7.20635479e-01 4.50273465e-02 2.13214296e+02] [ 7.19082294e-01 -6.93314065e-01 -4.72891350e-02 9.50290591e+01] [ 6.52963210e-02 -3.38641708e-04 9.97865861e-01 1.05391374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.476875 meters 0.012507119033563253 Centerline is valid? [True, True] Translation: X:213.20, Y:95.05, Z:10.54 [[-6.91482266e-01 -7.20963056e-01 4.54373071e-02 2.13195840e+02] [ 7.19384150e-01 -6.92973440e-01 -4.76891575e-02 9.50489117e+01] [ 6.58689678e-02 -2.89328127e-04 9.97828239e-01 1.05404948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.50687500000004 meters 0.012404270459552834 Centerline is valid? [True, True] Translation: X:213.18, Y:95.07, Z:10.54 [[-6.90320699e-01 -7.22045238e-01 4.59130410e-02 2.13178609e+02] [ 7.20437431e-01 -6.91845825e-01 -4.81587127e-02 9.50693500e+01] [ 6.65375150e-02 -1.67482894e-04 9.97783910e-01 1.05404549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.536875 meters 0.012311826617385167 Centerline is valid? [True, True] Translation: X:213.16, Y:95.09, Z:10.54 [[-6.89608220e-01 -7.22705618e-01 4.62286944e-02 2.13159919e+02] [ 7.21079169e-01 -6.91155976e-01 -4.84587482e-02 9.50895536e+01] [ 6.69726479e-02 -8.30025243e-05 9.97754808e-01 1.05432334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.56687500000004 meters 0.01245003357464868 Centerline is valid? [True, True] Translation: X:213.14, Y:95.11, Z:10.54 [[-6.88236089e-01 -7.23985516e-01 4.66482490e-02 2.13143447e+02] [ 7.22334414e-01 -6.89815170e-01 -4.88674287e-02 9.51097627e+01] [ 6.75579804e-02 6.33076118e-05 9.97715348e-01 1.05436049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.596875 meters 0.012529879071360417 Centerline is valid? [True, True] Translation: X:213.13, Y:95.13, Z:10.55 [[-6.87677251e-01 -7.24510982e-01 4.67315244e-02 2.13125292e+02] [ 7.22857351e-01 -6.89263243e-01 -4.89227139e-02 9.51306547e+01] [ 6.76553656e-02 1.37188579e-04 9.97708741e-01 1.05456812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.626875 meters 0.012503002862519734 Centerline is valid? [True, True] Translation: X:213.11, Y:95.15, Z:10.55 [[-6.87389772e-01 -7.24783617e-01 4.67333959e-02 2.13107849e+02] [ 7.23132462e-01 -6.88976541e-01 -4.88954792e-02 9.51505001e+01] [ 6.76368558e-02 1.84183345e-04 9.97709989e-01 1.05463665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.656875 meters 0.012578317837975611 Centerline is valid? [True, True] Translation: X:213.09, Y:95.17, Z:10.55 [[-6.87432585e-01 -7.24744537e-01 4.67097005e-02 2.13089878e+02] [ 7.23096594e-01 -6.89017646e-01 -4.88466896e-02 9.51715717e+01] [ 6.75851794e-02 1.96819227e-04 9.97713488e-01 1.05480156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.686875 meters 0.012630374260717862 Centerline is valid? [True, True] Translation: X:213.07, Y:95.19, Z:10.55 [[-6.87343493e-01 -7.24829254e-01 4.67062645e-02 2.13073705e+02] [ 7.23183725e-01 -6.88928517e-01 -4.88139158e-02 9.51940445e+01] [ 6.75590318e-02 2.25282988e-04 9.97715253e-01 1.05505071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.716875 meters 0.012547263193104303 Centerline is valid? [True, True] Translation: X:213.06, Y:95.21, Z:10.55 [[-6.87471992e-01 -7.24716749e-01 4.65606488e-02 2.13055780e+02] [ 7.23083222e-01 -6.89046863e-01 -4.86320370e-02 9.52149563e+01] [ 6.73269207e-02 2.34060512e-04 9.97730941e-01 1.05521630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.746875 meters 0.012469482081745552 Centerline is valid? [True, True] Translation: X:213.04, Y:95.23, Z:10.55 [[-6.87590305e-01 -7.24612993e-01 4.64282576e-02 2.13038990e+02] [ 7.22990514e-01 -6.89155970e-01 -4.84640624e-02 9.52347463e+01] [ 6.71140002e-02 2.43770389e-04 9.97745284e-01 1.05541643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.776875 meters 0.012572927765768507 Centerline is valid? [True, True] Translation: X:213.02, Y:95.26, Z:10.56 [[-6.87644106e-01 -7.24590198e-01 4.59850861e-02 2.13022781e+02] [ 7.23000542e-01 -6.89179931e-01 -4.79712313e-02 9.52566892e+01] [ 6.64514824e-02 2.60107721e-04 9.97789624e-01 1.05566257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.806875 meters 0.012588415338309582 Centerline is valid? [True, True] Translation: X:213.01, Y:95.28, Z:10.56 [[-6.88113349e-01 -7.24160582e-01 4.57325891e-02 2.13005389e+02] [ 7.22589297e-01 -6.89631347e-01 -4.76792731e-02 9.52772548e+01] [ 6.60660772e-02 2.37135134e-04 9.97815222e-01 1.05589055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.836875 meters 0.012476553583423802 Centerline is valid? [True, True] Translation: X:212.99, Y:95.30, Z:10.56 [[-6.88581163e-01 -7.23718171e-01 4.56945338e-02 2.12988324e+02] [ 7.22150445e-01 -6.90095619e-01 -4.76106269e-02 9.52971565e+01] [ 6.59902734e-02 2.14547059e-04 9.97820243e-01 1.05606172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.866875 meters 0.012435881822866496 Centerline is valid? [True, True] Translation: X:212.97, Y:95.32, Z:10.56 [[-6.89990119e-01 -7.22356431e-01 4.59871964e-02 2.12972326e+02] [ 7.20767529e-01 -6.91520915e-01 -4.78852207e-02 9.53190984e+01] [ 6.63913053e-02 1.05748777e-04 9.97793658e-01 1.05616429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.896875 meters 0.012309855258189865 Centerline is valid? [True, True] Translation: X:212.95, Y:95.34, Z:10.56 [[-6.90942809e-01 -7.21439534e-01 4.60763900e-02 2.12954786e+02] [ 7.19844365e-01 -6.92477434e-01 -4.79488634e-02 9.53404877e+01] [ 6.64990660e-02 3.79073016e-05 9.97786487e-01 1.05635308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.926875 meters 0.012331925144567098 Centerline is valid? [True, True] Translation: X:212.94, Y:95.36, Z:10.56 [[-6.91949239e-01 -7.20474957e-01 4.60661167e-02 2.12938458e+02] [ 7.18880402e-01 -6.93480955e-01 -4.79075336e-02 9.53606387e+01] [ 6.64621528e-02 -3.35529031e-05 9.97788946e-01 1.05639416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.956875 meters 0.012468451845352604 Centerline is valid? [True, True] Translation: X:212.92, Y:95.38, Z:10.56 [[-6.94275806e-01 -7.18189867e-01 4.67377813e-02 2.12924544e+02] [ 7.16545438e-01 -6.95847153e-01 -4.85733894e-02 9.53833478e+01] [ 6.74072682e-02 -2.33585115e-04 9.97725516e-01 1.05642571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.986875 meters 0.01260504451565115 Centerline is valid? [True, True] Translation: X:212.91, Y:95.40, Z:10.57 [[-6.95369981e-01 -7.17115327e-01 4.69701623e-02 2.12907185e+02] [ 7.15454154e-01 -6.96954451e-01 -4.87836798e-02 9.54049844e+01] [ 6.77195882e-02 -3.17708772e-04 9.97704343e-01 1.05654065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.016875 meters 0.01268248165294752 Centerline is valid? [True, True] Translation: X:212.89, Y:95.43, Z:10.57 [[-6.96259353e-01 -7.16247549e-01 4.70357569e-02 2.12889673e+02] [ 7.14581743e-01 -6.97846189e-01 -4.88224309e-02 9.54256541e+01] [ 6.77926701e-02 -3.82180979e-04 9.97699357e-01 1.05671891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.046875 meters 0.012610518062554725 Centerline is valid? [True, True] Translation: X:212.87, Y:95.45, Z:10.57 [[-6.96867219e-01 -7.15666725e-01 4.68744834e-02 2.12873277e+02] [ 7.14013024e-01 -6.98441812e-01 -4.86254747e-02 9.54471016e+01] [ 6.75387334e-02 -4.16507683e-04 9.97716566e-01 1.05700511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07687500000003 meters 0.012599162209054805 Centerline is valid? [True, True] Translation: X:212.86, Y:95.47, Z:10.57 [[-6.97263222e-01 -7.15314697e-01 4.63560526e-02 2.12856042e+02] [ 7.13698602e-01 -6.98802335e-01 -4.80583122e-02 9.54670394e+01] [ 6.67705348e-02 -4.25043648e-04 9.97768267e-01 1.05721553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.106875 meters 0.0125368159580713 Centerline is valid? [True, True] Translation: X:212.84, Y:95.49, Z:10.57 [[-6.97353326e-01 -7.15256616e-01 4.58945689e-02 2.12837779e+02] [ 7.13674447e-01 -6.98861795e-01 -4.75497169e-02 9.54876302e+01] [ 6.60842104e-02 -4.05172159e-04 9.97813967e-01 1.05747331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13687500000003 meters 0.012437337332516236 Centerline is valid? [True, True] Translation: X:212.82, Y:95.51, Z:10.58 [[-6.97317273e-01 -7.15325865e-01 4.53599671e-02 2.12819482e+02] [ 7.13782359e-01 -6.98790932e-01 -4.69678462e-02 9.55075252e+01] [ 6.52944489e-02 -3.74346101e-04 9.97865970e-01 1.05768590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.166875 meters 0.012240668290459252 Centerline is valid? [True, True] Translation: X:212.80, Y:95.53, Z:10.58 [[-6.96807119e-01 -7.15870764e-01 4.45969459e-02 2.12801652e+02] [ 7.14381668e-01 -6.98232740e-01 -4.61505363e-02 9.55279755e+01] [ 6.41768674e-02 -2.98781629e-04 9.97938495e-01 1.05793316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19687500000003 meters 0.01217073849425043 Centerline is valid? [True, True] Translation: X:212.78, Y:95.55, Z:10.58 [[-6.96575925e-01 -7.16114039e-01 4.43019661e-02 2.12782753e+02] [ 7.14646838e-01 -6.97983250e-01 -4.58178914e-02 9.55481748e+01] [ 6.37328656e-02 -2.55380115e-04 9.97966962e-01 1.05810702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.226875 meters 0.012151026168145599 Centerline is valid? [True, True] Translation: X:212.76, Y:95.57, Z:10.58 [[-6.96183562e-01 -7.16499961e-01 4.42295474e-02 2.12764093e+02] [ 7.15040085e-01 -6.97587102e-01 -4.57155561e-02 9.55682257e+01] [ 6.36091560e-02 -2.00519388e-04 9.97974867e-01 1.05827984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25687500000004 meters 0.011971132584081284 Centerline is valid? [True, True] Translation: X:212.75, Y:95.59, Z:10.58 [[-6.95417395e-01 -7.17243370e-01 4.42334172e-02 2.12746124e+02] [ 7.15786479e-01 -6.96822743e-01 -4.56922409e-02 9.55884105e+01] [ 6.35953079e-02 -1.13497248e-04 9.97975763e-01 1.05845793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.286875 meters 0.01193212128244732 Centerline is valid? [True, True] Translation: X:212.73, Y:95.61, Z:10.59 [[-6.95106821e-01 -7.17545110e-01 4.42212961e-02 2.12727789e+02] [ 7.16091387e-01 -6.96512032e-01 -4.56521067e-02 9.56079272e+01] [ 6.35581107e-02 -6.66014903e-05 9.97978137e-01 1.05861005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31687500000004 meters 0.011913711705927959 Centerline is valid? [True, True] Translation: X:212.71, Y:95.63, Z:10.59 [[-6.94613802e-01 -7.18000994e-01 4.45672413e-02 2.12708920e+02] [ 7.16527157e-01 -6.96042077e-01 -4.59810853e-02 9.56278907e+01] [ 6.40351401e-02 -5.45774371e-06 9.97947644e-01 1.05875185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.346875 meters 0.01195173767628839 Centerline is valid? [True, True] Translation: X:212.69, Y:95.65, Z:10.59 [[-6.94109969e-01 -7.18468975e-01 4.48740719e-02 2.12689858e+02] [ 7.16977574e-01 -6.95559004e-01 -4.62691089e-02 9.56476228e+01] [ 6.44554840e-02 5.78533823e-05 9.97920582e-01 1.05888040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.376875 meters 0.011931024191022254 Centerline is valid? [True, True] Translation: X:212.67, Y:95.67, Z:10.59 [[-6.93023896e-01 -7.19506837e-01 4.50310147e-02 2.12670732e+02] [ 7.18008999e-01 -6.94485336e-01 -4.64025436e-02 9.56670599e+01] [ 6.46603267e-02 1.74602270e-04 9.97907316e-01 1.05896756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.406875 meters 0.01201325195629883 Centerline is valid? [True, True] Translation: X:212.65, Y:95.69, Z:10.59 [[-6.92238711e-01 -7.20245808e-01 4.52939697e-02 2.12651464e+02] [ 7.18733788e-01 -6.93718896e-01 -4.66458551e-02 9.56865876e+01] [ 6.50177643e-02 2.64239808e-04 9.97884072e-01 1.05905871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.436875 meters 0.01201325195629883 Centerline is valid? [True, True] Translation: X:212.63, Y:95.71, Z:10.59 [[-6.92458067e-01 -7.20034267e-01 4.53043053e-02 2.12632725e+02] [ 7.18522451e-01 -6.93938461e-01 -4.66358149e-02 9.57056862e+01] [ 6.50177846e-02 2.58814245e-04 9.97884072e-01 1.05921556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.466875 meters 0.012125027015826946 Centerline is valid? [True, True] Translation: X:212.61, Y:95.73, Z:10.59 [[-6.92181952e-01 -7.20281894e-01 4.55866192e-02 2.12613896e+02] [ 7.18753581e-01 -6.93681412e-01 -4.68976364e-02 9.57252062e+01] [ 6.54021088e-02 3.03848308e-04 9.97858944e-01 1.05934126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.496875 meters 0.012098548015614266 Centerline is valid? [True, True] Translation: X:212.60, Y:95.74, Z:10.59 [[-6.92005970e-01 -7.20438560e-01 4.57823072e-02 2.12595051e+02] [ 7.18899318e-01 -6.93518685e-01 -4.70702069e-02 9.57449666e+01] [ 6.56620775e-02 3.40005241e-04 9.97841859e-01 1.05949171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.526875 meters 0.012129899580625299 Centerline is valid? [True, True] Translation: X:212.58, Y:95.77, Z:10.60 [[-6.91945522e-01 -7.20492950e-01 4.58399879e-02 2.12576782e+02] [ 7.18951828e-01 -6.93462166e-01 -4.71008869e-02 9.57657190e+01] [ 6.57241543e-02 3.65495328e-04 9.97837763e-01 1.05966281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.556875 meters 0.012060551964680345 Centerline is valid? [True, True] Translation: X:212.56, Y:95.79, Z:10.60 [[-6.92485463e-01 -7.19975874e-01 4.58107440e-02 2.12558041e+02] [ 7.18437452e-01 -6.93999012e-01 -4.70425299e-02 9.57859242e+01] [ 6.56620976e-02 3.35886050e-04 9.97841859e-01 1.05983386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.586875 meters 0.011903033963332336 Centerline is valid? [True, True] Translation: X:212.54, Y:95.81, Z:10.60 [[-6.93860357e-01 -7.18663065e-01 4.56202174e-02 2.12541461e+02] [ 7.17136365e-01 -6.95358430e-01 -4.68197395e-02 9.58071313e+01] [ 6.53700202e-02 2.29555701e-04 9.97861066e-01 1.06010320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.616875 meters 0.011820789686247642 Centerline is valid? [True, True] Translation: X:212.52, Y:95.83, Z:10.60 [[-6.94898378e-01 -7.17675704e-01 4.53632938e-02 2.12523750e+02] [ 7.16166009e-01 -6.96377455e-01 -4.65262023e-02 9.58273807e+01] [ 6.49807001e-02 1.56666570e-04 9.97886509e-01 1.06029272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.646875 meters 0.011759130679980892 Centerline is valid? [True, True] Translation: X:212.51, Y:95.85, Z:10.60 [[-6.96231536e-01 -7.16388837e-01 4.52623865e-02 2.12506512e+02] [ 7.14885066e-01 -6.97701248e-01 -4.63929979e-02 9.58471185e+01] [ 6.48150493e-02 5.71359432e-05 9.97897292e-01 1.06041205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.676875 meters 0.011829237584379823 Centerline is valid? [True, True] Translation: X:212.49, Y:95.87, Z:10.61 [[-6.98789077e-01 -7.13870108e-01 4.56431170e-02 2.12489668e+02] [ 7.12337571e-01 -7.00278119e-01 -4.67519052e-02 9.58687403e+01] [ 6.53376638e-02 -1.56413537e-04 9.97863200e-01 1.06059732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.706875 meters 0.011874976224450771 Centerline is valid? [True, True] Translation: X:212.47, Y:95.89, Z:10.61 [[-6.99792607e-01 -7.12904244e-01 4.53634842e-02 2.12471205e+02] [ 7.11390272e-01 -7.01261355e-01 -4.64369840e-02 9.58882616e+01] [ 6.49167813e-02 -2.25116753e-04 9.97890656e-01 1.06072855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.736875 meters 0.011934270900287225 Centerline is valid? [True, True] Translation: X:212.45, Y:95.91, Z:10.61 [[-7.00741650e-01 -7.11957303e-01 4.55844132e-02 2.12452370e+02] [ 7.10428431e-01 -7.02222694e-01 -4.66340196e-02 9.59081992e+01] [ 6.52118403e-02 -2.93936612e-04 9.97871399e-01 1.06084633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.766875 meters 0.012213525529575246 Centerline is valid? [True, True] Translation: X:212.44, Y:95.93, Z:10.61 [[-7.02217912e-01 -7.10464419e-01 4.61553173e-02 2.12435070e+02] [ 7.08895701e-01 -7.03733000e-01 -4.71884432e-02 9.59280798e+01] [ 6.60067298e-02 -4.17263985e-04 9.97819091e-01 1.06098490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.796875 meters 0.012299465600915535 Centerline is valid? [True, True] Translation: X:212.42, Y:95.95, Z:10.61 [[-7.03100189e-01 -7.09579245e-01 4.63402495e-02 2.12416189e+02] [ 7.07998025e-01 -7.04625478e-01 -4.73469366e-02 9.59479488e+01] [ 6.62489240e-02 -4.80834931e-04 9.97803011e-01 1.06114721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.82687500000003 meters 0.012494290734686503 Centerline is valid? [True, True] Translation: X:212.40, Y:95.97, Z:10.61 [[-7.03781955e-01 -7.08904431e-01 4.63191904e-02 2.12397726e+02] [ 7.07325115e-01 -7.05304355e-01 -4.72963950e-02 9.59666169e+01] [ 6.61977507e-02 -5.23622655e-04 9.97806386e-01 1.06127446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.856875 meters 0.012662818927462885 Centerline is valid? [True, True] Translation: X:212.38, Y:95.99, Z:10.61 [[-7.04780221e-01 -7.07907839e-01 4.63824466e-02 2.12377726e+02] [ 7.06324041e-01 -7.06304563e-01 -4.73308943e-02 9.59853809e+01] [ 6.62660448e-02 -5.96841054e-04 9.97801812e-01 1.06138789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.88687500000003 meters 0.012609032857219905 Centerline is valid? [True, True] Translation: X:212.36, Y:96.00, Z:10.62 [[-7.05512442e-01 -7.07164863e-01 4.65838171e-02 2.12357656e+02] [ 7.05567574e-01 -7.07048397e-01 -4.75074975e-02 9.60038566e+01] [ 6.65326462e-02 -6.49099712e-04 9.97784038e-01 1.06157778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.916875 meters 0.012649169080425062 Centerline is valid? [True, True] Translation: X:212.34, Y:96.02, Z:10.62 [[-7.06155680e-01 -7.06524334e-01 4.65566393e-02 2.12338067e+02] [ 7.04929490e-01 -7.07688414e-01 -4.74502090e-02 9.60227408e+01] [ 6.64723216e-02 -6.88086620e-04 9.97788032e-01 1.06166638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.94687500000003 meters 0.012991713473229657 Centerline is valid? [True, True] Translation: X:212.32, Y:96.04, Z:10.62 [[-7.07372439e-01 -7.05305847e-01 4.65606478e-02 2.12318101e+02] [ 7.03710041e-01 -7.08902709e-01 -4.74249701e-02 9.60409093e+01] [ 6.64560780e-02 -7.81921361e-04 9.97789045e-01 1.06184352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.976875 meters 0.013450437994568045 Centerline is valid? [True, True] Translation: X:212.30, Y:96.06, Z:10.62 [[-7.08092925e-01 -7.04600002e-01 4.62952149e-02 2.12299610e+02] [ 7.03022789e-01 -7.09604229e-01 -4.71253304e-02 9.60602277e+01] [ 6.60557881e-02 -8.22521957e-04 9.97815592e-01 1.06200817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.00687500000004 meters 0.01342591352836668 Centerline is valid? [True, True] Translation: X:212.28, Y:96.08, Z:10.62 [[-7.08594305e-01 -7.04122836e-01 4.58818328e-02 2.12280030e+02] [ 7.02574657e-01 -7.10077693e-01 -4.66746298e-02 9.60793638e+01] [ 6.54443386e-02 -8.37963900e-04 9.97855870e-01 1.06230564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.036875 meters 0.013539903456002532 Centerline is valid? [True, True] Translation: X:212.26, Y:96.10, Z:10.63 [[-7.09219004e-01 -7.03537679e-01 4.52010992e-02 2.12260332e+02] [ 7.02035720e-01 -7.10657439e-01 -4.59548873e-02 9.60986126e+01] [ 6.44534922e-02 -8.59293158e-04 9.97920342e-01 1.06258729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.06687500000004 meters 0.01318095608060455 Centerline is valid? [True, True] Translation: X:212.24, Y:96.12, Z:10.63 [[-7.09463779e-01 -7.03357537e-01 4.41511236e-02 2.12238934e+02] [ 7.01925925e-01 -7.10835758e-01 -4.48611228e-02 9.61163065e+01] [ 6.29376063e-02 -8.36523449e-04 9.98017113e-01 1.06293070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.096875 meters 0.012916721760400344 Centerline is valid? [True, True] Translation: X:212.22, Y:96.13, Z:10.63 [[-7.09489885e-01 -7.03339684e-01 4.40158041e-02 2.12218081e+02] [ 7.01918531e-01 -7.10853446e-01 -4.46962338e-02 9.61346341e+01] [ 6.27254210e-02 -8.16017159e-04 9.98030488e-01 1.06313154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.126875 meters 0.01329418348786469 Centerline is valid? [True, True] Translation: X:212.20, Y:96.15, Z:10.63 [[-7.09289585e-01 -7.03550927e-01 4.38677356e-02 2.12199522e+02] [ 7.02141456e-01 -7.10644421e-01 -4.45183506e-02 9.61530188e+01] [ 6.24952884e-02 -7.75046686e-04 9.98044958e-01 1.06325491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.156875 meters 0.012695763305421867 Centerline is valid? [True, True] Translation: X:212.18, Y:96.17, Z:10.63 [[-7.08231030e-01 -7.04634008e-01 4.35858197e-02 2.12176989e+02] [ 7.03246003e-01 -7.09570631e-01 -4.42106149e-02 9.61694072e+01] [ 6.20795203e-02 -6.59775849e-04 9.98070988e-01 1.06330664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.186875 meters 0.012599352965102943 Centerline is valid? [True, True] Translation: X:212.16, Y:96.19, Z:10.63 [[-7.07524172e-01 -7.05342390e-01 4.36080268e-02 2.12156498e+02] [ 7.03956004e-01 -7.08866545e-01 -4.42059526e-02 9.61871495e+01] [ 6.20926035e-02 -5.78647730e-04 9.98070225e-01 1.06344035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.216875 meters 0.012370400980204397 Centerline is valid? [True, True] Translation: X:212.13, Y:96.20, Z:10.63 [[-7.05377130e-01 -7.07454449e-01 4.41735991e-02 2.12134370e+02] [ 7.06037708e-01 -7.06758841e-01 -4.47514893e-02 9.62034562e+01] [ 6.28797219e-02 -3.78450457e-04 9.98021041e-01 1.06348276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.246875 meters 0.012253886592038842 Centerline is valid? [True, True] Translation: X:212.11, Y:96.22, Z:10.64 [[-7.04503950e-01 -7.08301401e-01 4.45343531e-02 2.12114151e+02] [ 7.06864862e-01 -7.05910081e-01 -4.50890571e-02 9.62208851e+01] [ 6.33738912e-02 -2.85649422e-04 9.97989814e-01 1.06350038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.276875 meters 0.011973575361443778 Centerline is valid? [True, True] Translation: X:212.09, Y:96.24, Z:10.64 [[-7.03368335e-01 -7.09423095e-01 4.46302368e-02 2.12092981e+02] [ 7.07984456e-01 -7.04782836e-01 -4.51571081e-02 9.62380334e+01] [ 6.34901202e-02 -1.64566019e-04 9.97982454e-01 1.06370090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.306875 meters 0.012069498861398058 Centerline is valid? [True, True] Translation: X:212.07, Y:96.25, Z:10.64 [[-7.01040592e-01 -7.11708327e-01 4.48703177e-02 2.12071082e+02] [ 7.10260665e-01 -7.02475090e-01 -4.53710757e-02 9.62536437e+01] [ 6.38112529e-02 6.26559982e-05 9.97961983e-01 1.06382910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.336875 meters 0.012139530265490377 Centerline is valid? [True, True] Translation: X:212.05, Y:96.27, Z:10.64 [[-7.00130288e-01 -7.12603201e-01 4.48804892e-02 2.12050456e+02] [ 7.11158633e-01 -7.01567282e-01 -4.53513912e-02 9.62709722e+01] [ 6.38042294e-02 1.65264711e-04 9.97962421e-01 1.06401093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.366875 meters 0.012278150589767845 Centerline is valid? [True, True] Translation: X:212.03, Y:96.29, Z:10.64 [[-6.99306055e-01 -7.13411089e-01 4.48960963e-02 2.12030133e+02] [ 7.11968993e-01 -7.00745711e-01 -4.53387460e-02 9.62877863e+01] [ 6.38059111e-02 2.58968886e-04 9.97962293e-01 1.06411210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.396875 meters 0.012557687017332049 Centerline is valid? [True, True] Translation: X:212.01, Y:96.30, Z:10.64 [[-6.98084264e-01 -7.14606230e-01 4.49031956e-02 2.12008354e+02] [ 7.13168022e-01 -6.99526830e-01 -4.53165176e-02 9.63039608e+01] [ 6.37944558e-02 3.88775359e-04 9.97962983e-01 1.06424829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.426875 meters 0.012616750189253132 Centerline is valid? [True, True] Translation: X:211.99, Y:96.32, Z:10.64 [[-6.97780558e-01 -7.14878507e-01 4.52881140e-02 2.11988074e+02] [ 7.13417892e-01 -6.99248546e-01 -4.56769391e-02 9.63224888e+01] [ 6.43211099e-02 4.36870800e-04 9.97929158e-01 1.06442705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.456875 meters 0.012631887046646648 Centerline is valid? [True, True] Translation: X:211.97, Y:96.34, Z:10.65 [[-6.97748503e-01 -7.14921438e-01 4.51039207e-02 2.11968636e+02] [ 7.13474549e-01 -6.99204639e-01 -4.54636283e-02 9.63410059e+01] [ 6.40397931e-02 4.58320815e-04 9.97947241e-01 1.06459200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.486875 meters 0.012725722582464086 Centerline is valid? [True, True] Translation: X:211.95, Y:96.36, Z:10.65 [[-6.97931448e-01 -7.14751940e-01 4.49595058e-02 2.11949111e+02] [ 7.13315772e-01 -6.99377903e-01 -4.52897200e-02 9.63585625e+01] [ 6.38146001e-02 4.61204691e-04 9.97961665e-01 1.06471242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.516875 meters 0.012599301890995935 Centerline is valid? [True, True] Translation: X:211.93, Y:96.38, Z:10.65 [[-6.98255667e-01 -7.14430049e-01 4.50414177e-02 2.11929389e+02] [ 7.12989871e-01 -6.99706724e-01 -4.53425201e-02 9.63777497e+01] [ 6.39098417e-02 4.53402983e-04 9.97955573e-01 1.06485210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.546875 meters 0.012609778745900854 Centerline is valid? [True, True] Translation: X:211.91, Y:96.40, Z:10.65 [[-6.99493017e-01 -7.13205443e-01 4.52494766e-02 2.11910086e+02] [ 7.11751220e-01 -7.00954966e-01 -4.55229280e-02 9.63961425e+01] [ 6.41850453e-02 3.63399922e-04 9.97937948e-01 1.06496045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57687500000003 meters 0.012619368377358282 Centerline is valid? [True, True] Translation: X:211.89, Y:96.42, Z:10.65 [[-7.00338242e-01 -7.12353795e-01 4.55896666e-02 2.11891336e+02] [ 7.10877768e-01 -7.01820472e-01 -4.58347386e-02 9.64153662e+01] [ 6.46463113e-02 3.08860238e-04 9.97908192e-01 1.06509411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.606875 meters 0.012529570862622323 Centerline is valid? [True, True] Translation: X:211.87, Y:96.43, Z:10.65 [[-7.01430650e-01 -7.11264763e-01 4.57982477e-02 2.11872741e+02] [ 7.09774698e-01 -7.02924167e-01 -4.60162440e-02 9.64340758e+01] [ 6.49224280e-02 2.29233523e-04 9.97890287e-01 1.06517092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63687500000003 meters 0.012413059568088525 Centerline is valid? [True, True] Translation: X:211.85, Y:96.45, Z:10.65 [[-7.03348935e-01 -7.09350559e-01 4.60658248e-02 2.11854488e+02] [ 7.07840403e-01 -7.04855857e-01 -4.62621293e-02 9.64546045e+01] [ 6.52858337e-02 6.88326384e-05 9.97866602e-01 1.06528865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.666875 meters 0.012384371399703949 Centerline is valid? [True, True] Translation: X:211.84, Y:96.47, Z:10.65 [[-7.04349752e-01 -7.08330751e-01 4.64647601e-02 2.11836693e+02] [ 7.06793960e-01 -7.05880689e-01 -4.66342236e-02 9.64733130e+01] [ 6.58310315e-02 -5.79205786e-06 9.97830785e-01 1.06542179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69687500000003 meters 0.012328832294462331 Centerline is valid? [True, True] Translation: X:211.82, Y:96.49, Z:10.66 [[-7.05445845e-01 -7.07231199e-01 4.65853045e-02 2.11817871e+02] [ 7.05685964e-01 -7.06982336e-01 -4.67257632e-02 9.64929107e+01] [ 6.59809050e-02 -8.79000045e-05 9.97820882e-01 1.06559083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.726875 meters 0.012412875674790462 Centerline is valid? [True, True] Translation: X:211.80, Y:96.51, Z:10.66 [[-7.07502417e-01 -7.05192500e-01 4.63019161e-02 2.11799582e+02] [ 7.03663482e-01 -7.09015848e-01 -4.64137000e-02 9.65130558e+01] [ 6.55593854e-02 -2.56837405e-04 9.97848636e-01 1.06577733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75687500000004 meters 0.01259060178985533 Centerline is valid? [True, True] Translation: X:211.78, Y:96.53, Z:10.66 [[-7.08861954e-01 -7.03834118e-01 4.61764503e-02 2.11781266e+02] [ 7.02312370e-01 -7.10364276e-01 -4.62593891e-02 9.65327761e+01] [ 6.53610370e-02 -3.61228742e-04 9.97861616e-01 1.06598968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.786875 meters 0.012655893129135157 Centerline is valid? [True, True] Translation: X:211.76, Y:96.55, Z:10.66 [[-7.10180035e-01 -7.02540328e-01 4.56224171e-02 2.11763039e+02] [ 7.01054045e-01 -7.11643788e-01 -4.56765250e-02 9.65528780e+01] [ 6.45565105e-02 -4.54776084e-04 9.97913949e-01 1.06622989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81687500000004 meters 0.013017896402264757 Centerline is valid? [True, True] Translation: X:211.75, Y:96.57, Z:10.67 [[-7.12258410e-01 -7.00472520e-01 4.50134058e-02 2.11746677e+02] [ 6.99023311e-01 -7.13679110e-01 -4.50392981e-02 9.65735326e+01] [ 6.36739180e-02 -6.14198847e-04 9.97970568e-01 1.06652796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.846875 meters 0.013307679627136217 Centerline is valid? [True, True] Translation: X:211.12, Y:95.87, Z:11.35 [[-7.47289039e-01 6.63388715e-01 -3.83992875e-02 2.11123065e+02] [ 6.62261799e-01 7.48266411e-01 3.88160751e-02 9.58667712e+01] [ 5.44830432e-02 3.57644628e-03 -9.98508291e-01 1.13508274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.876875 meters 0.013022538583879643 Centerline is valid? [True, True] Translation: X:211.15, Y:95.88, Z:11.35 [[-7.91817526e-01 6.09340742e-01 -4.15796411e-02 2.11148486e+02] [ 6.08264031e-01 7.92900698e-01 3.63778944e-02 9.58836700e+01] [ 5.51350596e-02 3.51325425e-03 -9.98472725e-01 1.13516498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.906875 meters 0.012998883693443224 Centerline is valid? [True, True] Translation: X:211.17, Y:95.91, Z:11.35 [[-8.32978767e-01 5.51573349e-01 -4.37403024e-02 2.11166516e+02] [ 5.50588870e-01 8.34119005e-01 3.31267671e-02 9.59062192e+01] [ 5.47564594e-02 3.51096997e-03 -9.98493567e-01 1.13535425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.936875 meters 0.01329741377671971 Centerline is valid? [True, True] Translation: X:211.21, Y:95.92, Z:11.35 [[-8.69656301e-01 4.91525615e-01 -4.58310677e-02 2.11205578e+02] [ 4.90630410e-01 8.70856174e-01 2.98550609e-02 9.59159634e+01] [ 5.45867955e-02 3.47752629e-03 -9.98502974e-01 1.13546357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.966875 meters 0.012994936704417913 Centerline is valid? [True, True] Translation: X:211.22, Y:95.94, Z:11.36 [[-9.02421773e-01 4.28248196e-01 -4.73120170e-02 2.11219551e+02] [ 4.27453598e-01 9.03654295e-01 2.63122928e-02 9.59419285e+01] [ 5.40218993e-02 3.52109403e-03 -9.98533543e-01 1.13564826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.996875 meters 0.012935424601659938 Centerline is valid? [True, True] Translation: X:211.25, Y:95.96, Z:11.36 [[-9.30912702e-01 3.61950784e-01 -4.89200518e-02 2.11250714e+02] [ 3.61247098e-01 9.32190282e-01 2.28432172e-02 9.59599473e+01] [ 5.38709173e-02 3.59281428e-03 -9.98541444e-01 1.13575810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.026875 meters 0.01277454778679402 Centerline is valid? [True, True] Translation: X:211.27, Y:95.99, Z:11.36 [[-9.54527793e-01 2.93859094e-01 -5.02347119e-02 2.11266139e+02] [ 2.93250217e-01 9.55841785e-01 1.92559759e-02 9.59861471e+01] [ 5.36749803e-02 3.64902402e-03 -9.98551792e-01 1.13596363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.056875 meters 0.012624619193462673 Centerline is valid? [True, True] Translation: X:211.29, Y:96.01, Z:11.36 [[-9.73209159e-01 2.24242440e-01 -5.07864263e-02 2.11287115e+02] [ 2.23738043e-01 9.74526351e-01 1.54815797e-02 9.60115471e+01] [ 5.29643379e-02 3.70395949e-03 -9.98589535e-01 1.13612986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.086875 meters 0.012437202406102441 Centerline is valid? [True, True] Translation: X:211.30, Y:96.04, Z:11.36 [[-9.87129566e-01 1.51640440e-01 -5.07976112e-02 2.11300333e+02] [ 1.51238676e-01 9.88428220e-01 1.16840436e-02 9.60409453e+01] [ 5.19815659e-02 3.85110146e-03 -9.98640619e-01 1.13640257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.116875 meters 0.01241178368863379 Centerline is valid? [True, True] Translation: X:211.31, Y:96.07, Z:11.37 [[-9.95493173e-01 7.97492886e-02 -5.13166078e-02 2.11310515e+02] [ 7.94409124e-02 9.96807278e-01 8.02440731e-03 9.60698771e+01] [ 5.17927090e-02 3.91160454e-03 -9.98650196e-01 1.13663640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.146875 meters 0.01240342844852101 Centerline is valid? [True, True] Translation: X:211.35, Y:97.00, Z:10.68 [[-9.87975474e-01 -1.41430303e-01 6.24654491e-02 2.11352888e+02] [ 1.41352501e-01 -9.89943002e-01 -5.68529890e-03 9.70029982e+01] [ 6.26413078e-02 3.21271156e-03 9.98030934e-01 1.06764502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.176875 meters 0.01239094729025096 Centerline is valid? [True, True] Translation: X:211.24, Y:96.08, Z:11.37 [[-9.96069906e-01 7.23475033e-02 -5.10938449e-02 2.11241130e+02] [ 7.20415494e-02 9.97371078e-01 7.80696868e-03 9.60772343e+01] [ 5.15243378e-02 4.09540681e-03 -9.98663342e-01 1.13706205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.206875 meters 0.012438508190806566 Centerline is valid? [True, True] Translation: X:211.28, Y:97.01, Z:10.68 [[-9.88165930e-01 -1.40458453e-01 6.16402260e-02 2.11278302e+02] [ 1.40398267e-01 -9.90080773e-01 -5.32817786e-03 9.70060780e+01] [ 6.17771902e-02 3.38905707e-03 9.98084211e-01 1.06817867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.236875 meters 0.012492110556225932 Centerline is valid? [True, True] Translation: X:211.17, Y:96.08, Z:11.37 [[-9.96579891e-01 6.39578449e-02 -5.23250984e-02 2.11173257e+02] [ 6.36449445e-02 9.97943466e-01 7.62619834e-03 9.60848688e+01] [ 5.27052453e-02 4.26988793e-03 -9.98600984e-01 1.13734164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.266875 meters 0.012708741908232289 Centerline is valid? [True, True] Translation: X:211.18, Y:96.12, Z:11.37 [[-9.98555863e-01 -8.80757468e-03 -5.29963676e-02 2.11176108e+02] [-9.02175976e-03 9.99952069e-01 3.80363014e-03 9.61151768e+01] [ 5.29603267e-02 4.27625768e-03 -9.98587461e-01 1.13748355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.296875 meters 0.012708741908232289 Centerline is valid? [True, True] Translation: X:211.14, Y:97.04, Z:10.69 [[-9.95895939e-01 -6.74343434e-02 6.03646300e-02 2.11143962e+02] [ 6.75303537e-02 -9.97717118e-01 -4.50491522e-04 9.70373390e+01] [ 6.02572033e-02 3.62780214e-03 9.98176291e-01 1.06883810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.32687500000003 meters 0.013120452141235047 Centerline is valid? [True, True] Translation: X:211.08, Y:96.12, Z:11.38 [[-9.98420080e-01 -1.78008122e-02 -5.32961020e-02 2.11083252e+02] [-1.80180450e-02 9.99831187e-01 3.59821299e-03 9.61192630e+01] [ 5.32230539e-02 4.55281966e-03 -9.98572270e-01 1.13799523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.356875 meters 0.01349786622032335 Centerline is valid? [True, True] Translation: X:211.05, Y:97.03, Z:10.69 [[-9.95984045e-01 -6.67451856e-02 5.96729692e-02 2.11047089e+02] [ 6.68588701e-02 -9.97762438e-01 -9.16867228e-05 9.70319063e+01] [ 5.95455669e-02 3.89834879e-03 9.98217976e-01 1.06940278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.38687500000003 meters 0.01372250716841375 Centerline is valid? [True, True] Translation: X:210.99, Y:96.12, Z:11.39 [[-9.98227939e-01 -2.69976111e-02 -5.30293422e-02 2.10994536e+02] [-2.72096716e-02 9.99624364e-01 3.28091195e-03 9.61222587e+01] [ 5.29208457e-02 4.71800895e-03 -9.98587565e-01 1.13858246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.416875 meters 0.01404798578463646 Centerline is valid? [True, True] Translation: X:210.99, Y:96.15, Z:11.39 [[-9.93582386e-01 -1.00289057e-01 -5.23081870e-02 2.10992556e+02] [-1.00396421e-01 9.94947348e-01 -5.77658384e-04 9.61532059e+01] [ 5.21018248e-02 4.67760357e-03 -9.98630823e-01 1.13886344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.44687500000003 meters 0.014393746970277448 Centerline is valid? [True, True] Translation: X:210.89, Y:97.05, Z:10.70 [[-9.98164876e-01 6.61199324e-03 6.01927069e-02 2.10887275e+02] [-6.34010493e-03 -9.99968824e-01 4.70683350e-03 9.70494883e+01] [ 6.02219519e-02 4.31656780e-03 9.98175678e-01 1.06986213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.476875 meters 0.014171971098507201 Centerline is valid? [True, True] Translation: X:210.89, Y:96.15, Z:11.40 [[-9.92888953e-01 -1.07580706e-01 -5.09697828e-02 2.10887587e+02] [-1.07687461e-01 9.94184581e-01 -6.55081059e-04 9.61466560e+01] [ 5.07438462e-02 4.83838374e-03 -9.98699981e-01 1.13964604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.50687500000004 meters 0.01431051994594757 Centerline is valid? [True, True] Translation: X:210.89, Y:96.18, Z:11.40 [[-9.82795643e-01 -1.77814629e-01 -4.99467989e-02 2.10885495e+02] [-1.77823605e-01 9.84052986e-01 -4.29961223e-03 9.61756479e+01] [ 4.99148305e-02 4.65607970e-03 -9.98742625e-01 1.13989370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.536875 meters 0.014319807589910112 Centerline is valid? [True, True] Translation: X:210.70, Y:97.06, Z:10.71 [[-9.94559596e-01 8.49974963e-02 6.02215591e-02 2.10704249e+02] [-8.45892042e-02 -9.96372493e-01 9.30169424e-03 9.70585556e+01] [ 6.07937257e-02 4.15699550e-03 9.98141695e-01 1.07060854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.56687500000004 meters 0.014088125017211638 Centerline is valid? [True, True] Translation: X:210.77, Y:96.16, Z:11.41 [[-9.81816450e-01 -1.83052768e-01 -5.02806463e-02 2.10768637e+02] [-1.83057611e-01 9.83091667e-01 -4.54802494e-03 9.61561272e+01] [ 5.02630130e-02 4.73892928e-03 -9.98724773e-01 1.14054439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.596875 meters 0.01370133373577599 Centerline is valid? [True, True] Translation: X:210.57, Y:97.04, Z:10.71 [[-9.93662699e-01 9.56537249e-02 5.90322468e-02 2.10574773e+02] [-9.52690035e-02 -9.95408083e-01 9.30399834e-03 9.70416625e+01] [ 5.96511378e-02 3.62109277e-03 9.98212718e-01 1.07143684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.626875 meters 0.0134744800027337 Centerline is valid? [True, True] Translation: X:210.64, Y:96.13, Z:11.41 [[-9.81160224e-01 -1.86296025e-01 -5.11703638e-02 2.10641459e+02] [-1.86281679e-01 9.82483186e-01 -5.09158697e-03 9.61312022e+01] [ 5.12225645e-02 4.53643870e-03 -9.98676960e-01 1.14116309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.656875 meters 0.013381130280877779 Centerline is valid? [True, True] Translation: X:210.62, Y:96.16, Z:11.41 [[-9.65623050e-01 -2.54961846e-01 -5.06614497e-02 2.10622029e+02] [-2.54841313e-01 9.66941622e-01 -8.93330992e-03 9.61550613e+01] [ 5.12643176e-02 4.28442042e-03 -9.98675930e-01 1.14143337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.686875 meters 0.013241029067851294 Centerline is valid? [True, True] Translation: X:210.58, Y:96.17, Z:11.42 [[-9.44945922e-01 -3.23431869e-01 -4.96893336e-02 2.10584982e+02] [-3.23218747e-01 9.46241873e-01 -1.24884088e-02 9.61726889e+01] [ 5.10572775e-02 4.25965314e-03 -9.98686642e-01 1.14179913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.716875 meters 0.013089907750279654 Centerline is valid? [True, True] Translation: X:210.52, Y:96.18, Z:11.42 [[-9.19422891e-01 -3.90247679e-01 -4.86651473e-02 2.10519544e+02] [-3.89937308e-01 9.20700493e-01 -1.61089385e-02 9.61757782e+01] [ 5.10925010e-02 4.16542970e-03 -9.98685238e-01 1.14230885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.746875 meters 0.013169674270132721 Centerline is valid? [True, True] Translation: X:210.45, Y:96.18, Z:11.43 [[-8.88019227e-01 -4.57368194e-01 -4.72883517e-02 2.10454841e+02] [-4.56965876e-01 8.89267609e-01 -1.96292777e-02 9.61767087e+01] [ 5.10298067e-02 4.17798702e-03 -9.98688391e-01 1.14284081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.776875 meters 0.013222014044275553 Centerline is valid? [True, True] Translation: X:210.38, Y:96.17, Z:11.44 [[-8.51424636e-01 -5.22538458e-01 -4.50516348e-02 2.10384364e+02] [-5.22060676e-01 8.52605519e-01 -2.27261994e-02 9.61695874e+01] [ 5.02865857e-02 4.17004089e-03 -9.98726124e-01 1.14350132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.806875 meters 0.013188588609937166 Centerline is valid? [True, True] Translation: X:210.30, Y:96.15, Z:11.44 [[-8.09459277e-01 -5.85615477e-01 -4.27807539e-02 2.10300159e+02] [-5.85063662e-01 8.10578216e-01 -2.57578378e-02 9.61481248e+01] [ 4.97613356e-02 4.17954383e-03 -9.98752392e-01 1.14412856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.836875 meters 0.013234006007401116 Centerline is valid? [True, True] Translation: X:210.21, Y:96.11, Z:11.45 [[-7.62578850e-01 -6.45631880e-01 -4.04100488e-02 2.10209046e+02] [-6.45008150e-01 7.63637277e-01 -2.86809173e-02 9.61139812e+01] [ 4.93759342e-02 4.19334985e-03 -9.98771462e-01 1.14487892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.866875 meters 0.013272573455661433 Centerline is valid? [True, True] Translation: X:210.12, Y:96.07, Z:11.46 [[-7.10721107e-01 -7.02500286e-01 -3.69980753e-02 2.10121298e+02] [-7.01846916e-01 7.11670893e-01 -3.05850784e-02 9.60735983e+01] [ 4.78164796e-02 4.22952433e-03 -9.98847183e-01 1.14574518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.896875 meters 0.013386019821476264 Centerline is valid? [True, True] Translation: X:210.03, Y:96.02, Z:11.47 [[-6.54665618e-01 -7.55152201e-01 -3.40306079e-02 2.10026389e+02] [-7.54454075e-01 6.55535787e-01 -3.27395963e-02 9.60151391e+01] [ 4.70316595e-02 4.24104275e-03 -9.98884396e-01 1.14659399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.926875 meters 0.013443272787479326 Centerline is valid? [True, True] Translation: X:209.94, Y:95.96, Z:11.47 [[-5.94393770e-01 -8.03574842e-01 -3.10406222e-02 2.09943480e+02] [-8.02834512e-01 5.95188436e-01 -3.47486945e-02 9.59583926e+01] [ 4.63981960e-02 4.26607523e-03 -9.98913914e-01 1.14734547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.956875 meters 0.01349483159441211 Centerline is valid? [True, True] Translation: X:209.86, Y:95.89, Z:11.48 [[-5.30512397e-01 -8.47220387e-01 -2.78246861e-02 2.09858947e+02] [-8.46451166e-01 5.31224418e-01 -3.63461435e-02 9.58860065e+01] [ 4.55743464e-02 4.27015824e-03 -9.98951823e-01 1.14816817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.986875 meters 0.01351250093734454 Centerline is valid? [True, True] Translation: X:209.78, Y:95.81, Z:11.49 [[-4.63708287e-01 -8.85641548e-01 -2.47724267e-02 2.09783720e+02] [-8.84832507e-01 4.64349988e-01 -3.80857272e-02 9.58131751e+01] [ 4.52333784e-02 4.25878115e-03 -9.98967369e-01 1.14895383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.016875 meters 0.013478146201839233 Centerline is valid? [True, True] Translation: X:209.71, Y:95.72, Z:11.50 [[-3.94169487e-01 -9.18781941e-01 -2.16831754e-02 2.09708015e+02] [-9.17931516e-01 3.94742701e-01 -3.97483463e-02 9.57207867e+01] [ 4.50793380e-02 4.23608477e-03 -9.98974429e-01 1.14979987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.046875 meters 0.013412032655434038 Centerline is valid? [True, True] Translation: X:209.64, Y:95.63, Z:11.51 [[-3.22243859e-01 -9.46477006e-01 -1.84437726e-02 2.09640723e+02] [-9.45595572e-01 3.22743779e-01 -4.10544505e-02 9.56253167e+01] [ 4.48097062e-02 4.21080517e-03 -9.98986666e-01 1.15061016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07687500000003 meters 0.013391070178088616 Centerline is valid? [True, True] Translation: X:209.58, Y:95.52, Z:11.51 [[-2.49380868e-01 -9.68284857e-01 -1.52845679e-02 2.09580845e+02] [-9.67351398e-01 2.49814604e-01 -4.27075744e-02 9.55179746e+01] [ 4.51714058e-02 4.13509615e-03 -9.98970693e-01 1.15141068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.106875 meters 0.013417617124296798 Centerline is valid? [True, True] Translation: X:209.53, Y:95.42, Z:11.52 [[-1.74304296e-01 -9.84620229e-01 -1.18750640e-02 2.09531047e+02] [-9.83665492e-01 1.74660427e-01 -4.35423463e-02 9.54178385e+01] [ 4.49467787e-02 4.09147265e-03 -9.98981004e-01 1.15214729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13687500000003 meters 0.013515779449207472 Centerline is valid? [True, True] Translation: X:209.49, Y:95.30, Z:11.53 [[-9.87476167e-02 -9.95077082e-01 -8.39699480e-03 2.09488022e+02] [-9.94117054e-01 9.90226631e-02 -4.38838885e-02 9.53047871e+01] [ 4.44993445e-02 4.01416633e-03 -9.99001349e-01 1.15298432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.166875 meters 0.013724158684702937 Centerline is valid? [True, True] Translation: X:209.46, Y:95.19, Z:11.54 [[-2.38196297e-02 -9.99704065e-01 -4.94039311e-03 2.09455935e+02] [-9.98743270e-01 2.40141339e-02 -4.39909290e-02 9.51924650e+01] [ 4.40965498e-02 3.88633673e-03 -9.99019715e-01 1.15390237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19687500000003 meters 0.013715068054145782 Centerline is valid? [True, True] Translation: X:209.43, Y:95.07, Z:11.55 [[ 5.29464175e-02 -9.98596219e-01 -1.50619528e-03 2.09429787e+02] [-9.97635951e-01 -5.28292132e-02 -4.39497934e-02 9.50677943e+01] [ 4.38085264e-02 3.82961867e-03 -9.99032606e-01 1.15469209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.226875 meters 0.01393250989283756 Centerline is valid? [True, True] Translation: X:209.41, Y:94.95, Z:11.56 [[ 1.29350061e-01 -9.91597169e-01 1.90186395e-03 2.09413110e+02] [-9.90639796e-01 -1.29309041e-01 -4.37260433e-02 9.49502822e+01] [ 4.36045490e-02 3.77190426e-03 -9.99041749e-01 1.15555755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25687500000004 meters 0.013926120054962663 Centerline is valid? [True, True] Translation: X:209.40, Y:94.83, Z:11.56 [[ 2.04896954e-01 -9.78768494e-01 5.42887572e-03 2.09404683e+02] [-9.77786795e-01 -2.04935399e-01 -4.39825729e-02 9.48339999e+01] [ 4.41613255e-02 3.70361224e-03 -9.99017548e-01 1.15626636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.286875 meters 0.014041788270565465 Centerline is valid? [True, True] Translation: X:209.41, Y:94.70, Z:11.57 [[ 2.79908897e-01 -9.59986145e-01 8.80974984e-03 2.09408213e+02] [-9.59016324e-01 -2.80023447e-01 -4.32961865e-02 9.47028744e+01] [ 4.40306757e-02 3.67029389e-03 -9.99023437e-01 1.15709969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31687500000004 meters 0.01403799085271889 Centerline is valid? [True, True] Translation: X:209.41, Y:94.60, Z:11.58 [[ 3.52993947e-01 -9.35543840e-01 1.23691912e-02 2.09412709e+02] [-9.34561220e-01 -3.53191980e-01 -4.30203727e-02 9.45966739e+01] [ 4.46161438e-02 3.62616478e-03 -9.98997623e-01 1.15774255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.346875 meters 0.013941731653071382 Centerline is valid? [True, True] Translation: X:209.44, Y:94.47, Z:11.59 [[ 4.24082830e-01 -9.05487166e-01 1.57081486e-02 2.09436490e+02] [-9.04520591e-01 -4.24358419e-01 -4.19813412e-02 9.44669861e+01] [ 4.46794508e-02 3.59522220e-03 -9.98994905e-01 1.15855788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.376875 meters 0.014385865808448743 Centerline is valid? [True, True] Translation: X:209.46, Y:94.35, Z:11.59 [[ 4.92450352e-01 -8.70135615e-01 1.88855076e-02 2.09464236e+02] [-8.69197340e-01 -4.92799523e-01 -4.05538459e-02 9.43534969e+01] [ 4.45941148e-02 3.55552268e-03 -9.98998860e-01 1.15940520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.406875 meters 0.014668088181966764 Centerline is valid? [True, True] Translation: X:209.49, Y:94.25, Z:11.60 [[ 5.57551796e-01 -8.29852553e-01 2.19256741e-02 2.09491645e+02] [-8.28948834e-01 -5.57971764e-01 -3.88759739e-02 9.42538565e+01] [ 4.44952333e-02 3.50010709e-03 -9.99003465e-01 1.16009658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.436875 meters 0.014451218800512986 Centerline is valid? [True, True] Translation: X:209.54, Y:94.14, Z:11.61 [[ 6.19619198e-01 -7.84511527e-01 2.47732498e-02 2.09535963e+02] [-7.83649935e-01 -6.20104566e-01 -3.69202714e-02 9.41429824e+01] [ 4.43263837e-02 3.46295337e-03 -9.99011101e-01 1.16083628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.466875 meters 0.014412800470795312 Centerline is valid? [True, True] Translation: X:209.58, Y:94.04, Z:11.62 [[ 6.77990015e-01 -7.34563413e-01 2.73154300e-02 2.09581104e+02] [-7.33754811e-01 -6.78531353e-01 -3.46277449e-02 9.40448759e+01] [ 4.39706502e-02 3.43443707e-03 -9.99026920e-01 1.16155328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.496875 meters 0.014273999331139993 Centerline is valid? [True, True] Translation: X:209.63, Y:93.95, Z:11.62 [[ 7.32232917e-01 -6.80394855e-01 2.99632716e-02 2.09633770e+02] [-6.79628956e-01 -7.32837831e-01 -3.24529707e-02 9.39503408e+01] [ 4.40390532e-02 3.39922642e-03 -9.99024027e-01 1.16226508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.526875 meters 0.014488687816513596 Centerline is valid? [True, True] Translation: X:209.62, Y:93.94, Z:11.62 [[ 7.82877401e-01 -6.21321935e-01 3.25887862e-02 2.09622598e+02] [-6.20596277e-01 -7.83547883e-01 -3.02154858e-02 9.39444614e+01] [ 4.43084185e-02 3.43054154e-03 -9.99012010e-01 1.16231793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.556875 meters 0.014680263743333161 Centerline is valid? [True, True] Translation: X:209.61, Y:93.94, Z:11.62 [[ 8.29028927e-01 -5.58111032e-01 3.49730647e-02 2.09611959e+02] [-5.57436711e-01 -8.29759237e-01 -2.76391354e-02 9.39406525e+01] [ 4.44449298e-02 3.41837262e-03 -9.99005987e-01 1.16248049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.586875 meters 0.014472064218706913 Centerline is valid? [True, True] Translation: X:209.60, Y:93.93, Z:11.63 [[ 8.70292500e-01 -4.91127876e-01 3.72071596e-02 2.09601868e+02] [-4.90508107e-01 -8.71080768e-01 -2.49016679e-02 9.39346971e+01] [ 4.46403444e-02 3.42132139e-03 -9.98997264e-01 1.16260466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.616875 meters 0.014554228442177474 Centerline is valid? [True, True] Translation: X:209.59, Y:93.93, Z:11.63 [[ 9.06321189e-01 -4.20794399e-01 3.89098532e-02 2.09591821e+02] [-4.20241338e-01 -9.07149503e-01 -2.18402583e-02 9.39300993e+01] [ 4.44873124e-02 3.44276005e-03 -9.99004017e-01 1.16277198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.646875 meters 0.01424390910292478 Centerline is valid? [True, True] Translation: X:209.58, Y:93.92, Z:11.63 [[ 9.36950262e-01 -3.47105967e-01 4.05173375e-02 2.09582539e+02] [-3.46618352e-01 -9.37819395e-01 -1.87216651e-02 9.39215159e+01] [ 4.44963466e-02 3.49721622e-03 -9.99003426e-01 1.16298733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.676875 meters 0.014051216468231674 Centerline is valid? [True, True] Translation: X:209.57, Y:93.91, Z:11.63 [[ 9.61465224e-01 -2.71750757e-01 4.16671200e-02 2.09574344e+02] [-2.71335348e-01 -9.62361198e-01 -1.54290173e-02 9.39147025e+01] [ 4.42916666e-02 3.52870114e-03 -9.99012411e-01 1.16318643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.706875 meters 0.013951245598138835 Centerline is valid? [True, True] Translation: X:209.56, Y:93.91, Z:11.63 [[ 9.80132662e-01 -1.93751367e-01 4.24308022e-02 2.09562141e+02] [-1.93409994e-01 -9.81044055e-01 -1.20472429e-02 9.39076366e+01] [ 4.39606561e-02 3.60135507e-03 -9.99026772e-01 1.16338246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.736875 meters 0.01396163830701772 Centerline is valid? [True, True] Translation: X:209.55, Y:93.90, Z:11.64 [[ 9.92351870e-01 -1.15646765e-01 4.31693292e-02 2.09551420e+02] [-1.15378402e-01 -9.93283813e-01 -8.66557729e-03 9.39032714e+01] [ 4.38815419e-02 3.61849363e-03 -9.99030188e-01 1.16355690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.766875 meters 0.013872761972933826 Centerline is valid? [True, True] Translation: X:209.54, Y:93.90, Z:11.64 [[ 9.98387051e-01 -3.66155409e-02 4.33889232e-02 2.09542191e+02] [-3.64224277e-02 -9.99322781e-01 -5.23322486e-03 9.38987742e+01] [ 4.35511567e-02 3.64445401e-03 -9.99044551e-01 1.16369057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.796875 meters 0.013665083131254379 Centerline is valid? [True, True] Translation: X:209.53, Y:93.89, Z:11.64 [[ 9.98099139e-01 4.41305942e-02 4.30185868e-02 2.09533473e+02] [ 4.42503418e-02 -9.99018789e-01 -1.83491334e-03 9.38883511e+01] [ 4.28954007e-02 3.73501260e-03 -9.99072587e-01 1.16381390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.82687500000003 meters 0.01350927605485543 Centerline is valid? [True, True] Translation: X:209.53, Y:93.88, Z:11.64 [[ 9.91361477e-01 1.23958103e-01 4.28580323e-02 2.09526740e+02] [ 1.24006678e-01 -9.92280198e-01 1.53360236e-03 9.38762900e+01] [ 4.27172792e-02 3.79432791e-03 -9.99079995e-01 1.16392175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.856875 meters 0.01353642839737066 Centerline is valid? [True, True] Translation: X:209.52, Y:93.86, Z:11.64 [[ 9.78207183e-01 2.03260799e-01 4.23763563e-02 2.09520003e+02] [ 2.03239731e-01 -9.79116993e-01 4.85030398e-03 9.38648114e+01] [ 4.24772872e-02 3.86795704e-03 -9.99089945e-01 1.16405995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.88687500000003 meters 0.013624027298487008 Centerline is valid? [True, True] Translation: X:209.52, Y:93.85, Z:11.64 [[ 9.58231378e-01 2.82869661e-01 4.21590045e-02 2.09516239e+02] [ 2.82777674e-01 -9.59149966e-01 8.25412916e-03 9.38496022e+01] [ 4.27716504e-02 4.01225965e-03 -9.99076818e-01 1.16416989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.916875 meters 0.01377057253469113 Centerline is valid? [True, True] Translation: X:209.51, Y:93.84, Z:11.64 [[ 9.32442295e-01 3.58941329e-01 4.13822281e-02 2.09512701e+02] [ 3.58778727e-01 -9.33351209e-01 1.15475458e-02 9.38367341e+01] [ 4.27690441e-02 4.07964299e-03 -9.99076656e-01 1.16434117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.94687500000003 meters 0.013954914039562371 Centerline is valid? [True, True] Translation: X:209.51, Y:93.82, Z:11.65 [[ 9.00540867e-01 4.32927374e-01 4.00004428e-02 2.09509364e+02] [ 4.32700934e-01 -9.01419222e-01 1.46043794e-02 9.38236771e+01] [ 4.23798036e-02 4.15638848e-03 -9.99092927e-01 1.16455926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.976875 meters 0.014278372660458368 Centerline is valid? [True, True] Translation: X:209.51, Y:93.81, Z:11.65 [[ 8.62034955e-01 5.05410234e-01 3.81605977e-02 2.09509442e+02] [ 5.05129418e-01 -8.62868521e-01 1.73835145e-02 9.38090151e+01] [ 4.17133846e-02 4.29084342e-03 -9.99120404e-01 1.16477517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.00687500000004 meters 0.01458947501133511 Centerline is valid? [True, True] Translation: X:209.51, Y:93.80, Z:11.65 [[ 8.19079035e-01 5.72562095e-01 3.58075779e-02 2.09507625e+02] [ 5.72237968e-01 -8.19849974e-01 1.97415213e-02 9.37964662e+01] [ 4.06600886e-02 4.32058943e-03 -9.99163695e-01 1.16496125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.036875 meters 0.014765620029635142 Centerline is valid? [True, True] Translation: X:209.51, Y:93.79, Z:11.65 [[ 7.71021767e-01 6.35887735e-01 3.42377349e-02 2.09507611e+02] [ 6.35501893e-01 -7.71769285e-01 2.25724614e-02 9.37850812e+01] [ 4.07771835e-02 4.35428623e-03 -9.99158777e-01 1.16515413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.06687500000004 meters 0.015073083088667272 Centerline is valid? [True, True] Translation: X:209.51, Y:93.77, Z:11.65 [[ 7.18154262e-01 6.95146365e-01 3.20310407e-02 2.09508273e+02] [ 6.94714416e-01 -7.18854901e-01 2.48899987e-02 9.37745252e+01] [ 4.03278628e-02 4.37756706e-03 -9.99176911e-01 1.16531037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.096875 meters 0.015344072011548408 Centerline is valid? [True, True] Translation: X:209.51, Y:93.76, Z:11.65 [[ 6.60686024e-01 7.50065389e-01 2.99314236e-02 2.09509132e+02] [ 7.49581806e-01 -6.61348991e-01 2.72878835e-02 9.37643928e+01] [ 4.02628138e-02 4.40732728e-03 -9.99179404e-01 1.16538700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.126875 meters 0.01548661925400884 Centerline is valid? [True, True] Translation: X:209.51, Y:93.75, Z:11.65 [[ 5.99619887e-01 7.99808224e-01 2.76187495e-02 2.09509636e+02] [ 7.99277550e-01 -6.00239424e-01 2.94623868e-02 9.37548216e+01] [ 4.01421216e-02 4.40881344e-03 -9.99184254e-01 1.16549295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.156875 meters 0.01541998597921501 Centerline is valid? [True, True] Translation: X:209.51, Y:93.75, Z:11.66 [[ 5.35081480e-01 8.44429142e-01 2.50446477e-02 2.09510830e+02] [ 8.43860931e-01 -5.35649238e-01 3.12829422e-02 9.37452612e+01] [ 3.98313745e-02 4.39527670e-03 -9.99196749e-01 1.16561102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.186875 meters 0.015495198494823822 Centerline is valid? [True, True] Translation: X:209.51, Y:93.74, Z:11.66 [[ 4.67833396e-01 8.83525149e-01 2.26985647e-02 2.09511778e+02] [ 8.82900283e-01 -4.68363390e-01 3.35085775e-02 9.37351779e+01] [ 4.02368476e-02 4.36413767e-03 -9.99180640e-01 1.16575864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.216875 meters 0.014895637551775412 Centerline is valid? [True, True] Translation: X:209.51, Y:93.73, Z:11.66 [[ 3.97920277e-01 9.17204134e-01 1.99004912e-02 2.09514633e+02] [ 9.16546498e-01 -3.98394223e-01 3.49937111e-02 9.37252807e+01] [ 4.00246172e-02 4.31501828e-03 -9.99189377e-01 1.16580662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.246875 meters 0.014895637551775412 Centerline is valid? [True, True] Translation: X:209.52, Y:93.71, Z:11.66 [[ 3.24802302e-01 9.45628454e-01 1.70379711e-02 2.09520251e+02] [ 9.44940761e-01 -3.25220376e-01 3.63134176e-02 9.37142898e+01] [ 3.98800963e-02 4.30519171e-03 -9.99195198e-01 1.16593237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.276875 meters 0.015107735065314177 Centerline is valid? [True, True] Translation: X:209.53, Y:93.70, Z:11.66 [[ 2.50876611e-01 9.67916032e-01 1.41237898e-02 2.09525663e+02] [ 9.67197365e-01 -2.51238016e-01 3.75328813e-02 9.37032188e+01] [ 3.98771104e-02 4.24437018e-03 -9.99195577e-01 1.16614129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.306875 meters 0.01429524855791593 Centerline is valid? [True, True] Translation: X:209.53, Y:93.69, Z:11.66 [[ 1.77466614e-01 9.84064877e-01 1.10417020e-02 2.09527465e+02] [ 9.83335951e-01 -1.77762553e-01 3.80904486e-02 9.36942082e+01] [ 3.94462737e-02 4.09791961e-03 -9.99213290e-01 1.16621517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.336875 meters 0.014081433430744665 Centerline is valid? [True, True] Translation: X:209.53, Y:93.68, Z:11.66 [[ 1.01676554e-01 9.94785591e-01 7.96912876e-03 2.09531969e+02] [ 9.94049475e-01 -1.01909511e-01 3.84719663e-02 9.36846434e+01] [ 3.90834877e-02 4.01001129e-03 -9.99227902e-01 1.16637445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.366875 meters 0.013928584476554144 Centerline is valid? [True, True] Translation: X:209.54, Y:93.68, Z:11.67 [[ 2.53348720e-02 9.99667113e-01 4.87938504e-03 2.09536736e+02] [ 9.98958010e-01 -2.55016432e-02 3.78491684e-02 9.36750186e+01] [ 3.79610012e-02 3.91539694e-03 -9.99271551e-01 1.16660720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.396875 meters 0.013549584455303264 Centerline is valid? [True, True] Translation: X:209.54, Y:93.67, Z:11.67 [[-4.95535826e-02 9.98769573e-01 1.94481581e-03 2.09541608e+02] [ 9.98097720e-01 4.94485507e-02 3.68209524e-02 9.36662785e+01] [ 3.66794786e-02 3.76572633e-03 -9.99319986e-01 1.16679649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.426875 meters 0.013676353058029077 Centerline is valid? [True, True] Translation: X:209.55, Y:93.66, Z:11.67 [[-1.26122379e-01 9.92014328e-01 -8.47113333e-04 2.09549258e+02] [ 9.91369557e-01 1.26071104e-01 3.59510508e-02 9.36565271e+01] [ 3.57707541e-02 3.69442970e-03 -9.99353193e-01 1.16711056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.456875 meters 0.013680645579615701 Centerline is valid? [True, True] Translation: X:209.55, Y:93.65, Z:11.67 [[-2.00178660e-01 9.79753190e-01 -3.49155486e-03 2.09553971e+02] [ 9.79138500e-01 2.00177382e-01 3.48828682e-02 9.36472843e+01] [ 3.48755317e-02 3.56409002e-03 -9.99385308e-01 1.16721009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.486875 meters 0.013656709372088731 Centerline is valid? [True, True] Translation: X:209.56, Y:93.64, Z:11.67 [[-2.74565671e-01 9.61548415e-01 -6.19176316e-03 2.09560558e+02] [ 9.60940099e-01 2.74613323e-01 3.43751086e-02 9.36390353e+01] [ 3.47536719e-02 3.48831125e-03 -9.99389821e-01 1.16736400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.516875 meters 0.013860860820308022 Centerline is valid? [True, True] Translation: X:209.57, Y:93.63, Z:11.68 [[-3.47251419e-01 9.37728608e-01 -9.02826756e-03 2.09567292e+02] [ 9.37111717e-01 3.47352044e-01 3.41787580e-02 9.36298437e+01] [ 3.51863863e-02 3.40812690e-03 -9.99374956e-01 1.16751169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.546875 meters 0.014069933088505255 Centerline is valid? [True, True] Translation: X:209.57, Y:93.62, Z:11.68 [[-4.17839803e-01 9.08442091e-01 -1.19526376e-02 2.09574461e+02] [ 9.07814766e-01 4.17997530e-01 3.39177842e-02 9.36211594e+01] [ 3.58085158e-02 3.32141936e-03 -9.99353150e-01 1.16756677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57687500000003 meters 0.014524697260286075 Centerline is valid? [True, True] Translation: X:209.58, Y:93.61, Z:11.68 [[-4.84241596e-01 8.74810774e-01 -1.47032799e-02 2.09580245e+02] [ 8.74190873e-01 4.84454429e-01 3.30790589e-02 9.36113415e+01] [ 3.60609862e-02 3.16478321e-03 -9.99344580e-01 1.16757340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.606875 meters 0.014693851773473791 Centerline is valid? [True, True] Translation: X:209.59, Y:93.60, Z:11.68 [[-5.50271472e-01 8.34800490e-01 -1.75911578e-02 2.09588560e+02] [ 8.34181003e-01 5.50543841e-01 3.23037515e-02 9.36033006e+01] [ 3.66518912e-02 3.10162328e-03 -9.99323280e-01 1.16765670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63687500000003 meters 0.014870988785985337 Centerline is valid? [True, True] Translation: X:209.60, Y:93.60, Z:11.68 [[-6.13600020e-01 7.89362809e-01 -2.00342456e-02 2.09597809e+02] [ 7.88769242e-01 6.13919310e-01 3.07597695e-02 9.35963057e+01] [ 3.65800283e-02 3.07179843e-03 -9.99326006e-01 1.16774858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.666875 meters 0.014982911109858344 Centerline is valid? [True, True] Translation: X:209.61, Y:93.59, Z:11.68 [[-6.73457144e-01 7.38880239e-01 -2.26156603e-02 2.09607685e+02] [ 7.38304474e-01 6.73829866e-01 2.93226176e-02 9.35893595e+01] [ 3.69050100e-02 3.05028314e-03 -9.99314123e-01 1.16790596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69687500000003 meters 0.014521996905604113 Centerline is valid? [True, True] Translation: X:209.62, Y:93.58, Z:11.68 [[-7.30509543e-01 6.82454488e-01 -2.47321808e-02 2.09618240e+02] [ 6.81913589e-01 7.30921476e-01 2.73432398e-02 9.35845768e+01] [ 3.67377988e-02 3.10928738e-03 -9.99320102e-01 1.16810878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.726875 meters 0.014347620141857404 Centerline is valid? [True, True] Translation: X:209.64, Y:93.60, Z:11.68 [[-7.77819111e-01 6.27915828e-01 -2.68168661e-02 2.09644898e+02] [ 6.27414639e-01 7.78276196e-01 2.52395423e-02 9.36013912e+01] [ 3.67192367e-02 2.80650401e-03 -9.99321681e-01 1.16828869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75687500000004 meters 0.013988994350204575 Centerline is valid? [True, True] Translation: X:209.67, Y:93.62, Z:11.68 [[-8.21198933e-01 5.69924330e-01 -2.86106742e-02 2.09666941e+02] [ 5.69454184e-01 8.21692210e-01 2.33204709e-02 9.36225445e+01] [ 3.68000719e-02 2.85827772e-03 -9.99318560e-01 1.16843796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.786875 meters 0.01335212280787515 Centerline is valid? [True, True] Translation: X:209.69, Y:93.65, Z:11.69 [[-8.61551765e-01 5.06801917e-01 -2.96710709e-02 2.09690997e+02] [ 5.06378615e-01 8.62057302e-01 2.09262302e-02 9.36455428e+01] [ 3.61836169e-02 3.00423480e-03 -9.99340643e-01 1.16852246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81687500000004 meters 0.013088198066046074 Centerline is valid? [True, True] Translation: X:210.13, Y:94.43, Z:10.98 [[-8.28514618e-01 -5.58191374e-01 4.45636335e-02 2.10126707e+02] [ 5.57519196e-01 -8.29709601e-01 -2.74649765e-02 9.44299383e+01] [ 5.23055876e-02 2.08994658e-03 9.98628939e-01 1.09782411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.846875 meters 0.012985901800425212 Centerline is valid? [True, True] Translation: X:209.65, Y:93.67, Z:11.69 [[-8.64983230e-01 5.00905173e-01 -2.99669734e-02 2.09654247e+02] [ 5.00477057e-01 8.65496572e-01 2.09379959e-02 9.36698513e+01] [ 3.64242632e-02 3.11323270e-03 -9.99331567e-01 1.16879305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.876875 meters 0.012967922342173088 Centerline is valid? [True, True] Translation: X:209.68, Y:93.69, Z:11.69 [[-8.99250559e-01 4.36309036e-01 -3.13505589e-02 2.09677554e+02] [ 4.35918165e-01 8.99791252e-01 1.87365105e-02 9.36928440e+01] [ 3.63838675e-02 3.18253943e-03 -9.99332820e-01 1.16893374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.906875 meters 0.012998057469904064 Centerline is valid? [True, True] Translation: X:209.70, Y:93.72, Z:11.69 [[-9.28140901e-01 3.70762170e-01 -3.30133475e-02 2.09699509e+02] [ 3.70402943e-01 9.28722314e-01 1.66290021e-02 9.37153895e+01] [ 3.68256374e-02 3.20581587e-03 -9.99316564e-01 1.16900035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.936875 meters 0.012898044307417065 Centerline is valid? [True, True] Translation: X:209.71, Y:93.74, Z:11.69 [[-9.52075728e-01 3.03919475e-01 -3.44203542e-02 2.09709767e+02] [ 3.03597904e-01 9.52692342e-01 1.43392251e-02 9.37426705e+01] [ 3.71499777e-02 3.20208072e-03 -9.99304571e-01 1.16912271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.966875 meters 0.012833085789337666 Centerline is valid? [True, True] Translation: X:209.73, Y:93.77, Z:11.69 [[-9.71066399e-01 2.36229554e-01 -3.50092350e-02 2.09728176e+02] [ 2.35957371e-01 9.71692105e-01 1.17717078e-02 9.37666772e+01] [ 3.67990225e-02 3.17042282e-03 -9.99317657e-01 1.16922933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.996875 meters 0.012755950457484044 Centerline is valid? [True, True] Translation: X:209.74, Y:93.79, Z:11.69 [[-9.85229909e-01 1.67489024e-01 -3.56293941e-02 2.09743243e+02] [ 1.67263836e-01 9.85868956e-01 9.23100501e-03 9.37920669e+01] [ 3.66720056e-02 3.13515309e-03 -9.99322438e-01 1.16932724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.026875 meters 0.012704177207926645 Centerline is valid? [True, True] Translation: X:209.88, Y:94.67, Z:10.99 [[-9.70964612e-01 -2.33953777e-01 4.99334905e-02 2.09876434e+02] [ 2.33770225e-01 -9.72244799e-01 -9.56726681e-03 9.46696468e+01] [ 5.07858746e-02 2.38348581e-03 9.98706721e-01 1.09870486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.056875 meters 0.012742952296309666 Centerline is valid? [True, True] Translation: X:209.70, Y:93.80, Z:11.69 [[-9.85498955e-01 1.65974589e-01 -3.52738619e-02 2.09695390e+02] [ 1.65756881e-01 9.86125308e-01 9.02962822e-03 9.37979135e+01] [ 3.62831367e-02 3.05180387e-03 -9.99336890e-01 1.16948324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.086875 meters 0.012696392847036567 Centerline is valid? [True, True] Translation: X:209.70, Y:93.83, Z:11.70 [[-9.94704420e-01 9.63578180e-02 -3.57531533e-02 2.09701782e+02] [ 9.61871700e-02 9.95342258e-01 6.46670075e-03 9.38259772e+01] [ 3.62097415e-02 2.99346118e-03 -9.99339729e-01 1.16963796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.116875 meters 0.012684993809886266 Centerline is valid? [True, True] Translation: X:209.77, Y:94.71, Z:10.99 [[-9.86254352e-01 -1.57372763e-01 5.03603755e-02 2.09768665e+02] [ 1.57287469e-01 -9.87536542e-01 -5.67715726e-03 9.47134479e+01] [ 5.06261410e-02 2.32193494e-03 9.98714976e-01 1.09894470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.146875 meters 0.012756398959465561 Centerline is valid? [True, True] Translation: X:209.64, Y:93.83, Z:11.70 [[-9.95075058e-01 9.25200019e-02 -3.55763833e-02 2.09643130e+02] [ 9.23529258e-02 9.95706312e-01 6.31477875e-03 9.38310796e+01] [ 3.60078728e-02 2.99809574e-03 -9.99347009e-01 1.17000305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.176875 meters 0.01269840454034381 Centerline is valid? [True, True] Translation: X:209.70, Y:94.72, Z:10.99 [[-9.87095275e-01 -1.52062855e-01 5.01976794e-02 2.09698219e+02] [ 1.51979835e-01 -9.88368353e-01 -5.48903812e-03 9.47198555e+01] [ 5.04484765e-02 2.21083143e-03 9.98724218e-01 1.09922713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.206875 meters 0.012581560308027822 Centerline is valid? [True, True] Translation: X:209.57, Y:93.84, Z:11.70 [[-9.95451497e-01 8.81372800e-02 -3.61681899e-02 2.09569668e+02] [ 8.79703170e-02 9.96103894e-01 6.18510849e-03 9.38383137e+01] [ 3.65724134e-02 2.97524837e-03 -9.99326577e-01 1.17023138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.236875 meters 0.012603038145438776 Centerline is valid? [True, True] Translation: X:209.59, Y:93.87, Z:11.70 [[-9.99183296e-01 1.69448727e-02 -3.66825778e-02 2.09585948e+02] [ 1.68257528e-02 9.99852122e-01 3.55361556e-03 9.38662069e+01] [ 3.67373688e-02 2.93350133e-03 -9.99320649e-01 1.17035468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.266875 meters 0.012429239721508336 Centerline is valid? [True, True] Translation: X:209.59, Y:93.90, Z:11.70 [[-9.97780267e-01 -5.50929146e-02 -3.74073607e-02 2.09587065e+02] [-5.51650131e-02 9.98476848e-01 8.97195927e-04 9.38958788e+01] [ 3.73009544e-02 2.95878193e-03 -9.99299697e-01 1.17045435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.296875 meters 0.012380374306590839 Centerline is valid? [True, True] Translation: X:209.51, Y:94.78, Z:11.00 [[-9.98813819e-01 -7.51667877e-03 4.81087761e-02 2.09513668e+02] [ 7.62930674e-03 -9.99968568e-01 2.15791189e-03 9.47798424e+01] [ 4.80910436e-02 2.52238883e-03 9.98839771e-01 1.09986498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.32687500000003 meters 0.012297718155778622 Centerline is valid? [True, True] Translation: X:209.49, Y:93.89, Z:11.71 [[-9.97221720e-01 -6.39001976e-02 -3.82832394e-02 2.09485036e+02] [-6.39738743e-02 9.97951327e-01 7.01348922e-04 9.38932868e+01] [ 3.81599933e-02 3.14852752e-03 -9.99266682e-01 1.17076453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.356875 meters 0.012267128798053027 Centerline is valid? [True, True] Translation: X:209.41, Y:94.77, Z:11.00 [[-9.98905189e-01 -4.23236467e-03 4.65887381e-02 2.09405534e+02] [ 4.34672803e-03 -9.99987783e-01 2.35370676e-03 9.47720563e+01] [ 4.65782072e-02 2.55363847e-03 9.98911382e-01 1.10044055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.38687500000003 meters 0.012241255964323619 Centerline is valid? [True, True] Translation: X:209.38, Y:93.89, Z:11.71 [[-9.96598339e-01 -7.26865253e-02 -3.88383705e-02 2.09381755e+02] [-7.27571123e-02 9.97349607e-01 4.05265820e-04 9.38898520e+01] [ 3.87059762e-02 3.22965493e-03 -9.99245424e-01 1.17114698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.416875 meters 0.012354440998447286 Centerline is valid? [True, True] Translation: X:209.38, Y:93.92, Z:11.71 [[-9.88503149e-01 -1.46162621e-01 -3.87041620e-02 2.09376384e+02] [-1.46177103e-01 9.89255351e-01 -2.47075855e-03 9.39197293e+01] [ 3.86494319e-02 3.21530965e-03 -9.99247659e-01 1.17132123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.44687500000003 meters 0.012460451999878401 Centerline is valid? [True, True] Translation: X:209.22, Y:94.78, Z:11.01 [[-9.96621228e-01 6.84541219e-02 4.53889900e-02 2.09224626e+02] [-6.82494197e-02 -9.97649969e-01 6.04622618e-03 9.47818107e+01] [ 4.56962136e-02 2.92802513e-03 9.98951091e-01 1.10106848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.476875 meters 0.012645036203291422 Centerline is valid? [True, True] Translation: X:209.25, Y:93.91, Z:11.72 [[-9.87110905e-01 -1.55294998e-01 -3.86720046e-02 2.09251595e+02] [-1.55310502e-01 9.87862225e-01 -2.62133481e-03 9.39053997e+01] [ 3.86096927e-02 3.41862028e-03 -9.99248520e-01 1.17195222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.50687500000004 meters 0.012742505597757818 Centerline is valid? [True, True] Translation: X:209.25, Y:93.93, Z:11.72 [[-9.73005842e-01 -2.27556178e-01 -3.84423977e-02 2.09248893e+02] [-2.27514294e-01 9.73759101e-01 -5.51896525e-03 9.39342231e+01] [ 3.86895092e-02 3.37620952e-03 -9.99245577e-01 1.17208772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.536875 meters 0.01284387042118355 Centerline is valid? [True, True] Translation: X:209.22, Y:93.96, Z:11.72 [[-9.53889646e-01 -2.97781628e-01 -3.76914439e-02 2.09222079e+02] [-2.97688074e-01 9.54627968e-01 -8.20076379e-03 9.39566392e+01] [ 3.84233433e-02 3.39766970e-03 -9.99255774e-01 1.17235482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.56687500000004 meters 0.013132597637679997 Centerline is valid? [True, True] Translation: X:209.17, Y:93.97, Z:11.73 [[-9.29378745e-01 -3.67312291e-01 -3.65626681e-02 2.09165157e+02] [-3.67171541e-01 9.30091285e-01 -1.07359503e-02 9.39675581e+01] [ 3.79500655e-02 3.44700720e-03 -9.99273692e-01 1.17276110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.596875 meters 0.012987951744075249 Centerline is valid? [True, True] Translation: X:209.11, Y:93.97, Z:11.73 [[-8.99243376e-01 -4.36009349e-01 -3.54569951e-02 2.09108544e+02] [-4.35821222e-01 8.99935285e-01 -1.32795028e-02 9.39738080e+01] [ 3.76989884e-02 3.51140594e-03 -9.99282971e-01 1.17313480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.626875 meters 0.013492497572019726 Centerline is valid? [True, True] Translation: X:209.04, Y:93.97, Z:11.74 [[-8.63607030e-01 -5.03073384e-01 -3.31672692e-02 2.09036465e+02] [-5.02856102e-01 8.64236415e-01 -1.52039550e-02 9.39691311e+01] [ 3.63130669e-02 3.54812130e-03 -9.99334164e-01 1.17375295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.656875 meters 0.013564249191091155 Centerline is valid? [True, True] Translation: X:208.95, Y:93.95, Z:11.74 [[-8.23259642e-01 -5.66784939e-01 -3.15973963e-02 2.08951585e+02] [-5.66528377e-01 8.23858094e-01 -1.74195015e-02 9.39497104e+01] [ 3.59048817e-02 3.56004908e-03 -9.99348871e-01 1.17431647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.686875 meters 0.013693188842415284 Centerline is valid? [True, True] Translation: X:208.87, Y:93.93, Z:11.75 [[-7.77751677e-01 -6.27848860e-01 -3.01353280e-02 2.08873989e+02] [-6.27550124e-01 7.78326989e-01 -1.96962099e-02 9.39277293e+01] [ 3.58213820e-02 3.59266854e-03 -9.99351751e-01 1.17481973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.716875 meters 0.013311015344734107 Centerline is valid? [True, True] Translation: X:208.78, Y:93.88, Z:11.75 [[-7.28194185e-01 -6.84779566e-01 -2.84635779e-02 2.08783166e+02] [-6.84440222e-01 7.28741514e-01 -2.18492191e-02 9.38839004e+01] [ 3.57044896e-02 3.57114331e-03 -9.99356011e-01 1.17534216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.746875 meters 0.013294449807053191 Centerline is valid? [True, True] Translation: X:208.70, Y:93.84, Z:11.76 [[-6.73925052e-01 -7.38321940e-01 -2.65657266e-02 2.08698655e+02] [-7.37947211e-01 6.74438995e-01 -2.37898331e-02 9.38380663e+01] [ 3.54815176e-02 3.57153937e-03 -9.99363951e-01 1.17586284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.776875 meters 0.013303293419235081 Centerline is valid? [True, True] Translation: X:208.61, Y:93.78, Z:11.76 [[-6.15683514e-01 -7.87611843e-01 -2.45233391e-02 2.08609384e+02] [-7.87204435e-01 6.16161451e-01 -2.55781968e-02 9.37759724e+01] [ 3.52560269e-02 3.55680724e-03 -9.99371984e-01 1.17643721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.806875 meters 0.013082172471039832 Centerline is valid? [True, True] Translation: X:208.53, Y:93.71, Z:11.77 [[-5.54022517e-01 -8.32198574e-01 -2.24629618e-02 2.08532209e+02] [-8.31756497e-01 5.54466471e-01 -2.73507360e-02 9.37136202e+01] [ 3.52162026e-02 3.53079085e-03 -9.99373480e-01 1.17700511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.836875 meters 0.013071803137812655 Centerline is valid? [True, True] Translation: X:208.45, Y:93.63, Z:11.78 [[-4.88526477e-01 -8.72314706e-01 -2.02221429e-02 2.08449702e+02] [-8.71843239e-01 4.88932191e-01 -2.88908263e-02 9.36324994e+01] [ 3.50891493e-02 3.51660499e-03 -9.99377999e-01 1.17764587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.866875 meters 0.013161962298405817 Centerline is valid? [True, True] Translation: X:208.37, Y:93.54, Z:11.78 [[-4.19878403e-01 -9.07406159e-01 -1.77817468e-02 2.08371369e+02] [-9.06915111e-01 4.20240122e-01 -3.00536368e-02 9.35416304e+01] [ 3.47434585e-02 3.50766186e-03 -9.99390108e-01 1.17832764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.896875 meters 0.01274034380082114 Centerline is valid? [True, True] Translation: X:208.31, Y:93.46, Z:11.79 [[-3.48256956e-01 -9.37274022e-01 -1.53133888e-02 2.08308056e+02] [-9.36764088e-01 3.48575797e-01 -3.11119993e-02 9.34558095e+01] [ 3.44983454e-02 3.51006254e-03 -9.99398591e-01 1.17890028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.926875 meters 0.013351043337594319 Centerline is valid? [True, True] Translation: X:208.24, Y:93.36, Z:11.80 [[-2.74260733e-01 -9.61569892e-01 -1.28216020e-02 2.08243819e+02] [-9.61039779e-01 2.74537791e-01 -3.21176598e-02 9.33555374e+01] [ 3.44033890e-02 3.51345664e-03 -9.99401852e-01 1.17962903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.956875 meters 0.01281581533526128 Centerline is valid? [True, True] Translation: X:208.19, Y:93.25, Z:11.80 [[-1.98303837e-01 -9.80086989e-01 -1.02509398e-02 2.08190839e+02] [-9.79542721e-01 1.98537280e-01 -3.28482293e-02 9.32454857e+01] [ 3.42293159e-02 3.52730353e-03 -9.99407781e-01 1.18014179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.986875 meters 0.012861092813146844 Centerline is valid? [True, True] Translation: X:208.15, Y:93.15, Z:11.81 [[-1.21127864e-01 -9.92607388e-01 -7.65592714e-03 2.08146343e+02] [-9.92048225e-01 1.21318014e-01 -3.35001171e-02 9.31464419e+01] [ 3.41812656e-02 3.53725129e-03 -9.99409390e-01 1.18068333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.016875 meters 0.01293877905883578 Centerline is valid? [True, True] Translation: X:208.11, Y:93.03, Z:11.81 [[-4.34281269e-02 -9.99043915e-01 -5.02526369e-03 2.08107711e+02] [-9.98468414e-01 4.35745818e-02 -3.40893280e-02 9.30287157e+01] [ 3.42757095e-02 3.53713140e-03 -9.99406156e-01 1.18127509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.046875 meters 0.012977814183163643 Centerline is valid? [True, True] Translation: X:208.08, Y:92.90, Z:11.82 [[ 3.39027999e-02 -9.99422388e-01 -2.34316774e-03 2.08078544e+02] [-9.98823792e-01 -3.38009894e-02 -3.47638621e-02 9.29022795e+01] [ 3.46645807e-02 3.51900394e-03 -9.99392807e-01 1.18188889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07687500000003 meters 0.01260405199973749 Centerline is valid? [True, True] Translation: X:208.06, Y:92.79, Z:11.82 [[ 1.09968630e-01 -9.93934956e-01 4.52051544e-04 2.08060682e+02] [-9.93300135e-01 -1.09914624e-01 -3.56877809e-02 9.27946209e+01] [ 3.55210200e-02 3.47551350e-03 -9.99362886e-01 1.18233434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.106875 meters 0.01260405199973749 Centerline is valid? [True, True] Translation: X:208.05, Y:92.67, Z:11.83 [[ 1.86938010e-01 -9.82366446e-01 3.21640104e-03 2.08048690e+02] [-9.81733661e-01 -1.86933578e-01 -3.54239616e-02 9.26740857e+01] [ 3.54005646e-02 3.46443574e-03 -9.99367199e-01 1.18295740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13687500000003 meters 0.01234213985555974 Centerline is valid? [True, True] Translation: X:208.05, Y:92.55, Z:11.84 [[ 2.61865403e-01 -9.65085050e-01 6.11199573e-03 2.08048396e+02] [-9.64434405e-01 -2.61914300e-01 -3.55974423e-02 9.25529125e+01] [ 3.59553785e-02 3.42711962e-03 -9.99347520e-01 1.18353223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.166875 meters 0.012021927322335325 Centerline is valid? [True, True] Translation: X:208.06, Y:92.43, Z:11.84 [[ 3.34672094e-01 -9.42293505e-01 8.80563489e-03 2.08057932e+02] [-9.41656131e-01 -3.34771060e-01 -3.48147819e-02 9.24323579e+01] [ 3.57536146e-02 3.35965589e-03 -9.99354988e-01 1.18411008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19687500000003 meters 0.011834900768442756 Centerline is valid? [True, True] Translation: X:208.07, Y:92.33, Z:11.85 [[ 4.05941814e-01 -9.13825493e-01 1.15849845e-02 2.08070068e+02] [-9.13189749e-01 -4.06093510e-01 -3.42424343e-02 9.23280484e+01] [ 3.59961965e-02 3.32114680e-03 -9.99346408e-01 1.18463887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.226875 meters 0.011720634915584342 Centerline is valid? [True, True] Translation: X:208.11, Y:92.19, Z:11.85 [[ 4.73930298e-01 -8.80449417e-01 1.41031018e-02 2.08106104e+02] [-8.79836011e-01 -4.74129017e-01 -3.30192233e-02 9.21944443e+01] [ 3.57584457e-02 3.24039346e-03 -9.99355209e-01 1.18537048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25687500000004 meters 0.011669797850396303 Centerline is valid? [True, True] Translation: X:208.13, Y:92.10, Z:11.86 [[ 5.39753543e-01 -8.41663895e-01 1.63707284e-02 2.08131661e+02] [-8.41083616e-01 -5.39992357e-01 -3.14102866e-02 9.20980490e+01] [ 3.52769723e-02 3.18466202e-03 -9.99372500e-01 1.18590330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.286875 meters 0.011584988010484859 Centerline is valid? [True, True] Translation: X:208.17, Y:92.00, Z:11.86 [[ 6.00886905e-01 -7.99128384e-01 1.81315865e-02 2.08172484e+02] [-7.98600761e-01 -6.01152595e-01 -2.91955877e-02 9.19951276e+01] [ 3.42308731e-02 3.06334750e-03 -9.99409257e-01 1.18649538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31687500000004 meters 0.011608039742817065 Centerline is valid? [True, True] Translation: X:208.22, Y:91.89, Z:11.87 [[ 6.59549098e-01 -7.51400801e-01 1.97945259e-02 2.08221648e+02] [-7.50919014e-01 -6.59839299e-01 -2.70690541e-02 9.18915997e+01] [ 3.34009150e-02 2.98928431e-03 -9.99437563e-01 1.18714671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.346875 meters 0.011702878870087316 Centerline is valid? [True, True] Translation: X:208.28, Y:91.79, Z:11.88 [[ 7.14421907e-01 -6.99386512e-01 2.14440232e-02 2.08278668e+02] [-6.98943043e-01 -7.14737681e-01 -2.50733069e-02 9.17920004e+01] [ 3.28627841e-02 2.92476894e-03 -9.99455593e-01 1.18776942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.376875 meters 0.01194574353313761 Centerline is valid? [True, True] Translation: X:208.27, Y:91.79, Z:11.88 [[ 7.64735086e-01 -6.43937008e-01 2.29211188e-02 2.08272935e+02] [-6.43531861e-01 -7.65073201e-01 -2.30161258e-02 9.17926340e+01] [ 3.23572689e-02 2.85076875e-03 -9.99472301e-01 1.18796630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.406875 meters 0.012091284331320324 Centerline is valid? [True, True] Translation: X:208.26, Y:91.79, Z:11.88 [[ 8.11863193e-01 -5.83332982e-01 2.45109995e-02 2.08264740e+02] [-5.82959934e-01 -8.12228299e-01 -2.10453413e-02 9.17917752e+01] [ 3.21849691e-02 2.79700738e-03 -9.99478016e-01 1.18809586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.436875 meters 0.012406187880214452 Centerline is valid? [True, True] Translation: X:208.25, Y:91.79, Z:11.88 [[ 8.54224672e-01 -5.19267738e-01 2.57143099e-02 2.08254997e+02] [-5.18933213e-01 -8.54607201e-01 -1.88375290e-02 9.17923066e+01] [ 3.17573555e-02 2.74747256e-03 -9.99491832e-01 1.18824798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.466875 meters 0.012465254837170845 Centerline is valid? [True, True] Translation: X:208.25, Y:91.79, Z:11.88 [[ 8.91666075e-01 -4.51910140e-01 2.66239840e-02 2.08245437e+02] [-4.51616292e-01 -8.92059368e-01 -1.65169553e-02 9.17913433e+01] [ 3.12143539e-02 2.70378377e-03 -9.99509056e-01 1.18834509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.496875 meters 0.012252988682803162 Centerline is valid? [True, True] Translation: X:208.23, Y:91.79, Z:11.88 [[ 9.24158714e-01 -3.80985708e-01 2.79385407e-02 2.08234314e+02] [-3.80722338e-01 -9.24577025e-01 -1.44161714e-02 9.17862213e+01] [ 3.13236881e-02 2.68600389e-03 -9.99505684e-01 1.18838887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.526875 meters 0.01242424685783593 Centerline is valid? [True, True] Translation: X:208.22, Y:91.78, Z:11.89 [[ 9.51084065e-01 -3.07585747e-01 2.88116261e-02 2.08223549e+02] [-3.07358321e-01 -9.51516602e-01 -1.21250986e-02 9.17814503e+01] [ 3.11442481e-02 2.67649502e-03 -9.99511317e-01 1.18852737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.556875 meters 0.012479203850316575 Centerline is valid? [True, True] Translation: X:208.21, Y:91.78, Z:11.89 [[ 9.72309036e-01 -2.31836925e-01 2.94411160e-02 2.08209665e+02] [-2.31646339e-01 -9.72750964e-01 -9.77421304e-03 9.17791532e+01] [ 3.09048974e-02 2.68362892e-03 -9.99518727e-01 1.18864403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.586875 meters 0.012198637871362644 Centerline is valid? [True, True] Translation: X:208.20, Y:91.77, Z:11.89 [[ 9.87666870e-01 -1.53688936e-01 2.98975708e-02 2.08197032e+02] [-1.53534856e-01 -9.88115550e-01 -7.39649120e-03 9.17724736e+01] [ 3.06790134e-02 2.71495010e-03 -9.99525601e-01 1.18875811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.616875 meters 0.012119160117841463 Centerline is valid? [True, True] Translation: X:208.19, Y:91.77, Z:11.89 [[ 9.96706421e-01 -7.52393790e-02 3.02546952e-02 2.08185196e+02] [-7.51215528e-02 -9.97161778e-01 -5.01406344e-03 9.17671194e+01] [ 3.05460806e-02 2.72476954e-03 -9.99529646e-01 1.18893067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.646875 meters 0.011739206654571158 Centerline is valid? [True, True] Translation: X:208.17, Y:91.76, Z:11.89 [[ 9.99537138e-01 5.03003536e-03 3.00034623e-02 2.08174144e+02] [ 5.11110838e-03 -9.99983490e-01 -2.62604153e-03 9.17562601e+01] [ 2.99897578e-02 2.77817698e-03 -9.99546345e-01 1.18905399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.676875 meters 0.011622924789655865 Centerline is valid? [True, True] Translation: X:208.16, Y:91.75, Z:11.89 [[ 9.95973474e-01 8.44271293e-02 3.01479464e-02 2.08162812e+02] [ 8.44731718e-02 -9.96425722e-01 -2.54583340e-04 9.17468606e+01] [ 3.00186955e-02 2.80025091e-03 -9.99545415e-01 1.18921778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.706875 meters 0.011581121219304661 Centerline is valid? [True, True] Translation: X:208.15, Y:91.74, Z:11.89 [[ 9.86116024e-01 1.63412005e-01 2.95246451e-02 2.08153468e+02] [ 1.63423988e-01 -9.86553854e-01 2.02307562e-03 9.17383667e+01] [ 2.94582473e-02 2.83004796e-03 -9.99562005e-01 1.18930038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.736875 meters 0.011295753996726691 Centerline is valid? [True, True] Translation: X:208.15, Y:91.72, Z:11.89 [[ 9.69745156e-01 2.42382280e-01 2.90716984e-02 2.08145926e+02] [ 2.42361552e-01 -9.70176526e-01 4.28793673e-03 9.17244855e+01] [ 2.92439993e-02 2.88765607e-03 -9.99568132e-01 1.18926789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.766875 meters 0.011367865839100223 Centerline is valid? [True, True] Translation: X:208.14, Y:91.71, Z:11.89 [[ 9.47496770e-01 3.18484049e-01 2.85968813e-02 2.08137398e+02] [ 3.18430000e-01 -9.47923774e-01 6.54636834e-03 9.17120703e+01] [ 2.91925776e-02 2.90344207e-03 -9.99569589e-01 1.18941685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.796875 meters 0.011410143887842516 Centerline is valid? [True, True] Translation: X:208.13, Y:91.70, Z:11.90 [[ 9.19187088e-01 3.92843385e-01 2.77339414e-02 2.08130571e+02] [ 3.92758715e-01 -9.19600731e-01 8.66532918e-03 9.17006870e+01] [ 2.89082700e-02 2.92768847e-03 -9.99577781e-01 1.18955929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.82687500000003 meters 0.01143221038961898 Centerline is valid? [True, True] Translation: X:208.12, Y:91.69, Z:11.90 [[ 8.85042846e-01 4.64765325e-01 2.63126031e-02 2.08123507e+02] [ 4.64656564e-01 -8.85428979e-01 1.04785919e-02 9.16892896e+01] [ 2.81680275e-02 2.95232098e-03 -9.99598843e-01 1.18972558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.856875 meters 0.01155532462702965 Centerline is valid? [True, True] Translation: X:208.12, Y:91.68, Z:11.90 [[ 8.45144522e-01 5.33940719e-01 2.52595774e-02 2.08118000e+02] [ 5.33804489e-01 -8.45516651e-01 1.24241553e-02 9.16773535e+01] [ 2.79911557e-02 2.98346899e-03 -9.99603719e-01 1.18993850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.88687500000003 meters 0.011547847401931809 Centerline is valid? [True, True] Translation: X:208.11, Y:91.66, Z:11.90 [[ 8.00237238e-01 5.99198950e-01 2.41035710e-02 2.08114899e+02] [ 5.99035855e-01 -8.00594549e-01 1.42972837e-02 9.16649410e+01] [ 2.78641049e-02 2.99768442e-03 -9.99607226e-01 1.18997449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.916875 meters 0.011520282116173649 Centerline is valid? [True, True] Translation: X:208.11, Y:91.65, Z:11.90 [[ 7.50337521e-01 6.60655922e-01 2.29642613e-02 2.08113184e+02] [ 6.60464085e-01 -7.50682817e-01 1.62018891e-02 9.16513764e+01] [ 2.79427503e-02 3.01018453e-03 -9.99604993e-01 1.19002227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.94687500000003 meters 0.011786956626463478 Centerline is valid? [True, True] Translation: X:208.11, Y:91.64, Z:11.90 [[ 6.95191462e-01 7.18483895e-01 2.21297055e-02 2.08111807e+02] [ 7.18252651e-01 -6.95536920e-01 1.84803308e-02 9.16362660e+01] [ 2.86698473e-02 3.04735145e-03 -9.99584290e-01 1.19005990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.976875 meters 0.01181700749689458 Centerline is valid? [True, True] Translation: X:208.11, Y:91.62, Z:11.90 [[ 6.36501694e-01 7.70999204e-01 2.06354414e-02 2.08109636e+02] [ 7.70740631e-01 -6.36828810e-01 2.01976940e-02 9.16247709e+01] [ 2.87136496e-02 3.04870670e-03 -9.99583029e-01 1.19013138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.00687500000004 meters 0.01187672900164856 Centerline is valid? [True, True] Translation: X:208.11, Y:91.61, Z:11.90 [[ 5.73746445e-01 8.18812764e-01 1.89914328e-02 2.08109144e+02] [ 8.18528967e-01 -5.74052552e-01 2.17714764e-02 9.16116897e+01] [ 2.87288432e-02 3.05373066e-03 -9.99582577e-01 1.19020147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.036875 meters 0.011903409919850517 Centerline is valid? [True, True] Translation: X:208.11, Y:91.60, Z:11.90 [[ 5.07889940e-01 8.61248370e-01 1.72931934e-02 2.08108275e+02] [ 8.60938021e-01 -5.08175140e-01 2.33184672e-02 9.15985179e+01] [ 2.88709629e-02 3.04515281e-03 -9.99578508e-01 1.19031067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.06687500000004 meters 0.011843658975919881 Centerline is valid? [True, True] Translation: X:208.11, Y:91.59, Z:11.90 [[ 4.38850981e-01 8.98426015e-01 1.55084522e-02 2.08109860e+02] [ 8.98088414e-01 -4.39114409e-01 2.48140281e-02 9.15857711e+01] [ 2.91035533e-02 3.03830067e-03 -9.99571784e-01 1.19040093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.096875 meters 0.011849371291016477 Centerline is valid? [True, True] Translation: X:208.11, Y:91.57, Z:11.91 [[ 3.67860581e-01 9.29779249e-01 1.37528545e-02 2.08111223e+02] [ 9.29404547e-01 -3.68105270e-01 2.65649934e-02 9.15729364e+01] [ 2.97620778e-02 3.00975157e-03 -9.99552480e-01 1.19051135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.126875 meters 0.011703252019450175 Centerline is valid? [True, True] Translation: X:208.11, Y:91.56, Z:11.91 [[ 2.94597040e-01 9.55550411e-01 1.16617324e-02 2.08111737e+02] [ 9.55153529e-01 -2.94812717e-01 2.76983561e-02 9.15613617e+01] [ 2.99052026e-02 2.97889117e-03 -9.99548301e-01 1.19061959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.156875 meters 0.011684395265951558 Centerline is valid? [True, True] Translation: X:208.11, Y:91.55, Z:11.91 [[ 2.19634827e-01 9.75537213e-01 9.36419663e-03 2.08112182e+02] [ 9.75134803e-01 -2.19814646e-01 2.81715547e-02 9.15495719e+01] [ 2.95407876e-02 2.94389949e-03 -9.99559241e-01 1.19069796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.186875 meters 0.011553140628571624 Centerline is valid? [True, True] Translation: X:208.11, Y:91.54, Z:11.91 [[ 1.44004892e-01 9.89550905e-01 7.18318232e-03 2.08112163e+02] [ 9.89122993e-01 -1.44154886e-01 2.92416269e-02 9.15371392e+01] [ 2.99715692e-02 2.89411348e-03 -9.99546562e-01 1.19076245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.216875 meters 0.011457136559725672 Centerline is valid? [True, True] Translation: X:208.11, Y:91.53, Z:11.91 [[ 6.68648627e-02 9.97750198e-01 4.86136453e-03 2.08113889e+02] [ 9.97310962e-01 -6.69803310e-02 2.97402105e-02 9.15254501e+01] [ 2.99989167e-02 2.85971705e-03 -9.99545840e-01 1.19086815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.246875 meters 0.011358289807599743 Centerline is valid? [True, True] Translation: X:208.12, Y:91.51, Z:11.91 [[-1.02547634e-02 9.99944277e-01 2.50659422e-03 2.08117882e+02] [ 9.99499308e-01 1.01750984e-02 2.99599964e-02 9.15146892e+01] [ 2.99328221e-02 2.81257187e-03 -9.99547956e-01 1.19094464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.276875 meters 0.011386430334306327 Centerline is valid? [True, True] Translation: X:208.12, Y:91.50, Z:11.91 [[-8.59318244e-02 9.96301010e-01 1.39531115e-04 2.08123253e+02] [ 9.95850202e-01 8.58887276e-02 3.00915488e-02 9.15040617e+01] [ 2.99682563e-02 2.72477378e-03 -9.99547137e-01 1.19100652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.306875 meters 0.01139834866019753 Centerline is valid? [True, True] Translation: X:208.13, Y:91.49, Z:11.91 [[-1.62484495e-01 9.86708302e-01 -2.34837920e-03 2.08130304e+02] [ 9.86233661e-01 1.62479444e-01 3.07180225e-02 9.14938430e+01] [ 3.06912912e-02 2.67515178e-03 -9.99525331e-01 1.19112694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.336875 meters 0.011431445820509548 Centerline is valid? [True, True] Translation: X:208.14, Y:91.48, Z:11.91 [[-2.38252536e-01 9.71190920e-01 -4.89136052e-03 2.08137144e+02] [ 9.70700309e-01 2.38288199e-01 3.09781204e-02 9.14836248e+01] [ 3.12512227e-02 2.63257056e-03 -9.99508094e-01 1.19117019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.366875 meters 0.011583854182207995 Centerline is valid? [True, True] Translation: X:208.14, Y:91.47, Z:11.91 [[-3.12356805e-01 9.49935412e-01 -7.47922253e-03 2.08144322e+02] [ 9.49433131e-01 3.12435679e-01 3.09947876e-02 9.14728373e+01] [ 3.17798223e-02 2.58041116e-03 -9.99491563e-01 1.19122940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.396875 meters 0.011626456145343687 Centerline is valid? [True, True] Translation: X:208.16, Y:91.47, Z:11.91 [[-3.84226938e-01 9.23182046e-01 -1.02259521e-02 2.08157278e+02] [ 9.22661754e-01 3.84354789e-01 3.10915409e-02 9.14659494e+01] [ 3.26335460e-02 2.51111271e-03 -9.99464229e-01 1.19124506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.426875 meters 0.01196959953206828 Centerline is valid? [True, True] Translation: X:208.17, Y:91.46, Z:11.91 [[-4.54831089e-01 8.90488424e-01 -1.26114089e-02 2.08169977e+02] [ 8.89981895e-01 4.54999130e-01 3.01333385e-02 9.14578425e+01] [ 3.25715692e-02 2.48165357e-03 -9.99466325e-01 1.19137800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.456875 meters 0.012005073386246793 Centerline is valid? [True, True] Translation: X:208.18, Y:91.45, Z:11.91 [[-5.22876063e-01 8.52278380e-01 -1.49058875e-02 2.08178266e+02] [ 8.51788716e-01 5.23082691e-01 2.89910775e-02 9.14483857e+01] [ 3.25054803e-02 2.46207365e-03 -9.99468525e-01 1.19148988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.486875 meters 0.011955650751804 Centerline is valid? [True, True] Translation: X:208.19, Y:91.44, Z:11.92 [[-5.88107570e-01 8.08608025e-01 -1.68091847e-02 2.08188801e+02] [ 8.08151493e-01 5.88342602e-01 2.72790597e-02 9.14415281e+01] [ 3.19476261e-02 2.45865377e-03 -9.99486520e-01 1.19167269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.516875 meters 0.011920948545620593 Centerline is valid? [True, True] Translation: X:208.20, Y:91.44, Z:11.92 [[-6.49792828e-01 7.59885191e-01 -1.85412245e-02 2.08202322e+02] [ 7.59462641e-01 6.50052646e-01 2.54569090e-02 9.14381705e+01] [ 3.13971002e-02 2.46034953e-03 -9.99503961e-01 1.19181912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.546875 meters 0.012138805208122766 Centerline is valid? [True, True] Translation: X:208.21, Y:91.43, Z:11.92 [[-7.07672557e-01 7.06247127e-01 -2.03604420e-02 2.08214864e+02] [ 7.05850461e-01 7.07961090e-01 2.37954251e-02 9.14338580e+01] [ 3.12198513e-02 2.46794195e-03 -9.99509495e-01 1.19204317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57687500000003 meters 0.011988391676929968 Centerline is valid? [True, True] Translation: X:208.86, Y:92.09, Z:11.21 [[-6.68763041e-01 -7.43015336e-01 2.61573272e-02 2.08856439e+02] [ 7.42505193e-01 -6.69273645e-01 -2.75468212e-02 9.20926147e+01] [ 3.79741203e-02 9.99655374e-04 9.99278223e-01 1.12055099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.606875 meters 0.011879298104387719 Centerline is valid? [True, True] Translation: X:208.84, Y:92.11, Z:11.21 [[-6.68725228e-01 -7.43080733e-01 2.52506184e-02 2.08838597e+02] [ 7.42537488e-01 -6.69201735e-01 -2.84098033e-02 9.21127901e+01] [ 3.80085351e-02 -2.48821412e-04 9.99277384e-01 1.12071835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63687500000003 meters 0.011833789399624465 Centerline is valid? [True, True] Translation: X:208.82, Y:92.13, Z:11.21 [[-6.68526414e-01 -7.43256557e-01 2.53401901e-02 2.08819964e+02] [ 7.42710259e-01 -6.69006457e-01 -2.84926734e-02 9.21326801e+01] [ 3.81301171e-02 -2.27685567e-04 9.99272757e-01 1.12085199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.666875 meters 0.011942937120942312 Centerline is valid? [True, True] Translation: X:208.80, Y:92.15, Z:11.21 [[-6.68419893e-01 -7.43356269e-01 2.52250562e-02 2.08802660e+02] [ 7.42815682e-01 -6.68895667e-01 -2.83451752e-02 9.21521308e+01] [ 3.79434945e-02 -2.08911647e-04 9.99279865e-01 1.12092955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69687500000003 meters 0.011865972862680468 Centerline is valid? [True, True] Translation: X:208.78, Y:92.17, Z:11.21 [[-6.68503250e-01 -7.43292744e-01 2.48857658e-02 2.08783510e+02] [ 7.42767249e-01 -6.68966260e-01 -2.79455936e-02 9.21721800e+01] [ 3.74194946e-02 -1.97388317e-04 9.99299626e-01 1.12105719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.726875 meters 0.012037379930910846 Centerline is valid? [True, True] Translation: X:208.77, Y:92.19, Z:11.21 [[-6.68600262e-01 -7.43209004e-01 2.47803528e-02 2.08766177e+02] [ 7.42688553e-01 -6.69059295e-01 -2.78095676e-02 9.21918046e+01] [ 3.72478464e-02 -1.89399818e-04 9.99306040e-01 1.12110141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75687500000004 meters 0.012000884510207387 Centerline is valid? [True, True] Translation: X:208.75, Y:92.21, Z:11.21 [[-6.68294113e-01 -7.43504243e-01 2.41747662e-02 2.08748290e+02] [ 7.43009758e-01 -6.68731198e-01 -2.71124297e-02 9.22119653e+01] [ 3.63246269e-02 -1.56989942e-04 9.99340031e-01 1.12124963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.786875 meters 0.01216088694723453 Centerline is valid? [True, True] Translation: X:208.73, Y:92.23, Z:11.21 [[-6.68422615e-01 -7.43399418e-01 2.38435224e-02 2.08730900e+02] [ 7.42918910e-01 -6.68847728e-01 -2.67247267e-02 9.22313973e+01] [ 3.58148321e-02 -1.49608053e-04 9.99358432e-01 1.12132733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81687500000004 meters 0.012245689611332468 Centerline is valid? [True, True] Translation: X:208.71, Y:92.25, Z:11.21 [[-6.68281081e-01 -7.43524045e-01 2.39247197e-02 2.08712330e+02] [ 7.43040956e-01 -6.68709187e-01 -2.67985132e-02 9.22516497e+01] [ 3.59240187e-02 -1.31892762e-04 9.99354515e-01 1.12142180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.846875 meters 0.012302411773625573 Centerline is valid? [True, True] Translation: X:208.69, Y:92.27, Z:11.21 [[-6.67641384e-01 -7.44106208e-01 2.36840210e-02 2.08693829e+02] [ 7.43633735e-01 -6.68061332e-01 -2.65127353e-02 9.22720855e+01] [ 3.55506695e-02 -8.87623006e-05 9.99367871e-01 1.12146646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.876875 meters 0.012396523450096024 Centerline is valid? [True, True] Translation: X:208.68, Y:92.29, Z:11.21 [[-6.67652286e-01 -7.44100202e-01 2.35650852e-02 2.08676302e+02] [ 7.43633038e-01 -6.68068022e-01 -2.63632714e-02 9.22918974e+01] [ 3.53599954e-02 -7.77224703e-05 9.99374637e-01 1.12149905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.906875 meters 0.012521779272435736 Centerline is valid? [True, True] Translation: X:208.66, Y:92.31, Z:11.22 [[-6.67190761e-01 -7.44509222e-01 2.37172302e-02 2.08658596e+02] [ 7.44036879e-01 -6.67612175e-01 -2.65161558e-02 9.23127102e+01] [ 3.55754342e-02 -4.48402308e-05 9.99366993e-01 1.12154179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.936875 meters 0.012682590243825028 Centerline is valid? [True, True] Translation: X:208.64, Y:92.33, Z:11.22 [[-6.67224754e-01 -7.44467947e-01 2.40541662e-02 2.08641806e+02] [ 7.43982690e-01 -6.67658202e-01 -2.68753064e-02 9.23331728e+01] [ 3.60677655e-02 -3.59864137e-05 9.99349346e-01 1.12156634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.966875 meters 0.012780155309903648 Centerline is valid? [True, True] Translation: X:208.62, Y:92.35, Z:11.22 [[-6.67393476e-01 -7.44306309e-01 2.43734817e-02 2.08624347e+02] [ 7.43808646e-01 -6.67838391e-01 -2.72136248e-02 9.23545989e+01] [ 3.65328194e-02 -3.29892157e-05 9.99332453e-01 1.12161206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.996875 meters 0.012724611891398799 Centerline is valid? [True, True] Translation: X:208.61, Y:92.38, Z:11.22 [[-6.67557817e-01 -7.44141394e-01 2.49027402e-02 2.08606651e+02] [ 7.43622418e-01 -6.68022143e-01 -2.77869748e-02 9.23759935e+01] [ 3.73130200e-02 -3.11763762e-05 9.99303626e-01 1.12166213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.026875 meters 0.01283389557269143 Centerline is valid? [True, True] Translation: X:208.59, Y:92.40, Z:11.22 [[-6.66731816e-01 -7.44864069e-01 2.54205712e-02 2.08589414e+02] [ 7.44324491e-01 -6.67216246e-01 -2.83466716e-02 9.23962795e+01] [ 3.80754352e-02 2.15258524e-05 9.99274867e-01 1.12158112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.056875 meters 0.01283389557269143 Centerline is valid? [True, True] Translation: X:208.57, Y:92.42, Z:11.22 [[-6.66957823e-01 -7.44661394e-01 2.54297208e-02 2.08571437e+02] [ 7.44121982e-01 -6.67442437e-01 -2.83384614e-02 9.24161276e+01] [ 3.80754330e-02 2.22557451e-05 9.99274868e-01 1.12167237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.086875 meters 0.012959007230668278 Centerline is valid? [True, True] Translation: X:208.55, Y:92.44, Z:11.22 [[-6.66314824e-01 -7.45234965e-01 2.54833800e-02 2.08553335e+02] [ 7.44694358e-01 -6.66801951e-01 -2.83808131e-02 9.24360796e+01] [ 3.81427417e-02 6.67728152e-05 9.99272299e-01 1.12170264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.116875 meters 0.013034413530469233 Centerline is valid? [True, True] Translation: X:208.53, Y:92.46, Z:11.22 [[-6.65575453e-01 -7.45889232e-01 2.56626216e-02 2.08534953e+02] [ 7.45342183e-01 -6.66069997e-01 -2.85620457e-02 9.24555655e+01] [ 3.83972247e-02 1.17237888e-04 9.99262548e-01 1.12171104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.146875 meters 0.013174824464943937 Centerline is valid? [True, True] Translation: X:208.52, Y:92.48, Z:11.22 [[-6.63258028e-01 -7.47955823e-01 2.55122458e-02 2.08515836e+02] [ 7.47417406e-01 -6.63748465e-01 -2.83759791e-02 9.24751744e+01] [ 3.81576928e-02 2.47700642e-04 9.99271699e-01 1.12179112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.176875 meters 0.013259570770568331 Centerline is valid? [True, True] Translation: X:208.50, Y:92.50, Z:11.22 [[-6.62659118e-01 -7.48484613e-01 2.55671354e-02 2.08497644e+02] [ 7.47944944e-01 -6.63152095e-01 -2.84193740e-02 9.24951539e+01] [ 3.82263635e-02 2.90452286e-04 9.99269063e-01 1.12188623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.206875 meters 0.013353005383007986 Centerline is valid? [True, True] Translation: X:208.48, Y:92.52, Z:11.22 [[-6.62201979e-01 -7.48893291e-01 2.54435983e-02 2.08479273e+02] [ 7.48359800e-01 -6.62690526e-01 -2.82644141e-02 9.25158541e+01] [ 3.80282616e-02 3.24215163e-04 9.99276611e-01 1.12201084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.236875 meters 0.013507267349456877 Centerline is valid? [True, True] Translation: X:208.46, Y:92.54, Z:11.22 [[-6.61334608e-01 -7.49680980e-01 2.47984843e-02 2.08461798e+02] [ 7.49175386e-01 -6.61799283e-01 -2.75309129e-02 9.25355055e+01] [ 3.70510209e-02 3.71268571e-04 9.99313306e-01 1.12214672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.266875 meters 0.013608174460676359 Centerline is valid? [True, True] Translation: X:208.44, Y:92.56, Z:11.22 [[-6.61090047e-01 -7.49898463e-01 2.47435939e-02 2.08443122e+02] [ 7.49395918e-01 -6.61552825e-01 -2.74521098e-02 9.25556858e+01] [ 3.69554894e-02 3.94431714e-04 9.99316835e-01 1.12222869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.296875 meters 0.013834073140789029 Centerline is valid? [True, True] Translation: X:208.42, Y:92.58, Z:11.22 [[-6.60233287e-01 -7.50664491e-01 2.43891275e-02 2.08424447e+02] [ 7.50177369e-01 -6.60683454e-01 -2.70423414e-02 9.25753690e+01] [ 3.64132184e-02 4.41917552e-04 9.99336721e-01 1.12233408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.32687500000003 meters 0.014042573236278196 Centerline is valid? [True, True] Translation: X:208.41, Y:92.59, Z:11.22 [[-6.60014934e-01 -7.50858678e-01 2.43214314e-02 2.08406428e+02] [ 7.50374984e-01 -6.60462741e-01 -2.69508992e-02 9.25942624e+01] [ 3.62997158e-02 4.62197765e-04 9.99340841e-01 1.12238451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.356875 meters 0.014234567126095613 Centerline is valid? [True, True] Translation: X:208.39, Y:92.61, Z:11.22 [[-6.59565682e-01 -7.51246899e-01 2.45195560e-02 2.08387689e+02] [ 7.50756043e-01 -6.60021099e-01 -2.71571897e-02 9.26142775e+01] [ 3.65851788e-02 4.96254517e-04 9.99330415e-01 1.12243048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.38687500000003 meters 0.014503777978989168 Centerline is valid? [True, True] Translation: X:208.37, Y:92.63, Z:11.22 [[-6.58472709e-01 -7.52182397e-01 2.52058050e-02 2.08368297e+02] [ 7.51665003e-01 -6.58954711e-01 -2.79000491e-02 9.26344229e+01] [ 3.75954097e-02 5.74900568e-04 9.99292877e-01 1.12243166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.416875 meters 0.014757086729515463 Centerline is valid? [True, True] Translation: X:208.35, Y:92.65, Z:11.22 [[-6.58203452e-01 -7.52416559e-01 2.52494845e-02 2.08349281e+02] [ 7.51898122e-01 -6.58687302e-01 -2.79329837e-02 9.26542894e+01] [ 3.76487543e-02 5.99453667e-04 9.99290855e-01 1.12249686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.44687500000003 meters 0.014107068730850733 Centerline is valid? [True, True] Translation: X:208.33, Y:92.68, Z:11.23 [[-6.58490467e-01 -7.52172586e-01 2.50340910e-02 2.08331706e+02] [ 7.51663414e-01 -6.58965895e-01 -2.76778327e-02 9.26750234e+01] [ 3.73151192e-02 5.91621359e-04 9.99303373e-01 1.12262482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.476875 meters 0.014629116827891251 Centerline is valid? [True, True] Translation: X:208.31, Y:92.69, Z:11.23 [[-6.58650610e-01 -7.52036382e-01 2.49129237e-02 2.08312714e+02] [ 7.51532680e-01 -6.59121331e-01 -2.75263839e-02 9.26933843e+01] [ 3.71214816e-02 5.92606791e-04 9.99310585e-01 1.12269371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.50687500000004 meters 0.014145296487346595 Centerline is valid? [True, True] Translation: X:208.30, Y:92.71, Z:11.23 [[-6.58837496e-01 -7.51875108e-01 2.48389874e-02 2.08295023e+02] [ 7.51374947e-01 -6.59305293e-01 -2.74266284e-02 9.27139648e+01] [ 3.69978751e-02 5.93701672e-04 9.99315168e-01 1.12278323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.536875 meters 0.014623940120558716 Centerline is valid? [True, True] Translation: X:208.28, Y:92.73, Z:11.23 [[-6.59483437e-01 -7.51298023e-01 2.51570492e-02 2.08276195e+02] [ 7.50785211e-01 -6.59962836e-01 -2.77600853e-02 9.27328035e+01] [ 3.74588147e-02 5.80224052e-04 9.99298004e-01 1.12281898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.56687500000004 meters 0.014028201893570078 Centerline is valid? [True, True] Translation: X:208.26, Y:92.75, Z:11.23 [[-6.59986594e-01 -7.50844330e-01 2.55046625e-02 2.08258826e+02] [ 7.50317614e-01 -6.60478964e-01 -2.81250087e-02 9.27543513e+01] [ 3.79627964e-02 5.74468828e-04 9.99278988e-01 1.12292385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.596875 meters 0.013657331374193876 Centerline is valid? [True, True] Translation: X:208.24, Y:92.77, Z:11.23 [[-6.61522976e-01 -7.49489739e-01 2.55437546e-02 2.08241579e+02] [ 7.48961068e-01 -6.62015764e-01 -2.81504284e-02 9.27742547e+01] [ 3.80088254e-02 5.09122532e-04 9.99277274e-01 1.12295828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.626875 meters 0.013259706717706939 Centerline is valid? [True, True] Translation: X:208.22, Y:92.79, Z:11.23 [[-6.62427886e-01 -7.48691363e-01 2.55056765e-02 2.08223879e+02] [ 7.48164367e-01 -6.62918561e-01 -2.80902416e-02 9.27949471e+01] [ 3.79391077e-02 4.74678983e-04 9.99279940e-01 1.12307495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.656875 meters 0.012865133652766779 Centerline is valid? [True, True] Translation: X:208.21, Y:92.82, Z:11.23 [[-6.63658801e-01 -7.47610525e-01 2.52091075e-02 2.08206064e+02] [ 7.47095578e-01 -6.64137280e-01 -2.77465267e-02 9.28159103e+01] [ 3.74859035e-02 4.19386081e-04 9.99297069e-01 1.12321754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.686875 meters 0.012499126202247834 Centerline is valid? [True, True] Translation: X:208.19, Y:92.84, Z:11.23 [[-6.66217643e-01 -7.45343728e-01 2.48350441e-02 2.08189014e+02] [ 7.44842994e-01 -6.66680312e-01 -2.73180501e-02 9.28375907e+01] [ 3.69183722e-02 2.98441606e-04 9.99318240e-01 1.12335925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.716875 meters 0.012259434280236015 Centerline is valid? [True, True] Translation: X:208.17, Y:92.86, Z:11.23 [[-6.67645594e-01 -7.44073725e-01 2.45693360e-02 2.08171370e+02] [ 7.43583335e-01 -6.68097475e-01 -2.70108810e-02 9.28588026e+01] [ 3.65127982e-02 2.35653117e-04 9.99333158e-01 1.12346372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.746875 meters 0.012062211943127758 Centerline is valid? [True, True] Translation: X:208.15, Y:92.88, Z:11.24 [[-6.69309329e-01 -7.42582058e-01 2.44317437e-02 2.08154704e+02] [ 7.42096752e-01 -6.69755075e-01 -2.68430656e-02 9.28792656e+01] [ 3.62964633e-02 1.64403417e-04 9.99341053e-01 1.12357898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.776875 meters 0.01179637156206131 Centerline is valid? [True, True] Translation: X:208.14, Y:92.90, Z:11.24 [[-6.72763973e-01 -7.39466321e-01 2.40457325e-02 2.08139141e+02] [ 7.38994834e-01 -6.73193553e-01 -2.64021777e-02 9.29013544e+01] [ 3.57109533e-02 7.23810938e-06 9.99362160e-01 1.12368264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.806875 meters 0.011786724727659651 Centerline is valid? [True, True] Translation: X:208.12, Y:92.92, Z:11.24 [[-6.74693934e-01 -7.37715273e-01 2.37544034e-02 2.08122059e+02] [ 7.37254612e-01 -6.75111969e-01 -2.60665615e-02 9.29222178e+01] [ 3.52665826e-02 -7.39074683e-05 9.99377938e-01 1.12374773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.836875 meters 0.011860838130967515 Centerline is valid? [True, True] Translation: X:208.10, Y:92.94, Z:11.24 [[-6.76400846e-01 -7.36146002e-01 2.38947338e-02 2.08104854e+02] [ 7.35679477e-01 -6.76822755e-01 -2.62043107e-02 9.29431622e+01] [ 3.54626981e-02 -1.45752651e-04 9.99370990e-01 1.12384230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.866875 meters 0.012313296274924541 Centerline is valid? [True, True] Translation: X:208.09, Y:92.97, Z:11.24 [[-6.79505816e-01 -7.33275859e-01 2.40491246e-02 2.08089552e+02] [ 7.32802075e-01 -6.79931197e-01 -2.63568982e-02 9.29655836e+01] [ 3.56786272e-02 -2.86417223e-04 9.99363274e-01 1.12391333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.896875 meters 0.012474691494289342 Centerline is valid? [True, True] Translation: X:208.07, Y:92.99, Z:11.24 [[-6.80704054e-01 -7.32165269e-01 2.40001915e-02 2.08072265e+02] [ 7.31693271e-01 -6.81126939e-01 -2.62878258e-02 9.29860242e+01] [ 3.55942100e-02 -3.33451009e-04 9.99366270e-01 1.12401789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.926875 meters 0.012693429784986807 Centerline is valid? [True, True] Translation: X:208.06, Y:93.01, Z:11.24 [[-6.81764823e-01 -7.31180757e-01 2.39045189e-02 2.08055153e+02] [ 7.30712361e-01 -6.82183670e-01 -2.61703118e-02 9.30061014e+01] [ 3.54425008e-02 -3.74670534e-04 9.99371647e-01 1.12411084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.956875 meters 0.012481768207403524 Centerline is valid? [True, True] Translation: X:208.04, Y:93.03, Z:11.24 [[-6.82167364e-01 -7.30812612e-01 2.36772719e-02 2.08036256e+02] [ 7.30353445e-01 -6.82578042e-01 -2.59048695e-02 9.30255066e+01] [ 3.50931912e-02 -3.78679419e-04 9.99383973e-01 1.12418191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.986875 meters 0.012631374223493837 Centerline is valid? [True, True] Translation: X:208.02, Y:93.05, Z:11.24 [[-6.81696734e-01 -7.31251794e-01 2.36722695e-02 2.08017980e+02] [ 7.30793660e-01 -6.82107539e-01 -2.58830511e-02 9.30450340e+01] [ 3.50740610e-02 -3.44846989e-04 9.99384656e-01 1.12428489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.016875 meters 0.012267570079210767 Centerline is valid? [True, True] Translation: X:208.00, Y:93.06, Z:11.24 [[-6.80738998e-01 -7.32140076e-01 2.37765565e-02 2.07997520e+02] [ 7.31679043e-01 -6.81154039e-01 -2.59798625e-02 9.30635232e+01] [ 3.52163960e-02 -2.88697536e-04 9.99379669e-01 1.12435139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.046875 meters 0.012069034086300537 Centerline is valid? [True, True] Translation: X:207.98, Y:93.08, Z:11.24 [[-6.79423887e-01 -7.33364626e-01 2.36538892e-02 2.07978065e+02] [ 7.32909631e-01 -6.79835480e-01 -2.58300742e-02 9.30813912e+01] [ 3.50236158e-02 -2.13406213e-04 9.99386462e-01 1.12439939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07687500000003 meters 0.011828470181982641 Centerline is valid? [True, True] Translation: X:207.96, Y:93.10, Z:11.24 [[-6.77816226e-01 -7.34845429e-01 2.38192918e-02 2.07957670e+02] [ 7.34385403e-01 -6.78234604e-01 -2.59981230e-02 9.30996776e+01] [ 3.52596698e-02 -1.29409434e-04 9.99378176e-01 1.12444470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.106875 meters 0.011803205210315134 Centerline is valid? [True, True] Translation: X:207.94, Y:93.12, Z:11.24 [[-6.74662233e-01 -7.37725310e-01 2.43359565e-02 2.07935391e+02] [ 7.37247558e-01 -6.75101005e-01 -2.65456461e-02 9.31167143e+01] [ 3.60126237e-02 3.22796564e-05 9.99351335e-01 1.12442850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13687500000003 meters 0.011823410434666304 Centerline is valid? [True, True] Translation: X:207.92, Y:93.14, Z:11.24 [[-6.73492432e-01 -7.38784536e-01 2.46039227e-02 2.07915237e+02] [ 7.38297510e-01 -6.73941688e-01 -2.68213908e-02 9.31354642e+01] [ 3.63968379e-02 1.01011120e-04 9.99337411e-01 1.12444007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.166875 meters 0.01206021186659265 Centerline is valid? [True, True] Translation: X:207.89, Y:93.15, Z:11.24 [[-6.71761301e-01 -7.40328426e-01 2.55064018e-02 2.07894824e+02] [ 7.39806782e-01 -6.72245328e-01 -2.77874902e-02 9.31536078e+01] [ 3.77184283e-02 2.03248494e-04 9.99288386e-01 1.12444427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19687500000003 meters 0.012184267808837686 Centerline is valid? [True, True] Translation: X:207.88, Y:93.17, Z:11.24 [[-6.71566714e-01 -7.40502008e-01 2.55914755e-02 2.07876201e+02] [ 7.39977661e-01 -6.72054108e-01 -2.78628251e-02 9.31717366e+01] [ 3.78313342e-02 2.25374217e-04 9.99284113e-01 1.12447376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.226875 meters 0.012115031231312953 Centerline is valid? [True, True] Translation: X:207.86, Y:93.19, Z:11.25 [[-6.71731132e-01 -7.40351568e-01 2.56289399e-02 2.07857228e+02] [ 7.39826254e-01 -6.72219833e-01 -2.78856687e-02 9.31914432e+01] [ 3.78734802e-02 2.29290828e-04 9.99282516e-01 1.12458403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25687500000004 meters 0.0119875671883739 Centerline is valid? [True, True] Translation: X:207.84, Y:93.21, Z:11.25 [[-6.72237881e-01 -7.39890599e-01 2.56541213e-02 2.07838676e+02] [ 7.39364560e-01 -6.72727178e-01 -2.78960887e-02 9.32110554e+01] [ 3.78982784e-02 2.14940547e-04 9.99281579e-01 1.12468378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.286875 meters 0.011801396521959962 Centerline is valid? [True, True] Translation: X:207.82, Y:93.23, Z:11.25 [[-6.73690303e-01 -7.38577789e-01 2.53815909e-02 2.07820452e+02] [ 7.38062571e-01 -6.74168248e-01 -2.75828776e-02 9.32312087e+01] [ 3.74835634e-02 1.50885034e-04 9.99297233e-01 1.12472877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31687500000004 meters 0.011791829089460429 Centerline is valid? [True, True] Translation: X:207.80, Y:93.25, Z:11.25 [[-6.74761356e-01 -7.37600645e-01 2.53456229e-02 2.07802655e+02] [ 7.37086858e-01 -6.75237200e-01 -2.75261236e-02 9.32503692e+01] [ 3.74175940e-02 1.08361096e-04 9.99299711e-01 1.12484223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.346875 meters 0.011681331299178213 Centerline is valid? [True, True] Translation: X:207.78, Y:93.27, Z:11.25 [[-6.77336845e-01 -7.35242073e-01 2.51772323e-02 2.07784732e+02] [ 7.34734131e-01 -6.77804614e-01 -2.73251262e-02 9.32710353e+01] [ 3.71558267e-02 -9.74289167e-06 9.99309484e-01 1.12488661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.376875 meters 0.011790098751363345 Centerline is valid? [True, True] Translation: X:207.77, Y:93.29, Z:11.25 [[-6.79009683e-01 -7.33690647e-01 2.53748822e-02 2.07767175e+02] [ 7.33174275e-01 -6.79483648e-01 -2.75218884e-02 9.32908385e+01] [ 3.74343696e-02 -8.34178455e-05 9.99299085e-01 1.12492210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.406875 meters 0.011856265925963701 Centerline is valid? [True, True] Translation: X:207.75, Y:93.31, Z:11.25 [[-6.80583104e-01 -7.32227322e-01 2.54909347e-02 2.07749021e+02] [ 7.31705877e-01 -6.81060295e-01 -2.76294073e-02 9.33113116e+01] [ 3.75918704e-02 -1.52241070e-04 9.99293164e-01 1.12498689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.436875 meters 0.012209193000461128 Centerline is valid? [True, True] Translation: X:207.73, Y:93.33, Z:11.25 [[-6.83403406e-01 -7.29570746e-01 2.61975553e-02 2.07730337e+02] [ 7.29018710e-01 -6.83905286e-01 -2.83774760e-02 9.33325590e+01] [ 3.86200229e-02 -2.94755772e-04 9.99253925e-01 1.12507533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.466875 meters 0.012686726624939108 Centerline is valid? [True, True] Translation: X:207.71, Y:93.35, Z:11.25 [[-6.84987091e-01 -7.28067446e-01 2.66548155e-02 2.07713626e+02] [ 7.27495463e-01 -6.85505399e-01 -2.88565232e-02 9.33522659e+01] [ 3.92815151e-02 -3.75088543e-04 9.99228113e-01 1.12510205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.496875 meters 0.013155192563315408 Centerline is valid? [True, True] Translation: X:207.70, Y:93.37, Z:11.25 [[-6.86633105e-01 -7.26500795e-01 2.70476436e-02 2.07695210e+02] [ 7.25911221e-01 -6.87165470e-01 -2.92663029e-02 9.33731729e+01] [ 3.98481990e-02 -4.61024404e-04 9.99205639e-01 1.12517921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.526875 meters 0.013968669310920024 Centerline is valid? [True, True] Translation: X:207.68, Y:93.39, Z:11.25 [[-6.89400715e-01 -7.23827946e-01 2.82800115e-02 2.07676488e+02] [ 7.23181854e-01 -6.89980221e-01 -3.05826932e-02 9.33942972e+01] [ 4.16492566e-02 -6.32139460e-04 9.99132093e-01 1.12509839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.556875 meters 0.014479996781706958 Centerline is valid? [True, True] Translation: X:207.66, Y:93.41, Z:11.25 [[-6.90815762e-01 -7.22475132e-01 2.83419635e-02 2.07657751e+02] [ 7.21825757e-01 -6.91396549e-01 -3.06331222e-02 9.34149888e+01] [ 4.17272047e-02 -7.03884376e-04 9.99128793e-01 1.12518141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.586875 meters 0.014216743534773018 Centerline is valid? [True, True] Translation: X:207.64, Y:93.43, Z:11.25 [[-6.91985326e-01 -7.21368110e-01 2.80063971e-02 2.07638088e+02] [ 7.20733791e-01 -6.92551432e-01 -3.02541998e-02 9.34345548e+01] [ 4.12202854e-02 -7.50305546e-04 9.99149801e-01 1.12536401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.616875 meters 0.014914968543520238 Centerline is valid? [True, True] Translation: X:207.62, Y:93.45, Z:11.26 [[-6.92876057e-01 -7.20525668e-01 2.76682316e-02 2.07620818e+02] [ 7.19906599e-01 -6.93427829e-01 -2.98719518e-02 9.34544193e+01] [ 4.07094298e-02 -7.79017725e-04 9.99170724e-01 1.12550866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.646875 meters 0.014894314912500395 Centerline is valid? [True, True] Translation: X:207.60, Y:93.47, Z:11.26 [[-6.93604918e-01 -7.19854031e-01 2.68773484e-02 2.07601579e+02] [ 7.19270085e-01 -6.94125034e-01 -2.89996846e-02 9.34733140e+01] [ 3.95317802e-02 -7.82251201e-04 9.99218007e-01 1.12583270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.676875 meters 0.015142831374227212 Centerline is valid? [True, True] Translation: X:207.58, Y:93.49, Z:11.26 [[-6.93772395e-01 -7.19712873e-01 2.63295272e-02 2.07583605e+02] [ 7.19153062e-01 -6.94271416e-01 -2.83914442e-02 9.34922836e+01] [ 3.87135260e-02 -7.62240123e-04 9.99250060e-01 1.12602137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.706875 meters 0.0145932771163749 Centerline is valid? [True, True] Translation: X:207.56, Y:93.51, Z:11.26 [[-6.93610463e-01 -7.19882072e-01 2.59678367e-02 2.07563894e+02] [ 7.19338334e-01 -6.94096009e-01 -2.79837814e-02 9.35109741e+01] [ 3.81691943e-02 -7.30183138e-04 9.99271024e-01 1.12621262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.736875 meters 0.014268591023085673 Centerline is valid? [True, True] Translation: X:207.54, Y:93.53, Z:11.26 [[-6.92607904e-01 -7.20868281e-01 2.53616455e-02 2.07542635e+02] [ 7.20350907e-01 -6.93071786e-01 -2.73142634e-02 9.35298139e+01] [ 3.72674271e-02 -6.48790379e-04 9.99305118e-01 1.12640883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.766875 meters 0.014052306474775907 Centerline is valid? [True, True] Translation: X:207.52, Y:93.55, Z:11.27 [[-6.92078921e-01 -7.21392605e-01 2.48892795e-02 2.07522553e+02] [ 7.20895198e-01 -6.92526065e-01 -2.67911028e-02 9.35487065e+01] [ 3.65633783e-02 -5.98995470e-04 9.99331157e-01 1.12652173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.796875 meters 0.013154956107409738 Centerline is valid? [True, True] Translation: X:207.50, Y:93.57, Z:11.27 [[-6.90436685e-01 -7.22993123e-01 2.40443105e-02 2.07499709e+02] [ 7.22530431e-01 -6.90855055e-01 -2.58663601e-02 9.35662084e+01] [ 3.53123339e-02 -4.86337935e-04 9.99376207e-01 1.12674454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.82687500000003 meters 0.012848292801268618 Centerline is valid? [True, True] Translation: X:207.48, Y:93.59, Z:11.27 [[-6.89508515e-01 -7.23882086e-01 2.39318405e-02 2.07479146e+02] [ 7.23424755e-01 -6.89923577e-01 -2.57309623e-02 9.35850391e+01] [ 3.51373237e-02 -4.28831794e-04 9.99382402e-01 1.12683159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.856875 meters 0.012622931019792841 Centerline is valid? [True, True] Translation: X:207.46, Y:93.60, Z:11.27 [[-6.88731796e-01 -7.24620521e-01 2.39502305e-02 2.07459360e+02] [ 7.24163473e-01 -6.89147992e-01 -2.57353749e-02 9.36032641e+01] [ 3.51536341e-02 -3.80888877e-04 9.99381847e-01 1.12689278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.88687500000003 meters 0.012429653830848895 Centerline is valid? [True, True] Translation: X:207.44, Y:93.62, Z:11.27 [[-6.87884411e-01 -7.25414164e-01 2.42760604e-02 2.07439174e+02] [ 7.24945677e-01 -6.88312559e-01 -2.60688780e-02 9.36224282e+01] [ 3.56202506e-02 -3.33549719e-04 9.99365342e-01 1.12700118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.916875 meters 0.012429653830848895 Centerline is valid? [True, True] Translation: X:207.42, Y:93.64, Z:11.27 [[-6.88113937e-01 -7.25196183e-01 2.42838699e-02 2.07420841e+02] [ 7.24727817e-01 -6.88542217e-01 -2.60616012e-02 9.36419512e+01] [ 3.56202434e-02 -3.34154964e-04 9.99365342e-01 1.12709250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.94687500000003 meters 0.01224146326711501 Centerline is valid? [True, True] Translation: X:207.40, Y:93.66, Z:11.27 [[-6.86167424e-01 -7.27035832e-01 2.43549915e-02 2.07400540e+02] [ 7.26566467e-01 -6.86599481e-01 -2.61213043e-02 9.36596119e+01] [ 3.57132487e-02 -2.28067979e-04 9.99362052e-01 1.12725587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.976875 meters 0.012032653282099534 Centerline is valid? [True, True] Translation: X:207.38, Y:93.68, Z:11.27 [[-6.85261728e-01 -7.27899621e-01 2.40521734e-02 2.07379689e+02] [ 7.27442955e-01 -6.85683683e-01 -2.57804797e-02 9.36779227e+01] [ 3.52577842e-02 -1.69791907e-04 9.99378237e-01 1.12736106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.00687500000004 meters 0.011798523972689339 Centerline is valid? [True, True] Translation: X:207.36, Y:93.69, Z:11.27 [[-6.83202514e-01 -7.29860408e-01 2.31972110e-02 2.07357500e+02] [ 7.29437286e-01 -6.83596213e-01 -2.48488149e-02 9.36942521e+01] [ 3.39936918e-02 -5.58621528e-05 9.99422046e-01 1.12746877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.036875 meters 0.011769410769915417 Centerline is valid? [True, True] Translation: X:207.34, Y:93.71, Z:11.28 [[-6.82211666e-01 -7.30787165e-01 2.31810903e-02 2.07336942e+02] [ 7.30365698e-01 -6.82605391e-01 -2.48158679e-02 9.37128103e+01] [ 3.39586549e-02 9.98560800e-07 9.99423239e-01 1.12755855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.06687500000004 meters 0.011835656650712723 Centerline is valid? [True, True] Translation: X:207.32, Y:93.73, Z:11.28 [[-6.81385441e-01 -7.31548962e-01 2.34520052e-02 2.07316672e+02] [ 7.31118586e-01 -6.81788907e-01 -2.50898321e-02 9.37317665e+01] [ 3.43437576e-02 5.03506008e-05 9.99410078e-01 1.12759131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.096875 meters 0.011878763617472782 Centerline is valid? [True, True] Translation: X:207.30, Y:93.75, Z:11.28 [[-6.80635562e-01 -7.32238607e-01 2.37034706e-02 2.07297172e+02] [ 7.31799935e-01 -6.81048173e-01 -2.53424917e-02 9.37501806e+01] [ 3.46999561e-02 9.71971788e-05 9.99397770e-01 1.12762762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.126875 meters 0.011978686015721092 Centerline is valid? [True, True] Translation: X:207.28, Y:93.77, Z:11.28 [[-6.79529798e-01 -7.33241772e-01 2.44081542e-02 2.07276711e+02] [ 7.32777748e-01 -6.79967998e-01 -2.60824533e-02 9.37681167e+01] [ 3.57215080e-02 1.61948033e-04 9.99361770e-01 1.12756607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.156875 meters 0.012023363767299585 Centerline is valid? [True, True] Translation: X:207.26, Y:93.79, Z:11.28 [[-6.79159530e-01 -7.33571687e-01 2.47974216e-02 2.07257177e+02] [ 7.33093579e-01 -6.79612053e-01 -2.64813520e-02 9.37872814e+01] [ 3.62785966e-02 1.93767938e-04 9.99341696e-01 1.12762157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.186875 meters 0.01222751569111113 Centerline is valid? [True, True] Translation: X:207.24, Y:93.81, Z:11.28 [[-6.78976599e-01 -7.33734704e-01 2.49832546e-02 2.07238221e+02] [ 7.33250134e-01 -6.79436044e-01 -2.66627696e-02 9.38055541e+01] [ 3.65379231e-02 2.15578157e-04 9.99332244e-01 1.12764355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.216875 meters 0.012305153125453473 Centerline is valid? [True, True] Translation: X:207.22, Y:93.82, Z:11.28 [[-6.78601891e-01 -7.34080943e-01 2.49928438e-02 2.07218801e+02] [ 7.33596878e-01 -6.79061933e-01 -2.66554395e-02 9.38241331e+01] [ 3.65389389e-02 2.46240546e-04 9.99332200e-01 1.12769869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.246875 meters 0.012587280781311444 Centerline is valid? [True, True] Translation: X:207.20, Y:93.84, Z:11.28 [[-6.77733316e-01 -7.34876801e-01 2.51721922e-02 2.07198354e+02] [ 7.34386919e-01 -6.78200557e-01 -2.68301660e-02 9.38422408e+01] [ 3.67886613e-02 3.02431263e-04 9.99323022e-01 1.12766523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.276875 meters 0.012805267776910711 Centerline is valid? [True, True] Translation: X:207.18, Y:93.86, Z:11.28 [[-6.77476391e-01 -7.35104243e-01 2.54458480e-02 2.07179200e+02] [ 7.34604432e-01 -6.77954013e-01 -2.71050739e-02 9.38618670e+01] [ 3.71761696e-02 3.29585077e-04 9.99308673e-01 1.12772782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.306875 meters 0.012760646915623395 Centerline is valid? [True, True] Translation: X:207.16, Y:93.88, Z:11.28 [[-6.77557735e-01 -7.35014523e-01 2.58682642e-02 2.07160596e+02] [ 7.34498564e-01 -6.78051277e-01 -2.75376921e-02 9.38811470e+01] [ 3.77806132e-02 3.41826665e-04 9.99285999e-01 1.12779066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.336875 meters 0.012827448021977763 Centerline is valid? [True, True] Translation: X:207.14, Y:93.90, Z:11.28 [[-6.77990035e-01 -7.34607185e-01 2.61112159e-02 2.07142555e+02] [ 7.34081876e-01 -6.78492573e-01 -2.77781940e-02 9.39005762e+01] [ 3.81223270e-02 3.34431639e-04 9.99273024e-01 1.12786493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.366875 meters 0.012570513780199303 Centerline is valid? [True, True] Translation: X:207.12, Y:93.92, Z:11.28 [[-6.78923211e-01 -7.33753000e-01 2.58806600e-02 2.07124201e+02] [ 7.33236970e-01 -6.79416255e-01 -2.75154409e-02 9.39208396e+01] [ 3.77732784e-02 2.95785274e-04 9.99286291e-01 1.12799328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.396875 meters 0.01236825266375079 Centerline is valid? [True, True] Translation: X:207.11, Y:93.94, Z:11.28 [[-6.80840565e-01 -7.32002042e-01 2.50825817e-02 2.07106871e+02] [ 7.31516757e-01 -6.81302407e-01 -2.66507854e-02 9.39405057e+01] [ 3.65972526e-02 2.03393074e-04 9.99330075e-01 1.12816386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.426875 meters 0.012309602535362252 Centerline is valid? [True, True] Translation: X:207.09, Y:93.96, Z:11.28 [[-6.82114449e-01 -7.30835237e-01 2.44894804e-02 2.07088607e+02] [ 7.30372479e-01 -6.82553905e-01 -2.60039978e-02 9.39613372e+01] [ 3.57200284e-02 1.48739938e-04 9.99361825e-01 1.12832914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.456875 meters 0.012128645080198945 Centerline is valid? [True, True] Translation: X:207.07, Y:93.98, Z:11.28 [[-6.83443268e-01 -7.29604702e-01 2.41304314e-02 2.07070755e+02] [ 7.29155199e-01 -6.83869117e-01 -2.56071625e-02 9.39821473e+01] [ 3.51851630e-02 9.37867372e-05 9.99380806e-01 1.12849294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.486875 meters 0.012105826726085154 Centerline is valid? [True, True] Translation: X:207.05, Y:94.00, Z:11.29 [[-6.85557130e-01 -7.27636672e-01 2.35859306e-02 2.07054203e+02] [ 7.27206595e-01 -6.85962735e-01 -2.50138740e-02 9.40028641e+01] [ 3.43800815e-02 3.40459850e-06 9.99408830e-01 1.12868985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.516875 meters 0.012101238292112432 Centerline is valid? [True, True] Translation: X:207.04, Y:94.02, Z:11.29 [[-6.86499333e-01 -7.26754094e-01 2.33912987e-02 2.07035496e+02] [ 7.26331131e-01 -6.86897727e-01 -2.47911647e-02 9.40231672e+01] [ 3.40845103e-02 -2.92896578e-05 9.99418954e-01 1.12876277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.546875 meters 0.01211144778518286 Centerline is valid? [True, True] Translation: X:207.02, Y:94.04, Z:11.29 [[-6.86958774e-01 -7.26313114e-01 2.35987787e-02 2.07016414e+02] [ 7.25882890e-01 -6.87363993e-01 -2.49954179e-02 9.40429927e+01] [ 3.43754506e-02 -4.08719940e-05 9.99408989e-01 1.12881181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57687500000003 meters 0.012098336035223303 Centerline is valid? [True, True] Translation: X:207.00, Y:94.06, Z:11.29 [[-6.86962688e-01 -7.26297229e-01 2.39708156e-02 2.06997350e+02] [ 7.25853881e-01 -6.87380778e-01 -2.53733886e-02 9.40625213e+01] [ 3.49056997e-02 -3.12617103e-05 9.99390610e-01 1.12884893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.606875 meters 0.012154069640660344 Centerline is valid? [True, True] Translation: X:206.98, Y:94.08, Z:11.29 [[-6.86060843e-01 -7.27132100e-01 2.44832269e-02 2.06977818e+02] [ 7.26670707e-01 -6.86497566e-01 -2.58993220e-02 9.40810979e+01] [ 3.56399040e-02 2.27331308e-05 9.99364697e-01 1.12879389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63687500000003 meters 0.012200503098711665 Centerline is valid? [True, True] Translation: X:206.96, Y:94.10, Z:11.29 [[-6.85536497e-01 -7.27617687e-01 2.47429438e-02 2.06959513e+02] [ 7.27147363e-01 -6.85982870e-01 -2.61574875e-02 9.40995342e+01] [ 3.60058862e-02 5.98539581e-05 9.99351576e-01 1.12881497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.666875 meters 0.012246633409996863 Centerline is valid? [True, True] Translation: X:206.94, Y:94.12, Z:11.29 [[-6.84963861e-01 -7.28137401e-01 2.53068211e-02 2.06940546e+02] [ 7.27646398e-01 -6.85431189e-01 -2.67358182e-02 9.41190492e+01] [ 3.68134337e-02 1.01348005e-04 9.99322151e-01 1.12886132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69687500000003 meters 0.012506413291089879 Centerline is valid? [True, True] Translation: X:206.92, Y:94.14, Z:11.29 [[-6.83629512e-01 -7.29360974e-01 2.61392356e-02 2.06921702e+02] [ 7.28838683e-01 -6.84129034e-01 -2.75978240e-02 9.41382960e+01] [ 3.80113858e-02 1.84599110e-04 9.99277289e-01 1.12898676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.726875 meters 0.012548202424249125 Centerline is valid? [True, True] Translation: X:206.90, Y:94.16, Z:11.29 [[-6.83219645e-01 -7.29738082e-01 2.63296003e-02 2.06902591e+02] [ 7.29209104e-01 -6.83726761e-01 -2.77812923e-02 9.41577852e+01] [ 3.82753193e-02 2.19059550e-04 9.99267208e-01 1.12912203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75687500000004 meters 0.012869102144975693 Centerline is valid? [True, True] Translation: X:206.88, Y:94.18, Z:11.29 [[-6.82787052e-01 -7.30150155e-01 2.61264886e-02 2.06883029e+02] [ 7.29630275e-01 -6.83286681e-01 -2.75494902e-02 9.41760694e+01] [ 3.79671462e-02 2.52241875e-04 9.99278956e-01 1.12918890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.786875 meters 0.012858436139032642 Centerline is valid? [True, True] Translation: X:206.86, Y:94.20, Z:11.29 [[-6.82510121e-01 -7.30419408e-01 2.58345530e-02 2.06864043e+02] [ 7.29911947e-01 -6.82998838e-01 -2.72238249e-02 9.41956655e+01] [ 3.75297797e-02 2.76412883e-04 9.99295471e-01 1.12930713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.816875 meters 0.013225891069749049 Centerline is valid? [True, True] Translation: X:206.85, Y:94.21, Z:11.29 [[-6.82133323e-01 -7.30765159e-01 2.60079347e-02 2.06846059e+02] [ 7.30251757e-01 -6.82628880e-01 -2.73894778e-02 9.42147377e+01] [ 3.77690434e-02 3.09064487e-04 9.99286447e-01 1.12942620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.846875 meters 0.013262646839766065 Centerline is valid? [True, True] Translation: X:206.83, Y:94.23, Z:11.30 [[-6.82193078e-01 -7.30713504e-01 2.58916737e-02 2.06827638e+02] [ 7.30205303e-01 -6.82684169e-01 -2.72496089e-02 9.42346475e+01] [ 3.75874929e-02 3.16742826e-04 9.99293290e-01 1.12950013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.876875 meters 0.01345301559777299 Centerline is valid? [True, True] Translation: X:206.81, Y:94.25, Z:11.30 [[-6.82463755e-01 -7.30465109e-01 2.57671867e-02 2.06810700e+02] [ 7.29962229e-01 -6.82949945e-01 -2.71019720e-02 9.42540876e+01] [ 3.73947436e-02 3.12959506e-04 9.99300523e-01 1.12970605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.906875 meters 0.013358898699782521 Centerline is valid? [True, True] Translation: X:206.79, Y:94.27, Z:11.30 [[-6.82580586e-01 -7.30355195e-01 2.57882240e-02 2.06792702e+02] [ 7.29852066e-01 -6.83067484e-01 -2.71067202e-02 9.42745965e+01] [ 3.74126312e-02 3.19067602e-04 9.99299852e-01 1.12989278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.936875 meters 0.01344262587125463 Centerline is valid? [True, True] Translation: X:206.77, Y:94.29, Z:11.30 [[-6.83178097e-01 -7.29804665e-01 2.55507290e-02 2.06774578e+02] [ 7.29310992e-01 -6.83655661e-01 -2.68405432e-02 9.42938731e+01] [ 3.70562541e-02 2.97556304e-04 9.99313137e-01 1.12999149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.966875 meters 0.013406711136669509 Centerline is valid? [True, True] Translation: X:206.76, Y:94.31, Z:11.30 [[-6.84045741e-01 -7.28971152e-01 2.61243824e-02 2.06756489e+02] [ 7.28455130e-01 -6.84544364e-01 -2.74251218e-02 9.43148993e+01] [ 3.78754214e-02 2.70402574e-04 9.99282432e-01 1.13002981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.996875 meters 0.013400223642776467 Centerline is valid? [True, True] Translation: X:206.74, Y:94.33, Z:11.30 [[-6.84495197e-01 -7.28529993e-01 2.66528726e-02 2.06738452e+02] [ 7.27993207e-01 -6.85013854e-01 -2.79626379e-02 9.43349965e+01] [ 3.86292074e-02 2.62818860e-04 9.99253579e-01 1.13009800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.026875 meters 0.013297029142668223 Centerline is valid? [True, True] Translation: X:206.72, Y:94.35, Z:11.30 [[-6.85139241e-01 -7.27899360e-01 2.73265964e-02 2.06720406e+02] [ 7.27335288e-01 -6.85683938e-01 -2.86516390e-02 9.43547619e+01] [ 3.95929179e-02 2.45235689e-04 9.99215863e-01 1.13013395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.056875 meters 0.013392441746955544 Centerline is valid? [True, True] Translation: X:206.70, Y:94.38, Z:11.30 [[-6.86010033e-01 -7.27037839e-01 2.83939349e-02 2.06702875e+02] [ 7.26428884e-01 -6.86597359e-01 -2.97513453e-02 9.43753266e+01] [ 4.11255545e-02 2.16453026e-04 9.99153963e-01 1.13006986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.086875 meters 0.013350910017657504 Centerline is valid? [True, True] Translation: X:206.69, Y:94.40, Z:11.30 [[-6.86775022e-01 -7.26296735e-01 2.88638580e-02 2.06685062e+02] [ 7.25667580e-01 -6.87381275e-01 -3.02249289e-02 9.43956487e+01] [ 4.17927427e-02 1.87839814e-04 9.99126284e-01 1.13010983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.116875 meters 0.013300390637946106 Centerline is valid? [True, True] Translation: X:206.67, Y:94.42, Z:11.30 [[-6.87574127e-01 -7.25514376e-01 2.95077857e-02 2.06667068e+02] [ 7.24856933e-01 -6.88206993e-01 -3.08797780e-02 9.44166382e+01] [ 4.27111874e-02 1.56786676e-04 9.99087449e-01 1.13019375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.146875 meters 0.01325476116827469 Centerline is valid? [True, True] Translation: X:206.65, Y:94.44, Z:11.30 [[-6.88410444e-01 -7.24688040e-01 3.03035534e-02 2.06649023e+02] [ 7.23994733e-01 -6.89077086e-01 -3.16922126e-02 9.44374551e+01] [ 4.38484517e-02 1.22362900e-04 9.99038187e-01 1.13026297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.176875 meters 0.013324804174201127 Centerline is valid? [True, True] Translation: X:206.63, Y:94.46, Z:11.30 [[-6.90106844e-01 -7.23079415e-01 3.01447102e-02 2.06632220e+02] [ 7.22392699e-01 -6.90764908e-01 -3.15060431e-02 9.44581540e+01] [ 4.36042792e-02 3.37825925e-05 9.99048881e-01 1.13032399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.206875 meters 0.01325072226766963 Centerline is valid? [True, True] Translation: X:206.61, Y:94.48, Z:11.31 [[-6.90945224e-01 -7.22302085e-01 2.95701702e-02 2.06614059e+02] [ 7.21641448e-01 -6.91577687e-01 -3.08856363e-02 9.44787709e+01] [ 4.27588295e-02 -1.22241959e-06 9.99085423e-01 1.13058168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.236875 meters 0.01327588225872954 Centerline is valid? [True, True] Translation: X:206.60, Y:94.50, Z:11.31 [[-6.91561990e-01 -7.21723870e-01 2.92689065e-02 2.06596173e+02] [ 7.21076912e-01 -6.92181085e-01 -3.05521311e-02 9.44994201e+01] [ 4.23095858e-02 -2.35598124e-05 9.99104548e-01 1.13076475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.266875 meters 0.013356881658996856 Centerline is valid? [True, True] Translation: X:206.58, Y:94.52, Z:11.31 [[-6.92558146e-01 -7.20788989e-01 2.87479900e-02 2.06578099e+02] [ 7.20164820e-01 -6.93154549e-01 -2.99900646e-02 9.45198381e+01] [ 4.15433083e-02 -6.65725115e-05 9.99136702e-01 1.13094561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.296875 meters 0.013281387851862196 Centerline is valid? [True, True] Translation: X:206.56, Y:94.54, Z:11.31 [[-6.93465557e-01 -7.19921145e-01 2.86193416e-02 2.06561476e+02] [ 7.19302592e-01 -6.94055858e-01 -2.98370054e-02 9.45402851e+01] [ 4.13437128e-02 -1.04968950e-04 9.99144978e-01 1.13106231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.32687500000003 meters 0.013326897227650956 Centerline is valid? [True, True] Translation: X:206.54, Y:94.56, Z:11.31 [[-6.93784465e-01 -7.19606980e-01 2.87908089e-02 2.06543099e+02] [ 7.18981537e-01 -6.94381583e-01 -2.99961029e-02 9.45600544e+01] [ 4.15772125e-02 -1.10770153e-04 9.99135288e-01 1.13109476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.356875 meters 0.013260244534610739 Centerline is valid? [True, True] Translation: X:206.52, Y:94.58, Z:11.31 [[-6.93333607e-01 -7.19997344e-01 2.98719536e-02 2.06524361e+02] [ 7.19325246e-01 -6.93976814e-01 -3.11026014e-02 9.45802777e+01] [ 4.31242336e-02 -7.68284662e-05 9.99069715e-01 1.13106124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.38687500000003 meters 0.013258007554837753 Centerline is valid? [True, True] Translation: X:206.51, Y:94.60, Z:11.31 [[-6.93037570e-01 -7.20261404e-01 3.03716457e-02 2.06505494e+02] [ 7.19567755e-01 -6.93702752e-01 -3.16028186e-02 9.46004409e+01] [ 4.38311847e-02 -4.74836721e-05 9.99038951e-01 1.13111871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.416875 meters 0.01316450646837801 Centerline is valid? [True, True] Translation: X:206.49, Y:94.62, Z:11.31 [[-6.92621181e-01 -7.20641499e-01 3.08501158e-02 2.06487339e+02] [ 7.19927104e-01 -6.93307890e-01 -3.20801268e-02 9.46198412e+01] [ 4.45068994e-02 -9.54079368e-06 9.99009077e-01 1.13114896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.44687500000003 meters 0.01330460009674609 Centerline is valid? [True, True] Translation: X:206.47, Y:94.64, Z:11.31 [[-6.91694001e-01 -7.21518541e-01 3.11513073e-02 2.06469831e+02] [ 7.20791969e-01 -6.92395112e-01 -3.23719901e-02 9.46398548e+01] [ 4.49260040e-02 6.21007715e-05 9.98990315e-01 1.13120942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.476875 meters 0.013290087665364034 Centerline is valid? [True, True] Translation: X:206.45, Y:94.66, Z:11.31 [[-6.91296197e-01 -7.21906071e-01 3.10031050e-02 2.06451362e+02] [ 7.21187706e-01 -6.91991051e-01 -3.21974936e-02 9.46594071e+01] [ 4.46974374e-02 1.01053294e-04 9.99000565e-01 1.13133641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.50687500000004 meters 0.013206934006198358 Centerline is valid? [True, True] Translation: X:206.43, Y:94.68, Z:11.31 [[-6.90061084e-01 -7.23075469e-01 3.12660504e-02 2.06432595e+02] [ 7.22346960e-01 -6.90769013e-01 -3.24505977e-02 9.46795413e+01] [ 4.50618499e-02 1.92041809e-04 9.98984180e-01 1.13149136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.536875 meters 0.013307958265992017 Centerline is valid? [True, True] Translation: X:206.41, Y:94.70, Z:11.32 [[-6.89449701e-01 -7.23646529e-01 3.15406383e-02 2.06414110e+02] [ 7.22906717e-01 -6.90170733e-01 -3.27144963e-02 9.46985850e+01] [ 4.54421572e-02 2.45939589e-04 9.98966941e-01 1.13152256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.566875 meters 0.013401141355057145 Centerline is valid? [True, True] Translation: X:206.40, Y:94.72, Z:11.32 [[-6.89058394e-01 -7.24017609e-01 3.15758096e-02 2.06395283e+02] [ 7.23277512e-01 -6.89781429e-01 -3.27295120e-02 9.47184980e+01] [ 4.54771501e-02 2.85528028e-04 9.98965338e-01 1.13159039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.596875 meters 0.013471515872124452 Centerline is valid? [True, True] Translation: X:206.38, Y:94.74, Z:11.32 [[-6.88469655e-01 -7.24579822e-01 3.15216695e-02 2.06376909e+02] [ 7.23843795e-01 -6.89190807e-01 -3.26525917e-02 9.47376541e+01] [ 4.53838539e-02 3.36446335e-04 9.98969565e-01 1.13170528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.626875 meters 0.013622060431857921 Centerline is valid? [True, True] Translation: X:206.36, Y:94.76, Z:11.32 [[-6.87085593e-01 -7.25915877e-01 3.09762428e-02 2.06358380e+02] [ 7.25207389e-01 -6.87783362e-01 -3.20669680e-02 9.47578684e+01] [ 4.45828657e-02 4.31448439e-04 9.99005597e-01 1.13196606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.656875 meters 0.01403813525926016 Centerline is valid? [True, True] Translation: X:206.34, Y:94.78, Z:11.32 [[-6.86447008e-01 -7.26540554e-01 3.04848861e-02 2.06339486e+02] [ 7.25855855e-01 -6.87123420e-01 -3.15386106e-02 9.47759677e+01] [ 4.38609588e-02 4.78048131e-04 9.99037531e-01 1.13209370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.686875 meters 0.01412384942403284 Centerline is valid? [True, True] Translation: X:206.32, Y:94.80, Z:11.32 [[-6.86019004e-01 -7.26960600e-01 3.01033584e-02 2.06320120e+02] [ 7.26294205e-01 -6.86678982e-01 -3.11239958e-02 9.47956504e+01] [ 4.32972621e-02 5.12242183e-04 9.99062103e-01 1.13223618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.716875 meters 0.013969583774453277 Centerline is valid? [True, True] Translation: X:206.30, Y:94.82, Z:11.32 [[-6.85532643e-01 -7.27422848e-01 3.00165784e-02 2.06301867e+02] [ 7.26761557e-01 -6.86189255e-01 -3.10152525e-02 9.48153948e+01] [ 4.31582569e-02 5.52927222e-04 9.99068095e-01 1.13240811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.746875 meters 0.014632565172536176 Centerline is valid? [True, True] Translation: X:206.28, Y:94.83, Z:11.32 [[-6.84412431e-01 -7.28459842e-01 3.04283224e-02 2.06282636e+02] [ 7.27782159e-01 -6.85088205e-01 -3.14210016e-02 9.48343964e+01] [ 4.37350226e-02 6.40266061e-04 9.99042961e-01 1.13239195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.776875 meters 0.014742259876551055 Centerline is valid? [True, True] Translation: X:206.26, Y:94.85, Z:11.32 [[-6.84299374e-01 -7.28552430e-01 3.07526198e-02 2.06263763e+02] [ 7.27861151e-01 -6.84989718e-01 -3.17368950e-02 9.48539235e+01] [ 4.41872203e-02 6.66099862e-04 9.99023046e-01 1.13238686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.806875 meters 0.014670779980087702 Centerline is valid? [True, True] Translation: X:206.25, Y:94.87, Z:11.32 [[-6.84675028e-01 -7.28167760e-01 3.14931722e-02 2.06245131e+02] [ 7.27443276e-01 -6.85398617e-01 -3.24810215e-02 9.48740636e+01] [ 4.52370093e-02 6.70552082e-04 9.98976057e-01 1.13237360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.836875 meters 0.014769047461247586 Centerline is valid? [True, True] Translation: X:206.23, Y:94.89, Z:11.32 [[-6.85354099e-01 -7.27481115e-01 3.25727968e-02 2.06226942e+02] [ 7.26706300e-01 -6.86127386e-01 -3.35732598e-02 9.48937290e+01] [ 4.67730004e-02 6.61285440e-04 9.98905325e-01 1.13225282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.866875 meters 0.014769047461247586 Centerline is valid? [True, True] Translation: X:206.21, Y:94.91, Z:11.32 [[-6.85571175e-01 -7.27276076e-01 3.25833282e-02 2.06208195e+02] [ 7.26501516e-01 -6.86344717e-01 -3.35630367e-02 9.49128499e+01] [ 4.67729888e-02 6.61986777e-04 9.98905326e-01 1.13234408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.896875 meters 0.013953543215688929 Centerline is valid? [True, True] Translation: X:206.19, Y:94.93, Z:11.33 [[-6.86117793e-01 -7.26754821e-01 3.27078577e-02 2.06191265e+02] [ 7.25974697e-01 -6.86896657e-01 -3.36707882e-02 9.49337963e+01] [ 4.69373258e-02 6.42950224e-04 9.98897629e-01 1.13257432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.926875 meters 0.013914982790031012 Centerline is valid? [True, True] Translation: X:206.17, Y:94.95, Z:11.33 [[-6.87421572e-01 -7.25518895e-01 3.27706626e-02 2.06173925e+02] [ 7.24735387e-01 -6.88202008e-01 -3.37137309e-02 9.49540414e+01] [ 4.70127846e-02 5.74512945e-04 9.98894123e-01 1.13255301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.956875 meters 0.013866212348674453 Centerline is valid? [True, True] Translation: X:206.16, Y:94.97, Z:11.33 [[-6.88460941e-01 -7.24523758e-01 3.29675315e-02 2.06156396e+02] [ 7.23730723e-01 -6.89249628e-01 -3.38938289e-02 9.49733192e+01] [ 4.72797431e-02 5.25038078e-04 9.98881550e-01 1.13260765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.986875 meters 0.013634278891099519 Centerline is valid? [True, True] Translation: X:206.14, Y:94.99, Z:11.33 [[-6.89306282e-01 -7.23718319e-01 3.29946091e-02 2.06137897e+02] [ 7.22924057e-01 -6.90095326e-01 -3.39005587e-02 9.49940634e+01] [ 4.73038809e-02 4.84728629e-04 9.98880427e-01 1.13269739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.016875 meters 0.013162702327252954 Centerline is valid? [True, True] Translation: X:206.12, Y:95.02, Z:11.33 [[-6.90947065e-01 -7.22166208e-01 3.26821373e-02 2.06120645e+02] [ 7.21386093e-01 -6.91719465e-01 -3.35601997e-02 9.50158653e+01] [ 4.68429126e-02 3.88117875e-04 9.98902193e-01 1.13292640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.046875 meters 0.01313249651055555 Centerline is valid? [True, True] Translation: X:206.10, Y:95.04, Z:11.33 [[-6.91947837e-01 -7.21231605e-01 3.21428675e-02 2.06102888e+02] [ 7.20476886e-01 -6.92693917e-01 -3.29877962e-02 9.50355423e+01] [ 4.60570099e-02 3.32358847e-04 9.98938758e-01 1.13306678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07687500000003 meters 0.012917580325056209 Centerline is valid? [True, True] Translation: X:206.08, Y:95.06, Z:11.33 [[-6.93110386e-01 -7.20145846e-01 3.14317281e-02 2.06084777e+02] [ 7.19423772e-01 -6.93822664e-01 -3.22420010e-02 9.50561954e+01] [ 4.50269884e-02 2.65466639e-04 9.98985736e-01 1.13329502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.106875 meters 0.01276516228656976 Centerline is valid? [True, True] Translation: X:206.07, Y:95.08, Z:11.33 [[-6.94369378e-01 -7.18953891e-01 3.09268339e-02 2.06067251e+02] [ 7.18254510e-01 -6.95057741e-01 -3.17048199e-02 9.50752790e+01] [ 4.42902389e-02 1.98481894e-04 9.99018686e-01 1.13339181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13687500000003 meters 0.012528810747587247 Centerline is valid? [True, True] Translation: X:206.05, Y:95.10, Z:11.34 [[-6.96573445e-01 -7.16851307e-01 3.01602293e-02 2.06050193e+02] [ 7.16185029e-01 -6.97226074e-01 -3.08999298e-02 9.50965430e+01] [ 4.31791533e-02 7.62341870e-05 9.99067343e-01 1.13356588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.166875 meters 0.012493925316022359 Centerline is valid? [True, True] Translation: X:206.03, Y:95.12, Z:11.34 [[-6.97693565e-01 -7.15779415e-01 2.97240212e-02 2.06032311e+02] [ 7.15132073e-01 -6.98326448e-01 -3.04350233e-02 9.51170386e+01] [ 4.25418333e-02 2.22809332e-05 9.99094686e-01 1.13376576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19687500000003 meters 0.012517794280237209 Centerline is valid? [True, True] Translation: X:206.01, Y:95.14, Z:11.34 [[-6.98638439e-01 -7.14861748e-01 2.96144029e-02 2.06013526e+02] [ 7.14219137e-01 -6.99265815e-01 -3.03041988e-02 9.51373794e+01] [ 4.23716521e-02 -2.05049095e-05 9.99101918e-01 1.13389079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.226875 meters 0.012499440227515111 Centerline is valid? [True, True] Translation: X:205.99, Y:95.16, Z:11.34 [[-6.99402895e-01 -7.14122605e-01 2.94023037e-02 2.05994453e+02] [ 7.13489287e-01 -7.00020644e-01 -3.00688367e-02 9.51574799e+01] [ 4.20550555e-02 -5.20027503e-05 9.99115293e-01 1.13400545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25687500000004 meters 0.012586978478539764 Centerline is valid? [True, True] Translation: X:205.98, Y:95.18, Z:11.34 [[-6.99947399e-01 -7.13582753e-01 2.95515316e-02 2.05976336e+02] [ 7.12943305e-01 -7.00570945e-01 -3.02025621e-02 9.51766064e+01] [ 4.22549719e-02 -7.16381619e-05 9.99106857e-01 1.13407628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.286875 meters 0.012624322601748667 Centerline is valid? [True, True] Translation: X:205.96, Y:95.20, Z:11.34 [[-7.00350061e-01 -7.13172159e-01 2.99209773e-02 2.05957867e+02] [ 7.12517093e-01 -7.00988919e-01 -3.05602272e-02 9.51953811e+01] [ 4.27689768e-02 -8.36491990e-05 9.99084985e-01 1.13411937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.316875 meters 0.01267540784516105 Centerline is valid? [True, True] Translation: X:205.94, Y:95.21, Z:11.34 [[-7.00919765e-01 -7.12590680e-01 3.04303325e-02 2.05937906e+02] [ 7.11913431e-01 -7.01580010e-01 -3.10605243e-02 9.52146281e+01] [ 4.34827532e-02 -1.07173007e-04 9.99054172e-01 1.13408935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.346875 meters 0.012835536213583264 Centerline is valid? [True, True] Translation: X:205.92, Y:95.23, Z:11.34 [[-7.01068299e-01 -7.12422020e-01 3.09532690e-02 2.05918862e+02] [ 7.11721996e-01 -7.01751277e-01 -3.15744501e-02 9.52335305e+01] [ 4.42158295e-02 -1.05723609e-04 9.99021996e-01 1.13401272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.376875 meters 0.012856507042676706 Centerline is valid? [True, True] Translation: X:205.90, Y:95.25, Z:11.34 [[-7.01590802e-01 -7.11889284e-01 3.13686778e-02 2.05899780e+02] [ 7.11170724e-01 -7.02291700e-01 -3.19776411e-02 9.52526469e+01] [ 4.47945021e-02 -1.26733568e-04 9.98996214e-01 1.13411667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.406875 meters 0.012761341830926334 Centerline is valid? [True, True] Translation: X:205.88, Y:95.27, Z:11.34 [[-7.02153783e-01 -7.11306385e-01 3.19889442e-02 2.05880685e+02] [ 7.10559445e-01 -7.02882070e-01 -3.25894277e-02 9.52722484e+01] [ 4.56655233e-02 -1.52743492e-04 9.98956774e-01 1.13420596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.436875 meters 0.013217918917363422 Centerline is valid? [True, True] Translation: X:205.86, Y:95.29, Z:11.34 [[-7.03511268e-01 -7.09932919e-01 3.26671942e-02 2.05862713e+02] [ 7.09153446e-01 -7.04269264e-01 -3.32594870e-02 9.52921073e+01] [ 4.66185055e-02 -2.32370579e-04 9.98912739e-01 1.13407765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.466875 meters 0.013307233745703655 Centerline is valid? [True, True] Translation: X:205.84, Y:95.31, Z:11.34 [[-7.04341033e-01 -7.09106580e-01 3.27348083e-02 2.05843581e+02] [ 7.08323909e-01 -7.05101258e-01 -3.33084955e-02 9.53118862e+01] [ 4.67006278e-02 -2.73692785e-04 9.98908893e-01 1.13423748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.496875 meters 0.013553408838744547 Centerline is valid? [True, True] Translation: X:205.83, Y:95.33, Z:11.34 [[-7.05441693e-01 -7.08013806e-01 3.26874211e-02 2.05825672e+02] [ 7.07233180e-01 -7.06198514e-01 -3.32398618e-02 9.53310470e+01] [ 4.66180893e-02 -3.31155593e-04 9.98912731e-01 1.13431567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.526875 meters 0.013791532453443065 Centerline is valid? [True, True] Translation: X:205.81, Y:95.35, Z:11.34 [[-7.07606917e-01 -7.05875579e-01 3.21265906e-02 2.05807209e+02] [ 7.05120243e-01 -7.08335701e-01 -3.26493235e-02 9.53515714e+01] [ 4.58027712e-02 -4.49777741e-04 9.98950401e-01 1.13448941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.556875 meters 0.014004082654245987 Centerline is valid? [True, True] Translation: X:205.79, Y:95.37, Z:11.35 [[-7.08582572e-01 -7.04897020e-01 3.21080969e-02 2.05788163e+02] [ 7.04142455e-01 -7.09309483e-01 -3.26107405e-02 9.53717132e+01] [ 4.57617914e-02 -4.98728218e-04 9.98952256e-01 1.13460758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.586875 meters 0.014056024712169804 Centerline is valid? [True, True] Translation: X:205.77, Y:95.39, Z:11.35 [[-7.09264647e-01 -7.04212921e-01 3.20596801e-02 2.05769249e+02] [ 7.03460836e-01 -7.09988650e-01 -3.25418000e-02 9.53908743e+01] [ 4.56783650e-02 -5.28018935e-04 9.98956059e-01 1.13475027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.616875 meters 0.014362400084467548 Centerline is valid? [True, True] Translation: X:205.75, Y:95.41, Z:11.35 [[-7.09503523e-01 -7.03972733e-01 3.20490485e-02 2.05750643e+02] [ 7.03221759e-01 -7.10226802e-01 -3.25122837e-02 9.54092509e+01] [ 4.56498545e-02 -5.29991605e-04 9.98957361e-01 1.13476501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.646875 meters 0.013784933779838571 Centerline is valid? [True, True] Translation: X:205.73, Y:95.43, Z:11.35 [[-7.09377171e-01 -7.04093036e-01 3.22028892e-02 2.05729569e+02] [ 7.03335725e-01 -7.10107550e-01 -3.26515637e-02 9.54270784e+01] [ 4.58572534e-02 -5.12831468e-04 9.98947871e-01 1.13498776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.676875 meters 0.013798681875649522 Centerline is valid? [True, True] Translation: X:205.71, Y:95.45, Z:11.35 [[-7.09017558e-01 -7.04444123e-01 3.24434884e-02 2.05709870e+02] [ 7.03676778e-01 -7.09759289e-01 -3.28746696e-02 9.54455222e+01] [ 4.61854351e-02 -4.78988537e-04 9.98932769e-01 1.13506446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.706875 meters 0.013464345461808087 Centerline is valid? [True, True] Translation: X:205.69, Y:95.46, Z:11.35 [[-7.07855884e-01 -7.05591423e-01 3.28753917e-02 2.05688315e+02] [ 7.04805706e-01 -7.08618789e-01 -3.32915740e-02 9.54633192e+01] [ 4.67863693e-02 -3.94872870e-04 9.98904840e-01 1.13510002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.736875 meters 0.013424029637925886 Centerline is valid? [True, True] Translation: X:205.67, Y:95.48, Z:11.35 [[-7.07415075e-01 -7.06026702e-01 3.30182903e-02 2.05668485e+02] [ 7.05235553e-01 -7.08185124e-01 -3.34162258e-02 9.54820897e+01] [ 4.69758097e-02 -3.53469634e-04 9.98895965e-01 1.13514374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.766875 meters 0.013355155069479216 Centerline is valid? [True, True] Translation: X:205.65, Y:95.50, Z:11.35 [[-7.06962519e-01 -7.06457144e-01 3.35007493e-02 2.05648425e+02] [ 7.05644192e-01 -7.07755752e-01 -3.38831819e-02 9.55012108e+01] [ 4.76473640e-02 -3.14530430e-04 9.98864170e-01 1.13521464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.796875 meters 0.013261110072533399 Centerline is valid? [True, True] Translation: X:205.63, Y:95.52, Z:11.35 [[-7.05883676e-01 -7.07491061e-01 3.44185218e-02 2.05627997e+02] [ 7.06635242e-01 -7.06722253e-01 -3.47892532e-02 9.55191710e+01] [ 4.89374210e-02 -2.35825463e-04 9.98801819e-01 1.13528456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.82687500000003 meters 0.013234758631449782 Centerline is valid? [True, True] Translation: X:205.61, Y:95.54, Z:11.35 [[-7.05466532e-01 -7.07898280e-01 3.45976604e-02 2.05608064e+02] [ 7.07035096e-01 -7.06314369e-01 -3.49483116e-02 9.55375140e+01] [ 4.91766743e-02 -1.93103981e-04 9.98790077e-01 1.13529453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.856875 meters 0.013140913162446614 Centerline is valid? [True, True] Translation: X:205.59, Y:95.56, Z:11.35 [[-7.05265004e-01 -7.08099052e-01 3.45977889e-02 2.05588009e+02] [ 7.07237176e-01 -7.06113097e-01 -3.49266498e-02 9.55560263e+01] [ 4.91614795e-02 -1.63701338e-04 9.98790830e-01 1.13531994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.88687500000003 meters 0.013211377660413309 Centerline is valid? [True, True] Translation: X:205.57, Y:95.57, Z:11.35 [[-7.04605109e-01 -7.08769980e-01 3.43038903e-02 2.05568211e+02] [ 7.07924531e-01 -7.05439654e-01 -3.46085522e-02 9.55741300e+01] [ 4.87288274e-02 -1.00797234e-04 9.98812040e-01 1.13536467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.916875 meters 0.013268171496964984 Centerline is valid? [True, True] Translation: X:205.55, Y:95.59, Z:11.35 [[-7.04760283e-01 -7.08621268e-01 3.41883238e-02 2.05549587e+02] [ 7.07782300e-01 -7.05589037e-01 -3.44721287e-02 9.55922641e+01] [ 4.85505900e-02 -9.66966735e-05 9.98820720e-01 1.13543976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.94687500000003 meters 0.013091515863384936 Centerline is valid? [True, True] Translation: X:205.53, Y:95.61, Z:11.36 [[-7.05044928e-01 -7.08372043e-01 3.34768263e-02 2.05530035e+02] [ 7.07568180e-01 -7.05839244e-01 -3.37376892e-02 9.56110057e+01] [ 4.75280936e-02 -9.94495633e-05 9.98869897e-01 1.13563836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.976875 meters 0.013072149065334701 Centerline is valid? [True, True] Translation: X:205.51, Y:95.63, Z:11.36 [[-7.05283485e-01 -7.08141283e-01 3.33335893e-02 2.05510552e+02] [ 7.07344993e-01 -7.06070756e-01 -3.35730296e-02 9.56298197e+01] [ 4.73103208e-02 -1.00155829e-04 9.98880235e-01 1.13583598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.00687500000004 meters 0.012993187792752915 Centerline is valid? [True, True] Translation: X:205.49, Y:95.65, Z:11.36 [[-7.04831791e-01 -7.08618785e-01 3.27347579e-02 2.05490869e+02] [ 7.07852246e-01 -7.05591536e-01 -3.29512210e-02 9.56465846e+01] [ 4.64472223e-02 -5.36961672e-05 9.98920744e-01 1.13605526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.036875 meters 0.012929822325284512 Centerline is valid? [True, True] Translation: X:205.47, Y:95.66, Z:11.36 [[-7.04697495e-01 -7.08766920e-01 3.24174955e-02 2.05470373e+02] [ 7.08016089e-01 -7.05442735e-01 -3.26154078e-02 9.56643056e+01] [ 4.59854088e-02 -3.18877553e-05 9.98942111e-01 1.13617558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.066875 meters 0.01291422364680433 Centerline is valid? [True, True] Translation: X:205.45, Y:95.68, Z:11.36 [[-7.04525268e-01 -7.08952456e-01 3.21023571e-02 2.05449234e+02] [ 7.08217246e-01 -7.05256276e-01 -3.22787481e-02 9.56822589e+01] [ 4.55244866e-02 -5.75075436e-06 9.98963223e-01 1.13630055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.096875 meters 0.012979271198196862 Centerline is valid? [True, True] Translation: X:205.43, Y:95.70, Z:11.36 [[-7.04360312e-01 -7.09117996e-01 3.20658414e-02 2.05427689e+02] [ 7.08385526e-01 -7.05089829e-01 -3.22223534e-02 9.56986660e+01] [ 4.54587493e-02 1.88310109e-05 9.98966217e-01 1.13633362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.126875 meters 0.012871478155707059 Centerline is valid? [True, True] Translation: X:205.41, Y:95.72, Z:11.36 [[-7.04943603e-01 -7.08513348e-01 3.26090879e-02 2.05407217e+02] [ 7.07756128e-01 -7.05697411e-01 -3.27479436e-02 9.57171200e+01] [ 4.62145041e-02 -6.17152691e-06 9.98931539e-01 1.13641700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.156875 meters 0.013034663209362089 Centerline is valid? [True, True] Translation: X:205.39, Y:95.73, Z:11.36 [[-7.06701493e-01 -7.06752086e-01 3.27794108e-02 2.05387479e+02] [ 7.05986005e-01 -7.07461291e-01 -3.28980687e-02 9.57343092e+01] [ 4.64409429e-02 -1.07308990e-04 9.98921032e-01 1.13631823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.186875 meters 0.013193629295299743 Centerline is valid? [True, True] Translation: X:205.37, Y:95.75, Z:11.36 [[-7.07718700e-01 -7.05706113e-01 3.33635014e-02 2.05368204e+02] [ 7.04912351e-01 -7.08504662e-01 -3.34622454e-02 9.57529405e+01] [ 4.72527074e-02 -1.63512585e-04 9.98882954e-01 1.13633340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.216875 meters 0.013350978587247049 Centerline is valid? [True, True] Translation: X:205.35, Y:95.77, Z:11.36 [[-7.08961459e-01 -7.04449448e-01 3.35354417e-02 2.05348548e+02] [ 7.03647074e-01 -7.09754127e-01 -3.36135991e-02 9.57718085e+01] [ 4.74809995e-02 -2.33630788e-04 9.98872114e-01 1.13639783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.246875 meters 0.013594275533665594 Centerline is valid? [True, True] Translation: X:205.33, Y:95.79, Z:11.36 [[-7.10018969e-01 -7.03374516e-01 3.37246947e-02 2.05329320e+02] [ 7.02562832e-01 -7.10819390e-01 -3.37825702e-02 9.57899987e+01] [ 4.77339659e-02 -2.92548575e-04 9.98860042e-01 1.13646142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.276875 meters 0.013872043020227647 Centerline is valid? [True, True] Translation: X:205.31, Y:95.81, Z:11.37 [[-7.12124080e-01 -7.01234015e-01 3.39138959e-02 2.05307580e+02] [ 7.00411754e-01 -7.12931047e-01 -3.39514040e-02 9.58083813e+01] [ 4.79861486e-02 -4.23920989e-04 9.98847911e-01 1.13658549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.306875 meters 0.013921091278802075 Centerline is valid? [True, True] Translation: X:205.29, Y:95.83, Z:11.37 [[-7.13098229e-01 -7.00233037e-01 3.41263831e-02 2.05287410e+02] [ 6.99400232e-01 -7.13914185e-01 -3.41445857e-02 9.58265365e+01] [ 4.82724759e-02 -4.80443372e-04 9.98834089e-01 1.13670276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.336875 meters 0.014499557416797202 Centerline is valid? [True, True] Translation: X:205.27, Y:95.85, Z:11.37 [[-7.13992302e-01 -6.99320075e-01 3.41529731e-02 2.05268733e+02] [ 6.98485895e-01 -7.14808473e-01 -3.41511478e-02 9.58452306e+01] [ 4.82954178e-02 -5.28286653e-04 9.98832956e-01 1.13666743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.366875 meters 0.014562240949451116 Centerline is valid? [True, True] Translation: X:204.67, Y:95.19, Z:12.11 [[-7.47911592e-01 6.63654108e-01 -1.38374657e-02 2.04666089e+02] [ 6.63483457e-01 7.48036372e-01 1.52081891e-02 9.51933367e+01] [ 2.04439048e-02 2.19345132e-03 -9.99788595e-01 1.21148782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.396875 meters 0.014383679441330162 Centerline is valid? [True, True] Translation: X:204.69, Y:95.21, Z:12.11 [[-7.93147233e-01 6.08833604e-01 -1.54632013e-02 2.04690747e+02] [ 6.08661962e-01 7.93294948e-01 1.46199110e-02 9.52133997e+01] [ 2.11679726e-02 2.18387951e-03 -9.99773548e-01 1.21146915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.426875 meters 0.01415618184478421 Centerline is valid? [True, True] Translation: X:205.21, Y:95.92, Z:11.37 [[-7.63827184e-01 -6.44442590e-01 3.55215628e-02 2.05207736e+02] [ 6.43812232e-01 -7.64651925e-01 -2.85174073e-02 9.59200932e+01] [ 4.55394632e-02 1.08684575e-03 9.98961949e-01 1.13712145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.456875 meters 0.01391420434693368 Centerline is valid? [True, True] Translation: X:205.19, Y:95.89, Z:11.37 [[-7.18282665e-01 -6.94973062e-01 3.29007040e-02 2.05194619e+02] [ 6.94318606e-01 -7.19034823e-01 -3.01760803e-02 9.58885978e+01] [ 4.46283148e-02 1.16861556e-03 9.99002977e-01 1.13732199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.486875 meters 0.013465294778163524 Centerline is valid? [True, True] Translation: X:204.61, Y:95.25, Z:12.11 [[-7.54110543e-01 6.56506228e-01 -1.78005842e-02 2.04611910e+02] [ 6.56252274e-01 7.54317436e-01 1.83890697e-02 9.52516022e+01] [ 2.54998298e-02 2.18571754e-03 -9.99672437e-01 1.21119221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.516875 meters 0.013642127829951865 Centerline is valid? [True, True] Translation: X:204.63, Y:95.27, Z:12.11 [[-7.99071488e-01 6.00903033e-01 -2.00075306e-02 2.04631063e+02] [ 6.00644000e-01 7.99318934e-01 1.77771369e-02 9.52742649e+01] [ 2.66747335e-02 2.18780000e-03 -9.99641772e-01 1.21131579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.546875 meters 0.013503774438348907 Centerline is valid? [True, True] Translation: X:204.66, Y:95.29, Z:12.11 [[-8.39869580e-01 5.42335982e-01 -2.21533556e-02 2.04659422e+02] [ 5.42076888e-01 8.40158850e-01 1.69042698e-02 9.52919050e+01] [ 2.77801315e-02 2.18855997e-03 -9.99611662e-01 1.21123077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57687500000003 meters 0.013299980085239695 Centerline is valid? [True, True] Translation: X:204.68, Y:95.32, Z:12.11 [[-8.76445849e-01 4.80865167e-01 -2.47257815e-02 2.04681967e+02] [ 4.80601858e-01 8.76791810e-01 1.60616315e-02 9.53165507e+01] [ 2.94028418e-02 2.19389372e-03 -9.99565235e-01 1.21109119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.606875 meters 0.01326044511707589 Centerline is valid? [True, True] Translation: X:204.70, Y:95.34, Z:12.11 [[-9.08496255e-01 4.17075230e-01 -2.61305736e-02 2.04701965e+02] [ 4.16831966e-01 9.08869302e-01 1.44119707e-02 9.53404387e+01] [ 2.97601522e-02 2.20116304e-03 -9.99554645e-01 1.21116296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63687500000003 meters 0.013234967372869928 Centerline is valid? [True, True] Translation: X:205.03, Y:96.11, Z:11.38 [[-8.84017204e-01 -4.66238571e-01 3.36923903e-02 2.05027909e+02] [ 4.65960884e-01 -8.84657886e-01 -1.61517444e-02 9.61119115e+01] [ 3.73368050e-02 1.42091604e-03 9.99301728e-01 1.13840814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.666875 meters 0.013162922119134928 Centerline is valid? [True, True] Translation: X:204.66, Y:95.36, Z:12.12 [[-9.09977826e-01 4.13875494e-01 -2.54446795e-02 2.04664567e+02] [ 4.13645060e-01 9.10330841e-01 1.39830288e-02 9.53621481e+01] [ 2.89503094e-02 2.19918021e-03 -9.99578433e-01 1.21152053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69687500000003 meters 0.013216302424628058 Centerline is valid? [True, True] Translation: X:204.68, Y:95.39, Z:12.12 [[-9.36874043e-01 3.48737865e-01 -2.54741021e-02 2.04679911e+02] [ 3.48544813e-01 9.37217767e-01 1.18055278e-02 9.53877893e+01] [ 2.79918156e-02 2.18142638e-03 -9.99605772e-01 1.21170533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.726875 meters 0.013216302424628058 Centerline is valid? [True, True] Translation: X:204.69, Y:95.41, Z:12.12 [[-9.59211951e-01 2.81474106e-01 -2.61679373e-02 2.04694200e+02] [ 2.81306913e-01 9.59566361e-01 9.94082335e-03 9.54131630e+01] [ 2.79079567e-02 2.17413491e-03 -9.99608133e-01 1.21179122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75687500000004 meters 0.013319394162946831 Centerline is valid? [True, True] Translation: X:204.90, Y:96.21, Z:11.38 [[-9.42448522e-01 -3.32165815e-01 3.81661576e-02 2.04900415e+02] [ 3.31959272e-01 -9.43219756e-01 -1.18124151e-02 9.62142481e+01] [ 3.99227543e-02 1.53701670e-03 9.99201587e-01 1.13836794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.786875 meters 0.013694798824214226 Centerline is valid? [True, True] Translation: X:204.65, Y:95.43, Z:12.12 [[-9.59766677e-01 2.79813972e-01 -2.34961072e-02 2.04648745e+02] [ 2.79674841e-01 9.60051847e-01 9.07927924e-03 9.54257717e+01] [ 2.50979903e-02 2.14271962e-03 -9.99682700e-01 1.21223134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.816875 meters 0.013925493861179859 Centerline is valid? [True, True] Translation: X:204.66, Y:95.45, Z:12.12 [[-9.77039446e-01 2.11723145e-01 -2.38166025e-02 2.04657505e+02] [ 2.11607111e-01 9.77327401e-01 7.31996762e-03 9.54525744e+01] [ 2.48264248e-02 2.11213466e-03 -9.99689546e-01 1.21231729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.846875 meters 0.01376646787117022 Centerline is valid? [True, True] Translation: X:204.82, Y:96.26, Z:11.39 [[-9.65929995e-01 -2.55777741e-01 3.94587387e-02 2.04816155e+02] [ 2.55615774e-01 -9.66734848e-01 -9.18207552e-03 9.62642715e+01] [ 4.04947083e-02 1.21703386e-03 9.99179012e-01 1.13864558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.876875 meters 0.013952735985690471 Centerline is valid? [True, True] Translation: X:204.61, Y:95.46, Z:12.12 [[-9.77081556e-01 2.11382244e-01 -2.50834504e-02 2.04614103e+02] [ 2.11259413e-01 9.77401406e-01 7.48007601e-03 9.54596742e+01] [ 2.60977550e-02 2.00952929e-03 -9.99657376e-01 1.21221279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.906875 meters 0.014245642336321184 Centerline is valid? [True, True] Translation: X:204.76, Y:96.28, Z:11.39 [[-9.67463867e-01 -2.50075934e-01 3.84147477e-02 2.04763693e+02] [ 2.49927816e-01 -9.68225490e-01 -8.68838691e-03 9.62752741e+01] [ 3.93668943e-02 1.19521358e-03 9.99224109e-01 1.13889846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.936875 meters 0.014088324613349943 Centerline is valid? [True, True] Translation: X:204.57, Y:95.47, Z:12.12 [[-9.77622228e-01 2.08756815e-01 -2.59878951e-02 2.04565639e+02] [ 2.08629622e-01 9.77965633e-01 7.54332998e-03 9.54694807e+01] [ 2.69899898e-02 1.95268233e-03 -9.99633797e-01 1.21235692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.966875 meters 0.014351714941630385 Centerline is valid? [True, True] Translation: X:204.57, Y:95.50, Z:12.12 [[-9.89872352e-01 1.39480924e-01 -2.64158644e-02 2.04574257e+02] [ 1.39379384e-01 9.90222903e-01 5.65595855e-03 9.54968326e+01] [ 2.69464922e-02 1.91685011e-03 -9.99635040e-01 1.21249801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.996875 meters 0.014165780157418904 Centerline is valid? [True, True] Translation: X:204.58, Y:95.53, Z:12.13 [[-9.97272387e-01 6.89094397e-02 -2.64438182e-02 2.04575212e+02] [ 6.88342051e-02 9.97621080e-01 3.74596767e-03 9.55264698e+01] [ 2.66390430e-02 1.91551092e-03 -9.99643283e-01 1.21260457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.026875 meters 0.014089964849223893 Centerline is valid? [True, True] Translation: X:204.58, Y:95.56, Z:12.13 [[-9.99649119e-01 -2.31612488e-03 -2.63869991e-02 2.04581253e+02] [-2.36591985e-03 9.99995479e-01 1.85603867e-03 9.55555954e+01] [ 2.63825810e-02 1.91781695e-03 -9.99650079e-01 1.21272929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.056875 meters 0.014096674345262098 Centerline is valid? [True, True] Translation: X:204.58, Y:95.58, Z:12.13 [[-9.96908826e-01 -7.41073190e-02 -2.60940397e-02 2.04575968e+02] [-7.41326193e-02 9.97248392e-01 2.21358765e-06 9.55842065e+01] [ 2.60220751e-02 1.93662625e-03 -9.99659493e-01 1.21282931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.086875 meters 0.013509332987417525 Centerline is valid? [True, True] Translation: X:204.57, Y:95.61, Z:12.13 [[-9.88682415e-01 -1.47780359e-01 -2.58466243e-02 2.04569111e+02] [-1.47782701e-01 9.89018162e-01 -1.83007411e-03 9.56146360e+01] [ 2.58332299e-02 2.01032186e-03 -9.99664245e-01 1.21285525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.116875 meters 0.013614805223566465 Centerline is valid? [True, True] Translation: X:204.55, Y:95.64, Z:12.13 [[-9.75048278e-01 -2.20507209e-01 -2.56403119e-02 2.04550715e+02] [-2.20486483e-01 9.75383134e-01 -3.66791016e-03 9.56409021e+01] [ 2.58179284e-02 2.07695273e-03 -9.99664504e-01 1.21306442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.146875 meters 0.013017614254985448 Centerline is valid? [True, True] Translation: X:204.51, Y:95.66, Z:12.13 [[-9.55845965e-01 -2.92766684e-01 -2.54196685e-02 2.04512855e+02] [-2.92722068e-01 9.56181507e-01 -5.54220131e-03 9.56636223e+01] [ 2.59283888e-02 2.14340718e-03 -9.99661505e-01 1.21324069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.176875 meters 0.012664048308483385 Centerline is valid? [True, True] Translation: X:204.21, Y:96.41, Z:11.40 [[-9.70514603e-01 2.38124989e-01 3.73884212e-02 2.04212287e+02] [-2.37869385e-01 -9.71232494e-01 1.12070784e-02 9.64147899e+01] [ 3.89815350e-02 1.98307246e-03 9.99237963e-01 1.13988441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.206875 meters 0.012604332404105963 Centerline is valid? [True, True] Translation: X:204.34, Y:95.62, Z:12.14 [[-9.51604738e-01 -3.06352817e-01 -2.44207784e-02 2.04339544e+02] [-3.06315580e-01 9.51915024e-01 -5.34347350e-03 9.56176245e+01] [ 2.48834940e-02 2.39559020e-03 -9.99687488e-01 1.21407760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.236875 meters 0.01257036002231375 Centerline is valid? [True, True] Translation: X:204.28, Y:95.63, Z:12.14 [[-9.25778394e-01 -3.77320120e-01 -2.37464221e-02 2.04282109e+02] [-3.77260675e-01 9.26079839e-01 -7.10737720e-03 9.56282098e+01] [ 2.46728392e-02 2.37873500e-03 -9.99692749e-01 1.21434261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.266875 meters 0.012579499995277686 Centerline is valid? [True, True] Translation: X:204.22, Y:95.63, Z:12.15 [[-8.94624585e-01 -4.46249335e-01 -2.25473597e-02 2.04215297e+02] [-4.46174266e-01 8.94905391e-01 -8.53615728e-03 9.56301207e+01] [ 2.39870083e-02 2.42339551e-03 -9.99709333e-01 1.21461355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.296875 meters 0.01268509150295356 Centerline is valid? [True, True] Translation: X:204.14, Y:95.62, Z:12.15 [[-8.57401003e-01 -5.14163708e-01 -2.23428093e-02 2.04139099e+02] [-5.14063019e-01 8.57688418e-01 -1.04780313e-02 9.56230179e+01] [ 2.45505923e-02 2.50173743e-03 -9.99695459e-01 1.21492068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.32687500000003 meters 0.012728270721055602 Centerline is valid? [True, True] Translation: X:204.06, Y:95.61, Z:12.15 [[-8.15675999e-01 -5.78109904e-01 -2.14849616e-02 2.04057771e+02] [-5.77988722e-01 8.15954945e-01 -1.21064306e-02 9.56053331e+01] [ 2.45296081e-02 2.54314066e-03 -9.99695869e-01 1.21521046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.356875 meters 0.012864172068070563 Centerline is valid? [True, True] Translation: X:203.97, Y:95.58, Z:12.16 [[-7.68961837e-01 -6.38953611e-01 -2.08800624e-02 2.03972623e+02] [-6.38805687e-01 7.69240936e-01 -1.39884366e-02 9.55773118e+01] [ 2.49997609e-02 2.58172873e-03 -9.99684123e-01 1.21552228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.38687500000003 meters 0.01297534335925447 Centerline is valid? [True, True] Translation: X:203.88, Y:95.54, Z:12.16 [[-7.17612376e-01 -6.96144143e-01 -2.03914403e-02 2.03882067e+02] [-6.95962245e-01 7.17897259e-01 -1.61269739e-02 9.55364288e+01] [ 2.58656575e-02 2.61875651e-03 -9.99661998e-01 1.21585630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.416875 meters 0.013444490996860996 Centerline is valid? [True, True] Translation: X:203.80, Y:95.49, Z:12.16 [[-6.60587763e-01 -7.50493962e-01 -1.95606806e-02 2.03795560e+02] [-7.50279793e-01 6.60871793e-01 -1.81302612e-02 9.54903934e+01] [ 2.65337536e-02 2.69935467e-03 -9.99644273e-01 1.21621172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.44687500000003 meters 0.013817058947282716 Centerline is valid? [True, True] Translation: X:203.71, Y:95.43, Z:12.17 [[-6.00535544e-01 -7.99396412e-01 -1.79565502e-02 2.03706967e+02] [-7.99166654e-01 6.00797760e-01 -1.93574472e-02 9.54307582e+01] [ 2.62625290e-02 2.72544106e-03 -9.99651365e-01 1.21673221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.476875 meters 0.013726729565985678 Centerline is valid? [True, True] Translation: X:203.63, Y:95.37, Z:12.17 [[-5.36723028e-01 -8.43602504e-01 -1.62236441e-02 2.03625668e+02] [-8.43361112e-01 5.36961121e-01 -2.03663746e-02 9.53650128e+01] [ 2.58925908e-02 2.75128826e-03 -9.99660945e-01 1.21723643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.50687500000004 meters 0.013958623606748492 Centerline is valid? [True, True] Translation: X:203.55, Y:95.29, Z:12.18 [[-4.69560174e-01 -8.82795075e-01 -1.36417784e-02 2.03546272e+02] [-8.82577501e-01 4.69750261e-01 -1.97900781e-02 9.52876285e+01] [ 2.38788124e-02 2.74729424e-03 -9.99711086e-01 1.21787361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.536875 meters 0.014289237240042387 Centerline is valid? [True, True] Translation: X:203.47, Y:95.20, Z:12.18 [[-4.00237089e-01 -9.16337420e-01 -1.16621559e-02 2.03471047e+02] [-9.16126204e-01 4.00397623e-01 -1.98625732e-02 9.52011128e+01] [ 2.28703186e-02 2.73426817e-03 -9.99734701e-01 1.21842317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.566875 meters 0.014083350937597388 Centerline is valid? [True, True] Translation: X:203.41, Y:95.11, Z:12.19 [[-3.28670182e-01 -9.44393498e-01 -9.84030285e-03 2.03405876e+02] [-9.44185683e-01 3.28806218e-01 -1.99966721e-02 9.51126623e+01] [ 2.21202799e-02 2.71876320e-03 -9.99751620e-01 1.21887321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.596875 meters 0.014018235751681457 Centerline is valid? [True, True] Translation: X:203.35, Y:95.02, Z:12.19 [[-2.56256295e-01 -9.66577154e-01 -7.83046108e-03 2.03348080e+02] [-9.66391161e-01 2.56362097e-01 -1.91467965e-02 9.50158355e+01] [ 2.05142895e-02 2.66080125e-03 -9.99786019e-01 1.21935955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.626875 meters 0.01377750864141066 Centerline is valid? [True, True] Translation: X:203.30, Y:94.91, Z:12.20 [[-1.82271601e-01 -9.83228603e-01 -6.21112590e-03 2.03295844e+02] [-9.83046536e-01 1.82358517e-01 -1.91018180e-02 9.49112648e+01] [ 1.99141055e-02 2.62410686e-03 -9.99798251e-01 1.21983251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.656875 meters 0.01375323935046639 Centerline is valid? [True, True] Translation: X:203.25, Y:94.80, Z:12.20 [[-1.07755686e-01 -9.94166544e-01 -4.64712614e-03 2.03251482e+02] [-9.93988900e-01 1.07825099e-01 -1.89687757e-02 9.47999876e+01] [ 1.93591990e-02 2.57519836e-03 -9.99809277e-01 1.22040551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.686875 meters 0.013217254893864695 Centerline is valid? [True, True] Translation: X:203.22, Y:94.69, Z:12.21 [[-3.51280604e-02 -9.99377894e-01 -3.13758097e-03 2.03220413e+02] [-9.99206527e-01 3.51806578e-02 -1.86718686e-02 9.46866348e+01] [ 1.87706349e-02 2.47918486e-03 -9.99820742e-01 1.22079357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.716875 meters 0.013056220499705598 Centerline is valid? [True, True] Translation: X:203.19, Y:94.57, Z:12.21 [[ 3.96703549e-02 -9.99211427e-01 -1.66971215e-03 2.03194914e+02] [-9.99032411e-01 -3.96313842e-02 -1.90681728e-02 9.45722562e+01] [ 1.89869631e-02 2.42453773e-03 -9.99816792e-01 1.22121890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.746875 meters 0.013016201719183445 Centerline is valid? [True, True] Translation: X:203.18, Y:94.46, Z:12.22 [[ 1.11523328e-01 -9.93761805e-01 -1.51347640e-04 2.03181453e+02] [-9.93575171e-01 -1.11499429e-01 -1.93973572e-02 9.44555591e+01] [ 1.92594775e-02 2.31363309e-03 -9.99811842e-01 1.22160806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.776875 meters 0.013109957834406811 Centerline is valid? [True, True] Translation: X:203.17, Y:94.34, Z:12.22 [[ 1.86007409e-01 -9.82547283e-01 1.44206108e-03 2.03173723e+02] [-9.82350946e-01 -1.85999258e-01 -1.97710572e-02 9.43378147e+01] [ 1.96942209e-02 2.26095306e-03 -9.99803494e-01 1.22195753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.806875 meters 0.013227899140438539 Centerline is valid? [True, True] Translation: X:203.18, Y:94.21, Z:12.22 [[ 2.59406489e-01 -9.65763598e-01 2.99099194e-03 2.03176573e+02] [-9.65566148e-01 -2.59414318e-01 -1.96525951e-02 9.42132891e+01] [ 1.97556671e-02 2.21001013e-03 -9.99802395e-01 1.22237016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.836875 meters 0.013419440541068722 Centerline is valid? [True, True] Translation: X:203.19, Y:94.10, Z:12.23 [[ 3.31782008e-01 -9.43344710e-01 4.63231214e-03 2.03185019e+02] [-9.43141621e-01 -3.31807282e-01 -1.96928888e-02 9.40998572e+01] [ 2.01142174e-02 2.16481980e-03 -9.99795345e-01 1.22274420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.866875 meters 0.013871714504593624 Centerline is valid? [True, True] Translation: X:203.20, Y:93.99, Z:12.23 [[ 4.02022066e-01 -9.15609339e-01 6.14788652e-03 2.03203415e+02] [-9.15408836e-01 -4.02063471e-01 -1.92776944e-02 9.39866923e+01] [ 2.01226776e-02 2.12222888e-03 -9.99795266e-01 1.22313469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.896875 meters 0.01390331313050514 Centerline is valid? [True, True] Translation: X:203.23, Y:93.87, Z:12.24 [[ 4.71399348e-01 -8.81885741e-01 7.75853788e-03 2.03231924e+02] [-8.81683786e-01 -4.71458463e-01 -1.89899817e-02 9.38670125e+01] [ 2.04048224e-02 2.11128793e-03 -9.99789571e-01 1.22365110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.926875 meters 0.013839102401020728 Centerline is valid? [True, True] Translation: X:203.26, Y:93.76, Z:12.24 [[ 5.38441893e-01 -8.42613659e-01 9.08571114e-03 2.03264193e+02] [-8.42421068e-01 -5.38514402e-01 -1.81378715e-02 9.37578481e+01] [ 2.01760046e-02 2.11219540e-03 -9.99794213e-01 1.22411942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.956875 meters 0.013757286339638703 Centerline is valid? [True, True] Translation: X:203.30, Y:93.65, Z:12.25 [[ 6.02176486e-01 -7.98296339e-01 1.03167357e-02 2.03303541e+02] [-7.98114154e-01 -6.02261144e-01 -1.71846365e-02 9.36522455e+01] [ 1.99318014e-02 2.11425126e-03 -9.99799106e-01 1.22455752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.986875 meters 0.013458445286782209 Centerline is valid? [True, True] Translation: X:203.35, Y:93.55, Z:12.25 [[ 6.62930217e-01 -7.48601334e-01 1.09348424e-02 2.03353246e+02] [-7.48442307e-01 -6.63016932e-01 -1.55776083e-02 9.35482627e+01] [ 1.89114040e-02 2.14276863e-03 -9.99818867e-01 1.22509898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.016875 meters 0.013517206237337258 Centerline is valid? [True, True] Translation: X:203.41, Y:93.45, Z:12.26 [[ 7.19165681e-01 -6.94736011e-01 1.19414738e-02 2.03406920e+02] [-6.94587425e-01 -7.19261591e-01 -1.45283509e-02 9.34531456e+01] [ 1.86824120e-02 2.15389386e-03 -9.99823148e-01 1.22563850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.046875 meters 0.01321718838186668 Centerline is valid? [True, True] Translation: X:203.40, Y:93.45, Z:12.26 [[ 7.72240039e-01 -6.35197203e-01 1.30321101e-02 2.03400443e+02] [-6.35055644e-01 -7.72346803e-01 -1.35920762e-02 9.34496117e+01] [ 1.86989574e-02 2.22023035e-03 -9.99822694e-01 1.22565762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07687500000003 meters 0.01284482049645996 Centerline is valid? [True, True] Translation: X:203.39, Y:93.45, Z:12.26 [[ 8.21334255e-01 -5.70277675e-01 1.39073832e-02 2.03393482e+02] [-5.70146902e-01 -8.21448845e-01 -1.24219522e-02 9.34463755e+01] [ 1.85081659e-02 2.27332344e-03 -9.99826125e-01 1.22587789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.106875 meters 0.012773027064072417 Centerline is valid? [True, True] Translation: X:203.39, Y:93.44, Z:12.26 [[ 8.64259313e-01 -5.02822691e-01 1.50060434e-02 2.03387927e+02] [-5.02699007e-01 -8.64386526e-01 -1.13860915e-02 9.34443492e+01] [ 1.86962069e-02 2.29701253e-03 -9.99822572e-01 1.22596998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13687500000003 meters 0.012825508704146912 Centerline is valid? [True, True] Translation: X:203.38, Y:93.44, Z:12.26 [[ 9.01682532e-01 -4.32097140e-01 1.61453548e-02 2.03383313e+02] [-4.31980296e-01 -9.01824071e-01 -1.03135130e-02 9.34422753e+01] [ 1.90167091e-02 2.32503941e-03 -9.99816463e-01 1.22605287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.166875 meters 0.012890736036748904 Centerline is valid? [True, True] Translation: X:203.38, Y:93.44, Z:12.26 [[ 9.33857981e-01 -3.57230215e-01 1.72001583e-02 2.03379247e+02] [-3.57121546e-01 -9.34013334e-01 -9.12653339e-03 9.34404304e+01] [ 1.93254507e-02 2.38033892e-03 -9.99810413e-01 1.22610835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19687500000003 meters 0.012985776185065101 Centerline is valid? [True, True] Translation: X:203.37, Y:93.44, Z:12.26 [[ 9.59339773e-01 -2.81696518e-01 1.77276953e-02 2.03374943e+02] [-2.81601336e-01 -9.59500553e-01 -7.70562302e-03 9.34400017e+01] [ 1.91803806e-02 2.40016797e-03 -9.99813159e-01 1.22619800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.226875 meters 0.012838827285859304 Centerline is valid? [True, True] Translation: X:203.37, Y:93.43, Z:12.26 [[ 9.78639829e-01 -2.04738626e-01 1.86059070e-02 2.03367478e+02] [-2.04654046e-01 -9.78813694e-01 -6.36196951e-03 9.34346826e+01] [ 1.95142575e-02 2.41830259e-03 -9.99806654e-01 1.22615946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25687500000004 meters 0.013032472124215209 Centerline is valid? [True, True] Translation: X:203.36, Y:93.43, Z:12.26 [[ 9.91857191e-01 -1.25742017e-01 2.02053946e-02 2.03359971e+02] [-1.25665174e-01 -9.92059940e-01 -5.03385964e-03 9.34287397e+01] [ 2.06779302e-02 2.45375545e-03 -9.99783178e-01 1.22625530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.286875 meters 0.013163279105904733 Centerline is valid? [True, True] Translation: X:203.35, Y:93.42, Z:12.26 [[ 9.98661846e-01 -4.71582950e-02 2.12276503e-02 2.03351938e+02] [-4.70950854e-02 -9.98884390e-01 -3.46811475e-03 9.34227568e+01] [ 2.13675189e-02 2.46375587e-03 -9.99768653e-01 1.22637868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.316875 meters 0.013232137091923418 Centerline is valid? [True, True] Translation: X:203.35, Y:93.42, Z:12.26 [[ 9.99244300e-01 3.21086328e-02 2.19058283e-02 2.03345473e+02] [ 3.21552476e-02 -9.99481303e-01 -1.77896583e-03 9.34163474e+01] [ 2.18373457e-02 2.48200880e-03 -9.99758456e-01 1.22641673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.346875 meters 0.013528045534589705 Centerline is valid? [True, True] Translation: X:203.34, Y:93.41, Z:12.27 [[ 9.93583420e-01 1.10974743e-01 2.18310315e-02 2.03338241e+02] [ 1.11002605e-01 -9.93820113e-01 -6.48656490e-05 9.34108600e+01] [ 2.16889198e-02 2.48775080e-03 -9.99761673e-01 1.22654089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.376875 meters 0.013500838109079939 Centerline is valid? [True, True] Translation: X:203.33, Y:93.41, Z:12.27 [[ 9.81795275e-01 1.88754832e-01 2.12049993e-02 2.03332422e+02] [ 1.88764789e-01 -9.82021107e-01 1.54919713e-03 9.34055033e+01] [ 2.11161753e-02 2.48176279e-03 -9.99773948e-01 1.22664557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.406875 meters 0.013486461367537127 Centerline is valid? [True, True] Translation: X:203.33, Y:93.40, Z:12.27 [[ 9.63951539e-01 2.65225096e-01 2.12856665e-02 2.03325102e+02] [ 2.65216364e-01 -9.64183332e-01 3.28366825e-03 9.33995756e+01] [ 2.13941961e-02 2.48001001e-03 -9.99768042e-01 1.22673868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.436875 meters 0.013607749665876958 Centerline is valid? [True, True] Translation: X:203.32, Y:93.39, Z:12.27 [[ 9.40192203e-01 3.40019151e-01 2.06300556e-02 2.03319631e+02] [ 3.39993820e-01 -9.40415262e-01 4.83085811e-03 9.33934705e+01] [ 2.10434034e-02 2.47215627e-03 -9.99775507e-01 1.22685719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.466875 meters 0.01318003141474137 Centerline is valid? [True, True] Translation: X:203.32, Y:93.38, Z:12.27 [[ 9.10849125e-01 4.12260801e-01 1.98721623e-02 2.03315937e+02] [ 4.12219953e-01 -9.11062575e-01 6.30043618e-03 9.33839145e+01] [ 2.07022062e-02 2.45295501e-03 -9.99782677e-01 1.22703518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.496875 meters 0.013654417553396254 Centerline is valid? [True, True] Translation: X:203.31, Y:93.37, Z:12.27 [[ 8.75885408e-01 4.82151075e-01 1.88439232e-02 2.03313387e+02] [ 4.82097459e-01 -8.76084705e-01 7.59148027e-03 9.33716692e+01] [ 2.01691133e-02 2.43534071e-03 -9.99793617e-01 1.22729003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.526875 meters 0.01321181821568341 Centerline is valid? [True, True] Translation: X:203.31, Y:93.36, Z:12.27 [[ 8.36045543e-01 5.48380582e-01 1.75096381e-02 2.03309506e+02] [ 5.48318178e-01 -8.36225436e-01 8.61365057e-03 9.33635141e+01] [ 1.93655635e-02 2.39944871e-03 -9.99809591e-01 1.22740143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.556875 meters 0.012965817164928466 Centerline is valid? [True, True] Translation: X:203.31, Y:93.35, Z:12.27 [[ 7.91145076e-01 6.11402549e-01 1.66250357e-02 2.03308301e+02] [ 6.11327813e-01 -7.91316182e-01 9.84914018e-03 9.33525832e+01] [ 1.91774492e-02 2.37124797e-03 -9.99813284e-01 1.22744340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.586875 meters 0.013017275340312438 Centerline is valid? [True, True] Translation: X:203.31, Y:93.34, Z:12.28 [[ 7.41794626e-01 6.70439625e-01 1.58569127e-02 2.03306539e+02] [ 6.70350528e-01 -7.41960403e-01 1.11771823e-02 9.33405370e+01] [ 1.92588272e-02 2.33851608e-03 -9.99811797e-01 1.22753772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.616875 meters 0.012816825208104576 Centerline is valid? [True, True] Translation: X:203.31, Y:93.33, Z:12.27 [[ 6.87930236e-01 7.25620403e-01 1.50671890e-02 2.03305802e+02] [ 7.25515801e-01 -6.88091347e-01 1.25348131e-02 9.33301806e+01] [ 1.94631186e-02 2.30840678e-03 -9.99807911e-01 1.22747224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.646875 meters 0.012724066582822768 Centerline is valid? [True, True] Translation: X:203.30, Y:93.32, Z:12.27 [[ 6.31495187e-01 7.75236559e-01 1.49032524e-02 2.03304382e+02] [ 7.75099573e-01 -6.31667046e-01 1.47443153e-02 9.33198126e+01] [ 2.08442257e-02 2.24054044e-03 -9.99780225e-01 1.22739894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.676875 meters 0.012724066582822768 Centerline is valid? [True, True] Translation: X:203.31, Y:93.31, Z:12.27 [[ 5.68806057e-01 8.22358432e-01 1.36483946e-02 2.03305581e+02] [ 8.22209671e-01 -5.68965390e-01 1.58000442e-02 9.33072516e+01] [ 2.07587638e-02 2.23468120e-03 -9.99782016e-01 1.22747417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.706875 meters 0.012679682323916076 Centerline is valid? [True, True] Translation: X:203.31, Y:93.30, Z:12.28 [[ 5.03998789e-01 8.63612461e-01 1.25991377e-02 2.03305985e+02] [ 8.63443352e-01 -5.04151466e-01 1.72300957e-02 9.32954569e+01] [ 2.12319991e-02 2.19469433e-03 -9.99772167e-01 1.22751701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.736875 meters 0.012688384111974364 Centerline is valid? [True, True] Translation: X:203.31, Y:93.28, Z:12.28 [[ 4.35834478e-01 8.99956107e-01 1.12833220e-02 2.03307325e+02] [ 8.99772079e-01 -4.35975136e-01 1.83272002e-02 9.32839535e+01] [ 2.14129236e-02 2.16479235e-03 -9.99768373e-01 1.22755041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.766875 meters 0.012736543414744133 Centerline is valid? [True, True] Translation: X:203.31, Y:93.27, Z:12.28 [[ 3.64910319e-01 9.30991716e-01 9.74086996e-03 2.03308416e+02] [ 9.30800499e-01 -3.65034047e-01 1.89887990e-02 9.32715373e+01] [ 2.12341637e-02 2.13759795e-03 -9.99772245e-01 1.22765123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.796875 meters 0.012811827194097816 Centerline is valid? [True, True] Translation: X:203.31, Y:93.26, Z:12.28 [[ 2.91874189e-01 9.56422986e-01 8.03302999e-03 2.03311706e+02] [ 9.56234849e-01 -2.91977083e-01 1.90865418e-02 9.32606078e+01] [ 2.06002680e-02 2.11059431e-03 -9.99785564e-01 1.22776547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.82687500000003 meters 0.012812599565113037 Centerline is valid? [True, True] Translation: X:203.32, Y:93.25, Z:12.28 [[ 2.15947082e-01 9.76384625e-01 6.31841972e-03 2.03316785e+02] [ 9.76205808e-01 -2.16029219e-01 1.88041707e-02 9.32497274e+01] [ 1.97250664e-02 2.10737223e-03 -9.99803221e-01 1.22787838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.856875 meters 0.012708140165119787 Centerline is valid? [True, True] Translation: X:203.33, Y:93.24, Z:12.28 [[ 1.38492143e-01 9.90351926e-01 4.79472874e-03 2.03325484e+02] [ 9.90170536e-01 -1.38559106e-01 1.90704891e-02 9.32380245e+01] [ 1.95508489e-02 2.10648623e-03 -9.99806645e-01 1.22793498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.88687500000003 meters 0.0126427067558371 Centerline is valid? [True, True] Translation: X:203.34, Y:93.23, Z:12.28 [[ 5.83685247e-02 9.98289759e-01 3.26696059e-03 2.03336119e+02] [ 9.98107637e-01 -5.84206694e-02 1.91877854e-02 9.32268378e+01] [ 1.93458277e-02 2.14081559e-03 -9.99810560e-01 1.22798469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.916875 meters 0.012676392356196626 Centerline is valid? [True, True] Translation: X:203.35, Y:93.22, Z:12.28 [[-2.15432171e-02 9.99766412e-01 1.73542747e-03 2.03346821e+02] [ 9.99570977e-01 2.15044884e-02 1.98851670e-02 9.32157712e+01] [ 1.98432026e-02 2.16307340e-03 -9.99800764e-01 1.22808760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.94687500000003 meters 0.012623325359381023 Centerline is valid? [True, True] Translation: X:203.36, Y:93.21, Z:12.28 [[-1.01433992e-01 9.94842261e-01 1.46659519e-04 2.03356422e+02] [ 9.94640599e-01 1.01410460e-01 2.01493926e-02 9.32069127e+01] [ 2.00305944e-02 2.18970683e-03 -9.99796970e-01 1.22811353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.976875 meters 0.012785489980110509 Centerline is valid? [True, True] Translation: X:203.37, Y:93.20, Z:12.28 [[-1.82228238e-01 9.83254852e-01 -1.66292975e-03 2.03367753e+02] [ 9.83025518e-01 1.82221851e-01 2.13548364e-02 9.31979354e+01] [ 2.13002686e-02 2.25675182e-03 -9.99770577e-01 1.22808887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.00687500000004 meters 0.0128736929525915 Centerline is valid? [True, True] Translation: X:203.38, Y:93.19, Z:12.28 [[-2.60097233e-01 9.65576360e-01 -3.42391736e-03 2.03377106e+02] [ 9.65339850e-01 2.60109734e-01 2.14918650e-02 9.31909708e+01] [ 2.16426310e-02 2.28473075e-03 -9.99763160e-01 1.22813158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.036875 meters 0.0130571143512185 Centerline is valid? [True, True] Translation: X:203.39, Y:93.18, Z:12.28 [[-3.35990614e-01 9.41851390e-01 -5.12512120e-03 2.03387050e+02] [ 9.41615265e-01 3.36021817e-01 2.12139655e-02 9.31833827e+01] [ 2.17025554e-02 2.30180093e-03 -9.99761822e-01 1.22821053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.066875 meters 0.013132347075660643 Centerline is valid? [True, True] Translation: X:203.40, Y:93.18, Z:12.28 [[-4.10185665e-01 9.11977669e-01 -6.66727309e-03 2.03396558e+02] [ 9.11750395e-01 4.10233251e-01 2.04914132e-02 9.31777894e+01] [ 2.14228483e-02 2.32639507e-03 -9.99767798e-01 1.22831830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.096875 meters 0.013038100361626722 Centerline is valid? [True, True] Translation: X:203.41, Y:93.17, Z:12.28 [[-4.80689431e-01 8.76853713e-01 -8.07693884e-03 2.03406978e+02] [ 8.76638507e-01 4.80751667e-01 1.95643107e-02 9.31729942e+01] [ 2.10380403e-02 2.32380179e-03 -9.99775975e-01 1.22838111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.126875 meters 0.012696524735729912 Centerline is valid? [True, True] Translation: X:203.42, Y:93.17, Z:12.28 [[-5.47687140e-01 8.36627814e-01 -9.62793171e-03 2.03419152e+02] [ 8.36416939e-01 5.47766881e-01 1.89248054e-02 9.31698327e+01] [ 2.11068807e-02 2.31190736e-03 -9.99774552e-01 1.22842096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.156875 meters 0.012738405973602903 Centerline is valid? [True, True] Translation: X:203.43, Y:93.17, Z:12.29 [[-6.11365299e-01 7.91275436e-01 -1.07543227e-02 2.03431784e+02] [ 7.91081483e-01 6.11455576e-01 1.76682179e-02 9.31670353e+01] [ 2.05562174e-02 2.29418974e-03 -9.99786066e-01 1.22854939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.186875 meters 0.012607112805140156 Centerline is valid? [True, True] Translation: X:203.44, Y:93.16, Z:12.29 [[-6.71152407e-01 7.41223241e-01 -1.19395468e-02 2.03441696e+02] [ 7.41041435e-01 6.71254743e-01 1.65729216e-02 9.31640117e+01] [ 2.02987121e-02 2.27525726e-03 -9.99791371e-01 1.22863642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.216875 meters 0.012167209926677199 Centerline is valid? [True, True] Translation: X:203.45, Y:93.16, Z:12.29 [[-7.26464087e-01 6.87093174e-01 -1.23653132e-02 2.03453490e+02] [ 6.86937998e-01 7.26565871e-01 1.47723833e-02 9.31635626e+01] [ 1.91342183e-02 2.23740246e-03 -9.99814421e-01 1.22875290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.246875 meters 0.012049962871208388 Centerline is valid? [True, True] Translation: X:204.04, Y:93.79, Z:11.54 [[-6.65028577e-01 -7.46447318e-01 2.35243093e-02 2.04044174e+02] [ 7.46049411e-01 -6.65443205e-01 -2.44052831e-02 9.37863286e+01] [ 3.38713499e-02 1.32008634e-03 9.99425329e-01 1.15429440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.276875 meters 0.011907050399147492 Centerline is valid? [True, True] Translation: X:204.03, Y:93.81, Z:11.54 [[-6.66104533e-01 -7.45504422e-01 2.29762526e-02 2.04025937e+02] [ 7.45074287e-01 -6.66500633e-01 -2.53221852e-02 9.38071521e+01] [ 3.41914879e-02 2.51792655e-04 9.99415268e-01 1.15431217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.306875 meters 0.011652090038109398 Centerline is valid? [True, True] Translation: X:204.01, Y:93.83, Z:11.54 [[-6.67330960e-01 -7.44369602e-01 2.41513031e-02 2.04008468e+02] [ 7.43894229e-01 -6.67767811e-01 -2.65993819e-02 9.38269157e+01] [ 3.59272341e-02 2.15423883e-04 9.99354385e-01 1.15419220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.336875 meters 0.011810525619652778 Centerline is valid? [True, True] Translation: X:203.99, Y:93.85, Z:11.54 [[-6.67942743e-01 -7.43809799e-01 2.44841927e-02 2.03990553e+02] [ 7.43321511e-01 -6.68391310e-01 -2.69478844e-02 9.38463772e+01] [ 3.64091221e-02 1.99983341e-04 9.99336948e-01 1.15411882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.366875 meters 0.011594825061091218 Centerline is valid? [True, True] Translation: X:203.97, Y:93.87, Z:11.54 [[-6.68698055e-01 -7.43137929e-01 2.42678761e-02 2.03973099e+02] [ 7.42658415e-01 -6.69138243e-01 -2.66925135e-02 9.38667527e+01] [ 3.60747832e-02 1.73510595e-04 9.99349078e-01 1.15427369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.396875 meters 0.011617137495638311 Centerline is valid? [True, True] Translation: X:203.96, Y:93.89, Z:11.54 [[-6.69433013e-01 -7.42456769e-01 2.48472565e-02 2.03955757e+02] [ 7.41954265e-01 -6.69893964e-01 -2.73120122e-02 9.38861780e+01] [ 3.69230154e-02 1.51965323e-04 9.99318101e-01 1.15425045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.426875 meters 0.011446437246138504 Centerline is valid? [True, True] Translation: X:203.94, Y:93.91, Z:11.54 [[-6.70982745e-01 -7.41052264e-01 2.49739491e-02 2.03938913e+02] [ 7.40544311e-01 -6.71447343e-01 -2.74333453e-02 9.39078017e+01] [ 3.70982344e-02 8.70146294e-05 9.99311620e-01 1.15442983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.456875 meters 0.011318827385076795 Centerline is valid? [True, True] Translation: X:203.92, Y:93.93, Z:11.55 [[-6.71966295e-01 -7.40165444e-01 2.48276777e-02 2.03920921e+02] [ 7.39663447e-01 -6.72424801e-01 -2.72556830e-02 9.39281574e+01] [ 3.68684610e-02 4.92253254e-05 9.99320126e-01 1.15450684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.486875 meters 0.01129962592954429 Centerline is valid? [True, True] Translation: X:203.90, Y:93.95, Z:11.55 [[-6.72803383e-01 -7.39409611e-01 2.46786572e-02 2.03903181e+02] [ 7.38913742e-01 -6.73255841e-01 -2.70749819e-02 9.39476021e+01] [ 3.66345519e-02 1.92595011e-05 9.99328729e-01 1.15452148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.516875 meters 0.011158765873532135 Centerline is valid? [True, True] Translation: X:203.89, Y:93.97, Z:11.55 [[-6.74050572e-01 -7.38297024e-01 2.39443291e-02 2.03885237e+02] [ 7.37830124e-01 -6.74475725e-01 -2.62526823e-02 9.39685565e+01] [ 3.55321460e-02 -2.87881909e-05 9.99368534e-01 1.15469513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.546875 meters 0.011141149115969976 Centerline is valid? [True, True] Translation: X:203.87, Y:93.99, Z:11.55 [[-6.74547333e-01 -7.37844875e-01 2.38921704e-02 2.03866886e+02] [ 7.37380310e-01 -6.74970324e-01 -2.61790118e-02 9.39893490e+01] [ 3.54425557e-02 -4.13665764e-05 9.99371714e-01 1.15480504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57687500000003 meters 0.011170248945298032 Centerline is valid? [True, True] Translation: X:203.85, Y:94.01, Z:11.55 [[-6.75076355e-01 -7.37362921e-01 2.38293469e-02 2.03849569e+02] [ 7.36901083e-01 -6.75496795e-01 -2.60935482e-02 9.40084707e+01] [ 3.53370623e-02 -5.52658989e-05 9.99375449e-01 1.15484636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.606875 meters 0.011136667608757506 Centerline is valid? [True, True] Translation: X:203.83, Y:94.03, Z:11.55 [[-6.75768599e-01 -7.36715954e-01 2.42157835e-02 2.03830889e+02] [ 7.36239226e-01 -6.76202334e-01 -2.64991439e-02 9.40280766e+01] [ 3.58971114e-02 -7.86796811e-05 9.99355488e-01 1.15486661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63687500000003 meters 0.011273540814848172 Centerline is valid? [True, True] Translation: X:203.81, Y:94.05, Z:11.55 [[-6.76285237e-01 -7.36235460e-01 2.44054477e-02 2.03813457e+02] [ 7.35751549e-01 -6.76725454e-01 -2.66893072e-02 9.40474504e+01] [ 3.61654020e-02 -9.32384869e-05 9.99345814e-01 1.15481614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.666875 meters 0.011333987982159103 Centerline is valid? [True, True] Translation: X:203.80, Y:94.07, Z:11.55 [[-6.76852581e-01 -7.35706091e-01 2.46400427e-02 2.03796165e+02] [ 7.35213136e-01 -6.77300919e-01 -2.69278404e-02 9.40668370e+01] [ 3.64996998e-02 -1.10495172e-04 9.99333658e-01 1.15484964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69687500000003 meters 0.011694851595806457 Centerline is valid? [True, True] Translation: X:203.78, Y:94.09, Z:11.55 [[-6.77113914e-01 -7.35456812e-01 2.49002978e-02 2.03777923e+02] [ 7.34953863e-01 -6.77571594e-01 -2.71947652e-02 9.40870330e+01] [ 3.68723098e-02 -1.13383845e-04 9.99319979e-01 1.15497778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.726875 meters 0.011561910784906738 Centerline is valid? [True, True] Translation: X:203.76, Y:94.11, Z:11.55 [[-6.77431215e-01 -7.35160806e-01 2.50107604e-02 2.03759550e+02] [ 7.34653807e-01 -6.77892746e-01 -2.72985155e-02 9.41068245e+01] [ 3.70234117e-02 -1.18616176e-04 9.99314391e-01 1.15519684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75687500000004 meters 0.011614742916760934 Centerline is valid? [True, True] Translation: X:203.74, Y:94.13, Z:11.55 [[-6.77880006e-01 -7.34759991e-01 2.46262612e-02 2.03742110e+02] [ 7.34268827e-01 -6.78327163e-01 -2.68617008e-02 9.41267179e+01] [ 3.64415649e-02 -1.26714009e-04 9.99335778e-01 1.15521389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.786875 meters 0.011539731175892397 Centerline is valid? [True, True] Translation: X:203.72, Y:94.15, Z:11.55 [[-6.78328103e-01 -7.34344408e-01 2.46834891e-02 2.03723456e+02] [ 7.33851330e-01 -6.78777041e-01 -2.69064084e-02 9.41468220e+01] [ 3.65131562e-02 -1.37361670e-04 9.99333163e-01 1.15540590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.816875 meters 0.011666234871206856 Centerline is valid? [True, True] Translation: X:203.71, Y:94.17, Z:11.55 [[-6.78752686e-01 -7.33955909e-01 2.45665256e-02 2.03705874e+02] [ 7.33467815e-01 -6.79197101e-01 -2.67630956e-02 9.41658494e+01] [ 3.63284451e-02 -1.46767212e-04 9.99339893e-01 1.15542954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.846875 meters 0.01163544462052125 Centerline is valid? [True, True] Translation: X:203.69, Y:94.19, Z:11.55 [[-6.79285063e-01 -7.33462248e-01 2.45954031e-02 2.03686997e+02] [ 7.32973196e-01 -6.79730170e-01 -2.67803967e-02 9.41854977e+01] [ 3.63606475e-02 -1.63752240e-04 9.99338720e-01 1.15548890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.876875 meters 0.011600958288880928 Centerline is valid? [True, True] Translation: X:203.67, Y:94.21, Z:11.56 [[-6.79744433e-01 -7.33042833e-01 2.44072028e-02 2.03668726e+02] [ 7.32561573e-01 -6.80182457e-01 -2.65587454e-02 9.42052504e+01] [ 3.60700492e-02 -1.73380457e-04 9.99349249e-01 1.15557767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.906875 meters 0.011680155655068377 Centerline is valid? [True, True] Translation: X:203.65, Y:94.23, Z:11.56 [[-6.81020618e-01 -7.31881022e-01 2.36873090e-02 2.03652012e+02] [ 7.31427569e-01 -6.81432405e-01 -2.57602257e-02 9.42250810e+01] [ 3.49947202e-02 -2.17693961e-04 9.99387474e-01 1.15568295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.936875 meters 0.011625158324050663 Centerline is valid? [True, True] Translation: X:203.63, Y:94.25, Z:11.56 [[-6.81759564e-01 -7.31204073e-01 2.33345262e-02 2.03633517e+02] [ 7.30764089e-01 -6.82158739e-01 -2.53633747e-02 9.42451774e+01] [ 3.44636539e-02 -2.39689520e-04 9.99405923e-01 1.15582966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.966875 meters 0.011797827473567087 Centerline is valid? [True, True] Translation: X:203.62, Y:94.27, Z:11.56 [[-6.82597314e-01 -7.30424624e-01 2.32545985e-02 2.03615420e+02] [ 7.29987743e-01 -6.82993263e-01 -2.52605875e-02 9.42653890e+01] [ 3.43336893e-02 -2.67237316e-04 9.99410389e-01 1.15593500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.996875 meters 0.011833622611716667 Centerline is valid? [True, True] Translation: X:203.60, Y:94.28, Z:11.56 [[-6.82945139e-01 -7.30114547e-01 2.27746653e-02 2.03597738e+02] [ 7.29695834e-01 -6.83324723e-01 -2.47247337e-02 9.42843103e+01] [ 3.36143796e-02 -2.67058330e-04 9.99434841e-01 1.15599606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.026875 meters 0.011675794619440764 Centerline is valid? [True, True] Translation: X:203.58, Y:94.30, Z:11.56 [[-6.83284539e-01 -7.29806393e-01 2.24692591e-02 2.03577569e+02] [ 7.29399087e-01 -6.83653827e-01 -2.43806653e-02 9.43034620e+01] [ 3.31543604e-02 -2.69874607e-04 9.99450207e-01 1.15605529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.056875 meters 0.01153648895417022 Centerline is valid? [True, True] Translation: X:203.56, Y:94.32, Z:11.56 [[-6.83030305e-01 -7.30045397e-01 2.24347948e-02 2.03558422e+02] [ 7.29639982e-01 -6.83398608e-01 -2.43277507e-02 9.43225381e+01] [ 3.30922699e-02 -2.47267678e-04 9.99452270e-01 1.15607475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.086875 meters 0.011469568215796535 Centerline is valid? [True, True] Translation: X:203.54, Y:94.34, Z:11.56 [[-6.82831518e-01 -7.30225310e-01 2.26299388e-02 2.03539990e+02] [ 7.29813439e-01 -6.83206369e-01 -2.45234707e-02 9.43413187e+01] [ 3.33685773e-02 -2.29765222e-04 9.99443088e-01 1.15605607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.116875 meters 0.011431151835283452 Centerline is valid? [True, True] Translation: X:203.52, Y:94.36, Z:11.56 [[-6.82358264e-01 -7.30659061e-01 2.29027649e-02 2.03520125e+02] [ 7.30237997e-01 -6.82742482e-01 -2.48026267e-02 9.43596527e+01] [ 3.37589545e-02 -1.99808107e-04 9.99429984e-01 1.15596772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.146875 meters 0.011462575379321797 Centerline is valid? [True, True] Translation: X:203.50, Y:94.38, Z:11.56 [[-6.82369474e-01 -7.30646158e-01 2.29802896e-02 2.03501622e+02] [ 7.30222769e-01 -6.82756293e-01 -2.48706933e-02 9.43790486e+01] [ 3.38616138e-02 -1.90271152e-04 9.99426513e-01 1.15592084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.176875 meters 0.011275711912948952 Centerline is valid? [True, True] Translation: X:203.48, Y:94.40, Z:11.56 [[-6.82005334e-01 -7.30978384e-01 2.32234294e-02 2.03481880e+02] [ 7.30546743e-01 -6.82400598e-01 -2.51173243e-02 9.43984085e+01] [ 3.42079033e-02 -1.64348425e-04 9.99414725e-01 1.15599300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.206875 meters 0.011227682013390083 Centerline is valid? [True, True] Translation: X:203.46, Y:94.42, Z:11.56 [[-6.82100131e-01 -7.30884434e-01 2.33956086e-02 2.03462791e+02] [ 7.30446861e-01 -6.82501222e-01 -2.52876363e-02 9.44178536e+01] [ 3.44498712e-02 -1.59451179e-04 9.99406414e-01 1.15604970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.236875 meters 0.011233751383943436 Centerline is valid? [True, True] Translation: X:203.44, Y:94.44, Z:11.56 [[-6.82057946e-01 -7.30926623e-01 2.33073040e-02 2.03444285e+02] [ 7.30492886e-01 -6.82456043e-01 -2.51772413e-02 9.44368458e+01] [ 3.43089264e-02 -1.46517715e-04 9.99411265e-01 1.15608233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.266875 meters 0.011168565363655564 Centerline is valid? [True, True] Translation: X:203.43, Y:94.46, Z:11.56 [[-6.82245932e-01 -7.30768547e-01 2.27556530e-02 2.03425288e+02] [ 7.30355434e-01 -6.82625308e-01 -2.45688803e-02 9.44562026e+01] [ 3.34877496e-02 -1.42303779e-04 9.99439118e-01 1.15620705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.296875 meters 0.011074301396623886 Centerline is valid? [True, True] Translation: X:203.41, Y:94.48, Z:11.56 [[-6.82578406e-01 -7.30465033e-01 2.25289629e-02 2.03406620e+02] [ 7.30060446e-01 -6.82950081e-01 -2.43090674e-02 9.44758463e+01] [ 3.31430808e-02 -1.45339788e-04 9.99450607e-01 1.15631692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.32687500000003 meters 0.011172941930900343 Centerline is valid? [True, True] Translation: X:203.39, Y:94.50, Z:11.56 [[-6.82860083e-01 -7.30207916e-01 2.23272524e-02 2.03387800e+02] [ 7.29810902e-01 -6.83224984e-01 -2.40763355e-02 9.44957342e+01] [ 3.28352674e-02 -1.46096211e-04 9.99460767e-01 1.15637948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.356875 meters 0.011116720890233077 Centerline is valid? [True, True] Translation: X:203.37, Y:94.52, Z:11.56 [[-6.83226220e-01 -7.29861052e-01 2.24672460e-02 2.03368888e+02] [ 7.29459359e-01 -6.83595510e-01 -2.42120154e-02 9.45157830e+01] [ 3.30299155e-02 -1.53340924e-04 9.99454352e-01 1.15645140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.38687500000003 meters 0.011186745263910398 Centerline is valid? [True, True] Translation: X:203.35, Y:94.54, Z:11.56 [[-6.83414469e-01 -7.29663540e-01 2.31469671e-02 2.03350335e+02] [ 7.29237599e-01 -6.83806328e-01 -2.49284973e-02 9.45362178e+01] [ 3.40174581e-02 -1.56857009e-04 9.99421227e-01 1.15649700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.416875 meters 0.01120833865415539 Centerline is valid? [True, True] Translation: X:203.33, Y:94.56, Z:11.57 [[-6.83638636e-01 -7.29441497e-01 2.35227252e-02 2.03332074e+02] [ 7.29002044e-01 -6.84043184e-01 -2.53168407e-02 9.45560798e+01] [ 3.45577140e-02 -1.59455747e-04 9.99402691e-01 1.15657430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.44687500000003 meters 0.011283493970675176 Centerline is valid? [True, True] Translation: X:203.31, Y:94.58, Z:11.57 [[-6.83485380e-01 -7.29575101e-01 2.38308107e-02 2.03314297e+02] [ 7.29124726e-01 -6.83900688e-01 -2.56316853e-02 9.45751745e+01] [ 3.49981473e-02 -1.43248857e-04 9.99387367e-01 1.15659906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.476875 meters 0.011344196367769987 Centerline is valid? [True, True] Translation: X:203.30, Y:94.59, Z:11.57 [[-6.83512827e-01 -7.29552530e-01 2.37343958e-02 2.03296031e+02] [ 7.29106368e-01 -6.83924768e-01 -2.55111029e-02 9.45943032e+01] [ 3.48442308e-02 -1.32266958e-04 9.99392747e-01 1.15661926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.50687500000004 meters 0.011228128386525899 Centerline is valid? [True, True] Translation: X:203.28, Y:94.61, Z:11.57 [[-6.83205682e-01 -7.29849849e-01 2.34349100e-02 2.03277231e+02] [ 7.29415602e-01 -6.83607481e-01 -2.51732515e-02 9.46138697e+01] [ 3.43929736e-02 -1.04719444e-04 9.99408381e-01 1.15668668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.536875 meters 0.011228128386525899 Centerline is valid? [True, True] Translation: X:203.26, Y:94.63, Z:11.57 [[-6.83430647e-01 -7.29638946e-01 2.34426669e-02 2.03258896e+02] [ 7.29204823e-01 -6.83832580e-01 -2.51660264e-02 9.46333851e+01] [ 3.43929724e-02 -1.04727928e-04 9.99408381e-01 1.15675655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.566875 meters 0.011276796280725289 Centerline is valid? [True, True] Translation: X:203.24, Y:94.65, Z:11.57 [[-6.83583318e-01 -7.29493331e-01 2.35229081e-02 2.03240576e+02] [ 7.29056686e-01 -6.83987917e-01 -2.52364623e-02 9.46531563e+01] [ 3.44992159e-02 -1.01691210e-04 9.99404720e-01 1.15682594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.596875 meters 0.011247167232880155 Centerline is valid? [True, True] Translation: X:203.22, Y:94.67, Z:11.57 [[-6.83728659e-01 -7.29355704e-01 2.35664450e-02 2.03222264e+02] [ 7.28917909e-01 -6.84134670e-01 -2.52672673e-02 9.46730777e+01] [ 3.45514476e-02 -9.79510514e-05 9.99402916e-01 1.15687957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.626875 meters 0.011405970248249063 Centerline is valid? [True, True] Translation: X:203.20, Y:94.69, Z:11.57 [[-6.83627549e-01 -7.29432473e-01 2.41172490e-02 2.03204932e+02] [ 7.28974610e-01 -6.84052820e-01 -2.58410196e-02 9.46926266e+01] [ 3.53467510e-02 -8.47706766e-05 9.99375105e-01 1.15682919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.656875 meters 0.01145456790470464 Centerline is valid? [True, True] Translation: X:203.19, Y:94.71, Z:11.57 [[-6.83821083e-01 -7.29240034e-01 2.44478961e-02 2.03187326e+02] [ 7.28770028e-01 -6.84257968e-01 -2.61778600e-02 9.47118734e+01] [ 3.58186112e-02 -8.40785981e-05 9.99358304e-01 1.15678276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.686875 meters 0.01146555281576824 Centerline is valid? [True, True] Translation: X:203.17, Y:94.73, Z:11.57 [[-6.83832169e-01 -7.29221978e-01 2.46753167e-02 2.03169136e+02] [ 7.28743798e-01 -6.84277211e-01 -2.64041008e-02 9.47313439e+01] [ 3.61392075e-02 -7.39895427e-05 9.99346763e-01 1.15681951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.716875 meters 0.011529791579131116 Centerline is valid? [True, True] Translation: X:203.15, Y:94.75, Z:11.57 [[-6.83852408e-01 -7.29205266e-01 2.46082089e-02 2.03151038e+02] [ 7.28730274e-01 -6.84295021e-01 -2.63156159e-02 9.47508575e+01] [ 3.60287605e-02 -6.32505017e-05 9.99350751e-01 1.15682988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.746875 meters 0.011360272576597061 Centerline is valid? [True, True] Translation: X:203.13, Y:94.77, Z:11.57 [[-6.84715737e-01 -7.28408690e-01 2.41896751e-02 2.03133601e+02] [ 7.27949797e-01 -6.85142884e-01 -2.58518938e-02 9.47711922e+01] [ 3.54041279e-02 -9.23294495e-05 9.99373073e-01 1.15714058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.776875 meters 0.01138837981615222 Centerline is valid? [True, True] Translation: X:203.12, Y:94.79, Z:11.57 [[-6.85555737e-01 -7.27643857e-01 2.34040513e-02 2.03116074e+02] [ 7.27214387e-01 -6.85955104e-01 -2.49966132e-02 9.47913204e+01] [ 3.42427605e-02 -1.16808781e-04 9.99413538e-01 1.15729526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.806875 meters 0.011446956805688755 Centerline is valid? [True, True] Translation: X:203.10, Y:94.81, Z:11.57 [[-6.86815805e-01 -7.26484087e-01 2.24704281e-02 2.03099134e+02] [ 7.26088093e-01 -6.87183270e-01 -2.39840623e-02 9.48117149e+01] [ 3.28653418e-02 -1.57122793e-04 9.99459776e-01 1.15745328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.836875 meters 0.011460953628658229 Centerline is valid? [True, True] Translation: X:203.08, Y:94.83, Z:11.58 [[-6.87494238e-01 -7.25854575e-01 2.20637662e-02 2.03080482e+02] [ 7.25472947e-01 -6.87848171e-01 -2.35350050e-02 9.48318756e+01] [ 3.22595123e-02 -1.73514786e-04 9.99479511e-01 1.15756278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.866875 meters 0.011494481175419456 Centerline is valid? [True, True] Translation: X:203.06, Y:94.85, Z:11.58 [[-6.87788115e-01 -7.25583842e-01 2.18082037e-02 2.03061947e+02] [ 7.25211310e-01 -6.88133750e-01 -2.32485933e-02 9.48516002e+01] [ 3.18757646e-02 -1.74550160e-04 9.99491823e-01 1.15765655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.896875 meters 0.011374622942825902 Centerline is valid? [True, True] Translation: X:203.04, Y:94.87, Z:11.58 [[-6.87993304e-01 -7.25389620e-01 2.17970771e-02 2.03043342e+02] [ 7.25017816e-01 -6.88338484e-01 -2.32227989e-02 9.48708638e+01] [ 3.18493443e-02 -1.73860952e-04 9.99492666e-01 1.15777760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.926875 meters 0.011423286502614656 Centerline is valid? [True, True] Translation: X:203.02, Y:94.89, Z:11.58 [[-6.88474385e-01 -7.24929362e-01 2.19189449e-02 2.03024676e+02] [ 7.24553617e-01 -6.88823188e-01 -2.33382032e-02 9.48905709e+01] [ 3.20168263e-02 -1.86304293e-04 9.99487313e-01 1.15784348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.956875 meters 0.011475676705581504 Centerline is valid? [True, True] Translation: X:203.01, Y:94.91, Z:11.58 [[-6.89065232e-01 -7.24368998e-01 2.18783247e-02 2.03005557e+02] [ 7.23994824e-01 -6.89412441e-01 -2.32804837e-02 9.49106152e+01] [ 3.19468499e-02 -2.01978035e-04 9.99489549e-01 1.15786171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.986875 meters 0.011660866504712182 Centerline is valid? [True, True] Translation: X:202.99, Y:94.93, Z:11.58 [[-6.90094303e-01 -7.23385758e-01 2.19749510e-02 2.02987761e+02] [ 7.23008241e-01 -6.90444052e-01 -2.33686782e-02 9.49302229e+01] [ 3.20770432e-02 -2.38521045e-04 9.99485371e-01 1.15789297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.016875 meters 0.011786381710463138 Centerline is valid? [True, True] Translation: X:202.97, Y:94.95, Z:11.58 [[-6.90838473e-01 -7.22674171e-01 2.20055892e-02 2.02969338e+02] [ 7.22295721e-01 -6.91188812e-01 -2.33862739e-02 9.49503805e+01] [ 3.21106732e-02 -2.61594848e-04 9.99484285e-01 1.15794191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.046875 meters 0.011886532742856651 Centerline is valid? [True, True] Translation: X:202.95, Y:94.97, Z:11.58 [[-6.91462101e-01 -7.22074997e-01 2.20875948e-02 2.02951240e+02] [ 7.21693880e-01 -6.91814729e-01 -2.34589851e-02 9.49696445e+01] [ 3.22196700e-02 -2.80517167e-04 9.99480772e-01 1.15801291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07687500000003 meters 0.011748904390414072 Centerline is valid? [True, True] Translation: X:202.93, Y:94.99, Z:11.58 [[-6.92182806e-01 -7.21398102e-01 2.16273534e-02 2.02930491e+02] [ 7.21032829e-01 -6.92520535e-01 -2.29557819e-02 9.49880909e+01] [ 3.15376438e-02 -2.95565718e-04 9.99502521e-01 1.15814262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.106875 meters 0.01195782898059151 Centerline is valid? [True, True] Translation: X:202.91, Y:95.01, Z:11.58 [[-6.92362287e-01 -7.21240827e-01 2.11218571e-02 2.02912481e+02] [ 7.20892778e-01 -6.92684335e-01 -2.24056965e-02 9.50070000e+01] [ 3.07906826e-02 -2.86265048e-04 9.99525814e-01 1.15817974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13687500000003 meters 0.011765613624667673 Centerline is valid? [True, True] Translation: X:202.89, Y:95.03, Z:11.58 [[-6.92651536e-01 -7.20971394e-01 2.08350210e-02 2.02892858e+02] [ 7.20632954e-01 -6.92964766e-01 -2.20902349e-02 9.50260987e+01] [ 3.03643628e-02 -2.86432408e-04 9.99538855e-01 1.15833063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.166875 meters 0.01189669726162185 Centerline is valid? [True, True] Translation: X:202.87, Y:95.05, Z:11.58 [[-6.93049289e-01 -7.20590172e-01 2.07963334e-02 2.02874037e+02] [ 7.20253238e-01 -6.93361174e-01 -2.20353154e-02 9.50462788e+01] [ 3.02978019e-02 -2.92933170e-04 9.99540873e-01 1.15840173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19687500000003 meters 0.012048987069424979 Centerline is valid? [True, True] Translation: X:202.86, Y:95.07, Z:11.58 [[-6.93358041e-01 -7.20289311e-01 2.09268988e-02 2.02856152e+02] [ 7.19948426e-01 -6.93673713e-01 -2.21595329e-02 9.50661859e+01] [ 3.04777143e-02 -2.98202482e-04 9.99535402e-01 1.15848943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.226875 meters 0.011892703388804441 Centerline is valid? [True, True] Translation: X:202.84, Y:95.09, Z:11.59 [[-6.93447466e-01 -7.20208353e-01 2.07494868e-02 2.02836675e+02] [ 7.19873621e-01 -6.93757771e-01 -2.19573452e-02 9.50852527e+01] [ 3.02089811e-02 -2.89257208e-04 9.99543563e-01 1.15857959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25687500000004 meters 0.011969632771797594 Centerline is valid? [True, True] Translation: X:202.82, Y:95.10, Z:11.59 [[-6.93432939e-01 -7.20234617e-01 2.03188522e-02 2.02817852e+02] [ 7.19914045e-01 -6.93730511e-01 -2.14882607e-02 9.51042803e+01] [ 2.95723969e-02 -2.72840673e-04 9.99562604e-01 1.15863136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.286875 meters 0.012067456609031418 Centerline is valid? [True, True] Translation: X:202.80, Y:95.12, Z:11.59 [[-6.92347754e-01 -7.21299751e-01 1.95258118e-02 2.02799333e+02] [ 7.21004515e-01 -6.92623004e-01 -2.06364817e-02 9.51225264e+01] [ 2.84091156e-02 -2.09423296e-04 9.99596358e-01 1.15872901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.316875 meters 0.01166917886982889 Centerline is valid? [True, True] Translation: X:202.78, Y:95.14, Z:11.59 [[-6.91745224e-01 -7.21879086e-01 1.94712558e-02 2.02778625e+02] [ 7.21586100e-01 -6.92019186e-01 -2.05656612e-02 9.51411018e+01] [ 2.83204033e-02 -1.76010343e-04 9.99598881e-01 1.15885715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.346875 meters 0.011566178756922122 Centerline is valid? [True, True] Translation: X:202.76, Y:95.16, Z:11.59 [[-6.91477055e-01 -7.22132877e-01 1.95854811e-02 2.02759111e+02] [ 7.21836911e-01 -6.91754352e-01 -2.06734230e-02 9.51600676e+01] [ 2.84773002e-02 -1.57674503e-04 9.99594427e-01 1.15891325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.376875 meters 0.011508214474950545 Centerline is valid? [True, True] Translation: X:202.74, Y:95.18, Z:11.59 [[-6.90791612e-01 -7.22780874e-01 1.98684914e-02 2.02740555e+02] [ 7.22476947e-01 -6.91077270e-01 -2.09587176e-02 9.51786066e+01] [ 2.88792230e-02 -1.23579332e-04 9.99582901e-01 1.15891601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.406875 meters 0.011414139976640581 Centerline is valid? [True, True] Translation: X:202.72, Y:95.20, Z:11.59 [[-6.90617302e-01 -7.22957397e-01 1.95023982e-02 2.02721235e+02] [ 7.22665017e-01 -6.90892604e-01 -2.05592539e-02 9.51978798e+01] [ 2.83375273e-02 -1.04875566e-04 9.99598406e-01 1.15896972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.436875 meters 0.011491466476604584 Centerline is valid? [True, True] Translation: X:202.70, Y:95.22, Z:11.59 [[-6.90490351e-01 -7.23081291e-01 1.94041624e-02 2.02701494e+02] [ 7.22792254e-01 -6.90762939e-01 -2.04430784e-02 9.52169685e+01] [ 2.81856838e-02 -9.05700546e-05 9.99602701e-01 1.15899795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.466875 meters 0.011483278675072872 Centerline is valid? [True, True] Translation: X:202.68, Y:95.24, Z:11.59 [[-6.89766370e-01 -7.23769268e-01 1.95038954e-02 2.02681889e+02] [ 7.23477894e-01 -6.90042059e-01 -2.05351838e-02 9.52350883e+01] [ 2.83212431e-02 -5.38420203e-05 9.99598872e-01 1.15890998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.496875 meters 0.011468635651445194 Centerline is valid? [True, True] Translation: X:202.66, Y:95.25, Z:11.59 [[-6.89799455e-01 -7.23728476e-01 1.98445030e-02 2.02663387e+02] [ 7.23427127e-01 -6.90084843e-01 -2.08830335e-02 9.52539006e+01] [ 2.88080368e-02 -4.90533224e-05 9.99584961e-01 1.15890505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.526875 meters 0.011448468575108131 Centerline is valid? [True, True] Translation: X:202.64, Y:95.27, Z:11.59 [[-6.89979514e-01 -7.23546152e-01 2.02295971e-02 2.02644928e+02] [ 7.23233331e-01 -6.90276006e-01 -2.12740363e-02 9.52733271e+01] [ 2.93567526e-02 -4.79303171e-05 9.99568997e-01 1.15894576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.556875 meters 0.011452075451087887 Centerline is valid? [True, True] Translation: X:202.63, Y:95.29, Z:11.59 [[-6.90400055e-01 -7.23137665e-01 2.04861099e-02 2.02626860e+02] [ 7.22817086e-01 -6.90703926e-01 -2.15301223e-02 9.52930325e+01] [ 2.97190790e-02 -5.66873693e-05 9.99558289e-01 1.15899690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.586875 meters 0.011517321708770336 Centerline is valid? [True, True] Translation: X:202.61, Y:95.31, Z:11.59 [[-6.91006801e-01 -7.22551925e-01 2.06958194e-02 2.02608148e+02] [ 7.22224912e-01 -6.91316650e-01 -2.17362854e-02 9.53129257e+01] [ 3.00129593e-02 -7.28846827e-05 9.99549507e-01 1.15902778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.616875 meters 0.011595646992398663 Centerline is valid? [True, True] Translation: X:202.59, Y:95.33, Z:11.59 [[-6.91845940e-01 -7.21754980e-01 2.04681360e-02 2.02589027e+02] [ 7.21435167e-01 -6.92148640e-01 -2.14839564e-02 9.53330560e+01] [ 2.96731451e-02 -9.71549101e-05 9.99559651e-01 1.15906534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.646875 meters 0.01167769752189801 Centerline is valid? [True, True] Translation: X:202.57, Y:95.35, Z:11.59 [[-6.92768084e-01 -7.20878923e-01 2.01484500e-02 2.02570063e+02] [ 7.20569035e-01 -6.93061010e-01 -2.11353644e-02 9.53529950e+01] [ 2.92001439e-02 -1.23556748e-04 9.99573577e-01 1.15907603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.676875 meters 0.011814528391183203 Centerline is valid? [True, True] Translation: X:202.55, Y:95.37, Z:11.59 [[-6.94206868e-01 -7.19491723e-01 2.02110428e-02 2.02552338e+02] [ 7.19179712e-01 -6.94500994e-01 -2.11875237e-02 9.53731116e+01] [ 2.92808373e-02 -1.73152489e-04 9.99571209e-01 1.15904339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.706875 meters 0.01179443433609842 Centerline is valid? [True, True] Translation: X:202.53, Y:95.39, Z:11.59 [[-6.94937919e-01 -7.18796684e-01 1.98145443e-02 2.02533050e+02] [ 7.18496898e-01 -6.95220318e-01 -2.07585192e-02 9.53934749e+01] [ 2.86966286e-02 -1.89193485e-04 9.99588149e-01 1.15910010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.736875 meters 0.011979761224701294 Centerline is valid? [True, True] Translation: X:202.52, Y:95.41, Z:11.59 [[-6.95691334e-01 -7.18063599e-01 1.99558373e-02 2.02515370e+02] [ 7.17759570e-01 -6.95977458e-01 -2.08944290e-02 9.54135527e+01] [ 2.88923418e-02 -2.12580011e-04 9.99582507e-01 1.15917188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.766875 meters 0.012155380173957085 Centerline is valid? [True, True] Translation: X:202.50, Y:95.43, Z:11.59 [[-6.96518624e-01 -7.17271782e-01 1.95703026e-02 2.02497612e+02] [ 7.16979423e-01 -6.96793468e-01 -2.04785559e-02 9.54333418e+01] [ 2.83251493e-02 -2.32191305e-04 9.99598736e-01 1.15920835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.796875 meters 0.011996195848512817 Centerline is valid? [True, True] Translation: X:202.48, Y:95.45, Z:11.59 [[-6.96879104e-01 -7.16925611e-01 1.94211994e-02 2.02478762e+02] [ 7.16637922e-01 -6.97149635e-01 -2.03095161e-02 9.54532296e+01] [ 2.80998943e-02 -2.35309357e-04 9.99605092e-01 1.15931688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.82687500000003 meters 0.011858076719040976 Centerline is valid? [True, True] Translation: X:202.46, Y:95.47, Z:11.59 [[-6.97276982e-01 -7.16548470e-01 1.90551876e-02 2.02459731e+02] [ 7.16271712e-01 -6.97537263e-01 -1.99148334e-02 9.54726088e+01] [ 2.75616468e-02 -2.37463072e-04 9.99620077e-01 1.15941853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.856875 meters 0.01191632776030881 Centerline is valid? [True, True] Translation: X:202.44, Y:95.49, Z:11.60 [[-6.97591201e-01 -7.16248029e-01 1.88487733e-02 2.02440779e+02] [ 7.15977460e-01 -6.97845759e-01 -1.96868925e-02 9.54927172e+01] [ 2.72542345e-02 -2.38106201e-04 9.99628506e-01 1.15950407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.88687500000003 meters 0.012061238045049215 Centerline is valid? [True, True] Translation: X:202.42, Y:95.51, Z:11.59 [[-6.98860196e-01 -7.15001204e-01 1.91756220e-02 2.02422738e+02] [ 7.14721053e-01 -6.99123164e-01 -2.00154603e-02 9.55134291e+01] [ 2.77171998e-02 -2.82787738e-04 9.99615765e-01 1.15948557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.916875 meters 0.012229086883256298 Centerline is valid? [True, True] Translation: X:202.40, Y:95.53, Z:11.59 [[-6.99862235e-01 -7.14011923e-01 1.94891087e-02 2.02404901e+02] [ 7.13722521e-01 -7.00133468e-01 -2.03295462e-02 9.55335072e+01] [ 2.81605157e-02 -3.18065845e-04 9.99603363e-01 1.15946423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.94687500000003 meters 0.012591038189259583 Centerline is valid? [True, True] Translation: X:202.39, Y:95.55, Z:11.59 [[-7.01213259e-01 -7.12649339e-01 2.07577759e-02 2.02387092e+02] [ 7.12320857e-01 -7.01520327e-01 -2.16385652e-02 9.55545594e+01] [ 2.99827110e-02 -3.87052116e-04 9.99550343e-01 1.15926811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.976875 meters 0.012824635469463913 Centerline is valid? [True, True] Translation: X:202.37, Y:95.57, Z:11.59 [[-7.01699903e-01 -7.12150100e-01 2.14355099e-02 2.02369581e+02] [ 7.11799993e-01 -7.02027112e-01 -2.23317090e-02 9.55735084e+01] [ 3.09518379e-02 -4.12362289e-04 9.99520792e-01 1.15919107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.00687500000004 meters 0.012625931489866618 Centerline is valid? [True, True] Translation: X:202.35, Y:95.59, Z:11.59 [[-7.02001698e-01 -7.11840407e-01 2.18369223e-02 2.02350257e+02] [ 7.11477303e-01 -7.02341124e-01 -2.27374647e-02 9.55927815e+01] [ 3.15224147e-02 -4.25264250e-04 9.99502955e-01 1.15922297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.036875 meters 0.01264503652234237 Centerline is valid? [True, True] Translation: X:202.33, Y:95.61, Z:11.59 [[-7.02058639e-01 -7.11782655e-01 2.18887869e-02 2.02332129e+02] [ 7.11418257e-01 -7.02399656e-01 -2.27768851e-02 9.56122016e+01] [ 3.15868681e-02 -4.18626308e-04 9.99500923e-01 1.15928390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.066875 meters 0.012505456674408876 Centerline is valid? [True, True] Translation: X:202.31, Y:95.63, Z:11.59 [[-7.01960402e-01 -7.11886078e-01 2.16750346e-02 2.02313498e+02] [ 7.11529273e-01 -7.02294848e-01 -2.25397516e-02 9.56317174e+01] [ 3.12680005e-02 -3.99591475e-04 9.99510957e-01 1.15946830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.096875 meters 0.01224298832048099 Centerline is valid? [True, True] Translation: X:202.29, Y:95.65, Z:11.60 [[-7.00934702e-01 -7.12923768e-01 2.07423289e-02 2.02294698e+02] [ 7.12597865e-01 -7.01241465e-01 -2.15566656e-02 9.56505007e+01] [ 2.99136404e-02 -3.28875723e-04 9.99552433e-01 1.15973814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.126875 meters 0.011986273729436281 Centerline is valid? [True, True] Translation: X:202.27, Y:95.67, Z:11.60 [[-7.00215727e-01 -7.13643624e-01 2.02660610e-02 2.02274272e+02] [ 7.13333217e-01 -7.00508886e-01 -2.10481092e-02 9.56687101e+01] [ 2.92174048e-02 -2.81762609e-04 9.99573041e-01 1.15985422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.156875 meters 0.01178019577960138 Centerline is valid? [True, True] Translation: X:202.25, Y:95.69, Z:11.60 [[-6.99451396e-01 -7.14406921e-01 1.97609603e-02 2.02253835e+02] [ 7.14112466e-01 -6.99730445e-01 -2.05107352e-02 9.56871683e+01] [ 2.84803567e-02 -2.34714251e-04 9.99594325e-01 1.15992814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.186875 meters 0.011585615721866943 Centerline is valid? [True, True] Translation: X:202.23, Y:95.71, Z:11.60 [[-6.98742475e-01 -7.15111382e-01 1.93562744e-02 2.02233823e+02] [ 7.14829485e-01 -6.99010496e-01 -2.00781949e-02 9.57059988e+01] [ 2.78883847e-02 -1.93051930e-04 9.99611025e-01 1.16005771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.216875 meters 0.011484458284251393 Centerline is valid? [True, True] Translation: X:202.21, Y:95.72, Z:11.60 [[-6.97586643e-01 -7.16248965e-01 1.89814259e-02 2.02213787e+02] [ 7.15978637e-01 -6.97844826e-01 -1.96771622e-02 9.57242811e+01] [ 2.73398369e-02 -1.36230090e-04 9.99626188e-01 1.16024680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.246875 meters 0.011351660458504982 Centerline is valid? [True, True] Translation: X:202.19, Y:95.74, Z:11.60 [[-6.97144176e-01 -7.16673202e-01 1.92228893e-02 2.02194584e+02] [ 7.16396463e-01 -6.97409140e-01 -1.99147940e-02 9.57424947e+01] [ 2.76786179e-02 -1.12272765e-04 9.99616867e-01 1.16028994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.276875 meters 0.0114944493332438 Centerline is valid? [True, True] Translation: X:202.17, Y:95.76, Z:11.60 [[-6.95562840e-01 -7.18184894e-01 2.00697213e-02 2.02174318e+02] [ 7.17884165e-01 -6.95852323e-01 -2.07814935e-02 9.57596743e+01] [ 2.88905168e-02 -4.70995020e-05 9.99582581e-01 1.16024159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.306875 meters 0.011472955343076442 Centerline is valid? [True, True] Translation: X:202.16, Y:95.78, Z:11.60 [[-6.94779770e-01 -7.18926793e-01 2.06237141e-02 2.02155435e+02] [ 7.18609870e-01 -6.95085798e-01 -2.13445224e-02 9.57775458e+01] [ 2.96803998e-02 -9.33780581e-06 9.99559440e-01 1.16025356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.336875 meters 0.011473973859467563 Centerline is valid? [True, True] Translation: X:202.14, Y:95.80, Z:11.60 [[-6.94169784e-01 -7.19507337e-01 2.09165547e-02 2.02135099e+02] [ 7.19181938e-01 -6.94484838e-01 -2.16367624e-02 9.57965120e+01] [ 3.00940394e-02 2.32216088e-05 9.99547072e-01 1.16026932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.366875 meters 0.011556153106599885 Centerline is valid? [True, True] Translation: X:202.12, Y:95.81, Z:11.60 [[-6.93762933e-01 -7.19881916e-01 2.15178767e-02 2.02115209e+02] [ 7.19538146e-01 -6.94096552e-01 -2.22448391e-02 9.58149623e+01] [ 3.09491414e-02 5.02882857e-05 9.99520959e-01 1.16026121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.396875 meters 0.011577620267053761 Centerline is valid? [True, True] Translation: X:202.10, Y:95.83, Z:11.60 [[-6.93319299e-01 -7.20304109e-01 2.16873303e-02 2.02095001e+02] [ 7.19955538e-01 -6.93658406e-01 -2.24062171e-02 9.58338969e+01] [ 3.11828891e-02 7.92508351e-05 9.99513692e-01 1.16027027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.426875 meters 0.011778576315011611 Centerline is valid? [True, True] Translation: X:202.08, Y:95.85, Z:11.60 [[-6.92482675e-01 -7.21100112e-01 2.19630044e-02 2.02075409e+02] [ 7.20743476e-01 -6.92830869e-01 -2.26766409e-02 9.58514595e+01] [ 3.15687756e-02 1.26511179e-04 9.99501574e-01 1.16028035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.456875 meters 0.011759154953586483 Centerline is valid? [True, True] Translation: X:202.06, Y:95.87, Z:11.60 [[-6.92399021e-01 -7.21185373e-01 2.18002912e-02 2.02056599e+02] [ 7.20834500e-01 -6.92742115e-01 -2.24941242e-02 9.58714217e+01] [ 3.13244132e-02 1.39492368e-04 9.99509260e-01 1.16048885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.486875 meters 0.011759154953586483 Centerline is valid? [True, True] Translation: X:202.04, Y:95.89, Z:11.61 [[-6.92627803e-01 -7.20965438e-01 2.18074328e-02 2.02037882e+02] [ 7.20614673e-01 -6.92971008e-01 -2.24871988e-02 9.58905718e+01] [ 3.13244119e-02 1.39496948e-04 9.99509260e-01 1.16055872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.516875 meters 0.011882993048289131 Centerline is valid? [True, True] Translation: X:202.02, Y:95.91, Z:11.61 [[-6.92519051e-01 -7.21078662e-01 2.15157620e-02 2.02018888e+02] [ 7.20737708e-01 -6.92853188e-01 -2.21724114e-02 9.59090792e+01] [ 3.08953170e-02 1.52403722e-04 9.99522614e-01 1.16065446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.546875 meters 0.0119250984335051 Centerline is valid? [True, True] Translation: X:202.00, Y:95.93, Z:11.61 [[-6.92056770e-01 -7.21543943e-01 2.07789438e-02 2.01999228e+02] [ 7.21226566e-01 -6.92368620e-01 -2.13993921e-02 9.59276840e+01] [ 2.98272904e-02 1.76732117e-04 9.99555052e-01 1.16088151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57687500000003 meters 0.01200804732777129 Centerline is valid? [True, True] Translation: X:201.98, Y:95.95, Z:11.61 [[-6.91850071e-01 -7.21758690e-01 2.01958466e-02 2.01980272e+02] [ 7.21459342e-01 -6.92144751e-01 -2.07860872e-02 9.59455661e+01] [ 2.89809883e-02 1.89626300e-04 9.99579945e-01 1.16104859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.606875 meters 0.012128885952695727 Centerline is valid? [True, True] Translation: X:201.96, Y:95.96, Z:11.61 [[-6.91505778e-01 -7.22112724e-01 1.93124745e-02 2.01961065e+02] [ 7.21839479e-01 -6.91775377e-01 -1.98644049e-02 9.59642442e+01] [ 2.77042339e-02 2.04155754e-04 9.99616143e-01 1.16118635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63687500000003 meters 0.012475313268300404 Centerline is valid? [True, True] Translation: X:201.94, Y:95.98, Z:11.61 [[-6.90785182e-01 -7.22826629e-01 1.83710826e-02 2.01941090e+02] [ 7.22579931e-01 -6.91029385e-01 -1.88847033e-02 9.59815622e+01] [ 2.63453243e-02 2.29302398e-04 9.99652875e-01 1.16140913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.666875 meters 0.01236862772518894 Centerline is valid? [True, True] Translation: X:201.92, Y:96.00, Z:11.61 [[-6.90959075e-01 -7.22666639e-01 1.81241785e-02 2.01921734e+02] [ 7.22426790e-01 -6.91196699e-01 -1.86187000e-02 9.60004293e+01] [ 2.59824857e-02 2.28632406e-04 9.99662372e-01 1.16145595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69687500000003 meters 0.012306146182379256 Centerline is valid? [True, True] Translation: X:201.90, Y:96.02, Z:11.62 [[-6.91074891e-01 -7.22558078e-01 1.80365971e-02 2.01901849e+02] [ 7.22320808e-01 -6.91310183e-01 -1.85170509e-02 9.60201970e+01] [ 2.58485280e-02 2.31540400e-04 9.99665844e-01 1.16152775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.726875 meters 0.012407214748193597 Centerline is valid? [True, True] Translation: X:201.88, Y:96.04, Z:11.61 [[-6.91673510e-01 -7.21978236e-01 1.83079698e-02 2.01882272e+02] [ 7.21733853e-01 -6.91915730e-01 -1.87847724e-02 9.60373447e+01] [ 2.62297691e-02 2.20552101e-04 9.99655916e-01 1.16144675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75687500000004 meters 0.012427340194971336 Centerline is valid? [True, True] Translation: X:201.86, Y:96.06, Z:11.61 [[-6.92187772e-01 -7.21477241e-01 1.86193341e-02 2.01862830e+02] [ 7.21224550e-01 -6.92438117e-01 -1.90945602e-02 9.60559986e+01] [ 2.66690272e-02 2.11699761e-04 9.99644296e-01 1.16142622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.786875 meters 0.012230893604361286 Centerline is valid? [True, True] Translation: X:201.84, Y:96.08, Z:11.61 [[-6.93291722e-01 -7.20406277e-01 1.90100870e-02 2.01843087e+02] [ 7.20142804e-01 -6.93552278e-01 -1.94828150e-02 9.60751299e+01] [ 2.72200313e-02 1.82702990e-04 9.99629450e-01 1.16140825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.816875 meters 0.012085033034220437 Centerline is valid? [True, True] Translation: X:201.82, Y:96.09, Z:11.61 [[-6.95437334e-01 -7.18321149e-01 1.95356517e-02 2.01824060e+02] [ 7.18042438e-01 -6.95711660e-01 -2.00085832e-02 9.60948376e+01] [ 2.79637692e-02 1.12711230e-04 9.99608931e-01 1.16137698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.846875 meters 0.011964942718164853 Centerline is valid? [True, True] Translation: X:201.81, Y:96.11, Z:11.61 [[-6.97307219e-01 -7.16495647e-01 1.99155724e-02 2.01805381e+02] [ 7.16205611e-01 -6.97591560e-01 -2.03847626e-02 9.61146460e+01] [ 2.84985289e-02 4.92026187e-05 9.99593833e-01 1.16139561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.876875 meters 0.011983561845636813 Centerline is valid? [True, True] Translation: X:201.79, Y:96.14, Z:11.61 [[-6.99270087e-01 -7.14575099e-01 2.00941065e-02 2.01785917e+02] [ 7.14279410e-01 -6.99558738e-01 -2.05547332e-02 9.61355764e+01] [ 2.87449083e-02 -2.05035605e-05 9.99586780e-01 1.16142241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.906875 meters 0.012013533000523957 Centerline is valid? [True, True] Translation: X:201.77, Y:96.16, Z:11.61 [[-7.01177780e-01 -7.12700484e-01 2.01925972e-02 2.01766363e+02] [ 7.12401450e-01 -7.01468468e-01 -2.06437074e-02 9.61562690e+01] [ 2.88772505e-02 -8.96734311e-05 9.99582961e-01 1.16149645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.936875 meters 0.012501300883337778 Centerline is valid? [True, True] Translation: X:201.75, Y:96.18, Z:11.62 [[-7.04644318e-01 -7.09279883e-01 1.99607935e-02 2.01747884e+02] [ 7.08986617e-01 -7.04926946e-01 -2.03955178e-02 9.61766998e+01] [ 2.85370317e-02 -2.19650231e-04 9.99592712e-01 1.16165028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.966875 meters 0.012759255408452467 Centerline is valid? [True, True] Translation: X:201.73, Y:96.20, Z:11.62 [[-7.06325814e-01 -7.07619651e-01 1.94492865e-02 2.01729748e+02] [ 7.07340826e-01 -7.06593487e-01 -1.98645580e-02 9.61963958e+01] [ 2.77992908e-02 -2.73575759e-04 9.99613488e-01 1.16177134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.996875 meters 0.013044720473549487 Centerline is valid? [True, True] Translation: X:201.71, Y:96.22, Z:11.62 [[-7.08144699e-01 -7.05805499e-01 1.92271552e-02 2.01710487e+02] [ 7.05532690e-01 -7.08405595e-01 -1.96248894e-02 9.62167464e+01] [ 2.74719792e-02 -3.31874844e-04 9.99622519e-01 1.16193426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.026875 meters 0.013662751658445858 Centerline is valid? [True, True] Translation: X:201.69, Y:96.24, Z:11.62 [[-7.10441946e-01 -7.03512108e-01 1.85190585e-02 2.01690688e+02] [ 7.03258513e-01 -7.10683162e-01 -1.88919894e-02 9.62360964e+01] [ 2.64519263e-02 -3.97976196e-04 9.99650007e-01 1.16202139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.056875 meters 0.013834194884037372 Centerline is valid? [True, True] Translation: X:201.67, Y:96.25, Z:11.62 [[-7.11232624e-01 -7.02718714e-01 1.82910493e-02 2.01671329e+02] [ 7.02471332e-01 -7.11467664e-01 -1.86491561e-02 9.62545920e+01] [ 2.61186011e-02 -4.14950436e-04 9.99658765e-01 1.16209461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.086875 meters 0.01391599296442584 Centerline is valid? [True, True] Translation: X:201.65, Y:96.27, Z:11.62 [[-7.11639317e-01 -7.02315481e-01 1.79568279e-02 2.01651302e+02] [ 7.02077153e-01 -7.11865713e-01 -1.82996725e-02 9.62738086e+01] [ 2.56349934e-02 -4.15687765e-04 9.99671283e-01 1.16221051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.116875 meters 0.014010951521191901 Centerline is valid? [True, True] Translation: X:201.63, Y:96.29, Z:11.62 [[-7.11753968e-01 -7.02209032e-01 1.75716897e-02 2.01631042e+02] [ 7.01981062e-01 -7.11970725e-01 -1.78962340e-02 9.62911028e+01] [ 2.50774258e-02 -4.02722160e-04 9.99685431e-01 1.16237028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.146875 meters 0.013724265121746421 Centerline is valid? [True, True] Translation: X:201.61, Y:96.31, Z:11.62 [[-7.11328044e-01 -7.02643748e-01 1.74406728e-02 2.01610215e+02] [ 7.02419584e-01 -7.11541722e-01 -1.77512246e-02 9.63087192e+01] [ 2.48825534e-02 -3.76273710e-04 9.99690311e-01 1.16245179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.176875 meters 0.013584113922320049 Centerline is valid? [True, True] Translation: X:201.59, Y:96.33, Z:11.63 [[-7.10471848e-01 -7.03512342e-01 1.73245008e-02 2.01590283e+02] [ 7.03291687e-01 -7.10682961e-01 -1.76219075e-02 9.63260908e+01] [ 2.47094569e-02 -3.35691788e-04 9.99694618e-01 1.16254823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.206875 meters 0.01339246551011177 Centerline is valid? [True, True] Translation: X:201.57, Y:96.34, Z:11.63 [[-7.09189783e-01 -7.04796453e-01 1.76581906e-02 2.01570345e+02] [ 7.04567834e-01 -7.09409526e-01 -1.79524760e-02 9.63431434e+01] [ 2.51797300e-02 -2.90319490e-04 9.99682898e-01 1.16263566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.236875 meters 0.012594836530828032 Centerline is valid? [True, True] Translation: X:201.55, Y:96.36, Z:11.63 [[-7.06004426e-01 -7.07971999e-01 1.82592536e-02 2.01546101e+02] [ 7.07728842e-01 -7.06240482e-01 -1.85544796e-02 9.63581394e+01] [ 2.60314761e-02 -1.76944308e-04 9.99661108e-01 1.16270707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.266875 meters 0.012417571035307962 Centerline is valid? [True, True] Translation: X:201.52, Y:96.38, Z:11.63 [[-7.04645559e-01 -7.09321262e-01 1.83843247e-02 2.01524253e+02] [ 7.09075493e-01 -7.04885333e-01 -1.86711500e-02 9.63754600e+01] [ 2.62026845e-02 -1.20668851e-04 9.99656643e-01 1.16272214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.296875 meters 0.012295210544509173 Centerline is valid? [True, True] Translation: X:201.50, Y:96.39, Z:11.63 [[-7.03206250e-01 -7.10730183e-01 1.90676846e-02 2.01502715e+02] [ 7.10466656e-01 -7.03464714e-01 -1.93527163e-02 9.63924322e+01] [ 2.71680029e-02 -6.19969689e-05 9.99630880e-01 1.16271500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.32687500000003 meters 0.012273888766122652 Centerline is valid? [True, True] Translation: X:201.48, Y:96.41, Z:11.63 [[-7.02121526e-01 -7.11794376e-01 1.93424055e-02 2.01482759e+02] [ 7.11523943e-01 -7.02387903e-01 -1.96191901e-02 9.64094159e+01] [ 2.75507008e-02 -1.24710541e-05 9.99620407e-01 1.16272839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.356875 meters 0.012446264569673059 Centerline is valid? [True, True] Translation: X:201.46, Y:96.43, Z:11.63 [[-7.00392299e-01 -7.13476931e-01 2.00323755e-02 2.01461206e+02] [ 7.13187840e-01 -7.00678717e-01 -2.03086235e-02 9.64260495e+01] [ 2.85259936e-02 6.28430825e-05 9.99593049e-01 1.16278415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.38687500000003 meters 0.012537805264735713 Centerline is valid? [True, True] Translation: X:201.44, Y:96.44, Z:11.63 [[-6.99770698e-01 -7.14079029e-01 2.03005074e-02 2.01440924e+02] [ 7.13782778e-01 -7.00065091e-01 -2.05673105e-02 9.64438880e+01] [ 2.88983616e-02 9.77513608e-05 9.99582350e-01 1.16285494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.416875 meters 0.012554700668956675 Centerline is valid? [True, True] Translation: X:201.42, Y:96.46, Z:11.63 [[-6.99180961e-01 -7.14659555e-01 2.01916574e-02 2.01419956e+02] [ 7.14367083e-01 -6.99472446e-01 -2.04442578e-02 9.64620966e+01] [ 2.87341922e-02 1.30019619e-04 9.99587079e-01 1.16295859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.44687500000003 meters 0.0128431621201082 Centerline is valid? [True, True] Translation: X:201.40, Y:96.48, Z:11.63 [[-6.97052758e-01 -7.16751409e-01 1.96181327e-02 2.01397060e+02] [ 7.16476481e-01 -6.97328739e-01 -1.98514812e-02 9.64791217e+01] [ 2.79088648e-02 2.18400930e-04 9.99610448e-01 1.16317725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.476875 meters 0.013076297613045027 Centerline is valid? [True, True] Translation: X:201.38, Y:96.50, Z:11.63 [[-6.96186501e-01 -7.17594823e-01 1.95454781e-02 2.01376241e+02] [ 7.17322572e-01 -6.96460769e-01 -1.97667936e-02 9.64972241e+01] [ 2.77972075e-02 2.59037731e-04 9.99613549e-01 1.16332193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.50687500000004 meters 0.01332047020490193 Centerline is valid? [True, True] Translation: X:201.36, Y:96.52, Z:11.63 [[-6.95112180e-01 -7.18638045e-01 1.94529635e-02 2.01355608e+02] [ 7.18369115e-01 -6.95384257e-01 -1.96608738e-02 9.65154554e+01] [ 2.76563364e-02 3.07895314e-04 9.99617443e-01 1.16347457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.536875 meters 0.014032904184394747 Centerline is valid? [True, True] Translation: X:201.33, Y:96.53, Z:11.64 [[-6.93020759e-01 -7.20650131e-01 1.96371085e-02 2.01333779e+02] [ 7.20377242e-01 -6.93298802e-01 -1.98343294e-02 9.65314199e+01] [ 2.79079958e-02 4.00524004e-04 9.99610416e-01 1.16358305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.566875 meters 0.01484671294734364 Centerline is valid? [True, True] Translation: X:201.31, Y:96.55, Z:11.64 [[-6.92098953e-01 -7.21536942e-01 1.95826902e-02 2.01312154e+02] [ 7.21266244e-01 -6.92375798e-01 -1.97676299e-02 9.65483077e+01] [ 2.78216560e-02 4.43177506e-04 9.99612805e-01 1.16361130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.596875 meters 0.01491352230806425 Centerline is valid? [True, True] Translation: X:201.29, Y:96.57, Z:11.64 [[-6.91177762e-01 -7.22410718e-01 1.99011748e-02 2.01291374e+02] [ 7.22131843e-01 -6.91464034e-01 -2.00771327e-02 9.65675029e+01] [ 2.82648824e-02 4.94404389e-04 9.99600346e-01 1.16367643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.626875 meters 0.015156557957635158 Centerline is valid? [True, True] Translation: X:201.27, Y:96.59, Z:11.64 [[-6.90380406e-01 -7.23167915e-01 2.00763945e-02 2.01270638e+02] [ 7.22884750e-01 -6.90672048e-01 -2.02425359e-02 9.65862677e+01] [ 2.85049570e-02 5.37869269e-04 9.99593506e-01 1.16369197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.656875 meters 0.01552993913722285 Centerline is valid? [True, True] Translation: X:201.25, Y:96.60, Z:11.64 [[-6.89808976e-01 -7.23680989e-01 2.11991084e-02 2.01250357e+02] [ 7.23365868e-01 -6.90134384e-01 -2.13624500e-02 9.66048165e+01] [ 3.00898325e-02 5.98701659e-04 9.99547019e-01 1.16365291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.686875 meters 0.015377947425026675 Centerline is valid? [True, True] Translation: X:201.23, Y:96.62, Z:11.64 [[-6.90123817e-01 -7.23363608e-01 2.17763193e-02 2.01231085e+02] [ 7.23031235e-01 -6.90467031e-01 -2.19342582e-02 9.66247972e+01] [ 3.09022747e-02 6.07605042e-04 9.99522226e-01 1.16365591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.716875 meters 0.015581938196992879 Centerline is valid? [True, True] Translation: X:201.21, Y:96.64, Z:11.64 [[-6.90713855e-01 -7.22791190e-01 2.20741238e-02 2.01212154e+02] [ 7.22449793e-01 -6.91066232e-01 -2.22207090e-02 9.66435513e+01] [ 3.13156142e-02 5.99294588e-04 9.99509366e-01 1.16363587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.746875 meters 0.01553080529737081 Centerline is valid? [True, True] Translation: X:201.19, Y:96.66, Z:11.64 [[-6.91337505e-01 -7.22180990e-01 2.25182627e-02 2.01193369e+02] [ 7.21825761e-01 -6.91703888e-01 -2.26561854e-02 9.66634667e+01] [ 3.19378362e-02 5.91191369e-04 9.99489682e-01 1.16368998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.776875 meters 0.013928178001632029 Centerline is valid? [True, True] Translation: X:201.18, Y:96.69, Z:11.64 [[-6.93884437e-01 -7.19730940e-01 2.26221436e-02 2.01176589e+02] [ 7.19371554e-01 -6.94252932e-01 -2.27471734e-02 9.66870653e+01] [ 3.20773340e-02 4.89816962e-04 9.99485270e-01 1.16377473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.806875 meters 0.014000840885985282 Centerline is valid? [True, True] Translation: X:201.16, Y:96.71, Z:11.64 [[-6.95596644e-01 -7.18077254e-01 2.25912973e-02 2.01158310e+02] [ 7.17718375e-01 -6.95963275e-01 -2.27036108e-02 9.67063119e+01] [ 3.20256598e-02 4.21633738e-04 9.99486958e-01 1.16378200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.836875 meters 0.013157587388124063 Centerline is valid? [True, True] Translation: X:201.14, Y:96.73, Z:11.64 [[-6.98895001e-01 -7.14875920e-01 2.23203110e-02 2.01142582e+02] [ 7.14524413e-01 -6.99251271e-01 -2.24170383e-02 9.67294643e+01] [ 3.16329067e-02 2.81251145e-04 9.99499515e-01 1.16394454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.866875 meters 0.01260935156152839 Centerline is valid? [True, True] Translation: X:201.13, Y:96.75, Z:11.64 [[-7.00614770e-01 -7.13190434e-01 2.23237387e-02 2.01125797e+02] [ 7.12838350e-01 -7.00970298e-01 -2.24081989e-02 9.67514183e+01] [ 3.16295909e-02 2.13701918e-04 9.99499636e-01 1.16412870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.896875 meters 0.012513316091877853 Centerline is valid? [True, True] Translation: X:201.11, Y:96.77, Z:11.64 [[-7.02084555e-01 -7.11748232e-01 2.21750132e-02 2.01107351e+02] [ 7.11400535e-01 -7.02434644e-01 -2.22452157e-02 9.67731257e+01] [ 3.14094905e-02 1.57293935e-04 9.99506588e-01 1.16424192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.926875 meters 0.012351936837163145 Centerline is valid? [True, True] Translation: X:201.09, Y:96.79, Z:11.64 [[-7.03637060e-01 -7.10219107e-01 2.19933671e-02 2.01089683e+02] [ 7.09876734e-01 -7.03980689e-01 -2.20502069e-02 9.67931072e+01] [ 3.11433840e-02 9.72368733e-05 9.99514922e-01 1.16431842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.956875 meters 0.012308525595780028 Centerline is valid? [True, True] Translation: X:201.07, Y:96.82, Z:11.64 [[-7.05281367e-01 -7.08581986e-01 2.21305731e-02 2.01072483e+02] [ 7.08234983e-01 -7.05628491e-01 -2.21729824e-02 9.68150610e+01] [ 3.13273388e-02 3.54546775e-05 9.99509178e-01 1.16446010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.986875 meters 0.012410744755577663 Centerline is valid? [True, True] Translation: X:201.05, Y:96.83, Z:11.64 [[-7.05560159e-01 -7.08295018e-01 2.24283056e-02 2.01054582e+02] [ 7.07938929e-01 -7.05916543e-01 -2.24567847e-02 9.68342209e+01] [ 3.17385407e-02 3.32580697e-05 9.99496205e-01 1.16449316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.016875 meters 0.01236224949270781 Centerline is valid? [True, True] Translation: X:201.04, Y:96.85, Z:11.65 [[-7.05878781e-01 -7.07972784e-01 2.25761737e-02 2.01035156e+02] [ 7.07612295e-01 -7.06239716e-01 -2.25899164e-02 9.68540045e+01] [ 3.19372365e-02 2.94354810e-05 9.99489876e-01 1.16453336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.046875 meters 0.012385935447496547 Centerline is valid? [True, True] Translation: X:201.02, Y:96.87, Z:11.65 [[-7.05658394e-01 -7.08192205e-01 2.25838823e-02 2.01015764e+02] [ 7.07832029e-01 -7.06019687e-01 -2.25836497e-02 9.68749163e+01] [ 3.19382302e-02 4.92532984e-05 9.99489843e-01 1.16464857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07687500000003 meters 0.012377821600777937 Centerline is valid? [True, True] Translation: X:200.49, Y:96.31, Z:12.41 [[-7.56856336e-01 6.53429368e-01 -1.40907273e-02 2.00486078e+02] [ 6.53267352e-01 7.56985104e-01 1.46737289e-02 9.63127848e+01] [ 2.02547161e-02 1.90089259e-03 -9.99793045e-01 1.24121844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.106875 meters 0.012528474125659425 Centerline is valid? [True, True] Translation: X:200.51, Y:96.33, Z:12.41 [[-8.01836939e-01 5.97349692e-01 -1.51943827e-02 2.00506464e+02] [ 5.97195457e-01 8.01978595e-01 1.37083361e-02 9.63327489e+01] [ 2.03742400e-02 1.91783393e-03 -9.99790584e-01 1.24129283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13687500000003 meters 0.012519354359667414 Centerline is valid? [True, True] Translation: X:200.52, Y:96.36, Z:12.41 [[-8.43250793e-01 5.37298653e-01 -1.54355719e-02 2.00524575e+02] [ 5.37164861e-01 8.43389795e-01 1.21476398e-02 9.63552869e+01] [ 1.95451144e-02 1.95206008e-03 -9.99807070e-01 1.24134956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.166875 meters 0.012550642288734506 Centerline is valid? [True, True] Translation: X:200.93, Y:97.01, Z:11.65 [[-7.97970375e-01 -6.02083873e-01 2.71715015e-02 2.00932062e+02] [ 6.01797499e-01 -7.98431460e-01 -1.86272457e-02 9.70079448e+01] [ 3.29097459e-02 1.48775140e-03 9.99457220e-01 1.16485316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19687500000003 meters 0.012665653045113015 Centerline is valid? [True, True] Translation: X:200.49, Y:96.38, Z:12.42 [[-8.46090399e-01 5.32843011e-01 -1.44693933e-02 2.00490797e+02] [ 5.32723803e-01 8.46211814e-01 1.14418323e-02 9.63769690e+01] [ 1.83408719e-02 1.97263425e-03 -9.99829846e-01 1.24152780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.226875 meters 0.012695903070160728 Centerline is valid? [True, True] Translation: X:200.51, Y:96.40, Z:12.42 [[-8.81809318e-01 4.71373986e-01 -1.47950245e-02 2.00507743e+02] [ 4.71269089e-01 8.81931234e-01 1.01363128e-02 9.63990797e+01] [ 1.78261884e-02 1.96585740e-03 -9.99839168e-01 1.24167205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25687500000004 meters 0.012598017913418396 Centerline is valid? [True, True] Translation: X:200.52, Y:96.42, Z:12.42 [[-9.12794836e-01 4.08130424e-01 -1.53343932e-02 2.00522935e+02] [ 4.08035985e-01 9.12921543e-01 8.99392012e-03 9.64214093e+01] [ 1.76697903e-02 1.95261963e-03 -9.99841970e-01 1.24165225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.286875 meters 0.01251431018835988 Centerline is valid? [True, True] Translation: X:200.84, Y:97.13, Z:11.65 [[-8.76575355e-01 -4.80307592e-01 3.03358715e-02 2.00835788e+02] [ 4.80078876e-01 -8.77098827e-01 -1.48970335e-02 9.71289754e+01] [ 3.37627156e-02 1.50523862e-03 9.99428744e-01 1.16505106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.316875 meters 0.012360791667158491 Centerline is valid? [True, True] Translation: X:200.49, Y:96.43, Z:12.42 [[-9.13291013e-01 4.07014414e-01 -1.54528889e-02 2.00485285e+02] [ 4.06919946e-01 9.13419743e-01 8.97383983e-03 9.64321073e+01] [ 1.77674559e-02 1.90763857e-03 -9.99840326e-01 1.24171851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.346875 meters 0.012339063039606238 Centerline is valid? [True, True] Translation: X:200.50, Y:96.46, Z:12.42 [[-9.39430748e-01 3.42350173e-01 -1.63165199e-02 2.00498750e+02] [ 3.42263115e-01 9.39570553e-01 7.94580648e-03 9.64555492e+01] [ 1.80507699e-02 1.87999200e-03 -9.99835304e-01 1.24178654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.376875 meters 0.012339063039606238 Centerline is valid? [True, True] Translation: X:200.76, Y:97.20, Z:11.65 [[-9.11187934e-01 -4.10834704e-01 3.08446997e-02 2.00759378e+02] [ 4.10652381e-01 -9.11708713e-01 -1.23225539e-02 9.71962917e+01] [ 3.31839143e-02 1.43828693e-03 9.99448227e-01 1.16529563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.406875 meters 0.012320662933087468 Centerline is valid? [True, True] Translation: X:200.45, Y:96.47, Z:12.42 [[-9.40363074e-01 3.39768586e-01 -1.65709705e-02 2.00453479e+02] [ 3.39680299e-01 9.40507226e-01 7.96572001e-03 9.64707064e+01] [ 1.82916189e-02 1.86183674e-03 -9.99830961e-01 1.24198430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.436875 meters 0.012314509858515264 Centerline is valid? [True, True] Translation: X:200.47, Y:96.49, Z:12.42 [[-9.61959954e-01 2.72638097e-01 -1.73641990e-02 2.00469874e+02] [ 2.72558552e-01 9.62114889e-01 6.83937076e-03 9.64941925e+01] [ 1.85710274e-02 1.84643986e-03 -9.99825839e-01 1.24201596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.466875 meters 0.01239645989456997 Centerline is valid? [True, True] Translation: X:200.48, Y:96.52, Z:12.42 [[-9.78783248e-01 2.04171968e-01 -1.72383768e-02 2.00479151e+02] [ 2.04106983e-01 9.78933322e-01 5.46727814e-03 9.65187463e+01] [ 1.79914864e-02 1.83280718e-03 -9.99836460e-01 1.24207597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.496875 meters 0.012468081810501162 Centerline is valid? [True, True] Translation: X:200.49, Y:96.55, Z:12.42 [[-9.90887606e-01 1.33557168e-01 -1.74423537e-02 2.00488273e+02] [ 1.33503536e-01 9.91039398e-01 4.20911576e-03 9.65452858e+01] [ 1.78482173e-02 1.84214474e-03 -9.99839011e-01 1.24209997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.526875 meters 0.012531793759723272 Centerline is valid? [True, True] Translation: X:200.58, Y:97.33, Z:11.66 [[-9.78252942e-01 -2.04854730e-01 3.24918716e-02 2.00584117e+02] [ 2.04793858e-01 -9.78791174e-01 -5.22617477e-03 9.73330207e+01] [ 3.28733638e-02 1.54161491e-03 9.99458336e-01 1.16559382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.556875 meters 0.012636668481218704 Centerline is valid? [True, True] Translation: X:200.43, Y:96.55, Z:12.42 [[-9.91651945e-01 1.27763642e-01 -1.74031941e-02 2.00434277e+02] [ 1.27710511e-01 9.91802865e-01 4.13537891e-03 9.65534010e+01] [ 1.77888889e-02 1.87828571e-03 -9.99840001e-01 1.24231884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.586875 meters 0.01300812070286861 Centerline is valid? [True, True] Translation: X:200.43, Y:96.58, Z:12.43 [[-9.98360922e-01 5.46462621e-02 -1.70075083e-02 2.00434547e+02] [ 5.46058579e-02 9.98503973e-01 2.83140693e-03 9.65836365e+01] [ 1.71367904e-02 1.89805645e-03 -9.99851353e-01 1.24250144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.616875 meters 0.013095819920808374 Centerline is valid? [True, True] Translation: X:200.47, Y:97.37, Z:11.66 [[-9.90222804e-01 -1.35362284e-01 3.37023767e-02 2.00468822e+02] [ 1.35344855e-01 -9.90794571e-01 -2.80851652e-03 9.73699040e+01] [ 3.37722991e-02 1.78038619e-03 9.99427967e-01 1.16562369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.646875 meters 0.013291075494883555 Centerline is valid? [True, True] Translation: X:200.37, Y:96.59, Z:12.43 [[-9.98727366e-01 4.77837521e-02 -1.61357006e-02 2.00370779e+02] [ 4.77459495e-02 9.98855808e-01 2.72017416e-03 9.65888089e+01] [ 1.62472184e-02 1.94629803e-03 -9.99866111e-01 1.24278427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.676875 meters 0.01352467086649799 Centerline is valid? [True, True] Translation: X:200.37, Y:96.62, Z:12.43 [[-9.99578157e-01 -2.43352169e-02 -1.58526191e-02 2.00372465e+02] [-2.43627545e-02 9.99701988e-01 1.54627456e-03 9.66165392e+01] [ 1.58102659e-02 1.93183574e-03 -9.99873144e-01 1.24291959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.706875 meters 0.013596649368314428 Centerline is valid? [True, True] Translation: X:200.35, Y:97.40, Z:11.66 [[-9.97484964e-01 -6.19335757e-02 3.44670630e-02 2.00346472e+02] [ 6.19602966e-02 -9.98078572e-01 -2.93339859e-04 9.74024674e+01] [ 3.44190046e-02 1.84298735e-03 9.99405791e-01 1.16576353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.736875 meters 0.013558313451390669 Centerline is valid? [True, True] Translation: X:200.29, Y:96.61, Z:12.43 [[-9.99412043e-01 -3.04725394e-02 -1.57160309e-02 2.00285061e+02] [-3.04998340e-02 9.99533646e-01 1.49993578e-03 9.66143308e+01] [ 1.56629948e-02 1.97839021e-03 -9.99875371e-01 1.24307021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.766875 meters 0.013873929321479643 Centerline is valid? [True, True] Translation: X:200.26, Y:97.40, Z:11.66 [[-9.97796995e-01 -5.75371491e-02 3.30247345e-02 2.00255826e+02] [ 5.75633731e-02 -9.98341842e-01 -1.56935500e-04 9.74012960e+01] [ 3.29790039e-02 1.74442534e-03 9.99454522e-01 1.16609559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.796875 meters 0.014121185167383938 Centerline is valid? [True, True] Translation: X:200.20, Y:96.61, Z:12.43 [[-9.99141807e-01 -3.79679627e-02 -1.65554790e-02 2.00196877e+02] [-3.79959573e-02 9.99276941e-01 1.37959403e-03 9.66147962e+01] [ 1.64911281e-02 2.00745134e-03 -9.99861997e-01 1.24326198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.82687500000003 meters 0.014498313254910813 Centerline is valid? [True, True] Translation: X:200.20, Y:96.64, Z:12.43 [[-9.93785618e-01 -1.10086252e-01 -1.64670434e-02 2.00198695e+02] [-1.10103854e-01 9.93920075e-01 1.63366601e-04 9.66436807e+01] [ 1.63489406e-02 1.97543632e-03 -9.99864396e-01 1.24333958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.856875 meters 0.014116158574157779 Centerline is valid? [True, True] Translation: X:200.11, Y:97.42, Z:11.66 [[-9.99334958e-01 1.60314782e-02 3.27510876e-02 2.00107574e+02] [-1.59577411e-02 -9.99869513e-01 2.51160218e-03 9.74233529e+01] [ 3.27870787e-02 1.98729848e-03 9.99460383e-01 1.16647360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.88687500000003 meters 0.014489403468592028 Centerline is valid? [True, True] Translation: X:200.10, Y:96.63, Z:12.43 [[-9.92688978e-01 -1.19488835e-01 -1.70590332e-02 2.00096871e+02] [-1.19507111e-01 9.92833343e-01 5.23482214e-05 9.66344639e+01] [ 1.69305219e-02 2.09064128e-03 -9.99854483e-01 1.24347630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.916875 meters 0.014790403721470648 Centerline is valid? [True, True] Translation: X:200.00, Y:97.41, Z:11.67 [[-9.99299436e-01 1.96699161e-02 3.18391497e-02 1.99998819e+02] [-1.95970620e-02 -9.99804582e-01 2.59866144e-03 9.74122563e+01] [ 3.18840432e-02 1.97288712e-03 9.99489628e-01 1.16675356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.94687500000003 meters 0.014580685111300305 Centerline is valid? [True, True] Translation: X:199.99, Y:96.62, Z:12.44 [[-9.91840039e-01 -1.26341374e-01 -1.70643934e-02 1.99993913e+02] [-1.26358720e-01 9.91984612e-01 -6.21912658e-05 9.66249178e+01] [ 1.69354730e-02 2.09455112e-03 -9.99854391e-01 1.24373523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.976875 meters 0.014888139852628669 Centerline is valid? [True, True] Translation: X:199.99, Y:96.65, Z:12.44 [[-9.80292290e-01 -1.96822388e-01 -1.69697906e-02 1.99986146e+02] [-1.96828327e-01 9.80437058e-01 -1.33598799e-03 9.66526298e+01] [ 1.69007639e-02 2.03047676e-03 -9.99855110e-01 1.24384096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.00687500000004 meters 0.014753653978264092 Centerline is valid? [True, True] Translation: X:199.97, Y:96.68, Z:12.44 [[-9.63615571e-01 -2.66753376e-01 -1.69607691e-02 1.99966882e+02] [-2.66748761e-01 9.63762660e-01 -2.57552466e-03 9.66767529e+01] [ 1.70331859e-02 2.04244849e-03 -9.99852839e-01 1.24383719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.036875 meters 0.014998158622192325 Centerline is valid? [True, True] Translation: X:199.93, Y:96.70, Z:12.44 [[-9.41817171e-01 -3.35673184e-01 -1.74336137e-02 1.99930274e+02] [-3.35655339e-01 9.41976260e-01 -4.02722834e-03 9.66955265e+01] [ 1.77738828e-02 2.05877271e-03 -9.99839912e-01 1.24398198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.066875 meters 0.014652782757059142 Centerline is valid? [True, True] Translation: X:199.87, Y:96.70, Z:12.44 [[-9.14596142e-01 -4.03987476e-01 -1.75503820e-02 1.99871527e+02] [-4.03955856e-01 9.14762133e-01 -5.46873520e-03 9.67023876e+01] [ 1.82637254e-02 2.08789547e-03 -9.99831024e-01 1.24406581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.096875 meters 0.014895198771981354 Centerline is valid? [True, True] Translation: X:199.80, Y:96.70, Z:12.44 [[-8.82401615e-01 -4.70148703e-01 -1.80993286e-02 1.99804607e+02] [-4.70097331e-01 8.82584716e-01 -7.26077736e-03 9.67037876e+01] [ 1.93878359e-02 2.10152442e-03 -9.99809830e-01 1.24429111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.126875 meters 0.014478399940460398 Centerline is valid? [True, True] Translation: X:199.73, Y:96.70, Z:12.44 [[-8.45142621e-01 -5.34242599e-01 -1.78548523e-02 1.99733542e+02] [-5.34174396e-01 8.45328580e-01 -8.79248020e-03 9.66954105e+01] [ 1.97905344e-02 2.10670520e-03 -9.99801929e-01 1.24447713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.156875 meters 0.014322433111623862 Centerline is valid? [True, True] Translation: X:199.65, Y:96.68, Z:12.45 [[-8.03148873e-01 -5.95522987e-01 -1.74430470e-02 1.99652330e+02] [-5.95437282e-01 8.03335526e-01 -1.03187062e-02 9.66753536e+01] [ 2.01576461e-02 2.09878319e-03 -9.99794611e-01 1.24475756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.186875 meters 0.014011201081311687 Centerline is valid? [True, True] Translation: X:199.57, Y:96.64, Z:12.45 [[-7.56687449e-01 -6.53563631e-01 -1.66938808e-02 1.99566023e+02] [-6.53462845e-01 7.56868710e-01 -1.16647294e-02 9.66431148e+01] [ 2.02587190e-02 2.08227650e-03 -9.99792603e-01 1.24505419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.216875 meters 0.013591643919082096 Centerline is valid? [True, True] Translation: X:199.48, Y:96.60, Z:12.45 [[-7.06788790e-01 -7.07254261e-01 -1.55247270e-02 1.99483190e+02] [-7.07143899e-01 7.06956351e-01 -1.26579570e-02 9.66036837e+01] [ 1.99276984e-02 2.03171388e-03 -9.99799359e-01 1.24541438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.246875 meters 0.013350412819826171 Centerline is valid? [True, True] Translation: X:199.40, Y:96.55, Z:12.46 [[-6.52036811e-01 -7.58055622e-01 -1.41304885e-02 1.99397540e+02] [-7.57940446e-01 6.52186851e-01 -1.33638495e-02 9.65531184e+01] [ 1.93462600e-02 1.99634691e-03 -9.99810851e-01 1.24572776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.276875 meters 0.013129751948001863 Centerline is valid? [True, True] Translation: X:199.31, Y:96.49, Z:12.46 [[-5.93994759e-01 -8.04364727e-01 -1.29465161e-02 1.99311747e+02] [-8.04241051e-01 5.94132618e-01 -1.42395180e-02 9.64923996e+01] [ 1.91457135e-02 1.95392068e-03 -9.99814795e-01 1.24615617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.306875 meters 0.012841147550960065 Centerline is valid? [True, True] Translation: X:199.23, Y:96.42, Z:12.47 [[-5.32141998e-01 -8.46576472e-01 -1.15399720e-02 1.99228138e+02] [-8.46450069e-01 5.32263659e-01 -1.47538977e-02 9.64190933e+01] [ 1.86326103e-02 1.91684151e-03 -9.99824560e-01 1.24651419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.336875 meters 0.01259557703651907 Centerline is valid? [True, True] Translation: X:199.15, Y:96.34, Z:12.47 [[-4.68790022e-01 -8.83256659e-01 -9.67419379e-03 1.99153438e+02] [-8.83143092e-01 4.68886192e-01 -1.42835208e-02 9.63449218e+01] [ 1.71521108e-02 1.84772537e-03 -9.99851184e-01 1.24696518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.366875 meters 0.012659167842603517 Centerline is valid? [True, True] Translation: X:199.08, Y:96.26, Z:12.47 [[-4.01180618e-01 -9.15961511e-01 -8.28388986e-03 1.99079634e+02] [-9.15850195e-01 4.01262043e-01 -1.43942172e-02 9.62562440e+01] [ 1.65085595e-02 1.81212117e-03 -9.99862082e-01 1.24736723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.396875 meters 0.012816446632360893 Centerline is valid? [True, True] Translation: X:199.01, Y:96.16, Z:12.48 [[-3.33322020e-01 -9.42788959e-01 -6.73868451e-03 1.99013513e+02] [-9.42689414e-01 3.33385543e-01 -1.38111842e-02 9.61615849e+01] [ 1.52676119e-02 1.74891475e-03 -9.99881914e-01 1.24781439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.426875 meters 0.012974902752327898 Centerline is valid? [True, True] Translation: X:198.95, Y:96.06, Z:12.48 [[-2.61167739e-01 -9.65278152e-01 -5.43155170e-03 1.98953693e+02] [-9.65185840e-01 2.61218505e-01 -1.34605918e-02 9.60621561e+01] [ 1.44120370e-02 1.72698447e-03 -9.99894650e-01 1.24810602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.456875 meters 0.013212378579501577 Centerline is valid? [True, True] Translation: X:198.90, Y:95.96, Z:12.48 [[-1.87297411e-01 -9.82293920e-01 -4.28181570e-03 1.98901178e+02] [-9.82204654e-01 1.87338591e-01 -1.33517730e-02 9.59568475e+01] [ 1.39175148e-02 1.70486678e-03 -9.99901693e-01 1.24847913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.486875 meters 0.013508488559332515 Centerline is valid? [True, True] Translation: X:198.85, Y:95.84, Z:12.49 [[-1.13218171e-01 -9.93565365e-01 -3.08420398e-03 1.98854419e+02] [-9.93491546e-01 1.13247714e-01 -1.22271600e-02 9.58430363e+01] [ 1.24977617e-02 1.67979389e-03 -9.99920489e-01 1.24889278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.516875 meters 0.013431488220624874 Centerline is valid? [True, True] Translation: X:198.82, Y:95.73, Z:12.49 [[-3.67652291e-02 -9.99321695e-01 -2.11390511e-03 1.98817750e+02] [-9.99252557e-01 3.67878024e-02 -1.18736935e-02 9.57328594e+01] [ 1.19434054e-02 1.67578603e-03 -9.99927271e-01 1.24923146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.546875 meters 0.013495604974302805 Centerline is valid? [True, True] Translation: X:198.79, Y:95.62, Z:12.50 [[ 4.01999429e-02 -9.99190904e-01 -1.22576190e-03 1.98789865e+02] [-9.99129719e-01 -4.01837619e-02 -1.11834667e-02 9.56154009e+01] [ 1.11251625e-02 1.67426986e-03 -9.99936712e-01 1.24954575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57687500000003 meters 0.013501862159081638 Centerline is valid? [True, True] Translation: X:198.77, Y:95.49, Z:12.50 [[ 1.17403226e-01 -9.93084121e-01 -6.41066310e-04 1.98769372e+02] [-9.93044894e-01 -1.17392787e-01 -8.98731963e-03 9.54936505e+01] [ 8.84990785e-03 1.69174794e-03 -9.99959408e-01 1.24992401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.606875 meters 0.013412906276806011 Centerline is valid? [True, True] Translation: X:198.76, Y:95.37, Z:12.50 [[ 1.94304152e-01 -9.80941325e-01 -1.14054215e-04 1.98759199e+02] [-9.80908673e-01 -1.94296733e-01 -8.18263829e-03 9.53728489e+01] [ 8.00452768e-03 1.70179736e-03 -9.99966515e-01 1.25029108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63687500000003 meters 0.013744204990988452 Centerline is valid? [True, True] Translation: X:198.76, Y:95.25, Z:12.51 [[ 2.69839080e-01 -9.62905405e-01 2.27758465e-04 1.98759465e+02] [-9.62880396e-01 -2.69833762e-01 -7.14727796e-03 9.52505161e+01] [ 6.94360950e-03 1.70931075e-03 -9.99974432e-01 1.25079221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.666875 meters 0.013386410134374565 Centerline is valid? [True, True] Translation: X:198.77, Y:95.13, Z:12.51 [[ 3.44793352e-01 -9.38678616e-01 1.90278611e-05 1.98765693e+02] [-9.38666552e-01 -3.44789023e-01 -5.06298226e-03 9.51292496e+01] [ 4.75907378e-03 1.72782181e-03 -9.99987183e-01 1.25106976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69687500000003 meters 0.013259500706932652 Centerline is valid? [True, True] Translation: X:198.78, Y:95.01, Z:12.51 [[ 4.17459828e-01 -9.08695378e-01 -4.11945843e-05 1.98780776e+02] [-9.08687914e-01 -4.17456214e-01 -4.07241444e-03 9.50146704e+01] [ 3.68338725e-03 1.73750245e-03 -9.99991707e-01 1.25132397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.726875 meters 0.013747359374891644 Centerline is valid? [True, True] Translation: X:198.81, Y:94.90, Z:12.52 [[ 4.87720171e-01 -8.72999900e-01 -4.58111458e-04 1.98807386e+02] [-8.72997294e-01 -4.87717269e-01 -2.75508811e-03 9.48977513e+01] [ 2.18176278e-03 1.74364211e-03 -9.99996100e-01 1.25187310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75687500000004 meters 0.013120922791754187 Centerline is valid? [True, True] Translation: X:198.84, Y:94.79, Z:12.52 [[ 5.54692842e-01 -8.32054634e-01 -9.68001252e-04 1.98838608e+02] [-8.32054743e-01 -5.54690946e-01 -1.69104401e-03 9.47880351e+01] [ 8.70099477e-04 1.74344004e-03 -9.99998102e-01 1.25193975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.786875 meters 0.013344350464743113 Centerline is valid? [True, True] Translation: X:198.88, Y:94.68, Z:12.52 [[ 6.19679922e-01 -7.84850198e-01 -2.63822040e-03 1.98877621e+02] [-7.84851933e-01 -6.19683106e-01 5.39494989e-04 9.46803693e+01] [-2.05828336e-03 1.73629817e-03 -9.99996374e-01 1.25215483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.816875 meters 0.013504660338277928 Centerline is valid? [True, True] Translation: X:198.92, Y:94.58, Z:12.52 [[ 6.78900701e-01 -7.34221539e-01 -3.54529187e-03 1.98923299e+02] [-7.34222408e-01 -6.78907776e-01 1.29894253e-03 9.45795930e+01] [-3.36063780e-03 1.72117974e-03 -9.99992872e-01 1.25245587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.846875 meters 0.013284834449844147 Centerline is valid? [True, True] Translation: X:198.98, Y:94.48, Z:12.52 [[ 7.34111835e-01 -6.79016542e-01 -4.04350049e-03 1.98976774e+02] [-6.79017193e-01 -7.34120995e-01 1.42002035e-03 9.44827477e+01] [-3.93263591e-03 1.70315261e-03 -9.99990817e-01 1.25249968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.876875 meters 0.014069189233875623 Centerline is valid? [True, True] Translation: X:198.97, Y:94.47, Z:12.52 [[ 7.87321153e-01 -6.16531993e-01 -3.70189912e-03 1.98968110e+02] [-6.16534024e-01 -7.87327953e-01 7.00459959e-04 9.44720903e+01] [-3.34646463e-03 1.73085982e-03 -9.99992903e-01 1.25246361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.906875 meters 0.01341883409867079 Centerline is valid? [True, True] Translation: X:198.96, Y:94.46, Z:12.52 [[ 8.34111699e-01 -5.51589060e-01 -2.68008598e-03 1.98963203e+02] [-5.51591696e-01 -8.34114206e-01 -3.04426444e-04 9.44628084e+01] [-2.06757949e-03 1.73223883e-03 -9.99996362e-01 1.25187043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.936875 meters 0.0146976092848259 Centerline is valid? [True, True] Translation: X:198.96, Y:94.45, Z:12.52 [[ 8.75674243e-01 -4.82900621e-01 -1.26887427e-03 1.98956979e+02] [-4.82902040e-01 -8.75673433e-01 -1.28794509e-03 9.44513945e+01] [-4.89170000e-04 1.74056232e-03 -9.99998366e-01 1.25202313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.966875 meters 0.014063330896002263 Centerline is valid? [True, True] Translation: X:198.95, Y:94.44, Z:12.51 [[ 9.12351920e-01 -4.09393923e-01 3.25423892e-03 1.98954657e+02] [-4.09383451e-01 -9.12355934e-01 -3.44096369e-03 9.44408453e+01] [ 4.37773382e-03 1.80713827e-03 -9.99988785e-01 1.25087050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.996875 meters 0.014600129849990765 Centerline is valid? [True, True] Translation: X:198.95, Y:94.43, Z:12.51 [[ 9.42321421e-01 -3.34656857e-01 5.92684194e-03 1.98952100e+02] [-3.34637187e-01 -9.42338228e-01 -4.07645063e-03 9.44307584e+01] [ 6.94930189e-03 1.85798504e-03 -9.99974127e-01 1.25058137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.026875 meters 0.014814330891039708 Centerline is valid? [True, True] Translation: X:198.95, Y:94.42, Z:12.50 [[ 9.66187009e-01 -2.57707438e-01 8.33909847e-03 1.98951311e+02] [-2.57680258e-01 -9.66221104e-01 -4.20274415e-03 9.44201913e+01] [ 9.14049136e-03 1.91181575e-03 -9.99956397e-01 1.25024866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.056875 meters 0.01671658613551612 Centerline is valid? [True, True] Translation: X:198.95, Y:94.41, Z:12.50 [[ 9.84310568e-01 -1.76007799e-01 1.24080866e-02 1.98949938e+02] [-1.75967139e-01 -9.84386630e-01 -4.30440729e-03 9.44067704e+01] [ 1.29719638e-02 2.05345809e-03 -9.99913752e-01 1.24974730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.086875 meters 0.017162709986949694 Centerline is valid? [True, True] Translation: X:198.95, Y:94.40, Z:12.50 [[ 9.95312374e-01 -9.56183234e-02 1.45056497e-02 1.98947842e+02] [-9.55766531e-02 -9.95415775e-01 -3.54083119e-03 9.43974190e+01] [ 1.47777209e-02 2.13783165e-03 -9.99888518e-01 1.24954581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.116875 meters 0.018580869154162558 Centerline is valid? [True, True] Translation: X:198.95, Y:94.39, Z:12.49 [[ 9.99760159e-01 -1.48037477e-02 1.61392222e-02 1.98945426e+02] [-1.47660424e-02 -9.99887967e-01 -2.45292867e-03 9.43874835e+01] [ 1.61737266e-02 2.21402792e-03 -9.99866745e-01 1.24943804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.146875 meters 0.019304344982457308 Centerline is valid? [True, True] Translation: X:198.95, Y:94.38, Z:12.49 [[ 9.97697345e-01 6.55866403e-02 1.72742435e-02 1.98945287e+02] [ 6.56160870e-02 -9.97844288e-01 -1.14282675e-03 9.43794395e+01] [ 1.71620511e-02 2.27366348e-03 -9.99850136e-01 1.24938128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.176875 meters 0.02039433632628396 Centerline is valid? [True, True] Translation: X:198.95, Y:94.37, Z:12.49 [[ 9.89124678e-01 1.45923177e-01 1.84064427e-02 1.98945806e+02] [ 1.45941693e-01 -9.89293135e-01 3.40463217e-04 9.43713391e+01] [ 1.82590488e-02 2.34950684e-03 -9.99830529e-01 1.24929317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.206875 meters 0.021896573992922053 Centerline is valid? [True, True] Translation: X:198.95, Y:94.36, Z:12.49 [[ 9.74554126e-01 2.23351335e-01 1.89324441e-02 1.98945791e+02] [ 2.23355844e-01 -9.74735115e-01 1.90310661e-03 9.43639912e+01] [ 1.88791794e-02 2.37399162e-03 -9.99818954e-01 1.24933017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.236875 meters 0.02011319124938683 Centerline is valid? [True, True] Translation: X:198.95, Y:94.36, Z:12.49 [[ 9.54165807e-01 2.98674428e-01 1.90052084e-02 1.98946102e+02] [ 2.98663791e-01 -9.54352113e-01 3.46190397e-03 9.43603820e+01] [ 1.91716430e-02 2.37293719e-03 -9.99813391e-01 1.24933618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.266875 meters 0.020173545038162426 Centerline is valid? [True, True] Translation: X:198.95, Y:94.36, Z:12.49 [[ 9.28262457e-01 3.71438496e-01 1.90329869e-02 1.98946215e+02] [ 3.71411333e-01 -9.28454564e-01 5.07385044e-03 9.43554973e+01] [ 1.95558869e-02 2.35920215e-03 -9.99805982e-01 1.24933321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.296875 meters 0.020173545038162426 Centerline is valid? [True, True] Translation: X:198.95, Y:94.35, Z:12.49 [[ 8.96318442e-01 4.43024203e-01 1.85150345e-02 1.98947540e+02] [ 4.42982384e-01 -8.96506565e-01 6.52586393e-03 9.43497671e+01] [ 1.94899657e-02 2.35258194e-03 -9.99807285e-01 1.24939318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.32687500000003 meters 0.01932685563522905 Centerline is valid? [True, True] Translation: X:198.95, Y:94.34, Z:12.49 [[ 8.59364407e-01 5.11049427e-01 1.79248361e-02 1.98949357e+02] [ 5.10992889e-01 -8.59548175e-01 7.94996376e-03 9.43449183e+01] [ 1.94700846e-02 2.32754791e-03 -9.99807731e-01 1.24948743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.356875 meters 0.01868232917158729 Centerline is valid? [True, True] Translation: X:198.95, Y:94.34, Z:12.50 [[ 8.17839362e-01 5.75211909e-01 1.64328258e-02 1.98952276e+02] [ 5.75149026e-01 -8.18001329e-01 8.79907005e-03 9.43396042e+01] [ 1.85034032e-02 2.25509793e-03 -9.99826254e-01 1.24974671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.38687500000003 meters 0.019597182058879562 Centerline is valid? [True, True] Translation: X:198.96, Y:94.33, Z:12.50 [[ 7.70993381e-01 6.36670156e-01 1.48431237e-02 1.98955184e+02] [ 6.36604474e-01 -7.71133116e-01 9.40538218e-03 9.43320915e+01] [ 1.74341504e-02 2.19771156e-03 -9.99845598e-01 1.24994080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.416875 meters 0.018338692035076244 Centerline is valid? [True, True] Translation: X:198.96, Y:94.33, Z:12.50 [[ 7.19451580e-01 6.94414132e-01 1.33580102e-02 1.98956759e+02] [ 6.94346816e-01 -7.19572369e-01 9.90477008e-03 9.43286016e+01] [ 1.64900673e-02 2.14908935e-03 -9.99861720e-01 1.25010302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.44687500000003 meters 0.01839757412054665 Centerline is valid? [True, True] Translation: X:198.96, Y:94.32, Z:12.50 [[ 6.63722675e-01 7.47890207e-01 1.15086445e-02 1.98959250e+02] [ 7.47828524e-01 -6.63819176e-01 9.82854687e-03 9.43235038e+01] [ 1.49903329e-02 2.08306323e-03 -9.99885469e-01 1.25030386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.476875 meters 0.016968636054981463 Centerline is valid? [True, True] Translation: X:198.96, Y:94.32, Z:12.51 [[ 6.04879106e-01 7.96266677e-01 8.98029476e-03 1.98961395e+02] [ 7.96223138e-01 -6.04942545e-01 8.55757001e-03 9.43204353e+01] [ 1.22466702e-02 1.97402317e-03 -9.99923058e-01 1.25055847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.50687500000004 meters 0.01734341399572907 Centerline is valid? [True, True] Translation: X:198.96, Y:94.31, Z:12.51 [[ 5.41561687e-01 8.40630268e-01 7.18968670e-03 1.98964889e+02] [ 8.40597751e-01 -5.41606048e-01 7.63609978e-03 9.43143799e+01] [ 1.03131144e-02 1.90821540e-03 -9.99944998e-01 1.25076059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.536875 meters 0.016516361606753363 Centerline is valid? [True, True] Translation: X:198.97, Y:94.31, Z:12.51 [[ 4.75187704e-01 8.79864616e-01 5.90787708e-03 1.98967807e+02] [ 8.79838501e-01 -4.75220796e-01 7.02904499e-03 9.43104658e+01] [ 8.99215402e-03 1.85786196e-03 -9.99957844e-01 1.25090091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.566875 meters 0.016654871711923404 Centerline is valid? [True, True] Translation: X:198.97, Y:94.31, Z:12.51 [[ 4.05876387e-01 9.13916581e-01 4.56532721e-03 1.98971051e+02] [ 9.13899695e-01 -4.05898063e-01 5.84033856e-03 9.43057977e+01] [ 7.19063972e-03 1.80179564e-03 -9.99972524e-01 1.25108804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.596875 meters 0.0161767599508221 Centerline is valid? [True, True] Translation: X:198.97, Y:94.30, Z:12.51 [[ 3.35302520e-01 9.42105166e-01 3.17427534e-03 1.98971411e+02] [ 9.42099231e-01 -3.35313091e-01 3.76432810e-03 9.43018264e+01] [ 4.61076903e-03 1.72829366e-03 -9.99987877e-01 1.25119321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.626875 meters 0.014946640435066192 Centerline is valid? [True, True] Translation: X:198.98, Y:94.30, Z:12.51 [[ 2.61516808e-01 9.65195014e-01 2.74666021e-03 1.98975125e+02] [ 9.65189828e-01 -2.61525638e-01 3.59681487e-03 9.42978702e+01] [ 4.18994984e-03 1.71042095e-03 -9.99989759e-01 1.25104424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.656875 meters 0.014825388026480927 Centerline is valid? [True, True] Translation: X:198.98, Y:94.29, Z:12.51 [[ 1.85816649e-01 9.82581494e-01 2.40412383e-03 1.98981974e+02] [ 9.82576443e-01 -1.85824451e-01 3.57879264e-03 9.42933153e+01] [ 3.96320041e-03 1.69723618e-03 -9.99990706e-01 1.25094463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.686875 meters 0.015438571722610487 Centerline is valid? [True, True] Translation: X:198.99, Y:94.29, Z:12.51 [[ 1.09119148e-01 9.94026009e-01 2.30314030e-03 1.98990844e+02] [ 9.94013596e-01 -1.09129962e-01 5.25570192e-03 9.42877849e+01] [ 5.47564602e-03 1.71585506e-03 -9.99983536e-01 1.25078703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.716875 meters 0.014609132016493062 Centerline is valid? [True, True] Translation: X:199.00, Y:94.28, Z:12.50 [[ 3.10407659e-02 9.99516216e-01 1.95065380e-03 1.98997466e+02] [ 9.99494021e-01 -3.10535103e-02 6.88341530e-03 9.42846479e+01] [ 6.94065986e-03 1.73600033e-03 -9.99974406e-01 1.25045747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.746875 meters 0.014677197578705592 Centerline is valid? [True, True] Translation: X:199.01, Y:94.28, Z:12.50 [[-4.72572354e-02 9.98881838e-01 1.35174757e-03 1.99005897e+02] [ 9.98846177e-01 4.72438812e-02 8.62148529e-03 9.42803807e+01] [ 8.54798327e-03 1.75761546e-03 -9.99961921e-01 1.25030377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.776875 meters 0.014581938851345313 Centerline is valid? [True, True] Translation: X:199.02, Y:94.28, Z:12.50 [[-1.25155203e-01 9.92137063e-01 4.73577700e-04 1.99015004e+02] [ 9.92083331e-01 1.25143424e-01 1.04779381e-02 9.42786822e+01] [ 1.03362856e-02 1.78119701e-03 -9.99944993e-01 1.25014887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.806875 meters 0.014422615058766425 Centerline is valid? [True, True] Translation: X:199.02, Y:94.28, Z:12.50 [[-2.01609283e-01 9.79465699e-01 -8.01483514e-04 1.99024207e+02] [ 9.79383076e-01 2.01602791e-01 1.28493413e-02 9.42777247e+01] [ 1.27470704e-02 1.80558711e-03 -9.99917123e-01 1.24988189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.836875 meters 0.014198209649571851 Centerline is valid? [True, True] Translation: X:199.03, Y:94.28, Z:12.50 [[-2.77060673e-01 9.60850329e-01 -2.00723461e-03 1.99033294e+02] [ 9.60757589e-01 2.77062072e-01 1.34708020e-02 9.42770776e+01] [ 1.34995531e-02 1.80376359e-03 -9.99907250e-01 1.24979222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.866875 meters 0.0146736311793412 Centerline is valid? [True, True] Translation: X:199.04, Y:94.28, Z:12.50 [[-3.50894115e-01 9.36409869e-01 -3.14269102e-03 1.99043973e+02] [ 9.36314290e-01 3.50903602e-01 1.34985847e-02 9.42766578e+01] [ 1.37429895e-02 1.79402742e-03 -9.99903951e-01 1.24978961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.896875 meters 0.01404182585338717 Centerline is valid? [True, True] Translation: X:199.05, Y:94.28, Z:12.50 [[-4.21882395e-01 9.06639284e-01 -4.52261922e-03 1.99051615e+02] [ 9.06533870e-01 4.21902877e-01 1.39393403e-02 9.42773319e+01] [ 1.45460596e-02 1.78085477e-03 -9.99892615e-01 1.24968416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.926875 meters 0.01392109632277081 Centerline is valid? [True, True] Translation: X:199.06, Y:94.28, Z:12.50 [[-4.90973751e-01 8.71156254e-01 -5.61751464e-03 1.99059929e+02] [ 8.71052470e-01 4.91002712e-01 1.35621453e-02 9.42784145e+01] [ 1.45729626e-02 1.76550735e-03 -9.99892250e-01 1.24971100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.956875 meters 0.013910633925392286 Centerline is valid? [True, True] Translation: X:199.07, Y:94.28, Z:12.50 [[-5.56992635e-01 8.30490160e-01 -6.73046977e-03 1.99067924e+02] [ 8.30387493e-01 5.57030550e-01 1.31748456e-02 9.42794274e+01] [ 1.46906569e-02 1.74939403e-03 -9.99890556e-01 1.24980551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.986875 meters 0.01362398005982835 Centerline is valid? [True, True] Translation: X:199.07, Y:94.28, Z:12.50 [[-6.19624039e-01 7.84864652e-01 -7.31625330e-03 1.99074802e+02] [ 7.84774084e-01 6.19664836e-01 1.20469213e-02 9.42811706e+01] [ 1.39888276e-02 1.72295608e-03 -9.99900667e-01 1.24991057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.016875 meters 0.013139183965092633 Centerline is valid? [True, True] Translation: X:199.08, Y:94.29, Z:12.50 [[-6.77016828e-01 7.35930200e-01 -7.41322152e-03 1.99083594e+02] [ 7.35856900e-01 6.77055361e-01 1.05194893e-02 9.42857434e+01] [ 1.27607713e-02 1.66680108e-03 -9.99917189e-01 1.25009690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.046875 meters 0.013036096311547797 Centerline is valid? [True, True] Translation: X:199.09, Y:94.29, Z:12.50 [[-7.31531032e-01 6.81767901e-01 -7.40801772e-03 1.99090930e+02] [ 6.81708612e-01 7.31566713e-01 9.13853759e-03 9.42897584e+01] [ 1.16498208e-02 1.63501436e-03 -9.99930802e-01 1.25026938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07687500000003 meters 0.012975974967525736 Centerline is valid? [True, True] Translation: X:199.11, Y:94.31, Z:12.50 [[-7.75486042e-01 6.31330990e-01 -6.52534606e-03 1.99114324e+02] [ 6.31292066e-01 7.75512179e-01 7.15458275e-03 9.43073666e+01] [ 9.57739515e-03 1.42887987e-03 -9.99953115e-01 1.25049719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.106875 meters 0.012978050682123663 Centerline is valid? [True, True] Translation: X:199.13, Y:94.33, Z:12.51 [[-8.16889524e-01 5.76761509e-01 -6.13739982e-03 1.99133747e+02] [ 5.76731471e-01 8.16911373e-01 6.05137008e-03 9.43279376e+01] [ 8.50390906e-03 1.40366920e-03 -9.99962856e-01 1.25059707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13687500000003 meters 0.013189371292463526 Centerline is valid? [True, True] Translation: X:199.15, Y:94.35, Z:12.51 [[-8.54542566e-01 5.19343583e-01 -6.26464412e-03 1.99152660e+02] [ 5.19317092e-01 8.54564411e-01 5.42452856e-03 9.43493857e+01] [ 8.17073602e-03 1.38215378e-03 -9.99965664e-01 1.25062091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.166875 meters 0.013492621734090361 Centerline is valid? [True, True] Translation: X:199.17, Y:94.37, Z:12.51 [[-8.88101939e-01 4.59599716e-01 -6.56096022e-03 1.99167969e+02] [ 4.59575318e-01 8.88125132e-01 4.92725698e-03 9.43729439e+01] [ 8.09151957e-03 1.36065110e-03 -9.99966337e-01 1.25060784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19687500000003 meters 0.013838070192148668 Centerline is valid? [True, True] Translation: X:199.19, Y:94.40, Z:12.50 [[-9.16659599e-01 3.99595979e-01 -7.63110320e-03 1.99185684e+02] [ 3.99569790e-01 9.16690420e-01 4.75982619e-03 9.43958091e+01] [ 8.89736661e-03 1.31398206e-03 -9.99959554e-01 1.25038958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.226875 meters 0.01430914886729792 Centerline is valid? [True, True] Translation: X:199.20, Y:94.42, Z:12.50 [[-9.41988032e-01 3.35528866e-01 -8.88419569e-03 1.99196213e+02] [ 3.35500765e-01 9.42029049e-01 4.52862121e-03 9.44213150e+01] [ 9.88865356e-03 1.28525253e-03 -9.99950280e-01 1.25036174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25687500000004 meters 0.014204621460373814 Centerline is valid? [True, True] Translation: X:199.21, Y:94.45, Z:12.50 [[-9.62492071e-01 2.71083446e-01 -1.10806038e-02 1.99205861e+02] [ 2.71050645e-01 9.62555074e-01 4.39050711e-03 9.44502001e+01] [ 1.18558852e-02 1.22242346e-03 -9.99928969e-01 1.25018303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.286875 meters 0.014523270506436646 Centerline is valid? [True, True] Translation: X:199.21, Y:94.48, Z:12.50 [[-9.79043367e-01 2.03297686e-01 -1.20056851e-02 1.99214033e+02] [ 2.03267283e-01 9.79116245e-01 3.71344131e-03 9.44777700e+01] [ 1.25098953e-02 1.19525710e-03 -9.99921034e-01 1.25021572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.316875 meters 0.014511248829650946 Centerline is valid? [True, True] Translation: X:199.34, Y:95.15, Z:11.84 [[-9.70764427e-01 -2.38651388e-01 2.57282385e-02 1.99336048e+02] [ 2.38585651e-01 -9.71105079e-01 -5.64020335e-03 9.51545182e+01] [ 2.63308655e-02 6.63079761e-04 9.99653063e-01 1.18378600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.346875 meters 0.014853143977264156 Centerline is valid? [True, True] Translation: X:199.17, Y:94.49, Z:12.50 [[-9.79635844e-01 2.00414259e-01 -1.21547491e-02 1.99165238e+02] [ 2.00383722e-01 9.79710533e-01 3.69269324e-03 9.44881554e+01] [ 1.26482041e-02 1.18188079e-03 -9.99919310e-01 1.25029163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.376875 meters 0.015041079520045407 Centerline is valid? [True, True] Translation: X:199.17, Y:94.52, Z:12.50 [[-9.91478112e-01 1.29676608e-01 -1.24551698e-02 1.99167741e+02] [ 1.29651340e-01 9.91555639e-01 2.81856539e-03 9.45186108e+01] [ 1.27154958e-02 1.17971644e-03 -9.99918459e-01 1.25042183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.406875 meters 0.014164998141631321 Centerline is valid? [True, True] Translation: X:199.17, Y:94.55, Z:12.50 [[-9.98233566e-01 5.79690084e-02 -1.30131586e-02 1.99166535e+02] [ 5.79485840e-02 9.98317681e-01 1.94144436e-03 9.45505884e+01] [ 1.31038099e-02 1.18392081e-03 -9.99913441e-01 1.25038539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.436875 meters 0.014144614371691124 Centerline is valid? [True, True] Translation: X:199.18, Y:95.22, Z:11.84 [[-9.94947319e-01 -9.72385972e-02 2.49897660e-02 1.99183803e+02] [ 9.72278526e-02 -9.95260785e-01 -1.64752773e-03 9.52232047e+01] [ 2.50315374e-02 7.90497986e-04 9.99686349e-01 1.18399232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.466875 meters 0.013723173121845917 Centerline is valid? [True, True] Translation: X:199.10, Y:94.56, Z:12.50 [[-9.98615386e-01 5.07977022e-02 -1.36713131e-02 1.99097437e+02] [ 5.07761522e-02 9.98708216e-01 1.91902933e-03 9.45574491e+01] [ 1.37511350e-02 1.22219554e-03 -9.99904702e-01 1.25048099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.496875 meters 0.01327437975862956 Centerline is valid? [True, True] Translation: X:199.11, Y:95.22, Z:11.84 [[-9.94914939e-01 -9.76855877e-02 2.45314100e-02 1.99111698e+02] [ 9.76794908e-02 -9.95216869e-01 -1.44957134e-03 9.52194328e+01] [ 2.45556753e-02 9.54015456e-04 9.99698009e-01 1.18409614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.526875 meters 0.013048355364693816 Centerline is valid? [True, True] Translation: X:199.03, Y:94.57, Z:12.51 [[-9.99091868e-01 4.07329364e-02 -1.25007287e-02 1.99028839e+02] [ 4.07134418e-02 9.99169224e-01 1.81012855e-03 9.45667553e+01] [ 1.25640752e-02 1.29953703e-03 -9.99920224e-01 1.25080276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.556875 meters 0.012704407516628399 Centerline is valid? [True, True] Translation: X:199.02, Y:94.60, Z:12.51 [[-9.99401631e-01 -3.27459186e-02 -1.11393340e-02 1.99021949e+02] [-3.27585177e-02 9.99462844e-01 9.50418094e-04 9.45975634e+01] [ 1.11022281e-02 1.31475746e-03 -9.99937504e-01 1.25092695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.586875 meters 0.012775694014725144 Centerline is valid? [True, True] Translation: X:198.98, Y:95.24, Z:11.84 [[-9.99047979e-01 -3.13159582e-02 3.03718048e-02 1.98983567e+02] [ 3.13456267e-02 -9.99508480e-01 5.01099324e-04 9.52384525e+01] [ 3.03411840e-02 1.45264552e-03 9.99538545e-01 1.18378158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.616875 meters 0.012776640204074992 Centerline is valid? [True, True] Translation: X:198.94, Y:94.60, Z:12.51 [[-9.98955488e-01 -4.52057349e-02 -6.66138587e-03 1.98943975e+02] [-4.52140208e-02 9.98976719e-01 1.09848764e-03 9.46037335e+01] [ 6.60491146e-03 1.39852829e-03 -9.99977209e-01 1.25143436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.646875 meters 0.012891735803671821 Centerline is valid? [True, True] Translation: X:198.90, Y:95.23, Z:11.84 [[-9.98990275e-01 -3.15042865e-02 3.20298388e-02 1.98902928e+02] [ 3.15322555e-02 -9.99502667e-01 3.68349556e-04 9.52295969e+01] [ 3.20023047e-02 1.37795068e-03 9.99486845e-01 1.18391849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.676875 meters 0.013415495011011788 Centerline is valid? [True, True] Translation: X:198.87, Y:94.61, Z:12.52 [[-9.98349629e-01 -5.70754129e-02 -6.35729220e-03 1.98869777e+02] [-5.70833353e-02 9.98368842e-01 1.07164707e-03 9.46095178e+01] [ 6.28575775e-03 1.43277389e-03 -9.99979218e-01 1.25151038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.706875 meters 0.013361883003234714 Centerline is valid? [True, True] Translation: X:198.86, Y:94.64, Z:12.51 [[-9.91540122e-01 -1.29579486e-01 -7.57258360e-03 1.98859136e+02] [-1.29586628e-01 9.91567999e-01 4.58083072e-04 9.46387258e+01] [ 7.44937339e-03 1.43551332e-03 -9.99971223e-01 1.25141352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.736875 meters 0.014053024311527643 Centerline is valid? [True, True] Translation: X:198.77, Y:95.24, Z:11.85 [[-9.98987391e-01 3.56536155e-02 2.74410744e-02 1.98774071e+02] [-3.56012958e-02 -9.99363208e-01 2.39298081e-03 9.52372890e+01] [ 2.75089186e-02 1.41361985e-03 9.99620559e-01 1.18470474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.766875 meters 0.014280603624918526 Centerline is valid? [True, True] Translation: X:198.77, Y:94.63, Z:12.51 [[-9.90251393e-01 -1.38832159e-01 -1.13053461e-02 1.98773781e+02] [-1.38840816e-01 9.90314711e-01 -1.93239994e-05 9.46344338e+01] [ 1.11985334e-02 1.55050786e-03 -9.99936092e-01 1.25107577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.796875 meters 0.014099330747500837 Centerline is valid? [True, True] Translation: X:198.68, Y:95.22, Z:11.85 [[-9.98919718e-01 3.92072790e-02 2.49436470e-02 1.98684904e+02] [-3.91581934e-02 -9.99230012e-01 2.45346540e-03 9.52249768e+01] [ 2.50206344e-02 1.47406681e-03 9.99685848e-01 1.18518200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.82687500000003 meters 0.014755620517136228 Centerline is valid? [True, True] Translation: X:198.69, Y:94.63, Z:12.51 [[-9.89069534e-01 -1.46741154e-01 -1.44392119e-02 1.98689083e+02] [-1.46749363e-01 9.89173584e-01 -4.95096725e-04 9.46296621e+01] [ 1.43555380e-02 1.62926006e-03 -9.99895627e-01 1.25098339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.856875 meters 0.015097775208992114 Centerline is valid? [True, True] Translation: X:198.67, Y:94.66, Z:12.51 [[-9.75865488e-01 -2.17849344e-01 -1.51067116e-02 1.98673770e+02] [-2.17848755e-01 9.75981052e-01 -1.70457305e-03 9.46573235e+01] [ 1.51152044e-02 1.62754430e-03 -9.99884434e-01 1.25097895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.88687500000003 meters 0.015417831916732315 Centerline is valid? [True, True] Translation: X:198.65, Y:94.68, Z:12.51 [[-9.57470988e-01 -2.88095305e-01 -1.58240994e-02 1.98653375e+02] [-2.88084237e-01 9.57600297e-01 -3.02394027e-03 9.46828481e+01] [ 1.60243452e-02 1.66333851e-03 -9.99870218e-01 1.25096430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.916875 meters 0.016615964499095998 Centerline is valid? [True, True] Translation: X:198.62, Y:94.70, Z:12.51 [[-9.33916032e-01 -3.57104070e-01 -1.66592023e-02 1.98617226e+02] [-3.57079259e-01 9.34063044e-01 -4.54222459e-03 9.47041648e+01] [ 1.71827921e-02 1.70659924e-03 -9.99850908e-01 1.25099473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.94687500000003 meters 0.015999156634408207 Centerline is valid? [True, True] Translation: X:198.57, Y:94.72, Z:12.51 [[-9.04877257e-01 -4.25301183e-01 -1.77779056e-02 1.98570999e+02] [-4.25256892e-01 9.05050133e-01 -6.39006063e-03 9.47174805e+01] [ 1.88075961e-02 1.77795634e-03 -9.99821541e-01 1.25105572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.976875 meters 0.01659485170028615 Centerline is valid? [True, True] Translation: X:198.51, Y:94.72, Z:12.51 [[-8.70770698e-01 -4.91377078e-01 -1.75202156e-02 1.98506817e+02] [-4.91318508e-01 8.70945045e-01 -7.80075575e-03 9.47202213e+01] [ 1.90922576e-02 1.81533667e-03 -9.99816078e-01 1.25123245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.00687500000004 meters 0.016677223694412026 Centerline is valid? [True, True] Translation: X:198.44, Y:94.72, Z:12.51 [[-8.31708584e-01 -5.54971990e-01 -1.63377224e-02 1.98440773e+02] [-5.54906562e-01 8.31867046e-01 -8.71350563e-03 9.47161649e+01] [ 1.84265645e-02 1.81881196e-03 -9.99828562e-01 1.25149049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.036875 meters 0.016921459921815867 Centerline is valid? [True, True] Translation: X:198.37, Y:94.70, Z:12.52 [[-7.87782027e-01 -6.15811859e-01 -1.32375196e-02 1.98366195e+02] [-6.15760960e-01 7.87891269e-01 -8.11096651e-03 9.47030620e+01] [ 1.54245555e-02 1.76147414e-03 -9.99879483e-01 1.25196858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.066875 meters 0.017814711753639703 Centerline is valid? [True, True] Translation: X:198.29, Y:94.68, Z:12.52 [[-7.39964773e-01 -6.72545604e-01 -1.15993707e-02 1.98288453e+02] [-6.72497730e-01 7.40053666e-01 -8.20821054e-03 9.46802888e+01] [ 1.41045527e-02 1.72676379e-03 -9.99899035e-01 1.25232867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.096875 meters 0.01627310254145987 Centerline is valid? [True, True] Translation: X:198.21, Y:94.64, Z:12.53 [[-6.87747056e-01 -7.25875879e-01 -1.04016542e-02 1.98211632e+02] [-7.25828163e-01 6.87823593e-01 -8.49603816e-03 9.46445094e+01] [ 1.33215723e-02 1.70668831e-03 -9.99909807e-01 1.25255437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.126875 meters 0.018017815200469682 Centerline is valid? [True, True] Translation: X:198.13, Y:94.60, Z:12.53 [[-6.31397084e-01 -7.75406427e-01 -9.08818295e-03 1.98130770e+02] [-7.75361716e-01 6.31460245e-01 -8.49516144e-03 9.46040838e+01] [ 1.23260290e-02 1.68280896e-03 -9.99922616e-01 1.25286456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.156875 meters 0.01737040337612679 Centerline is valid? [True, True] Translation: X:198.05, Y:94.55, Z:12.53 [[-5.71517059e-01 -8.20542131e-01 -8.88043046e-03 1.98051540e+02] [-8.20485645e-01 5.71583524e-01 -9.77660156e-03 9.45522034e+01] [ 1.30980212e-02 1.69877114e-03 -9.99912774e-01 1.25295128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.186875 meters 0.01737040337612679 Centerline is valid? [True, True] Translation: X:197.98, Y:94.49, Z:12.53 [[-5.07989533e-01 -8.61325251e-01 -8.08990021e-03 1.97976171e+02] [-8.61264435e-01 5.08051112e-01 -1.03750158e-02 9.44905767e+01] [ 1.30463459e-02 1.69714390e-03 -9.99913453e-01 1.25316121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.216875 meters 0.0163132598189175 Centerline is valid? [True, True] Translation: X:197.90, Y:94.42, Z:12.53 [[-4.41636256e-01 -8.97160770e-01 -7.74404921e-03 1.97904701e+02] [-8.97084275e-01 4.41700806e-01 -1.18406711e-02 9.44209797e+01] [ 1.40435384e-02 1.71779513e-03 -9.99899909e-01 1.25322427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.246875 meters 0.016338277213553187 Centerline is valid? [True, True] Translation: X:197.83, Y:94.34, Z:12.53 [[-3.72523634e-01 -9.27996571e-01 -6.96463258e-03 1.97834692e+02] [-9.27910966e-01 3.72584748e-01 -1.27218455e-02 9.43416799e+01] [ 1.44007449e-02 1.72337081e-03 -9.99894819e-01 1.25338949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.276875 meters 0.01688914687926353 Centerline is valid? [True, True] Translation: X:197.77, Y:94.26, Z:12.54 [[-3.02225926e-01 -9.53215040e-01 -6.37005957e-03 1.97769684e+02] [-9.53108477e-01 3.02288088e-01 -1.43577073e-02 9.42592413e+01] [ 1.56115756e-02 1.73208640e-03 -9.99876632e-01 1.25354468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.306875 meters 0.01626010528055425 Centerline is valid? [True, True] Translation: X:197.71, Y:94.17, Z:12.54 [[-2.29752922e-01 -9.73234483e-01 -5.31367275e-03 1.97714314e+02] [-9.73120278e-01 2.29807904e-01 -1.50083912e-02 9.41698107e+01] [ 1.58278079e-02 1.72262097e-03 -9.99873249e-01 1.25374461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.336875 meters 0.0159500285007354 Centerline is valid? [True, True] Translation: X:197.66, Y:94.07, Z:12.54 [[-1.55983832e-01 -9.87750961e-01 -4.13322016e-03 1.97664260e+02] [-9.87634643e-01 1.56029292e-01 -1.52536225e-02 9.40715474e+01] [ 1.57116837e-02 1.70279293e-03 -9.99875114e-01 1.25396029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.366875 meters 0.01463905461269535 Centerline is valid? [True, True] Translation: X:197.62, Y:93.97, Z:12.54 [[-8.24839705e-02 -9.96588026e-01 -2.94988231e-03 1.97624164e+02] [-9.96469749e-01 8.25198941e-02 -1.54436731e-02 9.39735694e+01] [ 1.56344036e-02 1.66561301e-03 -9.99876388e-01 1.25412011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.396875 meters 0.01458203043425755 Centerline is valid? [True, True] Translation: X:197.59, Y:93.87, Z:12.54 [[-6.87645583e-03 -9.99974808e-01 -1.76012763e-03 1.97589103e+02] [-9.99854502e-01 6.90308505e-03 -1.55987720e-02 9.38680455e+01] [ 1.56105293e-02 1.65260727e-03 -9.99876783e-01 1.25427516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.426875 meters 0.014717158175355495 Centerline is valid? [True, True] Translation: X:197.56, Y:93.76, Z:12.54 [[ 6.84388732e-02 -9.97655190e-01 -4.92523831e-04 1.97561174e+02] [-9.97510604e-01 -6.84205297e-02 -1.70653694e-02 9.37611430e+01] [ 1.69916556e-02 1.65923240e-03 -9.99854255e-01 1.25443830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.456875 meters 0.01497756799454507 Centerline is valid? [True, True] Translation: X:197.54, Y:93.65, Z:12.55 [[ 1.43693288e-01 -9.89621873e-01 8.86932153e-04 1.97542242e+02] [-9.89466189e-01 -1.43686484e-01 -1.76310896e-02 9.36495184e+01] [ 1.75755521e-02 1.65587985e-03 -9.99844167e-01 1.25462409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.486875 meters 0.014841519984262407 Centerline is valid? [True, True] Translation: X:197.53, Y:93.54, Z:12.55 [[ 2.18160751e-01 -9.75910253e-01 2.25030204e-03 1.97532292e+02] [-9.75752897e-01 -2.18166161e-01 -1.76014418e-02 9.35390293e+01] [ 1.76683673e-02 1.64420503e-03 -9.99842550e-01 1.25488918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.516875 meters 0.014205514603778495 Centerline is valid? [True, True] Translation: X:197.53, Y:93.43, Z:12.55 [[ 2.91621067e-01 -9.56527976e-01 3.37410808e-03 1.97532066e+02] [-9.56384799e-01 -2.91636073e-01 -1.66288060e-02 9.34290093e+01] [ 1.68899298e-02 1.62236448e-03 -9.99856039e-01 1.25521561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.546875 meters 0.014278887150651728 Centerline is valid? [True, True] Translation: X:197.54, Y:93.32, Z:12.56 [[ 3.62743416e-01 -9.31882730e-01 3.43395719e-03 1.97538303e+02] [-9.31792167e-01 -3.62756375e-01 -1.30832266e-02 9.33216719e+01] [ 1.34377228e-02 1.54611991e-03 -9.99908514e-01 1.25572326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57687500000003 meters 0.014413308839867679 Centerline is valid? [True, True] Translation: X:197.55, Y:93.21, Z:12.56 [[ 4.32118494e-01 -9.01809839e-01 3.55268058e-03 1.97553687e+02] [-9.01745296e-01 -4.32130482e-01 -1.08934479e-02 9.32121918e+01] [ 1.13590401e-02 1.50364731e-03 -9.99934353e-01 1.25609167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.606875 meters 0.013628476833820579 Centerline is valid? [True, True] Translation: X:197.58, Y:93.11, Z:12.56 [[ 4.98750777e-01 -8.66736817e-01 3.86677902e-03 1.97577553e+02] [-8.66684041e-01 -4.98763584e-01 -9.67786804e-03 9.31077070e+01] [ 1.03167731e-02 1.47556854e-03 -9.99945692e-01 1.25632314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63687500000003 meters 0.013664968159673496 Centerline is valid? [True, True] Translation: X:197.61, Y:93.00, Z:12.57 [[ 5.62732391e-01 -8.26629218e-01 4.04869295e-03 1.97607711e+02] [-8.26586533e-01 -5.62745086e-01 -8.52478751e-03 9.30046213e+01] [ 9.32522050e-03 1.45057899e-03 -9.99955467e-01 1.25657938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.666875 meters 0.013654044974219131 Centerline is valid? [True, True] Translation: X:197.64, Y:92.91, Z:12.57 [[ 6.23288771e-01 -7.81974137e-01 5.24953244e-03 1.97643324e+02] [-7.81924678e-01 -6.23309188e-01 -8.91365116e-03 9.29076360e+01] [ 1.02423265e-02 1.45103972e-03 -9.99946493e-01 1.25661459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69687500000003 meters 0.013532349463388075 Centerline is valid? [True, True] Translation: X:197.69, Y:92.81, Z:12.57 [[ 6.80415805e-01 -7.32797788e-01 6.46022009e-03 1.97685256e+02] [-7.32742829e-01 -6.80444923e-01 -9.09138980e-03 9.28148150e+01] [ 1.10579743e-02 1.45224536e-03 -9.99937804e-01 1.25667125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.726875 meters 0.013586872404047415 Centerline is valid? [True, True] Translation: X:197.73, Y:92.73, Z:12.57 [[ 7.33891094e-01 -6.79223033e-01 7.74164047e-03 1.97734405e+02] [-6.79162959e-01 -7.33930478e-01 -9.15032153e-03 9.27253819e+01] [ 1.18969350e-02 1.45750403e-03 -9.99928167e-01 1.25671541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75687500000004 meters 0.013776851076682733 Centerline is valid? [True, True] Translation: X:197.74, Y:92.71, Z:12.57 [[ 7.85061220e-01 -6.19347098e-01 9.38362547e-03 1.97737926e+02] [-6.19278491e-01 -7.85115819e-01 -9.34352242e-03 9.27149210e+01] [ 1.31541163e-02 1.52415969e-03 -9.99912319e-01 1.25653646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.786875 meters 0.013835235865517824 Centerline is valid? [True, True] Translation: X:197.74, Y:92.70, Z:12.57 [[ 8.31364280e-01 -5.55625745e-01 1.06520234e-02 1.97741462e+02] [-5.55555510e-01 -8.31431097e-01 -8.96694697e-03 9.27035426e+01] [ 1.38386901e-02 1.53700914e-03 -9.99903059e-01 1.25650663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.816875 meters 0.013877138094277179 Centerline is valid? [True, True] Translation: X:197.75, Y:92.69, Z:12.57 [[ 8.72739493e-01 -4.88039569e-01 1.19647857e-02 1.97745245e+02] [-4.87968464e-01 -8.72820114e-01 -8.47507693e-03 9.26909916e+01] [ 1.45792785e-02 1.55809627e-03 -9.99892503e-01 1.25651187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.846875 meters 0.014321737325647949 Centerline is valid? [True, True] Translation: X:197.75, Y:92.68, Z:12.57 [[ 9.08663569e-01 -4.17328347e-01 1.29448783e-02 1.97748287e+02] [-4.17260670e-01 -9.08754404e-01 -7.67898442e-03 9.26792429e+01] [ 1.49683731e-02 1.57622479e-03 -9.99886725e-01 1.25654342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.876875 meters 0.014894250409935868 Centerline is valid? [True, True] Translation: X:197.75, Y:92.67, Z:12.57 [[ 9.39378831e-01 -3.42605611e-01 1.37406834e-02 1.97753855e+02] [-3.42543317e-01 -9.39477933e-01 -6.72969295e-03 9.26676001e+01] [ 1.52146994e-02 1.61495183e-03 -9.99882946e-01 1.25662562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.906875 meters 0.015798643885046194 Centerline is valid? [True, True] Translation: X:197.76, Y:92.66, Z:12.57 [[ 9.63636508e-01 -2.66850012e-01 1.39911342e-02 1.97759068e+02] [-2.66797028e-01 -9.63736701e-01 -5.56023579e-03 9.26573224e+01] [ 1.49675185e-02 1.62525317e-03 -9.99886660e-01 1.25673188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.936875 meters 0.016072090704714596 Centerline is valid? [True, True] Translation: X:197.77, Y:92.65, Z:12.57 [[ 9.81740129e-01 -1.89719872e-01 1.38812471e-02 1.97767229e+02] [-1.89677240e-01 -9.81836915e-01 -4.33791646e-03 9.26510833e+01] [ 1.44521098e-02 1.62575003e-03 -9.99894241e-01 1.25683766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.966875 meters 0.015791793563462844 Centerline is valid? [True, True] Translation: X:197.78, Y:92.64, Z:12.57 [[ 9.93756089e-01 -1.10902181e-01 1.22287115e-02 1.97776219e+02] [-1.10873859e-01 -9.93830042e-01 -2.97224700e-03 9.26438518e+01] [ 1.24828896e-02 1.59784412e-03 -9.99920809e-01 1.25699084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.996875 meters 0.015980860334075163 Centerline is valid? [True, True] Translation: X:197.78, Y:92.64, Z:12.57 [[ 9.99419611e-01 -3.23015191e-02 1.08190774e-02 1.97781843e+02] [-3.22826457e-02 -9.99476946e-01 -1.91461730e-03 9.26366044e+01] [ 1.08752634e-02 1.56423764e-03 -9.99939639e-01 1.25718736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.026875 meters 0.015655079595300245 Centerline is valid? [True, True] Translation: X:197.79, Y:92.63, Z:12.57 [[ 9.98880847e-01 4.62492967e-02 9.90232814e-03 1.97788097e+02] [ 4.62622314e-02 -9.98928745e-01 -1.08105967e-03 9.26293700e+01] [ 9.84172197e-03 1.53795359e-03 -9.99950386e-01 1.25727535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.056875 meters 0.015765113513649464 Centerline is valid? [True, True] Translation: X:197.79, Y:92.62, Z:12.57 [[ 9.92185729e-01 1.24437477e-01 9.09908913e-03 1.97794386e+02] [ 1.24446102e-01 -9.92226294e-01 -3.85696124e-04 9.26220249e+01] [ 8.98036043e-03 1.51502836e-03 -9.99958528e-01 1.25739276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.086875 meters 0.015483883213171725 Centerline is valid? [True, True] Translation: X:197.80, Y:92.62, Z:12.57 [[ 9.79504004e-01 2.01256245e-01 8.23594914e-03 1.97800820e+02] [ 2.01261653e-01 -9.79537501e-01 1.75426869e-04 9.26159278e+01] [ 8.10272679e-03 1.48574942e-03 -9.99966069e-01 1.25745498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.116875 meters 0.016663186449743076 Centerline is valid? [True, True] Translation: X:197.81, Y:92.61, Z:12.58 [[ 9.60904021e-01 2.76755452e-01 8.35961496e-03 1.97807520e+02] [ 2.76758055e-01 -9.60939242e-01 8.66803466e-04 9.26078457e+01] [ 8.27297465e-03 1.48067584e-03 -9.99964682e-01 1.25754707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.146875 meters 0.015567819439372374 Centerline is valid? [True, True] Translation: X:197.81, Y:92.61, Z:12.57 [[ 9.36518889e-01 3.50508671e-01 8.72019800e-03 1.97813522e+02] [ 3.50507768e-01 -9.36558315e-01 1.68168644e-03 9.26060242e+01] [ 8.75641962e-03 1.48156602e-03 -9.99960564e-01 1.25743075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.176875 meters 0.014995707899621782 Centerline is valid? [True, True] Translation: X:197.82, Y:92.61, Z:12.57 [[ 9.07180602e-01 4.20620366e-01 1.00927809e-02 1.97820022e+02] [ 4.20612026e-01 -9.07235522e-01 3.03846704e-03 9.26057482e+01] [ 1.04345705e-02 1.48870666e-03 -9.99944450e-01 1.25721838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.206875 meters 0.014750727141701555 Centerline is valid? [True, True] Translation: X:197.83, Y:92.60, Z:12.57 [[ 8.72137160e-01 4.89147164e-01 1.05747658e-02 1.97826074e+02] [ 4.89131157e-01 -8.72200002e-01 4.22698593e-03 9.26047924e+01] [ 1.12909289e-02 1.48593591e-03 -9.99935151e-01 1.25713695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.236875 meters 0.014485842826105868 Centerline is valid? [True, True] Translation: X:197.83, Y:92.60, Z:12.57 [[ 8.31924133e-01 5.54790250e-01 1.04888521e-02 1.97832612e+02] [ 5.54767598e-01 -8.31988949e-01 5.22504274e-03 9.26049961e+01] [ 1.16254118e-02 1.47203612e-03 -9.99931339e-01 1.25709176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.266875 meters 0.013642239628436203 Centerline is valid? [True, True] Translation: X:197.84, Y:92.60, Z:12.57 [[ 7.87187756e-01 6.16623289e-01 1.05430343e-02 1.97839404e+02] [ 6.16591667e-01 -7.87257014e-01 6.41167783e-03 9.26042883e+01] [ 1.22536675e-02 1.45355279e-03 -9.99923865e-01 1.25700026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.296875 meters 0.01396916763127596 Centerline is valid? [True, True] Translation: X:197.85, Y:92.60, Z:12.57 [[ 7.36865406e-01 6.75965889e-01 9.97454289e-03 1.97846994e+02] [ 6.75929168e-01 -7.36931500e-01 7.19189112e-03 9.26004267e+01] [ 1.22120279e-02 1.44262871e-03 -9.99924390e-01 1.25706483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.32687500000003 meters 0.01381266860571638 Centerline is valid? [True, True] Translation: X:197.85, Y:92.60, Z:12.57 [[ 6.81889459e-01 7.31398268e-01 9.12906193e-03 1.97852818e+02] [ 7.31359201e-01 -6.81949065e-01 7.69358582e-03 9.26014385e+01] [ 1.18526306e-02 1.43044837e-03 -9.99928732e-01 1.25713456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.356875 meters 0.013793897327220674 Centerline is valid? [True, True] Translation: X:197.86, Y:92.60, Z:12.57 [[ 6.22577370e-01 7.82515243e-01 8.20439490e-03 1.97858267e+02] [ 7.82475307e-01 -6.22629810e-01 8.03206053e-03 9.26017386e+01] [ 1.13935106e-02 1.41915730e-03 -9.99934085e-01 1.25722827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.38687500000003 meters 0.013695478418296053 Centerline is valid? [True, True] Translation: X:197.86, Y:92.60, Z:12.57 [[ 5.59552861e-01 8.28764295e-01 7.09507384e-03 1.97864296e+02] [ 8.28726858e-01 -5.59596083e-01 8.00120003e-03 9.26018630e+01] [ 1.06014844e-02 1.40278388e-03 -9.99942819e-01 1.25727395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.416875 meters 0.013399327259760941 Centerline is valid? [True, True] Translation: X:197.87, Y:92.60, Z:12.57 [[ 4.92871427e-01 8.70086841e-01 5.16195676e-03 1.97871645e+02] [ 8.70064804e-01 -4.92896566e-01 6.34130141e-03 9.26014248e+01] [ 8.06179367e-03 1.36579062e-03 -9.99966571e-01 1.25740212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.44687500000003 meters 0.013650827105311701 Centerline is valid? [True, True] Translation: X:197.88, Y:92.60, Z:12.58 [[ 4.23106973e-01 9.06070564e-01 4.07693707e-03 1.97879924e+02] [ 9.06054569e-01 -4.23124474e-01 5.54946274e-03 9.26004511e+01] [ 6.75325670e-03 1.34591108e-03 -9.99976291e-01 1.25752071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.476875 meters 0.013837618704153395 Centerline is valid? [True, True] Translation: X:197.89, Y:92.60, Z:12.58 [[ 3.50753380e-01 9.36461861e-01 3.35394780e-03 1.97887690e+02] [ 9.36448608e-01 -3.50766886e-01 5.15707622e-03 9.25998176e+01] [ 6.00585903e-03 1.33193783e-03 -9.99981078e-01 1.25762533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.50687500000004 meters 0.013864874487284969 Centerline is valid? [True, True] Translation: X:197.90, Y:92.60, Z:12.58 [[ 2.75967217e-01 9.61162972e-01 2.79924805e-03 1.97896045e+02] [ 9.61151132e-01 -2.75978237e-01 4.95122778e-03 9.26009531e+01] [ 5.53146835e-03 1.32412387e-03 -9.99983825e-01 1.25761648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.536875 meters 0.014395904739613798 Centerline is valid? [True, True] Translation: X:197.90, Y:92.60, Z:12.58 [[ 1.98834675e-01 9.80029737e-01 2.54681157e-03 1.97904084e+02] [ 9.80013305e-01 -1.98846493e-01 5.83043010e-03 9.26006845e+01] [ 6.22041943e-03 1.33661756e-03 -9.99979760e-01 1.25753130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.566875 meters 0.014267396790755065 Centerline is valid? [True, True] Translation: X:197.91, Y:92.60, Z:12.57 [[ 1.20907590e-01 9.92661285e-01 2.21986843e-03 1.97912289e+02] [ 9.92637251e-01 -1.20920404e-01 7.03871986e-03 9.26029549e+01] [ 7.25549209e-03 1.35248943e-03 -9.99972764e-01 1.25739184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.596875 meters 0.01458885163572782 Centerline is valid? [True, True] Translation: X:197.92, Y:92.60, Z:12.57 [[ 4.23347612e-02 9.99102001e-01 1.72048718e-03 1.97920114e+02] [ 9.99068720e-01 -4.23475902e-02 8.26883141e-03 9.26044450e+01] [ 8.33426449e-03 1.36882593e-03 -9.99964333e-01 1.25728323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.626875 meters 0.014907075169724435 Centerline is valid? [True, True] Translation: X:197.93, Y:92.61, Z:12.57 [[-3.69855028e-02 9.99315276e-01 1.02511718e-03 1.97927283e+02] [ 9.99262967e-01 3.69729793e-02 1.03209605e-02 9.26070113e+01] [ 1.02759918e-02 1.40608755e-03 -9.99946212e-01 1.25711528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.656875 meters 0.015103235717589298 Centerline is valid? [True, True] Translation: X:197.93, Y:92.61, Z:12.57 [[-1.15374746e-01 9.93322023e-01 1.63365051e-04 1.97933735e+02] [ 9.93263848e-01 1.15366205e-01 1.08428583e-02 9.26102147e+01] [ 1.07516031e-02 1.41325661e-03 -9.99941201e-01 1.25712449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.686875 meters 0.015031853122346818 Centerline is valid? [True, True] Translation: X:197.94, Y:92.61, Z:12.57 [[-1.92633177e-01 9.81270590e-01 -6.98296188e-04 1.97939342e+02] [ 9.81211436e-01 1.92629297e-01 1.08661230e-02 9.26135786e+01] [ 1.07971192e-02 1.40799958e-03 -9.99940718e-01 1.25712467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.716875 meters 0.01489251828160755 Centerline is valid? [True, True] Translation: X:197.95, Y:92.62, Z:12.57 [[-2.68495845e-01 9.63279779e-01 -1.43124878e-03 1.97945433e+02] [ 9.63225532e-01 2.68496054e-01 1.03171810e-02 9.26177212e+01] [ 1.03226165e-02 1.39150487e-03 -9.99945752e-01 1.25719272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.746875 meters 0.014866690258314804 Centerline is valid? [True, True] Translation: X:197.95, Y:92.62, Z:12.57 [[-3.42392807e-01 9.39555621e-01 -1.54941405e-03 1.97951488e+02] [ 9.39520940e-01 3.42393665e-01 8.18425509e-03 9.26224357e+01] [ 8.22007244e-03 1.34652313e-03 -9.99965308e-01 1.25747211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.776875 meters 0.015316250181971728 Centerline is valid? [True, True] Translation: X:197.96, Y:92.63, Z:12.58 [[-4.14786960e-01 9.09916913e-01 -1.72885039e-03 1.97958285e+02] [ 9.09891080e-01 4.14788451e-01 6.98308835e-03 9.26268962e+01] [ 7.07113737e-03 1.32342844e-03 -9.99974123e-01 1.25768454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.806875 meters 0.014643581185157337 Centerline is valid? [True, True] Translation: X:197.96, Y:92.63, Z:12.58 [[-4.84326206e-01 8.74885798e-01 -1.72251104e-03 1.97962419e+02] [ 8.74867594e-01 4.84327530e-01 5.79111901e-03 9.26322941e+01] [ 5.90082730e-03 1.29782161e-03 -9.99981748e-01 1.25773479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.836875 meters 0.014583956830054394 Centerline is valid? [True, True] Translation: X:197.97, Y:92.64, Z:12.58 [[-5.51116806e-01 8.34426503e-01 -1.63657820e-03 1.97968140e+02] [ 8.34413699e-01 5.51117755e-01 4.79577731e-03 9.26388842e+01] [ 4.90367100e-03 1.27745020e-03 -9.99987161e-01 1.25781887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.866875 meters 0.014712501775547795 Centerline is valid? [True, True] Translation: X:197.97, Y:92.65, Z:12.58 [[-6.14853601e-01 7.88639959e-01 -1.43679053e-03 1.97973763e+02] [ 7.88631360e-01 6.14853988e-01 3.89251671e-03 9.26463234e+01] [ 3.95321061e-03 1.26022985e-03 -9.99991392e-01 1.25787094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.896875 meters 0.014892574458799318 Centerline is valid? [True, True] Translation: X:197.98, Y:92.65, Z:12.58 [[-6.74701361e-01 7.38089138e-01 -1.58024569e-03 1.97979137e+02] [ 7.38081494e-01 6.74702049e-01 3.58515619e-03 9.26536677e+01] [ 3.71235984e-03 1.25255966e-03 -9.99992325e-01 1.25794454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.926875 meters 0.01480747326520428 Centerline is valid? [True, True] Translation: X:197.98, Y:92.66, Z:12.58 [[-7.30602753e-01 6.82799893e-01 -1.98076627e-03 1.97983814e+02] [ 6.82791733e-01 7.30604365e-01 3.56535011e-03 9.26624915e+01] [ 3.88157715e-03 1.25240377e-03 -9.99991682e-01 1.25791462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.956875 meters 0.015254928961937007 Centerline is valid? [True, True] Translation: X:198.00, Y:92.69, Z:12.58 [[-7.77160374e-01 6.29296651e-01 -2.73463596e-03 1.98001240e+02] [ 6.29286895e-01 7.77164344e-01 3.68603485e-03 9.26862002e+01] [ 4.44487095e-03 1.14376965e-03 -9.99989467e-01 1.25801304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.986875 meters 0.014874642070619025 Centerline is valid? [True, True] Translation: X:198.02, Y:92.71, Z:12.58 [[-8.19536447e-01 5.73016509e-01 -3.47751954e-03 1.98016584e+02] [ 5.73004842e-01 8.19543020e-01 3.83263616e-03 9.27083708e+01] [ 5.04614066e-03 1.14834949e-03 -9.99986609e-01 1.25792377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.016875 meters 0.014803356097619735 Centerline is valid? [True, True] Translation: X:198.03, Y:92.73, Z:12.58 [[-8.57249955e-01 5.14876780e-01 -4.94114981e-03 1.98030111e+02] [ 5.14859981e-01 8.57263415e-01 4.31703106e-03 9.27316787e+01] [ 6.45860602e-03 1.15677438e-03 -9.99978474e-01 1.25782293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.046875 meters 0.014396909078513811 Centerline is valid? [True, True] Translation: X:198.04, Y:92.76, Z:12.58 [[-8.91043942e-01 4.53874202e-01 -6.23721249e-03 1.98041313e+02] [ 4.53853582e-01 8.91065016e-01 4.47928742e-03 9.27561739e+01] [ 7.59079485e-03 1.16046069e-03 -9.99970516e-01 1.25776430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07687500000003 meters 0.014262156740609249 Centerline is valid? [True, True] Translation: X:198.05, Y:92.78, Z:12.58 [[-9.20453811e-01 3.90785430e-01 -7.17845083e-03 1.98051625e+02] [ 3.90763442e-01 9.20481076e-01 4.30367847e-03 9.27813173e+01] [ 8.28944298e-03 1.15626109e-03 -9.99964974e-01 1.25772131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.106875 meters 0.014262156740609249 Centerline is valid? [True, True] Translation: X:198.06, Y:92.81, Z:12.58 [[-9.45819236e-01 3.24608616e-01 -7.43091475e-03 1.98059481e+02] [ 3.24588786e-01 9.45847725e-01 3.76855294e-03 9.28080603e+01] [ 8.25181857e-03 1.15237827e-03 -9.99965289e-01 1.25775951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13687500000003 meters 0.014172289316134134 Centerline is valid? [True, True] Translation: X:198.07, Y:92.83, Z:12.58 [[-9.66152528e-01 2.57822203e-01 -8.77519234e-03 1.98066494e+02] [ 2.57800553e-01 9.66191691e-01 3.53434376e-03 9.28348239e+01] [ 9.38975022e-03 1.15246572e-03 -9.99955251e-01 1.25777251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.166875 meters 0.01387430386496846 Centerline is valid? [True, True] Translation: X:198.07, Y:92.86, Z:12.58 [[-9.81520343e-01 1.91100967e-01 -9.91149499e-03 1.98070619e+02] [ 1.91079434e-01 9.81569730e-01 3.08465898e-03 9.28611634e+01] [ 1.03183048e-02 1.13377269e-03 -9.99946122e-01 1.25779434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19687500000003 meters 0.013743392555550746 Centerline is valid? [True, True] Translation: X:198.18, Y:93.44, Z:11.94 [[-9.62760843e-01 -2.69692544e-01 1.89074363e-02 1.98179168e+02] [ 2.69659610e-01 -9.62946025e-01 -4.31836664e-03 9.34422735e+01] [ 1.93714719e-02 9.41017595e-04 9.99811913e-01 1.19443436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.226875 meters 0.013626228820761732 Centerline is valid? [True, True] Translation: X:198.02, Y:92.87, Z:12.58 [[-9.81798777e-01 1.89698116e-01 -9.26210204e-03 1.98023779e+02] [ 1.89678935e-01 9.81841842e-01 2.91526404e-03 9.28683210e+01] [ 9.64693943e-03 1.10537702e-03 -9.99952856e-01 1.25800706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25687500000004 meters 0.013443379357773138 Centerline is valid? [True, True] Translation: X:198.13, Y:93.45, Z:11.94 [[-9.64950635e-01 -2.61571731e-01 2.12250118e-02 1.98134127e+02] [ 2.61529981e-01 -9.65183572e-01 -4.76873022e-03 9.34538649e+01] [ 2.17333977e-02 9.49387667e-04 9.99763351e-01 1.19426015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.286875 meters 0.01347124828130934 Centerline is valid? [True, True] Translation: X:197.98, Y:92.87, Z:12.58 [[-9.81581162e-01 1.90940928e-01 -6.32331737e-03 1.97978332e+02] [ 1.90929949e-01 9.81600965e-01 2.30223709e-03 9.28725122e+01] [ 6.64656572e-03 1.05252189e-03 -9.99977357e-01 1.25848211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.316875 meters 0.013623803310670602 Centerline is valid? [True, True] Translation: X:198.08, Y:93.47, Z:11.94 [[-9.66837901e-01 -2.54304081e-01 2.35352553e-02 1.98084935e+02] [ 2.54250034e-01 -9.67123939e-01 -5.31095910e-03 9.34659933e+01] [ 2.41121073e-02 8.49002915e-04 9.99708900e-01 1.19402521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.346875 meters 0.013721285936917028 Centerline is valid? [True, True] Translation: X:197.93, Y:92.88, Z:12.59 [[-9.81268940e-01 1.92585532e-01 -4.69905326e-03 1.97932754e+02] [ 1.92578237e-01 9.81279660e-01 1.96253733e-03 9.28757742e+01] [ 4.98904168e-03 1.02084153e-03 -9.99987034e-01 1.25856371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.376875 meters 0.01389362111036238 Centerline is valid? [True, True] Translation: X:197.93, Y:92.90, Z:12.59 [[-9.92290559e-01 1.23839012e-01 -4.83176159e-03 1.97932425e+02] [ 1.23832537e-01 9.92301811e-01 1.61813656e-03 9.29028489e+01] [ 4.99495421e-03 1.00733233e-03 -9.99987018e-01 1.25853523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.406875 meters 0.013995848551740808 Centerline is valid? [True, True] Translation: X:198.00, Y:93.51, Z:11.94 [[-9.84374789e-01 -1.74552253e-01 2.31902059e-02 1.97996293e+02] [ 1.74517721e-01 -9.84647740e-01 -3.52029402e-03 9.35143173e+01] [ 2.34486591e-02 5.81813210e-04 9.99724873e-01 1.19438219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.436875 meters 0.014045330665298028 Centerline is valid? [True, True] Translation: X:197.88, Y:92.91, Z:12.58 [[-9.92355038e-01 1.23146590e-01 -8.14834846e-03 1.97881751e+02] [ 1.23134462e-01 9.92388030e-01 1.97559880e-03 9.29055772e+01] [ 8.32961173e-03 9.57152926e-04 -9.99964850e-01 1.25823925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.466875 meters 0.014217924795724144 Centerline is valid? [True, True] Translation: X:197.88, Y:92.93, Z:12.58 [[-9.98563415e-01 5.27091632e-02 -9.63590108e-03 1.97878546e+02] [ 5.26977034e-02 9.98609473e-01 1.43951956e-03 9.29328052e+01] [ 9.69837798e-03 9.29661710e-04 -9.99952537e-01 1.25814831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.496875 meters 0.014091359756370544 Centerline is valid? [True, True] Translation: X:197.87, Y:92.96, Z:12.58 [[-9.99773899e-01 -1.78958048e-02 -1.14843806e-02 1.97872550e+02] [-1.79049828e-02 9.99839450e-01 6.96845870e-04 9.29609355e+01] [ 1.14700661e-02 9.02315949e-04 -9.99933810e-01 1.25805194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.526875 meters 0.014341503505151953 Centerline is valid? [True, True] Translation: X:197.85, Y:93.58, Z:11.95 [[-9.99510456e-01 -2.64395963e-02 1.67271109e-02 1.97845193e+02] [ 2.64465279e-02 -9.99650211e-01 1.93288448e-04 9.35822640e+01] [ 1.67161494e-02 6.35567829e-04 9.99860073e-01 1.19514370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.556875 meters 0.013904902816813159 Centerline is valid? [True, True] Translation: X:197.80, Y:92.96, Z:12.58 [[-9.99622280e-01 -2.43612652e-02 -1.27211298e-02 1.97799028e+02] [-2.43709964e-02 9.99702797e-01 6.10477277e-04 9.29590425e+01] [ 1.27024770e-02 9.20273295e-04 -9.99918897e-01 1.25815229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.586875 meters 0.013797683694351835 Centerline is valid? [True, True] Translation: X:197.79, Y:92.99, Z:12.58 [[-9.95278578e-01 -9.63185801e-02 -1.19701219e-02 1.97791332e+02] [-9.63226932e-02 9.95350131e-01 -2.33765617e-04 9.29869844e+01] [ 1.19369784e-02 9.20332472e-04 -9.99928328e-01 1.25826491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.616875 meters 0.013781804427617738 Centerline is valid? [True, True] Translation: X:197.78, Y:93.01, Z:12.58 [[-9.85688264e-01 -1.68213330e-01 -1.10869943e-02 1.97776272e+02] [-1.68213348e-01 9.85750166e-01 -9.37569209e-04 9.30133407e+01] [ 1.10867181e-02 9.40829460e-04 -9.99938098e-01 1.25843262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.646875 meters 0.013458030229824091 Centerline is valid? [True, True] Translation: X:197.65, Y:93.62, Z:11.95 [[-9.93241964e-01 1.14280593e-01 2.02570174e-02 1.97650322e+02] [-1.14236064e-01 -9.93448000e-01 3.34570582e-03 9.36186708e+01] [ 2.05066427e-02 1.00901348e-03 9.99789208e-01 1.19487910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.676875 meters 0.01356142172287665 Centerline is valid? [True, True] Translation: X:197.67, Y:93.00, Z:12.59 [[-9.83830957e-01 -1.78959211e-01 -7.08866571e-03 1.97670533e+02] [-1.78962036e-01 9.83855951e-01 -2.38953524e-04 9.29980378e+01] [ 7.01698888e-03 1.03351217e-03 -9.99974847e-01 1.25896248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.706875 meters 0.013455832368366418 Centerline is valid? [True, True] Translation: X:197.64, Y:93.02, Z:12.59 [[-9.67716155e-01 -2.51974000e-01 -5.87756123e-03 1.97644608e+02] [-2.51975636e-01 9.67733463e-01 -4.72635894e-04 9.30220918e+01] [ 5.80700464e-03 1.02362484e-03 -9.99982615e-01 1.25906673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.736875 meters 0.013542235193280605 Centerline is valid? [True, True] Translation: X:197.61, Y:93.04, Z:12.59 [[-9.46625493e-01 -3.22284060e-01 -5.75844064e-03 1.97609318e+02] [-3.22284553e-01 9.46642443e-01 -8.67561686e-04 9.30410146e+01] [ 5.73078562e-03 1.03460046e-03 -9.99983044e-01 1.25913915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.766875 meters 0.013580285739223564 Centerline is valid? [True, True] Translation: X:197.56, Y:93.05, Z:12.59 [[-9.19573579e-01 -3.92868854e-01 -6.20455771e-03 1.97555005e+02] [-3.92867452e-01 9.19593895e-01 -1.49423260e-03 9.30508133e+01] [ 6.29271084e-03 1.06351196e-03 -9.99979635e-01 1.25902687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.796875 meters 0.013580285739223564 Centerline is valid? [True, True] Translation: X:197.49, Y:93.05, Z:12.59 [[-8.88162776e-01 -4.59489213e-01 -6.04541448e-03 1.97491251e+02] [-4.59486418e-01 8.88182709e-01 -1.92549935e-03 9.30519286e+01] [ 6.25417879e-03 1.06762900e-03 -9.99979873e-01 1.25914300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.82687500000003 meters 0.013783368740192748 Centerline is valid? [True, True] Translation: X:197.42, Y:93.04, Z:12.59 [[-8.50732296e-01 -5.25555878e-01 -6.75127229e-03 1.97418774e+02] [-5.25549041e-01 8.50758390e-01 -2.89275484e-03 9.30440185e+01] [ 7.26400585e-03 1.08716471e-03 -9.99973026e-01 1.25915782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.856875 meters 0.013911400517433234 Centerline is valid? [True, True] Translation: X:197.34, Y:93.03, Z:12.59 [[-8.08874529e-01 -5.87940204e-01 -6.95074630e-03 1.97342531e+02] [-5.87929635e-01 8.08903645e-01 -3.69288535e-03 9.30271618e+01] [ 7.79367979e-03 1.09946883e-03 -9.99969024e-01 1.25924047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.88687500000003 meters 0.014119031774918385 Centerline is valid? [True, True] Translation: X:197.26, Y:93.00, Z:12.59 [[-7.62017410e-01 -6.47525624e-01 -6.32718136e-03 1.97262630e+02] [-6.47514670e-01 7.62042875e-01 -3.92534451e-03 9.29996906e+01] [ 7.36334463e-03 1.10576189e-03 -9.99972279e-01 1.25933122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.916875 meters 0.014193513913544417 Centerline is valid? [True, True] Translation: X:197.18, Y:92.96, Z:12.59 [[-7.10848740e-01 -7.03320431e-01 -5.86862403e-03 1.97180042e+02] [-7.03308499e-01 7.10872098e-01 -4.24455566e-03 9.29620703e+01] [ 7.15712379e-03 1.11021611e-03 -9.99973771e-01 1.25945325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.94687500000003 meters 0.014288595145287925 Centerline is valid? [True, True] Translation: X:197.10, Y:92.91, Z:12.60 [[-6.55381995e-01 -7.55276366e-01 -5.66137244e-03 1.97097559e+02] [-7.55261805e-01 6.55405496e-01 -4.82088159e-03 9.29147538e+01] [ 7.35159255e-03 1.11629938e-03 -9.99972354e-01 1.25950423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.976875 meters 0.014463323436721085 Centerline is valid? [True, True] Translation: X:197.01, Y:92.86, Z:12.60 [[-5.95975957e-01 -8.02984207e-01 -5.38722348e-03 1.97014961e+02] [-8.02966996e-01 5.95999249e-01 -5.37567826e-03 9.28573876e+01] [ 7.52736589e-03 1.12198765e-03 -9.99971040e-01 1.25963879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.00687500000004 meters 0.014494860218702048 Centerline is valid? [True, True] Translation: X:196.94, Y:92.79, Z:12.60 [[-5.32999345e-01 -8.46100952e-01 -4.98770063e-03 1.96935830e+02] [-8.46081793e-01 5.33021491e-01 -5.80426602e-03 9.27925832e+01] [ 7.56954664e-03 1.12633270e-03 -9.99970716e-01 1.25977192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.036875 meters 0.014609115145917648 Centerline is valid? [True, True] Translation: X:196.86, Y:92.72, Z:12.60 [[-4.66592311e-01 -8.84459971e-01 -4.70900620e-03 1.96859926e+02] [-8.84436839e-01 4.66614696e-01 -6.49648769e-03 9.27191171e+01] [ 7.94317481e-03 1.13360735e-03 -9.99967810e-01 1.25991372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.066875 meters 0.01441093453275115 Centerline is valid? [True, True] Translation: X:196.79, Y:92.64, Z:12.60 [[-3.96822615e-01 -9.17886708e-01 -3.97535850e-03 1.96789400e+02] [-9.17865563e-01 3.96840902e-01 -6.33299287e-03 9.26364863e+01] [ 7.39055483e-03 1.13576988e-03 -9.99972044e-01 1.25999370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.096875 meters 0.014394685446779238 Centerline is valid? [True, True] Translation: X:196.72, Y:92.54, Z:12.60 [[-3.24778167e-01 -9.45784239e-01 -3.36372015e-03 1.96722204e+02] [-9.45763976e-01 3.24793596e-01 -6.29461182e-03 9.25422612e+01] [ 7.04585942e-03 1.13693285e-03 -9.99974531e-01 1.26015726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.126875 meters 0.014541399704068423 Centerline is valid? [True, True] Translation: X:196.66, Y:92.45, Z:12.60 [[-2.50798548e-01 -9.68035418e-01 -2.74169869e-03 1.96663540e+02] [-9.68017136e-01 2.50810966e-01 -6.05666763e-03 9.24500535e+01] [ 6.55071688e-03 1.13500787e-03 -9.99977900e-01 1.26040070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.156875 meters 0.014760932824927471 Centerline is valid? [True, True] Translation: X:196.61, Y:92.35, Z:12.61 [[-1.74315024e-01 -9.84687462e-01 -2.20795061e-03 1.96610202e+02] [-9.84670249e-01 1.74325280e-01 -5.93269884e-03 9.23484932e+01] [ 6.22675577e-03 1.13994474e-03 -9.99979964e-01 1.26060507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.186875 meters 0.014812937798943205 Centerline is valid? [True, True] Translation: X:196.57, Y:92.24, Z:12.61 [[-9.76164038e-02 -9.95222715e-01 -1.66919008e-03 1.96565505e+02] [-9.95208624e-01 9.76241048e-02 -5.41558136e-03 9.22417213e+01] [ 5.55266277e-03 1.13254279e-03 -9.99983943e-01 1.26080004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.216875 meters 0.015334289800815382 Centerline is valid? [True, True] Translation: X:196.53, Y:92.13, Z:12.61 [[-2.03103919e-02 -9.99792958e-01 -1.23644000e-03 1.96528387e+02] [-9.99779867e-01 2.03166057e-02 -5.23952388e-03 9.21313659e+01] [ 5.26355934e-03 1.12975104e-03 -9.99985509e-01 1.26103312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.246875 meters 0.015466815079201187 Centerline is valid? [True, True] Translation: X:196.50, Y:92.02, Z:12.61 [[ 5.70194986e-02 -9.98372692e-01 -8.63044505e-04 1.96500683e+02] [-9.98363350e-01 -5.70151088e-02 -4.46090888e-03 9.20168004e+01] [ 4.40444303e-03 1.11599079e-03 -9.99989678e-01 1.26118719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.276875 meters 0.01578712192072272 Centerline is valid? [True, True] Translation: X:196.48, Y:91.91, Z:12.61 [[ 1.34085164e-01 -9.90969571e-01 -6.90870742e-04 1.96481079e+02] [-9.90965543e-01 -1.34082508e-01 -3.02875442e-03 9.19051658e+01] [ 2.90876979e-03 1.09074013e-03 -9.99995175e-01 1.26136520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.306875 meters 0.015256595727590016 Centerline is valid? [True, True] Translation: X:196.47, Y:91.79, Z:12.61 [[ 2.09738113e-01 -9.77757464e-01 -5.15582936e-04 1.96472206e+02] [-9.77754185e-01 -2.09735957e-01 -2.75349957e-03 9.17891566e+01] [ 2.58411848e-03 1.08162718e-03 -9.99996076e-01 1.26146968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.336875 meters 0.015360208751780001 Centerline is valid? [True, True] Translation: X:196.47, Y:91.67, Z:12.62 [[ 2.84231504e-01 -9.58755565e-01 -4.67298428e-04 1.96470719e+02] [-9.58753680e-01 -2.84229882e-01 -2.18050067e-03 9.16732040e+01] [ 1.95774698e-03 1.06779107e-03 -9.99997514e-01 1.26161326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.366875 meters 0.015509616664868633 Centerline is valid? [True, True] Translation: X:196.48, Y:91.56, Z:12.62 [[ 3.56745222e-01 -9.34201662e-01 -3.19269917e-04 1.96477049e+02] [-9.34199807e-01 -3.56743782e-01 -2.14355718e-03 9.15601781e+01] [ 1.88861712e-03 1.06296568e-03 -9.99997652e-01 1.26178223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.396875 meters 0.01607234157469048 Centerline is valid? [True, True] Translation: X:196.49, Y:91.45, Z:12.62 [[ 4.26477929e-01 -9.04497891e-01 3.75944996e-04 1.96490802e+02] [-9.04492413e-01 -4.26476730e-01 -3.32767893e-03 9.14462026e+01] [ 3.17021037e-03 1.07914222e-03 -9.99994393e-01 1.26189523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.426875 meters 0.01589832175549935 Centerline is valid? [True, True] Translation: X:196.51, Y:91.34, Z:12.62 [[ 4.93893294e-01 -8.69521861e-01 1.07067775e-03 1.96514473e+02] [-8.69512934e-01 -4.93893257e-01 -4.08769936e-03 9.13361858e+01] [ 4.08314448e-03 1.08791915e-03 -9.99991072e-01 1.26194718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.456875 meters 0.015281931390770718 Centerline is valid? [True, True] Translation: X:196.55, Y:91.23, Z:12.62 [[ 5.58194017e-01 -8.29705012e-01 3.00540205e-03 1.96545880e+02] [-8.29680422e-01 -5.58200970e-01 -6.48651603e-03 9.12305644e+01] [ 7.05951320e-03 1.12721120e-03 -9.99974446e-01 1.26171397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.486875 meters 0.014790977019273167 Centerline is valid? [True, True] Translation: X:196.58, Y:91.13, Z:12.62 [[ 6.19626156e-01 -7.84885812e-01 4.20593753e-03 1.96584061e+02] [-7.84853916e-01 -6.19639382e-01 -7.16715982e-03 9.11297434e+01] [ 8.23156658e-03 1.13991315e-03 -9.99965470e-01 1.26171630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.516875 meters 0.014969499075498953 Centerline is valid? [True, True] Translation: X:196.63, Y:91.03, Z:12.62 [[ 6.77592377e-01 -7.35419513e-01 5.16816274e-03 1.96626663e+02] [-7.35384181e-01 -6.77611119e-01 -7.29914370e-03 9.10328575e+01] [ 8.86993724e-03 1.14525901e-03 -9.99960006e-01 1.26181180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.546875 meters 0.014796368140585978 Centerline is valid? [True, True] Translation: X:196.67, Y:90.94, Z:12.62 [[ 7.32182676e-01 -6.81082188e-01 5.96505244e-03 1.96674871e+02] [-6.81045884e-01 -7.32206063e-01 -7.12641203e-03 9.09401141e+01] [ 9.22131987e-03 1.15536102e-03 -9.99956815e-01 1.26193253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57687500000003 meters 0.01489640157413857 Centerline is valid? [True, True] Translation: X:196.67, Y:90.93, Z:12.62 [[ 7.83605702e-01 -6.21228367e-01 6.11711895e-03 1.96672489e+02] [-6.21196969e-01 -7.83628688e-01 -6.35641605e-03 9.09271677e+01] [ 8.74233586e-03 1.18098812e-03 -9.99961088e-01 1.26204863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.606875 meters 0.015917391589585682 Centerline is valid? [True, True] Translation: X:196.67, Y:90.91, Z:12.62 [[ 8.30298505e-01 -5.57296448e-01 5.00615046e-03 1.96669316e+02] [-5.57277430e-01 -8.30312799e-01 -4.74568482e-03 9.09128387e+01] [ 6.80142409e-03 1.15052035e-03 -9.99976208e-01 1.26239669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63687500000003 meters 0.015416139325789101 Centerline is valid? [True, True] Translation: X:196.67, Y:90.90, Z:12.63 [[ 8.71211346e-01 -4.90886931e-01 4.56200903e-03 1.96671738e+02] [-4.90873002e-01 -8.71222558e-01 -3.86650411e-03 9.09035388e+01] [ 5.87254152e-03 1.12917518e-03 -9.99982119e-01 1.26251915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.666875 meters 0.015151391461387446 Centerline is valid? [True, True] Translation: X:196.68, Y:90.89, Z:12.63 [[ 9.06698979e-01 -4.21758279e-01 4.11283442e-03 1.96675001e+02] [-4.21748078e-01 -9.06707629e-01 -3.13593028e-03 9.08938558e+01] [ 5.05174290e-03 1.10876477e-03 -9.99986625e-01 1.26263439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69687500000003 meters 0.014596070657207567 Centerline is valid? [True, True] Translation: X:196.68, Y:90.88, Z:12.63 [[ 9.36518637e-01 -3.50598506e-01 3.67830108e-03 1.96678171e+02] [-3.50591000e-01 -9.36525228e-01 -2.53932208e-03 9.08828439e+01] [ 4.33510429e-03 1.08854320e-03 -9.99990011e-01 1.26270674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.726875 meters 0.01458172239630447 Centerline is valid? [True, True] Translation: X:196.68, Y:90.87, Z:12.63 [[ 9.60783416e-01 -2.77282027e-01 3.14727594e-03 1.96681252e+02] [-2.77276721e-01 -9.60787975e-01 -2.02142740e-03 9.08715488e+01] [ 3.58437036e-03 1.06948757e-03 -9.99993004e-01 1.26285648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75687500000004 meters 0.014109853953871224 Centerline is valid? [True, True] Translation: X:196.69, Y:90.86, Z:12.63 [[ 9.78925760e-01 -2.04195257e-01 2.94183825e-03 1.96686547e+02] [-2.04190991e-01 -9.78929616e-01 -1.68722033e-03 9.08631970e+01] [ 3.22437498e-03 1.05096657e-03 -9.99994249e-01 1.26287799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.786875 meters 0.013828066289935144 Centerline is valid? [True, True] Translation: X:196.69, Y:90.85, Z:12.63 [[ 9.91721787e-01 -1.28381147e-01 2.48546363e-03 1.96692812e+02] [-1.28378054e-01 -9.91724360e-01 -1.36694354e-03 9.08541984e+01] [ 2.64038461e-03 1.03654871e-03 -9.99995977e-01 1.26287452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.816875 meters 0.013695864849910177 Centerline is valid? [True, True] Translation: X:196.70, Y:90.85, Z:12.63 [[ 9.98659481e-01 -5.17020572e-02 2.47760230e-03 1.96695026e+02] [-5.16993105e-02 -9.98662023e-01 -1.16014445e-03 9.08466851e+01] [ 2.53426918e-03 1.03049892e-03 -9.99996258e-01 1.26290331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.846875 meters 0.013278922732744758 Centerline is valid? [True, True] Translation: X:196.70, Y:90.84, Z:12.63 [[ 9.99706233e-01 2.40467722e-02 3.03323231e-03 1.96698476e+02] [ 2.40497591e-02 -9.99710309e-01 -9.52124205e-04 9.08411557e+01] [ 3.00945810e-03 1.02479301e-03 -9.99994946e-01 1.26280036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.876875 meters 0.01307623387841367 Centerline is valid? [True, True] Translation: X:196.70, Y:90.83, Z:12.63 [[ 9.94875952e-01 1.01031393e-01 3.80766429e-03 1.96702188e+02] [ 1.01034532e-01 -9.94882713e-01 -6.40612213e-04 9.08338123e+01] [ 3.72345744e-03 1.02203526e-03 -9.99992546e-01 1.26272105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.906875 meters 0.013058586117773314 Centerline is valid? [True, True] Translation: X:196.71, Y:90.83, Z:12.63 [[ 9.84106380e-01 1.77533955e-01 4.04085948e-03 1.96705216e+02] [ 1.77536603e-01 -9.84114151e-01 -3.03349204e-04 9.08267763e+01] [ 3.92281222e-03 1.01592835e-03 -9.99991790e-01 1.26272095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.936875 meters 0.012909129237603885 Centerline is valid? [True, True] Translation: X:196.71, Y:90.82, Z:12.63 [[ 9.67644536e-01 2.52280049e-01 4.33918737e-03 1.96711173e+02] [ 2.52282040e-01 -9.67653742e-01 9.11961935e-05 9.08181461e+01] [ 4.22183787e-03 1.00645354e-03 -9.99990582e-01 1.26264758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.966875 meters 0.01291993072852329 Centerline is valid? [True, True] Translation: X:196.72, Y:90.81, Z:12.63 [[ 9.45206227e-01 3.26442141e-01 4.55163115e-03 1.96715960e+02] [ 3.26443270e-01 -9.45216657e-01 5.13654769e-04 9.08104660e+01] [ 4.46995614e-03 1.00033967e-03 -9.99989509e-01 1.26271902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.996875 meters 0.01291993072852329 Centerline is valid? [True, True] Translation: X:196.72, Y:90.80, Z:12.63 [[ 9.16739744e-01 3.99460066e-01 4.46076913e-03 1.96721909e+02] [ 3.99460395e-01 -9.16750054e-01 8.55653898e-04 9.08034248e+01] [ 4.43120990e-03 9.97488663e-04 -9.99989685e-01 1.26275425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.026875 meters 0.01277854971590508 Centerline is valid? [True, True] Translation: X:196.73, Y:90.80, Z:12.63 [[ 8.83238288e-01 4.68902341e-01 4.55210958e-03 1.96728268e+02] [ 4.68901592e-01 -8.83249464e-01 1.29665091e-03 9.07971753e+01] [ 4.62865100e-03 9.89239701e-04 -9.99988798e-01 1.26274350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.056875 meters 0.012832509319884881 Centerline is valid? [True, True] Translation: X:196.74, Y:90.79, Z:12.63 [[ 8.44599125e-01 5.35380118e-01 4.52181541e-03 1.96735135e+02] [ 5.35378289e-01 -8.44610663e-01 1.70763774e-03 9.07921442e+01] [ 4.73340880e-03 9.78612453e-04 -9.99988319e-01 1.26277593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.086875 meters 0.0129899579788152 Centerline is valid? [True, True] Translation: X:196.74, Y:90.79, Z:12.63 [[ 8.01796246e-01 5.97576810e-01 4.97360073e-03 1.96741863e+02] [ 5.97572309e-01 -8.01811097e-01 2.51003591e-03 9.07887872e+01] [ 5.48782751e-03 9.59548702e-04 -9.99984481e-01 1.26275460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.116875 meters 0.013037053419232733 Centerline is valid? [True, True] Translation: X:196.75, Y:90.79, Z:12.63 [[ 7.53489656e-01 6.57441834e-01 4.85529258e-03 1.96747949e+02] [ 6.57435776e-01 -7.53504701e-01 2.97749230e-03 9.07850188e+01] [ 5.61601378e-03 9.48533396e-04 -9.99983780e-01 1.26276771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.146875 meters 0.013004135911807468 Centerline is valid? [True, True] Translation: X:196.76, Y:90.78, Z:12.63 [[ 7.00462832e-01 7.13672075e-01 4.89792243e-03 1.96759168e+02] [ 7.13663339e-01 -7.00479330e-01 3.65327264e-03 9.07786898e+01] [ 6.03813209e-03 9.36485977e-04 -9.99981332e-01 1.26272781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.176875 meters 0.013230343153862104 Centerline is valid? [True, True] Translation: X:196.77, Y:90.77, Z:12.63 [[ 6.43257465e-01 7.65634797e-01 4.81564125e-03 1.96769321e+02] [ 7.65623313e-01 -6.43274826e-01 4.29423795e-03 9.07724450e+01] [ 6.38559879e-03 9.24666594e-04 -9.99979184e-01 1.26283932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.206875 meters 0.013082012115351798 Centerline is valid? [True, True] Translation: X:196.78, Y:90.77, Z:12.63 [[ 5.81242146e-01 8.13719867e-01 4.18870111e-03 1.96782048e+02] [ 8.13709184e-01 -5.81256502e-01 4.27119194e-03 9.07671642e+01] [ 5.91026349e-03 9.25787792e-04 -9.99982106e-01 1.26286368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.236875 meters 0.013115679080226927 Centerline is valid? [True, True] Translation: X:196.79, Y:90.76, Z:12.63 [[ 5.14315136e-01 8.57593549e-01 3.63951008e-03 1.96794416e+02] [ 8.57583520e-01 -5.14327164e-01 4.25142240e-03 9.07618392e+01] [ 5.51789132e-03 9.34612982e-04 -9.99984340e-01 1.26301664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.266875 meters 0.013023143423477383 Centerline is valid? [True, True] Translation: X:196.81, Y:90.76, Z:12.63 [[ 4.44378148e-01 8.95834138e-01 3.04274001e-03 1.96805057e+02] [ 8.95825641e-01 -4.44387567e-01 4.01402028e-03 9.07591468e+01] [ 4.94805223e-03 9.42021620e-04 -9.99987315e-01 1.26304739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.296875 meters 0.012973006119296913 Centerline is valid? [True, True] Translation: X:196.81, Y:90.76, Z:12.63 [[ 3.71841976e-01 9.28292303e-01 2.63518992e-03 1.96814593e+02] [ 9.28284003e-01 -3.71850113e-01 4.03774791e-03 9.07565914e+01] [ 4.72810598e-03 9.44800483e-04 -9.99988376e-01 1.26315497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.32687500000003 meters 0.012892705355727235 Centerline is valid? [True, True] Translation: X:196.83, Y:90.76, Z:12.63 [[ 2.96390299e-01 9.55064501e-01 2.14247425e-03 1.96826835e+02] [ 9.55057824e-01 -2.96396517e-01 3.69568513e-03 9.07552049e+01] [ 4.16463958e-03 9.50821574e-04 -9.99990876e-01 1.26316282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.356875 meters 0.013030079063183401 Centerline is valid? [True, True] Translation: X:196.84, Y:90.75, Z:12.63 [[ 2.17611304e-01 9.76033812e-01 1.82146482e-03 1.96839440e+02] [ 9.76027057e-01 -2.17616808e-01 3.75615465e-03 9.07543946e+01] [ 4.06251530e-03 9.60417240e-04 -9.99991287e-01 1.26319957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.38687500000003 meters 0.013015721692692932 Centerline is valid? [True, True] Translation: X:196.85, Y:90.76, Z:12.63 [[ 1.38886284e-01 9.90307105e-01 1.56131233e-03 1.96851422e+02] [ 9.90298741e-01 -1.38891706e-01 4.18309174e-03 9.07557103e+01] [ 4.35939881e-03 9.65191565e-04 -9.99990032e-01 1.26316339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.416875 meters 0.013248612704540686 Centerline is valid? [True, True] Translation: X:196.86, Y:90.76, Z:12.63 [[ 5.76351405e-02 9.98336883e-01 1.28777996e-03 1.96864134e+02] [ 9.98323529e-01 -5.76411498e-02 5.25627788e-03 9.07569345e+01] [ 5.32176520e-03 9.82674717e-04 -9.99985356e-01 1.26316534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.44687500000003 meters 0.013449381603245979 Centerline is valid? [True, True] Translation: X:196.87, Y:90.76, Z:12.63 [[-2.23121476e-02 9.99750683e-01 8.60081038e-04 1.96872861e+02] [ 9.99733053e-01 2.23065753e-02 6.01991825e-03 9.07593466e+01] [ 5.99923192e-03 9.94168747e-04 -9.99981510e-01 1.26318019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.476875 meters 0.013691279585859414 Centerline is valid? [True, True] Translation: X:196.88, Y:90.76, Z:12.63 [[-1.02272610e-01 9.94756341e-01 3.67094563e-04 1.96879962e+02] [ 9.94737273e-01 1.02268347e-01 6.24036674e-03 9.07623523e+01] [ 6.17010223e-03 1.00338124e-03 -9.99980461e-01 1.26319086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.50687500000004 meters 0.014259604743357773 Centerline is valid? [True, True] Translation: X:196.89, Y:90.77, Z:12.63 [[-1.83018280e-01 9.83109495e-01 -1.75571922e-04 1.96887384e+02] [ 9.83088281e-01 1.83015499e-01 6.53902778e-03 9.07668455e+01] [ 6.46071268e-03 1.02415892e-03 -9.99978605e-01 1.26322176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.536875 meters 0.014564146007753105 Centerline is valid? [True, True] Translation: X:196.89, Y:90.77, Z:12.63 [[-2.61029666e-01 9.65330582e-01 -6.18033767e-04 1.96893697e+02] [ 9.65311080e-01 2.61028376e-01 6.22138421e-03 9.07714444e+01] [ 6.16701679e-03 1.02737100e-03 -9.99980456e-01 1.26328429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.566875 meters 0.014740272492010624 Centerline is valid? [True, True] Translation: X:196.90, Y:90.78, Z:12.63 [[-3.37263611e-01 9.41409894e-01 -8.17928677e-04 1.96900128e+02] [ 9.41395494e-01 3.37263062e-01 5.30568210e-03 9.07770217e+01] [ 5.27067876e-03 1.01941913e-03 -9.99985590e-01 1.26333197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.596875 meters 0.015202820610138237 Centerline is valid? [True, True] Translation: X:196.91, Y:90.78, Z:12.63 [[-4.12521951e-01 9.10947278e-01 -8.34470852e-04 1.96907137e+02] [ 9.10937712e-01 4.12521554e-01 4.29556525e-03 9.07836825e+01] [ 4.25727068e-03 1.01186399e-03 -9.99990426e-01 1.26345881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.626875 meters 0.015572924942193254 Centerline is valid? [True, True] Translation: X:196.91, Y:90.79, Z:12.64 [[-4.83875285e-01 8.75136368e-01 -1.02278445e-03 1.96913264e+02] [ 8.75128105e-01 4.83875315e-01 3.93442579e-03 9.07909764e+01] [ 3.93805924e-03 1.00870398e-03 -9.99991737e-01 1.26352937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.656875 meters 0.01586383330283646 Centerline is valid? [True, True] Translation: X:196.92, Y:90.80, Z:12.64 [[-5.51987036e-01 8.33851937e-01 -1.12189223e-03 1.96918335e+02] [ 8.33845153e-01 5.51987267e-01 3.50980896e-03 9.07983146e+01] [ 3.54593123e-03 1.00188465e-03 -9.99993211e-01 1.26352378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.686875 meters 0.01635999223858315 Centerline is valid? [True, True] Translation: X:196.92, Y:90.81, Z:12.63 [[-6.17336449e-01 7.86697040e-01 -1.86419577e-03 1.96922645e+02] [ 7.86687349e-01 6.17338412e-01 4.03745191e-03 9.08057020e+01] [ 4.32709112e-03 1.02592700e-03 -9.99990112e-01 1.26343624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.716875 meters 0.01793326460483261 Centerline is valid? [True, True] Translation: X:196.93, Y:90.81, Z:12.63 [[-6.77981850e-01 7.35074986e-01 -2.31868013e-03 1.96928334e+02] [ 7.35064613e-01 6.77985025e-01 4.03989280e-03 9.08139896e+01] [ 4.54165455e-03 1.03459428e-03 -9.99989151e-01 1.26343145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.746875 meters 0.018209316577983515 Centerline is valid? [True, True] Translation: X:196.93, Y:90.82, Z:12.63 [[-7.34199954e-01 6.78925808e-01 -3.18983222e-03 1.96928323e+02] [ 6.78912442e-01 7.34206123e-01 4.38924834e-03 9.08191960e+01] [ 5.32196832e-03 1.05696915e-03 -9.99985280e-01 1.26338047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.776875 meters 0.017284100150739872 Centerline is valid? [True, True] Translation: X:196.94, Y:90.84, Z:12.63 [[-7.81715251e-01 6.23621229e-01 -4.22242023e-03 1.96941081e+02] [ 6.23604691e-01 7.81726012e-01 4.65097654e-03 9.08396450e+01] [ 6.20122344e-03 1.00261823e-03 -9.99980270e-01 1.26322612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.806875 meters 0.018045128855823774 Centerline is valid? [True, True] Translation: X:196.96, Y:90.86, Z:12.63 [[-8.24485390e-01 5.65862887e-01 -4.79945832e-03 1.96955333e+02] [ 5.65845692e-01 8.24498732e-01 4.52703644e-03 9.08641040e+01] [ 6.51882921e-03 1.01672259e-03 -9.99978235e-01 1.26321228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.836875 meters 0.018532486259792934 Centerline is valid? [True, True] Translation: X:196.97, Y:90.89, Z:12.63 [[-8.63058533e-01 5.05076084e-01 -5.30261235e-03 1.96969169e+02] [ 5.05058865e-01 8.63074209e-01 4.29578914e-03 9.08877726e+01] [ 6.74624831e-03 1.02938610e-03 -9.99976714e-01 1.26324249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.866875 meters 0.020491764483309808 Centerline is valid? [True, True] Translation: X:196.98, Y:90.92, Z:12.63 [[-8.97822074e-01 4.40319502e-01 -5.85313135e-03 1.96977518e+02] [ 4.40302179e-01 8.97840533e-01 4.04579045e-03 9.09160449e+01] [ 7.03661901e-03 1.05525349e-03 -9.99974686e-01 1.26328846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.896875 meters 0.020277374236739452 Centerline is valid? [True, True] Translation: X:196.99, Y:90.94, Z:12.63 [[-9.26868381e-01 3.75340147e-01 -5.89735892e-03 1.96990276e+02] [ 3.75325155e-01 9.26886555e-01 3.51309224e-03 9.09390562e+01] [ 6.78478725e-03 1.04274696e-03 -9.99976439e-01 1.26328580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.926875 meters 0.020760177155186313 Centerline is valid? [True, True] Translation: X:197.00, Y:90.97, Z:12.63 [[-9.51541528e-01 3.07463998e-01 -5.88313033e-03 1.96996822e+02] [ 3.07451105e-01 9.51559134e-01 3.00553190e-03 9.09656393e+01] [ 6.52223925e-03 1.05111350e-03 -9.99978178e-01 1.26332676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.956875 meters 0.022836561825298737 Centerline is valid? [True, True] Translation: X:197.00, Y:90.99, Z:12.63 [[-9.71554901e-01 2.36754950e-01 -5.30741945e-03 1.97003038e+02] [ 2.36745467e-01 9.71568846e-01 2.35810525e-03 9.09939023e+01] [ 5.71481648e-03 1.03452122e-03 -9.99983135e-01 1.26338719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.986875 meters 0.02196947594050499 Centerline is valid? [True, True] Translation: X:197.00, Y:91.02, Z:12.63 [[-9.86103045e-01 1.66038858e-01 -5.64648284e-03 1.97003955e+02] [ 1.66029958e-01 9.86118654e-01 2.01323880e-03 9.10196906e+01] [ 5.90237793e-03 1.04777560e-03 -9.99982032e-01 1.26337533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.016875 meters 0.022739658385433542 Centerline is valid? [True, True] Translation: X:197.00, Y:91.05, Z:12.63 [[-9.95540870e-01 9.41647730e-02 -5.60098241e-03 1.97000935e+02] [ 9.41573096e-02 9.95556075e-01 1.58219212e-03 9.10482719e+01] [ 5.72507883e-03 1.04776348e-03 -9.99983063e-01 1.26339478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.046875 meters 0.02387463901947414 Centerline is valid? [True, True] Translation: X:197.00, Y:91.08, Z:12.63 [[-9.99779349e-01 2.01687063e-02 -5.87163088e-03 1.96996454e+02] [ 2.01620539e-02 9.99796017e-01 1.18999008e-03 9.10760315e+01] [ 5.89443372e-03 1.07134337e-03 -9.99982054e-01 1.26335297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07687500000003 meters 0.025147810390283368 Centerline is valid? [True, True] Translation: X:196.99, Y:91.10, Z:12.63 [[-9.98605443e-01 -5.24470430e-02 -6.03966692e-03 1.96989007e+02] [-5.24526175e-02 9.98623119e-01 7.68196944e-04 9.11043461e+01] [ 5.99106135e-03 1.08392199e-03 -9.99981466e-01 1.26337189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.106875 meters 0.025066806866746026 Centerline is valid? [True, True] Translation: X:196.98, Y:91.13, Z:12.63 [[-9.92162288e-01 -1.24799906e-01 -6.24325543e-03 1.96979357e+02] [-1.24804333e-01 9.92181321e-01 3.23009084e-04 9.11301102e+01] [ 6.15412992e-03 1.09966276e-03 -9.99980459e-01 1.26336726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13687500000003 meters 0.027957742274196232 Centerline is valid? [True, True] Translation: X:196.93, Y:91.70, Z:12.04 [[-9.99079705e-01 -4.00184984e-02 1.54357500e-02 1.96927133e+02] [ 4.00354871e-02 -9.99197944e-01 7.93054928e-04 9.16953629e+01] [ 1.53916327e-02 1.41030285e-03 9.99880547e-01 1.20352756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.166875 meters 0.027426300765388916 Centerline is valid? [True, True] Translation: X:196.92, Y:91.13, Z:12.63 [[-9.91096903e-01 -1.32929547e-01 -7.52760942e-03 1.96916805e+02] [-1.32934768e-01 9.91124770e-01 1.95328726e-04 9.11261191e+01] [ 7.43483519e-03 1.19427071e-03 -9.99971648e-01 1.26332089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19687500000003 meters 0.02769029769577533 Centerline is valid? [True, True] Translation: X:196.86, Y:91.69, Z:12.04 [[-9.99219442e-01 -3.69930386e-02 1.38572123e-02 1.96860262e+02] [ 3.70077146e-02 -9.99314656e-01 8.04078036e-04 9.16922406e+01] [ 1.38179701e-02 1.31627417e-03 9.99903661e-01 1.20374984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.226875 meters 0.027872144088878673 Centerline is valid? [True, True] Translation: X:196.85, Y:91.12, Z:12.63 [[-9.90285520e-01 -1.38714762e-01 -9.63344813e-03 1.96850765e+02] [-1.38720944e-01 9.90331510e-01 -2.66670698e-05 9.11183232e+01] [ 9.54400635e-03 1.30995301e-03 -9.99953597e-01 1.26326695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25687500000004 meters 0.025951111012227045 Centerline is valid? [True, True] Translation: X:196.84, Y:91.14, Z:12.63 [[-9.77846218e-01 -2.09071120e-01 -1.02976320e-02 1.96842717e+02] [-2.09073746e-01 9.77899522e-01 -8.32884316e-04 9.11409667e+01] [ 1.02441815e-02 1.33853172e-03 -9.99946631e-01 1.26325187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.286875 meters 0.028585114049016768 Centerline is valid? [True, True] Translation: X:196.83, Y:91.17, Z:12.63 [[-9.60392585e-01 -2.78469743e-01 -1.00341908e-02 1.96826381e+02] [-2.78468750e-01 9.60444081e-01 -1.52416679e-03 9.11679474e+01] [ 1.00617135e-02 1.33041010e-03 -9.99948495e-01 1.26336054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.316875 meters 0.028449278706156603 Centerline is valid? [True, True] Translation: X:196.80, Y:91.19, Z:12.63 [[-9.37826064e-01 -3.46982885e-01 -9.22778364e-03 1.96804894e+02] [-3.46979390e-01 9.37870561e-01 -2.02833649e-03 9.11895438e+01] [ 9.35826466e-03 1.29962392e-03 -9.99955366e-01 1.26347324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.346875 meters 0.030067557952972192 Centerline is valid? [True, True] Translation: X:196.77, Y:91.21, Z:12.64 [[-9.10262514e-01 -4.13948110e-01 -8.31371202e-03 1.96772717e+02] [-4.13943107e-01 9.10299605e-01 -2.39447199e-03 9.12092199e+01] [ 8.55915592e-03 1.26180569e-03 -9.99962574e-01 1.26360264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.376875 meters 0.02773739805093404 Centerline is valid? [True, True] Translation: X:196.72, Y:91.21, Z:12.64 [[-8.77531944e-01 -4.79463348e-01 -7.25156753e-03 1.96724413e+02] [-4.79458007e-01 8.77561057e-01 -2.57112709e-03 9.12140425e+01] [ 7.59645446e-03 1.22057597e-03 -9.99970402e-01 1.26375569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.406875 meters 0.029504330514006836 Centerline is valid? [True, True] Translation: X:196.66, Y:91.21, Z:12.64 [[-8.39226041e-01 -5.43751231e-01 -5.85246342e-03 1.96659011e+02] [-5.43747139e-01 8.39245644e-01 -2.40802561e-03 9.12136998e+01] [ 6.22102132e-03 1.16138244e-03 -9.99979975e-01 1.26409219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.436875 meters 0.028309978717199365 Centerline is valid? [True, True] Translation: X:196.59, Y:91.20, Z:12.64 [[-7.96419142e-01 -6.04722858e-01 -5.17841747e-03 1.96592113e+02] [-6.04718709e-01 7.96435172e-01 -2.50998160e-03 9.12022452e+01] [ 5.64211706e-03 1.13248854e-03 -9.99983442e-01 1.26424740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.466875 meters 0.029523371993554183 Centerline is valid? [True, True] Translation: X:196.52, Y:91.18, Z:12.64 [[-7.48979354e-01 -6.62578034e-01 -4.50290913e-03 1.96519279e+02] [-6.62574199e-01 7.48992077e-01 -2.50999977e-03 9.11848401e+01] [ 5.03571397e-03 1.10357340e-03 -9.99986712e-01 1.26445702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.496875 meters 0.02725047011947048 Centerline is valid? [True, True] Translation: X:196.45, Y:91.15, Z:12.65 [[-6.97442992e-01 -7.16631384e-01 -3.56833646e-03 1.96446216e+02] [-7.16628889e-01 6.97451331e-01 -2.16255310e-03 9.11535033e+01] [ 4.03849444e-03 1.04891549e-03 -9.99991295e-01 1.26459625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.526875 meters 0.030986660756155117 Centerline is valid? [True, True] Translation: X:196.36, Y:91.12, Z:12.65 [[-6.42211987e-01 -7.66519561e-01 -3.39500270e-03 1.96364305e+02] [-7.66516450e-01 6.42220107e-01 -2.42174021e-03 9.11177407e+01] [ 4.03665025e-03 1.04705483e-03 -9.99991305e-01 1.26478208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.556875 meters 0.027206783480298022 Centerline is valid? [True, True] Translation: X:196.29, Y:91.07, Z:12.65 [[-5.84252947e-01 -8.11564886e-01 -3.30608835e-03 1.96291015e+02] [-8.11560749e-01 5.84261358e-01 -2.79585921e-03 9.10656210e+01] [ 4.20064083e-03 1.04960255e-03 -9.99990626e-01 1.26475031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.586875 meters 0.0302582459951366 Centerline is valid? [True, True] Translation: X:196.21, Y:91.01, Z:12.65 [[-5.22697663e-01 -8.52510360e-01 -3.63862299e-03 1.96212651e+02] [-8.52502403e-01 5.22709184e-01 -3.84211211e-03 9.10127719e+01] [ 5.17738203e-03 1.09367182e-03 -9.99985999e-01 1.26484335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.616875 meters 0.026778284331102416 Centerline is valid? [True, True] Translation: X:196.14, Y:90.94, Z:12.65 [[-4.58467618e-01 -8.88702480e-01 -3.91733004e-03 1.96142744e+02] [-8.88688554e-01 4.58482933e-01 -5.10435358e-03 9.09439103e+01] [ 6.33228066e-03 1.14110554e-03 -9.99979300e-01 1.26480936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.646875 meters 0.027185954620941737 Centerline is valid? [True, True] Translation: X:196.07, Y:90.87, Z:12.65 [[-3.91419449e-01 -9.20203156e-01 -4.11912061e-03 1.96072544e+02] [-9.20180050e-01 3.91439297e-01 -6.62962990e-03 9.08706030e+01] [ 7.71299204e-03 1.19536653e-03 -9.99969540e-01 1.26485642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.676875 meters 0.0239529030648887 Centerline is valid? [True, True] Translation: X:196.01, Y:90.79, Z:12.65 [[-3.23876920e-01 -9.46088127e-01 -4.58223519e-03 1.96011417e+02] [-9.46042092e-01 3.23906789e-01 -9.42083450e-03 9.07870617e+01] [ 1.03971568e-02 1.28379651e-03 -9.99945124e-01 1.26478711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.706875 meters 0.023585159401461577 Centerline is valid? [True, True] Translation: X:195.95, Y:90.70, Z:12.65 [[-2.52464531e-01 -9.67597554e-01 -4.07863013e-03 1.95952047e+02] [-9.67541544e-01 2.52494140e-01 -1.04914010e-02 9.06979821e+01] [ 1.11812842e-02 1.29753746e-03 -9.99936646e-01 1.26484166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.736875 meters 0.022639125857260144 Centerline is valid? [True, True] Translation: X:195.90, Y:90.60, Z:12.65 [[-1.79299732e-01 -9.83788722e-01 -3.37007432e-03 1.95900179e+02] [-9.83725359e-01 1.79326690e-01 -1.12408357e-02 9.06037724e+01] [ 1.16629516e-02 1.29974875e-03 -9.99931141e-01 1.26495891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.766875 meters 0.02303137888530258 Centerline is valid? [True, True] Translation: X:195.85, Y:90.50, Z:12.65 [[-1.05457677e-01 -9.94421143e-01 -2.29525956e-03 1.95851280e+02] [-9.94370935e-01 1.05475588e-01 -1.00670033e-02 9.04978673e+01] [ 1.02529348e-02 1.22069661e-03 -9.99946692e-01 1.26526514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.796875 meters 0.02284101548494525 Centerline is valid? [True, True] Translation: X:195.81, Y:90.40, Z:12.66 [[-2.95614680e-02 -9.99561957e-01 -1.41900672e-03 1.95812703e+02] [-9.99524065e-01 2.95728120e-02 -8.78021575e-03 9.03965668e+01] [ 8.81833366e-03 1.15877529e-03 -9.99960446e-01 1.26550514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.82687500000003 meters 0.021776109782425803 Centerline is valid? [True, True] Translation: X:195.78, Y:90.28, Z:12.66 [[ 4.65626888e-02 -9.98915079e-01 -7.62778517e-04 1.95782832e+02] [-9.98896681e-01 -4.65571331e-02 -6.15259022e-03 9.02839527e+01] [ 6.11040236e-03 1.04841807e-03 -9.99980782e-01 1.26590438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.856875 meters 0.021674942812031087 Centerline is valid? [True, True] Translation: X:195.76, Y:90.18, Z:12.66 [[ 1.22781613e-01 -9.92433648e-01 -3.61263532e-04 1.95760469e+02] [-9.92419856e-01 -1.22777967e-01 -5.32921835e-03 9.01764994e+01] [ 5.24454041e-03 1.01285513e-03 -9.99985734e-01 1.26612288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.88687500000003 meters 0.020549667812288192 Centerline is valid? [True, True] Translation: X:195.75, Y:90.06, Z:12.66 [[ 1.96689669e-01 -9.80465794e-01 7.71625465e-07 1.95748398e+02] [-9.80453376e-01 -1.96687182e-01 -5.03294268e-03 9.00644883e+01] [ 4.93477991e-03 9.89171289e-04 -9.99987335e-01 1.26628046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.916875 meters 0.020549667812288192 Centerline is valid? [True, True] Translation: X:195.74, Y:89.95, Z:12.66 [[ 2.71217654e-01 -9.62517968e-01 3.80966709e-04 1.95743563e+02] [-9.62505551e-01 -2.71216129e-01 -4.98751428e-03 8.99503006e+01] [ 4.90389643e-03 9.86019353e-04 -9.99987490e-01 1.26642381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.94687500000003 meters 0.020382497456506145 Centerline is valid? [True, True] Translation: X:195.75, Y:89.84, Z:12.67 [[ 3.42763620e-01 -9.39421282e-01 8.68882882e-04 1.95747868e+02] [-9.39407056e-01 -3.42763297e-01 -5.26354888e-03 8.98368507e+01] [ 5.24251100e-03 9.87918356e-04 -9.99985770e-01 1.26651475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.976875 meters 0.020082836293179643 Centerline is valid? [True, True] Translation: X:195.76, Y:89.73, Z:12.67 [[ 4.11981995e-01 -9.11190830e-01 1.45132319e-03 1.95759504e+02] [-9.11174060e-01 -4.11983358e-01 -5.61649533e-03 8.97276168e+01] [ 5.71562004e-03 9.91486911e-04 -9.99983174e-01 1.26660307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.00687500000004 meters 0.018216518465940384 Centerline is valid? [True, True] Translation: X:195.78, Y:89.62, Z:12.67 [[ 4.78785234e-01 -8.77928571e-01 2.47472978e-03 1.95783287e+02] [-8.77903872e-01 -4.78790548e-01 -6.66349929e-03 8.96180505e+01] [ 7.03495364e-03 1.01781021e-03 -9.99974736e-01 1.26660213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.036875 meters 0.017687303046402918 Centerline is valid? [True, True] Translation: X:195.81, Y:89.51, Z:12.66 [[ 5.41309124e-01 -8.40811632e-01 4.49802739e-03 1.95810726e+02] [-8.40764567e-01 -5.41326757e-01 -8.96014909e-03 8.95142181e+01] [ 9.96870016e-03 1.06842840e-03 -9.99949740e-01 1.26642028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.066875 meters 0.016665788863330085 Centerline is valid? [True, True] Translation: X:195.85, Y:89.41, Z:12.66 [[ 6.03096841e-01 -7.97645640e-01 5.96942336e-03 1.95849131e+02] [-7.97587359e-01 -6.03125395e-01 -9.70376252e-03 8.94086982e+01] [ 1.13404747e-02 1.09117191e-03 -9.99935099e-01 1.26644484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.096875 meters 0.01742744232802657 Centerline is valid? [True, True] Translation: X:195.89, Y:89.31, Z:12.66 [[ 6.61951463e-01 -7.49512440e-01 7.16685915e-03 1.95888279e+02] [-7.49449415e-01 -6.61989338e-01 -9.78214912e-03 8.93095687e+01] [ 1.20762268e-02 1.10410952e-03 -9.99926470e-01 1.26649795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.126875 meters 0.01721004063227567 Centerline is valid? [True, True] Translation: X:195.94, Y:89.22, Z:12.67 [[ 7.17176588e-01 -6.96843861e-01 8.14710550e-03 1.95935143e+02] [-6.96780432e-01 -7.17221998e-01 -9.46759172e-03 8.92155392e+01] [ 1.24407165e-02 1.11319144e-03 -9.99921992e-01 1.26661941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.156875 meters 0.018772154487132566 Centerline is valid? [True, True] Translation: X:195.99, Y:89.12, Z:12.67 [[ 7.69354723e-01 -6.38775042e-01 7.73014700e-03 1.95985070e+02] [-6.38727874e-01 -7.69392780e-01 -7.83922193e-03 8.91218749e+01] [ 1.09550186e-02 1.09368206e-03 -9.99939394e-01 1.26691862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.186875 meters 0.01841324944631117 Centerline is valid? [True, True] Translation: X:195.98, Y:89.11, Z:12.67 [[ 8.17994814e-01 -5.75183165e-01 6.98646899e-03 1.95984828e+02] [-5.75150341e-01 -8.18023928e-01 -6.24011888e-03 8.91106779e+01] [ 9.30431014e-03 1.08611487e-03 -9.99956124e-01 1.26715161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.216875 meters 0.021454963922676262 Centerline is valid? [True, True] Translation: X:195.98, Y:89.09, Z:12.68 [[ 8.62286069e-01 -5.06403964e-01 4.21442538e-03 1.95981820e+02] [-5.06391993e-01 -8.62295803e-01 -3.61902038e-03 8.90942453e+01] [ 5.46676759e-03 9.86479591e-04 -9.99984571e-01 1.26758010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.246875 meters 0.020504533552982533 Centerline is valid? [True, True] Translation: X:195.99, Y:89.09, Z:12.68 [[ 9.00058955e-01 -4.35758520e-01 2.89669663e-03 1.95985352e+02] [-4.35752704e-01 -9.00063135e-01 -2.43598355e-03 8.90853261e+01] [ 3.66871043e-03 9.30285417e-04 -9.99992838e-01 1.26772587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.276875 meters 0.020540204621884155 Centerline is valid? [True, True] Translation: X:195.99, Y:89.07, Z:12.68 [[ 9.31778483e-01 -3.63022716e-01 1.83487268e-03 1.95989408e+02] [-3.63019987e-01 -9.31779873e-01 -1.66080965e-03 8.90740594e+01] [ 2.31260906e-03 8.81411245e-04 -9.99996937e-01 1.26780888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.306875 meters 0.021726264114992497 Centerline is valid? [True, True] Translation: X:195.99, Y:89.06, Z:12.68 [[ 9.57688366e-01 -2.87791640e-01 2.99435222e-03 1.95992434e+02] [-2.87787083e-01 -9.57692601e-01 -1.86458677e-03 8.90627499e+01] [ 3.40428145e-03 9.23957165e-04 -9.99993779e-01 1.26773461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.336875 meters 0.02179522334005174 Centerline is valid? [True, True] Translation: X:196.00, Y:89.05, Z:12.68 [[ 9.77241256e-01 -2.12070963e-01 5.04327929e-03 1.95998389e+02] [-2.12062764e-01 -9.77253761e-01 -2.11459081e-03 8.90545430e+01] [ 5.37700696e-03 9.96973635e-04 -9.99985047e-01 1.26757867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.366875 meters 0.021982397241402076 Centerline is valid? [True, True] Translation: X:196.01, Y:89.05, Z:12.67 [[ 9.90745023e-01 -1.35541541e-01 7.26565048e-03 1.96005585e+02] [-1.35529889e-01 -9.90771085e-01 -2.07515894e-03 8.90470471e+01] [ 7.47986665e-03 1.07124059e-03 -9.99971452e-01 1.26740013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.396875 meters 0.02138882800241898 Centerline is valid? [True, True] Translation: X:196.01, Y:89.04, Z:12.67 [[ 9.98262252e-01 -5.81437892e-02 9.57996858e-03 1.96013205e+02] [-5.81300472e-02 -9.98307560e-01 -1.70695317e-03 8.90405109e+01] [ 9.66300378e-03 1.14710289e-03 -9.99952654e-01 1.26721421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.426875 meters 0.019721850338758177 Centerline is valid? [True, True] Translation: X:196.02, Y:89.03, Z:12.67 [[ 9.99731146e-01 1.95423901e-02 1.24791982e-02 1.96017547e+02] [ 1.95563633e-02 -9.99808257e-01 -9.98661871e-04 8.90317967e+01] [ 1.24572891e-02 1.24244111e-03 -9.99921633e-01 1.26703124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.456875 meters 0.021016747770453596 Centerline is valid? [True, True] Translation: X:196.02, Y:89.02, Z:12.67 [[ 9.95116817e-01 9.79588193e-02 1.21074274e-02 1.96021891e+02] [ 9.79664989e-02 -9.95189712e-01 -4.14137320e-05 8.90201674e+01] [ 1.20451304e-02 1.22733378e-03 -9.99926702e-01 1.26710622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.486875 meters 0.02072467238102224 Centerline is valid? [True, True] Translation: X:196.03, Y:89.01, Z:12.67 [[ 9.84199194e-01 1.76810678e-01 9.48316816e-03 1.96028320e+02] [ 1.76813515e-01 -9.84244220e-01 5.45098673e-04 8.90101561e+01] [ 9.43013271e-03 1.14026662e-03 -9.99954885e-01 1.26747657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.516875 meters 0.02134293232040221 Centerline is valid? [True, True] Translation: X:196.03, Y:89.00, Z:12.68 [[ 9.67167093e-01 2.54038607e-01 7.22495130e-03 1.96034659e+02] [ 2.54039538e-01 -9.67193500e-01 8.03871493e-04 8.90014685e+01] [ 7.19214033e-03 1.05794523e-03 -9.99973577e-01 1.26772588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.546875 meters 0.02192330805105923 Centerline is valid? [True, True] Translation: X:196.04, Y:88.99, Z:12.68 [[ 9.43959471e-01 3.30022229e-01 5.08389845e-03 1.96041894e+02] [ 3.30022844e-01 -9.43972655e-01 7.41651538e-04 8.89944924e+01] [ 5.04382261e-03 9.77713629e-04 -9.99986802e-01 1.26794857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57687500000003 meters 0.02297995716281479 Centerline is valid? [True, True] Translation: X:196.05, Y:88.99, Z:12.68 [[ 9.14923885e-01 4.03620290e-01 2.22396188e-03 1.96049130e+02] [ 4.03621198e-01 -9.14926186e-01 4.43343234e-05 8.89873250e+01] [ 2.05265520e-03 8.57075629e-04 -9.99997526e-01 1.26822141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.606875 meters 0.02227100532611897 Centerline is valid? [True, True] Translation: X:196.06, Y:88.99, Z:12.68 [[ 8.80746954e-01 4.73583170e-01 1.94555860e-03 1.96056403e+02] [ 4.73583909e-01 -8.80748700e-01 9.06353352e-05 8.89850542e+01] [ 1.75647158e-03 8.41558453e-04 -9.99998103e-01 1.26822796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63687500000003 meters 0.021768784083010775 Centerline is valid? [True, True] Translation: X:196.06, Y:88.98, Z:12.68 [[ 8.42312388e-01 5.38986889e-01 1.72451316e-03 1.96062665e+02] [ 5.38987507e-01 -8.42313749e-01 1.23307214e-04 8.89837156e+01] [ 1.51904212e-03 8.25627855e-04 -9.99998505e-01 1.26820250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.666875 meters 0.020747127489858973 Centerline is valid? [True, True] Translation: X:196.07, Y:88.98, Z:12.68 [[ 7.98679509e-01 6.01752450e-01 2.24296366e-03 1.96069041e+02] [ 6.01752708e-01 -7.98682213e-01 6.33263891e-04 8.89838122e+01] [ 2.17248328e-03 8.43934562e-04 -9.99997284e-01 1.26816085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69687500000003 meters 0.01990284091479548 Centerline is valid? [True, True] Translation: X:196.08, Y:88.98, Z:12.68 [[ 7.50766491e-01 6.60563017e-01 2.48521187e-03 1.96075504e+02] [ 6.60562718e-01 -7.50770125e-01 1.05592129e-03 8.89842929e+01] [ 2.56332538e-03 8.48887988e-04 -9.99996354e-01 1.26810520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.726875 meters 0.01896529791872024 Centerline is valid? [True, True] Translation: X:196.08, Y:88.99, Z:12.68 [[ 6.98576132e-01 7.15530639e-01 2.70053123e-03 1.96082154e+02] [ 7.15529481e-01 -6.98580830e-01 1.54441264e-03 8.89858880e+01] [ 2.99161391e-03 8.53419904e-04 -9.99995161e-01 1.26807662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75687500000004 meters 0.017331000977071215 Centerline is valid? [True, True] Translation: X:196.09, Y:88.99, Z:12.68 [[ 6.44221799e-01 7.64831715e-01 3.27436778e-03 1.96087175e+02] [ 7.64827963e-01 -6.44229541e-01 2.54670218e-03 8.89884800e+01] [ 4.05724305e-03 8.63686983e-04 -9.99991396e-01 1.26796184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.786875 meters 0.016872274758249126 Centerline is valid? [True, True] Translation: X:196.09, Y:88.99, Z:12.68 [[ 5.83711512e-01 8.11954324e-01 3.32366698e-03 1.96093347e+02] [ 8.11948707e-01 -5.83720333e-01 3.14149667e-03 8.89896751e+01] [ 4.49084380e-03 8.64919338e-04 -9.99989542e-01 1.26790475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.816875 meters 0.016867802441826625 Centerline is valid? [True, True] Translation: X:196.10, Y:88.99, Z:12.68 [[ 5.19833660e-01 8.54262185e-01 3.01422235e-03 1.96100175e+02] [ 8.54256185e-01 -5.19841700e-01 3.31321025e-03 8.89897080e+01] [ 4.39726870e-03 8.52599877e-04 -9.99989969e-01 1.26790705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.846875 meters 0.016863533874074445 Centerline is valid? [True, True] Translation: X:196.11, Y:88.99, Z:12.68 [[ 4.51400397e-01 8.92318640e-01 2.26418386e-03 1.96105692e+02] [ 8.92315108e-01 -4.51405318e-01 2.64333680e-03 8.89914330e+01] [ 3.38076333e-03 8.27162179e-04 -9.99993943e-01 1.26797645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.876875 meters 0.015827939084617958 Centerline is valid? [True, True] Translation: X:196.11, Y:88.99, Z:12.68 [[ 3.79728731e-01 9.25096497e-01 1.60050876e-03 1.96114167e+02] [ 9.25095111e-01 -3.79731260e-01 1.79045687e-03 8.89928074e+01] [ 2.26410858e-03 8.00734910e-04 -9.99997116e-01 1.26799131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.906875 meters 0.016412050054924937 Centerline is valid? [True, True] Translation: X:196.13, Y:88.99, Z:12.68 [[ 3.04238211e-01 9.52595864e-01 4.80093762e-04 1.96125704e+02] [ 9.52595723e-01 -3.04237714e-01 -8.95352396e-04 8.89935296e+01] [-7.06846360e-04 7.29735675e-04 -9.99999484e-01 1.26815675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.936875 meters 0.016556873343482104 Centerline is valid? [True, True] Translation: X:196.14, Y:89.00, Z:12.68 [[ 2.27511807e-01 9.73775308e-01 1.63079162e-04 1.96135637e+02] [ 9.73772781e-01 -2.27510827e-01 -2.32256350e-03 8.89950106e+01] [-2.22455271e-03 6.87212667e-04 -9.99997290e-01 1.26824152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.966875 meters 0.0172034387168613 Centerline is valid? [True, True] Translation: X:196.15, Y:89.00, Z:12.68 [[ 1.49449878e-01 9.88769292e-01 1.47772336e-04 1.96145535e+02] [ 9.88763696e-01 -1.49448526e-01 -3.39002103e-03 8.89962325e+01] [-3.32986433e-03 6.52750151e-04 -9.99994243e-01 1.26835103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.996875 meters 0.01732221596352215 Centerline is valid? [True, True] Translation: X:196.15, Y:89.00, Z:12.68 [[ 7.04085890e-02 9.97518169e-01 3.64911655e-04 1.96154215e+02] [ 9.97511004e-01 -7.04066808e-02 -3.83365448e-03 8.89996310e+01] [-3.79844778e-03 6.33925594e-04 -9.99992585e-01 1.26834325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.026875 meters 0.01817240596532633 Centerline is valid? [True, True] Translation: X:196.16, Y:89.00, Z:12.68 [[-9.84556462e-03 9.99951297e-01 6.83881709e-04 1.96163575e+02] [ 9.99947936e-01 9.84736085e-03 -2.67478228e-03 8.90040628e+01] [-2.68138644e-03 6.57511362e-04 -9.99996189e-01 1.26816868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.056875 meters 0.01997847576979844 Centerline is valid? [True, True] Translation: X:196.17, Y:89.01, Z:12.68 [[-8.90666740e-02 9.96025327e-01 8.21559685e-04 1.96172530e+02] [ 9.96024507e-01 8.90677986e-02 -1.45240711e-03 8.90084801e+01] [-1.51980878e-03 6.88932509e-04 -9.99998608e-01 1.26811190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.086875 meters 0.018973891983295348 Centerline is valid? [True, True] Translation: X:196.18, Y:89.01, Z:12.68 [[-1.67573634e-01 9.85859346e-01 6.52831916e-04 1.96176589e+02] [ 9.85859427e-01 1.67573227e-01 6.36096962e-04 8.90136942e+01] [ 5.17704985e-04 7.50193578e-04 -9.99999585e-01 1.26787817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.116875 meters 0.01967521496335077 Centerline is valid? [True, True] Translation: X:196.18, Y:89.02, Z:12.68 [[-2.46027270e-01 9.69262879e-01 -2.31073498e-04 1.96183495e+02] [ 9.69252890e-01 2.46025804e-01 4.48775101e-03 8.90202903e+01] [ 4.40666051e-03 8.80140475e-04 -9.99989903e-01 1.26750470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.146875 meters 0.01886703749743919 Centerline is valid? [True, True] Translation: X:196.19, Y:89.03, Z:12.67 [[-3.22054907e-01 9.46720468e-01 -9.95742607e-04 1.96189794e+02] [ 9.46703055e-01 3.22055101e-01 5.81707081e-03 8.90277722e+01] [ 5.82782399e-03 9.30743632e-04 -9.99982585e-01 1.26738950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.176875 meters 0.021154695999073863 Centerline is valid? [True, True] Translation: X:196.20, Y:89.04, Z:12.67 [[-3.98541118e-01 9.17148279e-01 -2.00275146e-03 1.96200395e+02] [ 9.17121068e-01 3.98544877e-01 7.13636037e-03 8.90362322e+01] [ 7.34328697e-03 1.00736749e-03 -9.99972530e-01 1.26729040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.206875 meters 0.02090205200157332 Centerline is valid? [True, True] Translation: X:196.21, Y:89.04, Z:12.67 [[-4.71046071e-01 8.82105035e-01 -2.51102634e-03 1.96206516e+02] [ 8.82078947e-01 4.71051667e-01 6.85992412e-03 8.90447532e+01] [ 7.23399675e-03 1.01641684e-03 -9.99973318e-01 1.26737475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.236875 meters 0.02263409586320319 Centerline is valid? [True, True] Translation: X:196.21, Y:89.05, Z:12.68 [[-5.40759783e-01 8.41173618e-01 -2.40849301e-03 1.96214394e+02] [ 8.41155844e-01 5.40764262e-01 5.55517126e-03 8.90542435e+01] [ 5.97529046e-03 9.78095231e-04 -9.99981669e-01 1.26753531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.266875 meters 0.025397886982338615 Centerline is valid? [True, True] Translation: X:196.22, Y:89.07, Z:12.68 [[-6.08651534e-01 7.93436734e-01 -1.20816750e-03 1.96223140e+02] [ 7.93431532e-01 6.08652113e-01 3.00139929e-03 8.90658498e+01] [ 3.11677415e-03 8.68208089e-04 -9.99994766e-01 1.26794900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.296875 meters 0.025286252671122333 Centerline is valid? [True, True] Translation: X:196.22, Y:89.08, Z:12.68 [[-6.70710226e-01 7.41719478e-01 -9.85055507e-05 1.96224627e+02] [ 7.41718814e-01 6.70709792e-01 1.25487378e-03 8.90760384e+01] [ 9.96832965e-04 7.68593258e-04 -9.99999208e-01 1.26818048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.32687500000003 meters 0.026741631138249115 Centerline is valid? [True, True] Translation: X:196.23, Y:89.09, Z:12.68 [[-7.28146047e-01 6.85420345e-01 1.51126339e-03 1.96226981e+02] [ 6.85420430e-01 7.28147334e-01 -5.42928581e-04 8.90862662e+01] [-1.47255670e-03 6.40519501e-04 -9.99998711e-01 1.26839894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.356875 meters 0.027323550686041073 Centerline is valid? [True, True] Translation: X:196.23, Y:89.10, Z:12.69 [[-7.81358334e-01 6.24067479e-01 4.35147060e-03 1.96227737e+02] [ 6.24060771e-01 7.81370333e-01 -2.92521716e-03 8.90970165e+01] [-5.22564293e-03 4.29939291e-04 -9.99986254e-01 1.26862457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.38687500000003 meters 0.02768556618446585 Centerline is valid? [True, True] Translation: X:196.53, Y:89.45, Z:12.08 [[-6.59261829e-01 -7.51712388e-01 1.73875287e-02 1.96530952e+02] [ 7.51519743e-01 -6.59488661e-01 -1.71108693e-02 8.94513535e+01] [ 2.43293305e-02 1.78652809e-03 9.99702402e-01 1.20791620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.416875 meters 0.02721157455882765 Centerline is valid? [True, True] Translation: X:196.51, Y:89.47, Z:12.08 [[-6.59228674e-01 -7.51740284e-01 1.74384535e-02 1.96511872e+02] [ 7.51530830e-01 -6.59457853e-01 -1.77975184e-02 8.94714879e+01] [ 2.48790367e-02 1.37290091e-03 9.99689526e-01 1.20803568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.44687500000003 meters 0.02750964434571768 Centerline is valid? [True, True] Translation: X:196.49, Y:89.49, Z:12.08 [[-6.60034868e-01 -7.51053160e-01 1.65264372e-02 1.96492172e+02] [ 7.50865015e-01 -6.60240492e-01 -1.68588995e-02 8.94897332e+01] [ 2.35733528e-02 1.28166195e-03 9.99721288e-01 1.20833067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.476875 meters 0.027700564237962966 Centerline is valid? [True, True] Translation: X:196.47, Y:89.51, Z:12.09 [[-6.60966286e-01 -7.50249245e-01 1.57999854e-02 1.96472941e+02] [ 7.50077224e-01 -6.61154009e-01 -1.61100939e-02 8.95083787e+01] [ 2.25328095e-02 1.20298021e-03 9.99745380e-01 1.20854007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.50687500000004 meters 0.027017081233607857 Centerline is valid? [True, True] Translation: X:196.45, Y:89.53, Z:12.09 [[-6.62703216e-01 -7.48760100e-01 1.35188985e-02 1.96453603e+02] [ 7.48633998e-01 -6.62840352e-01 -1.37769592e-02 8.95280803e+01] [ 1.92765088e-02 9.90671800e-04 9.99813700e-01 1.20891623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.536875 meters 0.027516366285076647 Centerline is valid? [True, True] Translation: X:196.43, Y:89.55, Z:12.09 [[-6.63486918e-01 -7.48079356e-01 1.27431483e-02 1.96433779e+02] [ 7.47967317e-01 -6.63608643e-01 -1.29792836e-02 8.95463568e+01] [ 1.81659974e-02 9.19873561e-04 9.99834562e-01 1.20909316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.566875 meters 0.02707744696921015 Centerline is valid? [True, True] Translation: X:196.41, Y:89.57, Z:12.09 [[-6.64046325e-01 -7.47588139e-01 1.24279336e-02 1.96414409e+02] [ 7.47481617e-01 -6.64162017e-01 -1.26509877e-02 8.95658867e+01] [ 1.77118898e-02 8.88810026e-04 9.99842737e-01 1.20920179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.596875 meters 0.025608544178161177 Centerline is valid? [True, True] Translation: X:196.39, Y:89.59, Z:12.09 [[-6.64653067e-01 -7.47059975e-01 1.17342936e-02 1.96394764e+02] [ 7.46965045e-01 -6.64756124e-01 -1.19380463e-02 8.95861373e+01] [ 1.67188801e-02 8.30448077e-04 9.99859885e-01 1.20937116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.626875 meters 0.026533947012027922 Centerline is valid? [True, True] Translation: X:196.37, Y:89.60, Z:12.09 [[-6.65018840e-01 -7.46736882e-01 1.15745720e-02 1.96374334e+02] [ 7.46644587e-01 -6.65119059e-01 -1.17684740e-02 8.96033816e+01] [ 1.64864220e-02 8.15834601e-04 9.99863757e-01 1.20940455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.656875 meters 0.028434099697027468 Centerline is valid? [True, True] Translation: X:196.35, Y:89.62, Z:12.09 [[-6.65505169e-01 -7.46313886e-01 1.08836092e-02 1.96352239e+02] [ 7.46232332e-01 -6.65593722e-01 -1.10590898e-02 8.96190684e+01] [ 1.54976142e-02 7.61819644e-04 9.99879615e-01 1.20942200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.686875 meters 0.027782514251266117 Centerline is valid? [True, True] Translation: X:196.33, Y:89.64, Z:12.09 [[-6.65962810e-01 -7.45912867e-01 1.03696648e-02 1.96333296e+02] [ 7.45838878e-01 -6.66043148e-01 -1.05305864e-02 8.96389918e+01] [ 1.47615441e-02 7.21120225e-04 9.99890782e-01 1.20946582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.716875 meters 0.026028433792127843 Centerline is valid? [True, True] Translation: X:196.32, Y:89.66, Z:12.09 [[-6.66588974e-01 -7.45352967e-01 1.03968026e-02 1.96315200e+02] [ 7.45278617e-01 -6.66669666e-01 -1.05517924e-02 8.96601002e+01] [ 1.47960427e-02 7.14806200e-04 9.99890277e-01 1.20949501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.746875 meters 0.02508423718677231 Centerline is valid? [True, True] Translation: X:196.30, Y:89.68, Z:12.09 [[-6.68195486e-01 -7.43915680e-01 1.02104886e-02 1.96296401e+02] [ 7.43843889e-01 -6.68273153e-01 -1.03567631e-02 8.96804002e+01] [ 1.45279539e-02 6.74667175e-04 9.99894236e-01 1.20939139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.776875 meters 0.024064251851517435 Centerline is valid? [True, True] Translation: X:196.28, Y:89.70, Z:12.09 [[-6.69379024e-01 -7.42848583e-01 1.03780603e-02 1.96277276e+02] [ 7.42774375e-01 -6.69459139e-01 -1.05208990e-02 8.97015266e+01] [ 1.47631222e-02 6.66088093e-04 9.99890797e-01 1.20929471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.806875 meters 0.024064251851517435 Centerline is valid? [True, True] Translation: X:196.26, Y:89.72, Z:12.09 [[-6.69612129e-01 -7.42638425e-01 1.03810243e-02 1.96258403e+02] [ 7.42564237e-01 -6.69692262e-01 -1.05179739e-02 8.97204860e+01] [ 1.47631432e-02 6.65614458e-04 9.99890797e-01 1.20931892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.836875 meters 0.024261656070609903 Centerline is valid? [True, True] Translation: X:196.24, Y:89.74, Z:12.09 [[-6.70964869e-01 -7.41412272e-01 1.06764987e-02 1.96238689e+02] [ 7.41333745e-01 -6.71049481e-01 -1.08107679e-02 8.97398056e+01] [ 1.51796949e-02 6.61203287e-04 9.99884563e-01 1.20916751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.866875 meters 0.020538018563725016 Centerline is valid? [True, True] Translation: X:196.22, Y:89.76, Z:12.09 [[-6.72194032e-01 -7.40287704e-01 1.13709831e-02 1.96222461e+02] [ 7.40198572e-01 -6.72289856e-01 -1.15075487e-02 8.97641726e+01] [ 1.61634934e-02 6.81479889e-04 9.99869130e-01 1.20914643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.896875 meters 0.02112358640858321 Centerline is valid? [True, True] Translation: X:196.20, Y:89.78, Z:12.09 [[-6.74177162e-01 -7.38470240e-01 1.21185494e-02 1.96202560e+02] [ 7.38368829e-01 -6.74285723e-01 -1.22571004e-02 8.97831764e+01] [ 1.72228687e-02 6.84501939e-04 9.99851441e-01 1.20896431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.926875 meters 0.021239476837719713 Centerline is valid? [True, True] Translation: X:196.18, Y:89.80, Z:12.09 [[-6.75200215e-01 -7.37531925e-01 1.23016141e-02 1.96182993e+02] [ 7.37427397e-01 -6.75311931e-01 -1.24350547e-02 8.98025857e+01] [ 1.74786766e-02 6.75395681e-04 9.99847008e-01 1.20892330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.956875 meters 0.020724316631367555 Centerline is valid? [True, True] Translation: X:196.16, Y:89.82, Z:12.09 [[-6.76199594e-01 -7.36603523e-01 1.30138003e-02 1.96163731e+02] [ 7.36486510e-01 -6.76324454e-01 -1.31473813e-02 8.98226710e+01] [ 1.84859587e-02 6.94234487e-04 9.99828879e-01 1.20886005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.986875 meters 0.020516399157234702 Centerline is valid? [True, True] Translation: X:196.14, Y:89.84, Z:12.09 [[-6.76780292e-01 -7.36066494e-01 1.32118288e-02 1.96144625e+02] [ 7.35945940e-01 -6.76908881e-01 -1.33394202e-02 8.98414576e+01] [ 1.87619045e-02 6.95335074e-04 9.99823738e-01 1.20886079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.016875 meters 0.02155296115919485 Centerline is valid? [True, True] Translation: X:196.12, Y:89.86, Z:12.09 [[-6.77062403e-01 -7.35799816e-01 1.36063842e-02 1.96124579e+02] [ 7.35672074e-01 -6.77198730e-01 -1.37287752e-02 8.98586979e+01] [ 1.93158564e-02 7.14599408e-04 9.99813176e-01 1.20882982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.046875 meters 0.020708189628244802 Centerline is valid? [True, True] Translation: X:196.11, Y:89.88, Z:12.09 [[-6.77546938e-01 -7.35358048e-01 1.33674126e-02 1.96106311e+02] [ 7.35234832e-01 -6.77678432e-01 -1.34790467e-02 8.98782816e+01] [ 1.89707327e-02 6.95500591e-04 9.99819798e-01 1.20891132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07687500000003 meters 0.02122393142372861 Centerline is valid? [True, True] Translation: X:196.09, Y:89.90, Z:12.09 [[-6.78254955e-01 -7.34715452e-01 1.27836214e-02 1.96087489e+02] [ 7.34602777e-01 -6.78375102e-01 -1.28833854e-02 8.98960406e+01] [ 1.81377128e-02 6.52663771e-04 9.99835285e-01 1.20897303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.106875 meters 0.020244207690079584 Centerline is valid? [True, True] Translation: X:196.07, Y:89.92, Z:12.09 [[-6.78607631e-01 -7.34392633e-01 1.26152320e-02 1.96069488e+02] [ 7.34282977e-01 -6.78724577e-01 -1.27066416e-02 8.99168387e+01] [ 1.78939320e-02 6.40326115e-04 9.99839686e-01 1.20908323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13687500000003 meters 0.019793991506466036 Centerline is valid? [True, True] Translation: X:196.05, Y:89.94, Z:12.09 [[-6.79031938e-01 -7.33998078e-01 1.27455462e-02 1.96050049e+02] [ 7.33886215e-01 -6.79151243e-01 -1.28301794e-02 8.99373183e+01] [ 1.80734806e-02 6.41679031e-04 9.99836455e-01 1.20913139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.166875 meters 0.02090911440757964 Centerline is valid? [True, True] Translation: X:196.03, Y:89.95, Z:12.09 [[-6.79371370e-01 -7.33677895e-01 1.30877010e-02 1.96030810e+02] [ 7.33560016e-01 -6.79497106e-01 -1.31675582e-02 8.99544982e+01] [ 1.85538013e-02 6.54952089e-04 9.99827649e-01 1.20904752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19687500000003 meters 0.022504554705116756 Centerline is valid? [True, True] Translation: X:196.01, Y:89.97, Z:12.09 [[-6.79797880e-01 -7.33283842e-01 1.30249775e-02 1.96010980e+02] [ 7.33167157e-01 -6.79922341e-01 -1.30969776e-02 8.99711441e+01] [ 1.84597752e-02 6.46188153e-04 9.99829395e-01 1.20900115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.226875 meters 0.021087017562837904 Centerline is valid? [True, True] Translation: X:195.99, Y:89.99, Z:12.09 [[-6.80270037e-01 -7.32846246e-01 1.30021784e-02 1.95993298e+02] [ 7.32730041e-01 -6.80393982e-01 -1.30658077e-02 8.99925267e+01] [ 1.84218321e-02 6.38809178e-04 9.99830100e-01 1.20906861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25687500000004 meters 0.019643596426075143 Centerline is valid? [True, True] Translation: X:195.98, Y:90.02, Z:12.09 [[-6.81830923e-01 -7.31399737e-01 1.26892589e-02 1.95975683e+02] [ 7.31288936e-01 -6.81948735e-01 -1.27441991e-02 9.00152093e+01] [ 1.79745279e-02 5.90125558e-04 9.99838271e-01 1.20912451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.286875 meters 0.0188943128019502 Centerline is valid? [True, True] Translation: X:195.96, Y:90.04, Z:12.09 [[-6.83369788e-01 -7.29971124e-01 1.21610438e-02 1.95956992e+02] [ 7.29869238e-01 -6.83477779e-01 -1.22074424e-02 9.00369405e+01] [ 1.72228836e-02 5.33774469e-04 9.99851533e-01 1.20920169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.316875 meters 0.017588962532263715 Centerline is valid? [True, True] Translation: X:195.94, Y:90.06, Z:12.09 [[-6.86327442e-01 -7.27208057e-01 1.10943029e-02 1.95940368e+02] [ 7.27122993e-01 -6.86416972e-01 -1.11307755e-02 9.00597679e+01] [ 1.57097074e-02 4.27566016e-04 9.99876504e-01 1.20933322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.346875 meters 0.01679767271474225 Centerline is valid? [True, True] Translation: X:195.92, Y:90.08, Z:12.09 [[-6.87963563e-01 -7.25668114e-01 1.05794059e-02 1.95922176e+02] [ 7.25590670e-01 -6.88044799e-01 -1.06082035e-02 9.00813017e+01] [ 1.49771403e-02 3.78260706e-04 9.99887765e-01 1.20938010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.376875 meters 0.01587707452553082 Centerline is valid? [True, True] Translation: X:195.90, Y:90.10, Z:12.09 [[-6.89528437e-01 -7.24184286e-01 1.03757221e-02 1.95903876e+02] [ 7.24109712e-01 -6.89606411e-01 -1.03982100e-02 9.01029532e+01] [ 1.46853847e-02 3.43299695e-04 9.99892105e-01 1.20941707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.406875 meters 0.016099552775782934 Centerline is valid? [True, True] Translation: X:195.89, Y:90.12, Z:12.09 [[-6.91139398e-01 -7.22641101e-01 1.07783290e-02 1.95885016e+02] [ 7.22560523e-01 -6.91223360e-01 -1.07961635e-02 9.01227154e+01] [ 1.52519842e-02 3.26341128e-04 9.99883628e-01 1.20931471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.436875 meters 0.01491028055123755 Centerline is valid? [True, True] Translation: X:195.87, Y:90.14, Z:12.09 [[-6.91839151e-01 -7.21969262e-01 1.09075171e-02 1.95866903e+02] [ 7.21886741e-01 -6.91925056e-01 -1.09201964e-02 9.01446482e+01] [ 1.54312305e-02 3.18972587e-04 9.99880881e-01 1.20932219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.466875 meters 0.01639326284551625 Centerline is valid? [True, True] Translation: X:195.85, Y:90.16, Z:12.09 [[-6.92226793e-01 -7.21590617e-01 1.13599924e-02 1.95845833e+02] [ 7.21501167e-01 -6.92319922e-01 -1.13662329e-02 9.01621792e+01] [ 1.60665161e-02 3.28236860e-04 9.99870871e-01 1.20918935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.496875 meters 0.015162017379824934 Centerline is valid? [True, True] Translation: X:195.83, Y:90.18, Z:12.09 [[-6.92752418e-01 -7.21078373e-01 1.18350297e-02 1.95829470e+02] [ 7.20981332e-01 -6.92853425e-01 -1.18342920e-02 9.01849017e+01] [ 1.67333929e-02 3.34601055e-04 9.99859931e-01 1.20922716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.526875 meters 0.01551336773125047 Centerline is valid? [True, True] Translation: X:195.47, Y:89.83, Z:12.69 [[-7.67997571e-01 6.40452234e-01 -8.16342000e-04 1.95469811e+02] [ 6.40450696e-01 7.67997711e-01 1.55643815e-03 8.98258602e+01] [ 1.62377308e-03 6.72513914e-04 -9.99998456e-01 1.26928881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.556875 meters 0.015030777284488261 Centerline is valid? [True, True] Translation: X:195.48, Y:89.84, Z:12.69 [[-8.10860736e-01 5.85233550e-01 -2.56110658e-03 1.95484257e+02] [ 5.85227647e-01 8.10864471e-01 2.72238171e-03 8.98446428e+01] [ 3.66993944e-03 7.08642058e-04 -9.99993015e-01 1.26923151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.586875 meters 0.014492103756904934 Centerline is valid? [True, True] Translation: X:195.79, Y:90.26, Z:12.09 [[-7.45976306e-01 -6.65893249e-01 1.02729277e-02 1.95789937e+02] [ 6.65841324e-01 -7.46046780e-01 -8.33866978e-03 9.02605597e+01] [ 1.32167485e-02 6.19689675e-04 9.99912463e-01 1.20935775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.616875 meters 0.014701493959011163 Centerline is valid? [True, True] Translation: X:195.45, Y:89.87, Z:12.69 [[-8.12279391e-01 5.83255115e-01 -3.95750656e-03 1.95448174e+02] [ 5.83243559e-01 8.12288701e-01 3.74389772e-03 8.98663630e+01] [ 5.39828536e-03 7.32900742e-04 -9.99985161e-01 1.26919962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.646875 meters 0.015054345148321383 Centerline is valid? [True, True] Translation: X:195.46, Y:89.89, Z:12.69 [[-8.51406196e-01 5.24486534e-01 -4.62226927e-03 1.95460409e+02] [ 5.24473903e-01 8.51418423e-01 3.71396539e-03 8.98891721e+01] [ 5.88341005e-03 7.37833543e-04 -9.99982420e-01 1.26923791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.676875 meters 0.014601743230572548 Centerline is valid? [True, True] Translation: X:195.47, Y:89.91, Z:12.69 [[-8.86597314e-01 4.62517413e-01 -4.77979334e-03 1.95468951e+02] [ 4.62506051e-01 8.86609892e-01 3.32463223e-03 8.99141379e+01] [ 5.77551235e-03 7.36926661e-04 -9.99983050e-01 1.26932350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.706875 meters 0.014913048214512163 Centerline is valid? [True, True] Translation: X:195.48, Y:89.94, Z:12.69 [[-9.17532485e-01 3.97641107e-01 -3.96090175e-03 1.95475026e+02] [ 3.97633893e-01 9.17540752e-01 2.50093403e-03 8.99416937e+01] [ 4.62876294e-03 7.19699428e-04 -9.99989028e-01 1.26941676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.736875 meters 0.0161769713639056 Centerline is valid? [True, True] Translation: X:195.48, Y:89.97, Z:12.70 [[-9.43866151e-01 3.30313142e-01 -3.14913938e-03 1.95481070e+02] [ 3.30308724e-01 9.43871142e-01 1.84762336e-03 8.99711053e+01] [ 3.58267606e-03 7.03720942e-04 -9.99993335e-01 1.26961491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.766875 meters 0.01731538031949741 Centerline is valid? [True, True] Translation: X:195.48, Y:90.00, Z:12.70 [[-9.65915125e-01 2.58858051e-01 -6.93144767e-04 1.95479949e+02] [ 2.58857441e-01 9.65915153e-01 8.61666852e-04 9.00019299e+01] [ 8.92568437e-04 6.52871365e-04 -9.99999389e-01 1.26988952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.796875 meters 0.017196561713613927 Centerline is valid? [True, True] Translation: X:195.48, Y:90.03, Z:12.70 [[-9.82193048e-01 1.87874381e-01 1.81765984e-04 1.95478989e+02] [ 1.87874458e-01 9.82192864e-01 6.05382642e-04 9.00297825e+01] [-6.47933624e-05 6.28751808e-04 -9.99999800e-01 1.26996830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.82687500000003 meters 0.019278970079018184 Centerline is valid? [True, True] Translation: X:195.48, Y:90.06, Z:12.70 [[-9.93470964e-01 1.14080815e-01 1.00534660e-03 1.95475784e+02] [ 1.14081348e-01 9.93471291e-01 4.89740743e-04 9.00598826e+01] [-9.42912958e-04 6.01234503e-04 -9.99999375e-01 1.27010963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.856875 meters 0.019917508671645167 Centerline is valid? [True, True] Translation: X:195.54, Y:90.57, Z:12.09 [[-9.70753786e-01 -2.39429626e-01 1.76221815e-02 1.95544059e+02] [ 2.39409014e-01 -9.70913192e-01 -3.30128575e-03 9.05747343e+01] [ 1.79000341e-02 1.01417343e-03 9.99839267e-01 1.20890382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.88687500000003 meters 0.019367345912819675 Centerline is valid? [True, True] Translation: X:195.42, Y:90.06, Z:12.70 [[-9.94260934e-01 1.06968578e-01 -1.70815000e-03 1.95420807e+02] [ 1.06967207e-01 9.94262164e-01 8.74929237e-04 9.00630692e+01] [ 1.79193885e-03 6.87191927e-04 -9.99998158e-01 1.26981450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.916875 meters 0.01902712092228145 Centerline is valid? [True, True] Translation: X:195.49, Y:90.59, Z:12.09 [[-9.71159777e-01 -2.38023733e-01 1.39065030e-02 1.95492702e+02] [ 2.38012004e-01 -9.71258952e-01 -2.51657008e-03 9.05875694e+01] [ 1.41058190e-02 8.65923026e-04 9.99900133e-01 1.20935758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.94687500000003 meters 0.019580411328678642 Centerline is valid? [True, True] Translation: X:195.38, Y:90.07, Z:12.70 [[-9.94758401e-01 1.02163474e-01 -4.28339415e-03 1.95375366e+02] [ 1.02159144e-01 9.94767322e-01 1.21843023e-03 9.00659473e+01] [ 4.38545960e-03 7.74455833e-04 -9.99990084e-01 1.26966116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.976875 meters 0.018029657171746007 Centerline is valid? [True, True] Translation: X:195.44, Y:90.60, Z:12.10 [[-9.71885875e-01 -2.35114789e-01 1.26048454e-02 1.95444509e+02] [ 2.35107108e-01 -9.71967181e-01 -2.10877518e-03 9.05987656e+01] [ 1.27473003e-02 9.13999948e-04 9.99918332e-01 1.20952990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.00687500000004 meters 0.020001450197832747 Centerline is valid? [True, True] Translation: X:195.33, Y:90.07, Z:12.70 [[-9.95261582e-01 9.71827090e-02 -3.14727162e-03 1.95327710e+02] [ 9.71798546e-02 9.95266285e-01 1.04786784e-03 9.00674980e+01] [ 3.23420797e-03 7.37051204e-04 -9.99994498e-01 1.26983788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.036875 meters 0.02346676126907411 Centerline is valid? [True, True] Translation: X:195.39, Y:90.60, Z:12.09 [[-9.72292729e-01 -2.33125989e-01 1.72951473e-02 1.95390497e+02] [ 2.33113415e-01 -9.72445616e-01 -2.76772996e-03 9.06033483e+01] [ 1.74638199e-02 1.34068712e-03 9.99846597e-01 1.20901152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.066875 meters 0.02195861835066572 Centerline is valid? [True, True] Translation: X:195.28, Y:90.07, Z:12.70 [[-9.95812273e-01 9.14035671e-02 1.81809695e-03 1.95276961e+02] [ 9.14044208e-02 9.95813777e-01 3.91960070e-04 9.00709122e+01] [-1.77465944e-03 5.56500747e-04 -9.99998270e-01 1.27031360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.096875 meters 0.0200411078624076 Centerline is valid? [True, True] Translation: X:195.34, Y:90.62, Z:12.09 [[-9.72880380e-01 -2.30459459e-01 1.98041217e-02 1.95340241e+02] [ 2.30438700e-01 -9.73081060e-01 -3.35507054e-03 9.06187705e+01] [ 2.00442234e-02 1.29955375e-03 9.99798250e-01 1.20902450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.126875 meters 0.025313184125824506 Centerline is valid? [True, True] Translation: X:195.23, Y:90.08, Z:12.71 [[-9.96221347e-01 8.67815457e-02 3.46269575e-03 1.95228141e+02] [ 8.67827195e-02 9.96227245e-01 1.89885656e-04 9.00778784e+01] [-3.43315327e-03 4.89670298e-04 -9.99993987e-01 1.27063615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.156875 meters 0.026062773914573654 Centerline is valid? [True, True] Translation: X:195.22, Y:90.10, Z:12.71 [[-9.99874154e-01 1.56506891e-02 2.59454817e-03 1.95223015e+02] [ 1.56519778e-02 9.99877386e-01 4.77128885e-04 9.01026429e+01] [-2.58676265e-03 5.17678650e-04 -9.99996520e-01 1.27051805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.186875 meters 0.020076100318066906 Centerline is valid? [True, True] Translation: X:195.25, Y:90.66, Z:12.09 [[-9.87349276e-01 -1.57483490e-01 1.84487907e-02 1.95247454e+02] [ 1.57477052e-01 -9.87520988e-01 -1.81036650e-03 9.06630812e+01] [ 1.85036708e-02 1.11779711e-03 9.99828168e-01 1.20934552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.216875 meters 0.021763879271858123 Centerline is valid? [True, True] Translation: X:195.17, Y:90.09, Z:12.70 [[-9.99935413e-01 1.12814597e-02 -1.37791938e-03 1.95169983e+02] [ 1.12805243e-02 9.99936138e-01 6.84776364e-04 9.00913929e+01] [ 1.38555666e-03 6.69188483e-04 -9.99998816e-01 1.26986590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.246875 meters 0.021433477985921684 Centerline is valid? [True, True] Translation: X:195.16, Y:90.12, Z:12.70 [[-9.98191562e-01 -6.00792801e-02 -2.02149978e-03 1.95164078e+02] [-6.00805371e-02 9.98193372e-01 5.66895130e-04 9.01158716e+01] [ 1.98378903e-03 6.87322727e-04 -9.99997796e-01 1.26978508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.276875 meters 0.02121467730552803 Centerline is valid? [True, True] Translation: X:195.15, Y:90.14, Z:12.70 [[-9.91357504e-01 -1.31170928e-01 -2.11828227e-03 1.95153708e+02] [-1.31172082e-01 9.91359528e-01 4.14666282e-04 9.01399416e+01] [ 2.04558715e-03 6.88942025e-04 -9.99997670e-01 1.26972111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.306875 meters 0.02296297770716586 Centerline is valid? [True, True] Translation: X:195.09, Y:90.73, Z:12.10 [[-9.99789309e-01 -1.32150083e-02 1.57066953e-02 1.95092865e+02] [ 1.32319928e-02 -9.99911975e-01 9.77917236e-04 9.07253999e+01] [ 1.56923895e-02 1.18554208e-03 9.99876164e-01 1.20982978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.336875 meters 0.021938593376972574 Centerline is valid? [True, True] Translation: X:195.08, Y:90.13, Z:12.70 [[-9.90481506e-01 -1.37643813e-01 -7.52608742e-04 1.95079227e+02] [-1.37644240e-01 9.90481581e-01 5.48501017e-04 9.01279698e+01] [ 6.69947326e-04 6.46872372e-04 -9.99999566e-01 1.26991575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.366875 meters 0.021801316991402652 Centerline is valid? [True, True] Translation: X:195.07, Y:90.15, Z:12.70 [[-9.77898200e-01 -2.09081353e-01 3.12921706e-04 1.95068043e+02] [-2.09081112e-01 9.77898073e-01 6.68956963e-04 9.01486540e+01] [-4.45871959e-04 5.88745792e-04 -9.99999727e-01 1.26997897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.396875 meters 0.02220431011649673 Centerline is valid? [True, True] Translation: X:195.05, Y:90.17, Z:12.70 [[-9.60382105e-01 -2.78686506e-01 2.09204107e-04 1.95052797e+02] [-2.78686312e-01 9.60381946e-01 6.76007931e-04 9.01714017e+01] [-3.89310134e-04 5.90923599e-04 -9.99999750e-01 1.27002047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.426875 meters 0.023263450737960416 Centerline is valid? [True, True] Translation: X:194.89, Y:90.76, Z:12.10 [[-9.91163598e-01 1.31618199e-01 1.64733784e-02 1.94887870e+02] [-1.31579972e-01 -9.91299769e-01 3.38800449e-03 9.07613358e+01] [ 1.67759793e-02 1.19050004e-03 9.99858565e-01 1.20987739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.456875 meters 0.022812116574281692 Centerline is valid? [True, True] Translation: X:194.94, Y:90.14, Z:12.70 [[-9.58176880e-01 -2.86173807e-01 -1.27258283e-03 1.94940135e+02] [-2.86174417e-01 9.58177488e-01 3.22560218e-04 9.01383991e+01] [ 1.12705193e-03 6.73250392e-04 -9.99999138e-01 1.27004117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.486875 meters 0.02589242155771718 Centerline is valid? [True, True] Translation: X:194.91, Y:90.16, Z:12.70 [[-9.34903250e-01 -3.54896807e-01 -2.04186238e-03 1.94909522e+02] [-3.54897477e-01 9.34905225e-01 -3.63168356e-05 9.01601045e+01] [ 1.92183654e-03 6.90699080e-04 -9.99997915e-01 1.27009971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.516875 meters 0.023420552886817814 Centerline is valid? [True, True] Translation: X:194.87, Y:90.17, Z:12.70 [[-9.06477831e-01 -4.22247868e-01 -2.16332516e-03 1.94868176e+02] [-4.22248387e-01 9.06480141e-01 -2.33389111e-04 9.01675071e+01] [ 2.05955935e-03 7.01898504e-04 -9.99997633e-01 1.27010402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.546875 meters 0.024509961771167686 Centerline is valid? [True, True] Translation: X:194.81, Y:90.17, Z:12.70 [[-8.72695901e-01 -4.88262719e-01 -1.17557816e-03 1.94807747e+02] [-4.88263157e-01 8.72696442e-01 9.98369055e-05 9.01666623e+01] [ 9.77176237e-04 6.61118760e-04 -9.99999304e-01 1.27028008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57687500000003 meters 0.025246580820157193 Centerline is valid? [True, True] Translation: X:194.74, Y:90.16, Z:12.70 [[-8.33839627e-01 -5.52006488e-01 -5.60795116e-04 1.94741081e+02] [-5.52006714e-01 8.33839577e-01 3.85133144e-04 9.01595751e+01] [ 2.55017169e-04 6.30701946e-04 -9.99999769e-01 1.27043042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.606875 meters 0.024456618794357565 Centerline is valid? [True, True] Translation: X:194.67, Y:90.14, Z:12.71 [[-7.90324908e-01 -6.12687953e-01 1.07218663e-04 1.94668540e+02] [-6.12687672e-01 7.90324692e-01 8.36106417e-04 9.01409941e+01] [-5.97009886e-04 5.95104175e-04 -9.99999645e-01 1.27053403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63687500000003 meters 0.02323789722416513 Centerline is valid? [True, True] Translation: X:194.59, Y:90.11, Z:12.71 [[-7.41959410e-01 -6.70444191e-01 9.05875787e-04 1.94591078e+02] [-6.70442613e-01 7.41959763e-01 1.55327394e-03 9.01109273e+01] [-1.71350687e-03 5.45128490e-04 -9.99998383e-01 1.27061141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.666875 meters 0.02773501496369477 Centerline is valid? [True, True] Translation: X:194.51, Y:90.08, Z:12.71 [[-6.88503382e-01 -7.25232127e-01 1.20594190e-03 1.94509743e+02] [-7.25229494e-01 6.88504244e-01 2.02183013e-03 9.00785011e+01] [-2.29659228e-03 5.17452243e-04 -9.99997229e-01 1.27089087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69687500000003 meters 0.023319829748359285 Centerline is valid? [True, True] Translation: X:194.43, Y:90.03, Z:12.71 [[-6.31395634e-01 -7.75460576e-01 6.68918176e-04 1.94431932e+02] [-7.75458940e-01 6.31395754e-01 1.68326661e-03 9.00255496e+01] [-1.72765899e-03 5.44088610e-04 -9.99998360e-01 1.27083001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.726875 meters 0.023319829748359285 Centerline is valid? [True, True] Translation: X:194.35, Y:89.97, Z:12.71 [[-5.70809384e-01 -8.21082420e-01 5.53613785e-04 1.94350875e+02] [-8.21080739e-01 5.70809394e-01 1.74814771e-03 8.99703804e+01] [-1.75138130e-03 5.43297501e-04 -9.99998319e-01 1.27093024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75687500000004 meters 0.02423565571362198 Centerline is valid? [True, True] Translation: X:194.28, Y:89.91, Z:12.71 [[-5.05777405e-01 -8.62663324e-01 -1.09775715e-03 1.94275978e+02] [-8.62663423e-01 5.05778145e-01 -5.36079897e-04 8.99071264e+01] [ 1.01767804e-03 6.75857842e-04 -9.99999254e-01 1.27091381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.786875 meters 0.024962569484076467 Centerline is valid? [True, True] Translation: X:194.20, Y:89.83, Z:12.71 [[-4.37869678e-01 -8.99036452e-01 -1.89833916e-03 1.94201285e+02] [-8.99034187e-01 4.37873129e-01 -2.15692732e-03 8.98333018e+01] [ 2.77038800e-03 7.62218736e-04 -9.99995872e-01 1.27092154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.816875 meters 0.02538354563453077 Centerline is valid? [True, True] Translation: X:194.13, Y:89.75, Z:12.71 [[-3.67372481e-01 -9.30070832e-01 -2.38897525e-03 1.94130574e+02] [-9.30063637e-01 3.67379282e-01 -3.75427529e-03 8.97498999e+01] [ 4.36940196e-03 8.42681576e-04 -9.99990099e-01 1.27095534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.846875 meters 0.025115641195533087 Centerline is valid? [True, True] Translation: X:194.07, Y:89.66, Z:12.71 [[-2.94020334e-01 -9.55794689e-01 -2.92509972e-03 1.94069495e+02] [-9.55775022e-01 2.94033282e-01 -6.20782611e-03 8.96613882e+01] [ 6.79348389e-03 9.70510144e-04 -9.99976453e-01 1.27101163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.876875 meters 0.02739736682589789 Centerline is valid? [True, True] Translation: X:194.01, Y:89.56, Z:12.71 [[-2.19575213e-01 -9.75592228e-01 -2.55543143e-03 1.94008042e+02] [-9.75568824e-01 2.19587837e-01 -6.83019171e-03 8.95636037e+01] [ 7.22462360e-03 9.93258435e-04 -9.99973409e-01 1.27120831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.906875 meters 0.02484823912041639 Centerline is valid? [True, True] Translation: X:193.96, Y:89.46, Z:12.71 [[-1.43936361e-01 -9.89585038e-01 -1.94327466e-03 1.93961806e+02] [-9.89563463e-01 1.43946196e-01 -6.60647433e-03 8.94647390e+01] [ 6.81739515e-03 9.72081727e-04 -9.99976289e-01 1.27140298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.936875 meters 0.027904627070042702 Centerline is valid? [True, True] Translation: X:193.92, Y:89.36, Z:12.72 [[-6.79930845e-02 -9.97685062e-01 -1.20769760e-03 1.93916606e+02] [-9.97673478e-01 6.79982098e-02 -4.88619633e-03 8.93551513e+01] [ 4.95700636e-03 8.72660307e-04 -9.99987333e-01 1.27187911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.966875 meters 0.02881343227228273 Centerline is valid? [True, True] Translation: X:193.88, Y:89.25, Z:12.72 [[ 8.19832019e-03 -9.99966098e-01 -7.67828062e-04 1.93881879e+02] [-9.99960003e-01 -8.19552017e-03 -3.58146091e-03 8.92489034e+01] [ 3.57504675e-03 7.97159314e-04 -9.99993292e-01 1.27221272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.996875 meters 0.0267746769698414 Centerline is valid? [True, True] Translation: X:193.86, Y:89.14, Z:12.72 [[ 8.40735099e-02 -9.96459412e-01 -5.33550060e-04 1.93859242e+02] [-9.96456700e-01 -8.40719752e-02 -2.43875317e-03 8.91388536e+01] [ 2.38526194e-03 7.36694071e-04 -9.99996884e-01 1.27246912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.026875 meters 0.023080408989412212 Centerline is valid? [True, True] Translation: X:193.15, Y:89.01, Z:12.11 [[-7.84319312e-02 9.96919470e-01 -4.24361851e-05 1.93152821e+02] [-9.96820542e-01 -7.84235482e-02 1.40909534e-02 8.90050500e+01] [ 1.40442178e-02 1.14748195e-03 9.99900717e-01 1.21095218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.056875 meters 0.024382084473423785 Centerline is valid? [True, True] Translation: X:193.88, Y:88.86, Z:12.73 [[ 8.99431639e-02 -9.95946752e-01 -5.42841843e-04 1.93875397e+02] [-9.95945484e-01 -8.99421035e-02 -1.73541497e-03 8.88637967e+01] [ 1.67955656e-03 6.96729595e-04 -9.99998347e-01 1.27289439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.086875 meters 0.02272752160143288 Centerline is valid? [True, True] Translation: X:193.86, Y:88.75, Z:12.73 [[ 1.64689372e-01 -9.86345420e-01 -3.51817980e-04 1.93861862e+02] [-9.86343269e-01 -1.64688236e-01 -2.17731333e-03 8.87462246e+01] [ 2.08964275e-03 7.05593662e-04 -9.99997568e-01 1.27302698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.116875 meters 0.022322878747726448 Centerline is valid? [True, True] Translation: X:193.86, Y:88.63, Z:12.73 [[ 2.38611893e-01 -9.71115008e-01 -7.91301832e-05 1.93856007e+02] [-9.71111517e-01 -2.38610815e-01 -2.70212549e-03 8.86268401e+01] [ 2.60519330e-03 7.21603510e-04 -9.99996346e-01 1.27312944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.146875 meters 0.020659993276600095 Centerline is valid? [True, True] Translation: X:193.86, Y:88.51, Z:12.73 [[ 3.09481917e-01 -9.50905189e-01 5.13482998e-04 1.93862266e+02] [-9.50896893e-01 -3.09481401e-01 -4.04487485e-03 8.85145626e+01] [ 4.00520592e-03 7.63546234e-04 -9.99991688e-01 1.27315029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.176875 meters 0.019887214465382098 Centerline is valid? [True, True] Translation: X:193.88, Y:88.40, Z:12.73 [[ 3.80335900e-01 -9.24847994e-01 8.89263218e-04 1.93875158e+02] [-9.24838942e-01 -3.80336179e-01 -4.16197959e-03 8.83977521e+01] [ 4.18741745e-03 7.60524998e-04 -9.99990944e-01 1.27319681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.206875 meters 0.018957734358470455 Centerline is valid? [True, True] Translation: X:193.90, Y:88.29, Z:12.73 [[ 4.48074106e-01 -8.93995059e-01 1.55924656e-03 1.93897476e+02] [-8.93982296e-01 -4.48076149e-01 -4.83922866e-03 8.82865966e+01] [ 5.02490770e-03 7.74394236e-04 -9.99987075e-01 1.27319921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.236875 meters 0.018165837979486697 Centerline is valid? [True, True] Translation: X:193.93, Y:88.17, Z:12.73 [[ 5.14612550e-01 -8.57420058e-01 2.18344116e-03 1.93929328e+02] [-8.57404899e-01 -5.14616588e-01 -5.15819044e-03 8.81702990e+01] [ 5.54637099e-03 7.82376386e-04 -9.99984313e-01 1.27325923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.266875 meters 0.018660063283769422 Centerline is valid? [True, True] Translation: X:193.96, Y:88.07, Z:12.73 [[ 5.78134919e-01 -8.15935997e-01 2.90943659e-03 1.93960823e+02] [-8.15918009e-01 -5.78141698e-01 -5.47542966e-03 8.80678677e+01] [ 6.14966677e-03 7.91675377e-04 -9.99980777e-01 1.27330595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.296875 meters 0.01939032556343824 Centerline is valid? [True, True] Translation: X:194.00, Y:87.96, Z:12.73 [[ 6.37945936e-01 -7.70070975e-01 3.95930990e-03 1.94004246e+02] [-7.70047655e-01 -6.37957710e-01 -6.04723180e-03 8.79638491e+01] [ 7.18266996e-03 8.08949647e-04 -9.99973877e-01 1.27333156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.32687500000003 meters 0.017607613523977342 Centerline is valid? [True, True] Translation: X:194.06, Y:87.86, Z:12.73 [[ 6.94990549e-01 -7.19002174e-01 4.90015009e-03 1.94057943e+02] [-7.18975428e-01 -6.95007334e-01 -6.25622017e-03 8.78648086e+01] [ 7.90387615e-03 8.24926380e-04 -9.99968424e-01 1.27337133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.356875 meters 0.017819254413094697 Centerline is valid? [True, True] Translation: X:194.11, Y:87.77, Z:12.73 [[ 7.47883777e-01 -6.63809832e-01 5.13450547e-03 1.94110295e+02] [-6.63786358e-01 -7.47900962e-01 -5.64107021e-03 8.77734119e+01] [ 7.58469945e-03 8.10650211e-04 -9.99970907e-01 1.27347640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.38687500000003 meters 0.018008499531808313 Centerline is valid? [True, True] Translation: X:194.11, Y:87.77, Z:12.74 [[ 7.97433423e-01 -6.03382695e-01 5.40913620e-03 1.94106597e+02] [-6.03361569e-01 -7.97451352e-01 -5.11454577e-03 8.77682729e+01] [ 7.39955139e-03 8.14844839e-04 -9.99972291e-01 1.27355478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.416875 meters 0.017912510097862256 Centerline is valid? [True, True] Translation: X:194.10, Y:87.76, Z:12.74 [[ 8.42490309e-01 -5.38686494e-01 5.19040850e-03 1.94103292e+02] [-5.38670206e-01 -8.42505921e-01 -4.26415962e-03 8.77616241e+01] [ 6.66999509e-03 7.96594742e-04 -9.99977438e-01 1.27368074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.44687500000003 meters 0.018828826421689364 Centerline is valid? [True, True] Translation: X:194.10, Y:87.75, Z:12.74 [[ 8.82181285e-01 -4.70883757e-01 4.96669885e-03 1.94098034e+02] [-4.70871139e-01 -8.82194922e-01 -3.53419700e-03 8.77547639e+01] [ 6.04579246e-03 7.79127310e-04 -9.99981421e-01 1.27376583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.476875 meters 0.018396414522964134 Centerline is valid? [True, True] Translation: X:194.09, Y:87.75, Z:12.74 [[ 9.16416511e-01 -4.00195239e-01 4.95475666e-03 1.94094854e+02] [-4.00184705e-01 -9.16429581e-01 -3.00420848e-03 8.77497586e+01] [ 5.74295550e-03 7.70288420e-04 -9.99983212e-01 1.27376016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.50687500000004 meters 0.019484343540904822 Centerline is valid? [True, True] Translation: X:194.09, Y:87.74, Z:12.74 [[ 9.44853037e-01 -3.27461725e-01 4.64292550e-03 1.94091294e+02] [-3.27453764e-01 -9.44864146e-01 -2.40360121e-03 8.77434614e+01] [ 5.17402124e-03 7.50706475e-04 -9.99986333e-01 1.27370693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.536875 meters 0.018232025743389994 Centerline is valid? [True, True] Translation: X:194.09, Y:87.74, Z:12.74 [[ 9.67455347e-01 -2.52999660e-01 4.61773725e-03 1.94089419e+02] [-2.52993049e-01 -9.67466084e-01 -1.97330044e-03 8.77396656e+01] [ 4.96674852e-03 7.40824633e-04 -9.99987391e-01 1.27363286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.566875 meters 0.017944093678521858 Centerline is valid? [True, True] Translation: X:194.09, Y:87.73, Z:12.74 [[ 9.84031515e-01 -1.77943352e-01 4.25932095e-03 1.94087896e+02] [-1.77938480e-01 -9.84040471e-01 -1.49977811e-03 8.77344463e+01] [ 4.45821974e-03 7.17931827e-04 -9.99989804e-01 1.27357660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.596875 meters 0.017312816854350654 Centerline is valid? [True, True] Translation: X:194.08, Y:87.73, Z:12.74 [[ 9.94851555e-01 -1.01256315e-01 4.18840969e-03 1.94082602e+02] [-1.01252394e-01 -9.94860119e-01 -1.13821026e-03 8.77280957e+01] [ 4.28213274e-03 7.08263738e-04 -9.99990581e-01 1.27363153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.626875 meters 0.017386259576639747 Centerline is valid? [True, True] Translation: X:194.08, Y:87.72, Z:12.74 [[ 9.99715792e-01 -2.35487930e-02 3.71342684e-03 1.94076814e+02] [-2.35460624e-02 -9.99722451e-01 -7.77359987e-04 8.77210936e+01] [ 3.73070207e-03 6.89702476e-04 -9.99992803e-01 1.27374281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.656875 meters 0.01710533441154906 Centerline is valid? [True, True] Translation: X:194.07, Y:87.72, Z:12.74 [[ 9.98593885e-01 5.29611983e-02 2.31632960e-03 1.94072176e+02] [ 5.29625451e-02 -9.98596362e-01 -5.23966853e-04 8.77154747e+01] [ 2.28532840e-03 6.45908807e-04 -9.99997180e-01 1.27392794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.686875 meters 0.017981823613897704 Centerline is valid? [True, True] Translation: X:194.07, Y:87.71, Z:12.74 [[ 9.91502626e-01 1.30067639e-01 2.22548717e-03 1.94067474e+02] [ 1.30068730e-01 -9.91504917e-01 -3.52312837e-04 8.77085504e+01] [ 2.16075697e-03 6.38785393e-04 -9.99997462e-01 1.27403843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.716875 meters 0.01667815846088028 Centerline is valid? [True, True] Translation: X:194.06, Y:87.71, Z:12.74 [[ 9.78513088e-01 2.06178805e-01 1.56124893e-03 1.94063414e+02] [ 2.06179510e-01 -9.78514138e-01 -3.03202504e-04 8.77050211e+01] [ 1.46519022e-03 6.18585157e-04 -9.99998735e-01 1.27399257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.746875 meters 0.016865775759302502 Centerline is valid? [True, True] Translation: X:194.06, Y:87.70, Z:12.74 [[ 9.59888650e-01 2.80378906e-01 1.20366068e-03 1.94058660e+02] [ 2.80379422e-01 -9.59889213e-01 -2.80229174e-04 8.76992034e+01] [ 1.07681056e-03 6.06470491e-04 -9.99999236e-01 1.27396823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.776875 meters 0.01616519623180805 Centerline is valid? [True, True] Translation: X:194.05, Y:87.69, Z:12.74 [[ 9.35312180e-01 3.53819725e-01 1.65169183e-03 1.94054748e+02] [ 3.53820254e-01 -9.35313438e-01 -3.00705625e-05 8.76944950e+01] [ 1.53421001e-03 6.12527386e-04 -9.99998636e-01 1.27386362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.806875 meters 0.015016380425876864 Centerline is valid? [True, True] Translation: X:194.05, Y:87.69, Z:12.74 [[ 9.05566962e-01 4.24195838e-01 2.52361077e-03 1.94052641e+02] [ 4.24196012e-01 -9.05570263e-01 4.92346618e-04 8.76866472e+01] [ 2.49415825e-03 6.24652794e-04 -9.99996695e-01 1.27372297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.836875 meters 0.014715304875093939 Centerline is valid? [True, True] Translation: X:194.05, Y:87.68, Z:12.74 [[ 8.70037594e-01 4.92978764e-01 2.55413628e-03 1.94051658e+02] [ 4.92978612e-01 -8.70041121e-01 7.32327558e-04 8.76759718e+01] [ 2.58322553e-03 6.21982054e-04 -9.99996470e-01 1.27369052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.866875 meters 0.014800596332717254 Centerline is valid? [True, True] Translation: X:194.05, Y:87.66, Z:12.74 [[ 8.29101564e-01 5.59093209e-01 2.31951382e-03 1.94050658e+02] [ 5.59092945e-01 -8.29104580e-01 8.21655523e-04 8.76649547e+01] [ 2.38250155e-03 6.15587931e-04 -9.99996972e-01 1.27374843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.896875 meters 0.014394218941252911 Centerline is valid? [True, True] Translation: X:194.05, Y:87.66, Z:12.74 [[ 7.83833625e-01 6.20970769e-01 3.91165056e-04 1.94051304e+02] [ 6.20970890e-01 -7.83833511e-01 -4.24696499e-04 8.76551620e+01] [ 4.28841686e-05 5.75793509e-04 -9.99999833e-01 1.27396198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.926875 meters 0.014247812816247823 Centerline is valid? [True, True] Translation: X:194.05, Y:87.64, Z:12.74 [[ 7.33599399e-01 6.79581091e-01 -1.20953241e-03 1.94051390e+02] [ 6.79578756e-01 -7.33600193e-01 -1.86306694e-03 8.76440861e+01] [-2.15341828e-03 5.44772257e-04 -9.99997533e-01 1.27417763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.956875 meters 0.013993463905074317 Centerline is valid? [True, True] Translation: X:194.05, Y:87.63, Z:12.74 [[ 6.79089969e-01 7.34051358e-01 -2.32767125e-03 1.94053118e+02] [ 7.34044181e-01 -6.79093756e-01 -3.28792855e-03 8.76346070e+01] [-3.99421543e-03 5.24185758e-04 -9.99991886e-01 1.27434321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.986875 meters 0.014002347986349887 Centerline is valid? [True, True] Translation: X:194.05, Y:87.63, Z:12.75 [[ 6.21277928e-01 7.83580546e-01 -3.90703779e-03 1.94053694e+02] [ 7.83559698e-01 -6.21290009e-01 -5.73794324e-03 8.76250878e+01] [-6.92354424e-03 5.03460133e-04 -9.99975905e-01 1.27456933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.016875 meters 0.013710968402583781 Centerline is valid? [True, True] Translation: X:194.05, Y:87.62, Z:12.74 [[ 5.58939013e-01 8.29200706e-01 -3.65636853e-03 1.94053915e+02] [ 8.29176704e-01 -5.58950743e-01 -6.32937778e-03 8.76166541e+01] [-7.29205443e-03 5.05960562e-04 -9.99973285e-01 1.27442922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.046875 meters 0.013260248952634456 Centerline is valid? [True, True] Translation: X:194.06, Y:87.61, Z:12.74 [[ 4.94086431e-01 8.69410382e-01 -2.04601699e-03 1.94057071e+02] [ 8.69397951e-01 -4.94090380e-01 -4.67972754e-03 8.76074414e+01] [-5.07952101e-03 5.33386904e-04 -9.99986957e-01 1.27400233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07687500000003 meters 0.01333327436589381 Centerline is valid? [True, True] Translation: X:194.06, Y:87.60, Z:12.74 [[ 4.25222801e-01 9.05088482e-01 -6.39943245e-04 1.94061456e+02] [ 9.05084753e-01 -4.25222927e-01 -2.65549636e-03 8.75958920e+01] [-2.67557771e-03 5.49974728e-04 -9.99996269e-01 1.27387590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.106875 meters 0.01320766265699895 Centerline is valid? [True, True] Translation: X:194.06, Y:87.59, Z:12.74 [[ 3.53930199e-01 9.35271733e-01 4.46398201e-04 1.94061631e+02] [ 9.35271813e-01 -3.53930034e-01 -4.08071503e-04 8.75870044e+01] [-2.23664010e-04 5.61932483e-04 -9.99999817e-01 1.27368041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13687500000003 meters 0.013125835384314874 Centerline is valid? [True, True] Translation: X:194.06, Y:87.58, Z:12.73 [[ 2.80704767e-01 9.59793512e-01 1.11747941e-03 1.94064053e+02] [ 9.59792002e-01 -2.80706415e-01 1.79505594e-03 8.75779345e+01] [ 2.03656668e-03 5.68667044e-04 -9.99997765e-01 1.27344235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.166875 meters 0.013072209754909211 Centerline is valid? [True, True] Translation: X:194.07, Y:87.57, Z:12.73 [[ 2.05330166e-01 9.78691740e-01 1.41440087e-03 1.94070272e+02] [ 9.78683904e-01 -2.05334242e-01 3.95796646e-03 8.75692562e+01] [ 4.16405401e-03 5.71561456e-04 -9.99991167e-01 1.27328695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19687500000003 meters 0.012939668620121235 Centerline is valid? [True, True] Translation: X:194.08, Y:87.56, Z:12.73 [[ 1.28996514e-01 9.91644320e-01 1.20108831e-03 1.94076774e+02] [ 9.91632692e-01 -1.29000858e-01 4.83548459e-03 8.75598389e+01] [ 4.95002225e-03 5.67277782e-04 -9.99987588e-01 1.27328435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.226875 meters 0.01306264472307533 Centerline is valid? [True, True] Translation: X:194.08, Y:87.55, Z:12.73 [[ 5.09678986e-02 9.98700002e-01 7.61812768e-04 1.94083149e+02] [ 9.98692649e-01 -5.09704781e-02 3.87340044e-03 8.75506750e+01] [ 3.90719498e-03 5.63397730e-04 -9.99992208e-01 1.27344866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25687500000004 meters 0.01297081533092795 Centerline is valid? [True, True] Translation: X:194.09, Y:87.54, Z:12.74 [[-2.70981801e-02 9.99632646e-01 5.11409300e-04 1.94090640e+02] [ 9.99631353e-01 2.70972745e-02 1.70165954e-03 8.75427485e+01] [ 1.68717663e-03 5.57332647e-04 -9.99998421e-01 1.27370624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.286875 meters 0.013151812782212415 Centerline is valid? [True, True] Translation: X:194.10, Y:87.53, Z:12.74 [[-1.04955287e-01 9.94476425e-01 1.01342682e-03 1.94097636e+02] [ 9.94466910e-01 1.04958751e-01 -4.38477819e-03 8.75348222e+01] [-4.46692656e-03 5.47613783e-04 -9.99989873e-01 1.27424157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.316875 meters 0.013210953069514505 Centerline is valid? [True, True] Translation: X:194.11, Y:87.53, Z:12.74 [[-1.81967872e-01 9.83302897e-01 1.76240896e-03 1.94105817e+02] [ 9.83281442e-01 1.81975585e-01 -6.51863660e-03 8.75282197e+01] [-6.73050966e-03 5.46761589e-04 -9.99977200e-01 1.27436632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.346875 meters 0.013297177565342195 Centerline is valid? [True, True] Translation: X:194.11, Y:87.52, Z:12.74 [[-2.58078264e-01 9.66120088e-01 2.75403644e-03 1.94113904e+02] [ 9.66085531e-01 2.58092379e-01 -8.18967942e-03 8.75224479e+01] [-8.62300961e-03 5.47056508e-04 -9.99962672e-01 1.27446859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.376875 meters 0.013504637026992098 Centerline is valid? [True, True] Translation: X:194.12, Y:87.52, Z:12.74 [[-3.31981038e-01 9.43279532e-01 3.50918114e-03 1.94123392e+02] [ 9.43243174e-01 3.31999122e-01 -8.30043063e-03 8.75174528e+01] [-8.99467137e-03 5.54425579e-04 -9.99959393e-01 1.27428489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.406875 meters 0.013550379238427595 Centerline is valid? [True, True] Translation: X:194.13, Y:87.51, Z:12.74 [[-4.04294641e-01 9.14620463e-01 3.90524292e-03 1.94134063e+02] [ 9.14590255e-01 4.04313117e-01 -7.45442701e-03 8.75137150e+01] [-8.39691242e-03 5.57912227e-04 -9.99964590e-01 1.27413200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.436875 meters 0.013777230876317683 Centerline is valid? [True, True] Translation: X:194.14, Y:87.51, Z:12.74 [[-4.73338701e-01 8.80875776e-01 2.88812586e-03 1.94144600e+02] [ 8.80865977e-01 4.73347181e-01 -4.19246015e-03 8.75094812e+01] [-5.06012282e-03 5.59598171e-04 -9.99987041e-01 1.27379803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.466875 meters 0.01383324297341826 Centerline is valid? [True, True] Translation: X:194.16, Y:87.51, Z:12.74 [[-5.40068134e-01 8.41619365e-01 1.80400698e-03 1.94155438e+02] [ 8.41617647e-01 5.40070864e-01 -1.78837651e-03 8.75068932e+01] [-2.47942391e-03 5.52438943e-04 -9.99996774e-01 1.27357300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.496875 meters 0.014092757427588112 Centerline is valid? [True, True] Translation: X:194.17, Y:87.50, Z:12.73 [[-6.03323561e-01 7.97496348e-01 5.06669024e-04 1.94165574e+02] [ 7.97496499e-01 6.03323530e-01 2.28643483e-04 8.75034095e+01] [-1.23343001e-04 5.42012773e-04 -9.99999846e-01 1.27344273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.526875 meters 0.014335038799828363 Centerline is valid? [True, True] Translation: X:194.18, Y:87.50, Z:12.73 [[-6.61960528e-01 7.49538072e-01 -9.68667575e-04 1.94176559e+02] [ 7.49535878e-01 6.61961030e-01 1.88737910e-03 8.75025212e+01] [ 2.05588268e-03 5.23319362e-04 -9.99997750e-01 1.27322046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.556875 meters 0.014555846147296807 Centerline is valid? [True, True] Translation: X:194.19, Y:87.50, Z:12.73 [[-7.17590781e-01 6.96464422e-01 -8.82969487e-04 1.94187685e+02] [ 6.96462817e-01 7.17591135e-01 1.58353792e-03 8.75030473e+01] [ 1.73648890e-03 5.21376796e-04 -9.99998356e-01 1.27325823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.586875 meters 0.014726773854093338 Centerline is valid? [True, True] Translation: X:194.22, Y:87.52, Z:12.73 [[-7.61974710e-01 6.47606684e-01 -3.53265488e-04 1.94217462e+02] [ 6.47606024e-01 7.61974540e-01 1.11239009e-03 8.75159492e+01] [ 9.89570568e-04 6.18836261e-04 -9.99999319e-01 1.27330404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.616875 meters 0.014726773854093338 Centerline is valid? [True, True] Translation: X:194.24, Y:87.53, Z:12.73 [[-8.05580874e-01 5.92485613e-01 -5.04717832e-04 1.94244534e+02] [ 5.92485032e-01 8.05580895e-01 9.52831983e-04 8.75303966e+01] [ 9.71130285e-04 4.68545461e-04 -9.99999419e-01 1.27332375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.646875 meters 0.01506139281363865 Centerline is valid? [True, True] Translation: X:194.75, Y:88.21, Z:12.14 [[-7.79205455e-01 -6.26676441e-01 1.07469539e-02 1.94749049e+02] [ 6.26620258e-01 -7.79279540e-01 -8.39355569e-03 8.82118514e+01] [ 1.36349249e-02 1.93954617e-04 9.99907021e-01 1.21436934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.676875 meters 0.015301484521026658 Centerline is valid? [True, True] Translation: X:194.21, Y:87.55, Z:12.73 [[-8.05318233e-01 5.92842642e-01 -3.81452700e-04 1.94207847e+02] [ 5.92842199e-01 8.05318187e-01 8.63270911e-04 8.75532693e+01] [ 8.18974605e-04 4.69066547e-04 -9.99999555e-01 1.27349390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.706875 meters 0.015333831338866509 Centerline is valid? [True, True] Translation: X:194.24, Y:87.57, Z:12.73 [[-8.44711289e-01 5.35218873e-01 -1.89641658e-03 1.94236939e+02] [ 5.35216283e-01 8.44713304e-01 1.72207322e-03 8.75677432e+01] [ 2.52361440e-03 4.39661652e-04 -9.99996719e-01 1.27342831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.736875 meters 0.01573386008285488 Centerline is valid? [True, True] Translation: X:194.26, Y:87.59, Z:12.73 [[-8.80025755e-01 4.74912320e-01 -3.59990890e-03 1.94257817e+02] [ 4.74906406e-01 8.80033024e-01 2.40478192e-03 8.75873026e+01] [ 4.31009927e-03 4.06650234e-04 -9.99990629e-01 1.27342980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.766875 meters 0.015804839231501635 Centerline is valid? [True, True] Translation: X:194.65, Y:88.34, Z:12.14 [[-8.63483167e-01 -5.04342025e-01 5.99520323e-03 1.94651583e+02] [ 5.04330478e-01 -8.63503976e-01 -3.41367118e-03 8.83404900e+01] [ 6.89853966e-03 7.59161137e-05 9.99976202e-01 1.21447610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.796875 meters 0.01550018907678522 Centerline is valid? [True, True] Translation: X:194.22, Y:87.61, Z:12.74 [[-8.81795571e-01 4.71607204e-01 -4.81824066e-03 1.94220236e+02] [ 4.71597736e-01 8.81808651e-01 3.01307206e-03 8.76099695e+01] [ 5.66975279e-03 3.84642216e-04 -9.99983853e-01 1.27361458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.82687500000003 meters 0.015153474701991805 Centerline is valid? [True, True] Translation: X:194.61, Y:88.36, Z:12.14 [[-8.63653123e-01 -5.03987128e-01 1.00128627e-02 1.94607738e+02] [ 5.03958658e-01 -8.63711068e-01 -5.37233490e-03 8.83557850e+01] [ 1.13558079e-02 4.06235011e-04 9.99935438e-01 1.21393725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.856875 meters 0.015324173987967161 Centerline is valid? [True, True] Translation: X:194.18, Y:87.63, Z:12.74 [[-8.85740404e-01 4.64179980e-01 9.39449256e-04 1.94182142e+02] [ 4.64180230e-01 8.85740770e-01 5.52539915e-05 8.76335581e+01] [-8.06460709e-04 4.85014465e-04 -9.99999557e-01 1.27438389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.88687500000003 meters 0.0147806692719864 Centerline is valid? [True, True] Translation: X:194.20, Y:87.66, Z:12.75 [[-9.17351353e-01 3.98062652e-01 3.55253443e-03 1.94197181e+02] [ 3.98061748e-01 9.17358091e-01 -9.88474827e-04 8.76605227e+01] [-3.65242112e-03 5.07349347e-04 -9.99993201e-01 1.27452158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.916875 meters 0.014604886340769532 Centerline is valid? [True, True] Translation: X:194.21, Y:87.69, Z:12.75 [[-9.44881374e-01 3.27306928e-01 8.32848489e-03 1.94208729e+02] [ 3.27298922e-01 9.44917941e-01 -2.34537723e-03 8.76895288e+01] [-8.63739301e-03 5.09800861e-04 -9.99962567e-01 1.27484141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.94687500000003 meters 0.014581161808980277 Centerline is valid? [True, True] Translation: X:194.48, Y:88.47, Z:12.13 [[-9.22931382e-01 -3.84347311e-01 2.17901121e-02 1.94478929e+02] [ 3.84249984e-01 -9.23188495e-01 -8.65746557e-03 8.84654315e+01] [ 2.34438544e-02 3.82603566e-04 9.99725082e-01 1.21319165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.976875 meters 0.014364044729064041 Centerline is valid? [True, True] Translation: X:194.16, Y:87.71, Z:12.75 [[-9.47714003e-01 3.19017980e-01 8.10536285e-03 1.94163205e+02] [ 3.19010477e-01 9.47748549e-01 -2.23688187e-03 8.77082966e+01] [-8.39545142e-03 4.65771401e-04 -9.99964649e-01 1.27458970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.00687500000004 meters 0.014364044729064041 Centerline is valid? [True, True] Translation: X:194.43, Y:88.48, Z:12.14 [[-9.23363969e-01 -3.83398359e-01 2.01166403e-02 1.94428865e+02] [ 3.83316109e-01 -9.23583002e-01 -7.94980546e-03 8.84793801e+01] [ 2.16273294e-02 3.70468360e-04 9.99766033e-01 1.21363647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.036875 meters 0.014153270071951694 Centerline is valid? [True, True] Translation: X:194.12, Y:87.72, Z:12.74 [[-9.49175144e-01 3.14747648e-01 6.80483493e-04 1.94122765e+02] [ 3.14747884e-01 9.49175272e-01 2.68921446e-04 8.77219687e+01] [-5.61255711e-04 4.69434292e-04 -9.99999732e-01 1.27409355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.066875 meters 0.014193861092515686 Centerline is valid? [True, True] Translation: X:194.13, Y:87.75, Z:12.74 [[-9.69108037e-01 2.46617723e-01 -3.05161135e-03 1.94131353e+02] [ 2.46614936e-01 9.69112726e-01 1.26394926e-03 8.77483009e+01] [ 3.26906769e-03 4.72330452e-04 -9.99994545e-01 1.27372029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.096875 meters 0.01430365145272293 Centerline is valid? [True, True] Translation: X:194.14, Y:87.77, Z:12.73 [[-9.83947842e-01 1.78186992e-01 -9.80000106e-03 1.94144077e+02] [ 1.78173358e-01 9.83996531e-01 2.25419075e-03 8.77734689e+01] [ 1.00448345e-02 4.71907024e-04 -9.99949438e-01 1.27321177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.126875 meters 0.014347765702807309 Centerline is valid? [True, True] Translation: X:194.30, Y:88.57, Z:12.15 [[-9.69502207e-01 -2.45079464e-01 1.23540352e-03 1.94296455e+02] [ 2.45079583e-01 -9.69502963e-01 -5.63863221e-05 8.85736255e+01] [ 1.21154650e-03 2.48105515e-04 9.99999235e-01 1.21515841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.156875 meters 0.014337045433305324 Centerline is valid? [True, True] Translation: X:194.10, Y:87.78, Z:12.73 [[-9.84658267e-01 1.74091838e-01 -1.18376359e-02 1.94095234e+02] [ 1.74073422e-01 9.84729305e-01 2.57661214e-03 8.77819483e+01] [ 1.21054341e-02 4.76464664e-04 -9.99926613e-01 1.27321202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.186875 meters 0.014341503575185034 Centerline is valid? [True, True] Translation: X:194.10, Y:87.81, Z:12.74 [[-9.94720072e-01 1.02119375e-01 -1.01789927e-02 1.94100091e+02] [ 1.02108991e-01 9.94772032e-01 1.53593826e-03 8.78104050e+01] [ 1.02826263e-02 4.88461940e-04 -9.99947013e-01 1.27351278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.216875 meters 0.014390247286342542 Centerline is valid? [True, True] Translation: X:194.19, Y:88.62, Z:12.15 [[-9.84616616e-01 -1.74661919e-01 4.83056870e-03 1.94189424e+02] [ 1.74662462e-01 -9.84628319e-01 -3.12421191e-04 8.86165602e+01] [ 4.81088282e-03 5.36103927e-04 9.99988284e-01 1.21470131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.246875 meters 0.014388075910187662 Centerline is valid? [True, True] Translation: X:194.04, Y:87.82, Z:12.74 [[-9.95561663e-01 9.40325755e-02 -3.85345435e-03 1.94036058e+02] [ 9.40299502e-02 9.95569000e-01 8.57305057e-04 8.78185862e+01] [ 3.91699430e-03 4.91159929e-04 -9.99992208e-01 1.27433460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.276875 meters 0.014555755894116187 Centerline is valid? [True, True] Translation: X:194.04, Y:87.85, Z:12.75 [[-9.99756664e-01 2.20203939e-02 -1.30977302e-03 1.94038452e+02] [ 2.20197565e-02 9.99757411e-01 4.99043268e-04 8.78467103e+01] [ 1.32044441e-03 4.70080950e-04 -9.99999018e-01 1.27463972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.306875 meters 0.014558518258815312 Centerline is valid? [True, True] Translation: X:194.06, Y:88.65, Z:12.14 [[-9.94484255e-01 -1.03997090e-01 1.36261461e-02 1.94062340e+02] [ 1.03995884e-01 -9.94577407e-01 -7.98950170e-04 8.86540916e+01] [ 1.36353455e-02 6.22519744e-04 9.99906841e-01 1.21369631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.336875 meters 0.014529955921434313 Centerline is valid? [True, True] Translation: X:193.96, Y:87.85, Z:12.75 [[-9.99877771e-01 1.54657822e-02 2.29185620e-03 1.93955290e+02] [ 1.54667772e-02 9.99880295e-01 4.17061322e-04 8.78484076e+01] [-2.28513167e-03 4.52457975e-04 -9.99997287e-01 1.27513903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.366875 meters 0.014705719812919748 Centerline is valid? [True, True] Translation: X:193.95, Y:87.87, Z:12.75 [[-9.98426633e-01 -5.59392408e-02 3.88074470e-03 1.93954484e+02] [-5.59371569e-02 9.98434084e-01 6.43553346e-04 8.78744053e+01] [-3.91066767e-03 4.25462975e-04 -9.99992263e-01 1.27536666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.396875 meters 0.014671089482279786 Centerline is valid? [True, True] Translation: X:193.95, Y:87.90, Z:12.75 [[-9.91983920e-01 -1.26317316e-01 3.44063716e-03 1.93952474e+02] [-1.26315040e-01 9.91989794e-01 8.71889512e-04 8.79004668e+01] [-3.52321169e-03 4.30296155e-04 -9.99993701e-01 1.27535141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.426875 meters 0.014491083151935102 Centerline is valid? [True, True] Translation: X:193.94, Y:87.92, Z:12.75 [[-9.80729029e-01 -1.95372812e-01 1.88697536e-04 1.93942347e+02] [-1.95372697e-01 9.80728941e-01 5.02948851e-04 8.79231214e+01] [-2.83323665e-04 4.56390192e-04 -9.99999856e-01 1.27502198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.456875 meters 0.014368069749688699 Centerline is valid? [True, True] Translation: X:193.92, Y:87.94, Z:12.75 [[-9.64295100e-01 -2.64821114e-01 -2.17669626e-03 1.93917309e+02] [-2.64821513e-01 9.64297441e-01 -1.08274021e-04 8.79437651e+01] [ 2.12765588e-03 4.72027887e-04 -9.99997625e-01 1.27479808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.486875 meters 0.0142907777501609 Centerline is valid? [True, True] Translation: X:193.86, Y:87.95, Z:12.75 [[-9.42662141e-01 -3.33715933e-01 -4.66515946e-03 1.93864861e+02] [-3.33714356e-01 9.42673559e-01 -1.13549359e-03 8.79545586e+01] [ 4.77665478e-03 4.86443868e-04 -9.99988473e-01 1.27456227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.516875 meters 0.014264748204110991 Centerline is valid? [True, True] Translation: X:193.81, Y:87.96, Z:12.74 [[-9.15890391e-01 -4.01296252e-01 -1.03009960e-02 1.93807087e+02] [-4.01276950e-01 9.15948180e-01 -3.96751670e-03 8.79589787e+01] [ 1.10273282e-02 4.99741845e-04 -9.99939072e-01 1.27415662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.546875 meters 0.01428226245160585 Centerline is valid? [True, True] Translation: X:193.73, Y:87.95, Z:12.74 [[-8.83483199e-01 -4.68311207e-01 -1.19185235e-02 1.93732443e+02] [-4.68276262e-01 8.83563442e-01 -5.74330067e-03 8.79528923e+01] [ 1.32204237e-02 5.07051994e-04 -9.99912478e-01 1.27409438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57687500000003 meters 0.01429632279666286 Centerline is valid? [True, True] Translation: X:193.66, Y:87.94, Z:12.74 [[-8.45247156e-01 -5.34248498e-01 -1.16528214e-02 1.93656726e+02] [-5.34206197e-01 8.45327313e-01 -6.74330139e-03 8.79400998e+01] [ 1.34530468e-02 5.25253078e-04 -9.99909366e-01 1.27429035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.606875 meters 0.014375333637079036 Centerline is valid? [True, True] Translation: X:193.56, Y:87.91, Z:12.75 [[-8.01807324e-01 -5.97496784e-01 -1.01295788e-02 1.93563912e+02] [-5.97457447e-01 8.01871127e-01 -6.87710243e-03 8.79105568e+01] [ 1.22316633e-02 5.37881194e-04 -9.99925046e-01 1.27457272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63687500000003 meters 0.014383355309325586 Centerline is valid? [True, True] Translation: X:193.48, Y:87.88, Z:12.75 [[-7.52990108e-01 -6.57984386e-01 -7.90222531e-03 1.93480628e+02] [-6.57955604e-01 7.53031373e-01 -6.17855138e-03 8.78798500e+01] [ 1.00160139e-02 5.46925358e-04 -9.99949689e-01 1.27494211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.666875 meters 0.014489313277456594 Centerline is valid? [True, True] Translation: X:193.39, Y:87.83, Z:12.76 [[-6.98620415e-01 -7.15487745e-01 -2.60809819e-03 1.93387241e+02] [-7.15485288e-01 6.98625098e-01 -1.94278474e-03 8.78305786e+01] [ 3.21212153e-03 5.08786807e-04 -9.99994712e-01 1.27573693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69687500000003 meters 0.014512008244642903 Centerline is valid? [True, True] Translation: X:193.30, Y:87.78, Z:12.76 [[-6.41362506e-01 -7.67237671e-01 -7.02166823e-04 1.93302809e+02] [-7.67237818e-01 6.41362708e-01 -8.61229714e-05 8.77780314e+01] [ 5.16420404e-04 4.83492896e-04 -9.99999750e-01 1.27604935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.726875 meters 0.01456169636266266 Centerline is valid? [True, True] Translation: X:193.22, Y:87.71, Z:12.76 [[-5.80803169e-01 -8.14043927e-01 4.03603881e-04 1.93218103e+02] [-8.14042917e-01 5.80803125e-01 1.36390474e-03 8.77118506e+01] [-1.34469277e-03 4.63609317e-04 -9.99998988e-01 1.27623486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75687500000004 meters 0.01412345729081771 Centerline is valid? [True, True] Translation: X:193.14, Y:87.64, Z:12.76 [[-5.17780905e-01 -8.55513239e-01 1.81694262e-04 1.93138353e+02] [-8.55512521e-01 5.17780726e-01 1.20265882e-03 8.76365576e+01] [-1.12296833e-03 4.67272055e-04 -9.99999260e-01 1.27621525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.786875 meters 0.013681503174060096 Centerline is valid? [True, True] Translation: X:193.07, Y:87.55, Z:12.76 [[-4.54701732e-01 -8.90639929e-01 -2.61756754e-03 1.93066598e+02] [-8.90630928e-01 4.54708995e-01 -4.03477120e-03 8.75496798e+01] [ 4.78375984e-03 4.96669156e-04 -9.99988434e-01 1.27569333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.816875 meters 0.013666440032204755 Centerline is valid? [True, True] Translation: X:193.00, Y:87.46, Z:12.75 [[-3.87493472e-01 -9.21863660e-01 -4.02502455e-03 1.92998235e+02] [-9.21826184e-01 3.87514074e-01 -8.32644015e-03 8.74580341e+01] [ 9.23559626e-03 4.83931813e-04 -9.99957234e-01 1.27532084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.846875 meters 0.014011152088131652 Centerline is valid? [True, True] Translation: X:192.94, Y:87.36, Z:12.75 [[-3.20533120e-01 -9.47218538e-01 -5.96317304e-03 1.92941126e+02] [-9.47076381e-01 3.20588352e-01 -1.64145466e-02 8.73632078e+01] [ 1.74598866e-02 3.86174508e-04 -9.99847490e-01 1.27477329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.876875 meters 0.01414636986270669 Centerline is valid? [True, True] Translation: X:192.88, Y:87.26, Z:12.75 [[-2.49043410e-01 -9.68479383e-01 -5.00649039e-03 1.92884876e+02] [-9.68308848e-01 2.49093520e-01 -1.81767307e-02 8.72597540e+01] [ 1.88508732e-02 3.21033957e-04 -9.99822255e-01 1.27486812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.906875 meters 0.01472881220602366 Centerline is valid? [True, True] Translation: X:192.84, Y:87.15, Z:12.75 [[-1.75978435e-01 -9.84387651e-01 -3.54165352e-03 1.92837096e+02] [-9.84217837e-01 1.76013866e-01 -1.82857128e-02 8.71482167e+01] [ 1.86236100e-02 2.67867433e-04 -9.99826530e-01 1.27486948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.936875 meters 0.015159921182333586 Centerline is valid? [True, True] Translation: X:192.80, Y:87.03, Z:12.75 [[-1.01465639e-01 -9.94837036e-01 -1.99878831e-03 1.92796807e+02] [-9.94687425e-01 1.01485047e-01 -1.72543436e-02 8.70317425e+01] [ 1.73681072e-02 2.37446600e-04 -9.99849135e-01 1.27513138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.966875 meters 0.016066363861353933 Centerline is valid? [True, True] Translation: X:192.77, Y:86.90, Z:12.76 [[-3.00355510e-02 -9.99548662e-01 -5.81643537e-04 1.92766303e+02] [-9.99492188e-01 3.00400387e-02 -1.06283946e-02 8.69006064e+01] [ 1.06410702e-02 2.62118482e-04 -9.99943348e-01 1.27585336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.996875 meters 0.016342147932371813 Centerline is valid? [True, True] Translation: X:192.74, Y:86.80, Z:12.76 [[ 4.46776745e-02 -9.99001454e-01 3.09602078e-05 1.92742292e+02] [-9.98973814e-01 -4.46766689e-02 -7.43737920e-03 8.67979293e+01] [ 7.43133583e-03 3.01356370e-04 -9.99972342e-01 1.27620592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.026875 meters 0.018018226590079227 Centerline is valid? [True, True] Translation: X:191.83, Y:86.61, Z:12.16 [[ 2.88533915e-02 9.99583530e-01 -4.97409744e-04 1.91825464e+02] [-9.99556947e-01 2.88562545e-02 7.29565159e-03 8.66076351e+01] [ 7.30696655e-03 2.86685073e-04 9.99973263e-01 1.21577381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.056875 meters 0.018626298572343512 Centerline is valid? [True, True] Translation: X:192.77, Y:86.44, Z:12.76 [[ 4.66327496e-02 -9.98912101e-01 4.20530048e-05 1.92765089e+02] [-9.98890508e-01 -4.66320183e-02 -6.57332142e-03 8.64417262e+01] [ 6.56813133e-03 2.64525704e-04 -9.99978395e-01 1.27607493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.086875 meters 0.021004751119893205 Centerline is valid? [True, True] Translation: X:192.76, Y:86.30, Z:12.76 [[ 1.21884263e-01 -9.92543721e-01 1.09000448e-03 1.92757558e+02] [-9.92494096e-01 -1.21889070e-01 -9.92595058e-03 8.62972342e+01] [ 9.98479956e-03 1.27994161e-04 -9.99950142e-01 1.27579416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.116875 meters 0.022728306854096263 Centerline is valid? [True, True] Translation: X:192.76, Y:86.12, Z:12.75 [[ 1.94715775e-01 -9.80855312e-01 2.93665228e-03 1.92762462e+02] [-9.80750734e-01 -1.94737897e-01 -1.43230633e-02 8.61227912e+01] [ 1.46207303e-02 -9.11974983e-05 -9.99893107e-01 1.27546201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.146875 meters 0.024197405998684026 Centerline is valid? [True, True] Translation: X:192.77, Y:85.99, Z:12.76 [[ 2.68779550e-01 -9.63192085e-01 4.30825695e-03 1.92770194e+02] [-9.63077290e-01 -2.68814034e-01 -1.48711035e-02 8.59948417e+01] [ 1.54818492e-02 -1.52135904e-04 -9.99880137e-01 1.27554010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.176875 meters 0.024868373095440245 Centerline is valid? [True, True] Translation: X:192.79, Y:85.86, Z:12.76 [[ 3.41892343e-01 -9.39722888e-01 5.52454152e-03 1.92788258e+02] [-9.39608536e-01 -3.41936928e-01 -1.46607340e-02 8.58614305e+01] [ 1.56660721e-02 -1.78513657e-04 -9.99877264e-01 1.27581642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.206875 meters 0.026460822062208768 Centerline is valid? [True, True] Translation: X:192.81, Y:85.75, Z:12.76 [[ 4.13933204e-01 -9.10280868e-01 6.93139374e-03 1.92809935e+02] [-9.10161520e-01 -4.13991182e-01 -1.47414156e-02 8.57462032e+01] [ 1.62883644e-02 -2.06726489e-04 -9.99867314e-01 1.27607974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.236875 meters 0.0281339906180136 Centerline is valid? [True, True] Translation: X:192.85, Y:85.59, Z:12.77 [[ 4.86102565e-01 -8.73869749e-01 7.48051284e-03 1.92853409e+02] [-8.73769935e-01 -4.86160105e-01 -1.32080356e-02 8.55900839e+01] [ 1.51788297e-02 -1.15787227e-04 -9.99884788e-01 1.27677855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.266875 meters 0.030502858481320866 Centerline is valid? [True, True] Translation: X:192.89, Y:85.48, Z:12.77 [[ 5.54567902e-01 -8.32100232e-01 7.97789097e-03 1.92890097e+02] [-8.32015393e-01 -5.54625281e-01 -1.18820549e-02 8.54820636e+01] [ 1.43118007e-02 -4.83218105e-05 -9.99897580e-01 1.27705465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.296875 meters 0.04050659725959729 Centerline is valid? [True, True] Translation: X:192.95, Y:85.35, Z:12.77 [[ 6.22268786e-01 -7.82744798e-01 9.59893227e-03 1.92953740e+02] [-7.82651525e-01 -6.22342817e-01 -1.20834603e-02 8.53455450e+01] [ 1.54320922e-02 6.54121076e-06 -9.99880918e-01 1.27713982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.32687500000003 meters 0.04561460090524411 Centerline is valid? [True, True] Translation: X:193.01, Y:85.24, Z:12.77 [[ 6.81659572e-01 -7.31573291e-01 1.18636814e-02 1.93008504e+02] [-7.31463424e-01 -6.81762802e-01 -1.26783467e-02 8.52436795e+01] [ 1.73633565e-02 -3.55326540e-05 -9.99849245e-01 1.27721370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.356875 meters 0.05801625063064381 Centerline is valid? [True, True] Translation: X:193.06, Y:85.16, Z:12.77 [[ 7.34674032e-01 -6.78270694e-01 1.42454297e-02 1.93063143e+02] [-6.78146732e-01 -7.34812118e-01 -1.29677255e-02 8.51593335e+01] [ 1.92633425e-02 -1.33440467e-04 -9.99814436e-01 1.27725208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.38687500000003 meters 0.14692735988967412 Centerline is valid? [True, False] Translation: X:192.50, Y:84.69, Z:11.66 [[ 8.11447496e-01 5.83742582e-01 2.82411095e-02 1.92499373e+02] [-5.81412062e-01 8.11221382e-01 -6.22887121e-02 8.46855406e+01] [-5.92703655e-02 3.41242977e-02 9.97658537e-01 1.16636781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.416875 meters 0.1680266541357744 Centerline is valid? [False, False] Translation: X:192.45, Y:84.78, Z:11.65 [[ 8.34063836e-01 5.51631238e-01 -6.36356634e-03 1.92446364e+02] [-5.49154035e-01 8.29107872e-01 -1.04928460e-01 8.47757275e+01] [-5.26057335e-02 9.10116123e-02 9.94459413e-01 1.16497823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.44687500000003 meters 0.1922762201953854 Centerline is valid? [False, False] Translation: X:192.40, Y:84.85, Z:11.64 [[ 8.53668376e-01 5.20031949e-01 -2.85845296e-02 1.92397498e+02] [-5.18789159e-01 8.44224463e-01 -1.34695450e-01 8.48520469e+01] [-4.59141785e-02 1.29814591e-01 9.90474664e-01 1.16412887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.476875 meters 0.20879493817269307 Centerline is valid? [False, False] Translation: X:192.35, Y:84.92, Z:11.64 [[ 8.71965954e-01 4.87894975e-01 -4.04211462e-02 1.92354280e+02] [-4.88031456e-01 8.59730778e-01 -1.50626318e-01 8.49228057e+01] [-3.87385203e-02 1.51067812e-01 9.87764063e-01 1.16393236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.50687500000004 meters 0.21179515482014286 Centerline is valid? [False, False] Translation: X:192.31, Y:84.98, Z:11.64 [[ 8.83827807e-01 4.65230182e-01 -4.90844795e-02 1.92308742e+02] [-4.66575364e-01 8.69000042e-01 -1.64761515e-01 8.49825181e+01] [-3.39976149e-02 1.68522417e-01 9.85111342e-01 1.16375421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.536875 meters 0.21179515482014286 Centerline is valid? [False, False] Translation: X:192.26, Y:85.03, Z:11.64 [[ 8.93243980e-01 4.46246168e-01 -5.45852460e-02 1.92256604e+02] [-4.48617887e-01 8.76846345e-01 -1.72865494e-01 8.50289692e+01] [-2.92776910e-02 1.78898980e-01 9.83431732e-01 1.16350823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.566875 meters 0.2149187519692395 Centerline is valid? [False, False] Translation: X:192.21, Y:85.08, Z:11.64 [[ 9.01642900e-01 4.28607805e-01 -5.77531852e-02 1.92214410e+02] [-4.31821517e-01 8.84830598e-01 -1.74942819e-01 8.50774363e+01] [-2.38800723e-02 1.82675019e-01 9.82883299e-01 1.16365514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.596875 meters 0.22729193199378103 Centerline is valid? [False, False] Translation: X:192.19, Y:85.13, Z:11.64 [[ 9.07451792e-01 4.15259620e-01 -6.39585283e-02 1.92194932e+02] [-4.19800372e-01 8.89852806e-01 -1.78688640e-01 8.51296046e+01] [-1.72885008e-02 1.89001141e-01 9.81824667e-01 1.16403801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.626875 meters 0.22887392272350468 Centerline is valid? [False, False] Translation: X:192.15, Y:85.18, Z:11.64 [[ 9.12757559e-01 4.03519186e-01 -6.36074345e-02 1.92153363e+02] [-4.08181277e-01 8.94751313e-01 -1.81130156e-01 8.51783790e+01] [-1.61766576e-02 1.91291283e-01 9.81400000e-01 1.16409199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.656875 meters 0.2350302981814105 Centerline is valid? [False, False] Translation: X:192.12, Y:85.22, Z:11.64 [[ 9.15743813e-01 3.96828972e-01 -6.27697096e-02 1.92116982e+02] [-4.01436709e-01 8.97471814e-01 -1.82737276e-01 8.52224023e+01] [-1.61814004e-02 1.92538596e-01 9.81155977e-01 1.16430096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.686875 meters 0.2554854173580294 Centerline is valid? [False, False] Translation: X:192.08, Y:85.27, Z:11.64 [[ 9.18094206e-01 3.91471949e-01 -6.20704568e-02 1.92079421e+02] [-3.96014895e-01 8.99417523e-01 -1.84987358e-01 8.52675288e+01] [-1.65901050e-02 1.94416647e-01 9.80778740e-01 1.16449693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.716875 meters 0.22945273248036605 Centerline is valid? [False, False] Translation: X:192.05, Y:85.32, Z:11.65 [[ 9.18108386e-01 3.93172761e-01 -4.99216501e-02 1.92051164e+02] [-3.95666802e-01 9.01992736e-01 -1.72791454e-01 8.53177872e+01] [-2.29079275e-02 1.78393623e-01 9.83692504e-01 1.16477103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.746875 meters 0.2425478828007866 Centerline is valid? [False, False] Translation: X:192.02, Y:85.35, Z:11.65 [[ 9.19266496e-01 3.91426052e-01 -4.16503824e-02 1.92015058e+02] [-3.92730531e-01 9.04832320e-01 -1.64442096e-01 8.53521181e+01] [-2.66803083e-02 1.67523486e-01 9.85506998e-01 1.16491057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.776875 meters 0.2384423973753651 Centerline is valid? [False, False] Translation: X:191.97, Y:85.39, Z:11.65 [[ 9.22140687e-01 3.85529465e-01 -3.19935249e-02 1.91968489e+02] [-3.85468116e-01 9.08692101e-01 -1.60290353e-01 8.53926107e+01] [-3.27243909e-02 1.60142740e-01 9.86551274e-01 1.16475832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.806875 meters 0.2421117693172648 Centerline is valid? [False, False] Translation: X:191.93, Y:85.43, Z:11.65 [[ 9.24872145e-01 3.79462021e-01 -2.49015937e-02 1.91931541e+02] [-3.78401253e-01 9.11833967e-01 -1.59283738e-01 8.54275869e+01] [-3.77360103e-02 1.56739887e-01 9.86918741e-01 1.16473617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.836875 meters 0.28586651257400436 Centerline is valid? [False, False] Translation: X:191.91, Y:85.47, Z:11.65 [[ 9.28297599e-01 3.71649956e-01 -1.18269730e-02 1.91914134e+02] [-3.68560970e-01 9.15437163e-01 -1.61671308e-01 8.54683581e+01] [-4.92582839e-02 1.54438048e-01 9.86773789e-01 1.16472181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.866875 meters 0.2739667501541176 Centerline is valid? [False, False] Translation: X:191.88, Y:85.50, Z:11.65 [[ 9.31447974e-01 3.63829490e-01 -5.72481659e-03 1.91877616e+02] [-3.59862377e-01 9.18733736e-01 -1.62565038e-01 8.55045681e+01] [-5.38863727e-02 1.53481021e-01 9.86681223e-01 1.16478696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.896875 meters 0.2840993307231738 Centerline is valid? [False, False] Translation: X:191.85, Y:85.54, Z:11.65 [[ 9.34461449e-01 3.56064303e-01 -1.06532323e-04 1.91847116e+02] [-3.51426253e-01 9.22241051e-01 -1.61155308e-01 8.55380921e+01] [-5.72834039e-02 1.50630861e-01 9.86929053e-01 1.16482457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.926875 meters 0.29474543110369156 Centerline is valid? [False, False] Translation: X:191.82, Y:85.58, Z:11.65 [[ 9.36968110e-01 3.49393720e-01 3.84578819e-03 1.91823860e+02] [-3.44277898e-01 9.25017538e-01 -1.60671352e-01 8.55824663e+01] [-5.96949828e-02 1.49219913e-01 9.87000469e-01 1.16486618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.956875 meters 0.3165993516058556 Centerline is valid? [False, False] Translation: X:191.79, Y:85.61, Z:11.65 [[ 9.39485728e-01 3.42454741e-01 9.55602156e-03 1.91788261e+02] [-3.36583300e-01 9.27859255e-01 -1.60589180e-01 8.56138012e+01] [-6.38611689e-02 1.47654845e-01 9.86975075e-01 1.16477728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.986875 meters 0.3143926445331744 Centerline is valid? [False, False] Translation: X:191.75, Y:85.65, Z:11.65 [[ 9.41885768e-01 3.35493989e-01 1.71750706e-02 1.91747190e+02] [-3.28538234e-01 9.30615280e-01 -1.61300431e-01 8.56459958e+01] [-7.00987084e-02 1.46283913e-01 9.86755891e-01 1.16469313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.016875 meters 0.3353791383910245 Centerline is valid? [False, False] Translation: X:191.71, Y:85.68, Z:11.64 [[ 9.43563514e-01 3.29466273e-01 3.37619690e-02 1.91712359e+02] [-3.20097133e-01 9.33368802e-01 -1.62359186e-01 8.56844844e+01] [-8.50042444e-02 1.42389094e-01 9.86153956e-01 1.16446559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.046875 meters 0.33895792535437447 Centerline is valid? [False, False] Translation: X:191.67, Y:85.71, Z:11.64 [[ 9.46173621e-01 3.20661717e-01 4.39493089e-02 1.91666789e+02] [-3.10181587e-01 9.37151340e-01 -1.59795962e-01 8.57142793e+01] [-9.24276012e-02 1.37562458e-01 9.86171237e-01 1.16440459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.07687500000003 meters 0.29833330559929067 Centerline is valid? [False, False] Translation: X:191.63, Y:85.75, Z:11.64 [[ 9.49597625e-01 3.09255092e-01 5.12409883e-02 1.91632283e+02] [-2.98615142e-01 9.42152195e-01 -1.52244008e-01 8.57462348e+01] [-9.53590443e-02 1.29269214e-01 9.87013740e-01 1.16425824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.106875 meters 0.2831972627353583 Centerline is valid? [False, False] Translation: X:191.58, Y:85.78, Z:11.64 [[ 9.53152170e-01 2.96345076e-01 6.06674220e-02 1.91576610e+02] [-2.85070603e-01 9.47087742e-01 -1.47511218e-01 8.57759552e+01] [-1.01171595e-01 1.23306139e-01 9.87198007e-01 1.16430860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13687500000003 meters 0.29785727062716316 Centerline is valid? [False, False] Translation: X:191.53, Y:85.80, Z:11.64 [[ 9.56185210e-01 2.84242991e-01 7.01125230e-02 1.91529180e+02] [-2.72484213e-01 9.51635839e-01 -1.41921046e-01 8.58006740e+01] [-1.07061652e-01 1.16598249e-01 9.87391843e-01 1.16426238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.166875 meters 0.3032779230362742 Centerline is valid? [False, False] Translation: X:191.49, Y:85.83, Z:11.64 [[ 9.60297153e-01 2.65857372e-01 8.45531532e-02 1.91490249e+02] [-2.52886949e-01 9.57520006e-01 -1.38577156e-01 8.58270090e+01] [-1.17803094e-01 1.11692859e-01 9.86735596e-01 1.16406179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19687500000003 meters 0.3011456457394339 Centerline is valid? [False, False] Translation: X:191.45, Y:85.86, Z:11.64 [[ 9.63466711e-01 2.47835754e-01 1.01534904e-01 1.91447212e+02] [-2.33201725e-01 9.62722779e-01 -1.37046730e-01 8.58557612e+01] [-1.31715044e-01 1.08361848e-01 9.85347074e-01 1.16399474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.226875 meters 0.2995940719676624 Centerline is valid? [False, False] Translation: X:191.41, Y:85.88, Z:11.64 [[ 9.65431435e-01 2.32862584e-01 1.17120283e-01 1.91406713e+02] [-2.17261134e-01 9.67145516e-01 -1.32011937e-01 8.58769231e+01] [-1.44012997e-01 1.02002788e-01 9.84304672e-01 1.16373806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25687500000004 meters 0.29860593760276294 Centerline is valid? [False, False] Translation: X:191.38, Y:85.89, Z:11.63 [[ 9.67170909e-01 2.19142007e-01 1.28674836e-01 1.91380004e+02] [-2.03146486e-01 9.70926258e-01 -1.26624277e-01 8.58940999e+01] [-1.52682476e-01 9.63274766e-02 9.83569560e-01 1.16339361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.286875 meters 0.2951550765873061 Centerline is valid? [False, False] Translation: X:191.36, Y:85.91, Z:11.63 [[ 9.68502107e-01 2.04023432e-01 1.42751911e-01 1.91363471e+02] [-1.88426072e-01 9.75272345e-01 -1.15496618e-01 8.59065535e+01] [-1.62786007e-01 8.49605360e-02 9.82996655e-01 1.16302161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.316875 meters 0.3007846017122553 Centerline is valid? [False, False] Translation: X:191.36, Y:85.93, Z:11.63 [[ 9.70566030e-01 1.87859341e-01 1.50699864e-01 1.91358053e+02] [-1.73614977e-01 9.79434133e-01 -1.02794065e-01 8.59287353e+01] [-1.66911416e-01 7.36046740e-02 9.83220693e-01 1.16253213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.346875 meters 0.30235314176185696 Centerline is valid? [False, False] Translation: X:191.35, Y:85.94, Z:11.62 [[ 9.71365578e-01 1.74752194e-01 1.60967648e-01 1.91348463e+02] [-1.61301397e-01 9.82490168e-01 -9.32466077e-02 8.59380879e+01] [-1.74444181e-01 6.46122385e-02 9.82544903e-01 1.16217591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.376875 meters 0.30550526360323554 Centerline is valid? [False, False] Translation: X:191.34, Y:85.94, Z:11.62 [[ 9.71943029e-01 1.63897304e-01 1.68714024e-01 1.91344957e+02] [-1.51161109e-01 9.84775211e-01 -8.58376571e-02 8.59437523e+01] [-1.80213949e-01 5.79263136e-02 9.81920300e-01 1.16201627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.406875 meters 0.3018315001367639 Centerline is valid? [False, False] Translation: X:191.34, Y:85.95, Z:11.62 [[ 9.72276035e-01 1.54605528e-01 1.75432159e-01 1.91343087e+02] [-1.42908829e-01 9.86694419e-01 -7.75318640e-02 8.59475793e+01] [-1.85084787e-01 5.03115689e-02 9.81433833e-01 1.16195621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.436875 meters 0.3035926583567833 Centerline is valid? [False, False] Translation: X:191.34, Y:85.95, Z:11.62 [[ 9.72538762e-01 1.45782388e-01 1.81427265e-01 1.91342633e+02] [-1.35224078e-01 9.88386342e-01 -6.93317142e-02 8.59529438e+01] [-1.89427574e-01 4.28944447e-02 9.80957319e-01 1.16192053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.466875 meters 0.3001401007772536 Centerline is valid? [False, False] Translation: X:191.35, Y:85.97, Z:11.62 [[ 9.73086167e-01 1.44298980e-01 1.79669464e-01 1.91354706e+02] [-1.35686939e-01 9.88969562e-01 -5.93991661e-02 8.59702620e+01] [-1.86258870e-01 3.34217073e-02 9.81932087e-01 1.16214971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.496875 meters 0.29833202614342175 Centerline is valid? [False, False] Translation: X:191.35, Y:85.98, Z:11.62 [[ 9.73260441e-01 1.36371211e-01 1.84843195e-01 1.91354752e+02] [-1.29009005e-01 9.90313244e-01 -5.13454432e-02 8.59802634e+01] [-1.90054704e-01 2.61260522e-02 9.81425819e-01 1.16233010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.526875 meters 0.2960739332652853 Centerline is valid? [False, False] Translation: X:191.37, Y:86.00, Z:11.62 [[ 9.74489688e-01 1.32084131e-01 1.81448699e-01 1.91370874e+02] [-1.25887871e-01 9.91009519e-01 -4.53031610e-02 8.59954953e+01] [-1.85801217e-01 2.13052729e-02 9.82356347e-01 1.16213425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.556875 meters 0.3006527000432106 Centerline is valid? [False, False] Translation: X:191.37, Y:86.00, Z:11.62 [[ 9.74735787e-01 1.31569642e-01 1.80498132e-01 1.91374405e+02] [-1.25059864e-01 9.91033700e-01 -4.70344166e-02 8.60015664e+01] [-1.85068033e-01 2.32730572e-02 9.82450094e-01 1.16186342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.586875 meters 0.29804718229444144 Centerline is valid? [False, False] Translation: X:191.37, Y:86.01, Z:11.61 [[ 9.74200143e-01 1.29640402e-01 1.84736155e-01 1.91369393e+02] [-1.22841966e-01 9.91272880e-01 -4.78322955e-02 8.60092173e+01] [-1.89324938e-01 2.39048767e-02 9.81623464e-01 1.16148471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.616875 meters 0.2963443485407368 Centerline is valid? [False, False] Translation: X:191.37, Y:86.01, Z:11.61 [[ 9.74346198e-01 1.19331402e-01 1.90812745e-01 1.91370709e+02] [-1.13251631e-01 9.92657100e-01 -4.24964678e-02 8.60139182e+01] [-1.94482789e-01 1.97964173e-02 9.80706147e-01 1.16130215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.646875 meters 0.3000692746453668 Centerline is valid? [False, False] Translation: X:191.37, Y:86.02, Z:11.61 [[ 9.72932990e-01 1.11779387e-01 2.02254211e-01 1.91374066e+02] [-1.04313649e-01 9.93422022e-01 -4.72371583e-02 8.60185241e+01] [-2.06203928e-01 2.48607148e-02 9.78193174e-01 1.16132000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.676875 meters 0.2998927825442476 Centerline is valid? [False, False] Translation: X:191.38, Y:86.02, Z:11.61 [[ 9.75324685e-01 9.53105446e-02 1.99142308e-01 1.91383888e+02] [-9.06445324e-02 9.95354854e-01 -3.24389292e-02 8.60188787e+01] [-2.01309035e-01 1.35873270e-02 9.79433539e-01 1.16146166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.706875 meters 0.3027601801813236 Centerline is valid? [False, False] Translation: X:191.40, Y:86.02, Z:11.61 [[ 9.77481305e-01 8.84608684e-02 1.91585418e-01 1.91400937e+02] [-8.45495404e-02 9.96011274e-01 -2.85117065e-02 8.60233705e+01] [-1.93343406e-01 1.16712011e-02 9.81061726e-01 1.16143699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.736875 meters 0.30728926631279535 Centerline is valid? [False, False] Translation: X:191.42, Y:86.03, Z:11.62 [[ 9.80186498e-01 8.03436732e-02 1.81050611e-01 1.91418818e+02] [-7.60046438e-02 9.96631997e-01 -3.07889042e-02 8.60268921e+01] [-1.82914526e-01 1.64181810e-02 9.82991719e-01 1.16170140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.766875 meters 0.3014345914687441 Centerline is valid? [False, False] Translation: X:191.44, Y:86.03, Z:11.61 [[ 9.82490388e-01 6.27621030e-02 1.75423932e-01 1.91436619e+02] [-5.68977984e-02 9.97646391e-01 -3.82664178e-02 8.60337093e+01] [-1.77412734e-01 2.76151521e-02 9.83749015e-01 1.16144550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.796875 meters 0.30849654435576934 Centerline is valid? [False, False] Translation: X:191.46, Y:86.03, Z:11.62 [[ 9.85207371e-01 5.25446228e-02 1.63111923e-01 1.91457476e+02] [-4.68167935e-02 9.98150978e-01 -3.87661212e-02 8.60336783e+01] [-1.64847277e-01 3.05562911e-02 9.85845672e-01 1.16161365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.82687500000003 meters 0.31282277924019236 Centerline is valid? [False, False] Translation: X:191.49, Y:86.04, Z:11.62 [[ 9.86495583e-01 3.24636618e-02 1.60538395e-01 1.91487975e+02] [-2.59393502e-02 9.98756667e-01 -4.25707775e-02 8.60352138e+01] [-1.61720795e-01 3.78316223e-02 9.86111126e-01 1.16201670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.856875 meters 0.3152476668590992 Centerline is valid? [False, False] Translation: X:191.53, Y:86.03, Z:11.62 [[ 9.85838677e-01 -4.46566443e-03 1.67636989e-01 1.91533199e+02] [ 1.36176717e-02 9.98475826e-01 -5.34844340e-02 8.60323345e+01] [-1.67142637e-01 5.50098492e-02 9.84396899e-01 1.16232768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.88687500000003 meters 0.3312803569953442 Centerline is valid? [False, False] Translation: X:191.58, Y:86.03, Z:11.63 [[ 9.90363894e-01 -1.37370493e-02 1.37806573e-01 1.91582342e+02] [ 1.88178328e-02 9.99187721e-01 -3.56340847e-02 8.60348275e+01] [-1.37205129e-01 3.78839319e-02 9.89817943e-01 1.16272012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.916875 meters 0.3418265451976013 Centerline is valid? [False, False] Translation: X:191.63, Y:86.04, Z:11.63 [[ 9.93718066e-01 -1.62313133e-02 1.10729177e-01 1.91627096e+02] [ 1.76136822e-02 9.99778529e-01 -1.15174305e-02 8.60424657e+01] [-1.10517711e-01 1.33954273e-02 9.93783879e-01 1.16306442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.94687500000003 meters 0.3448682499716178 Centerline is valid? [False, False] Translation: X:191.68, Y:86.08, Z:11.64 [[ 9.96670443e-01 -1.42818866e-02 8.02748783e-02 1.91678977e+02] [ 1.44052969e-02 9.99895779e-01 -9.58400229e-04 8.60799515e+01] [-8.02528242e-02 2.11159264e-03 9.96772304e-01 1.16367143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.976875 meters 0.3532828602458156 Centerline is valid? [False, False] Translation: X:191.71, Y:86.09, Z:11.64 [[ 9.97424408e-01 -4.67537670e-03 7.15729786e-02 1.91705751e+02] [ 6.34049722e-03 9.99714088e-01 -2.30551635e-02 8.60892083e+01] [-7.14447235e-02 2.34495911e-02 9.97168876e-01 1.16427200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.00687500000004 meters 0.35785992411536216 Centerline is valid? [False, False] Translation: X:191.73, Y:86.09, Z:11.65 [[ 9.97512033e-01 5.07228589e-05 7.04963885e-02 1.91727803e+02] [ 2.16841463e-03 9.99504488e-01 -3.14018555e-02 8.60934645e+01] [-7.04630495e-02 3.14765942e-02 9.97017644e-01 1.16467526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.036875 meters 0.3693834123605383 Centerline is valid? [False, False] Translation: X:191.76, Y:86.12, Z:11.65 [[ 9.96447462e-01 3.70761232e-04 8.42159058e-02 1.91761788e+02] [ 2.84332146e-03 9.99272109e-01 -3.80416476e-02 8.61156137e+01] [-8.41687102e-02 3.81459561e-02 9.95721103e-01 1.16496436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.066875 meters 0.3691822236151938 Centerline is valid? [False, False] Translation: X:191.77, Y:86.13, Z:11.65 [[ 9.96878973e-01 4.25988952e-03 7.88299878e-02 1.91770876e+02] [-1.67643861e-03 9.99460213e-01 -3.28096421e-02 8.61304268e+01] [-7.89272018e-02 3.25750887e-02 9.96348012e-01 1.16534240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.096875 meters 0.36811665854244413 Centerline is valid? [False, False] Translation: X:191.80, Y:86.15, Z:11.66 [[ 9.97781842e-01 1.23835630e-02 6.54067582e-02 1.91795064e+02] [-1.13988989e-02 9.99816339e-01 -1.54062724e-02 8.61512029e+01] [-6.55855301e-02 1.46265338e-02 9.97739747e-01 1.16571040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.126875 meters 0.34519988447139666 Centerline is valid? [False, False] Translation: X:191.82, Y:86.20, Z:11.66 [[ 9.98117151e-01 3.65457443e-02 4.92601403e-02 1.91819197e+02] [-3.61770211e-02 9.99310459e-01 -8.35643707e-03 8.62040098e+01] [-4.95315656e-02 6.55861803e-03 9.98751024e-01 1.16593613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.156875 meters 0.34340691400959794 Centerline is valid? [False, False] Translation: X:191.83, Y:86.22, Z:11.66 [[ 9.98145437e-01 3.85308910e-02 4.71280932e-02 1.91825469e+02] [-3.81523902e-02 9.99232253e-01 -8.90498484e-03 8.62217536e+01] [-4.74350277e-02 7.09042059e-03 9.98849160e-01 1.16578000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.186875 meters 0.33875455191610915 Centerline is valid? [False, False] Translation: X:191.83, Y:86.24, Z:11.66 [[ 9.98328208e-01 3.50271489e-02 4.59770355e-02 1.91829430e+02] [-3.43552380e-02 9.99292195e-01 -1.53240256e-02 8.62413575e+01] [-4.64812497e-02 1.37188550e-02 9.98824953e-01 1.16591456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.216875 meters 0.3449514576488602 Centerline is valid? [False, False] Translation: X:191.83, Y:86.25, Z:11.66 [[ 9.98275544e-01 3.66867205e-02 4.58260118e-02 1.91832408e+02] [-3.60508294e-02 9.99242912e-01 -1.46267178e-02 8.62495563e+01] [-4.63279238e-02 1.29494289e-02 9.98842348e-01 1.16569805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.246875 meters 0.35380174410643084 Centerline is valid? [False, False] Translation: X:191.83, Y:86.26, Z:11.66 [[ 9.98209938e-01 3.81493964e-02 4.60602174e-02 1.91834423e+02] [-3.75125641e-02 9.99189313e-01 -1.46124983e-02 8.62584845e+01] [-4.65803350e-02 1.28585042e-02 9.98831783e-01 1.16550806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.276875 meters 0.36083385281051206 Centerline is valid? [False, False] Translation: X:191.84, Y:86.27, Z:11.66 [[ 9.97878795e-01 4.78762461e-02 4.41109418e-02 1.91840235e+02] [-4.77394155e-02 9.98851200e-01 -4.15079562e-03 8.62717006e+01] [-4.42589917e-02 2.03616035e-03 9.99018016e-01 1.16550959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.306875 meters 0.3527841096784475 Centerline is valid? [False, False] Translation: X:191.85, Y:86.29, Z:11.66 [[ 9.97861191e-01 5.08450162e-02 4.10831803e-02 1.91852319e+02] [-5.13875511e-02 9.98603546e-01 1.22587752e-02 8.62896551e+01] [-4.04025119e-02 -1.43437201e-02 9.99080525e-01 1.16559519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.336875 meters 0.35995412252072745 Centerline is valid? [False, False] Translation: X:191.88, Y:86.33, Z:11.65 [[ 9.98215004e-01 4.79886433e-02 3.55513222e-02 1.91875261e+02] [-4.87960947e-02 9.98561941e-01 2.22034239e-02 8.63275132e+01] [-3.44346851e-02 -2.38985566e-02 9.99121170e-01 1.16518045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.366875 meters 0.37705056291487077 Centerline is valid? [False, False] Translation: X:191.88, Y:86.34, Z:11.65 [[ 9.98578423e-01 4.09111811e-02 3.41673440e-02 1.91878348e+02] [-4.13700433e-02 9.99061485e-01 1.28323493e-02 8.63416449e+01] [-3.36102909e-02 -1.42276116e-02 9.99333740e-01 1.16516416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.396875 meters 0.3685050210592038 Centerline is valid? [False, False] Translation: X:191.87, Y:86.36, Z:11.64 [[ 9.97724400e-01 5.06502185e-02 4.45036757e-02 1.91867545e+02] [-5.01672497e-02 9.98669890e-01 -1.19037132e-02 8.63566152e+01] [-4.50474065e-02 9.64399813e-03 9.98938299e-01 1.16396632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.426875 meters 0.3685050210592038 Centerline is valid? [False, False] Translation: X:191.87, Y:86.36, Z:11.64 [[ 9.97724400e-01 5.06502185e-02 4.45036757e-02 1.91867545e+02] [-5.01672497e-02 9.98669890e-01 -1.19037132e-02 8.63566152e+01] [-4.50474065e-02 9.64399813e-03 9.98938299e-01 1.16396632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.456875 meters 0.353919379862989 Centerline is valid? [False, False] Translation: X:191.85, Y:86.36, Z:11.62 [[ 9.97561104e-01 3.96795660e-02 5.74227806e-02 1.91848181e+02] [-3.97993271e-02 9.99207248e-01 9.43017742e-04 8.63642185e+01] [-5.73398400e-02 -3.22610585e-03 9.98349505e-01 1.16237837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.486875 meters 0.36829087430141993 Centerline is valid? [False, False] Translation: X:191.85, Y:86.37, Z:11.63 [[ 9.97411164e-01 4.34013125e-02 5.73349400e-02 1.91847188e+02] [-4.37424457e-02 9.99031749e-01 4.70768076e-03 8.63653697e+01] [-5.70751059e-02 -7.20346386e-03 9.98343900e-01 1.16260034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.516875 meters 0.368158556442127 Centerline is valid? [False, False] Translation: X:191.85, Y:86.37, Z:11.63 [[ 9.97627507e-01 3.93456890e-02 5.64913552e-02 1.91846315e+02] [-3.93927461e-02 9.99223765e-01 -2.80758388e-04 8.63680630e+01] [-5.64585513e-02 -1.94525732e-03 9.98403049e-01 1.16296303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.546875 meters 0.36776910305179117 Centerline is valid? [False, False] Translation: X:191.84, Y:86.36, Z:11.63 [[ 9.97595532e-01 3.93872481e-02 5.70245520e-02 1.91843392e+02] [-3.94485671e-02 9.99221601e-01 -5.04149441e-05 8.63643564e+01] [-5.69821498e-02 -2.19924314e-03 9.98372775e-01 1.16321662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57687500000003 meters 0.3691491399359749 Centerline is valid? [False, False] Translation: X:191.85, Y:86.37, Z:11.64 [[ 9.98367898e-01 4.09472394e-02 3.98103456e-02 1.91847618e+02] [-4.11713154e-02 9.99140453e-01 4.82478437e-03 8.63674848e+01] [-3.95785651e-02 -6.45595413e-03 9.99195605e-01 1.16398758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.606875 meters 0.37115205331572043 Centerline is valid? [False, False] Translation: X:191.85, Y:86.37, Z:11.64 [[ 9.98404664e-01 4.08033421e-02 3.90283806e-02 1.91848589e+02] [-4.10142498e-02 9.99147888e-01 4.61831129e-03 8.63689273e+01] [-3.88066816e-02 -6.21166329e-03 9.99227430e-01 1.16408391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63687500000003 meters 0.35896647032499335 Centerline is valid? [False, False] Translation: X:191.85, Y:86.37, Z:11.64 [[ 9.98518647e-01 3.79150830e-02 3.90251082e-02 1.91847717e+02] [-3.79827968e-02 9.99277898e-01 9.94908960e-04 8.63672073e+01] [-3.89592061e-02 -2.47571790e-03 9.99237735e-01 1.16421029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.666875 meters 0.3496124440520095 Centerline is valid? [False, False] Translation: X:191.85, Y:86.37, Z:11.64 [[ 9.98681469e-01 3.39858524e-02 3.84744750e-02 1.91847967e+02] [-3.38683636e-02 9.99419448e-01 -3.70153770e-03 8.63687582e+01] [-3.85779385e-02 2.39358960e-03 9.99252727e-01 1.16432288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69687500000003 meters 0.3541387380312811 Centerline is valid? [False, False] Translation: X:191.85, Y:86.37, Z:11.64 [[ 9.98976445e-01 2.36586397e-02 3.85529682e-02 1.91852325e+02] [-2.30559466e-02 9.99606082e-01 -1.60032458e-02 8.63686322e+01] [-3.89163965e-02 1.50979904e-02 9.99128403e-01 1.16369836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.726875 meters 0.3676386656310775 Centerline is valid? [False, False] Translation: X:191.85, Y:86.36, Z:11.63 [[ 9.99244127e-01 2.63423794e-02 2.85876492e-02 1.91853192e+02] [-2.56995363e-02 9.99413629e-01 -2.26259321e-02 8.63631133e+01] [-2.91669071e-02 2.18741404e-02 9.99335186e-01 1.16303347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75687500000004 meters 0.36993814858371205 Centerline is valid? [False, False] Translation: X:191.85, Y:86.35, Z:11.62 [[ 9.99428829e-01 2.84543275e-02 1.82309096e-02 1.91854871e+02] [-2.79110280e-02 9.99178182e-01 -2.93927793e-02 8.63533913e+01] [-1.90522789e-02 2.88671476e-02 9.99401670e-01 1.16236713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.786875 meters 0.3560254376169838 Centerline is valid? [False, False] Translation: X:191.86, Y:86.34, Z:11.62 [[ 9.99590842e-01 2.28455143e-02 1.72113749e-02 1.91862434e+02] [-2.25528530e-02 9.99600928e-01 -1.70103763e-02 8.63419837e+01] [-1.75931171e-02 1.66152507e-02 9.99707165e-01 1.16192525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.816875 meters 0.35286085499590253 Centerline is valid? [False, False] Translation: X:191.86, Y:86.34, Z:11.62 [[ 9.99584201e-01 2.30467072e-02 1.73284334e-02 1.91860709e+02] [-2.27659421e-02 9.99609090e-01 -1.62289336e-02 8.63371693e+01] [-1.76956831e-02 1.58276875e-02 9.99718134e-01 1.16210949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.846875 meters 0.33480821984213416 Centerline is valid? [False, False] Translation: X:191.86, Y:86.33, Z:11.62 [[ 9.99663256e-01 1.93493866e-02 1.72909210e-02 1.91859384e+02] [-1.90107876e-02 9.99628382e-01 -1.95368556e-02 8.63312079e+01] [-1.76625216e-02 1.92015627e-02 9.99659610e-01 1.16225533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.876875 meters 0.3360769848741755 Centerline is valid? [False, False] Translation: X:191.86, Y:86.31, Z:11.62 [[ 9.99822029e-01 1.07882549e-02 1.54765732e-02 1.91863919e+02] [-1.04391904e-02 9.99693226e-01 -2.24605791e-02 8.63116567e+01] [-1.57141359e-02 2.22950189e-02 9.99627930e-01 1.16174220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.906875 meters 0.33993838065194065 Centerline is valid? [False, False] Translation: X:191.86, Y:86.30, Z:11.62 [[ 9.99954144e-01 8.04019267e-03 5.20244570e-03 1.91860752e+02] [-7.96793454e-03 9.99873524e-01 -1.37640303e-02 8.63016689e+01] [-5.31245317e-03 1.37219464e-02 9.99891737e-01 1.16215733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.936875 meters 0.31778869982890473 Centerline is valid? [False, False] Translation: X:191.86, Y:86.29, Z:11.62 [[ 9.99986818e-01 -3.27410918e-03 -3.95537414e-03 1.91860054e+02] [ 3.21821935e-03 9.99896048e-01 -1.40547778e-02 8.62863790e+01] [ 4.00097985e-03 1.40418632e-02 9.99893403e-01 1.16174506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.966875 meters 0.3091528713231966 Centerline is valid? [False, False] Translation: X:191.89, Y:86.28, Z:11.61 [[ 9.99973054e-01 -1.59093309e-03 -7.16654898e-03 1.91888593e+02] [ 1.43937020e-03 9.99776241e-01 -2.11043965e-02 8.62793132e+01] [ 7.19852108e-03 2.10935125e-02 9.99751592e-01 1.16114352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.996875 meters 0.07956050888292421 Centerline is valid? [False, True] Translation: X:191.73, Y:86.38, Z:11.79 [[ 9.99806555e-01 -8.74904401e-04 -1.96491212e-02 1.91733587e+02] [-7.31356416e-03 9.10840973e-01 -4.12692663e-01 8.63809188e+01] [ 1.82582913e-02 4.12756534e-01 9.10658376e-01 1.17908821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.026875 meters 0.29123964437836203 Centerline is valid? [True, False] Translation: X:191.80, Y:86.37, Z:11.78 [[ 9.98004471e-01 3.94627359e-03 -6.30198534e-02 1.91795137e+02] [-2.59756817e-02 9.35342167e-01 -3.52789306e-01 8.63681180e+01] [ 5.75529231e-02 3.53722289e-01 9.33578172e-01 1.17802182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.056875 meters 0.27237212060332777 Centerline is valid? [False, False] Translation: X:191.79, Y:86.33, Z:11.72 [[ 9.98308697e-01 9.17086734e-03 -5.74076651e-02 1.91793040e+02] [-2.21886094e-02 9.72832103e-01 -2.30446013e-01 8.63257844e+01] [ 5.37346297e-02 2.31330055e-01 9.71390238e-01 1.17236933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.086875 meters 0.2652549449495287 Centerline is valid? [False, False] Translation: X:191.78, Y:86.29, Z:11.68 [[ 9.98564065e-01 9.20908496e-03 -5.27731159e-02 1.91780248e+02] [-1.40625281e-02 9.95627441e-01 -9.23484890e-02 8.62886124e+01] [ 5.16919173e-02 9.29580060e-02 9.94327288e-01 1.16783348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.116875 meters 0.23653424643578375 Centerline is valid? [False, False] Translation: X:191.70, Y:86.28, Z:11.67 [[ 9.99003557e-01 4.11510742e-03 -4.44405204e-02 1.91701789e+02] [-6.98102907e-03 9.97891501e-01 -6.45276457e-02 8.62837937e+01] [ 4.40812794e-02 6.47735881e-02 9.96925886e-01 1.16685180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.146875 meters 0.24458904273475698 Centerline is valid? [False, False] Translation: X:191.75, Y:86.26, Z:11.65 [[ 9.99169297e-01 2.43332721e-04 -4.07511619e-02 1.91745390e+02] [-5.43807466e-04 9.99972749e-01 -7.36248048e-03 8.62603729e+01] [ 4.07482598e-02 7.37852523e-03 9.99142200e-01 1.16513144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.176875 meters 0.24369169808600574 Centerline is valid? [False, False] Translation: X:191.74, Y:86.26, Z:11.65 [[ 9.99659506e-01 -4.43478716e-03 -2.57139045e-02 1.91742914e+02] [ 4.21861282e-03 9.99955357e-01 -8.45506626e-03 8.62582045e+01] [ 2.57502530e-02 8.34371036e-03 9.99633586e-01 1.16482431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.206875 meters 0.16386090583398502 Centerline is valid? [False, False] Translation: X:191.77, Y:86.28, Z:11.66 [[ 9.99818736e-01 -6.39809347e-03 -1.79320646e-02 1.91769476e+02] [ 5.35659473e-03 9.98328937e-01 -5.75381643e-02 8.62802449e+01] [ 1.82702335e-02 5.74316799e-02 9.98182248e-01 1.16587691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.236875 meters 0.19340421483109638 Centerline is valid? [False, False] Translation: X:191.74, Y:86.26, Z:11.63 [[ 9.99731730e-01 -2.09085900e-03 -2.30672351e-02 1.91740131e+02] [ 2.12475765e-03 9.99996698e-01 1.44514685e-03 8.62585578e+01] [ 2.30641374e-02 -1.49377144e-03 9.99732871e-01 1.16308919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.266875 meters 0.1853165588277966 Centerline is valid? [False, False] Translation: X:191.74, Y:86.26, Z:11.62 [[ 9.99811960e-01 -2.51389774e-03 -1.92282326e-02 1.91738071e+02] [ 2.34094939e-03 9.99956653e-01 -9.01172654e-03 8.62568313e+01] [ 1.92500537e-02 8.96501966e-03 9.99774507e-01 1.16214643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.296875 meters 0.2167294994518433 Centerline is valid? [False, False] Translation: X:191.73, Y:86.25, Z:11.61 [[ 9.99773199e-01 -4.50882596e-04 -2.12919709e-02 1.91734867e+02] [ 1.37364075e-03 9.99059280e-01 4.33436044e-02 8.62465877e+01] [ 2.12523983e-02 -4.33630215e-02 9.98833311e-01 1.16079475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.32687500000003 meters 0.20695886642316344 Centerline is valid? [False, False] Translation: X:191.73, Y:86.26, Z:11.62 [[ 9.99822301e-01 -4.72896814e-03 -1.82483938e-02 1.91729271e+02] [ 4.64429118e-03 9.99978265e-01 -4.67983434e-03 8.62584465e+01] [ 1.82701279e-02 4.59425188e-03 9.99822532e-01 1.16216577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.356875 meters 0.1869365505514119 Centerline is valid? [False, False] Translation: X:191.72, Y:86.25, Z:11.62 [[ 9.99987607e-01 -3.55472376e-03 -3.48555857e-03 1.91724601e+02] [ 3.54673196e-03 9.99991074e-01 -2.29633698e-03 8.62524978e+01] [ 3.49369030e-03 2.28394618e-03 9.99991289e-01 1.16218115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.38687500000003 meters 0.18423355240537995 Centerline is valid? [False, False] Translation: X:191.72, Y:86.25, Z:11.62 [[ 9.99988188e-01 -3.47070812e-03 -3.40261620e-03 1.91724146e+02] [ 3.46525941e-03 9.99992706e-01 -1.60592036e-03 8.62504777e+01] [ 3.40816506e-03 1.59411044e-03 9.99992922e-01 1.16224660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.416875 meters 0.184065436431613 Centerline is valid? [False, False] Translation: X:191.73, Y:86.24, Z:11.62 [[ 9.99970979e-01 -6.03427559e-03 -4.65062626e-03 1.91729516e+02] [ 6.03382437e-03 9.99981790e-01 -1.11048227e-04 8.62400845e+01] [ 4.65121167e-03 8.29839419e-05 9.99989180e-01 1.16150987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.44687500000003 meters 0.17287419527058506 Centerline is valid? [False, False] Translation: X:191.73, Y:86.23, Z:11.61 [[ 9.99939591e-01 -9.78167899e-03 -5.01320438e-03 1.91732141e+02] [ 9.77489771e-03 9.99951279e-01 -1.37540605e-03 8.62327171e+01] [ 5.02641391e-03 1.32631940e-03 9.99986488e-01 1.16117826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.476875 meters 0.16694225412579852 Centerline is valid? [False, False] Translation: X:191.73, Y:86.24, Z:11.62 [[ 9.99963445e-01 -6.82322380e-03 -5.15287933e-03 1.91729753e+02] [ 6.82868489e-03 9.99976140e-01 1.04296340e-03 8.62365345e+01] [ 5.14564001e-03 -1.07811267e-03 9.99986180e-01 1.16156118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.50687500000004 meters 0.15621807768293672 Centerline is valid? [False, False] Translation: X:191.73, Y:86.24, Z:11.62 [[ 9.99977600e-01 -3.81561822e-03 -5.49920538e-03 1.91727633e+02] [ 3.83334748e-03 9.99987478e-01 3.21704194e-03 8.62411086e+01] [ 5.48686151e-03 -3.23805024e-03 9.99979704e-01 1.16195280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.536875 meters 0.15888805228750738 Centerline is valid? [False, False] Translation: X:191.73, Y:86.24, Z:11.62 [[ 9.99976796e-01 -3.68941036e-03 -5.72678175e-03 1.91727691e+02] [ 3.70968505e-03 9.99986875e-01 3.53375261e-03 8.62402947e+01] [ 5.71366912e-03 -3.55491517e-03 9.99977358e-01 1.16200866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.566875 meters 0.14880329352549734 Centerline is valid? [False, False] Translation: X:191.72, Y:86.24, Z:11.62 [[ 9.99998621e-01 5.29676067e-04 -1.57385657e-03 1.91720228e+02] [-5.33422053e-04 9.99997024e-01 -2.38066614e-03 8.62365553e+01] [ 1.57259090e-03 2.38150239e-03 9.99995928e-01 1.16157309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.596875 meters 0.1367892992715441 Centerline is valid? [False, False] Translation: X:191.72, Y:86.24, Z:11.61 [[ 9.99998698e-01 4.43750346e-04 -1.55152269e-03 1.91724818e+02] [-4.48263006e-04 9.99995667e-01 -2.90939979e-03 8.62364580e+01] [ 1.55022492e-03 2.91009150e-03 9.99994564e-01 1.16099443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.626875 meters 0.1272765963550392 Centerline is valid? [False, False] Translation: X:191.73, Y:86.25, Z:11.61 [[ 9.99992809e-01 3.01748906e-03 -2.29726564e-03 1.91727998e+02] [-3.02516962e-03 9.99989822e-01 -3.34724735e-03 8.62462264e+01] [ 2.28714197e-03 3.35417289e-03 9.99991759e-01 1.16062960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.656875 meters 0.13125512458320998 Centerline is valid? [False, False] Translation: X:191.74, Y:86.25, Z:11.61 [[ 9.99986798e-01 2.46407030e-03 -4.50902149e-03 1.91737893e+02] [-2.43105427e-03 9.99970304e-01 7.31310472e-03 8.62517979e+01] [ 4.52690759e-03 -7.30204650e-03 9.99963093e-01 1.16066709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.686875 meters 0.12947188617990726 Centerline is valid? [False, False] Translation: X:191.72, Y:86.26, Z:11.61 [[ 9.99980364e-01 3.81787250e-03 -4.96946587e-03 1.91721011e+02] [-3.83934089e-03 9.99983308e-01 -4.31771309e-03 8.62590811e+01] [ 4.95289844e-03 4.33670779e-03 9.99978331e-01 1.16130247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.716875 meters 0.11965051329769592 Centerline is valid? [False, False] Translation: X:191.72, Y:86.25, Z:11.61 [[ 9.99987134e-01 2.02789119e-03 -4.64973492e-03 1.91720294e+02] [-2.05250299e-03 9.99983878e-01 -5.29451462e-03 8.62536987e+01] [ 4.63892325e-03 5.30399010e-03 9.99975174e-01 1.16135173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.746875 meters 0.12098820639475305 Centerline is valid? [False, False] Translation: X:191.72, Y:86.25, Z:11.61 [[ 9.99987070e-01 2.54227966e-03 -4.40420970e-03 1.91721152e+02] [-2.55850861e-03 9.99989944e-01 -3.68316568e-03 8.62495793e+01] [ 4.39480177e-03 3.69438627e-03 9.99983518e-01 1.16115542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.776875 meters 0.11578762604369885 Centerline is valid? [False, False] Translation: X:191.72, Y:86.25, Z:11.61 [[ 9.99986771e-01 2.40223093e-03 -4.54825632e-03 1.91721291e+02] [-2.42073009e-03 9.99988803e-01 -4.06617980e-03 8.62504748e+01] [ 4.53843749e-03 4.07713611e-03 9.99981390e-01 1.16116549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.806875 meters 0.09666181702637777 Centerline is valid? [False, True] Translation: X:191.73, Y:86.26, Z:11.62 [[ 9.99959392e-01 5.30175074e-03 -7.28732570e-03 1.91725860e+02] [-5.22955628e-03 9.99937413e-01 9.89045917e-03 8.62604891e+01] [ 7.33930636e-03 -9.85194806e-03 9.99924534e-01 1.16192152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.836875 meters 0.09834066343926795 Centerline is valid? [True, True] Translation: X:191.75, Y:86.27, Z:11.63 [[ 9.99976995e-01 6.76437199e-03 5.02434763e-04 1.91753564e+02] [-6.76437275e-03 9.99977121e-01 -2.00683070e-07 8.62746704e+01] [-5.02424626e-04 -3.19797757e-06 9.99999874e-01 1.16343853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.866875 meters 0.0996262014421358 Centerline is valid? [True, True] Translation: X:191.78, Y:86.28, Z:11.64 [[ 9.99980419e-01 6.15829028e-03 1.11191798e-03 1.91782043e+02] [-6.15829318e-03 9.99981038e-01 -8.17757897e-07 8.62752176e+01] [-1.11190193e-03 -6.02977502e-06 9.99999382e-01 1.16361469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.896875 meters 0.09782482393712559 Centerline is valid? [True, True] Translation: X:191.81, Y:86.27, Z:11.63 [[ 9.99984791e-01 5.37508277e-03 -1.23562861e-03 1.91809747e+02] [-5.37508513e-03 9.99985554e-01 1.41042702e-06 8.62674429e+01] [ 1.23561834e-03 5.23120338e-06 9.99999237e-01 1.16260658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.926875 meters 0.09309123624061946 Centerline is valid? [True, True] Translation: X:191.84, Y:86.27, Z:11.62 [[ 9.99947923e-01 7.46915750e-03 -6.95439023e-03 1.91838102e+02] [-7.46929645e-03 9.99972104e-01 5.99249274e-06 8.62719088e+01] [ 6.95424099e-03 4.59522216e-05 9.99975818e-01 1.16153225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.956875 meters 0.0903134470151913 Centerline is valid? [True, True] Translation: X:191.87, Y:86.28, Z:11.61 [[ 9.99948126e-01 7.22069455e-03 -7.18385087e-03 1.91866130e+02] [-7.22084015e-03 9.99973929e-01 5.66918302e-06 8.62750796e+01] [ 7.18370452e-03 4.62045499e-05 9.99974196e-01 1.16113785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.986875 meters 0.08646156747917069 Centerline is valid? [True, True] Translation: X:191.90, Y:86.28, Z:11.61 [[ 9.99959651e-01 5.66146299e-03 -6.97460890e-03 1.91895266e+02] [-5.66156565e-03 9.99983973e-01 5.02510020e-06 8.62756946e+01] [ 6.97452556e-03 3.44623087e-05 9.99975677e-01 1.16112696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.016875 meters 0.08509107759421294 Centerline is valid? [True, True] Translation: X:191.92, Y:86.28, Z:11.62 [[ 9.99980999e-01 5.27433153e-03 -3.19101116e-03 1.91923014e+02] [-5.27435111e-03 9.99986091e-01 2.27819689e-06 8.62768765e+01] [ 3.19097879e-03 1.45523596e-05 9.99994909e-01 1.16155998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.046875 meters 0.08617216177842013 Centerline is valid? [True, True] Translation: X:191.95, Y:86.28, Z:11.61 [[ 9.99987048e-01 3.45385299e-03 -3.73840686e-03 1.91951262e+02] [-3.45386825e-03 9.99994035e-01 2.37236432e-06 8.62771827e+01] [ 3.73839276e-03 1.05396312e-05 9.99993012e-01 1.16129925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07687500000003 meters 0.08070330552808515 Centerline is valid? [True, True] Translation: X:191.98, Y:86.28, Z:11.61 [[ 9.99968769e-01 2.29726704e-03 -7.56195292e-03 1.91980400e+02] [-2.29730215e-03 9.99997361e-01 4.04333020e-06 8.62762505e+01] [ 7.56194226e-03 1.33288868e-05 9.99971408e-01 1.16068131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.106875 meters 0.0761299977164859 Centerline is valid? [True, True] Translation: X:192.01, Y:86.27, Z:11.60 [[ 9.99920254e-01 -3.34011638e-05 -1.26287192e-02 1.92008194e+02] [ 3.34775410e-05 9.99999999e-01 5.83649644e-06 8.62747873e+01] [ 1.26287190e-02 -6.25880947e-06 9.99920255e-01 1.16028493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13687500000003 meters 0.07445155922024813 Centerline is valid? [True, True] Translation: X:192.04, Y:86.27, Z:11.61 [[ 9.99950870e-01 -1.62235610e-03 -9.77879875e-03 1.92037189e+02] [ 1.62247302e-03 9.99998684e-01 4.02386165e-06 8.62728581e+01] [ 9.77877935e-03 -1.98895011e-05 9.99952186e-01 1.16105186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.166875 meters 0.06958456637528493 Centerline is valid? [True, True] Translation: X:192.07, Y:86.27, Z:11.62 [[ 9.99976225e-01 -3.36779286e-03 -6.01724885e-03 1.92066408e+02] [ 3.36786741e-03 9.99994329e-01 2.25752547e-06 8.62692757e+01] [ 6.01720712e-03 -2.25227681e-05 9.99981896e-01 1.16180800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19687500000003 meters 0.06843374582921662 Centerline is valid? [True, True] Translation: X:192.09, Y:86.26, Z:11.61 [[ 9.99944365e-01 -4.68494712e-03 -9.45087739e-03 1.92094650e+02] [ 4.68518467e-03 9.99989024e-01 2.99480741e-06 8.62627324e+01] [ 9.45075963e-03 -4.72737466e-05 9.99955339e-01 1.16098249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.226875 meters 0.07629219013857655 Centerline is valid? [True, True] Translation: X:192.12, Y:86.26, Z:11.60 [[ 9.99869935e-01 -6.08479670e-03 -1.49361292e-02 1.92123823e+02] [ 6.08551473e-03 9.99981483e-01 2.62363539e-06 8.62621408e+01] [ 1.49358366e-02 -9.35173283e-05 9.99888450e-01 1.15991123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25687500000004 meters 0.07319126953211964 Centerline is valid? [True, True] Translation: X:192.15, Y:86.27, Z:11.60 [[ 9.99824242e-01 -7.03580411e-03 -1.73776582e-02 1.92152754e+02] [ 7.03685584e-03 9.99975241e-01 -6.24671380e-07 8.62670581e+01] [ 1.73772323e-02 -1.21659514e-04 9.99848997e-01 1.16014536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.286875 meters 0.06459526167771752 Centerline is valid? [True, True] Translation: X:192.18, Y:86.26, Z:11.61 [[ 9.99945819e-01 -7.37846980e-03 -7.34289950e-03 1.92180918e+02] [ 7.37866253e-03 9.99972777e-01 -8.44081701e-07 8.62629187e+01] [ 7.34270583e-03 -5.33367414e-05 9.99973041e-01 1.16100289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.316875 meters 0.06459526167771752 Centerline is valid? [True, True] Translation: X:192.21, Y:86.26, Z:11.61 [[ 9.99945819e-01 -7.37847105e-03 -7.34289945e-03 1.92210919e+02] [ 7.37866175e-03 9.99972777e-01 -1.11974670e-06 8.62629234e+01] [ 7.34270782e-03 -5.30610853e-05 9.99973041e-01 1.16101654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.346875 meters 0.05720243785388763 Centerline is valid? [True, True] Translation: X:192.24, Y:86.26, Z:11.61 [[ 9.99993586e-01 -3.37745424e-03 -1.19236049e-03 1.92240274e+02] [ 3.37745649e-03 9.99994296e-01 -1.31491621e-07 8.62566255e+01] [ 1.19235413e-03 -3.89565488e-06 9.99999289e-01 1.16149410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.376875 meters 0.05858602376235129 Centerline is valid? [True, True] Translation: X:192.27, Y:86.26, Z:11.61 [[ 9.99984916e-01 -3.32539242e-03 -4.37134093e-03 1.92272089e+02] [ 3.32542097e-03 9.99994471e-01 -7.37410823e-07 8.62605591e+01] [ 4.37131921e-03 -1.37991491e-05 9.99990446e-01 1.16124385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.406875 meters 0.061182070463856875 Centerline is valid? [True, True] Translation: X:192.30, Y:86.27, Z:11.61 [[ 9.99948193e-01 -3.88362947e-04 -1.01715759e-02 1.92301513e+02] [ 3.88367088e-04 9.99999925e-01 -1.56808879e-06 8.62712529e+01] [ 1.01715757e-02 -2.38229775e-06 9.99948268e-01 1.16090920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.436875 meters 0.051686031357082114 Centerline is valid? [True, True] Translation: X:192.33, Y:86.28, Z:11.61 [[ 9.99916970e-01 -2.47121232e-03 -1.26469848e-02 1.92328868e+02] [ 2.47137565e-03 9.99996946e-01 -2.71377509e-06 8.62785263e+01] [ 1.26469529e-02 -2.85419004e-05 9.99920024e-01 1.16081165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.466875 meters 0.05102706497325765 Centerline is valid? [True, True] Translation: X:192.36, Y:86.27, Z:11.61 [[ 9.99915399e-01 -8.44998067e-03 -9.88902206e-03 1.92357308e+02] [ 8.45036722e-03 9.99964295e-01 -2.69549953e-06 8.62718312e+01] [ 9.88869175e-03 -8.08705964e-05 9.99951102e-01 1.16090237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.496875 meters 0.0529835590681325 Centerline is valid? [True, True] Translation: X:192.39, Y:86.26, Z:11.61 [[ 9.99864559e-01 -1.46226445e-02 -7.55267642e-03 1.92386997e+02] [ 1.46230438e-02 9.99893078e-01 -2.34872215e-06 8.62628327e+01] [ 7.55190322e-03 -1.08094714e-04 9.99971478e-01 1.16104470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.526875 meters 0.057442326183308315 Centerline is valid? [True, True] Translation: X:192.42, Y:86.25, Z:11.61 [[ 9.99747132e-01 -2.13335102e-02 -7.11003441e-03 1.92417116e+02] [ 2.13340329e-02 9.99772404e-01 -2.33548821e-06 8.62540103e+01] [ 7.10846602e-03 -1.49350810e-04 9.99974723e-01 1.16103970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.556875 meters 0.06116752843611982 Centerline is valid? [True, True] Translation: X:192.45, Y:86.25, Z:11.61 [[ 9.99446545e-01 -3.22184103e-02 -8.28114381e-03 1.92446763e+02] [ 3.22194946e-02 9.99480817e-01 -2.47656021e-06 8.62474354e+01] [ 8.27692417e-03 -2.64339078e-04 9.99965711e-01 1.16126962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.586875 meters 0.05289991413926631 Centerline is valid? [True, True] Translation: X:192.48, Y:86.25, Z:11.62 [[ 9.99338016e-01 -3.57180242e-02 -6.91027843e-03 1.92477506e+02] [ 3.57188651e-02 9.99361878e-01 -1.72817361e-06 8.62537406e+01] [ 6.90593055e-03 -2.45100273e-04 9.99976124e-01 1.16190202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.616875 meters 0.05138149565244364 Centerline is valid? [True, True] Translation: X:192.51, Y:86.26, Z:11.63 [[ 9.99307174e-01 -3.70793594e-02 -3.20821976e-03 1.92509751e+02] [ 3.70795477e-02 9.99312317e-01 -7.97419281e-07 8.62622585e+01] [ 3.20604309e-03 -1.18162471e-04 9.99994854e-01 1.16250660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.646875 meters 0.05279062807473169 Centerline is valid? [True, True] Translation: X:192.54, Y:86.27, Z:11.63 [[ 9.99350817e-01 -3.55426630e-02 5.88760562e-03 1.92542206e+02] [ 3.55432776e-02 9.99368138e-01 2.43938701e-07 8.62694211e+01] [-5.88389413e-03 2.09021021e-04 9.99982668e-01 1.16317785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.676875 meters 0.05158898601577987 Centerline is valid? [True, True] Translation: X:192.57, Y:86.27, Z:11.63 [[ 9.99348429e-01 -3.53158165e-02 7.45054131e-03 1.92574851e+02] [ 3.53167964e-02 9.99376167e-01 4.34514760e-08 8.62688216e+01] [-7.44589495e-03 2.63085827e-04 9.99972244e-01 1.16302269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.706875 meters 0.049972601264248094 Centerline is valid? [True, True] Translation: X:192.61, Y:86.27, Z:11.63 [[ 9.99410491e-01 -3.38326976e-02 5.83266848e-03 1.92606392e+02] [ 3.38332735e-02 9.99427491e-01 -5.71409662e-08 8.62715913e+01] [-5.82932729e-03 1.97395375e-04 9.99982990e-01 1.16260859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.736875 meters 0.053225422030567966 Centerline is valid? [True, True] Translation: X:192.64, Y:86.28, Z:11.62 [[ 9.99512718e-01 -3.10556407e-02 3.14215353e-03 1.92637507e+02] [ 3.10557946e-02 9.99517652e-01 -1.77434025e-07 8.62803221e+01] [-3.14063241e-03 9.77594221e-05 9.99995063e-01 1.16223287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.766875 meters 0.047544490837388785 Centerline is valid? [True, True] Translation: X:192.67, Y:86.31, Z:11.63 [[ 9.99696288e-01 -2.46296744e-02 8.43130885e-04 1.92667014e+02] [ 2.46296832e-02 9.99696643e-01 2.15265944e-08 8.63076695e+01] [-8.42875646e-04 2.07445265e-05 9.99999645e-01 1.16253140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.796875 meters 0.050799448982736355 Centerline is valid? [True, True] Translation: X:192.70, Y:86.32, Z:11.63 [[ 9.99752835e-01 -2.21536088e-02 1.86700629e-03 1.92699182e+02] [ 2.21536481e-02 9.99754578e-01 -3.69259046e-07 8.63201079e+01] [-1.86653991e-03 4.17301682e-05 9.99998257e-01 1.16304418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.82687500000003 meters 0.0495658472800407 Centerline is valid? [True, True] Translation: X:192.73, Y:86.33, Z:11.63 [[ 9.99789107e-01 -2.03827323e-02 2.50697653e-03 1.92731792e+02] [ 2.03827980e-02 9.99792249e-01 -6.41961873e-07 8.63287050e+01] [-2.50644262e-03 5.17410227e-05 9.99996858e-01 1.16337106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.856875 meters 0.04487232241463844 Centerline is valid? [True, True] Translation: X:192.76, Y:86.33, Z:11.63 [[ 9.99806121e-01 -1.96619440e-02 1.06251342e-03 1.92764172e+02] [ 1.96619556e-02 9.99806685e-01 -4.45277883e-07 8.63347411e+01] [-1.06229927e-03 2.13362833e-05 9.99999436e-01 1.16336000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.88687500000003 meters 0.04532765748668777 Centerline is valid? [True, True] Translation: X:192.80, Y:86.34, Z:11.62 [[ 9.99787837e-01 -1.87375120e-02 -8.55489838e-03 1.92795674e+02] [ 1.87382151e-02 9.99824424e-01 2.03045125e-06 8.63443807e+01] [ 8.55335830e-03 -1.62333546e-04 9.99963406e-01 1.16171276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.916875 meters 0.0453887206131699 Centerline is valid? [True, True] Translation: X:192.83, Y:86.34, Z:11.61 [[ 9.99661770e-01 -2.28611452e-02 -1.23981569e-02 1.92825702e+02] [ 2.28629477e-02 9.99738609e-01 3.65399001e-06 8.63410394e+01] [ 1.23948326e-02 -2.87111168e-04 9.99923140e-01 1.16069246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.94687500000003 meters 0.05268016134726751 Centerline is valid? [True, True] Translation: X:192.86, Y:86.32, Z:11.60 [[ 9.99341784e-01 -3.47988419e-02 -1.02488817e-02 1.92855483e+02] [ 3.48007003e-02 9.99394272e-01 2.99823924e-06 8.63161445e+01] [ 1.02425693e-02 -3.59664527e-04 9.99947479e-01 1.16045900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.976875 meters 0.04705901302222311 Centerline is valid? [True, True] Translation: X:192.89, Y:86.33, Z:11.61 [[ 9.99336995e-01 -3.50069158e-02 -1.00042808e-02 1.92887171e+02] [ 3.50086996e-02 9.99387008e-01 3.18651016e-06 8.63315463e+01] [ 9.99803670e-03 -3.53421259e-04 9.99949956e-01 1.16092952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.00687500000004 meters 0.04535119713348742 Centerline is valid? [True, True] Translation: X:192.92, Y:86.33, Z:11.61 [[ 9.99336560e-01 -3.46038743e-02 -1.13583035e-02 1.92918915e+02] [ 3.46061572e-02 9.99401028e-01 4.45568056e-06 8.63295559e+01] [ 1.13513460e-02 -3.97519962e-04 9.99935492e-01 1.16101671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.036875 meters 0.03940171464961221 Centerline is valid? [True, True] Translation: X:192.95, Y:86.33, Z:11.61 [[ 9.99376075e-01 -3.16195771e-02 -1.57373098e-02 1.92951095e+02] [ 3.16236103e-02 9.99499849e-01 7.43903530e-06 8.63348099e+01] [ 1.57292036e-02 -5.05104948e-04 9.99876161e-01 1.16094279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.066875 meters 0.041931411892948266 Centerline is valid? [True, True] Translation: X:192.98, Y:86.34, Z:11.61 [[ 9.99435634e-01 -2.94944763e-02 -1.60775982e-02 1.92982498e+02] [ 2.94984252e-02 9.99564827e-01 8.46887092e-06 8.63373731e+01] [ 1.60703519e-02 -4.82727921e-04 9.99870747e-01 1.16096758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.096875 meters 0.042414063264527936 Centerline is valid? [True, True] Translation: X:193.01, Y:86.34, Z:11.61 [[ 9.99561715e-01 -2.63067725e-02 -1.35768587e-02 1.93013677e+02] [ 2.63093011e-02 9.99653850e-01 7.63501869e-06 8.63426818e+01] [ 1.35719582e-02 -3.64829335e-04 9.99907830e-01 1.16113570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.126875 meters 0.04497470945836878 Centerline is valid? [True, True] Translation: X:193.05, Y:86.34, Z:11.61 [[ 9.99504982e-01 -2.89824967e-02 -1.22395540e-02 1.93045366e+02] [ 2.89847583e-02 9.99579854e-01 7.39712584e-06 8.63393770e+01] [ 1.22341972e-02 -3.62153978e-04 9.99925094e-01 1.16117998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.156875 meters 0.04238642189735958 Centerline is valid? [True, True] Translation: X:193.08, Y:86.34, Z:11.61 [[ 9.99439525e-01 -3.13003054e-02 -1.18712352e-02 1.93077686e+02] [ 3.13026046e-02 9.99509953e-01 7.87182996e-06 8.63362158e+01] [ 1.18651713e-02 -3.79467999e-04 9.99929534e-01 1.16114878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.186875 meters 0.039070022229350236 Centerline is valid? [True, True] Translation: X:193.11, Y:86.34, Z:11.62 [[ 9.99470834e-01 -3.12406589e-02 -9.05942063e-03 1.93109746e+02] [ 3.12420002e-02 9.99511850e-01 6.54117001e-06 8.63366624e+01] [ 9.05479392e-03 -2.89572130e-04 9.99958963e-01 1.16153652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.216875 meters 0.04320540674610314 Centerline is valid? [True, True] Translation: X:193.14, Y:86.34, Z:11.62 [[ 9.99511215e-01 -3.04946213e-02 -6.88542852e-03 1.93140856e+02] [ 3.04953808e-02 9.99534908e-01 5.32473579e-06 8.63355164e+01] [ 6.88206379e-03 -2.15295898e-04 9.99976295e-01 1.16193979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.246875 meters 0.04009677988212275 Centerline is valid? [True, True] Translation: X:193.17, Y:86.34, Z:11.62 [[ 9.99562517e-01 -2.92614690e-02 -4.30603946e-03 1.93173222e+02] [ 2.92617551e-02 9.99571783e-01 3.45755502e-06 8.63383395e+01] [ 4.30409437e-03 -1.29458315e-04 9.99990729e-01 1.16218751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.276875 meters 0.03726979492011654 Centerline is valid? [True, True] Translation: X:193.20, Y:86.34, Z:11.62 [[ 9.99606651e-01 -2.73485595e-02 -6.21293110e-03 1.93204083e+02] [ 2.73491225e-02 9.99625943e-01 5.66061580e-06 8.63374869e+01] [ 6.21045229e-03 -1.75576603e-04 9.99980700e-01 1.16179976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.306875 meters 0.037168426783866136 Centerline is valid? [True, True] Translation: X:193.24, Y:86.34, Z:11.62 [[ 9.99587163e-01 -2.74613049e-02 -8.44866911e-03 1.93236586e+02] [ 2.74623599e-02 9.99622838e-01 8.85914599e-06 8.63363628e+01] [ 8.44523931e-03 -2.40875880e-04 9.99964309e-01 1.16155399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.336875 meters 0.03730881591330962 Centerline is valid? [True, True] Translation: X:193.27, Y:86.34, Z:11.62 [[ 9.99599809e-01 -2.71150526e-02 -8.06200823e-03 1.93268735e+02] [ 2.71160067e-02 9.99632293e-01 9.05309954e-06 8.63364039e+01] [ 8.05879830e-03 -2.27658946e-04 9.99967501e-01 1.16154942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.366875 meters 0.039104326987113185 Centerline is valid? [True, True] Translation: X:193.30, Y:86.34, Z:11.62 [[ 9.99577803e-01 -2.72270433e-02 -1.01441339e-02 1.93301246e+02] [ 2.72285675e-02 9.99629234e-01 1.21499677e-05 8.63363076e+01] [ 1.01400420e-02 -2.88355073e-04 9.99948547e-01 1.16164886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.396875 meters 0.038469834902573795 Centerline is valid? [True, True] Translation: X:193.33, Y:86.33, Z:11.61 [[ 9.99478536e-01 -2.88406778e-02 -1.45214330e-02 1.93332381e+02] [ 2.88439851e-02 9.99583926e-01 1.83220076e-05 8.63321350e+01] [ 1.45148626e-02 -4.37168450e-04 9.99894558e-01 1.16100817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.426875 meters 0.03861091712498446 Centerline is valid? [True, True] Translation: X:193.36, Y:86.33, Z:11.61 [[ 9.99366618e-01 -3.07101352e-02 -1.79791750e-02 1.93364475e+02] [ 3.07155285e-02 9.99528167e-01 2.38415847e-05 8.63273341e+01] [ 1.79699597e-02 -5.76066346e-04 9.99838361e-01 1.16053460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.456875 meters 0.03798197110930165 Centerline is valid? [True, True] Translation: X:193.40, Y:86.32, Z:11.61 [[ 9.99327268e-01 -3.13903385e-02 -1.89646769e-02 1.93395183e+02] [ 3.13964766e-02 9.99507009e-01 2.59307363e-05 8.63236655e+01] [ 1.89545135e-02 -6.21337324e-04 9.99820154e-01 1.16053540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.486875 meters 0.03553117321542655 Centerline is valid? [True, True] Translation: X:193.43, Y:86.33, Z:11.61 [[ 9.99447718e-01 -2.84877305e-02 -1.71086917e-02 1.93426544e+02] [ 2.84923100e-02 9.99594011e-01 2.39295309e-05 8.63272023e+01] [ 1.71010640e-02 -5.11382461e-04 9.99853635e-01 1.16086874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.516875 meters 0.03404973894477963 Centerline is valid? [True, True] Translation: X:193.46, Y:86.33, Z:11.61 [[ 9.99584263e-01 -2.42626158e-02 -1.55764479e-02 1.93458123e+02] [ 2.42659093e-02 9.99705539e-01 2.24471278e-05 8.63299452e+01] [ 1.55713166e-02 -4.00414468e-04 9.99878680e-01 1.16091498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.546875 meters 0.03529687872723093 Centerline is valid? [True, True] Translation: X:193.49, Y:86.33, Z:11.61 [[ 9.99653644e-01 -2.01901573e-02 -1.68804206e-02 1.93488171e+02] [ 2.01934672e-02 9.99796091e-01 2.56336733e-05 8.63309781e+01] [ 1.68764610e-02 -3.66499014e-04 9.99857515e-01 1.16063499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57687500000003 meters 0.032764552862488 Centerline is valid? [True, True] Translation: X:193.52, Y:86.33, Z:11.60 [[ 9.99748752e-01 -1.52686774e-02 -1.64103870e-02 1.93518335e+02] [ 1.52711520e-02 9.99883389e-01 2.54886599e-05 8.63314659e+01] [ 1.64080841e-02 -2.76087770e-04 9.99865340e-01 1.16019099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.606875 meters 0.03412694648069104 Centerline is valid? [True, True] Translation: X:193.55, Y:86.33, Z:11.60 [[ 9.99753202e-01 -1.44678892e-02 -1.68586780e-02 1.93548485e+02] [ 1.44703883e-02 9.99895298e-01 2.62576921e-05 8.63322866e+01] [ 1.68565330e-02 -2.70202828e-04 9.99857882e-01 1.16039731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63687500000003 meters 0.0321386449299801 Centerline is valid? [True, True] Translation: X:193.58, Y:86.34, Z:11.61 [[ 9.99793002e-01 -1.51044691e-02 -1.36311190e-02 1.93578572e+02] [ 1.51061619e-02 9.99885895e-01 2.12307113e-05 8.63365191e+01] [ 1.36292429e-02 -2.27140207e-04 9.99907092e-01 1.16131951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.666875 meters 0.03315472467063294 Centerline is valid? [True, True] Translation: X:193.61, Y:86.33, Z:11.61 [[ 9.99770262e-01 -1.63983528e-02 -1.38027757e-02 1.93609994e+02] [ 1.64002178e-02 9.99865507e-01 2.19268029e-05 8.63347765e+01] [ 1.38005598e-02 -2.48290293e-04 9.99904737e-01 1.16133263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69687500000003 meters 0.030083271251238414 Centerline is valid? [True, True] Translation: X:193.64, Y:86.33, Z:11.61 [[ 9.99774915e-01 -1.72733380e-02 -1.23187086e-02 1.93641998e+02] [ 1.72748980e-02 9.99850778e-01 2.02324157e-05 8.63318362e+01] [ 1.23165209e-02 -2.33032296e-04 9.99924122e-01 1.16127201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.726875 meters 0.03402082903732183 Centerline is valid? [True, True] Translation: X:193.67, Y:86.33, Z:11.61 [[ 9.99644405e-01 -2.10062528e-02 -1.64256270e-02 1.93672338e+02] [ 2.10095437e-02 9.99779275e-01 2.77992974e-05 8.63259519e+01] [ 1.64214175e-02 -3.72884340e-04 9.99865090e-01 1.16093365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75687500000004 meters 0.03525482547179828 Centerline is valid? [True, True] Translation: X:193.70, Y:86.33, Z:11.61 [[ 9.99663950e-01 -2.09614842e-02 -1.52513370e-02 1.93704117e+02] [ 2.09643285e-02 9.99780224e-01 2.66229668e-05 8.63263985e+01] [ 1.52474271e-02 -3.46348059e-04 9.99883691e-01 1.16121907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.786875 meters 0.031691597195947156 Centerline is valid? [True, True] Translation: X:193.73, Y:86.32, Z:11.62 [[ 9.99742268e-01 -2.06053034e-02 -9.52985108e-03 1.93734842e+02] [ 2.06064007e-02 9.99787665e-01 1.69585519e-05 8.63244417e+01] [ 9.52747813e-03 -2.13330111e-04 9.99954590e-01 1.16159160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.816875 meters 0.02986473345061566 Centerline is valid? [True, True] Translation: X:193.77, Y:86.32, Z:11.62 [[ 9.99782918e-01 -1.99416295e-02 -6.03727924e-03 1.93766881e+02] [ 1.99420588e-02 9.99801137e-01 1.09195764e-05 8.63216415e+01] [ 6.03586090e-03 -1.31312984e-04 9.99981775e-01 1.16165668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.846875 meters 0.03171601583327876 Centerline is valid? [True, True] Translation: X:193.80, Y:86.32, Z:11.62 [[ 9.99756864e-01 -2.13456467e-02 -5.52952840e-03 1.93798090e+02] [ 2.13460299e-02 9.99772147e-01 1.02942073e-05 8.63168747e+01] [ 5.52804875e-03 -1.28325183e-04 9.99984712e-01 1.16164036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.876875 meters 0.032064744316046896 Centerline is valid? [True, True] Translation: X:193.83, Y:86.32, Z:11.62 [[ 9.99762685e-01 -2.05285955e-02 -7.29045041e-03 1.93830328e+02] [ 2.05292431e-02 9.99789253e-01 1.40018975e-05 8.63176359e+01] [ 7.28862653e-03 -1.63666004e-04 9.99973424e-01 1.16192840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.906875 meters 0.028926256589648744 Centerline is valid? [True, True] Translation: X:193.86, Y:86.32, Z:11.62 [[ 9.99842127e-01 -1.68163798e-02 -5.73855063e-03 1.93860796e+02] [ 1.68167213e-02 9.99858589e-01 1.12497243e-05 8.63228448e+01] [ 5.73754996e-03 -1.07751555e-04 9.99983534e-01 1.16228516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.936875 meters 0.029121028258755257 Centerline is valid? [True, True] Translation: X:193.89, Y:86.33, Z:11.62 [[ 9.99868563e-01 -1.42409244e-02 -7.74934789e-03 1.93893151e+02] [ 1.42414719e-02 9.99898585e-01 1.54670218e-05 8.63290197e+01] [ 7.74834172e-03 -1.25827109e-04 9.99969973e-01 1.16233153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.966875 meters 0.025804714273646483 Centerline is valid? [True, True] Translation: X:193.92, Y:86.34, Z:11.63 [[ 9.99983657e-01 -4.52757528e-03 -3.49095478e-03 1.93924706e+02] [ 4.52762745e-03 9.99989750e-01 7.04041013e-06 8.63428418e+01] [ 3.49088712e-03 -2.28460377e-05 9.99993907e-01 1.16298297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.996875 meters 0.026453961650656235 Centerline is valid? [True, True] Translation: X:193.95, Y:86.35, Z:11.63 [[ 9.99994258e-01 -1.02039983e-03 -3.23148639e-03 1.93954738e+02] [ 1.02042675e-03 9.99999479e-01 6.68197224e-06 8.63470156e+01] [ 3.23147789e-03 -9.97942902e-06 9.99994779e-01 1.16295631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.026875 meters 0.02585561254221367 Centerline is valid? [True, True] Translation: X:193.98, Y:86.35, Z:11.63 [[ 9.99998874e-01 1.24810218e-03 -8.33181225e-04 1.93984620e+02] [-1.24810107e-03 9.99999221e-01 1.84564195e-06 8.63469127e+01] [ 8.33182880e-04 -8.05745493e-07 9.99999653e-01 1.16303317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.056875 meters 0.024778063335087388 Centerline is valid? [True, True] Translation: X:194.01, Y:86.34, Z:11.63 [[ 9.99995983e-01 2.75532141e-03 6.64545702e-04 1.94014269e+02] [-2.75532121e-03 9.99996204e-01 -1.21742963e-06 8.63424446e+01] [-6.64546534e-04 -6.13612131e-07 9.99999779e-01 1.16280598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.086875 meters 0.025912935069828245 Centerline is valid? [True, True] Translation: X:194.04, Y:86.34, Z:11.62 [[ 9.99995944e-01 1.84060826e-03 -2.17373750e-03 1.94042459e+02] [-1.84060279e-03 9.99998306e-01 4.51567902e-06 8.63401519e+01] [ 2.17374213e-03 -5.14673378e-07 9.99997637e-01 1.16244952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.116875 meters 0.025065911334303748 Centerline is valid? [True, True] Translation: X:194.07, Y:86.34, Z:11.62 [[ 9.99983162e-01 3.16111766e-03 -4.86651501e-03 1.94071350e+02] [-3.16110833e-03 9.99995004e-01 9.60890104e-06 8.63386751e+01] [ 4.86652107e-03 5.77484189e-06 9.99988158e-01 1.16198764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.146875 meters 0.025458410387337205 Centerline is valid? [True, True] Translation: X:194.10, Y:86.34, Z:11.62 [[ 9.99972925e-01 5.01923366e-03 -5.38120165e-03 1.94099381e+02] [-5.01925494e-03 9.99987403e-01 9.55130239e-06 8.63411426e+01] [ 5.38118181e-03 1.74585792e-05 9.99985521e-01 1.16211052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.176875 meters 0.025830730896921214 Centerline is valid? [True, True] Translation: X:194.13, Y:86.35, Z:11.62 [[ 9.99951361e-01 8.46822642e-03 -5.05609064e-03 1.94128084e+02] [-8.46829208e-03 9.99964143e-01 8.42322291e-06 8.63466308e+01] [ 5.05598068e-03 3.43936391e-05 9.99987218e-01 1.16239666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.206875 meters 0.02700668543374542 Centerline is valid? [True, True] Translation: X:194.16, Y:86.35, Z:11.63 [[ 9.99901647e-01 1.32990983e-02 -4.45322614e-03 1.94156036e+02] [-1.32992006e-02 9.99911562e-01 6.63866386e-06 8.63538597e+01] [ 4.45292059e-03 5.25863369e-05 9.99990084e-01 1.16274640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.236875 meters 0.02700668543374542 Centerline is valid? [True, True] Translation: X:194.18, Y:86.35, Z:11.63 [[ 9.99902741e-01 1.32165864e-02 -4.45322658e-03 1.94183492e+02] [-1.32166892e-02 9.99912656e-01 6.32983826e-06 8.63539398e+01] [ 4.45292127e-03 5.25276891e-05 9.99990084e-01 1.16275890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.266875 meters 0.027000207551817663 Centerline is valid? [True, True] Translation: X:194.21, Y:86.36, Z:11.63 [[ 9.99699134e-01 2.41801738e-02 -4.11827073e-03 1.94213303e+02] [-2.41803561e-02 9.99707612e-01 5.51402873e-06 8.63564666e+01] [ 4.11719993e-03 9.40688832e-05 9.99991520e-01 1.16286598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.296875 meters 0.03437087802125167 Centerline is valid? [True, True] Translation: X:194.24, Y:86.37, Z:11.63 [[ 9.99562121e-01 2.92314919e-02 -4.59188253e-03 1.94241799e+02] [-2.92317723e-02 9.99572660e-01 6.06024845e-06 8.63732966e+01] [ 4.59009739e-03 1.28171270e-04 9.99989457e-01 1.16274522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.32687500000003 meters 0.037193582146404246 Centerline is valid? [True, True] Translation: X:194.27, Y:86.38, Z:11.63 [[ 9.99447985e-01 3.29236021e-02 -4.44547117e-03 1.94271224e+02] [-3.29239023e-02 9.99457861e-01 5.64856103e-06 8.63782868e+01] [ 4.44324708e-03 1.40716816e-04 9.99990119e-01 1.16256469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.356875 meters 0.0294138585385033 Centerline is valid? [True, True] Translation: X:194.30, Y:86.36, Z:11.62 [[ 9.99410524e-01 3.33899866e-02 -7.98206385e-03 1.94299496e+02] [-3.33909735e-02 9.99442366e-01 9.63608302e-06 8.63591413e+01] [ 7.97793453e-03 2.56898480e-04 9.99968143e-01 1.16171709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.38687500000003 meters 0.036687516271295975 Centerline is valid? [True, True] Translation: X:194.33, Y:86.37, Z:11.61 [[ 9.99402624e-01 3.25557202e-02 -1.15983050e-02 1.94327744e+02] [-3.25577608e-02 9.99469855e-01 1.28759944e-05 8.63700277e+01] [ 1.15925754e-02 3.64746539e-04 9.99932737e-01 1.16093185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.416875 meters 0.0370669038483056 Centerline is valid? [True, True] Translation: X:194.36, Y:86.37, Z:11.60 [[ 9.99397794e-01 3.11428459e-02 -1.53026824e-02 1.94355515e+02] [-3.11462515e-02 9.99514838e-01 1.57829306e-05 8.63681633e+01] [ 1.52957497e-02 4.60847769e-04 9.99882907e-01 1.16049790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.44687500000003 meters 0.03703565326328148 Centerline is valid? [True, True] Translation: X:194.38, Y:86.37, Z:11.61 [[ 9.99389141e-01 3.09594633e-02 -1.62128562e-02 1.94384072e+02] [-3.09633024e-02 9.99520522e-01 1.42320620e-05 8.63669991e+01] [ 1.62055231e-02 4.87780202e-04 9.99868563e-01 1.16051436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.476875 meters 0.03706151964194457 Centerline is valid? [True, True] Translation: X:194.41, Y:86.36, Z:11.61 [[ 9.99389731e-01 3.09027426e-02 -1.62845209e-02 1.94411930e+02] [-3.09066627e-02 9.99522275e-01 1.09471425e-05 8.63648757e+01] [ 1.62770797e-02 4.92359734e-04 9.99867398e-01 1.16068007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.50687500000004 meters 0.02906651685701372 Centerline is valid? [True, True] Translation: X:194.44, Y:86.35, Z:11.61 [[ 9.99422118e-01 3.02651855e-02 -1.54741489e-02 1.94440738e+02] [-3.02687013e-02 9.99541798e-01 7.00137916e-06 8.63497353e+01] [ 1.54672705e-02 4.61385057e-04 9.99880268e-01 1.16135873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.536875 meters 0.02681843694766134 Centerline is valid? [True, True] Translation: X:194.47, Y:86.34, Z:11.62 [[ 9.99533397e-01 2.84532234e-02 -1.11086859e-02 1.94469352e+02] [-2.84549366e-02 9.99595076e-01 3.82610652e-06 8.63429459e+01] [ 1.11042966e-02 3.12272631e-04 9.99938297e-01 1.16196841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.566875 meters 0.026937444225860738 Centerline is valid? [True, True] Translation: X:194.50, Y:86.34, Z:11.62 [[ 9.99568888e-01 2.81386088e-02 -8.38193443e-03 1.94496986e+02] [-2.81395780e-02 9.99604004e-01 2.31451914e-06 8.63428235e+01] [ 8.37868034e-03 2.33550576e-04 9.99964871e-01 1.16213610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.596875 meters 0.028141217990999765 Centerline is valid? [True, True] Translation: X:194.52, Y:86.34, Z:11.62 [[ 9.99535179e-01 2.99745885e-02 -5.56331073e-03 1.94524508e+02] [-2.99750457e-02 9.99550647e-01 1.18855769e-06 8.63438113e+01] [ 5.56084647e-03 1.65572488e-04 9.99984525e-01 1.16200241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.626875 meters 0.028999554699814637 Centerline is valid? [True, True] Translation: X:194.55, Y:86.35, Z:11.62 [[ 9.99478367e-01 3.20264601e-02 -4.15936184e-03 1.94553343e+02] [-3.20267343e-02 9.99487013e-01 6.89623518e-07 8.63456800e+01] [ 4.15725022e-03 1.32521512e-04 9.99991350e-01 1.16194512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.656875 meters 0.028949163958572877 Centerline is valid? [True, True] Translation: X:194.58, Y:86.35, Z:11.62 [[ 9.99459946e-01 3.25994267e-02 -4.13436387e-03 1.94582152e+02] [-3.25997064e-02 9.99468488e-01 -2.56763291e-07 8.63472526e+01] [ 4.13215804e-03 1.35035673e-04 9.99991453e-01 1.16188276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.686875 meters 0.029695162261182222 Centerline is valid? [True, True] Translation: X:194.61, Y:86.35, Z:11.61 [[ 9.99522643e-01 2.99290940e-02 -7.66395788e-03 1.94610173e+02] [-2.99299935e-02 9.99551997e-01 -2.67390475e-06 8.63512772e+01] [ 7.66044437e-03 2.32054838e-04 9.99970631e-01 1.16132335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.716875 meters 0.02684328202432693 Centerline is valid? [True, True] Translation: X:194.64, Y:86.34, Z:11.61 [[ 9.99640322e-01 2.56093895e-02 -7.96154910e-03 1.94639863e+02] [-2.56102273e-02 9.99672004e-01 -3.28006202e-06 8.63422734e+01] [ 7.95885375e-03 2.07175965e-04 9.99968306e-01 1.16111366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.746875 meters 0.025800383176188983 Centerline is valid? [True, True] Translation: X:194.67, Y:86.34, Z:11.61 [[ 9.99821296e-01 1.57303124e-02 -1.04849520e-02 1.94668893e+02] [-1.57312266e-02 9.99876257e-01 -4.72523479e-06 8.63392387e+01] [ 1.04835803e-02 1.69665547e-04 9.99945031e-01 1.16106151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.776875 meters 0.02504080970235499 Centerline is valid? [True, True] Translation: X:194.70, Y:86.34, Z:11.61 [[ 9.99874366e-01 1.11397029e-02 -1.12765162e-02 1.94697731e+02] [-1.11404757e-02 9.99937943e-01 -5.71481165e-06 8.63377962e+01] [ 1.12757528e-02 1.31339848e-04 9.99936418e-01 1.16136856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.806875 meters 0.024907123901788692 Centerline is valid? [True, True] Translation: X:194.73, Y:86.34, Z:11.61 [[ 9.99900696e-01 7.85821006e-03 -1.16981903e-02 1.94725471e+02] [-7.85882821e-03 9.99969119e-01 -6.87300568e-06 8.63382092e+01] [ 1.16977751e-02 9.88063913e-05 9.99931574e-01 1.16146020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.836875 meters 0.024484781395805705 Centerline is valid? [True, True] Translation: X:194.75, Y:86.33, Z:11.61 [[ 9.99902025e-01 3.70197265e-03 -1.34994852e-02 1.94753686e+02] [-3.70243328e-03 9.99993146e-01 -9.13049268e-06 8.63311732e+01] [ 1.34993589e-02 5.91105415e-05 9.99908878e-01 1.16069120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.866875 meters 0.02470814378139234 Centerline is valid? [True, True] Translation: X:194.78, Y:86.33, Z:11.60 [[ 9.99894701e-01 2.16845894e-03 -1.43487176e-02 1.94782510e+02] [-2.16883672e-03 9.99997648e-01 -1.07673054e-05 8.63262882e+01] [ 1.43486605e-02 4.18861971e-05 9.99897052e-01 1.16021396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.896875 meters 0.02474797325682062 Centerline is valid? [True, True] Translation: X:194.81, Y:86.32, Z:11.60 [[ 9.99895558e-01 1.38459144e-03 -1.43859487e-02 1.94810393e+02] [-1.38490938e-03 9.99999041e-01 -1.21382167e-05 8.63248281e+01] [ 1.43859181e-02 3.20601843e-05 9.99896517e-01 1.16017253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.926875 meters 0.024999923592135688 Centerline is valid? [True, True] Translation: X:194.84, Y:86.33, Z:11.60 [[ 9.99913905e-01 4.26396608e-04 -1.31149004e-02 1.94837824e+02] [-4.26593939e-04 9.99999909e-01 -1.22488855e-05 8.63267751e+01] [ 1.31148940e-02 1.78425680e-05 9.99913996e-01 1.16023922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.956875 meters 0.02501150633007324 Centerline is valid? [True, True] Translation: X:194.87, Y:86.33, Z:11.61 [[ 9.99915854e-01 1.87736377e-03 -1.28358958e-02 1.94865697e+02] [-1.87770645e-03 9.99998237e-01 -1.46450895e-05 8.63336024e+01] [ 1.28358457e-02 3.87459014e-05 9.99917616e-01 1.16067835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.986875 meters 0.025027933346232194 Centerline is valid? [True, True] Translation: X:194.89, Y:86.34, Z:11.61 [[ 9.99909272e-01 2.39321851e-03 -1.32559432e-02 1.94894944e+02] [-2.39365416e-03 9.99997135e-01 -1.69989811e-05 8.63363502e+01] [ 1.32558645e-02 4.87275823e-05 9.99912136e-01 1.16074456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.016875 meters 0.025024158168326708 Centerline is valid? [True, True] Translation: X:194.92, Y:86.34, Z:11.61 [[ 9.99924972e-01 1.09973129e-03 -1.22000116e-02 1.94923478e+02] [-1.10001394e-03 9.99999395e-01 -1.64580975e-05 8.63417260e+01] [ 1.21999862e-02 2.98770456e-05 9.99925577e-01 1.16136647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.046875 meters 0.024719419533873563 Centerline is valid? [True, True] Translation: X:194.95, Y:86.35, Z:11.62 [[ 9.99944418e-01 7.40401577e-04 -1.05172527e-02 1.94951134e+02] [-7.40600006e-04 9.99999726e-01 -1.49724370e-05 8.63454869e+01] [ 1.05172387e-02 2.27606822e-05 9.99944692e-01 1.16167099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07687500000003 meters 0.024635436759398114 Centerline is valid? [True, True] Translation: X:194.98, Y:86.35, Z:11.62 [[ 9.99961947e-01 -2.60030918e-04 -8.71988460e-03 1.94980092e+02] [ 2.59927221e-04 9.99999966e-01 -1.30253195e-05 8.63474632e+01] [ 8.71988769e-03 1.07582885e-05 9.99961981e-01 1.16192381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.106875 meters 0.024221763078418564 Centerline is valid? [True, True] Translation: X:195.01, Y:86.35, Z:11.62 [[ 9.99972909e-01 -2.07192465e-03 -7.06313624e-03 1.95007496e+02] [ 2.07189849e-03 9.99997854e-01 -1.10197566e-05 8.63467516e+01] [ 7.06314391e-03 -3.61464322e-06 9.99975056e-01 1.16184154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13687500000003 meters 0.024140655453889354 Centerline is valid? [True, True] Translation: X:195.04, Y:86.34, Z:11.61 [[ 9.99947094e-01 -7.03981467e-03 -7.49995291e-03 1.95035219e+02] [ 7.03991995e-03 9.99975219e-01 -1.23629807e-05 8.63375400e+01] [ 7.49985409e-03 -4.04367415e-05 9.99971875e-01 1.16082301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.166875 meters 0.02428569779827658 Centerline is valid? [True, True] Translation: X:195.07, Y:86.33, Z:11.60 [[ 9.99910023e-01 -1.07393519e-02 -8.03818300e-03 1.95065488e+02] [ 1.07395891e-02 9.99942329e-01 -1.36605591e-05 8.63322601e+01] [ 8.03786614e-03 -7.26674524e-05 9.99967693e-01 1.16043338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19687500000003 meters 0.024565263626765876 Centerline is valid? [True, True] Translation: X:195.10, Y:86.33, Z:11.60 [[ 9.99867073e-01 -1.42734258e-02 -7.88076879e-03 1.95096336e+02] [ 1.42737648e-02 9.99898125e-01 -1.32225027e-05 8.63283844e+01] [ 7.88015466e-03 -9.92674953e-05 9.99968946e-01 1.16044984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.226875 meters 0.0252090932774689 Centerline is valid? [True, True] Translation: X:195.13, Y:86.33, Z:11.61 [[ 9.99805934e-01 -1.81854235e-02 -7.57523761e-03 1.95128282e+02] [ 1.81858523e-02 9.99834624e-01 -1.22801333e-05 8.63322464e+01] [ 7.57420817e-03 -1.25484402e-04 9.99971307e-01 1.16140283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25687500000004 meters 0.025043694813405622 Centerline is valid? [True, True] Translation: X:195.16, Y:86.34, Z:11.62 [[ 9.99822264e-01 -1.68768919e-02 -8.40297268e-03 1.95159483e+02] [ 1.68773778e-02 9.99857567e-01 -1.30829604e-05 8.63376840e+01] [ 8.40199662e-03 -1.28739510e-04 9.99964694e-01 1.16181422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.286875 meters 0.024147162777537114 Centerline is valid? [True, True] Translation: X:195.19, Y:86.35, Z:11.62 [[ 9.99880165e-01 -1.00818926e-02 -1.17478123e-02 1.95191828e+02] [ 1.00823830e-02 9.99949171e-01 -1.74817333e-05 8.63519364e+01] [ 1.17473915e-02 -1.00966305e-04 9.99930992e-01 1.16200341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.316875 meters 0.023981681341181713 Centerline is valid? [True, True] Translation: X:195.22, Y:86.35, Z:11.62 [[ 9.99901420e-01 -8.80295086e-03 -1.09388724e-02 1.95221917e+02] [ 8.80330264e-03 9.99961250e-01 -1.59919538e-05 8.63527162e+01] [ 1.09385893e-02 -8.03078273e-05 9.99940169e-01 1.16188267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.346875 meters 0.02424764878831827 Centerline is valid? [True, True] Translation: X:195.25, Y:86.35, Z:11.62 [[ 9.99919465e-01 -8.25618047e-03 -9.63844802e-03 1.95251775e+02] [ 8.25642733e-03 9.99965915e-01 -1.41781710e-05 8.63490927e+01] [ 9.63823656e-03 -6.54021166e-05 9.99953549e-01 1.16154165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.376875 meters 0.023708231370338822 Centerline is valid? [True, True] Translation: X:195.28, Y:86.34, Z:11.61 [[ 9.99947198e-01 -6.31075367e-03 -8.11025284e-03 1.95282742e+02] [ 6.31086394e-03 9.99980086e-01 -1.19958142e-05 8.63411111e+01] [ 8.11016704e-03 -3.91875214e-05 9.99967111e-01 1.16071362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.406875 meters 0.023478589078671185 Centerline is valid? [True, True] Translation: X:195.31, Y:86.34, Z:11.60 [[ 9.99937290e-01 -6.25401109e-03 -9.28992970e-03 1.95312145e+02] [ 6.25415184e-03 9.99980443e-01 -1.39008246e-05 8.63371270e+01] [ 9.28983495e-03 -4.42006780e-05 9.99956848e-01 1.16038720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.436875 meters 0.023589206816587428 Centerline is valid? [True, True] Translation: X:195.34, Y:86.34, Z:11.60 [[ 9.99916582e-01 -5.81263052e-03 -1.15343801e-02 1.95341583e+02] [ 5.81281318e-03 9.99983105e-01 -1.76894546e-05 8.63353726e+01] [ 1.15342881e-02 -4.93592179e-05 9.99933477e-01 1.16024033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.466875 meters 0.023552626662322884 Centerline is valid? [True, True] Translation: X:195.37, Y:86.34, Z:11.61 [[ 9.99854452e-01 -1.87505720e-03 -1.69575746e-02 1.95369106e+02] [ 1.87486405e-03 9.99998242e-01 -2.72879955e-05 8.63439054e+01] [ 1.69575959e-02 -4.50912305e-06 9.99856210e-01 1.16109938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.496875 meters 0.02368727161193795 Centerline is valid? [True, True] Translation: X:195.40, Y:86.35, Z:11.62 [[ 9.99857890e-01 1.95215661e-03 -1.67448300e-02 1.95397042e+02] [-1.95294355e-03 9.99998093e-01 -3.06443832e-05 8.63502876e+01] [ 1.67447382e-02 6.33417361e-05 9.99859795e-01 1.16174369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.526875 meters 0.024273534565683534 Centerline is valid? [True, True] Translation: X:195.42, Y:86.35, Z:11.62 [[ 9.99855407e-01 5.70218885e-03 -1.60202851e-02 1.95424502e+02] [-5.70342491e-03 9.99983735e-01 -3.14686384e-05 8.63540241e+01] [ 1.60198451e-02 1.22834582e-04 9.99871667e-01 1.16196825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.556875 meters 0.02423711262758854 Centerline is valid? [True, True] Translation: X:195.45, Y:86.35, Z:11.62 [[ 9.99847325e-01 8.40725260e-03 -1.53180902e-02 1.95453348e+02] [-8.40874502e-03 9.99964645e-01 -3.30236797e-05 8.63503366e+01] [ 1.53172710e-02 1.61824553e-04 9.99882671e-01 1.16210911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.586875 meters 0.02453642658707048 Centerline is valid? [True, True] Translation: X:195.48, Y:86.34, Z:11.62 [[ 9.99873126e-01 1.09215395e-02 -1.15953647e-02 1.95480225e+02] [-1.09225828e-02 9.99940346e-01 -2.66506818e-05 8.63392904e+01] [ 1.15943820e-02 1.53298632e-04 9.99932771e-01 1.16173921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.616875 meters 0.02447107798031419 Centerline is valid? [True, True] Translation: X:195.51, Y:86.33, Z:11.62 [[ 9.99900002e-01 1.10773570e-02 -8.79077161e-03 1.95508583e+02] [-1.10779687e-02 9.99938637e-01 -2.08952516e-05 8.63348538e+01] [ 8.79000072e-03 1.18277055e-04 9.99961360e-01 1.16181306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.646875 meters 0.02449870507514863 Centerline is valid? [True, True] Translation: X:195.54, Y:86.33, Z:11.62 [[ 9.99917751e-01 1.08246936e-02 -6.87874355e-03 1.95537687e+02] [-1.08250649e-02 9.99941407e-01 -1.67442727e-05 8.63325174e+01] [ 6.87815925e-03 9.12057405e-05 9.99976341e-01 1.16205699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.676875 meters 0.02412034883257158 Centerline is valid? [True, True] Translation: X:195.57, Y:86.33, Z:11.62 [[ 9.99925050e-01 8.85158092e-03 -8.45836278e-03 1.95566954e+02] [-8.85207719e-03 9.99960819e-01 -2.12364319e-05 8.63290097e+01] [ 8.45784340e-03 9.61089205e-05 9.99964227e-01 1.16198877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.706875 meters 0.02467189627654878 Centerline is valid? [True, True] Translation: X:195.59, Y:86.33, Z:11.62 [[ 9.99916709e-01 7.36532208e-03 -1.05984359e-02 1.95594111e+02] [-7.36602978e-03 9.99972870e-01 -2.77401715e-05 8.63272243e+01] [ 1.05979441e-02 1.05806256e-04 9.99943835e-01 1.16167600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.736875 meters 0.024167628203709376 Centerline is valid? [True, True] Translation: X:195.62, Y:86.32, Z:11.62 [[ 9.99911405e-01 5.02066052e-03 -1.23278430e-02 1.95622789e+02] [-5.02145431e-03 9.99987392e-01 -3.34375275e-05 8.63210353e+01] [ 1.23275196e-02 9.53382652e-05 9.99924009e-01 1.16157374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.766875 meters 0.024045467714302944 Centerline is valid? [True, True] Translation: X:195.65, Y:86.32, Z:11.62 [[ 9.99923190e-01 2.44750496e-03 -1.21500325e-02 1.95650551e+02] [-2.44809760e-03 9.99997003e-01 -3.39043428e-05 8.63191184e+01] [ 1.21499131e-02 6.36462040e-05 9.99926185e-01 1.16171746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.796875 meters 0.023881371430576583 Centerline is valid? [True, True] Translation: X:195.68, Y:86.32, Z:11.62 [[ 9.99946856e-01 -3.65010318e-04 -1.03029851e-02 1.95679607e+02] [ 3.64726140e-04 9.99999933e-01 -2.94609811e-05 8.63162551e+01] [ 1.03029951e-02 2.57016475e-05 9.99946922e-01 1.16198364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.82687500000003 meters 0.023482473554823687 Centerline is valid? [True, True] Translation: X:195.71, Y:86.31, Z:11.62 [[ 9.99956951e-01 -3.76964205e-03 -8.47859510e-03 1.95708800e+02] [ 3.76956766e-03 9.99992895e-01 -2.47549431e-05 8.63130983e+01] [ 8.47862817e-03 -7.20676044e-06 9.99964056e-01 1.16232624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.856875 meters 0.02347124163940988 Centerline is valid? [True, True] Translation: X:195.74, Y:86.31, Z:11.62 [[ 9.99908987e-01 -9.68461243e-03 -9.39289973e-03 1.95737380e+02] [ 9.68477587e-03 9.99953101e-01 -2.80850634e-05 8.63075723e+01] [ 9.39273121e-03 -6.28856214e-05 9.99955885e-01 1.16223745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.88687500000003 meters 0.02354472570357933 Centerline is valid? [True, True] Translation: X:195.77, Y:86.30, Z:11.62 [[ 9.99873198e-01 -1.16518428e-02 -1.08546113e-02 1.95767880e+02] [ 1.16521731e-02 9.99932111e-01 -3.28094621e-05 8.63042579e+01] [ 1.08542567e-02 -9.36745090e-05 9.99941086e-01 1.16178491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.916875 meters 0.023153691700211948 Centerline is valid? [True, True] Translation: X:195.80, Y:86.30, Z:11.62 [[ 9.99851364e-01 -1.32181928e-02 -1.10693298e-02 1.95797985e+02] [ 1.32186323e-02 9.99912630e-01 -3.34584764e-05 8.63005924e+01] [ 1.10688049e-02 -1.12867898e-04 9.99938733e-01 1.16155425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.94687500000003 meters 0.023400208000655464 Centerline is valid? [True, True] Translation: X:195.83, Y:86.30, Z:11.62 [[ 9.99865902e-01 -1.43783349e-02 -7.83840794e-03 1.95829708e+02] [ 1.43785918e-02 9.99896622e-01 -2.35801429e-05 8.63003871e+01] [ 7.83793667e-03 -8.91282873e-05 9.99969279e-01 1.16212999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.976875 meters 0.023980262623164498 Centerline is valid? [True, True] Translation: X:195.86, Y:86.30, Z:11.62 [[ 9.99873792e-01 -1.38500369e-02 -7.78312200e-03 1.95860847e+02] [ 1.38502767e-02 9.99904080e-01 -2.30943296e-05 8.63039927e+01] [ 7.78269531e-03 -8.47069785e-05 9.99969711e-01 1.16247784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.00687500000004 meters 0.023980262623164498 Centerline is valid? [True, True] Translation: X:195.89, Y:86.30, Z:11.62 [[ 9.99874715e-01 -1.37832526e-02 -7.78312331e-03 1.95892549e+02] [ 1.37834939e-02 9.99905003e-01 -2.26459621e-05 8.63040208e+01] [ 7.78269608e-03 -8.46355078e-05 9.99969711e-01 1.16249224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.036875 meters 0.02456291897406149 Centerline is valid? [True, True] Translation: X:195.92, Y:86.31, Z:11.63 [[ 9.99940122e-01 -8.99622000e-03 -6.23057797e-03 1.95924165e+02] [ 8.99628354e-03 9.99959532e-01 -1.78292745e-05 8.63120197e+01] [ 6.23048622e-03 -3.82238390e-05 9.99980590e-01 1.16260876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.066875 meters 0.023623301416667384 Centerline is valid? [True, True] Translation: X:195.96, Y:86.31, Z:11.63 [[ 9.99960389e-01 -7.03169266e-03 -5.45670009e-03 1.95955148e+02] [ 7.03171311e-03 9.99975277e-01 -1.54362645e-05 8.63135446e+01] [ 5.45667373e-03 -2.29342965e-05 9.99985112e-01 1.16257021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.096875 meters 0.025169765260510093 Centerline is valid? [True, True] Translation: X:195.99, Y:86.32, Z:11.62 [[ 9.99966974e-01 -7.31011923e-03 -3.55142405e-03 1.95985147e+02] [ 7.31013012e-03 9.99973281e-01 -9.91513415e-06 8.63153836e+01] [ 3.55140163e-03 -1.60465652e-05 9.99993694e-01 1.16181282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.126875 meters 0.025169765260510093 Centerline is valid? [True, True] Translation: X:196.02, Y:86.32, Z:11.62 [[ 9.99967451e-01 -7.24459152e-03 -3.55142407e-03 1.96016848e+02] [ 7.24460203e-03 9.99973757e-01 -9.90582758e-06 8.63154051e+01] [ 3.55140264e-03 -1.58231489e-05 9.99993694e-01 1.16182723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.156875 meters 0.020665227062250255 Centerline is valid? [True, True] Translation: X:196.05, Y:86.31, Z:11.63 [[ 9.99952353e-01 -7.05098227e-03 -6.75089565e-03 1.96048991e+02] [ 7.05102065e-03 9.99975141e-01 -1.81146999e-05 8.63144614e+01] [ 6.75085556e-03 -2.94868678e-05 9.99977212e-01 1.16251069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.186875 meters 0.021361817191850922 Centerline is valid? [True, True] Translation: X:196.08, Y:86.32, Z:11.63 [[ 9.99944056e-01 -7.69782576e-03 -7.25452902e-03 1.96079476e+02] [ 7.69788983e-03 9.99970371e-01 -1.90907548e-05 8.63160309e+01] [ 7.25446103e-03 -3.67548784e-05 9.99973685e-01 1.16252369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.216875 meters 0.021984800958829397 Centerline is valid? [True, True] Translation: X:196.11, Y:86.32, Z:11.63 [[ 9.99912008e-01 -9.42519078e-03 -9.33494676e-03 1.96110027e+02] [ 9.42537307e-03 9.99955580e-01 -2.44677446e-05 8.63220865e+01] [ 9.33476271e-03 -6.35197641e-05 9.99956428e-01 1.16283606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.246875 meters 0.02206221342904847 Centerline is valid? [True, True] Translation: X:196.14, Y:86.32, Z:11.63 [[ 9.99899792e-01 -8.69866536e-03 -1.11686736e-02 1.96140200e+02] [ 8.69888489e-03 9.99962164e-01 -2.89235261e-05 8.63230888e+01] [ 1.11685026e-02 -6.82343779e-05 9.99937628e-01 1.16255590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.276875 meters 0.02172078640225531 Centerline is valid? [True, True] Translation: X:196.17, Y:86.32, Z:11.62 [[ 9.99919192e-01 -4.94123358e-03 -1.17129676e-02 1.96169541e+02] [ 4.94121886e-03 9.99987792e-01 -3.01959919e-05 8.63219442e+01] [ 1.17129738e-02 -2.76827844e-05 9.99931400e-01 1.16172477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.306875 meters 0.021113752008928025 Centerline is valid? [True, True] Translation: X:196.20, Y:86.32, Z:11.62 [[ 9.99943691e-01 -3.21307348e-03 -1.01139271e-02 1.96198516e+02] [ 3.21296028e-03 9.99994838e-01 -2.74409405e-05 8.63227860e+01] [ 1.01139630e-02 -5.05625065e-06 9.99948853e-01 1.16186670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.336875 meters 0.0213285720747696 Centerline is valid? [True, True] Translation: X:196.23, Y:86.33, Z:11.62 [[ 9.99956947e-01 -2.18476908e-03 -9.01838175e-03 1.96225813e+02] [ 2.18462534e-03 9.99997613e-01 -2.57889128e-05 8.63258439e+01] [ 9.01841657e-03 6.08601719e-06 9.99959333e-01 1.16194996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.366875 meters 0.02118674616804943 Centerline is valid? [True, True] Translation: X:196.25, Y:86.33, Z:11.62 [[ 9.99944414e-01 -1.58183028e-03 -1.04242960e-02 1.96254192e+02] [ 1.58158682e-03 9.99998749e-01 -3.15985707e-05 8.63305214e+01] [ 1.04243329e-02 1.51098851e-05 9.99945665e-01 1.16211213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.396875 meters 0.021775168036932913 Centerline is valid? [True, True] Translation: X:196.28, Y:86.34, Z:11.62 [[ 9.99885614e-01 -4.20755316e-04 -1.51189357e-02 1.96282908e+02] [ 4.20050115e-04 9.99999911e-01 -4.98190315e-05 8.63421939e+01] [ 1.51189553e-02 4.34626222e-05 9.99885701e-01 1.16239101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.426875 meters 0.021941494587174332 Centerline is valid? [True, True] Translation: X:196.31, Y:86.35, Z:11.62 [[ 9.99887783e-01 4.58585721e-04 -1.49736639e-02 1.96310130e+02] [-4.59409863e-04 9.99999893e-01 -5.15997361e-05 8.63460344e+01] [ 1.49736387e-02 5.84729947e-05 9.99887887e-01 1.16242847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.456875 meters 0.02189371822825061 Centerline is valid? [True, True] Translation: X:196.34, Y:86.35, Z:11.62 [[ 9.99900494e-01 1.52658946e-03 -1.40239788e-02 1.96337733e+02] [-1.52745986e-03 9.99998832e-01 -5.13539676e-05 8.63473341e+01] [ 1.40238840e-02 7.27699222e-05 9.99901658e-01 1.16245094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.486875 meters 0.021862541639769344 Centerline is valid? [True, True] Translation: X:196.37, Y:86.35, Z:11.62 [[ 9.99926866e-01 4.59222156e-04 -1.20851741e-02 1.96366368e+02] [-4.59809305e-04 9.99999893e-01 -4.58057546e-05 8.63473997e+01] [ 1.20851517e-02 5.13592802e-05 9.99926971e-01 1.16242207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.516875 meters 0.021875000505454423 Centerline is valid? [True, True] Translation: X:196.39, Y:86.35, Z:11.62 [[ 9.99919710e-01 -2.15746152e-03 -1.24867620e-02 1.96394243e+02] [ 2.15702658e-03 9.99997672e-01 -4.83000066e-05 8.63481890e+01] [ 1.24868372e-02 2.13618510e-05 9.99922036e-01 1.16242073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.546875 meters 0.021294649468289177 Centerline is valid? [True, True] Translation: X:196.42, Y:86.35, Z:11.62 [[ 9.99887277e-01 -5.86360346e-03 -1.38221057e-02 1.96423262e+02] [ 5.86341045e-03 9.99982809e-01 -5.44885324e-05 8.63471251e+01] [ 1.38221876e-02 -2.65622888e-05 9.99904469e-01 1.16236728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57687500000003 meters 0.02273172809223713 Centerline is valid? [True, True] Translation: X:196.45, Y:86.34, Z:11.62 [[ 9.99746780e-01 -1.65985776e-02 -1.51941759e-02 1.96451919e+02] [ 1.65995710e-02 9.99862216e-01 -6.07410417e-05 8.63386613e+01] [ 1.51930906e-02 -1.91491140e-04 9.99884560e-01 1.16191762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.606875 meters 0.02392067727030379 Centerline is valid? [True, True] Translation: X:196.48, Y:86.33, Z:11.62 [[ 9.99662382e-01 -2.19807320e-02 -1.38552758e-02 1.96483100e+02] [ 2.19820762e-02 9.99758363e-01 -5.52896020e-05 8.63343050e+01] [ 1.38531432e-02 -2.49296793e-04 9.99904010e-01 1.16210316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63687500000003 meters 0.02475283181632341 Centerline is valid? [True, True] Translation: X:196.52, Y:86.33, Z:11.63 [[ 9.99603324e-01 -2.54593438e-02 -1.20423119e-02 1.96515049e+02] [ 2.54606189e-02 9.99675825e-01 -4.74387181e-05 8.63321170e+01] [ 1.20396159e-02 -2.59184815e-04 9.99927488e-01 1.16253235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.666875 meters 0.025639711198999837 Centerline is valid? [True, True] Translation: X:196.55, Y:86.33, Z:11.63 [[ 9.99481232e-01 -2.96833658e-02 -1.24965863e-02 1.96546848e+02] [ 2.96850777e-02 9.99559300e-01 -4.85147831e-05 8.63345024e+01] [ 1.24925192e-02 -3.22472521e-04 9.99921913e-01 1.16300284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69687500000003 meters 0.026719315032685993 Centerline is valid? [True, True] Translation: X:196.58, Y:86.33, Z:11.63 [[ 9.99456634e-01 -3.03265031e-02 -1.29127611e-02 1.96578299e+02] [ 3.03283932e-02 9.99539987e-01 -4.94677900e-05 8.63332940e+01] [ 1.29083213e-02 -3.42182386e-04 9.99916626e-01 1.16289037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.726875 meters 0.027535328374171882 Centerline is valid? [True, True] Translation: X:196.61, Y:86.33, Z:11.63 [[ 9.99425582e-01 -3.16180793e-02 -1.21984470e-02 1.96610717e+02] [ 3.16198724e-02 9.99499966e-01 -4.58897011e-05 8.63333883e+01] [ 1.21937983e-02 -3.39849996e-04 9.99925595e-01 1.16310304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75687500000004 meters 0.028055665068465296 Centerline is valid? [True, True] Translation: X:196.64, Y:86.34, Z:11.63 [[ 9.99337268e-01 -3.47944325e-02 -1.06945157e-02 1.96642814e+02] [ 3.47960003e-02 9.99394435e-01 -3.94948629e-05 8.63352186e+01] [ 1.06894136e-02 -3.32657682e-04 9.99942811e-01 1.16340223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.786875 meters 0.028611756273215643 Centerline is valid? [True, True] Translation: X:196.67, Y:86.33, Z:11.63 [[ 9.99293771e-01 -3.57305306e-02 -1.16313729e-02 1.96673550e+02] [ 3.57324551e-02 9.99361391e-01 -4.23879661e-05 8.63321287e+01] [ 1.16254596e-02 -3.73259480e-04 9.99932352e-01 1.16298238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.816875 meters 0.028678657242916985 Centerline is valid? [True, True] Translation: X:196.70, Y:86.33, Z:11.63 [[ 9.99310163e-01 -3.52541004e-02 -1.16767632e-02 1.96704903e+02] [ 3.52560133e-02 9.99378313e-01 -4.20481055e-05 8.63293491e+01] [ 1.16709863e-02 -3.69657021e-04 9.99931823e-01 1.16255030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.846875 meters 0.02833282581378223 Centerline is valid? [True, True] Translation: X:196.74, Y:86.33, Z:11.62 [[ 9.99349818e-01 -3.40429727e-02 -1.18750917e-02 1.96736865e+02] [ 3.40448741e-02 9.99420304e-01 -4.20546878e-05 8.63290474e+01] [ 1.18696395e-02 -3.62258659e-04 9.99929488e-01 1.16236070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.876875 meters 0.02557743516632469 Centerline is valid? [True, True] Translation: X:196.77, Y:86.34, Z:11.63 [[ 9.99498029e-01 -2.85841919e-02 -1.36614368e-02 1.96768255e+02] [ 2.85862078e-02 9.99591330e-01 -4.77293421e-05 8.63396762e+01] [ 1.36572181e-02 -3.42823289e-04 9.99906677e-01 1.16267383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.906875 meters 0.025273755601007915 Centerline is valid? [True, True] Translation: X:196.80, Y:86.34, Z:11.63 [[ 9.99515612e-01 -2.65424363e-02 -1.62493283e-02 1.96799476e+02] [ 2.65450314e-02 9.99647617e-01 -5.59959490e-05 8.63433860e+01] [ 1.62450886e-02 -3.75370106e-04 9.99867969e-01 1.16293460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.936875 meters 0.024958814743532197 Centerline is valid? [True, True] Translation: X:196.83, Y:86.34, Z:11.63 [[ 9.99508285e-01 -2.61006550e-02 -1.73765562e-02 1.96831827e+02] [ 2.61035751e-02 9.99659242e-01 -5.87824890e-05 8.63445569e+01] [ 1.73721692e-02 -3.94836655e-04 9.99849015e-01 1.16315883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.966875 meters 0.025167633361998995 Centerline is valid? [True, True] Translation: X:196.86, Y:86.34, Z:11.63 [[ 9.99516713e-01 -2.51782689e-02 -1.82316831e-02 1.96862949e+02] [ 2.51813640e-02 9.99682897e-01 -5.98214081e-05 8.63442737e+01] [ 1.82274080e-02 -3.99306150e-04 9.99833787e-01 1.16315968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.996875 meters 0.024984727184390012 Centerline is valid? [True, True] Translation: X:196.90, Y:86.34, Z:11.62 [[ 9.99459417e-01 -2.54205103e-02 -2.08487989e-02 1.96895445e+02] [ 2.54246456e-02 9.99676739e-01 -6.67345560e-05 8.63380469e+01] [ 2.08437557e-02 -4.63374844e-04 9.99782638e-01 1.16247280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.026875 meters 0.025790823830404472 Centerline is valid? [True, True] Translation: X:196.93, Y:86.33, Z:11.62 [[ 9.99432190e-01 -2.57820939e-02 -2.16928784e-02 1.96926775e+02] [ 2.57866816e-02 9.99667466e-01 -6.82622028e-05 8.63322058e+01] [ 2.16874248e-02 -4.91163905e-04 9.99764679e-01 1.16210659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.056875 meters 0.02557573619611135 Centerline is valid? [True, True] Translation: X:196.96, Y:86.33, Z:11.62 [[ 9.99463768e-01 -2.52184009e-02 -2.08855972e-02 1.96958415e+02] [ 2.52225459e-02 9.99681859e-01 -6.49791996e-05 8.63305414e+01] [ 2.08805913e-02 -4.61843579e-04 9.99781870e-01 1.16224482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.086875 meters 0.024939487071133658 Centerline is valid? [True, True] Translation: X:196.99, Y:86.33, Z:11.63 [[ 9.99558878e-01 -2.35848514e-02 -1.80500474e-02 1.96989466e+02] [ 2.35876910e-02 9.99721770e-01 -5.55917233e-05 8.63328765e+01] [ 1.80463365e-02 -3.70191741e-04 9.99837083e-01 1.16276716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.116875 meters 0.02299601872651407 Centerline is valid? [True, True] Translation: X:197.02, Y:86.34, Z:11.63 [[ 9.99767345e-01 -1.55784722e-02 -1.49186604e-02 1.97020413e+02] [ 1.55795251e-02 9.99878631e-01 -4.56456747e-05 8.63421937e+01] [ 1.49175609e-02 -1.86790590e-04 9.99888710e-01 1.16344569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.146875 meters 0.022851065310125235 Centerline is valid? [True, True] Translation: X:197.05, Y:86.35, Z:11.63 [[ 9.99810915e-01 -1.09539933e-02 -1.60668933e-02 1.97052223e+02] [ 1.09546280e-02 9.99939995e-01 -4.85082991e-05 8.63451688e+01] [ 1.60664605e-02 -1.27507712e-04 9.99870918e-01 1.16321272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.176875 meters 0.022568327053115542 Centerline is valid? [True, True] Translation: X:197.08, Y:86.35, Z:11.63 [[ 9.99816475e-01 -4.47808068e-03 -1.86269643e-02 1.97080835e+02] [ 4.47780203e-03 9.99989973e-01 -5.66669455e-05 8.63478112e+01] [ 1.86270313e-02 -2.67513130e-05 9.99826501e-01 1.16262475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.206875 meters 0.022503354793874778 Centerline is valid? [True, True] Translation: X:197.11, Y:86.35, Z:11.63 [[ 9.99799089e-01 -4.92062453e-03 -1.94311319e-02 1.97109396e+02] [ 4.92033561e-03 9.99987893e-01 -6.26776496e-05 8.63487868e+01] [ 1.94312050e-02 -3.29426331e-05 9.99811196e-01 1.16268622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.236875 meters 0.022660866532081225 Centerline is valid? [True, True] Translation: X:197.14, Y:86.35, Z:11.63 [[ 9.99778363e-01 -5.98684028e-03 -2.01837026e-02 1.97137760e+02] [ 5.98665368e-03 9.99982077e-01 -6.96682139e-05 8.63499102e+01] [ 2.01837579e-02 -5.11800645e-05 9.99796286e-01 1.16280023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.266875 meters 0.022856303761803046 Centerline is valid? [True, True] Translation: X:197.17, Y:86.35, Z:11.63 [[ 9.99739279e-01 -7.95080595e-03 -2.14046505e-02 1.97166271e+02] [ 7.95100002e-03 9.99968387e-01 -7.60382879e-05 8.63513959e+01] [ 2.14045784e-02 -9.41699134e-05 9.99770891e-01 1.16309644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.296875 meters 0.02281370529620462 Centerline is valid? [True, True] Translation: X:197.19, Y:86.35, Z:11.63 [[ 9.99731404e-01 -8.57958396e-03 -2.15292873e-02 1.97194574e+02] [ 8.57982651e-03 9.99963189e-01 -8.11053133e-05 8.63504627e+01] [ 2.15291906e-02 -1.03634021e-04 9.99768215e-01 1.16299777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.32687500000003 meters 0.023120659307874998 Centerline is valid? [True, True] Translation: X:197.22, Y:86.35, Z:11.63 [[ 9.99721690e-01 -9.58484975e-03 -2.15562812e-02 1.97222903e+02] [ 9.58520773e-03 9.99954057e-01 -8.67182865e-05 8.63467853e+01] [ 2.15561220e-02 -1.19927281e-04 9.99767633e-01 1.16263269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.356875 meters 0.023073513533877585 Centerline is valid? [True, True] Translation: X:197.25, Y:86.34, Z:11.62 [[ 9.99710760e-01 -1.02621731e-02 -2.17504985e-02 1.97251274e+02] [ 1.02625770e-02 9.99947334e-01 -9.30563550e-05 8.63422103e+01] [ 2.17503079e-02 -1.30186725e-04 9.99763426e-01 1.16224057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.38687500000003 meters 0.02292685369268099 Centerline is valid? [True, True] Translation: X:197.28, Y:86.34, Z:11.63 [[ 9.99691389e-01 -1.10483249e-02 -2.22499824e-02 1.97279706e+02] [ 1.10488242e-02 9.99938955e-01 -1.00496042e-04 8.63435375e+01] [ 2.22497345e-02 -1.45371116e-04 9.99752433e-01 1.16257510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.416875 meters 0.022849912850917028 Centerline is valid? [True, True] Translation: X:197.31, Y:86.35, Z:11.63 [[ 9.99715969e-01 -1.12454491e-02 -2.10124167e-02 1.97307856e+02] [ 1.12458370e-02 9.99936759e-01 -9.97074925e-05 8.63490611e+01] [ 2.10122091e-02 -1.36623041e-04 9.99779210e-01 1.16319360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.44687500000003 meters 0.023109375610395805 Centerline is valid? [True, True] Translation: X:197.34, Y:86.36, Z:11.64 [[ 9.99818033e-01 -1.02295972e-02 -1.61014317e-02 1.97336499e+02] [ 1.02296682e-02 9.99947673e-01 -7.79543006e-05 8.63585040e+01] [ 1.61013866e-02 -8.67721890e-05 9.99870361e-01 1.16449100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.476875 meters 0.022476824652244827 Centerline is valid? [True, True] Translation: X:197.36, Y:86.36, Z:11.65 [[ 9.99843893e-01 -1.07209337e-02 -1.40446125e-02 1.97364750e+02] [ 1.07210018e-02 9.99942526e-01 -7.04462707e-05 8.63577209e+01] [ 1.40445606e-02 -8.01370420e-05 9.99901367e-01 1.16457450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.50687500000004 meters 0.022318157511140534 Centerline is valid? [True, True] Translation: X:197.39, Y:86.35, Z:11.64 [[ 9.99841298e-01 -1.23155905e-02 -1.28726810e-02 1.97393900e+02] [ 1.23157656e-02 9.99924156e-01 -6.56665479e-05 8.63509915e+01] [ 1.28725134e-02 -9.28807957e-05 9.99917141e-01 1.16405067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.536875 meters 0.022841132550328005 Centerline is valid? [True, True] Translation: X:197.42, Y:86.34, Z:11.63 [[ 9.99763077e-01 -1.82885530e-02 -1.18033624e-02 1.97424917e+02] [ 1.82891171e-02 9.99832738e-01 -6.01594467e-05 8.63380282e+01] [ 1.18024884e-02 -1.55727883e-04 9.99930336e-01 1.16348641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.566875 meters 0.023618561648910002 Centerline is valid? [True, True] Translation: X:197.46, Y:86.34, Z:11.64 [[ 9.99717591e-01 -2.11273093e-02 -1.08800330e-02 1.97455985e+02] [ 2.11279608e-02 9.99776778e-01 -5.50686043e-05 8.63357482e+01] [ 1.08787678e-02 -1.74819857e-04 9.99940809e-01 1.16371508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.596875 meters 0.023805680517239986 Centerline is valid? [True, True] Translation: X:197.49, Y:86.34, Z:11.64 [[ 9.99697273e-01 -2.26706008e-02 -9.56063614e-03 1.97487992e+02] [ 2.26711794e-02 9.99742975e-01 -4.78648337e-05 8.63370257e+01] [ 9.55926394e-03 -1.68900554e-04 9.99954295e-01 1.16420823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.626875 meters 0.02386257629708684 Centerline is valid? [True, True] Translation: X:197.52, Y:86.34, Z:11.65 [[ 9.99707921e-01 -2.20628776e-02 -9.86418334e-03 1.97519793e+02] [ 2.20634704e-02 9.99756571e-01 -4.87317026e-05 8.63410244e+01] [ 9.86285727e-03 -1.68920648e-04 9.99951347e-01 1.16478011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.656875 meters 0.02343027262740353 Centerline is valid? [True, True] Translation: X:197.55, Y:86.34, Z:11.65 [[ 9.99725958e-01 -2.07398880e-02 -1.08566238e-02 1.97551954e+02] [ 2.07405362e-02 9.99784891e-01 -5.28931458e-05 8.63412919e+01] [ 1.08553855e-02 -1.72293549e-04 9.99941064e-01 1.16465991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.686875 meters 0.023514102346857964 Centerline is valid? [True, True] Translation: X:197.58, Y:86.34, Z:11.64 [[ 9.99725540e-01 -2.00414639e-02 -1.21319765e-02 1.97583314e+02] [ 2.00422305e-02 9.99799133e-01 -5.83997261e-05 8.63383657e+01] [ 1.21307100e-02 -1.84768171e-04 9.99926403e-01 1.16428173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.716875 meters 0.023405761482866272 Centerline is valid? [True, True] Translation: X:197.62, Y:86.33, Z:11.63 [[ 9.99655491e-01 -1.96548436e-02 -1.73949890e-02 1.97615958e+02] [ 1.96563820e-02 9.99806791e-01 -8.25460670e-05 8.63339131e+01] [ 1.73932505e-02 -2.59404919e-04 9.99848692e-01 1.16349471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.746875 meters 0.02352857030009102 Centerline is valid? [True, True] Translation: X:197.65, Y:86.33, Z:11.63 [[ 9.99550743e-01 -2.06802644e-02 -2.16941969e-02 1.97647530e+02] [ 2.06829199e-02 9.99786080e-01 -1.01990255e-04 8.63324557e+01] [ 2.16916653e-02 -3.46754901e-04 9.99764648e-01 1.16308633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.776875 meters 0.023938996597115972 Centerline is valid? [True, True] Translation: X:197.68, Y:86.33, Z:11.63 [[ 9.99455760e-01 -2.18246220e-02 -2.47359887e-02 1.97677508e+02] [ 2.18284210e-02 9.99761725e-01 -1.16457965e-04 8.63333454e+01] [ 2.47326364e-02 -4.23552991e-04 9.99694012e-01 1.16296402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.806875 meters 0.02412688664412214 Centerline is valid? [True, True] Translation: X:197.71, Y:86.34, Z:11.63 [[ 9.99472759e-01 -2.16068535e-02 -2.42352547e-02 1.97706574e+02] [ 2.16104263e-02 9.99766461e-01 -1.14505695e-04 8.63350968e+01] [ 2.42320689e-02 -4.09288862e-04 9.99706277e-01 1.16313759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.836875 meters 0.023908483439917066 Centerline is valid? [True, True] Translation: X:197.74, Y:86.34, Z:11.64 [[ 9.99558096e-01 -1.97816546e-02 -2.21877902e-02 1.97736740e+02] [ 1.97841979e-02 9.99804268e-01 -1.04901661e-04 8.63385240e+01] [ 2.21855224e-02 -3.34112326e-04 9.99753815e-01 1.16360776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.866875 meters 0.022471705919819653 Centerline is valid? [True, True] Translation: X:197.77, Y:86.35, Z:11.64 [[ 9.99746835e-01 -1.21905103e-02 -1.89118205e-02 1.97767049e+02] [ 1.21909951e-02 9.99925683e-01 -8.96555386e-05 8.63451808e+01] [ 1.89115080e-02 -1.40921070e-04 9.99821152e-01 1.16398161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.896875 meters 0.02276390216091368 Centerline is valid? [True, True] Translation: X:197.79, Y:86.35, Z:11.64 [[ 9.99772426e-01 -8.25572256e-03 -1.96707928e-02 1.97794907e+02] [ 8.25545910e-03 9.99965919e-01 -9.45981144e-05 8.63476536e+01] [ 1.96709034e-02 -6.78148396e-05 9.99806507e-01 1.16361049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.926875 meters 0.022679998255866248 Centerline is valid? [True, True] Translation: X:197.82, Y:86.35, Z:11.63 [[ 9.99765294e-01 -5.17634069e-03 -2.10371844e-02 1.97823949e+02] [ 5.17526829e-03 9.99986603e-01 -1.05418835e-04 8.63514788e+01] [ 2.10374482e-02 -3.47898078e-06 9.99778688e-01 1.16344210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.956875 meters 0.0227970734734489 Centerline is valid? [True, True] Translation: X:197.85, Y:86.35, Z:11.64 [[ 9.99772065e-01 -6.85617532e-03 -2.02190605e-02 1.97851571e+02] [ 6.85548151e-03 9.99976496e-01 -1.03628030e-04 8.63526557e+01] [ 2.02192957e-02 -3.50069858e-05 9.99795569e-01 1.16356724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.986875 meters 0.022618948118177582 Centerline is valid? [True, True] Translation: X:197.88, Y:86.35, Z:11.64 [[ 9.99782848e-01 -9.29284821e-03 -1.86520802e-02 1.97880370e+02] [ 9.29265846e-03 9.99956818e-01 -9.68461433e-05 8.63533123e+01] [ 1.86521747e-02 -7.65022977e-05 9.99826030e-01 1.16406088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.016875 meters 0.022620044462595763 Centerline is valid? [True, True] Translation: X:197.91, Y:86.35, Z:11.64 [[ 9.99782029e-01 -1.24034967e-02 -1.67942612e-02 1.97907923e+02] [ 1.24037242e-02 9.99923067e-01 -9.06215760e-05 8.63531291e+01] [ 1.67940932e-02 -1.17709562e-04 9.99858962e-01 1.16447312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.046875 meters 0.022620044462595763 Centerline is valid? [True, True] Translation: X:197.94, Y:86.35, Z:11.64 [[ 9.99781630e-01 -1.24356830e-02 -1.67942526e-02 1.97937074e+02] [ 1.24358887e-02 9.99922667e-01 -9.21882793e-05 8.63533228e+01] [ 1.67941003e-02 -1.16683309e-04 9.99858962e-01 1.16448643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07687500000003 meters 0.022775342294308575 Centerline is valid? [True, True] Translation: X:197.97, Y:86.35, Z:11.64 [[ 9.99754090e-01 -1.67971194e-02 -1.44781385e-02 1.97966999e+02] [ 1.67977227e-02 9.99858905e-01 -7.99382674e-05 8.63466697e+01] [ 1.44774384e-02 -1.63281147e-04 9.99895183e-01 1.16446196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.106875 meters 0.023309237406287715 Centerline is valid? [True, True] Translation: X:198.00, Y:86.34, Z:11.64 [[ 9.99736084e-01 -1.79672874e-02 -1.43157025e-02 1.97998447e+02] [ 1.79680022e-02 9.99838559e-01 -7.86973975e-05 8.63389849e+01] [ 1.43148053e-02 -1.78547946e-04 9.99897522e-01 1.16398546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13687500000003 meters 0.023394984630434636 Centerline is valid? [True, True] Translation: X:198.03, Y:86.33, Z:11.64 [[ 9.99695269e-01 -2.01811103e-02 -1.42158932e-02 1.98030504e+02] [ 2.01820513e-02 9.99796319e-01 -7.72752354e-05 8.63318506e+01] [ 1.42145572e-02 -2.09654199e-04 9.99898946e-01 1.16378501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.166875 meters 0.023602148138831193 Centerline is valid? [True, True] Translation: X:198.06, Y:86.33, Z:11.64 [[ 9.99652994e-01 -2.20663542e-02 -1.43863467e-02 1.98062654e+02] [ 2.20675271e-02 9.99756479e-01 -7.72282930e-05 8.63316902e+01] [ 1.43845475e-02 -2.40269602e-04 9.99896508e-01 1.16403609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19687500000003 meters 0.024283891508312876 Centerline is valid? [True, True] Translation: X:198.09, Y:86.33, Z:11.64 [[ 9.99603987e-01 -2.38656882e-02 -1.49096752e-02 1.98093791e+02] [ 2.38671607e-02 9.99715136e-01 -7.91920720e-05 8.63322149e+01] [ 1.49073179e-02 -2.76690903e-04 9.99888841e-01 1.16429047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.226875 meters 0.025103739299543685 Centerline is valid? [True, True] Translation: X:198.12, Y:86.33, Z:11.64 [[ 9.99511758e-01 -2.67023709e-02 -1.62243644e-02 1.98124524e+02] [ 2.67044984e-02 9.99643368e-01 -8.55407433e-05 8.63296135e+01] [ 1.62208624e-02 -3.47764534e-04 9.99868373e-01 1.16443664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25687500000004 meters 0.02557540164404356 Centerline is valid? [True, True] Translation: X:198.16, Y:86.33, Z:11.64 [[ 9.99464155e-01 -2.85132828e-02 -1.60746650e-02 1.98157063e+02] [ 2.85156198e-02 9.99593344e-01 -8.38525472e-05 8.63264550e+01] [ 1.60705190e-02 -3.74571418e-04 9.99870791e-01 1.16443244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.286875 meters 0.025309413701158422 Centerline is valid? [True, True] Translation: X:198.19, Y:86.32, Z:11.64 [[ 9.99405670e-01 -3.07137577e-02 -1.56515737e-02 1.98189177e+02] [ 3.07162591e-02 9.99528141e-01 -8.06086585e-05 8.63235776e+01] [ 1.56466641e-02 -4.00197042e-04 9.99877503e-01 1.16448150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.316875 meters 0.026274574871678447 Centerline is valid? [True, True] Translation: X:198.22, Y:86.32, Z:11.64 [[ 9.99336527e-01 -3.29172419e-02 -1.55872170e-02 1.98221742e+02] [ 3.29200070e-02 9.99457987e-01 -7.92279758e-05 8.63195077e+01] [ 1.55813765e-02 -4.33955882e-04 9.99878509e-01 1.16433089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.346875 meters 0.027188827617821966 Centerline is valid? [True, True] Translation: X:198.25, Y:86.31, Z:11.64 [[ 9.99204328e-01 -3.57519537e-02 -1.76779011e-02 1.98253892e+02] [ 3.57559751e-02 9.99360547e-01 -8.86334474e-05 8.63145927e+01] [ 1.76697658e-02 -5.43527669e-04 9.99843730e-01 1.16375096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.376875 meters 0.027497514215741817 Centerline is valid? [True, True] Translation: X:198.29, Y:86.32, Z:11.64 [[ 9.99208745e-01 -3.53331859e-02 -1.82606166e-02 1.98286719e+02] [ 3.53374382e-02 9.99375434e-01 -8.98518046e-05 8.63153981e+01] [ 1.82523864e-02 -5.55502703e-04 9.99833257e-01 1.16364355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.406875 meters 0.028225486559732064 Centerline is valid? [True, True] Translation: X:198.32, Y:86.32, Z:11.64 [[ 9.99265962e-01 -3.34975613e-02 -1.85863109e-02 1.98317878e+02] [ 3.35016755e-02 9.99438657e-01 -9.00462783e-05 8.63151135e+01] [ 1.85788939e-02 -5.32692375e-04 9.99827256e-01 1.16351365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.436875 meters 0.026959249968328783 Centerline is valid? [True, True] Translation: X:198.35, Y:86.32, Z:11.63 [[ 9.99294130e-01 -3.16905108e-02 -2.01730594e-02 1.98349773e+02] [ 3.16950175e-02 9.99497582e-01 -9.63635485e-05 8.63172201e+01] [ 2.01659779e-02 -5.43089942e-04 9.99796498e-01 1.16334691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.466875 meters 0.025605358518531348 Centerline is valid? [True, True] Translation: X:198.38, Y:86.32, Z:11.63 [[ 9.99323592e-01 -2.94585794e-02 -2.20125060e-02 1.98381768e+02] [ 2.94634384e-02 9.99565853e-01 -1.03620264e-04 8.63203959e+01] [ 2.20060019e-02 -5.45013941e-04 9.99757690e-01 1.16323034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.496875 meters 0.026014409073493807 Centerline is valid? [True, True] Translation: X:198.41, Y:86.33, Z:11.63 [[ 9.99374893e-01 -2.58396854e-02 -2.41274489e-02 1.98413268e+02] [ 2.58445365e-02 9.99665968e-01 -1.10798678e-04 8.63264586e+01] [ 2.41222526e-02 -5.12833315e-04 9.99708885e-01 1.16332536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.526875 meters 0.025259602623955282 Centerline is valid? [True, True] Translation: X:198.44, Y:86.33, Z:11.64 [[ 9.99432213e-01 -2.42886234e-02 -2.33519497e-02 1.98444150e+02] [ 2.42927718e-02 9.99704881e-01 -1.06058701e-04 8.63344896e+01] [ 2.33476341e-02 -4.61285105e-04 9.99727300e-01 1.16401259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.556875 meters 0.024518803393557966 Centerline is valid? [True, True] Translation: X:198.47, Y:86.35, Z:11.65 [[ 9.99615632e-01 -2.00613392e-02 -1.91345385e-02 1.98473794e+02] [ 2.00633523e-02 9.99798707e-01 -8.67791828e-05 8.63457853e+01] [ 1.91324277e-02 -2.97157158e-04 9.99816914e-01 1.16496511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.586875 meters 0.02375385573701105 Centerline is valid? [True, True] Translation: X:198.50, Y:86.35, Z:11.65 [[ 9.99705325e-01 -1.70761107e-02 -1.72530962e-02 1.98503976e+02] [ 1.70773064e-02 9.99854169e-01 -7.80364679e-05 8.63482563e+01] [ 1.72519127e-02 -2.16622937e-04 9.99851151e-01 1.16501271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.616875 meters 0.023448192979424385 Centerline is valid? [True, True] Translation: X:198.53, Y:86.35, Z:11.65 [[ 9.99766221e-01 -1.41965725e-02 -1.63083238e-02 1.98534812e+02] [ 1.41972650e-02 9.99899211e-01 -7.33165409e-05 8.63482666e+01] [ 1.63077209e-02 -1.58234194e-04 9.99867008e-01 1.16459960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.646875 meters 0.023236472816168245 Centerline is valid? [True, True] Translation: X:198.57, Y:86.35, Z:11.64 [[ 9.99796052e-01 -1.12882018e-02 -1.67460526e-02 1.98565333e+02] [ 1.12885266e-02 9.99936280e-01 -7.51353339e-05 8.63472596e+01] [ 1.67458337e-02 -1.13918250e-04 9.99859772e-01 1.16410594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.676875 meters 0.02313987308675007 Centerline is valid? [True, True] Translation: X:198.59, Y:86.35, Z:11.64 [[ 9.99829660e-01 -8.34884205e-03 -1.64605030e-02 1.98593784e+02] [ 8.34871348e-03 9.99965146e-01 -7.65286629e-05 8.63474261e+01] [ 1.64605682e-02 -6.09083961e-05 9.99864514e-01 1.16383367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.706875 meters 0.023282378088087124 Centerline is valid? [True, True] Translation: X:198.62, Y:86.35, Z:11.65 [[ 9.99851414e-01 -7.42563429e-03 -1.55566472e-02 1.98622013e+02] [ 7.42535361e-03 9.99972429e-01 -7.58039849e-05 8.63531747e+01] [ 1.55567811e-02 -3.97208847e-05 9.99878985e-01 1.16491966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.736875 meters 0.023262754593552697 Centerline is valid? [True, True] Translation: X:198.65, Y:86.36, Z:11.65 [[ 9.99863812e-01 -7.23721286e-03 -1.48317368e-02 1.98650155e+02] [ 7.23690996e-03 9.99973810e-01 -7.40939566e-05 8.63564395e+01] [ 1.48318846e-02 -3.32520779e-05 9.99890001e-01 1.16543137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.766875 meters 0.023575015736105667 Centerline is valid? [True, True] Translation: X:198.68, Y:86.36, Z:11.66 [[ 9.99851067e-01 -8.20108716e-03 -1.51850835e-02 1.98678448e+02] [ 8.20083278e-03 9.99966369e-01 -7.90215668e-05 8.63578832e+01] [ 1.51852209e-02 -4.55205329e-05 9.99884697e-01 1.16572861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.796875 meters 0.023694129579164773 Centerline is valid? [True, True] Translation: X:198.71, Y:86.36, Z:11.66 [[ 9.99854436e-01 -8.28246603e-03 -1.49166775e-02 1.98707576e+02] [ 8.28217590e-03 9.99965699e-01 -8.12256545e-05 8.63563216e+01] [ 1.49168386e-02 -4.23287159e-05 9.99888737e-01 1.16564546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.82687500000003 meters 0.024255656470013612 Centerline is valid? [True, True] Translation: X:198.74, Y:86.35, Z:11.65 [[ 9.99882929e-01 -9.84361026e-03 -1.17146018e-02 1.98735977e+02] [ 9.84350895e-03 9.99951549e-01 -6.63077612e-05 8.63461874e+01] [ 1.17146870e-02 -4.90127895e-05 9.99931379e-01 1.16495361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.856875 meters 0.023927008492764752 Centerline is valid? [True, True] Translation: X:198.77, Y:86.34, Z:11.65 [[ 9.99884191e-01 -1.10594550e-02 -1.04542934e-02 1.98765695e+02] [ 1.10594298e-02 9.99938841e-01 -6.02236732e-05 8.63415413e+01] [ 1.04543201e-02 -5.54018247e-05 9.99945351e-01 1.16473050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.88687500000003 meters 0.02415265698869322 Centerline is valid? [True, True] Translation: X:198.80, Y:86.34, Z:11.65 [[ 9.99847226e-01 -1.29464266e-02 -1.17437182e-02 1.98796928e+02] [ 1.29465268e-02 9.99916188e-01 -6.74954919e-05 8.63397519e+01] [ 1.17436077e-02 -8.45551819e-05 9.99931038e-01 1.16454588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.916875 meters 0.02434734593286563 Centerline is valid? [True, True] Translation: X:198.83, Y:86.34, Z:11.64 [[ 9.99737444e-01 -1.52189373e-02 -1.71297226e-02 1.98827649e+02] [ 1.52195130e-02 9.99884172e-01 -9.67619813e-05 8.63408662e+01] [ 1.71292111e-02 -1.63969460e-04 9.99853271e-01 1.16442743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.94687500000003 meters 0.024645353628484683 Centerline is valid? [True, True] Translation: X:198.86, Y:86.34, Z:11.64 [[ 9.99716246e-01 -1.49986393e-02 -1.85058933e-02 1.98857102e+02] [ 1.49992798e-02 9.99887499e-01 -1.04193058e-04 8.63427801e+01] [ 1.85053741e-02 -1.73411579e-04 9.99828746e-01 1.16447301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.976875 meters 0.024649901651739085 Centerline is valid? [True, True] Translation: X:198.89, Y:86.35, Z:11.65 [[ 9.99681784e-01 -1.18267540e-02 -2.22813600e-02 1.98886891e+02] [ 1.18268868e-02 9.99930052e-01 -1.25823126e-04 8.63483694e+01] [ 2.22812896e-02 -1.37736035e-04 9.99751732e-01 1.16453961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.00687500000004 meters 0.024391121234258246 Centerline is valid? [True, True] Translation: X:198.92, Y:86.35, Z:11.65 [[ 9.99644258e-01 -1.08791653e-02 -2.43516176e-02 1.98915173e+02] [ 1.08790001e-02 9.99940812e-01 -1.39271494e-04 8.63500811e+01] [ 2.43516915e-02 -1.25699301e-04 9.99703446e-01 1.16461086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.036875 meters 0.024551346926420123 Centerline is valid? [True, True] Translation: X:198.94, Y:86.35, Z:11.64 [[ 9.99611775e-01 -1.08655105e-02 -2.56561720e-02 1.98943628e+02] [ 1.08651843e-02 9.99940961e-01 -1.52120254e-04 8.63487459e+01] [ 2.56563101e-02 -1.26697841e-04 9.99670815e-01 1.16426318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.066875 meters 0.02505395873620126 Centerline is valid? [True, True] Translation: X:198.97, Y:86.34, Z:11.64 [[ 9.99621681e-01 -1.28409285e-02 -2.43229240e-02 1.98971338e+02] [ 1.28411550e-02 9.99917538e-01 -1.46883068e-04 8.63426643e+01] [ 2.43228044e-02 -1.65506938e-04 9.99704143e-01 1.16372716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.096875 meters 0.024701093277905404 Centerline is valid? [True, True] Translation: X:199.00, Y:86.34, Z:11.64 [[ 9.99640748e-01 -1.40285781e-02 -2.28379957e-02 1.99000191e+02] [ 1.40289803e-02 9.99901579e-01 -1.42616913e-04 8.63413944e+01] [ 2.28377487e-02 -1.77828114e-04 9.99739169e-01 1.16413210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.126875 meters 0.02458813857055156 Centerline is valid? [True, True] Translation: X:199.03, Y:86.34, Z:11.64 [[ 9.99671706e-01 -1.45120933e-02 -2.11158456e-02 1.99027692e+02] [ 1.45124942e-02 9.99894679e-01 -1.34259429e-04 8.63398550e+01] [ 2.11155700e-02 -1.72228234e-04 9.99777027e-01 1.16425041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.156875 meters 0.02437109180552758 Centerline is valid? [True, True] Translation: X:199.06, Y:86.34, Z:11.64 [[ 9.99655183e-01 -1.46193537e-02 -2.18126056e-02 1.99056267e+02] [ 1.46197084e-02 9.99893116e-01 -1.43216708e-04 8.63395358e+01] [ 2.18123679e-02 -1.75726609e-04 9.99762067e-01 1.16443319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.186875 meters 0.02453960316481868 Centerline is valid? [True, True] Translation: X:199.08, Y:86.34, Z:11.65 [[ 9.99663696e-01 -1.43022381e-02 -2.16319486e-02 1.99084273e+02] [ 1.43024425e-02 9.99897704e-01 -1.45274327e-04 8.63384575e+01] [ 2.16318135e-02 -1.64164229e-04 9.99765991e-01 1.16478398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.216875 meters 0.024841154461066536 Centerline is valid? [True, True] Translation: X:199.11, Y:86.34, Z:11.65 [[ 9.99673638e-01 -1.51009950e-02 -2.06052570e-02 1.99113421e+02] [ 1.51012605e-02 9.99885959e-01 -1.42721303e-04 8.63392562e+01] [ 2.06050624e-02 -1.68490630e-04 9.99787679e-01 1.16523005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.246875 meters 0.024994696935395775 Centerline is valid? [True, True] Translation: X:199.14, Y:86.34, Z:11.66 [[ 9.99680110e-01 -1.72666311e-02 -1.84808279e-02 1.99142526e+02] [ 1.72671364e-02 9.99850903e-01 -1.32237746e-04 8.63379869e+01] [ 1.84803558e-02 -1.86915532e-04 9.99829206e-01 1.16555378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.276875 meters 0.025615334657720396 Centerline is valid? [True, True] Translation: X:199.17, Y:86.33, Z:11.65 [[ 9.99637861e-01 -2.19519159e-02 -1.55647226e-02 1.99173386e+02] [ 2.19528280e-02 9.99759001e-01 -1.12269709e-04 8.63266398e+01] [ 1.55634360e-02 -2.29460627e-04 9.99878856e-01 1.16520616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.306875 meters 0.025395661288859804 Centerline is valid? [True, True] Translation: X:199.21, Y:86.32, Z:11.65 [[ 9.99595237e-01 -2.42105490e-02 -1.49402436e-02 1.99205539e+02] [ 2.42116520e-02 9.99706849e-01 -1.07066608e-04 8.63186440e+01] [ 1.49384560e-02 -2.54704708e-04 9.99888383e-01 1.16492139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.336875 meters 0.025584463749726935 Centerline is valid? [True, True] Translation: X:199.24, Y:86.31, Z:11.65 [[ 9.99555955e-01 -2.58899071e-02 -1.47514644e-02 1.99238131e+02] [ 2.58911798e-02 9.99664762e-01 -1.04724242e-04 8.63126436e+01] [ 1.47492305e-02 -2.77255079e-04 9.99891186e-01 1.16475092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.366875 meters 0.026078269029552358 Centerline is valid? [True, True] Translation: X:199.27, Y:86.31, Z:11.65 [[ 9.99465589e-01 -2.71460925e-02 -1.82106058e-02 1.99269369e+02] [ 2.71482713e-02 9.99631410e-01 -1.27602258e-04 8.63074777e+01] [ 1.82073575e-02 -3.66852403e-04 9.99834165e-01 1.16469109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.396875 meters 0.02642139527581545 Centerline is valid? [True, True] Translation: X:199.30, Y:86.31, Z:11.65 [[ 9.99404101e-01 -2.73680488e-02 -2.10341000e-02 1.99299991e+02] [ 2.73710270e-02 9.99625333e-01 -1.46347973e-04 8.63069458e+01] [ 2.10302245e-02 -4.29464154e-04 9.99778748e-01 1.16458826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.426875 meters 0.026666358396968 Centerline is valid? [True, True] Translation: X:199.33, Y:86.31, Z:11.65 [[ 9.99336614e-01 -2.80221601e-02 -2.32613638e-02 1.99332390e+02] [ 2.80260118e-02 9.99607181e-01 -1.60469361e-04 8.63060183e+01] [ 2.32567230e-02 -4.91560350e-04 9.99729405e-01 1.16481803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.456875 meters 0.02686257113822892 Centerline is valid? [True, True] Translation: X:199.36, Y:86.30, Z:11.65 [[ 9.99352253e-01 -2.91518514e-02 -2.11007890e-02 1.99364008e+02] [ 2.91552892e-02 9.99574884e-01 -1.44759425e-04 8.63043881e+01] [ 2.10960387e-02 -4.70533949e-04 9.99777343e-01 1.16518439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.486875 meters 0.026980631829963343 Centerline is valid? [True, True] Translation: X:199.40, Y:86.30, Z:11.65 [[ 9.99354557e-01 -3.07570884e-02 -1.85599413e-02 1.99395793e+02] [ 3.07600438e-02 9.99526790e-01 -1.26289269e-04 8.62996276e+01] [ 1.85550428e-02 -4.44696850e-04 9.99827741e-01 1.16547274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.516875 meters 0.02729549529447544 Centerline is valid? [True, True] Translation: X:199.43, Y:86.29, Z:11.66 [[ 9.99355679e-01 -3.17910874e-02 -1.66599634e-02 1.99427696e+02] [ 3.17936295e-02 9.99494448e-01 -1.12315457e-04 8.62946485e+01] [ 1.66551115e-02 -4.17437613e-04 9.99861207e-01 1.16558360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.546875 meters 0.02545587017460193 Centerline is valid? [True, True] Translation: X:199.46, Y:86.29, Z:11.66 [[ 9.99457915e-01 -2.94248976e-02 -1.47665391e-02 1.99459526e+02] [ 2.94266479e-02 9.99566938e-01 -9.87766867e-05 8.62920340e+01] [ 1.47630508e-02 -3.35806605e-04 9.99890964e-01 1.16562429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57687500000003 meters 0.02544897885104636 Centerline is valid? [True, True] Translation: X:199.49, Y:86.29, Z:11.65 [[ 9.99524549e-01 -2.67901396e-02 -1.52631794e-02 1.99491076e+02] [ 2.67917144e-02 9.99641032e-01 -1.01327322e-04 8.62911869e+01] [ 1.52604150e-02 -3.07647596e-04 9.99883506e-01 1.16547818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.606875 meters 0.02345649508304049 Centerline is valid? [True, True] Translation: X:199.52, Y:86.30, Z:11.66 [[ 9.99602517e-01 -2.30383626e-02 -1.62493409e-02 1.99523073e+02] [ 2.30396691e-02 9.99734546e-01 -1.06816843e-04 8.62959061e+01] [ 1.62474884e-02 -2.67605054e-04 9.99867965e-01 1.16551186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63687500000003 meters 0.022626829236706603 Centerline is valid? [True, True] Translation: X:199.55, Y:86.30, Z:11.66 [[ 9.99813041e-01 -1.21021786e-02 -1.50804810e-02 1.99553616e+02] [ 1.21020698e-02 9.99926762e-01 -9.84739955e-05 8.63003348e+01] [ 1.50805683e-02 -8.40494489e-05 9.99886278e-01 1.16560178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.666875 meters 0.02293155513178025 Centerline is valid? [True, True] Translation: X:199.58, Y:86.31, Z:11.66 [[ 9.99889687e-01 -5.13910952e-03 -1.39357187e-02 1.99582104e+02] [ 5.13833584e-03 9.99986794e-01 -9.13222612e-05 8.63051231e+01] [ 1.39360040e-02 1.97057843e-05 9.99902889e-01 1.16580106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69687500000003 meters 0.023045803308032492 Centerline is valid? [True, True] Translation: X:199.61, Y:86.31, Z:11.67 [[ 9.99903520e-01 6.02289730e-03 -1.25169830e-02 1.99610775e+02] [-6.02442287e-03 9.99981849e-01 -8.41779754e-05 8.63117518e+01] [ 1.25162489e-02 1.59577453e-04 9.99921656e-01 1.16651781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.726875 meters 0.02419205408622467 Centerline is valid? [True, True] Translation: X:199.64, Y:86.32, Z:11.67 [[ 9.99881672e-01 9.79605906e-03 -1.18607902e-02 1.99638746e+02] [-9.79771423e-03 9.99951998e-01 -8.14502958e-05 8.63152586e+01] [ 1.18594230e-02 1.97649291e-04 9.99929655e-01 1.16674868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.75687500000004 meters 0.0249910771187616 Centerline is valid? [True, True] Translation: X:199.67, Y:86.32, Z:11.67 [[ 9.99856148e-01 1.24772835e-02 -1.14891490e-02 1.99666394e+02] [-1.24790245e-02 9.99922131e-01 -7.98538621e-05 8.63163551e+01] [ 1.14872580e-02 2.23215746e-04 9.99933994e-01 1.16690341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.786875 meters 0.024848370331878835 Centerline is valid? [True, True] Translation: X:199.70, Y:86.31, Z:11.67 [[ 9.99828006e-01 1.49140692e-02 -1.10240593e-02 1.99695590e+02] [-1.49158289e-02 9.99888750e-01 -7.74170957e-05 8.63130425e+01] [ 1.10216783e-02 2.41836764e-04 9.99939230e-01 1.16682672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.816875 meters 0.025410790388333788 Centerline is valid? [True, True] Translation: X:199.73, Y:86.30, Z:11.66 [[ 9.99741727e-01 1.71699097e-02 -1.48887088e-02 1.99725115e+02] [-1.71733809e-02 9.99852521e-01 -1.05312850e-04 8.63048431e+01] [ 1.48847048e-02 3.60975118e-04 9.99889151e-01 1.16598685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.846875 meters 0.0253464442283886 Centerline is valid? [True, True] Translation: X:199.75, Y:86.30, Z:11.66 [[ 9.99702999e-01 1.81060371e-02 -1.63121459e-02 1.99753803e+02] [-1.81103769e-02 9.99835987e-01 -1.18359505e-04 8.62999330e+01] [ 1.63073275e-02 4.13743463e-04 9.99866941e-01 1.16574162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.876875 meters 0.026184805536124636 Centerline is valid? [True, True] Translation: X:199.78, Y:86.30, Z:11.66 [[ 9.99649024e-01 2.04920602e-02 -1.67900076e-02 1.99781322e+02] [-2.04970306e-02 9.99789906e-01 -1.23980555e-04 8.62983526e+01] [ 1.67839395e-02 4.68082341e-04 9.99859030e-01 1.16559013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.906875 meters 0.029411948993909417 Centerline is valid? [True, True] Translation: X:199.81, Y:86.30, Z:11.66 [[ 9.99504700e-01 2.68939796e-02 -1.63422105e-02 1.99810405e+02] [-2.68995556e-02 9.99638134e-01 -1.21442438e-04 8.62998587e+01] [ 1.63330307e-02 5.60980486e-04 9.99866450e-01 1.16555232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.936875 meters 0.029411948993909417 Centerline is valid? [True, True] Translation: X:199.84, Y:86.30, Z:11.66 [[ 9.99511580e-01 2.66370918e-02 -1.63421864e-02 1.99837797e+02] [-2.66426854e-02 9.99645013e-01 -1.24625918e-04 8.63001611e+01] [ 1.63330655e-02 5.59964780e-04 9.99866450e-01 1.16556478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.966875 meters 0.0304435849217479 Centerline is valid? [True, True] Translation: X:199.87, Y:86.30, Z:11.66 [[ 9.99444698e-01 2.89896118e-02 -1.64285915e-02 1.99867377e+02] [-2.89956077e-02 9.99579531e-01 -1.26840785e-04 8.62989560e+01] [ 1.64180067e-02 6.03127344e-04 9.99865034e-01 1.16571059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.996875 meters 0.03007808127138339 Centerline is valid? [True, True] Translation: X:199.90, Y:86.29, Z:11.66 [[ 9.99405844e-01 3.09463230e-02 -1.51751030e-02 1.99895641e+02] [-3.09516791e-02 9.99520875e-01 -1.18166610e-04 8.62948172e+01] [ 1.51641754e-02 5.87791318e-04 9.99884845e-01 1.16594971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.026875 meters 0.030786137627062813 Centerline is valid? [True, True] Translation: X:199.92, Y:86.29, Z:11.66 [[ 9.99363568e-01 3.30029942e-02 -1.35373735e-02 1.99924498e+02] [-3.30074772e-02 9.99455099e-01 -1.07803650e-04 8.62908617e+01] [ 1.35264392e-02 5.54569589e-04 9.99908360e-01 1.16610471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.056875 meters 0.029985587930212353 Centerline is valid? [True, True] Translation: X:199.95, Y:86.28, Z:11.66 [[ 9.99388865e-01 3.33570905e-02 -1.04499437e-02 1.99952164e+02] [-3.33598058e-02 9.99443403e-01 -8.55890916e-05 8.62770642e+01] [ 1.04412723e-02 4.34144878e-04 9.99945394e-01 1.16623313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.086875 meters 0.02997322525620677 Centerline is valid? [True, True] Translation: X:199.98, Y:86.27, Z:11.66 [[ 9.99438105e-01 3.23480408e-02 -8.77943519e-03 1.99979919e+02] [-3.23499304e-02 9.99476601e-01 -7.32697788e-05 8.62718570e+01] [ 8.77246991e-03 3.57242726e-04 9.99961457e-01 1.16637341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.116875 meters 0.028917462529315215 Centerline is valid? [True, True] Translation: X:200.01, Y:86.26, Z:11.67 [[ 9.99501076e-01 3.07435435e-02 -7.24107369e-03 2.00008883e+02] [-3.07447903e-02 9.99527265e-01 -6.09197115e-05 8.62633509e+01] [ 7.23577769e-03 2.83514610e-04 9.99973781e-01 1.16656964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.146875 meters 0.029105978398080483 Centerline is valid? [True, True] Translation: X:200.04, Y:86.26, Z:11.67 [[ 9.99487610e-01 3.12776679e-02 -6.79885640e-03 2.00037842e+02] [-3.12787825e-02 9.99510698e-01 -5.76347827e-05 8.62599016e+01] [ 6.79372702e-03 2.70265202e-04 9.99976886e-01 1.16650582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.176875 meters 0.029551912514657316 Centerline is valid? [True, True] Translation: X:200.07, Y:86.25, Z:11.66 [[ 9.99434854e-01 3.31058733e-02 -5.82864540e-03 2.00066819e+02] [-3.31067255e-02 9.99451821e-01 -4.97551347e-05 8.62458514e+01] [ 5.82380307e-03 2.42694379e-04 9.99983012e-01 1.16606160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.206875 meters 0.029659613593209205 Centerline is valid? [True, True] Translation: X:200.10, Y:86.24, Z:11.66 [[ 9.99392318e-01 3.43146386e-02 -6.12378776e-03 2.00095165e+02] [-3.43156046e-02 9.99411045e-01 -5.27244422e-05 8.62377444e+01] [ 6.11837191e-03 2.62833882e-04 9.99981248e-01 1.16567711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.236875 meters 0.03171231697888561 Centerline is valid? [True, True] Translation: X:200.12, Y:86.23, Z:11.65 [[ 9.99346953e-01 3.53950918e-02 -7.27012150e-03 2.00123329e+02] [-3.53964869e-02 9.99373346e-01 -6.32721826e-05 8.62338400e+01] [ 7.26332612e-03 3.20567623e-04 9.99973570e-01 1.16535235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.266875 meters 0.030911689494704523 Centerline is valid? [True, True] Translation: X:200.15, Y:86.22, Z:11.65 [[ 9.99332041e-01 3.56680396e-02 -7.95373524e-03 2.00152412e+02] [-3.56697231e-02 9.99363631e-01 -6.98602344e-05 8.62246850e+01] [ 7.94618195e-03 3.53521104e-04 9.99968366e-01 1.16539992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.296875 meters 0.031230614714015878 Centerline is valid? [True, True] Translation: X:200.18, Y:86.22, Z:11.66 [[ 9.99353597e-01 3.49631065e-02 -8.36470942e-03 2.00181125e+02] [-3.49649486e-02 9.99388537e-01 -7.40370633e-05 8.62240928e+01] [ 8.35700614e-03 3.66460840e-04 9.99965012e-01 1.16555725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.32687500000003 meters 0.031182323929337702 Centerline is valid? [True, True] Translation: X:200.21, Y:86.22, Z:11.66 [[ 9.99405591e-01 3.31887304e-02 -9.32593944e-03 2.00210086e+02] [-3.31909491e-02 9.99449025e-01 -8.31909252e-05 8.62226962e+01] [ 9.31804008e-03 3.92678256e-04 9.99956509e-01 1.16573464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.356875 meters 0.029263718260694297 Centerline is valid? [True, True] Translation: X:200.24, Y:86.21, Z:11.66 [[ 9.99609319e-01 2.64907305e-02 -8.91350958e-03 2.00240792e+02] [-2.64924940e-02 9.99649009e-01 -7.98155808e-05 8.62104529e+01] [ 8.90826665e-03 3.15925498e-04 9.99960271e-01 1.16576419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.38687500000003 meters 0.02790281878219023 Centerline is valid? [True, True] Translation: X:200.27, Y:86.20, Z:11.66 [[ 9.99725057e-01 2.18850584e-02 -8.41752475e-03 2.00271164e+02] [-2.18864688e-02 9.99760460e-01 -7.54565890e-05 8.62010912e+01] [ 8.41385704e-03 2.59665735e-04 9.99964569e-01 1.16570068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.416875 meters 0.025443803828964263 Centerline is valid? [True, True] Translation: X:200.30, Y:86.18, Z:11.65 [[ 9.99865450e-01 1.23298401e-02 -1.08193257e-02 2.00301521e+02] [-1.23316124e-02 9.99923958e-01 -9.71033359e-05 8.61838901e+01] [ 1.08173057e-02 2.30510001e-04 9.99941465e-01 1.16514375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.44687500000003 meters 0.024875079091342216 Centerline is valid? [True, True] Translation: X:200.33, Y:86.18, Z:11.65 [[ 9.99905959e-01 6.26619075e-03 -1.21987077e-02 2.00329288e+02] [-6.26800053e-03 9.99980350e-01 -1.10130863e-04 8.61774645e+01] [ 1.21977779e-02 1.86582013e-04 9.99925587e-01 1.16476632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.476875 meters 0.023849428246252673 Centerline is valid? [True, True] Translation: X:200.36, Y:86.17, Z:11.65 [[ 9.99926052e-01 3.57450871e-04 -1.21557707e-02 2.00358517e+02] [-3.58825005e-04 9.99999929e-01 -1.10862939e-04 8.61692108e+01] [ 1.21557302e-02 1.15216536e-04 9.99926110e-01 1.16471982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.50687500000004 meters 0.02333888843611531 Centerline is valid? [True, True] Translation: X:200.39, Y:86.16, Z:11.65 [[ 9.99941670e-01 -4.81036133e-03 -9.67038173e-03 2.00387187e+02] [ 4.80972664e-03 9.99988429e-01 -8.88875996e-05 8.61616534e+01] [ 9.67069742e-03 4.23705222e-05 9.99953237e-01 1.16509056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.536875 meters 0.023425354520354182 Centerline is valid? [True, True] Translation: X:200.42, Y:86.15, Z:11.66 [[ 9.99924383e-01 -1.07490476e-02 -5.97375873e-03 2.00415728e+02] [ 1.07489097e-02 9.99942227e-01 -5.51902615e-05 8.61539190e+01] [ 5.97400685e-03 -9.02530499e-06 9.99982155e-01 1.16598565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.566875 meters 0.02338304269797351 Centerline is valid? [True, True] Translation: X:200.45, Y:86.15, Z:11.66 [[ 9.99913690e-01 -1.17258625e-02 -5.92586970e-03 2.00446179e+02] [ 1.17257421e-02 9.99931250e-01 -5.50520843e-05 8.61509597e+01] [ 5.92610783e-03 -1.44378871e-05 9.99982440e-01 1.16616074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.596875 meters 0.023702769720493514 Centerline is valid? [True, True] Translation: X:200.48, Y:86.15, Z:11.66 [[ 9.99888555e-01 -1.26868831e-02 -7.86890228e-03 2.00476606e+02] [ 1.26867011e-02 9.99919518e-01 -7.30472094e-05 8.61475628e+01] [ 7.86919572e-03 -2.67913428e-05 9.99969037e-01 1.16609746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.626875 meters 0.023683714469444495 Centerline is valid? [True, True] Translation: X:200.51, Y:86.14, Z:11.66 [[ 9.99871081e-01 -1.36058310e-02 -8.52653521e-03 2.00506192e+02] [ 1.36056509e-02 9.99907436e-01 -7.91356644e-05 8.61429479e+01] [ 8.52682267e-03 -3.68835989e-05 9.99963645e-01 1.16618306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.656875 meters 0.023438221536938014 Centerline is valid? [True, True] Translation: X:200.54, Y:86.14, Z:11.66 [[ 9.99900219e-01 -1.31683026e-02 -5.11354051e-03 2.00537140e+02] [ 1.31682319e-02 9.99913294e-01 -4.75048406e-05 8.61421740e+01] [ 5.11372269e-03 -1.98361866e-05 9.99986925e-01 1.16645789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.686875 meters 0.023673598410288082 Centerline is valid? [True, True] Translation: X:200.57, Y:86.14, Z:11.67 [[ 9.99942641e-01 -1.03824882e-02 2.63016951e-03 2.00567053e+02] [ 1.03824602e-02 9.99946101e-01 2.43162670e-05 8.61387854e+01] [-2.63028020e-03 2.99275796e-06 9.99996541e-01 1.16704916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.716875 meters 0.023426600988731863 Centerline is valid? [True, True] Translation: X:200.60, Y:86.14, Z:11.67 [[ 9.99954838e-01 -8.55470433e-03 4.14002472e-03 2.00598860e+02] [ 8.55462105e-03 9.99963408e-01 3.78258319e-05 8.61364622e+01] [-4.14019681e-03 -2.40778101e-06 9.99991429e-01 1.16716668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.746875 meters 0.02333426554589018 Centerline is valid? [True, True] Translation: X:200.63, Y:86.14, Z:11.67 [[ 9.99970780e-01 -6.63535129e-03 3.79624716e-03 2.00631215e+02] [ 6.63526846e-03 9.99977986e-01 3.44131165e-05 8.61354057e+01] [-3.79639193e-03 -9.22299190e-06 9.99992794e-01 1.16714548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.776875 meters 0.02355813028271022 Centerline is valid? [True, True] Translation: X:200.66, Y:86.14, Z:11.67 [[ 9.99987924e-01 -4.02440501e-03 2.82075773e-03 2.00663493e+02] [ 4.02434970e-03 9.99991902e-01 2.52850619e-05 8.61357793e+01] [-2.82083665e-03 -1.39330411e-05 9.99996021e-01 1.16697384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.806875 meters 0.024299319081915398 Centerline is valid? [True, True] Translation: X:200.69, Y:86.14, Z:11.67 [[ 9.99997352e-01 2.05424610e-03 1.03702561e-03 2.00694126e+02] [-2.05425677e-03 9.99997890e-01 9.21941954e-06 8.61410966e+01] [-1.03700448e-03 -1.13497120e-05 9.99999462e-01 1.16676371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.836875 meters 0.02500636210661154 Centerline is valid? [True, True] Translation: X:200.72, Y:86.14, Z:11.67 [[ 9.99987925e-01 4.91410791e-03 4.70266522e-05 2.00724719e+02] [-4.91410793e-03 9.99987926e-01 4.25133523e-07 8.61413040e+01] [-4.70239952e-05 -6.56222434e-07 9.99999999e-01 1.16654689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.866875 meters 0.025125081895667256 Centerline is valid? [True, True] Translation: X:200.75, Y:86.14, Z:11.66 [[ 9.99978327e-01 6.53080958e-03 -8.32502821e-04 2.00754447e+02] [-6.53081801e-03 9.99978674e-01 -7.40898380e-06 8.61401943e+01] [ 8.32436680e-04 1.28457476e-05 9.99999653e-01 1.16644797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.896875 meters 0.024847999760951076 Centerline is valid? [True, True] Translation: X:200.78, Y:86.14, Z:11.66 [[ 9.99956134e-01 9.21280478e-03 -1.68939279e-03 2.00783276e+02] [-9.21284267e-03 9.99957561e-01 -1.46494988e-05 8.61374273e+01] [ 1.68918613e-03 3.02129661e-05 9.99998573e-01 1.16648854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.926875 meters 0.02656170921777938 Centerline is valid? [True, True] Translation: X:200.81, Y:86.14, Z:11.67 [[ 9.99937787e-01 1.10529594e-02 -1.50171084e-03 2.00810753e+02] [-1.10529925e-02 9.99938914e-01 -1.37236667e-05 8.61416656e+01] [ 1.50146742e-03 3.03212115e-05 9.99998872e-01 1.16660623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.956875 meters 0.026495309922196487 Centerline is valid? [True, True] Translation: X:200.84, Y:86.14, Z:11.67 [[ 9.99892943e-01 1.46165504e-02 6.77438464e-04 2.00840408e+02] [-1.46165582e-02 9.99893172e-01 6.53258345e-06 8.61390787e+01] [-6.77270611e-04 -1.64337028e-05 9.99999771e-01 1.16672455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.986875 meters 0.026633964097324103 Centerline is valid? [True, True] Translation: X:200.87, Y:86.14, Z:11.67 [[ 9.99870366e-01 1.60631795e-02 1.10720704e-03 2.00869208e+02] [-1.60632013e-02 9.99870978e-01 1.08058660e-05 8.61374937e+01] [-1.10689061e-03 -2.85897549e-05 9.99999387e-01 1.16677420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.016875 meters 0.026275495933360357 Centerline is valid? [True, True] Translation: X:200.90, Y:86.14, Z:11.67 [[ 9.99856776e-01 1.68930212e-02 1.02590472e-03 2.00897612e+02] [-1.68930404e-02 9.99857302e-01 1.01115723e-05 8.61350552e+01] [-1.02558751e-03 -2.74407740e-05 9.99999474e-01 1.16679064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.046875 meters 0.027297013071514126 Centerline is valid? [True, True] Translation: X:200.93, Y:86.14, Z:11.67 [[ 9.99838885e-01 1.79007659e-02 1.32939025e-03 2.00925571e+02] [-1.79007992e-02 9.99839768e-01 1.31967080e-05 8.61359708e+01] [-1.32894100e-03 -3.69917297e-05 9.99999116e-01 1.16684280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07687500000003 meters 0.027377076142485548 Centerline is valid? [True, True] Translation: X:200.95, Y:86.14, Z:11.67 [[ 9.99833931e-01 1.81711722e-02 1.38558468e-03 2.00954688e+02] [-1.81712087e-02 9.99834890e-01 1.37468846e-05 8.61350683e+01] [-1.38510611e-03 -3.89223500e-05 9.99999040e-01 1.16679768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.106875 meters 0.026902895268522842 Centerline is valid? [True, True] Translation: X:200.98, Y:86.13, Z:11.67 [[ 9.99825558e-01 1.86240805e-02 1.41336577e-03 2.00983791e+02] [-1.86241190e-02 9.99826556e-01 1.41119585e-05 8.61317480e+01] [-1.41285781e-03 -4.04321890e-05 9.99999001e-01 1.16671797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13687500000003 meters 0.027782366653828307 Centerline is valid? [True, True] Translation: X:201.01, Y:86.12, Z:11.66 [[ 9.99844111e-01 1.75981752e-02 1.43458734e-03 2.01011324e+02] [-1.75982141e-02 9.99845139e-01 1.45089485e-05 8.61232716e+01] [-1.43410985e-03 -3.97528619e-05 9.99998971e-01 1.16649134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.166875 meters 0.02769703336425194 Centerline is valid? [True, True] Translation: X:201.04, Y:86.12, Z:11.66 [[ 9.99859798e-01 1.66780882e-02 1.49162160e-03 2.01038982e+02] [-1.66781294e-02 9.99860910e-01 1.51767142e-05 8.61186718e+01] [-1.49116102e-03 -4.00520445e-05 9.99998887e-01 1.16648490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19687500000003 meters 0.025670457627896104 Centerline is valid? [True, True] Translation: X:201.07, Y:86.11, Z:11.66 [[ 9.99884449e-01 1.51199617e-02 1.57320509e-03 2.01067571e+02] [-1.51200056e-02 9.99885686e-01 1.60518217e-05 8.61094805e+01] [-1.57278255e-03 -3.98368367e-05 9.99998762e-01 1.16644919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.226875 meters 0.025841933314796128 Centerline is valid? [True, True] Translation: X:201.10, Y:86.10, Z:11.67 [[ 9.99912550e-01 1.31309337e-02 1.57215838e-03 2.01096457e+02] [-1.31309751e-02 9.99913785e-01 1.60422306e-05 8.61036137e+01] [-1.57181219e-03 -3.66848003e-05 9.99998764e-01 1.16659352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.25687500000004 meters 0.025568050854497957 Centerline is valid? [True, True] Translation: X:201.13, Y:86.10, Z:11.67 [[ 9.99924307e-01 1.21000780e-02 2.22910061e-03 2.01125157e+02] [-1.21001591e-02 9.99926790e-01 2.28722996e-05 8.60987830e+01] [-2.22866066e-03 -4.98430403e-05 9.99997515e-01 1.16664553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.286875 meters 0.02606345113915073 Centerline is valid? [True, True] Translation: X:201.15, Y:86.10, Z:11.67 [[ 9.99924866e-01 1.17845263e-02 3.37457167e-03 2.01154131e+02] [-1.17847100e-02 9.99930557e-01 3.45589069e-05 8.60951860e+01] [-3.37393007e-03 -7.43246589e-05 9.99994306e-01 1.16678831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.316875 meters 0.025858186181304223 Centerline is valid? [True, True] Translation: X:201.18, Y:86.08, Z:11.67 [[ 9.99904730e-01 1.18526327e-02 7.07432692e-03 2.01183864e+02] [-1.18534411e-02 9.99929743e-01 7.23495754e-05 8.60846806e+01] [-7.07297236e-03 -1.56197800e-04 9.99974974e-01 1.16719755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.346875 meters 0.02579481850522231 Centerline is valid? [True, True] Translation: X:201.22, Y:86.08, Z:11.67 [[ 9.99897881e-01 1.24668263e-02 6.98605499e-03 2.01215453e+02] [-1.24676259e-02 9.99922274e-01 7.09131575e-05 8.60810317e+01] [-6.98462793e-03 -1.58005436e-04 9.99975595e-01 1.16725293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.376875 meters 0.025876330608227197 Centerline is valid? [True, True] Translation: X:201.25, Y:86.08, Z:11.67 [[ 9.99892755e-01 1.32797754e-02 6.17456854e-03 2.01245632e+02] [-1.32804163e-02 9.99911809e-01 6.28104057e-05 8.60785316e+01] [-6.17318989e-03 -1.44804510e-04 9.99980935e-01 1.16719691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.406875 meters 0.02666156215842817 Centerline is valid? [True, True] Translation: X:201.27, Y:86.08, Z:11.67 [[ 9.99854103e-01 1.62233935e-02 5.34548964e-03 2.01274931e+02] [-1.62239168e-02 9.99868382e-01 5.45421442e-05 8.60784060e+01] [-5.34390122e-03 -1.41258966e-04 9.99985711e-01 1.16713617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.436875 meters 0.027381279399600084 Centerline is valid? [True, True] Translation: X:201.30, Y:86.08, Z:11.67 [[ 9.99815519e-01 1.81510735e-02 6.28222559e-03 2.01304598e+02] [-1.81518359e-02 9.99835240e-01 6.43698726e-05 8.60771859e+01] [-6.28002215e-03 -1.78391926e-04 9.99980265e-01 1.16710405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.466875 meters 0.02772939265254021 Centerline is valid? [True, True] Translation: X:201.33, Y:86.07, Z:11.67 [[ 9.99784759e-01 2.02174573e-02 4.65735226e-03 2.01334718e+02] [-2.02178990e-02 9.99795596e-01 4.77605887e-05 8.60746485e+01] [-4.65543468e-03 -1.41912186e-04 9.99989153e-01 1.16688048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.496875 meters 0.028135766480729272 Centerline is valid? [True, True] Translation: X:201.36, Y:86.07, Z:11.66 [[ 9.99764774e-01 2.16688313e-02 -9.26981545e-04 2.01362992e+02] [-2.16688494e-02 9.99765203e-01 -9.52153503e-06 8.60679730e+01] [ 9.26557572e-04 2.96059188e-05 9.99999570e-01 1.16616405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.526875 meters 0.02849512654715069 Centerline is valid? [True, True] Translation: X:201.39, Y:86.07, Z:11.66 [[ 9.99770675e-01 2.14079274e-02 -5.46404295e-04 2.01390584e+02] [-2.14079335e-02 9.99770824e-01 -5.26679727e-06 8.60656398e+01] [ 5.46166321e-04 1.69629763e-05 9.99999851e-01 1.16610745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.556875 meters 0.0282567694773128 Centerline is valid? [True, True] Translation: X:201.42, Y:86.06, Z:11.67 [[ 9.99772258e-01 2.11630995e-02 2.74874135e-03 2.01419872e+02] [-2.11632586e-02 9.99776033e-01 2.88126189e-05 8.60616422e+01] [-2.74751596e-03 -8.69783812e-05 9.99996222e-01 1.16676200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.586875 meters 0.028504425730407977 Centerline is valid? [True, True] Translation: X:201.45, Y:86.06, Z:11.67 [[ 9.99747095e-01 2.21737360e-02 3.75129422e-03 2.01448289e+02] [-2.21740393e-02 9.99754125e-01 3.92587273e-05 8.60610465e+01] [-3.74950136e-03 -1.22430144e-04 9.99992963e-01 1.16714950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.616875 meters 0.029396877511196292 Centerline is valid? [True, True] Translation: X:201.48, Y:86.06, Z:11.67 [[ 9.99724218e-01 2.33129865e-02 2.82722344e-03 2.01476668e+02] [-2.33131639e-02 9.99728211e-01 2.98001548e-05 8.60595599e+01] [-2.82576030e-03 -9.57034599e-05 9.99996003e-01 1.16727600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.646875 meters 0.02960046965491762 Centerline is valid? [True, True] Translation: X:201.51, Y:86.06, Z:11.67 [[ 9.99689290e-01 2.48594432e-02 1.82524841e-03 2.01505869e+02] [-2.48595202e-02 9.99690954e-01 1.95011597e-05 8.60567116e+01] [-1.82419954e-03 -6.48699003e-05 9.99998334e-01 1.16727942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.676875 meters 0.02797426442738664 Centerline is valid? [True, True] Translation: X:201.54, Y:86.05, Z:11.67 [[ 9.99597635e-01 2.83559974e-02 7.11693861e-04 2.01535937e+02] [-2.83560101e-02 9.99597887e-01 7.66955329e-06 8.60452074e+01] [-7.11190202e-04 -2.78472656e-05 9.99999747e-01 1.16713385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.706875 meters 0.02816936977253321 Centerline is valid? [True, True] Translation: X:201.56, Y:86.04, Z:11.67 [[ 9.99583035e-01 2.87968729e-02 2.12042465e-03 2.01564979e+02] [-2.87969861e-02 9.99585281e-01 2.28405229e-05 8.60424763e+01] [-2.11888753e-03 -8.38928383e-05 9.99997752e-01 1.16720158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.736875 meters 0.03031731856461685 Centerline is valid? [True, True] Translation: X:201.59, Y:86.04, Z:11.68 [[ 9.99514099e-01 3.06451972e-02 5.69542571e-03 2.01593029e+02] [-3.06460426e-02 9.99530298e-01 6.12121760e-05 8.60383384e+01] [-5.69087470e-03 -2.35724692e-04 9.99983779e-01 1.16754938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.766875 meters 0.028070510127216553 Centerline is valid? [True, True] Translation: X:201.62, Y:86.03, Z:11.67 [[ 9.99469562e-01 3.18385046e-02 6.84865972e-03 2.01622321e+02] [-3.18397565e-02 9.99492984e-01 7.38239170e-05 8.60307657e+01] [-6.84283690e-03 -2.91844416e-04 9.99976545e-01 1.16746285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.796875 meters 0.029873205125976954 Centerline is valid? [True, True] Translation: X:201.65, Y:86.03, Z:11.67 [[ 9.99432602e-01 3.30874209e-02 6.30052792e-03 2.01650939e+02] [-3.30885073e-02 9.99452423e-01 6.82516632e-05 8.60294869e+01] [-6.29481963e-03 -2.76688002e-04 9.99980149e-01 1.16742779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.82687500000003 meters 0.028899980479238658 Centerline is valid? [True, True] Translation: X:201.68, Y:86.02, Z:11.67 [[ 9.99436035e-01 3.33829723e-02 3.63177383e-03 2.01680521e+02] [-3.33833358e-02 9.99442620e-01 3.94841325e-05 8.60201515e+01] [-3.62843145e-03 -1.60702590e-04 9.99993404e-01 1.16716871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.856875 meters 0.028899980479238658 Centerline is valid? [True, True] Translation: X:201.71, Y:86.02, Z:11.67 [[ 9.99438291e-01 3.33153442e-02 3.63176947e-03 2.01708868e+02] [-3.33157086e-02 9.99444877e-01 3.98846109e-05 8.60205205e+01] [-3.62842463e-03 -1.60857181e-04 9.99993404e-01 1.16718160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.88687500000003 meters 0.028057929578363665 Centerline is valid? [True, True] Translation: X:201.74, Y:86.01, Z:11.67 [[ 9.99467050e-01 3.26100228e-02 1.48393689e-03 2.01737799e+02] [-3.26100832e-02 9.99468150e-01 1.65773920e-05 8.60145833e+01] [-1.48260707e-03 -6.49598626e-05 9.99998899e-01 1.16714525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.916875 meters 0.026719996360228974 Centerline is valid? [True, True] Translation: X:201.77, Y:86.00, Z:11.67 [[ 9.99577545e-01 2.88725807e-02 -3.33238213e-03 2.01766677e+02] [-2.88728625e-02 9.99583091e-01 -3.64784888e-05 8.59990385e+01] [ 3.32993961e-03 1.32678489e-04 9.99994447e-01 1.16685995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.94687500000003 meters 0.026967026740108552 Centerline is valid? [True, True] Translation: X:201.79, Y:85.99, Z:11.67 [[ 9.99640146e-01 2.66318270e-02 -3.21315154e-03 2.01794408e+02] [-2.66320778e-02 9.99645303e-01 -3.52821258e-05 8.59939636e+01] [ 3.21107221e-03 1.20842331e-04 9.99994837e-01 1.16698394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.976875 meters 0.025134202970713 Centerline is valid? [True, True] Translation: X:201.82, Y:85.99, Z:11.67 [[ 9.99695300e-01 2.46824835e-02 2.85977234e-04 2.01823131e+02] [-2.46824856e-02 9.99695341e-01 3.49423586e-06 8.59868956e+01] [-2.85803862e-04 -1.05518001e-05 9.99999959e-01 1.16748282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.00687500000004 meters 0.02517491642110369 Centerline is valid? [True, True] Translation: X:201.85, Y:85.98, Z:11.68 [[ 9.99721093e-01 2.30189419e-02 5.27860718e-03 2.01851779e+02] [-2.30195751e-02 9.99735013e-01 5.92158979e-05 8.59839234e+01] [-5.27584533e-03 -1.80710676e-04 9.99986066e-01 1.16828980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.036875 meters 0.02315230875866578 Centerline is valid? [True, True] Translation: X:201.88, Y:85.97, Z:11.69 [[ 9.99762397e-01 1.96603656e-02 9.41377709e-03 2.01882889e+02] [-1.96622262e-02 9.99806674e-01 1.05135271e-04 8.59692903e+01] [-9.40989017e-03 -2.90206105e-04 9.99955684e-01 1.16894718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.066875 meters 0.02231233220175875 Centerline is valid? [True, True] Translation: X:201.91, Y:85.96, Z:11.69 [[ 9.99812218e-01 1.83728178e-02 6.16188234e-03 2.01914163e+02] [-1.83735875e-02 9.99831189e-01 6.83211784e-05 8.59615830e+01] [-6.15958689e-03 -1.81524233e-04 9.99981013e-01 1.16872692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.096875 meters 0.021220804320088358 Centerline is valid? [True, True] Translation: X:201.94, Y:85.95, Z:11.68 [[ 9.99899400e-01 1.40799616e-02 1.71621536e-03 2.01944267e+02] [-1.40800151e-02 9.99900871e-01 1.90933825e-05 8.59487059e+01] [-1.71577640e-03 -4.32557998e-05 9.99998527e-01 1.16823829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.126875 meters 0.02148629684468961 Centerline is valid? [True, True] Translation: X:201.97, Y:85.95, Z:11.68 [[ 9.99929736e-01 1.16444172e-02 2.22030260e-03 2.01974641e+02] [-1.16445005e-02 9.99932200e-01 2.45885529e-05 8.59450181e+01] [-2.21986574e-03 -5.04411400e-05 9.99997535e-01 1.16812959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.156875 meters 0.020082260029578265 Centerline is valid? [True, True] Translation: X:202.01, Y:85.94, Z:11.68 [[ 9.99961894e-01 8.35515812e-03 2.53031966e-03 2.02005355e+02] [-8.35525599e-03 9.99965094e-01 2.81082861e-05 8.59387833e+01] [-2.52999648e-03 -4.92486834e-05 9.99996798e-01 1.16806891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.186875 meters 0.017477076953332154 Centerline is valid? [True, True] Translation: X:202.04, Y:85.93, Z:11.68 [[ 9.99998187e-01 -5.99136308e-04 1.80725381e-03 2.02036958e+02] [ 5.99101371e-04 9.99999820e-01 1.98729218e-05 8.59251887e+01] [-1.80726539e-03 -1.87901575e-05 9.99998367e-01 1.16795921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.216875 meters 0.016719072174844148 Centerline is valid? [True, True] Translation: X:202.07, Y:85.92, Z:11.68 [[ 9.99988006e-01 -4.82954866e-03 8.14005323e-04 2.02067486e+02] [ 4.82954301e-03 9.99988338e-01 8.90986140e-06 8.59196234e+01] [-8.14038860e-04 -4.97848082e-06 9.99999669e-01 1.16822416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.246875 meters 0.015594682857215564 Centerline is valid? [True, True] Translation: X:202.10, Y:85.91, Z:11.68 [[ 9.99962571e-01 -8.62373243e-03 6.98857693e-04 2.02097863e+02] [ 8.62372913e-03 9.99962815e-01 7.72708507e-06 8.59095654e+01] [-6.98898342e-04 -1.70003640e-06 9.99999756e-01 1.16826973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.276875 meters 0.015556290162520827 Centerline is valid? [True, True] Translation: X:202.13, Y:85.90, Z:11.69 [[ 9.99925539e-01 -1.21623858e-02 9.96216498e-04 2.02128592e+02] [ 1.21623809e-02 9.99926035e-01 1.10149030e-05 8.59014430e+01] [-9.96276781e-04 1.10228171e-06 9.99999504e-01 1.16853583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.306875 meters 0.016346392015899127 Centerline is valid? [True, True] Translation: X:202.16, Y:85.89, Z:11.69 [[ 9.99797674e-01 -1.98769195e-02 3.08527375e-03 2.02159140e+02] [ 1.98769089e-02 9.99802434e-01 3.41130577e-05 8.58872131e+01] [-3.08534227e-03 2.72195496e-05 9.99995240e-01 1.16879948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.336875 meters 0.01677451706345046 Centerline is valid? [True, True] Translation: X:202.19, Y:85.88, Z:11.69 [[ 9.99724003e-01 -2.32216986e-02 3.55965034e-03 2.02190040e+02] [ 2.32217061e-02 9.99730339e-01 3.92212311e-05 8.58839704e+01] [-3.55960122e-03 4.34507479e-05 9.99993664e-01 1.16886105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.366875 meters 0.017700813585638138 Centerline is valid? [True, True] Translation: X:202.22, Y:85.88, Z:11.69 [[ 9.99632139e-01 -2.69281148e-02 3.23469452e-03 2.02219842e+02] [ 2.69281402e-02 9.99637371e-01 3.57105360e-05 8.58796670e+01] [-3.23448314e-03 5.14069078e-05 9.99994768e-01 1.16880736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.396875 meters 0.017799222770178053 Centerline is valid? [True, True] Translation: X:202.25, Y:85.88, Z:11.69 [[ 9.99621418e-01 -2.73356824e-02 3.12743514e-03 2.02250054e+02] [ 2.73357081e-02 9.99626309e-01 3.45264089e-05 8.58799270e+01] [-3.12721025e-03 5.09773163e-05 9.99995109e-01 1.16861736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.426875 meters 0.017454165047142086 Centerline is valid? [True, True] Translation: X:202.28, Y:85.88, Z:11.68 [[ 9.99639071e-01 -2.67175020e-02 2.81109255e-03 2.02280123e+02] [ 2.67175203e-02 9.99643023e-01 3.10340348e-05 8.58808197e+01] [-2.81091821e-03 4.40825887e-05 9.99996048e-01 1.16847214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.456875 meters 0.017230447589833574 Centerline is valid? [True, True] Translation: X:202.31, Y:85.88, Z:11.69 [[ 9.99663557e-01 -2.57417689e-02 3.18331899e-03 2.02310760e+02] [ 2.57417879e-02 9.99668625e-01 3.50113096e-05 8.58797016e+01] [-3.18316537e-03 4.69447920e-05 9.99994933e-01 1.16851605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.486875 meters 0.017087128077531974 Centerline is valid? [True, True] Translation: X:202.34, Y:85.87, Z:11.69 [[ 9.99731353e-01 -2.25390316e-02 5.40502129e-03 2.02340608e+02] [ 2.25390379e-02 9.99745962e-01 5.97450543e-05 8.58744848e+01] [-5.40499481e-03 6.20949760e-05 9.99985391e-01 1.16866704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.516875 meters 0.016687567077896013 Centerline is valid? [True, True] Translation: X:202.37, Y:85.87, Z:11.69 [[ 9.99783305e-01 -2.02583930e-02 4.78963776e-03 2.02371550e+02] [ 2.02583736e-02 9.99794777e-01 5.25615877e-05 8.58736779e+01] [-4.78971963e-03 4.44800734e-05 9.99988528e-01 1.16873835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.546875 meters 0.016064900499765705 Centerline is valid? [True, True] Translation: X:202.40, Y:85.88, Z:11.68 [[ 9.99909229e-01 -1.34710949e-02 -2.51550620e-04 2.02401383e+02] [ 1.34710947e-02 9.99909261e-01 -2.76854525e-06 8.58791190e+01] [ 2.51565090e-04 -6.20368273e-07 9.99999968e-01 1.16844303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57687500000003 meters 0.015751162504450904 Centerline is valid? [True, True] Translation: X:202.43, Y:85.88, Z:11.68 [[ 9.99952073e-01 -9.57641280e-03 -2.03545166e-03 2.02431420e+02] [ 9.57638703e-03 9.99954145e-01 -2.24020120e-05 8.58842767e+01] [ 2.03557286e-03 2.90866541e-06 9.99997928e-01 1.16837969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.606875 meters 0.0160488931569279 Centerline is valid? [True, True] Translation: X:202.46, Y:85.89, Z:11.68 [[ 9.99982465e-01 -5.75510981e-03 -1.39591933e-03 2.02461361e+02] [ 5.75509412e-03 9.99983439e-01 -1.52582859e-05 8.58894155e+01] [ 1.39598403e-03 7.22437124e-06 9.99999026e-01 1.16849665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63687500000003 meters 0.016797723444385158 Centerline is valid? [True, True] Translation: X:202.49, Y:85.89, Z:11.69 [[ 9.99998337e-01 1.15763949e-03 1.40947535e-03 2.02490662e+02] [-1.15766286e-03 9.99999330e-01 1.57645361e-05 8.58947556e+01] [-1.40945616e-03 -1.73962072e-05 9.99999007e-01 1.16863705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.666875 meters 0.017631144355058363 Centerline is valid? [True, True] Translation: X:202.52, Y:85.89, Z:11.69 [[ 9.99986796e-01 4.68201838e-03 2.11809736e-03 2.02520485e+02] [-4.68207735e-03 9.99989039e-01 2.28853294e-05 8.58941583e+01] [-2.11796699e-03 -3.28021229e-05 9.99997757e-01 1.16854248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69687500000003 meters 0.019162288769883306 Centerline is valid? [True, True] Translation: X:202.55, Y:85.89, Z:11.69 [[ 9.99966719e-01 8.02251575e-03 1.48321436e-03 2.02551197e+02] [-8.02254845e-03 9.99967819e-01 1.60928357e-05 8.58920002e+01] [-1.48303752e-03 -2.79914591e-05 9.99998900e-01 1.16852816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.726875 meters 0.020236710485899406 Centerline is valid? [True, True] Translation: X:202.58, Y:85.89, Z:11.68 [[ 9.99923026e-01 1.24072999e-02 -1.40563983e-05 2.02582147e+02] [-1.24072999e-02 9.99923026e-01 -2.29786410e-07 8.58892989e+01] [ 1.40524653e-05 4.04170673e-07 1.00000000e+00 1.16841731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.75687500000004 meters 0.020749385888223264 Centerline is valid? [True, True] Translation: X:202.61, Y:85.89, Z:11.68 [[ 9.99904495e-01 1.38187850e-02 2.06006406e-04 2.02612961e+02] [-1.38187857e-02 9.99904516e-01 2.25318521e-06 8.58919096e+01] [-2.05955599e-04 -5.09972840e-06 9.99999979e-01 1.16832910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.786875 meters 0.020438179048727412 Centerline is valid? [True, True] Translation: X:202.64, Y:85.89, Z:11.68 [[ 9.99904542e-01 1.38082018e-02 -4.91125832e-04 2.02643569e+02] [-1.38082061e-02 9.99904662e-01 -5.37166523e-06 8.58926078e+01] [ 4.91004836e-04 1.21527192e-05 9.99999879e-01 1.16801485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.816875 meters 0.020286896012966314 Centerline is valid? [True, True] Translation: X:202.67, Y:85.89, Z:11.68 [[ 9.99916596e-01 1.28029276e-02 -1.69893951e-03 2.02674631e+02] [-1.28029777e-02 9.99918038e-01 -1.86296783e-05 8.58902889e+01] [ 1.69856175e-03 4.03796092e-05 9.99998557e-01 1.16778009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.846875 meters 0.020277298334804197 Centerline is valid? [True, True] Translation: X:202.70, Y:85.89, Z:11.68 [[ 9.99928437e-01 1.17340162e-02 -2.33090899e-03 2.02704184e+02] [-1.17341073e-02 9.99931153e-01 -2.54184306e-05 8.58873528e+01] [ 2.33045026e-03 5.27677478e-05 9.99997283e-01 1.16774750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.876875 meters 0.02007090348577731 Centerline is valid? [True, True] Translation: X:202.73, Y:85.88, Z:11.68 [[ 9.99940714e-01 1.07479167e-02 -1.74677248e-03 2.02733641e+02] [-1.07479663e-02 9.99942239e-01 -1.90135663e-05 8.58834754e+01] [ 1.74646723e-03 3.77866908e-05 9.99998474e-01 1.16788630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.906875 meters 0.02009169263111862 Centerline is valid? [True, True] Translation: X:202.76, Y:85.88, Z:11.68 [[ 9.99950471e-01 9.94428767e-03 -4.09400657e-04 2.02764432e+02] [-9.94429034e-03 9.99950554e-01 -4.49113488e-06 8.58753820e+01] [ 4.09335753e-04 8.56211144e-06 9.99999916e-01 1.16819241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.936875 meters 0.020102724917995845 Centerline is valid? [True, True] Translation: X:202.79, Y:85.87, Z:11.68 [[ 9.99954040e-01 9.58493415e-03 2.18022667e-04 2.02794340e+02] [-9.58493489e-03 9.99954063e-01 2.31486925e-06 8.58721391e+01] [-2.17990464e-04 -4.40449592e-06 9.99999976e-01 1.16840553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.966875 meters 0.02049344553323265 Centerline is valid? [True, True] Translation: X:202.82, Y:85.87, Z:11.69 [[ 9.99947330e-01 1.01316395e-02 1.63896597e-03 2.02824809e+02] [-1.01316826e-02 9.99948673e-01 1.79530576e-05 8.58691500e+01] [-1.63869996e-03 -3.45575950e-05 9.99998657e-01 1.16865248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.996875 meters 0.02075032383764489 Centerline is valid? [True, True] Translation: X:202.86, Y:85.87, Z:11.69 [[ 9.99915048e-01 1.26467775e-02 3.15533548e-03 2.02855727e+02] [-1.26469491e-02 9.99920024e-01 3.44355206e-05 8.58652690e+01] [-3.15464763e-03 -7.43379624e-05 9.99995021e-01 1.16884428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.026875 meters 0.02088847830506844 Centerline is valid? [True, True] Translation: X:202.89, Y:85.86, Z:11.69 [[ 9.99897877e-01 1.41171172e-02 2.22300340e-03 2.02888178e+02] [-1.41172026e-02 9.99900347e-01 2.27396436e-05 8.58648398e+01] [-2.22246085e-03 -5.41199107e-05 9.99997529e-01 1.16863067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.056875 meters 0.02031042955641035 Centerline is valid? [True, True] Translation: X:202.92, Y:85.86, Z:11.68 [[ 9.99891103e-01 1.47556968e-02 2.27783608e-04 2.02920856e+02] [-1.47556975e-02 9.99891129e-01 1.30087726e-06 8.58616994e+01] [-2.27739614e-04 -4.66184160e-06 9.99999974e-01 1.16825630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.086875 meters 0.0206033929548887 Centerline is valid? [True, True] Translation: X:202.95, Y:85.85, Z:11.68 [[ 9.99894551e-01 1.43496063e-02 -2.23041441e-03 2.02951736e+02] [-1.43496941e-02 9.99897038e-01 -2.33837037e-05 8.58528227e+01] [ 2.22984921e-03 5.53870025e-05 9.99997512e-01 1.16784056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.116875 meters 0.022221278961725998 Centerline is valid? [True, True] Translation: X:202.98, Y:85.85, Z:11.68 [[ 9.99898771e-01 1.40739959e-02 -2.09068599e-03 2.02982123e+02] [-1.40740724e-02 9.99900955e-01 -2.18878024e-05 8.58493590e+01] [ 2.09017087e-03 5.13100527e-05 9.99997814e-01 1.16776009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.146875 meters 0.02050012522745183 Centerline is valid? [True, True] Translation: X:203.01, Y:85.84, Z:11.68 [[ 9.99924996e-01 1.21001585e-02 -1.89408885e-03 2.03012577e+02] [-1.21002176e-02 9.99926789e-01 -1.97608089e-05 8.58366322e+01] [ 1.89371108e-03 4.26782141e-05 9.99998206e-01 1.16770760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.176875 meters 0.019420017343488208 Centerline is valid? [True, True] Translation: X:203.04, Y:85.83, Z:11.68 [[ 9.99932717e-01 1.13996322e-02 -2.14691126e-03 2.03042987e+02] [-1.13997066e-02 9.99935021e-01 -2.23984757e-05 8.58332403e+01] [ 2.14651642e-03 4.68711271e-05 9.99997695e-01 1.16775133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.206875 meters 0.020032132883467835 Centerline is valid? [True, True] Translation: X:203.07, Y:85.83, Z:11.68 [[ 9.99942309e-01 1.05188902e-02 -2.17540951e-03 2.03073493e+02] [-1.05189646e-02 9.99944674e-01 -2.27360663e-05 8.58342507e+01] [ 2.17504999e-03 4.56178102e-05 9.99997634e-01 1.16779629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.236875 meters 0.019643011532418975 Centerline is valid? [True, True] Translation: X:203.10, Y:85.83, Z:11.68 [[ 9.99956484e-01 8.74468043e-03 -3.24977041e-03 2.03104235e+02] [-8.74483667e-03 9.99961763e-01 -3.38703557e-05 8.58273007e+01] [ 3.24934996e-03 6.22875932e-05 9.99994719e-01 1.16788119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.266875 meters 0.018721034052955374 Centerline is valid? [True, True] Translation: X:203.13, Y:85.82, Z:11.68 [[ 9.99968380e-01 7.27839635e-03 -3.20376605e-03 2.03134430e+02] [-7.27854044e-03 9.99973511e-01 -3.33179617e-05 8.58199501e+01] [ 3.20343868e-03 5.66356489e-05 9.99994867e-01 1.16789164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.296875 meters 0.01820723914851125 Centerline is valid? [True, True] Translation: X:203.16, Y:85.81, Z:11.68 [[ 9.99973619e-01 6.61050299e-03 -3.01037643e-03 2.03164134e+02] [-6.61062702e-03 9.99978149e-01 -3.12532636e-05 8.58116041e+01] [ 3.01010405e-03 5.11529149e-05 9.99995468e-01 1.16790701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.32687500000003 meters 0.018232718272145666 Centerline is valid? [True, True] Translation: X:203.19, Y:85.81, Z:11.68 [[ 9.99976872e-01 6.79389068e-03 -3.14966156e-04 2.03193530e+02] [-6.79389203e-03 9.99976921e-01 -3.21335331e-06 8.58073079e+01] [ 3.14937055e-04 5.35312505e-06 9.99999950e-01 1.16816248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.356875 meters 0.0181169901774516 Centerline is valid? [True, True] Translation: X:203.22, Y:85.81, Z:11.68 [[ 9.99970485e-01 7.08897575e-03 2.96223733e-03 2.03224371e+02] [-7.08909818e-03 9.99974872e-01 3.08324007e-05 8.58077037e+01] [-2.96194432e-03 -5.18310819e-05 9.99995612e-01 1.16845649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.38687500000003 meters 0.019608542988030293 Centerline is valid? [True, True] Translation: X:203.26, Y:85.81, Z:11.69 [[ 9.99929864e-01 9.78528624e-03 6.67199423e-03 2.03255425e+02] [-9.78596470e-03 9.99952114e-01 6.90474973e-05 8.58106634e+01] [-6.67099908e-03 -1.34334555e-04 9.99977740e-01 1.16894135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.416875 meters 0.019221051581751553 Centerline is valid? [True, True] Translation: X:203.29, Y:85.81, Z:11.69 [[ 9.99926758e-01 1.14089514e-02 4.03922588e-03 2.03288841e+02] [-1.14092045e-02 9.99934912e-01 3.96271432e-05 8.58090131e+01] [-4.03851087e-03 -8.57085949e-05 9.99991842e-01 1.16860261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.44687500000003 meters 0.019254913860686285 Centerline is valid? [True, True] Translation: X:203.32, Y:85.81, Z:11.68 [[ 9.99911587e-01 1.32873922e-02 5.12431412e-04 2.03321602e+02] [-1.32873959e-02 9.99911719e-01 3.79289589e-06 8.58068064e+01] [-5.12335776e-04 -1.06014396e-05 9.99999869e-01 1.16810025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.476875 meters 0.020587655393473653 Centerline is valid? [True, True] Translation: X:203.35, Y:85.80, Z:11.68 [[ 9.99849616e-01 1.70333516e-02 -3.25745592e-03 2.03352743e+02] [-1.70335469e-02 9.99854918e-01 -3.22087622e-05 8.58049429e+01] [ 3.25643470e-03 8.76899465e-05 9.99994694e-01 1.16764340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.50687500000004 meters 0.02146853477844223 Centerline is valid? [True, True] Translation: X:203.38, Y:85.81, Z:11.68 [[ 9.99824049e-01 1.83737057e-02 -3.77874172e-03 2.03382876e+02] [-1.83739756e-02 9.99831184e-01 -3.67299725e-05 8.58057320e+01] [ 3.77742894e-03 1.06154018e-04 9.99992860e-01 1.16756860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.536875 meters 0.023647820036297628 Centerline is valid? [True, True] Translation: X:203.41, Y:85.81, Z:11.68 [[ 9.99734633e-01 2.29508052e-02 -1.98090074e-03 2.03413733e+02] [-2.29508885e-02 9.99736593e-01 -1.93430805e-05 8.58055212e+01] [ 1.97993502e-03 6.48013795e-05 9.99998038e-01 1.16777249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.566875 meters 0.024053220807255297 Centerline is valid? [True, True] Translation: X:203.45, Y:85.80, Z:11.68 [[ 9.99689725e-01 2.48986509e-02 7.14868576e-04 2.03445934e+02] [-2.48986619e-02 9.99689980e-01 6.54554451e-06 8.58031086e+01] [-7.14483977e-04 -2.43427846e-05 9.99999744e-01 1.16818409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.596875 meters 0.024805498039730405 Centerline is valid? [True, True] Translation: X:203.48, Y:85.80, Z:11.69 [[ 9.99633076e-01 2.69351636e-02 2.86546895e-03 2.03478478e+02] [-2.69353514e-02 9.99637177e-01 2.69596988e-05 8.57996552e+01] [-2.86370313e-03 -1.04132220e-04 9.99995894e-01 1.16858048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.626875 meters 0.025849434574950456 Centerline is valid? [True, True] Translation: X:203.51, Y:85.80, Z:11.69 [[ 9.99579869e-01 2.86174927e-02 4.59613024e-03 2.03510917e+02] [-2.86179862e-02 9.99590421e-01 4.16125990e-05 8.57980851e+01] [-4.59305692e-03 -1.73127108e-04 9.99989437e-01 1.16887521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.656875 meters 0.027424184271277578 Centerline is valid? [True, True] Translation: X:203.54, Y:85.80, Z:11.69 [[ 9.99463015e-01 3.21642626e-02 6.25635086e-03 2.03541647e+02] [-3.21652541e-02 9.99482563e-01 5.78997118e-05 8.57967023e+01] [-6.25125129e-03 -2.59105736e-04 9.99980427e-01 1.16880645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.686875 meters 0.02865255120788567 Centerline is valid? [True, True] Translation: X:203.57, Y:85.79, Z:11.69 [[ 9.99413257e-01 3.39336616e-02 4.65268819e-03 2.03572490e+02] [-3.39342202e-02 9.99424068e-01 4.11368826e-05 8.57948159e+01] [-4.64861263e-03 -1.98998091e-04 9.99989175e-01 1.16851604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.716875 meters 0.02591726750433555 Centerline is valid? [True, True] Translation: X:203.61, Y:85.79, Z:11.68 [[ 9.99392928e-01 3.47207962e-02 2.87077605e-03 2.03606057e+02] [-3.47210079e-02 9.99397044e-01 2.39222730e-05 8.57860573e+01] [-2.86821450e-03 -1.23583988e-04 9.99995879e-01 1.16814376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.746875 meters 0.02591726750433555 Centerline is valid? [True, True] Translation: X:203.64, Y:85.79, Z:11.68 [[ 9.99383236e-01 3.49986523e-02 2.87078276e-03 2.03638569e+02] [-3.49988628e-02 9.99387352e-01 2.31245745e-05 8.57862557e+01] [-2.86821465e-03 -1.23584444e-04 9.99995879e-01 1.16815855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.776875 meters 0.028821045966253827 Centerline is valid? [True, True] Translation: X:203.67, Y:85.79, Z:11.68 [[ 9.99354657e-01 3.58866585e-02 1.55455753e-03 2.03669578e+02] [-3.58867211e-02 9.99355864e-01 1.24053855e-05 8.57858388e+01] [-1.55311099e-03 -6.81853522e-05 9.99998792e-01 1.16807245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.806875 meters 0.02943579687154601 Centerline is valid? [True, True] Translation: X:203.70, Y:85.78, Z:11.68 [[ 9.99392082e-01 3.47910842e-02 2.24636535e-03 2.03701214e+02] [-3.47912107e-02 9.99394602e-01 1.72249132e-05 8.57795105e+01] [-2.24440613e-03 -9.53682119e-05 9.99997477e-01 1.16793693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.836875 meters 0.02554639629122241 Centerline is valid? [True, True] Translation: X:203.73, Y:85.77, Z:11.68 [[ 9.99447150e-01 3.31530601e-02 2.50361441e-03 2.03733708e+02] [-3.31532107e-02 9.99450281e-01 1.86684700e-05 8.57694132e+01] [-2.50161921e-03 -1.01661005e-04 9.99996866e-01 1.16786133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.866875 meters 0.0256680845216653 Centerline is valid? [True, True] Translation: X:203.76, Y:85.76, Z:11.68 [[ 9.99560838e-01 2.96302177e-02 4.25331576e-04 2.03764471e+02] [-2.96302218e-02 9.99560929e-01 3.18964922e-06 8.57629497e+01] [-4.25050315e-04 -1.57909174e-05 9.99999910e-01 1.16794451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.896875 meters 0.025079263610406657 Centerline is valid? [True, True] Translation: X:203.80, Y:85.76, Z:11.68 [[ 9.99595253e-01 2.83315617e-02 -2.57937524e-03 2.03796340e+02] [-2.83317094e-02 9.99598576e-01 -2.07251815e-05 8.57581559e+01] [ 2.57775264e-03 9.37949028e-05 9.99996673e-01 1.16776445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.926875 meters 0.024978530798840666 Centerline is valid? [True, True] Translation: X:203.83, Y:85.75, Z:11.68 [[ 9.99624681e-01 2.70514612e-02 -4.32626079e-03 2.03827468e+02] [-2.70518573e-02 9.99634031e-01 -3.30542348e-05 8.57526014e+01] [ 4.32378335e-03 1.50075218e-04 9.99990641e-01 1.16756569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.956875 meters 0.023236560643278278 Centerline is valid? [True, True] Translation: X:203.86, Y:85.75, Z:11.68 [[ 9.99676802e-01 2.51594551e-02 -3.64602873e-03 2.03860207e+02] [-2.51597212e-02 9.99683444e-01 -2.71191279e-05 8.57450057e+01] [ 3.64419226e-03 1.18843429e-04 9.99993353e-01 1.16771832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.986875 meters 0.02122511721787267 Centerline is valid? [True, True] Translation: X:203.89, Y:85.73, Z:11.69 [[ 9.99771194e-01 2.12065153e-02 2.80075897e-03 2.03891819e+02] [-2.12066553e-02 9.99775113e-01 2.02934008e-05 8.57323551e+01] [-2.79969877e-03 -7.96834876e-05 9.99996078e-01 1.16854620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.016875 meters 0.020403462920659515 Centerline is valid? [True, True] Translation: X:203.92, Y:85.73, Z:11.69 [[ 9.99812572e-01 1.89708228e-02 3.86384818e-03 2.03924541e+02] [-1.89710707e-02 9.99820033e-01 2.75039703e-05 8.57271146e+01] [-3.86263104e-03 -1.00800152e-04 9.99992535e-01 1.16882106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.046875 meters 0.01985032695053047 Centerline is valid? [True, True] Translation: X:203.96, Y:85.72, Z:11.68 [[ 9.99848743e-01 1.73847405e-02 5.12433282e-04 2.03955872e+02] [-1.73847442e-02 9.99848874e-01 2.60615452e-06 8.57189657e+01] [-5.12310533e-04 -1.15142818e-05 9.99999869e-01 1.16847274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07687500000003 meters 0.01974495809899688 Centerline is valid? [True, True] Translation: X:203.99, Y:85.72, Z:11.68 [[ 9.99843152e-01 1.76828517e-02 -9.93667729e-04 2.03989134e+02] [-1.76828683e-02 9.99843646e-01 -7.89670290e-06 8.57162846e+01] [ 9.93372729e-04 2.54663599e-05 9.99999506e-01 1.16823193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.106875 meters 0.018932591904937037 Centerline is valid? [True, True] Translation: X:204.02, Y:85.71, Z:11.68 [[ 9.99845088e-01 1.75070703e-02 -1.81720559e-03 2.04021337e+02] [-1.75071226e-02 9.99846739e-01 -1.28885008e-05 8.57121442e+01] [ 1.81670144e-03 4.47005452e-05 9.99998349e-01 1.16809069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13687500000003 meters 0.018323167610676226 Centerline is valid? [True, True] Translation: X:204.05, Y:85.70, Z:11.68 [[ 9.99884862e-01 1.51268385e-02 -1.20085713e-03 2.04053748e+02] [-1.51268597e-02 9.99885582e-01 -8.59502961e-06 8.57025935e+01] [ 1.20058971e-03 2.67592373e-05 9.99999279e-01 1.16808722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.166875 meters 0.01798716589158299 Centerline is valid? [True, True] Translation: X:204.08, Y:85.70, Z:11.68 [[ 9.99906807e-01 1.35251286e-02 -1.85692279e-03 2.04084726e+02] [-1.35251746e-02 9.99908531e-01 -1.22153380e-05 8.56969293e+01] [ 1.85658773e-03 3.73294047e-05 9.99998276e-01 1.16812252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19687500000003 meters 0.017382888235949613 Centerline is valid? [True, True] Translation: X:204.12, Y:85.69, Z:11.68 [[ 9.99908810e-01 1.32995833e-02 -2.34379238e-03 2.04116759e+02] [-1.32996542e-02 9.99911556e-01 -1.46928284e-05 8.56858717e+01] [ 2.34338967e-03 4.58631167e-05 9.99997253e-01 1.16846605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.226875 meters 0.017827355364191964 Centerline is valid? [True, True] Translation: X:204.15, Y:85.68, Z:11.69 [[ 9.99899293e-01 1.41436051e-02 -1.16740782e-03 2.04147643e+02] [-1.41436236e-02 9.99899974e-01 -7.52010889e-06 8.56833383e+01] [ 1.16718468e-03 2.40307283e-05 9.99999319e-01 1.16878981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.25687500000004 meters 0.017660920611582136 Centerline is valid? [True, True] Translation: X:204.18, Y:85.68, Z:11.69 [[ 9.99881856e-01 1.53698252e-02 -2.06071039e-04 2.04180133e+02] [-1.53698260e-02 9.99881877e-01 -2.19510785e-06 8.56803189e+01] [ 2.06012959e-04 5.36212453e-06 9.99999979e-01 1.16895564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.286875 meters 0.019295210490227928 Centerline is valid? [True, True] Translation: X:204.21, Y:85.68, Z:11.69 [[ 9.99838261e-01 1.79810721e-02 -3.63562121e-04 2.04211155e+02] [-1.79810743e-02 9.99838327e-01 -2.87180044e-06 8.56772346e+01] [ 3.63451705e-04 9.40857347e-06 9.99999934e-01 1.16895188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.316875 meters 0.01980326407015695 Centerline is valid? [True, True] Translation: X:204.24, Y:85.68, Z:11.69 [[ 9.99803937e-01 1.97935963e-02 -5.49393667e-04 2.04243240e+02] [-1.97936013e-02 9.99804087e-01 -3.73895830e-06 8.56757713e+01] [ 5.49212027e-04 1.46127045e-05 9.99999849e-01 1.16884700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.346875 meters 0.020783047130332237 Centerline is valid? [True, True] Translation: X:204.27, Y:85.68, Z:11.69 [[ 9.99765494e-01 2.16475039e-02 5.85289319e-04 2.04273834e+02] [-2.16475092e-02 9.99765665e-01 2.69567065e-06 8.56759776e+01] [-5.85093811e-04 -1.53650944e-05 9.99999829e-01 1.16882580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.376875 meters 0.02071322431725434 Centerline is valid? [True, True] Translation: X:204.31, Y:85.67, Z:11.69 [[ 9.99724435e-01 2.32376680e-02 3.32652011e-03 2.04306037e+02] [-2.32378441e-02 9.99729965e-01 1.43140411e-05 8.56740557e+01] [-3.32528921e-03 -9.16112526e-05 9.99994467e-01 1.16891769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.406875 meters 0.01972189843823247 Centerline is valid? [True, True] Translation: X:204.34, Y:85.67, Z:11.69 [[ 9.99710654e-01 2.33789446e-02 5.65980875e-03 2.04338022e+02] [-2.33794532e-02 9.99726663e-01 2.37062945e-05 8.56668946e+01] [-5.65770748e-03 -1.56022669e-04 9.99983983e-01 1.16897612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.436875 meters 0.020608858735615028 Centerline is valid? [True, True] Translation: X:204.37, Y:85.66, Z:11.69 [[ 9.99727393e-01 2.31540024e-02 3.00537182e-03 2.04368828e+02] [-2.31541415e-02 9.99731907e-01 1.14860995e-05 8.56630530e+01] [-3.00430015e-03 -8.10697725e-05 9.99995484e-01 1.16880031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.466875 meters 0.019899284860206774 Centerline is valid? [True, True] Translation: X:204.40, Y:85.66, Z:11.69 [[ 9.99743302e-01 2.26557118e-02 2.22559942e-04 2.04400766e+02] [-2.26557123e-02 9.99743326e-01 -2.07919343e-07 8.56578312e+01] [-2.22507528e-04 -4.83438805e-06 9.99999975e-01 1.16854732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.496875 meters 0.020061232568640782 Centerline is valid? [True, True] Translation: X:204.43, Y:85.66, Z:11.68 [[ 9.99736522e-01 2.26413983e-02 -3.77542144e-03 2.04431925e+02] [-2.26416159e-02 9.99743646e-01 -1.49109716e-05 8.56572742e+01] [ 3.77411599e-03 1.00388685e-04 9.99992873e-01 1.16824648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.526875 meters 0.019252790636164613 Centerline is valid? [True, True] Translation: X:204.46, Y:85.66, Z:11.68 [[ 9.99685088e-01 2.47836642e-02 -3.93641184e-03 2.04463666e+02] [-2.47839155e-02 9.99692831e-01 -1.50604000e-05 8.56551479e+01] [ 3.93482944e-03 1.12615356e-04 9.99992252e-01 1.16823344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.556875 meters 0.023497908999257865 Centerline is valid? [True, True] Translation: X:204.49, Y:85.65, Z:11.68 [[ 9.99513505e-01 3.04065567e-02 -6.94222538e-03 2.04493388e+02] [-3.04074600e-02 9.99537586e-01 -2.45903644e-05 8.56546653e+01] [ 6.93826749e-03 2.35673842e-04 9.99975902e-01 1.16822001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.586875 meters 0.024128310488424103 Centerline is valid? [True, True] Translation: X:204.53, Y:85.65, Z:11.68 [[ 9.99413939e-01 3.31304807e-02 -8.61104540e-03 2.04525401e+02] [-3.31319693e-02 9.99450985e-01 -3.02279913e-05 8.56533769e+01] [ 8.60531634e-03 3.15511167e-04 9.99962924e-01 1.16812035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.616875 meters 0.02561599243719197 Centerline is valid? [True, True] Translation: X:204.56, Y:85.66, Z:11.68 [[ 9.99322525e-01 3.60159876e-02 -7.57228063e-03 2.04557534e+02] [-3.60172178e-02 9.99351169e-01 -2.61098526e-05 8.56554566e+01] [ 7.56642713e-03 2.98824645e-04 9.99971330e-01 1.16815217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.646875 meters 0.029004161871236608 Centerline is valid? [True, True] Translation: X:204.59, Y:85.66, Z:11.69 [[ 9.99138951e-01 4.13181647e-02 -3.76382003e-03 2.04587565e+02] [-4.13185057e-02 9.99146026e-01 -1.28582831e-05 8.56557584e+01] [ 3.76007454e-03 1.68362631e-04 9.99992917e-01 1.16854744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.676875 meters 0.0277275568788613 Centerline is valid? [True, True] Translation: X:204.62, Y:85.65, Z:11.69 [[ 9.99060428e-01 4.31581913e-02 -3.95372259e-03 2.04620087e+02] [-4.31585814e-02 9.99068234e-01 -1.33545725e-05 8.56501481e+01] [ 3.94946229e-03 1.83979083e-04 9.99992184e-01 1.16852853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.706875 meters 0.02745798587173732 Centerline is valid? [True, True] Translation: X:204.65, Y:85.65, Z:11.68 [[ 9.99011534e-01 4.41608688e-02 -5.07671734e-03 2.04652233e+02] [-4.41615222e-02 9.99024404e-01 -1.66193030e-05 8.56468685e+01] [ 5.07103059e-03 2.40798441e-04 9.99987113e-01 1.16835906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.736875 meters 0.031097251436608513 Centerline is valid? [True, True] Translation: X:204.68, Y:85.65, Z:11.68 [[ 9.99061552e-01 4.26782980e-02 -7.38774663e-03 2.04683491e+02] [-4.26796266e-02 9.99088809e-01 -2.21955880e-05 8.56461050e+01] [ 7.38006772e-03 3.37481026e-04 9.99972710e-01 1.16811710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.766875 meters 0.025772723438798155 Centerline is valid? [True, True] Translation: X:204.72, Y:85.63, Z:11.68 [[ 9.99107851e-01 4.14922018e-02 -7.86761476e-03 2.04715377e+02] [-4.14936602e-02 9.99138767e-01 -2.21622111e-05 8.56339772e+01] [ 7.85991935e-03 3.48598573e-04 9.99969050e-01 1.16822404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.796875 meters 0.026241956221559868 Centerline is valid? [True, True] Translation: X:204.75, Y:85.63, Z:11.68 [[ 9.99175594e-01 3.90213661e-02 -1.12011533e-02 2.04745528e+02] [-3.90241422e-02 9.99238268e-01 -2.92938021e-05 8.56251398e+01] [ 1.11914779e-02 4.66385049e-04 9.99937265e-01 1.16794872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.82687500000003 meters 0.026034389587705393 Centerline is valid? [True, True] Translation: X:204.78, Y:85.62, Z:11.68 [[ 9.99221011e-01 3.77159995e-02 -1.16135240e-02 2.04777508e+02] [-3.77188707e-02 9.99288390e-01 -2.82257096e-05 8.56204613e+01] [ 1.16041951e-02 4.66252733e-04 9.99932560e-01 1.16785248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.856875 meters 0.02524557638894584 Centerline is valid? [True, True] Translation: X:204.81, Y:85.61, Z:11.68 [[ 9.99261479e-01 3.69382789e-02 -1.05858076e-02 2.04809937e+02] [-3.69405954e-02 9.99317463e-01 -2.33175700e-05 8.56144291e+01] [ 1.05777211e-02 4.14346387e-04 9.99943968e-01 1.16808353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.88687500000003 meters 0.025684882160975895 Centerline is valid? [True, True] Translation: X:204.84, Y:85.61, Z:11.69 [[ 9.99293096e-01 3.73622698e-02 -4.16755440e-03 2.04842110e+02] [-3.73626311e-02 9.99301773e-01 -8.84432309e-06 8.56063415e+01] [ 4.16431406e-03 1.64548868e-04 9.99991316e-01 1.16892913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.916875 meters 0.02508926635821275 Centerline is valid? [True, True] Translation: X:204.88, Y:85.60, Z:11.69 [[ 9.99284043e-01 3.77602767e-02 -2.35863169e-03 2.04875331e+02] [-3.77603935e-02 9.99286822e-01 -4.99800853e-06 8.56021414e+01] [ 2.35676084e-03 9.40572910e-05 9.99997218e-01 1.16915034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.94687500000003 meters 0.02606955752975885 Centerline is valid? [True, True] Translation: X:204.91, Y:85.60, Z:11.69 [[ 9.99264325e-01 3.82282230e-02 -3.06784654e-03 2.04906800e+02] [-3.82284190e-02 9.99269027e-01 -5.25192387e-06 8.55993393e+01] [ 3.06540325e-03 1.22526983e-04 9.99995294e-01 1.16906167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.976875 meters 0.02513711183534474 Centerline is valid? [True, True] Translation: X:204.94, Y:85.59, Z:11.69 [[ 9.99235172e-01 3.86748181e-02 -5.77312867e-03 2.04939388e+02] [-3.86755050e-02 9.99251823e-01 -7.35288745e-06 8.55923980e+01] [ 5.76852498e-03 2.30625931e-04 9.99983335e-01 1.16888702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.00687500000004 meters 0.026418366192996128 Centerline is valid? [True, True] Translation: X:204.97, Y:85.58, Z:11.69 [[ 9.99160978e-01 3.99925759e-02 -8.82804621e-03 2.04970553e+02] [-3.99942120e-02 9.99199911e-01 -8.79573207e-06 8.55816751e+01] [ 8.82063123e-03 3.61859104e-04 9.99961032e-01 1.16876573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.036875 meters 0.02702100060374803 Centerline is valid? [True, True] Translation: X:205.00, Y:85.58, Z:11.69 [[ 9.99146726e-01 4.03666110e-02 -8.73826058e-03 2.05002619e+02] [-4.03682140e-02 9.99184871e-01 -7.08303007e-06 8.55784705e+01] [ 8.73085185e-03 3.59824960e-04 9.99961821e-01 1.16868244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.066875 meters 0.026483600769240518 Centerline is valid? [True, True] Translation: X:205.04, Y:85.58, Z:11.68 [[ 9.99130037e-01 4.07619258e-02 -8.81106263e-03 2.05035408e+02] [-4.07635505e-02 9.99168821e-01 -4.81370398e-06 8.55755629e+01] [ 8.80354284e-03 3.63979713e-04 9.99961182e-01 1.16849749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.096875 meters 0.026716126825611163 Centerline is valid? [True, True] Translation: X:205.07, Y:85.57, Z:11.68 [[ 9.99116234e-01 4.09456748e-02 -9.49755123e-03 2.05068104e+02] [-4.09475455e-02 9.99161298e-01 -2.50576445e-06 8.55736083e+01] [ 9.48948301e-03 3.91404961e-04 9.99954897e-01 1.16821919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.126875 meters 0.026878621109374227 Centerline is valid? [True, True] Translation: X:205.10, Y:85.57, Z:11.68 [[ 9.99089997e-01 4.12487342e-02 -1.08498414e-02 2.05101432e+02] [-4.12511595e-02 9.99148809e-01 2.59459062e-07 8.55651748e+01] [ 1.08406168e-02 4.47309314e-04 9.99941139e-01 1.16803745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.156875 meters 0.028225544386964597 Centerline is valid? [True, True] Translation: X:205.13, Y:85.56, Z:11.68 [[ 9.99081782e-01 4.12008067e-02 -1.17510559e-02 2.05133070e+02] [-4.12036113e-02 9.99150771e-01 3.43414929e-06 8.55610750e+01] [ 1.17412181e-02 4.80754946e-04 9.99930954e-01 1.16815357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.186875 meters 0.026911384047635337 Centerline is valid? [True, True] Translation: X:205.17, Y:85.55, Z:11.68 [[ 9.99103362e-01 4.08460050e-02 -1.11389227e-02 2.05165550e+02] [-4.08484737e-02 9.99165353e-01 5.89352655e-06 8.55522946e+01] [ 1.11298663e-02 4.49119748e-04 9.99937960e-01 1.16840606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.216875 meters 0.026736590911648518 Centerline is valid? [True, True] Translation: X:205.20, Y:85.54, Z:11.69 [[ 9.99108949e-01 4.08290770e-02 -1.06908799e-02 2.05197487e+02] [-4.08313236e-02 9.99166054e-01 8.13193334e-06 8.55397511e+01] [ 1.06822963e-02 4.28398091e-04 9.99942851e-01 1.16888614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.246875 meters 0.026402110714933383 Centerline is valid? [True, True] Translation: X:205.23, Y:85.53, Z:11.69 [[ 9.99081770e-01 4.10215673e-02 -1.23631739e-02 2.05230366e+02] [-4.10245450e-02 9.99158139e-01 1.27607968e-05 8.55347877e+01] [ 1.23532892e-02 4.94444503e-04 9.99923573e-01 1.16881043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.276875 meters 0.02852558753215015 Centerline is valid? [True, True] Translation: X:205.26, Y:85.53, Z:11.68 [[ 9.98969442e-01 4.30499961e-02 -1.43788391e-02 2.05261295e+02] [-4.30541826e-02 9.99072739e-01 1.84140660e-05 8.55327245e+01] [ 1.43662989e-02 6.00674075e-04 9.99896619e-01 1.16822524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.306875 meters 0.02802623671162566 Centerline is valid? [True, True] Translation: X:205.29, Y:85.53, Z:11.68 [[ 9.98916246e-01 4.43400058e-02 -1.41526280e-02 2.05293360e+02] [-4.43441448e-02 9.99016314e-01 2.13697397e-05 8.55296627e+01] [ 1.41396538e-02 6.06239604e-04 9.99899846e-01 1.16812223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.336875 meters 0.029343748763281004 Centerline is valid? [True, True] Translation: X:205.32, Y:85.53, Z:11.68 [[ 9.98891650e-01 4.50985513e-02 -1.34756216e-02 2.05324540e+02] [-4.51023327e-02 9.98982372e-01 2.33207615e-05 8.55277621e+01] [ 1.34629601e-02 5.84487053e-04 9.99909199e-01 1.16803074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.366875 meters 0.028569047865501587 Centerline is valid? [True, True] Translation: X:205.36, Y:85.52, Z:11.68 [[ 9.98925019e-01 4.47787038e-02 -1.19864237e-02 2.05356557e+02] [-4.47816411e-02 9.98996799e-01 2.33709714e-05 8.55160721e+01] [ 1.19754454e-02 5.13425876e-04 9.99928160e-01 1.16842742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.396875 meters 0.027722383274879105 Centerline is valid? [True, True] Translation: X:205.39, Y:85.51, Z:11.69 [[ 9.98931235e-01 4.45628188e-02 -1.22695858e-02 2.05388541e+02] [-4.45658445e-02 9.99006449e-01 2.68334220e-05 8.55094181e+01] [ 1.22585911e-02 5.19999709e-04 9.99924725e-01 1.16866329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.426875 meters 0.027390443617087302 Centerline is valid? [True, True] Translation: X:205.42, Y:85.50, Z:11.69 [[ 9.98929574e-01 4.42758505e-02 -1.33923301e-02 2.05421168e+02] [-4.42794041e-02 9.99019186e-01 3.12019317e-05 8.55048255e+01] [ 1.33805762e-02 5.61835863e-04 9.99910318e-01 1.16863932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.456875 meters 0.028131285133007868 Centerline is valid? [True, True] Translation: X:205.45, Y:85.50, Z:11.68 [[ 9.98866614e-01 4.49492564e-02 -1.56541580e-02 2.05452085e+02] [-4.49541497e-02 9.98989050e-01 3.93319720e-05 8.55002529e+01] [ 1.56401003e-02 6.64431966e-04 9.99877465e-01 1.16818651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.486875 meters 0.02805104738800336 Centerline is valid? [True, True] Translation: X:205.48, Y:85.50, Z:11.68 [[ 9.98841000e-01 4.56322610e-02 -1.53086228e-02 2.05484398e+02] [-4.56369670e-02 9.98958090e-01 4.19708355e-05 8.54978989e+01] [ 1.52945878e-02 6.56716922e-04 9.99882815e-01 1.16824162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.516875 meters 0.02920016363653109 Centerline is valid? [True, True] Translation: X:205.52, Y:85.50, Z:11.68 [[ 9.98887881e-01 4.51553835e-02 -1.35643795e-02 2.05515208e+02] [-4.51589945e-02 9.98979811e-01 4.01163382e-05 8.54964753e+01] [ 1.35523527e-02 5.72482015e-04 9.99907999e-01 1.16846913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.546875 meters 0.025496888094077796 Centerline is valid? [True, True] Translation: X:205.55, Y:85.48, Z:11.69 [[ 9.99096496e-01 3.99429832e-02 -1.45172532e-02 2.05546187e+02] [-3.99465521e-02 9.99201817e-01 4.41707389e-05 8.54802759e+01] [ 1.45074301e-02 5.35783381e-04 9.99894618e-01 1.16897279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57687500000003 meters 0.02438880889034718 Centerline is valid? [True, True] Translation: X:205.58, Y:85.48, Z:11.69 [[ 9.99222184e-01 3.66969085e-02 -1.44348186e-02 2.05577730e+02] [-3.67000902e-02 9.99326324e-01 4.44997199e-05 8.54756681e+01] [ 1.44267272e-02 4.85294038e-04 9.99895812e-01 1.16900809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.606875 meters 0.02295962648703173 Centerline is valid? [True, True] Translation: X:205.61, Y:85.47, Z:11.69 [[ 9.99420096e-01 3.19043956e-02 -1.18988268e-02 2.05607117e+02] [-3.19062173e-02 9.99490866e-01 3.67482972e-05 8.54726591e+01] [ 1.18939411e-02 3.42919566e-04 9.99929206e-01 1.16893968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63687500000003 meters 0.02256181691610941 Centerline is valid? [True, True] Translation: X:205.64, Y:85.47, Z:11.69 [[ 9.99472870e-01 3.04425694e-02 -1.12797639e-02 2.05639386e+02] [-3.04441079e-02 9.99536470e-01 3.53280782e-05 8.54710838e+01] [ 1.12756108e-02 3.08092892e-04 9.99936381e-01 1.16885821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.666875 meters 0.02256181691610941 Centerline is valid? [True, True] Translation: X:205.67, Y:85.47, Z:11.69 [[ 9.99464606e-01 3.07126677e-02 -1.12797566e-02 2.05671795e+02] [-3.07141986e-02 9.99528207e-01 3.75287227e-05 8.54708777e+01] [ 1.12755875e-02 3.08940055e-04 9.99936381e-01 1.16887297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69687500000003 meters 0.02196723961316278 Centerline is valid? [True, True] Translation: X:205.70, Y:85.47, Z:11.69 [[ 9.99486956e-01 2.92309515e-02 -1.30911024e-02 2.05704121e+02] [-2.92328413e-02 9.99572628e-01 4.70081896e-05 8.54677168e+01] [ 1.30868817e-02 3.35706046e-04 9.99914307e-01 1.16869322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.726875 meters 0.021211156360734843 Centerline is valid? [True, True] Translation: X:205.74, Y:85.46, Z:11.68 [[ 9.99508775e-01 2.73805417e-02 -1.52484581e-02 2.05736445e+02] [-2.73828330e-02 9.99625018e-01 5.85349251e-05 8.54641277e+01] [ 1.52443429e-02 3.59039810e-04 9.99883734e-01 1.16845193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.75687500000004 meters 0.02038870562873629 Centerline is valid? [True, True] Translation: X:205.77, Y:85.46, Z:11.69 [[ 9.99582599e-01 2.40502058e-02 -1.60067076e-02 2.05767642e+02] [-2.40522465e-02 9.99710701e-01 6.50378273e-05 8.54579856e+01] [ 1.60036410e-02 3.19986596e-04 9.99871882e-01 1.16858471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.786875 meters 0.019533722775671107 Centerline is valid? [True, True] Translation: X:205.80, Y:85.45, Z:11.69 [[ 9.99627634e-01 2.29637236e-02 -1.47397758e-02 2.05799281e+02] [-2.29652868e-02 9.99736261e-01 6.32220590e-05 8.54536632e+01] [ 1.47373402e-02 2.75304662e-04 9.99891362e-01 1.16891063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.816875 meters 0.019695537844176412 Centerline is valid? [True, True] Translation: X:205.83, Y:85.45, Z:11.69 [[ 9.99652588e-01 2.21005764e-02 -1.43620534e-02 2.05830487e+02] [-2.21019254e-02 9.99755721e-01 6.48045204e-05 8.54526072e+01] [ 1.43599772e-02 2.52647026e-04 9.99896858e-01 1.16891949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.846875 meters 0.019484899663495772 Centerline is valid? [True, True] Translation: X:205.86, Y:85.45, Z:11.69 [[ 9.99657972e-01 2.19875420e-02 -1.41593492e-02 2.05863108e+02] [-2.19888091e-02 9.99758215e-01 6.62040582e-05 8.54527579e+01] [ 1.41573813e-02 2.45165812e-04 9.99899749e-01 1.16885959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.876875 meters 0.019643828772081724 Centerline is valid? [True, True] Translation: X:205.90, Y:85.45, Z:11.69 [[ 9.99641610e-01 2.32108475e-02 -1.33382536e-02 2.05895739e+02] [-2.32120411e-02 9.99730562e-01 6.53358065e-05 8.54532961e+01] [ 1.33361763e-02 2.44295700e-04 9.99911039e-01 1.16898674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.906875 meters 0.020294868473310437 Centerline is valid? [True, True] Translation: X:205.93, Y:85.46, Z:11.69 [[ 9.99575659e-01 2.64787056e-02 -1.21400117e-02 2.05927881e+02] [-2.64799002e-02 9.99649344e-01 6.23621854e-05 8.54553249e+01] [ 1.21374061e-02 2.59130576e-04 9.99926305e-01 1.16910605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.936875 meters 0.020581857965772513 Centerline is valid? [True, True] Translation: X:205.96, Y:85.46, Z:11.69 [[ 9.99550867e-01 2.75336560e-02 -1.18305653e-02 2.05958985e+02] [-2.75348410e-02 9.99620842e-01 6.27372909e-05 8.54553676e+01] [ 1.18278070e-02 2.63043621e-04 9.99930014e-01 1.16916524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.966875 meters 0.020612433638693507 Centerline is valid? [True, True] Translation: X:205.99, Y:85.45, Z:11.69 [[ 9.99524135e-01 2.80027275e-02 -1.29364115e-02 2.05991034e+02] [-2.80041501e-02 9.99607804e-01 7.12019157e-05 8.54544529e+01] [ 1.29333317e-02 2.91105175e-04 9.99916319e-01 1.16913362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.996875 meters 0.02102316570460955 Centerline is valid? [True, True] Translation: X:206.02, Y:85.46, Z:11.69 [[ 9.99477807e-01 2.90849370e-02 -1.40776590e-02 2.06023392e+02] [-2.90866811e-02 9.99576890e-01 8.08799062e-05 8.54563817e+01] [ 1.40740550e-02 3.28634707e-04 9.99900902e-01 1.16876938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.026875 meters 0.02111023500875099 Centerline is valid? [True, True] Translation: X:206.06, Y:85.46, Z:11.69 [[ 9.99451586e-01 3.04155074e-02 -1.30928889e-02 2.06055228e+02] [-3.04170908e-02 9.99537290e-01 7.82276145e-05 8.54574988e+01] [ 1.30892100e-02 3.20062876e-04 9.99914281e-01 1.16891154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.056875 meters 0.021483495467314533 Centerline is valid? [True, True] Translation: X:206.09, Y:85.46, Z:11.69 [[ 9.99405142e-01 3.22613847e-02 -1.21887052e-02 2.06087444e+02] [-3.22628598e-02 9.99479416e-01 7.56342027e-05 8.54574011e+01] [ 1.21848000e-02 3.17653277e-04 9.99925712e-01 1.16912406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.086875 meters 0.022939039532237297 Centerline is valid? [True, True] Translation: X:206.12, Y:85.46, Z:11.69 [[ 9.99357078e-01 3.36422443e-02 -1.23947592e-02 2.06118014e+02] [-3.36438409e-02 9.99433883e-01 7.97395585e-05 8.54597543e+01] [ 1.23904249e-02 3.37319014e-04 9.99923179e-01 1.16912396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.116875 meters 0.02269846868634812 Centerline is valid? [True, True] Translation: X:206.15, Y:85.46, Z:11.69 [[ 9.99226220e-01 3.55350379e-02 -1.68589178e-02 2.06149990e+02] [-3.55382239e-02 9.99368312e-01 1.10668156e-04 8.54608484e+01] [ 1.68522008e-02 4.88553473e-04 9.99857872e-01 1.16862718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.146875 meters 0.023172972465122225 Centerline is valid? [True, True] Translation: X:206.18, Y:85.46, Z:11.68 [[ 9.99164112e-01 3.67031283e-02 -1.79988359e-02 2.06180854e+02] [-3.67068906e-02 9.99326068e-01 1.21402891e-04 8.54628403e+01] [ 1.79911618e-02 5.39379889e-04 9.99838000e-01 1.16832171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.176875 meters 0.023483833856036338 Centerline is valid? [True, True] Translation: X:206.21, Y:85.46, Z:11.68 [[ 9.99130549e-01 3.73686683e-02 -1.84858966e-02 2.06212766e+02] [-3.73726717e-02 9.99301389e-01 1.28968729e-04 8.54619914e+01] [ 1.84778015e-02 5.62010749e-04 9.99829113e-01 1.16820597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.206875 meters 0.02426282674552937 Centerline is valid? [True, True] Translation: X:206.24, Y:85.46, Z:11.69 [[ 9.99207520e-01 3.60069264e-02 -1.69656529e-02 2.06244165e+02] [-3.60100365e-02 9.99351421e-01 1.22234629e-04 8.54577321e+01] [ 1.69590506e-02 4.88796017e-04 9.99856065e-01 1.16857044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.236875 meters 0.022571936203684317 Centerline is valid? [True, True] Translation: X:206.28, Y:85.45, Z:11.69 [[ 9.99249944e-01 3.48585319e-02 -1.68651398e-02 2.06276421e+02] [-3.48613755e-02 9.99392150e-01 1.25443897e-04 8.54522337e+01] [ 1.68592611e-02 4.62592165e-04 9.99857766e-01 1.16891562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.266875 meters 0.02241283015990845 Centerline is valid? [True, True] Translation: X:206.31, Y:85.45, Z:11.69 [[ 9.99316318e-01 3.27231700e-02 -1.72072989e-02 2.06307630e+02] [-3.27257480e-02 9.99464361e-01 1.31816130e-04 8.54513459e+01] [ 1.72023954e-02 4.31395718e-04 9.99851935e-01 1.16879373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.296875 meters 0.021593737872554385 Centerline is valid? [True, True] Translation: X:206.34, Y:85.45, Z:11.69 [[ 9.99320901e-01 3.20268883e-02 -1.82212644e-02 2.06339622e+02] [-3.20295872e-02 9.99486911e-01 1.43775048e-04 8.54504604e+01] [ 1.82165200e-02 4.39942167e-04 9.99833969e-01 1.16860479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.32687500000003 meters 0.02143399970735976 Centerline is valid? [True, True] Translation: X:206.37, Y:85.45, Z:11.68 [[ 9.99350920e-01 3.09197238e-02 -1.84853846e-02 2.06370861e+02] [-3.09222376e-02 9.99521782e-01 1.49896297e-04 8.54502077e+01] [ 1.84811793e-02 4.21810453e-04 9.99829119e-01 1.16839876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.356875 meters 0.02051556124804914 Centerline is valid? [True, True] Translation: X:206.40, Y:85.45, Z:11.68 [[ 9.99400050e-01 2.89665689e-02 -1.89862395e-02 2.06402517e+02] [-2.89688128e-02 9.99580304e-01 1.56891049e-04 8.54463718e+01] [ 1.89828156e-02 3.93211896e-04 9.99819733e-01 1.16833576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.38687500000003 meters 0.020816812185209838 Centerline is valid? [True, True] Translation: X:206.43, Y:85.44, Z:11.68 [[ 9.99424443e-01 2.81436837e-02 -1.89397734e-02 2.06433796e+02] [-2.81457204e-02 9.99603818e-01 1.59066794e-04 8.54445993e+01] [ 1.89367465e-02 3.74098324e-04 9.99820614e-01 1.16835597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.416875 meters 0.020226875858785652 Centerline is valid? [True, True] Translation: X:206.47, Y:85.44, Z:11.69 [[ 9.99450530e-01 2.73927251e-02 -1.86621892e-02 2.06465515e+02] [-2.73944988e-02 9.99624687e-01 1.60642788e-04 8.54411433e+01] [ 1.86595855e-02 3.50686800e-04 9.99825833e-01 1.16855858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.44687500000003 meters 0.019746494374217556 Centerline is valid? [True, True] Translation: X:206.50, Y:85.44, Z:11.69 [[ 9.99463963e-01 2.71610102e-02 -1.82775005e-02 2.06497672e+02] [-2.71625942e-02 9.99631016e-01 1.61629342e-04 8.54395011e+01] [ 1.82751464e-02 3.34921627e-04 9.99832939e-01 1.16875988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.476875 meters 0.019089039047010276 Centerline is valid? [True, True] Translation: X:206.53, Y:85.44, Z:11.69 [[ 9.99554326e-01 2.46676039e-02 -1.68124298e-02 2.06529452e+02] [-2.46685265e-02 9.99695674e-01 1.52537908e-04 8.54383664e+01] [ 1.68110761e-02 2.62267945e-04 9.99858649e-01 1.16893098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.50687500000004 meters 0.018711892554577184 Centerline is valid? [True, True] Translation: X:206.56, Y:85.44, Z:11.69 [[ 9.99580334e-01 2.41086094e-02 -1.60602448e-02 2.06561173e+02] [-2.41093199e-02 9.99709317e-01 1.49401575e-04 8.54373228e+01] [ 1.60591782e-02 2.37862702e-04 9.99871015e-01 1.16917044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.536875 meters 0.01857217439912439 Centerline is valid? [True, True] Translation: X:206.59, Y:85.44, Z:11.69 [[ 9.99609442e-01 2.30290619e-02 -1.58311463e-02 2.06593539e+02] [-2.30295856e-02 9.99734773e-01 1.49242564e-04 8.54354757e+01] [ 1.58303843e-02 2.15400462e-04 9.99874668e-01 1.16924920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.566875 meters 0.018676976308690987 Centerline is valid? [True, True] Translation: X:206.62, Y:85.43, Z:11.69 [[ 9.99553231e-01 2.20544737e-02 -2.01727136e-02 2.06624897e+02] [-2.20550486e-02 9.99756739e-01 1.94002406e-04 8.54304541e+01] [ 2.01720850e-02 2.50994447e-04 9.99796491e-01 1.16897773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.596875 meters 0.018671890862509137 Centerline is valid? [True, True] Translation: X:206.66, Y:85.43, Z:11.69 [[ 9.99514743e-01 2.22943470e-02 -2.17540964e-02 2.06656937e+02] [-2.22949627e-02 9.99751413e-01 2.14257213e-04 8.54278853e+01] [ 2.17534653e-02 2.70853525e-04 9.99763329e-01 1.16887477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.626875 meters 0.018925695989732712 Centerline is valid? [True, True] Translation: X:206.69, Y:85.43, Z:11.69 [[ 9.99494018e-01 2.24470266e-02 -2.25352848e-02 2.06688610e+02] [-2.24476082e-02 9.99747995e-01 2.27190840e-04 8.54278620e+01] [ 2.25347056e-02 2.78787358e-04 9.99746022e-01 1.16867405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.656875 meters 0.019937562287232244 Centerline is valid? [True, True] Translation: X:206.72, Y:85.43, Z:11.68 [[ 9.99515694e-01 2.32583105e-02 -2.06743522e-02 2.06719574e+02] [-2.32588821e-02 9.99729453e-01 2.12840372e-04 8.54332239e+01] [ 2.06737091e-02 2.68125028e-04 9.99786240e-01 1.16816308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.686875 meters 0.018915396771582552 Centerline is valid? [True, True] Translation: X:206.75, Y:85.43, Z:11.69 [[ 9.99526259e-01 2.40071705e-02 -1.92590962e-02 2.06751271e+02] [-2.40077222e-02 9.99711753e-01 2.02593248e-04 8.54305799e+01] [ 1.92584085e-02 2.59869759e-04 9.99814506e-01 1.16867192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.716875 meters 0.018762177771406166 Centerline is valid? [True, True] Translation: X:206.78, Y:85.43, Z:11.69 [[ 9.99549232e-01 2.41139799e-02 -1.78843103e-02 2.06782909e+02] [-2.41143998e-02 9.99709187e-01 1.92204394e-04 8.54288569e+01] [ 1.78837441e-02 2.39151653e-04 9.99840044e-01 1.16901087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.746875 meters 0.019653953780601616 Centerline is valid? [True, True] Translation: X:206.81, Y:85.43, Z:11.70 [[ 9.99567642e-01 2.45417776e-02 -1.61934975e-02 2.06813667e+02] [-2.45421188e-02 9.99698781e-01 1.77680055e-04 8.54274314e+01] [ 1.61929803e-02 2.19819506e-04 9.99868861e-01 1.16950731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.776875 meters 0.01910656151643171 Centerline is valid? [True, True] Translation: X:206.85, Y:85.43, Z:11.70 [[ 9.99594469e-01 2.44329633e-02 -1.46262862e-02 2.06846163e+02] [-2.44331835e-02 9.99701452e-01 1.63666943e-04 8.54261655e+01] [ 1.46259184e-02 1.93766164e-04 9.99893017e-01 1.16982634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.806875 meters 0.018552165790402572 Centerline is valid? [True, True] Translation: X:206.88, Y:85.43, Z:11.70 [[ 9.99593168e-01 2.44801162e-02 -1.46363612e-02 2.06878597e+02] [-2.44802879e-02 9.99700299e-01 1.67460220e-04 8.54250625e+01] [ 1.46360741e-02 1.90910243e-04 9.99892869e-01 1.16988984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.836875 meters 0.018924836629806513 Centerline is valid? [True, True] Translation: X:206.91, Y:85.43, Z:11.69 [[ 9.99535646e-01 2.54950412e-02 -1.66881802e-02 2.06910425e+02] [-2.54953361e-02 9.99674922e-01 1.95115143e-04 8.54266890e+01] [ 1.66877297e-02 2.30446221e-04 9.99860724e-01 1.16945664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.866875 meters 0.02022906875405233 Centerline is valid? [True, True] Translation: X:206.94, Y:85.43, Z:11.68 [[ 9.99400002e-01 2.78641628e-02 -2.05724412e-02 2.06941538e+02] [-2.78650158e-02 9.99611665e-01 2.45244278e-04 8.54327906e+01] [ 2.05712857e-02 3.28154267e-04 9.99788335e-01 1.16837987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.896875 meters 0.019638475060590934 Centerline is valid? [True, True] Translation: X:206.97, Y:85.43, Z:11.69 [[ 9.99358424e-01 2.94994466e-02 -2.03106389e-02 2.06973952e+02] [-2.95005198e-02 9.99564734e-01 2.46842597e-04 8.54308764e+01] [ 2.03090801e-02 3.52490178e-04 9.99793687e-01 1.16869678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.926875 meters 0.02052515476259014 Centerline is valid? [True, True] Translation: X:207.00, Y:85.43, Z:11.69 [[ 9.99283075e-01 3.16827744e-02 -2.07253155e-02 2.07004917e+02] [-3.16842648e-02 9.99497895e-01 2.56534942e-04 8.54295968e+01] [ 2.07230370e-02 4.00315360e-04 9.99785175e-01 1.16919569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.956875 meters 0.020934222923228506 Centerline is valid? [True, True] Translation: X:207.04, Y:85.43, Z:11.69 [[ 9.99249121e-01 3.26030438e-02 -2.09341037e-02 2.07036271e+02] [-3.26047017e-02 9.99468291e-01 2.62204613e-04 8.54296254e+01] [ 2.09315215e-02 4.20542476e-04 9.99780823e-01 1.16931594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.986875 meters 0.020716448222251854 Centerline is valid? [True, True] Translation: X:207.07, Y:85.43, Z:11.70 [[ 9.99214508e-01 3.35271035e-02 -2.11258289e-02 2.07068005e+02] [-3.35289041e-02 9.99437712e-01 2.69066795e-04 8.54289978e+01] [ 2.11229711e-02 4.39470444e-04 9.99776789e-01 1.16951588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.016875 meters 0.021071056748123054 Centerline is valid? [True, True] Translation: X:207.10, Y:85.43, Z:11.69 [[ 9.99191144e-01 3.45558864e-02 -2.05656972e-02 2.07101267e+02] [-3.45577015e-02 9.99402669e-01 2.67229303e-04 8.54310709e+01] [ 2.05626470e-02 4.43690073e-04 9.99788468e-01 1.16946857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.046875 meters 0.021506613209716134 Centerline is valid? [True, True] Translation: X:207.13, Y:85.44, Z:11.69 [[ 9.99109830e-01 3.55622236e-02 -2.26908735e-02 2.07132037e+02] [-3.55646148e-02 9.99367334e-01 2.98285581e-04 8.54356424e+01] [ 2.26871254e-02 5.08972118e-04 9.99742484e-01 1.16874880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07687500000003 meters 0.022231588113451193 Centerline is valid? [True, True] Translation: X:207.16, Y:85.44, Z:11.68 [[ 9.99053469e-01 3.65505579e-02 -2.35843793e-02 2.07164101e+02] [-3.65532999e-02 9.99331655e-01 3.14971595e-04 8.54372481e+01] [ 2.35801292e-02 5.47413426e-04 9.99721800e-01 1.16844568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.106875 meters 0.022516746452555882 Centerline is valid? [True, True] Translation: X:207.20, Y:85.44, Z:11.68 [[ 9.99041258e-01 3.74530889e-02 -2.26678430e-02 2.07196794e+02] [-3.74557231e-02 9.99298241e-01 3.08505031e-04 8.54383285e+01] [ 2.26634901e-02 5.40831197e-04 9.99743004e-01 1.16837954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13687500000003 meters 0.023241908557504926 Centerline is valid? [True, True] Translation: X:207.23, Y:85.44, Z:11.69 [[ 9.99024070e-01 3.95912267e-02 -1.95816698e-02 2.07228185e+02] [-3.95935101e-02 9.99215833e-01 2.71224856e-04 8.54374574e+01] [ 1.95770526e-02 5.04346880e-04 9.99808224e-01 1.16900691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.166875 meters 0.02352909896231464 Centerline is valid? [True, True] Translation: X:207.26, Y:85.43, Z:11.69 [[ 9.99009968e-01 4.02970335e-02 -1.88476189e-02 2.07260881e+02] [-4.02991844e-02 9.99187623e-01 2.65825905e-04 8.54344025e+01] [ 1.88430195e-02 4.93980942e-04 9.99822333e-01 1.16946009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19687500000003 meters 0.023756954943993217 Centerline is valid? [True, True] Translation: X:207.29, Y:85.43, Z:11.70 [[ 9.99020155e-01 3.99859015e-02 -1.89699150e-02 2.07293071e+02] [-3.99879403e-02 9.99200125e-01 2.71980154e-04 8.54304363e+01] [ 1.89656168e-02 4.86854172e-04 9.99820018e-01 1.16977417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.226875 meters 0.022804599339841226 Centerline is valid? [True, True] Translation: X:207.32, Y:85.43, Z:11.70 [[ 9.99089444e-01 3.81816204e-02 -1.90380266e-02 2.07324178e+02] [-3.81832694e-02 9.99270715e-01 2.77011285e-04 8.54257507e+01] [ 1.90347192e-02 4.50175049e-04 9.99818722e-01 1.17005113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.25687500000004 meters 0.022804599339841226 Centerline is valid? [True, True] Translation: X:207.36, Y:85.43, Z:11.70 [[ 9.99079648e-01 3.84371426e-02 -1.90379582e-02 2.07356581e+02] [-3.84387492e-02 9.99260918e-01 2.81666561e-04 8.54251533e+01] [ 1.90347140e-02 4.50387972e-04 9.99818722e-01 1.17006591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.286875 meters 0.022743782769446816 Centerline is valid? [True, True] Translation: X:207.39, Y:85.43, Z:11.69 [[ 9.99139494e-01 3.80493665e-02 -1.65080761e-02 2.07388072e+02] [-3.80504641e-02 9.99275788e-01 2.47710793e-04 8.54312404e+01] [ 1.65055460e-02 3.80642321e-04 9.99863702e-01 1.16946541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.316875 meters 0.023311198342097446 Centerline is valid? [True, True] Translation: X:207.42, Y:85.44, Z:11.69 [[ 9.99123458e-01 3.87869371e-02 -1.57445239e-02 2.07419824e+02] [-3.87879689e-02 9.99247435e-01 2.39945505e-04 8.54351347e+01] [ 1.57419819e-02 3.70962922e-04 9.99876019e-01 1.16905781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.346875 meters 0.023397455353557188 Centerline is valid? [True, True] Translation: X:207.45, Y:85.43, Z:11.69 [[ 9.99097874e-01 3.92960116e-02 -1.61016113e-02 2.07451994e+02] [-3.92970974e-02 9.99227540e-01 2.49071914e-04 8.54335285e+01] [ 1.60989610e-02 3.83899370e-04 9.99870330e-01 1.16913448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.376875 meters 0.02341284423693463 Centerline is valid? [True, True] Translation: X:207.49, Y:85.43, Z:11.69 [[ 9.99085086e-01 3.90194854e-02 -1.75063293e-02 2.07485282e+02] [-3.90206520e-02 9.99238366e-01 2.75068072e-04 8.54300757e+01] [ 1.75037289e-02 4.08291973e-04 9.99846715e-01 1.16933579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.406875 meters 0.021656018309559405 Centerline is valid? [True, True] Translation: X:207.52, Y:85.42, Z:11.70 [[ 9.99033577e-01 3.89612360e-02 -2.03453631e-02 2.07517230e+02] [-3.89627464e-02 9.99240612e-01 3.22303589e-04 8.54238530e+01] [ 2.03424704e-02 4.70719114e-04 9.99792960e-01 1.16964144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.436875 meters 0.02444935594333387 Centerline is valid? [True, True] Translation: X:207.55, Y:85.43, Z:11.69 [[ 9.98974318e-01 3.92147558e-02 -2.26387731e-02 2.07548113e+02] [-3.92165922e-02 9.99230668e-01 3.63009719e-04 8.54266604e+01] [ 2.26355916e-02 5.25178144e-04 9.99743644e-01 1.16917850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.466875 meters 0.023158637502560635 Centerline is valid? [True, True] Translation: X:207.58, Y:85.42, Z:11.69 [[ 9.98806821e-01 4.18283405e-02 -2.52056310e-02 2.07579590e+02] [-4.18313097e-02 9.99124604e-01 4.09694716e-04 8.54246763e+01] [ 2.52007029e-02 6.45178679e-04 9.99682204e-01 1.16919630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.496875 meters 0.02266101570542767 Centerline is valid? [True, True] Translation: X:207.61, Y:85.42, Z:11.69 [[ 9.98763686e-01 4.37209582e-02 -2.36554070e-02 2.07611849e+02] [-4.37239744e-02 9.99043574e-01 3.89954619e-04 8.54248212e+01] [ 2.36498316e-02 6.44835899e-04 9.99720096e-01 1.16939472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.526875 meters 0.023129934450013982 Centerline is valid? [True, True] Translation: X:207.64, Y:85.43, Z:11.69 [[ 9.98771402e-01 4.45396083e-02 -2.17234740e-02 2.07642674e+02] [-4.45422417e-02 9.99007436e-01 3.62864864e-04 8.54275120e+01] [ 2.17180739e-02 6.05193180e-04 9.99763952e-01 1.16945957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.556875 meters 0.023129934450013982 Centerline is valid? [True, True] Translation: X:207.68, Y:85.43, Z:11.69 [[ 9.98759438e-01 4.48071496e-02 -2.17233796e-02 2.07675077e+02] [-4.48097246e-02 9.98995472e-01 3.68461330e-04 8.54268638e+01] [ 2.17180676e-02 6.05414426e-04 9.99763952e-01 1.16947435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.586875 meters 0.0226061462621417 Centerline is valid? [True, True] Translation: X:207.71, Y:85.43, Z:11.70 [[ 9.98780363e-01 4.50660844e-02 -2.01701485e-02 2.07706919e+02] [-4.50682594e-02 9.98983850e-01 3.46948150e-04 8.54265246e+01] [ 2.01652882e-02 5.62508487e-04 9.99796502e-01 1.16974963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.616875 meters 0.022563009869775618 Centerline is valid? [True, True] Translation: X:207.74, Y:85.43, Z:11.70 [[ 9.98806973e-01 4.45487966e-02 -2.00008967e-02 2.07739334e+02] [-4.45507376e-02 9.99007062e-01 3.48733099e-04 8.54263244e+01] [ 1.99965727e-02 5.42737651e-04 9.99799901e-01 1.16967015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.646875 meters 0.022539540470297822 Centerline is valid? [True, True] Translation: X:207.77, Y:85.43, Z:11.70 [[ 9.98876883e-01 4.32323949e-02 -1.93889892e-02 2.07770349e+02] [-4.32339127e-02 9.99064919e-01 3.41079479e-04 8.54271306e+01] [ 1.93856046e-02 4.97565460e-04 9.99811958e-01 1.16960313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.676875 meters 0.021602962572389115 Centerline is valid? [True, True] Translation: X:207.80, Y:85.42, Z:11.70 [[ 9.98944321e-01 4.23859987e-02 -1.77107527e-02 2.07802017e+02] [-4.23870670e-02 9.99101215e-01 3.15223267e-04 8.54248709e+01] [ 1.77081955e-02 4.35816368e-04 9.99843103e-01 1.16980848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.706875 meters 0.020592908620465238 Centerline is valid? [True, True] Translation: X:207.83, Y:85.42, Z:11.70 [[ 9.99086775e-01 3.98080880e-02 -1.55219842e-02 2.07833686e+02] [-3.98085711e-02 9.99207286e-01 2.77968455e-04 8.54185355e+01] [ 1.55207451e-02 3.40193405e-04 9.99879488e-01 1.17037205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.736875 meters 0.020146689127093862 Centerline is valid? [True, True] Translation: X:207.87, Y:85.41, Z:11.70 [[ 9.99116168e-01 3.86392955e-02 -1.65495822e-02 2.07866025e+02] [-3.86396317e-02 9.99253166e-01 2.99564998e-04 8.54146000e+01] [ 1.65487974e-02 3.40169528e-04 9.99863001e-01 1.17043552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.766875 meters 0.019869320991958383 Centerline is valid? [True, True] Translation: X:207.90, Y:85.41, Z:11.70 [[ 9.99127729e-01 3.78850375e-02 -1.75643005e-02 2.07898446e+02] [-3.78852167e-02 9.99282045e-01 3.22651206e-04 8.54119492e+01] [ 1.75639138e-02 3.43057564e-04 9.99845684e-01 1.17043407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.796875 meters 0.0196892550804525 Centerline is valid? [True, True] Translation: X:207.93, Y:85.41, Z:11.71 [[ 9.99205818e-01 3.68824528e-02 -1.50803803e-02 2.07929350e+02] [-3.68824196e-02 9.99319573e-01 2.80408071e-04 8.54120493e+01] [ 1.50804613e-02 2.76015539e-04 9.99886245e-01 1.17064792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.82687500000003 meters 0.019984972010900603 Centerline is valid? [True, True] Translation: X:207.96, Y:85.41, Z:11.71 [[ 9.99207394e-01 3.69389177e-02 -1.48357821e-02 2.07961328e+02] [-3.69388388e-02 9.99317489e-01 2.79433525e-04 8.54128579e+01] [ 1.48359785e-02 2.68804519e-04 9.99889905e-01 1.17060794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.856875 meters 0.0194038610601389 Centerline is valid? [True, True] Translation: X:207.99, Y:85.41, Z:11.70 [[ 9.99187234e-01 3.67656501e-02 -1.65275309e-02 2.07994496e+02] [-3.67654534e-02 9.99323872e-01 3.15848534e-04 8.54120614e+01] [ 1.65279685e-02 2.92050343e-04 9.99863361e-01 1.17041662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.88687500000003 meters 0.019765859341853924 Centerline is valid? [True, True] Translation: X:208.03, Y:85.41, Z:11.70 [[ 9.99137038e-01 3.67125929e-02 -1.94258738e-02 2.08025109e+02] [-3.67122485e-02 9.99325808e-01 3.74464383e-04 8.54120158e+01] [ 1.94265246e-02 3.39026274e-04 9.99811230e-01 1.17002217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.916875 meters 0.02166190355899902 Centerline is valid? [True, True] Translation: X:208.06, Y:85.41, Z:11.70 [[ 9.99118820e-01 3.64032526e-02 -2.08898752e-02 2.08056372e+02] [-3.64026938e-02 9.99337119e-01 4.07138785e-04 8.54145850e+01] [ 2.08908488e-02 3.53667706e-04 9.99781700e-01 1.16952700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.94687500000003 meters 0.01903846561316244 Centerline is valid? [True, True] Translation: X:208.09, Y:85.41, Z:11.70 [[ 9.99204620e-01 3.48463281e-02 -1.93871305e-02 2.08088529e+02] [-3.48454660e-02 9.99392639e-01 3.82379421e-04 8.54063532e+01] [ 1.93886800e-02 2.93478313e-04 9.99811979e-01 1.17039702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.976875 meters 0.018881129627398588 Centerline is valid? [True, True] Translation: X:208.12, Y:85.40, Z:11.71 [[ 9.99273488e-01 3.34554819e-02 -1.82545163e-02 2.08120813e+02] [-3.34544088e-02 9.99440178e-01 3.64244989e-04 8.54042245e+01] [ 1.82564830e-02 2.46713690e-04 9.99833306e-01 1.17055295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.00687500000004 meters 0.018584930151572705 Centerline is valid? [True, True] Translation: X:208.15, Y:85.40, Z:11.70 [[ 9.99342159e-01 3.17055424e-02 -1.76070612e-02 2.08152822e+02] [-3.17042010e-02 9.99497232e-01 3.55379472e-04 8.54031595e+01] [ 1.76094764e-02 2.03072119e-04 9.99844921e-01 1.17049427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.036875 meters 0.01834495240297472 Centerline is valid? [True, True] Translation: X:208.18, Y:85.40, Z:11.71 [[ 9.99376817e-01 3.09040409e-02 -1.70563152e-02 2.08184907e+02] [-3.09025983e-02 9.99522340e-01 3.48200120e-04 8.54026360e+01] [ 1.70589289e-02 1.79101329e-04 9.99854470e-01 1.17053225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.066875 meters 0.018267196938149925 Centerline is valid? [True, True] Translation: X:208.22, Y:85.40, Z:11.71 [[ 9.99417710e-01 3.06549797e-02 -1.49837920e-02 2.08217002e+02] [-3.06537875e-02 9.99530014e-01 3.09277896e-04 8.54025134e+01] [ 1.49862307e-02 1.50212168e-04 9.99887689e-01 1.17081436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.096875 meters 0.018447123798818677 Centerline is valid? [True, True] Translation: X:208.25, Y:85.40, Z:11.71 [[ 9.99393465e-01 3.15035089e-02 -1.48402117e-02 2.08249634e+02] [-3.15023763e-02 9.99503629e-01 3.10138003e-04 8.54021089e+01] [ 1.48426159e-02 1.57552039e-04 9.99889830e-01 1.17086051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.126875 meters 0.018522273830208203 Centerline is valid? [True, True] Translation: X:208.28, Y:85.40, Z:11.71 [[ 9.99364463e-01 3.24927136e-02 -1.46592499e-02 2.08282834e+02] [-3.24916574e-02 9.99471959e-01 3.10273888e-04 8.54016479e+01] [ 1.46615908e-02 1.66226628e-04 9.99892499e-01 1.17095520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.156875 meters 0.018907234733848626 Centerline is valid? [True, True] Translation: X:208.32, Y:85.40, Z:11.71 [[ 9.99300578e-01 3.49435454e-02 -1.33154988e-02 2.08315253e+02] [-3.49428493e-02 9.99389272e-01 2.84996292e-04 8.54012499e+01] [ 1.33173254e-02 1.80484507e-04 9.99911304e-01 1.17135601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.186875 meters 0.019089168404194237 Centerline is valid? [True, True] Translation: X:208.35, Y:85.40, Z:11.72 [[ 9.99275847e-01 3.57440954e-02 -1.30438278e-02 2.08347782e+02] [-3.57434728e-02 9.99360958e-01 2.80934667e-04 8.54006464e+01] [ 1.30455340e-02 1.85500476e-04 9.99914886e-01 1.17153724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.216875 meters 0.019129207123919953 Centerline is valid? [True, True] Translation: X:208.38, Y:85.40, Z:11.72 [[ 9.99236989e-01 3.66009305e-02 -1.36312595e-02 2.08379545e+02] [-3.66002958e-02 9.99329941e-01 2.96107352e-04 8.53993363e+01] [ 1.36329636e-02 2.03026712e-04 9.99907046e-01 1.17157354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.246875 meters 0.01934652916930977 Centerline is valid? [True, True] Translation: X:208.41, Y:85.40, Z:11.71 [[ 9.99211434e-01 3.68251428e-02 -1.48465467e-02 2.08411080e+02] [-3.68243649e-02 9.99321700e-01 3.25852861e-04 8.54001478e+01] [ 1.48484759e-02 2.21118749e-04 9.99889731e-01 1.17128851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.276875 meters 0.019035282551670456 Centerline is valid? [True, True] Translation: X:208.44, Y:85.40, Z:11.71 [[ 9.99147994e-01 3.77750376e-02 -1.66232284e-02 2.08443706e+02] [-3.77741281e-02 9.99286235e-01 3.68804920e-04 8.54036891e+01] [ 1.66252950e-02 2.59437264e-04 9.99861757e-01 1.17052301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.306875 meters 0.01922073678540676 Centerline is valid? [True, True] Translation: X:208.48, Y:85.40, Z:11.70 [[ 9.99138844e-01 3.83260416e-02 -1.58960790e-02 2.08476203e+02] [-3.83252141e-02 9.99265255e-01 3.56792069e-04 8.54036980e+01] [ 1.58980739e-02 2.52735818e-04 9.99873586e-01 1.17028104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.336875 meters 0.019399372011740114 Centerline is valid? [True, True] Translation: X:208.51, Y:85.40, Z:11.70 [[ 9.99220155e-01 3.59778644e-02 -1.62688181e-02 2.08507593e+02] [-3.59766400e-02 9.99352563e-01 3.68015859e-04 8.54014569e+01] [ 1.62715255e-02 2.17568548e-04 9.99867586e-01 1.17016562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.366875 meters 0.018286703768560036 Centerline is valid? [True, True] Translation: X:208.54, Y:85.39, Z:11.71 [[ 9.99370733e-01 3.21034158e-02 -1.50833914e-02 2.08539706e+02] [-3.21018762e-02 9.99484543e-01 3.44244645e-04 8.53892916e+01] [ 1.50866680e-02 1.40177142e-04 9.99886180e-01 1.17112367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.396875 meters 0.018060755088767956 Centerline is valid? [True, True] Translation: X:208.57, Y:85.39, Z:11.72 [[ 9.99413661e-01 3.15013537e-02 -1.34163335e-02 2.08571464e+02] [-3.15000407e-02 9.99503703e-01 3.09221554e-04 8.53855370e+01] [ 1.34194159e-02 1.13574807e-04 9.99909949e-01 1.17162582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.426875 meters 0.017983143881955124 Centerline is valid? [True, True] Translation: X:208.60, Y:85.38, Z:11.72 [[ 9.99422556e-01 3.14593994e-02 -1.28397807e-02 2.08604183e+02] [-3.14581519e-02 9.99505025e-01 2.99164193e-04 8.53835446e+01] [ 1.28428368e-02 1.04924328e-04 9.99917522e-01 1.17190711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.456875 meters 0.01797430128953876 Centerline is valid? [True, True] Translation: X:208.64, Y:85.38, Z:11.72 [[ 9.99415065e-01 3.17844690e-02 -1.26204516e-02 2.08637553e+02] [-3.17832474e-02 9.99494741e-01 2.97399319e-04 8.53837364e+01] [ 1.26235277e-02 1.03893576e-04 9.99920315e-01 1.17178661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.486875 meters 0.018499314711023996 Centerline is valid? [True, True] Translation: X:208.67, Y:85.39, Z:11.71 [[ 9.99345081e-01 3.32744081e-02 -1.42205331e-02 2.08669092e+02] [-3.32729567e-02 9.99446244e-01 3.38711691e-04 8.53878417e+01] [ 1.42239288e-02 1.34669318e-04 9.99898826e-01 1.17095786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.516875 meters 0.018358522009453655 Centerline is valid? [True, True] Translation: X:208.70, Y:85.39, Z:11.71 [[ 9.99360259e-01 3.28615231e-02 -1.41135669e-02 2.08702491e+02] [-3.28600015e-02 9.99459907e-01 3.39756475e-04 8.53883808e+01] [ 1.41171092e-02 1.24232711e-04 9.99900341e-01 1.17067083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.546875 meters 0.018337053187923256 Centerline is valid? [True, True] Translation: X:208.73, Y:85.39, Z:11.71 [[ 9.99359204e-01 3.31762453e-02 -1.34356702e-02 2.08734885e+02] [-3.31748479e-02 9.99449510e-01 3.26925196e-04 8.53885518e+01] [ 1.34391202e-02 1.19010613e-04 9.99909684e-01 1.17053740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57687500000003 meters 0.018036418415857937 Centerline is valid? [True, True] Translation: X:208.77, Y:85.38, Z:11.71 [[ 9.99408006e-01 3.22205920e-02 -1.20611423e-02 2.08767060e+02] [-3.22193625e-02 9.99480778e-01 2.96285937e-04 8.53810877e+01] [ 1.20644264e-02 9.24917796e-05 9.99927218e-01 1.17114307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.606875 meters 0.018078031091137467 Centerline is valid? [True, True] Translation: X:208.80, Y:85.38, Z:11.72 [[ 9.99431063e-01 3.15394160e-02 -1.19505588e-02 2.08798331e+02] [-3.15381260e-02 9.99502506e-01 2.96424394e-04 8.53752955e+01] [ 1.19539625e-02 8.06424823e-05 9.99928546e-01 1.17160685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63687500000003 meters 0.017994983319270883 Centerline is valid? [True, True] Translation: X:208.83, Y:85.37, Z:11.72 [[ 9.99437226e-01 3.09633340e-02 -1.29035787e-02 2.08831073e+02] [-3.09617376e-02 9.99520518e-01 3.23516600e-04 8.53703215e+01] [ 1.29074088e-02 7.61826846e-05 9.99916693e-01 1.17195384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.666875 meters 0.01824018589281904 Centerline is valid? [True, True] Translation: X:208.86, Y:85.37, Z:11.72 [[ 9.99426347e-01 3.05739285e-02 -1.45674574e-02 2.08862294e+02] [-3.05718011e-02 9.99532505e-01 3.68757164e-04 8.53689132e+01] [ 1.45719216e-02 7.68077859e-05 9.99893821e-01 1.17177550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69687500000003 meters 0.018275945000665688 Centerline is valid? [True, True] Translation: X:208.89, Y:85.37, Z:11.71 [[ 9.99386841e-01 3.11410127e-02 -1.60056027e-02 2.08894748e+02] [-3.11384593e-02 9.99514997e-01 4.08781788e-04 8.53723751e+01] [ 1.60105699e-02 8.98586694e-05 9.99871819e-01 1.17092870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.726875 meters 0.018007511243376476 Centerline is valid? [True, True] Translation: X:208.93, Y:85.37, Z:11.71 [[ 9.99428128e-01 3.01292456e-02 -1.53507326e-02 2.08927261e+02] [-3.01267239e-02 9.99546009e-01 3.95546663e-04 8.53728395e+01] [ 1.53556810e-02 6.71468212e-05 9.99882092e-01 1.17074999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.75687500000004 meters 0.01786770813371787 Centerline is valid? [True, True] Translation: X:208.96, Y:85.37, Z:11.71 [[ 9.99492950e-01 2.88535441e-02 -1.34653224e-02 2.08959460e+02] [-2.88514470e-02 9.99583649e-01 3.50008771e-04 8.53718704e+01] [ 1.34698151e-02 3.86627372e-05 9.99909277e-01 1.17081252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.786875 meters 0.017909396484551404 Centerline is valid? [True, True] Translation: X:208.99, Y:85.37, Z:11.71 [[ 9.99521511e-01 2.82729734e-02 -1.25454388e-02 2.08990457e+02] [-2.82710730e-02 9.99600239e-01 3.28835818e-04 8.53700937e+01] [ 1.25497208e-02 2.59945436e-05 9.99921249e-01 1.17091489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.816875 meters 0.01786802577033466 Centerline is valid? [True, True] Translation: X:209.02, Y:85.36, Z:11.71 [[ 9.99529079e-01 2.74120504e-02 -1.37912973e-02 2.09022322e+02] [-2.74096260e-02 9.99624219e-01 3.64811138e-04 8.53632075e+01] [ 1.37961150e-02 1.33749604e-05 9.99904829e-01 1.17147521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.846875 meters 0.018185661271628083 Centerline is valid? [True, True] Translation: X:209.05, Y:85.36, Z:11.72 [[ 9.99519350e-01 2.71305577e-02 -1.50000687e-02 2.09053405e+02] [-2.71276077e-02 9.99631899e-01 4.00140602e-04 8.53593216e+01] [ 1.50054032e-02 6.96770283e-06 9.99887413e-01 1.17165195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.876875 meters 0.01810852295488316 Centerline is valid? [True, True] Translation: X:209.09, Y:85.36, Z:11.72 [[ 9.99540964e-01 2.65697669e-02 -1.45571058e-02 2.09086483e+02] [-2.65668769e-02 9.99646961e-01 3.91909363e-04 8.53572576e+01] [ 1.45623795e-02 -4.99262568e-06 9.99893963e-01 1.17214716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.906875 meters 0.017943044149007548 Centerline is valid? [True, True] Translation: X:209.12, Y:85.36, Z:11.72 [[ 9.99565416e-01 2.59826252e-02 -1.39241596e-02 2.09119200e+02] [-2.59798720e-02 9.99662394e-01 3.78598301e-04 8.53574829e+01] [ 1.39292957e-02 -1.66858836e-05 9.99902983e-01 1.17215966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.936875 meters 0.01806672265621145 Centerline is valid? [True, True] Translation: X:209.15, Y:85.36, Z:11.72 [[ 9.99628048e-01 2.37009918e-02 -1.34918334e-02 2.09151582e+02] [-2.36981521e-02 9.99719091e-01 3.70330646e-04 8.53578828e+01] [ 1.34968206e-02 -5.04613819e-05 9.99908912e-01 1.17159398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.966875 meters 0.01833772315262609 Centerline is valid? [True, True] Translation: X:209.18, Y:85.35, Z:11.72 [[ 9.99663759e-01 2.21762848e-02 -1.34380454e-02 2.09184315e+02] [-2.21732829e-02 9.99754073e-01 3.72356642e-04 8.53549731e+01] [ 1.34429981e-02 -7.42658599e-05 9.99909636e-01 1.17159915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.996875 meters 0.01842826133752476 Centerline is valid? [True, True] Translation: X:209.22, Y:85.35, Z:11.72 [[ 9.99696339e-01 2.12510023e-02 -1.24749564e-02 2.09217531e+02] [-2.12483034e-02 9.99774168e-01 3.48862789e-04 8.53525674e+01] [ 1.24795528e-02 -8.36851951e-05 9.99922124e-01 1.17182204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.026875 meters 0.01847251882828113 Centerline is valid? [True, True] Translation: X:209.25, Y:85.35, Z:11.72 [[ 9.99746681e-01 1.97813791e-02 -1.07363966e-02 2.09250814e+02] [-1.97792666e-02 9.99804325e-01 3.02925526e-04 8.53506797e+01] [ 1.07402880e-02 -9.04907388e-05 9.99942317e-01 1.17209643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.056875 meters 0.01891114457071581 Centerline is valid? [True, True] Translation: X:209.28, Y:85.35, Z:11.72 [[ 9.99746796e-01 1.82135771e-02 -1.32139835e-02 2.09281615e+02] [-1.82101955e-02 9.99834110e-01 3.76198809e-04 8.53507307e+01] [ 1.32186434e-02 -1.35474330e-04 9.99912621e-01 1.17170770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.086875 meters 0.019148692926645422 Centerline is valid? [True, True] Translation: X:209.31, Y:85.35, Z:11.71 [[ 9.99724610e-01 1.81604005e-02 -1.48628402e-02 2.09313489e+02] [-1.81560640e-02 9.99835074e-01 4.26657143e-04 8.53525545e+01] [ 1.48681372e-02 -1.56688967e-04 9.99889451e-01 1.17136143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.116875 meters 0.019304679856025297 Centerline is valid? [True, True] Translation: X:209.35, Y:85.35, Z:11.71 [[ 9.99702330e-01 1.92066499e-02 -1.50451469e-02 2.09345759e+02] [-1.92022693e-02 9.99815525e-01 4.35581073e-04 8.53530050e+01] [ 1.50507375e-02 -1.46550451e-04 9.99886720e-01 1.17140766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.146875 meters 0.019072971581713633 Centerline is valid? [True, True] Translation: X:209.38, Y:85.35, Z:11.72 [[ 9.99680215e-01 2.05811560e-02 -1.46930162e-02 2.09377932e+02] [-2.05770756e-02 9.99788178e-01 4.28845918e-04 8.53508514e+01] [ 1.46987301e-02 -1.26369472e-04 9.99891960e-01 1.17177051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.176875 meters 0.019045585976651392 Centerline is valid? [True, True] Translation: X:209.41, Y:85.35, Z:11.72 [[ 9.99645059e-01 2.16774048e-02 -1.54869525e-02 2.09409577e+02] [-2.16729577e-02 9.99765010e-01 4.54947302e-04 8.53485547e+01] [ 1.54931753e-02 -1.19137756e-04 9.99879966e-01 1.17213140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.206875 meters 0.019092040208863948 Centerline is valid? [True, True] Translation: X:209.44, Y:85.35, Z:11.72 [[ 9.99611578e-01 2.26551738e-02 -1.62307212e-02 2.09441974e+02] [-2.26503554e-02 9.99743332e-01 4.80657863e-04 8.53475736e+01] [ 1.62374447e-02 -1.12839561e-04 9.99868158e-01 1.17231518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.236875 meters 0.019233508692427702 Centerline is valid? [True, True] Translation: X:209.48, Y:85.35, Z:11.72 [[ 9.99547292e-01 2.47972255e-02 -1.70384733e-02 2.09475014e+02] [-2.47921480e-02 9.99692498e-01 5.09199897e-04 8.53521716e+01] [ 1.70458606e-02 -8.65490273e-05 9.99854705e-01 1.17220007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.266875 meters 0.019487678722506143 Centerline is valid? [True, True] Translation: X:209.51, Y:85.36, Z:11.72 [[ 9.99540459e-01 2.56166212e-02 -1.62067702e-02 2.09506040e+02] [-2.56120748e-02 9.99671838e-01 4.88050263e-04 8.53553604e+01] [ 1.62139539e-02 -7.27369729e-05 9.99868543e-01 1.17184472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.296875 meters 0.019133811806988095 Centerline is valid? [True, True] Translation: X:209.54, Y:85.36, Z:11.72 [[ 9.99555817e-01 2.62558013e-02 -1.40996930e-02 2.09537397e+02] [-2.62523827e-02 9.99655255e-01 4.27520369e-04 8.53572818e+01] [ 1.41060571e-02 -5.71799339e-05 9.99900503e-01 1.17168745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.32687500000003 meters 0.01882918260985571 Centerline is valid? [True, True] Translation: X:209.57, Y:85.36, Z:11.72 [[ 9.99568096e-01 2.65477315e-02 -1.26031479e-02 2.09569339e+02] [-2.65449890e-02 9.99647546e-01 3.84868058e-04 8.53568626e+01] [ 1.26089232e-02 -5.01514104e-05 9.99920503e-01 1.17162347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.356875 meters 0.018888798646314712 Centerline is valid? [True, True] Translation: X:209.60, Y:85.35, Z:11.72 [[ 9.99520370e-01 2.72736890e-02 -1.46688794e-02 2.09601014e+02] [-2.72700002e-02 9.99628002e-01 4.51470119e-04 8.53518208e+01] [ 1.46757359e-02 -5.12332348e-05 9.99892304e-01 1.17162217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.38687500000003 meters 0.019409306804738326 Centerline is valid? [True, True] Translation: X:209.63, Y:85.35, Z:11.72 [[ 9.99486061e-01 2.77504034e-02 -1.60476872e-02 2.09633143e+02] [-2.77459895e-02 9.99614882e-01 4.97667257e-04 8.53479061e+01] [ 1.60553174e-02 -5.21525270e-05 9.99871104e-01 1.17164317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.416875 meters 0.019922661252613508 Centerline is valid? [True, True] Translation: X:209.67, Y:85.34, Z:11.72 [[ 9.99480603e-01 2.83716815e-02 -1.52830483e-02 2.09665269e+02] [-2.83676981e-02 9.99597442e-01 4.77406724e-04 8.53444611e+01] [ 1.52904408e-02 -4.36138610e-05 9.99883093e-01 1.17189170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.44687500000003 meters 0.019788930345748263 Centerline is valid? [True, True] Translation: X:209.70, Y:85.34, Z:11.73 [[ 9.99474655e-01 3.02563789e-02 -1.16174619e-02 2.09696864e+02] [-3.02541761e-02 9.99542171e-01 3.65345942e-04 8.53429552e+01] [ 1.16231971e-02 -1.36772710e-05 9.99932448e-01 1.17253307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.476875 meters 0.019788930345748263 Centerline is valid? [True, True] Translation: X:209.73, Y:85.34, Z:11.73 [[ 9.99466538e-01 3.05233813e-02 -1.16173686e-02 2.09729230e+02] [-3.05211623e-02 9.99534053e-01 3.68295140e-04 8.53418396e+01] [ 1.16231972e-02 -1.35230744e-05 9.99932448e-01 1.17254784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.50687500000004 meters 0.019656461377310048 Centerline is valid? [True, True] Translation: X:209.76, Y:85.34, Z:11.72 [[ 9.99400697e-01 3.26853877e-02 -1.13978963e-02 2.09762339e+02] [-3.26833579e-02 9.99465690e-01 3.64351878e-04 8.53420444e+01] [ 1.14037153e-02 8.38800343e-06 9.99934975e-01 1.17244371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.536875 meters 0.020127420198704237 Centerline is valid? [True, True] Translation: X:209.79, Y:85.34, Z:11.72 [[ 9.99277046e-01 3.56421838e-02 -1.32295235e-02 2.09793702e+02] [-3.56396653e-02 9.99364614e-01 4.26158501e-04 8.53429398e+01] [ 1.32363069e-02 4.56453820e-05 9.99912395e-01 1.17204559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.566875 meters 0.0200536269680201 Centerline is valid? [True, True] Translation: X:209.83, Y:85.34, Z:11.72 [[ 9.99096056e-01 3.91446741e-02 -1.65760428e-02 2.09826236e+02] [-3.91411656e-02 9.99233547e-01 5.36161561e-04 8.53434660e+01] [ 1.65843259e-02 1.13128733e-04 9.99862464e-01 1.17182910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.596875 meters 0.020411352683912296 Centerline is valid? [True, True] Translation: X:209.86, Y:85.34, Z:11.72 [[ 9.98881304e-01 4.31303935e-02 -1.93883829e-02 2.09857797e+02] [-4.31262729e-02 9.99069430e-01 6.30787737e-04 8.53438777e+01] [ 1.93975468e-02 2.06066614e-04 9.99811829e-01 1.17155227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.626875 meters 0.02273025349620918 Centerline is valid? [True, True] Translation: X:209.89, Y:85.34, Z:11.71 [[ 9.98516056e-01 4.88954239e-02 -2.39775607e-02 2.09889093e+02] [-4.88907382e-02 9.98803827e-01 7.81955852e-04 8.53449654e+01] [ 2.39871134e-02 3.91485166e-04 9.99712191e-01 1.17060275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.656875 meters 0.022598422631957084 Centerline is valid? [True, True] Translation: X:209.92, Y:85.34, Z:11.71 [[ 9.98430338e-01 5.04380313e-02 -2.43488427e-02 2.09920714e+02] [-5.04335393e-02 9.98727100e-01 7.98928431e-04 8.53440127e+01] [ 2.43581454e-02 4.30323932e-04 9.99703204e-01 1.17060580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.686875 meters 0.023000149632207742 Centerline is valid? [True, True] Translation: X:209.95, Y:85.34, Z:11.71 [[ 9.98426883e-01 5.14606985e-02 -2.22610727e-02 2.09951744e+02] [-5.14570892e-02 9.98674936e-01 7.35298961e-04 8.53437334e+01] [ 2.22694144e-02 4.11347756e-04 9.99751921e-01 1.17069925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.716875 meters 0.022368596047131838 Centerline is valid? [True, True] Translation: X:209.98, Y:85.34, Z:11.71 [[ 9.98557294e-01 5.08129835e-02 -1.73600312e-02 2.09982907e+02] [-5.08106695e-02 9.98708138e-01 5.74626020e-04 8.53430982e+01] [ 1.73668029e-02 3.08277803e-04 9.99849138e-01 1.17123642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.746875 meters 0.02221416910889299 Centerline is valid? [True, True] Translation: X:210.02, Y:85.34, Z:11.71 [[ 9.98571564e-01 5.07820381e-02 -1.66137179e-02 2.10015080e+02] [-5.07798645e-02 9.98709717e-01 5.52927025e-04 8.53428016e+01] [ 1.66203603e-02 2.91505140e-04 9.99861830e-01 1.17140654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.776875 meters 0.022104207508840408 Centerline is valid? [True, True] Translation: X:210.05, Y:85.34, Z:11.71 [[ 9.98569800e-01 5.09050231e-02 -1.63411271e-02 2.10047742e+02] [-5.09028675e-02 9.98703458e-01 5.48089290e-04 8.53424942e+01] [ 1.63478407e-02 2.84504817e-04 9.99866325e-01 1.17136347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.806875 meters 0.02185864470833639 Centerline is valid? [True, True] Translation: X:210.08, Y:85.34, Z:11.71 [[ 9.98595403e-01 5.02666756e-02 -1.67476130e-02 2.10079278e+02] [-5.02642523e-02 9.98735793e-01 5.65862327e-04 8.53391009e+01] [ 1.67548845e-02 2.76738725e-04 9.99859589e-01 1.17136522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.836875 meters 0.02144943002484796 Centerline is valid? [True, True] Translation: X:210.11, Y:85.34, Z:11.72 [[ 9.98631951e-01 4.97661308e-02 -1.60486112e-02 2.10111302e+02] [-4.97637808e-02 9.98760866e-01 5.45992564e-04 8.53355335e+01] [ 1.60558968e-02 2.53393951e-04 9.99871064e-01 1.17156429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.866875 meters 0.021300976351485628 Centerline is valid? [True, True] Translation: X:210.14, Y:85.33, Z:11.72 [[ 9.98641740e-01 4.95832266e-02 -1.60055776e-02 2.10144407e+02] [-4.95807989e-02 9.98769965e-01 5.48696214e-04 8.53318314e+01] [ 1.60130963e-02 2.45618382e-04 9.99871752e-01 1.17170024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.896875 meters 0.021079327050692796 Centerline is valid? [True, True] Translation: X:210.18, Y:85.33, Z:11.72 [[ 9.98666215e-01 4.88945332e-02 -1.65865823e-02 2.10177355e+02] [-4.88917562e-02 9.98803919e-01 5.73129233e-04 8.53288510e+01] [ 1.65947663e-02 2.38582336e-04 9.99862269e-01 1.17167442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.926875 meters 0.020734887974296907 Centerline is valid? [True, True] Translation: X:210.21, Y:85.33, Z:11.71 [[ 9.98773218e-01 4.65349212e-02 -1.69281031e-02 2.10208517e+02] [-4.65316229e-02 9.98916644e-01 5.88879465e-04 8.53256500e+01] [ 1.69371674e-02 1.99535072e-04 9.99856536e-01 1.17139847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.956875 meters 0.020489473039197837 Centerline is valid? [True, True] Translation: X:210.24, Y:85.32, Z:11.71 [[ 9.98823051e-01 4.53683631e-02 -1.71529468e-02 2.10240521e+02] [-4.53647372e-02 9.98970310e-01 6.00626389e-04 8.53246368e+01] [ 1.71625340e-02 1.78219441e-04 9.99852697e-01 1.17124768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.986875 meters 0.02068007709691637 Centerline is valid? [True, True] Translation: X:210.27, Y:85.32, Z:11.71 [[ 9.98839275e-01 4.46504260e-02 -1.80676876e-02 2.10273380e+02] [-4.46462004e-02 9.99002658e-01 6.37374459e-04 8.53237421e+01] [ 1.80781269e-02 1.70018957e-04 9.99836563e-01 1.17102873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.016875 meters 0.020939229858246634 Centerline is valid? [True, True] Translation: X:210.31, Y:85.33, Z:11.70 [[ 9.98837795e-01 4.45985408e-02 -1.82764788e-02 2.10305771e+02] [-4.45941190e-02 9.99004976e-01 6.49617879e-04 8.53271959e+01] [ 1.82872652e-02 1.66160579e-04 9.99832760e-01 1.17041265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.046875 meters 0.020511322614887445 Centerline is valid? [True, True] Translation: X:210.34, Y:85.33, Z:11.71 [[ 9.98887096e-01 4.38655603e-02 -1.73315549e-02 2.10338089e+02] [-4.38614021e-02 9.99037433e-01 6.20152519e-04 8.53252962e+01] [ 1.73420754e-02 1.40723949e-04 9.99849605e-01 1.17062454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07687500000003 meters 0.020269540672548627 Centerline is valid? [True, True] Translation: X:210.37, Y:85.32, Z:11.71 [[ 9.98919952e-01 4.34160847e-02 -1.65521047e-02 2.10370492e+02] [-4.34121672e-02 9.99057070e-01 5.96078556e-04 8.53228848e+01] [ 1.65623766e-02 1.23127973e-04 9.99862827e-01 1.17091186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.106875 meters 0.020190959833581677 Centerline is valid? [True, True] Translation: X:210.40, Y:85.32, Z:11.71 [[ 9.98935861e-01 4.30816590e-02 -1.64656319e-02 2.10401850e+02] [-4.30776711e-02 9.99071548e-01 5.96956079e-04 8.53168078e+01] [ 1.64760622e-02 1.12980240e-04 9.99864254e-01 1.17145638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13687500000003 meters 0.020121770981003227 Centerline is valid? [True, True] Translation: X:210.43, Y:85.31, Z:11.72 [[ 9.98937050e-01 4.32799256e-02 -1.58624558e-02 2.10434393e+02] [-4.32761848e-02 9.99062979e-01 5.79165608e-04 8.53132834e+01] [ 1.58726586e-02 1.07916585e-04 9.99874016e-01 1.17180187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.166875 meters 0.020703343414582673 Centerline is valid? [True, True] Translation: X:210.47, Y:85.31, Z:11.72 [[ 9.98853746e-01 4.48211819e-02 -1.68004516e-02 2.10466926e+02] [-4.48171343e-02 9.98995017e-01 6.17533549e-04 8.53131307e+01] [ 1.68112460e-02 1.36122396e-04 9.99858672e-01 1.17174403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19687500000003 meters 0.021104548998152915 Centerline is valid? [True, True] Translation: X:210.50, Y:85.32, Z:11.71 [[ 9.98637442e-01 4.92794274e-02 -1.71696887e-02 2.10499855e+02] [-4.92757893e-02 9.98785008e-01 6.35138732e-04 8.53238814e+01] [ 1.71801270e-02 2.11776647e-04 9.99852388e-01 1.17093029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.226875 meters 0.02109262591944725 Centerline is valid? [True, True] Translation: X:210.53, Y:85.33, Z:11.71 [[ 9.98600501e-01 5.04009080e-02 -1.60246089e-02 2.10532447e+02] [-5.03978178e-02 9.98729044e-01 5.96868277e-04 8.53259330e+01] [ 1.60343250e-02 2.11572357e-04 9.99871420e-01 1.17073499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.25687500000004 meters 0.02105503257787148 Centerline is valid? [True, True] Translation: X:210.56, Y:85.32, Z:11.71 [[ 9.98631179e-01 5.03508570e-02 -1.41619215e-02 2.10564759e+02] [-5.03483907e-02 9.98731574e-01 5.30857421e-04 8.53245810e+01] [ 1.41706873e-02 1.82899186e-04 9.99899574e-01 1.17086553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.286875 meters 0.020660540685078818 Centerline is valid? [True, True] Translation: X:210.60, Y:85.32, Z:11.71 [[ 9.98726419e-01 4.87640979e-02 -1.29461558e-02 2.10595539e+02] [-4.87618670e-02 9.98810313e-01 4.88109235e-04 8.53194389e+01] [ 1.29545562e-02 1.43791140e-04 9.99916076e-01 1.17122557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.316875 meters 0.020496953355381695 Centerline is valid? [True, True] Translation: X:210.63, Y:85.32, Z:11.71 [[ 9.98788236e-01 4.74085565e-02 -1.32094039e-02 2.10626727e+02] [-4.74060771e-02 9.98875574e-01 5.00926426e-04 8.53162254e+01] [ 1.32182991e-02 1.25886599e-04 9.99912627e-01 1.17132452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.346875 meters 0.020488529880343373 Centerline is valid? [True, True] Translation: X:210.66, Y:85.31, Z:11.72 [[ 9.98854706e-01 4.63380710e-02 -1.19188701e-02 2.10658906e+02] [-4.63359452e-02 9.98925810e-01 4.54587366e-04 8.53125708e+01] [ 1.19271317e-02 9.82053845e-05 9.99928864e-01 1.17151874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.376875 meters 0.020505092098334145 Centerline is valid? [True, True] Translation: X:210.69, Y:85.31, Z:11.72 [[ 9.98955035e-01 4.48648768e-02 -8.71671567e-03 2.10690225e+02] [-4.48636692e-02 9.98993063e-01 3.34123457e-04 8.53113626e+01] [ 8.72292890e-03 5.72895390e-05 9.99961953e-01 1.17178015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.406875 meters 0.020547347748804796 Centerline is valid? [True, True] Translation: X:210.72, Y:85.31, Z:11.72 [[ 9.98930818e-01 4.52672740e-02 -9.38586914e-03 2.10723540e+02] [-4.52658696e-02 9.98974910e-01 3.62124819e-04 8.53103326e+01] [ 9.39264018e-03 6.31218862e-05 9.99955886e-01 1.17165743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.436875 meters 0.020299002064801917 Centerline is valid? [True, True] Translation: X:210.76, Y:85.31, Z:11.72 [[ 9.98874265e-01 4.62537249e-02 -1.05259951e-02 2.10756034e+02] [-4.62519819e-02 9.98929721e-01 4.09090817e-04 8.53090774e+01] [ 1.05336513e-02 7.82178462e-05 9.99944516e-01 1.17151403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.466875 meters 0.02068653180301265 Centerline is valid? [True, True] Translation: X:210.79, Y:85.31, Z:11.71 [[ 9.98818042e-01 4.71259074e-02 -1.19024503e-02 2.10787642e+02] [-4.71237037e-02 9.98888953e-01 4.65686552e-04 8.53069140e+01] [ 1.19111720e-02 9.57514101e-05 9.99929055e-01 1.17147587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.496875 meters 0.020664828145801787 Centerline is valid? [True, True] Translation: X:210.82, Y:85.31, Z:11.72 [[ 9.98759702e-01 4.85784167e-02 -1.09176496e-02 2.10820354e+02] [-4.85766305e-02 9.98819367e-01 4.28880185e-04 8.53061905e+01] [ 1.09255942e-02 1.01994387e-04 9.99940309e-01 1.17159865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.526875 meters 0.020703186553014837 Centerline is valid? [True, True] Translation: X:210.85, Y:85.31, Z:11.72 [[ 9.98718426e-01 4.94952564e-02 -1.05699784e-02 2.10853348e+02] [-4.94936109e-02 9.98774353e-01 4.17362001e-04 8.53057069e+01] [ 1.05776808e-02 1.06319279e-04 9.99944049e-01 1.17152209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.556875 meters 0.020811063578245265 Centerline is valid? [True, True] Translation: X:210.89, Y:85.30, Z:11.71 [[ 9.98675822e-01 5.02029031e-02 -1.12370564e-02 2.10886279e+02] [-5.02010532e-02 9.98739032e-01 4.46809776e-04 8.53049731e+01] [ 1.12453180e-02 1.17893945e-04 9.99936762e-01 1.17133810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.586875 meters 0.02091906861827123 Centerline is valid? [True, True] Translation: X:210.92, Y:85.31, Z:11.71 [[ 9.98663660e-01 5.04234810e-02 -1.13298664e-02 2.10918556e+02] [-5.04215814e-02 9.98727920e-01 4.53430543e-04 8.53056734e+01] [ 1.13383175e-02 1.18445176e-04 9.99935712e-01 1.17104827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.616875 meters 0.020885795050052627 Centerline is valid? [True, True] Translation: X:210.95, Y:85.31, Z:11.71 [[ 9.98596199e-01 5.18035500e-02 -1.10464579e-02 2.10950691e+02] [-5.18017986e-02 9.98657286e-01 4.44803577e-04 8.53073873e+01] [ 1.10546680e-02 1.28047223e-04 9.99938887e-01 1.17093133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.646875 meters 0.0210594232246832 Centerline is valid? [True, True] Translation: X:210.98, Y:85.31, Z:11.71 [[ 9.98518371e-01 5.31427585e-02 -1.17008241e-02 2.10982500e+02] [-5.31408644e-02 9.98586914e-01 4.72945700e-04 8.53057563e+01] [ 1.17094235e-02 1.49546937e-04 9.99931431e-01 1.17104534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.676875 meters 0.02108127454470686 Centerline is valid? [True, True] Translation: X:211.01, Y:85.30, Z:11.71 [[ 9.98504171e-01 5.33259198e-02 -1.20734127e-02 2.11014734e+02] [-5.33238888e-02 9.98577149e-01 4.90298464e-04 8.53021862e+01] [ 1.20823796e-02 1.54236254e-04 9.99926993e-01 1.17126776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.706875 meters 0.02070009218207534 Centerline is valid? [True, True] Translation: X:211.05, Y:85.30, Z:11.72 [[ 9.98546649e-01 5.26974641e-02 -1.12945642e-02 2.11046855e+02] [-5.26956165e-02 9.98610514e-01 4.61329093e-04 8.52978934e+01] [ 1.13031815e-02 1.34515405e-04 9.99936108e-01 1.17163765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.736875 meters 0.020450887539622382 Centerline is valid? [True, True] Translation: X:211.08, Y:85.29, Z:11.72 [[ 9.98604000e-01 5.18871406e-02 -9.88817969e-03 2.11078215e+02] [-5.18856640e-02 9.98652949e-01 4.05977494e-04 8.52948144e+01] [ 9.89592482e-03 1.07644019e-04 9.99951028e-01 1.17195044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.766875 meters 0.020592677744060296 Centerline is valid? [True, True] Translation: X:211.11, Y:85.29, Z:11.72 [[ 9.98649493e-01 5.11679683e-02 -9.00158087e-03 2.11110133e+02] [-5.11666981e-02 9.98690058e-01 3.71507208e-04 8.52928734e+01] [ 9.00879859e-03 8.95756852e-05 9.99959416e-01 1.17195972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.796875 meters 0.020454220510280334 Centerline is valid? [True, True] Translation: X:211.14, Y:85.30, Z:11.71 [[ 9.98665462e-01 5.08919201e-02 -8.79247359e-03 2.11142616e+02] [-5.08906791e-02 9.98704163e-01 3.64958208e-04 8.52987372e+01] [ 8.79965340e-03 8.29837944e-05 9.99961279e-01 1.17105630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.82687500000003 meters 0.02064962213968657 Centerline is valid? [True, True] Translation: X:211.17, Y:85.30, Z:11.71 [[ 9.98609534e-01 5.19373261e-02 -9.02842509e-03 2.11174275e+02] [-5.19360400e-02 9.98650342e-01 3.77004965e-04 8.53011517e+01] [ 9.03582043e-03 9.24198933e-05 9.99959172e-01 1.17069087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.856875 meters 0.02074605006062322 Centerline is valid? [True, True] Translation: X:211.21, Y:85.30, Z:11.71 [[ 9.98505476e-01 5.37993708e-02 -9.61464153e-03 2.11205783e+02] [-5.37979767e-02 9.98551759e-01 4.03755184e-04 8.52993058e+01] [ 9.62243898e-03 1.14096498e-04 9.99953697e-01 1.17081765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.88687500000003 meters 0.020687620160939068 Centerline is valid? [True, True] Translation: X:211.24, Y:85.30, Z:11.71 [[ 9.98411017e-01 5.54349353e-02 -1.01197065e-02 2.11237392e+02] [-5.54334513e-02 9.98462293e-01 4.27289244e-04 8.52963341e+01] [ 1.01278321e-02 1.34359968e-04 9.99948703e-01 1.17106382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.916875 meters 0.021084973541388295 Centerline is valid? [True, True] Translation: X:211.27, Y:85.29, Z:11.71 [[ 9.98329076e-01 5.68197806e-02 -1.05151372e-02 2.11268448e+02] [-5.68182300e-02 9.98384440e-01 4.46375385e-04 8.52949222e+01] [ 1.05235123e-02 1.51821958e-04 9.99944615e-01 1.17130169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.94687500000003 meters 0.021415447625056983 Centerline is valid? [True, True] Translation: X:211.30, Y:85.29, Z:11.72 [[ 9.98198883e-01 5.91580571e-02 -9.96565375e-03 2.11300476e+02] [-5.91567589e-02 9.98248615e-01 4.25253511e-04 8.52948668e+01] [ 9.97335722e-03 1.65048196e-04 9.99950251e-01 1.17171681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.976875 meters 0.021940920021673676 Centerline is valid? [True, True] Translation: X:211.33, Y:85.30, Z:11.72 [[ 9.98179811e-01 5.96811521e-02 -8.67326180e-03 2.11332283e+02] [-5.96801714e-02 9.98217481e-01 3.72077282e-04 8.52966164e+01] [ 8.68000754e-03 1.46221720e-04 9.99962317e-01 1.17175584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.00687500000004 meters 0.020867770335166055 Centerline is valid? [True, True] Translation: X:211.37, Y:85.30, Z:11.71 [[ 9.98172851e-01 5.94868502e-02 -1.05959615e-02 2.11365620e+02] [-5.94853433e-02 9.98229074e-01 4.57600086e-04 8.52956269e+01] [ 1.06044180e-02 1.73540426e-04 9.99943757e-01 1.17131147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.036875 meters 0.020105986926512928 Centerline is valid? [True, True] Translation: X:211.40, Y:85.29, Z:11.71 [[ 9.98363627e-01 5.61426749e-02 -1.08659057e-02 2.11397195e+02] [-5.61408624e-02 9.98422747e-01 4.71992459e-04 8.52938193e+01] [ 1.08752664e-02 1.38801215e-04 9.99940853e-01 1.17118067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.066875 meters 0.01996890613599377 Centerline is valid? [True, True] Translation: X:211.43, Y:85.29, Z:11.71 [[ 9.98451288e-01 5.48044739e-02 -9.56530274e-03 2.11428026e+02] [-5.48029888e-02 9.98497100e-01 4.17502384e-04 8.52939302e+01] [ 9.57380804e-03 1.07351385e-04 9.99954164e-01 1.17112239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.096875 meters 0.019312801567790593 Centerline is valid? [True, True] Translation: X:211.46, Y:85.29, Z:11.71 [[ 9.98563949e-01 5.28613832e-02 -8.70135713e-03 2.11460089e+02] [-5.28600645e-02 9.98601857e-01 3.81617363e-04 8.52923741e+01] [ 8.70936421e-03 7.88849585e-05 9.99962070e-01 1.17115479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.126875 meters 0.019031993545356736 Centerline is valid? [True, True] Translation: X:211.49, Y:85.29, Z:11.71 [[ 9.98796866e-01 4.78808681e-02 -1.05945195e-02 2.11492423e+02] [-4.78786047e-02 9.98853053e-01 4.67315145e-04 8.52876882e+01] [ 1.06047436e-02 4.04979082e-05 9.99943767e-01 1.17100451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.156875 meters 0.01868879257822822 Centerline is valid? [True, True] Translation: X:211.53, Y:85.28, Z:11.71 [[ 9.98918526e-01 4.52653616e-02 -1.06219068e-02 2.11525610e+02] [-4.52629099e-02 9.98974998e-01 4.71220693e-04 8.52829788e+01] [ 1.06323493e-02 1.00673287e-05 9.99943475e-01 1.17120961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.186875 meters 0.01899346583927975 Centerline is valid? [True, True] Translation: X:211.56, Y:85.28, Z:11.72 [[ 9.99019856e-01 4.31330653e-02 -9.94314563e-03 2.11557843e+02] [-4.31307856e-02 9.99069336e-01 4.43693163e-04 8.52788265e+01] [ 9.95302975e-03 -1.44025973e-05 9.99950467e-01 1.17150046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.216875 meters 0.019042258144024 Centerline is valid? [True, True] Translation: X:211.59, Y:85.28, Z:11.72 [[ 9.99112914e-01 4.10690018e-02 -9.31242214e-03 2.11590522e+02] [-4.10668900e-02 9.99156312e-01 4.17959719e-04 8.52760845e+01] [ 9.32173055e-03 -3.51567367e-05 9.99956551e-01 1.17165879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.246875 meters 0.01934077348159758 Centerline is valid? [True, True] Translation: X:211.62, Y:85.27, Z:11.71 [[ 9.99186225e-01 3.90642953e-02 -1.00432996e-02 2.11622270e+02] [-3.90617116e-02 9.99236697e-01 4.53365933e-04 8.52744358e+01] [ 1.00533439e-02 -6.06885252e-05 9.99949462e-01 1.17149583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.276875 meters 0.019396970719957878 Centerline is valid? [True, True] Translation: X:211.65, Y:85.27, Z:11.71 [[ 9.99191891e-01 3.89124972e-02 -1.00688691e-02 2.11654107e+02] [-3.89098678e-02 9.99242620e-01 4.56977230e-04 8.52725602e+01] [ 1.00790252e-02 -6.48295781e-05 9.99949203e-01 1.17142782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.306875 meters 0.01919811359452562 Centerline is valid? [True, True] Translation: X:211.69, Y:85.27, Z:11.72 [[ 9.99170235e-01 3.97236729e-02 -8.99287688e-03 2.11685858e+02] [-3.97215899e-02 9.99210702e-01 4.10188465e-04 8.52717582e+01] [ 9.00207301e-03 -5.26367370e-05 9.99959479e-01 1.17153300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.336875 meters 0.019343874482255056 Centerline is valid? [True, True] Translation: X:211.72, Y:85.27, Z:11.72 [[ 9.99048892e-01 4.28033807e-02 -8.31756412e-03 2.11718433e+02] [-4.28016901e-02 9.99083515e-01 3.81237563e-04 8.52723460e+01] [ 8.32625946e-03 -2.48691625e-05 9.99965336e-01 1.17153305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.366875 meters 0.019343874482255056 Centerline is valid? [True, True] Translation: X:211.75, Y:85.27, Z:11.72 [[ 9.99037420e-01 4.30703225e-02 -8.31746901e-03 2.11750782e+02] [-4.30686240e-02 9.99072043e-01 3.83304018e-04 8.52707563e+01] [ 8.32625978e-03 -2.47131121e-05 9.99965336e-01 1.17154783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.396875 meters 0.01934511548738519 Centerline is valid? [True, True] Translation: X:211.78, Y:85.27, Z:11.72 [[ 9.98991382e-01 4.41914493e-02 -7.95833441e-03 2.11783019e+02] [-4.41899138e-02 9.99023081e-01 3.68768835e-04 8.52687770e+01] [ 7.96685619e-03 -1.67187765e-05 9.99968264e-01 1.17161694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.426875 meters 0.019399951047668337 Centerline is valid? [True, True] Translation: X:211.82, Y:85.27, Z:11.72 [[ 9.98998443e-01 4.41091649e-02 -7.51619157e-03 2.11815952e+02] [-4.41077789e-02 9.99026717e-01 3.50146994e-04 8.52664902e+01] [ 7.52432088e-03 -1.82737854e-05 9.99971692e-01 1.17165194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.456875 meters 0.019629824956123525 Centerline is valid? [True, True] Translation: X:211.85, Y:85.26, Z:11.72 [[ 9.99012859e-01 4.38474484e-02 -7.12104028e-03 2.11848336e+02] [-4.38461844e-02 9.99038238e-01 3.33584746e-04 8.52647549e+01] [ 7.12881837e-03 -2.10250052e-05 9.99974589e-01 1.17164009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.486875 meters 0.01951216695226397 Centerline is valid? [True, True] Translation: X:211.88, Y:85.26, Z:11.72 [[ 9.98987218e-01 4.45452963e-02 -6.34467016e-03 2.11881677e+02] [-4.45442971e-02 9.99007365e-01 2.98788889e-04 8.52644810e+01] [ 6.35168186e-03 -1.58674084e-05 9.99979828e-01 1.17152346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.516875 meters 0.019734479808113183 Centerline is valid? [True, True] Translation: X:211.91, Y:85.26, Z:11.72 [[ 9.98977172e-01 4.48159722e-02 -6.01146912e-03 2.11913534e+02] [-4.48150709e-02 9.98995259e-01 2.84624090e-04 8.52618530e+01] [ 6.01818486e-03 -1.49285543e-05 9.99981890e-01 1.17167240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.546875 meters 0.019793658279442263 Centerline is valid? [True, True] Translation: X:211.95, Y:85.26, Z:11.72 [[ 9.98927461e-01 4.59476462e-02 -5.72198770e-03 2.11946491e+02] [-4.59468401e-02 9.98943849e-01 2.72316081e-04 8.52574321e+01] [ 5.72845670e-03 -9.11675725e-06 9.99983592e-01 1.17215700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57687500000003 meters 0.01971873981498819 Centerline is valid? [True, True] Translation: X:211.98, Y:85.26, Z:11.72 [[ 9.98906785e-01 4.63278848e-02 -6.24194744e-03 2.11979523e+02] [-4.63269220e-02 9.98926287e-01 2.98820188e-04 8.52552633e+01] [ 6.24908909e-03 -9.32330101e-06 9.99980474e-01 1.17226062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.606875 meters 0.019911742408431486 Centerline is valid? [True, True] Translation: X:212.01, Y:85.25, Z:11.72 [[ 9.98866986e-01 4.70609402e-02 -7.07189908e-03 2.12012027e+02] [-4.70597084e-02 9.98892020e-01 3.40580978e-04 8.52546365e+01] [ 7.08009161e-03 -7.39358665e-06 9.99974936e-01 1.17212334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63687500000003 meters 0.019806568498287155 Centerline is valid? [True, True] Translation: X:212.05, Y:85.26, Z:11.72 [[ 9.98709544e-01 5.00160208e-02 -8.81158670e-03 2.12045110e+02] [-5.00142001e-02 9.98748415e-01 4.27000993e-04 8.52589757e+01] [ 8.82191515e-03 1.42544934e-05 9.99961086e-01 1.17159848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.666875 meters 0.01965178469577605 Centerline is valid? [True, True] Translation: X:212.08, Y:85.26, Z:11.72 [[ 9.98632304e-01 5.16303753e-02 -8.23566954e-03 2.12077962e+02] [-5.16288221e-02 9.98666262e-01 4.01223057e-04 8.52602179e+01] [ 8.24540062e-03 2.45236124e-05 9.99966006e-01 1.17151613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69687500000003 meters 0.019691818096531064 Centerline is valid? [True, True] Translation: X:212.11, Y:85.26, Z:11.72 [[ 9.98526224e-01 5.38438681e-02 -6.79842488e-03 2.12110776e+02] [-5.38428500e-02 9.98549366e-01 3.32822228e-04 8.52609857e+01] [ 6.80648329e-03 3.37148482e-05 9.99976835e-01 1.17168422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.726875 meters 0.020031413588863158 Centerline is valid? [True, True] Translation: X:212.14, Y:85.26, Z:11.72 [[ 9.98297909e-01 5.80600558e-02 -5.50594335e-03 2.12141608e+02] [-5.80594455e-02 9.98313091e-01 2.70756886e-04 8.52636910e+01] [ 5.51237549e-03 4.93759851e-05 9.99984806e-01 1.17198046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.75687500000004 meters 0.020148332023451426 Centerline is valid? [True, True] Translation: X:212.17, Y:85.26, Z:11.72 [[ 9.98208002e-01 5.94608698e-02 -6.72229948e-03 2.12173442e+02] [-5.94599801e-02 9.98230635e-01 3.32306425e-04 8.52642231e+01] [ 6.73016450e-03 6.79968608e-05 9.99977350e-01 1.17185707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.786875 meters 0.020257014643253128 Centerline is valid? [True, True] Translation: X:212.21, Y:85.27, Z:11.72 [[ 9.98146866e-01 6.03643071e-02 -7.68012617e-03 2.12205626e+02] [-6.03631566e-02 9.98176409e-01 3.81728103e-04 8.52650118e+01] [ 7.68916351e-03 8.25759490e-05 9.99970435e-01 1.17166055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.816875 meters 0.020295452989743803 Centerline is valid? [True, True] Translation: X:212.24, Y:85.26, Z:11.72 [[ 9.98088741e-01 6.11046506e-02 -9.22426019e-03 2.12238013e+02] [-6.11029972e-02 9.98131360e-01 4.61225462e-04 8.52617858e+01] [ 9.23520639e-03 1.03286004e-04 9.99957349e-01 1.17174262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.846875 meters 0.02046307021300448 Centerline is valid? [True, True] Translation: X:212.27, Y:85.25, Z:11.72 [[ 9.98016790e-01 6.19479135e-02 -1.11777570e-02 2.12269570e+02] [-6.19455040e-02 9.98079375e-01 5.61981687e-04 8.52535622e+01] [ 1.11911024e-02 1.31544634e-04 9.99937369e-01 1.17242100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.876875 meters 0.020675958926609693 Centerline is valid? [True, True] Translation: X:212.30, Y:85.25, Z:11.73 [[ 9.97978548e-01 6.24133984e-02 -1.19743822e-02 2.12300549e+02] [-6.24106413e-02 9.98050373e-01 6.04155212e-04 8.52514088e+01] [ 1.19887440e-02 1.44394929e-04 9.99928122e-01 1.17257963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.906875 meters 0.020630549864690494 Centerline is valid? [True, True] Translation: X:212.33, Y:85.25, Z:11.73 [[ 9.97957765e-01 6.27930081e-02 -1.17191060e-02 2.12333831e+02] [-6.27903641e-02 9.98026562e-01 5.93777787e-04 8.52504188e+01] [ 1.17332641e-02 1.43281778e-04 9.99931153e-01 1.17252711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.936875 meters 0.020606662456650063 Centerline is valid? [True, True] Translation: X:212.37, Y:85.26, Z:11.72 [[ 9.97863693e-01 6.43742546e-02 -1.11358194e-02 2.12366038e+02] [-6.43719355e-02 9.97925815e-01 5.66937327e-04 8.52578927e+01] [ 1.11492179e-02 1.51108076e-04 9.99937834e-01 1.17184200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.966875 meters 0.02133403018509831 Centerline is valid? [True, True] Translation: X:212.40, Y:85.26, Z:11.71 [[ 9.97776767e-01 6.57881102e-02 -1.06511520e-02 2.12396975e+02] [-6.57860440e-02 9.97833603e-01 5.44618133e-04 8.52619503e+01] [ 1.06639068e-02 1.57289836e-04 9.99943127e-01 1.17149957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.996875 meters 0.021053416353522147 Centerline is valid? [True, True] Translation: X:212.43, Y:85.26, Z:11.72 [[ 9.97673725e-01 6.73386279e-02 -1.06136057e-02 2.12428568e+02] [-6.73366381e-02 9.97730164e-01 5.45120933e-04 8.52601518e+01] [ 1.06262222e-02 1.70831694e-04 9.99943526e-01 1.17150108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.026875 meters 0.021322121424684003 Centerline is valid? [True, True] Translation: X:212.46, Y:85.26, Z:11.72 [[ 9.97539116e-01 6.91549720e-02 -1.15456014e-02 2.12460863e+02] [-6.91527064e-02 9.97605908e-01 5.95818096e-04 8.52565940e+01] [ 1.15591640e-02 2.04057727e-04 9.99933170e-01 1.17169550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.056875 meters 0.021805563479493577 Centerline is valid? [True, True] Translation: X:212.49, Y:85.25, Z:11.73 [[ 9.97373126e-01 7.10375748e-02 -1.41601588e-02 2.12492737e+02] [-7.10343053e-02 9.97473603e-01 7.34350305e-04 8.52469805e+01] [ 1.41765510e-02 2.73435781e-04 9.99899470e-01 1.17266907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.086875 meters 0.022508032481424235 Centerline is valid? [True, True] Translation: X:212.52, Y:85.24, Z:11.73 [[ 9.97342914e-01 7.16336329e-02 -1.32565189e-02 2.12524883e+02] [-7.16307772e-02 9.97430977e-01 6.90708838e-04 8.52447615e+01] [ 1.32719406e-02 2.60701187e-04 9.99911890e-01 1.17308906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.116875 meters 0.022321145106994723 Centerline is valid? [True, True] Translation: X:212.56, Y:85.25, Z:11.73 [[ 9.97333296e-01 7.20756180e-02 -1.14630615e-02 2.12556846e+02] [-7.20734818e-02 9.97399144e-01 5.99889363e-04 8.52450142e+01] [ 1.14764851e-02 2.27893115e-04 9.99934117e-01 1.17336049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.146875 meters 0.022476126673986782 Centerline is valid? [True, True] Translation: X:212.59, Y:85.25, Z:11.73 [[ 9.97177317e-01 7.45151075e-02 -9.21397334e-03 2.12589719e+02] [-7.45138132e-02 9.97219864e-01 4.84167846e-04 8.52511358e+01] [ 9.22443506e-03 2.03767094e-04 9.99957433e-01 1.17296622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.176875 meters 0.02357749404873862 Centerline is valid? [True, True] Translation: X:212.62, Y:85.25, Z:11.73 [[ 9.96976564e-01 7.70673524e-02 -9.91738558e-03 2.12620491e+02] [-7.70659657e-02 9.97025859e-01 5.22483423e-04 8.52530706e+01] [ 9.92815629e-03 2.43389169e-04 9.99950685e-01 1.17270951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.206875 meters 0.0245212173323371 Centerline is valid? [True, True] Translation: X:212.65, Y:85.25, Z:11.73 [[ 9.96739015e-01 7.98989662e-02 -1.12912295e-02 2.12652569e+02] [-7.98973430e-02 9.96802919e-01 5.95490102e-04 8.52519537e+01] [ 1.13027096e-02 3.08591022e-04 9.99936075e-01 1.17271842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.236875 meters 0.02562902866460434 Centerline is valid? [True, True] Translation: X:212.68, Y:85.25, Z:11.73 [[ 9.96435358e-01 8.35067388e-02 -1.19666696e-02 2.12684596e+02] [-8.35051657e-02 9.96507144e-01 6.31927618e-04 8.52507358e+01] [ 1.19776419e-02 3.69603704e-04 9.99928197e-01 1.17289462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.266875 meters 0.026017630105642352 Centerline is valid? [True, True] Translation: X:212.72, Y:85.25, Z:11.73 [[ 9.96279133e-01 8.53137230e-02 -1.22253057e-02 2.12716583e+02] [-8.53122013e-02 9.96354058e-01 6.46873013e-04 8.52506323e+01] [ 1.22359201e-02 3.98501659e-04 9.99925059e-01 1.17281974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.296875 meters 0.026561352298176827 Centerline is valid? [True, True] Translation: X:212.75, Y:85.25, Z:11.73 [[ 9.96151580e-01 8.67598672e-02 -1.24400855e-02 2.12748232e+02] [-8.67583844e-02 9.96229164e-01 6.59830911e-04 8.52524388e+01] [ 1.24504228e-02 4.21990115e-04 9.99922401e-01 1.17259671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.326875 meters 0.028804746088726536 Centerline is valid? [True, True] Translation: X:212.78, Y:85.26, Z:11.72 [[ 9.95835798e-01 9.00993322e-02 -1.38986713e-02 2.12779797e+02] [-9.00977904e-02 9.95932650e-01 7.38319375e-04 8.52572442e+01] [ 1.39086626e-02 5.16994705e-04 9.99903136e-01 1.17232142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3568750000001 meters 0.028795412119771883 Centerline is valid? [True, True] Translation: X:212.81, Y:85.25, Z:11.72 [[ 9.95623622e-01 9.21391988e-02 -1.56195867e-02 2.12811816e+02] [-9.21374861e-02 9.95745948e-01 8.30766513e-04 8.52539056e+01] [ 1.56296864e-02 6.12018692e-04 9.99877662e-01 1.17233679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.386875 meters 0.028723737667432556 Centerline is valid? [True, True] Translation: X:212.84, Y:85.25, Z:11.72 [[ 9.95517668e-01 9.26734558e-02 -1.88733725e-02 2.12843279e+02] [-9.26709842e-02 9.95696276e-01 1.00738536e-03 8.52488858e+01] [ 1.88855046e-02 7.46144077e-04 9.99821375e-01 1.17227646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.416875 meters 0.027906869729138757 Centerline is valid? [True, True] Translation: X:212.87, Y:85.24, Z:11.72 [[ 9.95627010e-01 9.04934664e-02 -2.31902688e-02 2.12874899e+02] [-9.04890141e-02 9.95896677e-01 1.24344947e-03 8.52404660e+01] [ 2.32076357e-02 8.60452679e-04 9.99730296e-01 1.17210762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.446875 meters 0.028259648199245355 Centerline is valid? [True, True] Translation: X:212.91, Y:85.24, Z:11.72 [[ 9.95767697e-01 8.89701400e-02 -2.30436278e-02 2.12905818e+02] [-8.89652192e-02 9.96033961e-01 1.24066842e-03 8.52392423e+01] [ 2.30626183e-02 8.14663868e-04 9.99733691e-01 1.17198473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4768750000001 meters 0.027420098877608164 Centerline is valid? [True, True] Translation: X:212.94, Y:85.24, Z:11.72 [[ 9.95909699e-01 8.77286679e-02 -2.16229472e-02 2.12937572e+02] [-8.77239374e-02 9.96144138e-01 1.16904382e-03 8.52357059e+01] [ 2.16421308e-02 7.32587994e-04 9.99765513e-01 1.17202393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.506875 meters 0.025801523926291554 Centerline is valid? [True, True] Translation: X:212.97, Y:85.23, Z:11.72 [[ 9.96203482e-01 8.49934769e-02 -1.88343070e-02 2.12968745e+02] [-8.49893730e-02 9.96381336e-01 1.01967073e-03 8.52299807e+01] [ 1.88528174e-02 5.84916409e-04 9.99822099e-01 1.17221921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.536875 meters 0.0260765821726993 Centerline is valid? [True, True] Translation: X:213.00, Y:85.23, Z:11.72 [[ 9.96280148e-01 8.43142573e-02 -1.78037215e-02 2.12999445e+02] [-8.43104276e-02 9.96439068e-01 9.66914681e-04 8.52278104e+01] [ 1.78218483e-02 5.37721470e-04 9.99841034e-01 1.17226329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.566875 meters 0.024874466344956596 Centerline is valid? [True, True] Translation: X:213.03, Y:85.22, Z:11.72 [[ 9.96359539e-01 8.35325674e-02 -1.70287917e-02 2.13031286e+02] [-8.35288832e-02 9.96504924e-01 9.28731486e-04 8.52230967e+01] [ 1.70468541e-02 4.97045476e-04 9.99854568e-01 1.17243465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.596875 meters 0.025728991437625123 Centerline is valid? [True, True] Translation: X:213.06, Y:85.22, Z:11.72 [[ 9.96378078e-01 8.33693819e-02 -1.67413283e-02 2.13062216e+02] [-8.33657360e-02 9.96518597e-01 9.16751658e-04 8.52210377e+01] [ 1.67594740e-02 4.82221898e-04 9.99859434e-01 1.17249977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.626875 meters 0.024773441367636234 Centerline is valid? [True, True] Translation: X:213.09, Y:85.22, Z:11.73 [[ 9.96456535e-01 8.26864759e-02 -1.54052345e-02 2.13093931e+02] [-8.26832544e-02 9.96575517e-01 8.47010548e-04 8.52151741e+01] [ 1.54225158e-02 4.29745725e-04 9.99880974e-01 1.17291624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.656875 meters 0.023985514768540158 Centerline is valid? [True, True] Translation: X:213.13, Y:85.21, Z:11.73 [[ 9.96537660e-01 8.18124654e-02 -1.48126080e-02 2.13126123e+02] [-8.18093397e-02 9.96647662e-01 8.17848241e-04 8.52114771e+01] [ 1.48298613e-02 3.96793108e-04 9.99889953e-01 1.17317531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.686875 meters 0.023904274925736938 Centerline is valid? [True, True] Translation: X:213.16, Y:85.21, Z:11.73 [[ 9.96550550e-01 8.16788487e-02 -1.46821999e-02 2.13157839e+02] [-8.16757353e-02 9.96658625e-01 8.12556346e-04 8.52097066e+01] [ 1.46995098e-02 3.89425995e-04 9.99891881e-01 1.17327911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.716875 meters 0.025362129860649167 Centerline is valid? [True, True] Translation: X:213.19, Y:85.21, Z:11.73 [[ 9.96409889e-01 8.28274719e-02 -1.75197913e-02 2.13188549e+02] [-8.28232005e-02 9.96563784e-01 9.70491609e-04 8.52113939e+01] [ 1.75399729e-02 4.84037755e-04 9.99846046e-01 1.17289727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.746875 meters 0.02604427634765584 Centerline is valid? [True, True] Translation: X:213.22, Y:85.21, Z:11.73 [[ 9.96224928e-01 8.47355106e-02 -1.88623082e-02 2.13220775e+02] [-8.47308369e-02 9.96403325e-01 1.04826070e-03 8.52108444e+01] [ 1.88832916e-02 5.53915729e-04 9.99821541e-01 1.17271390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.776875 meters 0.027194299550639782 Centerline is valid? [True, True] Translation: X:213.25, Y:85.21, Z:11.72 [[ 9.96081717e-01 8.61787410e-02 -1.98604336e-02 2.13252267e+02] [-8.61737605e-02 9.96279507e-01 1.10804115e-03 8.52121832e+01] [ 1.98820326e-02 6.07748714e-04 9.99802148e-01 1.17244427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.806875 meters 0.026346766167541457 Centerline is valid? [True, True] Translation: X:213.29, Y:85.21, Z:11.72 [[ 9.96116128e-01 8.53841111e-02 -2.14991292e-02 2.13285056e+02] [-8.53779729e-02 9.96347906e-01 1.20490954e-03 8.52122033e+01] [ 2.15234925e-02 6.35322244e-04 9.99768141e-01 1.17211511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.836875 meters 0.024166704890436645 Centerline is valid? [True, True] Translation: X:213.32, Y:85.21, Z:11.72 [[ 9.96519204e-01 8.09074066e-02 -2.00865149e-02 2.13316338e+02] [-8.09011071e-02 9.96721496e-01 1.12734875e-03 8.52095033e+01] [ 2.01118721e-02 5.01596621e-04 9.99797610e-01 1.17208696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.866875 meters 0.02354478905372089 Centerline is valid? [True, True] Translation: X:213.35, Y:85.20, Z:11.73 [[ 9.96666631e-01 7.95855855e-02 -1.79376935e-02 2.13348497e+02] [-7.95802901e-02 9.96827948e-01 1.00995429e-03 8.52049334e+01] [ 1.79611720e-02 4.20899116e-04 9.99838597e-01 1.17253572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.896875 meters 0.023313418811459884 Centerline is valid? [True, True] Translation: X:213.38, Y:85.20, Z:11.73 [[ 9.96814073e-01 7.80252371e-02 -1.65458546e-02 2.13379516e+02] [-7.80204587e-02 9.96951320e-01 9.35091539e-04 8.52010712e+01] [ 1.65683723e-02 3.58802756e-04 9.99862671e-01 1.17287013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.926875 meters 0.022814738702783936 Centerline is valid? [True, True] Translation: X:213.41, Y:85.20, Z:11.73 [[ 9.96953229e-01 7.63441466e-02 -1.59947321e-02 2.13411336e+02] [-7.63394353e-02 9.97081476e-01 9.05793133e-04 8.51983280e+01] [ 1.60172031e-02 3.17995430e-04 9.99871666e-01 1.17298006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.956875 meters 0.021838155238508652 Centerline is valid? [True, True] Translation: X:213.44, Y:85.20, Z:11.72 [[ 9.97176382e-01 7.23475877e-02 -2.01268236e-02 2.13443231e+02] [-7.23392339e-02 9.97379430e-01 1.14375426e-03 8.51951203e+01] [ 2.01568277e-02 3.15434269e-04 9.99796781e-01 1.17237512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.986875 meters 0.021504432630982975 Centerline is valid? [True, True] Translation: X:213.48, Y:85.19, Z:11.72 [[ 9.97274149e-01 7.05182563e-02 -2.17128527e-02 2.13475071e+02] [-7.05080176e-02 9.97510445e-01 1.23769813e-03 8.51933796e+01] [ 2.17460776e-02 2.96605854e-04 9.99763482e-01 1.17198961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.016875 meters 0.021342379524864126 Centerline is valid? [True, True] Translation: X:213.51, Y:85.19, Z:11.72 [[ 9.97391993e-01 6.93545503e-02 -1.99789438e-02 2.13505823e+02] [-6.93455721e-02 9.97592044e-01 1.14266308e-03 8.51899150e+01] [ 2.00100842e-02 2.45768279e-04 9.99799748e-01 1.17221788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.046875 meters 0.020575674348673526 Centerline is valid? [True, True] Translation: X:213.54, Y:85.18, Z:11.73 [[ 9.97415353e-01 6.97238651e-02 -1.73549784e-02 2.13537935e+02] [-6.97170806e-02 9.97566307e-01 9.96371896e-04 8.51842271e+01] [ 1.73822126e-02 2.16141803e-04 9.99848895e-01 1.17293337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.076875 meters 0.020434075882780085 Centerline is valid? [True, True] Translation: X:213.57, Y:85.18, Z:11.73 [[ 9.97419707e-01 7.00239910e-02 -1.58293500e-02 2.13569435e+02] [-7.00183273e-02 9.97545288e-01 9.12401932e-04 8.51798230e+01] [ 1.58543835e-02 1.98296942e-04 9.99874292e-01 1.17341040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1068750000001 meters 0.02093858051091058 Centerline is valid? [True, True] Translation: X:213.60, Y:85.18, Z:11.73 [[ 9.97414848e-01 7.03671703e-02 -1.45630721e-02 2.13600724e+02] [-7.03623671e-02 9.97521141e-01 8.42565981e-04 8.51805001e+01] [ 1.45862613e-02 1.84304404e-04 9.99893598e-01 1.17332847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.136875 meters 0.02033437550529143 Centerline is valid? [True, True] Translation: X:213.63, Y:85.18, Z:11.73 [[ 9.97345567e-01 7.15557581e-02 -1.34756970e-02 2.13633355e+02] [-7.15517089e-02 9.97436584e-01 7.82986767e-04 8.51803029e+01] [ 1.34971804e-02 1.83300770e-04 9.99908892e-01 1.17329116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.166875 meters 0.020830758648360502 Centerline is valid? [True, True] Translation: X:213.67, Y:85.19, Z:11.73 [[ 9.97129726e-01 7.48670712e-02 -1.12797144e-02 2.13665508e+02] [-7.48644161e-02 9.97193505e-01 6.58030068e-04 8.51854133e+01] [ 1.12973227e-02 1.88307893e-04 9.99936165e-01 1.17297655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.196875 meters 0.021073498832073413 Centerline is valid? [True, True] Translation: X:213.70, Y:85.18, Z:11.73 [[ 9.97010042e-01 7.63855831e-02 -1.16712974e-02 2.13697599e+02] [-7.63828116e-02 9.97078331e-01 6.83695682e-04 8.51841086e+01] [ 1.16894222e-02 2.09835050e-04 9.99931654e-01 1.17295456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2268750000001 meters 0.020973621101570597 Centerline is valid? [True, True] Translation: X:213.73, Y:85.18, Z:11.73 [[ 9.96883653e-01 7.77908862e-02 -1.30981110e-02 2.13729059e+02] [-7.77874859e-02 9.96969666e-01 7.69634771e-04 8.51794269e+01] [ 1.31182899e-02 2.51632799e-04 9.99913920e-01 1.17312092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.256875 meters 0.020973621101570597 Centerline is valid? [True, True] Translation: X:213.76, Y:85.18, Z:11.73 [[ 9.96861770e-01 7.80708315e-02 -1.30979338e-02 2.13761391e+02] [-7.80674158e-02 9.96947783e-01 7.72642002e-04 8.51774420e+01] [ 1.31182768e-02 2.52304569e-04 9.99913920e-01 1.17313568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.286875 meters 0.021275368913390835 Centerline is valid? [True, True] Translation: X:213.79, Y:85.17, Z:11.73 [[ 9.96798500e-01 7.87680540e-02 -1.37238601e-02 2.13792514e+02] [-7.87643230e-02 9.96892933e-01 8.12989295e-04 8.51745372e+01] [ 1.37452568e-02 2.70564042e-04 9.99905493e-01 1.17332463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.316875 meters 0.023908580992019608 Centerline is valid? [True, True] Translation: X:213.82, Y:85.18, Z:11.74 [[ 9.96811587e-01 7.88383279e-02 -1.22954705e-02 2.13823980e+02] [-7.88353063e-02 9.96887386e-01 7.30988368e-04 8.51772247e+01] [ 1.23148293e-02 2.40659505e-04 9.99924141e-01 1.17360707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.346875 meters 0.0226405289229248 Centerline is valid? [True, True] Translation: X:213.86, Y:85.17, Z:11.74 [[ 9.96807549e-01 7.90158841e-02 -1.14542989e-02 2.13856647e+02] [-7.90132432e-02 9.96873332e-01 6.83622478e-04 8.51736493e+01] [ 1.14725021e-02 2.23601254e-04 9.99934164e-01 1.17378104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.376875 meters 0.022655512007987617 Centerline is valid? [True, True] Translation: X:213.89, Y:85.17, Z:11.74 [[ 9.96729768e-01 8.00236746e-02 -1.12241400e-02 2.13888464e+02] [-8.00211733e-02 9.96792937e-01 6.72494065e-04 8.51729569e+01] [ 1.12419589e-02 2.27873999e-04 9.99936781e-01 1.17363066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.406875 meters 0.022051867046758204 Centerline is valid? [True, True] Translation: X:213.92, Y:85.17, Z:11.73 [[ 9.96635987e-01 8.11739644e-02 -1.12914803e-02 2.13920644e+02] [-8.11714774e-02 9.96699920e-01 6.79128159e-04 8.51724151e+01] [ 1.13093451e-02 2.39702577e-04 9.99936019e-01 1.17341954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.436875 meters 0.023353522842660356 Centerline is valid? [True, True] Translation: X:213.95, Y:85.17, Z:11.73 [[ 9.96376636e-01 8.41697216e-02 -1.22089154e-02 2.13951581e+02] [-8.41670047e-02 9.96451390e-01 7.37092195e-04 8.51741431e+01] [ 1.22276316e-02 2.93166399e-04 9.99925197e-01 1.17307046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.466875 meters 0.02352376233655696 Centerline is valid? [True, True] Translation: X:213.98, Y:85.17, Z:11.73 [[ 9.96359869e-01 8.43733785e-02 -1.21714296e-02 2.13982869e+02] [-8.43706592e-02 9.96434166e-01 7.37639258e-04 8.51712412e+01] [ 1.21902655e-02 2.91957387e-04 9.99925653e-01 1.17320843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.496875 meters 0.022161793946883904 Centerline is valid? [True, True] Translation: X:214.01, Y:85.16, Z:11.73 [[ 9.96388871e-01 8.40099952e-02 -1.23101136e-02 2.14014781e+02] [-8.40071493e-02 9.96464870e-01 7.49001220e-04 8.51638887e+01] [ 1.23295193e-02 2.87841068e-04 9.99923947e-01 1.17344784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.526875 meters 0.022002933673312342 Centerline is valid? [True, True] Translation: X:214.05, Y:85.16, Z:11.74 [[ 9.96584313e-01 8.13294157e-02 -1.43259601e-02 2.14045688e+02] [-8.13252333e-02 9.96687233e-01 8.75234517e-04 8.51569531e+01] [ 1.43496839e-02 2.92817061e-04 9.99896995e-01 1.17357142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.556875 meters 0.021590784471686355 Centerline is valid? [True, True] Translation: X:214.08, Y:85.15, Z:11.74 [[ 9.96682086e-01 8.03132109e-02 -1.32139507e-02 2.14077414e+02] [-8.03095225e-02 9.96769644e-01 8.10378364e-04 8.51521988e+01] [ 1.32363490e-02 2.53516474e-04 9.99912364e-01 1.17379012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.586875 meters 0.02118473087897995 Centerline is valid? [True, True] Translation: X:214.11, Y:85.15, Z:11.74 [[ 9.96765661e-01 7.95580043e-02 -1.13463661e-02 2.14109256e+02] [-7.95552066e-02 9.96830217e-01 6.98419957e-04 8.51480151e+01] [ 1.13659655e-02 2.06501472e-04 9.99935384e-01 1.17411179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.616875 meters 0.02103763269592775 Centerline is valid? [True, True] Translation: X:214.14, Y:85.15, Z:11.74 [[ 9.96839565e-01 7.88611058e-02 -9.58163092e-03 2.14139831e+02] [-7.88590591e-02 9.96885600e-01 5.91819578e-04 8.51458358e+01] [ 9.59846143e-03 1.65649228e-04 9.99953920e-01 1.17429731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.646875 meters 0.02098019344212757 Centerline is valid? [True, True] Translation: X:214.17, Y:85.14, Z:11.74 [[ 9.96876504e-01 7.83995089e-02 -9.52638013e-03 2.14171562e+02] [-7.83974439e-02 9.96922009e-01 5.90578231e-04 8.51435066e+01] [ 9.54335906e-03 1.58110290e-04 9.99954449e-01 1.17405122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.676875 meters 0.020830427237225682 Centerline is valid? [True, True] Translation: X:214.20, Y:85.14, Z:11.74 [[ 9.96854922e-01 7.84582198e-02 -1.11611730e-02 2.14204280e+02] [-7.84553548e-02 9.96917386e-01 6.94978791e-04 8.51414857e+01] [ 1.11812942e-02 1.82860756e-04 9.99937471e-01 1.17376570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.706875 meters 0.021115395743483575 Centerline is valid? [True, True] Translation: X:214.24, Y:85.14, Z:11.73 [[ 9.96852063e-01 7.83343789e-02 -1.22347756e-02 2.14236034e+02] [-7.83308867e-02 9.96927122e-01 7.65111956e-04 8.51402974e+01] [ 1.22571142e-02 1.95657392e-04 9.99924860e-01 1.17346070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.736875 meters 0.02139826726832825 Centerline is valid? [True, True] Translation: X:214.27, Y:85.14, Z:11.73 [[ 9.96826093e-01 7.84618994e-02 -1.34710785e-02 2.14267304e+02] [-7.84576307e-02 9.96917090e-01 8.45876792e-04 8.51365605e+01] [ 1.34959175e-02 2.13716844e-04 9.99908903e-01 1.17343358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.766875 meters 0.021140597172332458 Centerline is valid? [True, True] Translation: X:214.30, Y:85.13, Z:11.74 [[ 9.96807569e-01 7.85581002e-02 -1.42581569e-02 2.14299421e+02] [-7.85532737e-02 9.96909512e-01 8.99104517e-04 8.51306516e+01] [ 1.42847242e-02 2.23790715e-04 9.99897943e-01 1.17357203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.796875 meters 0.02319181245111728 Centerline is valid? [True, True] Translation: X:214.33, Y:85.13, Z:11.74 [[ 9.96760099e-01 7.91566246e-02 -1.42665111e-02 2.14332366e+02] [-7.91517985e-02 9.96862165e-01 9.03488899e-04 8.51273975e+01] [ 1.42932622e-02 2.28658325e-04 9.99897820e-01 1.17360560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.826875 meters 0.021471389635961638 Centerline is valid? [True, True] Translation: X:214.36, Y:85.13, Z:11.74 [[ 9.96599892e-01 8.07157221e-02 -1.65416696e-02 2.14364426e+02] [-8.07093781e-02 9.96737122e-01 1.05182607e-03 8.51259811e+01] [ 1.65725951e-02 2.86818116e-04 9.99862624e-01 1.17368352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8568750000001 meters 0.02194856577458847 Centerline is valid? [True, True] Translation: X:214.40, Y:85.13, Z:11.74 [[ 9.96505709e-01 8.20769508e-02 -1.54837467e-02 2.14395316e+02] [-8.20715189e-02 9.96625954e-01 9.86983616e-04 8.51252936e+01] [ 1.55125124e-02 2.87239803e-04 9.99879632e-01 1.17372347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.886875 meters 0.022055777900223176 Centerline is valid? [True, True] Translation: X:214.43, Y:85.12, Z:11.74 [[ 9.96457461e-01 8.28522657e-02 -1.44232379e-02 2.14427959e+02] [-8.28475878e-02 9.96561802e-01 9.22553436e-04 8.51232896e+01] [ 1.44500836e-02 2.75645214e-04 9.99895554e-01 1.17384875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.916875 meters 0.02217463730431834 Centerline is valid? [True, True] Translation: X:214.46, Y:85.12, Z:11.74 [[ 9.96321320e-01 8.46811182e-02 -1.31505283e-02 2.14459574e+02] [-8.46773471e-02 9.96408066e-01 8.44296340e-04 8.51193496e+01] [ 1.31747884e-02 2.72361403e-04 9.99913172e-01 1.17409423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.946875 meters 0.022134960155693585 Centerline is valid? [True, True] Translation: X:214.49, Y:85.12, Z:11.74 [[ 9.96367510e-01 8.40231570e-02 -1.38526039e-02 2.14491027e+02] [-8.40188625e-02 9.96463764e-01 8.92725852e-04 8.51161205e+01] [ 1.38786274e-02 2.74396984e-04 9.99903650e-01 1.17393514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9768750000001 meters 0.0215905442652098 Centerline is valid? [True, True] Translation: X:214.52, Y:85.11, Z:11.74 [[ 9.96712319e-01 7.96424334e-02 -1.48874498e-02 2.14522390e+02] [-7.96369311e-02 9.96823471e-01 9.63002634e-04 8.51115222e+01] [ 1.49168552e-02 2.25754223e-04 9.99888712e-01 1.17367522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.006875 meters 0.019687503371338035 Centerline is valid? [True, True] Translation: X:214.55, Y:85.10, Z:11.74 [[ 9.97843718e-01 6.42609486e-02 -1.33583593e-02 2.14553435e+02] [-6.42551175e-02 9.97933129e-01 8.65692473e-04 8.50961622e+01] [ 1.33863795e-02 -5.48284772e-06 9.99910398e-01 1.17402273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.036875 meters 0.019724108473515498 Centerline is valid? [True, True] Translation: X:214.59, Y:85.09, Z:11.74 [[ 9.98120129e-01 6.01505616e-02 -1.17523758e-02 2.14586391e+02] [-6.01457369e-02 9.98189314e-01 7.63856800e-04 8.50905619e+01] [ 1.17770423e-02 -5.55655466e-05 9.99930647e-01 1.17426543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.066875 meters 0.020004652959429724 Centerline is valid? [True, True] Translation: X:214.62, Y:85.09, Z:11.74 [[ 9.98214748e-01 5.83211120e-02 -1.28827010e-02 2.14618608e+02] [-5.83151198e-02 9.98297871e-01 8.40612663e-04 8.50869789e+01] [ 1.29097985e-02 -8.78557058e-05 9.99916661e-01 1.17426545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.096875 meters 0.02020993638668518 Centerline is valid? [True, True] Translation: X:214.65, Y:85.08, Z:11.74 [[ 9.98207980e-01 5.76179581e-02 -1.61554720e-02 2.14650940e+02] [-5.76083763e-02 9.98338698e-01 1.05823175e-03 8.50839639e+01] [ 1.61896061e-02 -1.25644862e-04 9.99868932e-01 1.17407453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.126875 meters 0.020355034040795795 Centerline is valid? [True, True] Translation: X:214.68, Y:85.08, Z:11.74 [[ 9.98169517e-01 5.79206483e-02 -1.74015680e-02 2.14681560e+02] [-5.79095084e-02 9.98321181e-01 1.14380687e-03 8.50823291e+01] [ 1.74386039e-02 -1.33996906e-04 9.99847927e-01 1.17397618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.156875 meters 0.02028640851016488 Centerline is valid? [True, True] Translation: X:214.71, Y:85.08, Z:11.74 [[ 9.98130117e-01 5.85089572e-02 -1.76910254e-02 2.14714321e+02] [-5.84974555e-02 9.98286875e-01 1.16736754e-03 8.50830443e+01] [ 1.77290200e-02 -1.30304726e-04 9.99842820e-01 1.17383514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.186875 meters 0.02009087338788305 Centerline is valid? [True, True] Translation: X:214.75, Y:85.08, Z:11.74 [[ 9.98050877e-01 6.00004941e-02 -1.71577223e-02 2.14745606e+02] [-5.99898283e-02 9.98198342e-01 1.13610466e-03 8.50846396e+01] [ 1.71949768e-02 -1.04601439e-04 9.99852150e-01 1.17356522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.216875 meters 0.01990111490879542 Centerline is valid? [True, True] Translation: X:214.78, Y:85.09, Z:11.73 [[ 9.97791893e-01 6.44832155e-02 -1.59139528e-02 2.14777935e+02] [-6.44745537e-02 9.97918791e-01 1.05727890e-03 8.50888975e+01] [ 1.59490093e-02 -2.88993115e-05 9.99872806e-01 1.17346193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.246875 meters 0.01960402240429875 Centerline is valid? [True, True] Translation: X:214.81, Y:85.09, Z:11.74 [[ 9.97610807e-01 6.74979532e-02 -1.47208787e-02 2.14809862e+02] [-6.74908211e-02 9.97719413e-01 9.81310142e-04 8.50879288e+01] [ 1.47535429e-02 1.45585885e-05 9.99891160e-01 1.17369587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.276875 meters 0.019837123177881204 Centerline is valid? [True, True] Translation: X:214.84, Y:85.09, Z:11.74 [[ 9.97428725e-01 7.04103048e-02 -1.33539309e-02 2.14841934e+02] [-7.04046553e-02 9.97518113e-01 8.93283368e-04 8.50869676e+01] [ 1.33836843e-02 4.91924113e-05 9.99910433e-01 1.17398234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.306875 meters 0.020153629597972986 Centerline is valid? [True, True] Translation: X:214.87, Y:85.09, Z:11.74 [[ 9.97211165e-01 7.34687251e-02 -1.31240102e-02 2.14874093e+02] [-7.34634932e-02 9.97297518e-01 8.80946255e-04 8.50859252e+01] [ 1.31532648e-02 8.56461960e-05 9.99913488e-01 1.17430189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.336875 meters 0.020553570927493485 Centerline is valid? [True, True] Translation: X:214.91, Y:85.09, Z:11.74 [[ 9.96797846e-01 7.88102857e-02 -1.35274590e-02 2.14906467e+02] [-7.88051758e-02 9.96889620e-01 9.11197067e-04 8.50882644e+01] [ 1.35571952e-02 1.57754511e-04 9.99908085e-01 1.17449196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.366875 meters 0.021323856457679438 Centerline is valid? [True, True] Translation: X:214.94, Y:85.09, Z:11.74 [[ 9.96518600e-01 8.22665685e-02 -1.35237304e-02 2.14937420e+02] [-8.22617612e-02 9.96610340e-01 9.12306413e-04 8.50913677e+01] [ 1.35529418e-02 2.03355567e-04 9.99908134e-01 1.17444286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.396875 meters 0.02252900331634648 Centerline is valid? [True, True] Translation: X:214.97, Y:85.10, Z:11.74 [[ 9.96232800e-01 8.57622148e-02 -1.28471787e-02 2.14969159e+02] [-8.57581425e-02 9.96315606e-01 8.68563140e-04 8.50957138e+01] [ 1.28743345e-02 2.36459092e-04 9.99917094e-01 1.17433195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.426875 meters 0.022682300400353586 Centerline is valid? [True, True] Translation: X:215.00, Y:85.10, Z:11.74 [[ 9.95945081e-01 8.92444666e-02 -1.13499235e-02 2.15000884e+02] [-8.92414875e-02 9.96009721e-01 7.69675160e-04 8.50975869e+01] [ 1.13733234e-02 2.46329868e-04 9.99935291e-01 1.17434210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.456875 meters 0.024765145306959176 Centerline is valid? [True, True] Translation: X:215.03, Y:85.10, Z:11.74 [[ 9.95805027e-01 9.07646801e-02 -1.15810508e-02 2.15032323e+02] [-9.07616516e-02 9.95872332e-01 7.87903338e-04 8.51003684e+01] [ 1.16047619e-02 2.66517197e-04 9.99932627e-01 1.17429280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.486875 meters 0.023723100563461573 Centerline is valid? [True, True] Translation: X:215.06, Y:85.10, Z:11.74 [[ 9.95708462e-01 9.17514025e-02 -1.20970973e-02 2.15064051e+02] [-9.17481371e-02 9.95781903e-01 8.25789767e-04 8.50953898e+01] [ 1.21218379e-02 2.87640280e-04 9.99926486e-01 1.17443259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.516875 meters 0.023617695513214312 Centerline is valid? [True, True] Translation: X:215.10, Y:85.09, Z:11.75 [[ 9.95744250e-01 9.11666383e-02 -1.34919417e-02 2.15096729e+02] [-9.11624752e-02 9.95835603e-01 9.24533625e-04 8.50924404e+01] [ 1.35200425e-02 3.09359759e-04 9.99908552e-01 1.17450467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.546875 meters 0.023169813734743572 Centerline is valid? [True, True] Translation: X:215.13, Y:85.09, Z:11.74 [[ 9.95837605e-01 8.99689911e-02 -1.45960329e-02 2.15128751e+02] [-8.99639372e-02 9.95944518e-01 1.00381252e-03 8.50896197e+01] [ 1.46271509e-02 3.13482330e-04 9.99892968e-01 1.17443608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.576875 meters 0.022581667991489418 Centerline is valid? [True, True] Translation: X:215.16, Y:85.09, Z:11.74 [[ 9.95941441e-01 8.88051093e-02 -1.46389466e-02 2.15160285e+02] [-8.87998504e-02 9.96048978e-01 1.01014397e-03 8.50870533e+01] [ 1.46708137e-02 2.93892026e-04 9.99892335e-01 1.17438760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6068750000001 meters 0.02193310577435504 Centerline is valid? [True, True] Translation: X:215.19, Y:85.09, Z:11.74 [[ 9.96192319e-01 8.61751647e-02 -1.32176004e-02 2.15192924e+02] [-8.61706166e-02 9.96279975e-01 9.14282480e-04 8.50851882e+01] [ 1.32472190e-02 2.28167591e-04 9.99912226e-01 1.17440367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.636875 meters 0.021213963812458228 Centerline is valid? [True, True] Translation: X:215.23, Y:85.08, Z:11.75 [[ 9.96383130e-01 8.40927092e-02 -1.22096433e-02 2.15225297e+02] [-8.40886566e-02 9.96457918e-01 8.45814307e-04 8.50813207e+01] [ 1.22375225e-02 1.83937393e-04 9.99925102e-01 1.17458101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.666875 meters 0.02090082702258985 Centerline is valid? [True, True] Translation: X:215.26, Y:85.08, Z:11.75 [[ 9.96609858e-01 8.13400559e-02 -1.23525786e-02 2.15256575e+02] [-8.13356695e-02 9.96686396e-01 8.57894019e-04 8.50766280e+01] [ 1.23814282e-02 1.49719613e-04 9.99923336e-01 1.17464545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.696875 meters 0.019905801096049912 Centerline is valid? [True, True] Translation: X:215.29, Y:85.07, Z:11.75 [[ 9.97159281e-01 7.42711506e-02 -1.25365244e-02 2.15287748e+02] [-7.42660366e-02 9.97238082e-01 8.73618324e-04 8.50675396e+01] [ 1.25667842e-02 5.99013602e-05 9.99921033e-01 1.17489778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7268750000001 meters 0.020015682969359905 Centerline is valid? [True, True] Translation: X:215.32, Y:85.06, Z:11.75 [[ 9.97369275e-01 7.13712695e-02 -1.26756028e-02 2.15320067e+02] [-7.13657691e-02 9.97449819e-01 8.86302039e-04 8.50631917e+01] [ 1.27065342e-02 2.06337204e-05 9.99919269e-01 1.17496874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.756875 meters 0.020102213064651698 Centerline is valid? [True, True] Translation: X:215.35, Y:85.06, Z:11.75 [[ 9.97518053e-01 6.92634954e-02 -1.26610593e-02 2.15352450e+02] [-6.92577968e-02 9.97598400e-01 8.88523526e-04 8.50598881e+01] [ 1.26921948e-02 -9.44118502e-06 9.99919451e-01 1.17496122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.786875 meters 0.020231998493463518 Centerline is valid? [True, True] Translation: X:215.38, Y:85.06, Z:11.75 [[ 9.97659750e-01 6.69693469e-02 -1.37887399e-02 2.15383285e+02] [-6.69623227e-02 9.97755032e-01 9.70993465e-04 8.50584608e+01] [ 1.38228114e-02 -4.53950471e-05 9.99904459e-01 1.17464282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.816875 meters 0.02021219427433335 Centerline is valid? [True, True] Translation: X:215.42, Y:85.06, Z:11.75 [[ 9.97692570e-01 6.65037860e-02 -1.36668568e-02 2.15415017e+02] [-6.64967975e-02 9.97786171e-01 9.65637777e-04 8.50561385e+01] [ 1.37008193e-02 -5.46074245e-05 9.99906138e-01 1.17463498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.846875 meters 0.020344950741091827 Centerline is valid? [True, True] Translation: X:215.45, Y:85.05, Z:11.75 [[ 9.97686520e-01 6.66393161e-02 -1.34465660e-02 2.15447629e+02] [-6.66325172e-02 9.97777129e-01 9.53496106e-04 8.50528083e+01] [ 1.34802164e-02 -5.53116686e-05 9.99909136e-01 1.17473252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.876875 meters 0.020367787329482252 Centerline is valid? [True, True] Translation: X:215.48, Y:85.05, Z:11.75 [[ 9.97630263e-01 6.73692790e-02 -1.39727708e-02 2.15479646e+02] [-6.73619597e-02 9.97728108e-01 9.94338335e-04 8.50487955e+01] [ 1.40080141e-02 -5.07487894e-05 9.99901882e-01 1.17495922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.906875 meters 0.020046142394078363 Centerline is valid? [True, True] Translation: X:215.51, Y:85.05, Z:11.75 [[ 9.97521620e-01 6.89988356e-02 -1.37760353e-02 2.15512864e+02] [-6.89918269e-02 9.97616740e-01 9.83918716e-04 8.50477750e+01] [ 1.38110927e-02 -3.10463496e-05 9.99904622e-01 1.17505752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.936875 meters 0.020385028258467622 Centerline is valid? [True, True] Translation: X:215.55, Y:85.05, Z:11.75 [[ 9.97381349e-01 7.10475232e-02 -1.35164056e-02 2.15545192e+02] [-7.10409174e-02 9.97472932e-01 9.68836759e-04 8.50474779e+01] [ 1.35510822e-02 -6.08185919e-06 9.99908180e-01 1.17493025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.966875 meters 0.020186931341063846 Centerline is valid? [True, True] Translation: X:215.58, Y:85.05, Z:11.75 [[ 9.97194489e-01 7.38470663e-02 -1.22377011e-02 2.15576103e+02] [-7.38418283e-02 9.97269577e-01 8.79929228e-04 8.50488122e+01] [ 1.22692672e-02 2.61936474e-05 9.99924729e-01 1.17491812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.996875 meters 0.020843109228439877 Centerline is valid? [True, True] Translation: X:215.61, Y:85.06, Z:11.75 [[ 9.96653089e-01 8.11364745e-02 -9.97458020e-03 2.15607288e+02] [-8.11333418e-02 9.96702997e-01 7.18980095e-04 8.50558584e+01] [ 1.00000295e-02 9.26972913e-05 9.99949994e-01 1.17500194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.026875 meters 0.02159548815596341 Centerline is valid? [True, True] Translation: X:215.64, Y:85.06, Z:11.75 [[ 9.96263912e-01 8.57204180e-02 -1.04989055e-02 2.15639067e+02] [-8.57171799e-02 9.96319221e-01 7.58837960e-04 8.50571259e+01] [ 1.05253092e-02 1.43933693e-04 9.99944597e-01 1.17496138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.056875 meters 0.02174538622202853 Centerline is valid? [True, True] Translation: X:215.67, Y:85.05, Z:11.75 [[ 9.95852277e-01 9.01639772e-02 -1.21942735e-02 2.15670983e+02] [-9.01599223e-02 9.95926909e-01 8.82979654e-04 8.50546884e+01] [ 1.22242181e-02 2.20117455e-04 9.99925257e-01 1.17504318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.086875 meters 0.023898207792931836 Centerline is valid? [True, True] Translation: X:215.70, Y:85.06, Z:11.75 [[ 9.95050857e-01 9.79216795e-02 -1.68859887e-02 2.15701985e+02] [-9.79150089e-02 9.95194029e-01 1.22333131e-03 8.50565934e+01] [ 1.69246258e-02 4.36114861e-04 9.99856673e-01 1.17502943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.116875 meters 0.025752421491214633 Centerline is valid? [True, True] Translation: X:215.73, Y:85.06, Z:11.75 [[ 9.94658872e-01 1.01513921e-01 -1.86722288e-02 2.15732329e+02] [-1.01506373e-01 9.94833968e-01 1.35401299e-03 8.50600297e+01] [ 1.87132186e-02 5.48569183e-04 9.99824742e-01 1.17470127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.146875 meters 0.027304215655459287 Centerline is valid? [True, True] Translation: X:215.76, Y:85.06, Z:11.74 [[ 9.94339224e-01 1.04323037e-01 -2.01546831e-02 2.15764149e+02] [-1.04314790e-01 9.94543254e-01 1.46294081e-03 8.50628298e+01] [ 2.01973226e-02 6.47772104e-04 9.99795803e-01 1.17427867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.176875 meters 0.027304215655459287 Centerline is valid? [True, True] Translation: X:215.80, Y:85.06, Z:11.74 [[ 9.94311753e-01 1.04584605e-01 -2.01543630e-02 2.15796476e+02] [-1.04576323e-01 9.94515782e-01 1.46734229e-03 8.50603649e+01] [ 2.01972935e-02 6.48673492e-04 9.99795803e-01 1.17429343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.206875 meters 0.028460541385165784 Centerline is valid? [True, True] Translation: X:215.83, Y:85.06, Z:11.74 [[ 9.94037792e-01 1.07139041e-01 -2.02507605e-02 2.15828705e+02] [-1.07131163e-01 9.94243800e-01 1.47661228e-03 8.50615728e+01] [ 2.02923959e-02 7.01679108e-04 9.99793842e-01 1.17403710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.236875 meters 0.0291085562968494 Centerline is valid? [True, True] Translation: X:215.86, Y:85.06, Z:11.74 [[ 9.93759677e-01 1.10112311e-01 -1.78040154e-02 2.15860728e+02] [-1.10106638e-01 9.93918927e-01 1.30158002e-03 8.50601100e+01] [ 1.78390679e-02 6.66882540e-04 9.99840649e-01 1.17422723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.266875 meters 0.03013532291195707 Centerline is valid? [True, True] Translation: X:215.89, Y:85.06, Z:11.75 [[ 9.93790508e-01 1.10046241e-01 -1.64393171e-02 2.15891767e+02] [-1.10041336e-01 9.93926281e-01 1.20535039e-03 8.50568815e+01] [ 1.64721136e-02 6.11138640e-04 9.99864139e-01 1.17456246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.296875 meters 0.027437760195657756 Centerline is valid? [True, True] Translation: X:215.92, Y:85.05, Z:11.75 [[ 9.93973306e-01 1.08526171e-01 -1.54640879e-02 2.15923800e+02] [-1.08521619e-01 9.94093440e-01 1.13569344e-03 8.50464157e+01] [ 1.54960008e-02 5.49338893e-04 9.99879779e-01 1.17499924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.326875 meters 0.025905316643878594 Centerline is valid? [True, True] Translation: X:215.96, Y:85.04, Z:11.75 [[ 9.94220419e-01 1.06292294e-01 -1.50899486e-02 2.15955136e+02] [-1.06287689e-01 9.94334801e-01 1.10914095e-03 8.50388243e+01] [ 1.51223542e-02 5.01145184e-04 9.99885525e-01 1.17523970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3568750000001 meters 0.02475536619392596 Centerline is valid? [True, True] Translation: X:215.99, Y:85.03, Z:11.75 [[ 9.94588953e-01 1.03019536e-01 -1.34085587e-02 2.15986345e+02] [-1.03015594e-01 9.94679252e-01 9.86223308e-04 8.50315027e+01] [ 1.34388154e-02 4.00403831e-04 9.99909615e-01 1.17538393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.386875 meters 0.024886598024050556 Centerline is valid? [True, True] Translation: X:216.02, Y:85.03, Z:11.75 [[ 9.94652877e-01 1.02481048e-01 -1.27784189e-02 2.16017778e+02] [-1.02477397e-01 9.94734887e-01 9.41931421e-04 8.50296773e+01] [ 1.28076692e-02 3.72604312e-04 9.99917909e-01 1.17530411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.416875 meters 0.025048287821631248 Centerline is valid? [True, True] Translation: X:216.05, Y:85.03, Z:11.75 [[ 9.94650149e-01 1.02498013e-01 -1.28545452e-02 2.16050400e+02] [-1.02494278e-01 9.94733140e-01 9.50787367e-04 8.50275791e+01] [ 1.28842959e-02 3.71816532e-04 9.99916925e-01 1.17519384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.446875 meters 0.025392537779033483 Centerline is valid? [True, True] Translation: X:216.08, Y:85.03, Z:11.75 [[ 9.94562617e-01 1.03124766e-01 -1.45080658e-02 2.16082580e+02] [-1.03120036e-01 9.94668337e-01 1.07572251e-03 8.50258124e+01] [ 1.45416473e-02 4.26198872e-04 9.99894174e-01 1.17489055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4768750000001 meters 0.024988427891046106 Centerline is valid? [True, True] Translation: X:216.11, Y:85.02, Z:11.75 [[ 9.94465728e-01 1.03946932e-01 -1.52627303e-02 2.16114887e+02] [-1.03941745e-01 9.94582739e-01 1.13489053e-03 8.50219608e+01] [ 1.52980165e-02 4.57825085e-04 9.99882874e-01 1.17489014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.506875 meters 0.025140536808601014 Centerline is valid? [True, True] Translation: X:216.15, Y:85.02, Z:11.75 [[ 9.94457404e-01 1.03913215e-01 -1.60160770e-02 2.16146756e+02] [-1.03907433e-01 9.94586254e-01 1.19501925e-03 8.50199922e+01] [ 1.60535483e-02 4.75793702e-04 9.99871020e-01 1.17488799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.536875 meters 0.024917811207556505 Centerline is valid? [True, True] Translation: X:216.18, Y:85.02, Z:11.75 [[ 9.94465327e-01 1.03684727e-01 -1.69761837e-02 2.16179350e+02] [-1.03678119e-01 9.94610090e-01 1.27129785e-03 8.50154022e+01] [ 1.70164978e-02 4.95797160e-04 9.99855086e-01 1.17494294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.566875 meters 0.026558017337474964 Centerline is valid? [True, True] Translation: X:216.21, Y:85.01, Z:11.75 [[ 9.94482944e-01 1.03489677e-01 -1.71336076e-02 2.16209952e+02] [-1.03482843e-01 9.94630406e-01 1.28731539e-03 8.50140779e+01] [ 1.71748309e-02 4.92821229e-04 9.99852380e-01 1.17489385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.596875 meters 0.023857907921518522 Centerline is valid? [True, True] Translation: X:216.24, Y:85.00, Z:11.75 [[ 9.94741048e-01 1.01044377e-01 -1.67416014e-02 2.16241209e+02] [-1.01037439e-01 9.94881824e-01 1.26186938e-03 8.50039104e+01] [ 1.67834197e-02 4.36295266e-04 9.99859053e-01 1.17519802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.626875 meters 0.02373817997134805 Centerline is valid? [True, True] Translation: X:216.27, Y:85.00, Z:11.75 [[ 9.94809082e-01 1.00445328e-01 -1.62980394e-02 2.16271955e+02] [-1.00438612e-01 9.94942494e-01 1.23211579e-03 8.50022441e+01] [ 1.63393723e-02 4.11232483e-04 9.99866419e-01 1.17506161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.656875 meters 0.023577219018456438 Centerline is valid? [True, True] Translation: X:216.30, Y:85.00, Z:11.75 [[ 9.94881143e-01 9.98618796e-02 -1.54633697e-02 2.16304560e+02] [-9.98557349e-02 9.95001237e-01 1.17089645e-03 8.50002980e+01] [ 1.55029999e-02 3.79203348e-04 9.99879749e-01 1.17496073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.686875 meters 0.02526054622796007 Centerline is valid? [True, True] Translation: X:216.34, Y:85.00, Z:11.75 [[ 9.94830764e-01 1.00428909e-01 -1.50261656e-02 2.16336577e+02] [-1.00423123e-01 9.94944167e-01 1.14099373e-03 8.50016701e+01] [ 1.50647846e-02 3.73878809e-04 9.99886450e-01 1.17475779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.716875 meters 0.02386889000236432 Centerline is valid? [True, True] Translation: X:216.37, Y:84.99, Z:11.75 [[ 9.94704210e-01 1.01563486e-01 -1.57604686e-02 2.16367760e+02] [-1.01557200e-01 9.94828977e-01 1.20072459e-03 8.49941819e+01] [ 1.58009206e-02 4.06223260e-04 9.99875075e-01 1.17505378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.746875 meters 0.02399617838697848 Centerline is valid? [True, True] Translation: X:216.40, Y:84.99, Z:11.75 [[ 9.94645500e-01 1.02008249e-01 -1.65724599e-02 2.16399547e+02] [-1.02001316e-01 9.94783459e-01 1.26528296e-03 8.49904899e+01] [ 1.66150782e-02 4.31904711e-04 9.99861867e-01 1.17513323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.776875 meters 0.02439224124836943 Centerline is valid? [True, True] Translation: X:216.43, Y:84.99, Z:11.75 [[ 9.94577229e-01 1.02511092e-01 -1.75388588e-02 2.16430786e+02] [-1.02503364e-01 9.94731753e-01 1.34138923e-03 8.49875225e+01] [ 1.75839671e-02 4.63676842e-04 9.99845283e-01 1.17521420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.806875 meters 0.02430357437742285 Centerline is valid? [True, True] Translation: X:216.46, Y:84.98, Z:11.76 [[ 9.94522043e-01 1.03080075e-01 -1.73321958e-02 2.16462777e+02] [-1.03072585e-01 9.94672952e-01 1.32725891e-03 8.49828392e+01] [ 1.73766803e-02 4.66485992e-04 9.99848905e-01 1.17550218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.836875 meters 0.023992415149778627 Centerline is valid? [True, True] Translation: X:216.50, Y:84.98, Z:11.76 [[ 9.94549457e-01 1.02952223e-01 -1.64989829e-02 2.16495096e+02] [-1.02945365e-01 9.94686205e-01 1.26668089e-03 8.49802293e+01] [ 1.65417183e-02 4.38717028e-04 9.99863080e-01 1.17556046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.866875 meters 0.02393451717953439 Centerline is valid? [True, True] Translation: X:216.53, Y:84.98, Z:11.76 [[ 9.94540531e-01 1.03222489e-01 -1.53052091e-02 2.16527349e+02] [-1.03216565e-01 9.94658208e-01 1.17860185e-03 8.49785334e+01] [ 1.53451101e-02 4.07583799e-04 9.99882174e-01 1.17554829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.896875 meters 0.023800343435655603 Centerline is valid? [True, True] Translation: X:216.56, Y:84.98, Z:11.76 [[ 9.94613197e-01 1.02744623e-01 -1.37160417e-02 2.16559037e+02] [-1.02739777e-01 9.94707704e-01 1.05939121e-03 8.49767250e+01] [ 1.37522991e-02 3.55498582e-04 9.99905369e-01 1.17553757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.926875 meters 0.020934381340261314 Centerline is valid? [True, True] Translation: X:216.59, Y:84.97, Z:11.76 [[ 9.95829379e-01 9.07450339e-02 -9.44387002e-03 2.16588065e+02] [-9.07421896e-02 9.95874150e-01 7.30122505e-04 8.49684220e+01] [ 9.47116101e-03 1.29880002e-04 9.99955139e-01 1.17607186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.956875 meters 0.020642306958401576 Centerline is valid? [True, True] Translation: X:216.62, Y:84.96, Z:11.76 [[ 9.96186086e-01 8.67698282e-02 -9.18033878e-03 2.16619586e+02] [-8.67669616e-02 9.96228382e-01 7.10831460e-04 8.49628881e+01] [ 9.20739278e-03 8.84296925e-05 9.99957607e-01 1.17614012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.986875 meters 0.020461196164046954 Centerline is valid? [True, True] Translation: X:216.65, Y:84.96, Z:11.76 [[ 9.96372850e-01 8.44431823e-02 -1.05115932e-02 2.16650529e+02] [-8.44392674e-02 9.96428293e-01 8.16480276e-04 8.49586370e+01] [ 1.05429951e-02 7.40724507e-05 9.99944418e-01 1.17609296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.016875 meters 0.02007223561391636 Centerline is valid? [True, True] Translation: X:216.68, Y:84.96, Z:11.76 [[ 9.96466082e-01 8.29153057e-02 -1.34313044e-02 2.16683178e+02] [-8.29087255e-02 9.96556595e-01 1.04694405e-03 8.49586869e+01] [ 1.34718627e-02 7.03280918e-05 9.99909248e-01 1.17554699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.046875 meters 0.020165100064454343 Centerline is valid? [True, True] Translation: X:216.72, Y:84.96, Z:11.75 [[ 9.96401292e-01 8.34615349e-02 -1.47864046e-02 2.16715330e+02] [-8.34535644e-02 9.96510996e-01 1.15632645e-03 8.49607865e+01] [ 1.48313235e-02 8.18129993e-05 9.99890007e-01 1.17510294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.076875 meters 0.020204234412552206 Centerline is valid? [True, True] Translation: X:216.75, Y:84.96, Z:11.75 [[ 9.96829478e-01 7.79089918e-02 -1.61610729e-02 2.16746947e+02] [-7.78986740e-02 9.96960475e-01 1.26791607e-03 8.49581192e+01] [ 1.62107330e-02 -4.96996896e-06 9.99868597e-01 1.17493238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1068750000001 meters 0.020090682587486943 Centerline is valid? [True, True] Translation: X:216.78, Y:84.95, Z:11.75 [[ 9.96938935e-01 7.63768837e-02 -1.67131949e-02 2.16780073e+02] [-7.63655584e-02 9.97079019e-01 1.31571079e-03 8.49547323e+01] [ 1.67648659e-02 -3.53708547e-05 9.99859459e-01 1.17510834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.136875 meters 0.02020814664314944 Centerline is valid? [True, True] Translation: X:216.81, Y:84.95, Z:11.75 [[ 9.97029166e-01 7.52577042e-02 -1.64048796e-02 2.16813176e+02] [-7.52465692e-02 9.97164116e-01 1.29582740e-03 8.49510286e+01] [ 1.64558783e-02 -5.75668067e-05 9.99864591e-01 1.17526892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.166875 meters 0.020042776573520986 Centerline is valid? [True, True] Translation: X:216.85, Y:84.95, Z:11.76 [[ 9.97120060e-01 7.44573535e-02 -1.44113844e-02 2.16845066e+02] [-7.44486280e-02 9.97224197e-01 1.14174727e-03 8.49475148e+01] [ 1.44563927e-02 -6.55513125e-05 9.99895499e-01 1.17569408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.196875 meters 0.020081280135847937 Centerline is valid? [True, True] Translation: X:216.88, Y:84.95, Z:11.76 [[ 9.97049398e-01 7.52213492e-02 -1.53050927e-02 2.16877792e+02] [-7.52115353e-02 9.97166859e-01 1.21662088e-03 8.49462491e+01] [ 1.53532471e-02 -6.19115926e-05 9.99882130e-01 1.17559417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2268750000001 meters 0.02015433771168571 Centerline is valid? [True, True] Translation: X:216.91, Y:84.95, Z:11.75 [[ 9.96974384e-01 7.61257611e-02 -1.57144893e-02 2.16909933e+02] [-7.61154625e-02 9.97098223e-01 1.25328427e-03 8.49463911e+01] [ 1.57642965e-02 -5.33766995e-05 9.99875734e-01 1.17529319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.256875 meters 0.01956405606746306 Centerline is valid? [True, True] Translation: X:216.94, Y:84.95, Z:11.75 [[ 9.96660073e-01 8.06726002e-02 -1.26739867e-02 2.16941613e+02] [-8.06662347e-02 9.96740654e-01 1.01348284e-03 8.49541225e+01] [ 1.27144380e-02 1.22649013e-05 9.99919168e-01 1.17518439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.286875 meters 0.019392981303503823 Centerline is valid? [True, True] Translation: X:216.97, Y:84.96, Z:11.75 [[ 9.96418217e-01 8.38672851e-02 -1.08173799e-02 2.16974880e+02] [-8.38628087e-02 9.96476932e-01 8.67555940e-04 8.49554897e+01] [ 1.08520291e-02 4.27273184e-05 9.99941114e-01 1.17548369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.316875 meters 0.019716777774157767 Centerline is valid? [True, True] Translation: X:217.01, Y:84.96, Z:11.76 [[ 9.96145942e-01 8.70267806e-02 -1.09362208e-02 2.17006772e+02] [-8.70223653e-02 9.96205970e-01 8.79847250e-04 8.49552017e+01] [ 1.09712987e-02 7.52395295e-05 9.99939811e-01 1.17566851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.346875 meters 0.020105369087106046 Centerline is valid? [True, True] Translation: X:217.04, Y:84.95, Z:11.76 [[ 9.95911573e-01 8.96426234e-02 -1.11507661e-02 2.17037760e+02] [-8.96381687e-02 9.95973990e-01 8.99649414e-04 8.49538337e+01] [ 1.11865199e-02 1.03562987e-04 9.99937424e-01 1.17587061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.376875 meters 0.02048726662676249 Centerline is valid? [True, True] Translation: X:217.07, Y:84.95, Z:11.76 [[ 9.95680880e-01 9.21594577e-02 -1.12347440e-02 2.17068530e+02] [-9.21550750e-02 9.95744253e-01 9.08273072e-04 8.49528057e+01] [ 1.12706377e-02 1.30988544e-04 9.99936476e-01 1.17607902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.406875 meters 0.021000831157741755 Centerline is valid? [True, True] Translation: X:217.10, Y:84.95, Z:11.76 [[ 9.95217243e-01 9.70832488e-02 -1.08388921e-02 2.17100441e+02] [-9.70794388e-02 9.95276249e-01 8.78341244e-04 8.49549890e+01] [ 1.08729640e-02 1.78093206e-04 9.99940872e-01 1.17626057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.436875 meters 0.02176835560848412 Centerline is valid? [True, True] Translation: X:217.13, Y:84.96, Z:11.76 [[ 9.94972056e-01 9.94940601e-02 -1.14691112e-02 2.17131483e+02] [-9.94899231e-02 9.95038133e-01 9.32112732e-04 8.49558439e+01] [ 1.15049427e-02 2.13634869e-04 9.99933793e-01 1.17602796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.466875 meters 0.02219180380380216 Centerline is valid? [True, True] Translation: X:217.16, Y:84.96, Z:11.76 [[ 9.94749189e-01 1.01628448e-01 -1.20710228e-02 2.17164170e+02] [-1.01623988e-01 9.94822395e-01 9.83887786e-04 8.49567120e+01] [ 1.21085148e-02 2.47983896e-04 9.99926658e-01 1.17576750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.496875 meters 0.022819749416974837 Centerline is valid? [True, True] Translation: X:217.20, Y:84.96, Z:11.75 [[ 9.94241501e-01 1.06413162e-01 -1.26521415e-02 2.17196327e+02] [-1.06408612e-01 9.94321949e-01 1.03422336e-03 8.49592778e+01] [ 1.26903570e-02 3.18029020e-04 9.99919424e-01 1.17528522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.526875 meters 0.023782392007434705 Centerline is valid? [True, True] Translation: X:217.23, Y:84.96, Z:11.75 [[ 9.94048365e-01 1.08175717e-01 -1.28787795e-02 2.17227788e+02] [-1.08171110e-01 9.94131730e-01 1.05580678e-03 8.49595083e+01] [ 1.29174160e-02 3.43588869e-04 9.99916508e-01 1.17521004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.556875 meters 0.023954069187540016 Centerline is valid? [True, True] Translation: X:217.26, Y:84.96, Z:11.75 [[ 9.93955937e-01 1.09084435e-01 -1.23362095e-02 2.17258746e+02] [-1.09080253e-01 9.94032430e-01 1.01340188e-03 8.49570725e+01] [ 1.23731387e-02 3.38360037e-04 9.99923393e-01 1.17531158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.586875 meters 0.02460517369802405 Centerline is valid? [True, True] Translation: X:217.29, Y:84.95, Z:11.75 [[ 9.93770236e-01 1.10678166e-01 -1.30790171e-02 2.17289932e+02] [-1.10673570e-01 9.93856228e-01 1.07693924e-03 8.49526216e+01] [ 1.31178562e-02 3.77271349e-04 9.99913886e-01 1.17540714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.616875 meters 0.023721604901260906 Centerline is valid? [True, True] Translation: X:217.32, Y:84.95, Z:11.75 [[ 9.93686722e-01 1.11365667e-01 -1.35789374e-02 2.17321874e+02] [-1.11360732e-01 9.93779417e-01 1.12130822e-03 8.49480930e+01] [ 1.36193437e-02 3.97931321e-04 9.99907173e-01 1.17540096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.646875 meters 0.02404970993110176 Centerline is valid? [True, True] Translation: X:217.35, Y:84.95, Z:11.75 [[ 9.93578267e-01 1.12345771e-01 -1.34408274e-02 2.17353664e+02] [-1.12340983e-01 9.93669092e-01 1.11311403e-03 8.49464182e+01] [ 1.34807884e-02 4.03989855e-04 9.99909048e-01 1.17538390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.676875 meters 0.024079597838672504 Centerline is valid? [True, True] Translation: X:217.39, Y:84.94, Z:11.75 [[ 9.93479373e-01 1.13442982e-01 -1.13765166e-02 2.17386434e+02] [-1.13439592e-01 9.93544446e-01 9.44979276e-04 8.49448882e+01] [ 1.14102761e-02 3.51729980e-04 9.99934839e-01 1.17543191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.706875 meters 0.024172337523169187 Centerline is valid? [True, True] Translation: X:217.42, Y:84.94, Z:11.76 [[ 9.93416042e-01 1.14169911e-01 -9.47622918e-03 2.17419579e+02] [-1.14167568e-01 9.93461193e-01 7.89558020e-04 8.49411428e+01] [ 9.50440972e-03 2.97518438e-04 9.99954788e-01 1.17558979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.736875 meters 0.024625508001404426 Centerline is valid? [True, True] Translation: X:217.45, Y:84.94, Z:11.76 [[ 9.93422208e-01 1.14182534e-01 -8.64089564e-03 2.17450175e+02] [-1.14180568e-01 9.93459751e-01 7.22099381e-04 8.49372583e+01] [ 8.66683316e-03 2.69272813e-04 9.99962406e-01 1.17577439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.766875 meters 0.023475053754615255 Centerline is valid? [True, True] Translation: X:217.48, Y:84.93, Z:11.76 [[ 9.93638921e-01 1.12273214e-01 -8.74189781e-03 2.17481352e+02] [-1.12271110e-01 9.93677343e-01 7.32674426e-04 8.49288895e+01] [ 8.76888550e-03 2.53448741e-04 9.99961520e-01 1.17593791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.796875 meters 0.02353428101058665 Centerline is valid? [True, True] Translation: X:217.51, Y:84.93, Z:11.76 [[ 9.93788195e-01 1.10961932e-01 -8.51312759e-03 2.17512029e+02] [-1.10959871e-01 9.93824630e-01 7.15460668e-04 8.49265210e+01] [ 8.53994477e-03 2.33599174e-04 9.99963507e-01 1.17587721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.826875 meters 0.0229591036533168 Centerline is valid? [True, True] Translation: X:217.54, Y:84.92, Z:11.76 [[ 9.93884737e-01 1.10121148e-01 -8.15241819e-03 2.17544363e+02] [-1.10119215e-01 9.93918149e-01 6.86976817e-04 8.49230925e+01] [ 8.17848707e-03 2.14962116e-04 9.99966533e-01 1.17576362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8568750000001 meters 0.023015132888764233 Centerline is valid? [True, True] Translation: X:217.58, Y:84.92, Z:11.75 [[ 9.94063225e-01 1.08439276e-01 -8.90104263e-03 2.17575511e+02] [-1.08436885e-01 9.94103051e-01 7.52207602e-04 8.49196588e+01] [ 8.93012249e-03 2.17459422e-04 9.99960102e-01 1.17548861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.886875 meters 0.02269236513104064 Centerline is valid? [True, True] Translation: X:217.61, Y:84.91, Z:11.76 [[ 9.94153551e-01 1.07576089e-01 -9.27907946e-03 2.17607204e+02] [-1.07573433e-01 9.94196831e-01 7.86313072e-04 8.49146043e+01] [ 9.30981987e-03 2.16466495e-04 9.99956639e-01 1.17551581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.916875 meters 0.02242899247015592 Centerline is valid? [True, True] Translation: X:217.64, Y:84.91, Z:11.76 [[ 9.94228940e-01 1.06801439e-01 -1.01127574e-02 2.17638731e+02] [-1.06798219e-01 9.94280344e-01 8.59461886e-04 8.49091100e+01] [ 1.01467077e-02 2.25522600e-04 9.99948495e-01 1.17550969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.946875 meters 0.022345699460369323 Centerline is valid? [True, True] Translation: X:217.67, Y:84.91, Z:11.76 [[ 9.94358532e-01 1.05523963e-01 -1.07611973e-02 2.17670962e+02] [-1.05520224e-01 9.94416735e-01 9.16264365e-04 8.49053611e+01] [ 1.07978025e-02 2.24428654e-04 9.99941677e-01 1.17555132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9768750000001 meters 0.02192342697994025 Centerline is valid? [True, True] Translation: X:217.70, Y:84.90, Z:11.75 [[ 9.94689266e-01 1.02271246e-01 -1.15695940e-02 2.17701606e+02] [-1.02266680e-01 9.94756529e-01 9.87092485e-04 8.48996453e+01] [ 1.16098803e-02 2.01333670e-04 9.99932583e-01 1.17532106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.006875 meters 0.021569737491209516 Centerline is valid? [True, True] Translation: X:217.73, Y:84.89, Z:11.75 [[ 9.94910153e-01 1.00036963e-01 -1.20993107e-02 2.17733273e+02] [-1.00031770e-01 9.94983705e-01 1.03515864e-03 8.48948066e+01] [ 1.21421711e-02 1.80425620e-04 9.99926265e-01 1.17529935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.036875 meters 0.021996663006210913 Centerline is valid? [True, True] Translation: X:217.76, Y:84.89, Z:11.75 [[ 9.95047861e-01 9.86230448e-02 -1.23793542e-02 2.17764424e+02] [-9.86174636e-02 9.95124851e-01 1.06196403e-03 8.48930616e+01] [ 1.24237371e-02 1.64115470e-04 9.99922809e-01 1.17515706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.066875 meters 0.021996663006210913 Centerline is valid? [True, True] Translation: X:217.80, Y:84.89, Z:11.75 [[ 9.95023233e-01 9.88712521e-02 -1.23791003e-02 2.17796703e+02] [-9.88656534e-02 9.95100220e-01 1.06491724e-03 8.48901632e+01] [ 1.24237352e-02 1.64250450e-04 9.99922809e-01 1.17517184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.096875 meters 0.020830830351464633 Centerline is valid? [True, True] Translation: X:217.83, Y:84.88, Z:11.75 [[ 9.95223007e-01 9.68425602e-02 -1.23565985e-02 2.17828034e+02] [-9.68367882e-02 9.95299704e-01 1.06598785e-03 8.48821115e+01] [ 1.24017518e-02 1.35677685e-04 9.99923086e-01 1.17541918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.126875 meters 0.020640520324441337 Centerline is valid? [True, True] Translation: X:217.86, Y:84.88, Z:11.75 [[ 9.95262231e-01 9.64536862e-02 -1.22383609e-02 2.17860783e+02] [-9.64479558e-02 9.95337466e-01 1.05896307e-03 8.48780254e+01] [ 1.22834401e-02 1.26418949e-04 9.99924548e-01 1.17543180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.156875 meters 0.02034025196008 Centerline is valid? [True, True] Translation: X:217.89, Y:84.87, Z:11.75 [[ 9.95285181e-01 9.61851355e-02 -1.24831213e-02 2.17893866e+02] [-9.61791094e-02 9.95363454e-01 1.08356993e-03 8.48745058e+01] [ 1.25294661e-02 1.22154397e-04 9.99921496e-01 1.17540011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.186875 meters 0.019926802743691394 Centerline is valid? [True, True] Translation: X:217.93, Y:84.87, Z:11.75 [[ 9.95478655e-01 9.44349861e-02 -1.02117841e-02 2.17926258e+02] [-9.44308435e-02 9.95531028e-01 8.88154028e-04 8.48708107e+01] [ 1.02500207e-02 8.01690086e-05 9.99947464e-01 1.17537121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.216875 meters 0.019840911602519325 Centerline is valid? [True, True] Translation: X:217.96, Y:84.87, Z:11.75 [[ 9.95613599e-01 9.31953810e-02 -8.25729255e-03 2.17957223e+02] [-9.31926217e-02 9.95647838e-01 7.19143451e-04 8.48669669e+01] [ 8.28837633e-03 5.35297421e-05 9.99965649e-01 1.17544567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.246875 meters 0.01972786759148333 Centerline is valid? [True, True] Translation: X:217.99, Y:84.86, Z:11.76 [[ 9.95622313e-01 9.32270564e-02 -6.70264847e-03 2.17989723e+02] [-9.32252317e-02 9.95644874e-01 5.84840691e-04 8.48630145e+01] [ 6.72798056e-03 4.25755148e-05 9.99977366e-01 1.17551596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.276875 meters 0.019591067915726613 Centerline is valid? [True, True] Translation: X:218.02, Y:84.86, Z:11.75 [[ 9.95499704e-01 9.45600077e-02 -6.22448969e-03 2.18022662e+02] [-9.45584500e-02 9.95519162e-01 5.44731427e-04 8.48610155e+01] [ 6.24810857e-03 4.62981222e-05 9.99980479e-01 1.17547006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.306875 meters 0.019722156701115993 Centerline is valid? [True, True] Translation: X:218.05, Y:84.86, Z:11.75 [[ 9.95301243e-01 9.66044829e-02 -6.55812601e-03 2.18054566e+02] [-9.66027864e-02 9.95322847e-01 5.75708886e-04 8.48599224e+01] [ 6.58306871e-03 6.05294758e-05 9.99978330e-01 1.17533234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.336875 meters 0.019976020054339117 Centerline is valid? [True, True] Translation: X:218.09, Y:84.86, Z:11.75 [[ 9.95065820e-01 9.89158028e-02 -7.72520348e-03 2.18085249e+02] [-9.89135056e-02 9.95095803e-01 6.79808659e-04 8.48588937e+01] [ 7.75456138e-03 8.76725973e-05 9.99969929e-01 1.17515662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.366875 meters 0.020244550356158925 Centerline is valid? [True, True] Translation: X:218.12, Y:84.86, Z:11.75 [[ 9.94792479e-01 1.01541923e-01 -8.78410947e-03 2.18117713e+02] [-1.01539047e-01 9.94831253e-01 7.73958190e-04 8.48577947e+01] [ 8.81729584e-03 1.22002319e-04 9.99961119e-01 1.17502293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.396875 meters 0.02048596970860791 Centerline is valid? [True, True] Translation: X:218.15, Y:84.85, Z:11.75 [[ 9.94499700e-01 1.04289344e-01 -9.69940354e-03 2.18149990e+02] [-1.04285952e-01 9.94546986e-01 8.56267229e-04 8.48547179e+01] [ 9.73581211e-03 1.59954027e-04 9.99952593e-01 1.17512319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.426875 meters 0.021624150174213794 Centerline is valid? [True, True] Translation: X:218.18, Y:84.85, Z:11.76 [[ 9.93905613e-01 1.09906005e-01 -8.50307148e-03 2.18181917e+02] [-1.09903593e-01 9.93941968e-01 7.51880122e-04 8.48540167e+01] [ 8.53419574e-03 1.87220231e-04 9.99963566e-01 1.17551895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.456875 meters 0.022093655810072176 Centerline is valid? [True, True] Translation: X:218.21, Y:84.85, Z:11.76 [[ 9.93561091e-01 1.13018349e-01 -7.95058969e-03 2.18214086e+02] [-1.13016331e-01 9.93592881e-01 7.04144518e-04 8.48528646e+01] [ 7.97923056e-03 1.98935880e-04 9.99968146e-01 1.17562578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.486875 meters 0.02367045743924341 Centerline is valid? [True, True] Translation: X:218.25, Y:84.86, Z:11.76 [[ 9.93306234e-01 1.15280859e-01 -7.28348178e-03 2.18245267e+02] [-1.15279216e-01 9.93332917e-01 6.46411402e-04 8.48557527e+01] [ 7.30944106e-03 1.97549591e-04 9.99973266e-01 1.17550756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.516875 meters 0.02589498996890667 Centerline is valid? [True, True] Translation: X:218.28, Y:84.86, Z:11.75 [[ 9.92966855e-01 1.18162511e-01 -7.37871130e-03 2.18276443e+02] [-1.18160897e-01 9.92994246e-01 6.55761945e-04 8.48603546e+01] [ 7.40450435e-03 2.20725272e-04 9.99972562e-01 1.17491897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.546875 meters 0.025380705170553807 Centerline is valid? [True, True] Translation: X:218.31, Y:84.86, Z:11.75 [[ 9.93187768e-01 1.16236447e-01 -8.19424802e-03 2.18308052e+02] [-1.16234384e-01 9.93221544e-01 7.29109051e-04 8.48560963e+01] [ 8.22345272e-03 2.28311182e-04 9.99966161e-01 1.17463888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.576875 meters 0.022264750587519755 Centerline is valid? [True, True] Translation: X:218.34, Y:84.84, Z:11.75 [[ 9.93516387e-01 1.13375473e-01 -8.43747979e-03 2.18339717e+02] [-1.13373177e-01 9.93552192e-01 7.51462763e-04 8.48447726e+01] [ 8.46827399e-03 2.09993319e-04 9.99964121e-01 1.17473609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6068750000001 meters 0.020431287667813193 Centerline is valid? [True, True] Translation: X:218.37, Y:84.83, Z:11.76 [[ 9.94096038e-01 1.08345868e-01 -5.85144399e-03 2.18370149e+02] [-1.08344674e-01 9.94113253e-01 5.21506064e-04 8.48307903e+01] [ 5.87350104e-03 1.15545680e-04 9.99982744e-01 1.17550815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.636875 meters 0.020029814599150625 Centerline is valid? [True, True] Translation: X:218.40, Y:84.82, Z:11.76 [[ 9.94306132e-01 1.06447960e-01 -4.91393634e-03 2.18401206e+02] [-1.06447094e-01 9.94318271e-01 4.38310391e-04 8.48244061e+01] [ 4.93267394e-03 8.72595324e-05 9.99987830e-01 1.17582128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.666875 meters 0.019409557095948424 Centerline is valid? [True, True] Translation: X:218.43, Y:84.82, Z:11.76 [[ 9.94471921e-01 1.04934800e-01 -3.77974912e-03 2.18433246e+02] [-1.04934274e-01 9.94479102e-01 3.37926427e-04 8.48204139e+01] [ 3.79434175e-03 6.05668860e-05 9.99992800e-01 1.17592649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.696875 meters 0.019472698013375745 Centerline is valid? [True, True] Translation: X:218.46, Y:84.82, Z:11.76 [[ 9.94518105e-01 1.04527440e-01 -2.78438867e-03 2.18463953e+02] [-1.04527153e-01 9.94522002e-01 2.48832856e-04 8.48185180e+01] [ 2.79514565e-03 4.35754408e-05 9.99996093e-01 1.17585973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7268750000001 meters 0.019507358121615796 Centerline is valid? [True, True] Translation: X:218.50, Y:84.82, Z:11.75 [[ 9.94369494e-01 1.05928166e-01 -2.92114505e-03 2.18496033e+02] [-1.05927854e-01 9.94373783e-01 2.61745527e-04 8.48184252e+01] [ 2.93243627e-03 4.91588581e-05 9.99995699e-01 1.17541403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.756875 meters 0.02043593599874927 Centerline is valid? [True, True] Translation: X:218.53, Y:84.82, Z:11.75 [[ 9.94141853e-01 1.08003390e-01 -4.15246903e-03 2.18527163e+02] [-1.08002772e-01 9.94150523e-01 3.73534649e-04 8.48162732e+01] [ 4.16852226e-03 7.71317379e-05 9.99991309e-01 1.17522648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.786875 meters 0.020265410982844147 Centerline is valid? [True, True] Translation: X:218.56, Y:84.81, Z:11.75 [[ 9.93930011e-01 1.09842799e-01 -6.13949119e-03 2.18558989e+02] [-1.09841471e-01 9.93948965e-01 5.54147626e-04 8.48111264e+01] [ 6.16321004e-03 1.23586786e-04 9.99981000e-01 1.17522142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.816875 meters 0.020561697895747383 Centerline is valid? [True, True] Translation: X:218.59, Y:84.81, Z:11.75 [[ 9.93816258e-01 1.10665667e-01 -9.07496451e-03 2.18589476e+02] [-1.10662775e-01 9.93857673e-01 8.21725225e-04 8.48058820e+01] [ 9.11015988e-03 1.87616866e-04 9.99958484e-01 1.17508648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.846875 meters 0.02055558371687858 Centerline is valid? [True, True] Translation: X:218.62, Y:84.80, Z:11.75 [[ 9.93788928e-01 1.10826980e-01 -1.00472139e-02 2.18622707e+02] [-1.10823418e-01 9.93839694e-01 9.12354296e-04 8.48030209e+01] [ 1.00864334e-02 2.06778982e-04 9.99949109e-01 1.17501371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.876875 meters 0.020596138017305705 Centerline is valid? [True, True] Translation: X:218.65, Y:84.80, Z:11.75 [[ 9.93689509e-01 1.11743886e-01 -9.71928897e-03 2.18654716e+02] [-1.11740572e-01 9.93737018e-01 8.84990235e-04 8.48011900e+01] [ 9.75730949e-03 2.06633399e-04 9.99952375e-01 1.17491921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.906875 meters 0.02056141289577787 Centerline is valid? [True, True] Translation: X:218.69, Y:84.80, Z:11.75 [[ 9.93685706e-01 1.11772820e-01 -9.77521779e-03 2.18687945e+02] [-1.11769445e-01 9.93733764e-01 8.92609027e-04 8.47990137e+01] [ 9.81373340e-03 2.05597838e-04 9.99951823e-01 1.17487727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.936875 meters 0.019971702841723303 Centerline is valid? [True, True] Translation: X:218.72, Y:84.79, Z:11.75 [[ 9.93943475e-01 1.09274216e-01 -1.16410868e-02 2.18718564e+02] [-1.09269222e-01 9.94011620e-01 1.06604993e-03 8.47925295e+01] [ 1.16878674e-02 2.12419129e-04 9.99931672e-01 1.17475025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.966875 meters 0.019109782788784915 Centerline is valid? [True, True] Translation: X:218.75, Y:84.79, Z:11.75 [[ 9.94242054e-01 1.06506392e-01 -1.17951517e-02 2.18749973e+02] [-1.06501038e-01 9.94312001e-01 1.08290043e-03 8.47852155e+01] [ 1.18433967e-02 1.79530749e-04 9.99929848e-01 1.17478892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.996875 meters 0.018025290798421353 Centerline is valid? [True, True] Translation: X:218.78, Y:84.77, Z:11.75 [[ 9.94797077e-01 1.01352688e-01 -1.03154493e-02 2.18780738e+02] [-1.01348292e-01 9.94850553e-01 9.49360193e-04 8.47737963e+01] [ 1.03585507e-02 1.01032428e-04 9.99946344e-01 1.17519517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.026875 meters 0.017719846313813886 Centerline is valid? [True, True] Translation: X:218.81, Y:84.77, Z:11.76 [[ 9.95078198e-01 9.87846754e-02 -7.80821465e-03 2.18812403e+02] [-9.87820652e-02 9.95108831e-01 7.20196052e-04 8.47670932e+01] [ 7.84116768e-03 5.46601790e-05 9.99969256e-01 1.17551036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.056875 meters 0.017431931285746126 Centerline is valid? [True, True] Translation: X:218.84, Y:84.76, Z:11.76 [[ 9.95332466e-01 9.63429103e-02 -5.59685564e-03 2.18843760e+02] [-9.63415249e-02 9.95348202e-01 5.17247527e-04 8.47613611e+01] [ 5.62065333e-03 2.43763503e-05 9.99984204e-01 1.17583474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.086875 meters 0.017255686483782926 Centerline is valid? [True, True] Translation: X:218.88, Y:84.76, Z:11.76 [[ 9.95657882e-01 9.30770855e-02 -1.42730253e-03 2.18876343e+02] [-9.30769929e-02 9.95658906e-01 1.31344444e-04 8.47550696e+01] [ 1.43333164e-03 2.07489644e-06 9.99998973e-01 1.17607389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.116875 meters 0.017202700550199932 Centerline is valid? [True, True] Translation: X:218.91, Y:84.75, Z:11.76 [[ 9.95719702e-01 9.24150066e-02 -1.31982853e-03 2.18908636e+02] [-9.24149265e-02 9.95720577e-01 1.21724034e-04 8.47507666e+01] [ 1.32542955e-03 7.68838129e-07 9.99999122e-01 1.17613913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.146875 meters 0.017234823882103262 Centerline is valid? [True, True] Translation: X:218.94, Y:84.75, Z:11.76 [[ 9.95853194e-01 9.09696165e-02 -9.71672210e-04 2.18941312e+02] [-9.09695719e-02 9.95853668e-01 9.00819705e-05 8.47464433e+01] [ 9.75838058e-04 -1.31581313e-06 9.99999524e-01 1.17613512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.176875 meters 0.017522967973206023 Centerline is valid? [True, True] Translation: X:218.97, Y:84.74, Z:11.76 [[ 9.95940544e-01 9.00036006e-02 -1.33579599e-03 2.18974152e+02] [-9.00035156e-02 9.95941440e-01 1.23713228e-04 8.47424597e+01] [ 1.34150922e-03 -2.98468434e-06 9.99999100e-01 1.17600327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.206875 meters 0.017447528141623425 Centerline is valid? [True, True] Translation: X:219.01, Y:84.74, Z:11.76 [[ 9.95957790e-01 8.98111747e-02 -1.42611349e-03 2.19006744e+02] [-8.98110770e-02 9.95958811e-01 1.32570236e-04 8.47392427e+01] [ 1.43225659e-03 -3.95357032e-06 9.99998974e-01 1.17593187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.236875 meters 0.01747084861577266 Centerline is valid? [True, True] Translation: X:219.04, Y:84.74, Z:11.76 [[ 9.95918585e-01 9.02397436e-02 -1.72066605e-03 2.19039175e+02] [-9.02396003e-02 9.95920071e-01 1.60890526e-04 8.47364971e+01] [ 1.72816457e-03 -4.96164902e-06 9.99998507e-01 1.17586870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.266875 meters 0.017242215599599528 Centerline is valid? [True, True] Translation: X:219.07, Y:84.73, Z:11.76 [[ 9.95842113e-01 9.10684419e-02 -2.24177822e-03 2.19071606e+02] [-9.10681997e-02 9.95844636e-01 2.10100477e-04 8.47340140e+01] [ 2.25159634e-03 -5.07219600e-06 9.99997465e-01 1.17580877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.296875 meters 0.017233553457027772 Centerline is valid? [True, True] Translation: X:219.10, Y:84.73, Z:11.76 [[ 9.95664062e-01 9.29837317e-02 -2.66498777e-03 2.19104316e+02] [-9.29833937e-02 9.95667628e-01 2.50728821e-04 8.47324025e+01] [ 2.67675575e-03 -1.84206864e-06 9.99996417e-01 1.17583709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.326875 meters 0.017418413430420204 Centerline is valid? [True, True] Translation: X:219.14, Y:84.73, Z:11.76 [[ 9.95531925e-01 9.43995833e-02 -2.21455675e-03 2.19136935e+02] [-9.43993525e-02 9.95534388e-01 2.08747290e-04 8.47303957e+01] [ 2.22437305e-03 1.23813111e-06 9.99997526e-01 1.17593689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3568750000001 meters 0.01732103718682375 Centerline is valid? [True, True] Translation: X:219.17, Y:84.73, Z:11.76 [[ 9.95399141e-01 9.57986319e-02 -1.78086818e-03 2.19168894e+02] [-9.57984843e-02 9.95400734e-01 1.68168212e-04 8.47291556e+01] [ 1.78878778e-03 3.20997855e-06 9.99998400e-01 1.17604530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.386875 meters 0.017249545405128484 Centerline is valid? [True, True] Translation: X:219.20, Y:84.73, Z:11.76 [[ 9.95175465e-01 9.81032912e-02 -1.24057862e-03 2.19201359e+02] [-9.81032214e-02 9.95176238e-01 1.17068228e-04 8.47288742e+01] [ 1.24607914e-03 5.20133083e-06 9.99999224e-01 1.17614428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.416875 meters 0.018225568975881942 Centerline is valid? [True, True] Translation: X:219.23, Y:84.73, Z:11.76 [[ 9.94705224e-01 1.02755955e-01 -1.65257776e-03 2.19233483e+02] [-1.02755837e-01 9.94706597e-01 1.56894530e-04 8.47311687e+01] [ 1.65995184e-03 1.37482014e-05 9.99998622e-01 1.17598824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.446875 meters 0.01827057816473838 Centerline is valid? [True, True] Translation: X:219.27, Y:84.73, Z:11.76 [[ 9.94527405e-01 1.04433260e-01 -2.98913413e-03 2.19266052e+02] [-1.04432874e-01 9.94531897e-01 2.85314518e-04 8.47293294e+01] [ 3.00258557e-03 2.84107600e-05 9.99995492e-01 1.17591650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4768750000001 meters 0.019291732039501578 Centerline is valid? [True, True] Translation: X:219.30, Y:84.73, Z:11.76 [[ 9.94234332e-01 1.07113599e-01 -4.97692666e-03 2.19297554e+02] [-1.07112552e-01 9.94246787e-01 4.77267988e-04 8.47286207e+01] [ 4.99941523e-03 5.85750952e-05 9.99987501e-01 1.17575650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.506875 meters 0.019682164249527335 Centerline is valid? [True, True] Translation: X:219.33, Y:84.73, Z:11.76 [[ 9.94064489e-01 1.08675380e-01 -5.04506338e-03 2.19329033e+02] [-1.08674318e-01 9.94077290e-01 4.84966210e-04 8.47261597e+01] [ 5.06788682e-03 6.61811328e-05 9.99987156e-01 1.17572394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.536875 meters 0.019847025840639878 Centerline is valid? [True, True] Translation: X:219.36, Y:84.72, Z:11.76 [[ 9.93927882e-01 1.09961102e-01 -3.99012847e-03 2.19360849e+02] [-1.09960445e-01 9.93935890e-01 3.84294294e-04 8.47238038e+01] [ 4.00818932e-03 5.67954871e-05 9.99991966e-01 1.17569782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.566875 meters 0.02048693820101792 Centerline is valid? [True, True] Translation: X:219.39, Y:84.72, Z:11.76 [[ 9.93684815e-01 1.12198729e-01 -1.39044611e-03 2.19393058e+02] [-1.12198651e-01 9.93685788e-01 1.33891319e-04 8.47242315e+01] [ 1.39668898e-03 2.29604076e-05 9.99999024e-01 1.17596740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.596875 meters 0.020459247364769926 Centerline is valid? [True, True] Translation: X:219.42, Y:84.72, Z:11.76 [[ 9.93647385e-01 1.12533067e-01 1.08815844e-03 2.19424041e+02] [-1.12533018e-01 9.93647980e-01 -1.06005221e-04 8.47231107e+01] [-1.09317553e-03 -1.71219433e-05 9.99999402e-01 1.17610283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.626875 meters 0.020584686441523663 Centerline is valid? [True, True] Translation: X:219.46, Y:84.72, Z:11.76 [[ 9.93551459e-01 1.13370451e-01 1.62472463e-03 2.19455902e+02] [-1.13370344e-01 9.93552787e-01 -1.58168204e-04 8.47213012e+01] [-1.63218128e-03 -2.70473406e-05 9.99998668e-01 1.17621419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.656875 meters 0.02151350327505195 Centerline is valid? [True, True] Translation: X:219.49, Y:84.72, Z:11.76 [[ 9.93517907e-01 1.13668131e-01 1.31344737e-03 2.19487965e+02] [-1.13668060e-01 9.93518775e-01 -1.28402623e-04 8.47185844e+01] [-1.31952991e-03 -2.17267106e-05 9.99999129e-01 1.17606807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.686875 meters 0.022531722169380847 Centerline is valid? [True, True] Translation: X:219.52, Y:84.71, Z:11.76 [[ 9.93373732e-01 1.14923677e-01 -1.08518913e-03 2.19519336e+02] [-1.14923631e-01 9.93374324e-01 1.04569013e-04 8.47147236e+01] [ 1.09001648e-03 2.08377649e-05 9.99999406e-01 1.17593108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.716875 meters 0.022146627528767657 Centerline is valid? [True, True] Translation: X:219.55, Y:84.71, Z:11.76 [[ 9.93253879e-01 1.15932658e-01 -2.52012001e-03 2.19551761e+02] [-1.15932409e-01 9.93257075e-01 2.44947617e-04 8.47099983e+01] [ 2.53152446e-03 4.88684143e-05 9.99996794e-01 1.17576661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.746875 meters 0.022731005235395764 Centerline is valid? [True, True] Translation: X:219.58, Y:84.71, Z:11.76 [[ 9.93195766e-01 1.16405021e-01 -3.47014384e-03 2.19584007e+02] [-1.16404548e-01 9.93201826e-01 3.38885358e-04 8.47087227e+01] [ 3.48600116e-03 6.73610210e-05 9.99993922e-01 1.17562141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.776875 meters 0.024553785276706576 Centerline is valid? [True, True] Translation: X:219.62, Y:84.71, Z:11.75 [[ 9.92946621e-01 1.18429655e-01 -5.60578361e-03 2.19615146e+02] [-1.18428446e-01 9.92962438e-01 5.48316455e-04 8.47097284e+01] [ 5.63126949e-03 1.19435271e-04 9.99984137e-01 1.17507395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.806875 meters 0.02449910065904414 Centerline is valid? [True, True] Translation: X:219.65, Y:84.71, Z:11.75 [[ 9.92659598e-01 1.20780891e-01 -6.23696943e-03 2.19646604e+02] [-1.20779431e-01 9.92679180e-01 6.11597055e-04 8.47050428e+01] [ 6.26517894e-03 1.46189933e-04 9.99980363e-01 1.17474606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.836875 meters 0.025392672125042964 Centerline is valid? [True, True] Translation: X:219.68, Y:84.70, Z:11.75 [[ 9.92572414e-01 1.21469463e-01 -6.72099571e-03 2.19677451e+02] [-1.21467772e-01 9.92595156e-01 6.60746882e-04 8.47029424e+01] [ 6.75148836e-03 1.60545246e-04 9.99977196e-01 1.17457796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.866875 meters 0.02426332893122277 Centerline is valid? [True, True] Translation: X:219.71, Y:84.70, Z:11.74 [[ 9.92531740e-01 1.21853105e-01 -5.70660289e-03 2.19710062e+02] [-1.21851885e-01 9.92548136e-01 5.62205146e-04 8.47004457e+01] [ 5.73258450e-03 1.37353868e-04 9.99983559e-01 1.17448299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.896875 meters 0.02608657187873225 Centerline is valid? [True, True] Translation: X:219.74, Y:84.70, Z:11.74 [[ 9.92338848e-01 1.23338698e-01 -7.15378491e-03 2.19742309e+02] [-1.23336808e-01 9.92364617e-01 7.06539102e-04 8.46964662e+01] [ 7.18630664e-03 1.81198797e-04 9.99974162e-01 1.17425500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.926875 meters 0.026578688202973315 Centerline is valid? [True, True] Translation: X:219.78, Y:84.69, Z:11.74 [[ 9.92304283e-01 1.23579664e-01 -7.76378547e-03 2.19775001e+02] [-1.23577435e-01 9.92334635e-01 7.68111298e-04 8.46908345e+01] [ 7.79919615e-03 1.97228561e-04 9.99969566e-01 1.17404581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.956875 meters 0.025258943199277864 Centerline is valid? [True, True] Translation: X:219.81, Y:84.69, Z:11.74 [[ 9.92566682e-01 1.21389764e-01 -8.71243089e-03 2.19805855e+02] [-1.21386850e-01 9.92604899e-01 8.64407035e-04 8.46857240e+01] [ 8.75293174e-03 1.99592920e-04 9.99961672e-01 1.17409021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.986875 meters 0.026584558660138233 Centerline is valid? [True, True] Translation: X:219.84, Y:84.68, Z:11.74 [[ 9.92528752e-01 1.21665338e-01 -9.17725864e-03 2.19838200e+02] [-1.21662094e-01 9.92571157e-01 9.12978678e-04 8.46781200e+01] [ 9.22016008e-03 2.10366914e-04 9.99957471e-01 1.17405759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.016875 meters 0.026584558660138233 Centerline is valid? [True, True] Translation: X:219.87, Y:84.67, Z:11.74 [[ 9.92496035e-01 1.21931960e-01 -9.17701057e-03 2.19870427e+02] [-1.21928705e-01 9.92538439e-01 9.15467091e-04 8.46747860e+01] [ 9.22016045e-03 2.10343557e-04 9.99957471e-01 1.17407238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.046875 meters 0.026672054458165926 Centerline is valid? [True, True] Translation: X:219.90, Y:84.67, Z:11.74 [[ 9.92725683e-01 1.20152601e-01 -7.68579815e-03 2.19901156e+02] [-1.20150251e-01 9.92755421e-01 7.68427767e-04 8.46681388e+01] [ 7.72244638e-03 1.60612597e-04 9.99970169e-01 1.17409149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.076875 meters 0.02782175701978908 Centerline is valid? [True, True] Translation: X:219.93, Y:84.66, Z:11.74 [[ 9.92804845e-01 1.19525552e-01 -7.22366230e-03 2.19931895e+02] [-1.19523449e-01 9.92831114e-01 7.23725617e-04 8.46637896e+01] [ 7.25838039e-03 1.44878731e-04 9.99973647e-01 1.17402740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1068750000001 meters 0.02742375619049351 Centerline is valid? [True, True] Translation: X:219.96, Y:84.65, Z:11.73 [[ 9.93145042e-01 1.16786296e-01 -4.88732828e-03 2.19963034e+02] [-1.16785297e-01 9.93157064e-01 4.90387535e-04 8.46546750e+01] [ 4.91115515e-03 8.37421353e-05 9.99987937e-01 1.17336541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.136875 meters 0.027226876386925402 Centerline is valid? [True, True] Translation: X:219.99, Y:84.65, Z:11.73 [[ 9.93374876e-01 1.14832891e-01 -4.44561089e-03 2.19993762e+02] [-1.14832041e-01 9.93384821e-01 4.47014612e-04 8.46533684e+01] [ 4.46753436e-03 6.64454855e-05 9.99990018e-01 1.17307115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.166875 meters 0.028486219005085488 Centerline is valid? [True, True] Translation: X:220.03, Y:84.65, Z:11.73 [[ 9.93541685e-01 1.13377430e-01 -4.52532889e-03 2.20025182e+02] [-1.13376528e-01 9.93551989e-01 4.56024829e-04 8.46494762e+01] [ 4.54785245e-03 5.99864032e-05 9.99989657e-01 1.17283854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.196875 meters 0.026992920285537812 Centerline is valid? [True, True] Translation: X:220.06, Y:84.64, Z:11.73 [[ 9.93726837e-01 1.11794537e-01 -2.99239666e-03 2.20057301e+02] [-1.11794135e-01 9.93731342e-01 3.01857409e-04 8.46443926e+01] [ 3.00738436e-03 3.45685871e-05 9.99995477e-01 1.17254843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2268750000001 meters 0.026796107566933142 Centerline is valid? [True, True] Translation: X:220.09, Y:84.64, Z:11.73 [[ 9.94187975e-01 1.07639915e-01 -1.97964726e-03 2.20089041e+02] [-1.07639730e-01 9.94189946e-01 1.99801041e-04 8.46370291e+01] [ 1.98965197e-03 1.44489049e-05 9.99998021e-01 1.17263101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.256875 meters 0.026973156831524372 Centerline is valid? [True, True] Translation: X:220.12, Y:84.63, Z:11.73 [[ 9.94337050e-01 1.06266749e-01 -1.09946316e-03 2.20120262e+02] [-1.06266692e-01 9.94337658e-01 1.10705512e-04 8.46333848e+01] [ 1.10500194e-03 6.75772050e-06 9.99999389e-01 1.17280513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.286875 meters 0.026735022113262428 Centerline is valid? [True, True] Translation: X:220.15, Y:84.63, Z:11.73 [[ 9.94451228e-01 1.05194262e-01 -9.60286460e-04 2.20153362e+02] [-1.05194218e-01 9.94451692e-01 9.67219424e-05 8.46293987e+01] [ 9.65133088e-04 4.83132841e-06 9.99999534e-01 1.17273547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.316875 meters 0.027006372563493686 Centerline is valid? [True, True] Translation: X:220.19, Y:84.63, Z:11.72 [[ 9.94643294e-01 1.03356924e-01 -1.43656753e-03 2.20186274e+02] [-1.03356822e-01 9.94644331e-01 1.45668027e-04 8.46273360e+01] [ 1.44392955e-03 3.59132834e-06 9.99998958e-01 1.17237572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.346875 meters 0.027283865506994704 Centerline is valid? [True, True] Translation: X:220.22, Y:84.62, Z:11.72 [[ 9.94728967e-01 1.02525415e-01 -1.67970839e-03 2.20219007e+02] [-1.02525273e-01 9.94730385e-01 1.70947681e-04 8.46249520e+01] [ 1.68838345e-03 2.16595087e-06 9.99998575e-01 1.17222762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.376875 meters 0.02713671709640385 Centerline is valid? [True, True] Translation: X:220.25, Y:84.62, Z:11.72 [[ 9.94889938e-01 1.00962751e-01 -7.31123122e-04 2.20250524e+02] [-1.00962724e-01 9.94890206e-01 7.39944956e-05 8.46229151e+01] [ 7.34857922e-04 1.99802614e-07 9.99999730e-01 1.17207435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.406875 meters 0.027365949670125993 Centerline is valid? [True, True] Translation: X:220.28, Y:84.62, Z:11.72 [[ 9.95410254e-01 9.56887963e-02 -1.44222835e-03 2.20281120e+02] [-9.56886830e-02 9.95411299e-01 1.47517857e-04 8.46194025e+01] [ 1.44972620e-03 -8.83585676e-06 9.99998949e-01 1.17167208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.436875 meters 0.02746791640677744 Centerline is valid? [True, True] Translation: X:220.31, Y:84.61, Z:11.71 [[ 9.95718705e-01 9.24188127e-02 -1.73902441e-03 2.20312575e+02] [-9.24186420e-02 9.95720223e-01 1.78400087e-04 8.46146497e+01] [ 1.74806929e-03 -1.69180299e-05 9.99998472e-01 1.17143245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.466875 meters 0.028211244930235573 Centerline is valid? [True, True] Translation: X:220.34, Y:84.61, Z:11.71 [[ 9.96035624e-01 8.89275368e-02 -2.21991566e-03 2.20343165e+02] [-8.89272477e-02 9.96038098e-01 2.28774545e-04 8.46092926e+01] [ 2.23146492e-03 -3.04566073e-05 9.99997510e-01 1.17123062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.496875 meters 0.029212371650627927 Centerline is valid? [True, True] Translation: X:220.38, Y:84.60, Z:11.71 [[ 9.96335191e-01 8.55193045e-02 -1.62374297e-03 2.20375126e+02] [-8.55191457e-02 9.96336513e-01 1.67080589e-04 8.46031568e+01] [ 1.63208302e-03 -2.76071590e-05 9.99998668e-01 1.17119565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.526875 meters 0.030669108338853737 Centerline is valid? [True, True] Translation: X:220.40, Y:84.59, Z:11.72 [[ 9.96869207e-01 7.90542650e-02 1.48588256e-03 2.20404081e+02] [-7.90541235e-02 9.96870313e-01 -1.53824010e-04 8.45926922e+01] [-1.49339266e-03 3.58772751e-05 9.99998884e-01 1.17162239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.556875 meters 0.031014516061905945 Centerline is valid? [True, True] Translation: X:220.44, Y:84.59, Z:11.72 [[ 9.97008900e-01 7.72187374e-02 3.24330439e-03 2.20436215e+02] [-7.72180477e-02 9.97014172e-01 -3.37539599e-04 8.45890504e+01] [-3.25968482e-03 8.60883515e-05 9.99994684e-01 1.17184841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.586875 meters 0.030721897067194897 Centerline is valid? [True, True] Translation: X:220.47, Y:84.59, Z:11.72 [[ 9.97074124e-01 7.62956379e-02 4.70812439e-03 2.20468275e+02] [-7.62941713e-02 9.97085231e-01 -4.90596282e-04 8.45857294e+01] [-4.73183165e-03 1.29958410e-04 9.99988796e-01 1.17197456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.616875 meters 0.03010710133580078 Centerline is valid? [True, True] Translation: X:220.50, Y:84.59, Z:11.72 [[ 9.96939256e-01 7.78082966e-02 7.61497463e-03 2.20501396e+02] [-7.78044922e-02 9.96968319e-01 -7.95007417e-04 8.45873959e+01] [-7.65374663e-03 2.00094869e-04 9.99970690e-01 1.17219428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.646875 meters 0.02975459016850099 Centerline is valid? [True, True] Translation: X:220.53, Y:84.59, Z:11.72 [[ 9.96726112e-01 8.04768367e-02 7.78052693e-03 2.20532480e+02] [-8.04729355e-02 9.96756462e-01 -8.13679714e-04 8.45859074e+01] [-7.82077286e-03 1.84893975e-04 9.99969400e-01 1.17220590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.676875 meters 0.0287569614802182 Centerline is valid? [True, True] Translation: X:220.56, Y:84.59, Z:11.72 [[ 9.96467965e-01 8.37249675e-02 6.45942201e-03 2.20563771e+02] [-8.37223498e-02 9.96488892e-01 -6.75083900e-04 8.45868033e+01] [-6.49326367e-03 1.31901491e-04 9.99978910e-01 1.17213471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.706875 meters 0.027527731637756393 Centerline is valid? [True, True] Translation: X:220.60, Y:84.59, Z:11.72 [[ 9.95860887e-01 9.07978128e-02 4.10498942e-03 2.20595064e+02] [-9.07968149e-02 9.95869346e-01 -4.29200144e-04 8.45906974e+01] [-4.12700357e-03 5.47036716e-05 9.99991482e-01 1.17181885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.736875 meters 0.026436744452888596 Centerline is valid? [True, True] Translation: X:220.63, Y:84.59, Z:11.72 [[ 9.95558379e-01 9.40551858e-02 4.13953595e-03 2.20627050e+02] [-9.40541916e-02 9.95566984e-01 -4.34614832e-04 8.45915003e+01] [-4.16206310e-03 4.33437297e-05 9.99991338e-01 1.17179999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.766875 meters 0.026416734454652542 Centerline is valid? [True, True] Translation: X:220.66, Y:84.59, Z:11.72 [[ 9.95296977e-01 9.67026319e-02 5.70329856e-03 2.20658696e+02] [-9.67007822e-02 9.95313317e-01 -5.99848601e-04 8.45907935e+01] [-5.73457595e-03 4.55140677e-05 9.99983556e-01 1.17196947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.796875 meters 0.026061032551777354 Centerline is valid? [True, True] Translation: X:220.69, Y:84.59, Z:11.72 [[ 9.94875343e-01 1.00931214e-01 5.99511738e-03 2.20691094e+02] [-1.00929239e-01 9.94893406e-01 -6.31741852e-04 8.45923059e+01] [-6.02826522e-03 2.34217551e-05 9.99981830e-01 1.17216379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.826875 meters 0.02588773363917629 Centerline is valid? [True, True] Translation: X:220.72, Y:84.59, Z:11.72 [[ 9.94652126e-01 1.03162857e-01 4.95703774e-03 2.20722559e+02] [-1.03161534e-01 9.94664478e-01 -5.22715538e-04 8.45920372e+01] [-4.98451418e-03 8.54450640e-06 9.99987577e-01 1.17203093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8568750000001 meters 0.02572308992488761 Centerline is valid? [True, True] Translation: X:220.75, Y:84.59, Z:11.72 [[ 9.94349758e-01 1.06081428e-01 3.91003195e-03 2.20754362e+02] [-1.06080622e-01 9.94357446e-01 -4.13714416e-04 8.45913927e+01] [-3.93185680e-03 -3.40179156e-06 9.99992270e-01 1.17183512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.886875 meters 0.02620851225638876 Centerline is valid? [True, True] Translation: X:220.79, Y:84.59, Z:11.72 [[ 9.93548445e-01 1.13394322e-01 1.79295717e-03 2.20785571e+02] [-1.13394162e-01 9.93550063e-01 -1.90536053e-04 8.45931946e+01] [-1.80299841e-03 -1.40040771e-05 9.99998374e-01 1.17184039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.916875 meters 0.02683152428801036 Centerline is valid? [True, True] Translation: X:220.82, Y:84.59, Z:11.72 [[ 9.93039854e-01 1.17775248e-01 9.16195300e-04 2.20817809e+02] [-1.17775207e-01 9.93040277e-01 -9.80920540e-05 8.45920142e+01] [-9.21371650e-04 -1.04957725e-05 9.99999575e-01 1.17184072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.946875 meters 0.02778797992110456 Centerline is valid? [True, True] Translation: X:220.85, Y:84.59, Z:11.72 [[ 9.92535913e-01 1.21952269e-01 3.23625699e-04 2.20849169e+02] [-1.21952264e-01 9.92535966e-01 -3.52819045e-05 8.45922853e+01] [-3.25512854e-04 -4.44832927e-06 9.99999947e-01 1.17182751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9768750000001 meters 0.028770221372868582 Centerline is valid? [True, True] Translation: X:220.88, Y:84.59, Z:11.72 [[ 9.92080082e-01 1.25603654e-01 -9.12871676e-04 2.20881625e+02] [-1.25603619e-01 9.92080502e-01 9.61425167e-05 8.45914754e+01] [ 9.17718042e-04 1.92789102e-05 9.99999579e-01 1.17178429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.006875 meters 0.030350498933445578 Centerline is valid? [True, True] Translation: X:220.91, Y:84.59, Z:11.72 [[ 9.91421671e-01 1.30681613e-01 -2.32104403e-03 2.20912921e+02] [-1.30681393e-01 9.91424386e-01 2.46922509e-04 8.45940413e+01] [ 2.33340788e-03 5.85129396e-05 9.99997276e-01 1.17166599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.036875 meters 0.031045608638974456 Centerline is valid? [True, True] Translation: X:220.94, Y:84.59, Z:11.72 [[ 9.91173066e-01 1.32557883e-01 -2.08819643e-03 2.20944068e+02] [-1.32557710e-01 9.91175264e-01 2.21727155e-04 8.45926596e+01] [ 2.09916033e-03 5.70365513e-05 9.99997795e-01 1.17159741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.066875 meters 0.0321103232629492 Centerline is valid? [True, True] Translation: X:220.98, Y:84.59, Z:11.72 [[ 9.90947946e-01 1.34227913e-01 -2.24421965e-03 2.20975932e+02] [-1.34227716e-01 9.90950485e-01 2.39089544e-04 8.45907920e+01] [ 2.25600305e-03 6.43111851e-05 9.99997453e-01 1.17162779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.096875 meters 0.033287826824312194 Centerline is valid? [True, True] Translation: X:221.01, Y:84.59, Z:11.72 [[ 9.90720177e-01 1.35903684e-01 -1.92860576e-03 2.21007162e+02] [-1.35903542e-01 9.90722052e-01 2.05243894e-04 8.45869054e+01] [ 1.93860566e-03 5.87650871e-05 9.99998119e-01 1.17168215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.126875 meters 0.03243034674450377 Centerline is valid? [True, True] Translation: X:221.04, Y:84.58, Z:11.72 [[ 9.90872446e-01 1.34801137e-01 -6.70561167e-04 2.21037279e+02] [-1.34801120e-01 9.90872672e-01 7.09087141e-05 8.45786215e+01] [ 6.73999311e-04 2.01309052e-05 9.99999773e-01 1.17189527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.156875 meters 0.031645330493786615 Centerline is valid? [True, True] Translation: X:221.07, Y:84.57, Z:11.72 [[ 9.91230918e-01 1.32137006e-01 -1.03872551e-03 2.21068228e+02] [-1.32136962e-01 9.91231462e-01 1.11012319e-04 8.45704744e+01] [ 1.04428624e-03 2.72151905e-05 9.99999454e-01 1.17194498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.186875 meters 0.028139430569121954 Centerline is valid? [True, True] Translation: X:221.10, Y:84.56, Z:11.72 [[ 9.91699320e-01 1.28569670e-01 -1.51623182e-03 2.21098302e+02] [-1.28569572e-01 9.91700478e-01 1.62377738e-04 8.45574930e+01] [ 1.52452467e-03 3.39113835e-05 9.99998837e-01 1.17186471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.216875 meters 0.028165633616983703 Centerline is valid? [True, True] Translation: X:221.13, Y:84.55, Z:11.72 [[ 9.91791639e-01 1.27834361e-01 -2.77873393e-03 2.21129241e+02] [-1.27834029e-01 9.91795530e-01 2.97486993e-04 8.45529963e+01] [ 2.79396495e-03 6.01716410e-05 9.99996095e-01 1.17176195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.246875 meters 0.027653342392803093 Centerline is valid? [True, True] Translation: X:221.16, Y:84.55, Z:11.72 [[ 9.91974580e-01 1.26386246e-01 -3.59860167e-03 2.21160673e+02] [-1.26385675e-01 9.91981105e-01 3.86320610e-04 8.45472097e+01] [ 3.61857047e-03 7.15914781e-05 9.99993450e-01 1.17178641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.276875 meters 0.027344782593052386 Centerline is valid? [True, True] Translation: X:221.19, Y:84.54, Z:11.72 [[ 9.92169805e-01 1.24818854e-01 -4.39679304e-03 2.21192429e+02] [-1.24817982e-01 9.92179544e-01 4.73279290e-04 8.45403650e+01] [ 4.42148230e-03 7.92254130e-05 9.99990222e-01 1.17180424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.306875 meters 0.027634270639579673 Centerline is valid? [True, True] Translation: X:221.22, Y:84.53, Z:11.72 [[ 9.92316917e-01 1.23497759e-01 -7.44579217e-03 2.21222872e+02] [-1.23495203e-01 9.92344844e-01 8.03894064e-04 8.45342607e+01] [ 7.48807258e-03 1.21801936e-04 9.99971957e-01 1.17168357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.336875 meters 0.027840301254043277 Centerline is valid? [True, True] Translation: X:221.25, Y:84.53, Z:11.72 [[ 9.92273296e-01 1.23759178e-01 -8.79617610e-03 2.21254751e+02] [-1.23755601e-01 9.92312272e-01 9.51840101e-04 8.45298860e+01] [ 8.84635244e-03 1.44090551e-04 9.99960860e-01 1.17158780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.366875 meters 0.02720846469511961 Centerline is valid? [True, True] Translation: X:221.29, Y:84.52, Z:11.72 [[ 9.92238026e-01 1.24037764e-01 -8.85062917e-03 2.21287355e+02] [-1.24034135e-01 9.92277487e-01 9.59965589e-04 8.45239029e+01] [ 8.90135206e-03 1.45265769e-04 9.99960372e-01 1.17162747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.396875 meters 0.028017404543285915 Centerline is valid? [True, True] Translation: X:221.32, Y:84.52, Z:11.72 [[ 9.92099680e-01 1.25183832e-01 -8.19963004e-03 2.21318306e+02] [-1.25180743e-01 9.92133553e-01 8.90951395e-04 8.45243573e+01] [ 8.24666080e-03 1.42523186e-04 9.99965986e-01 1.17165928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.426875 meters 0.0270957148439445 Centerline is valid? [True, True] Translation: X:221.35, Y:84.52, Z:11.72 [[ 9.92080148e-01 1.25430102e-01 -6.65359391e-03 2.21351108e+02] [-1.25428067e-01 9.92102452e-01 7.24011091e-04 8.45194541e+01] [ 6.69185962e-03 1.16270391e-04 9.99977602e-01 1.17182061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.456875 meters 0.027837844033070828 Centerline is valid? [True, True] Translation: X:221.38, Y:84.52, Z:11.72 [[ 9.91976788e-01 1.26299705e-01 -5.51693319e-03 2.21383487e+02] [-1.26298312e-01 9.91992124e-01 6.01590612e-04 8.45188061e+01] [ 5.54873499e-03 1.00015426e-04 9.99984601e-01 1.17204644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.486875 meters 0.02788119976475447 Centerline is valid? [True, True] Translation: X:221.42, Y:84.51, Z:11.72 [[ 9.91783039e-01 1.27772341e-01 -6.37436021e-03 2.21415485e+02] [-1.27770502e-01 9.91803516e-01 6.96552438e-04 8.45131941e+01] [ 6.41111300e-03 1.23626313e-04 9.99979441e-01 1.17223853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.516875 meters 0.027694201285441967 Centerline is valid? [True, True] Translation: X:221.45, Y:84.51, Z:11.72 [[ 9.91662035e-01 1.28646064e-01 -7.52318946e-03 2.21447142e+02] [-1.28643519e-01 9.91690560e-01 8.23232916e-04 8.45095402e+01] [ 7.56658165e-03 1.51440737e-04 9.99971362e-01 1.17228409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.546875 meters 0.02817181602827645 Centerline is valid? [True, True] Translation: X:221.48, Y:84.51, Z:11.72 [[ 9.91606630e-01 1.29049731e-01 -7.90302227e-03 2.21480264e+02] [-1.29046920e-01 9.91638110e-01 8.66812759e-04 8.45054039e+01] [ 7.94880002e-03 1.60323402e-04 9.99968395e-01 1.17229314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.576875 meters 0.02748981875911522 Centerline is valid? [True, True] Translation: X:221.51, Y:84.50, Z:11.72 [[ 9.91535884e-01 1.29577374e-01 -8.14210874e-03 2.21512934e+02] [-1.29574389e-01 9.91569300e-01 8.95266878e-04 8.45006713e+01] [ 8.18947139e-03 1.67319532e-04 9.99966452e-01 1.17234049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6068750000001 meters 0.027637184911121396 Centerline is valid? [True, True] Translation: X:221.54, Y:84.50, Z:11.72 [[ 9.91622174e-01 1.28997797e-01 -6.71064172e-03 2.21544075e+02] [-1.28995746e-01 9.91644871e-01 7.39356300e-04 8.44979863e+01] [ 6.74994877e-03 1.32482134e-04 9.99977210e-01 1.17245501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.636875 meters 0.027401945392546 Centerline is valid? [True, True] Translation: X:221.58, Y:84.49, Z:11.73 [[ 9.91528636e-01 1.29686385e-01 -7.23916235e-03 2.21576792e+02] [-1.29684003e-01 9.91555052e-01 7.99386766e-04 8.44929139e+01] [ 7.28169757e-03 1.46188683e-04 9.99973477e-01 1.17254866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.666875 meters 0.028201697466141793 Centerline is valid? [True, True] Translation: X:221.61, Y:84.49, Z:11.73 [[ 9.91506448e-01 1.29851253e-01 -7.32221029e-03 2.21608598e+02] [-1.29848807e-01 9.91533474e-01 8.10509879e-04 8.44928103e+01] [ 7.36546233e-03 1.47154498e-04 9.99972864e-01 1.17250297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.696875 meters 0.027572538098431663 Centerline is valid? [True, True] Translation: X:221.64, Y:84.49, Z:11.73 [[ 9.91430803e-01 1.30357203e-01 -8.48308831e-03 2.21640867e+02] [-1.30353918e-01 9.91467080e-01 9.41411551e-04 8.44883000e+01] [ 8.53342257e-03 1.72459388e-04 9.99963575e-01 1.17254461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7268750000001 meters 0.028129362580225335 Centerline is valid? [True, True] Translation: X:221.67, Y:84.49, Z:11.73 [[ 9.91459055e-01 1.30149465e-01 -8.37011857e-03 2.21671838e+02] [-1.30146242e-01 9.91494372e-01 9.30928638e-04 8.44874233e+01] [ 8.42008532e-03 1.66361850e-04 9.99964537e-01 1.17253951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.756875 meters 0.028292127107857914 Centerline is valid? [True, True] Translation: X:221.70, Y:84.48, Z:11.73 [[ 9.91421268e-01 1.30382928e-01 -9.17394679e-03 2.21704360e+02] [-1.30379045e-01 9.91463695e-01 1.02258814e-03 8.44837549e+01] [ 9.22896322e-03 1.82274788e-04 9.99957396e-01 1.17256893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.786875 meters 0.027900757532223704 Centerline is valid? [True, True] Translation: X:221.74, Y:84.48, Z:11.73 [[ 9.91588438e-01 1.29022996e-01 -1.02682342e-02 2.21735363e+02] [-1.29018033e-01 9.91641584e-01 1.14701784e-03 8.44784663e+01] [ 1.03303997e-02 1.87417750e-04 9.99946622e-01 1.17253753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.816875 meters 0.02759801349517834 Centerline is valid? [True, True] Translation: X:221.77, Y:84.47, Z:11.73 [[ 9.91616918e-01 1.28756726e-01 -1.08440298e-02 2.21767879e+02] [-1.28751147e-01 9.91676191e-01 1.21394675e-03 8.44722133e+01] [ 1.09100700e-02 1.92411132e-04 9.99940465e-01 1.17270391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.846875 meters 0.027271780843068406 Centerline is valid? [True, True] Translation: X:221.80, Y:84.47, Z:11.73 [[ 9.91730623e-01 1.27924976e-01 -1.02748313e-02 2.21799272e+02] [-1.27919898e-01 9.91783833e-01 1.15265468e-03 8.44668289e+01] [ 1.03378649e-02 1.71232428e-04 9.99946548e-01 1.17289234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.876875 meters 0.027155373128493 Centerline is valid? [True, True] Translation: X:221.83, Y:84.46, Z:11.73 [[ 9.91823482e-01 1.27173851e-01 -1.06298115e-02 2.21830108e+02] [-1.27168347e-01 9.91880428e-01 1.19484197e-03 8.44633670e+01] [ 1.06954546e-02 1.66703233e-04 9.99942788e-01 1.17299241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.906875 meters 0.027155373128493 Centerline is valid? [True, True] Translation: X:221.86, Y:84.46, Z:11.73 [[ 9.91791264e-01 1.27424890e-01 -1.06295312e-02 2.21862294e+02] [-1.27419374e-01 9.91848209e-01 1.19733149e-03 8.44596333e+01] [ 1.06954513e-02 1.66905303e-04 9.99942788e-01 1.17300718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.936875 meters 0.027174943287889036 Centerline is valid? [True, True] Translation: X:221.89, Y:84.46, Z:11.73 [[ 9.91855814e-01 1.26972929e-01 -9.99600940e-03 2.21894150e+02] [-1.26968005e-01 9.91906171e-01 1.12827889e-03 8.44568717e+01] [ 1.00583643e-02 1.50083390e-04 9.99949402e-01 1.17311674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.966875 meters 0.02660073543402858 Centerline is valid? [True, True] Translation: X:221.93, Y:84.45, Z:11.73 [[ 9.91869572e-01 1.26911146e-01 -9.39753876e-03 2.21926626e+02] [-1.26906769e-01 9.91914080e-01 1.06297202e-03 8.44536465e+01] [ 9.45645401e-03 1.38281685e-04 9.99955277e-01 1.17315273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.996875 meters 0.026837655954965175 Centerline is valid? [True, True] Translation: X:221.96, Y:84.45, Z:11.73 [[ 9.91764169e-01 1.27749731e-01 -9.15632962e-03 2.21959589e+02] [-1.27745590e-01 9.91806426e-01 1.03811291e-03 8.44513978e+01] [ 9.21392521e-03 1.40117537e-04 9.99957541e-01 1.17299960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.026875 meters 0.02702309023998832 Centerline is valid? [True, True] Translation: X:221.99, Y:84.45, Z:11.73 [[ 9.91589966e-01 1.29010790e-01 -1.02739911e-02 2.21991300e+02] [-1.29005616e-01 9.91643176e-01 1.16756433e-03 8.44474659e+01] [ 1.03387616e-02 1.67657476e-04 9.99946540e-01 1.17301195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.056875 meters 0.027110156889903862 Centerline is valid? [True, True] Translation: X:222.02, Y:84.44, Z:11.73 [[ 9.91460050e-01 1.30027156e-01 -9.99540472e-03 2.22022472e+02] [-1.30022288e-01 9.91510418e-01 1.13814502e-03 8.44429502e+01] [ 1.00585377e-02 1.71200066e-04 9.99949397e-01 1.17321340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.086875 meters 0.02709768297223552 Centerline is valid? [True, True] Translation: X:222.05, Y:84.44, Z:11.73 [[ 9.91435217e-01 1.30255943e-01 -9.46569282e-03 2.22054607e+02] [-1.30251566e-01 9.91480390e-01 1.08009137e-03 8.44384910e+01] [ 9.52573713e-03 1.62080691e-04 9.99954616e-01 1.17348713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.116875 meters 0.027210253543299468 Centerline is valid? [True, True] Translation: X:222.09, Y:84.44, Z:11.74 [[ 9.91380500e-01 1.30751361e-01 -8.29368271e-03 2.22087015e+02] [-1.30748000e-01 9.91415181e-01 9.48442660e-04 8.44362107e+01] [ 8.34649311e-03 1.44114872e-04 9.99965157e-01 1.17363401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.146875 meters 0.027302624953427744 Centerline is valid? [True, True] Translation: X:222.12, Y:84.43, Z:11.74 [[ 9.91328411e-01 1.31088058e-01 -9.15984344e-03 2.22118397e+02] [-1.31083954e-01 9.91370715e-01 1.04954990e-03 8.44338964e+01] [ 9.21838400e-03 1.60259860e-04 9.99957497e-01 1.17353578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.176875 meters 0.027397853307361452 Centerline is valid? [True, True] Translation: X:222.15, Y:84.43, Z:11.73 [[ 9.91258444e-01 1.31534418e-01 -1.02661759e-02 2.22151150e+02] [-1.31529264e-01 9.91311588e-01 1.17860224e-03 8.44308652e+01] [ 1.03320059e-02 1.82003137e-04 9.99946607e-01 1.17337353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.206875 meters 0.027756928187388084 Centerline is valid? [True, True] Translation: X:222.18, Y:84.43, Z:11.73 [[ 9.91162674e-01 1.32071068e-01 -1.24010877e-02 2.22182682e+02] [-1.32063547e-01 9.91240225e-01 1.42699364e-03 8.44264935e+01] [ 1.24809215e-02 2.23348796e-04 9.99922085e-01 1.17327698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.236875 meters 0.027618223458402317 Centerline is valid? [True, True] Translation: X:222.21, Y:84.42, Z:11.73 [[ 9.91104398e-01 1.32230214e-01 -1.50745973e-02 2.22213946e+02] [-1.32219065e-01 9.91218996e-01 1.73823109e-03 8.44220684e+01] [ 1.51720739e-02 2.70380675e-04 9.99884861e-01 1.17307644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.266875 meters 0.027679799646512116 Centerline is valid? [True, True] Translation: X:222.24, Y:84.42, Z:11.73 [[ 9.91045667e-01 1.32558715e-01 -1.60209873e-02 2.22244653e+02] [-1.32546125e-01 9.91175112e-01 1.84988169e-03 8.44178695e+01] [ 1.61248218e-02 2.90202545e-04 9.99869944e-01 1.17309267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.296875 meters 0.027730163689896958 Centerline is valid? [True, True] Translation: X:222.28, Y:84.41, Z:11.73 [[ 9.91075952e-01 1.32393040e-01 -1.55093516e-02 2.22276210e+02] [-1.32381172e-01 9.91197259e-01 1.79392681e-03 8.44125408e+01] [ 1.56103302e-02 2.75228426e-04 9.99878113e-01 1.17323543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.326875 meters 0.02779570460453908 Centerline is valid? [True, True] Translation: X:222.31, Y:84.41, Z:11.73 [[ 9.91108020e-01 1.32238341e-01 -1.47619165e-02 2.22307092e+02] [-1.32227524e-01 9.91217915e-01 1.71067624e-03 8.44102989e+01] [ 1.48584930e-02 2.56466723e-04 9.99889574e-01 1.17330081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3568750000001 meters 0.027471714614482133 Centerline is valid? [True, True] Translation: X:222.34, Y:84.41, Z:11.73 [[ 9.91134709e-01 1.32250733e-01 -1.27174208e-02 2.22339517e+02] [-1.32242671e-01 9.91216271e-01 1.47648530e-03 8.44084351e+01] [ 1.28009806e-02 2.18389856e-04 9.99918040e-01 1.17329031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.386875 meters 0.02731418329452834 Centerline is valid? [True, True] Translation: X:222.37, Y:84.40, Z:11.73 [[ 9.91085181e-01 1.32610534e-01 -1.28300323e-02 2.22371861e+02] [-1.32602317e-01 9.91168198e-01 1.49283755e-03 8.44033602e+01] [ 1.29146860e-02 2.21762842e-04 9.99916577e-01 1.17342624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.416875 meters 0.027604063197466822 Centerline is valid? [True, True] Translation: X:222.40, Y:84.40, Z:11.73 [[ 9.91148338e-01 1.32118186e-01 -1.30290522e-02 2.22403213e+02] [-1.32109644e-01 9.91233947e-01 1.51792721e-03 8.43991623e+01] [ 1.31153847e-02 2.16772423e-04 9.99913966e-01 1.17348090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.446875 meters 0.02736920355948655 Centerline is valid? [True, True] Translation: X:222.43, Y:84.39, Z:11.73 [[ 9.91095890e-01 1.32228940e-01 -1.56347210e-02 2.22434490e+02] [-1.32216606e-01 9.91219169e-01 1.82448365e-03 8.43914736e+01] [ 1.57386847e-02 2.58931499e-04 9.99876106e-01 1.17335150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4768750000001 meters 0.027107002906245927 Centerline is valid? [True, True] Translation: X:222.47, Y:84.39, Z:11.73 [[ 9.91072634e-01 1.32274433e-01 -1.66885695e-02 2.22467230e+02] [-1.32260315e-01 9.91213095e-01 1.95172962e-03 8.43864647e+01] [ 1.68000925e-02 2.72929643e-04 9.99858831e-01 1.17330023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.506875 meters 0.027449314208429332 Centerline is valid? [True, True] Translation: X:222.50, Y:84.38, Z:11.73 [[ 9.90933552e-01 1.33302426e-01 -1.67677823e-02 2.22498742e+02] [-1.33288254e-01 9.91075366e-01 1.96494325e-03 8.43828069e+01] [ 1.68800677e-02 2.87820236e-04 9.99857480e-01 1.17327314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.536875 meters 0.027451080926245618 Centerline is valid? [True, True] Translation: X:222.53, Y:84.38, Z:11.74 [[ 9.90714144e-01 1.35144343e-01 -1.48825772e-02 2.22531704e+02] [-1.35133331e-01 9.90825882e-01 1.74770480e-03 8.43785527e+01] [ 1.49822351e-02 2.79656370e-04 9.99887721e-01 1.17353710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.566875 meters 0.027848668732396293 Centerline is valid? [True, True] Translation: X:222.56, Y:84.38, Z:11.74 [[ 9.90488504e-01 1.36747482e-01 -1.52528300e-02 2.22563293e+02] [-1.36736048e-01 9.90605891e-01 1.79492955e-03 8.43752572e+01] [ 1.53549954e-02 3.07754610e-04 9.99882058e-01 1.17358070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.596875 meters 0.02912580397346506 Centerline is valid? [True, True] Translation: X:222.59, Y:84.38, Z:11.73 [[ 9.90193350e-01 1.38807595e-01 -1.57981445e-02 2.22594489e+02] [-1.38795535e-01 9.90319307e-01 1.86260683e-03 8.43753448e+01] [ 1.59037515e-02 3.48371006e-04 9.99873467e-01 1.17343331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.626875 meters 0.03034067832235248 Centerline is valid? [True, True] Translation: X:222.63, Y:84.37, Z:11.73 [[ 9.89352957e-01 1.44488183e-01 -1.74324655e-02 2.22625621e+02] [-1.44474357e-01 9.89506408e-01 2.05657047e-03 8.43747544e+01] [ 1.75466865e-02 4.83870172e-04 9.99845928e-01 1.17330865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.656875 meters 0.03113766879420058 Centerline is valid? [True, True] Translation: X:222.66, Y:84.37, Z:11.73 [[ 9.88993788e-01 1.46850261e-01 -1.80634361e-02 2.22657655e+02] [-1.46835791e-01 9.89158584e-01 2.13197276e-03 8.43738267e+01] [ 1.81806836e-02 5.43851111e-04 9.99834570e-01 1.17324877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.686875 meters 0.0320154712560654 Centerline is valid? [True, True] Translation: X:222.69, Y:84.37, Z:11.73 [[ 9.88604200e-01 1.49377668e-01 -1.86560441e-02 2.22689130e+02] [-1.49362621e-01 9.88780028e-01 2.20521445e-03 8.43718168e+01] [ 1.87761336e-02 6.06431362e-04 9.99823529e-01 1.17319235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.716875 meters 0.03316972238848058 Centerline is valid? [True, True] Translation: X:222.72, Y:84.37, Z:11.73 [[ 9.88232015e-01 1.51839231e-01 -1.85022346e-02 2.22721216e+02] [-1.51824828e-01 9.88404993e-01 2.18888329e-03 8.43692698e+01] [ 1.86200594e-02 6.45974033e-04 9.99826423e-01 1.17334418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.746875 meters 0.03419235079009553 Centerline is valid? [True, True] Translation: X:222.75, Y:84.37, Z:11.73 [[ 9.88147385e-01 1.52395362e-01 -1.84499276e-02 2.22753508e+02] [-1.52381099e-01 9.88319396e-01 2.18469175e-03 8.43666321e+01] [ 1.85673582e-02 6.52622814e-04 9.99827399e-01 1.17345568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.776875 meters 0.03409772125489738 Centerline is valid? [True, True] Translation: X:222.79, Y:84.36, Z:11.74 [[ 9.88080297e-01 1.52821095e-01 -1.85213456e-02 2.22785756e+02] [-1.52806718e-01 9.88253651e-01 2.19735778e-03 8.43624022e+01] [ 1.86395900e-02 6.59020097e-04 9.99826051e-01 1.17354889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.806875 meters 0.03371755212299116 Centerline is valid? [True, True] Translation: X:222.82, Y:84.36, Z:11.74 [[ 9.88119598e-01 1.52575546e-01 -1.84489321e-02 2.22817855e+02] [-1.52561158e-01 9.88291598e-01 2.19308023e-03 8.43583114e+01] [ 1.85675350e-02 6.47564884e-04 9.99827399e-01 1.17350420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.836875 meters 0.03349249025570207 Centerline is valid? [True, True] Translation: X:222.85, Y:84.36, Z:11.73 [[ 9.88323099e-01 1.51335730e-01 -1.77468137e-02 2.22848952e+02] [-1.51322151e-01 9.88482241e-01 2.11332189e-03 8.43565287e+01] [ 1.78622313e-02 5.96841184e-04 9.99840279e-01 1.17311735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.866875 meters 0.03345509808750541 Centerline is valid? [True, True] Translation: X:222.88, Y:84.35, Z:11.73 [[ 9.88476145e-01 1.50317908e-01 -1.78728114e-02 2.22881176e+02] [-1.50303933e-01 9.88637542e-01 2.13031311e-03 8.43528845e+01] [ 1.79899565e-02 5.80590145e-04 9.99837999e-01 1.17299949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.896875 meters 0.03263837283359915 Centerline is valid? [True, True] Translation: X:222.91, Y:84.35, Z:11.73 [[ 9.88833784e-01 1.48136490e-01 -1.62274101e-02 2.22912363e+02] [-1.48124662e-01 9.88966804e-01 1.93507158e-03 8.43465780e+01] [ 1.63350246e-02 4.90215473e-04 9.99866454e-01 1.17317573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.926875 meters 0.03155312449707945 Centerline is valid? [True, True] Translation: X:222.94, Y:84.34, Z:11.73 [[ 9.88985610e-01 1.47165082e-01 -1.58083000e-02 2.22943358e+02] [-1.47153690e-01 9.89111838e-01 1.88780001e-03 8.43391833e+01] [ 1.59139949e-02 4.59242628e-04 9.99873259e-01 1.17344141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.956875 meters 0.03006992238870657 Centerline is valid? [True, True] Translation: X:222.97, Y:84.33, Z:11.74 [[ 9.89077769e-01 1.46470304e-01 -1.64808032e-02 2.22974405e+02] [-1.46457763e-01 9.89214959e-01 1.97187741e-03 8.43301569e+01] [ 1.65918785e-02 4.63401457e-04 9.99862238e-01 1.17372833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.986875 meters 0.030151832250927834 Centerline is valid? [True, True] Translation: X:223.01, Y:84.33, Z:11.74 [[ 9.89250329e-01 1.45184374e-01 -1.74723852e-02 2.23005010e+02] [-1.45170011e-01 9.89404509e-01 2.09435049e-03 8.43253379e+01] [ 1.75913237e-02 4.64629448e-04 9.99845153e-01 1.17374258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.016875 meters 0.02996593857021451 Centerline is valid? [True, True] Translation: X:223.04, Y:84.32, Z:11.74 [[ 9.89345444e-01 1.44167968e-01 -2.02777975e-02 2.23037607e+02] [-1.44148304e-01 9.89553098e-01 2.43573749e-03 8.43192626e+01] [ 2.04171126e-02 5.13224319e-04 9.99791417e-01 1.17356558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.046875 meters 0.029550718557531025 Centerline is valid? [True, True] Translation: X:223.07, Y:84.32, Z:11.73 [[ 9.89424857e-01 1.43615997e-01 -2.03199104e-02 2.23069140e+02] [-1.43596085e-01 9.89633364e-01 2.44323664e-03 8.43154475e+01] [ 2.04601492e-02 5.00460519e-04 9.99790544e-01 1.17342917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.076875 meters 0.028833039629611645 Centerline is valid? [True, True] Translation: X:223.10, Y:84.31, Z:11.73 [[ 9.89459956e-01 1.43449034e-01 -1.97830666e-02 2.23101354e+02] [-1.43430049e-01 9.89657589e-01 2.38257311e-03 8.43116968e+01] [ 1.99202398e-02 4.80025528e-04 9.99801457e-01 1.17335466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1068750000001 meters 0.029040869584219895 Centerline is valid? [True, True] Translation: X:223.13, Y:84.31, Z:11.73 [[ 9.89455916e-01 1.43459902e-01 -1.99059392e-02 2.23134469e+02] [-1.43440582e-01 9.89656015e-01 2.40239979e-03 8.43080622e+01] [ 2.00446805e-02 4.78250824e-04 9.99798971e-01 1.17320789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.136875 meters 0.028983279267402025 Centerline is valid? [True, True] Translation: X:223.17, Y:84.30, Z:11.73 [[ 9.89561944e-01 1.42363859e-01 -2.23537554e-02 2.23166524e+02] [-1.42339083e-01 9.89814263e-01 2.70373490e-03 8.43022584e+01] [ 2.25109800e-02 5.06299882e-04 9.99746468e-01 1.17302298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.166875 meters 0.02909213344008698 Centerline is valid? [True, True] Translation: X:223.20, Y:84.30, Z:11.73 [[ 9.89652163e-01 1.41720666e-01 -2.24466005e-02 2.23197558e+02] [-1.41695407e-01 9.89906568e-01 2.71987568e-03 8.42978968e+01] [ 2.26054999e-02 4.88849353e-04 9.99744344e-01 1.17297530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.196875 meters 0.028714907738986904 Centerline is valid? [True, True] Translation: X:223.23, Y:84.29, Z:11.73 [[ 9.89687808e-01 1.41386686e-01 -2.29749207e-02 2.23230220e+02] [-1.41360002e-01 9.89954326e-01 2.78960952e-03 8.42921959e+01] [ 2.31385358e-02 4.86892303e-04 9.99732150e-01 1.17316330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2268750000001 meters 0.028263523911016997 Centerline is valid? [True, True] Translation: X:223.26, Y:84.28, Z:11.74 [[ 9.89840713e-01 1.40522149e-01 -2.16538176e-02 2.23261669e+02] [-1.40498131e-01 9.90077440e-01 2.63413789e-03 8.42846296e+01] [ 2.18091110e-02 4.34943959e-04 9.99762058e-01 1.17368610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.256875 meters 0.027894983643028334 Centerline is valid? [True, True] Translation: X:223.29, Y:84.28, Z:11.74 [[ 9.89948543e-01 1.39957431e-01 -2.03420593e-02 2.23293103e+02] [-1.39936023e-01 9.90157444e-01 2.47906605e-03 8.42801631e+01] [ 2.04888052e-02 3.92439069e-04 9.99790005e-01 1.17395443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.286875 meters 0.027710075110499065 Centerline is valid? [True, True] Translation: X:223.32, Y:84.28, Z:11.74 [[ 9.90043509e-01 1.39501940e-01 -1.87898567e-02 2.23324784e+02] [-1.39483515e-01 9.90221736e-01 2.29403882e-03 8.42757976e+01] [ 1.89261473e-02 3.49677010e-04 9.99820823e-01 1.17416655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.316875 meters 0.027361972634067627 Centerline is valid? [True, True] Translation: X:223.36, Y:84.27, Z:11.74 [[ 9.90250625e-01 1.38166549e-01 -1.77116819e-02 2.23356621e+02] [-1.38149894e-01 9.90408963e-01 2.16630100e-03 8.42719657e+01] [ 1.78411189e-02 3.01686064e-04 9.99840789e-01 1.17419592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.346875 meters 0.027125853804154283 Centerline is valid? [True, True] Translation: X:223.39, Y:84.27, Z:11.74 [[ 9.90403330e-01 1.36891960e-01 -1.90219713e-02 2.23388105e+02] [-1.36872428e-01 9.90585940e-01 2.33109198e-03 8.42680231e+01] [ 1.91620050e-02 2.94862142e-04 9.99816348e-01 1.17384231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.376875 meters 0.027259647784663162 Centerline is valid? [True, True] Translation: X:223.42, Y:84.26, Z:11.74 [[ 9.90450694e-01 1.36413317e-01 -1.99707312e-02 2.23420516e+02] [-1.36391590e-01 9.90651967e-01 2.45237815e-03 8.42633100e+01] [ 2.01185812e-02 2.94880148e-04 9.99797557e-01 1.17365202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.406875 meters 0.0267020981556425 Centerline is valid? [True, True] Translation: X:223.45, Y:84.26, Z:11.74 [[ 9.90554080e-01 1.35751040e-01 -1.93460506e-02 2.23452138e+02] [-1.35730440e-01 9.90742945e-01 2.38002604e-03 8.42586093e+01] [ 1.94900542e-02 2.68303445e-04 9.99810015e-01 1.17378576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.436875 meters 0.026420047559373553 Centerline is valid? [True, True] Translation: X:223.48, Y:84.25, Z:11.74 [[ 9.90682264e-01 1.35056387e-01 -1.75619995e-02 2.23483284e+02] [-1.35039236e-01 9.90837888e-01 2.16429142e-03 8.42536894e+01] [ 1.76933959e-02 2.27433870e-04 9.99843434e-01 1.17405533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.466875 meters 0.02604438993546364 Centerline is valid? [True, True] Translation: X:223.51, Y:84.25, Z:11.75 [[ 9.90912124e-01 1.33760334e-01 -1.41892844e-02 2.23514728e+02] [-1.33748964e-01 9.91013697e-01 1.75158067e-03 8.42472784e+01] [ 1.42960672e-02 1.62139560e-04 9.99897793e-01 1.17477609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.496875 meters 0.02636257316843241 Centerline is valid? [True, True] Translation: X:223.55, Y:84.24, Z:11.75 [[ 9.90879085e-01 1.33925737e-01 -1.49176550e-02 2.23546304e+02] [-1.33913135e-01 9.90991356e-01 1.84499008e-03 8.42447727e+01] [ 1.50303589e-02 1.69507869e-04 9.99887023e-01 1.17471597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.526875 meters 0.026108488659726065 Centerline is valid? [True, True] Translation: X:223.58, Y:84.24, Z:11.75 [[ 9.90748422e-01 1.34735703e-01 -1.62436222e-02 2.23577720e+02] [-1.34720811e-01 9.90881553e-01 2.01258922e-03 8.42411015e+01] [ 1.63666732e-02 1.94384376e-04 9.99866038e-01 1.17467583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.556875 meters 0.026973098807392765 Centerline is valid? [True, True] Translation: X:223.61, Y:84.24, Z:11.74 [[ 9.90475684e-01 1.36516188e-01 -1.79234541e-02 2.23608884e+02] [-1.36498279e-01 9.90637810e-01 2.22452762e-03 8.42428463e+01] [ 1.80593353e-02 2.43180115e-04 9.99836887e-01 1.17419377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.586875 meters 0.026806147038932897 Centerline is valid? [True, True] Translation: X:223.64, Y:84.24, Z:11.74 [[ 9.90404142e-01 1.36959761e-01 -1.84840177e-02 2.23640497e+02] [-1.36940718e-01 9.90576579e-01 2.29807767e-03 8.42402364e+01] [ 1.86245791e-02 2.55189001e-04 9.99826515e-01 1.17411374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.616875 meters 0.02751089036192782 Centerline is valid? [True, True] Translation: X:223.67, Y:84.24, Z:11.74 [[ 9.90207857e-01 1.38281138e-01 -1.91501125e-02 2.23671760e+02] [-1.38260869e-01 9.90392975e-01 2.38481674e-03 8.42375438e+01] [ 1.92959121e-02 2.86246917e-04 9.99813776e-01 1.17392092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.646875 meters 0.026750367707873268 Centerline is valid? [True, True] Translation: X:223.70, Y:84.23, Z:11.74 [[ 9.90125929e-01 1.38740493e-01 -2.00429739e-02 2.23702739e+02] [-1.38718297e-01 9.90328725e-01 2.50023994e-03 8.42309696e+01] [ 2.01960173e-02 3.04774815e-04 9.99795993e-01 1.17426654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.676875 meters 0.027301958608133167 Centerline is valid? [True, True] Translation: X:223.73, Y:84.23, Z:11.74 [[ 9.90151326e-01 1.38490801e-01 -2.05097337e-02 2.23734603e+02] [-1.38467406e-01 9.90363674e-01 2.56333364e-03 8.42287572e+01] [ 2.06670934e-02 3.01841416e-04 9.99786367e-01 1.17411127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.706875 meters 0.027606695093351365 Centerline is valid? [True, True] Translation: X:223.77, Y:84.22, Z:11.74 [[ 9.90080079e-01 1.38903126e-01 -2.11508352e-02 2.23766269e+02] [-1.38878240e-01 9.90305923e-01 2.64808544e-03 8.42244790e+01] [ 2.13136247e-02 3.15574132e-04 9.99772789e-01 1.17411014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.736875 meters 0.02732935064959521 Centerline is valid? [True, True] Translation: X:223.80, Y:84.22, Z:11.74 [[ 9.89779084e-01 1.41102759e-01 -2.06730737e-02 2.23798042e+02] [-1.41079370e-01 9.89994893e-01 2.59280665e-03 8.42210371e+01] [ 2.08320896e-02 3.50238419e-04 9.99782927e-01 1.17428302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.766875 meters 0.027356492981649147 Centerline is valid? [True, True] Translation: X:223.83, Y:84.22, Z:11.74 [[ 9.89639095e-01 1.42202676e-01 -1.98207342e-02 2.23831136e+02] [-1.42181299e-01 9.89837499e-01 2.49077510e-03 8.42198138e+01] [ 1.99735009e-02 3.53169321e-04 9.99800447e-01 1.17427386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.796875 meters 0.027356492981649147 Centerline is valid? [True, True] Translation: X:223.86, Y:84.22, Z:11.74 [[ 9.89603395e-01 1.42450988e-01 -1.98201086e-02 2.23863277e+02] [-1.42429562e-01 9.89801794e-01 2.49574761e-03 8.42156568e+01] [ 1.99735007e-02 3.53169068e-04 9.99800447e-01 1.17428865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.826875 meters 0.028969794176876347 Centerline is valid? [True, True] Translation: X:223.89, Y:84.22, Z:11.74 [[ 9.89392129e-01 1.44022001e-01 -1.89967819e-02 2.23894474e+02] [-1.44002529e-01 9.89574419e-01 2.39615169e-03 8.42170427e+01] [ 1.91438279e-02 3.64851018e-04 9.99816674e-01 1.17402247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8568750000001 meters 0.027922369130626838 Centerline is valid? [True, True] Translation: X:223.93, Y:84.21, Z:11.74 [[ 9.89204380e-01 1.45353196e-01 -1.86317577e-02 2.23926044e+02] [-1.45334624e-01 9.89379758e-01 2.35419164e-03 8.42090206e+01] [ 1.87760732e-02 3.79062822e-04 9.99823642e-01 1.17443214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.886875 meters 0.027565582654902627 Centerline is valid? [True, True] Translation: X:223.96, Y:84.20, Z:11.75 [[ 9.89104362e-01 1.46087819e-01 -1.81909543e-02 2.23958076e+02] [-1.46070155e-01 9.89271553e-01 2.30310724e-03 8.42030311e+01] [ 1.83322496e-02 3.79142106e-04 9.99831878e-01 1.17466287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.916875 meters 0.028648847057303604 Centerline is valid? [True, True] Translation: X:223.99, Y:84.20, Z:11.75 [[ 9.89011038e-01 1.46694962e-01 -1.83781201e-02 2.23990283e+02] [-1.46676951e-01 9.89181700e-01 2.33144931e-03 8.42007482e+01] [ 1.85213120e-02 3.89817528e-04 9.99828390e-01 1.17464153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.946875 meters 0.02751896051216949 Centerline is valid? [True, True] Translation: X:224.02, Y:84.19, Z:11.75 [[ 9.88766874e-01 1.48264744e-01 -1.89112093e-02 2.24021845e+02] [-1.48245874e-01 9.88947614e-01 2.40362753e-03 8.41924155e+01] [ 1.90585686e-02 4.26881481e-04 9.99818278e-01 1.17501700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9768750000001 meters 0.02899326238903689 Centerline is valid? [True, True] Translation: X:224.05, Y:84.19, Z:11.75 [[ 9.88626188e-01 1.49147928e-01 -1.93172294e-02 2.24052484e+02] [-1.49128352e-01 9.88814792e-01 2.45806585e-03 8.41907598e+01] [ 1.94677776e-02 4.50638314e-04 9.99810383e-01 1.17495858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.006875 meters 0.02933762302823409 Centerline is valid? [True, True] Translation: X:224.08, Y:84.19, Z:11.75 [[ 9.88475432e-01 1.50093583e-01 -1.97037272e-02 2.24083095e+02] [-1.50073332e-01 9.88671680e-01 2.51088831e-03 8.41874037e+01] [ 1.98573853e-02 4.75052575e-04 9.99802710e-01 1.17496415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.036875 meters 0.028417962436106853 Centerline is valid? [True, True] Translation: X:224.11, Y:84.18, Z:11.75 [[ 9.88266531e-01 1.51454313e-01 -1.97700675e-02 2.24114633e+02] [-1.51434153e-01 9.88464131e-01 2.52155107e-03 8.41821044e+01] [ 1.99239023e-02 5.01898881e-04 9.99801373e-01 1.17492986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.066875 meters 0.028936642021117783 Centerline is valid? [True, True] Translation: X:224.15, Y:84.18, Z:11.74 [[ 9.87853877e-01 1.54075920e-01 -2.01327847e-02 2.24147608e+02] [-1.54055528e-01 9.88058851e-01 2.56925860e-03 8.41834302e+01] [ 2.02882370e-02 5.63514703e-04 9.99794014e-01 1.17438710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.096875 meters 0.03150931834532622 Centerline is valid? [True, True] Translation: X:224.18, Y:84.18, Z:11.74 [[ 9.87673457e-01 1.55259880e-01 -1.98874718e-02 2.24178870e+02] [-1.55240143e-01 9.87873492e-01 2.54186270e-03 8.41848370e+01] [ 2.00409555e-02 5.76803647e-04 9.99798993e-01 1.17399670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.126875 meters 0.03130751290022124 Centerline is valid? [True, True] Translation: X:224.21, Y:84.18, Z:11.74 [[ 9.87580243e-01 1.55825628e-01 -2.00907411e-02 2.24210756e+02] [-1.55805509e-01 9.87784403e-01 2.57244759e-03 8.41792071e+01] [ 2.02461740e-02 5.89749737e-04 9.99794851e-01 1.17407945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.156875 meters 0.030463419484883483 Centerline is valid? [True, True] Translation: X:224.24, Y:84.17, Z:11.74 [[ 9.87373626e-01 1.56795949e-01 -2.25466984e-02 2.24241439e+02] [-1.56770748e-01 9.87630786e-01 2.89194675e-03 8.41704759e+01] [ 2.27212590e-02 6.79230834e-04 9.99741608e-01 1.17416562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.186875 meters 0.03102446376749384 Centerline is valid? [True, True] Translation: X:224.27, Y:84.17, Z:11.74 [[ 9.87187004e-01 1.57841329e-01 -2.34080070e-02 2.24273576e+02] [-1.57814336e-01 9.87464222e-01 3.00769750e-03 8.41660631e+01] [ 2.35893084e-02 7.24959189e-04 9.99721471e-01 1.17418279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.216875 meters 0.0461552931232076 Centerline is valid? [True, True] Translation: X:224.31, Y:84.19, Z:11.73 [[ 9.87610603e-01 1.55469911e-01 -2.13167530e-02 2.24306993e+02] [-1.55446947e-01 9.87840442e-01 2.74019208e-03 8.41863593e+01] [ 2.14835682e-02 6.07381430e-04 9.99769017e-01 1.17289916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.246875 meters 0.03064508953138053 Centerline is valid? [True, True] Translation: X:224.34, Y:84.16, Z:11.75 [[ 9.87552317e-01 1.55923608e-01 -2.06941821e-02 2.24336068e+02] [-1.55902026e-01 9.87768936e-01 2.66206267e-03 8.41553130e+01] [ 2.08561486e-02 5.97338758e-04 9.99782308e-01 1.17485270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.276875 meters 0.02917462691601401 Centerline is valid? [True, True] Translation: X:224.37, Y:84.15, Z:11.75 [[ 9.87576477e-01 1.55861754e-01 -1.99953916e-02 2.24367822e+02] [-1.55841508e-01 9.87778713e-01 2.57635721e-03 8.41477569e+01] [ 2.01525777e-02 5.71762197e-04 9.99796753e-01 1.17505257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.306875 meters 0.028965151182387475 Centerline is valid? [True, True] Translation: X:224.40, Y:84.14, Z:11.75 [[ 9.87609042e-01 1.55630196e-01 -2.01896593e-02 2.24399690e+02] [-1.55609409e-01 9.87815225e-01 2.60618227e-03 8.41443556e+01] [ 2.03492536e-02 5.67811786e-04 9.99792771e-01 1.17491489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.336875 meters 0.028893408042356242 Centerline is valid? [True, True] Translation: X:224.43, Y:84.14, Z:11.75 [[ 9.87799767e-01 1.54463960e-01 -1.98117523e-02 2.24431647e+02] [-1.54443650e-01 9.87998281e-01 2.56040205e-03 8.41404432e+01] [ 1.99694671e-02 5.30634788e-04 9.99800449e-01 1.17471921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.366875 meters 0.027811559761434682 Centerline is valid? [True, True] Translation: X:224.46, Y:84.13, Z:11.75 [[ 9.88044715e-01 1.53100869e-01 -1.81042898e-02 2.24463329e+02] [-1.53083610e-01 9.88210461e-01 2.34352875e-03 8.41342222e+01] [ 1.82496449e-02 4.55958855e-04 9.99833357e-01 1.17485799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.396875 meters 0.026555586826046588 Centerline is valid? [True, True] Translation: X:224.49, Y:84.13, Z:11.75 [[ 9.88665016e-01 1.49454687e-01 -1.43102128e-02 2.24494411e+02] [-1.49443500e-01 9.88768529e-01 1.85397719e-03 8.41284698e+01] [ 1.44265736e-02 3.05605908e-04 9.99895885e-01 1.17505357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.426875 meters 0.027247926980117798 Centerline is valid? [True, True] Translation: X:224.53, Y:84.13, Z:11.75 [[ 9.88774958e-01 1.48777127e-01 -1.37640613e-02 2.24525887e+02] [-1.48766679e-01 9.88870713e-01 1.78555417e-03 8.41269894e+01] [ 1.38765268e-02 2.82122451e-04 9.99903677e-01 1.17490272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.456875 meters 0.02748804476259987 Centerline is valid? [True, True] Translation: X:224.56, Y:84.12, Z:11.75 [[ 9.88632681e-01 1.49721850e-01 -1.37400704e-02 2.24556044e+02] [-1.49711488e-01 9.88728113e-01 1.78545631e-03 8.41213660e+01] [ 1.38525157e-02 2.91885929e-04 9.99904007e-01 1.17537922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.486875 meters 0.027693781646491895 Centerline is valid? [True, True] Translation: X:224.59, Y:84.12, Z:11.76 [[ 9.88456117e-01 1.50925765e-01 -1.32634223e-02 2.24587632e+02] [-1.50916179e-01 9.88545055e-01 1.72640662e-03 8.41160272e+01] [ 1.33720498e-02 2.95187832e-04 9.99910547e-01 1.17579404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.516875 meters 0.026296990871956416 Centerline is valid? [True, True] Translation: X:224.62, Y:84.11, Z:11.76 [[ 9.88334906e-01 1.51744510e-01 -1.29505409e-02 2.24619681e+02] [-1.51735399e-01 9.88419706e-01 1.68896830e-03 8.41071901e+01] [ 1.30568615e-02 2.95789159e-04 9.99914712e-01 1.17617759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.546875 meters 0.026452608671794713 Centerline is valid? [True, True] Translation: X:224.65, Y:84.10, Z:11.76 [[ 9.88244974e-01 1.52253136e-01 -1.38149878e-02 2.24650474e+02] [-1.52242771e-01 9.88341480e-01 1.80508793e-03 8.41043612e+01] [ 1.39287557e-02 3.19362939e-04 9.99902939e-01 1.17607621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.576875 meters 0.027578369890122172 Centerline is valid? [True, True] Translation: X:224.68, Y:84.11, Z:11.75 [[ 9.87977424e-01 1.53864432e-01 -1.50447862e-02 2.24681621e+02] [-1.53852303e-01 9.88091898e-01 1.96721966e-03 8.41060729e+01] [ 1.51683165e-02 3.71106398e-04 9.99884886e-01 1.17546568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6068750000001 meters 0.026960275368414333 Centerline is valid? [True, True] Translation: X:224.71, Y:84.10, Z:11.75 [[ 9.87899470e-01 1.54380720e-01 -1.48737964e-02 2.24713811e+02] [-1.54368882e-01 9.88011364e-01 1.94765866e-03 8.41022620e+01] [ 1.49961608e-02 3.71960366e-04 9.99887482e-01 1.17535548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.636875 meters 0.027524258704527873 Centerline is valid? [True, True] Translation: X:224.75, Y:84.10, Z:11.75 [[ 9.87777574e-01 1.55181433e-01 -1.46351595e-02 2.24746032e+02] [-1.55170003e-01 9.87885916e-01 1.92028183e-03 8.41001473e+01] [ 1.47558600e-02 3.74126412e-04 9.99891056e-01 1.17522511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.666875 meters 0.026586232015620968 Centerline is valid? [True, True] Translation: X:224.78, Y:84.09, Z:11.76 [[ 9.88096237e-01 1.53348186e-01 -1.22540282e-02 2.24777583e+02] [-1.53339996e-01 9.88172177e-01 1.61074839e-03 8.40918518e+01] [ 1.23560951e-02 2.87458212e-04 9.99923619e-01 1.17556255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.696875 meters 0.026297103092985923 Centerline is valid? [True, True] Translation: X:224.81, Y:84.09, Z:11.76 [[ 9.88396334e-01 1.51500155e-01 -1.09722248e-02 2.24807916e+02] [-1.51493448e-01 9.88457206e-01 1.44466708e-03 8.40858858e+01] [ 1.10644420e-02 2.34316514e-04 9.99938760e-01 1.17586340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7268750000001 meters 0.025839485922245845 Centerline is valid? [True, True] Translation: X:224.84, Y:84.08, Z:11.76 [[ 9.88692323e-01 1.49569165e-01 -1.07960998e-02 2.24839081e+02] [-1.49562529e-01 9.88751244e-01 1.42394535e-03 8.40791544e+01] [ 1.08876354e-02 2.06848164e-04 9.99940707e-01 1.17609478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.756875 meters 0.025037279792245865 Centerline is valid? [True, True] Translation: X:224.87, Y:84.07, Z:11.76 [[ 9.89238018e-01 1.45982013e-01 -9.86890762e-03 2.24870800e+02] [-1.45976268e-01 9.89287233e-01 1.30390864e-03 8.40728811e+01] [ 9.95353152e-03 1.50750303e-04 9.99950451e-01 1.17615975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.786875 meters 0.02539170939619106 Centerline is valid? [True, True] Translation: X:224.90, Y:84.07, Z:11.76 [[ 9.89391039e-01 1.44962417e-01 -9.55354487e-03 2.24901390e+02] [-1.44956964e-01 9.89437153e-01 1.26439283e-03 8.40692698e+01] [ 9.63592168e-03 1.33873928e-04 9.99953564e-01 1.17621727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.816875 meters 0.024658007454274215 Centerline is valid? [True, True] Translation: X:224.93, Y:84.06, Z:11.76 [[ 9.89578848e-01 1.43692818e-01 -9.27776528e-03 2.24932533e+02] [-1.43687601e-01 9.89622332e-01 1.22996815e-03 8.40627976e+01] [ 9.35822131e-03 1.15949362e-04 9.99956204e-01 1.17633973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.846875 meters 0.024243514857330326 Centerline is valid? [True, True] Translation: X:224.96, Y:84.06, Z:11.76 [[ 9.90032178e-01 1.40531314e-01 -9.34008540e-03 2.24964187e+02] [-1.40525865e-01 9.90076231e-01 1.24043708e-03 8.40561039e+01] [ 9.42171680e-03 8.44509597e-05 9.99955611e-01 1.17635236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.876875 meters 0.024334669853302248 Centerline is valid? [True, True] Translation: X:225.00, Y:84.05, Z:11.76 [[ 9.90251237e-01 1.38958188e-01 -9.64935702e-03 2.24995522e+02] [-1.38952275e-01 9.90298247e-01 1.28383614e-03 8.40514593e+01] [ 9.73414088e-03 6.94797816e-05 9.99952620e-01 1.17626218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.906875 meters 0.02421372015522025 Centerline is valid? [True, True] Translation: X:225.03, Y:84.05, Z:11.76 [[ 9.90385576e-01 1.37950545e-01 -1.02984603e-02 2.25027826e+02] [-1.37943727e-01 9.90439116e-01 1.37289634e-03 8.40473251e+01] [ 1.03893898e-02 6.09112622e-05 9.99946027e-01 1.17610957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.936875 meters 0.02457221518040076 Centerline is valid? [True, True] Translation: X:225.06, Y:84.05, Z:11.76 [[ 9.90322129e-01 1.38354433e-01 -1.09604425e-02 2.25060272e+02] [-1.38346708e-01 9.90382778e-01 1.46352596e-03 8.40452403e+01] [ 1.10575188e-02 6.69789939e-05 9.99938862e-01 1.17600374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.966875 meters 0.024634865807592814 Centerline is valid? [True, True] Translation: X:225.09, Y:84.04, Z:11.76 [[ 9.90127299e-01 1.39778174e-01 -1.04877589e-02 2.25093407e+02] [-1.39771156e-01 9.90182840e-01 1.40276164e-03 8.40418693e+01] [ 1.05808744e-02 7.69735906e-05 9.99944018e-01 1.17616101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.996875 meters 0.024746274867696937 Centerline is valid? [True, True] Translation: X:225.13, Y:84.04, Z:11.76 [[ 9.89901311e-01 1.41426019e-01 -9.69923724e-03 2.25126055e+02] [-1.41420071e-01 9.89948824e-01 1.29984214e-03 8.40386559e+01] [ 9.78558000e-03 8.49513774e-05 9.99952116e-01 1.17635874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.026875 meters 0.02476503409929494 Centerline is valid? [True, True] Translation: X:225.16, Y:84.04, Z:11.76 [[ 9.89559089e-01 1.43791508e-01 -9.83928331e-03 2.25158415e+02] [-1.43785478e-01 9.89607999e-01 1.32112546e-03 8.40365812e+01] [ 9.92700008e-03 1.07414348e-04 9.99950720e-01 1.17645951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.056875 meters 0.026022524641483427 Centerline is valid? [True, True] Translation: X:225.19, Y:84.04, Z:11.76 [[ 9.88923167e-01 1.47994679e-01 -1.13377921e-02 2.25189949e+02] [-1.47986918e-01 9.88988143e-01 1.52506560e-03 8.40403010e+01] [ 1.14386435e-02 1.69672208e-04 9.99934562e-01 1.17620085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.086875 meters 0.02602132514888689 Centerline is valid? [True, True] Translation: X:225.22, Y:84.04, Z:11.76 [[ 9.88616406e-01 1.49971009e-01 -1.20954148e-02 2.25221397e+02] [-1.49962291e-01 9.88690374e-01 1.62968627e-03 8.40372637e+01] [ 1.22030259e-02 2.02721526e-04 9.99925520e-01 1.17612542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.116875 meters 0.02597696583902965 Centerline is valid? [True, True] Translation: X:225.25, Y:84.04, Z:11.76 [[ 9.88273496e-01 1.52230928e-01 -1.18845063e-02 2.25253096e+02] [-1.52222644e-01 9.88344927e-01 1.60385932e-03 8.40355566e+01] [ 1.19901485e-02 2.24039305e-04 9.99928090e-01 1.17607613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.146875 meters 0.027350115581220732 Centerline is valid? [True, True] Translation: X:225.28, Y:84.04, Z:11.76 [[ 9.87488556e-01 1.57196811e-01 -1.24705472e-02 2.25284151e+02] [-1.57188061e-01 9.87567251e-01 1.68491762e-03 8.40366185e+01] [ 1.25803677e-02 2.96384256e-04 9.99920820e-01 1.17609095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.176875 meters 0.028035642192550326 Centerline is valid? [True, True] Translation: X:225.32, Y:84.03, Z:11.76 [[ 9.87032215e-01 1.59951899e-01 -1.35201995e-02 2.25315898e+02] [-1.59941855e-01 9.87124745e-01 1.82791493e-03 8.40328191e+01] [ 1.36385020e-02 3.58234870e-04 9.99906927e-01 1.17621595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.206875 meters 0.02832355905021274 Centerline is valid? [True, True] Translation: X:225.35, Y:84.03, Z:11.76 [[ 9.86547971e-01 1.62863013e-01 -1.40975533e-02 2.25347429e+02] [-1.62852355e-01 9.86648604e-01 1.90841631e-03 8.40297180e+01] [ 1.42201417e-02 4.13075516e-04 9.99898803e-01 1.17630991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.236875 meters 0.03181143907431685 Centerline is valid? [True, True] Translation: X:225.38, Y:84.04, Z:11.76 [[ 9.85788486e-01 1.67519065e-01 -1.25866574e-02 2.25378517e+02] [-1.67510937e-01 9.85868744e-01 1.70477513e-03 8.40364233e+01] [ 1.26943745e-02 4.27855078e-04 9.99919332e-01 1.17606972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.266875 meters 0.03275722387356323 Centerline is valid? [True, True] Translation: X:225.41, Y:84.04, Z:11.76 [[ 9.85442415e-01 1.69623076e-01 -1.14568106e-02 2.25410617e+02] [-1.69616465e-01 9.85508925e-01 1.55330937e-03 8.40360523e+01] [ 1.15542662e-02 4.12566771e-04 9.99933162e-01 1.17604998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.296875 meters 0.030861926822610627 Centerline is valid? [True, True] Translation: X:225.44, Y:84.03, Z:11.76 [[ 9.85214443e-01 1.71034363e-01 -9.98742881e-03 2.25442306e+02] [-1.71029390e-01 9.85264994e-01 1.35628671e-03 8.40288671e+01] [ 1.00722356e-02 3.71910607e-04 9.99949205e-01 1.17614338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.326875 meters 0.0308102398037647 Centerline is valid? [True, True] Translation: X:225.47, Y:84.02, Z:11.76 [[ 9.85098775e-01 1.71769825e-01 -8.69082668e-03 2.25474231e+02] [-1.71766071e-01 9.85137056e-01 1.18215361e-03 8.40243631e+01] [ 8.76471373e-03 3.28251074e-04 9.99961535e-01 1.17621047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3568750000001 meters 0.03162603661969736 Centerline is valid? [True, True] Translation: X:225.50, Y:84.02, Z:11.76 [[ 9.84945988e-01 1.72723778e-01 -6.92073825e-03 2.25504691e+02] [-1.72721411e-01 9.84970266e-01 9.42778614e-04 8.40204044e+01] [ 6.97956168e-03 2.66773661e-04 9.99975607e-01 1.17637912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.386875 meters 0.03334845539050482 Centerline is valid? [True, True] Translation: X:225.54, Y:84.02, Z:11.76 [[ 9.84798808e-01 1.73562943e-01 -6.87118818e-03 2.25535447e+02] [-1.73560620e-01 9.84822742e-01 9.37535117e-04 8.40187492e+01] [ 6.92962374e-03 2.69284214e-04 9.99975954e-01 1.17645479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.416875 meters 0.031112609526814786 Centerline is valid? [True, True] Translation: X:225.57, Y:84.01, Z:11.76 [[ 9.84647362e-01 1.74419627e-01 -6.88226722e-03 2.25566415e+02] [-1.74417306e-01 9.84671376e-01 9.40604005e-04 8.40100750e+01] [ 6.94083133e-03 2.74223257e-04 9.99975875e-01 1.17648274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.446875 meters 0.033183924099607194 Centerline is valid? [True, True] Translation: X:225.60, Y:84.01, Z:11.76 [[ 9.84424019e-01 1.75643780e-01 -7.65589294e-03 2.25597619e+02] [-1.75640931e-01 9.84453739e-01 1.04824808e-03 8.40097610e+01] [ 7.72099068e-03 3.12767576e-04 9.99970144e-01 1.17635180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4768750000001 meters 0.031960644000467595 Centerline is valid? [True, True] Translation: X:225.63, Y:84.00, Z:11.76 [[ 9.84427489e-01 1.75648059e-01 -7.09075967e-03 2.25628966e+02] [-1.75645603e-01 9.84452983e-01 9.72426706e-04 8.40035363e+01] [ 7.15132438e-03 2.88177179e-04 9.99974387e-01 1.17631646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.506875 meters 0.03204349481512963 Centerline is valid? [True, True] Translation: X:225.66, Y:84.00, Z:11.76 [[ 9.84315211e-01 1.76257580e-01 -7.53869128e-03 2.25659344e+02] [-1.76254809e-01 9.84344030e-01 1.03559812e-03 8.39997375e+01] [ 7.60319778e-03 3.09375606e-04 9.99971047e-01 1.17625666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.536875 meters 0.03447649702283146 Centerline is valid? [True, True] Translation: X:225.69, Y:84.00, Z:11.76 [[ 9.84077225e-01 1.77507534e-01 -9.11545920e-03 2.25690329e+02] [-1.77503517e-01 9.84119367e-01 1.25434050e-03 8.39995116e+01] [ 9.19335483e-03 3.83658145e-04 9.99957667e-01 1.17592379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.566875 meters 0.03396473796584766 Centerline is valid? [True, True] Translation: X:225.72, Y:83.99, Z:11.76 [[ 9.83933477e-01 1.78242063e-01 -1.02313618e-02 2.25721537e+02] [-1.78237016e-01 9.83986574e-01 1.41035282e-03 8.39943465e+01] [ 1.03189068e-02 4.35914046e-04 9.99946664e-01 1.17565609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.596875 meters 0.034823282808727055 Centerline is valid? [True, True] Translation: X:225.75, Y:83.99, Z:11.75 [[ 9.83857976e-01 1.78548711e-01 -1.19933556e-02 2.25752040e+02] [-1.78541769e-01 9.83930940e-01 1.65575433e-03 8.39914287e+01] [ 1.20962664e-02 5.12287820e-04 9.99926706e-01 1.17537838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.626875 meters 0.03497093587915108 Centerline is valid? [True, True] Translation: X:225.78, Y:83.99, Z:11.75 [[ 9.83983467e-01 1.77774025e-01 -1.31503901e-02 2.25783849e+02] [-1.77765588e-01 9.84071183e-01 1.81710592e-03 8.39853567e+01] [ 1.32639541e-02 5.49684634e-04 9.99911879e-01 1.17511931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.656875 meters 0.03304687599900557 Centerline is valid? [True, True] Translation: X:225.81, Y:83.98, Z:11.75 [[ 9.84174408e-01 1.76747494e-01 -1.26908469e-02 2.25814955e+02] [-1.76739521e-01 9.84256094e-01 1.75593511e-03 8.39760005e+01] [ 1.28014005e-02 5.14827801e-04 9.99917926e-01 1.17530219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.686875 meters 0.03304687599900557 Centerline is valid? [True, True] Translation: X:225.85, Y:83.97, Z:11.75 [[ 9.84126701e-01 1.77012964e-01 -1.26903938e-02 2.25847057e+02] [-1.77004971e-01 9.84208385e-01 1.75920556e-03 8.39714451e+01] [ 1.28013942e-02 5.14981618e-04 9.99917926e-01 1.17531698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.716875 meters 0.03226874615777083 Centerline is valid? [True, True] Translation: X:225.88, Y:83.96, Z:11.75 [[ 9.84434415e-01 1.75370438e-01 -1.15798218e-02 2.25878867e+02] [-1.75363649e-01 9.84502417e-01 1.60699179e-03 8.39637602e+01] [ 1.16821814e-02 4.48701788e-04 9.99931660e-01 1.17545869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.746875 meters 0.03216379996951275 Centerline is valid? [True, True] Translation: X:225.91, Y:83.96, Z:11.76 [[ 9.85247027e-01 1.70862891e-01 -9.70403748e-03 2.25907527e+02] [-1.70857898e-01 9.85294760e-01 1.34736155e-03 8.39570113e+01] [ 9.79155137e-03 3.30527493e-04 9.99952007e-01 1.17561757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.776875 meters 0.029415813882398487 Centerline is valid? [True, True] Translation: X:225.94, Y:83.95, Z:11.76 [[ 9.85606741e-01 1.68837992e-01 -8.54898804e-03 2.25939046e+02] [-1.68834034e-01 9.85643779e-01 1.18778952e-03 8.39462851e+01] [ 8.62680088e-03 2.72666781e-04 9.99962751e-01 1.17585728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.806875 meters 0.028882253013510727 Centerline is valid? [True, True] Translation: X:225.97, Y:83.94, Z:11.76 [[ 9.85820884e-01 1.67670165e-01 -6.62576792e-03 2.25970970e+02] [-1.67667757e-01 9.85843129e-01 9.21217971e-04 8.39388531e+01] [ 6.68642855e-03 2.02771731e-04 9.99977625e-01 1.17605178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.836875 meters 0.030413801287544836 Centerline is valid? [True, True] Translation: X:226.00, Y:83.94, Z:11.76 [[ 9.85974987e-01 1.66799098e-01 -5.60228425e-03 2.26002567e+02] [-1.66797359e-01 9.85990889e-01 7.79509441e-04 8.39367056e+01] [ 5.65382270e-03 1.65869406e-04 9.99984003e-01 1.17622391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.866875 meters 0.028541462592249687 Centerline is valid? [True, True] Translation: X:226.03, Y:83.93, Z:11.76 [[ 9.86236013e-01 1.65315527e-01 -3.05006783e-03 2.26034166e+02] [-1.65315003e-01 9.86240726e-01 4.24857590e-04 8.39275132e+01] [ 3.07833667e-03 8.52121161e-05 9.99995258e-01 1.17636439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.896875 meters 0.027944716309634136 Centerline is valid? [True, True] Translation: X:226.07, Y:83.92, Z:11.76 [[ 9.86356949e-01 1.64608370e-01 -2.01316974e-03 2.26065334e+02] [-1.64608141e-01 9.86359002e-01 2.80078465e-04 8.39211139e+01] [ 2.03181136e-03 5.51267888e-05 9.99997934e-01 1.17638288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.926875 meters 0.028098601600747265 Centerline is valid? [True, True] Translation: X:226.10, Y:83.92, Z:11.76 [[ 9.86463120e-01 1.63975898e-01 -1.55485991e-03 2.26095739e+02] [-1.63975760e-01 9.86464345e-01 2.16498668e-04 8.39161531e+01] [ 1.56931442e-03 4.13913839e-05 9.99998768e-01 1.17647184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.956875 meters 0.026920146135349682 Centerline is valid? [True, True] Translation: X:226.13, Y:83.91, Z:11.76 [[ 9.86781141e-01 1.62045328e-01 -2.07150385e-03 2.26127223e+02] [-1.62045077e-01 9.86783314e-01 2.89440862e-04 8.39065876e+01] [ 2.09102798e-03 5.00622177e-05 9.99997813e-01 1.17648995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.986875 meters 0.027167465556280065 Centerline is valid? [True, True] Translation: X:226.16, Y:83.90, Z:11.76 [[ 9.86728070e-01 1.62358638e-01 -2.71808155e-03 2.26159850e+02] [-1.62358206e-01 9.86731812e-01 3.80063401e-04 8.39017154e+01] [ 2.74372411e-03 6.62836187e-05 9.99996234e-01 1.17629670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.016875 meters 0.027040056423768673 Centerline is valid? [True, True] Translation: X:226.19, Y:83.90, Z:11.76 [[ 9.86732270e-01 1.62330414e-01 -2.87490951e-03 2.26192383e+02] [-1.62329928e-01 9.86736455e-01 4.02863631e-04 8.38979312e+01] [ 2.90217504e-03 6.91653106e-05 9.99995786e-01 1.17612009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.046875 meters 0.027269914940913687 Centerline is valid? [True, True] Translation: X:226.22, Y:83.89, Z:11.76 [[ 9.86619174e-01 1.63007910e-01 -3.32060322e-03 2.26224895e+02] [-1.63007263e-01 9.86624759e-01 4.66436275e-04 8.38944069e+01] [ 3.35222216e-03 8.10874704e-05 9.99994378e-01 1.17604158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.076875 meters 0.027974816094608647 Centerline is valid? [True, True] Translation: X:226.26, Y:83.89, Z:11.76 [[ 9.86626439e-01 1.62981992e-01 -2.26708002e-03 2.26256491e+02] [-1.62981690e-01 9.86629042e-01 3.18684785e-04 8.38910352e+01] [ 2.28870687e-03 5.50696992e-05 9.99997379e-01 1.17617466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1068750000001 meters 0.02687312257507735 Centerline is valid? [True, True] Translation: X:226.29, Y:83.88, Z:11.76 [[ 9.86718520e-01 1.62407352e-01 -3.22702202e-03 2.26287601e+02] [-1.62406732e-01 9.86723794e-01 4.55063754e-04 8.38825578e+01] [ 3.25808511e-03 7.50702654e-05 9.99994690e-01 1.17628187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.136875 meters 0.027644813302384726 Centerline is valid? [True, True] Translation: X:226.32, Y:83.88, Z:11.76 [[ 9.86957796e-01 1.60922654e-01 -4.26713191e-03 2.26318740e+02] [-1.60921550e-01 9.86967016e-01 6.03143021e-04 8.38788332e+01] [ 4.30857783e-03 9.13967731e-05 9.99990714e-01 1.17623476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.166875 meters 0.02627425208705161 Centerline is valid? [True, True] Translation: X:226.35, Y:83.87, Z:11.76 [[ 9.87331097e-01 1.58530102e-01 -6.74620823e-03 2.26349855e+02] [-1.58527275e-01 9.87354136e-01 9.55049509e-04 8.38711103e+01] [ 6.81230070e-03 1.26507930e-04 9.99976788e-01 1.17589842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.196875 meters 0.026282961685018886 Centerline is valid? [True, True] Translation: X:226.38, Y:83.87, Z:11.76 [[ 9.87398881e-01 1.58107440e-01 -6.74436287e-03 2.26380795e+02] [-1.58104595e-01 9.87421907e-01 9.56331528e-04 8.38670659e+01] [ 6.81073477e-03 1.22034077e-04 9.99976799e-01 1.17576431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2268750000001 meters 0.026526420846362548 Centerline is valid? [True, True] Translation: X:226.41, Y:83.86, Z:11.76 [[ 9.87541528e-01 1.57252567e-01 -5.77581477e-03 2.26412156e+02] [-1.57250459e-01 9.87558414e-01 8.20097120e-04 8.38642517e+01] [ 5.83291685e-03 9.83695613e-05 9.99982984e-01 1.17582662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.256875 meters 0.025744839778595464 Centerline is valid? [True, True] Translation: X:226.44, Y:83.86, Z:11.76 [[ 9.87974324e-01 1.54599591e-01 -2.38766677e-03 2.26442511e+02] [-1.54599224e-01 9.87977209e-01 3.38982825e-04 8.38578585e+01] [ 2.41136696e-03 3.42251015e-05 9.99997092e-01 1.17631163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.286875 meters 0.024866993787119717 Centerline is valid? [True, True] Translation: X:226.47, Y:83.85, Z:11.77 [[ 9.88383379e-01 1.51980100e-01 -5.87443726e-04 2.26474352e+02] [-1.51980077e-01 9.88383554e-01 8.33103597e-05 8.38500332e+01] [ 5.93281234e-04 6.93716804e-06 9.99999824e-01 1.17663673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.316875 meters 0.024478745578377314 Centerline is valid? [True, True] Translation: X:226.51, Y:83.84, Z:11.77 [[ 9.88730252e-01 1.49707827e-01 2.36820718e-04 2.26506009e+02] [-1.49707823e-01 9.88730280e-01 -3.41400327e-05 8.38408872e+01] [-2.39262845e-04 -1.69863105e-06 9.99999971e-01 1.17681364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.346875 meters 0.024338317969571442 Centerline is valid? [True, True] Translation: X:226.54, Y:83.83, Z:11.77 [[ 9.89230180e-01 1.46367354e-01 4.97716346e-04 2.26536769e+02] [-1.46367336e-01 9.89230306e-01 -7.20468572e-05 8.38342434e+01] [-5.02901401e-04 -1.57849023e-06 9.99999874e-01 1.17703214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.376875 meters 0.024003154659743703 Centerline is valid? [True, True] Translation: X:226.57, Y:83.83, Z:11.77 [[ 9.89954818e-01 1.41384082e-01 3.33114843e-06 2.26568548e+02] [-1.41384082e-01 9.89954818e-01 -1.54362826e-06 8.38274144e+01] [-3.51593089e-06 1.05715087e-06 1.00000000e+00 1.17672911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.406875 meters 0.024125111151610958 Centerline is valid? [True, True] Translation: X:226.60, Y:83.82, Z:11.77 [[ 9.90043499e-01 1.40760677e-01 -5.49587305e-04 2.26600244e+02] [-1.40760655e-01 9.90043652e-01 7.75852212e-05 8.38233863e+01] [ 5.55036371e-04 5.47525299e-07 9.99999846e-01 1.17661990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.436875 meters 0.024034943540516104 Centerline is valid? [True, True] Translation: X:226.63, Y:83.82, Z:11.77 [[ 9.90072082e-01 1.40559085e-01 -6.45199023e-04 2.26633345e+02] [-1.40559055e-01 9.90072292e-01 9.13822932e-05 8.38194039e+01] [ 6.51638287e-04 2.13507822e-07 9.99999788e-01 1.17658315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.466875 meters 0.023893839339060332 Centerline is valid? [True, True] Translation: X:226.67, Y:83.82, Z:11.77 [[ 9.89925111e-01 1.41586122e-01 -1.28266527e-03 2.26666528e+02] [-1.41586004e-01 9.89925942e-01 1.83197631e-04 8.38156983e+01] [ 1.29568187e-03 2.55515435e-07 9.99999161e-01 1.17670209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.496875 meters 0.024149591325773146 Centerline is valid? [True, True] Translation: X:226.70, Y:83.81, Z:11.77 [[ 9.89877871e-01 1.41908860e-01 -1.91722997e-03 2.26699121e+02] [-1.41908594e-01 9.89879728e-01 2.74957723e-04 8.38122366e+01] [ 1.93684601e-03 -1.03156720e-07 9.99998124e-01 1.17673304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.526875 meters 0.024122924729163518 Centerline is valid? [True, True] Translation: X:226.73, Y:83.81, Z:11.77 [[ 9.89763684e-01 1.42688155e-01 -2.81799338e-03 2.26730506e+02] [-1.42687578e-01 9.89767695e-01 4.05508809e-04 8.38090041e+01] [ 2.84702011e-03 7.34757796e-07 9.99995947e-01 1.17669292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.556875 meters 0.024492768870263682 Centerline is valid? [True, True] Translation: X:226.76, Y:83.81, Z:11.77 [[ 9.89762756e-01 1.42676057e-01 -3.63723166e-03 2.26763319e+02] [-1.42675092e-01 9.89769439e-01 5.24627470e-04 8.38057500e+01] [ 3.67487252e-03 -3.14367629e-07 9.99993248e-01 1.17661564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.586875 meters 0.024499235975890533 Centerline is valid? [True, True] Translation: X:226.80, Y:83.80, Z:11.76 [[ 9.89637326e-01 1.43516479e-01 -4.58067635e-03 2.26796190e+02] [-1.43514951e-01 9.89647927e-01 6.62272369e-04 8.38039708e+01] [ 4.62830385e-03 1.98608612e-06 9.99989289e-01 1.17635939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.616875 meters 0.024509575737262798 Centerline is valid? [True, True] Translation: X:226.83, Y:83.80, Z:11.76 [[ 9.89588173e-01 1.43844787e-01 -4.89133501e-03 2.26828407e+02] [-1.43843042e-01 9.89600261e-01 7.08561410e-04 8.38011499e+01] [ 4.94238927e-03 2.40051727e-06 9.99987786e-01 1.17630261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.646875 meters 0.0246669703519364 Centerline is valid? [True, True] Translation: X:226.86, Y:83.80, Z:11.76 [[ 9.89404366e-01 1.45078554e-01 -5.58686972e-03 2.26861412e+02] [-1.45076290e-01 9.89420140e-01 8.10482115e-04 8.37979135e+01] [ 5.64534499e-03 8.62778885e-06 9.99984065e-01 1.17629150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.676875 meters 0.024779698208563863 Centerline is valid? [True, True] Translation: X:226.89, Y:83.80, Z:11.76 [[ 9.89013238e-01 1.47699551e-01 -6.13652323e-03 2.26893332e+02] [-1.47696860e-01 9.89032276e-01 8.91983125e-04 8.37968526e+01] [ 6.20096504e-03 2.41620904e-05 9.99980774e-01 1.17625030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.706875 meters 0.024981215356558215 Centerline is valid? [True, True] Translation: X:226.93, Y:83.79, Z:11.76 [[ 9.88733348e-01 1.49533305e-01 -6.79396292e-03 2.26926493e+02] [-1.49530036e-01 9.88756689e-01 9.89436411e-04 8.37937191e+01] [ 6.86552998e-03 3.76127444e-05 9.99976431e-01 1.17630780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.736875 meters 0.02484330336469728 Centerline is valid? [True, True] Translation: X:226.96, Y:83.79, Z:11.76 [[ 9.88449635e-01 1.51405750e-01 -6.60440030e-03 2.26959097e+02] [-1.51402692e-01 9.88471697e-01 9.63591672e-04 8.37910902e+01] [ 6.67415610e-03 4.74621449e-05 9.99977726e-01 1.17638728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.766875 meters 0.025058876410919865 Centerline is valid? [True, True] Translation: X:226.99, Y:83.79, Z:11.77 [[ 9.87922935e-01 1.54849898e-01 -5.45744148e-03 2.26991639e+02] [-1.54847856e-01 9.87938007e-01 7.97483890e-04 8.37901111e+01] [ 5.51510415e-03 5.72204842e-05 9.99984790e-01 1.17672315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.796875 meters 0.025885167186883367 Centerline is valid? [True, True] Translation: X:227.02, Y:83.79, Z:11.77 [[ 9.87589344e-01 1.56975787e-01 -5.08822312e-03 2.27022795e+02] [-1.56974033e-01 9.87602450e-01 7.44655486e-04 8.37884106e+01] [ 5.14203450e-03 6.33050829e-05 9.99986778e-01 1.17684569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.826875 meters 0.025988693273871953 Centerline is valid? [True, True] Translation: X:227.05, Y:83.79, Z:11.77 [[ 9.87224300e-01 1.59253277e-01 -5.15515856e-03 2.27054942e+02] [-1.59251503e-01 9.87237757e-01 7.55499322e-04 8.37850706e+01] [ 5.20968291e-03 7.51194572e-05 9.99986427e-01 1.17674094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8568750000001 meters 0.026822754073434103 Centerline is valid? [True, True] Translation: X:227.09, Y:83.79, Z:11.76 [[ 9.86343706e-01 1.64518055e-01 -7.73967664e-03 2.27087601e+02] [-1.64514211e-01 9.86374060e-01 1.13506618e-03 8.37854487e+01] [ 7.82095515e-03 1.53721411e-04 9.99969404e-01 1.17634416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.886875 meters 0.034637823172215566 Centerline is valid? [True, True] Translation: X:227.12, Y:83.80, Z:11.76 [[ 9.86214388e-01 1.65317190e-01 -7.16988503e-03 2.27121955e+02] [-1.65313905e-01 9.86240440e-01 1.05247446e-03 8.38008084e+01] [ 7.24522269e-03 1.47316243e-04 9.99973742e-01 1.17604758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.916875 meters 0.027887014412660695 Centerline is valid? [True, True] Translation: X:227.15, Y:83.78, Z:11.76 [[ 9.85542534e-01 1.69191154e-01 -8.95920337e-03 2.27151638e+02] [-1.69186170e-01 9.85583231e-01 1.31686898e-03 8.37813555e+01] [ 9.05284319e-03 2.17942910e-04 9.99958998e-01 1.17622575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.946875 meters 0.028878629576418683 Centerline is valid? [True, True] Translation: X:227.18, Y:83.78, Z:11.76 [[ 9.84939680e-01 1.72649648e-01 -9.26960101e-03 2.27183671e+02] [-1.72644459e-01 9.84983265e-01 1.36313288e-03 8.37798841e+01] [ 9.36574628e-03 2.57741589e-04 9.99956107e-01 1.17634153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9768750000001 meters 0.02961367961716595 Centerline is valid? [True, True] Translation: X:227.21, Y:83.78, Z:11.76 [[ 9.84567003e-01 1.74751532e-01 -9.47196640e-03 2.27214961e+02] [-1.74746198e-01 9.84612524e-01 1.39430547e-03 8.37761014e+01] [ 9.56987376e-03 2.82402958e-04 9.99954168e-01 1.17644771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.006875 meters 0.030316666510950312 Centerline is valid? [True, True] Translation: X:227.25, Y:83.77, Z:11.77 [[ 9.84218249e-01 1.76684395e-01 -9.85206738e-03 2.27245762e+02] [-1.76678699e-01 9.84267508e-01 1.45247053e-03 8.37738074e+01] [ 9.95369869e-03 3.11102447e-04 9.99950412e-01 1.17653185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.036875 meters 0.03134954382358614 Centerline is valid? [True, True] Translation: X:227.28, Y:83.77, Z:11.77 [[ 9.83807289e-01 1.78926190e-01 -1.04229399e-02 2.27277554e+02] [-1.78919915e-01 9.83862437e-01 1.53901448e-03 8.37715045e+01] [ 1.05301090e-02 3.50777844e-04 9.99944495e-01 1.17656120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.066875 meters 0.031598404682743955 Centerline is valid? [True, True] Translation: X:227.31, Y:83.77, Z:11.77 [[ 9.83195824e-01 1.82322934e-01 -9.18256052e-03 2.27308880e+02] [-1.82318202e-01 9.83238644e-01 1.35691987e-03 8.37694361e+01] [ 9.27604597e-03 3.40029971e-04 9.99956919e-01 1.17661297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.096875 meters 0.03220360215915312 Centerline is valid? [True, True] Translation: X:227.34, Y:83.77, Z:11.77 [[ 9.83035663e-01 1.83214170e-01 -8.57052413e-03 2.27339631e+02] [-1.83210072e-01 9.83072969e-01 1.26753419e-03 8.37661773e+01] [ 8.65768082e-03 3.24175029e-04 9.99962469e-01 1.17668794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.126875 meters 0.032619685747740115 Centerline is valid? [True, True] Translation: X:227.37, Y:83.76, Z:11.77 [[ 9.82981959e-01 1.83473281e-01 -9.16641959e-03 2.27371503e+02] [-1.83468587e-01 9.83024636e-01 1.35752823e-03 8.37614978e+01] [ 9.25988644e-03 3.47324294e-04 9.99957066e-01 1.17670975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.156875 meters 0.03171264744986856 Centerline is valid? [True, True] Translation: X:227.40, Y:83.75, Z:11.77 [[ 9.83281559e-01 1.81781711e-01 -1.06200763e-02 2.27402674e+02] [-1.81775287e-01 9.83338835e-01 1.57514261e-03 8.37525967e+01] [ 1.07294656e-02 3.81658743e-04 9.99942365e-01 1.17665607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.186875 meters 0.03139170245638533 Centerline is valid? [True, True] Translation: X:227.43, Y:83.75, Z:11.77 [[ 9.83380549e-01 1.81223944e-01 -1.09807753e-02 2.27434374e+02] [-1.81217013e-01 9.83441779e-01 1.63129008e-03 8.37458678e+01] [ 1.10945820e-02 3.85724365e-04 9.99938379e-01 1.17662009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.216875 meters 0.030867793674138805 Centerline is valid? [True, True] Translation: X:227.46, Y:83.74, Z:11.77 [[ 9.83682639e-01 1.79616985e-01 -1.03055963e-02 2.27464962e+02] [-1.79610767e-01 9.83736561e-01 1.53327197e-03 8.37404299e+01] [ 1.04133936e-02 3.42743049e-04 9.99945720e-01 1.17665846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.246875 meters 0.030264424702259356 Centerline is valid? [True, True] Translation: X:227.50, Y:83.73, Z:11.77 [[ 9.84007166e-01 1.77848655e-01 -9.98764541e-03 2.27495449e+02] [-1.77842701e-01 9.84057803e-01 1.48821839e-03 8.37291576e+01] [ 1.00930980e-02 3.11812284e-04 9.99949015e-01 1.17701522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.276875 meters 0.02968368883720717 Centerline is valid? [True, True] Translation: X:227.53, Y:83.72, Z:11.77 [[ 9.84240785e-01 1.76538702e-01 -1.02060699e-02 2.27526788e+02] [-1.76532390e-01 9.84293653e-01 1.52318416e-03 8.37209308e+01] [ 1.03146707e-02 3.02521943e-04 9.99946757e-01 1.17723490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.306875 meters 0.02958308156637037 Centerline is valid? [True, True] Translation: X:227.56, Y:83.71, Z:11.77 [[ 9.84474103e-01 1.75220850e-01 -1.04112430e-02 2.27557148e+02] [-1.75214188e-01 9.84529110e-01 1.55566809e-03 8.37147692e+01] [ 1.05227573e-02 2.92682540e-04 9.99944591e-01 1.17726290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.336875 meters 0.028958796165043422 Centerline is valid? [True, True] Translation: X:227.59, Y:83.71, Z:11.77 [[ 9.84948111e-01 1.72525197e-01 -1.05960370e-02 2.27588249e+02] [-1.72518119e-01 9.85005069e-01 1.58529721e-03 8.37091927e+01] [ 1.07106539e-02 2.66572889e-04 9.99942604e-01 1.17695262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.366875 meters 0.028579137725374685 Centerline is valid? [True, True] Translation: X:227.62, Y:83.70, Z:11.77 [[ 9.85083842e-01 1.71731962e-01 -1.08608443e-02 2.27619574e+02] [-1.71724451e-01 9.85143677e-01 1.62743990e-03 8.37039659e+01] [ 1.09789756e-02 2.61907780e-04 9.99939695e-01 1.17682683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.396875 meters 0.02866737464741391 Centerline is valid? [True, True] Translation: X:227.65, Y:83.70, Z:11.77 [[ 9.85123766e-01 1.71456437e-01 -1.15696423e-02 2.27651117e+02] [-1.71447861e-01 9.85191664e-01 1.73648682e-03 8.36977231e+01] [ 1.16960470e-02 2.72935981e-04 9.99931562e-01 1.17668456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.426875 meters 0.028181422086353342 Centerline is valid? [True, True] Translation: X:227.68, Y:83.69, Z:11.77 [[ 9.85446579e-01 1.69453368e-01 -1.34386037e-02 2.27680523e+02] [-1.69441567e-01 9.85538165e-01 2.02016253e-03 8.36861935e+01] [ 1.35865802e-02 2.86295823e-04 9.99907657e-01 1.17681344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.456875 meters 0.02785685456383409 Centerline is valid? [True, True] Translation: X:227.71, Y:83.68, Z:11.77 [[ 9.85760783e-01 1.67673456e-01 -1.27000608e-02 2.27711929e+02] [-1.67662734e-01 9.85842560e-01 1.91188354e-03 8.36778105e+01] [ 1.28408326e-02 2.44667107e-04 9.99917523e-01 1.17707641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.486875 meters 0.026520018000829437 Centerline is valid? [True, True] Translation: X:227.74, Y:83.67, Z:11.77 [[ 9.85974377e-01 1.66485224e-01 -1.17131487e-02 2.27742796e+02] [-1.66475989e-01 9.86043927e-01 1.76599146e-03 8.36677969e+01] [ 1.18436907e-02 2.08735690e-04 9.99929839e-01 1.17740080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.516875 meters 0.02663066048489526 Centerline is valid? [True, True] Translation: X:227.77, Y:83.66, Z:11.77 [[ 9.86513962e-01 1.63336200e-01 -1.05587840e-02 2.27773508e+02] [-1.63328495e-01 9.86570455e-01 1.59376108e-03 8.36624372e+01] [ 1.06773032e-02 1.52282741e-04 9.99942984e-01 1.17736548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.546875 meters 0.026375135431634875 Centerline is valid? [True, True] Translation: X:227.81, Y:83.66, Z:11.77 [[ 9.86597830e-01 1.62815631e-01 -1.07606977e-02 2.27805138e+02] [-1.62807576e-01 9.86656500e-01 1.62626173e-03 8.36563545e+01] [ 1.08818931e-02 1.47456814e-04 9.99940780e-01 1.17732172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.576875 meters 0.026081955863359575 Centerline is valid? [True, True] Translation: X:227.84, Y:83.65, Z:11.77 [[ 9.86688779e-01 1.62279967e-01 -1.05102609e-02 2.27836063e+02] [-1.62272226e-01 9.86744746e-01 1.59080013e-03 8.36487253e+01] [ 1.06290997e-02 1.35898794e-04 9.99943500e-01 1.17729377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6068750000001 meters 0.025854085905567696 Centerline is valid? [True, True] Translation: X:227.87, Y:83.64, Z:11.77 [[ 9.86782110e-01 1.61697749e-01 -1.07194166e-02 2.27867367e+02] [-1.61689635e-01 9.86840322e-01 1.62501969e-03 8.36420433e+01] [ 1.08411145e-02 1.29678195e-04 9.99941225e-01 1.17732306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.636875 meters 0.025854085905567696 Centerline is valid? [True, True] Translation: X:227.90, Y:83.64, Z:11.77 [[ 9.86739201e-01 1.61959412e-01 -1.07190067e-02 2.27899379e+02] [-1.61951284e-01 9.86797412e-01 1.62772014e-03 8.36370905e+01] [ 1.08411127e-02 1.29821634e-04 9.99941225e-01 1.17733784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.666875 meters 0.02544403829338402 Centerline is valid? [True, True] Translation: X:227.93, Y:83.63, Z:11.77 [[ 9.86927937e-01 1.60855097e-01 -9.94406316e-03 2.27930925e+02] [-1.60848022e-01 9.86978027e-01 1.51246750e-03 8.36301882e+01] [ 1.00578599e-02 1.06786453e-04 9.99949413e-01 1.17739246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.696875 meters 0.025188540910820373 Centerline is valid? [True, True] Translation: X:227.96, Y:83.62, Z:11.77 [[ 9.87034969e-01 1.60199561e-01 -9.90309328e-03 2.27961117e+02] [-1.60192488e-01 9.87084642e-01 1.50848626e-03 8.36237320e+01] [ 1.00168501e-02 9.74724667e-05 9.99949825e-01 1.17744505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7268750000001 meters 0.025282067004620594 Centerline is valid? [True, True] Translation: X:227.99, Y:83.62, Z:11.78 [[ 9.87097262e-01 1.59739994e-01 -1.10512654e-02 2.27993259e+02] [-1.59731125e-01 9.87159118e-01 1.68623027e-03 8.36165121e+01] [ 1.11787158e-02 1.00757771e-04 9.99937511e-01 1.17751631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.756875 meters 0.025143304270546382 Centerline is valid? [True, True] Translation: X:228.03, Y:83.61, Z:11.77 [[ 9.87303906e-01 1.58338141e-01 -1.26502853e-02 2.28025700e+02] [-1.58326360e-01 9.87384942e-01 1.93374657e-03 8.36091465e+01] [ 1.27968871e-02 9.36780896e-05 9.99918112e-01 1.17735040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.786875 meters 0.024923648038971118 Centerline is valid? [True, True] Translation: X:228.06, Y:83.60, Z:11.77 [[ 9.87349335e-01 1.58008117e-01 -1.32183815e-02 2.28057044e+02] [-1.57995179e-01 9.87437809e-01 2.02398015e-03 8.36040676e+01] [ 1.33721350e-02 9.00651000e-05 9.99910585e-01 1.17719988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.816875 meters 0.025264774713847533 Centerline is valid? [True, True] Translation: X:228.09, Y:83.60, Z:11.77 [[ 9.87247864e-01 1.58553341e-01 -1.42300221e-02 2.28088065e+02] [-1.58538357e-01 9.87350408e-01 2.18213220e-03 8.35989519e+01] [ 1.43960024e-02 1.01698955e-04 9.99896367e-01 1.17705940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.846875 meters 0.025209717383885968 Centerline is valid? [True, True] Translation: X:228.12, Y:83.59, Z:11.77 [[ 9.87173476e-01 1.58966898e-01 -1.47666129e-02 2.28119914e+02] [-1.58950755e-01 9.87283907e-01 2.26802282e-03 8.35929353e+01] [ 1.49393798e-02 1.08232295e-04 9.99888395e-01 1.17710869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.876875 meters 0.02530080687302332 Centerline is valid? [True, True] Translation: X:228.15, Y:83.59, Z:11.77 [[ 9.87066387e-01 1.59887710e-01 -1.16562439e-02 2.28151338e+02] [-1.59877685e-01 9.87135204e-01 1.79289300e-03 8.35882923e+01] [ 1.17929502e-02 9.38688766e-05 9.99930456e-01 1.17721207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.906875 meters 0.025282177197335203 Centerline is valid? [True, True] Translation: X:228.18, Y:83.58, Z:11.77 [[ 9.87046175e-01 1.60153251e-01 -9.52813520e-03 2.28182052e+02] [-1.60146546e-01 9.87092159e-01 1.46752438e-03 8.35843602e+01] [ 9.64017635e-03 7.73836104e-05 9.99953529e-01 1.17740739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.936875 meters 0.025271263689129027 Centerline is valid? [True, True] Translation: X:228.21, Y:83.58, Z:11.78 [[ 9.86967004e-01 1.60664585e-01 -9.11177781e-03 2.28214358e+02] [-1.60658455e-01 9.87009060e-01 1.40554551e-03 8.35779098e+01] [ 9.21922864e-03 7.66570988e-05 9.99957499e-01 1.17755818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.966875 meters 0.025480512168974567 Centerline is valid? [True, True] Translation: X:228.25, Y:83.57, Z:11.77 [[ 9.86835110e-01 1.61431271e-01 -9.81889353e-03 2.28245703e+02] [-1.61424171e-01 9.86883953e-01 1.51656638e-03 8.35732700e+01] [ 9.93492970e-03 8.84058028e-05 9.99950643e-01 1.17749540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.996875 meters 0.025738925498112648 Centerline is valid? [True, True] Translation: X:228.28, Y:83.57, Z:11.77 [[ 9.86562606e-01 1.63056648e-01 -1.03321416e-02 2.28276645e+02] [-1.63048862e-01 9.86616702e-01 1.59718108e-03 8.35708420e+01] [ 1.04542944e-02 1.08924793e-04 9.99945346e-01 1.17723446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.026875 meters 0.02597912688552947 Centerline is valid? [True, True] Translation: X:228.31, Y:83.57, Z:11.77 [[ 9.86178373e-01 1.65382819e-01 -1.00368936e-02 2.28308677e+02] [-1.65375582e-01 9.86229439e-01 1.55255136e-03 8.35680454e+01] [ 1.01554452e-02 1.28764533e-04 9.99948424e-01 1.17717681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.056875 meters 0.02647830075691256 Centerline is valid? [True, True] Translation: X:228.34, Y:83.57, Z:11.77 [[ 9.85771643e-01 1.67772492e-01 -1.03275894e-02 2.28341019e+02] [-1.67764942e-01 9.85825728e-01 1.59924212e-03 8.35650854e+01] [ 1.04495122e-02 1.56119905e-04 9.99945390e-01 1.17718376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.086875 meters 0.026965285566830227 Centerline is valid? [True, True] Translation: X:228.37, Y:83.56, Z:11.77 [[ 9.85077235e-01 1.71792938e-01 -1.04893626e-02 2.28373055e+02] [-1.71785352e-01 9.85133060e-01 1.62674837e-03 8.35621186e+01] [ 1.06128818e-02 1.99446065e-04 9.99943662e-01 1.17725946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.116875 meters 0.027426548098226054 Centerline is valid? [True, True] Translation: X:228.41, Y:83.56, Z:11.77 [[ 9.84788225e-01 1.73494557e-01 -9.58070836e-03 2.28405039e+02] [-1.73488288e-01 9.84834808e-01 1.48799751e-03 8.35567775e+01] [ 9.69357455e-03 1.96778259e-04 9.99952997e-01 1.17746402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.146875 meters 0.027330733478688578 Centerline is valid? [True, True] Translation: X:228.44, Y:83.55, Z:11.78 [[ 9.84625139e-01 1.74455231e-01 -8.87172968e-03 2.28437535e+02] [-1.74449875e-01 9.84665089e-01 1.38005059e-03 8.35522469e+01] [ 8.97643954e-03 1.88839625e-04 9.99959693e-01 1.17764339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.176875 meters 0.027717198648856536 Centerline is valid? [True, True] Translation: X:228.47, Y:83.55, Z:11.77 [[ 9.84661131e-01 1.74242194e-01 -9.06169724e-03 2.28469009e+02] [-1.74236580e-01 9.84702809e-01 1.41143636e-03 8.35501277e+01] [ 9.16901050e-03 1.89092606e-04 9.99957946e-01 1.17734928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.206875 meters 0.027507727936662545 Centerline is valid? [True, True] Translation: X:228.50, Y:83.55, Z:11.77 [[ 9.84670568e-01 1.74142464e-01 -9.91332378e-03 2.28501409e+02] [-1.74135719e-01 9.84720448e-01 1.54618747e-03 8.35461120e+01] [ 1.00311095e-02 2.03778469e-04 9.99949666e-01 1.17704541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.236875 meters 0.027272389822949158 Centerline is valid? [True, True] Translation: X:228.53, Y:83.54, Z:11.77 [[ 9.84652122e-01 1.74185601e-01 -1.09350586e-02 2.28534003e+02] [-1.74177363e-01 9.84712814e-01 1.70859841e-03 8.35430511e+01] [ 1.10655056e-02 2.22264624e-04 9.99938751e-01 1.17674049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.266875 meters 0.027806333920067233 Centerline is valid? [True, True] Translation: X:228.56, Y:83.54, Z:11.76 [[ 9.84479318e-01 1.75037656e-01 -1.27393706e-02 2.28564311e+02] [-1.75026515e-01 9.84561703e-01 1.99287419e-03 8.35388680e+01] [ 1.28915245e-02 2.67784227e-04 9.99916865e-01 1.17648113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.296875 meters 0.02798328252132925 Centerline is valid? [True, True] Translation: X:228.59, Y:83.53, Z:11.77 [[ 9.84396394e-01 1.75472877e-01 -1.31533218e-02 2.28594877e+02] [-1.75461018e-01 9.84484226e-01 2.05927363e-03 8.35329324e+01] [ 1.33105845e-02 2.80753695e-04 9.99911371e-01 1.17658796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.326875 meters 0.02780546851126477 Centerline is valid? [True, True] Translation: X:228.63, Y:83.53, Z:11.77 [[ 9.84293204e-01 1.76086761e-01 -1.26625857e-02 2.28627436e+02] [-1.76075786e-01 9.84374612e-01 1.98515321e-03 8.35253198e+01] [ 1.28142871e-02 2.75601918e-04 9.99917856e-01 1.17689033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3568750000001 meters 0.027854273245543765 Centerline is valid? [True, True] Translation: X:228.66, Y:83.52, Z:11.77 [[ 9.84352340e-01 1.75911750e-01 -1.02726634e-02 2.28657765e+02] [-1.75904495e-01 9.84405916e-01 1.61266816e-03 8.35184039e+01] [ 1.03961579e-02 2.19573991e-04 9.99945934e-01 1.17747902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.386875 meters 0.02796161073659563 Centerline is valid? [True, True] Translation: X:228.69, Y:83.51, Z:11.78 [[ 9.84442398e-01 1.75471881e-01 -9.09861381e-03 2.28689945e+02] [-1.75466160e-01 9.84484425e-01 1.42957829e-03 8.35140823e+01] [ 9.20829438e-03 1.89161348e-04 9.99957585e-01 1.17755418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.416875 meters 0.027944707401418842 Centerline is valid? [True, True] Translation: X:228.72, Y:83.51, Z:11.77 [[ 9.84560373e-01 1.74850383e-01 -8.25929967e-03 2.28722346e+02] [-1.74845641e-01 9.84595001e-01 1.29834262e-03 8.35100759e+01] [ 8.35908087e-03 1.65805849e-04 9.99965049e-01 1.17741208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.446875 meters 0.026879807185896644 Centerline is valid? [True, True] Translation: X:228.75, Y:83.51, Z:11.77 [[ 9.84763419e-01 1.73670621e-01 -8.91766649e-03 2.28754045e+02] [-1.73665031e-01 9.84803781e-01 1.40327105e-03 8.35053741e+01] [ 9.02585863e-03 1.66796830e-04 9.99959252e-01 1.17693023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4768750000001 meters 0.027536374317128257 Centerline is valid? [True, True] Translation: X:228.79, Y:83.50, Z:11.77 [[ 9.84854818e-01 1.73122996e-01 -9.45602044e-03 2.28785434e+02] [-1.73116665e-01 9.84900198e-01 1.49016125e-03 8.35020667e+01] [ 9.57121758e-03 1.69402236e-04 9.99954180e-01 1.17665386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.506875 meters 0.027089676363798897 Centerline is valid? [True, True] Translation: X:228.82, Y:83.49, Z:11.77 [[ 9.84884444e-01 1.72878969e-01 -1.07468024e-02 2.28817628e+02] [-1.72870748e-01 9.84943058e-01 1.69628087e-03 8.34946189e+01] [ 1.08782397e-02 1.87167126e-04 9.99940813e-01 1.17653755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.536875 meters 0.02664017731929886 Centerline is valid? [True, True] Translation: X:228.85, Y:83.48, Z:11.77 [[ 9.84991152e-01 1.72086178e-01 -1.33707912e-02 2.28849037e+02] [-1.72073328e-01 9.85081875e-01 2.11427257e-03 8.34843059e+01] [ 1.35351611e-02 2.18216754e-04 9.99908372e-01 1.17667569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.566875 meters 0.02656365957758841 Centerline is valid? [True, True] Translation: X:228.88, Y:83.48, Z:11.77 [[ 9.85100186e-01 1.71440426e-01 -1.36309857e-02 2.28879131e+02] [-1.71426965e-01 9.85194466e-01 2.15861608e-03 8.34780106e+01] [ 1.37992457e-02 2.10265399e-04 9.99904764e-01 1.17675259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.596875 meters 0.026324656722346053 Centerline is valid? [True, True] Translation: X:228.91, Y:83.47, Z:11.77 [[ 9.85039915e-01 1.71752909e-01 -1.40464903e-02 2.28911187e+02] [-1.71738596e-01 9.85140036e-01 2.22794649e-03 8.34719670e+01] [ 1.42204162e-02 2.17708301e-04 9.99898861e-01 1.17681745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.626875 meters 0.026455025760159786 Centerline is valid? [True, True] Translation: X:228.94, Y:83.47, Z:11.77 [[ 9.85031408e-01 1.71767244e-01 -1.44616115e-02 2.28943387e+02] [-1.71752017e-01 9.85137536e-01 2.29766252e-03 8.34679411e+01] [ 1.46413395e-02 2.20541205e-04 9.99892786e-01 1.17675726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.656875 meters 0.026502154100936613 Centerline is valid? [True, True] Translation: X:228.97, Y:83.47, Z:11.77 [[ 9.85028894e-01 1.71930886e-01 -1.25638063e-02 2.28974738e+02] [-1.71919372e-01 9.85108996e-01 1.99890241e-03 8.34668303e+01] [ 1.27203917e-02 1.90985062e-04 9.99919074e-01 1.17673722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.686875 meters 0.026339558095230562 Centerline is valid? [True, True] Translation: X:229.01, Y:83.46, Z:11.77 [[ 9.85062817e-01 1.71820818e-01 -1.13513220e-02 2.29005647e+02] [-1.71811392e-01 9.85128204e-01 1.80774889e-03 8.34627296e+01] [ 1.14931164e-02 1.69540222e-04 9.99933938e-01 1.17681209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.716875 meters 0.02630753460050556 Centerline is valid? [True, True] Translation: X:229.04, Y:83.46, Z:11.77 [[ 9.85086732e-01 1.71707203e-01 -1.09893643e-02 2.29038210e+02] [-1.71698336e-01 9.85148015e-01 1.75233545e-03 8.34571278e+01] [ 1.11270391e-02 1.60653174e-04 9.99938080e-01 1.17686778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.746875 meters 0.02623838408957218 Centerline is valid? [True, True] Translation: X:229.07, Y:83.45, Z:11.77 [[ 9.85171663e-01 1.71197722e-01 -1.13196242e-02 2.29070173e+02] [-1.71188250e-01 9.85236680e-01 1.80772000e-03 8.34513144e+01] [ 1.14619865e-02 1.56872131e-04 9.99934297e-01 1.17686202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.776875 meters 0.025920431356023496 Centerline is valid? [True, True] Translation: X:229.10, Y:83.45, Z:11.77 [[ 9.85317842e-01 1.70445819e-01 -9.84750737e-03 2.29100256e+02] [-1.70438593e-01 9.85367042e-01 1.57460958e-03 8.34451931e+01] [ 9.97179482e-03 1.26904389e-04 9.99950272e-01 1.17690249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.806875 meters 0.025437544922642368 Centerline is valid? [True, True] Translation: X:229.13, Y:83.44, Z:11.77 [[ 9.85468722e-01 1.69619944e-01 -8.97069061e-03 2.29132004e+02] [-1.69613896e-01 9.85509545e-01 1.43629540e-03 8.34380562e+01] [ 9.08432557e-03 1.06129595e-04 9.99958731e-01 1.17702412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.836875 meters 0.025328363881262132 Centerline is valid? [True, True] Translation: X:229.16, Y:83.43, Z:11.77 [[ 9.85684275e-01 1.68388115e-01 -8.48252129e-03 2.29163453e+02] [-1.68382645e-01 9.85720769e-01 1.36006078e-03 8.34309371e+01] [ 8.59041548e-03 8.77188497e-05 9.99963098e-01 1.17709953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.866875 meters 0.025412495111929764 Centerline is valid? [True, True] Translation: X:229.19, Y:83.43, Z:11.77 [[ 9.85663780e-01 1.68516500e-01 -8.31271230e-03 2.29194666e+02] [-1.68511235e-01 9.85698829e-01 1.33482141e-03 8.34255534e+01] [ 8.41877021e-03 8.51003026e-05 9.99964558e-01 1.17721536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.896875 meters 0.02551088048485504 Centerline is valid? [True, True] Translation: X:229.23, Y:83.42, Z:11.77 [[ 9.85510637e-01 1.69412911e-01 -8.24919112e-03 2.29227682e+02] [-1.69407740e-01 9.85545157e-01 1.32672120e-03 8.34210443e+01] [ 8.35471406e-03 8.99789720e-05 9.99965095e-01 1.17725584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.926875 meters 0.02534370176498801 Centerline is valid? [True, True] Translation: X:229.26, Y:83.42, Z:11.77 [[ 9.85200429e-01 1.71191348e-01 -8.58123512e-03 2.29259845e+02] [-1.71185800e-01 9.85237794e-01 1.38229357e-03 8.34177255e+01] [ 8.69119386e-03 1.07149386e-04 9.99962225e-01 1.17723078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.956875 meters 0.026315021556595108 Centerline is valid? [True, True] Translation: X:229.29, Y:83.42, Z:11.77 [[ 9.84497703e-01 1.75119419e-01 -9.87231916e-03 2.29291602e+02] [-1.75112250e-01 9.84547187e-01 1.59260851e-03 8.34170353e+01] [ 9.99866074e-03 1.60844607e-04 9.99949999e-01 1.17699764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.986875 meters 0.026870624511956587 Centerline is valid? [True, True] Translation: X:229.32, Y:83.41, Z:11.77 [[ 9.84081016e-01 1.77427607e-01 -1.01979170e-02 2.29323091e+02] [-1.77420059e-01 9.84133837e-01 1.64742660e-03 8.34138479e+01] [ 1.03284141e-02 1.88113789e-04 9.99946643e-01 1.17684349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.016875 meters 0.027458241085879038 Centerline is valid? [True, True] Translation: X:229.35, Y:83.41, Z:11.77 [[ 9.83742107e-01 1.79289582e-01 -1.03302284e-02 2.29354370e+02] [-1.79281915e-01 9.83796322e-01 1.67107203e-03 8.34104143e+01] [ 1.04624465e-02 2.08119212e-04 9.99945245e-01 1.17677825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.046875 meters 0.028139866196538497 Centerline is valid? [True, True] Translation: X:229.39, Y:83.41, Z:11.77 [[ 9.83375445e-01 1.81356202e-01 -9.09188559e-03 2.29385691e+02] [-1.81350334e-01 9.83417453e-01 1.47262255e-03 8.34076346e+01] [ 9.20818821e-03 2.00675632e-04 9.99957584e-01 1.17674094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.076875 meters 0.02782154069392893 Centerline is valid? [True, True] Translation: X:229.42, Y:83.40, Z:11.77 [[ 9.83295212e-01 1.81799362e-01 -8.91730046e-03 2.29418295e+02] [-1.81793716e-01 9.83335626e-01 1.44649612e-03 8.34005209e+01] [ 9.03167130e-03 1.98776474e-04 9.99959194e-01 1.17689236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1068750000001 meters 0.028275031554573844 Centerline is valid? [True, True] Translation: X:229.45, Y:83.40, Z:11.77 [[ 9.83263668e-01 1.82003721e-01 -8.19787561e-03 2.29449680e+02] [-1.81998940e-01 9.83297825e-01 1.33177864e-03 8.33953161e+01] [ 8.30334192e-03 1.82515127e-04 9.99965510e-01 1.17705090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.136875 meters 0.027650900015776587 Centerline is valid? [True, True] Translation: X:229.48, Y:83.39, Z:11.77 [[ 9.83428775e-01 1.81124064e-01 -7.86880152e-03 2.29481082e+02] [-1.81119617e-01 9.83460241e-01 1.28011773e-03 8.33890398e+01] [ 7.97051357e-03 1.66289699e-04 9.99968221e-01 1.17713272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.166875 meters 0.027549163810137806 Centerline is valid? [True, True] Translation: X:229.51, Y:83.38, Z:11.77 [[ 9.83435278e-01 1.81071732e-01 -8.25114701e-03 2.29513131e+02] [-1.81066823e-01 9.83469877e-01 1.34432698e-03 8.33838744e+01] [ 8.35817414e-03 1.71950398e-04 9.99965055e-01 1.17706353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.196875 meters 0.02782798876537005 Centerline is valid? [True, True] Translation: X:229.54, Y:83.38, Z:11.77 [[ 9.83352150e-01 1.81500220e-01 -8.73041538e-03 2.29544649e+02] [-1.81494722e-01 9.83390887e-01 1.42463256e-03 8.33794604e+01] [ 8.84398204e-03 1.83608816e-04 9.99960874e-01 1.17692059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2268750000001 meters 0.028261579525178864 Centerline is valid? [True, True] Translation: X:229.58, Y:83.38, Z:11.77 [[ 9.83165466e-01 1.82541538e-01 -8.01580951e-03 2.29576033e+02] [-1.82536926e-01 9.83198126e-01 1.30942693e-03 8.33791707e+01] [ 8.12015370e-03 1.75797888e-04 9.99967016e-01 1.17662517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.256875 meters 0.028739608427556712 Centerline is valid? [True, True] Translation: X:229.61, Y:83.38, Z:11.77 [[ 9.82956672e-01 1.83683398e-01 -7.52270438e-03 2.29607987e+02] [-1.83679361e-01 9.82985442e-01 1.23003974e-03 8.33763298e+01] [ 7.62064677e-03 1.72689766e-04 9.99970948e-01 1.17652738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.286875 meters 0.02682660320415142 Centerline is valid? [True, True] Translation: X:229.64, Y:83.37, Z:11.77 [[ 9.82889871e-01 1.84056544e-01 -7.11964566e-03 2.29639910e+02] [-1.84052926e-01 9.82915643e-01 1.16578368e-03 8.33662429e+01] [ 7.21258120e-03 1.64554644e-04 9.99973975e-01 1.17664041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.316875 meters 0.02920158841590736 Centerline is valid? [True, True] Translation: X:229.67, Y:83.36, Z:11.77 [[ 9.82834147e-01 1.84364785e-01 -6.83123880e-03 2.29671556e+02] [-1.84361449e-01 9.82857874e-01 1.12039654e-03 8.33638643e+01] [ 6.92069851e-03 1.58253106e-04 9.99976039e-01 1.17687129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.346875 meters 0.026973598399895115 Centerline is valid? [True, True] Translation: X:229.70, Y:83.35, Z:11.77 [[ 9.82895218e-01 1.84023435e-01 -7.23636739e-03 2.29702329e+02] [-1.84019668e-01 9.82921843e-01 1.18880503e-03 8.33521461e+01] [ 7.33155156e-03 1.63163147e-04 9.99973111e-01 1.17701847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.376875 meters 0.02709548819623319 Centerline is valid? [True, True] Translation: X:229.73, Y:83.35, Z:11.77 [[ 9.82864354e-01 1.84172761e-01 -7.61940628e-03 2.29734279e+02] [-1.84168573e-01 9.82893873e-01 1.25369863e-03 8.33463601e+01] [ 7.71996488e-03 1.71039484e-04 9.99970186e-01 1.17698237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.406875 meters 0.027053785243625138 Centerline is valid? [True, True] Translation: X:229.77, Y:83.34, Z:11.77 [[ 9.82796904e-01 1.84491200e-01 -8.55817095e-03 2.29766534e+02] [-1.84485907e-01 9.82834147e-01 1.41062023e-03 8.33413661e+01] [ 8.67150966e-03 1.92508737e-04 9.99962383e-01 1.17680196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.436875 meters 0.028562581714179892 Centerline is valid? [True, True] Translation: X:229.80, Y:83.34, Z:11.76 [[ 9.82499579e-01 1.86012459e-01 -9.69235752e-03 2.29797736e+02] [-1.86005719e-01 9.82547359e-01 1.60017038e-03 8.33404223e+01] [ 9.82085190e-03 2.30667208e-04 9.99951748e-01 1.17640631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.466875 meters 0.027666671454552056 Centerline is valid? [True, True] Translation: X:229.83, Y:83.33, Z:11.77 [[ 9.82454381e-01 1.86257028e-01 -9.57648070e-03 2.29829738e+02] [-1.86250436e-01 9.82501027e-01 1.58349655e-03 8.33328296e+01] [ 9.70383949e-03 2.27910588e-04 9.99952891e-01 1.17650927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.496875 meters 0.027762077331674996 Centerline is valid? [True, True] Translation: X:229.86, Y:83.33, Z:11.77 [[ 9.82457829e-01 1.86249114e-01 -9.37456869e-03 2.29861110e+02] [-1.86242773e-01 9.82502529e-01 1.55258864e-03 8.33278662e+01] [ 9.49970571e-03 2.20592807e-04 9.99954852e-01 1.17651537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.526875 meters 0.027762077331674996 Centerline is valid? [True, True] Translation: X:229.89, Y:83.32, Z:11.77 [[ 9.82409370e-01 1.86504571e-01 -9.37417079e-03 2.29893059e+02] [-1.86498219e-01 9.82454068e-01 1.55498838e-03 8.33224569e+01] [ 9.49970467e-03 2.20630995e-04 9.99954852e-01 1.17653015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.556875 meters 0.027991136191530937 Centerline is valid? [True, True] Translation: X:229.93, Y:83.32, Z:11.77 [[ 9.82366679e-01 1.86698663e-01 -9.96575356e-03 2.29925244e+02] [-1.86691477e-01 9.82417200e-01 1.65485247e-03 8.33177989e+01] [ 1.00994865e-02 2.34849321e-04 9.99948971e-01 1.17651767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.586875 meters 0.027409865233340838 Centerline is valid? [True, True] Translation: X:229.96, Y:83.31, Z:11.76 [[ 9.82322283e-01 1.86873086e-01 -1.10173191e-02 2.29958021e+02] [-1.86864289e-01 9.82384030e-01 1.83168712e-03 8.33133846e+01] [ 1.11655314e-02 2.59436433e-04 9.99937630e-01 1.17627438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.616875 meters 0.028192704321386108 Centerline is valid? [True, True] Translation: X:229.99, Y:83.31, Z:11.76 [[ 9.82255519e-01 1.87208705e-01 -1.12692644e-02 2.29990364e+02] [-1.87199495e-01 9.82320126e-01 1.87598762e-03 8.33111246e+01] [ 1.14212265e-02 2.66901420e-04 9.99934740e-01 1.17614342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.646875 meters 0.02788420860776483 Centerline is valid? [True, True] Translation: X:230.02, Y:83.31, Z:11.76 [[ 9.82208822e-01 1.87451280e-01 -1.13069246e-02 2.30022509e+02] [-1.87441996e-01 9.82273865e-01 1.88480016e-03 8.33051238e+01] [ 1.14598048e-02 2.68125180e-04 9.99934298e-01 1.17618689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.676875 meters 0.027333796440266716 Centerline is valid? [True, True] Translation: X:230.05, Y:83.29, Z:11.77 [[ 9.82652498e-01 1.85197566e-01 -9.79434892e-03 2.30053569e+02] [-1.85190473e-01 9.82701286e-01 1.63410800e-03 8.32938998e+01] [ 9.92755211e-03 2.08059809e-04 9.99950699e-01 1.17675118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.706875 meters 0.026397960016045257 Centerline is valid? [True, True] Translation: X:230.08, Y:83.28, Z:11.77 [[ 9.82856578e-01 1.84127872e-01 -9.48017907e-03 2.30084159e+02] [-1.84121168e-01 9.82902279e-01 1.58268340e-03 8.32840239e+01] [ 9.60950574e-03 1.89950849e-04 9.99953810e-01 1.17701678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.736875 meters 0.026102287558059704 Centerline is valid? [True, True] Translation: X:230.12, Y:83.28, Z:11.77 [[ 9.83156362e-01 1.82523972e-01 -9.41104512e-03 2.30115646e+02] [-1.82517275e-01 9.83201388e-01 1.57288318e-03 8.32771241e+01] [ 9.54004151e-03 1.71288207e-04 9.99954478e-01 1.17710606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.766875 meters 0.025483139805557987 Centerline is valid? [True, True] Translation: X:230.15, Y:83.27, Z:11.77 [[ 9.83516540e-01 1.80624927e-01 -8.35772036e-03 2.30147120e+02] [-1.80619561e-01 9.83552041e-01 1.39871797e-03 8.32702394e+01] [ 8.47289625e-03 1.33905524e-04 9.99964095e-01 1.17705081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.796875 meters 0.025500591790972662 Centerline is valid? [True, True] Translation: X:230.18, Y:83.27, Z:11.77 [[ 9.83711416e-01 1.79607463e-01 -7.28069643e-03 2.30177848e+02] [-1.79603353e-01 9.83738353e-01 1.21978855e-03 8.32663989e+01] [ 7.38138344e-03 1.07717569e-04 9.99972751e-01 1.17699553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.826875 meters 0.02543979645245977 Centerline is valid? [True, True] Translation: X:230.21, Y:83.26, Z:11.77 [[ 9.83926974e-01 1.78479424e-01 -5.72763302e-03 2.30208626e+02] [-1.78476857e-01 9.83943641e-01 9.60333924e-04 8.32614216e+01] [ 5.80706793e-03 7.73514862e-05 9.99983136e-01 1.17696370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8568750000001 meters 0.025045169699466557 Centerline is valid? [True, True] Translation: X:230.24, Y:83.25, Z:11.77 [[ 9.84325137e-01 1.76285522e-01 -5.23823823e-03 2.30240111e+02] [-1.76283338e-01 9.84339073e-01 8.79324269e-04 8.32545209e+01] [ 5.31121470e-03 5.78731383e-05 9.99985894e-01 1.17699678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.886875 meters 0.024555684573018186 Centerline is valid? [True, True] Translation: X:230.27, Y:83.25, Z:11.77 [[ 9.84351431e-01 1.76137350e-01 -5.28143630e-03 2.30272017e+02] [-1.76135121e-01 9.84365598e-01 8.87821932e-04 8.32470278e+01] [ 5.35524281e-03 5.63176349e-05 9.99985659e-01 1.17699100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.916875 meters 0.024868929469270554 Centerline is valid? [True, True] Translation: X:230.30, Y:83.24, Z:11.77 [[ 9.84301747e-01 1.76381437e-01 -6.29753787e-03 2.30303778e+02] [-1.76378261e-01 9.84321891e-01 1.06057853e-03 8.32427709e+01] [ 6.38587074e-03 6.68194711e-05 9.99979608e-01 1.17696457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.946875 meters 0.024484838697997415 Centerline is valid? [True, True] Translation: X:230.34, Y:83.23, Z:11.77 [[ 9.84258738e-01 1.76555185e-01 -7.93744187e-03 2.30335741e+02] [-1.76550126e-01 9.84290739e-01 1.33917307e-03 8.32341250e+01] [ 8.04918848e-03 8.32635668e-05 9.99967601e-01 1.17705357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9768750000001 meters 0.02446406092062918 Centerline is valid? [True, True] Translation: X:230.37, Y:83.23, Z:11.77 [[ 9.84165688e-01 1.77050377e-01 -8.42987131e-03 2.30367422e+02] [-1.77044669e-01 9.84201786e-01 1.42459155e-03 8.32280984e+01] [ 8.54891887e-03 9.04296465e-05 9.99963453e-01 1.17716466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.006875 meters 0.02452204592273306 Centerline is valid? [True, True] Translation: X:230.40, Y:83.22, Z:11.77 [[ 9.84143490e-01 1.77153512e-01 -8.84450987e-03 2.30398951e+02] [-1.77147211e-01 9.84183227e-01 1.49697140e-03 8.32232255e+01] [ 8.96981200e-03 9.35456011e-05 9.99959766e-01 1.17725118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.036875 meters 0.024783321564866526 Centerline is valid? [True, True] Translation: X:230.43, Y:83.22, Z:11.77 [[ 9.84009651e-01 1.77868617e-01 -9.36812152e-03 2.30431798e+02] [-1.77861558e-01 9.84054238e-01 1.58805154e-03 8.32196636e+01] [ 9.50120422e-03 1.03570650e-04 9.99954857e-01 1.17705477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.066875 meters 0.024411514122534846 Centerline is valid? [True, True] Translation: X:230.46, Y:83.22, Z:11.77 [[ 9.83959523e-01 1.78102681e-01 -1.01534686e-02 2.30464382e+02] [-1.78094372e-01 9.84011902e-01 1.72396864e-03 8.32153020e+01] [ 1.02981773e-02 1.11960254e-04 9.99946966e-01 1.17680128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.096875 meters 0.024427127404264868 Centerline is valid? [True, True] Translation: X:230.50, Y:83.21, Z:11.77 [[ 9.83837256e-01 1.78730536e-01 -1.09383992e-02 2.30496815e+02] [-1.78720897e-01 9.83898054e-01 1.86031018e-03 8.32107923e+01] [ 1.10947639e-02 1.24678066e-04 9.99938443e-01 1.17658979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.126875 meters 0.024315731123883712 Centerline is valid? [True, True] Translation: X:230.53, Y:83.21, Z:11.77 [[ 9.83759538e-01 1.79140609e-01 -1.12167106e-02 2.30528037e+02] [-1.79130473e-01 9.83823473e-01 1.91004441e-03 8.32055018e+01] [ 1.13774297e-02 1.30230273e-04 9.99935266e-01 1.17652142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.156875 meters 0.024547161070431197 Centerline is valid? [True, True] Translation: X:230.56, Y:83.20, Z:11.77 [[ 9.83771199e-01 1.79131148e-01 -1.03082566e-02 2.30558420e+02] [-1.79122567e-01 9.83825197e-01 1.75732223e-03 8.32003090e+01] [ 1.04563138e-02 1.17638390e-04 9.99945324e-01 1.17667167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.186875 meters 0.024398053077801348 Centerline is valid? [True, True] Translation: X:230.59, Y:83.19, Z:11.77 [[ 9.83850916e-01 1.78711014e-01 -9.98747518e-03 2.30589512e+02] [-1.78702913e-01 9.83901602e-01 1.70491001e-03 8.31937576e+01] [ 1.01313790e-02 1.07413639e-04 9.99948670e-01 1.17681234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.216875 meters 0.024387257946089598 Centerline is valid? [True, True] Translation: X:230.62, Y:83.19, Z:11.77 [[ 9.83912591e-01 1.78386628e-01 -9.70690570e-03 2.30620810e+02] [-1.78378937e-01 9.83960467e-01 1.65939672e-03 8.31884201e+01] [ 9.84722565e-03 9.88061957e-05 9.99951510e-01 1.17691373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.246875 meters 0.02412109531007403 Centerline is valid? [True, True] Translation: X:230.65, Y:83.18, Z:11.77 [[ 9.83815934e-01 1.78921543e-01 -9.65867485e-03 2.30652103e+02] [-1.78913930e-01 9.83863340e-01 1.65359327e-03 8.31827928e+01] [ 9.79867956e-03 1.01240072e-04 9.99951987e-01 1.17723178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.276875 meters 0.024109817509414717 Centerline is valid? [True, True] Translation: X:230.68, Y:83.18, Z:11.77 [[ 9.83584871e-01 1.80186415e-01 -9.67769459e-03 2.30684176e+02] [-1.80178810e-01 9.83632474e-01 1.65920486e-03 8.31777904e+01] [ 9.81826084e-03 1.11746700e-04 9.99951793e-01 1.17747319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.306875 meters 0.024376729386219917 Centerline is valid? [True, True] Translation: X:230.72, Y:83.17, Z:11.78 [[ 9.83338595e-01 1.81524020e-01 -9.70761287e-03 2.30715507e+02] [-1.81516411e-01 9.83386503e-01 1.66665081e-03 8.31733923e+01] [ 9.84887263e-03 1.23208980e-04 9.99951491e-01 1.17757859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.336875 meters 0.02484407503131848 Centerline is valid? [True, True] Translation: X:230.75, Y:83.17, Z:11.78 [[ 9.83058718e-01 1.83005808e-01 -1.02191376e-02 2.30746088e+02] [-1.82997430e-01 9.83111822e-01 1.75688002e-03 8.31702152e+01] [ 1.03680742e-02 1.42959700e-04 9.99946240e-01 1.17753814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.366875 meters 0.024653909050198302 Centerline is valid? [True, True] Translation: X:230.78, Y:83.17, Z:11.77 [[ 9.82600321e-01 1.85358027e-01 -1.17902731e-02 2.30777751e+02] [-1.85347010e-01 9.82671036e-01 2.02990403e-03 8.31668420e+01] [ 1.19622189e-02 1.90707515e-04 9.99928432e-01 1.17746965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.396875 meters 0.025155127166312366 Centerline is valid? [True, True] Translation: X:230.81, Y:83.16, Z:11.77 [[ 9.82386128e-01 1.86447043e-01 -1.24497185e-02 2.30808702e+02] [-1.86434810e-01 9.82464989e-01 2.14634883e-03 8.31632700e+01] [ 1.26315930e-02 2.12517589e-04 9.99920196e-01 1.17739042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.426875 meters 0.024703866297954107 Centerline is valid? [True, True] Translation: X:230.84, Y:83.16, Z:11.77 [[ 9.82362015e-01 1.86600903e-01 -1.20405529e-02 2.30840803e+02] [-1.86589435e-01 9.82435780e-01 2.07885674e-03 8.31587223e+01] [ 1.22169866e-02 2.04450069e-04 9.99925349e-01 1.17737319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.456875 meters 0.02502179628883072 Centerline is valid? [True, True] Translation: X:230.87, Y:83.16, Z:11.77 [[ 9.82477459e-01 1.86035500e-01 -1.13505604e-02 2.30871959e+02] [-1.86025240e-01 9.82543006e-01 1.96242142e-03 8.31565783e+01] [ 1.15174938e-02 1.83455912e-04 9.99933655e-01 1.17700633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.486875 meters 0.024489053835713488 Centerline is valid? [True, True] Translation: X:230.90, Y:83.15, Z:11.77 [[ 9.82589165e-01 1.85476200e-01 -1.08218721e-02 2.30903788e+02] [-1.85466812e-01 9.82648743e-01 1.87350404e-03 8.31498650e+01] [ 1.09815894e-02 1.66213347e-04 9.99939687e-01 1.17703111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.516875 meters 0.024446904952681862 Centerline is valid? [True, True] Translation: X:230.93, Y:83.14, Z:11.77 [[ 9.82656765e-01 1.85140011e-01 -1.04334945e-02 2.30934674e+02] [-1.85131239e-01 9.82712141e-01 1.80875681e-03 8.31428968e+01] [ 1.05879950e-02 1.54178658e-04 9.99943934e-01 1.17717335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.546875 meters 0.024292298110991397 Centerline is valid? [True, True] Translation: X:230.96, Y:83.13, Z:11.78 [[ 9.82860017e-01 1.84069619e-01 -1.02255488e-02 2.30964392e+02] [-1.84061111e-01 9.82913199e-01 1.77505610e-03 8.31338473e+01] [ 1.03775608e-02 1.37494203e-04 9.99946142e-01 1.17769016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.576875 meters 0.02424893739312173 Centerline is valid? [True, True] Translation: X:231.00, Y:83.13, Z:11.78 [[ 9.82794901e-01 1.84386477e-01 -1.07614482e-02 2.30996712e+02] [-1.84377043e-01 9.82853807e-01 1.87087014e-03 8.31260444e+01] [ 1.09218935e-02 1.45482371e-04 9.99940344e-01 1.17782995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6068750000001 meters 0.02423462549738607 Centerline is valid? [True, True] Translation: X:231.03, Y:83.12, Z:11.78 [[ 9.82730215e-01 1.84614176e-01 -1.26067882e-02 2.31027976e+02] [-1.84601204e-01 9.82811059e-01 2.19508680e-03 8.31211248e+01] [ 1.27953350e-02 1.70050167e-04 9.99918122e-01 1.17773417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.636875 meters 0.025495794870848573 Centerline is valid? [True, True] Translation: X:231.06, Y:83.12, Z:11.77 [[ 9.82299501e-01 1.86726346e-01 -1.48647998e-02 2.31059687e+02] [-1.86708498e-01 9.82411940e-01 2.59182418e-03 8.31211956e+01] [ 1.50873187e-02 2.29436856e-04 9.99886154e-01 1.17711424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.666875 meters 0.025083028980516273 Centerline is valid? [True, True] Translation: X:231.09, Y:83.12, Z:11.77 [[ 9.81961702e-01 1.88447979e-01 -1.54458636e-02 2.31090780e+02] [-1.88428867e-01 9.82083138e-01 2.69660501e-03 8.31156928e+01] [ 1.56772919e-02 2.62483733e-04 9.99877069e-01 1.17709708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.696875 meters 0.025317834894921235 Centerline is valid? [True, True] Translation: X:231.12, Y:83.11, Z:11.77 [[ 9.81746011e-01 1.89595629e-01 -1.51085013e-02 2.31121842e+02] [-1.89577428e-01 9.81862222e-01 2.64101358e-03 8.31116033e+01] [ 1.53351913e-02 2.71426271e-04 9.99882372e-01 1.17704457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7268750000001 meters 0.02580288092317529 Centerline is valid? [True, True] Translation: X:231.15, Y:83.11, Z:11.77 [[ 9.81421878e-01 1.91188654e-01 -1.60622809e-02 2.31153618e+02] [-1.91168255e-01 9.81553259e-01 2.81024434e-03 8.31060288e+01] [ 1.63032710e-02 3.12562923e-04 9.99867044e-01 1.17697397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.756875 meters 0.025770106216632425 Centerline is valid? [True, True] Translation: X:231.19, Y:83.10, Z:11.77 [[ 9.81433196e-01 1.91044476e-01 -1.70554816e-02 2.31185488e+02] [-1.91021384e-01 9.81581327e-01 2.98809185e-03 8.30991958e+01] [ 1.73122007e-02 3.25349157e-04 9.99850080e-01 1.17700554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.786875 meters 0.025599831714248164 Centerline is valid? [True, True] Translation: X:231.22, Y:83.09, Z:11.77 [[ 9.81566298e-01 1.90443178e-01 -1.60934104e-02 2.31216016e+02] [-1.90422492e-01 9.81698176e-01 2.82228820e-03 8.30937405e+01] [ 1.63363571e-02 2.94284329e-04 9.99866510e-01 1.17705822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.816875 meters 0.02518156969524643 Centerline is valid? [True, True] Translation: X:231.25, Y:83.09, Z:11.77 [[ 9.82024081e-01 1.88314491e-01 -1.28979368e-02 2.31246203e+02] [-1.88301000e-01 9.82108757e-01 2.26351424e-03 8.30870814e+01] [ 1.30934293e-02 2.05868904e-04 9.99914256e-01 1.17740354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.846875 meters 0.02502421999269425 Centerline is valid? [True, True] Translation: X:231.28, Y:83.08, Z:11.77 [[ 9.82244537e-01 1.87196693e-01 -1.23720534e-02 2.31277975e+02] [-1.87184175e-01 9.82322434e-01 2.17244158e-03 8.30795637e+01] [ 1.25600195e-02 1.81983732e-04 9.99921103e-01 1.17747774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.876875 meters 0.024389154587676883 Centerline is valid? [True, True] Translation: X:231.31, Y:83.07, Z:11.78 [[ 9.82429409e-01 1.86230945e-01 -1.22674896e-02 2.31309100e+02] [-1.86218535e-01 9.82505983e-01 2.15633423e-03 8.30699830e+01] [ 1.24544580e-02 1.65987769e-04 9.99922426e-01 1.17771230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.906875 meters 0.024559467983181624 Centerline is valid? [True, True] Translation: X:231.34, Y:83.06, Z:11.78 [[ 9.82616439e-01 1.85229575e-01 -1.24474481e-02 2.31339728e+02] [-1.85216689e-01 9.82695264e-01 2.19015571e-03 8.30648350e+01] [ 1.26377299e-02 1.53392129e-04 9.99920129e-01 1.17767449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.936875 meters 0.024551261508878663 Centerline is valid? [True, True] Translation: X:231.37, Y:83.06, Z:11.78 [[ 9.82514342e-01 1.85672627e-01 -1.38290796e-02 2.31371300e+02] [-1.85656726e-01 9.82611645e-01 2.43618641e-03 8.30567647e+01] [ 1.40409478e-02 1.73873553e-04 9.99901406e-01 1.17771848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.966875 meters 0.02461535814177683 Centerline is valid? [True, True] Translation: X:231.40, Y:83.05, Z:11.78 [[ 9.82369444e-01 1.86380905e-01 -1.45751156e-02 2.31401667e+02] [-1.86363269e-01 9.82477543e-01 2.57099092e-03 8.30525987e+01] [ 1.47989074e-02 1.90603280e-04 9.99890472e-01 1.17758930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.996875 meters 0.02470268495995086 Centerline is valid? [True, True] Translation: X:231.43, Y:83.05, Z:11.78 [[ 9.82174042e-01 1.87363699e-01 -1.51325937e-02 2.31433611e+02] [-1.87344750e-01 9.82290589e-01 2.67291377e-03 8.30480365e+01] [ 1.53654113e-02 2.09745448e-04 9.99881923e-01 1.17751689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.026875 meters 0.024835381523157993 Centerline is valid? [True, True] Translation: X:231.47, Y:83.04, Z:11.77 [[ 9.81870791e-01 1.88880742e-01 -1.59315915e-02 2.31465535e+02] [-1.88859874e-01 9.82000004e-01 2.81796646e-03 8.30435088e+01] [ 1.61770825e-02 2.41959416e-04 9.99869113e-01 1.17743616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.056875 meters 0.024997050818548514 Centerline is valid? [True, True] Translation: X:231.50, Y:83.04, Z:11.77 [[ 9.81815408e-01 1.89182467e-01 -1.57638270e-02 2.31497258e+02] [-1.89162027e-01 9.81941921e-01 2.79133208e-03 8.30383149e+01] [ 1.60072336e-02 2.41344615e-04 9.99871847e-01 1.17747176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.086875 meters 0.025497221096697782 Centerline is valid? [True, True] Translation: X:231.53, Y:83.03, Z:11.77 [[ 9.81712563e-01 1.89693889e-01 -1.60210118e-02 2.31529276e+02] [-1.89672784e-01 9.81843249e-01 2.84063140e-03 8.30340858e+01] [ 1.62689727e-02 2.50066370e-04 9.99867620e-01 1.17741918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.116875 meters 0.025481155835508053 Centerline is valid? [True, True] Translation: X:231.56, Y:83.03, Z:11.77 [[ 9.81635009e-01 1.90072108e-01 -1.62881301e-02 2.31561192e+02] [-1.90050274e-01 9.81770099e-01 2.89232719e-03 8.30280882e+01] [ 1.65409498e-02 2.56353955e-04 9.99863156e-01 1.17738534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.146875 meters 0.025299043144311868 Centerline is valid? [True, True] Translation: X:231.59, Y:83.02, Z:11.77 [[ 9.81762188e-01 1.89434916e-01 -1.60442555e-02 2.31592895e+02] [-1.89413582e-01 9.81893251e-01 2.85290645e-03 8.30207082e+01] [ 1.62941863e-02 2.38124219e-04 9.99867213e-01 1.17747119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.176875 meters 0.025176394356376457 Centerline is valid? [True, True] Translation: X:231.62, Y:83.01, Z:11.78 [[ 9.81898502e-01 1.88843037e-01 -1.46163789e-02 2.31624041e+02] [-1.88825217e-01 9.82007263e-01 2.60232160e-03 8.30145272e+01] [ 1.48448205e-02 2.04725226e-04 9.99889789e-01 1.17763959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.206875 meters 0.025406449096032575 Centerline is valid? [True, True] Translation: X:231.66, Y:83.01, Z:11.78 [[ 9.81842736e-01 1.89177759e-01 -1.40220132e-02 2.31656721e+02] [-1.89161342e-01 9.81942838e-01 2.50007023e-03 8.30081079e+01] [ 1.42417731e-02 1.97747031e-04 9.99898561e-01 1.17775172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.236875 meters 0.025212896242480482 Centerline is valid? [True, True] Translation: X:231.69, Y:83.00, Z:11.78 [[ 9.81836855e-01 1.89259116e-01 -1.33183345e-02 2.31688823e+02] [-1.89244269e-01 9.81927162e-01 2.37782931e-03 8.30031343e+01] [ 1.35276603e-02 1.85778045e-04 9.99908480e-01 1.17785122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.266875 meters 0.025686607682894776 Centerline is valid? [True, True] Translation: X:231.72, Y:83.00, Z:11.78 [[ 9.81533772e-01 1.90873820e-01 -1.25951888e-02 2.31719683e+02] [-1.90860639e-01 9.81614562e-01 2.25147542e-03 8.30002593e+01] [ 1.27933684e-02 1.94026617e-04 9.99918143e-01 1.17798376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.296875 meters 0.026160487260228068 Centerline is valid? [True, True] Translation: X:231.75, Y:83.00, Z:11.78 [[ 9.81194355e-01 1.92618141e-01 -1.24856118e-02 2.31750213e+02] [-1.92605299e-01 9.81273768e-01 2.23431112e-03 8.29969786e+01] [ 1.26821722e-02 2.12501536e-04 9.99919555e-01 1.17803766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.326875 meters 0.026529761339461142 Centerline is valid? [True, True] Translation: X:231.78, Y:82.99, Z:11.78 [[ 9.80875469e-01 1.94237233e-01 -1.24583700e-02 2.31781691e+02] [-1.94224544e-01 9.80954558e-01 2.23208178e-03 8.29929773e+01] [ 1.26546482e-02 2.30326972e-04 9.99919900e-01 1.17806514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3568750000001 meters 0.0275274932207283 Centerline is valid? [True, True] Translation: X:231.81, Y:82.99, Z:11.78 [[ 9.80211963e-01 1.97452799e-01 -1.40320637e-02 2.31813571e+02] [-1.97437005e-01 9.80312348e-01 2.51583227e-03 8.29894390e+01] [ 1.42525634e-02 3.04399741e-04 9.99898381e-01 1.17804488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.386875 meters 0.02801617782975117 Centerline is valid? [True, True] Translation: X:231.84, Y:82.99, Z:11.78 [[ 9.79922572e-01 1.98886599e-01 -1.39955103e-02 2.31844243e+02] [-1.98871000e-01 9.80022457e-01 2.51165894e-03 8.29868180e+01] [ 1.42154497e-02 3.22069852e-04 9.99898904e-01 1.17796057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.416875 meters 0.02801617782975117 Centerline is valid? [True, True] Translation: X:231.88, Y:82.98, Z:11.78 [[ 9.79872045e-01 1.99135427e-01 -1.39949061e-02 2.31876122e+02] [-1.99119805e-01 9.79971927e-01 2.51502265e-03 8.29809811e+01] [ 1.42154452e-02 3.22262600e-04 9.99898904e-01 1.17797535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.446875 meters 0.02832847817813412 Centerline is valid? [True, True] Translation: X:231.91, Y:82.98, Z:11.78 [[ 9.79611262e-01 2.00394478e-01 -1.42768624e-02 2.31907990e+02] [-2.00378304e-01 9.79715231e-01 2.56916773e-03 8.29765634e+01] [ 1.45021066e-02 3.43987824e-04 9.99894780e-01 1.17787910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4768750000001 meters 0.02849326168883358 Centerline is valid? [True, True] Translation: X:231.94, Y:82.97, Z:11.78 [[ 9.79624766e-01 2.00441181e-01 -1.25956699e-02 2.31938564e+02] [-2.00428561e-01 9.79705692e-01 2.26930080e-03 8.29734867e+01] [ 1.27949109e-02 3.01468735e-04 9.99918096e-01 1.17776275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.506875 meters 0.027834995842701833 Centerline is valid? [True, True] Translation: X:231.97, Y:82.97, Z:11.78 [[ 9.79636974e-01 2.00435834e-01 -1.16993718e-02 2.31969469e+02] [-2.00424915e-01 9.79706793e-01 2.11043626e-03 8.29661208e+01] [ 1.18849611e-02 2.77384199e-04 9.99929333e-01 1.17791102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.536875 meters 0.02818571442141347 Centerline is valid? [True, True] Translation: X:232.00, Y:82.96, Z:11.78 [[ 9.79798792e-01 1.99690641e-01 -1.08616250e-02 2.32000497e+02] [-1.99681164e-01 9.79858963e-01 1.96116673e-03 8.29611539e+01] [ 1.10344873e-02 2.47313132e-04 9.99939088e-01 1.17803866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.566875 meters 0.02726910542515177 Centerline is valid? [True, True] Translation: X:232.03, Y:82.95, Z:11.78 [[ 9.79853883e-01 1.99433508e-01 -1.06133829e-02 2.32031508e+02] [-1.99424421e-01 9.79911333e-01 1.91840465e-03 8.29514307e+01] [ 1.07827684e-02 2.36811509e-04 9.99941836e-01 1.17824194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.596875 meters 0.02696938653576174 Centerline is valid? [True, True] Translation: X:232.06, Y:82.94, Z:11.78 [[ 9.79930505e-01 1.98950432e-01 -1.24471483e-02 2.32063343e+02] [-1.98937851e-01 9.80009517e-01 2.25334713e-03 8.29419767e+01] [ 1.26466282e-02 2.68085346e-04 9.99919992e-01 1.17841371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.626875 meters 0.027357718600342584 Centerline is valid? [True, True] Translation: X:232.10, Y:82.94, Z:11.78 [[ 9.79916731e-01 1.98903263e-01 -1.41665683e-02 2.32095322e+02] [-1.98886904e-01 9.80019082e-01 2.56857020e-03 8.29374218e+01] [ 1.43944043e-02 3.00560012e-04 9.99896350e-01 1.17825698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.656875 meters 0.026740726429317598 Centerline is valid? [True, True] Translation: X:232.13, Y:82.93, Z:11.78 [[ 9.79818128e-01 1.99286560e-01 -1.55339375e-02 2.32126554e+02] [-1.99266877e-01 9.79941201e-01 2.82046602e-03 8.29298776e+01] [ 1.57844263e-02 3.31855478e-04 9.99875363e-01 1.17821675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.686875 meters 0.026531604492114808 Centerline is valid? [True, True] Translation: X:232.16, Y:82.92, Z:11.78 [[ 9.79920360e-01 1.98678512e-01 -1.68207525e-02 2.32159008e+02] [-1.98655264e-01 9.80064656e-01 3.05873054e-03 8.29234201e+01] [ 1.70931291e-02 3.44218699e-04 9.99853843e-01 1.17805367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.716875 meters 0.026281456900364424 Centerline is valid? [True, True] Translation: X:232.19, Y:82.91, Z:11.78 [[ 9.80436333e-01 1.96126651e-01 -1.67013185e-02 2.32189699e+02] [-1.96103291e-01 9.80578528e-01 3.04119457e-03 8.29142064e+01] [ 1.69734137e-02 2.93485875e-04 9.99855898e-01 1.17792073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.746875 meters 0.025846798423577694 Centerline is valid? [True, True] Translation: X:232.22, Y:82.91, Z:11.78 [[ 9.80695387e-01 1.94914567e-01 -1.56483030e-02 2.32221358e+02] [-1.94893847e-01 9.80820192e-01 2.85315386e-03 8.29068378e+01] [ 1.59042928e-02 2.51683138e-04 9.99873487e-01 1.17803209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.776875 meters 0.025803176343575887 Centerline is valid? [True, True] Translation: X:232.25, Y:82.90, Z:11.78 [[ 9.80856803e-01 1.94235296e-01 -1.38773622e-02 2.32253401e+02] [-1.94218902e-01 9.80954945e-01 2.53243910e-03 8.29009822e+01] [ 1.41049561e-02 2.11285919e-04 9.99900498e-01 1.17815150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.806875 meters 0.025766370214257577 Centerline is valid? [True, True] Translation: X:232.28, Y:82.90, Z:11.78 [[ 9.80754470e-01 1.94808012e-01 -1.30578509e-02 2.32284860e+02] [-1.94793511e-01 9.80841372e-01 2.38563771e-03 8.28965461e+01] [ 1.32724218e-02 2.03859784e-04 9.99911897e-01 1.17822296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.836875 meters 0.025619445032457187 Centerline is valid? [True, True] Translation: X:232.32, Y:82.89, Z:11.78 [[ 9.80618488e-01 1.95516595e-01 -1.26744980e-02 2.32317662e+02] [-1.95502949e-01 9.80700372e-01 2.31895896e-03 8.28903999e+01] [ 1.28832798e-02 2.03887704e-04 9.99916986e-01 1.17834777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.866875 meters 0.025822393380488945 Centerline is valid? [True, True] Translation: X:232.35, Y:82.89, Z:11.78 [[ 9.80571015e-01 1.95806602e-01 -1.18430838e-02 2.32349058e+02] [-1.95794672e-01 9.80642513e-01 2.16986230e-03 8.28850745e+01] [ 1.20387048e-02 1.91108623e-04 9.99927514e-01 1.17848600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.896875 meters 0.02571730152224875 Centerline is valid? [True, True] Translation: X:232.38, Y:82.88, Z:11.79 [[ 9.80566957e-01 1.95877330e-01 -1.09778623e-02 2.32379899e+02] [-1.95867055e-01 9.80628391e-01 2.01395032e-03 8.28767224e+01] [ 1.11596906e-02 1.75388414e-04 9.99937713e-01 1.17877181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.926875 meters 0.025367851735820877 Centerline is valid? [True, True] Translation: X:232.41, Y:82.87, Z:11.79 [[ 9.80778101e-01 1.94834589e-01 -1.06677228e-02 2.32409794e+02] [-1.94824804e-01 9.80836102e-01 1.95893411e-03 8.28682293e+01] [ 1.08449557e-02 1.57057326e-04 9.99941179e-01 1.17892820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.956875 meters 0.02549129458975861 Centerline is valid? [True, True] Translation: X:232.44, Y:82.86, Z:11.79 [[ 9.80775767e-01 1.94793935e-01 -1.15852259e-02 2.32441704e+02] [-1.94782361e-01 9.80844175e-01 2.13000666e-03 8.28614117e+01] [ 1.17782137e-02 1.67538739e-04 9.99930620e-01 1.17882402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.986875 meters 0.025278419300618343 Centerline is valid? [True, True] Translation: X:232.47, Y:82.85, Z:11.79 [[ 9.80746703e-01 1.94853653e-01 -1.29598707e-02 2.32474161e+02] [-1.94839127e-01 9.80832310e-01 2.38644547e-03 8.28549213e+01] [ 1.31764676e-02 1.84591369e-04 9.99913170e-01 1.17867600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.016875 meters 0.025230862061892952 Centerline is valid? [True, True] Translation: X:232.51, Y:82.85, Z:11.78 [[ 9.80690337e-01 1.95024919e-01 -1.45514109e-02 2.32506221e+02] [-1.95006567e-01 9.80798266e-01 2.68331806e-03 8.28513746e+01] [ 1.47953125e-02 2.06116607e-04 9.99890522e-01 1.17833179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.046875 meters 0.025392487445302602 Centerline is valid? [True, True] Translation: X:232.54, Y:82.85, Z:11.78 [[ 9.80557564e-01 1.95699114e-01 -1.44471396e-02 2.32538482e+02] [-1.95681042e-01 9.80663965e-01 2.66788106e-03 8.28465519e+01] [ 1.46898912e-02 2.11020367e-04 9.99892075e-01 1.17829102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.076875 meters 0.02529376714415079 Centerline is valid? [True, True] Translation: X:232.57, Y:82.84, Z:11.78 [[ 9.80415654e-01 1.96442957e-01 -1.39753213e-02 2.32571402e+02] [-1.96426068e-01 9.80515232e-01 2.58452971e-03 8.28416535e+01] [ 1.42107280e-02 2.11204016e-04 9.99899000e-01 1.17828761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1068750000001 meters 0.025984705751158712 Centerline is valid? [True, True] Translation: X:232.60, Y:82.84, Z:11.78 [[ 9.80082309e-01 1.98079559e-01 -1.42532570e-02 2.32602181e+02] [-1.98062115e-01 9.80185917e-01 2.63933343e-03 8.28392351e+01] [ 1.44936398e-02 2.36266223e-04 9.99894934e-01 1.17826184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.136875 meters 0.026450840356403608 Centerline is valid? [True, True] Translation: X:232.63, Y:82.83, Z:11.78 [[ 9.79919557e-01 1.98767730e-01 -1.57813683e-02 2.32633102e+02] [-1.98746379e-01 9.80046589e-01 2.92578722e-03 8.28339266e+01] [ 1.60480283e-02 2.69453686e-04 9.99871186e-01 1.17818755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.166875 meters 0.026255459594265708 Centerline is valid? [True, True] Translation: X:232.66, Y:82.83, Z:11.78 [[ 9.79875813e-01 1.98789082e-01 -1.80635489e-02 2.32664577e+02] [-1.98761034e-01 9.80042248e-01 3.35308845e-03 8.28261657e+01] [ 1.83695984e-02 3.04719374e-04 9.99831218e-01 1.17812704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.196875 meters 0.0260356496733733 Centerline is valid? [True, True] Translation: X:232.69, Y:82.82, Z:11.78 [[ 9.80051809e-01 1.97620381e-01 -2.10864130e-02 2.32694287e+02] [-1.97581823e-01 9.80278572e-01 3.91728669e-03 8.28185691e+01] [ 2.14446945e-02 3.27148028e-04 9.99769983e-01 1.17784251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2268750000001 meters 0.02622326171780479 Centerline is valid? [True, True] Translation: X:232.72, Y:82.81, Z:11.78 [[ 9.80170405e-01 1.97032587e-01 -2.10745728e-02 2.32724257e+02] [-1.96993852e-01 9.80396891e-01 3.91904608e-03 8.28120347e+01] [ 2.14336255e-02 3.10228293e-04 9.99770225e-01 1.17786747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.256875 meters 0.025228390521122215 Centerline is valid? [True, True] Translation: X:232.76, Y:82.81, Z:11.78 [[ 9.80393088e-01 1.96110855e-01 -1.92334416e-02 2.32755470e+02] [-1.96078333e-01 9.80581697e-01 3.58087017e-03 8.28053250e+01] [ 1.95622083e-02 2.60600814e-04 9.99808608e-01 1.17813122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.286875 meters 0.024960303457254886 Centerline is valid? [True, True] Translation: X:232.79, Y:82.80, Z:11.78 [[ 9.80501822e-01 1.95782711e-01 -1.68910295e-02 2.32786455e+02] [-1.95757515e-01 9.80647277e-01 3.14856880e-03 8.27982968e+01] [ 1.71805774e-02 2.19368513e-04 9.99852379e-01 1.17846416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.316875 meters 0.024225373151077926 Centerline is valid? [True, True] Translation: X:232.82, Y:82.79, Z:11.79 [[ 9.80978332e-01 1.93668758e-01 -1.31880025e-02 2.32818112e+02] [-1.93653181e-01 9.81066966e-01 2.46027740e-03 8.27910565e+01] [ 1.34147925e-02 1.40419808e-04 9.99910008e-01 1.17899456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.346875 meters 0.024088249349204678 Centerline is valid? [True, True] Translation: X:232.85, Y:82.79, Z:11.79 [[ 9.81288918e-01 1.92174929e-01 -1.18683084e-02 2.32848653e+02] [-1.92162178e-01 9.81360681e-01 2.21626921e-03 8.27858553e+01] [ 1.20730026e-02 1.05839581e-04 9.99927113e-01 1.17904171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.376875 meters 0.023939023155079318 Centerline is valid? [True, True] Translation: X:232.88, Y:82.78, Z:11.79 [[ 9.81542205e-01 1.90907836e-01 -1.13621057e-02 2.32879389e+02] [-1.90896034e-01 9.81607962e-01 2.12437741e-03 8.27782664e+01] [ 1.15586937e-02 8.38148242e-05 9.99933193e-01 1.17926225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.406875 meters 0.023740763592886918 Centerline is valid? [True, True] Translation: X:232.91, Y:82.77, Z:11.79 [[ 9.81983709e-01 1.88600973e-01 -1.17332442e-02 2.32909664e+02] [-1.88588190e-01 9.82053802e-01 2.19652604e-03 8.27716016e+01] [ 1.19369440e-02 5.57985015e-05 9.99928751e-01 1.17937661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.436875 meters 0.023674532961392318 Centerline is valid? [True, True] Translation: X:232.94, Y:82.76, Z:11.79 [[ 9.82211987e-01 1.87395722e-01 -1.19354730e-02 2.32942104e+02] [-1.87382368e-01 9.82284501e-01 2.23745657e-03 8.27642198e+01] [ 1.21433200e-02 3.88405368e-05 9.99926266e-01 1.17947183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.466875 meters 0.0238187893975609 Centerline is valid? [True, True] Translation: X:232.97, Y:82.76, Z:11.80 [[ 9.82353664e-01 1.86643112e-01 -1.20675992e-02 2.32974491e+02] [-1.86629363e-01 9.82427783e-01 2.26557701e-03 8.27574588e+01] [ 1.22783991e-02 2.65704727e-05 9.99924617e-01 1.17954011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.496875 meters 0.0240429326227413 Centerline is valid? [True, True] Translation: X:233.01, Y:82.75, Z:11.80 [[ 9.82524420e-01 1.85758013e-01 -1.18204947e-02 2.33006249e+02] [-1.85744720e-01 9.82595522e-01 2.22230003e-03 8.27515312e+01] [ 1.20275752e-02 1.21304235e-05 9.99927666e-01 1.17952703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.526875 meters 0.023948374722866643 Centerline is valid? [True, True] Translation: X:233.04, Y:82.75, Z:11.79 [[ 9.82725623e-01 1.84686118e-01 -1.18906240e-02 2.33037801e+02] [-1.84672551e-01 9.82797557e-01 2.23854068e-03 8.27461426e+01] [ 1.20995036e-02 -3.99940604e-06 9.99926798e-01 1.17941331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.556875 meters 0.02458628663950975 Centerline is valid? [True, True] Translation: X:233.07, Y:82.74, Z:11.79 [[ 9.83131660e-01 1.82410214e-01 -1.33661433e-02 2.33070125e+02] [-1.82392815e-01 9.83222514e-01 2.51967528e-03 8.27426291e+01] [ 1.36015075e-02 -3.92840362e-05 9.99907494e-01 1.17914397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.586875 meters 0.024597866186875678 Centerline is valid? [True, True] Translation: X:233.10, Y:82.74, Z:11.79 [[ 9.83246705e-01 1.81758405e-01 -1.37767749e-02 2.33102651e+02] [-1.81739806e-01 9.83343216e-01 2.60061902e-03 8.27377170e+01] [ 1.40199825e-02 -5.32616884e-05 9.99901714e-01 1.17898849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.616875 meters 0.024966749875451597 Centerline is valid? [True, True] Translation: X:233.14, Y:82.73, Z:11.79 [[ 9.83328023e-01 1.81288343e-01 -1.41610382e-02 2.33135315e+02] [-1.81268588e-01 9.83429983e-01 2.67705160e-03 8.27328190e+01] [ 1.44117078e-02 -6.54684539e-05 9.99896144e-01 1.17907385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.646875 meters 0.02503352259374028 Centerline is valid? [True, True] Translation: X:233.17, Y:82.73, Z:11.79 [[ 9.83335230e-01 1.81347755e-01 -1.28381344e-02 2.33165718e+02] [-1.81331485e-01 9.83419030e-01 2.42994945e-03 8.27278871e+01] [ 1.30659315e-02 -6.14969384e-05 9.99914635e-01 1.17929126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.676875 meters 0.025228904575324864 Centerline is valid? [True, True] Translation: X:233.20, Y:82.72, Z:11.79 [[ 9.83204612e-01 1.82023157e-01 -1.32763435e-02 2.33198118e+02] [-1.82005772e-01 9.83294242e-01 2.51636782e-03 8.27233701e+01] [ 1.35125893e-02 -5.77333166e-05 9.99908699e-01 1.17945222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.706875 meters 0.025603664858866507 Centerline is valid? [True, True] Translation: X:233.23, Y:82.72, Z:11.79 [[ 9.83092537e-01 1.82597759e-01 -1.36792449e-02 2.33229560e+02] [-1.82579318e-01 9.83187701e-01 2.59560329e-03 8.27190095e+01] [ 1.39232167e-02 -5.41710097e-05 9.99903066e-01 1.17935618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.736875 meters 0.02553014785958705 Centerline is valid? [True, True] Translation: X:233.26, Y:82.72, Z:11.79 [[ 9.83009918e-01 1.83081843e-01 -1.31354732e-02 2.33262527e+02] [-1.83064842e-01 9.83097674e-01 2.49543072e-03 8.27156157e+01] [ 1.33703212e-02 -4.83898103e-05 9.99910612e-01 1.17932319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.766875 meters 0.025379858139233446 Centerline is valid? [True, True] Translation: X:233.29, Y:82.71, Z:11.79 [[ 9.82905639e-01 1.83682465e-01 -1.25402191e-02 2.33294326e+02] [-1.83666980e-01 9.82985631e-01 2.38542566e-03 8.27133571e+01] [ 1.27650161e-02 -4.14241533e-05 9.99918523e-01 1.17933262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.796875 meters 0.025569476944236946 Centerline is valid? [True, True] Translation: X:233.33, Y:82.71, Z:11.79 [[ 9.82724436e-01 1.84646026e-01 -1.25908082e-02 2.33326587e+02] [-1.84630452e-01 9.82805090e-01 2.39835347e-03 8.27080105e+01] [ 1.28171568e-02 -3.22739590e-05 9.99917856e-01 1.17946453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.826875 meters 0.02555998901498096 Centerline is valid? [True, True] Translation: X:233.36, Y:82.70, Z:11.80 [[ 9.82579159e-01 1.85425258e-01 -1.24767899e-02 2.33358670e+02] [-1.85409985e-01 9.82658370e-01 2.38003228e-03 8.27022497e+01] [ 1.27017402e-02 -2.52486854e-05 9.99919329e-01 1.17961553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8568750000001 meters 0.0258950148071914 Centerline is valid? [True, True] Translation: X:233.39, Y:82.70, Z:11.80 [[ 9.82369212e-01 1.86692024e-01 -9.83966947e-03 2.33390185e+02] [-1.86682572e-01 9.82418489e-01 1.87867596e-03 8.26995930e+01] [ 1.00174070e-02 -8.65862041e-06 9.99949824e-01 1.17979341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.886875 meters 0.025975558786701637 Centerline is valid? [True, True] Translation: X:233.42, Y:82.70, Z:11.80 [[ 9.82173335e-01 1.87752816e-01 -9.18802139e-03 2.33421827e+02] [-1.87744604e-01 9.82216310e-01 1.75600933e-03 8.26967757e+01] [ 9.35432017e-03 2.95901305e-07 9.99956247e-01 1.17979736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.916875 meters 0.025892456756026264 Centerline is valid? [True, True] Translation: X:233.45, Y:82.69, Z:11.80 [[ 9.81805188e-01 1.89679068e-01 -8.96790591e-03 2.33454792e+02] [-1.89671304e-01 9.81846144e-01 1.71625427e-03 8.26936410e+01] [ 9.13064135e-03 1.59270595e-05 9.99958315e-01 1.17980103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.946875 meters 0.025875397353621078 Centerline is valid? [True, True] Translation: X:233.49, Y:82.69, Z:11.80 [[ 9.81458877e-01 1.91440935e-01 -9.42560473e-03 2.33486386e+02] [-1.91432415e-01 9.81504135e-01 1.80636814e-03 8.26901658e+01] [ 9.59708283e-03 3.14902298e-05 9.99953946e-01 1.17981521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9768750000001 meters 0.0264945700546069 Centerline is valid? [True, True] Translation: X:233.52, Y:82.69, Z:11.80 [[ 9.80553766e-01 1.95920623e-01 -1.13763212e-02 2.33518321e+02] [-1.95908478e-01 9.80619754e-01 2.18318851e-03 8.26878647e+01] [ 1.15835769e-02 8.79840525e-05 9.99932904e-01 1.17973976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.006875 meters 0.026466801592157772 Centerline is valid? [True, True] Translation: X:233.55, Y:82.68, Z:11.80 [[ 9.80214691e-01 1.97564321e-01 -1.21449404e-02 2.33549863e+02] [-1.97550570e-01 9.80289920e-01 2.33359185e-03 8.26836125e+01] [ 1.23665972e-02 1.11818897e-04 9.99923524e-01 1.17976428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.036875 meters 0.026768000013018312 Centerline is valid? [True, True] Translation: X:233.58, Y:82.68, Z:11.80 [[ 9.79933281e-01 1.98970322e-01 -1.18985687e-02 2.33582068e+02] [-1.98957191e-01 9.80005508e-01 2.28924604e-03 8.26792155e+01] [ 1.21161549e-02 1.23997408e-04 9.99926589e-01 1.17982526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.066875 meters 0.026952686924609486 Centerline is valid? [True, True] Translation: X:233.61, Y:82.68, Z:11.80 [[ 9.79756470e-01 1.99879898e-01 -1.11930913e-02 2.33613876e+02] [-1.99868306e-01 9.79820397e-01 2.15629729e-03 8.26760167e+01] [ 1.13982196e-02 1.24497965e-04 9.99935030e-01 1.17981610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.096875 meters 0.026977532523665203 Centerline is valid? [True, True] Translation: X:233.65, Y:82.67, Z:11.80 [[ 9.79417043e-01 2.01535131e-01 -1.12181550e-02 2.33645930e+02] [-2.01523564e-01 9.79481277e-01 2.16378035e-03 8.26739300e+01] [ 1.14240505e-02 1.41479226e-04 9.99934733e-01 1.17969632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.126875 meters 0.026931178004942956 Centerline is valid? [True, True] Translation: X:233.68, Y:82.67, Z:11.80 [[ 9.79312455e-01 2.02043123e-01 -1.12112236e-02 2.33678818e+02] [-2.02031573e-01 9.79376616e-01 2.16523013e-03 8.26685322e+01] [ 1.14174801e-02 1.44584295e-04 9.99934808e-01 1.17964983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.156875 meters 0.026628263489741167 Centerline is valid? [True, True] Translation: X:233.71, Y:82.66, Z:11.80 [[ 9.79191113e-01 2.02665991e-01 -1.05480533e-02 2.33710995e+02] [-2.02655773e-01 9.79247914e-01 2.03983719e-03 8.26624146e+01] [ 1.07425648e-02 1.40233453e-04 9.99942287e-01 1.17981812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.186875 meters 0.02732951588270449 Centerline is valid? [True, True] Translation: X:233.74, Y:82.66, Z:11.80 [[ 9.78790720e-01 2.04597724e-01 -1.04162724e-02 2.33741599e+02] [-2.04587844e-01 9.78846130e-01 2.01675306e-03 8.26565957e+01] [ 1.06085511e-02 1.57063548e-04 9.99943715e-01 1.18005493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.216875 meters 0.026888597206698416 Centerline is valid? [True, True] Translation: X:233.77, Y:82.65, Z:11.80 [[ 9.78657553e-01 2.05247259e-01 -1.01467751e-02 2.33773808e+02] [-2.05237893e-01 9.78710140e-01 1.96707382e-03 8.26484630e+01] [ 1.03344882e-02 1.57411088e-04 9.99946585e-01 1.18017330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.246875 meters 0.0268819594875424 Centerline is valid? [True, True] Translation: X:233.80, Y:82.64, Z:11.80 [[ 9.78728755e-01 2.04911307e-01 -1.00687599e-02 2.33804756e+02] [-2.04902041e-01 9.78780534e-01 1.95444540e-03 8.26436283e+01] [ 1.02555942e-02 1.50237549e-04 9.99947399e-01 1.18011804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.276875 meters 0.026282490237283927 Centerline is valid? [True, True] Translation: X:233.84, Y:82.64, Z:11.80 [[ 9.79292713e-01 2.02183956e-01 -1.03648300e-02 2.33836072e+02] [-2.02173958e-01 9.79347555e-01 2.01442168e-03 8.26366209e+01] [ 1.05580547e-02 1.22790237e-04 9.99944255e-01 1.17994548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.306875 meters 0.026282490237283927 Centerline is valid? [True, True] Translation: X:233.87, Y:82.63, Z:11.80 [[ 9.79237184e-01 2.02452758e-01 -1.03643060e-02 2.33867860e+02] [-2.02442746e-01 9.79292023e-01 2.01711536e-03 8.26303551e+01] [ 1.05580527e-02 1.22944202e-04 9.99944255e-01 1.17996026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.336875 meters 0.025657197569403187 Centerline is valid? [True, True] Translation: X:233.90, Y:82.62, Z:11.80 [[ 9.79641444e-01 2.00464750e-01 -1.07947097e-02 2.33898324e+02] [-2.00453738e-01 9.79700910e-01 2.10365823e-03 8.26227141e+01] [ 1.09972963e-02 1.03009138e-04 9.99939523e-01 1.17990377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.366875 meters 0.025628928837268316 Centerline is valid? [True, True] Translation: X:233.93, Y:82.61, Z:11.80 [[ 9.80054772e-01 1.98462306e-01 -1.02643946e-02 2.33928200e+02] [-1.98452216e-01 9.80108518e-01 2.00259666e-03 8.26138884e+01] [ 1.04576606e-02 7.43374492e-05 9.99945314e-01 1.17999132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.396875 meters 0.025547426283971345 Centerline is valid? [True, True] Translation: X:233.96, Y:82.60, Z:11.80 [[ 9.80711011e-01 1.95217007e-01 -9.80983362e-03 2.33958349e+02] [-1.95207606e-01 9.80760072e-01 1.91618376e-03 8.26027296e+01] [ 9.99516478e-03 3.57316214e-05 9.99950046e-01 1.18031430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.426875 meters 0.02521527985496638 Centerline is valid? [True, True] Translation: X:233.99, Y:82.60, Z:11.80 [[ 9.81002280e-01 1.93828009e-01 -8.07649972e-03 2.33989247e+02] [-1.93821578e-01 9.81035526e-01 1.57900670e-03 8.25966563e+01] [ 8.22938887e-03 1.63907526e-05 9.99966138e-01 1.18040547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.456875 meters 0.025457433825040975 Centerline is valid? [True, True] Translation: X:234.02, Y:82.59, Z:11.80 [[ 9.81053259e-01 1.93597116e-01 -7.39323363e-03 2.34021370e+02] [-1.93591710e-01 9.81081116e-01 1.44681488e-03 8.25913301e+01] [ 7.53346109e-03 1.18662954e-05 9.99971623e-01 1.18046830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.486875 meters 0.025352162114454384 Centerline is valid? [True, True] Translation: X:234.05, Y:82.59, Z:11.80 [[ 9.81245905e-01 1.92631891e-01 -7.03056554e-03 2.34052911e+02] [-1.92626964e-01 9.81271091e-01 1.37770868e-03 8.25860669e+01] [ 7.16428135e-03 2.40549858e-06 9.99974336e-01 1.18047186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.516875 meters 0.025447391486979373 Centerline is valid? [True, True] Translation: X:234.08, Y:82.58, Z:11.80 [[ 9.81314189e-01 1.92289217e-01 -6.87895491e-03 2.34084402e+02] [-1.92284480e-01 9.81338299e-01 1.34976907e-03 8.25793757e+01] [ 7.01012795e-03 -1.83127032e-06 9.99975429e-01 1.18047195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.546875 meters 0.025122378422724464 Centerline is valid? [True, True] Translation: X:234.12, Y:82.57, Z:11.81 [[ 9.81592392e-01 1.90872586e-01 -6.63560488e-03 2.34116107e+02] [-1.90868136e-01 9.81614820e-01 1.30350631e-03 8.25725732e+01] [ 6.76241172e-03 -1.29863439e-05 9.99977135e-01 1.18053210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.576875 meters 0.025255401565805875 Centerline is valid? [True, True] Translation: X:234.15, Y:82.57, Z:11.81 [[ 9.81765188e-01 1.89987297e-01 -6.47626341e-03 2.34148403e+02] [-1.89983032e-01 9.81786548e-01 1.27318883e-03 8.25653177e+01] [ 6.60019800e-03 -1.95923072e-05 9.99978218e-01 1.18051008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6068750000001 meters 0.025370514770569556 Centerline is valid? [True, True] Translation: X:234.18, Y:82.56, Z:11.81 [[ 9.82051500e-01 1.88499279e-01 -6.54777641e-03 2.34180481e+02] [-1.88494878e-01 9.82073328e-01 1.28837349e-03 8.25595572e+01] [ 6.67325404e-03 -3.10268030e-05 9.99977733e-01 1.18051794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.636875 meters 0.025489244637612114 Centerline is valid? [True, True] Translation: X:234.21, Y:82.55, Z:11.80 [[ 9.82249585e-01 1.87505168e-01 -5.25020508e-03 2.34212201e+02] [-1.87502318e-01 9.82263616e-01 1.03426614e-03 8.25543881e+01] [ 5.35101567e-03 -3.14818662e-05 9.99985683e-01 1.18047274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.666875 meters 0.025656727563478116 Centerline is valid? [True, True] Translation: X:234.24, Y:82.55, Z:11.81 [[ 9.82225964e-01 1.87652697e-01 -4.31514767e-03 2.34244954e+02] [-1.87650769e-01 9.82235443e-01 8.50971813e-04 8.25491646e+01] [ 4.39817813e-03 -2.61058309e-05 9.99990328e-01 1.18062986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.696875 meters 0.025952369647612418 Centerline is valid? [True, True] Translation: X:234.28, Y:82.54, Z:11.81 [[ 9.82506263e-01 1.86218437e-01 -2.03385366e-03 2.34276407e+02] [-1.86218005e-01 9.82508368e-01 4.01072275e-04 8.25429404e+01] [ 2.07296530e-03 -1.53158500e-05 9.99997851e-01 1.18115575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7268750000001 meters 0.026353375659841582 Centerline is valid? [True, True] Translation: X:234.31, Y:82.54, Z:11.81 [[ 9.82663356e-01 1.85394591e-01 -1.25508979e-03 2.34307703e+02] [-1.85394426e-01 9.82664157e-01 2.47395392e-04 8.25369088e+01] [ 1.27919752e-03 -1.04197333e-05 9.99999182e-01 1.18134401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.756875 meters 0.026299281226795857 Centerline is valid? [True, True] Translation: X:234.34, Y:82.53, Z:11.81 [[ 9.82834603e-01 1.84488805e-01 1.53525110e-04 2.34339061e+02] [-1.84488802e-01 9.82834615e-01 -3.14056836e-05 8.25326608e+01] [-1.56683789e-04 2.54292893e-06 9.99999988e-01 1.18137357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.786875 meters 0.02980621829210248 Centerline is valid? [True, True] Translation: X:234.37, Y:82.52, Z:11.82 [[ 9.83627801e-01 1.80163047e-01 4.19826228e-03 2.34368607e+02] [-1.80161132e-01 9.83636758e-01 -8.32962115e-04 8.25232432e+01] [-4.27963409e-03 6.29610080e-05 9.99990840e-01 1.18206144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.816875 meters 0.026082386314974323 Centerline is valid? [True, True] Translation: X:234.40, Y:82.53, Z:11.81 [[ 9.82992054e-01 1.83557699e-01 5.76127883e-03 2.34403485e+02] [-1.83554141e-01 9.83008935e-01 -1.14486662e-03 8.25325573e+01] [-5.87353765e-03 6.78882042e-05 9.99982748e-01 1.18141916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.846875 meters 0.026524750260667154 Centerline is valid? [True, True] Translation: X:234.44, Y:82.53, Z:11.82 [[ 9.82902884e-01 1.84004298e-01 6.65876575e-03 2.34435469e+02] [-1.83999544e-01 9.82925436e-01 -1.32484273e-03 8.25289402e+01] [-6.78884699e-03 7.69818788e-05 9.99976953e-01 1.18156450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.876875 meters 0.026360358670249072 Centerline is valid? [True, True] Translation: X:234.47, Y:82.53, Z:11.82 [[ 9.82951114e-01 1.83722286e-01 7.29578726e-03 2.34466788e+02] [-1.83716570e-01 9.82978186e-01 -1.45180363e-03 8.25257511e+01] [-7.43832840e-03 8.66949902e-05 9.99972331e-01 1.18160324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.906875 meters 0.026590355115057675 Centerline is valid? [True, True] Translation: X:234.50, Y:82.53, Z:11.82 [[ 9.82927405e-01 1.83780213e-01 8.86280255e-03 2.34498113e+02] [-1.83771772e-01 9.82967356e-01 -1.76459464e-03 8.25250342e+01] [-9.03614316e-03 1.05735501e-04 9.99959168e-01 1.18197839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.936875 meters 0.026764111113391588 Centerline is valid? [True, True] Translation: X:234.53, Y:82.52, Z:11.82 [[ 9.82860249e-01 1.84060917e-01 1.03590533e-02 2.34530593e+02] [-1.84049372e-01 9.82914830e-01 -2.06519871e-03 8.25218712e+01] [-1.05621895e-02 1.23224461e-04 9.99944211e-01 1.18225214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.966875 meters 0.026234719652702077 Centerline is valid? [True, True] Translation: X:234.56, Y:82.52, Z:11.82 [[ 9.82573439e-01 1.85518395e-01 1.15049116e-02 2.34564378e+02] [-1.85504216e-01 9.82640784e-01 -2.29690308e-03 8.25212216e+01] [-1.17313131e-02 1.22666362e-04 9.99931178e-01 1.18220231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.996875 meters 0.025633989628056388 Centerline is valid? [True, True] Translation: X:234.60, Y:82.53, Z:11.82 [[ 9.82081746e-01 1.87959664e-01 1.36604700e-02 2.34598912e+02] [-1.87939866e-01 9.82176742e-01 -2.73037572e-03 8.25300127e+01] [-1.39301964e-02 1.14105245e-04 9.99902964e-01 1.18172435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.026875 meters 0.025368969849872497 Centerline is valid? [True, True] Translation: X:234.63, Y:82.53, Z:11.82 [[ 9.81815562e-01 1.89264737e-01 1.47329836e-02 2.34630618e+02] [-1.89241806e-01 9.81926091e-01 -2.94799469e-03 8.25306443e+01] [-1.50246524e-02 1.06290638e-04 9.99887118e-01 1.18162018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.056875 meters 0.025193506026999636 Centerline is valid? [True, True] Translation: X:234.66, Y:82.53, Z:11.81 [[ 9.81447550e-01 1.91034989e-01 1.63199304e-02 2.34663385e+02] [-1.91007029e-01 9.81583223e-01 -3.26959976e-03 8.25306022e+01] [-1.66439779e-02 9.17192480e-05 9.99861475e-01 1.18134287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.086875 meters 0.0249310715960126 Centerline is valid? [True, True] Translation: X:234.70, Y:82.53, Z:11.82 [[ 9.80530185e-01 1.95627559e-01 1.70415825e-02 2.34696145e+02] [-1.95597685e-01 9.80678264e-01 -3.41874580e-03 8.25308153e+01] [-1.73811104e-02 1.88893678e-05 9.99848937e-01 1.18159452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.116875 meters 0.025012988847343813 Centerline is valid? [True, True] Translation: X:234.73, Y:82.53, Z:11.82 [[ 9.80113943e-01 1.97623704e-01 1.79312594e-02 2.34727658e+02] [-1.97590890e-01 9.80277956e-01 -3.60120577e-03 8.25272187e+01] [-1.82893020e-02 -1.34615248e-05 9.99832737e-01 1.18170762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.146875 meters 0.02508032183347589 Centerline is valid? [True, True] Translation: X:234.76, Y:82.53, Z:11.82 [[ 9.79765161e-01 1.99212953e-01 1.93501727e-02 2.34758631e+02] [-1.99175009e-01 9.79956222e-01 -3.88824019e-03 8.25250310e+01] [-1.97369099e-02 -4.45085397e-05 9.99805207e-01 1.18187977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.176875 meters 0.02496971948723989 Centerline is valid? [True, True] Translation: X:234.79, Y:82.53, Z:11.82 [[ 9.79639315e-01 1.99868652e-01 1.89561233e-02 2.34791539e+02] [-1.99832268e-01 9.79822698e-01 -3.81384515e-03 8.25288819e+01] [-1.93359079e-02 -5.18524662e-05 9.99813043e-01 1.18167103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.206875 meters 0.024550752485094224 Centerline is valid? [True, True] Translation: X:234.82, Y:82.53, Z:11.81 [[ 9.79569244e-01 2.00296783e-01 1.80359052e-02 2.34824454e+02] [-2.00263900e-01 9.79735268e-01 -3.62974981e-03 8.25270138e+01] [-1.83974397e-02 -5.63494424e-05 9.99830751e-01 1.18119401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.236875 meters 0.02466936082816939 Centerline is valid? [True, True] Translation: X:234.86, Y:82.52, Z:11.81 [[ 9.79517761e-01 2.00573920e-01 1.77499111e-02 2.34857709e+02] [-2.00542008e-01 9.79678570e-01 -3.57820651e-03 8.25242576e+01] [-1.81069024e-02 -5.46859839e-05 9.99836055e-01 1.18092439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.266875 meters 0.02470214498516437 Centerline is valid? [True, True] Translation: X:234.89, Y:82.52, Z:11.81 [[ 9.79748851e-01 1.99274069e-01 1.95457201e-02 2.34889582e+02] [-1.99235020e-01 9.79943797e-01 -3.94487219e-03 8.25218507e+01] [-1.99398179e-02 -2.92079452e-05 9.99801182e-01 1.18075013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.296875 meters 0.025034451846440722 Centerline is valid? [True, True] Translation: X:234.92, Y:82.52, Z:11.81 [[ 9.79967631e-01 1.98009923e-01 2.13427408e-02 2.34920393e+02] [-1.97962960e-01 9.80200015e-01 -4.31233902e-03 8.25155660e+01] [-2.17740408e-02 8.80507739e-07 9.99762917e-01 1.18106447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.326875 meters 0.025174718504286757 Centerline is valid? [True, True] Translation: X:234.95, Y:82.51, Z:11.81 [[ 9.80419749e-01 1.95605800e-01 2.27043378e-02 2.34952008e+02] [-1.95551880e-01 9.80682602e-01 -4.59295505e-03 8.25082093e+01] [-2.31641577e-02 6.31478953e-05 9.99731673e-01 1.18121098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3568750000001 meters 0.02570343260507356 Centerline is valid? [True, True] Translation: X:234.98, Y:82.50, Z:11.81 [[ 9.81550615e-01 1.89728927e-01 2.36923041e-02 2.34982080e+02] [-1.89668501e-01 9.81836488e-01 -4.79266084e-03 8.25018106e+01] [-2.41712750e-02 2.10555386e-04 9.99707810e-01 1.18114899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.386875 meters 0.02584190819169523 Centerline is valid? [True, True] Translation: X:235.01, Y:82.50, Z:11.81 [[ 9.82067628e-01 1.86900770e-01 2.47239931e-02 2.35014274e+02] [-1.86833893e-01 9.82378752e-01 -5.00836131e-03 8.24970358e+01] [-2.52243921e-02 2.99269629e-04 9.99681770e-01 1.18079211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.416875 meters 0.026643270207740214 Centerline is valid? [True, True] Translation: X:235.04, Y:82.49, Z:11.81 [[ 9.82695395e-01 1.83569799e-01 2.47363991e-02 2.35044299e+02] [-1.83501802e-01 9.83006603e-01 -5.01080334e-03 8.24911488e+01] [-2.52358758e-02 3.84919562e-04 9.99681450e-01 1.18073941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.446875 meters 0.026444434591608543 Centerline is valid? [True, True] Translation: X:235.08, Y:82.49, Z:11.80 [[ 9.83122764e-01 1.81029427e-01 2.64192610e-02 2.35075746e+02] [-1.80950753e-01 9.83477559e-01 -5.35875810e-03 8.24872762e+01] [-2.69528432e-02 4.87731916e-04 9.99636587e-01 1.18028602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4768750000001 meters 0.028385677766547105 Centerline is valid? [True, True] Translation: X:235.11, Y:82.48, Z:11.80 [[ 9.83772040e-01 1.77104862e-01 2.87478857e-02 2.35105146e+02] [-1.77010018e-01 9.84191774e-01 -5.83145156e-03 8.24802333e+01] [-2.93262111e-02 6.48155232e-04 9.99569684e-01 1.18025062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.506875 meters 0.02865275720739371 Centerline is valid? [True, True] Translation: X:235.14, Y:82.47, Z:11.80 [[ 9.83831272e-01 1.76623099e-01 2.96699998e-02 2.35136489e+02] [-1.76521611e-01 9.84278316e-01 -6.02648106e-03 8.24749003e+01] [-3.02679531e-02 6.91644378e-04 9.99541581e-01 1.18010499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.536875 meters 0.028414909325595636 Centerline is valid? [True, True] Translation: X:235.17, Y:82.47, Z:11.80 [[ 9.83650910e-01 1.77450143e-01 3.06974532e-02 2.35168680e+02] [-1.77341670e-01 9.84129545e-01 -6.24266280e-03 8.24720809e+01] [-3.13180321e-02 6.96663338e-04 9.99509227e-01 1.17977208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.566875 meters 0.027888685674233256 Centerline is valid? [True, True] Translation: X:235.20, Y:82.47, Z:11.79 [[ 9.83378013e-01 1.78654154e-01 3.24095187e-02 2.35201574e+02] [-1.78533624e-01 9.83911683e-01 -6.59892711e-03 8.24713032e+01] [-3.30670298e-02 7.03050992e-04 9.99452889e-01 1.17933803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.596875 meters 0.027572065127162995 Centerline is valid? [True, True] Translation: X:235.24, Y:82.47, Z:11.79 [[ 9.82453454e-01 1.83181977e-01 3.50652791e-02 2.35235199e+02] [-1.83043445e-01 9.83078836e-01 -7.14838454e-03 8.24743512e+01] [-3.57813890e-02 6.04485607e-04 9.99359458e-01 1.17877806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.626875 meters 0.027708465134071984 Centerline is valid? [True, True] Translation: X:235.27, Y:82.47, Z:11.79 [[ 9.81808355e-01 1.86422303e-01 3.60427373e-02 2.35268615e+02] [-1.86277732e-01 9.82469574e-01 -7.35813751e-03 8.24709636e+01] [-3.67826138e-02 5.10321522e-04 9.99323160e-01 1.17858841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.656875 meters 0.028833806984473388 Centerline is valid? [True, True] Translation: X:235.30, Y:82.47, Z:11.79 [[ 9.80947490e-01 1.90903964e-01 3.60235864e-02 2.35299215e+02] [-1.90762267e-01 9.81608656e-01 -7.36231236e-03 8.24664096e+01] [-3.67665588e-02 3.50100829e-04 9.99323820e-01 1.17909853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.686875 meters 0.02855101232184844 Centerline is valid? [True, True] Translation: X:235.33, Y:82.47, Z:11.79 [[ 9.79277596e-01 1.98575026e-01 3.97913168e-02 2.35332078e+02] [-1.98408428e-01 9.80085687e-01 -8.13273795e-03 8.24695572e+01] [-4.06138588e-02 6.92754579e-05 9.99174914e-01 1.17851396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.716875 meters 0.028722680921239183 Centerline is valid? [True, True] Translation: X:235.36, Y:82.47, Z:11.78 [[ 9.78390260e-01 2.02378092e-01 4.23746048e-02 2.35363491e+02] [-2.02192647e-01 9.79307459e-01 -8.66222597e-03 8.24674177e+01] [-4.32508113e-02 -9.27959786e-05 9.99064242e-01 1.17823971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.746875 meters 0.029896950865959622 Centerline is valid? [True, True] Translation: X:235.40, Y:82.46, Z:11.78 [[ 9.77576919e-01 2.05812268e-01 4.45497229e-02 2.35395038e+02] [-2.05610337e-01 9.78591462e-01 -9.11809635e-03 8.24642523e+01] [-4.54725945e-02 -2.46243003e-04 9.98965556e-01 1.17812850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.776875 meters 0.030148459238283642 Centerline is valid? [True, True] Translation: X:235.43, Y:82.46, Z:11.78 [[ 9.76905475e-01 2.08815778e-01 4.52952959e-02 2.35425754e+02] [-2.08610013e-01 9.77954918e-01 -9.27585896e-03 8.24609637e+01] [-4.62337031e-02 -3.87414875e-04 9.98930575e-01 1.17815653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.806875 meters 0.030415285419122823 Centerline is valid? [True, True] Translation: X:235.46, Y:82.46, Z:11.77 [[ 9.75766110e-01 2.13911660e-01 4.60684280e-02 2.35457569e+02] [-2.13703948e-01 9.76852807e-01 -9.44541734e-03 8.24587042e+01] [-4.70225581e-02 -6.28486802e-04 9.98893630e-01 1.17749436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.836875 meters 0.031214377397871848 Centerline is valid? [True, True] Translation: X:235.49, Y:82.45, Z:11.77 [[ 9.75357804e-01 2.15395328e-01 4.77703548e-02 2.35487573e+02] [-2.15173766e-01 9.76526664e-01 -9.79413638e-03 8.24541780e+01] [-4.87586364e-02 -7.26139791e-04 9.98810326e-01 1.17742561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.866875 meters 0.031776129330495145 Centerline is valid? [True, True] Translation: X:235.52, Y:82.45, Z:11.77 [[ 9.74962539e-01 2.17185905e-01 4.77318523e-02 2.35519359e+02] [-2.16966216e-01 9.76129929e-01 -9.79909473e-03 8.24478913e+01] [-4.87207149e-02 -8.02449124e-04 9.98812118e-01 1.17719471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.896875 meters 0.03291047250140318 Centerline is valid? [True, True] Translation: X:235.55, Y:82.44, Z:11.77 [[ 9.74168044e-01 2.20629265e-01 4.81596353e-02 2.35549990e+02] [-2.20409282e-01 9.75357258e-01 -9.89783385e-03 8.24406406e+01] [-4.91566016e-02 -9.72677180e-04 9.98790610e-01 1.17691606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.926875 meters 0.03354092562009116 Centerline is valid? [True, True] Translation: X:235.58, Y:82.43, Z:11.77 [[ 9.73635959e-01 2.22802283e-01 4.89097336e-02 2.35581100e+02] [-2.22577992e-01 9.74863037e-01 -1.00547146e-02 8.24331528e+01] [-4.99205048e-02 -1.09659857e-03 9.98752592e-01 1.17682807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.956875 meters 0.0328761177602173 Centerline is valid? [True, True] Translation: X:235.61, Y:82.42, Z:11.76 [[ 9.73148022e-01 2.24601214e-01 5.03708467e-02 2.35611129e+02] [-2.24365593e-01 9.74449999e-01 -1.03575711e-02 8.24247813e+01] [-5.14101946e-02 -1.22203513e-03 9.98676874e-01 1.17644380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.986875 meters 0.03515520320712024 Centerline is valid? [True, True] Translation: X:235.64, Y:82.42, Z:11.77 [[ 9.72121133e-01 2.28407544e-01 5.30141248e-02 2.35640289e+02] [-2.28152191e-01 9.73564455e-01 -1.09008589e-02 8.24200813e+01] [-5.41025059e-02 -1.49833340e-03 9.98534263e-01 1.17652617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.016875 meters 0.03493141688203928 Centerline is valid? [True, True] Translation: X:235.67, Y:82.41, Z:11.76 [[ 9.71672465e-01 2.30214630e-01 5.34213960e-02 2.35671517e+02] [-2.29957270e-01 9.73138568e-01 -1.09991275e-02 8.24118329e+01] [-5.45185809e-02 -1.59708906e-03 9.98511479e-01 1.17621942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.046875 meters 0.03601409240968907 Centerline is valid? [True, True] Translation: X:235.70, Y:82.40, Z:11.76 [[ 9.71287937e-01 2.31636832e-01 5.42597665e-02 2.35701384e+02] [-2.31373486e-01 9.72800843e-01 -1.11727255e-02 8.24047599e+01] [-5.53719613e-02 -1.70233779e-03 9.98464345e-01 1.17628170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.076875 meters 0.03425962895297984 Centerline is valid? [True, True] Translation: X:235.73, Y:82.39, Z:11.76 [[ 9.70952312e-01 2.32940453e-01 5.46841182e-02 2.35732087e+02] [-2.32674180e-01 9.72489379e-01 -1.12753715e-02 8.23932528e+01] [-5.58062143e-02 -1.77573433e-03 9.98440040e-01 1.17566145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1068750000001 meters 0.036839012651691476 Centerline is valid? [True, True] Translation: X:235.76, Y:82.38, Z:11.76 [[ 9.70848250e-01 2.33985683e-01 5.20036122e-02 2.35760993e+02] [-2.33746385e-01 9.72238475e-01 -1.07226291e-02 8.23837201e+01] [-5.30688543e-02 -1.74561062e-03 9.98589330e-01 1.17579848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.136875 meters 0.035021971343212874 Centerline is valid? [True, True] Translation: X:235.79, Y:82.37, Z:11.75 [[ 9.70873636e-01 2.34005603e-01 5.14369552e-02 2.35790817e+02] [-2.33770772e-01 9.72233738e-01 -1.06200362e-02 8.23710696e+01] [-5.24938912e-02 -1.71374355e-03 9.98619775e-01 1.17512291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.166875 meters 0.034612859873540715 Centerline is valid? [True, True] Translation: X:235.82, Y:82.36, Z:11.75 [[ 9.71017902e-01 2.33369493e-01 5.16034337e-02 2.35821903e+02] [-2.33131541e-01 9.72386695e-01 -1.06677086e-02 8.23609305e+01] [-5.26680101e-02 -1.67185195e-03 9.98610678e-01 1.17493416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.196875 meters 0.03423610688904922 Centerline is valid? [True, True] Translation: X:235.85, Y:82.35, Z:11.75 [[ 9.71498433e-01 2.31242529e-01 5.21314531e-02 2.35851460e+02] [-2.30995912e-01 9.72894887e-01 -1.07901701e-02 8.23473826e+01] [-5.32135704e-02 -1.55951920e-03 9.98581936e-01 1.17478184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2268750000001 meters 0.03510686310626163 Centerline is valid? [True, True] Translation: X:235.88, Y:82.34, Z:11.75 [[ 9.71630376e-01 2.30807564e-01 5.15973021e-02 2.35880807e+02] [-2.30564730e-01 9.72998250e-01 -1.06916467e-02 8.23374016e+01] [-5.26717976e-02 -1.50818932e-03 9.98610739e-01 1.17503348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.256875 meters 0.03510686310626163 Centerline is valid? [True, True] Translation: X:235.91, Y:82.33, Z:11.75 [[ 9.71567327e-01 2.31073483e-01 5.15943339e-02 2.35912608e+02] [-2.30830264e-01 9.72935132e-01 -1.07059623e-02 8.23307209e+01] [-5.26718040e-02 -1.50797057e-03 9.98610739e-01 1.17504828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.286875 meters 0.03606427047259079 Centerline is valid? [True, True] Translation: X:235.94, Y:82.32, Z:11.75 [[ 9.71770250e-01 2.30424384e-01 5.06673927e-02 2.35942059e+02] [-2.30188609e-01 9.73089169e-01 -1.05201948e-02 8.23205401e+01] [-5.17280004e-02 -1.43984434e-03 9.98660173e-01 1.17538408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.316875 meters 0.034883659715934934 Centerline is valid? [True, True] Translation: X:235.97, Y:82.30, Z:11.75 [[ 9.72040460e-01 2.29475012e-01 4.97851724e-02 2.35971252e+02] [-2.29245494e-01 9.73313613e-01 -1.03496185e-02 8.23026144e+01] [-5.08315648e-02 -1.35277847e-03 9.98706324e-01 1.17513971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.346875 meters 0.033427135164657555 Centerline is valid? [True, True] Translation: X:236.00, Y:82.29, Z:11.75 [[ 9.72155405e-01 2.29063405e-01 4.94350503e-02 2.36001593e+02] [-2.28835940e-01 9.73410623e-01 -1.02893833e-02 8.22902137e+01] [-5.04775243e-02 -1.30963660e-03 9.98724339e-01 1.17468154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.376875 meters 0.033929888597216205 Centerline is valid? [True, True] Translation: X:236.03, Y:82.28, Z:11.75 [[ 9.72290172e-01 2.28571716e-01 4.90590591e-02 2.36031336e+02] [-2.28346505e-01 9.73526258e-01 -1.02224685e-02 8.22819974e+01] [-5.00968494e-02 -1.26325903e-03 9.98743566e-01 1.17481672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.406875 meters 0.0341614047308529 Centerline is valid? [True, True] Translation: X:236.06, Y:82.27, Z:11.74 [[ 9.72629983e-01 2.27800060e-01 4.58044559e-02 2.36059806e+02] [-2.27602926e-01 9.73707259e-01 -9.54365080e-03 8.22699494e+01] [-4.67741755e-02 -1.14278727e-03 9.98904836e-01 1.17432479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.436875 meters 0.03298036758656918 Centerline is valid? [True, True] Translation: X:236.09, Y:82.26, Z:11.74 [[ 9.72867620e-01 2.27091612e-01 4.42492145e-02 2.36089545e+02] [-2.26906834e-01 9.73872813e-01 -9.22129766e-03 8.22582335e+01] [-4.51871863e-02 -1.06934726e-03 9.98977965e-01 1.17386967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.466875 meters 0.03259811431537026 Centerline is valid? [True, True] Translation: X:236.12, Y:82.25, Z:11.74 [[ 9.73208096e-01 2.25938839e-01 4.26338278e-02 2.36119157e+02] [-2.25766140e-01 9.74140999e-01 -8.88615699e-03 8.22464649e+01] [-4.35390876e-02 -9.77194819e-04 9.99051246e-01 1.17370091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.496875 meters 0.03127143062932044 Centerline is valid? [True, True] Translation: X:236.15, Y:82.23, Z:11.73 [[ 9.74163042e-01 2.22517617e-01 3.86300136e-02 2.36146892e+02] [-2.22373092e-01 9.74928384e-01 -8.05315715e-03 8.22271380e+01] [-3.94534661e-02 -7.45187507e-04 9.99221131e-01 1.17329548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.526875 meters 0.03074187427615317 Centerline is valid? [True, True] Translation: X:236.18, Y:82.22, Z:11.73 [[ 9.74693256e-01 2.20325179e-01 3.78136536e-02 2.36177850e+02] [-2.20184654e-01 9.75426274e-01 -7.89319415e-03 8.22174954e+01] [-3.86235007e-02 -6.32543159e-04 9.99253634e-01 1.17316501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.556875 meters 0.03052519582132662 Centerline is valid? [True, True] Translation: X:236.21, Y:82.21, Z:11.73 [[ 9.75306006e-01 2.17779012e-01 3.67490914e-02 2.36207414e+02] [-2.17644469e-01 9.75997969e-01 -7.67136077e-03 8.22092112e+01] [-3.75377000e-02 -5.16312255e-04 9.99295079e-01 1.17311162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.586875 meters 0.029712140381922686 Centerline is valid? [True, True] Translation: X:236.24, Y:82.20, Z:11.73 [[ 9.76684107e-01 2.11697685e-01 3.56685452e-02 2.36235900e+02] [-2.11566861e-01 9.77335160e-01 -7.44634708e-03 8.21984301e+01] [-3.64364978e-02 -2.73553297e-04 9.99335933e-01 1.17291461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.616875 meters 0.02953375952858479 Centerline is valid? [True, True] Translation: X:236.27, Y:82.19, Z:11.73 [[ 9.77226714e-01 2.09260519e-01 3.51850118e-02 2.36266479e+02] [-2.09131297e-01 9.77859911e-01 -7.35489603e-03 8.21897794e+01] [-3.59451019e-02 -1.70886273e-04 9.99353751e-01 1.17268060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.646875 meters 0.029331781310080598 Centerline is valid? [True, True] Translation: X:236.30, Y:82.18, Z:11.73 [[ 9.77745926e-01 2.07096270e-01 3.35267057e-02 2.36296687e+02] [-2.06977418e-01 9.78320565e-01 -7.01568661e-03 8.21812978e+01] [-3.42527882e-02 -7.97119806e-05 9.99413198e-01 1.17258555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.676875 meters 0.029217327165290415 Centerline is valid? [True, True] Translation: X:236.33, Y:82.17, Z:11.72 [[ 9.78046920e-01 2.05886624e-01 3.21701651e-02 2.36328178e+02] [-2.05776284e-01 9.78575852e-01 -6.73970415e-03 8.21734000e+01] [-3.28685616e-02 -2.81101309e-05 9.99459682e-01 1.17236672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.706875 meters 0.02920612417636443 Centerline is valid? [True, True] Translation: X:236.36, Y:82.17, Z:11.72 [[ 9.78012189e-01 2.06170043e-01 3.14017808e-02 2.36359716e+02] [-2.06064814e-01 9.78516179e-01 -6.58636428e-03 8.21671205e+01] [-3.20850616e-02 -2.92575616e-05 9.99485141e-01 1.17215887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.736875 meters 0.029145366228014596 Centerline is valid? [True, True] Translation: X:236.39, Y:82.16, Z:11.72 [[ 9.77900848e-01 2.06796924e-01 3.07402652e-02 2.36391930e+02] [-2.06696329e-01 9.78383887e-01 -6.44962163e-03 8.21615574e+01] [-3.14095420e-02 -4.68094921e-05 9.99506598e-01 1.17201598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.766875 meters 0.029120599935800042 Centerline is valid? [True, True] Translation: X:236.42, Y:82.16, Z:11.72 [[ 9.77624150e-01 2.08254891e-01 2.96803265e-02 2.36423447e+02] [-2.08161548e-01 9.78074585e-01 -6.23511196e-03 8.21573809e+01] [-3.03280656e-02 -8.27066593e-05 9.99539995e-01 1.17186421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.796875 meters 0.029222796912941877 Centerline is valid? [True, True] Translation: X:236.46, Y:82.16, Z:11.71 [[ 9.77164886e-01 2.10452072e-01 2.93037590e-02 2.36457314e+02] [-2.10361817e-01 9.77604166e-01 -6.16444616e-03 8.21562697e+01] [-2.99447973e-02 -1.40711644e-04 9.99551544e-01 1.17146771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.826875 meters 0.029326645731689353 Centerline is valid? [True, True] Translation: X:236.49, Y:82.15, Z:11.72 [[ 9.76977749e-01 2.11348349e-01 2.90921481e-02 2.36488662e+02] [-2.11259566e-01 9.77410789e-01 -6.12747775e-03 8.21525583e+01] [-2.97300118e-02 -1.59585152e-04 9.99557953e-01 1.17150907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8568750000001 meters 0.029081472658077267 Centerline is valid? [True, True] Translation: X:236.52, Y:82.15, Z:11.71 [[ 9.76792453e-01 2.12271815e-01 2.85863812e-02 2.36520691e+02] [-2.12186287e-01 9.77210645e-01 -6.02783837e-03 8.21470406e+01] [-2.92144562e-02 -1.77691052e-04 9.99573151e-01 1.17143564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.886875 meters 0.029113520677475788 Centerline is valid? [True, True] Translation: X:236.55, Y:82.14, Z:11.71 [[ 9.76622146e-01 2.13504329e-01 2.50017037e-02 2.36551026e+02] [-2.13439310e-01 9.76942100e-01 -5.27204807e-03 8.21399741e+01] [-2.55508220e-02 -1.87547492e-04 9.99673507e-01 1.17117602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.916875 meters 0.02916641151423951 Centerline is valid? [True, True] Translation: X:236.58, Y:82.13, Z:11.71 [[ 9.76373864e-01 2.14921262e-01 2.24260799e-02 2.36581447e+02] [-2.14869189e-01 9.76631360e-01 -4.73484817e-03 8.21332319e+01] [-2.29196325e-02 -1.95691597e-04 9.99737292e-01 1.17118958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.946875 meters 0.029118203946833208 Centerline is valid? [True, True] Translation: X:236.61, Y:82.13, Z:11.71 [[ 9.76180227e-01 2.16002134e-01 2.03774781e-02 2.36612776e+02] [-2.15959271e-01 9.76392872e-01 -4.30740765e-03 8.21260960e+01] [-2.08268336e-02 -1.95899118e-04 9.99783079e-01 1.17087810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9768750000001 meters 0.029668029072557833 Centerline is valid? [True, True] Translation: X:236.64, Y:82.13, Z:11.71 [[ 9.75189490e-01 2.20653121e-01 1.78229551e-02 2.36644433e+02] [-2.20621070e-01 9.75352313e-01 -3.76950838e-03 8.21257131e+01] [-1.82154143e-02 -2.56134455e-04 9.99834053e-01 1.17053954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.006875 meters 0.030165822898606726 Centerline is valid? [True, True] Translation: X:236.68, Y:82.12, Z:11.70 [[ 9.74354917e-01 2.24395137e-01 1.67128180e-02 2.36676412e+02] [-2.24367434e-01 9.74498195e-01 -3.53880387e-03 8.21238080e+01] [-1.70807014e-02 -3.01761145e-04 9.99854069e-01 1.17032608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.036875 meters 0.030555139585573318 Centerline is valid? [True, True] Translation: X:236.71, Y:82.12, Z:11.70 [[ 9.73672782e-01 2.27416792e-01 1.55857660e-02 2.36708551e+02] [-2.27393025e-01 9.73797461e-01 -3.30403003e-03 8.21206738e+01] [-1.59287713e-02 -3.27050371e-04 9.99873076e-01 1.17013446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.066875 meters 0.0314652595181104 Centerline is valid? [True, True] Translation: X:236.74, Y:82.12, Z:11.70 [[ 9.72724326e-01 2.31541822e-01 1.39918130e-02 2.36739977e+02] [-2.31523049e-01 9.72824887e-01 -2.96923876e-03 8.21193051e+01] [-1.42990868e-02 -3.51176439e-04 9.99897701e-01 1.17002847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.096875 meters 0.03183676514906936 Centerline is valid? [True, True] Translation: X:236.77, Y:82.11, Z:11.70 [[ 9.72391682e-01 2.32937323e-01 1.39506613e-02 2.36771827e+02] [-2.32918755e-01 9.72491680e-01 -2.96391732e-03 8.21142012e+01] [-1.42573090e-02 -3.67282110e-04 9.99898292e-01 1.16992208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.126875 meters 0.031408855537666425 Centerline is valid? [True, True] Translation: X:236.80, Y:82.11, Z:11.70 [[ 9.72108983e-01 2.34136393e-01 1.35748154e-02 2.36802938e+02] [-2.34118882e-01 9.72203688e-01 -2.88743675e-03 8.21077061e+01] [-1.38735396e-02 -3.71217394e-04 9.99903689e-01 1.16983937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.156875 meters 0.031985087247436705 Centerline is valid? [True, True] Translation: X:236.83, Y:82.10, Z:11.70 [[ 9.71534564e-01 2.36555980e-01 1.27224128e-02 2.36833784e+02] [-2.36540765e-01 9.71617788e-01 -2.70928691e-03 8.20992874e+01] [-1.30022206e-02 -3.77203387e-04 9.99915396e-01 1.16992280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.186875 meters 0.03219630815519945 Centerline is valid? [True, True] Translation: X:236.87, Y:82.09, Z:11.70 [[ 9.71213431e-01 2.37956197e-01 1.10145037e-02 2.36865196e+02] [-2.37944845e-01 9.71275828e-01 -2.34897553e-03 8.20903095e+01] [-1.12570745e-02 -3.39487783e-04 9.99936579e-01 1.16989033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.216875 meters 0.03244585881946163 Centerline is valid? [True, True] Translation: X:236.90, Y:82.08, Z:11.70 [[ 9.70915339e-01 2.39273795e-01 8.45314472e-03 2.36897555e+02] [-2.39267136e-01 9.70952099e-01 -1.80538475e-03 8.20818907e+01] [-8.63957987e-03 -2.69683974e-04 9.99962642e-01 1.16975829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.246875 meters 0.03273217189726695 Centerline is valid? [True, True] Translation: X:236.93, Y:82.07, Z:11.69 [[ 9.70616266e-01 2.40561033e-01 5.86978649e-03 2.36929693e+02] [-2.40557834e-01 9.70633995e-01 -1.25565262e-03 8.20747879e+01] [-5.99947540e-03 -1.93266270e-04 9.99981984e-01 1.16949112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.276875 meters 0.03280615006675565 Centerline is valid? [True, True] Translation: X:236.96, Y:82.07, Z:11.69 [[ 9.70272244e-01 2.41991289e-01 3.46237246e-03 2.36961388e+02] [-2.41990181e-01 9.70278415e-01 -7.41859694e-04 8.20708196e+01] [-3.53898885e-03 -1.18054268e-04 9.99993731e-01 1.16919344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.306875 meters 0.03353856050125433 Centerline is valid? [True, True] Translation: X:236.99, Y:82.07, Z:11.69 [[ 9.69792432e-01 2.43931514e-01 2.35647883e-04 2.36992798e+02] [-2.43931509e-01 9.69792460e-01 -5.09841509e-05 8.20712754e+01] [-2.40966181e-04 -8.03789985e-06 9.99999971e-01 1.16861770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.336875 meters 0.033435259973389975 Centerline is valid? [True, True] Translation: X:237.02, Y:82.07, Z:11.68 [[ 9.69483902e-01 2.45150212e-01 -1.52886842e-03 2.37024641e+02] [-2.45150002e-01 9.69485106e-01 3.26575487e-04 8.20667880e+01] [ 1.56227521e-03 5.81924177e-05 9.99998778e-01 1.16840521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.366875 meters 0.03372092268670704 Centerline is valid? [True, True] Translation: X:237.06, Y:82.07, Z:11.68 [[ 9.69023455e-01 2.46937701e-01 -3.91337290e-03 2.37057021e+02] [-2.46936325e-01 9.69031345e-01 8.38567553e-04 8.20661404e+01] [ 3.99925495e-03 1.53762295e-04 9.99991991e-01 1.16817133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.396875 meters 0.03391478705009838 Centerline is valid? [True, True] Translation: X:237.09, Y:82.06, Z:11.68 [[ 9.68703919e-01 2.48186495e-01 -4.02268721e-03 2.37088814e+02] [-2.48185047e-01 9.68712257e-01 8.63010224e-04 8.20603853e+01] [ 4.11101389e-03 1.62369430e-04 9.99991537e-01 1.16831034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.426875 meters 0.03485313926234437 Centerline is valid? [True, True] Translation: X:237.12, Y:82.05, Z:11.68 [[ 9.68495655e-01 2.48989433e-01 -4.51973892e-03 2.37119014e+02] [-2.48987609e-01 9.68506184e-01 9.70894888e-04 8.20544478e+01] [ 4.61913766e-03 1.85051504e-04 9.99989315e-01 1.16844952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.456875 meters 0.03467965165174159 Centerline is valid? [True, True] Translation: X:237.15, Y:82.04, Z:11.68 [[ 9.68226438e-01 2.49938254e-01 -8.27251498e-03 2.37149606e+02] [-2.49932154e-01 9.68261716e-01 1.77982780e-03 8.20443983e+01] [ 8.45480660e-03 3.44291164e-04 9.99964198e-01 1.16842197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.486875 meters 0.035579688984324016 Centerline is valid? [True, True] Translation: X:237.18, Y:82.04, Z:11.68 [[ 9.68292360e-01 2.49600035e-01 -1.04751423e-02 2.37180010e+02] [-2.49590211e-01 9.68348923e-01 2.25592750e-03 8.20395862e+01] [ 1.07066723e-02 4.30095610e-04 9.99942589e-01 1.16822553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.516875 meters 0.03481615261322032 Centerline is valid? [True, True] Translation: X:237.21, Y:82.03, Z:11.68 [[ 9.68210593e-01 2.49808959e-01 -1.27957899e-02 2.37211330e+02] [-2.49794282e-01 9.68295000e-01 2.75847346e-03 8.20306022e+01] [ 1.30791908e-02 5.25531930e-04 9.99914326e-01 1.16797821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.546875 meters 0.03470902749350982 Centerline is valid? [True, True] Translation: X:237.24, Y:82.02, Z:11.67 [[ 9.68368100e-01 2.48879254e-01 -1.79538463e-02 2.37241921e+02] [-2.48850137e-01 9.68534255e-01 3.87373115e-03 8.20227311e+01] [ 1.83530064e-02 7.16619426e-04 9.99831313e-01 1.16726501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.576875 meters 0.03347356417648971 Centerline is valid? [True, True] Translation: X:237.27, Y:82.01, Z:11.67 [[ 9.68248138e-01 2.49199315e-01 -1.98807439e-02 2.37273129e+02] [-2.49163589e-01 9.68451892e-01 4.29395739e-03 8.20132955e+01] [ 2.03235953e-02 7.95941268e-04 9.99793138e-01 1.16721503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6068750000001 meters 0.03457091476919801 Centerline is valid? [True, True] Translation: X:237.30, Y:82.01, Z:11.67 [[ 9.67747784e-01 2.51114552e-01 -2.01421976e-02 2.37304089e+02] [-2.51078231e-01 9.67957008e-01 4.35347651e-03 8.20108111e+01] [ 2.05900026e-02 8.44200106e-04 9.99787647e-01 1.16715251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.636875 meters 0.0359809718856466 Centerline is valid? [True, True] Translation: X:237.33, Y:82.01, Z:11.67 [[ 9.67109910e-01 2.53483456e-01 -2.10845973e-02 2.37334422e+02] [-2.53444200e-01 9.67339269e-01 4.55802564e-03 8.20085565e+01] [ 2.15513430e-02 9.35657123e-04 9.99767305e-01 1.16724532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.666875 meters 0.0378371316792341 Centerline is valid? [True, True] Translation: X:237.37, Y:82.00, Z:11.67 [[ 9.66740047e-01 2.54955920e-01 -2.02771071e-02 2.37365810e+02] [-2.54919862e-01 9.66952231e-01 4.38707593e-03 8.20047924e+01] [ 2.07255049e-02 9.27875338e-04 9.99784773e-01 1.16746649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.696875 meters 0.03969741700859439 Centerline is valid? [True, True] Translation: X:237.40, Y:82.00, Z:11.68 [[ 9.66412087e-01 2.56243999e-01 -1.96644836e-02 2.37396998e+02] [-2.56210266e-01 9.66611692e-01 4.25880233e-03 8.20011990e+01] [ 2.00992123e-02 9.22484534e-04 9.99797565e-01 1.16771947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7268750000001 meters 0.03781867699567915 Centerline is valid? [True, True] Translation: X:237.43, Y:81.99, Z:11.68 [[ 9.66202446e-01 2.57074977e-01 -1.91125460e-02 2.37428021e+02] [-2.57043186e-01 9.66391034e-01 4.14375097e-03 8.19923327e+01] [ 1.95354478e-02 9.09047393e-04 9.99808752e-01 1.16810898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.756875 meters 0.03692712001453164 Centerline is valid? [True, True] Translation: X:237.46, Y:81.98, Z:11.68 [[ 9.65898387e-01 2.58271834e-01 -1.83293736e-02 2.37458972e+02] [-2.58242726e-01 9.66071874e-01 3.97841288e-03 8.19832504e+01] [ 1.87350043e-02 8.90684818e-04 9.99824088e-01 1.16832097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.786875 meters 0.03857175569851411 Centerline is valid? [True, True] Translation: X:237.49, Y:81.98, Z:11.68 [[ 9.65743892e-01 2.58778655e-01 -1.92961924e-02 2.37489765e+02] [-2.58746408e-01 9.65936187e-01 4.19276898e-03 8.19784123e+01] [ 1.97238896e-02 9.43679429e-04 9.99805020e-01 1.16814482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.816875 meters 0.03884787815537589 Centerline is valid? [True, True] Translation: X:237.52, Y:81.97, Z:11.68 [[ 9.65667006e-01 2.58920963e-01 -2.11463502e-02 2.37521165e+02] [-2.58882159e-01 9.65897960e-01 4.59985138e-03 8.19724952e+01] [ 2.16162145e-02 1.03248809e-03 9.99765809e-01 1.16793820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.846875 meters 0.039626995954574334 Centerline is valid? [True, True] Translation: X:237.55, Y:81.97, Z:11.67 [[ 9.65713460e-01 2.58566932e-01 -2.32519806e-02 2.37552584e+02] [-2.58519828e-01 9.65992692e-01 5.06147752e-03 8.19685823e+01] [ 2.37699740e-02 1.12316103e-03 9.99716823e-01 1.16740761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.876875 meters 0.04152682538735225 Centerline is valid? [True, True] Translation: X:237.58, Y:81.96, Z:11.67 [[ 9.65772381e-01 2.58306663e-01 -2.36933609e-02 2.37583375e+02] [-2.58257560e-01 9.66062308e-01 5.16232455e-03 8.19629204e+01] [ 2.42227258e-02 1.13335912e-03 9.99705944e-01 1.16727566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.906875 meters 0.038456751839803904 Centerline is valid? [True, True] Translation: X:237.61, Y:81.95, Z:11.68 [[ 9.66255181e-01 2.56557223e-01 -2.30068657e-02 2.37612073e+02] [-2.56510392e-01 9.66528466e-01 5.01431614e-03 8.19464159e+01] [ 2.35232496e-02 1.05639118e-03 9.99722732e-01 1.16782290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.936875 meters 0.03704616253916245 Centerline is valid? [True, True] Translation: X:237.64, Y:81.93, Z:11.68 [[ 9.66446929e-01 2.55741683e-01 -2.40109486e-02 2.37642944e+02] [-2.55690379e-01 9.66744550e-01 5.23499743e-03 8.19348344e+01] [ 2.45512608e-02 1.08002136e-03 9.99697989e-01 1.16807665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.966875 meters 0.036527825367371876 Centerline is valid? [True, True] Translation: X:237.67, Y:81.93, Z:11.68 [[ 9.66439366e-01 2.55689313e-01 -2.48581233e-02 2.37674633e+02] [-2.55634153e-01 9.66758367e-01 5.42577460e-03 8.19252398e+01] [ 2.54191112e-02 1.11090311e-03 9.99676265e-01 1.16816592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.996875 meters 0.03776378767884247 Centerline is valid? [True, True] Translation: X:237.71, Y:81.92, Z:11.68 [[ 9.66219396e-01 2.56272838e-01 -2.72820651e-02 2.37705281e+02] [-2.56206446e-01 9.66603704e-01 5.96131668e-03 8.19198921e+01] [ 2.78986688e-02 1.22990114e-03 9.99610000e-01 1.16799293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.026875 meters 0.03868894299693429 Centerline is valid? [True, True] Translation: X:237.74, Y:81.92, Z:11.68 [[ 9.65932352e-01 2.57298735e-01 -2.77858211e-02 2.37737354e+02] [-2.57230105e-01 9.66331067e-01 6.07794697e-03 8.19166383e+01] [ 2.84141503e-02 1.27646408e-03 9.99595422e-01 1.16780616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.056875 meters 0.039859639096859745 Centerline is valid? [True, True] Translation: X:237.77, Y:81.91, Z:11.68 [[ 9.65301650e-01 2.59527377e-01 -2.89528231e-02 2.37769129e+02] [-2.59453803e-01 9.65734741e-01 6.33514787e-03 8.19143453e+01] [ 2.96048915e-02 1.39659137e-03 9.99560703e-01 1.16775027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.086875 meters 0.0416835170136116 Centerline is valid? [True, True] Translation: X:237.80, Y:81.91, Z:11.68 [[ 9.64392802e-01 2.62847554e-01 -2.92862873e-02 2.37800034e+02] [-2.62773796e-01 9.64836186e-01 6.40826482e-03 8.19141759e+01] [ 2.99408664e-02 1.51558440e-03 9.99550523e-01 1.16777146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.116875 meters 0.041780515886494535 Centerline is valid? [True, True] Translation: X:237.83, Y:81.91, Z:11.68 [[ 9.64218857e-01 2.63583349e-01 -2.83868570e-02 2.37832133e+02] [-2.63514184e-01 9.64635482e-01 6.21787146e-03 8.19081035e+01] [ 2.90218969e-02 1.48495055e-03 9.99577673e-01 1.16797782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.146875 meters 0.041780515886494535 Centerline is valid? [True, True] Translation: X:237.86, Y:81.90, Z:11.68 [[ 9.64151427e-01 2.63830064e-01 -2.83852657e-02 2.37863839e+02] [-2.63760792e-01 9.64568034e-01 6.22513105e-03 8.19010383e+01] [ 2.90218967e-02 1.48495118e-03 9.99577673e-01 1.16799263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.176875 meters 0.041371644292938915 Centerline is valid? [True, True] Translation: X:237.89, Y:81.89, Z:11.68 [[ 9.64077690e-01 2.64175212e-01 -2.76706493e-02 2.37894610e+02] [-2.64109338e-01 9.64473614e-01 6.07505745e-03 8.18928097e+01] [ 2.82924907e-02 1.45124952e-03 9.99598634e-01 1.16826686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.206875 meters 0.042042598272858736 Centerline is valid? [True, True] Translation: X:237.93, Y:81.89, Z:11.68 [[ 9.64191605e-01 2.63695536e-01 -2.82703667e-02 2.37925056e+02] [-2.63626389e-01 9.64604855e-01 6.21298824e-03 8.18876431e+01] [ 2.89080703e-02 1.46230359e-03 9.99581005e-01 1.16834636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.236875 meters 0.04197074530310192 Centerline is valid? [True, True] Translation: X:237.96, Y:81.89, Z:11.68 [[ 9.64282161e-01 2.63317601e-01 -2.87011441e-02 2.37957413e+02] [-2.63245969e-01 9.64708085e-01 6.31426516e-03 8.18861721e+01] [ 2.93508830e-02 1.46672726e-03 9.99568094e-01 1.16839103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.266875 meters 0.043384939184777635 Centerline is valid? [True, True] Translation: X:237.99, Y:81.89, Z:11.68 [[ 9.64110815e-01 2.64005360e-01 -2.81337126e-02 2.37989416e+02] [-2.63936650e-01 9.64520119e-01 6.19549767e-03 8.18855175e+01] [ 2.87711764e-02 1.45237154e-03 9.99584969e-01 1.16828025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.296875 meters 0.043440715253830725 Centerline is valid? [True, True] Translation: X:238.02, Y:81.88, Z:11.68 [[ 9.63753684e-01 2.65242665e-01 -2.87256986e-02 2.38021088e+02] [-2.65171473e-01 9.64180495e-01 6.32953679e-03 8.18823424e+01] [ 2.93756215e-02 1.51712140e-03 9.99567292e-01 1.16832481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.326875 meters 0.04638332954632571 Centerline is valid? [True, True] Translation: X:238.05, Y:81.89, Z:11.68 [[ 9.62991572e-01 2.67836028e-01 -3.01843362e-02 2.38052894e+02] [-2.67758661e-01 9.63463052e-01 6.65187772e-03 8.18854653e+01] [ 3.08631052e-02 1.67641528e-03 9.99522215e-01 1.16813167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3568750000001 meters 0.046561935667084865 Centerline is valid? [True, True] Translation: X:238.08, Y:81.88, Z:11.68 [[ 9.62724047e-01 2.68780333e-01 -3.03239340e-02 2.38084962e+02] [-2.68702532e-01 9.63199986e-01 6.68856199e-03 8.18831560e+01] [ 3.10057667e-02 1.70887839e-03 9.99517745e-01 1.16813330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.386875 meters 0.0421925422166002 Centerline is valid? [True, True] Translation: X:238.12, Y:81.87, Z:11.68 [[ 9.62432720e-01 2.69692648e-01 -3.14505298e-02 2.38116028e+02] [-2.69609350e-01 9.62944773e-01 6.93995503e-03 8.18741731e+01] [ 3.21567781e-02 1.80011711e-03 9.99481216e-01 1.16848226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.416875 meters 0.04896202442630975 Centerline is valid? [True, True] Translation: X:238.15, Y:81.89, Z:11.68 [[ 9.61903530e-01 2.71417226e-01 -3.27763426e-02 2.38149398e+02] [-2.71327727e-01 9.62459840e-01 7.23331356e-03 8.18850143e+01] [ 3.35091593e-02 1.93538068e-03 9.99436537e-01 1.16820398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.446875 meters 0.05005079819364479 Centerline is valid? [True, True] Translation: X:238.18, Y:81.88, Z:11.68 [[ 9.61640636e-01 2.72233807e-01 -3.37052201e-02 2.38180450e+02] [-2.72139452e-01 9.62229027e-01 7.44440882e-03 8.18827509e+01] [ 3.44587609e-02 2.01367408e-03 9.99404092e-01 1.16824939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4768750000001 meters 0.043637596045437044 Centerline is valid? [True, True] Translation: X:238.21, Y:81.87, Z:11.69 [[ 9.61263791e-01 2.73541279e-01 -3.38687668e-02 2.38210160e+02] [-2.73446555e-01 9.61858051e-01 7.48801178e-03 8.18701040e+01] [ 3.46252264e-02 2.06334302e-03 9.99398237e-01 1.16898340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.506875 meters 0.04879921385381199 Centerline is valid? [True, True] Translation: X:238.24, Y:81.88, Z:11.69 [[ 9.60643791e-01 2.75650796e-01 -3.43532351e-02 2.38243459e+02] [-2.75554649e-01 9.61255395e-01 7.59612588e-03 8.18811482e+01] [ 3.51161107e-02 2.16902248e-03 9.99380885e-01 1.16875903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.536875 meters 0.04687149134683774 Centerline is valid? [True, True] Translation: X:238.28, Y:81.88, Z:11.69 [[ 9.60256252e-01 2.76895768e-01 -3.51662485e-02 2.38275393e+02] [-2.76795774e-01 9.60897291e-01 7.77795124e-03 8.18769007e+01] [ 3.59448347e-02 2.26504266e-03 9.99351209e-01 1.16888881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.566875 meters 0.047429392359388374 Centerline is valid? [True, True] Translation: X:238.31, Y:81.88, Z:11.69 [[ 9.59776361e-01 2.78404734e-01 -3.63337484e-02 2.38307785e+02] [-2.78299034e-01 9.60460855e-01 8.03701771e-03 8.18794921e+01] [ 3.71346868e-02 2.39790747e-03 9.99307393e-01 1.16880086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.596875 meters 0.04794871216229892 Centerline is valid? [True, True] Translation: X:238.34, Y:81.88, Z:11.69 [[ 9.59804922e-01 2.78248224e-01 -3.67754896e-02 2.38339883e+02] [-2.78139557e-01 9.60506167e-01 8.14182393e-03 8.18785491e+01] [ 3.75885326e-02 2.41415571e-03 9.99290385e-01 1.16867377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.626875 meters 0.0476682844051103 Centerline is valid? [True, True] Translation: X:238.37, Y:81.88, Z:11.69 [[ 9.60115598e-01 2.77124096e-01 -3.71520259e-02 2.38372041e+02] [-2.77012029e-01 9.60831172e-01 8.23374888e-03 8.18761580e+01] [ 3.79785948e-02 2.38620734e-03 9.99275704e-01 1.16865657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.656875 meters 0.047544120853833596 Centerline is valid? [True, True] Translation: X:238.40, Y:81.87, Z:11.69 [[ 9.60808111e-01 2.74756795e-01 -3.68303837e-02 2.38401615e+02] [-2.74644888e-01 9.61511073e-01 8.16348575e-03 8.18720056e+01] [ 3.76557949e-02 2.27173326e-03 9.99288187e-01 1.16867132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.686875 meters 0.045669618229294405 Centerline is valid? [True, True] Translation: X:238.43, Y:81.86, Z:11.69 [[ 9.61473185e-01 2.72238232e-01 -3.81530947e-02 2.38432044e+02] [-2.72116101e-01 9.62227252e-01 8.45833052e-03 8.18633745e+01] [ 3.90146284e-02 2.24961339e-03 9.99236107e-01 1.16883214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.716875 meters 0.04197981126553702 Centerline is valid? [True, True] Translation: X:238.46, Y:81.85, Z:11.69 [[ 9.62594293e-01 2.67995226e-01 -3.98846449e-02 2.38461504e+02] [-2.67858090e-01 9.63417793e-01 8.84302795e-03 8.18544025e+01] [ 4.07954658e-02 2.17117654e-03 9.99165160e-01 1.16925313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.746875 meters 0.043687871513393615 Centerline is valid? [True, True] Translation: X:238.49, Y:81.85, Z:11.69 [[ 9.63000011e-01 2.66646357e-01 -3.91241528e-02 2.38492398e+02] [-2.66513264e-01 9.63792209e-01 8.67507271e-03 8.18544672e+01] [ 4.00207302e-02 2.07301056e-03 9.99196699e-01 1.16913996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.776875 meters 0.04121421620467418 Centerline is valid? [True, True] Translation: X:238.52, Y:81.85, Z:11.69 [[ 9.63120609e-01 2.66279179e-01 -3.86534716e-02 2.38524073e+02] [-2.66148656e-01 9.63893821e-01 8.57877927e-03 8.18487461e+01] [ 3.95421927e-02 2.02517042e-03 9.99215849e-01 1.16949641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.806875 meters 0.04165401281872636 Centerline is valid? [True, True] Translation: X:238.56, Y:81.85, Z:11.70 [[ 9.63182349e-01 2.66221911e-01 -3.74920875e-02 2.38556419e+02] [-2.66098759e-01 9.63909786e-01 8.32915006e-03 8.18525775e+01] [ 3.83563923e-02 1.95410765e-03 9.99262212e-01 1.16961967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.836875 meters 0.04222679106530975 Centerline is valid? [True, True] Translation: X:238.59, Y:81.85, Z:11.70 [[ 9.63026436e-01 2.66791874e-01 -3.74456962e-02 2.38588908e+02] [-2.66669128e-01 9.63752162e-01 8.32739242e-03 8.18498407e+01] [ 3.83100513e-02 1.96611212e-03 9.99263966e-01 1.16962740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.866875 meters 0.043031129713175555 Centerline is valid? [True, True] Translation: X:238.62, Y:81.85, Z:11.70 [[ 9.63285974e-01 2.66119393e-01 -3.55049424e-02 2.38620301e+02] [-2.66008533e-01 9.63938324e-01 7.89727712e-03 8.18504479e+01] [ 3.63261933e-02 1.83728138e-03 9.99338297e-01 1.16991330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.896875 meters 0.03674576615837646 Centerline is valid? [True, True] Translation: X:238.65, Y:81.84, Z:11.71 [[ 9.63531397e-01 2.65288121e-01 -3.50636493e-02 2.38650756e+02] [-2.65179352e-01 9.64167538e-01 7.80189086e-03 8.18370868e+01] [ 3.58769814e-02 1.78078899e-03 9.99354627e-01 1.17067721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.926875 meters 0.03654579906805311 Centerline is valid? [True, True] Translation: X:238.68, Y:81.83, Z:11.71 [[ 9.63842152e-01 2.64209259e-01 -3.46666165e-02 2.38682544e+02] [-2.64101968e-01 9.64463857e-01 7.72131858e-03 8.18334589e+01] [ 3.54747425e-02 1.71338934e-03 9.99369104e-01 1.17079804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.956875 meters 0.03476946749386932 Centerline is valid? [True, True] Translation: X:238.71, Y:81.83, Z:11.71 [[ 9.64790494e-01 2.60776091e-01 -3.42802028e-02 2.38714248e+02] [-2.60668959e-01 9.65398038e-01 7.63684745e-03 8.18321346e+01] [ 3.50855477e-02 1.56782694e-03 9.99383083e-01 1.17097130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.986875 meters 0.03474181109664305 Centerline is valid? [True, True] Translation: X:238.75, Y:81.83, Z:11.71 [[ 9.65469888e-01 2.58218924e-01 -3.45091760e-02 2.38745203e+02] [-2.58108686e-01 9.66085289e-01 7.68898922e-03 8.18295742e+01] [ 3.53242498e-02 1.48363051e-03 9.99374803e-01 1.17089537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.016875 meters 0.03360060769764891 Centerline is valid? [True, True] Translation: X:238.78, Y:81.82, Z:11.71 [[ 9.66177349e-01 2.55605982e-01 -3.41600874e-02 2.38776382e+02] [-2.55496272e-01 9.66780067e-01 7.61291580e-03 8.18238399e+01] [ 3.49711984e-02 1.37234816e-03 9.99387378e-01 1.17101087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.046875 meters 0.02996265866446275 Centerline is valid? [True, True] Translation: X:238.81, Y:81.81, Z:11.72 [[ 9.68248688e-01 2.47924790e-01 -3.20589684e-02 2.38805768e+02] [-2.47823928e-01 9.68778739e-01 7.14534580e-03 8.18139389e+01] [ 3.28295554e-02 1.02650779e-03 9.99460438e-01 1.17173585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.076875 meters 0.02930647981581302 Centerline is valid? [True, True] Translation: X:238.84, Y:81.81, Z:11.72 [[ 9.69317534e-01 2.43785022e-01 -3.15020844e-02 2.38836280e+02] [-2.43685415e-01 9.69828906e-01 7.02226536e-03 8.18066866e+01] [ 3.22635551e-02 8.69793550e-04 9.99479018e-01 1.17187459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1068750000001 meters 0.02839756271093433 Centerline is valid? [True, True] Translation: X:238.87, Y:81.80, Z:11.72 [[ 9.70439024e-01 2.39290091e-01 -3.14380770e-02 2.38866542e+02] [-2.39188492e-01 9.70947855e-01 7.00911630e-03 8.17998144e+01] [ 3.22019455e-02 7.17706249e-04 9.99481125e-01 1.17196697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.136875 meters 0.027449665132344658 Centerline is valid? [True, True] Translation: X:238.90, Y:81.79, Z:11.72 [[ 9.71451102e-01 2.35085082e-01 -3.19023538e-02 2.38898836e+02] [-2.34978108e-01 9.71974620e-01 7.11520533e-03 8.17942037e+01] [ 3.26809569e-02 5.84280670e-04 9.99465664e-01 1.17195708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.166875 meters 0.02631924012139424 Centerline is valid? [True, True] Translation: X:238.93, Y:81.79, Z:11.72 [[ 9.73167923e-01 2.28041201e-01 -3.06823034e-02 2.38931215e+02] [-2.27938693e-01 9.73651426e-01 6.84485310e-03 8.17942959e+01] [ 3.14347770e-02 3.32492656e-04 9.99505750e-01 1.17192613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.196875 meters 0.02587790610392491 Centerline is valid? [True, True] Translation: X:238.96, Y:81.79, Z:11.72 [[ 9.74208708e-01 2.23751220e-01 -2.92024764e-02 2.38962866e+02] [-2.23656261e-01 9.74646274e-01 6.52052109e-03 8.17924461e+01] [ 2.99210594e-02 1.78968255e-04 9.99552249e-01 1.17197057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2268750000001 meters 0.02561072771593582 Centerline is valid? [True, True] Translation: X:238.99, Y:81.79, Z:11.72 [[ 9.74488927e-01 2.22532436e-01 -2.91658425e-02 2.38994299e+02] [-2.22436958e-01 9.74925277e-01 6.51944728e-03 8.17875428e+01] [ 2.98853056e-02 1.34432090e-04 9.99553325e-01 1.17220446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.256875 meters 0.025447318223098005 Centerline is valid? [True, True] Translation: X:239.03, Y:81.78, Z:11.72 [[ 9.74552159e-01 2.22385050e-01 -2.81598742e-02 2.39026209e+02] [-2.22295785e-01 9.74958910e-01 6.30145650e-03 8.17837000e+01] [ 2.88560700e-02 1.18723303e-04 9.99583570e-01 1.17235030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.286875 meters 0.02520094628235817 Centerline is valid? [True, True] Translation: X:239.06, Y:81.78, Z:11.73 [[ 9.74687556e-01 2.21974463e-01 -2.66740627e-02 2.39057549e+02] [-2.21894052e-01 9.75052475e-01 5.97503207e-03 8.17809923e+01] [ 2.73349154e-02 9.50264436e-05 9.99626327e-01 1.17250763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.316875 meters 0.024599640375034818 Centerline is valid? [True, True] Translation: X:239.09, Y:81.78, Z:11.73 [[ 9.74718543e-01 2.22049280e-01 -2.48571703e-02 2.39090488e+02] [-2.21979407e-01 9.75035440e-01 5.57073882e-03 8.17785585e+01] [ 2.54736005e-02 8.78775027e-05 9.99675491e-01 1.17285787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.346875 meters 0.024510597026286905 Centerline is valid? [True, True] Translation: X:239.12, Y:81.78, Z:11.73 [[ 9.74802962e-01 2.21874133e-01 -2.30446298e-02 2.39124068e+02] [-2.21813915e-01 9.75075312e-01 5.16944262e-03 8.17821061e+01] [ 2.36172152e-02 7.24315850e-05 9.99721072e-01 1.17323800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.376875 meters 0.024301944299472862 Centerline is valid? [True, True] Translation: X:239.16, Y:81.78, Z:11.73 [[ 9.74774681e-01 2.22062978e-01 -2.24132979e-02 2.39156464e+02] [-2.22005939e-01 9.75032322e-01 5.03327899e-03 8.17799366e+01] [ 2.29713948e-02 6.95723483e-05 9.99736120e-01 1.17330610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.406875 meters 0.024110588000676877 Centerline is valid? [True, True] Translation: X:239.19, Y:81.78, Z:11.73 [[ 9.74758030e-01 2.22126260e-01 -2.25101743e-02 2.39188894e+02] [-2.22068647e-01 9.75017908e-01 5.05926808e-03 8.17763118e+01] [ 2.30716193e-02 6.72417518e-05 9.99733813e-01 1.17328742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.436875 meters 0.023881425314916573 Centerline is valid? [True, True] Translation: X:239.22, Y:81.77, Z:11.73 [[ 9.74971934e-01 2.21212940e-01 -2.22387822e-02 2.39222053e+02] [-2.21156339e-01 9.75225530e-01 5.00402069e-03 8.17730745e+01] [ 2.27947823e-02 3.94679266e-05 9.99740164e-01 1.17343193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.466875 meters 0.023945388992258558 Centerline is valid? [True, True] Translation: X:239.25, Y:81.77, Z:11.74 [[ 9.75077818e-01 2.20851479e-01 -2.11630068e-02 2.39254052e+02] [-2.20800022e-01 9.75307451e-01 4.76723644e-03 8.17691035e+01] [ 2.16932894e-02 2.43658516e-05 9.99764673e-01 1.17352713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.496875 meters 0.023917754006373124 Centerline is valid? [True, True] Translation: X:239.29, Y:81.77, Z:11.74 [[ 9.75081249e-01 2.20863671e-01 -2.08757371e-02 2.39287160e+02] [-2.20813484e-01 9.75304690e-01 4.70818476e-03 8.17656738e+01] [ 2.14000712e-02 1.87815453e-05 9.99770992e-01 1.17359829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.526875 meters 0.023701657144815896 Centerline is valid? [True, True] Translation: X:239.32, Y:81.77, Z:11.74 [[ 9.75363201e-01 2.19692715e-01 -2.00433809e-02 2.39318970e+02] [-2.19646134e-01 9.75569122e-01 4.52379779e-03 8.17662406e+01] [ 2.05475489e-02 -9.89477213e-06 9.99788877e-01 1.17368782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.556875 meters 0.02368160548762327 Centerline is valid? [True, True] Translation: X:239.35, Y:81.76, Z:11.74 [[ 9.75408219e-01 2.19431232e-01 -2.07060426e-02 2.39351791e+02] [-2.19381352e-01 9.75627969e-01 4.67848527e-03 8.17617444e+01] [ 2.12280001e-02 -2.09133576e-05 9.99774660e-01 1.17368067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.586875 meters 0.023777917875863003 Centerline is valid? [True, True] Translation: X:239.38, Y:81.76, Z:11.74 [[ 9.75457028e-01 2.19183424e-01 -2.10288765e-02 2.39383998e+02] [-2.19131794e-01 9.75683671e-01 4.75726195e-03 8.17568072e+01] [ 2.15602444e-02 -3.24091645e-05 9.99767550e-01 1.17375193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.616875 meters 0.02396307152759621 Centerline is valid? [True, True] Translation: X:239.42, Y:81.75, Z:11.74 [[ 9.75553657e-01 2.18882726e-01 -1.96319661e-02 2.39415116e+02] [-2.18837575e-01 9.75751173e-01 4.44577432e-03 8.17541110e+01] [ 2.01290172e-02 -4.08795360e-05 9.99797390e-01 1.17400045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.646875 meters 0.023551609976924157 Centerline is valid? [True, True] Translation: X:239.45, Y:81.75, Z:11.74 [[ 9.75567108e-01 2.18936302e-01 -1.83224967e-02 2.39447163e+02] [-2.18896905e-01 9.75739153e-01 4.15345558e-03 8.17482891e+01] [ 1.87873196e-02 -4.12368285e-05 9.99823502e-01 1.17422629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.676875 meters 0.023295407109699944 Centerline is valid? [True, True] Translation: X:239.48, Y:81.74, Z:11.75 [[ 9.75483744e-01 2.19400718e-01 -1.71694628e-02 2.39479431e+02] [-2.19366121e-01 9.75634831e-01 3.89629632e-03 8.17433885e+01] [ 1.76059761e-02 -3.43752680e-05 9.99845002e-01 1.17461589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.706875 meters 0.023312652121136757 Centerline is valid? [True, True] Translation: X:239.51, Y:81.74, Z:11.75 [[ 9.75405367e-01 2.19860724e-01 -1.56726428e-02 2.39511473e+02] [-2.19831894e-01 9.75531271e-01 3.56049462e-03 8.17388027e+01] [ 1.60719661e-02 -2.75788029e-05 9.99870837e-01 1.17473383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.736875 meters 0.02325748771866294 Centerline is valid? [True, True] Translation: X:239.54, Y:81.74, Z:11.75 [[ 9.75317218e-01 2.20231352e-01 -1.59523054e-02 2.39543914e+02] [-2.20201464e-01 9.75447667e-01 3.62828260e-03 8.17388956e+01] [ 1.63597006e-02 -2.60055033e-05 9.99866171e-01 1.17473923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.766875 meters 0.023096554468063447 Centerline is valid? [True, True] Translation: X:239.58, Y:81.73, Z:11.75 [[ 9.75341504e-01 2.20137479e-01 -1.57619859e-02 2.39575905e+02] [-2.20108221e-01 9.75468856e-01 3.58908774e-03 8.17348974e+01] [ 1.61654190e-02 -3.12435715e-05 9.99869331e-01 1.17462843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.796875 meters 0.022961724826900266 Centerline is valid? [True, True] Translation: X:239.61, Y:81.73, Z:11.75 [[ 9.75403227e-01 2.19828505e-01 -1.62472170e-02 2.39608864e+02] [-2.19797300e-01 9.75538532e-01 3.70410506e-03 8.17295660e+01] [ 1.66640541e-02 -4.19016023e-05 9.99861144e-01 1.17473852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.826875 meters 0.02314626604192662 Centerline is valid? [True, True] Translation: X:239.64, Y:81.72, Z:11.75 [[ 9.75583298e-01 2.18943769e-01 -1.73451789e-02 2.39639279e+02] [-2.18907987e-01 9.75737476e-01 3.95873860e-03 8.17223929e+01] [ 1.77910822e-02 -6.50810710e-05 9.99841724e-01 1.17467438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8568750000001 meters 0.02315884212346051 Centerline is valid? [True, True] Translation: X:239.67, Y:81.71, Z:11.75 [[ 9.75551355e-01 2.19126264e-01 -1.68295711e-02 2.39671519e+02] [-2.19092528e-01 9.75696508e-01 3.84552118e-03 8.17147694e+01] [ 1.72632085e-02 -6.42701201e-05 9.99850978e-01 1.17472013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.886875 meters 0.023399188833864756 Centerline is valid? [True, True] Translation: X:239.70, Y:81.71, Z:11.75 [[ 9.75396940e-01 2.19725606e-01 -1.79295165e-02 2.39702198e+02] [-2.19687358e-01 9.75561712e-01 4.09998743e-03 8.17085367e+01] [ 1.83922220e-02 -6.02270717e-05 9.99830847e-01 1.17457074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.916875 meters 0.023182683549925812 Centerline is valid? [True, True] Translation: X:239.74, Y:81.71, Z:11.75 [[ 9.74669235e-01 2.22759082e-01 -1.99568001e-02 2.39735273e+02] [-2.22712239e-01 9.74873526e-01 4.56806072e-03 8.17073942e+01] [ 2.04729331e-02 -7.72460109e-06 9.99790408e-01 1.17480927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.946875 meters 0.022824992558625724 Centerline is valid? [True, True] Translation: X:239.77, Y:81.70, Z:11.75 [[ 9.74084992e-01 2.25245401e-01 -2.05654262e-02 2.39765409e+02] [-2.25196181e-01 9.74302062e-01 4.70878214e-03 8.17044102e+01] [ 2.10975687e-02 4.45014340e-05 9.99777421e-01 1.17489764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9768750000001 meters 0.023390242918527537 Centerline is valid? [True, True] Translation: X:239.80, Y:81.70, Z:11.75 [[ 9.73368306e-01 2.28325056e-01 -2.05380044e-02 2.39796326e+02] [-2.28276651e-01 9.73584951e-01 4.70258097e-03 8.17013637e+01] [ 2.10692091e-02 1.11003578e-04 9.99778013e-01 1.17502453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.006875 meters 0.023571313635749103 Centerline is valid? [True, True] Translation: X:239.83, Y:81.70, Z:11.75 [[ 9.71862003e-01 2.34700722e-01 -1.99954797e-02 2.39826324e+02] [-2.34656198e-01 9.72067648e-01 4.57781305e-03 8.16996132e+01] [ 2.05113750e-02 2.43060700e-04 9.99789590e-01 1.17528319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.036875 meters 0.023571313635749103 Centerline is valid? [True, True] Translation: X:239.85, Y:81.69, Z:11.75 [[ 9.71869837e-01 2.34668267e-01 -1.99956325e-02 2.39854769e+02] [-2.34623751e-01 9.72075483e-01 4.57714565e-03 8.16931346e+01] [ 2.05113750e-02 2.43060507e-04 9.99789590e-01 1.17529645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.066875 meters 0.0255861986017989 Centerline is valid? [True, True] Translation: X:239.88, Y:81.69, Z:11.75 [[ 9.71194772e-01 2.37475067e-01 -1.96546833e-02 2.39883437e+02] [-2.37432650e-01 9.71393588e-01 4.49815022e-03 8.16916706e+01] [ 2.01606319e-02 2.98083552e-04 9.99796709e-01 1.17493538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.096875 meters 0.024651746076356326 Centerline is valid? [True, True] Translation: X:239.91, Y:81.68, Z:11.75 [[ 9.70488737e-01 2.40341541e-01 -1.96864262e-02 2.39911254e+02] [-2.40299594e-01 9.70688320e-01 4.50446411e-03 8.16821733e+01] [ 2.01919938e-02 3.59108546e-04 9.99796056e-01 1.17536758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.126875 meters 0.025590099321421606 Centerline is valid? [True, True] Translation: X:239.94, Y:81.68, Z:11.75 [[ 9.69451850e-01 2.44384415e-01 -2.09611023e-02 2.39939003e+02] [-2.44337834e-01 9.69678314e-01 4.79475153e-03 8.16772058e+01] [ 2.14972889e-02 4.73309585e-04 9.99768795e-01 1.17545559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.156875 meters 0.02575022611081223 Centerline is valid? [True, True] Translation: X:239.97, Y:81.67, Z:11.76 [[ 9.69027358e-01 2.45991826e-01 -2.17715885e-02 2.39967716e+02] [-2.45941997e-01 9.69271758e-01 4.97921625e-03 8.16691650e+01] [ 2.23274323e-02 5.29551186e-04 9.99750572e-01 1.17555327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.186875 meters 0.026487498286916274 Centerline is valid? [True, True] Translation: X:240.00, Y:81.66, Z:11.75 [[ 9.68686522e-01 2.47302248e-01 -2.20911700e-02 2.39996652e+02] [-2.47251304e-01 9.68938220e-01 5.05153092e-03 8.16623365e+01] [ 2.26542339e-02 5.68720684e-04 9.99743198e-01 1.17547252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.216875 meters 0.027012415115360348 Centerline is valid? [True, True] Translation: X:240.02, Y:81.65, Z:11.76 [[ 9.67938228e-01 2.50087096e-01 -2.34953551e-02 2.40024559e+02] [-2.50030318e-01 9.68223109e-01 5.37138510e-03 8.16535780e+01] [ 2.40920598e-02 6.75382125e-04 9.99709516e-01 1.17564109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.246875 meters 0.027207196382572813 Centerline is valid? [True, True] Translation: X:240.05, Y:81.65, Z:11.76 [[ 9.67737162e-01 2.50962106e-01 -2.24233531e-02 2.40052936e+02] [-2.50910646e-01 9.67996683e-01 5.12542899e-03 8.16455389e+01] [ 2.29920199e-02 6.66189921e-04 9.99735427e-01 1.17577173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.276875 meters 0.027587019400499097 Centerline is valid? [True, True] Translation: X:240.08, Y:81.64, Z:11.76 [[ 9.67463800e-01 2.51997062e-01 -2.26114156e-02 2.40081645e+02] [-2.51945037e-01 9.67727748e-01 5.16761006e-03 8.16378118e+01] [ 2.31839169e-02 6.97358266e-04 9.99730974e-01 1.17589512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.306875 meters 0.02794670194560441 Centerline is valid? [True, True] Translation: X:240.11, Y:81.63, Z:11.76 [[ 9.67176105e-01 2.53103636e-01 -2.25594938e-02 2.40109618e+02] [-2.53052176e-01 9.67438901e-01 5.15461912e-03 8.16292721e+01] [ 2.31295847e-02 7.23304550e-04 9.99732214e-01 1.17604716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.336875 meters 0.029415623329222172 Centerline is valid? [True, True] Translation: X:240.14, Y:81.62, Z:11.76 [[ 9.66253802e-01 2.56597966e-01 -2.26069545e-02 2.40137231e+02] [-2.56547236e-01 9.66517889e-01 5.16578206e-03 8.16189665e+01] [ 2.31755552e-02 8.08295150e-04 9.99731084e-01 1.17624018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.366875 meters 0.030172365903585917 Centerline is valid? [True, True] Translation: X:240.17, Y:81.61, Z:11.76 [[ 9.65850423e-01 2.58098425e-01 -2.27631806e-02 2.40166748e+02] [-2.58047404e-01 9.66118254e-01 5.20161675e-03 8.16099073e+01] [ 2.33344534e-02 8.49995910e-04 9.99727353e-01 1.17635691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.396875 meters 0.031388564417781706 Centerline is valid? [True, True] Translation: X:240.19, Y:81.60, Z:11.76 [[ 9.65065390e-01 2.61007108e-01 -2.28928545e-02 2.40194759e+02] [-2.60956321e-01 9.65336435e-01 5.23122952e-03 8.15983881e+01] [ 2.34646946e-02 9.25556514e-04 9.99724238e-01 1.17649688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.426875 meters 0.032034129032909586 Centerline is valid? [True, True] Translation: X:240.22, Y:81.59, Z:11.77 [[ 9.64583604e-01 2.62793710e-01 -2.27582233e-02 2.40223495e+02] [-2.62744022e-01 9.64851562e-01 5.20013898e-03 8.15899471e+01] [ 2.33248712e-02 9.63618327e-04 9.99727474e-01 1.17655992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.456875 meters 0.03224255462446742 Centerline is valid? [True, True] Translation: X:240.25, Y:81.58, Z:11.77 [[ 9.64322940e-01 2.63732948e-01 -2.29390395e-02 2.40253089e+02] [-2.63682719e-01 9.64595223e-01 5.24202836e-03 8.15805725e+01] [ 2.35093835e-02 9.93620111e-04 9.99723122e-01 1.17663296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.486875 meters 0.03285415706207739 Centerline is valid? [True, True] Translation: X:240.28, Y:81.57, Z:11.77 [[ 9.64105196e-01 2.64509680e-01 -2.31473462e-02 2.40283240e+02] [-2.64458738e-01 9.64382490e-01 5.29044488e-03 8.15714219e+01] [ 2.37222693e-02 1.02097258e-03 9.99718066e-01 1.17668852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.516875 meters 0.03291764038698519 Centerline is valid? [True, True] Translation: X:240.31, Y:81.56, Z:11.77 [[ 9.63499322e-01 2.66652612e-01 -2.37790013e-02 2.40312204e+02] [-2.66599441e-01 9.63792080e-01 5.43736338e-03 8.15561176e+01] [ 2.43679003e-02 1.10057252e-03 9.99702453e-01 1.17691080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.546875 meters 0.03286854410653572 Centerline is valid? [True, True] Translation: X:240.34, Y:81.54, Z:11.77 [[ 9.63203514e-01 2.67643526e-01 -2.46157278e-02 2.40342632e+02] [-2.67586727e-01 9.63517305e-01 5.63432573e-03 8.15447006e+01] [ 2.52256705e-02 1.15983968e-03 9.99681109e-01 1.17703863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.576875 meters 0.03445421166057535 Centerline is valid? [True, True] Translation: X:240.37, Y:81.53, Z:11.77 [[ 9.62567949e-01 2.69798567e-01 -2.59167387e-02 2.40371487e+02] [-2.69736342e-01 9.62915935e-01 5.93366927e-03 8.15340815e+01] [ 2.65565362e-02 1.27912645e-03 9.99646495e-01 1.17703903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6068750000001 meters 0.03861989507910518 Centerline is valid? [True, True] Translation: X:240.40, Y:81.53, Z:11.77 [[ 9.62311082e-01 2.70680766e-01 -2.62545987e-02 2.40402354e+02] [-2.70617100e-01 9.62668267e-01 6.01610451e-03 8.15308619e+01] [ 2.69029128e-02 1.31557931e-03 9.99637185e-01 1.17686254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.636875 meters 0.0377221322835165 Centerline is valid? [True, True] Translation: X:240.43, Y:81.52, Z:11.77 [[ 9.62055005e-01 2.71607917e-01 -2.60635043e-02 2.40432058e+02] [-2.71545466e-01 9.62407071e-01 5.97405950e-03 8.15186990e+01] [ 2.67063027e-02 1.33005258e-03 9.99642438e-01 1.17712050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.666875 meters 0.03563368439629107 Centerline is valid? [True, True] Translation: X:240.46, Y:81.50, Z:11.77 [[ 9.61823659e-01 2.72425341e-01 -2.60707134e-02 2.40461339e+02] [-2.72363008e-01 9.62175980e-01 5.98119285e-03 8.15045014e+01] [ 2.67140427e-02 1.34784513e-03 9.99642208e-01 1.17749848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.696875 meters 0.037906369718841725 Centerline is valid? [True, True] Translation: X:240.49, Y:81.49, Z:11.78 [[ 9.61626800e-01 2.73228294e-01 -2.49037618e-02 2.40491683e+02] [-2.73171522e-01 9.61948337e-01 5.71988447e-03 8.14945789e+01] [ 2.55189665e-02 1.30260431e-03 9.99673489e-01 1.17775811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7268750000001 meters 0.03839349811959361 Centerline is valid? [True, True] Translation: X:240.52, Y:81.49, Z:11.78 [[ 9.61521711e-01 2.73676610e-01 -2.40231656e-02 2.40523405e+02] [-2.73623762e-01 9.61820940e-01 5.52408662e-03 8.14854883e+01] [ 2.46177971e-02 1.26177974e-03 9.99696140e-01 1.17789006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.756875 meters 0.03341204156765042 Centerline is valid? [True, True] Translation: X:240.55, Y:81.47, Z:11.78 [[ 9.61509079e-01 2.73780275e-01 -2.33377726e-02 2.40552927e+02] [-2.73730340e-01 9.61791485e-01 5.37028829e-03 8.14681974e+01] [ 2.39163499e-02 1.22467546e-03 9.99713213e-01 1.17835042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.786875 meters 0.03589758971405396 Centerline is valid? [True, True] Translation: X:240.58, Y:81.46, Z:11.78 [[ 9.61629629e-01 2.73172116e-01 -2.54057526e-02 2.40583428e+02] [-2.73112560e-01 9.61964281e-01 5.85254018e-03 8.14570376e+01] [ 2.60381773e-02 1.31065410e-03 9.99660090e-01 1.17837399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.816875 meters 0.034220546933253104 Centerline is valid? [True, True] Translation: X:240.61, Y:81.45, Z:11.78 [[ 9.61687958e-01 2.72843532e-01 -2.66960284e-02 2.40614355e+02] [-2.72777437e-01 9.62057460e-01 6.15741926e-03 8.14457314e+01] [ 2.73631252e-02 1.36055823e-03 9.99624634e-01 1.17833853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.846875 meters 0.034904075536219215 Centerline is valid? [True, True] Translation: X:240.64, Y:81.44, Z:11.78 [[ 9.61706781e-01 2.72550664e-01 -2.89171763e-02 2.40644495e+02] [-2.72472772e-01 9.62140327e-01 6.67674677e-03 8.14372580e+01] [ 2.96421332e-02 1.45807054e-03 9.99559512e-01 1.17813923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.876875 meters 0.03455140132832341 Centerline is valid? [True, True] Translation: X:240.67, Y:81.42, Z:11.78 [[ 9.61631524e-01 2.72377116e-01 -3.27951094e-02 2.40674315e+02] [-2.72276721e-01 9.62189171e-01 7.57531644e-03 8.14238838e+01] [ 3.36184420e-02 1.64468177e-03 9.99433387e-01 1.17800776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.906875 meters 0.035123681300407224 Centerline is valid? [True, True] Translation: X:240.70, Y:81.41, Z:11.78 [[ 9.61691163e-01 2.71963206e-01 -3.44401123e-02 2.40703836e+02] [-2.71851966e-01 9.62306140e-01 7.96252918e-03 8.14137325e+01] [ 3.53074465e-02 1.70511829e-03 9.99375043e-01 1.17798840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.936875 meters 0.03431300188696736 Centerline is valid? [True, True] Translation: X:240.73, Y:81.40, Z:11.78 [[ 9.61864670e-01 2.71358092e-01 -3.43677632e-02 2.40733582e+02] [-2.71246634e-01 9.62477009e-01 7.95425637e-03 8.14009187e+01] [ 3.52366338e-02 1.67122194e-03 9.99377600e-01 1.17817564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.966875 meters 0.033692638284727336 Centerline is valid? [True, True] Translation: X:240.76, Y:81.39, Z:11.79 [[ 9.62432030e-01 2.69645166e-01 -3.18758941e-02 2.40761556e+02] [-2.69548317e-01 9.62958598e-01 7.37854509e-03 8.13870000e+01] [ 3.26847553e-02 1.49074546e-03 9.99464599e-01 1.17874462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.996875 meters 0.03402383481467789 Centerline is valid? [True, True] Translation: X:240.79, Y:81.38, Z:11.79 [[ 9.62569811e-01 2.69350223e-01 -3.01631578e-02 2.40791645e+02] [-2.69263177e-01 9.63041282e-01 6.98795062e-03 8.13789121e+01] [ 3.09305722e-02 1.39543739e-03 9.99520561e-01 1.17898680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.026875 meters 0.03405372976461365 Centerline is valid? [True, True] Translation: X:240.82, Y:81.37, Z:11.79 [[ 9.62647712e-01 2.69204889e-01 -2.89501260e-02 2.40822228e+02] [-2.69124432e-01 9.63082013e-01 6.71385815e-03 8.13703535e+01] [ 2.96887491e-02 1.32810605e-03 9.99558310e-01 1.17913436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.056875 meters 0.03410197420573133 Centerline is valid? [True, True] Translation: X:240.85, Y:81.36, Z:11.79 [[ 9.62689874e-01 2.69087000e-01 -2.86425053e-02 2.40852152e+02] [-2.69007988e-01 9.63114992e-01 6.64945936e-03 8.13589062e+01] [ 2.93753093e-02 1.30369552e-03 9.99567602e-01 1.17924273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.086875 meters 0.03413546734350835 Centerline is valid? [True, True] Translation: X:240.88, Y:81.35, Z:11.79 [[ 9.62666286e-01 2.69141436e-01 -2.89224768e-02 2.40883222e+02] [-2.69060663e-01 9.63099772e-01 6.72232943e-03 8.13486203e+01] [ 2.96644882e-02 1.31054087e-03 9.99559053e-01 1.17930355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.116875 meters 0.03522819529594201 Centerline is valid? [True, True] Translation: X:240.91, Y:81.34, Z:11.79 [[ 9.62549346e-01 2.69516262e-01 -2.93213291e-02 2.40912479e+02] [-2.69433239e-01 9.62994914e-01 6.82100405e-03 8.13391537e+01] [ 3.00746623e-02 1.33458769e-03 9.99546764e-01 1.17928204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.146875 meters 0.03330564322461714 Centerline is valid? [True, True] Translation: X:240.94, Y:81.32, Z:11.80 [[ 9.62419040e-01 2.69850903e-01 -3.04972297e-02 2.40941480e+02] [-2.69761024e-01 9.62901113e-01 7.10190831e-03 8.13208454e+01] [ 3.12822728e-02 1.39195213e-03 9.99509621e-01 1.17974395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.176875 meters 0.03633680779636862 Centerline is valid? [True, True] Translation: X:240.97, Y:81.32, Z:11.80 [[ 9.62230762e-01 2.70568154e-01 -3.00804575e-02 2.40972936e+02] [-2.70480822e-01 9.62699822e-01 7.01273586e-03 8.13167591e+01] [ 3.08558740e-02 1.38831669e-03 9.99522880e-01 1.17962718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.206875 meters 0.033417238267576796 Centerline is valid? [True, True] Translation: X:241.00, Y:81.30, Z:11.80 [[ 9.61829978e-01 2.72022064e-01 -2.97840414e-02 2.41002876e+02] [-2.71936909e-01 9.62289976e-01 6.95117575e-03 8.13042138e+01] [ 3.05517577e-02 1.41353095e-03 9.99532187e-01 1.18006379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.236875 meters 0.034396780135535425 Centerline is valid? [True, True] Translation: X:241.03, Y:81.30, Z:11.80 [[ 9.61578810e-01 2.73005601e-01 -2.88813694e-02 2.41033462e+02] [-2.72925841e-01 9.62011430e-01 6.74494038e-03 8.12985903e+01] [ 2.96256140e-02 1.39668030e-03 9.99560089e-01 1.18007735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.266875 meters 0.03505976714930495 Centerline is valid? [True, True] Translation: X:241.06, Y:81.29, Z:11.80 [[ 9.61304769e-01 2.73984858e-01 -2.87304490e-02 2.41063554e+02] [-2.73906252e-01 9.61732964e-01 6.71352425e-03 8.12883723e+01] [ 2.94704239e-02 1.41570673e-03 9.99564650e-01 1.18035470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.296875 meters 0.03541746245041791 Centerline is valid? [True, True] Translation: X:241.09, Y:81.28, Z:11.80 [[ 9.61431525e-01 2.73503073e-01 -2.90773451e-02 2.41093667e+02] [-2.73422152e-01 9.61870093e-01 6.80082508e-03 8.12792437e+01] [ 2.98286752e-02 1.41186264e-03 9.99554029e-01 1.18040259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.326875 meters 0.03528541201157065 Centerline is valid? [True, True] Translation: X:241.12, Y:81.27, Z:11.80 [[ 9.61699198e-01 2.72477664e-01 -2.98425178e-02 2.41124165e+02] [-2.72391713e-01 9.62161076e-01 6.98701882e-03 8.12684431e+01] [ 3.06171156e-02 1.40944417e-03 9.99530192e-01 1.18042645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3568750000001 meters 0.03381015699279332 Centerline is valid? [True, True] Translation: X:241.15, Y:81.25, Z:11.81 [[ 9.62720909e-01 2.68835886e-01 -2.99285365e-02 2.41151750e+02] [-2.68747648e-01 9.63185126e-01 7.00823894e-03 8.12521431e+01] [ 3.07107873e-02 1.29624562e-03 9.99527472e-01 1.18065405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.386875 meters 0.03229324659532957 Centerline is valid? [True, True] Translation: X:241.18, Y:81.24, Z:11.81 [[ 9.63268823e-01 2.66875988e-01 -2.98392602e-02 2.41181239e+02] [-2.66787309e-01 9.63730095e-01 6.98823336e-03 8.12403915e+01] [ 3.06219847e-02 1.22918861e-03 9.99530281e-01 1.18085964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.416875 meters 0.03177690155312284 Centerline is valid? [True, True] Translation: X:241.21, Y:81.23, Z:11.81 [[ 9.63801186e-01 2.64989982e-01 -2.94547657e-02 2.41211448e+02] [-2.64902636e-01 9.64250477e-01 6.90012818e-03 8.12302136e+01] [ 3.02302367e-02 1.15229336e-03 9.99542298e-01 1.18097075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.446875 meters 0.030586821677187997 Centerline is valid? [True, True] Translation: X:241.24, Y:81.22, Z:11.81 [[ 9.64792228e-01 2.61404309e-01 -2.90472791e-02 2.41239832e+02] [-2.61317704e-01 9.65228853e-01 6.80583990e-03 8.12166150e+01] [ 2.98163477e-02 1.02434685e-03 9.99554869e-01 1.18119578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4768750000001 meters 0.03041398134682584 Centerline is valid? [True, True] Translation: X:241.27, Y:81.21, Z:11.81 [[ 9.65086269e-01 2.60321682e-01 -2.90019782e-02 2.41270322e+02] [-2.60234677e-01 9.65521442e-01 6.80133553e-03 8.12053917e+01] [ 2.97725669e-02 9.83444897e-04 9.99556215e-01 1.18135675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.506875 meters 0.030133725972921 Centerline is valid? [True, True] Translation: X:241.30, Y:81.20, Z:11.82 [[ 9.65168246e-01 2.60029042e-01 -2.88990318e-02 2.41301129e+02] [-2.59942316e-01 9.65600315e-01 6.78416963e-03 8.11952846e+01] [ 2.96689953e-02 9.64216142e-04 9.99559313e-01 1.18155124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.536875 meters 0.031080131718930627 Centerline is valid? [True, True] Translation: X:241.33, Y:81.19, Z:11.82 [[ 9.64918879e-01 2.60937029e-01 -2.90417513e-02 2.41331255e+02] [-2.60849659e-01 9.65355316e-01 6.82422244e-03 8.11858765e+01] [ 2.98163013e-02 9.90709863e-04 9.99554904e-01 1.18170790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.566875 meters 0.031750850989294345 Centerline is valid? [True, True] Translation: X:241.36, Y:81.18, Z:11.82 [[ 9.64608148e-01 2.62024409e-01 -2.95690796e-02 2.41361052e+02] [-2.61934149e-01 9.65060689e-01 6.95464623e-03 8.11780088e+01] [ 3.03582434e-02 1.03664328e-03 9.99538545e-01 1.18177569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.596875 meters 0.03250234052312832 Centerline is valid? [True, True] Translation: X:241.39, Y:81.17, Z:11.82 [[ 9.64213654e-01 2.63450270e-01 -2.97654921e-02 2.41392714e+02] [-2.63359273e-01 9.64672372e-01 7.00775229e-03 8.11708805e+01] [ 3.05601421e-02 1.08204792e-03 9.99532344e-01 1.18181358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.626875 meters 0.030064878454753575 Centerline is valid? [True, True] Translation: X:241.42, Y:81.16, Z:11.82 [[ 9.63352923e-01 2.66522921e-01 -3.02767017e-02 2.41421815e+02] [-2.66430238e-01 9.63827836e-01 7.12963155e-03 8.11594458e+01] [ 3.10817381e-02 1.19827744e-03 9.99516128e-01 1.18234186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.656875 meters 0.0307002305944526 Centerline is valid? [True, True] Translation: X:241.45, Y:81.15, Z:11.82 [[ 9.62964826e-01 2.67941065e-01 -3.01052991e-02 2.41452744e+02] [-2.67849917e-01 9.63434518e-01 7.09584175e-03 8.11524244e+01] [ 3.09057517e-02 1.23065584e-03 9.99521546e-01 1.18247398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.686875 meters 0.03053063214537837 Centerline is valid? [True, True] Translation: X:241.48, Y:81.14, Z:11.83 [[ 9.62634145e-01 2.69115340e-01 -3.02065705e-02 2.41483686e+02] [-2.69023915e-01 9.63107124e-01 7.12741833e-03 8.11430120e+01] [ 3.10102608e-02 1.26519361e-03 9.99518265e-01 1.18276274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.716875 meters 0.03224354938348671 Centerline is valid? [True, True] Translation: X:241.51, Y:81.14, Z:11.83 [[ 9.62444878e-01 2.69828377e-01 -2.98747917e-02 2.41514088e+02] [-2.69739074e-01 9.62907598e-01 7.05624647e-03 8.11353300e+01] [ 3.06706394e-02 1.26715035e-03 9.99528742e-01 1.18284733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.746875 meters 0.030708302196834274 Centerline is valid? [True, True] Translation: X:241.54, Y:81.12, Z:11.83 [[ 9.62533003e-01 2.69454079e-01 -3.04091745e-02 2.41544178e+02] [-2.69361125e-01 9.63012402e-01 7.19017057e-03 8.11240260e+01] [ 3.12218329e-02 1.27027297e-03 9.99511673e-01 1.18307032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.776875 meters 0.03162426843946195 Centerline is valid? [True, True] Translation: X:241.58, Y:81.12, Z:11.83 [[ 9.62545258e-01 2.69300612e-01 -3.13656807e-02 2.41575153e+02] [-2.69201362e-01 9.63055294e-01 7.42484136e-03 8.11167381e+01] [ 3.22063992e-02 1.29693812e-03 9.99480398e-01 1.18303643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.806875 meters 0.03047771564491847 Centerline is valid? [True, True] Translation: X:241.61, Y:81.11, Z:11.83 [[ 9.62689607e-01 2.68802580e-01 -3.12072623e-02 2.41606024e+02] [-2.68703913e-01 9.63194457e-01 7.39222100e-03 8.11055254e+01] [ 3.20457101e-02 1.26909916e-03 9.99485599e-01 1.18334715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.836875 meters 0.03020251806806609 Centerline is valid? [True, True] Translation: X:241.64, Y:81.10, Z:11.84 [[ 9.62870332e-01 2.68274124e-01 -3.01615463e-02 2.41637128e+02] [-2.68181479e-01 9.63341865e-01 7.15164689e-03 8.10972051e+01] [ 3.09744821e-02 1.20265949e-03 9.99519452e-01 1.18361708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.866875 meters 0.03023239790517527 Centerline is valid? [True, True] Translation: X:241.67, Y:81.09, Z:11.84 [[ 9.62904640e-01 2.68155952e-01 -3.01170991e-02 2.41667186e+02] [-2.68063375e-01 9.63374778e-01 7.14590243e-03 8.10904071e+01] [ 3.09302699e-02 1.19246860e-03 9.99520833e-01 1.18368973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.896875 meters 0.03207927871183463 Centerline is valid? [True, True] Translation: X:241.70, Y:81.08, Z:11.84 [[ 9.62963367e-01 2.67875979e-01 -3.07247993e-02 2.41699230e+02] [-2.67779226e-01 9.63452656e-01 7.29826455e-03 8.10849263e+01] [ 3.15569193e-02 1.19950160e-03 9.99501237e-01 1.18352661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.926875 meters 0.03207927871183463 Centerline is valid? [True, True] Translation: X:241.73, Y:81.08, Z:11.84 [[ 9.62893114e-01 2.68128618e-01 -3.07228752e-02 2.41730807e+02] [-2.68031736e-01 9.63382378e-01 7.30635972e-03 8.10773150e+01] [ 3.15569206e-02 1.19946209e-03 9.99501237e-01 1.18354141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.956875 meters 0.03187255771240167 Centerline is valid? [True, True] Translation: X:241.76, Y:81.07, Z:11.84 [[ 9.63308745e-01 2.66498133e-01 -3.18591770e-02 2.41759819e+02] [-2.66392818e-01 9.63834711e-01 7.58398483e-03 8.10653320e+01] [ 3.27280984e-02 1.18133704e-03 9.99463594e-01 1.18377984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.986875 meters 0.0313685444194803 Centerline is valid? [True, True] Translation: X:241.79, Y:81.05, Z:11.84 [[ 9.63640151e-01 2.65284653e-01 -3.19642465e-02 2.41789986e+02] [-2.65177718e-01 9.64169467e-01 7.61682509e-03 8.10531194e+01] [ 3.28395773e-02 1.13632747e-03 9.99459990e-01 1.18417588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.016875 meters 0.02989581985408226 Centerline is valid? [True, True] Translation: X:241.82, Y:81.04, Z:11.84 [[ 9.63914364e-01 2.64431257e-01 -3.07442409e-02 2.41819814e+02] [-2.64331674e-01 9.64403956e-01 7.33318410e-03 8.10448065e+01] [ 3.15889907e-02 1.05811518e-03 9.99500383e-01 1.18434336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.046875 meters 0.029849181044786063 Centerline is valid? [True, True] Translation: X:241.85, Y:81.04, Z:11.84 [[ 9.64166008e-01 2.63461095e-01 -3.11794741e-02 2.41851191e+02] [-2.63357921e-01 9.64669468e-01 7.44460425e-03 8.10362560e+01] [ 3.20392503e-02 1.03352712e-03 9.99486077e-01 1.18447292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.076875 meters 0.028439178460246167 Centerline is valid? [True, True] Translation: X:241.88, Y:81.03, Z:11.85 [[ 9.64646499e-01 2.61400100e-01 -3.35726033e-02 2.41882390e+02] [-2.61278898e-01 9.65229987e-01 8.02560091e-03 8.10251987e+01] [ 3.45031763e-02 1.02994498e-03 9.99404057e-01 1.18468905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1068750000001 meters 0.02949393205421483 Centerline is valid? [True, True] Translation: X:241.91, Y:81.02, Z:11.84 [[ 9.64777286e-01 2.60782019e-01 -3.46053086e-02 2.41913457e+02] [-2.60652512e-01 9.65397161e-01 8.28189929e-03 8.10191526e+01] [ 3.55676371e-02 1.02977228e-03 9.99366741e-01 1.18447336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.136875 meters 0.027833653046798804 Centerline is valid? [True, True] Translation: X:241.94, Y:81.01, Z:11.85 [[ 9.64834583e-01 2.60387642e-01 -3.59514062e-02 2.41943765e+02] [-2.60247242e-01 9.65503590e-01 8.61338188e-03 8.10076974e+01] [ 3.69540299e-02 1.04576560e-03 9.99316419e-01 1.18492508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.166875 meters 0.029641324243415333 Centerline is valid? [True, True] Translation: X:241.97, Y:81.00, Z:11.85 [[ 9.65098404e-01 2.59389250e-01 -3.60872099e-02 2.41974996e+02] [-2.59246750e-01 9.65772340e-01 8.65511285e-03 8.10024292e+01] [ 3.70970724e-02 1.00245627e-03 9.99311164e-01 1.18460826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.196875 meters 0.027517614639181953 Centerline is valid? [True, True] Translation: X:242.00, Y:80.99, Z:11.85 [[ 9.65939869e-01 2.56259361e-01 -3.59347891e-02 2.42003597e+02] [-2.56115812e-01 9.66607662e-01 8.62082635e-03 8.09882974e+01] [ 3.69440099e-02 8.76267818e-04 9.99316953e-01 1.18543473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2268750000001 meters 0.03271544475530968 Centerline is valid? [True, True] Translation: X:242.04, Y:80.99, Z:11.84 [[ 9.66621079e-01 2.53770148e-01 -3.52760656e-02 2.42035802e+02] [-2.53629891e-01 9.67264253e-01 8.47015977e-03 8.09889671e+01] [ 3.62707510e-02 7.59629687e-04 9.99341711e-01 1.18404024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.256875 meters 0.02737083602863644 Centerline is valid? [True, True] Translation: X:242.06, Y:80.97, Z:11.86 [[ 9.66903051e-01 2.52787736e-01 -3.45955380e-02 2.42064496e+02] [-2.52651907e-01 9.67521509e-01 8.31531575e-03 8.09713888e+01] [ 3.55739370e-02 7.00524478e-04 9.99366802e-01 1.18578271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.286875 meters 0.02792867521956492 Centerline is valid? [True, True] Translation: X:242.09, Y:80.96, Z:11.86 [[ 9.68013131e-01 2.48537223e-01 -3.43486126e-02 2.42094688e+02] [-2.48400571e-01 9.68622196e-01 8.25813777e-03 8.09619662e+01] [ 3.53232832e-02 5.38229188e-04 9.99375793e-01 1.18604910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.316875 meters 0.028435574869728017 Centerline is valid? [True, True] Translation: X:242.13, Y:80.95, Z:11.86 [[ 9.68406361e-01 2.47065645e-01 -3.38775278e-02 2.42125601e+02] [-2.46931556e-01 9.68998630e-01 8.15236074e-03 8.09536693e+01] [ 3.48414463e-02 4.70632640e-04 9.99392742e-01 1.18613816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.346875 meters 0.02668968641494186 Centerline is valid? [True, True] Translation: X:242.16, Y:80.94, Z:11.87 [[ 9.68478121e-01 2.46781139e-01 -3.38998437e-02 2.42157212e+02] [-2.46646362e-01 9.69071136e-01 8.16740910e-03 8.09444212e+01] [ 3.48669226e-02 4.51316093e-04 9.99391862e-01 1.18650034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.376875 meters 0.026972416570462607 Centerline is valid? [True, True] Translation: X:242.19, Y:80.93, Z:11.87 [[ 9.68909018e-01 2.45003585e-01 -3.44754575e-02 2.42188632e+02] [-2.44862708e-01 9.69522097e-01 8.31615057e-03 8.09348430e+01] [ 3.54622045e-02 3.84160599e-04 9.99370944e-01 1.18683272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.406875 meters 0.028490295755831244 Centerline is valid? [True, True] Translation: X:242.22, Y:80.93, Z:11.87 [[ 9.69190596e-01 2.43812932e-01 -3.49977536e-02 2.42220875e+02] [-2.43666610e-01 9.69822221e-01 8.45233893e-03 8.09270519e+01] [ 3.60023886e-02 3.35856556e-04 9.99351647e-01 1.18689367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.436875 meters 0.02963006367125821 Centerline is valid? [True, True] Translation: X:242.25, Y:80.92, Z:11.87 [[ 9.69507097e-01 2.42619081e-01 -3.45249201e-02 2.42252401e+02] [-2.42475608e-01 9.70121592e-01 8.34722107e-03 8.09214393e+01] [ 3.55185656e-02 2.78760927e-04 9.99368978e-01 1.18723705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.466875 meters 0.029466681759725465 Centerline is valid? [True, True] Translation: X:242.28, Y:80.92, Z:11.87 [[ 9.69386908e-01 2.43101626e-01 -3.45053855e-02 2.42283789e+02] [-2.42958284e-01 9.70000782e-01 8.35194213e-03 8.09160034e+01] [ 3.55006216e-02 2.87105897e-04 9.99369613e-01 1.18705513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.496875 meters 0.02808122567165166 Centerline is valid? [True, True] Translation: X:242.32, Y:80.91, Z:11.87 [[ 9.69150856e-01 2.44068442e-01 -3.43105650e-02 2.42316305e+02] [-2.43926981e-01 9.69757959e-01 8.31437882e-03 8.09097935e+01] [ 3.53022210e-02 3.11385211e-04 9.99376634e-01 1.18719493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.526875 meters 0.028152269680292497 Centerline is valid? [True, True] Translation: X:242.35, Y:80.90, Z:11.87 [[ 9.69122982e-01 2.44165792e-01 -3.44051052e-02 2.42348448e+02] [-2.44023271e-01 9.69733454e-01 8.34692635e-03 8.09033710e+01] [ 3.54018154e-02 3.06448165e-04 9.99373112e-01 1.18724958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.556875 meters 0.029573665376273286 Centerline is valid? [True, True] Translation: X:242.38, Y:80.90, Z:11.87 [[ 9.69124940e-01 2.44277595e-01 -3.35456126e-02 2.42378908e+02] [-2.44141906e-01 9.69705300e-01 8.14618568e-03 8.08984220e+01] [ 3.45192890e-02 2.95218108e-04 9.99403988e-01 1.18737104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.586875 meters 0.02814177152391636 Centerline is valid? [True, True] Translation: X:242.41, Y:80.89, Z:11.88 [[ 9.68782692e-01 2.45678186e-01 -3.32012663e-02 2.42410680e+02] [-2.45545767e-01 9.69351391e-01 8.07202275e-03 8.08907866e+01] [ 3.41668136e-02 3.32394486e-04 9.99416089e-01 1.18798274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.616875 meters 0.02881985973675116 Centerline is valid? [True, True] Translation: X:242.44, Y:80.89, Z:11.88 [[ 9.68679225e-01 2.46073040e-01 -3.32959107e-02 2.42442248e+02] [-2.45939783e-01 9.69251229e-01 8.10424411e-03 8.08869131e+01] [ 3.42663384e-02 3.38376144e-04 9.99412679e-01 1.18765263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.646875 meters 0.028012915479806427 Centerline is valid? [True, True] Translation: X:242.47, Y:80.88, Z:11.88 [[ 9.68402201e-01 2.47448944e-01 -3.10836941e-02 2.42474398e+02] [-2.47333264e-01 9.68900869e-01 7.57375861e-03 8.08845751e+01] [ 3.19911368e-02 3.53587003e-04 9.99488090e-01 1.18803648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.676875 meters 0.028079194055486974 Centerline is valid? [True, True] Translation: X:242.51, Y:80.88, Z:11.88 [[ 9.68212936e-01 2.48343740e-01 -2.98177358e-02 2.42505591e+02] [-2.48237498e-01 9.68671904e-01 7.27239333e-03 8.08810163e+01] [ 3.06896562e-02 3.60654822e-04 9.99528896e-01 1.18789088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.706875 meters 0.027759826504954527 Centerline is valid? [True, True] Translation: X:242.54, Y:80.87, Z:11.88 [[ 9.68034211e-01 2.49174016e-01 -2.86718730e-02 2.42537028e+02] [-2.49075933e-01 9.68458660e-01 7.00018949e-03 8.08749824e+01] [ 2.95117890e-02 3.65050628e-04 9.99564366e-01 1.18814778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.736875 meters 0.028054047172203476 Centerline is valid? [True, True] Translation: X:242.57, Y:80.87, Z:11.88 [[ 9.67507514e-01 2.51431442e-01 -2.66728348e-02 2.42569633e+02] [-2.51347334e-01 9.67875028e-01 6.51524363e-03 8.08707885e+01] [ 2.74541078e-02 4.00598753e-04 9.99622985e-01 1.18818008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.766875 meters 0.02819468927940714 Centerline is valid? [True, True] Translation: X:242.60, Y:80.87, Z:11.88 [[ 9.67172408e-01 2.52782302e-01 -2.60507343e-02 2.42602602e+02] [-2.52702378e-01 9.67523090e-01 6.37011412e-03 8.08650114e+01] [ 2.68149391e-02 4.22083910e-04 9.99640326e-01 1.18819748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.796875 meters 0.02839095679859918 Centerline is valid? [True, True] Translation: X:242.63, Y:80.86, Z:11.88 [[ 9.66825716e-01 2.54165500e-01 -2.54545303e-02 2.42633849e+02] [-2.54089486e-01 9.67160639e-01 6.23142629e-03 8.08602263e+01] [ 2.62024333e-02 4.43025324e-04 9.99656559e-01 1.18810140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.826875 meters 0.028849129379188748 Centerline is valid? [True, True] Translation: X:242.67, Y:80.86, Z:11.88 [[ 9.66432773e-01 2.55726443e-01 -2.47322051e-02 2.42666325e+02] [-2.55655012e-01 9.66749073e-01 6.06171416e-03 8.08558466e+01] [ 2.54599769e-02 4.64672970e-04 9.99675734e-01 1.18796422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8568750000001 meters 0.02916085270207755 Centerline is valid? [True, True] Translation: X:242.70, Y:80.86, Z:11.88 [[ 9.65481830e-01 2.59509153e-01 -2.23569989e-02 2.42699777e+02] [-2.59451665e-01 9.65740516e-01 5.48530426e-03 8.08565781e+01] [ 2.30145463e-02 5.04598991e-04 9.99735003e-01 1.18780112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.886875 meters 0.029329796933008925 Centerline is valid? [True, True] Translation: X:242.73, Y:80.85, Z:11.88 [[ 9.65225538e-01 2.60644440e-01 -2.01031411e-02 2.42731772e+02] [-2.60598102e-01 9.65434748e-01 4.93736039e-03 8.08525571e+01] [ 2.06951665e-02 4.73174078e-04 9.99785720e-01 1.18778987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.916875 meters 0.029628132045233565 Centerline is valid? [True, True] Translation: X:242.76, Y:80.85, Z:11.88 [[ 9.64892383e-01 2.62092477e-01 -1.70359156e-02 2.42763401e+02] [-2.62059352e-01 9.65042670e-01 4.18823717e-03 8.08480163e+01] [ 1.75380909e-02 4.23222869e-04 9.99846106e-01 1.18785904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.946875 meters 0.03012080862820694 Centerline is valid? [True, True] Translation: X:242.79, Y:80.84, Z:11.88 [[ 9.64726859e-01 2.62987183e-01 -1.18249005e-02 2.42793994e+02] [-2.62971269e-01 9.64799279e-01 2.90898673e-03 8.08437956e+01] [ 1.21736817e-02 3.03231446e-04 9.99925852e-01 1.18809969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9768750000001 meters 0.030368943810698802 Centerline is valid? [True, True] Translation: X:242.83, Y:80.84, Z:11.88 [[ 9.64667254e-01 2.63251234e-01 -1.07646240e-02 2.42826158e+02] [-2.63238035e-01 9.64727273e-01 2.65057328e-03 8.08367215e+01] [ 1.10826930e-02 2.76737217e-04 9.99938547e-01 1.18804857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.006875 meters 0.030348485051027066 Centerline is valid? [True, True] Translation: X:242.86, Y:80.83, Z:11.88 [[ 9.64586858e-01 2.63581786e-01 -9.84045747e-03 2.42858063e+02] [-2.63570746e-01 9.64637019e-01 2.42575175e-03 8.08300492e+01] [ 1.01318535e-02 2.53808458e-04 9.99948639e-01 1.18793467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.036875 meters 0.03059559403653866 Centerline is valid? [True, True] Translation: X:242.89, Y:80.83, Z:11.88 [[ 9.64206108e-01 2.65000033e-01 -9.03122103e-03 2.42890138e+02] [-2.64990774e-01 9.64248372e-01 2.22862207e-03 8.08254527e+01] [ 9.29892510e-03 2.44339240e-04 9.99956734e-01 1.18764485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.066875 meters 0.030945108538371614 Centerline is valid? [True, True] Translation: X:242.92, Y:80.82, Z:11.88 [[ 9.63719276e-01 2.66808725e-01 -7.63284062e-03 2.42921896e+02] [-2.66802155e-01 9.63749478e-01 1.88532126e-03 8.08202366e+01] [ 7.85916632e-03 2.19537878e-04 9.99969092e-01 1.18763993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.096875 meters 0.03129575096882966 Centerline is valid? [True, True] Translation: X:242.95, Y:80.82, Z:11.88 [[ 9.63267058e-01 2.68480708e-01 -5.88931799e-03 2.42953396e+02] [-2.68476820e-01 9.63285045e-01 1.45591250e-03 8.08153072e+01] [ 6.06397637e-03 1.78712819e-04 9.99981598e-01 1.18772015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.126875 meters 0.03277122647262545 Centerline is valid? [True, True] Translation: X:242.98, Y:80.81, Z:11.88 [[ 9.61924476e-01 2.73305919e-01 -2.27543818e-03 2.42984200e+02] [-2.73305351e-01 9.61927164e-01 5.62910945e-04 8.08136860e+01] [ 2.34265268e-03 8.04116133e-05 9.99997253e-01 1.18792383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.156875 meters 0.03360490541410577 Centerline is valid? [True, True] Translation: X:243.02, Y:80.81, Z:11.88 [[ 9.61271728e-01 2.75588857e-01 -2.72894913e-03 2.43016065e+02] [-2.75588050e-01 9.61275596e-01 6.75078787e-04 8.08084193e+01] [ 2.80931639e-03 1.03131617e-04 9.99996049e-01 1.18789843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.186875 meters 0.034271006179938765 Centerline is valid? [True, True] Translation: X:243.05, Y:80.80, Z:11.88 [[ 9.60437304e-01 2.78488020e-01 -2.14639356e-03 2.43047290e+02] [-2.78487529e-01 9.60439699e-01 5.30686256e-04 8.08029224e+01] [ 2.20927135e-03 8.80529609e-05 9.99997556e-01 1.18771626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.216875 meters 0.036755980492977264 Centerline is valid? [True, True] Translation: X:243.08, Y:80.80, Z:11.87 [[ 9.58742925e-01 2.84263329e-01 -2.52265348e-03 2.43077634e+02] [-2.84262666e-01 9.58746236e-01 6.24940981e-04 8.08019453e+01] [ 2.59623233e-03 1.17938461e-04 9.99996623e-01 1.18742957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.246875 meters 0.038079781627149985 Centerline is valid? [True, True] Translation: X:243.11, Y:80.80, Z:11.87 [[ 9.57946896e-01 2.86942044e-01 -1.41678120e-03 2.43107586e+02] [-2.86941838e-01 9.57947941e-01 3.50906384e-04 8.07966241e+01] [ 1.45789243e-03 7.03841190e-05 9.99998935e-01 1.18744811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.276875 meters 0.03975941114763721 Centerline is valid? [True, True] Translation: X:243.14, Y:80.79, Z:11.87 [[ 9.57306535e-01 2.89073930e-01 -6.79338460e-04 2.43138198e+02] [-2.89073884e-01 9.57306775e-01 1.67449181e-04 8.07912252e+01] [ 6.98740504e-04 3.60788122e-05 9.99999755e-01 1.18749934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.306875 meters 0.03862288090040673 Centerline is valid? [True, True] Translation: X:243.17, Y:80.78, Z:11.88 [[ 9.56889460e-01 2.90452339e-01 -1.21025557e-05 2.43168508e+02] [-2.90452339e-01 9.56889460e-01 2.44459631e-06 8.07816628e+01] [ 1.22908467e-05 1.17600715e-06 1.00000000e+00 1.18750895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.336875 meters 0.0380100962645883 Centerline is valid? [True, True] Translation: X:243.20, Y:80.77, Z:11.87 [[ 9.56300357e-01 2.92384299e-01 1.02384791e-03 2.43200081e+02] [-2.92384194e-01 9.56300904e-01 -2.54398951e-04 8.07740645e+01] [-1.05348894e-03 -5.60751370e-05 9.99999444e-01 1.18730410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.366875 meters 0.038584098204124714 Centerline is valid? [True, True] Translation: X:243.23, Y:80.77, Z:11.87 [[ 9.55953938e-01 2.93505800e-01 2.53242825e-03 2.43230943e+02] [-2.93505158e-01 9.55957282e-01 -6.30088277e-04 8.07669054e+01] [-2.60582779e-03 -1.40945383e-04 9.99996595e-01 1.18733676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.396875 meters 0.038842675268695476 Centerline is valid? [True, True] Translation: X:243.26, Y:80.76, Z:11.87 [[ 9.55821358e-01 2.93935461e-01 2.73427811e-03 2.43262381e+02] [-2.93934712e-01 9.55825257e-01 -6.80990878e-04 8.07586948e+01] [-2.81365945e-03 -1.52793625e-04 9.99996030e-01 1.18742893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.426875 meters 0.03693552042494216 Centerline is valid? [True, True] Translation: X:243.29, Y:80.74, Z:11.87 [[ 9.55589533e-01 2.94689687e-01 2.57555825e-03 2.43291309e+02] [-2.94689025e-01 9.55592992e-01 -6.41396100e-04 8.07438040e+01] [-2.65019823e-03 -1.46077352e-04 9.99996478e-01 1.18747838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.456875 meters 0.03741983043777167 Centerline is valid? [True, True] Translation: X:243.32, Y:80.74, Z:11.87 [[ 9.55614257e-01 2.94612636e-01 2.18780078e-03 2.43321560e+02] [-2.94612157e-01 9.55616753e-01 -5.45278507e-04 8.07361648e+01] [-2.25134501e-03 -1.23476791e-04 9.99997458e-01 1.18741800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.486875 meters 0.04088717635415008 Centerline is valid? [True, True] Translation: X:243.35, Y:80.73, Z:11.87 [[ 9.55487551e-01 2.95021271e-01 2.44737330e-03 2.43353155e+02] [-2.95020671e-01 9.55490675e-01 -6.10882704e-04 8.07342613e+01] [-2.51866576e-03 -1.38334896e-04 9.99996819e-01 1.18746366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.516875 meters 0.03677241599595669 Centerline is valid? [True, True] Translation: X:243.38, Y:80.72, Z:11.87 [[ 9.55568516e-01 2.94752655e-01 3.11174054e-03 2.43382658e+02] [-2.94751681e-01 9.55573567e-01 -7.77335924e-04 8.07204371e+01] [-3.20261883e-03 -1.74393020e-04 9.99994856e-01 1.18713537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.546875 meters 0.036644284337380616 Centerline is valid? [True, True] Translation: X:243.41, Y:80.71, Z:11.87 [[ 9.55695585e-01 2.94335374e-01 3.55477765e-03 2.43413529e+02] [-2.94334098e-01 9.55702176e-01 -8.88763868e-04 8.07122035e+01] [-3.65890338e-03 -1.96904569e-04 9.99993287e-01 1.18707278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.576875 meters 0.03997609221137836 Centerline is valid? [True, True] Translation: X:243.45, Y:80.71, Z:11.87 [[ 9.55965245e-01 2.93457552e-01 3.62158690e-03 2.43445021e+02] [-2.93456218e-01 9.55972085e-01 -9.06370050e-04 8.07080698e+01] [-3.72811712e-03 -1.96318929e-04 9.99993031e-01 1.18718824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6068750000001 meters 0.035617012325888944 Centerline is valid? [True, True] Translation: X:243.47, Y:80.69, Z:11.87 [[ 9.56361516e-01 2.92166748e-01 3.35293455e-03 2.43474192e+02] [-2.92165593e-01 9.56367377e-01 -8.40097206e-04 8.06910973e+01] [-3.45208569e-03 -1.76175474e-04 9.99994026e-01 1.18714177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.636875 meters 0.03607387462488483 Centerline is valid? [True, True] Translation: X:243.50, Y:80.68, Z:11.87 [[ 9.57154614e-01 2.89558228e-01 3.32823248e-03 2.43503098e+02] [-2.89557077e-01 9.57160386e-01 -8.33058746e-04 8.06807691e+01] [-3.42687130e-03 -1.66347247e-04 9.99994114e-01 1.18719238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.666875 meters 0.034825548954345725 Centerline is valid? [True, True] Translation: X:243.53, Y:80.67, Z:11.87 [[ 9.57418976e-01 2.88684186e-01 3.21650013e-03 2.43533197e+02] [-2.88683100e-01 9.57424366e-01 -8.06886672e-04 8.06696832e+01] [-3.31249102e-03 -1.56020619e-04 9.99994502e-01 1.18722610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.696875 meters 0.03372302149915137 Centerline is valid? [True, True] Translation: X:243.56, Y:80.66, Z:11.87 [[ 9.57794195e-01 2.87432412e-01 3.59010036e-03 2.43563625e+02] [-2.87431048e-01 9.57800908e-01 -9.01411077e-04 8.06595096e+01] [-3.69769614e-03 -1.68540012e-04 9.99993149e-01 1.18724139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7268750000001 meters 0.0335629799589368 Centerline is valid? [True, True] Translation: X:243.59, Y:80.65, Z:11.87 [[ 9.57902089e-01 2.87072135e-01 3.63017174e-03 2.43594216e+02] [-2.87070734e-01 9.57908952e-01 -9.12399047e-04 8.06500563e+01] [-3.73929835e-03 -1.68127113e-04 9.99992995e-01 1.18729089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.756875 meters 0.03450045258454598 Centerline is valid? [True, True] Translation: X:243.62, Y:80.64, Z:11.87 [[ 9.57340053e-01 2.88932789e-01 4.22693518e-03 2.43624119e+02] [-2.88930909e-01 9.57349362e-01 -1.06217141e-03 8.06430842e+01] [-4.35354985e-03 -2.04432990e-04 9.99990502e-01 1.18732789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.786875 meters 0.036062813341136556 Centerline is valid? [True, True] Translation: X:243.66, Y:80.63, Z:11.87 [[ 9.56986598e-01 2.90112858e-01 3.34381717e-03 2.43655242e+02] [-2.90111683e-01 9.56992425e-01 -8.41833846e-04 8.06346023e+01] [-3.44423453e-03 -1.64456719e-04 9.99994055e-01 1.18728571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.816875 meters 0.03736535629479739 Centerline is valid? [True, True] Translation: X:243.69, Y:80.63, Z:11.87 [[ 9.56113708e-01 2.92964951e-01 4.25622907e-03 2.43685928e+02] [-2.92963082e-01 9.56123155e-01 -1.07023500e-03 8.06315868e+01] [-4.38302051e-03 -2.23651638e-04 9.99990370e-01 1.18731841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.846875 meters 0.03736535629479739 Centerline is valid? [True, True] Translation: X:243.72, Y:80.62, Z:11.87 [[ 9.56034979e-01 2.93221772e-01 4.25566285e-03 2.43717421e+02] [-2.93219895e-01 9.56044425e-01 -1.07248567e-03 8.06235667e+01] [-4.38307889e-03 -2.22511196e-04 9.99990370e-01 1.18733318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.876875 meters 0.03659786286986228 Centerline is valid? [True, True] Translation: X:243.75, Y:80.61, Z:11.87 [[ 9.55411075e-01 2.95254654e-01 3.79047422e-03 2.43747535e+02] [-2.95253177e-01 9.55418572e-01 -9.56079075e-04 8.06142226e+01] [-3.90377627e-03 -2.05701022e-04 9.99992359e-01 1.18735187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.906875 meters 0.03614060180653176 Centerline is valid? [True, True] Translation: X:243.78, Y:80.61, Z:11.87 [[ 9.54964980e-01 2.96696865e-01 3.58574668e-03 2.43778805e+02] [-2.96695550e-01 9.54971691e-01 -9.05521755e-04 8.06053530e+01] [-3.69295203e-03 -1.99133517e-04 9.99993161e-01 1.18732890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.936875 meters 0.03747828872934294 Centerline is valid? [True, True] Translation: X:243.81, Y:80.60, Z:11.87 [[ 9.54163147e-01 2.99272851e-01 2.90672422e-03 2.43809076e+02] [-2.99272001e-01 9.54167559e-01 -7.33388896e-04 8.05978339e+01] [-2.99298535e-03 -1.70128517e-04 9.99995507e-01 1.18747561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.966875 meters 0.03802560557262918 Centerline is valid? [True, True] Translation: X:243.84, Y:80.59, Z:11.87 [[ 9.53821996e-01 3.00368173e-01 1.60043422e-03 2.43839296e+02] [-3.00367914e-01 9.53823334e-01 -4.05303724e-04 8.05878535e+01] [-1.64827184e-03 -9.41314826e-05 9.99998637e-01 1.18748630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.996875 meters 0.03754868238946077 Centerline is valid? [True, True] Translation: X:243.87, Y:80.58, Z:11.88 [[ 9.53377263e-01 3.01775768e-01 1.78347699e-03 2.43869428e+02] [-3.01775450e-01 9.53378925e-01 -4.51173205e-04 8.05813160e+01] [-1.83648252e-03 -1.08071296e-04 9.99998308e-01 1.18750235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.026875 meters 0.03955489605662715 Centerline is valid? [True, True] Translation: X:243.90, Y:80.58, Z:11.88 [[ 9.52791371e-01 3.03618599e-01 2.08568588e-03 2.43899423e+02] [-3.03618168e-01 9.52793645e-01 -5.27785631e-04 8.05754840e+01] [-2.14747378e-03 -1.30382530e-04 9.99997686e-01 1.18760701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.056875 meters 0.038470427721289197 Centerline is valid? [True, True] Translation: X:243.93, Y:80.57, Z:11.88 [[ 9.52299036e-01 3.05156069e-01 2.51407769e-03 2.43929369e+02] [-3.05155446e-01 9.52302341e-01 -6.37186740e-04 8.05654381e+01] [-2.58860347e-03 -1.60392180e-04 9.99996637e-01 1.18764003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.086875 meters 0.039700083792766565 Centerline is valid? [True, True] Translation: X:243.96, Y:80.56, Z:11.88 [[ 9.51808068e-01 3.06683835e-01 2.53522903e-03 2.43960174e+02] [-3.06683205e-01 9.51811430e-01 -6.43143012e-04 8.05585137e+01] [-2.61030154e-03 -1.65363457e-04 9.99996579e-01 1.18770448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.116875 meters 0.04541411334094052 Centerline is valid? [True, True] Translation: X:243.99, Y:80.56, Z:11.88 [[ 9.51412386e-01 3.07910471e-01 2.36909068e-03 2.43991892e+02] [-3.07909927e-01 9.51415323e-01 -6.00253711e-04 8.05585658e+01] [-2.43881357e-03 -1.58377721e-04 9.99997014e-01 1.18782424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.146875 meters 0.040519611272856845 Centerline is valid? [True, True] Translation: X:244.02, Y:80.54, Z:11.88 [[ 9.50285597e-01 3.11378825e-01 7.15415580e-04 2.44020130e+02] [-3.11378776e-01 9.50285865e-01 -1.81292299e-04 8.05430207e+01] [-7.36299896e-04 -5.04857669e-05 9.99999728e-01 1.18756754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.176875 meters 0.05008276165190702 Centerline is valid? [True, True] Translation: X:244.05, Y:80.55, Z:11.88 [[ 9.49809231e-01 3.12829501e-01 -3.57798621e-04 2.44053935e+02] [-3.12829489e-01 9.49809298e-01 8.96531700e-05 8.05488620e+01] [ 3.67886613e-04 2.67765513e-05 9.99999932e-01 1.18754092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.206875 meters 0.04418308879040097 Centerline is valid? [True, True] Translation: X:244.08, Y:80.53, Z:11.87 [[ 9.49542205e-01 3.13638767e-01 -5.69211959e-04 2.44082726e+02] [-3.13638737e-01 9.49542375e-01 1.43346804e-04 8.05323789e+01] [ 5.85449990e-04 4.24130796e-05 9.99999828e-01 1.18736662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.236875 meters 0.04144549410266967 Centerline is valid? [True, True] Translation: X:244.11, Y:80.52, Z:11.87 [[ 9.49195161e-01 3.14682396e-01 -1.88030816e-03 2.44113027e+02] [-3.14682066e-01 9.49197013e-01 4.76582317e-04 8.05196506e+01] [ 1.93475496e-03 1.39329628e-04 9.99998119e-01 1.18727426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.266875 meters 0.05339454743457936 Centerline is valid? [True, True] Translation: X:244.15, Y:80.53, Z:11.87 [[ 9.48595105e-01 3.16452440e-01 -5.01798435e-03 2.44145619e+02] [-3.16450098e-01 9.48608302e-01 1.27496324e-03 8.05254124e+01] [ 5.16356684e-03 3.78517754e-04 9.99986597e-01 1.18717800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.296875 meters 0.04182073131597972 Centerline is valid? [True, True] Translation: X:244.17, Y:80.50, Z:11.87 [[ 9.48458878e-01 3.16841657e-01 -6.09264731e-03 2.44173303e+02] [-3.16838209e-01 9.48478335e-01 1.54863164e-03 8.04989735e+01] [ 6.26941499e-03 4.61570030e-04 9.99980240e-01 1.18721524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.326875 meters 0.04108322341339227 Centerline is valid? [True, True] Translation: X:244.20, Y:80.49, Z:11.87 [[ 9.48098348e-01 3.17934184e-01 -5.23224792e-03 2.44204602e+02] [-3.17931651e-01 9.48112701e-01 1.33116370e-03 8.04923389e+01] [ 5.38398316e-03 4.01423110e-04 9.99985426e-01 1.18728607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3568750000001 meters 0.045595737621073766 Centerline is valid? [True, True] Translation: X:244.24, Y:80.49, Z:11.87 [[ 9.47883642e-01 3.18581031e-01 -4.76742509e-03 2.44236028e+02] [-3.18578934e-01 9.47895559e-01 1.21326377e-03 8.04906032e+01] [ 4.90554389e-03 3.68768319e-04 9.99987900e-01 1.18726605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.386875 meters 0.04165857231555079 Centerline is valid? [True, True] Translation: X:244.27, Y:80.48, Z:11.87 [[ 9.47508531e-01 3.19677614e-01 -5.81430945e-03 2.44265220e+02] [-3.19674509e-01 9.47526261e-01 1.48082577e-03 8.04753249e+01] [ 5.98259774e-03 4.55591469e-04 9.99982000e-01 1.18731609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.416875 meters 0.04283039903047383 Centerline is valid? [True, True] Translation: X:244.30, Y:80.47, Z:11.87 [[ 9.47230014e-01 3.20503649e-01 -5.71948054e-03 2.44295357e+02] [-3.20500650e-01 9.47247173e-01 1.45816636e-03 8.04678382e+01] [ 5.88510941e-03 4.51878285e-04 9.99982580e-01 1.18730954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.446875 meters 0.04213833484815248 Centerline is valid? [True, True] Translation: X:244.33, Y:80.46, Z:11.87 [[ 9.47011060e-01 3.21134084e-01 -6.55384967e-03 2.44326091e+02] [-3.21130149e-01 9.47033595e-01 1.67271090e-03 8.04579755e+01] [ 6.74388029e-03 5.20562999e-04 9.99977124e-01 1.18732627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4768750000001 meters 0.0434021296083216 Centerline is valid? [True, True] Translation: X:244.36, Y:80.45, Z:11.87 [[ 9.46750123e-01 3.21885635e-01 -7.33778567e-03 2.44356076e+02] [-3.21880713e-01 9.46778376e-01 1.87449319e-03 8.04515140e+01] [ 7.55062923e-03 5.87215020e-04 9.99971321e-01 1.18726336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.506875 meters 0.04503494665644774 Centerline is valid? [True, True] Translation: X:244.39, Y:80.45, Z:11.87 [[ 9.46345113e-01 3.23065459e-01 -7.72252808e-03 2.44387243e+02] [-3.23060034e-01 9.46376414e-01 1.97419639e-03 8.04466321e+01] [ 7.94621309e-03 6.26569083e-04 9.99968232e-01 1.18712867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.536875 meters 0.04609247975350192 Centerline is valid? [True, True] Translation: X:244.42, Y:80.44, Z:11.87 [[ 9.45988836e-01 3.24095088e-01 -8.21555839e-03 2.44418420e+02] [-3.24088974e-01 9.46024270e-01 2.10184866e-03 8.04401941e+01] [ 8.45331646e-03 6.74246525e-04 9.99964043e-01 1.18709254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.566875 meters 0.04882568862763544 Centerline is valid? [True, True] Translation: X:244.45, Y:80.44, Z:11.87 [[ 9.45854296e-01 3.24501075e-01 -7.66174572e-03 2.44450151e+02] [-3.24495759e-01 9.45885117e-01 1.96157345e-03 8.04357721e+01] [ 7.88366394e-03 6.30841321e-04 9.99968724e-01 1.18716240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.596875 meters 0.0493401687094616 Centerline is valid? [True, True] Translation: X:244.48, Y:80.42, Z:11.87 [[ 9.45555478e-01 3.25368347e-01 -7.76377828e-03 2.44479948e+02] [-3.25362901e-01 9.45587132e-01 1.98970932e-03 8.04246890e+01] [ 7.98871726e-03 6.44664874e-04 9.99967882e-01 1.18740281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.626875 meters 0.04825914018998166 Centerline is valid? [True, True] Translation: X:244.51, Y:80.41, Z:11.88 [[ 9.45639713e-01 3.25134773e-01 -7.27411089e-03 2.44510696e+02] [-3.25129974e-01 9.45667499e-01 1.86590874e-03 8.04142955e+01] [ 7.48556207e-03 6.00554078e-04 9.99971802e-01 1.18753991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.656875 meters 0.048804963677921316 Centerline is valid? [True, True] Translation: X:244.54, Y:80.41, Z:11.88 [[ 9.45580159e-01 3.25324080e-01 -6.51193414e-03 2.44542486e+02] [-3.25320227e-01 9.45602429e-01 1.67200718e-03 8.04069937e+01] [ 6.70164494e-03 5.37447078e-04 9.99977399e-01 1.18757874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.686875 meters 0.04961341705799084 Centerline is valid? [True, True] Translation: X:244.57, Y:80.40, Z:11.88 [[ 9.45432863e-01 3.25744309e-01 -6.88095323e-03 2.44573569e+02] [-3.25740004e-01 9.45457731e-01 1.76871775e-03 8.04003283e+01] [ 7.08180017e-03 5.69197850e-04 9.99974762e-01 1.18751232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.716875 meters 0.05144280495529303 Centerline is valid? [True, True] Translation: X:244.60, Y:80.40, Z:11.87 [[ 9.45038740e-01 3.26864254e-01 -7.84473835e-03 2.44604439e+02] [-3.26858681e-01 9.45071070e-01 2.01850704e-03 8.03955984e+01] [ 8.07361307e-03 6.56553482e-04 9.99967192e-01 1.18717280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.746875 meters 0.05264484059723487 Centerline is valid? [True, True] Translation: X:244.63, Y:80.39, Z:11.87 [[ 9.44765580e-01 3.27632515e-01 -8.65640122e-03 2.44634909e+02] [-3.27625743e-01 9.44804955e-01 2.22944738e-03 8.03892654e+01] [ 8.90905021e-03 7.29754732e-04 9.99960047e-01 1.18706391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.776875 meters 0.053018995087126625 Centerline is valid? [True, True] Translation: X:244.67, Y:80.38, Z:11.87 [[ 9.44509103e-01 3.28362997e-01 -8.96081422e-03 2.44665949e+02] [-3.28355752e-01 9.44551303e-01 2.31001144e-03 8.03803454e+01] [ 9.22247103e-03 7.60508052e-04 9.99957183e-01 1.18705815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.806875 meters 0.04796394436849924 Centerline is valid? [True, True] Translation: X:244.70, Y:80.36, Z:11.87 [[ 9.44559546e-01 3.28248005e-01 -7.77889794e-03 2.44695188e+02] [-3.28242527e-01 9.44591348e-01 2.00713212e-03 8.03647604e+01] [ 8.00671680e-03 6.57509316e-04 9.99967730e-01 1.18720682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.836875 meters 0.0483188663836212 Centerline is valid? [True, True] Translation: X:244.73, Y:80.36, Z:11.87 [[ 9.44655263e-01 3.28004371e-01 -6.29020012e-03 2.44726655e+02] [-3.28000775e-01 9.44676057e-01 1.62440912e-03 8.03567249e+01] [ 6.47501474e-03 5.28683889e-04 9.99978897e-01 1.18741413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.866875 meters 0.044825426439585314 Centerline is valid? [True, True] Translation: X:244.76, Y:80.34, Z:11.88 [[ 9.45259937e-01 3.26294893e-01 -3.91078978e-03 2.44755706e+02] [-3.26293486e-01 9.45267972e-01 1.01061874e-03 8.03442421e+01] [ 4.02650406e-03 3.20767828e-04 9.99991842e-01 1.18767972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.896875 meters 0.04627866683354433 Centerline is valid? [True, True] Translation: X:244.79, Y:80.34, Z:11.88 [[ 9.45471367e-01 3.25680335e-01 -4.02669167e-03 2.44786380e+02] [-3.25678837e-01 9.45479885e-01 1.04064992e-03 8.03372997e+01] [ 4.14607519e-03 3.27503554e-04 9.99991351e-01 1.18768694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.926875 meters 0.0482000599309968 Centerline is valid? [True, True] Translation: X:244.82, Y:80.33, Z:11.88 [[ 9.46052762e-01 3.23972672e-01 -5.08711414e-03 2.44816455e+02] [-3.23970249e-01 9.46066354e-01 1.31606687e-03 8.03289887e+01] [ 5.23911723e-03 4.03004938e-04 9.99986195e-01 1.18768660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.956875 meters 0.049289610860800664 Centerline is valid? [True, True] Translation: X:244.85, Y:80.32, Z:11.88 [[ 9.46421743e-01 3.22911638e-01 -3.73603122e-03 2.44845988e+02] [-3.22910323e-01 9.46429072e-01 9.66640347e-04 8.03233089e+01] [ 3.84802798e-03 2.91553606e-04 9.99992554e-01 1.18782520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.986875 meters 0.04469747866035519 Centerline is valid? [True, True] Translation: X:244.87, Y:80.31, Z:11.88 [[ 9.46848543e-01 3.21664175e-01 -3.16155437e-03 2.44874689e+02] [-3.21663226e-01 9.46853790e-01 8.18025268e-04 8.03088147e+01] [ 3.25665916e-03 2.42409746e-04 9.99994668e-01 1.18770492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.016875 meters 0.04409417124396126 Centerline is valid? [True, True] Translation: X:244.91, Y:80.30, Z:11.88 [[ 9.47199640e-01 3.20622575e-01 -3.74244851e-03 2.44905419e+02] [-3.20621237e-01 9.47206991e-01 9.68481842e-04 8.03000792e+01] [ 3.85539054e-03 2.82562820e-04 9.99992528e-01 1.18762341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.046875 meters 0.04348943884112329 Centerline is valid? [True, True] Translation: X:244.94, Y:80.29, Z:11.88 [[ 9.47458658e-01 3.19856872e-01 -3.69771346e-03 2.44936314e+02] [-3.19855560e-01 9.47465833e-01 9.56964746e-04 8.02917720e+01] [ 3.80954891e-03 2.76049673e-04 9.99992706e-01 1.18758925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.076875 meters 0.05065357617458154 Centerline is valid? [True, True] Translation: X:244.97, Y:80.29, Z:11.88 [[ 9.48244565e-01 3.17526234e-01 -3.05540498e-03 2.44966837e+02] [-3.17525323e-01 9.48249462e-01 7.91686762e-04 8.02923801e+01] [ 3.14866744e-03 2.19455782e-04 9.99995019e-01 1.18756119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1068750000001 meters 0.04312863540062521 Centerline is valid? [True, True] Translation: X:244.99, Y:80.27, Z:11.87 [[ 9.48655692e-01 3.16285086e-01 -4.01518062e-03 2.44994099e+02] [-3.16283502e-01 9.48664147e-01 1.04025616e-03 8.02738040e+01] [ 4.13807541e-03 2.83090456e-04 9.99991398e-01 1.18747845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.136875 meters 0.04982555198756312 Centerline is valid? [True, True] Translation: X:245.03, Y:80.27, Z:11.87 [[ 9.48914083e-01 3.15500175e-01 -4.65862212e-03 2.45026495e+02] [-3.15498032e-01 9.48925463e-01 1.20720268e-03 8.02742415e+01] [ 4.80155781e-03 3.24254491e-04 9.99988420e-01 1.18738394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.166875 meters 0.04259134561046107 Centerline is valid? [True, True] Translation: X:245.05, Y:80.26, Z:11.87 [[ 9.49327288e-01 3.14265705e-01 -3.84269535e-03 2.45054630e+02] [-3.14264234e-01 9.49335030e-01 9.96566418e-04 8.02565964e+01] [ 3.96119196e-03 2.61554016e-04 9.99992120e-01 1.18743581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.196875 meters 0.05089831648027621 Centerline is valid? [True, True] Translation: X:245.09, Y:80.26, Z:11.88 [[ 9.49351626e-01 3.14203673e-01 -2.74640790e-03 2.45087897e+02] [-3.14202921e-01 9.49355580e-01 7.12102502e-04 8.02594793e+01] [ 2.83106288e-03 1.86893717e-04 9.99995975e-01 1.18754554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2268750000001 meters 0.04288148655593693 Centerline is valid? [True, True] Translation: X:245.12, Y:80.24, Z:11.88 [[ 9.49251814e-01 3.14510782e-01 -1.99036173e-03 2.45116464e+02] [-3.14510388e-01 9.49253891e-01 5.16117056e-04 8.02403117e+01] [ 2.05168300e-03 1.36064389e-04 9.99997886e-01 1.18758666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.256875 meters 0.04345044482106513 Centerline is valid? [True, True] Translation: X:245.15, Y:80.23, Z:11.88 [[ 9.48756843e-01 3.15997941e-01 -2.39863885e-03 2.45146874e+02] [-3.15997371e-01 9.48759861e-01 6.23028613e-04 8.02320386e+01] [ 2.47260802e-03 1.66860909e-04 9.99996929e-01 1.18755924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.286875 meters 0.04432644524494435 Centerline is valid? [True, True] Translation: X:245.18, Y:80.22, Z:11.88 [[ 9.48377091e-01 3.17130951e-01 -2.97529143e-03 2.45178221e+02] [-3.17130076e-01 9.48381735e-01 7.73964998e-04 8.02247572e+01] [ 3.06716030e-03 2.09543723e-04 9.99995274e-01 1.18751157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.316875 meters 0.04484655552500489 Centerline is valid? [True, True] Translation: X:245.21, Y:80.22, Z:11.87 [[ 9.48057097e-01 3.18081653e-01 -3.43553146e-03 2.45209358e+02] [-3.18080492e-01 9.48063290e-01 8.93808875e-04 8.02170311e+01] [ 3.54140546e-03 2.45393689e-04 9.99993699e-01 1.18740803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.346875 meters 0.045858878308838565 Centerline is valid? [True, True] Translation: X:245.24, Y:80.21, Z:11.87 [[ 9.47727424e-01 3.19057295e-01 -3.89518293e-03 2.45240863e+02] [-3.19055806e-01 9.47735387e-01 1.01450373e-03 8.02103197e+01] [ 4.01528752e-03 2.81307721e-04 9.99991899e-01 1.18730846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.376875 meters 0.039779276646889246 Centerline is valid? [True, True] Translation: X:245.27, Y:80.19, Z:11.87 [[ 9.47520686e-01 3.19652760e-01 -5.16362377e-03 2.45270204e+02] [-3.19650144e-01 9.47534681e-01 1.34650393e-03 8.01945143e+01] [ 5.32312630e-03 3.74712756e-04 9.99985762e-01 1.18688993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.406875 meters 0.03999728484287648 Centerline is valid? [True, True] Translation: X:245.30, Y:80.19, Z:11.87 [[ 9.47428332e-01 3.19931777e-01 -4.81803483e-03 2.45302689e+02] [-3.19929496e-01 9.47440518e-01 1.25758920e-03 8.01866889e+01] [ 4.96714416e-03 3.49955821e-04 9.99987602e-01 1.18682499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.436875 meters 0.04061034765437025 Centerline is valid? [True, True] Translation: X:245.33, Y:80.18, Z:11.87 [[ 9.47418317e-01 3.19977269e-01 -3.61660311e-03 2.45333505e+02] [-3.19975982e-01 9.47425184e-01 9.44782491e-04 8.01788300e+01] [ 3.72876978e-03 2.62121892e-04 9.99993014e-01 1.18690096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.466875 meters 0.04082665138926529 Centerline is valid? [True, True] Translation: X:245.36, Y:80.17, Z:11.87 [[ 9.47533084e-01 3.19650951e-01 -2.07949876e-03 2.45364637e+02] [-3.19650524e-01 9.47535354e-01 5.43294671e-04 8.01693996e+01] [ 2.14406325e-03 1.49923194e-04 9.99997690e-01 1.18711828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.496875 meters 0.038154636424839614 Centerline is valid? [True, True] Translation: X:245.39, Y:80.16, Z:11.88 [[ 9.48545512e-01 3.16638245e-01 1.27805454e-03 2.45393000e+02] [-3.16638080e-01 9.48546369e-01 -3.34715568e-04 8.01554971e+01] [-1.31827774e-03 -8.71877844e-05 9.99999127e-01 1.18750697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.526875 meters 0.040672294322648114 Centerline is valid? [True, True] Translation: X:245.42, Y:80.15, Z:11.88 [[ 9.49139178e-01 3.14847393e-01 2.43740924e-03 2.45423416e+02] [-3.14846787e-01 9.49142294e-01 -6.38443028e-04 8.01508943e+01] [-2.51446032e-03 -1.61439177e-04 9.99996826e-01 1.18764168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.556875 meters 0.036197565324593915 Centerline is valid? [True, True] Translation: X:245.45, Y:80.14, Z:11.88 [[ 9.50356968e-01 3.11140400e-01 3.64481285e-03 2.45450786e+02] [-3.11139019e-01 9.50363930e-01 -9.54454771e-04 8.01354136e+01] [-3.76086810e-03 -2.26970751e-04 9.99992902e-01 1.18760322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.586875 meters 0.03705831590962265 Centerline is valid? [True, True] Translation: X:245.48, Y:80.13, Z:11.88 [[ 9.50795954e-01 3.09805456e-01 2.76299303e-03 2.45480073e+02] [-3.09804654e-01 9.50799954e-01 -7.24331820e-04 8.01281902e+01] [-2.85145559e-03 -1.67296336e-04 9.99995921e-01 1.18757214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.616875 meters 0.03537575217566565 Centerline is valid? [True, True] Translation: X:245.51, Y:80.12, Z:11.87 [[ 9.51123204e-01 3.08801619e-01 2.49208329e-03 2.45510718e+02] [-3.08800963e-01 9.51126458e-01 -6.53513713e-04 8.01168168e+01] [-2.57209245e-03 -1.47985663e-04 9.99996681e-01 1.18743472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.646875 meters 0.035505405407697824 Centerline is valid? [True, True] Translation: X:245.54, Y:80.11, Z:11.87 [[ 9.51597425e-01 3.07339738e-01 2.15082160e-03 2.45540491e+02] [-3.07339246e-01 9.51599847e-01 -5.63789646e-04 8.01102254e+01] [-2.21999647e-03 -1.24531114e-04 9.99997528e-01 1.18721396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.676875 meters 0.036350420556919484 Centerline is valid? [True, True] Translation: X:245.57, Y:80.10, Z:11.87 [[ 9.51456679e-01 3.07776247e-01 1.99229552e-03 2.45572078e+02] [-3.07775822e-01 9.51458758e-01 -5.23912668e-04 8.01031555e+01] [-2.05683490e-03 -1.14700185e-04 9.99997878e-01 1.18714336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.706875 meters 0.033139020335704664 Centerline is valid? [True, True] Translation: X:245.60, Y:80.09, Z:11.87 [[ 9.51320233e-01 3.08195814e-01 2.27042273e-03 2.45602754e+02] [-3.08195263e-01 9.51322933e-01 -5.97722445e-04 8.00899540e+01] [-2.34412076e-03 -1.31108074e-04 9.99997244e-01 1.18700415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.736875 meters 0.035559509843698496 Centerline is valid? [True, True] Translation: X:245.63, Y:80.09, Z:11.87 [[ 9.50910428e-01 3.09462354e-01 1.55221286e-03 2.45633390e+02] [-3.09462098e-01 9.50911691e-01 -4.08512809e-04 8.00860688e+01] [-1.60243669e-03 -9.18919566e-05 9.99998712e-01 1.18693432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.766875 meters 0.035559509843698496 Centerline is valid? [True, True] Translation: X:245.66, Y:80.08, Z:11.87 [[ 9.50824417e-01 3.09726523e-01 1.55192214e-03 2.45664795e+02] [-3.09726266e-01 9.50825679e-01 -4.09618077e-04 8.00777242e+01] [-1.60247701e-03 -9.11961797e-05 9.99998712e-01 1.18694910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.796875 meters 0.03517280446458711 Centerline is valid? [True, True] Translation: X:245.70, Y:80.07, Z:11.87 [[ 9.50464824e-01 3.10832081e-01 -1.89256271e-04 2.45695775e+02] [-3.10832078e-01 9.50464843e-01 4.86905931e-05 8.00689100e+01] [ 1.95016030e-04 1.25482239e-05 9.99999981e-01 1.18688959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.826875 meters 0.03636619188124573 Centerline is valid? [True, True] Translation: X:245.73, Y:80.06, Z:11.87 [[ 9.50168951e-01 3.11734974e-01 -5.19362096e-04 2.45726468e+02] [-3.11734946e-01 9.50169093e-01 1.35843386e-04 8.00627263e+01] [ 5.35828946e-04 3.28291472e-05 9.99999856e-01 1.18682797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8568750000001 meters 0.037663362542779445 Centerline is valid? [True, True] Translation: X:245.76, Y:80.06, Z:11.87 [[ 9.49760749e-01 3.12976703e-01 -3.22329867e-04 2.45757417e+02] [-3.12976692e-01 9.49760803e-01 8.39938638e-05 8.00582740e+01] [ 3.32424396e-04 2.11076608e-05 9.99999945e-01 1.18671013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.886875 meters 0.036536165633666656 Centerline is valid? [True, True] Translation: X:245.79, Y:80.05, Z:11.87 [[ 9.49665088e-01 3.13266552e-01 5.37053525e-04 2.45789378e+02] [-3.13266521e-01 9.49665239e-01 -1.43168825e-04 8.00497076e+01] [-5.54871068e-04 -3.22784549e-05 9.99999846e-01 1.18670078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.916875 meters 0.03560538411231136 Centerline is valid? [True, True] Translation: X:245.82, Y:80.04, Z:11.87 [[ 9.49760257e-01 3.12976375e-01 1.11513174e-03 2.45820110e+02] [-3.12976243e-01 9.49760909e-01 -2.96005967e-04 8.00403144e+01] [-1.15175141e-03 -6.78750388e-05 9.99999334e-01 1.18672302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.946875 meters 0.03663282808834097 Centerline is valid? [True, True] Translation: X:245.85, Y:80.03, Z:11.87 [[ 9.50031976e-01 3.12146184e-01 2.00091718e-03 2.45850774e+02] [-3.12145756e-01 9.50034076e-01 -5.30607811e-04 8.00333849e+01] [-2.06656670e-03 -1.20483417e-04 9.99997857e-01 1.18676113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9768750000001 meters 0.035671690159717405 Centerline is valid? [True, True] Translation: X:245.88, Y:80.02, Z:11.87 [[ 9.50568747e-01 3.10506380e-01 2.20107836e-03 2.45880711e+02] [-3.10505860e-01 9.50571287e-01 -5.82758626e-04 8.00231993e+01] [-2.27323216e-03 -1.29495593e-04 9.99997408e-01 1.18678279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.006875 meters 0.035865519036627 Centerline is valid? [True, True] Translation: X:245.91, Y:80.02, Z:11.87 [[ 9.50556511e-01 3.10548224e-01 1.45611846e-03 2.45911747e+02] [-3.10547995e-01 9.50557622e-01 -3.86923577e-04 8.00158876e+01] [-1.50428293e-03 -8.44019412e-05 9.99998865e-01 1.18671888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.036875 meters 0.03586224766606474 Centerline is valid? [True, True] Translation: X:245.94, Y:80.01, Z:11.87 [[ 9.50713545e-01 3.10069083e-01 9.58269876e-04 2.45943661e+02] [-3.10068984e-01 9.50714027e-01 -2.54380094e-04 8.00090526e+01] [-9.89916015e-04 -5.52871655e-05 9.99999509e-01 1.18657663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.066875 meters 0.03340482413268142 Centerline is valid? [True, True] Translation: X:245.98, Y:80.00, Z:11.86 [[ 9.51113001e-01 3.08839743e-01 1.43982353e-03 2.45975065e+02] [-3.08839517e-01 9.51114087e-01 -3.82445632e-04 8.00001099e+01] [-1.48755085e-03 -8.09253902e-05 9.99998890e-01 1.18639241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.096875 meters 0.0356704496559992 Centerline is valid? [True, True] Translation: X:246.01, Y:80.00, Z:11.86 [[ 9.51332529e-01 3.08163325e-01 1.33546989e-03 2.46006630e+02] [-3.08163129e-01 9.51333464e-01 -3.55641517e-04 7.99956619e+01] [-1.38007287e-03 -7.32092361e-05 9.99999045e-01 1.18645415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.126875 meters 0.0353089243527482 Centerline is valid? [True, True] Translation: X:246.04, Y:79.99, Z:11.87 [[ 9.51591942e-01 3.07359430e-01 1.71928980e-03 2.46037088e+02] [-3.07359103e-01 9.51593491e-01 -4.57924078e-04 7.99857807e+01] [-1.77681226e-03 -9.26825067e-05 9.99998417e-01 1.18658882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.156875 meters 0.033125920043512495 Centerline is valid? [True, True] Translation: X:246.07, Y:79.97, Z:11.87 [[ 9.52666782e-01 3.04000794e-01 3.08533049e-03 2.46065174e+02] [-3.03999730e-01 9.52671765e-01 -8.19766738e-04 7.99730651e+01] [-3.18851699e-03 -1.56975095e-04 9.99994904e-01 1.18695998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.186875 meters 0.03186574911811713 Centerline is valid? [True, True] Translation: X:246.10, Y:79.96, Z:11.87 [[ 9.53407425e-01 3.01657054e-01 4.15976622e-03 2.46095097e+02] [-3.01655095e-01 9.53416479e-01 -1.10555450e-03 7.99638943e+01] [-4.29948797e-03 -2.00770804e-04 9.99990737e-01 1.18700945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.216875 meters 0.0317769595602094 Centerline is valid? [True, True] Translation: X:246.13, Y:79.96, Z:11.87 [[ 9.54270721e-01 2.98911848e-01 4.37014231e-03 2.46125064e+02] [-2.98909656e-01 9.54280707e-01 -1.16161779e-03 7.99576072e+01] [-4.51756382e-03 -1.97779890e-04 9.99989776e-01 1.18698923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.246875 meters 0.03012595170008345 Centerline is valid? [True, True] Translation: X:246.15, Y:79.95, Z:11.87 [[ 9.55587013e-01 2.94678871e-01 4.22172162e-03 2.46154934e+02] [-2.94676785e-01 9.55596323e-01 -1.12201035e-03 7.99515987e+01] [-4.36489440e-03 -1.71864835e-04 9.99990459e-01 1.18671263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.276875 meters 0.028549661380865392 Centerline is valid? [True, True] Translation: X:246.19, Y:79.94, Z:11.87 [[ 9.56158854e-01 2.92824334e-01 3.76225635e-03 2.46185186e+02] [-2.92822661e-01 9.56166245e-01 -1.00034935e-03 7.99420399e+01] [-3.89026916e-03 -1.45181022e-04 9.99992422e-01 1.18653813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.306875 meters 0.026728130648356108 Centerline is valid? [True, True] Translation: X:246.21, Y:79.93, Z:11.87 [[ 9.57526258e-01 2.88311104e-01 4.49132069e-03 2.46214485e+02] [-2.88308670e-01 9.57536780e-01 -1.19412185e-03 7.99316200e+01] [-4.64488333e-03 -1.51483673e-04 9.99989201e-01 1.18653099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.336875 meters 0.027482581015768597 Centerline is valid? [True, True] Translation: X:246.25, Y:79.93, Z:11.87 [[ 9.58319855e-01 2.85647518e-01 5.34334049e-03 2.46245586e+02] [-2.85644020e-01 9.58334737e-01 -1.42302625e-03 7.99253234e+01] [-5.52719272e-03 -1.62578953e-04 9.99984712e-01 1.18674117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.366875 meters 0.024843521744405704 Centerline is valid? [True, True] Translation: X:246.28, Y:79.91, Z:11.87 [[ 9.59145265e-01 2.82845263e-01 6.23834573e-03 2.46276087e+02] [-2.82840438e-01 9.59165537e-01 -1.66106191e-03 7.99132185e+01] [-6.45342973e-03 -1.71256765e-04 9.99979162e-01 1.18676502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.396875 meters 0.023978791108388107 Centerline is valid? [True, True] Translation: X:246.31, Y:79.91, Z:11.87 [[ 9.59780530e-01 2.80665959e-01 6.92491318e-03 2.46306923e+02] [-2.80659938e-01 9.59805496e-01 -1.84640083e-03 7.99055701e+01] [-7.16479159e-03 -1.71406135e-04 9.99974318e-01 1.18685552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.426875 meters 0.02395666014282498 Centerline is valid? [True, True] Translation: X:246.34, Y:79.90, Z:11.87 [[ 9.60193457e-01 2.79250750e-01 6.89515778e-03 2.46337725e+02] [-2.79244733e-01 9.60218201e-01 -1.84005452e-03 7.98999049e+01] [-7.13469260e-03 -1.58628174e-04 9.99974535e-01 1.18686489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.456875 meters 0.02327059186517899 Centerline is valid? [True, True] Translation: X:246.37, Y:79.90, Z:11.87 [[ 9.60548807e-01 2.77978244e-01 8.60730997e-03 2.46370715e+02] [-2.77968797e-01 9.60587353e-01 -2.29905249e-03 7.98979910e+01] [-8.90715967e-03 -1.84211472e-04 9.99960313e-01 1.18681460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.486875 meters 0.02342913676573026 Centerline is valid? [True, True] Translation: X:246.40, Y:79.89, Z:11.87 [[ 9.60418919e-01 2.78394192e-01 9.60077948e-03 2.46402817e+02] [-2.78382436e-01 9.60466882e-01 -2.56678389e-03 7.98940463e+01] [-9.93580846e-03 -2.07500566e-04 9.99950617e-01 1.18683651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.516875 meters 0.024188196080390405 Centerline is valid? [True, True] Translation: X:246.44, Y:79.90, Z:11.87 [[ 9.59871354e-01 2.80243383e-01 1.05180765e-02 2.46435486e+02] [-2.80229359e-01 9.59928948e-01 -2.81436058e-03 7.98968116e+01] [-1.08853121e-02 -2.46049740e-04 9.99940723e-01 1.18675245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.546875 meters 0.024211035615617736 Centerline is valid? [True, True] Translation: X:246.47, Y:79.89, Z:11.87 [[ 9.59290382e-01 2.82254996e-01 9.69945219e-03 2.46467432e+02] [-2.82243146e-01 9.59339386e-01 -2.59802744e-03 7.98933991e+01] [-1.00383727e-02 -2.45341157e-04 9.99949584e-01 1.18660689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.576875 meters 0.024875242305874942 Centerline is valid? [True, True] Translation: X:246.50, Y:79.89, Z:11.86 [[ 9.58723305e-01 2.84179529e-01 9.57177580e-03 2.46499448e+02] [-2.84168063e-01 9.58771051e-01 -2.56606124e-03 7.98914920e+01] [-9.90636362e-03 -2.59850276e-04 9.99950897e-01 1.18649505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6068750000001 meters 0.025999652985825183 Centerline is valid? [True, True] Translation: X:246.53, Y:79.90, Z:11.86 [[ 9.57480511e-01 2.88329243e-01 9.86496534e-03 2.46532892e+02] [-2.88317289e-01 9.57531279e-01 -2.64409467e-03 7.98958204e+01] [-1.02083827e-02 -3.12570941e-04 9.99947844e-01 1.18643096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.636875 meters 0.026743395251742467 Centerline is valid? [True, True] Translation: X:246.56, Y:79.89, Z:11.87 [[ 9.56969744e-01 2.90026261e-01 9.67867708e-03 2.46564789e+02] [-2.90014823e-01 9.57018633e-01 -2.59589311e-03 7.98945061e+01] [-1.00155515e-02 -3.22768657e-04 9.99949791e-01 1.18650996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.666875 meters 0.026365608164569784 Centerline is valid? [True, True] Translation: X:246.60, Y:79.89, Z:11.86 [[ 9.56316781e-01 2.92157453e-01 1.01112575e-02 2.46596760e+02] [-2.92145056e-01 9.56370166e-01 -2.71509430e-03 7.98904533e+01] [-1.04633401e-02 -3.57463650e-04 9.99945194e-01 1.18643735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.696875 meters 0.027543772351820345 Centerline is valid? [True, True] Translation: X:246.63, Y:79.89, Z:11.86 [[ 9.55391003e-01 2.95126170e-01 1.13391160e-02 2.46630034e+02] [-2.95110795e-01 9.55458190e-01 -3.04409863e-03 7.98942780e+01] [-1.17324444e-02 -4.37991084e-04 9.99931077e-01 1.18646682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7268750000001 meters 0.02827740532300511 Centerline is valid? [True, True] Translation: X:246.66, Y:79.89, Z:11.87 [[ 9.55034494e-01 2.96233151e-01 1.24513212e-02 2.46662608e+02] [-2.96214652e-01 9.55115531e-01 -3.34687472e-03 7.98916936e+01] [-1.28839055e-02 -4.91882960e-04 9.99916878e-01 1.18651311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.756875 meters 0.02799388858298454 Centerline is valid? [True, True] Translation: X:246.70, Y:79.89, Z:11.87 [[ 9.54600908e-01 2.97581831e-01 1.34967118e-02 2.46695055e+02] [-2.97560181e-01 9.54696157e-01 -3.63134403e-03 7.98878703e+01] [-1.39658809e-02 -5.49599713e-04 9.99902321e-01 1.18650309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.786875 meters 0.029333405042850782 Centerline is valid? [True, True] Translation: X:246.73, Y:79.89, Z:11.87 [[ 9.54219924e-01 2.98644953e-01 1.65990525e-02 2.46728272e+02] [-2.98612347e-01 9.54364035e-01 -4.46721114e-03 7.98920613e+01] [-1.71756487e-02 -6.93980132e-04 9.99852247e-01 1.18657610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.816875 meters 0.029628450633997928 Centerline is valid? [True, True] Translation: X:246.76, Y:79.89, Z:11.87 [[ 9.54002779e-01 2.99346143e-01 1.64494491e-02 2.46761025e+02] [-2.99314143e-01 9.54144330e-01 -4.43177549e-03 7.98887426e+01] [-1.70217835e-02 -6.95626640e-04 9.99854877e-01 1.18656299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.846875 meters 0.028296792857048055 Centerline is valid? [True, True] Translation: X:246.79, Y:79.88, Z:11.86 [[ 9.53719838e-01 3.00192538e-01 1.74043357e-02 2.46792477e+02] [-3.00156781e-01 9.53878336e-01 -4.69323170e-03 7.98834706e+01] [-1.80104919e-02 -7.48001191e-04 9.99837518e-01 1.18637622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.876875 meters 0.030845500863025645 Centerline is valid? [True, True] Translation: X:246.82, Y:79.88, Z:11.86 [[ 9.53525864e-01 3.00791987e-01 1.76806804e-02 2.46824635e+02] [-3.00755109e-01 9.53689463e-01 -4.77206496e-03 7.98842680e+01] [-1.82972775e-02 -7.67267584e-04 9.99832296e-01 1.18647788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.906875 meters 0.02925849113356148 Centerline is valid? [True, True] Translation: X:246.86, Y:79.89, Z:11.86 [[ 9.53342007e-01 3.01365271e-01 1.78322997e-02 2.46858322e+02] [-3.01327771e-01 9.53508450e-01 -4.81772122e-03 7.98851032e+01] [-1.84551423e-02 -7.80431097e-04 9.99829385e-01 1.18622529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.936875 meters 0.031248810986556193 Centerline is valid? [True, True] Translation: X:246.89, Y:79.89, Z:11.86 [[ 9.53270211e-01 3.01574883e-01 1.81244411e-02 2.46891672e+02] [-3.01536085e-01 9.53442165e-01 -4.90176093e-03 7.98863040e+01] [-1.87588544e-02 -7.92470348e-04 9.99823723e-01 1.18638618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.966875 meters 0.031042499610580532 Centerline is valid? [True, True] Translation: X:246.92, Y:79.88, Z:11.86 [[ 9.53061233e-01 3.02234771e-01 1.81226258e-02 2.46923816e+02] [-3.02196024e-01 9.53233183e-01 -4.90536783e-03 7.98839787e+01] [-1.87576610e-02 -8.01469539e-04 9.99823738e-01 1.18636904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.996875 meters 0.03148522097165314 Centerline is valid? [True, True] Translation: X:246.96, Y:79.89, Z:11.86 [[ 9.52609932e-01 3.03617147e-01 1.87335461e-02 2.46958403e+02] [-3.03575916e-01 9.52793735e-01 -5.07555200e-03 7.98872255e+01] [-1.93902300e-02 -8.52032177e-04 9.99811629e-01 1.18648073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.026875 meters 0.03033533950410928 Centerline is valid? [True, True] Translation: X:246.99, Y:79.88, Z:11.86 [[ 9.52249933e-01 3.04737183e-01 1.88497640e-02 2.46990646e+02] [-3.04695561e-01 9.52436078e-01 -5.11199527e-03 7.98832434e+01] [-1.95110104e-02 -8.75542258e-04 9.99809259e-01 1.18642230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.056875 meters 0.03239749022848871 Centerline is valid? [True, True] Translation: X:247.02, Y:79.88, Z:11.87 [[ 9.51957140e-01 3.05647722e-01 1.88963964e-02 2.47023745e+02] [-3.05605985e-01 9.52144251e-01 -5.12910776e-03 7.98848602e+01] [-1.95597953e-02 -8.92161086e-04 9.99808291e-01 1.18660483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.086875 meters 0.030853634525816513 Centerline is valid? [True, True] Translation: X:247.06, Y:79.89, Z:11.87 [[ 9.51485531e-01 3.07004931e-01 2.05732154e-02 2.47057945e+02] [-3.06955759e-01 9.51707397e-01 -5.58496324e-03 7.98888362e+01] [-2.12942925e-02 -1.00105522e-03 9.99772750e-01 1.18658023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.116875 meters 0.029849704210692413 Centerline is valid? [True, True] Translation: X:247.09, Y:79.89, Z:11.86 [[ 9.51277526e-01 3.07601731e-01 2.12660395e-02 2.47090594e+02] [-3.07549198e-01 9.51514629e-01 -5.77949331e-03 7.98861223e+01] [-2.20127299e-02 -1.04245131e-03 9.99757147e-01 1.18645900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.146875 meters 0.032117720387007574 Centerline is valid? [True, True] Translation: X:247.12, Y:79.89, Z:11.87 [[ 9.51083342e-01 3.08306481e-01 1.96873058e-02 2.47123338e+02] [-3.08261511e-01 9.51286583e-01 -5.35523582e-03 7.98874507e+01] [-2.03793237e-02 -9.75563042e-04 9.99791844e-01 1.18651790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.176875 meters 0.030700534495923852 Centerline is valid? [True, True] Translation: X:247.16, Y:79.89, Z:11.86 [[ 9.51005696e-01 3.08660597e-01 1.77989559e-02 2.47157384e+02] [-3.08623883e-01 9.51171829e-01 -4.84267445e-03 7.98883465e+01] [-1.84246082e-02 -8.87771878e-04 9.99829858e-01 1.18622898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.206875 meters 0.030243459182053595 Centerline is valid? [True, True] Translation: X:247.19, Y:79.88, Z:11.86 [[ 9.50769044e-01 3.09428336e-01 1.70976541e-02 2.47188973e+02] [-3.09394495e-01 9.50922374e-01 -4.65672118e-03 7.98837900e+01] [-1.76994633e-02 -8.62453721e-04 9.99842980e-01 1.18619858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.236875 meters 0.03268966179636366 Centerline is valid? [True, True] Translation: X:247.22, Y:79.88, Z:11.86 [[ 9.50773902e-01 3.09406398e-01 1.72240411e-02 2.47219803e+02] [-3.09372078e-01 9.50929505e-01 -4.68966236e-03 7.98846672e+01] [-1.78298604e-02 -8.69828811e-04 9.99840657e-01 1.18644374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.266875 meters 0.03250436089850963 Centerline is valid? [True, True] Translation: X:247.25, Y:79.89, Z:11.87 [[ 9.50732818e-01 3.09486073e-01 1.80410285e-02 2.47250986e+02] [-3.09448463e-01 9.50903536e-01 -4.91057227e-03 7.98890890e+01] [-1.86750315e-02 -9.14126336e-04 9.99825189e-01 1.18673467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.296875 meters 0.029879238598382957 Centerline is valid? [True, True] Translation: X:247.28, Y:79.88, Z:11.87 [[ 9.50733519e-01 3.09490281e-01 1.79315885e-02 2.47279400e+02] [-3.09453152e-01 9.50902170e-01 -4.87942576e-03 7.98841999e+01] [-1.85613213e-02 -9.09952956e-04 9.99827310e-01 1.18668960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.326875 meters 0.03259503376855684 Centerline is valid? [True, True] Translation: X:247.31, Y:79.89, Z:11.87 [[ 9.50849022e-01 3.09191141e-01 1.69403565e-02 2.47309135e+02] [-3.09157986e-01 9.50999530e-01 -4.60798230e-03 7.98864767e+01] [-1.75350183e-02 -8.55751022e-04 9.99845884e-01 1.18690680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3568750000001 meters 0.029215065113442806 Centerline is valid? [True, True] Translation: X:247.34, Y:79.89, Z:11.87 [[ 9.50802443e-01 3.09398132e-01 1.57324612e-02 2.47338656e+02] [-3.09369584e-01 9.50932257e-01 -4.27829366e-03 7.98858914e+01] [-1.62842009e-02 -7.99332903e-04 9.99867084e-01 1.18679008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.386875 meters 0.028648940223651265 Centerline is valid? [True, True] Translation: X:247.37, Y:79.88, Z:11.87 [[ 9.50563306e-01 3.10113913e-01 1.60860886e-02 2.47367324e+02] [-3.10084196e-01 9.50699043e-01 -4.37284433e-03 7.98835630e+01] [-1.66491089e-02 -8.31376499e-04 9.99861048e-01 1.18686787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.416875 meters 0.03269221658245865 Centerline is valid? [True, True] Translation: X:247.40, Y:79.89, Z:11.87 [[ 9.50231304e-01 3.11094552e-01 1.67525681e-02 2.47397187e+02] [-3.11062501e-01 9.50378554e-01 -4.55245460e-03 7.98884266e+01] [-1.73375253e-02 -8.85210861e-04 9.99849302e-01 1.18727669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.446875 meters 0.03137868758016714 Centerline is valid? [True, True] Translation: X:247.43, Y:79.89, Z:11.87 [[ 9.49206584e-01 3.14099214e-01 1.86693343e-02 2.47429354e+02] [-3.14059986e-01 9.49389586e-01 -5.07335780e-03 7.98915530e+01] [-1.93180093e-02 -1.04762625e-03 9.99812841e-01 1.18735838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4768750000001 meters 0.03476415838911999 Centerline is valid? [True, True] Translation: X:247.46, Y:79.89, Z:11.88 [[ 9.48718402e-01 3.15521381e-01 1.94846823e-02 2.47459874e+02] [-3.15478975e-01 9.48917801e-01 -5.29367438e-03 7.98948344e+01] [-2.01596293e-02 -1.12480131e-03 9.99796141e-01 1.18765582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.506875 meters 0.035269183796524294 Centerline is valid? [True, True] Translation: X:247.49, Y:79.90, Z:11.88 [[ 9.48387424e-01 3.16543639e-01 1.90110203e-02 2.47491450e+02] [-3.16503587e-01 9.48577283e-01 -5.15928313e-03 7.99011573e+01] [-1.96665602e-02 -1.12405688e-03 9.99805963e-01 1.18779965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.536875 meters 0.03565849924854965 Centerline is valid? [True, True] Translation: X:247.52, Y:79.90, Z:11.88 [[ 9.48340842e-01 3.16736858e-01 1.80944608e-02 2.47519984e+02] [-3.16700712e-01 9.48512835e-01 -4.90507345e-03 7.98998310e+01] [-1.87164459e-02 -1.07884716e-03 9.99824250e-01 1.18776548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.566875 meters 0.035693989317898134 Centerline is valid? [True, True] Translation: X:247.55, Y:79.90, Z:11.88 [[ 9.48370181e-01 3.16670446e-01 1.77152254e-02 2.47548216e+02] [-3.16635883e-01 9.48535031e-01 -4.79709206e-03 7.98970504e+01] [-1.83226091e-02 -1.05985696e-03 9.99831565e-01 1.18771257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.596875 meters 0.0358613643456112 Centerline is valid? [True, True] Translation: X:247.58, Y:79.89, Z:11.88 [[ 9.48674474e-01 3.15789318e-01 1.71420433e-02 2.47577716e+02] [-3.15756880e-01 9.48828795e-01 -4.63806132e-03 7.98936619e+01] [-1.77295145e-02 -1.01270771e-03 9.99842307e-01 1.18774300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.626875 meters 0.035098302431414236 Centerline is valid? [True, True] Translation: X:247.61, Y:79.89, Z:11.88 [[ 9.48932949e-01 3.14993563e-01 1.74732236e-02 2.47607710e+02] [-3.14959807e-01 9.49093258e-01 -4.72315479e-03 7.98930276e+01] [-1.80714820e-02 -1.02140592e-03 9.99836176e-01 1.18787131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.656875 meters 0.035098302431414236 Centerline is valid? [True, True] Translation: X:247.63, Y:79.89, Z:11.88 [[ 9.49018251e-01 3.14736397e-01 1.74745429e-02 2.47634304e+02] [-3.14702687e-01 9.49178570e-01 -4.71827181e-03 7.98859420e+01] [-1.80714735e-02 -1.02155956e-03 9.99836176e-01 1.18788383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.686875 meters 0.03487204565063142 Centerline is valid? [True, True] Translation: X:247.66, Y:79.88, Z:11.88 [[ 9.49270361e-01 3.13957316e-01 1.77928611e-02 2.47663417e+02] [-3.13922310e-01 9.49436541e-01 -4.79987807e-03 7.98827726e+01] [-1.84001493e-02 -1.02919407e-03 9.99830173e-01 1.18795543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.716875 meters 0.0340157310599887 Centerline is valid? [True, True] Translation: X:247.69, Y:79.88, Z:11.88 [[ 9.49245457e-01 3.14036590e-01 1.77223521e-02 2.47691658e+02] [-3.14001959e-01 9.49410321e-01 -4.77625634e-03 7.98786252e+01] [-1.83257032e-02 -1.03101364e-03 9.99831539e-01 1.18792005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.746875 meters 0.03589033867737411 Centerline is valid? [True, True] Translation: X:247.72, Y:79.88, Z:11.88 [[ 9.48682227e-01 3.15737108e-01 1.76666889e-02 2.47722876e+02] [-3.15702998e-01 9.48846117e-01 -4.76066469e-03 7.98832196e+01] [-1.82660877e-02 -1.06106868e-03 9.99832598e-01 1.18798514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.776875 meters 0.03659439490858577 Centerline is valid? [True, True] Translation: X:247.75, Y:79.88, Z:11.88 [[ 9.48426479e-01 3.16553795e-01 1.67603089e-02 2.47752178e+02] [-3.16523311e-01 9.48574004e-01 -4.51136555e-03 7.98819827e+01] [-1.73264832e-02 -1.02632992e-03 9.99849358e-01 1.18790359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.806875 meters 0.03693559642594073 Centerline is valid? [True, True] Translation: X:247.78, Y:79.88, Z:11.88 [[ 9.47452357e-01 3.19537733e-01 1.51548184e-02 2.47784249e+02] [-3.19513177e-01 9.47573049e-01 -4.07996183e-03 7.98845969e+01] [-1.56639992e-02 -9.76594716e-04 9.99876835e-01 1.18763160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.836875 meters 0.03827149198021604 Centerline is valid? [True, True] Translation: X:247.81, Y:79.88, Z:11.88 [[ 9.46821096e-01 3.21416822e-01 1.48673463e-02 2.47813952e+02] [-3.21393435e-01 9.46937299e-01 -4.00156528e-03 7.98829248e+01] [-1.53646152e-02 -9.89501080e-04 9.99881468e-01 1.18757355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.866875 meters 0.041209288997212955 Centerline is valid? [True, True] Translation: X:247.84, Y:79.88, Z:11.88 [[ 9.46346209e-01 3.22826958e-01 1.45467374e-02 2.47843280e+02] [-3.22804752e-01 9.46457485e-01 -3.91410079e-03 7.98836707e+01] [-1.50314457e-02 -9.91661509e-04 9.99886530e-01 1.18762201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.896875 meters 0.038483880330879225 Centerline is valid? [True, True] Translation: X:247.87, Y:79.88, Z:11.87 [[ 9.45531871e-01 3.25202652e-01 1.45847727e-02 2.47872570e+02] [-3.25180612e-01 9.45643786e-01 -3.92430574e-03 7.98771346e+01] [-1.50681943e-02 -1.03212917e-03 9.99885936e-01 1.18746936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.926875 meters 0.0433925761654095 Centerline is valid? [True, True] Translation: X:247.91, Y:79.89, Z:11.88 [[ 9.44631500e-01 3.27844012e-01 1.37707274e-02 2.47906179e+02] [-3.27824646e-01 9.44731324e-01 -3.70501119e-03 7.98886190e+01] [-1.42243033e-02 -1.01451355e-03 9.99898315e-01 1.18753638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.956875 meters 0.044403811933730455 Centerline is valid? [True, True] Translation: X:247.94, Y:79.89, Z:11.88 [[ 9.43797684e-01 3.30225474e-01 1.40380845e-02 2.47937489e+02] [-3.30205614e-01 9.43901472e-01 -3.77669087e-03 7.98883201e+01] [-1.44977281e-02 -1.07102221e-03 9.99894329e-01 1.18755111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.986875 meters 0.04116323875477992 Centerline is valid? [True, True] Translation: X:247.97, Y:79.89, Z:11.87 [[ 9.42789190e-01 3.33146195e-01 1.27340725e-02 2.47967787e+02] [-3.33130122e-01 9.42874640e-01 -3.42551384e-03 7.98862242e+01] [-1.31478309e-02 -1.01256572e-03 9.99913051e-01 1.18719257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.016875 meters 0.0446331486503362 Centerline is valid? [True, True] Translation: X:248.00, Y:79.89, Z:11.87 [[ 9.42062448e-01 3.35235646e-01 1.16363673e-02 2.47997571e+02] [-3.35222397e-01 9.42133830e-01 -3.12912103e-03 7.98875226e+01] [-1.20120082e-02 -9.52943512e-04 9.99927399e-01 1.18708389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.046875 meters 0.04316377033095978 Centerline is valid? [True, True] Translation: X:248.03, Y:79.88, Z:11.87 [[ 9.41364243e-01 3.37217448e-01 1.08514824e-02 2.48026628e+02] [-3.37206062e-01 9.41426343e-01 -2.91749790e-03 7.98828535e+01] [-1.11997026e-02 -9.12757455e-04 9.99936865e-01 1.18689509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.076875 meters 0.047449306724239984 Centerline is valid? [True, True] Translation: X:248.06, Y:79.89, Z:11.87 [[ 9.41260080e-01 3.37548197e-01 9.52240978e-03 2.48056909e+02] [-3.37539458e-01 9.41307902e-01 -2.55906648e-03 7.98866179e+01] [-9.82732784e-03 -8.05441908e-04 9.99951386e-01 1.18686478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1068750000001 meters 0.05068492268766675 Centerline is valid? [True, True] Translation: X:248.09, Y:79.89, Z:11.87 [[ 9.40810623e-01 3.38837723e-01 8.02305450e-03 2.48088424e+02] [-3.38831568e-01 9.40844579e-01 -2.15579779e-03 7.98935700e+01] [-8.27891295e-03 -6.90266672e-04 9.99965491e-01 1.18674656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.136875 meters 0.048908764700524535 Centerline is valid? [True, True] Translation: X:248.12, Y:79.89, Z:11.87 [[ 9.40719395e-01 3.39088442e-01 8.12703347e-03 2.48116904e+02] [-3.39082160e-01 9.40754236e-01 -2.18075796e-03 7.98892790e+01] [-8.38501099e-03 -7.04250759e-04 9.99964597e-01 1.18677605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.166875 meters 0.050125211572097476 Centerline is valid? [True, True] Translation: X:248.15, Y:79.89, Z:11.87 [[ 9.40981338e-01 3.38375058e-01 7.51284176e-03 2.48146158e+02] [-3.38369668e-01 9.41011107e-01 -2.01590985e-03 7.98915709e+01] [-7.75180115e-03 -6.45184219e-04 9.99969746e-01 1.18667492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.196875 meters 0.05019006898911102 Centerline is valid? [True, True] Translation: X:248.18, Y:79.89, Z:11.87 [[ 9.42025514e-01 3.35483193e-01 6.24158133e-03 2.48175165e+02] [-3.35479411e-01 9.42046050e-01 -1.67472160e-03 7.98870813e+01] [-6.44169799e-03 -5.16291547e-04 9.99979119e-01 1.18652879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2268750000001 meters 0.04890984215424906 Centerline is valid? [True, True] Translation: X:248.20, Y:79.88, Z:11.86 [[ 9.42144689e-01 3.35157056e-01 5.75605092e-03 2.48203694e+02] [-3.35153847e-01 9.42162152e-01 -1.54204040e-03 7.98814058e+01] [-5.93995904e-03 -4.76337442e-04 9.99982245e-01 1.18638857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.256875 meters 0.04532038732973247 Centerline is valid? [True, True] Translation: X:248.23, Y:79.88, Z:11.86 [[ 9.42447306e-01 3.34333228e-01 3.79060328e-03 2.48233241e+02] [-3.34331835e-01 9.42454877e-01 -1.01410752e-03 7.98800283e+01] [-3.91152239e-03 -3.11576446e-04 9.99992301e-01 1.18618097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.286875 meters 0.0384642703368294 Centerline is valid? [True, True] Translation: X:248.26, Y:79.87, Z:11.86 [[ 9.41906341e-01 3.35870149e-01 1.92041945e-03 2.48261043e+02] [-3.35869794e-01 9.41908285e-01 -5.14109324e-04 7.98692503e+01] [-1.98153297e-03 -1.60768054e-04 9.99998024e-01 1.18595518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.316875 meters 0.039141650851423015 Centerline is valid? [True, True] Translation: X:248.29, Y:79.87, Z:11.86 [[ 9.41543232e-01 3.36892180e-01 4.50445429e-05 2.48290991e+02] [-3.36892180e-01 9.41543233e-01 -1.18198974e-05 7.98686447e+01] [-4.63934155e-05 -4.04620984e-06 9.99999999e-01 1.18581920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.346875 meters 0.03994242951604158 Centerline is valid? [True, True] Translation: X:248.32, Y:79.87, Z:11.86 [[ 9.41473638e-01 3.37083032e-01 -1.55503319e-03 2.48319939e+02] [-3.37082800e-01 9.41474913e-01 4.16599530e-04 7.98679232e+01] [ 1.60445337e-03 1.31957467e-04 9.99998704e-01 1.18568035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.376875 meters 0.0407703346364997 Centerline is valid? [True, True] Translation: X:248.35, Y:79.87, Z:11.86 [[ 9.40587019e-01 3.39543072e-01 -2.56158303e-03 2.48351608e+02] [-3.39542454e-01 9.40590480e-01 6.85638536e-04 7.98699541e+01] [ 2.64220443e-03 2.24863482e-04 9.99996484e-01 1.18561996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.406875 meters 0.04677128736754026 Centerline is valid? [True, True] Translation: X:248.38, Y:79.88, Z:11.86 [[ 9.39974719e-01 3.41232954e-01 -2.75665377e-03 2.48382811e+02] [-3.41232245e-01 9.39978729e-01 7.37858539e-04 7.98752545e+01] [ 2.84297756e-03 2.47090784e-04 9.99995928e-01 1.18575596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.436875 meters 0.04501181047169806 Centerline is valid? [True, True] Translation: X:248.41, Y:79.88, Z:11.86 [[ 9.38828861e-01 3.44377364e-01 -2.14500456e-03 2.48414064e+02] [-3.44376944e-01 9.38831290e-01 5.73997891e-04 7.98770317e+01] [ 2.21146928e-03 1.99804330e-04 9.99997535e-01 1.18585928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.466875 meters 0.04130537296027246 Centerline is valid? [True, True] Translation: X:248.44, Y:79.87, Z:11.86 [[ 9.38117411e-01 3.46308337e-01 -2.50168576e-03 2.48443303e+02] [-3.46307772e-01 9.38120717e-01 6.69379099e-04 7.98713748e+01] [ 2.57869480e-03 2.38397035e-04 9.99996647e-01 1.18586694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.496875 meters 0.04700876869105235 Centerline is valid? [True, True] Translation: X:248.47, Y:79.88, Z:11.86 [[ 9.37073997e-01 3.49111251e-01 -3.69571542e-03 2.48474521e+02] [-3.49110040e-01 9.37081214e-01 9.88729778e-04 7.98770386e+01] [ 3.80836218e-03 3.63698393e-04 9.99992682e-01 1.18586173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.526875 meters 0.044008461337412826 Centerline is valid? [True, True] Translation: X:248.50, Y:79.87, Z:11.86 [[ 9.35478891e-01 3.53357374e-01 -4.22031664e-03 2.48503845e+02] [-3.53355838e-01 9.35488309e-01 1.12887655e-03 7.98719128e+01] [ 4.34695373e-03 4.35233336e-04 9.99990457e-01 1.18575804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.556875 meters 0.04661634909933354 Centerline is valid? [True, True] Translation: X:248.53, Y:79.87, Z:11.86 [[ 9.34914863e-01 3.54847048e-01 -4.21553561e-03 2.48533728e+02] [-3.54845532e-01 9.34924263e-01 1.12747601e-03 7.98697161e+01] [ 4.34128806e-03 4.41769892e-04 9.99990479e-01 1.18568395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.586875 meters 0.0469567977075071 Centerline is valid? [True, True] Translation: X:248.56, Y:79.87, Z:11.86 [[ 9.34501346e-01 3.55941469e-01 -3.59237389e-03 2.48561882e+02] [-3.55940376e-01 9.34508173e-01 9.60785512e-04 7.98656475e+01] [ 3.69908616e-03 3.80815556e-04 9.99993086e-01 1.18565635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.616875 meters 0.049192429716129804 Centerline is valid? [True, True] Translation: X:248.59, Y:79.86, Z:11.86 [[ 9.34076318e-01 3.57061367e-01 -2.93477208e-03 2.48592040e+02] [-3.57060643e-01 9.34080875e-01 7.84727919e-04 7.98648573e+01] [ 3.02151049e-03 3.14895840e-04 9.99995386e-01 1.18573804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.646875 meters 0.05411308682580535 Centerline is valid? [True, True] Translation: X:248.62, Y:79.87, Z:11.86 [[ 9.33321103e-01 3.59030730e-01 -2.94186307e-03 2.48624506e+02] [-3.59030013e-01 9.33325683e-01 7.86455437e-04 7.98730040e+01] [ 3.02807803e-03 3.22201682e-04 9.99995363e-01 1.18575869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.676875 meters 0.049728423455666075 Centerline is valid? [True, True] Translation: X:248.65, Y:79.86, Z:11.86 [[ 9.32712656e-01 3.60604100e-01 -3.43271643e-03 2.48653020e+02] [-3.60603135e-01 9.32718895e-01 9.17476565e-04 7.98639017e+01] [ 3.53260529e-03 3.82106304e-04 9.99993687e-01 1.18574235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.706875 meters 0.0527122398904923 Centerline is valid? [True, True] Translation: X:248.68, Y:79.86, Z:11.86 [[ 9.32166509e-01 3.62003989e-01 -4.32563844e-03 2.48682448e+02] [-3.62002473e-01 9.32176418e-01 1.15595462e-03 7.98639986e+01] [ 4.45071832e-03 4.88349626e-04 9.99989976e-01 1.18573343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.736875 meters 0.06047400325430163 Centerline is valid? [True, True] Translation: X:248.71, Y:79.87, Z:11.86 [[ 9.30549593e-01 3.66130125e-01 -5.11722369e-03 2.48714160e+02] [-3.66128066e-01 9.30563469e-01 1.36719276e-03 7.98708441e+01] [ 5.26247188e-03 6.01318541e-04 9.99985972e-01 1.18558050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.766875 meters 0.05553395881025665 Centerline is valid? [True, True] Translation: X:248.74, Y:79.86, Z:11.86 [[ 9.29659136e-01 3.68377134e-01 -5.67253658e-03 2.48741863e+02] [-3.68374646e-01 9.29676193e-01 1.51538540e-03 7.98577618e+01] [ 5.83185554e-03 6.80826775e-04 9.99982763e-01 1.18557550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.796875 meters 0.0607528863036118 Centerline is valid? [True, True] Translation: X:248.77, Y:79.86, Z:11.86 [[ 9.28747749e-01 3.70679444e-01 -4.93634667e-03 2.48771554e+02] [-3.70677593e-01 9.28760671e-01 1.31858075e-03 7.98577786e+01] [ 5.07345542e-03 6.05164199e-04 9.99986947e-01 1.18565627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.826875 meters 0.04959664473622986 Centerline is valid? [True, True] Translation: X:248.80, Y:79.84, Z:11.86 [[ 9.27379839e-01 3.74111507e-01 -2.68607436e-03 2.48797625e+02] [-3.74110973e-01 9.27383667e-01 7.17394364e-04 7.98382286e+01] [ 2.75940697e-03 3.39592824e-04 9.99996135e-01 1.18590005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8568750000001 meters 0.06117032523719542 Centerline is valid? [True, True] Translation: X:248.83, Y:79.85, Z:11.86 [[ 9.27094811e-01 3.74822034e-01 -1.91136200e-03 2.48828870e+02] [-3.74821765e-01 9.27096750e-01 5.10615459e-04 7.98467002e+01] [ 1.96340742e-03 2.43031136e-04 9.99998043e-01 1.18601611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.886875 meters 0.06023475519257664 Centerline is valid? [True, True] Translation: X:248.86, Y:79.84, Z:11.86 [[ 9.26756838e-01 3.75660991e-01 -7.62749222e-04 2.48857415e+02] [-3.75660949e-01 9.26757147e-01 2.03763452e-04 7.98387983e+01] [ 7.83429273e-04 9.76959235e-05 9.99999688e-01 1.18611701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.916875 meters 0.05909839291538998 Centerline is valid? [True, True] Translation: X:248.89, Y:79.83, Z:11.86 [[ 9.26338217e-01 3.76692403e-01 5.84210305e-04 2.48885336e+02] [-3.76692379e-01 9.26338398e-01 -1.55627616e-04 7.98306577e+01] [-5.99800178e-04 -7.59037613e-05 9.99999817e-01 1.18624557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.946875 meters 0.04949175051629805 Centerline is valid? [True, True] Translation: X:248.91, Y:79.81, Z:11.86 [[ 9.25598311e-01 3.78501510e-01 2.09142165e-03 2.48910746e+02] [-3.78501199e-01 9.25600633e-01 -5.57968646e-04 7.98116938e+01] [-2.14701318e-03 -2.75150766e-04 9.99997657e-01 1.18627283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9768750000001 meters 0.04985886306134934 Centerline is valid? [True, True] Translation: X:248.94, Y:79.80, Z:11.86 [[ 9.25462910e-01 3.78831262e-01 2.29717278e-03 2.48938315e+02] [-3.78830888e-01 9.25465711e-01 -6.12392011e-04 7.98048447e+01] [-2.35794788e-03 -3.03493911e-04 9.99997174e-01 1.18631265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.006875 meters 0.05159012315873635 Centerline is valid? [True, True] Translation: X:248.97, Y:79.80, Z:11.86 [[ 9.25471612e-01 3.78807058e-01 2.74018586e-03 2.48965701e+02] [-3.78806528e-01 9.25475598e-01 -7.30001286e-04 7.97992643e+01] [-2.81250478e-03 -3.62404823e-04 9.99995979e-01 1.18629466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.036875 meters 0.049951003662152396 Centerline is valid? [True, True] Translation: X:248.99, Y:79.79, Z:11.86 [[ 9.25831799e-01 3.77921283e-01 3.31413993e-03 2.48992515e+02] [-3.77920501e-01 9.25837629e-01 -8.83072944e-04 7.97886471e+01] [-3.40208751e-03 -4.34904411e-04 9.99994118e-01 1.18635159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.066875 meters 0.05149117586970631 Centerline is valid? [True, True] Translation: X:249.02, Y:79.78, Z:11.86 [[ 9.26052973e-01 3.77378364e-01 3.38542426e-03 2.49020904e+02] [-3.77377551e-01 9.26059055e-01 -9.00427655e-04 7.97834503e+01] [-3.47490471e-03 -4.43739408e-04 9.99993864e-01 1.18643260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.096875 meters 0.05336837454245912 Centerline is valid? [True, True] Translation: X:249.05, Y:79.78, Z:11.86 [[ 9.26493168e-01 3.76303388e-01 2.48371988e-03 2.49049488e+02] [-3.76302946e-01 9.26496441e-01 -6.61043747e-04 7.97800494e+01] [-2.54991063e-03 -3.22178593e-04 9.99996697e-01 1.18638031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.126875 meters 0.0501077117640378 Centerline is valid? [True, True] Translation: X:249.08, Y:79.77, Z:11.86 [[ 9.26683624e-01 3.75834419e-01 2.43945212e-03 2.49076640e+02] [-3.75833994e-01 9.26686781e-01 -6.47749754e-04 7.97690813e+01] [-2.50405468e-03 -3.16569945e-04 9.99996815e-01 1.18631940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.156875 meters 0.06157369076698001 Centerline is valid? [True, True] Translation: X:249.11, Y:79.78, Z:11.86 [[ 9.27056477e-01 3.74912193e-01 2.67135302e-03 2.49108378e+02] [-3.74911678e-01 9.27060262e-01 -7.10198300e-04 7.97768769e+01] [-2.74276723e-03 -3.43127507e-04 9.99996180e-01 1.18645695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.186875 meters 0.05972374350877973 Centerline is valid? [True, True] Translation: X:249.14, Y:79.77, Z:11.87 [[ 9.27555019e-01 3.73659629e-01 4.49102391e-03 2.49136779e+02] [-3.73658160e-01 9.27565715e-01 -1.19334297e-03 7.97671461e+01] [-4.61162389e-03 -5.71216471e-04 9.99989203e-01 1.18664799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.216875 meters 0.060312387960376274 Centerline is valid? [True, True] Translation: X:249.16, Y:79.76, Z:11.87 [[ 9.27840741e-01 3.72934521e-01 5.60384259e-03 2.49164965e+02] [-3.72932231e-01 9.27857392e-01 -1.48725280e-03 7.97602233e+01] [-5.75421468e-03 -7.09919780e-04 9.99983192e-01 1.18670843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.246875 meters 0.04924849486496258 Centerline is valid? [True, True] Translation: X:249.19, Y:79.74, Z:11.87 [[ 9.28101076e-01 3.72281413e-01 5.91122315e-03 2.49188676e+02] [-3.72278861e-01 9.28119601e-01 -1.56730440e-03 7.97389450e+01] [-6.06980036e-03 -7.46006521e-04 9.99981300e-01 1.18657068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.276875 meters 0.048210378607543194 Centerline is valid? [True, True] Translation: X:249.22, Y:79.73, Z:11.87 [[ 9.28690366e-01 3.70802076e-01 6.32649139e-03 2.49217818e+02] [-3.70799120e-01 9.28711580e-01 -1.67730067e-03 7.97310123e+01] [-6.49743238e-03 -7.88164470e-04 9.99978581e-01 1.18653563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.306875 meters 0.04788374011911725 Centerline is valid? [True, True] Translation: X:249.25, Y:79.72, Z:11.87 [[ 9.28861010e-01 3.70349780e-01 7.63317937e-03 2.49245548e+02] [-3.70345481e-01 9.28891888e-01 -2.02129890e-03 7.97231046e+01] [-7.83898600e-03 -9.49407749e-04 9.99968824e-01 1.18657369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.336875 meters 0.051778672524141596 Centerline is valid? [True, True] Translation: X:249.27, Y:79.72, Z:11.87 [[ 9.29022796e-01 3.69913780e-01 8.96885832e-03 2.49273100e+02] [-3.69907849e-01 9.29065420e-01 -2.37243471e-03 7.97202001e+01] [-9.21025241e-03 -1.11360516e-03 9.99956965e-01 1.18673549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.366875 meters 0.052186610441483115 Centerline is valid? [True, True] Translation: X:249.30, Y:79.71, Z:11.87 [[ 9.29054413e-01 3.69810547e-01 9.90234533e-03 2.49300411e+02] [-3.69803333e-01 9.29106369e-01 -2.61717248e-03 7.97126840e+01] [-1.01681901e-02 -1.23042467e-03 9.99947546e-01 1.18673912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.396875 meters 0.06232128568041771 Centerline is valid? [True, True] Translation: X:249.33, Y:79.72, Z:11.87 [[ 9.28766772e-01 3.70542296e-01 9.52317464e-03 2.49331093e+02] [-3.70535661e-01 9.28814830e-01 -2.51702172e-03 7.97187280e+01] [-9.77792885e-03 -1.19094967e-03 9.99951486e-01 1.18678952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.426875 meters 0.06015539259293298 Centerline is valid? [True, True] Translation: X:249.36, Y:79.71, Z:11.87 [[ 9.28597711e-01 3.70979371e-01 8.97754675e-03 2.49357911e+02] [-3.70973503e-01 9.28640422e-01 -2.37196547e-03 7.97095954e+01] [-9.21686307e-03 -1.12783025e-03 9.99956888e-01 1.18672040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.456875 meters 0.05892591323241915 Centerline is valid? [True, True] Translation: X:249.39, Y:79.70, Z:11.87 [[ 9.28576332e-01 3.70988213e-01 1.06649901e-02 2.49385417e+02] [-3.70979966e-01 9.28636604e-01 -2.81461434e-03 7.97013913e+01] [-1.09480889e-02 -1.34291340e-03 9.99939166e-01 1.18673460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.486875 meters 0.05392826502739249 Centerline is valid? [True, True] Translation: X:249.41, Y:79.69, Z:11.87 [[ 9.28731387e-01 3.70579149e-01 1.13624249e-02 2.49411668e+02] [-3.70569791e-01 9.28799792e-01 -2.99589704e-03 7.96872531e+01] [-1.16636349e-02 -1.42818782e-03 9.99930958e-01 1.18667180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.516875 meters 0.052160665333550134 Centerline is valid? [True, True] Translation: X:249.44, Y:79.68, Z:11.87 [[ 9.29016009e-01 3.69859609e-01 1.15379437e-02 2.49438609e+02] [-3.69849940e-01 9.29086532e-01 -3.03928980e-03 7.96773379e+01] [-1.18438586e-02 -1.44375889e-03 9.99928817e-01 1.18663216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.546875 meters 0.052160665333550134 Centerline is valid? [True, True] Translation: X:249.47, Y:79.67, Z:11.87 [[ 9.29115089e-01 3.69610616e-01 1.15387968e-02 2.49465323e+02] [-3.69600967e-01 9.29185615e-01 -3.03604978e-03 7.96703730e+01] [-1.18438403e-02 -1.44391081e-03 9.99928817e-01 1.18664474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.576875 meters 0.0541703300421528 Centerline is valid? [True, True] Translation: X:249.49, Y:79.67, Z:11.87 [[ 9.29502204e-01 3.68640776e-01 1.13855886e-02 2.49494928e+02] [-3.68631305e-01 9.29570860e-01 -2.99617527e-03 7.96654391e+01] [-1.16882237e-02 -1.41213284e-03 9.99930693e-01 1.18665857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6068750000001 meters 0.05794568160324951 Centerline is valid? [True, True] Translation: X:249.52, Y:79.66, Z:11.87 [[ 9.30242567e-01 3.66773521e-01 1.12227705e-02 2.49524064e+02] [-3.66764190e-01 9.30309255e-01 -2.95287760e-03 7.96640956e+01] [-1.15236846e-02 -1.36921791e-03 9.99932663e-01 1.18661388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.636875 meters 0.06050328741810283 Centerline is valid? [True, True] Translation: X:249.55, Y:79.66, Z:11.87 [[ 9.30477409e-01 3.66150385e-01 1.20701208e-02 2.49551583e+02] [-3.66139555e-01 9.30554538e-01 -3.17462142e-03 7.96610850e+01] [-1.23942945e-02 -1.46543513e-03 9.99922114e-01 1.18666946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.666875 meters 0.06185615408288439 Centerline is valid? [True, True] Translation: X:249.58, Y:79.66, Z:11.87 [[ 9.30816670e-01 3.65261153e-01 1.28303109e-02 2.49580391e+02] [-3.65248843e-01 9.30903808e-01 -3.37378470e-03 7.96571340e+01] [-1.31760978e-02 -1.54588117e-03 9.99911996e-01 1.18674235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.696875 meters 0.058436966645283236 Centerline is valid? [True, True] Translation: X:249.61, Y:79.65, Z:11.87 [[ 9.31001335e-01 3.64739252e-01 1.42053658e-02 2.49607583e+02] [-3.64724163e-01 9.31108137e-01 -3.73117119e-03 7.96465397e+01] [-1.45876363e-02 -1.70731479e-03 9.99892137e-01 1.18677509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7268750000001 meters 0.057722792454778724 Centerline is valid? [True, True] Translation: X:249.64, Y:79.64, Z:11.87 [[ 9.31100438e-01 3.64443782e-01 1.52546165e-02 2.49635443e+02] [-3.64426399e-01 9.31223590e-01 -4.00320220e-03 7.96400239e+01] [-1.56644009e-02 -1.83180164e-03 9.99875628e-01 1.18682732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.756875 meters 0.05649981322563264 Centerline is valid? [True, True] Translation: X:249.66, Y:79.63, Z:11.87 [[ 9.31126878e-01 3.64355335e-01 1.57457018e-02 2.49663106e+02] [-3.64336862e-01 9.31258078e-01 -4.12833813e-03 7.96326973e+01] [-1.61674941e-02 -1.89273301e-03 9.99867506e-01 1.18687539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.786875 meters 0.05728329927151945 Centerline is valid? [True, True] Translation: X:249.69, Y:79.63, Z:11.87 [[ 9.31542328e-01 3.63271249e-01 1.62139361e-02 2.49692772e+02] [-3.63251493e-01 9.31681425e-01 -4.25148758e-03 7.96280806e+01] [-1.66506663e-02 -1.92929586e-03 9.99859507e-01 1.18673603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.816875 meters 0.05833346265768218 Centerline is valid? [True, True] Translation: X:249.72, Y:79.62, Z:11.87 [[ 9.32053107e-01 3.61942416e-01 1.65738613e-02 2.49721608e+02] [-3.61921576e-01 9.32198418e-01 -4.34529756e-03 7.96226130e+01] [-1.70228748e-02 -1.94838992e-03 9.99853202e-01 1.18667985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.846875 meters 0.05290664434418875 Centerline is valid? [True, True] Translation: X:249.75, Y:79.61, Z:11.87 [[ 9.32721960e-01 3.60193292e-01 1.70451411e-02 2.49749543e+02] [-3.60170968e-01 9.32875611e-01 -4.46850195e-03 7.96097172e+01] [-1.75105209e-02 -1.97129508e-03 9.99844736e-01 1.18665171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.876875 meters 0.044231044357491284 Centerline is valid? [True, True] Translation: X:249.78, Y:79.60, Z:11.86 [[ 9.34075520e-01 3.56659108e-01 1.72395822e-02 2.49777235e+02] [-3.56635682e-01 9.34232609e-01 -4.51918323e-03 7.95959106e+01] [-1.77175877e-02 -1.92699172e-03 9.99841174e-01 1.18648984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.906875 meters 0.05428245403551313 Centerline is valid? [True, True] Translation: X:249.81, Y:79.60, Z:11.87 [[ 9.34840927e-01 3.54663668e-01 1.69151880e-02 2.49809426e+02] [-3.54640807e-01 9.34992109e-01 -4.43332540e-03 7.96037088e+01] [-1.73879067e-02 -1.85436189e-03 9.99847099e-01 1.18669141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.936875 meters 0.05444763965420332 Centerline is valid? [True, True] Translation: X:249.84, Y:79.60, Z:11.87 [[ 9.36678291e-01 3.49789653e-01 1.67623756e-02 2.49837971e+02] [-3.49766444e-01 9.36826633e-01 -4.39247040e-03 7.95993530e+01] [-1.72398806e-02 -1.74858482e-03 9.99849853e-01 1.18656021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.966875 meters 0.04926356686389583 Centerline is valid? [True, True] Translation: X:249.87, Y:79.59, Z:11.86 [[ 9.37742009e-01 3.46929871e-01 1.67209186e-02 2.49865470e+02] [-3.46906334e-01 9.37889546e-01 -4.38116731e-03 7.95868354e+01] [-1.72023326e-02 -1.69218793e-03 9.99850597e-01 1.18644231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.996875 meters 0.04584490871712804 Centerline is valid? [True, True] Translation: X:249.89, Y:79.58, Z:11.86 [[ 9.38842890e-01 3.43897890e-01 1.75576177e-02 2.49893416e+02] [-3.43871422e-01 9.39005477e-01 -4.59988690e-03 7.95775137e+01] [-1.80685906e-02 -1.71899184e-03 9.99835272e-01 1.18644771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.026875 meters 0.04536834436510948 Centerline is valid? [True, True] Translation: X:249.92, Y:79.57, Z:11.86 [[ 9.39889154e-01 3.41026049e-01 1.75958092e-02 2.49923081e+02] [-3.40998976e-01 9.40052367e-01 -4.60938162e-03 7.95728740e+01] [-1.81129013e-02 -1.66784512e-03 9.99834557e-01 1.18649035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.056875 meters 0.043175554189561656 Centerline is valid? [True, True] Translation: X:249.95, Y:79.57, Z:11.86 [[ 9.42022722e-01 3.35120095e-01 1.69621241e-02 2.49952964e+02] [-3.35093994e-01 9.42174228e-01 -4.44284465e-03 7.95706068e+01] [-1.74701627e-02 -1.49864530e-03 9.99846262e-01 1.18641817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.086875 meters 0.04320498250852037 Centerline is valid? [True, True] Translation: X:249.98, Y:79.57, Z:11.86 [[ 9.43070650e-01 3.32173752e-01 1.66837426e-02 2.49981530e+02] [-3.32148057e-01 9.43217143e-01 -4.36912921e-03 7.95669122e+01] [-1.71877021e-02 -1.42107516e-03 9.99851271e-01 1.18644480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.116875 meters 0.041604671249246127 Centerline is valid? [True, True] Translation: X:250.01, Y:79.56, Z:11.86 [[ 9.43956803e-01 3.29649469e-01 1.66367282e-02 2.50010497e+02] [-3.29623535e-01 9.44102402e-01 -4.35649395e-03 7.95607229e+01] [-1.71428910e-02 -1.37151507e-03 9.99852109e-01 1.18644336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.146875 meters 0.04127132901430795 Centerline is valid? [True, True] Translation: X:250.04, Y:79.56, Z:11.86 [[ 9.44841202e-01 3.27147347e-01 1.58024112e-02 2.50041981e+02] [-3.27123613e-01 9.44972500e-01 -4.13725154e-03 7.95613550e+01] [-1.62863349e-02 -1.26029612e-03 9.99866575e-01 1.18639786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.176875 meters 0.03831793732129838 Centerline is valid? [True, True] Translation: X:250.07, Y:79.56, Z:11.86 [[ 9.44894101e-01 3.26988648e-01 1.59236115e-02 2.50069758e+02] [-3.26964605e-01 9.45027411e-01 -4.16416031e-03 7.95551811e+01] [-1.64098825e-02 -1.27176684e-03 9.99864540e-01 1.18628495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.206875 meters 0.0401547835237015 Centerline is valid? [True, True] Translation: X:250.10, Y:79.56, Z:11.86 [[ 9.44673270e-01 3.27632189e-01 1.57975254e-02 2.50098155e+02] [-3.27608648e-01 9.44804490e-01 -4.12916619e-03 7.95558490e+01] [-1.62784207e-02 -1.27469300e-03 9.99866685e-01 1.18639757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.236875 meters 0.043368832133140425 Centerline is valid? [True, True] Translation: X:250.13, Y:79.56, Z:11.86 [[ 9.43268731e-01 3.31661255e-01 1.56497116e-02 2.50130028e+02] [-3.31638704e-01 9.43397604e-01 -4.09037829e-03 7.95644257e+01] [-1.61205205e-02 -1.33172415e-03 9.99869169e-01 1.18643133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.266875 meters 0.04194940250743935 Centerline is valid? [True, True] Translation: X:250.16, Y:79.56, Z:11.86 [[ 9.42764263e-01 3.33087819e-01 1.57495606e-02 2.50159266e+02] [-3.33065191e-01 9.42894819e-01 -4.11560322e-03 7.95619057e+01] [-1.62210364e-02 -1.36558677e-03 9.99867498e-01 1.18641038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.296875 meters 0.040875039937212844 Centerline is valid? [True, True] Translation: X:250.19, Y:79.56, Z:11.86 [[ 9.42534599e-01 3.33656365e-01 1.73770181e-02 2.50190498e+02] [-3.33628924e-01 9.42693548e-01 -4.54037089e-03 7.95648301e+01] [-1.78961265e-02 -1.51801921e-03 9.99838699e-01 1.18644533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.326875 meters 0.040683947310534846 Centerline is valid? [True, True] Translation: X:250.22, Y:79.56, Z:11.86 [[ 9.42923673e-01 3.32500655e-01 1.83918613e-02 2.50219879e+02] [-3.32469801e-01 9.43101686e-01 -4.80006907e-03 7.95629368e+01] [-1.89414215e-02 -1.58863971e-03 9.99819333e-01 1.18648753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3568750000001 meters 0.04213223926297784 Centerline is valid? [True, True] Translation: X:250.25, Y:79.56, Z:11.87 [[ 9.43529925e-01 3.30737939e-01 1.90708324e-02 2.50249980e+02] [-3.30704402e-01 9.43721263e-01 -4.97757494e-03 7.95621931e+01] [-1.96438229e-02 -1.61031729e-03 9.99805745e-01 1.18650465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.386875 meters 0.03857096766776252 Centerline is valid? [True, True] Translation: X:250.28, Y:79.55, Z:11.86 [[ 9.44512209e-01 3.27902199e-01 1.94122115e-02 2.50278576e+02] [-3.27866864e-01 9.44710354e-01 -5.06621685e-03 7.95549731e+01] [-2.00001408e-02 -1.57951724e-03 9.99798729e-01 1.18638910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.416875 meters 0.036788180600593204 Centerline is valid? [True, True] Translation: X:250.31, Y:79.56, Z:11.86 [[ 9.46862615e-01 3.21043364e-01 1.95537121e-02 2.50309781e+02] [-3.21006067e-01 9.47063392e-01 -5.10251313e-03 7.95559333e+01] [-2.01567329e-02 -1.44548132e-03 9.99795787e-01 1.18635189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.446875 meters 0.03463973101308615 Centerline is valid? [True, True] Translation: X:250.34, Y:79.55, Z:11.86 [[ 9.48249878e-01 3.16934579e-01 1.93556490e-02 2.50339922e+02] [-3.16897194e-01 9.48446447e-01 -5.05021601e-03 7.95522601e+01] [-1.99583846e-02 -1.34488414e-03 9.99799907e-01 1.18630091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4768750000001 meters 0.03207034942035123 Centerline is valid? [True, True] Translation: X:250.37, Y:79.55, Z:11.86 [[ 9.50605964e-01 3.09823277e-01 1.89166331e-02 2.50371703e+02] [-3.09786173e-01 9.50793443e-01 -4.93517261e-03 7.95544535e+01] [-1.95148421e-02 -1.16870686e-03 9.99808884e-01 1.18632210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.506875 meters 0.03116586815029975 Centerline is valid? [True, True] Translation: X:250.40, Y:79.55, Z:11.86 [[ 9.51352725e-01 3.07471495e-01 1.97300161e-02 2.50401423e+02] [-3.07430738e-01 9.51556568e-01 -5.14192668e-03 7.95526596e+01] [-2.03552223e-02 -1.17382746e-03 9.99792122e-01 1.18636866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.536875 meters 0.031756826465769314 Centerline is valid? [True, True] Translation: X:250.43, Y:79.55, Z:11.87 [[ 9.51912951e-01 3.05708630e-01 2.00989535e-02 2.50430712e+02] [-3.05665957e-01 9.52124410e-01 -5.23738427e-03 7.95532595e+01] [-2.07378178e-02 -1.15803195e-03 9.99784278e-01 1.18650512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.566875 meters 0.0316358010065008 Centerline is valid? [True, True] Translation: X:250.46, Y:79.55, Z:11.86 [[ 9.52349411e-01 3.04325930e-01 2.04040894e-02 2.50459816e+02] [-3.04281757e-01 9.52567270e-01 -5.31113633e-03 7.95525276e+01] [-2.10525843e-02 -1.15053461e-03 9.99777708e-01 1.18648127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.596875 meters 0.030728729910932596 Centerline is valid? [True, True] Translation: X:250.49, Y:79.56, Z:11.86 [[ 9.52866846e-01 3.02744024e-01 1.97694268e-02 2.50491571e+02] [-3.02702308e-01 9.53071287e-01 -5.14144635e-03 7.95583320e+01] [-2.03982152e-02 -1.08513736e-03 9.99791346e-01 1.18641403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.626875 meters 0.03034400627355521 Centerline is valid? [True, True] Translation: X:250.52, Y:79.56, Z:11.86 [[ 9.53092089e-01 3.02029707e-01 1.98374684e-02 2.50521723e+02] [-3.01987651e-01 9.53297904e-01 -5.15415459e-03 7.95588391e+01] [-2.04677248e-02 -1.07828651e-03 9.99789933e-01 1.18647399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.656875 meters 0.030150404534388105 Centerline is valid? [True, True] Translation: X:250.55, Y:79.56, Z:11.87 [[ 9.55131143e-01 2.95382250e-01 2.17675669e-02 2.50551383e+02] [-2.95329887e-01 9.55378601e-01 -5.65556848e-03 7.95598837e+01] [-2.24668221e-02 -1.02680349e-03 9.99747062e-01 1.18674910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.686875 meters 0.026028520183195854 Centerline is valid? [True, True] Translation: X:250.58, Y:79.55, Z:11.87 [[ 9.57031466e-01 2.89034266e-01 2.34513644e-02 2.50578747e+02] [-2.88971595e-01 9.57318285e-01 -6.09255259e-03 7.95461757e+01] [-2.42113764e-02 -9.46013635e-04 9.99706414e-01 1.18676194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.716875 meters 0.024104102903180047 Centerline is valid? [True, True] Translation: X:250.61, Y:79.54, Z:11.87 [[ 9.59190094e-01 2.81754135e-01 2.38531171e-02 2.50605844e+02] [-2.81687074e-01 9.59486323e-01 -6.19578428e-03 7.95357146e+01] [-2.46324275e-02 -7.76179840e-04 9.99696274e-01 1.18683728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.746875 meters 0.022525609805586665 Centerline is valid? [True, True] Translation: X:250.63, Y:79.52, Z:11.87 [[ 9.61008268e-01 2.75621871e-01 2.22641804e-02 2.50633615e+02] [-2.75561823e-01 9.61265962e-01 -5.78208118e-03 7.95245388e+01] [-2.29954669e-02 -5.78530332e-04 9.99735402e-01 1.18672883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.776875 meters 0.020438863407630153 Centerline is valid? [True, True] Translation: X:250.66, Y:79.51, Z:11.86 [[ 9.63027750e-01 2.68698916e-01 1.94536887e-02 2.50660707e+02] [-2.68651675e-01 9.63224149e-01 -5.05132061e-03 7.95106137e+01] [-2.00955471e-02 -3.61704131e-04 9.99797999e-01 1.18623582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.806875 meters 0.020970097293136744 Centerline is valid? [True, True] Translation: X:250.69, Y:79.50, Z:11.86 [[ 9.63329272e-01 2.67630325e-01 1.92541721e-02 2.50687531e+02] [-2.67583893e-01 9.63521611e-01 -4.99662051e-03 7.95041553e+01] [-1.98890581e-02 -3.38715521e-04 9.99802136e-01 1.18645585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.836875 meters 0.020668278490525306 Centerline is valid? [True, True] Translation: X:250.71, Y:79.50, Z:11.86 [[ 9.62646372e-01 2.70081720e-01 1.91788438e-02 2.50714847e+02] [-2.70036239e-01 9.62837323e-01 -4.97182843e-03 7.94965656e+01] [-1.98089066e-02 -3.92870264e-04 9.99803707e-01 1.18625842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.866875 meters 0.021380291739121045 Centerline is valid? [True, True] Translation: X:250.74, Y:79.49, Z:11.86 [[ 9.61818144e-01 2.73068945e-01 1.84176457e-02 2.50742777e+02] [-2.73027638e-01 9.61994364e-01 -4.76989794e-03 7.94907433e+01] [-1.90201824e-02 -4.40751926e-04 9.99819003e-01 1.18615545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.896875 meters 0.022673470256402053 Centerline is valid? [True, True] Translation: X:250.77, Y:79.49, Z:11.86 [[ 9.60976575e-01 2.76068742e-01 1.76088730e-02 2.50769879e+02] [-2.76031529e-01 9.61137773e-01 -4.55807957e-03 7.94863225e+01] [-1.81828962e-02 -4.80396435e-04 9.99834562e-01 1.18621789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.926875 meters 0.023625436653476037 Centerline is valid? [True, True] Translation: X:250.80, Y:79.48, Z:11.86 [[ 9.59522181e-01 2.81016263e-01 1.86291124e-02 2.50799575e+02] [-2.80975552e-01 9.59702814e-01 -4.82172674e-03 7.94816786e+01] [-1.92333952e-02 -6.07771374e-04 9.99814836e-01 1.18636304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.956875 meters 0.024467709864233952 Centerline is valid? [True, True] Translation: X:250.83, Y:79.48, Z:11.86 [[ 9.59006143e-01 2.82790536e-01 1.83501974e-02 2.50826559e+02] [-2.82751392e-01 9.59181479e-01 -4.74776147e-03 7.94760313e+01] [-1.89437915e-02 -6.35411456e-04 9.99820348e-01 1.18632769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.986875 meters 0.025277910072075645 Centerline is valid? [True, True] Translation: X:250.85, Y:79.47, Z:11.86 [[ 9.58530442e-01 2.84483769e-01 1.69816896e-02 2.50854345e+02] [-2.84450597e-01 9.58680654e-01 -4.38883534e-03 7.94686781e+01] [-1.75285697e-02 -6.23619462e-04 9.99846168e-01 1.18612943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.016875 meters 0.025866025709105588 Centerline is valid? [True, True] Translation: X:250.88, Y:79.46, Z:11.86 [[ 9.57834933e-01 2.86954910e-01 1.44610143e-02 2.50881235e+02] [-2.86931147e-01 9.57943920e-01 -3.73664695e-03 7.94598010e+01] [-1.49250899e-02 -5.70224450e-04 9.99888452e-01 1.18566755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.046875 meters 0.02665597976447561 Centerline is valid? [True, True] Translation: X:250.91, Y:79.45, Z:11.86 [[ 9.57599618e-01 2.87748523e-01 1.42744393e-02 2.50908272e+02] [-2.87725476e-01 9.57705829e-01 -3.68720029e-03 7.94540672e+01] [-1.47317002e-02 -5.76258263e-04 9.99891317e-01 1.18576155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.076875 meters 0.026499711223251076 Centerline is valid? [True, True] Translation: X:250.94, Y:79.45, Z:11.86 [[ 9.57426641e-01 2.88289640e-01 1.49436003e-02 2.50935942e+02] [-2.88264513e-01 9.57543056e-01 -3.85572608e-03 7.94468783e+01] [-1.54207065e-02 -6.16134783e-04 9.99880904e-01 1.18580386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1068750000001 meters 0.026688080599409032 Centerline is valid? [True, True] Translation: X:250.96, Y:79.44, Z:11.86 [[ 9.56950650e-01 2.89881482e-01 1.46348756e-02 2.50963908e+02] [-2.89857624e-01 9.57062342e-01 -3.77242717e-03 7.94393097e+01] [-1.51000451e-02 -6.32003637e-04 9.99885788e-01 1.18587691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.136875 meters 0.028092079532729977 Centerline is valid? [True, True] Translation: X:250.99, Y:79.44, Z:11.86 [[ 9.56708828e-01 2.90710366e-01 1.39893529e-02 2.50991848e+02] [-2.90688663e-01 9.56810902e-01 -3.60546268e-03 7.94351190e+01] [-1.44333107e-02 -6.17168309e-04 9.99895644e-01 1.18594343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.166875 meters 0.028002469731884264 Centerline is valid? [True, True] Translation: X:251.02, Y:79.43, Z:11.86 [[ 9.55915955e-01 2.93330212e-01 1.34934780e-02 2.51020361e+02] [-2.93310283e-01 9.56010976e-01 -3.47740365e-03 7.94274698e+01] [-1.39199407e-02 -6.33670239e-04 9.99902912e-01 1.18591094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.196875 meters 0.028178576624812088 Centerline is valid? [True, True] Translation: X:251.05, Y:79.42, Z:11.86 [[ 9.55515949e-01 2.94648157e-01 1.31047449e-02 2.51047641e+02] [-2.94629503e-01 9.55605598e-01 -3.37582679e-03 7.94202043e+01] [-1.35176488e-02 -6.35388148e-04 9.99908431e-01 1.18578569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2268750000001 meters 0.029604845299407184 Centerline is valid? [True, True] Translation: X:251.07, Y:79.42, Z:11.86 [[ 9.55091321e-01 2.96041837e-01 1.26411726e-02 2.51074880e+02] [-2.96024615e-01 9.55174764e-01 -3.25528812e-03 7.94155965e+01] [-1.30382305e-02 -6.33000822e-04 9.99914798e-01 1.18575765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.256875 meters 0.03082022632126213 Centerline is valid? [True, True] Translation: X:251.10, Y:79.41, Z:11.86 [[ 9.54640342e-01 2.97447388e-01 1.36699675e-02 2.51102532e+02] [-2.97427404e-01 9.54737950e-01 -3.51938817e-03 7.94105322e+01] [-1.40980696e-02 -7.06073033e-04 9.99900368e-01 1.18583683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.286875 meters 0.0309026042553191 Centerline is valid? [True, True] Translation: X:251.13, Y:79.40, Z:11.86 [[ 9.54847942e-01 2.96769990e-01 1.38917311e-02 2.51130120e+02] [-2.96749340e-01 9.54948725e-01 -3.57238660e-03 7.94031328e+01] [-1.43260680e-02 -7.11276038e-04 9.99897124e-01 1.18588772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.316875 meters 0.03018439541914198 Centerline is valid? [True, True] Translation: X:251.16, Y:79.40, Z:11.86 [[ 9.55111674e-01 2.95901021e-01 1.42925212e-02 2.51157460e+02] [-2.95879116e-01 9.55218334e-01 -3.67201649e-03 7.93953106e+01] [-1.47390317e-02 -7.21672724e-04 9.99891114e-01 1.18595289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.346875 meters 0.029310736807304803 Centerline is valid? [True, True] Translation: X:251.19, Y:79.39, Z:11.86 [[ 9.55564702e-01 2.94415512e-01 1.46835203e-02 2.51185108e+02] [-2.94392271e-01 9.55677239e-01 -3.76890957e-03 7.93870483e+01] [-1.51423316e-02 -7.21277934e-04 9.99885088e-01 1.18601454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.376875 meters 0.028100549358444315 Centerline is valid? [True, True] Translation: X:251.21, Y:79.38, Z:11.86 [[ 9.56518243e-01 2.91305511e-01 1.46270044e-02 2.51213513e+02] [-2.91282079e-01 9.56629840e-01 -3.75480996e-03 7.93787130e+01] [-1.50864258e-02 -6.69040036e-04 9.99885970e-01 1.18614027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.406875 meters 0.027162451840459245 Centerline is valid? [True, True] Translation: X:251.24, Y:79.37, Z:11.86 [[ 9.57074943e-01 2.89472582e-01 1.46006463e-02 2.51240827e+02] [-2.89449039e-01 9.57186092e-01 -3.74686318e-03 7.93698412e+01] [-1.50601497e-02 -6.40114176e-04 9.99886385e-01 1.18609778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.436875 meters 0.026772310873656682 Centerline is valid? [True, True] Translation: X:251.27, Y:79.36, Z:11.86 [[ 9.57715139e-01 2.87354988e-01 1.44507260e-02 2.51268286e+02] [-2.87331701e-01 9.57823965e-01 -3.70738159e-03 7.93614381e+01] [-1.49065863e-02 -6.01536212e-04 9.99888710e-01 1.18603609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.466875 meters 0.026772310873656682 Centerline is valid? [True, True] Translation: X:251.29, Y:79.35, Z:11.86 [[ 9.57790497e-01 2.87103650e-01 1.44519207e-02 2.51294839e+02] [-2.87080404e-01 9.57899333e-01 -3.70272233e-03 7.93547206e+01] [-1.49065503e-02 -6.02430990e-04 9.99888710e-01 1.18604856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.496875 meters 0.02503585828183453 Centerline is valid? [True, True] Translation: X:251.32, Y:79.34, Z:11.86 [[ 9.59255303e-01 2.82147053e-01 1.49098462e-02 2.51323012e+02] [-2.82121706e-01 9.59371017e-01 -3.82041524e-03 7.93425012e+01] [-1.53819932e-02 -5.41637664e-04 9.99881543e-01 1.18602026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.526875 meters 0.022998607827186882 Centerline is valid? [True, True] Translation: X:251.35, Y:79.33, Z:11.86 [[ 9.60579248e-01 2.77547747e-01 1.59611031e-02 2.51351726e+02] [-2.77518096e-01 9.60711713e-01 -4.08791964e-03 7.93332829e+01] [-1.64686116e-02 -5.02724164e-04 9.99864257e-01 1.18623790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.556875 meters 0.022980294508563023 Centerline is valid? [True, True] Translation: X:251.38, Y:79.33, Z:11.86 [[ 9.61237550e-01 2.75229220e-01 1.64696454e-02 2.51379193e+02] [-2.75197388e-01 9.61378512e-01 -4.21349095e-03 7.93270589e+01] [-1.69932390e-02 -4.82237674e-04 9.99855488e-01 1.18643758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.586875 meters 0.0225889727021033 Centerline is valid? [True, True] Translation: X:251.41, Y:79.32, Z:11.87 [[ 9.61918342e-01 2.72792465e-01 1.72445577e-02 2.51407073e+02] [-2.72757250e-01 9.62072791e-01 -4.40758228e-03 7.93191678e+01] [-1.77928750e-02 -4.63843890e-04 9.99841587e-01 1.18654656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.616875 meters 0.021473562581054054 Centerline is valid? [True, True] Translation: X:251.43, Y:79.31, Z:11.87 [[ 9.62735235e-01 2.69870969e-01 1.76217772e-02 2.51434346e+02] [-2.69833786e-01 9.62896402e-01 -4.49964428e-03 7.93097228e+01] [-1.81822693e-02 -4.22984775e-04 9.99834599e-01 1.18659125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.646875 meters 0.02066566059963749 Centerline is valid? [True, True] Translation: X:251.46, Y:79.30, Z:11.87 [[ 9.63767200e-01 2.66141199e-01 1.79344996e-02 2.51462296e+02] [-2.66102112e-01 9.63933987e-01 -4.57550551e-03 7.93014998e+01] [-1.85054042e-02 -3.62686077e-04 9.99828695e-01 1.18656949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.676875 meters 0.02033753574470216 Centerline is valid? [True, True] Translation: X:251.49, Y:79.29, Z:11.87 [[ 9.64482264e-01 2.63491163e-01 1.86109859e-02 2.51488674e+02] [-2.63448597e-01 9.64661755e-01 -4.74712854e-03 7.92921899e+01] [-1.92041328e-02 -3.24516838e-04 9.99815531e-01 1.18653504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.706875 meters 0.019810296142481452 Centerline is valid? [True, True] Translation: X:251.52, Y:79.28, Z:11.86 [[ 9.65277176e-01 2.60556929e-01 1.87099138e-02 2.51516126e+02] [-2.60513460e-01 9.65458447e-01 -4.76705908e-03 7.92821446e+01] [-1.93057346e-02 -2.72651049e-04 9.99813590e-01 1.18641704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.736875 meters 0.019305785149643557 Centerline is valid? [True, True] Translation: X:251.54, Y:79.27, Z:11.86 [[ 9.66314147e-01 2.56641120e-01 1.92952040e-02 2.51543311e+02] [-2.56594201e-01 9.66506748e-01 -4.91146170e-03 7.92724484e+01] [-1.99094279e-02 -2.05022534e-04 9.99801767e-01 1.18638980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.766875 meters 0.018680018575375757 Centerline is valid? [True, True] Translation: X:251.57, Y:79.26, Z:11.87 [[ 9.68039819e-01 2.50100676e-01 1.86697638e-02 2.51570627e+02] [-2.50055621e-01 9.68219834e-01 -4.74761408e-03 7.92622118e+01] [-1.92638171e-02 -7.25998861e-05 9.99814433e-01 1.18651611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.796875 meters 0.018605726348791804 Centerline is valid? [True, True] Translation: X:251.60, Y:79.25, Z:11.87 [[ 9.68627883e-01 2.47865741e-01 1.79610534e-02 2.51598178e+02] [-2.47823740e-01 9.68794392e-01 -4.56291607e-03 7.92546189e+01] [-1.85315583e-02 -3.14076936e-05 9.99828275e-01 1.18650274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.826875 meters 0.018340430803724043 Centerline is valid? [True, True] Translation: X:251.62, Y:79.25, Z:11.86 [[ 9.68349650e-01 2.49083140e-01 1.60170162e-02 2.51624898e+02] [-2.49049920e-01 9.68482105e-01 -4.06822492e-03 7.92479775e+01] [-1.65255198e-02 -4.95724362e-05 9.99863443e-01 1.18634293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8568750000001 meters 0.018385141431746934 Centerline is valid? [True, True] Translation: X:251.65, Y:79.24, Z:11.86 [[ 9.68059034e-01 2.50240244e-01 1.55411565e-02 2.51652308e+02] [-2.50209202e-01 9.68183771e-01 -3.94214974e-03 7.92416978e+01] [-1.60331800e-02 -7.23066991e-05 9.99871458e-01 1.18623441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.886875 meters 0.018535417032285464 Centerline is valid? [True, True] Translation: X:251.68, Y:79.24, Z:11.86 [[ 9.67780319e-01 2.51335668e-01 1.52196064e-02 2.51679103e+02] [-2.51306099e-01 9.67899981e-01 -3.85627683e-03 7.92358954e+01] [-1.57002766e-02 -9.27510881e-05 9.99876739e-01 1.18619438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.916875 meters 0.019114760190944376 Centerline is valid? [True, True] Translation: X:251.71, Y:79.23, Z:11.86 [[ 9.67018113e-01 2.54229362e-01 1.56013256e-02 2.51706242e+02] [-2.54198681e-01 9.67143945e-01 -3.95217451e-03 7.92321233e+01] [-1.60934864e-02 -1.44012061e-04 9.99870481e-01 1.18636561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.946875 meters 0.019897542140520964 Centerline is valid? [True, True] Translation: X:251.73, Y:79.23, Z:11.87 [[ 9.66522465e-01 2.56125365e-01 1.53010424e-02 2.51734044e+02] [-2.56096111e-01 9.66643557e-01 -3.87486845e-03 7.92276259e+01] [-1.57831062e-02 -1.73390061e-04 9.99875424e-01 1.18655318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9768750000001 meters 0.01948147181348256 Centerline is valid? [True, True] Translation: X:251.76, Y:79.22, Z:11.86 [[ 9.66080936e-01 2.57940982e-01 1.24127150e-02 2.51761348e+02] [-2.57921929e-01 9.66160660e-01 -3.13960874e-03 7.92194042e+01] [-1.28025107e-02 -1.68395248e-04 9.99918030e-01 1.18592531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.006875 meters 0.019776315180858185 Centerline is valid? [True, True] Translation: X:251.79, Y:79.21, Z:11.86 [[ 9.65809642e-01 2.59054633e-01 1.01208544e-02 2.51788497e+02] [-2.59042032e-01 9.65862658e-01 -2.55953493e-03 7.92126488e+01] [-1.04384148e-02 -1.49703183e-04 9.99945507e-01 1.18569881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.036875 meters 0.01976402681503571 Centerline is valid? [True, True] Translation: X:251.82, Y:79.21, Z:11.86 [[ 9.65518813e-01 2.60186323e-01 8.74640255e-03 2.51815103e+02] [-2.60176989e-01 9.65558417e-01 -2.20858973e-03 7.92061235e+01] [-9.01980744e-03 -1.43177738e-04 9.99959310e-01 1.18555760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.066875 meters 0.020036714949022236 Centerline is valid? [True, True] Translation: X:251.84, Y:79.20, Z:11.86 [[ 9.65134125e-01 2.61610479e-01 8.72225355e-03 2.51842631e+02] [-2.61601253e-01 9.65173525e-01 -2.20256618e-03 7.91995283e+01] [-8.99470259e-03 -1.55980677e-04 9.99959535e-01 1.18556893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.096875 meters 0.02025851153235054 Centerline is valid? [True, True] Translation: X:251.87, Y:79.19, Z:11.86 [[ 9.64653628e-01 2.63405846e-01 7.79342028e-03 2.51870574e+02] [-2.63398561e-01 9.64685097e-01 -1.96536183e-03 7.91929193e+01] [-8.03588419e-03 -1.56882268e-04 9.99967699e-01 1.18562234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.126875 meters 0.020290340817775674 Centerline is valid? [True, True] Translation: X:251.90, Y:79.19, Z:11.86 [[ 9.64757099e-01 2.63063996e-01 6.40892779e-03 2.51897785e+02] [-2.63059074e-01 9.64778377e-01 -1.61445462e-03 7.91851483e+01] [-6.60789983e-03 -1.28370055e-04 9.99978159e-01 1.18552412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.156875 meters 0.0205228574529282 Centerline is valid? [True, True] Translation: X:251.92, Y:79.18, Z:11.85 [[ 9.64901723e-01 2.62567974e-01 4.76691414e-03 2.51924667e+02] [-2.62565245e-01 9.64913494e-01 -1.20082685e-03 7.91767849e+01] [-4.91495845e-03 -9.29460853e-05 9.99987917e-01 1.18532977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.186875 meters 0.020220203705015958 Centerline is valid? [True, True] Translation: X:251.95, Y:79.17, Z:11.85 [[ 9.65201895e-01 2.61491086e-01 2.77746363e-03 2.51951899e+02] [-2.61490160e-01 9.65205889e-01 -6.98150846e-04 7.91672168e+01] [-2.86338447e-03 -5.24228883e-05 9.99995899e-01 1.18506233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.216875 meters 0.019668430675514 Centerline is valid? [True, True] Translation: X:251.98, Y:79.15, Z:11.85 [[ 9.65733214e-01 2.59536185e-01 5.73494810e-04 2.51978098e+02] [-2.59536146e-01 9.65733384e-01 -1.43142690e-04 7.91547308e+01] [-5.90993791e-04 -1.06049825e-05 9.99999825e-01 1.18473922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.246875 meters 0.019940059127218555 Centerline is valid? [True, True] Translation: X:252.00, Y:79.15, Z:11.85 [[ 9.66085594e-01 2.58221387e-01 5.82377572e-04 2.52004944e+02] [-2.58221346e-01 9.66085770e-01 -1.46030066e-04 7.91471006e+01] [-6.00334771e-04 -9.30477718e-06 9.99999820e-01 1.18478149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.276875 meters 0.01951399843874535 Centerline is valid? [True, True] Translation: X:252.03, Y:79.14, Z:11.85 [[ 9.66790833e-01 2.55566893e-01 1.02446502e-03 2.52031653e+02] [-2.55566765e-01 9.66791375e-01 -2.56253962e-04 7.91369756e+01] [-1.05593398e-03 -1.40752295e-05 9.99999442e-01 1.18488465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.306875 meters 0.018945501176528302 Centerline is valid? [True, True] Translation: X:252.06, Y:79.13, Z:11.85 [[ 9.67219127e-01 2.53937707e-01 1.67346053e-03 2.52058671e+02] [-2.53937363e-01 9.67220575e-01 -4.18843635e-04 7.91275956e+01] [-1.72496565e-03 -1.98405785e-05 9.99998512e-01 1.18507368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.336875 meters 0.019064940207152433 Centerline is valid? [True, True] Translation: X:252.09, Y:79.12, Z:11.85 [[ 9.67804376e-01 2.51690824e-01 2.53370683e-03 2.52086585e+02] [-2.51690026e-01 9.67807692e-01 -6.34092211e-04 7.91199904e+01] [-2.61173615e-03 -2.40315222e-05 9.99996589e-01 1.18509648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.366875 meters 0.01875565725397779 Centerline is valid? [True, True] Translation: X:252.11, Y:79.11, Z:11.85 [[ 9.68638943e-01 2.48440124e-01 4.01278387e-03 2.52113070e+02] [-2.48438097e-01 9.68647255e-01 -1.00386965e-03 7.91093685e+01] [-4.13637358e-03 -2.45411527e-05 9.99991445e-01 1.18526609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.396875 meters 0.018856053030864153 Centerline is valid? [True, True] Translation: X:252.14, Y:79.10, Z:11.85 [[ 9.68431002e-01 2.49246027e-01 4.22047558e-03 2.52139714e+02] [-2.49243791e-01 9.68440198e-01 -1.05621754e-03 7.91030436e+01] [-4.35053623e-03 -2.90535184e-05 9.99990536e-01 1.18520051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.426875 meters 0.019280776815179493 Centerline is valid? [True, True] Translation: X:252.17, Y:79.10, Z:11.85 [[ 9.68352644e-01 2.49540858e-01 4.74528177e-03 2.52167209e+02] [-2.49538044e-01 9.68364270e-01 -1.18576606e-03 7.90962553e+01] [-4.89105840e-03 -3.58886357e-05 9.99988038e-01 1.18516158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.456875 meters 0.019740659006494396 Centerline is valid? [True, True] Translation: X:252.20, Y:79.09, Z:11.85 [[ 9.68324929e-01 2.49593273e-01 7.07323783e-03 2.52195169e+02] [-2.49587029e-01 9.68350760e-01 -1.76630104e-03 7.90890529e+01] [-7.29023209e-03 -5.50350865e-05 9.99973424e-01 1.18522540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.486875 meters 0.019558487939414827 Centerline is valid? [True, True] Translation: X:252.22, Y:79.08, Z:11.85 [[ 9.68537496e-01 2.48753645e-01 7.53275026e-03 2.52221649e+02] [-2.48746556e-01 9.68566787e-01 -1.87875369e-03 7.90818293e+01] [-7.76331854e-03 -5.41022908e-05 9.99969864e-01 1.18514210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.516875 meters 0.0201422120239969 Centerline is valid? [True, True] Translation: X:252.25, Y:79.08, Z:11.85 [[ 9.68435691e-01 2.49155965e-01 7.32233761e-03 2.52248061e+02] [-2.49149280e-01 9.68463372e-01 -1.82604568e-03 7.90776076e+01] [-7.54638595e-03 -5.59473334e-05 9.99971524e-01 1.18516645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.546875 meters 0.020602575562635308 Centerline is valid? [True, True] Translation: X:252.28, Y:79.08, Z:11.85 [[ 9.67363321e-01 2.53321049e-01 6.05403131e-03 2.52277154e+02] [-2.53316574e-01 9.67382262e-01 -1.50766580e-03 7.90757692e+01] [-6.23848599e-03 -7.51258742e-05 9.99980538e-01 1.18481106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.576875 meters 0.021310176262382793 Centerline is valid? [True, True] Translation: X:252.30, Y:79.07, Z:11.85 [[ 9.66926169e-01 2.54976801e-01 6.37292658e-03 2.52304369e+02] [-2.54971876e-01 9.66947166e-01 -1.58728268e-03 7.90706931e+01] [-6.56700356e-03 -9.01318896e-05 9.99978433e-01 1.18492811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6068750000001 meters 0.021331136250822613 Centerline is valid? [True, True] Translation: X:252.33, Y:79.06, Z:11.85 [[ 9.66215334e-01 2.57654499e-01 6.48747697e-03 2.52331898e+02] [-2.57649472e-01 9.66237107e-01 -1.61346538e-03 7.90636143e+01] [-6.68415759e-03 -1.12540026e-04 9.99977654e-01 1.18464057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.636875 meters 0.02168904532356409 Centerline is valid? [True, True] Translation: X:252.36, Y:79.06, Z:11.85 [[ 9.65966009e-01 2.58609345e-01 5.55667311e-03 2.52358867e+02] [-2.58605673e-01 9.65981986e-01 -1.38185450e-03 7.90589786e+01] [-5.72500661e-03 -1.02162709e-04 9.99983607e-01 1.18463526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.666875 meters 0.021812013980023272 Centerline is valid? [True, True] Translation: X:252.39, Y:79.05, Z:11.84 [[ 9.65777270e-01 2.59342917e-01 3.93900460e-03 2.52385794e+02] [-2.59341087e-01 9.65785300e-01 -9.77518831e-04 7.90532436e+01] [-4.05774532e-03 -7.74802643e-05 9.99991764e-01 1.18439578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.696875 meters 0.021952787936705822 Centerline is valid? [True, True] Translation: X:252.41, Y:79.05, Z:11.84 [[ 9.65677947e-01 2.59721265e-01 3.31177385e-03 2.52412769e+02] [-2.59719977e-01 9.65683623e-01 -8.20721545e-04 7.90470684e+01] [-3.41128461e-03 -6.75811325e-05 9.99994179e-01 1.18436675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7268750000001 meters 0.02213788888736033 Centerline is valid? [True, True] Translation: X:252.44, Y:79.04, Z:11.84 [[ 9.65189336e-01 2.61523301e-01 3.88692231e-03 2.52440885e+02] [-2.61521544e-01 9.65197159e-01 -9.62614808e-04 7.90424399e+01] [-4.00339257e-03 -8.74083746e-05 9.99991983e-01 1.18438955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.756875 meters 0.02462478218051995 Centerline is valid? [True, True] Translation: X:252.47, Y:79.04, Z:11.85 [[ 9.65087297e-01 2.61897682e-01 4.01426135e-03 2.52469671e+02] [-2.61895809e-01 9.65095641e-01 -9.94552364e-04 7.90417108e+01] [-4.13461709e-03 -9.14883736e-05 9.99991448e-01 1.18457481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.786875 meters 0.023633049696304177 Centerline is valid? [True, True] Translation: X:252.50, Y:79.03, Z:11.84 [[ 9.64644349e-01 2.63535918e-01 3.17792785e-03 2.52496959e+02] [-2.63534759e-01 9.64649581e-01 -7.85821572e-04 7.90317223e+01] [-3.27267897e-03 -7.94561091e-05 9.99994642e-01 1.18414367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.816875 meters 0.023440689587753232 Centerline is valid? [True, True] Translation: X:252.52, Y:79.02, Z:11.84 [[ 9.64180577e-01 2.65229862e-01 2.98910972e-03 2.52524984e+02] [-2.65228846e-01 9.64185207e-01 -7.38279571e-04 7.90241655e+01] [-3.07786917e-03 -8.09633016e-05 9.99995260e-01 1.18394855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.846875 meters 0.02404375182310449 Centerline is valid? [True, True] Translation: X:252.55, Y:79.02, Z:11.84 [[ 9.63790019e-01 2.66611244e-01 5.21958934e-03 2.52551977e+02] [-2.66608163e-01 9.63804141e-01 -1.29026303e-03 7.90173705e+01] [-5.37466045e-03 -1.48042496e-04 9.99985545e-01 1.18385715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.876875 meters 0.024544045296648224 Centerline is valid? [True, True] Translation: X:252.58, Y:79.01, Z:11.84 [[ 9.63830139e-01 2.66466314e-01 5.21211938e-03 2.52578836e+02] [-2.66463244e-01 9.63844221e-01 -1.28762232e-03 7.90122948e+01] [-5.36677912e-03 -1.47789036e-04 9.99985588e-01 1.18396622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.906875 meters 0.025442477210561254 Centerline is valid? [True, True] Translation: X:252.61, Y:79.01, Z:11.84 [[ 9.63620549e-01 2.67221708e-01 5.29107938e-03 2.52605938e+02] [-2.67218561e-01 9.63635063e-01 -1.30621084e-03 7.90082608e+01] [-5.44771750e-03 -1.55183009e-04 9.99985149e-01 1.18400878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.936875 meters 0.026084554225047015 Centerline is valid? [True, True] Translation: X:252.63, Y:79.00, Z:11.84 [[ 9.62862838e-01 2.69934396e-01 5.52959597e-03 2.52634860e+02] [-2.69931002e-01 9.62878700e-01 -1.36527804e-03 7.90036692e+01] [-5.69286568e-03 -1.78033891e-04 9.99983780e-01 1.18397544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.966875 meters 0.025133295145898783 Centerline is valid? [True, True] Translation: X:252.66, Y:78.99, Z:11.84 [[ 9.63252545e-01 2.68438520e-01 9.23557985e-03 2.52660820e+02] [-2.68429015e-01 9.63296776e-01 -2.27687450e-03 7.89935028e+01] [-9.50780512e-03 -2.85892448e-04 9.99954759e-01 1.18413333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.996875 meters 0.02564758560696187 Centerline is valid? [True, True] Translation: X:252.69, Y:78.99, Z:11.84 [[ 9.63216918e-01 2.68559801e-01 9.42350490e-03 2.52687915e+02] [-2.68549911e-01 9.63262969e-01 -2.32326560e-03 7.89880929e+01] [-9.70124906e-03 -2.92872677e-04 9.99952899e-01 1.18419202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.026875 meters 0.02540751310190067 Centerline is valid? [True, True] Translation: X:252.72, Y:78.98, Z:11.84 [[ 9.63382811e-01 2.67970302e-01 9.24534211e-03 2.52715646e+02] [-2.67960783e-01 9.63427131e-01 -2.27642877e-03 7.89815089e+01] [-9.51722873e-03 -2.84316758e-04 9.99954670e-01 1.18413179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.056875 meters 0.026310149277807008 Centerline is valid? [True, True] Translation: X:252.74, Y:78.98, Z:11.84 [[ 9.62951284e-01 2.69486454e-01 1.00933040e-02 2.52744227e+02] [-2.69475217e-01 9.63004124e-01 -2.48290695e-03 7.89773760e+01] [-1.03890032e-02 -3.28976852e-04 9.99945979e-01 1.18408789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.086875 meters 0.026121217849354224 Centerline is valid? [True, True] Translation: X:252.77, Y:78.97, Z:11.84 [[ 9.62911587e-01 2.69624157e-01 1.02024867e-02 2.52771587e+02] [-2.69612708e-01 9.62965576e-01 -2.50731653e-03 7.89703286e+01] [-1.05006766e-02 -3.36395932e-04 9.99944810e-01 1.18413953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.116875 meters 0.027478790731200384 Centerline is valid? [True, True] Translation: X:252.80, Y:78.97, Z:11.84 [[ 9.62358342e-01 2.71520262e-01 1.19652953e-02 2.52799596e+02] [-2.71504661e-01 9.62432632e-01 -2.94066142e-03 7.89661381e+01] [-1.23142398e-02 -4.18663392e-04 9.99924089e-01 1.18434560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.146875 meters 0.02628943804091851 Centerline is valid? [True, True] Translation: X:252.83, Y:78.96, Z:11.84 [[ 9.61957478e-01 2.72898011e-01 1.28252432e-02 2.52826430e+02] [-2.72880224e-01 9.62042855e-01 -3.15082536e-03 7.89571313e+01] [-1.31982875e-02 -4.68795211e-04 9.99912789e-01 1.18429060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.176875 meters 0.029395438239633722 Centerline is valid? [True, True] Translation: X:252.86, Y:78.96, Z:11.84 [[ 9.61131557e-01 2.75766965e-01 1.33682769e-02 2.52855049e+02] [-2.75747928e-01 9.61224375e-01 -3.28340283e-03 7.89563509e+01] [-1.37553677e-02 -5.30492589e-04 9.99905250e-01 1.18444245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.206875 meters 0.029542119521961 Centerline is valid? [True, True] Translation: X:252.88, Y:78.95, Z:11.84 [[ 9.60302994e-01 2.78611798e-01 1.39149741e-02 2.52883916e+02] [-2.78591474e-01 9.60403619e-01 -3.41737602e-03 7.89502110e+01] [-1.43161127e-02 -5.94876721e-04 9.99897342e-01 1.18445781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.236875 meters 0.030982849435623426 Centerline is valid? [True, True] Translation: X:252.91, Y:78.95, Z:11.84 [[ 9.58622325e-01 2.84391009e-01 1.28449067e-02 2.52913254e+02] [-2.84374212e-01 9.58708172e-01 -3.15425143e-03 7.89466043e+01] [-1.32115577e-02 -6.29024375e-04 9.99912526e-01 1.18423718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.266875 meters 0.0322020503934141 Centerline is valid? [True, True] Translation: X:252.94, Y:78.94, Z:11.84 [[ 9.57968316e-01 2.86614757e-01 1.21936663e-02 2.52942390e+02] [-2.86599806e-01 9.58045713e-01 -2.99387619e-03 7.89405813e+01] [-1.25401789e-02 -6.26663866e-04 9.99921172e-01 1.18407706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.296875 meters 0.034014062574610905 Centerline is valid? [True, True] Translation: X:252.97, Y:78.93, Z:11.84 [[ 9.56803195e-01 2.90472619e-01 1.23815771e-02 2.52971338e+02] [-2.90457529e-01 9.56883057e-01 -3.03968031e-03 7.89345177e+01] [-1.27306653e-02 -6.87946467e-04 9.99918725e-01 1.18398138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.326875 meters 0.03402366161297978 Centerline is valid? [True, True] Translation: X:253.00, Y:78.93, Z:11.84 [[ 9.56142583e-01 2.92622542e-01 1.27831235e-02 2.52999915e+02] [-2.92606658e-01 9.56227745e-01 -3.13750843e-03 7.89274713e+01] [-1.31416831e-02 -7.40521646e-04 9.99913370e-01 1.18404677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3568750000001 meters 0.035847114099014414 Centerline is valid? [True, True] Translation: X:253.03, Y:78.92, Z:11.84 [[ 9.55577372e-01 2.94457464e-01 1.29107474e-02 2.53028222e+02] [-2.94441437e-01 9.55664273e-01 -3.16817708e-03 7.89233252e+01] [-1.32712334e-02 -7.74020684e-04 9.99911634e-01 1.18401761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.386875 meters 0.035847114099014414 Centerline is valid? [True, True] Translation: X:253.05, Y:78.92, Z:11.84 [[ 9.55652709e-01 2.94212823e-01 1.29117830e-02 2.53054872e+02] [-2.94196830e-01 9.55739616e-01 -3.16395460e-03 7.89168856e+01] [-1.32711786e-02 -7.74963859e-04 9.99911634e-01 1.18403009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.416875 meters 0.034617708048341404 Centerline is valid? [True, True] Translation: X:253.08, Y:78.91, Z:11.84 [[ 9.54131678e-01 2.99077956e-01 1.36057994e-02 2.53082739e+02] [-2.99060684e-01 9.54228269e-01 -3.33449919e-03 7.89071491e+01] [-1.39803136e-02 -8.87408356e-04 9.99901877e-01 1.18371908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.446875 meters 0.03774394865255237 Centerline is valid? [True, True] Translation: X:253.11, Y:78.90, Z:11.84 [[ 9.53535862e-01 3.00933960e-01 1.44260611e-02 2.53111041e+02] [-3.00914769e-01 9.53644488e-01 -3.53442373e-03 7.89040532e+01] [-1.48209618e-02 -9.70815068e-04 9.99889692e-01 1.18383346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4768750000001 meters 0.03874432896768556 Centerline is valid? [True, True] Translation: X:253.14, Y:78.90, Z:11.84 [[ 9.52884033e-01 3.02971111e-01 1.48500951e-02 2.53139435e+02] [-3.02951031e-01 9.52999181e-01 -3.63776591e-03 7.88975347e+01] [-1.52542665e-02 -1.03248257e-03 9.99883114e-01 1.18380876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.506875 meters 0.03879649988914925 Centerline is valid? [True, True] Translation: X:253.17, Y:78.89, Z:11.84 [[ 9.52605196e-01 3.03875009e-01 1.42590104e-02 2.53167379e+02] [-3.03856659e-01 9.52711373e-01 -3.48869262e-03 7.88903473e+01] [-1.46448479e-02 -1.00934854e-03 9.99892249e-01 1.18370010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.536875 meters 0.03977791144588825 Centerline is valid? [True, True] Translation: X:253.20, Y:78.89, Z:11.84 [[ 9.52217741e-01 3.05189394e-01 1.18662414e-02 2.53195874e+02] [-3.05176823e-01 9.52291287e-01 -2.90027023e-03 7.88850286e+01] [-1.21852500e-02 -8.59613077e-04 9.99925388e-01 1.18351067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.566875 meters 0.039300849940228644 Centerline is valid? [True, True] Translation: X:253.22, Y:78.88, Z:11.83 [[ 9.52804624e-01 3.03398817e-01 1.06069326e-02 2.53224346e+02] [-3.03388684e-01 9.52863367e-01 -2.59052202e-03 7.88773891e+01] [-1.08929188e-02 -7.49761951e-04 9.99940389e-01 1.18349104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.596875 meters 0.038799467354693175 Centerline is valid? [True, True] Translation: X:253.25, Y:78.87, Z:11.83 [[ 9.53269860e-01 3.01999152e-01 8.54908343e-03 2.53253426e+02] [-3.01992521e-01 9.53308010e-01 -2.08702136e-03 7.88695156e+01] [-8.78018839e-03 -5.92264697e-04 9.99961278e-01 1.18330993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.626875 meters 0.039532456027151865 Centerline is valid? [True, True] Translation: X:253.28, Y:78.86, Z:11.83 [[ 9.53343608e-01 3.01806157e-01 7.00062016e-03 2.53280721e+02] [-3.01801709e-01 9.53369189e-01 -1.70849633e-03 7.88631648e+01] [-7.18981027e-03 -4.84015072e-04 9.99974036e-01 1.18316148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.656875 meters 0.03808023909941603 Centerline is valid? [True, True] Translation: X:253.31, Y:78.85, Z:11.83 [[ 9.53274329e-01 3.02057631e-01 5.40756353e-03 2.53307644e+02] [-3.02054993e-01 9.53289591e-01 -1.31765485e-03 7.88537233e+01] [-5.55298173e-03 -3.77295023e-04 9.99984511e-01 1.18291100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.686875 meters 0.035751064735164276 Centerline is valid? [True, True] Translation: X:253.33, Y:78.84, Z:11.83 [[ 9.53542911e-01 3.01230801e-01 3.99009496e-03 2.53334424e+02] [-3.01229363e-01 9.53551220e-01 -9.70988935e-04 7.88426982e+01] [-4.09725169e-03 -2.76054146e-04 9.99991568e-01 1.18269783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.716875 meters 0.03740785282962356 Centerline is valid? [True, True] Translation: X:253.36, Y:78.84, Z:11.83 [[ 9.53620775e-01 3.00994841e-01 3.08604705e-03 2.53361752e+02] [-3.00993980e-01 9.53625744e-01 -7.50853206e-04 7.88384518e+01] [-3.16893686e-03 -2.12852369e-04 9.99994956e-01 1.18265991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.746875 meters 0.03627280994161705 Centerline is valid? [True, True] Translation: X:253.39, Y:78.83, Z:11.83 [[ 9.53599535e-01 3.01062162e-01 3.08241627e-03 2.53389175e+02] [-3.01061307e-01 9.53604493e-01 -7.48722320e-04 7.88296409e+01] [-3.16481797e-03 -2.14015015e-04 9.99994969e-01 1.18260377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.776875 meters 0.039010722601764546 Centerline is valid? [True, True] Translation: X:253.42, Y:78.83, Z:11.83 [[ 9.53604068e-01 3.01034388e-01 4.19263938e-03 2.53417509e+02] [-3.01032803e-01 9.53613241e-01 -1.01911358e-03 7.88270913e+01] [-4.30494466e-03 -2.90291127e-04 9.99990692e-01 1.18281554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.806875 meters 0.03716172690954483 Centerline is valid? [True, True] Translation: X:253.45, Y:78.82, Z:11.83 [[ 9.52956589e-01 3.03025186e-01 7.03393927e-03 2.53445709e+02] [-3.03020777e-01 9.52982416e-01 -1.70994253e-03 7.88193437e+01] [-7.22137609e-03 -5.01928740e-04 9.99973800e-01 1.18317173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.836875 meters 0.03732966986894705 Centerline is valid? [True, True] Translation: X:253.47, Y:78.81, Z:11.83 [[ 9.53005747e-01 3.02829709e-01 8.61477164e-03 2.53474176e+02] [-3.02823114e-01 9.53044484e-01 -2.09131299e-03 7.88141530e+01] [-8.84357229e-03 -6.15718677e-04 9.99960705e-01 1.18333465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.866875 meters 0.0377079169947405 Centerline is valid? [True, True] Translation: X:253.50, Y:78.81, Z:11.84 [[ 9.53219745e-01 3.02127474e-01 9.54503491e-03 2.53501919e+02] [-3.02119363e-01 9.53267293e-01 -2.31498050e-03 7.88083904e+01] [-9.79838879e-03 -6.77054747e-04 9.99951765e-01 1.18353902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.896875 meters 0.03772004067908928 Centerline is valid? [True, True] Translation: X:253.53, Y:78.80, Z:11.84 [[ 9.53799984e-01 3.00250178e-01 1.07434599e-02 2.53529803e+02] [-3.00239780e-01 9.53860201e-01 -2.60604196e-03 7.88023916e+01] [-1.10302234e-02 -7.39971265e-04 9.99938891e-01 1.18367645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.926875 meters 0.03906886759702382 Centerline is valid? [True, True] Translation: X:253.56, Y:78.80, Z:11.84 [[ 9.55563826e-01 2.94504151e-01 1.28483653e-02 2.53558197e+02] [-2.94488769e-01 9.55649860e-01 -3.11604233e-03 7.87985209e+01] [-1.31962259e-02 -8.06121939e-04 9.99912601e-01 1.18407005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.956875 meters 0.03383601541241665 Centerline is valid? [True, True] Translation: X:253.58, Y:78.79, Z:11.84 [[ 9.56079697e-01 2.92822101e-01 1.29162869e-02 2.53584235e+02] [-2.92806416e-01 9.56166615e-01 -3.13154958e-03 7.87850429e+01] [-1.32671092e-02 -7.87960701e-04 9.99911678e-01 1.18390263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.986875 meters 0.030085651541612916 Centerline is valid? [True, True] Translation: X:253.61, Y:78.77, Z:11.84 [[ 9.56976352e-01 2.89888314e-01 1.26896804e-02 2.53611443e+02] [-2.89872922e-01 9.57060200e-01 -3.07626097e-03 7.87723674e+01] [-1.30365601e-02 -7.34485715e-04 9.99914751e-01 1.18380531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.016875 meters 0.030521229336355926 Centerline is valid? [True, True] Translation: X:253.64, Y:78.77, Z:11.84 [[ 9.58554332e-01 2.84696540e-01 1.10214756e-02 2.53639495e+02] [-2.84684593e-01 9.58617519e-01 -2.67124324e-03 7.87664944e+01] [-1.13258733e-02 -5.77112518e-04 9.99935694e-01 1.18375637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.046875 meters 0.029636688311335726 Centerline is valid? [True, True] Translation: X:253.67, Y:78.76, Z:11.84 [[ 9.59409777e-01 2.81810128e-01 1.07671415e-02 2.53668048e+02] [-2.81798551e-01 9.59470046e-01 -2.60908725e-03 7.87571408e+01] [-1.10660170e-02 -5.30981050e-04 9.99938629e-01 1.18366329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.076875 meters 0.0277481806843156 Centerline is valid? [True, True] Translation: X:253.70, Y:78.75, Z:11.83 [[ 9.60905542e-01 2.76781747e-01 7.23911713e-03 2.53695806e+02] [-2.76776372e-01 9.60932757e-01 -1.75397978e-03 7.87464562e+01] [-7.44177437e-03 -3.18207684e-04 9.99972259e-01 1.18340163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1068750000001 meters 0.027211816594172402 Centerline is valid? [True, True] Translation: X:253.72, Y:78.74, Z:11.83 [[ 9.61319316e-01 2.75392078e-01 4.93713604e-03 2.53724006e+02] [-2.75389565e-01 9.61331971e-01 -1.19525884e-03 7.87385006e+01] [-5.07539154e-03 -2.10610334e-04 9.99987098e-01 1.18331535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.136875 meters 0.027889378662105963 Centerline is valid? [True, True] Translation: X:253.75, Y:78.73, Z:11.83 [[ 9.61023741e-01 2.76437613e-01 3.95152336e-03 2.53752557e+02] [-2.76436018e-01 9.61031849e-01 -9.55070556e-04 7.87339233e+01] [-4.06155723e-03 -1.74497905e-04 9.99991737e-01 1.18318397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.166875 meters 0.02603856117441862 Centerline is valid? [True, True] Translation: X:253.78, Y:78.72, Z:11.83 [[ 9.60697949e-01 2.77577569e-01 3.18482223e-03 2.53779457e+02] [-2.77576543e-01 9.60703217e-01 -7.68729994e-04 7.87245492e+01] [-3.27305116e-03 -1.45514616e-04 9.99994633e-01 1.18314207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.196875 meters 0.02891439956349361 Centerline is valid? [True, True] Translation: X:253.81, Y:78.72, Z:11.83 [[ 9.59484987e-01 2.81736914e-01 3.58759344e-03 2.53808878e+02] [-2.81735638e-01 9.59491677e-01 -8.66812640e-04 7.87235287e+01] [-3.68647916e-03 -1.79059210e-04 9.99993189e-01 1.18332926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2268750000001 meters 0.030716526180394346 Centerline is valid? [True, True] Translation: X:253.84, Y:78.72, Z:11.84 [[ 9.58658393e-01 2.84521282e-01 4.66112897e-03 2.53837375e+02] [-2.84519162e-01 9.58669692e-01 -1.12594197e-03 7.87191975e+01] [-4.78883753e-03 -2.46786787e-04 9.99988503e-01 1.18372377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.256875 meters 0.03143570067674481 Centerline is valid? [True, True] Translation: X:253.87, Y:78.71, Z:11.84 [[ 9.57990532e-01 2.86759631e-01 4.80149240e-03 2.53866418e+02] [-2.86757409e-01 9.58002528e-01 -1.15978860e-03 7.87131219e+01] [-4.93242241e-03 -2.65797019e-04 9.99987800e-01 1.18384055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.286875 meters 0.032568726608961505 Centerline is valid? [True, True] Translation: X:253.89, Y:78.71, Z:11.84 [[ 9.57209802e-01 2.89353606e-01 4.88736529e-03 2.53894945e+02] [-2.89351339e-01 9.57222236e-01 -1.18029150e-03 7.87072284e+01] [-5.01981633e-03 -2.84379100e-04 9.99987360e-01 1.18386340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.316875 meters 0.03300412654949717 Centerline is valid? [True, True] Translation: X:253.92, Y:78.70, Z:11.84 [[ 9.55744687e-01 2.94161022e-01 4.62453045e-03 2.53923352e+02] [-2.94159049e-01 9.55755830e-01 -1.11660375e-03 7.86998334e+01] [-4.74838324e-03 -2.93159383e-04 9.99988683e-01 1.18372165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.346875 meters 0.033278805292130446 Centerline is valid? [True, True] Translation: X:253.95, Y:78.69, Z:11.84 [[ 9.55331028e-01 2.95507308e-01 4.24947931e-03 2.53952236e+02] [-2.95505656e-01 9.55340439e-01 -1.02592009e-03 7.86929104e+01] [-4.36286632e-03 -2.75651875e-04 9.99990445e-01 1.18364422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.376875 meters 0.03422537033814632 Centerline is valid? [True, True] Translation: X:253.98, Y:78.69, Z:11.84 [[ 9.55240065e-01 2.95805636e-01 3.92996694e-03 2.53979114e+02] [-2.95804227e-01 9.55248114e-01 -9.48203100e-04 7.86867841e+01] [-4.03457733e-03 -2.56739243e-04 9.99991828e-01 1.18370657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.406875 meters 0.037011120682208916 Centerline is valid? [True, True] Translation: X:254.01, Y:78.69, Z:11.84 [[ 9.55047140e-01 2.96432796e-01 3.54366482e-03 2.54007647e+02] [-2.96431657e-01 9.55053686e-01 -8.54659747e-04 7.86850093e+01] [-3.63773933e-03 -2.34214088e-04 9.99993356e-01 1.18382365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.436875 meters 0.0353732248727167 Centerline is valid? [True, True] Translation: X:254.03, Y:78.68, Z:11.84 [[ 9.55170767e-01 2.96041775e-01 2.84140501e-03 2.54034833e+02] [-2.96041045e-01 9.55174975e-01 -6.83853741e-04 7.86755840e+01] [-2.91648823e-03 -1.87975407e-04 9.99995729e-01 1.18369330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.466875 meters 0.03540903744728322 Centerline is valid? [True, True] Translation: X:254.06, Y:78.67, Z:11.84 [[ 9.55420197e-01 2.95245653e-01 1.50033587e-03 2.54062705e+02] [-2.95245450e-01 9.55421370e-01 -3.60240992e-04 7.86681221e+01] [-1.53981254e-03 -9.87858203e-05 9.99998810e-01 1.18364631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.496875 meters 0.0348221790699201 Centerline is valid? [True, True] Translation: X:254.09, Y:78.66, Z:11.84 [[ 9.55741936e-01 2.94205980e-01 4.38666264e-04 2.54090347e+02] [-2.94205963e-01 9.55742036e-01 -1.04472682e-04 7.86593761e+01] [-4.49988276e-04 -2.92093074e-05 9.99999898e-01 1.18354738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.526875 meters 0.03674806368887416 Centerline is valid? [True, True] Translation: X:254.12, Y:78.66, Z:11.83 [[ 9.55590392e-01 2.94698086e-01 -2.02454104e-04 2.54118443e+02] [-2.94698082e-01 9.55590413e-01 4.90620804e-05 7.86557588e+01] [ 2.07921702e-04 1.27795835e-05 9.99999978e-01 1.18339029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.556875 meters 0.035468246676957874 Centerline is valid? [True, True] Translation: X:254.15, Y:78.65, Z:11.83 [[ 9.55576565e-01 2.94742572e-01 -4.95071910e-04 2.54145854e+02] [-2.94742549e-01 9.55576693e-01 1.19991999e-04 7.86482815e+01] [ 5.08445929e-04 3.12572146e-05 9.99999870e-01 1.18342983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.586875 meters 0.03983200259316102 Centerline is valid? [True, True] Translation: X:254.17, Y:78.65, Z:11.84 [[ 9.55636439e-01 2.94547773e-01 7.78840849e-04 2.54173213e+02] [-2.94547718e-01 9.55636755e-01 -1.86499674e-04 7.86487505e+01] [-7.99222005e-04 -5.11799103e-05 9.99999679e-01 1.18365950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.616875 meters 0.036072023809852194 Centerline is valid? [True, True] Translation: X:254.20, Y:78.64, Z:11.84 [[ 9.55861145e-01 2.93817151e-01 9.76685240e-04 2.54200129e+02] [-2.93817065e-01 9.55861641e-01 -2.33255445e-04 7.86384497e+01] [-1.00211041e-03 -6.40069747e-05 9.99999496e-01 1.18360316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.646875 meters 0.039844271997844266 Centerline is valid? [True, True] Translation: X:254.23, Y:78.64, Z:11.84 [[ 9.55957342e-01 2.93503824e-01 1.03217502e-03 2.54228910e+02] [-2.93503728e-01 9.55957897e-01 -2.47154711e-04 7.86373751e+01] [-1.05925671e-03 -6.66778536e-05 9.99999437e-01 1.18368084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.676875 meters 0.03955198557567743 Centerline is valid? [True, True] Translation: X:254.26, Y:78.63, Z:11.84 [[ 9.56302221e-01 2.92379642e-01 4.55138863e-04 2.54256746e+02] [-2.92379623e-01 9.56302329e-01 -1.08831254e-04 7.86296725e+01] [-4.67070398e-04 -2.89977587e-05 9.99999891e-01 1.18354591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.706875 meters 0.03230229123931812 Centerline is valid? [True, True] Translation: X:254.28, Y:78.61, Z:11.84 [[ 9.57315265e-01 2.89042327e-01 1.42022573e-03 2.54283501e+02] [-2.89042139e-01 9.57316315e-01 -3.40352491e-04 7.86123335e+01] [-1.45798153e-03 -8.46804459e-05 9.99998934e-01 1.18353230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.736875 meters 0.032357155259266246 Centerline is valid? [True, True] Translation: X:254.31, Y:78.61, Z:11.84 [[ 9.57955672e-01 2.86912777e-01 1.41013425e-03 2.54311988e+02] [-2.86912590e-01 9.57956707e-01 -3.37752982e-04 7.86079839e+01] [-1.44775320e-03 -8.10328838e-05 9.99998949e-01 1.18357670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.766875 meters 0.03162138269616882 Centerline is valid? [True, True] Translation: X:254.34, Y:78.60, Z:11.84 [[ 9.58433678e-01 2.85308960e-01 1.91888642e-03 2.54340549e+02] [-2.85308612e-01 9.58435593e-01 -4.58497330e-04 7.86013950e+01] [-1.96994244e-03 -1.08035538e-04 9.99998054e-01 1.18369016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.796875 meters 0.02991969239383791 Centerline is valid? [True, True] Translation: X:254.37, Y:78.59, Z:11.84 [[ 9.60323869e-01 2.78855185e-01 4.22519933e-03 2.54367990e+02] [-2.78853429e-01 9.60333142e-01 -1.01130570e-03 7.85922172e+01] [-4.33960679e-03 -2.07030316e-04 9.99990562e-01 1.18392191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.826875 meters 0.027866165972116174 Centerline is valid? [True, True] Translation: X:254.40, Y:78.58, Z:11.84 [[ 9.61197261e-01 2.75832785e-01 4.01243588e-03 2.54396260e+02] [-2.75831174e-01 9.61205619e-01 -9.60296435e-04 7.85823187e+01] [-4.12165715e-03 -1.83720596e-04 9.99991489e-01 1.18386144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8568750000001 meters 0.027589105330010594 Centerline is valid? [True, True] Translation: X:254.42, Y:78.58, Z:11.84 [[ 9.62045418e-01 2.72868175e-01 3.40171809e-03 2.54424694e+02] [-2.72867000e-01 9.62051422e-01 -8.13996547e-04 7.85750493e+01] [-3.49474148e-03 -1.45114961e-04 9.99993883e-01 1.18375798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.886875 meters 0.023647061994448427 Centerline is valid? [True, True] Translation: X:254.45, Y:78.56, Z:11.84 [[ 9.63297069e-01 2.68408904e-01 3.92636410e-03 2.54452164e+02] [-2.68407304e-01 9.63305060e-01 -9.38789822e-04 7.85609718e+01] [-4.03426595e-03 -1.49531320e-04 9.99991851e-01 1.18368687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.916875 meters 0.025201416183042988 Centerline is valid? [True, True] Translation: X:254.48, Y:78.56, Z:11.84 [[ 9.63967081e-01 2.65968662e-01 5.30453963e-03 2.54479748e+02] [-2.65965706e-01 9.63981657e-01 -1.26812431e-03 7.85572821e+01] [-5.45076022e-03 -1.88395542e-04 9.99985127e-01 1.18396664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.946875 meters 0.021514714061303515 Centerline is valid? [True, True] Translation: X:254.51, Y:78.54, Z:11.84 [[ 9.64830328e-01 2.62786634e-01 6.75455826e-03 2.54506569e+02] [-2.62781764e-01 9.64853946e-01 -1.61447461e-03 7.85449611e+01] [-6.94142454e-03 -2.17280669e-04 9.99975884e-01 1.18404209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9768750000001 meters 0.02192288828247614 Centerline is valid? [True, True] Translation: X:254.54, Y:78.54, Z:11.84 [[ 9.64742891e-01 2.63092851e-01 7.30105412e-03 2.54535056e+02] [-2.63087189e-01 9.64770488e-01 -1.74256311e-03 7.85386649e+01] [-7.50229744e-03 -2.39688431e-04 9.99971829e-01 1.18407105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.006875 meters 0.024774995145195162 Centerline is valid? [True, True] Translation: X:254.56, Y:78.54, Z:11.84 [[ 9.64410235e-01 2.64289780e-01 7.98821158e-03 2.54563313e+02] [-2.64283043e-01 9.64443279e-01 -1.90667659e-03 7.85366574e+01] [-8.20809211e-03 -2.72330443e-04 9.99966276e-01 1.18422617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.036875 meters 0.0242746956391368 Centerline is valid? [True, True] Translation: X:254.59, Y:78.53, Z:11.84 [[ 9.64057694e-01 2.65534411e-01 9.17819190e-03 2.54591312e+02] [-2.65525600e-01 9.64101327e-01 -2.18791514e-03 7.85287497e+01] [-9.42967375e-03 -3.27768483e-04 9.99955486e-01 1.18419416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.066875 meters 0.025384524884387687 Centerline is valid? [True, True] Translation: X:254.62, Y:78.52, Z:11.84 [[ 9.63260619e-01 2.68377198e-01 1.01321050e-02 2.54620589e+02] [-2.68366610e-01 9.63313825e-01 -2.41597641e-03 7.85236438e+01] [-1.04087898e-02 -3.91903732e-04 9.99945750e-01 1.18435697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.096875 meters 0.025872576384883234 Centerline is valid? [True, True] Translation: X:254.65, Y:78.52, Z:11.84 [[ 9.62541601e-01 2.70980370e-01 9.12714303e-03 2.54649490e+02] [-2.70971899e-01 9.62584799e-01 -2.17578414e-03 7.85184431e+01] [-9.37524393e-03 -3.78916529e-04 9.99955980e-01 1.18421885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.126875 meters 0.028164254776448683 Centerline is valid? [True, True] Translation: X:254.68, Y:78.51, Z:11.84 [[ 9.61207473e-01 2.75700524e-01 8.33157976e-03 2.54679280e+02] [-2.75693642e-01 9.61243502e-01 -1.98619931e-03 7.85126697e+01] [-8.55627310e-03 -3.87813951e-04 9.99963319e-01 1.18400454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.156875 meters 0.025725149795127814 Centerline is valid? [True, True] Translation: X:254.71, Y:78.50, Z:11.84 [[ 9.60877289e-01 2.76833064e-01 8.84819206e-03 2.54705949e+02] [-2.76825380e-01 9.60917933e-01 -2.10607797e-03 7.85017725e+01] [-9.08541844e-03 -4.25721646e-04 9.99958636e-01 1.18394631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.186875 meters 0.02959816863011506 Centerline is valid? [True, True] Translation: X:254.73, Y:78.50, Z:11.84 [[ 9.60422389e-01 2.78395969e-01 9.19341348e-03 2.54734725e+02] [-2.78387744e-01 9.60466280e-01 -2.18837660e-03 7.85015390e+01] [-9.43919887e-03 -4.57567759e-04 9.99955345e-01 1.18409672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.216875 meters 0.029082165830340838 Centerline is valid? [True, True] Translation: X:254.76, Y:78.49, Z:11.84 [[ 9.60276088e-01 2.78874354e-01 9.94637640e-03 2.54762175e+02] [-2.78864783e-01 9.60327466e-01 -2.36450870e-03 7.84942061e+01] [-1.02111793e-02 -5.03112939e-04 9.99947738e-01 1.18411334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.246875 meters 0.027670622297407695 Centerline is valid? [True, True] Translation: X:254.79, Y:78.49, Z:11.84 [[ 9.60482604e-01 2.78174419e-01 9.60005753e-03 2.54789869e+02] [-2.78165492e-01 9.60530459e-01 -2.27976455e-03 7.84852090e+01] [-9.85531984e-03 -4.80730532e-04 9.99951320e-01 1.18397403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.276875 meters 0.027670622297407695 Centerline is valid? [True, True] Translation: X:254.82, Y:78.48, Z:11.84 [[ 9.60556562e-01 2.77918904e-01 9.60069900e-03 2.54816546e+02] [-2.77909992e-01 9.60604420e-01 -2.27706240e-03 7.84789578e+01] [-9.85531258e-03 -4.80882945e-04 9.99951320e-01 1.18398653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.306875 meters 0.028165477037944777 Centerline is valid? [True, True] Translation: X:254.84, Y:78.47, Z:11.84 [[ 9.60832906e-01 2.76958693e-01 9.69577914e-03 2.54843220e+02] [-2.76949554e-01 9.60881708e-01 -2.29964004e-03 7.84726725e+01] [-9.95340212e-03 -4.75671883e-04 9.99950351e-01 1.18392497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.336875 meters 0.028294924118388094 Centerline is valid? [True, True] Translation: X:254.87, Y:78.47, Z:11.84 [[ 9.61081337e-01 2.76093319e-01 9.75415877e-03 2.54871240e+02] [-2.76084055e-01 9.61130718e-01 -2.31044164e-03 7.84667855e+01] [-1.00129191e-02 -4.72445372e-04 9.99949758e-01 1.18388443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.366875 meters 0.025117761877255066 Centerline is valid? [True, True] Translation: X:254.90, Y:78.45, Z:11.84 [[ 9.61405953e-01 2.74935244e-01 1.04501370e-02 2.54897745e+02] [-2.74924571e-01 9.61462618e-01 -2.47266271e-03 7.84545388e+01] [-1.07272382e-02 -4.95766798e-04 9.99942339e-01 1.18375279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.396875 meters 0.02550437957788354 Centerline is valid? [True, True] Translation: X:254.92, Y:78.45, Z:11.84 [[ 9.61621024e-01 2.74187627e-01 1.03029457e-02 2.54924494e+02] [-2.74177213e-01 9.61676096e-01 -2.43762162e-03 7.84484891e+01] [-1.05764622e-02 -4.80764733e-04 9.99943952e-01 1.18362172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.426875 meters 0.025150591787285504 Centerline is valid? [True, True] Translation: X:254.95, Y:78.44, Z:11.84 [[ 9.62428957e-01 2.71312499e-01 1.09558462e-02 2.54952105e+02] [-2.71300540e-01 9.62491194e-01 -2.59178145e-03 7.84411073e+01] [-1.12480882e-02 -4.77921489e-04 9.99936624e-01 1.18378591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.456875 meters 0.025747504454570025 Centerline is valid? [True, True] Translation: X:254.98, Y:78.44, Z:11.84 [[ 9.62964145e-01 2.69426593e-01 1.04578733e-02 2.54979820e+02] [-2.69415598e-01 9.63020831e-01 -2.47286582e-03 7.84367166e+01] [-1.07374056e-02 -4.36233060e-04 9.99942257e-01 1.18389102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.486875 meters 0.025292843203592697 Centerline is valid? [True, True] Translation: X:255.01, Y:78.43, Z:11.84 [[ 9.63326144e-01 2.68135512e-01 1.02999120e-02 2.55007213e+02] [-2.68124806e-01 9.63381115e-01 -2.43230979e-03 7.84295329e+01] [-1.05749294e-02 -4.18554302e-04 9.99943996e-01 1.18392043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.516875 meters 0.025077819596383825 Centerline is valid? [True, True] Translation: X:255.03, Y:78.42, Z:11.84 [[ 9.63958447e-01 2.65857145e-01 1.02024523e-02 2.55033606e+02] [-2.65846516e-01 9.64012358e-01 -2.40910075e-03 7.84216318e+01] [-1.04757667e-02 -3.90013386e-04 9.99945052e-01 1.18382330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.546875 meters 0.023573183633996568 Centerline is valid? [True, True] Translation: X:255.06, Y:78.41, Z:11.84 [[ 9.64194986e-01 2.65001645e-01 1.01073109e-02 2.55061254e+02] [-2.64991199e-01 9.64247885e-01 -2.38341551e-03 7.84123579e+01] [-1.03775621e-02 -3.80271137e-04 9.99946079e-01 1.18369428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.576875 meters 0.02337814833245413 Centerline is valid? [True, True] Translation: X:255.09, Y:78.40, Z:11.84 [[ 9.63592713e-01 2.67150325e-01 1.09447607e-02 2.55089587e+02] [-2.67138208e-01 9.63654769e-01 -2.58152782e-03 7.84037649e+01] [-1.12366268e-02 -4.36222357e-04 9.99936772e-01 1.18352380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6068750000001 meters 0.024640731708543608 Centerline is valid? [True, True] Translation: X:255.12, Y:78.40, Z:11.84 [[ 9.62987972e-01 2.69315647e-01 1.11016952e-02 2.55117400e+02] [-2.69303334e-01 9.63051848e-01 -2.61759590e-03 7.83985270e+01] [-1.13964676e-02 -4.69010170e-04 9.99934948e-01 1.18353537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.636875 meters 0.025031369426481428 Centerline is valid? [True, True] Translation: X:255.15, Y:78.39, Z:11.84 [[ 9.62768088e-01 2.70064150e-01 1.19567746e-02 2.55145210e+02] [-2.70049971e-01 9.62842192e-01 -2.81547582e-03 7.83920920e+01] [-1.22728462e-02 -5.18276370e-04 9.99924551e-01 1.18360159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.666875 meters 0.02457739352619513 Centerline is valid? [True, True] Translation: X:255.17, Y:78.39, Z:11.84 [[ 9.62493903e-01 2.71019366e-01 1.24093029e-02 2.55173118e+02] [-2.71004212e-01 9.62573736e-01 -2.91889529e-03 7.83854156e+01] [-1.27359462e-02 -5.53554432e-04 9.99918741e-01 1.18361436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.696875 meters 0.030672590657656557 Centerline is valid? [True, True] Translation: X:255.20, Y:78.39, Z:11.84 [[ 9.62537364e-01 2.70863034e-01 1.24515100e-02 2.55201655e+02] [-2.70847777e-01 9.62617738e-01 -2.92781973e-03 7.83900817e+01] [-1.27790825e-02 -5.54327925e-04 9.99918191e-01 1.18412065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.726875 meters 0.026065324671731088 Centerline is valid? [True, True] Translation: X:255.23, Y:78.38, Z:11.84 [[ 9.63076100e-01 2.68963934e-01 1.19510976e-02 2.55227482e+02] [-2.68949740e-01 9.63150115e-01 -2.80954719e-03 7.83751015e+01] [-1.22663679e-02 -5.08436837e-04 9.99924636e-01 1.18374130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.756875 meters 0.024566137864441027 Centerline is valid? [True, True] Translation: X:255.25, Y:78.37, Z:11.84 [[ 9.63394618e-01 2.67879814e-01 1.05458630e-02 2.55254541e+02] [-2.67868735e-01 9.63452236e-01 -2.47572511e-03 7.83659133e+01] [-1.08236321e-02 -4.39806729e-04 9.99941326e-01 1.18360797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.786875 meters 0.026032340332431084 Centerline is valid? [True, True] Translation: X:255.28, Y:78.36, Z:11.84 [[ 9.63960921e-01 2.65850595e-01 1.01391926e-02 2.55281988e+02] [-2.65840244e-01 9.64014160e-01 -2.38003346e-03 7.83606619e+01] [-1.04070585e-02 -4.01146175e-04 9.99945765e-01 1.18353198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.816875 meters 0.02483428707626185 Centerline is valid? [True, True] Translation: X:255.31, Y:78.35, Z:11.83 [[ 9.64407419e-01 2.64254603e-01 9.37205152e-03 2.55309322e+02] [-2.64245712e-01 9.64452890e-01 -2.19698266e-03 7.83511609e+01] [-9.61946496e-03 -3.57738057e-04 9.99953668e-01 1.18338914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.846875 meters 0.022276452013763836 Centerline is valid? [True, True] Translation: X:255.34, Y:78.34, Z:11.83 [[ 9.65036699e-01 2.61937842e-01 9.62994548e-03 2.55337137e+02] [-2.61928346e-01 9.65084684e-01 -2.25684101e-03 7.83411212e+01] [-9.88486496e-03 -3.44421291e-04 9.99951084e-01 1.18330624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.876875 meters 0.02204013553511041 Centerline is valid? [True, True] Translation: X:255.37, Y:78.33, Z:11.83 [[ 9.65511319e-01 2.60186873e-01 9.52280804e-03 2.55365306e+02] [-2.60177531e-01 9.65558225e-01 -2.22874020e-03 7.83349972e+01] [-9.77471456e-03 -3.25746786e-04 9.99952173e-01 1.18344939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.906875 meters 0.022562793315028803 Centerline is valid? [True, True] Translation: X:255.39, Y:78.33, Z:11.84 [[ 9.66074018e-01 2.58094373e-01 9.39610917e-03 2.55392567e+02] [-2.58085181e-01 9.66119663e-01 -2.19895349e-03 7.83292949e+01] [-9.64530335e-03 -3.00644704e-04 9.99953438e-01 1.18361828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.936875 meters 0.023225100823183145 Centerline is valid? [True, True] Translation: X:255.42, Y:78.33, Z:11.84 [[ 9.66150333e-01 2.57844047e-01 8.36550475e-03 2.55420134e+02] [-2.57836758e-01 9.66186512e-01 -1.95700293e-03 7.83251563e+01] [-8.58723941e-03 -2.66175588e-04 9.99963094e-01 1.18360647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.966875 meters 0.021767286295557214 Centerline is valid? [True, True] Translation: X:255.45, Y:78.32, Z:11.84 [[ 9.66345436e-01 2.57122719e-01 8.02534514e-03 2.55447305e+02] [-2.57116008e-01 9.66378727e-01 -1.87468722e-03 7.83157910e+01] [-8.23754749e-03 -2.51849264e-04 9.99966039e-01 1.18356872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.996875 meters 0.02197936389074805 Centerline is valid? [True, True] Translation: X:255.48, Y:78.31, Z:11.84 [[ 9.66124192e-01 2.57951854e-01 8.05522386e-03 2.55475533e+02] [-2.57945138e-01 9.66157737e-01 -1.87964704e-03 7.83098327e+01] [-8.26747530e-03 -2.61833350e-04 9.99965790e-01 1.18355846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.026875 meters 0.023585214943873223 Centerline is valid? [True, True] Translation: X:255.50, Y:78.31, Z:11.84 [[ 9.65353254e-01 2.60750392e-01 1.01157479e-02 2.55503888e+02] [-2.60739948e-01 9.65406186e-01 -2.36108082e-03 7.83059618e+01] [-1.03814584e-02 -3.58302539e-04 9.99946047e-01 1.18377285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.056875 meters 0.02488700564295398 Centerline is valid? [True, True] Translation: X:255.53, Y:78.30, Z:11.84 [[ 9.65081872e-01 2.61665454e-01 1.21725339e-02 2.55531155e+02] [-2.61650433e-01 9.65158532e-01 -2.83889219e-03 7.83024928e+01] [-1.24912650e-02 -4.45185373e-04 9.99921882e-01 1.18400668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.086875 meters 0.025756536264329114 Centerline is valid? [True, True] Translation: X:255.56, Y:78.30, Z:11.84 [[ 9.64908550e-01 2.62205685e-01 1.41304418e-02 2.55558434e+02] [-2.62185511e-01 9.65011866e-01 -3.29472794e-03 7.82977831e+01] [-1.44999404e-02 -5.25685953e-04 9.99894732e-01 1.18434673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.116875 meters 0.0243929306115615 Centerline is valid? [True, True] Translation: X:255.58, Y:78.29, Z:11.84 [[ 9.65168185e-01 2.61151501e-01 1.58198554e-02 2.55584878e+02] [-2.61126158e-01 9.65297655e-01 -3.68343901e-03 7.82898691e+01] [-1.62328049e-02 -5.75839905e-04 9.99868074e-01 1.18439314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.146875 meters 0.02318810990654962 Centerline is valid? [True, True] Translation: X:255.61, Y:78.28, Z:11.84 [[ 9.66243971e-01 2.57148740e-01 1.57198877e-02 2.55613413e+02] [-2.57123172e-01 9.66371704e-01 -3.66103745e-03 7.82796955e+01] [-1.61326859e-02 -5.04492028e-04 9.99869732e-01 1.18439472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.176875 meters 0.02138842766964725 Centerline is valid? [True, True] Translation: X:255.64, Y:78.27, Z:11.84 [[ 9.66950589e-01 2.54457694e-01 1.60574140e-02 2.55640704e+02] [-2.54430668e-01 9.67083792e-01 -3.73826503e-03 7.82688615e+01] [-1.64800951e-02 -4.70781008e-04 9.99864083e-01 1.18423827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.206875 meters 0.021729828985060984 Centerline is valid? [True, True] Translation: X:255.67, Y:78.26, Z:11.84 [[ 9.67905234e-01 2.50865674e-01 1.50290537e-02 2.55668981e+02] [-2.50841577e-01 9.68021831e-01 -3.49812050e-03 7.82632274e+01] [-1.54260104e-02 -3.84062390e-04 9.99880938e-01 1.18443679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.236875 meters 0.019096230641249778 Centerline is valid? [True, True] Translation: X:255.70, Y:78.25, Z:11.84 [[ 9.69374029e-01 2.45244615e-01 1.30027379e-02 2.55696773e+02] [-2.45226074e-01 9.69461198e-01 -3.02637534e-03 7.82508354e+01] [-1.33478522e-02 -2.54920716e-04 9.99910881e-01 1.18415732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.266875 meters 0.018531457958829992 Centerline is valid? [True, True] Translation: X:255.72, Y:78.24, Z:11.84 [[ 9.70014868e-01 2.42727611e-01 1.24282789e-02 2.55724107e+02] [-2.42710519e-01 9.70094460e-01 -2.88846630e-03 7.82418620e+01] [-1.27577150e-02 -2.14618754e-04 9.99918594e-01 1.18398481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.296875 meters 0.018356882795709625 Centerline is valid? [True, True] Translation: X:255.75, Y:78.23, Z:11.84 [[ 9.70993122e-01 2.38880169e-01 1.04221819e-02 2.55750493e+02] [-2.38867938e-01 9.71049044e-01 -2.42129283e-03 7.82338275e+01] [-1.06988487e-02 -1.38466420e-04 9.99942756e-01 1.18389670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.326875 meters 0.01756014671937535 Centerline is valid? [True, True] Translation: X:255.78, Y:78.23, Z:11.84 [[ 9.71373909e-01 2.37349133e-01 9.90544021e-03 2.55778194e+02] [-2.37338037e-01 9.71424405e-01 -2.29813185e-03 7.82254334e+01] [-1.01678460e-02 -1.18592407e-04 9.99948299e-01 1.18377842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3568750000001 meters 0.017806363212159504 Centerline is valid? [True, True] Translation: X:255.80, Y:78.22, Z:11.84 [[ 9.71688939e-01 2.36057167e-01 9.88029297e-03 2.55804981e+02] [-2.36046068e-01 9.71739164e-01 -2.29148748e-03 7.82191610e+01] [-1.01419897e-02 -1.05591271e-04 9.99948563e-01 1.18393724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.386875 meters 0.017646064371424762 Centerline is valid? [True, True] Translation: X:255.83, Y:78.21, Z:11.84 [[ 9.71702648e-01 2.36043583e-01 8.79721062e-03 2.55833183e+02] [-2.36034809e-01 9.71742465e-01 -2.03746079e-03 7.82119632e+01] [-9.02955267e-03 -9.66418890e-05 9.99959228e-01 1.18372189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.416875 meters 0.017639616784217126 Centerline is valid? [True, True] Translation: X:255.86, Y:78.21, Z:11.84 [[ 9.71738367e-01 2.35910098e-01 8.42453111e-03 2.55860075e+02] [-2.35902047e-01 9.71774880e-01 -1.95106854e-03 7.82053951e+01] [-8.64702448e-03 -9.14359854e-05 9.99962610e-01 1.18371618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.446875 meters 0.017742272079639076 Centerline is valid? [True, True] Translation: X:255.89, Y:78.20, Z:11.84 [[ 9.71673293e-01 2.36188732e-01 8.11752600e-03 2.55887113e+02] [-2.36181295e-01 9.71707196e-01 -1.87670748e-03 7.81992336e+01] [-8.33111558e-03 -9.36612610e-05 9.99965291e-01 1.18373753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.476875 meters 0.017981125383420032 Centerline is valid? [True, True] Translation: X:255.92, Y:78.20, Z:11.84 [[ 9.71051696e-01 2.38659948e-01 1.00016260e-02 2.55915259e+02] [-2.38648785e-01 9.71103192e-01 -2.31257073e-03 7.81951194e+01] [-1.02645289e-02 -1.41250154e-04 9.99947308e-01 1.18408113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.506875 meters 0.019131259408430506 Centerline is valid? [True, True] Translation: X:255.94, Y:78.19, Z:11.84 [[ 9.70780449e-01 2.39723730e-01 1.08560421e-02 2.55943211e+02] [-2.39710656e-01 9.70841133e-01 -2.50918822e-03 7.81922581e+01] [-1.11410042e-02 -1.66438107e-04 9.99937923e-01 1.18443259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.536875 meters 0.0188820246014068 Centerline is valid? [True, True] Translation: X:255.97, Y:78.19, Z:11.84 [[ 9.70472034e-01 2.40920714e-01 1.18844610e-02 2.55971224e+02] [-2.40905179e-01 9.70544780e-01 -2.74327043e-03 7.81857769e+01] [-1.21953123e-02 -2.00760976e-04 9.99925614e-01 1.18441408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.566875 meters 0.019778973680642707 Centerline is valid? [True, True] Translation: X:256.00, Y:78.18, Z:11.85 [[ 9.70289822e-01 2.41671277e-01 1.15176186e-02 2.55999080e+02] [-2.41656743e-01 9.70358157e-01 -2.65825362e-03 7.81813550e+01] [-1.18186387e-02 -2.04033760e-04 9.99930137e-01 1.18458258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.596875 meters 0.018770426459891604 Centerline is valid? [True, True] Translation: X:256.03, Y:78.17, Z:11.84 [[ 9.70523069e-01 2.40749823e-01 1.11577902e-02 2.56026444e+02] [-2.40736163e-01 9.70587187e-01 -2.57162247e-03 7.81739364e+01] [-1.14487258e-02 -1.90264659e-04 9.99934443e-01 1.18444308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.626875 meters 0.018469622151430085 Centerline is valid? [True, True] Translation: X:256.05, Y:78.17, Z:11.84 [[ 9.70895058e-01 2.39286974e-01 1.02240262e-02 2.56054184e+02] [-2.39275452e-01 9.70948875e-01 -2.35370674e-03 7.81668461e+01] [-1.04902181e-02 -1.61156244e-04 9.99944963e-01 1.18447178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.656875 meters 0.018764590625371457 Centerline is valid? [True, True] Translation: X:256.08, Y:78.16, Z:11.85 [[ 9.71673607e-01 2.36140683e-01 9.37969873e-03 2.56081034e+02] [-2.36130841e-01 9.71718871e-01 -2.15912264e-03 7.81610177e+01] [-9.62428696e-03 -1.16873664e-04 9.99953679e-01 1.18456493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.686875 meters 0.018199695919756915 Centerline is valid? [True, True] Translation: X:256.11, Y:78.15, Z:11.84 [[ 9.72331639e-01 2.33417398e-01 9.35422177e-03 2.56108468e+02] [-2.33407513e-01 9.72376630e-01 -2.15013682e-03 7.81508305e+01] [-9.59770598e-03 -9.26995835e-05 9.99953937e-01 1.18440668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.716875 meters 0.017961115182379517 Centerline is valid? [True, True] Translation: X:256.14, Y:78.14, Z:11.84 [[ 9.73079625e-01 2.30298783e-01 8.86080706e-03 2.56135647e+02] [-2.30289786e-01 9.73119965e-01 -2.03659287e-03 7.81435049e+01] [-9.09165312e-03 -5.87863271e-05 9.99958668e-01 1.18447254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.746875 meters 0.017657336541971876 Centerline is valid? [True, True] Translation: X:256.16, Y:78.13, Z:11.84 [[ 9.73476239e-01 2.28733291e-01 5.00931859e-03 2.56162438e+02] [-2.28730406e-01 9.73489127e-01 -1.14920478e-03 7.81334222e+01] [-5.13937857e-03 -2.70599253e-05 9.99986793e-01 1.18397076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.776875 meters 0.017827511799303756 Centerline is valid? [True, True] Translation: X:256.19, Y:78.13, Z:11.84 [[ 9.73459019e-01 2.28820295e-01 4.33724979e-03 2.56189704e+02] [-2.28818132e-01 9.73468680e-01 -9.95207782e-04 7.81269284e+01] [-4.44990056e-03 -2.36474049e-05 9.99990099e-01 1.18400347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.806875 meters 0.017948981127511202 Centerline is valid? [True, True] Translation: X:256.22, Y:78.12, Z:11.84 [[ 9.73411258e-01 2.29026361e-01 4.17724474e-03 2.56216222e+02] [-2.29024360e-01 9.73420220e-01 -9.57832264e-04 7.81217947e+01] [-4.28558334e-03 -2.43260939e-05 9.99990817e-01 1.18415461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.836875 meters 0.017757755381563097 Centerline is valid? [True, True] Translation: X:256.24, Y:78.12, Z:11.84 [[ 9.73459374e-01 2.28838334e-01 3.14063654e-03 2.56243975e+02] [-2.28837207e-01 9.73464440e-01 -7.18362774e-04 7.81164958e+01] [-3.22168693e-03 -1.93975183e-05 9.99994810e-01 1.18430831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.866875 meters 0.018201001358878706 Centerline is valid? [True, True] Translation: X:256.27, Y:78.11, Z:11.84 [[ 9.73478707e-01 2.28754172e-01 3.27658922e-03 2.56270277e+02] [-2.28752944e-01 9.73484221e-01 -7.49830581e-04 7.81108966e+01] [-3.36123478e-03 -1.95853254e-05 9.99994351e-01 1.18444019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.896875 meters 0.01802710555710244 Centerline is valid? [True, True] Translation: X:256.30, Y:78.10, Z:11.84 [[ 9.73626831e-01 2.28122770e-01 3.28573330e-03 2.56297048e+02] [-2.28121537e-01 9.73632375e-01 -7.50228539e-04 7.81037325e+01] [-3.37024053e-03 -1.91038966e-05 9.99994321e-01 1.18440541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.926875 meters 0.018247738409547777 Centerline is valid? [True, True] Translation: X:256.32, Y:78.10, Z:11.84 [[ 9.73409737e-01 2.29049351e-01 3.14313702e-03 2.56323694e+02] [-2.29048226e-01 9.73414811e-01 -7.18221261e-04 7.80964464e+01] [-3.22408424e-03 -2.08063897e-05 9.99994802e-01 1.18429446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.956875 meters 0.018222278835140746 Centerline is valid? [True, True] Translation: X:256.35, Y:78.09, Z:11.84 [[ 9.73325046e-01 2.29398785e-01 3.81468856e-03 2.56351232e+02] [-2.29397136e-01 9.73332521e-01 -8.70077570e-04 7.80897531e+01] [-3.91255517e-03 -2.82103413e-05 9.99992346e-01 1.18431494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.986875 meters 0.0185182337302355 Centerline is valid? [True, True] Translation: X:256.38, Y:78.08, Z:11.84 [[ 9.72899922e-01 2.31185638e-01 4.35238784e-03 2.56378542e+02] [-2.31183508e-01 9.72909656e-01 -9.93210133e-04 7.80847755e+01] [-4.46409607e-03 -3.99062303e-05 9.99990035e-01 1.18436482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.016875 meters 0.018833012793768693 Centerline is valid? [True, True] Translation: X:256.41, Y:78.08, Z:11.85 [[ 9.71966390e-01 2.35040256e-01 6.11680147e-03 2.56406910e+02] [-2.35036138e-01 9.71985633e-01 -1.39376165e-03 7.80812249e+01] [-6.27303325e-03 -8.29799145e-05 9.99980321e-01 1.18456984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.046875 meters 0.019138884336755414 Centerline is valid? [True, True] Translation: X:256.44, Y:78.08, Z:11.85 [[ 9.71762781e-01 2.35821788e-01 8.07345611e-03 2.56435139e+02] [-2.35814656e-01 9.71796311e-01 -1.83788344e-03 7.80755654e+01] [-8.27916782e-03 -1.17852547e-04 9.99965720e-01 1.18474684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.076875 meters 0.01984690852070749 Centerline is valid? [True, True] Translation: X:256.46, Y:78.07, Z:11.85 [[ 9.71568383e-01 2.36619310e-01 8.13501059e-03 2.56462816e+02] [-2.36612096e-01 9.71602432e-01 -1.85190174e-03 7.80705003e+01] [-8.34219178e-03 -1.25592734e-04 9.99965195e-01 1.18485005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1068750000001 meters 0.020129517944950687 Centerline is valid? [True, True] Translation: X:256.49, Y:78.06, Z:11.85 [[ 9.71588052e-01 2.36547736e-01 7.86292721e-03 2.56490091e+02] [-2.36541018e-01 9.71619861e-01 -1.78702862e-03 7.80625170e+01] [-8.06249382e-03 -1.23649144e-04 9.99967490e-01 1.18463734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.136875 meters 0.019710549980269308 Centerline is valid? [True, True] Translation: X:256.52, Y:78.05, Z:11.85 [[ 9.71996158e-01 2.34886639e-01 7.19274908e-03 2.56517811e+02] [-2.34880985e-01 9.72022765e-01 -1.63306367e-03 7.80530476e+01] [-7.37510069e-03 -1.02108378e-04 9.99972798e-01 1.18454697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.166875 meters 0.019710549980269308 Centerline is valid? [True, True] Translation: X:256.54, Y:78.05, Z:11.85 [[ 9.72056520e-01 2.34636699e-01 7.19320156e-03 2.56544535e+02] [-2.34631053e-01 9.72083129e-01 -1.63107023e-03 7.80470807e+01] [-7.37509881e-03 -1.02255999e-04 9.99972798e-01 1.18455946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.196875 meters 0.01882084705041974 Centerline is valid? [True, True] Translation: X:256.57, Y:78.03, Z:11.84 [[ 9.73104200e-01 2.30262190e-01 6.89488342e-03 2.56571374e+02] [-2.30256894e-01 9.73128624e-01 -1.56309105e-03 7.80327712e+01] [-7.06952918e-03 -6.65439727e-05 9.99975008e-01 1.18426925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.226875 meters 0.018585585176760785 Centerline is valid? [True, True] Translation: X:256.60, Y:78.02, Z:11.84 [[ 9.73695012e-01 2.27751338e-01 6.88126963e-03 2.56598652e+02] [-2.27746017e-01 9.73719326e-01 -1.55771935e-03 7.80237359e+01] [-7.05519789e-03 -5.04381824e-05 9.99975111e-01 1.18424406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.256875 meters 0.01870625207322823 Centerline is valid? [True, True] Translation: X:256.62, Y:78.01, Z:11.84 [[ 9.74744449e-01 2.23186290e-01 7.81913704e-03 2.56624646e+02] [-2.23179271e-01 9.74775810e-01 -1.77020179e-03 7.80122792e+01] [-8.01699041e-03 -1.95749362e-05 9.99967863e-01 1.18426218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.286875 meters 0.01889005777639029 Centerline is valid? [True, True] Translation: X:256.65, Y:78.00, Z:11.84 [[ 9.75195304e-01 2.21180914e-01 8.55116581e-03 2.56651029e+02] [-2.21172470e-01 9.75232794e-01 -1.93259173e-03 7.80034281e+01] [-8.76682974e-03 -6.62808877e-06 9.99961571e-01 1.18413589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.316875 meters 0.019193639605365853 Centerline is valid? [True, True] Translation: X:256.68, Y:78.00, Z:11.84 [[ 9.75508910e-01 2.19771916e-01 9.09237170e-03 2.56677298e+02] [-2.19762333e-01 9.75551283e-01 -2.05235330e-03 7.79950020e+01] [-9.32112449e-03 3.92811120e-06 9.99956557e-01 1.18406176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.346875 meters 0.019320223829886535 Centerline is valid? [True, True] Translation: X:256.71, Y:77.99, Z:11.84 [[ 9.75652366e-01 2.19105068e-01 9.76877805e-03 2.56705318e+02] [-2.19093995e-01 9.75701270e-01 -2.20282765e-03 7.79870085e+01] [-1.00140599e-02 8.91340095e-06 9.99949858e-01 1.18401944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.376875 meters 0.019950537435187942 Centerline is valid? [True, True] Translation: X:256.73, Y:77.98, Z:11.84 [[ 9.75699033e-01 2.18762866e-01 1.24179235e-02 2.56731695e+02] [-2.18744955e-01 9.75778053e-01 -2.79936303e-03 7.79787623e+01] [-1.27295339e-02 1.49776824e-05 9.99918976e-01 1.18429974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.406875 meters 0.019701061792312013 Centerline is valid? [True, True] Translation: X:256.76, Y:77.97, Z:11.84 [[ 9.75758095e-01 2.18477972e-01 1.27873314e-02 2.56758751e+02] [-2.18459013e-01 9.75841880e-01 -2.87822584e-03 7.79730647e+01] [-1.31072425e-02 1.49443538e-05 9.99914096e-01 1.18420745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.436875 meters 0.020316522396647455 Centerline is valid? [True, True] Translation: X:256.79, Y:77.97, Z:11.84 [[ 9.75874441e-01 2.17875549e-01 1.41181299e-02 2.56785955e+02] [-2.17852390e-01 9.75976559e-01 -3.17669128e-03 7.79660099e+01] [-1.44710872e-02 2.43834788e-05 9.99895288e-01 1.18443662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.466875 meters 0.020300095321212634 Centerline is valid? [True, True] Translation: X:256.81, Y:77.96, Z:11.84 [[ 9.75688391e-01 2.18693355e-01 1.43311012e-02 2.56813663e+02] [-2.18669651e-01 9.75793634e-01 -3.21978036e-03 7.79615356e+01] [-1.46883419e-02 7.72540826e-06 9.99892120e-01 1.18425424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.496875 meters 0.020317952392016222 Centerline is valid? [True, True] Translation: X:256.84, Y:77.95, Z:11.84 [[ 9.75396731e-01 2.20002008e-01 1.41539128e-02 2.56840430e+02] [-2.19979085e-01 9.75499419e-01 -3.17587230e-03 7.79539697e+01] [-1.45058320e-02 -1.58293159e-05 9.99894785e-01 1.18425436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.526875 meters 0.020305676203224824 Centerline is valid? [True, True] Translation: X:256.87, Y:77.95, Z:11.84 [[ 9.74760022e-01 2.22834439e-01 1.37008129e-02 2.56867707e+02] [-2.22813296e-01 9.74856302e-01 -3.07018731e-03 7.79492408e+01] [-1.40404673e-02 -6.00274437e-05 9.99901426e-01 1.18418036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.556875 meters 0.02160811152829384 Centerline is valid? [True, True] Translation: X:256.90, Y:77.95, Z:11.84 [[ 9.72163509e-01 2.33945553e-01 1.29456238e-02 2.56896986e+02] [-2.33927659e-01 9.72249677e-01 -2.90091139e-03 7.79508483e+01] [-1.32650339e-02 -2.08179272e-04 9.99911994e-01 1.18391036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.586875 meters 0.02400662534571967 Centerline is valid? [True, True] Translation: X:256.93, Y:77.96, Z:11.84 [[ 9.70138337e-01 2.42297803e-01 1.11076880e-02 2.56926761e+02] [-2.42285186e-01 9.70201885e-01 -2.48822856e-03 7.79554801e+01] [-1.13795921e-02 -2.77302318e-04 9.99935212e-01 1.18376999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.616875 meters 0.02578735837291645 Centerline is valid? [True, True] Translation: X:256.96, Y:77.96, Z:11.83 [[ 9.67891097e-01 2.51203852e-01 9.13502269e-03 2.56958206e+02] [-2.51195714e-01 9.67934154e-01 -2.04629632e-03 7.79581489e+01] [-9.35613797e-03 -3.14086555e-04 9.99956181e-01 1.18343897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.646875 meters 0.02801632017249724 Centerline is valid? [True, True] Translation: X:256.99, Y:77.96, Z:11.83 [[ 9.66732293e-01 2.55596458e-01 9.95615794e-03 2.56987129e+02] [-2.55587028e-01 9.66783481e-01 -2.22981357e-03 7.79561191e+01] [-1.01953815e-02 -3.89032034e-04 9.99947950e-01 1.18327912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.676875 meters 0.029130720530143924 Centerline is valid? [True, True] Translation: X:257.02, Y:77.95, Z:11.83 [[ 9.66162062e-01 2.57567567e-01 1.37774282e-02 2.57015908e+02] [-2.57549718e-01 9.66260123e-01 -3.08492612e-03 7.79505596e+01] [-1.41071564e-02 -5.67834175e-04 9.99900328e-01 1.18328511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.706875 meters 0.028763988791159493 Centerline is valid? [True, True] Translation: X:257.04, Y:77.94, Z:11.83 [[ 9.66647404e-01 2.55758121e-01 1.34380343e-02 2.57044005e+02] [-2.55740980e-01 9.66740660e-01 -3.00792753e-03 7.79444144e+01] [-1.37603960e-02 -5.29050713e-04 9.99905181e-01 1.18327481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.736875 meters 0.027989735702381262 Centerline is valid? [True, True] Translation: X:257.07, Y:77.94, Z:11.83 [[ 9.67596269e-01 2.52064880e-01 1.48579003e-02 2.57072693e+02] [-2.52043494e-01 9.67710193e-01 -3.32542478e-03 7.79367495e+01] [-1.52163643e-02 -5.27168496e-04 9.99884085e-01 1.18344135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.766875 meters 0.026577570719546976 Centerline is valid? [True, True] Translation: X:257.10, Y:77.93, Z:11.84 [[ 9.67653571e-01 2.51778196e-01 1.59470035e-02 2.57100506e+02] [-2.51753602e-01 9.67784800e-01 -3.56428250e-03 7.79311006e+01] [-1.63306762e-02 -5.65724871e-04 9.99866486e-01 1.18352600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.796875 meters 0.0255103579565843 Centerline is valid? [True, True] Translation: X:257.13, Y:77.92, Z:11.84 [[ 9.68443748e-01 2.48541462e-01 1.85431558e-02 2.57127993e+02] [-2.48507701e-01 9.68621073e-01 -4.13999462e-03 7.79226349e+01] [-1.89902517e-02 -5.98765099e-04 9.99819490e-01 1.18360691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.826875 meters 0.026515614176779435 Centerline is valid? [True, True] Translation: X:257.16, Y:77.92, Z:11.84 [[ 9.68457481e-01 2.48308130e-01 2.08130002e-02 2.57155620e+02] [-2.48265564e-01 9.68680869e-01 -4.64575959e-03 7.79195244e+01] [-2.13147350e-02 -6.67930592e-04 9.99772592e-01 1.18398237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8568750000001 meters 0.026277454941748057 Centerline is valid? [True, True] Translation: X:257.18, Y:77.91, Z:11.84 [[ 9.68401574e-01 2.48481397e-01 2.13397885e-02 2.57184017e+02] [-2.48436823e-01 9.68636419e-01 -4.75733820e-03 7.79131014e+01] [-2.18526064e-02 -6.94575457e-04 9.99760962e-01 1.18385825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.886875 meters 0.02701420622746316 Centerline is valid? [True, True] Translation: X:257.21, Y:77.91, Z:11.84 [[ 9.68001990e-01 2.49909321e-01 2.27481569e-02 2.57212578e+02] [-2.49859068e-01 9.68268935e-01 -5.07105037e-03 7.79086683e+01] [-2.32936364e-02 -7.75046436e-04 9.99728366e-01 1.18405648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.916875 meters 0.029130976303232768 Centerline is valid? [True, True] Translation: X:257.24, Y:77.91, Z:11.84 [[ 9.67411747e-01 2.52053222e-01 2.41595693e-02 2.57241357e+02] [-2.51997250e-01 9.67712974e-01 -5.38394824e-03 7.79073683e+01] [-2.47365702e-02 -8.79650246e-04 9.99693617e-01 1.18429916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.946875 meters 0.030797332243162143 Centerline is valid? [True, True] Translation: X:257.27, Y:77.90, Z:11.84 [[ 9.65555599e-01 2.58670415e-01 2.81425079e-02 2.57271349e+02] [-2.58597291e-01 9.65964865e-01 -6.27060406e-03 7.79039592e+01] [-2.88066936e-02 -1.22295945e-03 9.99584253e-01 1.18432319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.976875 meters 0.03276541947581615 Centerline is valid? [True, True] Translation: X:257.30, Y:77.90, Z:11.84 [[ 9.64421703e-01 2.62796124e-01 2.87919271e-02 2.57300123e+02] [-2.62721444e-01 9.64850402e-01 -6.41442018e-03 7.79017328e+01] [-2.94655872e-02 -1.37805063e-03 9.99564845e-01 1.18446693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.006875 meters 0.03380802028431801 Centerline is valid? [True, True] Translation: X:257.33, Y:77.90, Z:11.84 [[ 9.63582091e-01 2.65804316e-01 2.92851358e-02 2.57329512e+02] [-2.65728463e-01 9.64025844e-01 -6.52351014e-03 7.78971254e+01] [-2.99656049e-02 -1.49595658e-03 9.99549811e-01 1.18445356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.036875 meters 0.03653739254702621 Centerline is valid? [True, True] Translation: X:257.36, Y:77.90, Z:11.85 [[ 9.61877271e-01 2.71858079e-01 2.97540100e-02 2.57358760e+02] [-2.71782692e-01 9.62335832e-01 -6.62689509e-03 7.78959262e+01] [-3.04349249e-02 -1.71236515e-03 9.99535284e-01 1.18451863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.066875 meters 0.0365888267246867 Centerline is valid? [True, True] Translation: X:257.39, Y:77.89, Z:11.84 [[ 9.61194150e-01 2.74374649e-01 2.87116513e-02 2.57387630e+02] [-2.74305598e-01 9.61621318e-01 -6.39375858e-03 7.78896854e+01] [-2.93640212e-02 -1.73012334e-03 9.99567287e-01 1.18433361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.096875 meters 0.03748282225818412 Centerline is valid? [True, True] Translation: X:257.42, Y:77.88, Z:11.84 [[ 9.60610627e-01 2.76520730e-01 2.76316722e-02 2.57416469e+02] [-2.76457687e-01 9.61006398e-01 -6.15231936e-03 7.78836892e+01] [-2.82554576e-02 -1.72900482e-03 9.99599240e-01 1.18420868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.126875 meters 0.038161624216596524 Centerline is valid? [True, True] Translation: X:257.44, Y:77.88, Z:11.84 [[ 9.60359187e-01 2.77541673e-01 2.60931465e-02 2.57444581e+02] [-2.77486019e-01 9.60712151e-01 -5.80268573e-03 7.78784702e+01] [-2.66784900e-02 -1.66782080e-03 9.99642674e-01 1.18409870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.156875 meters 0.03929443246931452 Centerline is valid? [True, True] Translation: X:257.47, Y:77.87, Z:11.84 [[ 9.59785980e-01 2.79819935e-01 2.26202681e-02 2.57473023e+02] [-2.79778866e-01 9.60051320e-01 -5.02490760e-03 7.78741740e+01] [-2.31226875e-02 -1.50583709e-03 9.99731501e-01 1.18377436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.186875 meters 0.03770783332773971 Centerline is valid? [True, True] Translation: X:257.50, Y:77.87, Z:11.84 [[ 9.59183585e-01 2.81970680e-01 2.14332740e-02 2.57500854e+02] [-2.81934350e-01 9.59421887e-01 -4.76088077e-03 7.78657775e+01] [-2.19059810e-02 -1.47621748e-03 9.99758945e-01 1.18357898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.216875 meters 0.04180268704238188 Centerline is valid? [True, True] Translation: X:257.53, Y:77.87, Z:11.84 [[ 9.58385521e-01 2.84653977e-01 2.16634951e-02 2.57530297e+02] [-2.84617563e-01 9.58629071e-01 -4.81111626e-03 7.78658248e+01] [-2.21367596e-02 -1.55490704e-03 9.99753743e-01 1.18363303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.246875 meters 0.04286547374982373 Centerline is valid? [True, True] Translation: X:257.56, Y:77.86, Z:11.84 [[ 9.57811535e-01 2.86537238e-01 2.22142819e-02 2.57559791e+02] [-2.86499462e-01 9.58067703e-01 -4.93304192e-03 7.78606385e+01] [-2.26962862e-02 -1.63945534e-03 9.99741062e-01 1.18371830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.276875 meters 0.04268735757174795 Centerline is valid? [True, True] Translation: X:257.59, Y:77.86, Z:11.84 [[ 9.57609450e-01 2.87289883e-01 2.11816764e-02 2.57588150e+02] [-2.87255849e-01 9.57842371e-01 -4.69782619e-03 7.78550014e+01] [-2.16383451e-02 -1.58587767e-03 9.99764606e-01 1.18360703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.306875 meters 0.042535426717801965 Centerline is valid? [True, True] Translation: X:257.62, Y:77.85, Z:11.84 [[ 9.57601725e-01 2.87308691e-01 2.12756276e-02 2.57616182e+02] [-2.87274467e-01 9.57836709e-01 -4.71367446e-03 7.78474576e+01] [-2.17328567e-02 -1.59812176e-03 9.99762536e-01 1.18352032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.336875 meters 0.038636477239477565 Centerline is valid? [True, True] Translation: X:257.64, Y:77.84, Z:11.83 [[ 9.58231334e-01 2.85338181e-01 1.93605864e-02 2.57644246e+02] [-2.85309433e-01 9.58425858e-01 -4.28978187e-03 7.78360018e+01] [-1.97797252e-02 -1.41315452e-03 9.99803363e-01 1.18321179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.366875 meters 0.04179362964745408 Centerline is valid? [True, True] Translation: X:257.67, Y:77.83, Z:11.83 [[ 9.58429319e-01 2.84671306e-01 1.93775099e-02 2.57672704e+02] [-2.84642410e-01 9.58624160e-01 -4.29159024e-03 7.78345943e+01] [-1.97974418e-02 -1.40247521e-03 9.99803028e-01 1.18343751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.396875 meters 0.040051675329012645 Centerline is valid? [True, True] Translation: X:257.70, Y:77.83, Z:11.83 [[ 9.58596873e-01 2.84122164e-01 1.91476192e-02 2.57700669e+02] [-2.84093935e-01 9.58787095e-01 -4.23586201e-03 7.78259895e+01] [-1.95619924e-02 -1.37923840e-03 9.99807695e-01 1.18333671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.426875 meters 0.03876943848384162 Centerline is valid? [True, True] Translation: X:257.73, Y:77.82, Z:11.83 [[ 9.58549382e-01 2.84320358e-01 1.85746050e-02 2.57728248e+02] [-2.84293917e-01 9.58728388e-01 -4.10452336e-03 7.78154915e+01] [-1.89750006e-02 -1.34625888e-03 9.99819052e-01 1.18304275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.456875 meters 0.04227573037680583 Centerline is valid? [True, True] Translation: X:257.76, Y:77.81, Z:11.83 [[ 9.58029995e-01 2.86100211e-01 1.80332296e-02 2.57757000e+02] [-2.86075604e-01 9.58198764e-01 -3.98478250e-03 7.78138015e+01] [-1.84194655e-02 -1.34132589e-03 9.99829448e-01 1.18302604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.486875 meters 0.04212756410703074 Centerline is valid? [True, True] Translation: X:257.79, Y:77.81, Z:11.83 [[ 9.57542811e-01 2.87731771e-01 1.79497550e-02 2.57785622e+02] [-2.87707686e-01 9.57710060e-01 -3.96581178e-03 7.78065217e+01] [-1.83317510e-02 -1.36684792e-03 9.99831025e-01 1.18302441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.516875 meters 0.04491564795832577 Centerline is valid? [True, True] Translation: X:257.82, Y:77.80, Z:11.83 [[ 9.56046208e-01 2.92647258e-01 1.82546308e-02 2.57815601e+02] [-2.92623241e-01 9.56219313e-01 -4.03294473e-03 7.78029579e+01] [-1.86356607e-02 -1.48604770e-03 9.99825237e-01 1.18300269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.546875 meters 0.04714598532429267 Centerline is valid? [True, True] Translation: X:257.85, Y:77.80, Z:11.83 [[ 9.53851656e-01 2.99820617e-01 1.65715238e-02 2.57845121e+02] [-2.99801904e-01 9.53994454e-01 -3.66071220e-03 7.77981469e+01] [-1.69066988e-02 -1.47639797e-03 9.99855982e-01 1.18295810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.576875 meters 0.04805574911683556 Centerline is valid? [True, True] Translation: X:257.87, Y:77.79, Z:11.83 [[ 9.52326701e-01 3.04762200e-01 1.39232494e-02 2.57874294e+02] [-3.04749520e-01 9.52427569e-01 -3.07516094e-03 7.77935026e+01] [-1.41980794e-02 -1.31454570e-03 9.99898338e-01 1.18275185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6068750000001 meters 0.04910319326107462 Centerline is valid? [True, True] Translation: X:257.90, Y:77.79, Z:11.83 [[ 9.51123654e-01 3.08567431e-01 1.22448097e-02 2.57903229e+02] [-3.08557943e-01 9.51201706e-01 -2.70388559e-03 7.77872429e+01] [-1.24816149e-02 -1.20650376e-03 9.99921374e-01 1.18262466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.636875 meters 0.05098893672625798 Centerline is valid? [True, True] Translation: X:257.93, Y:77.78, Z:11.82 [[ 9.48405697e-01 3.16939768e-01 8.70734062e-03 2.57932811e+02] [-3.16935322e-01 9.48445205e-01 -1.92227947e-03 7.77827514e+01] [-8.86768227e-03 -9.36563010e-04 9.99960243e-01 1.18236780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.666875 meters 0.05500655518926961 Centerline is valid? [True, True] Translation: X:257.96, Y:77.78, Z:11.82 [[ 9.47451159e-01 3.19809750e-01 7.61746305e-03 2.57961890e+02] [-3.19806441e-01 9.47481405e-01 -1.68133110e-03 7.77808764e+01] [-7.75511068e-03 -8.43134653e-04 9.99969573e-01 1.18236609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.696875 meters 0.059493115948882604 Centerline is valid? [True, True] Translation: X:257.99, Y:77.78, Z:11.82 [[ 9.46301558e-01 3.23224197e-01 6.28324457e-03 2.57991450e+02] [-3.23222023e-01 9.46322145e-01 -1.38639916e-03 7.77802788e+01] [-6.39409123e-03 -7.18931343e-04 9.99979299e-01 1.18232592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.726875 meters 0.05976333817347 Centerline is valid? [True, True] Translation: X:258.02, Y:77.77, Z:11.82 [[ 9.44853726e-01 3.27441262e-01 5.80137146e-03 2.58020131e+02] [-3.27439495e-01 9.44871283e-01 -1.27868005e-03 7.77738834e+01] [-5.90024190e-03 -6.91432536e-04 9.99982354e-01 1.18240329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.756875 meters 0.06442478235292994 Centerline is valid? [True, True] Translation: X:258.05, Y:77.78, Z:11.83 [[ 9.43812898e-01 3.30429009e-01 5.82092139e-03 2.58050171e+02] [-3.30427284e-01 9.43830580e-01 -1.28328228e-03 7.77751478e+01] [-5.91799730e-03 -7.12212876e-04 9.99982235e-01 1.18265702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.786875 meters 0.05476859765661442 Centerline is valid? [True, True] Translation: X:258.08, Y:77.76, Z:11.83 [[ 9.43357773e-01 3.31710745e-01 6.64027205e-03 2.58076363e+02] [-3.31708534e-01 9.43380785e-01 -1.46369150e-03 7.77561699e+01] [-6.74982725e-03 -8.21850153e-04 9.99976882e-01 1.18258714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.816875 meters 0.06527909415278355 Centerline is valid? [True, True] Translation: X:258.11, Y:77.76, Z:11.83 [[ 9.43366792e-01 3.31667283e-01 7.47724529e-03 2.58106831e+02] [-3.31664484e-01 9.43395970e-01 -1.64735759e-03 7.77638475e+01] [-7.60037768e-03 -9.25874262e-04 9.99970688e-01 1.18285758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.846875 meters 0.05501666667970778 Centerline is valid? [True, True] Translation: X:258.13, Y:77.74, Z:11.83 [[ 9.43726367e-01 3.30643811e-01 7.43067503e-03 2.58132821e+02] [-3.30641015e-01 9.43755180e-01 -1.63706738e-03 7.77446590e+01] [-7.55402425e-03 -9.11942292e-04 9.99971052e-01 1.18276764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.876875 meters 0.05232087487914187 Centerline is valid? [True, True] Translation: X:258.16, Y:77.74, Z:11.83 [[ 9.44326873e-01 3.28926247e-01 7.36753927e-03 2.58160897e+02] [-3.28923464e-01 9.44355191e-01 -1.62103305e-03 7.77352715e+01] [-7.49077428e-03 -8.92571460e-04 9.99971545e-01 1.18276387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.906875 meters 0.05475486391787113 Centerline is valid? [True, True] Translation: X:258.19, Y:77.73, Z:11.83 [[ 9.45787242e-01 3.24723987e-01 6.38943691e-03 2.58189457e+02] [-3.24721797e-01 9.45808531e-01 -1.40602810e-03 7.77335815e+01] [-6.49975499e-03 -7.44986003e-04 9.99978599e-01 1.18283789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.936875 meters 0.05420825200050329 Centerline is valid? [True, True] Translation: X:258.22, Y:77.73, Z:11.83 [[ 9.46689422e-01 3.22096467e-01 5.74488716e-03 2.58218580e+02] [-3.22094651e-01 9.46706627e-01 -1.26390115e-03 7.77267119e+01] [-5.84582084e-03 -6.53875577e-04 9.99982699e-01 1.18270932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.966875 meters 0.05351571893595712 Centerline is valid? [True, True] Translation: X:258.25, Y:77.72, Z:11.83 [[ 9.48189155e-01 3.17640624e-01 6.46214492e-03 2.58247158e+02] [-3.17638226e-01 9.48210914e-01 -1.42140454e-03 7.77163995e+01] [-6.57897216e-03 -7.04863874e-04 9.99978110e-01 1.18288125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.996875 meters 0.0493965755751373 Centerline is valid? [True, True] Translation: X:258.28, Y:77.71, Z:11.83 [[ 9.49666340e-01 3.13223969e-01 4.95862250e-03 2.58275548e+02] [-3.13222497e-01 9.49679145e-01 -1.09057099e-03 7.77072638e+01] [-5.05069334e-03 -5.17473560e-04 9.99987111e-01 1.18295494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.026875 meters 0.04767837845600299 Centerline is valid? [True, True] Translation: X:258.30, Y:77.70, Z:11.83 [[ 9.49910955e-01 3.12488326e-01 4.49697703e-03 2.58303686e+02] [-3.12487111e-01 9.49921485e-01 -9.88548314e-04 7.77011162e+01] [-4.58068491e-03 -4.66214486e-04 9.99989400e-01 1.18286427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.056875 meters 0.05275722382871767 Centerline is valid? [True, True] Translation: X:258.33, Y:77.70, Z:11.83 [[ 9.49512566e-01 3.13695230e-01 4.60324907e-03 2.58332937e+02] [-3.13693972e-01 9.49523601e-01 -1.01148296e-03 7.77026507e+01] [-4.68819101e-03 -4.83595707e-04 9.99988893e-01 1.18315673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.086875 meters 0.05275722382871767 Centerline is valid? [True, True] Translation: X:258.36, Y:77.70, Z:11.83 [[ 9.49592718e-01 3.13452511e-01 4.60368078e-03 2.58359826e+02] [-3.13451259e-01 9.49603754e-01 -1.00951756e-03 7.76968331e+01] [-4.68810836e-03 -4.84399012e-04 9.99988893e-01 1.18316926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.116875 meters 0.05228883972445697 Centerline is valid? [True, True] Translation: X:258.39, Y:77.69, Z:11.83 [[ 9.49294871e-01 3.14361988e-01 3.97349523e-03 2.58388903e+02] [-3.14361060e-01 9.49303094e-01 -8.72071753e-04 7.76901965e+01] [-4.04619753e-03 -4.21258932e-04 9.99991725e-01 1.18330412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.146875 meters 0.07394805295373753 Centerline is valid? [True, True] Translation: X:258.42, Y:77.71, Z:11.84 [[ 9.47638013e-01 3.19345354e-01 8.61242761e-04 2.58423969e+02] [-3.19345312e-01 9.47638399e-01 -1.88749707e-04 7.77139206e+01] [-8.76423053e-04 -9.61674417e-05 9.99999611e-01 1.18353144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.176875 meters 0.07394805295373753 Centerline is valid? [True, True] Translation: X:258.45, Y:77.71, Z:11.84 [[ 9.47711390e-01 3.19127528e-01 8.61457178e-04 2.58450891e+02] [-3.19127488e-01 9.47711776e-01 -1.87771988e-04 7.77081410e+01] [-8.76336322e-04 -9.69610134e-05 9.99999611e-01 1.18354397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.206875 meters 0.0533158100172852 Centerline is valid? [True, True] Translation: X:258.47, Y:77.68, Z:11.84 [[ 9.46203877e-01 3.23570824e-01 -3.79616723e-04 2.58474548e+02] [-3.23570816e-01 9.46203953e-01 8.34218082e-05 7.76767911e+01] [ 3.86187707e-04 4.38988545e-05 9.99999924e-01 1.18363887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.236875 meters 0.05528850268767361 Centerline is valid? [True, True] Translation: X:258.50, Y:77.67, Z:11.84 [[ 9.45724867e-01 3.24967929e-01 5.67353494e-04 2.58504430e+02] [-3.24967912e-01 9.45725034e-01 -1.24234903e-04 7.76723089e+01] [-5.76932762e-04 -6.68796430e-05 9.99999831e-01 1.18368117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.266875 meters 0.05867040851160862 Centerline is valid? [True, True] Translation: X:258.53, Y:77.67, Z:11.84 [[ 9.44675268e-01 3.28005291e-01 1.08068082e-03 2.58533696e+02] [-3.28005232e-01 9.44675877e-01 -2.36500280e-04 7.76702866e+01] [-1.09846644e-03 -1.31052997e-04 9.99999388e-01 1.18389730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.296875 meters 0.058295522513693125 Centerline is valid? [True, True] Translation: X:258.56, Y:77.66, Z:11.84 [[ 9.44036070e-01 3.29841383e-01 7.49229928e-04 2.58562272e+02] [-3.29841356e-01 9.44036362e-01 -1.63108612e-04 7.76643983e+01] [-7.61100266e-04 -9.31466019e-05 9.99999706e-01 1.18396289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.326875 meters 0.058871852604499286 Centerline is valid? [True, True] Translation: X:258.59, Y:77.66, Z:11.84 [[ 9.43466313e-01 3.31466513e-01 1.12559446e-03 2.58591833e+02] [-3.31466452e-01 9.43466974e-01 -2.46177784e-04 7.76595979e+01] [-1.14356089e-03 -1.40836354e-04 9.99999336e-01 1.18409131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3568750000001 meters 0.0590463457193867 Centerline is valid? [True, True] Translation: X:258.62, Y:77.65, Z:11.84 [[ 9.43251771e-01 3.32074024e-01 1.71465933e-03 2.58621255e+02] [-3.32073882e-01 9.43253304e-01 -3.75042573e-04 7.76545863e+01] [-1.74189997e-03 -2.15634009e-04 9.99998460e-01 1.18417751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.386875 meters 0.057166740320755714 Centerline is valid? [True, True] Translation: X:258.65, Y:77.65, Z:11.84 [[ 9.43637960e-01 3.30973288e-01 2.02057823e-03 2.58650201e+02] [-3.30973089e-01 9.43640090e-01 -4.41744698e-04 7.76459984e+01] [-2.05290432e-03 -2.51909951e-04 9.99997861e-01 1.18421136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.416875 meters 0.06132415289992381 Centerline is valid? [True, True] Translation: X:258.68, Y:77.64, Z:11.84 [[ 9.44501458e-01 3.28504624e-01 1.30687618e-03 2.58679548e+02] [-3.28504539e-01 9.44502349e-01 -2.85584140e-04 7.76449654e+01] [-1.32816333e-03 -1.59580119e-04 9.99999105e-01 1.18420794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.446875 meters 0.05391970119944862 Centerline is valid? [True, True] Translation: X:258.71, Y:77.63, Z:11.84 [[ 9.46311658e-01 3.23254797e-01 -7.63017181e-04 2.58705849e+02] [-3.23254766e-01 9.46311961e-01 1.67027855e-04 7.76284206e+01] [ 7.76044840e-04 8.85885341e-05 9.99999695e-01 1.18398585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.476875 meters 0.0549920662244759 Centerline is valid? [True, True] Translation: X:258.73, Y:77.62, Z:11.84 [[ 9.47318369e-01 3.20289441e-01 -1.60658523e-03 2.58734364e+02] [-3.20289300e-01 9.47319714e-01 3.51402480e-04 7.76235899e+01] [ 1.63450036e-03 1.81682034e-04 9.99998648e-01 1.18385022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.506875 meters 0.05391229895935752 Centerline is valid? [True, True] Translation: X:258.76, Y:77.62, Z:11.84 [[ 9.48704210e-01 3.16150562e-01 -3.02378418e-03 2.58762700e+02] [-3.16150041e-01 9.48708972e-01 6.61305393e-04 7.76154516e+01] [ 3.07776325e-03 3.28586282e-04 9.99995210e-01 1.18372473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.536875 meters 0.05118734265519551 Centerline is valid? [True, True] Translation: X:258.79, Y:77.60, Z:11.84 [[ 9.50196486e-01 3.11631555e-01 -3.52296003e-03 2.58791217e+02] [-3.11630820e-01 9.50202947e-01 7.69736100e-04 7.76048412e+01] [ 3.58740106e-03 3.66462385e-04 9.99993498e-01 1.18352287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.566875 meters 0.046777794963110436 Centerline is valid? [True, True] Translation: X:258.82, Y:77.59, Z:11.83 [[ 9.51738326e-01 3.06889862e-01 -3.57360252e-03 2.58819058e+02] [-3.06889075e-01 9.51744969e-01 7.80185610e-04 7.75919334e+01] [ 3.64058928e-03 3.54167026e-04 9.99993310e-01 1.18347255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.596875 meters 0.04522083875878514 Centerline is valid? [True, True] Translation: X:258.85, Y:77.59, Z:11.83 [[ 9.54377455e-01 2.98528604e-01 -6.65926036e-03 2.58846695e+02] [-2.98525670e-01 9.54400499e-01 1.45348582e-03 7.75858241e+01] [ 6.78950850e-03 6.00786061e-04 9.99976771e-01 1.18331676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.626875 meters 0.04649199561119883 Centerline is valid? [True, True] Translation: X:258.87, Y:77.58, Z:11.83 [[ 9.55991219e-01 2.93281138e-01 -8.18316907e-03 2.58874703e+02] [-2.93276520e-01 9.56025990e-01 1.78568157e-03 7.75803664e+01] [ 8.34702903e-03 6.92835442e-04 9.99964923e-01 1.18306177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.656875 meters 0.041834174044425375 Centerline is valid? [True, True] Translation: X:258.90, Y:77.57, Z:11.83 [[ 9.57312685e-01 2.88884957e-01 -9.89469286e-03 2.58902497e+02] [-2.88877976e-01 9.57363492e-01 2.15874078e-03 7.75678589e+01] [ 1.00964454e-02 7.91768913e-04 9.99948716e-01 1.18295194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.686875 meters 0.04246355424806298 Centerline is valid? [True, True] Translation: X:258.93, Y:77.56, Z:11.83 [[ 9.60306324e-01 2.78802830e-01 -8.98585557e-03 2.58930734e+02] [-2.78796636e-01 9.60348163e-01 1.96012043e-03 7.75624273e+01] [ 9.17603701e-03 6.22910253e-04 9.99957705e-01 1.18310296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.716875 meters 0.03447053598082803 Centerline is valid? [True, True] Translation: X:258.96, Y:77.55, Z:11.83 [[ 9.61608641e-01 2.74277012e-01 -8.99674334e-03 2.58958168e+02] [-2.74270608e-01 9.61650552e-01 1.96215813e-03 7.75476491e+01] [ 9.18989806e-03 5.80714055e-04 9.99957603e-01 1.18343540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.746875 meters 0.03764620636160198 Centerline is valid? [True, True] Translation: X:258.99, Y:77.55, Z:11.84 [[ 9.62309352e-01 2.71852074e-01 -7.56048518e-03 2.58988022e+02] [-2.71847479e-01 9.62338937e-01 1.64869252e-03 7.75477028e+01] [ 7.72394976e-03 4.68746606e-04 9.99970060e-01 1.18363085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.776875 meters 0.0331493881967533 Centerline is valid? [True, True] Translation: X:259.02, Y:77.54, Z:11.84 [[ 9.63324735e-01 2.68288178e-01 -5.18732770e-03 2.59016291e+02] [-2.68285963e-01 9.63338654e-01 1.13106104e-03 7.75379254e+01] [ 5.30060359e-03 3.02108137e-04 9.99985906e-01 1.18399805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.806875 meters 0.035253461890464285 Centerline is valid? [True, True] Translation: X:259.04, Y:77.53, Z:11.84 [[ 9.63703575e-01 2.66958019e-01 -2.97251460e-03 2.59043786e+02] [-2.66957285e-01 9.63708144e-01 6.48255458e-04 7.75349792e+01] [ 3.03769352e-03 1.68808326e-04 9.99995372e-01 1.18422791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.836875 meters 0.03127854790376084 Centerline is valid? [True, True] Translation: X:259.07, Y:77.52, Z:11.85 [[ 9.64298119e-01 2.64819044e-01 -1.03686362e-04 2.59071632e+02] [-2.64819043e-01 9.64298125e-01 2.35528274e-05 7.75247897e+01] [ 1.06221802e-04 4.74617607e-06 9.99999994e-01 1.18450948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.866875 meters 0.03295844902340529 Centerline is valid? [True, True] Translation: X:259.10, Y:77.52, Z:11.85 [[ 9.64486279e-01 2.64132139e-01 6.55522420e-04 2.59099085e+02] [-2.64132104e-01 9.64486502e-01 -1.42054498e-04 7.75219505e+01] [-6.69763684e-04 -3.61349011e-05 9.99999775e-01 1.18461901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.896875 meters 0.031680690599868895 Centerline is valid? [True, True] Translation: X:259.13, Y:77.51, Z:11.85 [[ 9.64630691e-01 2.63601876e-01 1.29652416e-03 2.59126723e+02] [-2.63601736e-01 9.64631560e-01 -2.80710519e-04 7.75143860e+01] [-1.32466394e-03 -7.09840378e-05 9.99999120e-01 1.18469897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.926875 meters 0.03125705768537276 Centerline is valid? [True, True] Translation: X:259.15, Y:77.51, Z:11.85 [[ 9.64734925e-01 2.63202483e-01 3.31334681e-03 2.59154257e+02] [-2.63201565e-01 9.64740598e-01 -7.17946454e-04 7.75085910e+01] [-3.38548547e-03 -1.79450048e-04 9.99994253e-01 1.18477853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.956875 meters 0.02695044018777975 Centerline is valid? [True, True] Translation: X:259.18, Y:77.50, Z:11.85 [[ 9.65045239e-01 2.62044214e-01 4.52954896e-03 2.59181328e+02] [-2.62042489e-01 9.65055839e-01 -9.80871107e-04 7.74962034e+01] [-4.62829927e-03 -2.40349292e-04 9.99989260e-01 1.18482917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.986875 meters 0.029332703937994087 Centerline is valid? [True, True] Translation: X:259.21, Y:77.49, Z:11.85 [[ 9.65286967e-01 2.61154408e-01 4.40977070e-03 2.59209078e+02] [-2.61152763e-01 9.65297013e-01 -9.54857559e-04 7.74940161e+01] [-4.50610374e-03 -2.29912245e-04 9.99989821e-01 1.18499412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.016875 meters 0.03209699027415886 Centerline is valid? [True, True] Translation: X:259.24, Y:77.49, Z:11.85 [[ 9.65252726e-01 2.61302118e-01 2.89436495e-03 2.59236896e+02] [-2.61301411e-01 9.65257054e-01 -6.26225425e-04 7.74935388e+01] [-2.95744021e-03 -1.51835847e-04 9.99995615e-01 1.18497941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.046875 meters 0.034484082446229934 Centerline is valid? [True, True] Translation: X:259.26, Y:77.49, Z:11.85 [[ 9.65137958e-01 2.61734797e-01 1.90208052e-03 2.59264592e+02] [-2.61734493e-01 9.65139827e-01 -4.11362323e-04 7.74907966e+01] [-1.94344149e-03 -1.00818687e-04 9.99998106e-01 1.18499032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.076875 meters 0.03158724858195539 Centerline is valid? [True, True] Translation: X:259.29, Y:77.48, Z:11.85 [[ 9.65383472e-01 2.60829060e-01 1.71865596e-03 2.59291344e+02] [-2.60828812e-01 9.65384997e-01 -3.70583825e-04 7.74793972e+01] [-1.75582371e-03 -9.05194932e-05 9.99998454e-01 1.18475280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1068750000001 meters 0.02703212475073815 Centerline is valid? [True, True] Translation: X:259.32, Y:77.47, Z:11.84 [[ 9.65633279e-01 2.59906608e-01 -9.61979881e-04 2.59317834e+02] [-2.59906528e-01 9.65633757e-01 2.08875743e-04 7.74665610e+01] [ 9.83208432e-04 4.83274819e-05 9.99999515e-01 1.18446632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.136875 meters 0.028793050813526812 Centerline is valid? [True, True] Translation: X:259.35, Y:77.46, Z:11.84 [[ 9.65858427e-01 2.59061811e-01 -2.11593116e-03 2.59345927e+02] [-2.59061430e-01 9.65860739e-01 4.57201833e-04 7.74637955e+01] [ 2.16213837e-03 1.06563908e-04 9.99997657e-01 1.18446933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.166875 meters 0.025849738865055913 Centerline is valid? [True, True] Translation: X:259.37, Y:77.45, Z:11.84 [[ 9.66226978e-01 2.57679267e-01 -2.61182088e-03 2.59373144e+02] [-2.57678681e-01 9.66230500e-01 5.64329123e-04 7.74530822e+01] [ 2.66903691e-03 1.27740536e-04 9.99996430e-01 1.18436943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.196875 meters 0.025933158523387165 Centerline is valid? [True, True] Translation: X:259.40, Y:77.45, Z:11.84 [[ 9.67275969e-01 2.53687421e-01 -4.46003315e-03 2.59402171e+02] [-2.53685678e-01 9.67286231e-01 9.61754648e-04 7.74480470e+01] [ 4.55811371e-03 2.01164375e-04 9.99989592e-01 1.18432321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.226875 meters 0.024984694235592988 Centerline is valid? [True, True] Translation: X:259.43, Y:77.44, Z:11.84 [[ 9.67922961e-01 2.51199310e-01 -4.90390377e-03 2.59429992e+02] [-2.51197171e-01 9.67935361e-01 1.05726391e-03 7.74409098e+01] [ 5.01224583e-03 2.08496740e-04 9.99987417e-01 1.18433208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.256875 meters 0.024228008363253745 Centerline is valid? [True, True] Translation: X:259.46, Y:77.43, Z:11.84 [[ 9.68576035e-01 2.48656216e-01 -5.52725557e-03 2.59457818e+02] [-2.48653461e-01 9.68591781e-01 1.19123043e-03 7.74338623e+01] [ 5.64986117e-03 2.20573975e-04 9.99984015e-01 1.18426801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.286875 meters 0.022520465042522832 Centerline is valid? [True, True] Translation: X:259.49, Y:77.43, Z:11.84 [[ 9.69793083e-01 2.43888626e-01 -4.43999143e-03 2.59486760e+02] [-2.43886799e-01 9.69803235e-01 9.56652686e-04 7.74251143e+01] [ 4.53923476e-03 1.55100138e-04 9.99989686e-01 1.18434209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.316875 meters 0.02206305395340403 Centerline is valid? [True, True] Translation: X:259.51, Y:77.42, Z:11.84 [[ 9.70229520e-01 2.42147983e-01 -4.36259969e-03 2.59514674e+02] [-2.42146203e-01 9.70239318e-01 9.39816945e-04 7.74188656e+01] [ 4.46034052e-03 1.44548806e-04 9.99990042e-01 1.18445927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.346875 meters 0.022906336347304018 Centerline is valid? [True, True] Translation: X:259.54, Y:77.42, Z:11.85 [[ 9.70547290e-01 2.40878660e-01 -3.92806975e-03 2.59542135e+02] [-2.40877210e-01 9.70555230e-01 8.45283447e-04 7.74156108e+01] [ 4.01601938e-03 1.25794922e-04 9.99991928e-01 1.18455844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.376875 meters 0.021494721489607915 Centerline is valid? [True, True] Translation: X:259.57, Y:77.41, Z:11.85 [[ 9.70904404e-01 2.39457350e-01 -2.19451462e-03 2.59569992e+02] [-2.39456894e-01 9.70906882e-01 4.72469320e-04 7.74097002e+01] [ 2.24380559e-03 6.67691093e-05 9.99997480e-01 1.18496797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.406875 meters 0.021680830626781004 Centerline is valid? [True, True] Translation: X:259.60, Y:77.41, Z:11.85 [[ 9.70951818e-01 2.39274249e-01 -6.33798684e-04 2.59597433e+02] [-2.39274211e-01 9.70952024e-01 1.37204579e-04 7.74063988e+01] [ 6.48217637e-04 1.84326446e-05 9.99999790e-01 1.18518758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.436875 meters 0.02279523012779327 Centerline is valid? [True, True] Translation: X:259.63, Y:77.41, Z:11.86 [[ 9.70723738e-01 2.40194476e-01 1.42733495e-03 2.59625077e+02] [-2.40194287e-01 9.70724787e-01 -3.05299010e-04 7.74053480e+01] [-1.45888055e-03 -4.64767041e-05 9.99998935e-01 1.18555945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.466875 meters 0.02164360210724897 Centerline is valid? [True, True] Translation: X:259.65, Y:77.40, Z:11.86 [[ 9.70694685e-01 2.40302343e-01 2.57162315e-03 2.59652221e+02] [-2.40301730e-01 9.70698087e-01 -5.49514228e-04 7.73961056e+01] [-2.62831923e-03 -8.45549504e-05 9.99996542e-01 1.18557436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.496875 meters 0.021677320386185372 Centerline is valid? [True, True] Translation: X:259.68, Y:77.39, Z:11.85 [[ 9.70605994e-01 2.40663427e-01 2.26251816e-03 2.59680555e+02] [-2.40662955e-01 9.70608628e-01 -4.82766325e-04 7.73910590e+01] [-2.31220385e-03 -7.59284175e-05 9.99997324e-01 1.18549405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.526875 meters 0.024196300166540945 Centerline is valid? [True, True] Translation: X:259.71, Y:77.39, Z:11.86 [[ 9.70706703e-01 2.40253269e-01 2.61966065e-03 2.59707908e+02] [-2.40252633e-01 9.70710234e-01 -5.59633068e-04 7.73883130e+01] [-2.67738508e-03 -8.61407985e-05 9.99996412e-01 1.18564927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.556875 meters 0.021394377236856606 Centerline is valid? [True, True] Translation: X:259.74, Y:77.38, Z:11.86 [[ 9.70957502e-01 2.39247506e-01 1.46989874e-03 2.59735508e+02] [-2.39247306e-01 9.70958613e-01 -3.12744873e-04 7.73781859e+01] [-1.50203428e-03 -4.80073339e-05 9.99998871e-01 1.18550867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.586875 meters 0.023905417619852227 Centerline is valid? [True, True] Translation: X:259.76, Y:77.38, Z:11.86 [[ 9.71179670e-01 2.38346501e-01 9.97377951e-04 2.59763682e+02] [-2.38346409e-01 9.71180181e-01 -2.12483378e-04 7.73771774e+01] [-1.01927837e-03 -3.13619155e-05 9.99999480e-01 1.18575086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.616875 meters 0.022017859146624654 Centerline is valid? [True, True] Translation: X:259.79, Y:77.37, Z:11.86 [[ 9.71329033e-01 2.37736303e-01 -1.16648944e-03 2.59791985e+02] [-2.37736174e-01 9.71329732e-01 2.49709724e-04 7.73696012e+01] [ 1.19241095e-03 3.47664329e-05 9.99999288e-01 1.18563766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.646875 meters 0.02254689666301488 Centerline is valid? [True, True] Translation: X:259.82, Y:77.36, Z:11.86 [[ 9.71494141e-01 2.37036749e-01 -3.56555042e-03 2.59819176e+02] [-2.37035553e-01 9.71500679e-01 7.60298298e-04 7.73629916e+01] [ 3.64415329e-03 1.06536874e-04 9.99993354e-01 1.18550549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.676875 meters 0.02251730247078552 Centerline is valid? [True, True] Translation: X:259.85, Y:77.36, Z:11.85 [[ 9.71501466e-01 2.36978373e-01 -5.11384690e-03 2.59846166e+02] [-2.36975917e-01 9.71514913e-01 1.08971855e-03 7.73558867e+01] [ 5.22641826e-03 1.53195392e-04 9.99986330e-01 1.18537428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.706875 meters 0.02172115356631859 Centerline is valid? [True, True] Translation: X:259.87, Y:77.35, Z:11.85 [[ 9.71666148e-01 2.36223065e-01 -7.97251800e-03 2.59872481e+02] [-2.36217093e-01 9.71698826e-01 1.69600776e-03 7.73462473e+01] [ 8.14752253e-03 2.35291700e-04 9.99966781e-01 1.18511057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.736875 meters 0.022058636612809202 Centerline is valid? [True, True] Translation: X:259.90, Y:77.34, Z:11.85 [[ 9.71544728e-01 2.36677006e-01 -9.21060784e-03 2.59901207e+02] [-2.36669081e-01 9.71588348e-01 1.95681189e-03 7.73414250e+01] [ 9.41205163e-03 2.78735812e-04 9.99955667e-01 1.18506711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.766875 meters 0.021541365582548835 Centerline is valid? [True, True] Translation: X:259.93, Y:77.33, Z:11.85 [[ 9.71680382e-01 2.36128778e-01 -8.96854188e-03 2.59929385e+02] [-2.36121260e-01 9.71721734e-01 1.90322729e-03 7.73337650e+01] [ 9.16433380e-03 2.68334782e-04 9.99957971e-01 1.18517056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.796875 meters 0.022905513295675566 Centerline is valid? [True, True] Translation: X:259.96, Y:77.33, Z:11.85 [[ 9.71240104e-01 2.37962560e-01 -8.15349546e-03 2.59956879e+02] [-2.37956423e-01 9.71274293e-01 1.72888340e-03 7.73318618e+01] [ 8.33069005e-03 2.61015714e-04 9.99965265e-01 1.18540977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.826875 meters 0.022768231246962683 Centerline is valid? [True, True] Translation: X:259.98, Y:77.33, Z:11.86 [[ 9.70883178e-01 2.39435963e-01 -7.50160331e-03 2.59984735e+02] [-2.39430821e-01 9.70912125e-01 1.58947997e-03 7.73264577e+01] [ 7.66397628e-03 2.52915677e-04 9.99970599e-01 1.18552879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8568750000001 meters 0.02334863463234927 Centerline is valid? [True, True] Translation: X:260.01, Y:77.32, Z:11.86 [[ 9.70660750e-01 2.40378763e-01 -5.97987516e-03 2.60012453e+02] [-2.40375519e-01 9.70679147e-01 1.26604784e-03 7.73226724e+01] [ 6.10887113e-03 2.08512655e-04 9.99981319e-01 1.18565882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.886875 meters 0.0230348734766742 Centerline is valid? [True, True] Translation: X:260.04, Y:77.32, Z:11.86 [[ 9.70834548e-01 2.39718602e-01 -3.90791168e-03 2.60040721e+02] [-2.39717211e-01 9.70842404e-01 8.27254399e-04 7.73169113e+01] [ 3.99227464e-03 1.33666540e-04 9.99992022e-01 1.18593751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.916875 meters 0.02176499702921408 Centerline is valid? [True, True] Translation: X:260.07, Y:77.31, Z:11.86 [[ 9.71069994e-01 2.38793984e-01 -7.07341622e-04 2.60068880e+02] [-2.38793938e-01 9.71070251e-01 1.50470036e-04 7.73117521e+01] [ 7.22809746e-04 2.27919542e-05 9.99999739e-01 1.18632975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.946875 meters 0.024234786304011532 Centerline is valid? [True, True] Translation: X:260.10, Y:77.31, Z:11.86 [[ 9.71297263e-01 2.37868926e-01 -3.41109372e-05 2.60097602e+02] [-2.37868926e-01 9.71297263e-01 7.59095534e-06 7.73115925e+01] [ 3.49375124e-05 7.40857863e-07 9.99999999e-01 1.18646092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.976875 meters 0.024234786304011532 Centerline is valid? [True, True] Translation: X:260.12, Y:77.31, Z:11.86 [[ 9.71357678e-01 2.37622095e-01 -3.39533417e-05 2.60124417e+02] [-2.37622095e-01 9.71357679e-01 8.33829313e-06 7.73060390e+01] [ 3.49622019e-05 -3.14008701e-08 9.99999999e-01 1.18647338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.006875 meters 0.022087662531042745 Centerline is valid? [True, True] Translation: X:260.15, Y:77.30, Z:11.86 [[ 9.71931383e-01 2.35260507e-01 1.37127344e-03 2.60151770e+02] [-2.35260335e-01 9.71932349e-01 -2.87679174e-04 7.72961264e+01] [-1.40046456e-03 -4.30018323e-05 9.99999018e-01 1.18646877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.036875 meters 0.02016126406619848 Centerline is valid? [True, True] Translation: X:260.18, Y:77.29, Z:11.87 [[ 9.72443475e-01 2.33124267e-01 2.60067234e-03 2.60178707e+02] [-2.33123640e-01 9.72446950e-01 -5.45854794e-04 7.72861933e+01] [-2.65626788e-03 -7.54652681e-05 9.99996469e-01 1.18652740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.066875 meters 0.02073030863122725 Centerline is valid? [True, True] Translation: X:260.21, Y:77.28, Z:11.87 [[ 9.73203030e-01 2.29892964e-01 5.00872296e-03 2.60205917e+02] [-2.29890589e-01 9.73215911e-01 -1.05258641e-03 7.72808688e+01] [-5.11655109e-03 -1.27077988e-04 9.99986902e-01 1.18663174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.096875 meters 0.019853943979333672 Centerline is valid? [True, True] Translation: X:260.23, Y:77.28, Z:11.87 [[ 9.73353010e-01 2.29255971e-01 5.06141750e-03 2.60233517e+02] [-2.29253550e-01 9.73366161e-01 -1.06138983e-03 7.72751571e+01] [-5.16994248e-03 -1.27240940e-04 9.99986628e-01 1.18667435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.126875 meters 0.019866853122138043 Centerline is valid? [True, True] Translation: X:260.26, Y:77.27, Z:11.87 [[ 9.73774780e-01 2.27371577e-01 8.05253488e-03 2.60260802e+02] [-2.27365375e-01 9.73808057e-01 -1.68953489e-03 7.72701926e+01] [-8.22577556e-03 -1.85641147e-04 9.99966151e-01 1.18696297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.156875 meters 0.019031314568854495 Centerline is valid? [True, True] Translation: X:260.29, Y:77.26, Z:11.87 [[ 9.74006587e-01 2.26333091e-01 9.19239706e-03 2.60288009e+02] [-2.26324996e-01 9.74049942e-01 -1.92520817e-03 7.72626057e+01] [-9.38959214e-03 -2.05303792e-04 9.99955896e-01 1.18686101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.186875 meters 0.018986896665395717 Centerline is valid? [True, True] Translation: X:260.32, Y:77.26, Z:11.87 [[ 9.74344169e-01 2.24871121e-01 9.29618240e-03 2.60315333e+02] [-2.24862774e-01 9.74388496e-01 -1.94701742e-03 7.72566790e+01] [-9.49592118e-03 -1.93300296e-04 9.99954894e-01 1.18708210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.216875 meters 0.018602118286732965 Centerline is valid? [True, True] Translation: X:260.34, Y:77.25, Z:11.87 [[ 9.74549047e-01 2.24085033e-01 6.32871649e-03 2.60343447e+02] [-2.24081162e-01 9.74569588e-01 -1.32328313e-03 7.72484239e+01] [-6.46430256e-03 -1.28541834e-04 9.99979098e-01 1.18672424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.246875 meters 0.01830526234308266 Centerline is valid? [True, True] Translation: X:260.37, Y:77.24, Z:11.86 [[ 9.74646458e-01 2.23697866e-01 4.85254832e-03 2.60370845e+02] [-2.23695594e-01 9.74658533e-01 -1.01307708e-03 7.72409164e+01] [-4.95620081e-03 -9.81016912e-05 9.99987713e-01 1.18649794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.276875 meters 0.01917978306815618 Centerline is valid? [True, True] Translation: X:260.40, Y:77.24, Z:11.86 [[ 9.74418048e-01 2.24720625e-01 3.17928894e-03 2.60398551e+02] [-2.24719654e-01 9.74423233e-01 -6.63803179e-04 7.72365260e+01] [-3.24714328e-03 -6.76269146e-05 9.99994726e-01 1.18624789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.306875 meters 0.01917978306815618 Centerline is valid? [True, True] Translation: X:260.43, Y:77.23, Z:11.86 [[ 9.74477665e-01 2.24461956e-01 3.17963271e-03 2.60425365e+02] [-2.24460990e-01 9.74482850e-01 -6.62156346e-04 7.72310187e+01] [-3.24712646e-03 -6.84469362e-05 9.99994726e-01 1.18626035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.336875 meters 0.019655134837354097 Centerline is valid? [True, True] Translation: X:260.45, Y:77.22, Z:11.86 [[ 9.73780146e-01 2.27469096e-01 3.16824627e-03 2.60453465e+02] [-2.27468155e-01 9.73785297e-01 -6.59118766e-04 7.72243217e+01] [-3.23512078e-03 -7.88383659e-05 9.99994764e-01 1.18624113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.366875 meters 0.020600527645433978 Centerline is valid? [True, True] Translation: X:260.48, Y:77.22, Z:11.86 [[ 9.73420057e-01 2.29005145e-01 3.16793476e-03 2.60480590e+02] [-2.29004212e-01 9.73425208e-01 -6.58988546e-04 7.72209564e+01] [-3.23465932e-03 -8.39977369e-05 9.99994765e-01 1.18628793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.396875 meters 0.02135252017691761 Centerline is valid? [True, True] Translation: X:260.51, Y:77.22, Z:11.86 [[ 9.72910704e-01 2.31166323e-01 2.62540247e-03 2.60508569e+02] [-2.31165690e-01 9.72914244e-01 -5.46088749e-04 7.72159491e+01] [-2.68052879e-03 -7.56073855e-05 9.99996405e-01 1.18632312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.426875 meters 0.021730053103351202 Centerline is valid? [True, True] Translation: X:260.54, Y:77.21, Z:11.86 [[ 9.72169788e-01 2.34262462e-01 2.64634591e-03 2.60537591e+02] [-2.34261830e-01 9.72173386e-01 -5.50582003e-04 7.72090000e+01] [-2.70168776e-03 -8.46786487e-05 9.99996347e-01 1.18638692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.456875 meters 0.022634063971253487 Centerline is valid? [True, True] Translation: X:260.57, Y:77.21, Z:11.87 [[ 9.71770508e-01 2.35905878e-01 3.23973171e-03 2.60565085e+02] [-2.35904942e-01 9.71775902e-01 -6.73558099e-04 7.72062519e+01] [-3.30718952e-03 -1.09724825e-04 9.99994525e-01 1.18654051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.486875 meters 0.023881433695235453 Centerline is valid? [True, True] Translation: X:260.59, Y:77.20, Z:11.87 [[ 9.71468819e-01 2.37134743e-01 3.93021299e-03 2.60592429e+02] [-2.37133377e-01 9.71476760e-01 -8.16716707e-04 7.72035492e+01] [-4.01178248e-03 -1.38569861e-04 9.99991943e-01 1.18665639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.516875 meters 0.02226607909432671 Centerline is valid? [True, True] Translation: X:260.62, Y:77.19, Z:11.87 [[ 9.71257104e-01 2.37984532e-01 4.79584298e-03 2.60620310e+02] [-2.37982517e-01 9.71268929e-01 -9.94832493e-04 7.71946418e+01] [-4.89480802e-03 -1.75088657e-04 9.99988005e-01 1.18667673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.546875 meters 0.022993384152957326 Centerline is valid? [True, True] Translation: X:260.65, Y:77.19, Z:11.87 [[ 9.71246912e-01 2.38019520e-01 5.11319866e-03 2.60648060e+02] [-2.38017228e-01 9.71260353e-01 -1.06100595e-03 7.71897153e+01] [-5.21878726e-03 -1.86530619e-04 9.99986365e-01 1.18678013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.576875 meters 0.025047048553742582 Centerline is valid? [True, True] Translation: X:260.68, Y:77.19, Z:11.87 [[ 9.71423036e-01 2.37296085e-01 5.27764922e-03 2.60676040e+02] [-2.37293637e-01 9.71437354e-01 -1.09426786e-03 7.71875545e+01] [-5.38657107e-03 -1.89355574e-04 9.99985474e-01 1.18687459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6068750000001 meters 0.021633366241292758 Centerline is valid? [True, True] Translation: X:260.70, Y:77.18, Z:11.87 [[ 9.72007305e-01 2.34884576e-01 5.57093357e-03 2.60702914e+02] [-2.34881810e-01 9.72023251e-01 -1.15497255e-03 7.71759130e+01] [-5.68636219e-03 -1.85869208e-04 9.99983815e-01 1.18680766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.636875 meters 0.02214265669009325 Centerline is valid? [True, True] Translation: X:260.73, Y:77.17, Z:11.87 [[ 9.72592661e-01 2.32443106e-01 5.80677666e-03 2.60730513e+02] [-2.32440063e-01 9.72609978e-01 -1.20285691e-03 7.71717735e+01] [-5.92732471e-03 -1.79837732e-04 9.99982417e-01 1.18688950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.666875 meters 0.021368891868596418 Centerline is valid? [True, True] Translation: X:260.76, Y:77.16, Z:11.87 [[ 9.73225023e-01 2.29779796e-01 5.85665637e-03 2.60758134e+02] [-2.29776653e-01 9.73242631e-01 -1.21305963e-03 7.71645137e+01] [-5.97868424e-03 -1.65142915e-04 9.99982114e-01 1.18691998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.696875 meters 0.019677708280343736 Centerline is valid? [True, True] Translation: X:260.79, Y:77.15, Z:11.87 [[ 9.74804907e-01 2.23001912e-01 5.05385903e-03 2.60787061e+02] [-2.22999480e-01 9.74818001e-01 -1.04688308e-03 7.71548931e+01] [-5.16004969e-03 -1.06501169e-04 9.99986681e-01 1.18688651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.726875 meters 0.018811418431108735 Centerline is valid? [True, True] Translation: X:260.81, Y:77.15, Z:11.87 [[ 9.75395592e-01 2.20409549e-01 4.80308420e-03 2.60814732e+02] [-2.20407332e-01 9.75407414e-01 -9.92700866e-04 7.71462720e+01] [-4.90376468e-03 -9.03589222e-05 9.99987972e-01 1.18684006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.756875 meters 0.018660995535537798 Centerline is valid? [True, True] Translation: X:260.84, Y:77.14, Z:11.87 [[ 9.76629003e-01 2.14872484e-01 5.06029156e-03 2.60841330e+02] [-2.14869947e-01 9.76642110e-01 -1.04618993e-03 7.71391329e+01] [-5.16689126e-03 -6.55651574e-05 9.99986649e-01 1.18687072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.786875 meters 0.0178900661434583 Centerline is valid? [True, True] Translation: X:260.87, Y:77.13, Z:11.87 [[ 9.76880480e-01 2.13735584e-01 4.65053968e-03 2.60869155e+02] [-2.13733437e-01 9.76891548e-01 -9.59612362e-04 7.71326853e+01] [-4.74817621e-03 -5.65492435e-05 9.99988726e-01 1.18679029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.816875 meters 0.01791182906641984 Centerline is valid? [True, True] Translation: X:260.90, Y:77.13, Z:11.87 [[ 9.77033957e-01 2.13008004e-01 5.67784796e-03 2.60896520e+02] [-2.13004800e-01 9.77050452e-01 -1.17011298e-03 7.71268310e+01] [-5.79678735e-03 -6.61687533e-05 9.99983196e-01 1.18693382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.846875 meters 0.017642245157531954 Centerline is valid? [True, True] Translation: X:260.92, Y:77.12, Z:11.87 [[ 9.77075634e-01 2.12796563e-01 6.38974621e-03 2.60924897e+02] [-2.12792510e-01 9.77096524e-01 -1.31547739e-03 7.71203172e+01] [-6.52332787e-03 -7.43692274e-05 9.99978720e-01 1.18695014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.876875 meters 0.018890037972058606 Centerline is valid? [True, True] Translation: X:260.95, Y:77.12, Z:11.87 [[ 9.76529902e-01 2.15227689e-01 8.14813537e-03 2.60952322e+02] [-2.15221185e-01 9.76563889e-01 -1.67722379e-03 7.71176630e+01] [-8.31815976e-03 -1.15792167e-04 9.99965397e-01 1.18726800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.906875 meters 0.019525057056128656 Centerline is valid? [True, True] Translation: X:260.98, Y:77.11, Z:11.87 [[ 9.76166241e-01 2.16861722e-01 8.39421333e-03 2.60980207e+02] [-2.16854888e-01 9.76202323e-01 -1.72686528e-03 7.71137536e+01] [-8.56894153e-03 -1.34618607e-04 9.99963277e-01 1.18743629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.936875 meters 0.019371684685304216 Centerline is valid? [True, True] Translation: X:261.01, Y:77.11, Z:11.87 [[ 9.75770630e-01 2.18634303e-01 8.40943982e-03 2.61008085e+02] [-2.18627532e-01 9.75806855e-01 -1.72741997e-03 7.71078594e+01] [-8.58366228e-03 -1.52969397e-04 9.99963148e-01 1.18741045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.966875 meters 0.02065150165749182 Centerline is valid? [True, True] Translation: X:261.04, Y:77.10, Z:11.87 [[ 9.74547106e-01 2.23997618e-01 9.11073528e-03 2.61037137e+02] [-2.23989903e-01 9.74589668e-01 -1.87163526e-03 7.71040435e+01] [-9.29847031e-03 -2.16715984e-04 9.99956745e-01 1.18746005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.996875 meters 0.021780733413520666 Centerline is valid? [True, True] Translation: X:261.07, Y:77.10, Z:11.88 [[ 9.73868844e-01 2.26919282e-01 9.33351557e-03 2.61065796e+02] [-2.26911326e-01 9.73913536e-01 -1.91678825e-03 7.71006702e+01] [-9.52499337e-03 -2.51180031e-04 9.99954605e-01 1.18756597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.026875 meters 0.022920418219475363 Centerline is valid? [True, True] Translation: X:261.10, Y:77.10, Z:11.87 [[ 9.72792570e-01 2.31528680e-01 8.31179555e-03 2.61095370e+02] [-2.31522539e-01 9.72828043e-01 -1.70679539e-03 7.70974427e+01] [-8.48111988e-03 -2.64010135e-04 9.99964000e-01 1.18736048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.056875 meters 0.02359015705647612 Centerline is valid? [True, True] Translation: X:261.12, Y:77.09, Z:11.87 [[ 9.72351595e-01 2.33401337e-01 7.49606094e-03 2.61122864e+02] [-2.33396419e-01 9.72380456e-01 -1.53654885e-03 7.70885227e+01] [-7.64765571e-03 -2.55488048e-04 9.99970724e-01 1.18713483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.086875 meters 0.024758915121323968 Centerline is valid? [True, True] Translation: X:261.15, Y:77.08, Z:11.87 [[ 9.72120799e-01 2.34374432e-01 7.05536486e-03 2.61149994e+02] [-2.34370101e-01 9.72146370e-01 -1.44624321e-03 7.70840024e+01] [-7.19780977e-03 -2.47643474e-04 9.99974065e-01 1.18698582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.116875 meters 0.02310592068002268 Centerline is valid? [True, True] Translation: X:261.18, Y:77.07, Z:11.87 [[ 9.72553975e-01 2.32585759e-01 6.52914999e-03 2.61177055e+02] [-2.32582025e-01 9.72575867e-01 -1.33604624e-03 7.70744112e+01] [-6.66083904e-03 -2.19185846e-04 9.99977792e-01 1.18692759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.146875 meters 0.023738637574238077 Centerline is valid? [True, True] Translation: X:261.20, Y:77.07, Z:11.87 [[ 9.73272837e-01 2.29599223e-01 4.91741179e-03 2.61204511e+02] [-2.29597066e-01 9.73285248e-01 -1.00625610e-03 7.70701011e+01] [-5.01707998e-03 -1.49661595e-04 9.99987403e-01 1.18702896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.176875 meters 0.022390140970648818 Centerline is valid? [True, True] Translation: X:261.23, Y:77.06, Z:11.87 [[ 9.73627730e-01 2.28096883e-01 4.56678640e-03 2.61232535e+02] [-2.28095014e-01 9.73638431e-01 -9.32852726e-04 7.70611167e+01] [-4.65917954e-03 -1.33409927e-04 9.99989137e-01 1.18704623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.206875 meters 0.022982967165832473 Centerline is valid? [True, True] Translation: X:261.26, Y:77.06, Z:11.87 [[ 9.73931879e-01 2.26814005e-01 3.47880423e-03 2.61259850e+02] [-2.26812912e-01 9.73938087e-01 -7.10693397e-04 7.70565429e+01] [-3.54933516e-03 -9.68707638e-05 9.99993696e-01 1.18701743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.236875 meters 0.021485006965188333 Centerline is valid? [True, True] Translation: X:261.29, Y:77.05, Z:11.87 [[ 9.74499803e-01 2.24377574e-01 2.19957181e-03 2.61286768e+02] [-2.24377131e-01 9.74502284e-01 -4.49140569e-04 7.70458859e+01] [-2.24426483e-03 -5.58462160e-05 9.99997480e-01 1.18683009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.266875 meters 0.021506420121542486 Centerline is valid? [True, True] Translation: X:261.31, Y:77.04, Z:11.87 [[ 9.74917625e-01 2.22557983e-01 1.88884292e-03 2.61314030e+02] [-2.22557656e-01 9.74919454e-01 -3.84442777e-04 7.70384184e+01] [-1.92703052e-03 -4.55764139e-05 9.99998142e-01 1.18672105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.296875 meters 0.020264206496597024 Centerline is valid? [True, True] Translation: X:261.34, Y:77.03, Z:11.87 [[ 9.75519634e-01 2.19897597e-01 2.54750463e-03 2.61341372e+02] [-2.19896993e-01 9.75522959e-01 -5.18226885e-04 7.70279398e+01] [-2.59910610e-03 -5.46481063e-05 9.99996621e-01 1.18660419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.326875 meters 0.019533061769419397 Centerline is valid? [True, True] Translation: X:261.37, Y:77.02, Z:11.87 [[ 9.76203394e-01 2.16847335e-01 2.04121366e-03 2.61368531e+02] [-2.16846942e-01 9.76205528e-01 -4.14485560e-04 7.70192952e+01] [-2.08252415e-03 -3.80087301e-05 9.99997831e-01 1.18659724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3568750000001 meters 0.019530484294751623 Centerline is valid? [True, True] Translation: X:261.40, Y:77.01, Z:11.87 [[ 9.76511420e-01 2.15446109e-01 2.90174054e-03 2.61395871e+02] [-2.15445306e-01 9.76515730e-01 -5.90151487e-04 7.70131084e+01] [-2.96074113e-03 -4.88767141e-05 9.99995616e-01 1.18659081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.386875 meters 0.01953441408491483 Centerline is valid? [True, True] Translation: X:261.42, Y:77.01, Z:11.87 [[ 9.76505682e-01 2.15460999e-01 3.63474200e-03 2.61423679e+02] [-2.15459745e-01 9.76512444e-01 -7.37749827e-04 7.70068808e+01] [-3.70832711e-03 -6.27236886e-05 9.99993122e-01 1.18668470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.416875 meters 0.020582451014013042 Centerline is valid? [True, True] Translation: X:261.45, Y:77.01, Z:11.87 [[ 9.76032767e-01 2.17601107e-01 3.12976966e-03 2.61451239e+02] [-2.17600187e-01 9.76037783e-01 -6.35403306e-04 7.70055053e+01] [-3.19303791e-03 -6.08640178e-05 9.99994900e-01 1.18676070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.446875 meters 0.022665945125261093 Centerline is valid? [True, True] Translation: X:261.48, Y:77.01, Z:11.87 [[ 9.74559480e-01 2.24065281e-01 5.34506721e-03 2.61482607e+02] [-2.24062693e-01 9.74574128e-01 -1.08581581e-03 7.70078601e+01] [-5.45245784e-03 -1.39438057e-04 9.99985126e-01 1.18689592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.476875 meters 0.02418224960051074 Centerline is valid? [True, True] Translation: X:261.51, Y:77.01, Z:11.87 [[ 9.73861799e-01 2.27043985e-01 6.65026108e-03 2.61511291e+02] [-2.27040053e-01 9.73884485e-01 -1.35028310e-03 7.70069078e+01] [-6.78315974e-03 -1.94886503e-04 9.99976975e-01 1.18709278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.506875 meters 0.025035795688547673 Centerline is valid? [True, True] Translation: X:261.54, Y:77.00, Z:11.87 [[ 9.73306373e-01 2.29372889e-01 7.92352250e-03 2.61540281e+02] [-2.29367387e-01 9.73338592e-01 -1.60854666e-03 7.70037723e+01] [-8.08122722e-03 -2.51788942e-04 9.99967315e-01 1.18718046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.536875 meters 0.02468261711998185 Centerline is valid? [True, True] Translation: X:261.57, Y:77.00, Z:11.87 [[ 9.72775527e-01 2.31585048e-01 8.72576215e-03 2.61569051e+02] [-2.31578468e-01 9.72814616e-01 -1.77097276e-03 7.69984361e+01] [-8.89867976e-03 -2.97939671e-04 9.99960362e-01 1.18699327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.566875 meters 0.025484523462122773 Centerline is valid? [True, True] Translation: X:261.60, Y:76.99, Z:11.87 [[ 9.72756341e-01 2.31693867e-01 7.94055342e-03 2.61595439e+02] [-2.31688439e-01 9.72788711e-01 -1.60949459e-03 7.69946903e+01] [-8.09739075e-03 -2.74088351e-04 9.99967178e-01 1.18679256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.596875 meters 0.023941130570140228 Centerline is valid? [True, True] Translation: X:261.62, Y:76.99, Z:11.87 [[ 9.72924997e-01 2.30997179e-01 7.56655693e-03 2.61622961e+02] [-2.30992246e-01 9.72954386e-01 -1.53150382e-03 7.69857745e+01] [-7.71568781e-03 -2.57777629e-04 9.99970200e-01 1.18662003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.626875 meters 0.025694950202551095 Centerline is valid? [True, True] Translation: X:261.65, Y:76.98, Z:11.87 [[ 9.73224826e-01 2.29769764e-01 6.26837261e-03 2.61650862e+02] [-2.29766354e-01 9.73244991e-01 -1.26871941e-03 7.69845285e+01] [-6.39217561e-03 -2.05511887e-04 9.99979549e-01 1.18664535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.656875 meters 0.02427078079964409 Centerline is valid? [True, True] Translation: X:261.68, Y:76.98, Z:11.87 [[ 9.73464455e-01 2.28775399e-01 5.36400735e-03 2.61679078e+02] [-2.28772897e-01 9.73479218e-01 -1.08381691e-03 7.69765476e+01] [-5.46970032e-03 -1.72082260e-04 9.99985026e-01 1.18653010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.686875 meters 0.02482489021032499 Centerline is valid? [True, True] Translation: X:261.71, Y:76.97, Z:11.86 [[ 9.73420689e-01 2.28995111e-01 3.66079233e-03 2.61706503e+02] [-2.28993953e-01 9.73427565e-01 -7.38128561e-04 7.69727254e+01] [-3.73254400e-03 -1.19789696e-04 9.99993027e-01 1.18642074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.716875 meters 0.025977598434258144 Centerline is valid? [True, True] Translation: X:261.73, Y:76.97, Z:11.86 [[ 9.73456225e-01 2.28860150e-01 2.45153874e-03 2.61733797e+02] [-2.28859630e-01 9.73459308e-01 -4.94241507e-04 7.69694103e+01] [-2.49958539e-03 -7.99357792e-05 9.99996873e-01 1.18638610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.746875 meters 0.025158257764475316 Centerline is valid? [True, True] Translation: X:261.76, Y:76.96, Z:11.86 [[ 9.72727443e-01 2.31946981e-01 1.38535346e-03 2.61762560e+02] [-2.31946818e-01 9.72728428e-01 -2.79412344e-04 7.69607797e+01] [-1.41238154e-03 -4.95362717e-05 9.99999001e-01 1.18598709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.776875 meters 0.026144818006006217 Centerline is valid? [True, True] Translation: X:261.79, Y:76.96, Z:11.86 [[ 9.72576119e-01 2.32582897e-01 9.43008382e-04 2.61789702e+02] [-2.32582822e-01 9.72576575e-01 -1.89834870e-04 7.69559878e+01] [-9.61300207e-04 -3.46986901e-05 9.99999537e-01 1.18592178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.806875 meters 0.028387720910295677 Centerline is valid? [True, True] Translation: X:261.82, Y:76.95, Z:11.86 [[ 9.71363130e-01 2.37596013e-01 1.34366892e-03 2.61819126e+02] [-2.37595865e-01 9.71364057e-01 -2.70820431e-04 7.69538760e+01] [-1.36953755e-03 -5.61851980e-05 9.99999061e-01 1.18607906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.836875 meters 0.0301041890708686 Centerline is valid? [True, True] Translation: X:261.85, Y:76.95, Z:11.86 [[ 9.70453651e-01 2.41278704e-01 2.07328797e-03 2.61849422e+02] [-2.41278361e-01 9.70455861e-01 -4.17883906e-04 7.69518742e+01] [-2.11286095e-03 -9.47025622e-05 9.99997763e-01 1.18620423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.866875 meters 0.02995315767160993 Centerline is valid? [True, True] Translation: X:261.88, Y:76.95, Z:11.86 [[ 9.69816313e-01 2.43818049e-01 3.01284747e-03 2.61878484e+02] [-2.43817336e-01 9.69820982e-01 -6.07253874e-04 7.69455393e+01] [-3.06998214e-03 -1.45659730e-04 9.99995277e-01 1.18632419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.896875 meters 0.02995315767160993 Centerline is valid? [True, True] Translation: X:261.91, Y:76.94, Z:11.86 [[ 9.69880336e-01 2.43563246e-01 3.01321338e-03 2.61905358e+02] [-2.43562537e-01 9.69885005e-01 -6.05437550e-04 7.69402113e+01] [-3.06993281e-03 -1.46703921e-04 9.99995277e-01 1.18633665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.926875 meters 0.03348021942474447 Centerline is valid? [True, True] Translation: X:261.94, Y:76.94, Z:11.87 [[ 9.68893901e-01 2.47443416e-01 4.04529903e-03 2.61935004e+02] [-2.47442168e-01 9.68902323e-01 -8.14120870e-04 7.69402176e+01] [-4.12094848e-03 -2.12180816e-04 9.99991486e-01 1.18650647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.956875 meters 0.03117030522596061 Centerline is valid? [True, True] Translation: X:261.96, Y:76.93, Z:11.87 [[ 9.68578013e-01 2.48676654e-01 4.06865982e-03 2.61962450e+02] [-2.48675409e-01 9.68586534e-01 -8.16933242e-04 7.69325337e+01] [-4.14400134e-03 -2.20512071e-04 9.99991389e-01 1.18657429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.986875 meters 0.0339748917812963 Centerline is valid? [True, True] Translation: X:261.99, Y:76.93, Z:11.87 [[ 9.68534127e-01 2.48836576e-01 4.69083229e-03 2.61990928e+02] [-2.48834921e-01 9.68545453e-01 -9.42318037e-04 7.69321443e+01] [-4.77776747e-03 -2.54575706e-04 9.99988554e-01 1.18676485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.016875 meters 0.032620845593165804 Centerline is valid? [True, True] Translation: X:262.02, Y:76.92, Z:11.87 [[ 9.68657460e-01 2.48351918e-01 4.90405583e-03 2.62019133e+02] [-2.48350113e-01 9.68669838e-01 -9.83337836e-04 7.69249085e+01] [-4.99462481e-03 -2.65405289e-04 9.99987492e-01 1.18681209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.046875 meters 0.0308435557968295 Centerline is valid? [True, True] Translation: X:262.05, Y:76.92, Z:11.87 [[ 9.69632393e-01 2.44532742e-01 4.09394935e-03 2.62047672e+02] [-2.44531448e-01 9.69641014e-01 -8.21488951e-04 7.69168571e+01] [-4.17054215e-03 -2.04557066e-04 9.99991282e-01 1.18669124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.076875 meters 0.03113466233414195 Centerline is valid? [True, True] Translation: X:262.08, Y:76.91, Z:11.87 [[ 9.70503516e-01 2.41059305e-01 3.65190657e-03 2.62075833e+02] [-2.41058251e-01 9.70510372e-01 -7.32686870e-04 7.69119973e+01] [-3.72083419e-03 -1.69247026e-04 9.99993063e-01 1.18671585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1068750000001 meters 0.029237967601420566 Centerline is valid? [True, True] Translation: X:262.11, Y:76.90, Z:11.87 [[ 9.71203249e-01 2.38221361e-01 3.85133207e-03 2.62105230e+02] [-2.38220167e-01 9.71210871e-01 -7.72452186e-04 7.69043625e+01] [-3.92447019e-03 -1.67256897e-04 9.99992285e-01 1.18672849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.136875 meters 0.02494206695262183 Centerline is valid? [True, True] Translation: X:262.13, Y:76.89, Z:11.87 [[ 9.72501220e-01 2.32812113e-01 6.31635653e-03 2.62133409e+02] [-2.32808789e-01 9.72521703e-01 -1.26681403e-03 7.68942541e+01] [-6.43772346e-03 -2.38525127e-04 9.99979249e-01 1.18684684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.166875 meters 0.026097046599253743 Centerline is valid? [True, True] Translation: X:262.16, Y:76.89, Z:11.87 [[ 9.72962165e-01 2.30843009e-01 7.49201504e-03 2.62161315e+02] [-2.30838280e-01 9.72990973e-01 -1.50174773e-03 7.68912536e+01] [-7.63633096e-03 -2.68300148e-04 9.99970807e-01 1.18709299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.196875 meters 0.02450104532513277 Centerline is valid? [True, True] Translation: X:262.19, Y:76.88, Z:11.87 [[ 9.73609169e-01 2.28041937e-01 9.05870640e-03 2.62189186e+02] [-2.28034913e-01 9.73651265e-01 -1.81462771e-03 7.68813555e+01] [-9.23383216e-03 -2.98963150e-04 9.99957323e-01 1.18714757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.226875 meters 0.02419290769041184 Centerline is valid? [True, True] Translation: X:262.22, Y:76.87, Z:11.87 [[ 9.74194118e-01 2.25511341e-01 9.51082789e-03 2.62215890e+02] [-2.25503489e-01 9.74240500e-01 -1.90400676e-03 7.68744056e+01] [-9.69520883e-03 -2.89852682e-04 9.99952958e-01 1.18714043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.256875 meters 0.024196178813147853 Centerline is valid? [True, True] Translation: X:262.24, Y:76.87, Z:11.87 [[ 9.74092523e-01 2.25945205e-01 9.61880287e-03 2.62244149e+02] [-2.25937222e-01 9.74139966e-01 -1.92281409e-03 7.68694105e+01] [-9.80451093e-03 -3.00246777e-04 9.99951890e-01 1.18726353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.286875 meters 0.024520352234589062 Centerline is valid? [True, True] Translation: X:262.27, Y:76.87, Z:11.87 [[ 9.73424613e-01 2.28750690e-01 1.08463813e-02 2.62273384e+02] [-2.28740707e-01 9.73484969e-01 -2.16888648e-03 7.68653829e+01] [-1.10549234e-02 -3.69761429e-04 9.99938824e-01 1.18740422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.316875 meters 0.026334175798724335 Centerline is valid? [True, True] Translation: X:262.30, Y:76.86, Z:11.87 [[ 9.73033607e-01 2.30432961e-01 1.03077377e-02 2.62301421e+02] [-2.30424050e-01 9.73088132e-01 -2.06006170e-03 7.68631269e+01] [-1.05050434e-02 -3.70641411e-04 9.99944752e-01 1.18749974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.346875 meters 0.02462046453000388 Centerline is valid? [True, True] Translation: X:262.33, Y:76.85, Z:11.87 [[ 9.72672350e-01 2.31952922e-01 1.03122358e-02 2.62328899e+02] [-2.31944123e-01 9.72726935e-01 -2.05769843e-03 7.68538262e+01] [-1.05082787e-02 -3.90396121e-04 9.99944710e-01 1.18724796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.376875 meters 0.027323002113078202 Centerline is valid? [True, True] Translation: X:262.36, Y:76.85, Z:11.87 [[ 9.72315124e-01 2.33536500e-01 8.00011652e-03 2.62356748e+02] [-2.33531260e-01 9.72347985e-01 -1.59610587e-03 7.68526616e+01] [-8.15164616e-03 -3.16359413e-04 9.99966725e-01 1.18725635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.406875 meters 0.029073554059172193 Centerline is valid? [True, True] Translation: X:262.39, Y:76.85, Z:11.87 [[ 9.70933430e-01 2.39304405e-01 4.65580134e-03 2.62386186e+02] [-2.39302697e-01 9.70944569e-01 -9.28810640e-04 7.68483818e+01] [-4.74279350e-03 -2.12332515e-04 9.99988730e-01 1.18697113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.436875 meters 0.03155219893415751 Centerline is valid? [True, True] Translation: X:262.42, Y:76.85, Z:11.87 [[ 9.69981176e-01 2.43149832e-01 3.83101925e-03 2.62415088e+02] [-2.43148706e-01 9.69988723e-01 -7.64060876e-04 7.68471270e+01] [-3.90182675e-03 -1.90382708e-04 9.99992370e-01 1.18695917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.466875 meters 0.033166046724967514 Centerline is valid? [True, True] Translation: X:262.44, Y:76.84, Z:11.87 [[ 9.69159386e-01 2.46400274e-01 4.12188307e-03 2.62444548e+02] [-2.46399000e-01 9.69168126e-01 -8.22051153e-04 7.68428411e+01] [-4.19735132e-03 -2.18929278e-04 9.99991167e-01 1.18703550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.496875 meters 0.036499375653488285 Centerline is valid? [True, True] Translation: X:262.48, Y:76.84, Z:11.87 [[ 9.67215591e-01 2.53942003e-01 2.73121025e-03 2.62475063e+02] [-2.53941474e-01 9.67219433e-01 -5.44486173e-04 7.68429898e+01] [-2.77994753e-03 -1.66932041e-04 9.99996122e-01 1.18716685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.526875 meters 0.03825290073577943 Centerline is valid? [True, True] Translation: X:262.51, Y:76.84, Z:11.87 [[ 9.66326095e-01 2.57313997e-01 1.83996967e-03 2.62505080e+02] [-2.57313763e-01 9.66327839e-01 -3.66769780e-04 7.68391038e+01] [-1.87238891e-03 -1.19030310e-04 9.99998240e-01 1.18707853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.556875 meters 0.03766625189622479 Centerline is valid? [True, True] Translation: X:262.53, Y:76.83, Z:11.87 [[ 9.65203460e-01 2.61497870e-01 1.06980796e-03 2.62533715e+02] [-2.61497794e-01 9.65204050e-01 -2.13184456e-04 7.68312436e+01] [-1.08833026e-03 -7.39860472e-05 9.99999405e-01 1.18693175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.586875 meters 0.039949987654869824 Centerline is valid? [True, True] Translation: X:262.56, Y:76.83, Z:11.87 [[ 9.65337201e-01 2.61000494e-01 1.68245892e-03 2.62560936e+02] [-2.61000304e-01 9.65338660e-01 -3.34924062e-04 7.68280023e+01] [-1.71155799e-03 -1.15807635e-04 9.99998529e-01 1.18701983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.616875 meters 0.037726345847139825 Centerline is valid? [True, True] Translation: X:262.59, Y:76.82, Z:11.87 [[ 9.65862821e-01 2.59042195e-01 2.48046685e-03 2.62589599e+02] [-2.59041776e-01 9.65865992e-01 -4.94015332e-04 7.68177759e+01] [-2.52376939e-03 -1.65393498e-04 9.99996802e-01 1.18719403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.646875 meters 0.0363552657001652 Centerline is valid? [True, True] Translation: X:262.62, Y:76.81, Z:11.87 [[ 9.66709721e-01 2.55874508e-01 7.42116111e-04 2.62619172e+02] [-2.55874470e-01 9.66710005e-01 -1.47738709e-04 7.68134800e+01] [-7.55213638e-04 -4.70681203e-05 9.99999714e-01 1.18730042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.676875 meters 0.033288495071112166 Centerline is valid? [True, True] Translation: X:262.65, Y:76.81, Z:11.87 [[ 9.66826396e-01 2.55433125e-01 -7.99469250e-04 2.62647255e+02] [-2.55433079e-01 9.66826725e-01 1.60152365e-04 7.68053254e+01] [ 8.13856456e-04 4.93713582e-05 9.99999668e-01 1.18725146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.706875 meters 0.03524508514700324 Centerline is valid? [True, True] Translation: X:262.68, Y:76.80, Z:11.87 [[ 9.67152716e-01 2.54192430e-01 -1.35334547e-03 2.62675319e+02] [-2.54192301e-01 9.67153660e-01 2.69552609e-04 7.68027822e+01] [ 1.37741126e-03 8.33114606e-05 9.99999048e-01 1.18711140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.736875 meters 0.03328417441818759 Centerline is valid? [True, True] Translation: X:262.70, Y:76.79, Z:11.87 [[ 9.67910336e-01 2.51295465e-01 -4.12382311e-04 2.62703617e+02] [-2.51295452e-01 9.67910424e-01 8.24772321e-05 7.67913995e+01] [ 4.19875292e-04 2.37992339e-05 9.99999912e-01 1.18709225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.766875 meters 0.031100425097995644 Centerline is valid? [True, True] Translation: X:262.73, Y:76.78, Z:11.87 [[ 9.69223600e-01 2.46175092e-01 -1.85397042e-03 2.62732618e+02] [-2.46174837e-01 9.69225368e-01 3.68561742e-04 7.67821053e+01] [ 1.88764588e-03 9.91821271e-05 9.99998213e-01 1.18695573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.796875 meters 0.03127857106805097 Centerline is valid? [True, True] Translation: X:262.76, Y:76.78, Z:11.87 [[ 9.69713493e-01 2.44232350e-01 -2.51007482e-03 2.62759669e+02] [-2.44231874e-01 9.69716733e-01 4.99092028e-04 7.67770043e+01] [ 2.55595598e-03 1.29064004e-04 9.99996725e-01 1.18696854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.826875 meters 0.031066054614360048 Centerline is valid? [True, True] Translation: X:262.79, Y:76.77, Z:11.87 [[ 9.70087932e-01 2.42730588e-01 -3.35638126e-03 2.62788533e+02] [-2.42729729e-01 9.70093724e-01 6.67105615e-04 7.67721161e+01] [ 3.41793134e-03 1.67542409e-04 9.99994145e-01 1.18706336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8568750000001 meters 0.029245008796233936 Centerline is valid? [True, True] Translation: X:262.82, Y:76.77, Z:11.87 [[ 9.70767311e-01 2.40015734e-01 -1.80975343e-03 2.62817742e+02] [-2.40015480e-01 9.70768994e-01 3.59300142e-04 7.67658358e+01] [ 1.84309021e-03 8.55720067e-05 9.99998298e-01 1.18744147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.886875 meters 0.029448047938245972 Centerline is valid? [True, True] Translation: X:262.85, Y:76.76, Z:11.87 [[ 9.71022900e-01 2.38977500e-01 -2.06954375e-03 2.62845393e+02] [-2.38977165e-01 9.71025100e-01 4.11204615e-04 7.67604564e+01] [ 2.10784758e-03 9.52846019e-05 9.99997774e-01 1.18743242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.916875 meters 0.029279794545580672 Centerline is valid? [True, True] Translation: X:262.87, Y:76.75, Z:11.87 [[ 9.71096289e-01 2.38678910e-01 -2.09185380e-03 2.62872774e+02] [-2.38678569e-01 9.71098537e-01 4.15218266e-04 7.67527889e+01] [ 2.13050001e-03 9.60637540e-05 9.99997726e-01 1.18727942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.946875 meters 0.029559569344569214 Centerline is valid? [True, True] Translation: X:262.90, Y:76.75, Z:11.87 [[ 9.70762279e-01 2.40024984e-01 -2.93348685e-03 2.62900847e+02] [-2.40024322e-01 9.70766701e-01 5.80958414e-04 7.67470223e+01] [ 2.98717588e-03 1.40135677e-04 9.99995529e-01 1.18710027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.976875 meters 0.0337279368123581 Centerline is valid? [True, True] Translation: X:262.93, Y:76.75, Z:11.88 [[ 9.70136309e-01 2.42558555e-01 9.42981079e-04 2.62929684e+02] [-2.42558489e-01 9.70136766e-01 -1.86051960e-04 7.67490110e+01] [-9.59949109e-04 -4.82323031e-05 9.99999538e-01 1.18773266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.006875 meters 0.03172949368417326 Centerline is valid? [True, True] Translation: X:262.96, Y:76.74, Z:11.88 [[ 9.69742526e-01 2.44087954e-01 4.52812053e-03 2.62958553e+02] [-2.44086431e-01 9.69753069e-01 -8.94536833e-04 7.67419155e+01] [-4.60950444e-03 -2.37782370e-04 9.99989348e-01 1.18811461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.036875 meters 0.03582415528000706 Centerline is valid? [True, True] Translation: X:262.99, Y:76.74, Z:11.88 [[ 9.69370059e-01 2.45537916e-01 5.72898029e-03 2.62987405e+02] [-2.45535505e-01 9.69386938e-01 -1.13128159e-03 7.67436029e+01] [-5.83137119e-03 -3.10037565e-04 9.99982949e-01 1.18840381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.066875 meters 0.030914972587553723 Centerline is valid? [True, True] Translation: X:263.01, Y:76.73, Z:11.88 [[ 9.69001364e-01 2.47034768e-01 3.19051126e-03 2.63013517e+02] [-2.47034034e-01 9.69006600e-01 -6.28343107e-04 7.67277394e+01] [-3.24684906e-03 -1.79299540e-04 9.99994713e-01 1.18784526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.096875 meters 0.03334245450067512 Centerline is valid? [True, True] Translation: X:263.04, Y:76.73, Z:11.88 [[ 9.68823852e-01 2.47743508e-01 1.87006969e-03 2.63041518e+02] [-2.47743257e-01 9.68825651e-01 -3.68384648e-04 7.67252827e+01] [-1.90303639e-03 -1.06397323e-04 9.99998184e-01 1.18771969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.126875 meters 0.03432510320349131 Centerline is valid? [True, True] Translation: X:263.07, Y:76.72, Z:11.88 [[ 9.69080112e-01 2.46738653e-01 1.94237754e-03 2.63069712e+02] [-2.46738383e-01 9.69082053e-01 -3.81537509e-04 7.67224600e+01] [-1.97646327e-03 -1.09518682e-04 9.99998041e-01 1.18787666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.156875 meters 0.031487573488812245 Centerline is valid? [True, True] Translation: X:263.10, Y:76.71, Z:11.88 [[ 9.69395698e-01 2.45498171e-01 1.62154907e-03 2.63097270e+02] [-2.45497981e-01 9.69397050e-01 -3.17937262e-04 7.67136083e+01] [-1.64997790e-03 -8.98800099e-05 9.99998635e-01 1.18797549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.186875 meters 0.03157841055202423 Centerline is valid? [True, True] Translation: X:263.13, Y:76.71, Z:11.88 [[ 9.69580318e-01 2.44772623e-01 6.08317045e-04 2.63125988e+02] [-2.44772596e-01 9.69580508e-01 -1.18559476e-04 7.67080883e+01] [-6.18832464e-04 -3.39464081e-05 9.99999808e-01 1.18797162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.216875 meters 0.0326902813056971 Centerline is valid? [True, True] Translation: X:263.15, Y:76.71, Z:11.88 [[ 9.69418538e-01 2.45410072e-01 -1.26262553e-03 2.63153443e+02] [-2.45409956e-01 9.69419358e-01 2.48377946e-04 7.67056559e+01] [ 1.28496808e-03 6.90786903e-05 9.99999172e-01 1.18783800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.246875 meters 0.03208126191620379 Centerline is valid? [True, True] Translation: X:263.18, Y:76.70, Z:11.87 [[ 9.69566600e-01 2.44816499e-01 -2.34291925e-03 2.63181047e+02] [-2.44816098e-01 9.69569423e-01 4.60694606e-04 7.66962065e+01] [ 2.38440851e-03 1.26910248e-04 9.99997149e-01 1.18749392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.276875 meters 0.030317204639788133 Centerline is valid? [True, True] Translation: X:263.21, Y:76.69, Z:11.88 [[ 9.69416363e-01 2.45420133e-01 -9.35058283e-04 2.63207924e+02] [-2.45420070e-01 9.69416812e-01 1.83749067e-04 7.66864312e+01] [ 9.51556941e-04 5.13527170e-05 9.99999546e-01 1.18758253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.306875 meters 0.034932079225996636 Centerline is valid? [True, True] Translation: X:263.24, Y:76.69, Z:11.88 [[ 9.68803690e-01 2.47829388e-01 -6.68663675e-05 2.63237260e+02] [-2.47829388e-01 9.68803692e-01 1.33378498e-05 7.66881271e+01] [ 6.80858949e-05 3.64969281e-06 9.99999998e-01 1.18789325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.336875 meters 0.033611112650556656 Centerline is valid? [True, True] Translation: X:263.27, Y:76.68, Z:11.88 [[ 9.68278301e-01 2.49869728e-01 -1.50042521e-03 2.63265772e+02] [-2.49869571e-01 9.68279459e-01 2.94305883e-04 7.66813085e+01] [ 1.52636905e-03 8.99406044e-05 9.99998831e-01 1.18792937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.366875 meters 0.03412915008153496 Centerline is valid? [True, True] Translation: X:263.30, Y:76.68, Z:11.88 [[ 9.67436266e-01 2.53098458e-01 -2.87093396e-03 2.63295196e+02] [-2.53097897e-01 9.67440509e-01 5.62741408e-04 7.66777333e+01] [ 2.91988679e-03 1.82210902e-04 9.99995721e-01 1.18780852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.396875 meters 0.03271358196256047 Centerline is valid? [True, True] Translation: X:263.32, Y:76.67, Z:11.88 [[ 9.67260730e-01 2.53777055e-01 -1.97148144e-03 2.63322819e+02] [-2.53776791e-01 9.67262731e-01 3.86956604e-04 7.66679245e+01] [ 2.00514123e-03 1.26028307e-04 9.99997982e-01 1.18789858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.426875 meters 0.03613756612067128 Centerline is valid? [True, True] Translation: X:263.35, Y:76.67, Z:11.88 [[ 9.66378474e-01 2.57123650e-01 -2.70400742e-04 2.63351969e+02] [-2.57123645e-01 9.66378512e-01 5.31093793e-05 7.66671239e+01] [ 2.74965144e-04 1.82026635e-05 9.99999962e-01 1.18824272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.456875 meters 0.03489675850211425 Centerline is valid? [True, True] Translation: X:263.38, Y:76.66, Z:11.88 [[ 9.66041945e-01 2.58383783e-01 8.84189926e-04 2.63380201e+02] [-2.58383732e-01 9.66042347e-01 -1.72743312e-04 7.66595792e+01] [-8.98798982e-04 -6.15830080e-05 9.99999594e-01 1.18846581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.486875 meters 0.03795920662842628 Centerline is valid? [True, True] Translation: X:263.41, Y:76.66, Z:11.89 [[ 9.65633257e-01 2.59907539e-01 6.95219073e-04 2.63409030e+02] [-2.59907509e-01 9.65633506e-01 -1.35652653e-04 7.66597529e+01] [-7.06583979e-04 -4.97019444e-05 9.99999749e-01 1.18865295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.516875 meters 0.03814124982341696 Centerline is valid? [True, True] Translation: X:263.44, Y:76.65, Z:11.89 [[ 9.65706711e-01 2.59629221e-01 1.79328337e-03 2.63435867e+02] [-2.59629019e-01 9.65708367e-01 -3.49012925e-04 7.66534565e+01] [-1.82240271e-03 -1.28544279e-04 9.99998331e-01 1.18877805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.546875 meters 0.03417351510569644 Centerline is valid? [True, True] Translation: X:263.46, Y:76.64, Z:11.89 [[ 9.65828649e-01 2.59169194e-01 2.51977484e-03 2.63463333e+02] [-2.59168792e-01 9.65831919e-01 -4.90379151e-04 7.66427975e+01] [-2.56077014e-03 -1.79424771e-04 9.99996705e-01 1.18884420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.576875 meters 0.04064857726028135 Centerline is valid? [True, True] Translation: X:263.49, Y:76.65, Z:11.89 [[ 9.65586659e-01 2.60069251e-01 2.52744722e-03 2.63492206e+02] [-2.60068850e-01 9.65589950e-01 -4.91900320e-04 7.66478559e+01] [-2.56840579e-03 -1.82337906e-04 9.99996685e-01 1.18903373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6068750000001 meters 0.040610579338741334 Centerline is valid? [True, True] Translation: X:263.52, Y:76.64, Z:11.89 [[ 9.65518114e-01 2.60319729e-01 2.90010039e-03 2.63519690e+02] [-2.60319203e-01 9.65522446e-01 -5.64301884e-04 7.66409469e+01] [-2.94701094e-03 -2.10108130e-04 9.99995635e-01 1.18897552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.636875 meters 0.0369868989123796 Centerline is valid? [True, True] Translation: X:263.55, Y:76.63, Z:11.89 [[ 9.65734041e-01 2.59521925e-01 2.47625458e-03 2.63546508e+02] [-2.59521541e-01 9.65737200e-01 -4.80640872e-04 7.66305644e+01] [-2.51614801e-03 -1.78470153e-04 9.99996819e-01 1.18891656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.666875 meters 0.0371080963487624 Centerline is valid? [True, True] Translation: X:263.58, Y:76.62, Z:11.89 [[ 9.66016177e-01 2.58459085e-01 3.41294170e-03 2.63575100e+02] [-2.58458347e-01 9.66022175e-01 -6.62975553e-04 7.66249998e+01] [-3.46832942e-03 -2.41658164e-04 9.99993956e-01 1.18909404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.696875 meters 0.036928224029145765 Centerline is valid? [True, True] Translation: X:263.60, Y:76.62, Z:11.89 [[ 9.66688429e-01 2.55926429e-01 3.89154722e-03 2.63603784e+02] [-2.55925449e-01 9.66696226e-01 -7.56261974e-04 7.66215125e+01] [-3.95549143e-03 -2.64876269e-04 9.99992142e-01 1.18937162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.726875 meters 0.035343728801778086 Centerline is valid? [True, True] Translation: X:263.63, Y:76.61, Z:11.89 [[ 9.66957259e-01 2.54924118e-01 2.71171890e-03 2.63631606e+02] [-2.54923640e-01 9.66961044e-01 -5.26602316e-04 7.66146494e+01] [-2.75637017e-03 -1.82079319e-04 9.99996185e-01 1.18932300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.756875 meters 0.03381917835513667 Centerline is valid? [True, True] Translation: X:263.66, Y:76.61, Z:11.89 [[ 9.67805571e-01 2.51689858e-01 -2.14285671e-03 2.63660266e+02] [-2.51689551e-01 9.67807934e-01 4.16427735e-04 7.66063651e+01] [ 2.17868436e-03 1.36313559e-04 9.99997617e-01 1.18877687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.786875 meters 0.03381917835513667 Centerline is valid? [True, True] Translation: X:263.69, Y:76.60, Z:11.89 [[ 9.67872080e-01 2.51433979e-01 -2.14275761e-03 2.63687195e+02] [-2.51433669e-01 9.67874442e-01 4.16938220e-04 7.66012197e+01] [ 2.17875276e-03 1.35218547e-04 9.99997617e-01 1.18878934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.816875 meters 0.03256333994565768 Centerline is valid? [True, True] Translation: X:263.72, Y:76.59, Z:11.88 [[ 9.68595873e-01 2.48595499e-01 -4.72355458e-03 2.63715451e+02] [-2.48593975e-01 9.68607349e-01 9.16402402e-04 7.65920522e+01] [ 4.80308319e-03 2.86623625e-04 9.99988424e-01 1.18842820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.846875 meters 0.03165724961701146 Centerline is valid? [True, True] Translation: X:263.74, Y:76.58, Z:11.88 [[ 9.69850516e-01 2.43567875e-01 -8.04153505e-03 2.63742878e+02] [-2.43563289e-01 9.69883752e-01 1.55969793e-03 7.65830169e+01] [ 8.17924650e-03 4.45948883e-04 9.99966450e-01 1.18795235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.876875 meters 0.030467459198979502 Centerline is valid? [True, True] Translation: X:263.77, Y:76.58, Z:11.88 [[ 9.70272840e-01 2.41880096e-01 -8.03953692e-03 2.63771117e+02] [-2.41875463e-01 9.70306051e-01 1.55832077e-03 7.65759147e+01] [ 8.17773809e-03 4.32570395e-04 9.99966468e-01 1.18796718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.906875 meters 0.03478554745222322 Centerline is valid? [True, True] Translation: X:263.80, Y:76.58, Z:11.88 [[ 9.70358271e-01 2.41536831e-01 -8.04889509e-03 2.63799675e+02] [-2.41532186e-01 9.70391557e-01 1.55883498e-03 7.65792989e+01] [ 8.18709589e-03 4.31438811e-04 9.99966392e-01 1.18812799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.936875 meters 0.031606992368524975 Centerline is valid? [True, True] Translation: X:263.83, Y:76.57, Z:11.88 [[ 9.70718303e-01 2.40124139e-01 -6.80990233e-03 2.63827572e+02] [-2.40120785e-01 9.70742124e-01 1.31804837e-03 7.65705695e+01] [ 6.92715428e-03 3.55745420e-04 9.99975944e-01 1.18840809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.966875 meters 0.029231559833306515 Centerline is valid? [True, True] Translation: X:263.86, Y:76.56, Z:11.89 [[ 9.71245539e-01 2.38010592e-01 -5.74978740e-03 2.63856073e+02] [-2.38008170e-01 9.71262516e-01 1.11197934e-03 7.65637686e+01] [ 5.84921584e-03 2.88491398e-04 9.99982852e-01 1.18877385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.996875 meters 0.027796029465902473 Centerline is valid? [True, True] Translation: X:263.88, Y:76.56, Z:11.89 [[ 9.71217949e-01 2.38128930e-01 -5.50533923e-03 2.63884249e+02] [-2.38126714e-01 9.71233512e-01 1.06422553e-03 7.65571031e+01] [ 5.60039285e-03 2.77373398e-04 9.99984279e-01 1.18877647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.026875 meters 0.030703988638317196 Centerline is valid? [True, True] Translation: X:263.91, Y:76.56, Z:11.89 [[ 9.71345482e-01 2.37609883e-01 -5.43111899e-03 2.63912013e+02] [-2.37607725e-01 9.71360628e-01 1.04867745e-03 7.65560233e+01] [ 5.52475128e-03 2.71847722e-04 9.99984701e-01 1.18877275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.056875 meters 0.029605998053709788 Centerline is valid? [True, True] Translation: X:263.94, Y:76.55, Z:11.89 [[ 9.72273724e-01 2.33814608e-01 -3.81241803e-03 2.63940679e+02] [-2.33813516e-01 9.72281183e-01 7.35745293e-04 7.65491169e+01] [ 3.87877031e-03 1.76049051e-04 9.99992462e-01 1.18882155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.086875 meters 0.02581404825616961 Centerline is valid? [True, True] Translation: X:263.97, Y:76.54, Z:11.89 [[ 9.73092992e-01 2.30400729e-01 -2.35216382e-03 2.63969347e+02] [-2.30400303e-01 9.73095830e-01 4.53937461e-04 7.65373718e+01] [ 2.39346833e-03 1.00215896e-04 9.99997131e-01 1.18903675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.116875 meters 0.024258534883542075 Centerline is valid? [True, True] Translation: X:264.00, Y:76.53, Z:11.90 [[ 9.73556800e-01 2.28442948e-01 9.88413793e-04 2.63997658e+02] [-2.28442873e-01 9.73557301e-01 -1.89330032e-04 7.65336461e+01] [-1.00552858e-03 -4.14725466e-05 9.99999494e-01 1.18965448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.146875 meters 0.02894747978552665 Centerline is valid? [True, True] Translation: X:264.03, Y:76.54, Z:11.90 [[ 9.73468589e-01 2.28808055e-01 2.40408218e-03 2.64026878e+02] [-2.28807609e-01 9.73471553e-01 -4.62569175e-04 7.65373073e+01] [-2.44614516e-03 -9.97757339e-05 9.99997003e-01 1.18983334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.176875 meters 0.02715486737108907 Centerline is valid? [True, True] Translation: X:264.05, Y:76.53, Z:11.90 [[ 9.73562712e-01 2.28386336e-01 3.91493745e-03 2.64053853e+02] [-2.28385156e-01 9.73570570e-01 -7.51671699e-04 7.65281145e+01] [-3.98313943e-03 -1.62314062e-04 9.99992054e-01 1.18996277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.206875 meters 0.02677940662917894 Centerline is valid? [True, True] Translation: X:264.08, Y:76.52, Z:11.90 [[ 9.73845838e-01 2.27157801e-01 4.85973445e-03 2.64081564e+02] [-2.27155972e-01 9.73857944e-01 -9.32387098e-04 7.65213187e+01] [-4.94449000e-03 -1.95916410e-04 9.99987757e-01 1.18995497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.236875 meters 0.025880183764964034 Centerline is valid? [True, True] Translation: X:264.11, Y:76.51, Z:11.90 [[ 9.74281528e-01 2.25286990e-01 4.61263030e-03 2.64109444e+02] [-2.25285320e-01 9.74292431e-01 -8.85358377e-04 7.65123090e+01] [-4.69351051e-03 -1.76569580e-04 9.99988970e-01 1.18979095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.266875 meters 0.025131768217625687 Centerline is valid? [True, True] Translation: X:264.14, Y:76.51, Z:11.90 [[ 9.74736155e-01 2.23317683e-01 4.31740352e-03 2.64137457e+02] [-2.23316207e-01 9.74745704e-01 -8.26975014e-04 7.65050318e+01] [-4.39304868e-03 -1.58063735e-04 9.99990338e-01 1.18963421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.296875 meters 0.02182498067549337 Centerline is valid? [True, True] Translation: X:264.16, Y:76.49, Z:11.90 [[ 9.75281195e-01 2.20938173e-01 3.59355920e-03 2.64164464e+02] [-2.20937134e-01 9.75287808e-01 -6.88596513e-04 7.64921910e+01] [-3.65689173e-03 -1.22375438e-04 9.99993306e-01 1.18956977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.326875 meters 0.022023614839891122 Centerline is valid? [True, True] Translation: X:264.19, Y:76.49, Z:11.89 [[ 9.76098046e-01 2.17328660e-01 -9.26313151e-04 2.64192549e+02] [-2.17328589e-01 9.76098485e-01 1.77709509e-04 7.64869797e+01] [ 9.42794233e-04 2.78524258e-05 9.99999555e-01 1.18921256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3568750000001 meters 0.020778105033550445 Centerline is valid? [True, True] Translation: X:264.22, Y:76.48, Z:11.89 [[ 9.76420289e-01 2.15854985e-01 -3.16936775e-03 2.64220453e+02] [-2.15854148e-01 9.76425428e-01 6.07797082e-04 7.64784862e+01] [ 3.22584729e-03 9.06557735e-05 9.99994793e-01 1.18889399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.386875 meters 0.021481151342693332 Centerline is valid? [True, True] Translation: X:264.25, Y:76.47, Z:11.89 [[ 9.76561851e-01 2.15192957e-01 -4.35219017e-03 2.64247225e+02] [-2.15191379e-01 9.76571542e-01 8.33134465e-04 7.64727921e+01] [ 4.42950973e-03 1.22946470e-04 9.99990182e-01 1.18886013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.416875 meters 0.022328181468848327 Centerline is valid? [True, True] Translation: X:264.28, Y:76.47, Z:11.89 [[ 9.76175553e-01 2.16944929e-01 -4.02344040e-03 2.64276233e+02] [-2.16943597e-01 9.76183837e-01 7.69948876e-04 7.64695418e+01] [ 4.09465399e-03 1.21254363e-04 9.99991610e-01 1.18894052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.446875 meters 0.023768712078822335 Centerline is valid? [True, True] Translation: X:264.31, Y:76.47, Z:11.89 [[ 9.75207782e-01 2.21289785e-01 -7.83465559e-04 2.64306464e+02] [-2.21289736e-01 9.75208096e-01 1.49870208e-04 7.64693753e+01] [ 7.97206702e-04 2.72182936e-05 9.99999682e-01 1.18944597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.476875 meters 0.024316835411544342 Centerline is valid? [True, True] Translation: X:264.33, Y:76.47, Z:11.90 [[ 9.74914424e-01 2.22579318e-01 5.58703530e-04 2.64334898e+02] [-2.22579294e-01 9.74914584e-01 -1.05553382e-04 7.64660545e+01] [-5.68182220e-04 -2.14503223e-05 9.99999838e-01 1.18970930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.506875 meters 0.025004014648116718 Centerline is valid? [True, True] Translation: X:264.36, Y:76.46, Z:11.90 [[ 9.74342001e-01 2.25072528e-01 1.49383150e-04 2.64364436e+02] [-2.25072526e-01 9.74342012e-01 -2.83485030e-05 7.64636260e+01] [-1.51930749e-04 -6.00090579e-06 9.99999988e-01 1.18976739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.536875 meters 0.023363476074277974 Centerline is valid? [True, True] Translation: X:264.39, Y:76.46, Z:11.90 [[ 9.74373654e-01 2.24928544e-01 1.77007087e-03 2.64392134e+02] [-2.24928304e-01 9.74375259e-01 -3.36168231e-04 7.64554540e+01] [-1.80032710e-03 -7.05855722e-05 9.99998377e-01 1.18986990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.566875 meters 0.023639927428056828 Centerline is valid? [True, True] Translation: X:264.42, Y:76.45, Z:11.90 [[ 9.74479150e-01 2.24465802e-01 2.34315720e-03 2.64419823e+02] [-2.24465381e-01 9.74481963e-01 -4.44554438e-04 7.64496340e+01] [-2.38315170e-03 -9.27486420e-05 9.99997156e-01 1.18987391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.596875 meters 0.024228971051082463 Centerline is valid? [True, True] Translation: X:264.45, Y:76.45, Z:11.90 [[ 9.74197522e-01 2.25694154e-01 1.15650012e-03 2.64448025e+02] [-2.25694053e-01 9.74198207e-01 -2.18651178e-04 7.64451972e+01] [-1.17600864e-03 -4.80057642e-05 9.99999307e-01 1.18958770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.626875 meters 0.024975734248833127 Centerline is valid? [True, True] Translation: X:264.47, Y:76.44, Z:11.90 [[ 9.74010912e-01 2.26483280e-01 2.84032051e-03 2.64474805e+02] [-2.26482669e-01 9.74015046e-01 -5.38936860e-04 7.64398587e+01] [-2.88857510e-03 -1.18352987e-04 9.99995821e-01 1.18970083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.656875 meters 0.026130908713458245 Centerline is valid? [True, True] Translation: X:264.50, Y:76.44, Z:11.90 [[ 9.73355077e-01 2.29265630e-01 4.14296257e-03 2.64504551e+02] [-2.29264355e-01 9.73363877e-01 -7.86490251e-04 7.64365347e+01] [-4.21292529e-03 -1.84299362e-04 9.99991109e-01 1.18990024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.686875 meters 0.029662915439202013 Centerline is valid? [True, True] Translation: X:264.53, Y:76.44, Z:11.90 [[ 9.71533113e-01 2.36840254e-01 5.48667819e-03 2.64534127e+02] [-2.36838139e-01 9.71548563e-01 -1.04143097e-03 7.64374461e+01] [-5.57722709e-03 -2.87669982e-04 9.99984406e-01 1.19005280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.716875 meters 0.0298861601692999 Centerline is valid? [True, True] Translation: X:264.56, Y:76.43, Z:11.90 [[ 9.70657687e-01 2.40388976e-01 6.06593784e-03 2.64563640e+02] [-2.40386460e-01 9.70676581e-01 -1.15132048e-03 7.64312442e+01] [-6.16482855e-03 -3.40631249e-04 9.99980939e-01 1.19004994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.746875 meters 0.029877596215144134 Centerline is valid? [True, True] Translation: X:264.59, Y:76.43, Z:11.90 [[ 9.69748409e-01 2.44019869e-01 6.50589201e-03 2.64592787e+02] [-2.44017058e-01 9.69770154e-01 -1.23454765e-03 7.64253831e+01] [-6.61047405e-03 -3.90348014e-04 9.99978074e-01 1.18997745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.776875 meters 0.034765236051649225 Centerline is valid? [True, True] Translation: X:264.62, Y:76.43, Z:11.90 [[ 9.68918477e-01 2.47263881e-01 7.58671669e-03 2.64622334e+02] [-2.47260159e-01 9.68948059e-01 -1.43941536e-03 7.64258348e+01] [-7.70704984e-03 -4.81216637e-04 9.99970184e-01 1.19005383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.806875 meters 0.03251176828139058 Centerline is valid? [True, True] Translation: X:264.65, Y:76.42, Z:11.90 [[ 9.69243582e-01 2.45965923e-01 8.22454704e-03 2.64649761e+02] [-2.45961527e-01 9.69278341e-01 -1.55753219e-03 7.64153446e+01] [-8.35497515e-03 -5.13294068e-04 9.99964965e-01 1.19005242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.836875 meters 0.030102586220879763 Centerline is valid? [True, True] Translation: X:264.68, Y:76.41, Z:11.90 [[ 9.69503198e-01 2.44984303e-01 6.79997420e-03 2.64677325e+02] [-2.44981273e-01 9.69526955e-01 -1.28784525e-03 7.64068812e+01] [-6.90826016e-03 -4.17296245e-04 9.99976051e-01 1.19006210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.866875 meters 0.030015017607827495 Centerline is valid? [True, True] Translation: X:264.71, Y:76.40, Z:11.90 [[ 9.69664496e-01 2.44390112e-01 4.92330299e-03 2.64705335e+02] [-2.44388526e-01 9.69676948e-01 -9.30317776e-04 7.64012231e+01] [-5.00137388e-03 -3.01102646e-04 9.99987448e-01 1.18993512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.896875 meters 0.03080256098401048 Centerline is valid? [True, True] Translation: X:264.73, Y:76.39, Z:11.89 [[ 9.70316096e-01 2.41837514e-01 -1.13600020e-03 2.64733720e+02] [-2.41837428e-01 9.70316759e-01 2.15034431e-04 7.63929980e+01] [ 1.15428342e-03 6.60759961e-05 9.99999332e-01 1.18923343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.926875 meters 0.0315362678935979 Centerline is valid? [True, True] Translation: X:264.76, Y:76.39, Z:11.89 [[ 9.70947802e-01 2.39273736e-01 -2.90619599e-03 2.64761862e+02] [-2.39273159e-01 9.70952138e-01 5.49794932e-04 7.63878084e+01] [ 2.95332869e-03 1.61552512e-04 9.99995626e-01 1.18908916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.956875 meters 0.028007325796189808 Centerline is valid? [True, True] Translation: X:264.79, Y:76.38, Z:11.89 [[ 9.71698105e-01 2.36202800e-01 -3.32123895e-03 2.64790205e+02] [-2.36202029e-01 9.71703765e-01 6.28088915e-04 7.63780759e+01] [ 3.37561675e-03 1.74170569e-04 9.99994287e-01 1.18920832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.986875 meters 0.026760584081848757 Centerline is valid? [True, True] Translation: X:264.82, Y:76.38, Z:11.90 [[ 9.73403043e-01 2.29075017e-01 -3.33943279e-03 2.64819529e+02] [-2.29074196e-01 9.73408760e-01 6.31404941e-04 7.63755580e+01] [ 3.39527223e-03 1.50366391e-04 9.99994225e-01 1.18973685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.016875 meters 0.025453494931716954 Centerline is valid? [True, True] Translation: X:264.85, Y:76.37, Z:11.90 [[ 9.74634909e-01 2.23774317e-01 -3.44234491e-03 2.64848635e+02] [-2.23773412e-01 9.74640978e-01 6.50759579e-04 7.63665410e+01] [ 3.50067369e-03 1.36052261e-04 9.99993863e-01 1.18985646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.046875 meters 0.024305735413836977 Centerline is valid? [True, True] Translation: X:264.88, Y:76.36, Z:11.90 [[ 9.75612901e-01 2.19460127e-01 -4.08901937e-03 2.64877883e+02] [-2.19458814e-01 9.75621459e-01 7.72832030e-04 7.63581895e+01] [ 4.15894086e-03 1.43386442e-04 9.99991341e-01 1.18978792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.076875 meters 0.023445427062361125 Centerline is valid? [True, True] Translation: X:264.91, Y:76.35, Z:11.89 [[ 9.76412949e-01 2.15870541e-01 -4.20265403e-03 2.64906834e+02] [-2.15869120e-01 9.76421985e-01 7.94238854e-04 7.63507730e+01] [ 4.27501656e-03 1.31718125e-04 9.99990853e-01 1.18947913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1068750000001 meters 0.02464962689684236 Centerline is valid? [True, True] Translation: X:264.93, Y:76.35, Z:11.90 [[ 9.76332124e-01 2.16251044e-01 -3.32696660e-03 2.64934575e+02] [-2.16250156e-01 9.76337787e-01 6.28722750e-04 7.63496486e+01] [ 3.38420516e-03 1.05614828e-04 9.99994268e-01 1.18965387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.136875 meters 0.024542186792184204 Centerline is valid? [True, True] Translation: X:264.96, Y:76.35, Z:11.90 [[ 9.76595407e-01 2.15084495e-01 2.68192145e-04 2.64962706e+02] [-2.15084489e-01 9.76595443e-01 -4.95555456e-05 7.63454185e+01] [-2.72573856e-04 -9.28825237e-06 9.99999963e-01 1.19005525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.166875 meters 0.02370938701411213 Centerline is valid? [True, True] Translation: X:264.99, Y:76.34, Z:11.91 [[ 9.76928858e-01 2.13497029e-01 5.38756841e-03 2.64990481e+02] [-2.13494683e-01 9.76943700e-01 -1.01360401e-03 7.63414026e+01] [-5.47975246e-03 -1.59998199e-04 9.99984973e-01 1.19120292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.196875 meters 0.02326859658553609 Centerline is valid? [True, True] Translation: X:265.02, Y:76.34, Z:11.91 [[ 9.76945348e-01 2.13437988e-01 4.69164838e-03 2.65017690e+02] [-2.13436215e-01 9.76956604e-01 -8.81204790e-04 7.63368724e+01] [-4.77161944e-03 -1.40478753e-04 9.99988606e-01 1.19133308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.226875 meters 0.024260761317138405 Centerline is valid? [True, True] Translation: X:265.05, Y:76.33, Z:11.91 [[ 9.76575201e-01 2.15169882e-01 1.67270499e-03 2.65045600e+02] [-2.15169660e-01 9.76576632e-01 -3.14088824e-04 7.63344530e+01] [-1.70110706e-03 -5.31840068e-05 9.99998552e-01 1.19117004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.256875 meters 0.0253578820439484 Centerline is valid? [True, True] Translation: X:265.07, Y:76.33, Z:11.91 [[ 9.76192280e-01 2.16906420e-01 4.87032709e-04 2.65072446e+02] [-2.16906401e-01 9.76192402e-01 -9.10648288e-05 7.63293941e+01] [-4.95190176e-04 -1.67437293e-05 9.99999877e-01 1.19108668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.286875 meters 0.023838572387839135 Centerline is valid? [True, True] Translation: X:265.10, Y:76.32, Z:11.91 [[ 9.76179142e-01 2.16963130e-01 1.13231981e-03 2.65100205e+02] [-2.16963030e-01 9.76179798e-01 -2.11390580e-04 7.63213119e+01] [-1.15121169e-03 -3.93164625e-05 9.99999337e-01 1.19120723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.316875 meters 0.024212743714051944 Centerline is valid? [True, True] Translation: X:265.13, Y:76.32, Z:11.91 [[ 9.75999733e-01 2.17771612e-01 2.16665541e-04 2.65128592e+02] [-2.17771608e-01 9.75999757e-01 -3.95153156e-05 7.63169036e+01] [-2.20070829e-04 -8.61666583e-06 9.99999976e-01 1.19129818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.346875 meters 0.026011165461429918 Centerline is valid? [True, True] Translation: X:265.16, Y:76.31, Z:11.90 [[ 9.75875429e-01 2.18173899e-01 -8.20349430e-03 2.65155785e+02] [-2.18168677e-01 9.75909866e-01 1.53710461e-03 7.63104114e+01] [ 8.34122712e-03 2.89722877e-04 9.99965169e-01 1.19046012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.376875 meters 0.025515151884552723 Centerline is valid? [True, True] Translation: X:265.18, Y:76.30, Z:11.90 [[ 9.76011879e-01 2.17384845e-01 -1.20267096e-02 2.65182272e+02] [-2.17373593e-01 9.76085885e-01 2.25083773e-03 7.63017389e+01] [ 1.22283995e-02 4.17444706e-04 9.99925143e-01 1.19006906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.406875 meters 0.026206680000864343 Centerline is valid? [True, True] Translation: X:265.21, Y:76.30, Z:11.90 [[ 9.76145263e-01 2.16743194e-01 -1.27598603e-02 2.65209342e+02] [-2.16730499e-01 9.76228558e-01 2.38605301e-03 7.62951410e+01] [ 1.29737008e-02 4.36316555e-04 9.99915743e-01 1.18994529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.436875 meters 0.02490475431715669 Centerline is valid? [True, True] Translation: X:265.24, Y:76.29, Z:11.90 [[ 9.76097260e-01 2.16929756e-01 -1.32521569e-02 2.65237384e+02] [-2.16916113e-01 9.76187109e-01 2.47559305e-03 7.62872898e+01] [ 1.34736145e-02 4.58186779e-04 9.99909122e-01 1.19010394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.466875 meters 0.026866981225121704 Centerline is valid? [True, True] Translation: X:265.27, Y:76.29, Z:11.90 [[ 9.75227322e-01 2.20696971e-01 -1.49838821e-02 2.65266471e+02] [-2.20680001e-01 9.75342254e-01 2.79730365e-03 7.62871890e+01] [ 1.52317698e-02 5.78636175e-04 9.99883822e-01 1.19048495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.496875 meters 0.028334570441290684 Centerline is valid? [True, True] Translation: X:265.30, Y:76.29, Z:11.91 [[ 9.74432103e-01 2.24067085e-01 -1.66137990e-02 2.65296316e+02] [-2.24046723e-01 9.74573471e-01 3.10090806e-03 7.62858357e+01] [ 1.68861792e-02 7.00642850e-04 9.99857173e-01 1.19063399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.526875 meters 0.029663502110452523 Centerline is valid? [True, True] Translation: X:265.33, Y:76.29, Z:11.91 [[ 9.73584940e-01 2.27688760e-01 -1.70350358e-02 2.65326485e+02] [-2.27667914e-01 9.73733647e-01 3.17901714e-03 7.62850276e+01] [ 1.73114140e-02 7.83287844e-04 9.99849839e-01 1.19094223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.556875 meters 0.03147293107849777 Centerline is valid? [True, True] Translation: X:265.36, Y:76.28, Z:11.91 [[ 9.71717000e-01 2.35558371e-01 -1.66831153e-02 2.65356540e+02] [-2.35539540e-01 9.71859782e-01 3.11283543e-03 7.62836161e+01] [ 1.69469032e-02 9.04738192e-04 9.99855982e-01 1.19145227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.586875 meters 0.03340981693610146 Centerline is valid? [True, True] Translation: X:265.39, Y:76.28, Z:11.91 [[ 9.70835930e-01 2.39133428e-01 -1.71114290e-02 2.65385598e+02] [-2.39114183e-01 9.70986209e-01 3.19206289e-03 7.62804257e+01] [ 1.73782905e-02 9.92616030e-04 9.99848493e-01 1.19148175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.616875 meters 0.03352552729740608 Centerline is valid? [True, True] Translation: X:265.41, Y:76.27, Z:11.91 [[ 9.70659686e-01 2.39797850e-01 -1.77978685e-02 2.65413752e+02] [-2.39777202e-01 9.70822276e-01 3.31674932e-03 7.62732596e+01] [ 1.80739166e-02 1.04808826e-03 9.99836104e-01 1.19148535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.646875 meters 0.034069433490580725 Centerline is valid? [True, True] Translation: X:265.44, Y:76.27, Z:11.92 [[ 9.70169620e-01 2.41703738e-01 -1.87139354e-02 2.65442295e+02] [-2.41681303e-01 9.70349422e-01 3.48530466e-03 7.62661174e+01] [ 1.90014675e-02 1.14147159e-03 9.99818804e-01 1.19165340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.676875 meters 0.03508991118689908 Centerline is valid? [True, True] Translation: X:265.47, Y:76.26, Z:11.92 [[ 9.69401615e-01 2.44732365e-01 -1.91462175e-02 2.65472291e+02] [-2.44709485e-01 9.69589892e-01 3.56506536e-03 7.62624841e+01] [ 1.94364658e-02 1.22928090e-03 9.99810338e-01 1.19167875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.706875 meters 0.03508991118689908 Centerline is valid? [True, True] Translation: X:265.50, Y:76.26, Z:11.92 [[ 9.69465862e-01 2.44477681e-01 -1.91469574e-02 2.65499265e+02] [-2.44454830e-01 9.69654142e-01 3.56108842e-03 7.62575501e+01] [ 1.94365332e-02 1.22821257e-03 9.99810338e-01 1.19169123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.736875 meters 0.03276677717624969 Centerline is valid? [True, True] Translation: X:265.53, Y:76.25, Z:11.92 [[ 9.68335567e-01 2.48850000e-01 -1.99976685e-02 2.65527796e+02] [-2.48826039e-01 9.68541059e-01 3.71738702e-03 7.62497551e+01] [ 2.02936347e-02 1.37626257e-03 9.99793116e-01 1.19191578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.766875 meters 0.037878724439592754 Centerline is valid? [True, True] Translation: X:265.56, Y:76.25, Z:11.92 [[ 9.65628398e-01 2.59299464e-01 -1.80439967e-02 2.65557573e+02] [-2.59281779e-01 9.65795896e-01 3.35343310e-03 7.62510682e+01] [ 1.82963614e-02 1.44030932e-03 9.99831570e-01 1.19205048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.796875 meters 0.03639661196855455 Centerline is valid? [True, True] Translation: X:265.59, Y:76.24, Z:11.92 [[ 9.64360697e-01 2.64079015e-01 -1.64535918e-02 2.65585821e+02] [-2.64065011e-01 9.64500038e-01 3.05719916e-03 7.62419562e+01] [ 1.66768321e-02 1.39657520e-03 9.99859957e-01 1.19225894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.826875 meters 0.037155538325948735 Centerline is valid? [True, True] Translation: X:265.61, Y:76.24, Z:11.92 [[ 9.63464862e-01 2.67402214e-01 -1.52156128e-02 2.65614661e+02] [-2.67390656e-01 9.63584063e-01 2.82671947e-03 7.62361881e+01] [ 1.54173930e-02 1.34506781e-03 9.99880240e-01 1.19249201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8568750000001 meters 0.04275361153249577 Centerline is valid? [True, True] Translation: X:265.64, Y:76.24, Z:11.93 [[ 9.62979281e-01 2.69233423e-01 -1.35745833e-02 2.65643742e+02] [-2.69224412e-01 9.63074171e-01 2.52126962e-03 7.62361975e+01] [ 1.37521407e-02 1.22667881e-03 9.99904682e-01 1.19256802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.886875 meters 0.04182709522889283 Centerline is valid? [True, True] Translation: X:265.67, Y:76.22, Z:11.93 [[ 9.63090535e-01 2.68961955e-01 -1.07744631e-02 2.65670865e+02] [-2.68956280e-01 9.63150311e-01 1.99948190e-03 7.62233418e+01] [ 1.09152120e-02 9.72177403e-04 9.99939955e-01 1.19272749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.916875 meters 0.04111565910948806 Centerline is valid? [True, True] Translation: X:265.70, Y:76.21, Z:11.93 [[ 9.63307275e-01 2.68193337e-01 -1.05559435e-02 2.65698909e+02] [-2.68187870e-01 9.63364645e-01 1.95650017e-03 7.62138576e+01] [ 1.06939431e-02 9.46265154e-04 9.99942370e-01 1.19268795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.946875 meters 0.04316602292176228 Centerline is valid? [True, True] Translation: X:265.73, Y:76.21, Z:11.93 [[ 9.63354155e-01 2.68010870e-01 -1.09062602e-02 2.65725185e+02] [-2.68005042e-01 9.63415393e-01 2.01961356e-03 7.62098467e+01] [ 1.10485374e-02 9.77329617e-04 9.99938485e-01 1.19266641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.976875 meters 0.045828666491409306 Centerline is valid? [True, True] Translation: X:265.75, Y:76.20, Z:11.93 [[ 9.62358497e-01 2.71607158e-01 -9.78133578e-03 2.65753222e+02] [-2.71602661e-01 9.62407770e-01 1.81059081e-03 7.62044898e+01] [ 9.90540298e-03 9.14199376e-04 9.99950522e-01 1.19274603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.006875 meters 0.047387955882529496 Centerline is valid? [True, True] Translation: X:265.78, Y:76.20, Z:11.93 [[ 9.61703188e-01 2.73970956e-01 -8.17889234e-03 2.65782395e+02] [-2.73967899e-01 9.61737646e-01 1.51370733e-03 7.61977138e+01] [ 8.28066051e-03 7.85016793e-04 9.99965407e-01 1.19273332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.036875 meters 0.042488808927452264 Centerline is valid? [True, True] Translation: X:265.81, Y:76.18, Z:11.93 [[ 9.60988181e-01 2.76510086e-01 -6.62484436e-03 2.65809873e+02] [-2.76508141e-01 9.61010793e-01 1.22590065e-03 7.61808758e+01] [ 6.70552083e-03 6.53747359e-04 9.99977304e-01 1.19264046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.066875 meters 0.04458186392396772 Centerline is valid? [True, True] Translation: X:265.84, Y:76.17, Z:11.93 [[ 9.59889533e-01 2.80348498e-01 -4.09925047e-03 2.65838716e+02] [-2.80347788e-01 9.59898194e-01 7.58437605e-04 7.61709162e+01] [ 4.14748997e-03 4.21199485e-04 9.99991310e-01 1.19254470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.096875 meters 0.044812956682858875 Centerline is valid? [True, True] Translation: X:265.87, Y:76.16, Z:11.93 [[ 9.59657458e-01 2.81159184e-01 -2.66008876e-03 2.65867466e+02] [-2.81158888e-01 9.59661106e-01 4.92169854e-04 7.61633699e+01] [ 2.69116179e-03 2.75593124e-04 9.99996341e-01 1.19263462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.126875 meters 0.04952506466769703 Centerline is valid? [True, True] Translation: X:265.90, Y:76.16, Z:11.93 [[ 9.59519366e-01 2.81639891e-01 -1.24845156e-03 2.65895907e+02] [-2.81639826e-01 9.59520169e-01 2.31193734e-04 7.61628009e+01] [ 1.26302783e-03 1.29778814e-04 9.99999194e-01 1.19276787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.156875 meters 0.04460562592420925 Centerline is valid? [True, True] Translation: X:265.92, Y:76.15, Z:11.93 [[ 9.59497361e-01 2.81717594e-01 -1.08569783e-04 2.65922490e+02] [-2.81717593e-01 9.59497367e-01 2.11399378e-05 7.61467541e+01] [ 1.10127914e-04 1.03023036e-05 9.99999994e-01 1.19273338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.186875 meters 0.046513405634567365 Centerline is valid? [True, True] Translation: X:265.95, Y:76.14, Z:11.93 [[ 9.59176425e-01 2.82807885e-01 5.35350614e-04 2.65950515e+02] [-2.82807874e-01 9.59176572e-01 -9.84676603e-05 7.61408510e+01] [-5.41343197e-04 -5.69535105e-05 9.99999852e-01 1.19265717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.216875 meters 0.0486604313840005 Centerline is valid? [True, True] Translation: X:265.98, Y:76.14, Z:11.93 [[ 9.58802107e-01 2.84074794e-01 1.78934194e-04 2.65977851e+02] [-2.84074793e-01 9.58802123e-01 -3.26407735e-05 7.61352826e+01] [-1.80834906e-04 -1.95346517e-05 9.99999983e-01 1.19251070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.246875 meters 0.04957771193887026 Centerline is valid? [True, True] Translation: X:266.01, Y:76.13, Z:11.92 [[ 9.58500524e-01 2.85088035e-01 -1.24811929e-03 2.66006513e+02] [-2.85087974e-01 9.58501327e-01 2.30354737e-04 7.61284072e+01] [ 1.26199538e-03 1.35028665e-04 9.99999195e-01 1.19221378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.276875 meters 0.050980390576104914 Centerline is valid? [True, True] Translation: X:266.04, Y:76.12, Z:11.91 [[ 9.58011936e-01 2.86688203e-01 -4.79627415e-03 2.66035695e+02] [-2.86687324e-01 9.58023797e-01 8.84606634e-04 7.61216424e+01] [ 4.84855106e-03 5.27567285e-04 9.99988107e-01 1.19149991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.306875 meters 0.05043178428106503 Centerline is valid? [True, True] Translation: X:266.06, Y:76.12, Z:11.92 [[ 9.57628584e-01 2.87990521e-01 -2.99236882e-03 2.66064582e+02] [-2.87990186e-01 9.57633201e-01 5.51858285e-04 7.61150868e+01] [ 3.02452169e-03 3.33297583e-04 9.99995371e-01 1.19150149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.336875 meters 0.05366935968813244 Centerline is valid? [True, True] Translation: X:266.09, Y:76.11, Z:11.92 [[ 9.57212722e-01 2.89385212e-01 -6.61941726e-05 2.66093588e+02] [-2.89385212e-01 9.57212724e-01 1.24184952e-05 7.61143621e+01] [ 6.69556331e-05 7.26847304e-06 9.99999998e-01 1.19170905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.366875 meters 0.051148454691976396 Centerline is valid? [True, True] Translation: X:266.12, Y:76.10, Z:11.92 [[ 9.56794218e-01 2.90759930e-01 1.86718900e-03 2.66122139e+02] [-2.90759806e-01 9.56796016e-01 -3.43881566e-04 7.61047439e+01] [-1.88650598e-03 -2.13879617e-04 9.99998198e-01 1.19174251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.396875 meters 0.055307684824384765 Centerline is valid? [True, True] Translation: X:266.15, Y:76.10, Z:11.91 [[ 9.56599341e-01 2.91403962e-01 -1.19626482e-03 2.66149698e+02] [-2.91403911e-01 9.56600079e-01 2.20691046e-04 7.61018680e+01] [ 1.20865726e-03 1.37483337e-04 9.99999260e-01 1.19116861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.426875 meters 0.053468861031362884 Centerline is valid? [True, True] Translation: X:266.18, Y:76.09, Z:11.91 [[ 9.56799533e-01 2.90744931e-01 -1.42769512e-03 2.66176994e+02] [-2.90744857e-01 9.56800584e-01 2.63652564e-04 7.60927758e+01] [ 1.44267517e-03 1.62832363e-04 9.99998946e-01 1.19093210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.456875 meters 0.0531584890074704 Centerline is valid? [True, True] Translation: X:266.21, Y:76.09, Z:11.91 [[ 9.57150227e-01 2.89588950e-01 1.29733916e-03 2.66205548e+02] [-2.89588890e-01 9.57151095e-01 -2.37353525e-04 7.60856669e+01] [-1.31048455e-03 -1.48512026e-04 9.99999130e-01 1.19095581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.486875 meters 0.04995121184134112 Centerline is valid? [True, True] Translation: X:266.23, Y:76.08, Z:11.91 [[ 9.57426489e-01 2.88609012e-01 6.27340633e-03 2.66233146e+02] [-2.88607594e-01 9.57446779e-01 -1.14989642e-03 7.60750566e+01] [-6.33832316e-03 -7.09611410e-04 9.99979661e-01 1.19105353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.516875 meters 0.05278651711336835 Centerline is valid? [True, True] Translation: X:266.26, Y:76.07, Z:11.91 [[ 9.58323955e-01 2.85555772e-01 8.54977570e-03 2.66261700e+02] [-2.85553010e-01 9.58361633e-01 -1.56801965e-03 7.60710849e+01] [-8.64153406e-03 -9.38743391e-04 9.99962221e-01 1.19091929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.546875 meters 0.05268141603120522 Centerline is valid? [True, True] Translation: X:266.29, Y:76.06, Z:11.91 [[ 9.58898760e-01 2.83613158e-01 8.76039506e-03 2.66290965e+02] [-2.83610180e-01 9.58938312e-01 -1.60633512e-03 7.60631632e+01] [-8.85625623e-03 -9.44224467e-04 9.99960337e-01 1.19057015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.576875 meters 0.04590241505261369 Centerline is valid? [True, True] Translation: X:266.32, Y:76.05, Z:11.90 [[ 9.59593901e-01 2.81264656e-01 8.35089605e-03 2.66318127e+02] [-2.81261864e-01 9.59629835e-01 -1.53110419e-03 7.60452162e+01] [-8.44441449e-03 -8.79550348e-04 9.99963958e-01 1.19012553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6068750000001 meters 0.05081240030086417 Centerline is valid? [True, True] Translation: X:266.35, Y:76.04, Z:11.90 [[ 9.61382291e-01 2.74967068e-01 1.17133698e-02 2.66346184e+02] [-2.74961118e-01 9.61452949e-01 -2.14699624e-03 7.60387170e+01] [-1.18522072e-02 -1.15663710e-03 9.99929091e-01 1.18972708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.636875 meters 0.050639535279654646 Centerline is valid? [True, True] Translation: X:266.38, Y:76.03, Z:11.90 [[ 9.62523807e-01 2.70899374e-01 1.27063237e-02 2.66375241e+02] [-2.70892022e-01 9.62606923e-01 -2.32897422e-03 7.60304977e+01] [-1.28621128e-02 -1.20034858e-03 9.99916559e-01 1.18968974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.666875 meters 0.05533093458601232 Centerline is valid? [True, True] Translation: X:266.41, Y:76.03, Z:11.90 [[ 9.63777465e-01 2.66587993e-01 7.98999885e-03 2.66405030e+02] [-2.66584942e-01 9.63810316e-01 -1.46410098e-03 7.60301876e+01] [-8.09115505e-03 -7.18945842e-04 9.99967008e-01 1.18965931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.696875 meters 0.045038365506114154 Centerline is valid? [True, True] Translation: X:266.43, Y:76.00, Z:11.89 [[ 9.65767563e-01 2.58916104e-01 1.59832723e-02 2.66430072e+02] [-2.58902853e-01 9.65898926e-01 -2.92866107e-03 7.60007572e+01] [-1.61965031e-02 -1.30970894e-03 9.99867970e-01 1.18902185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.726875 meters 0.04741490456604946 Centerline is valid? [True, True] Translation: X:266.46, Y:75.99, Z:11.89 [[ 9.66801841e-01 2.54990902e-01 1.65480858e-02 2.66458390e+02] [-2.54976140e-01 9.66942593e-01 -3.03136439e-03 7.59933076e+01] [-1.67740194e-02 -1.28863837e-03 9.99858476e-01 1.18887731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.756875 meters 0.05217147716866446 Centerline is valid? [True, True] Translation: X:266.49, Y:75.99, Z:11.89 [[ 9.67813201e-01 2.50920382e-01 1.94053904e-02 2.66487113e+02] [-2.50899278e-01 9.68006674e-01 -3.55418804e-03 7.59885060e+01] [-1.96763656e-02 -1.42900834e-03 9.99805380e-01 1.18897999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.786875 meters 0.04924468828663452 Centerline is valid? [True, True] Translation: X:266.51, Y:75.97, Z:11.89 [[ 9.68673813e-01 2.47329041e-01 2.23470135e-02 2.66513824e+02] [-2.47300121e-01 9.68930289e-01 -4.09218871e-03 7.59695994e+01] [-2.26648153e-02 -1.56242310e-03 9.99741899e-01 1.18864717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.816875 meters 0.05874764600541615 Centerline is valid? [True, True] Translation: X:266.54, Y:75.96, Z:11.89 [[ 9.69921356e-01 2.41930443e-01 2.68742263e-02 2.66541649e+02] [-2.41886576e-01 9.70292056e-01 -4.92034577e-03 7.59619808e+01] [-2.72662297e-02 -1.72816614e-03 9.99626713e-01 1.18891008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.846875 meters 0.06333162956452786 Centerline is valid? [True, True] Translation: X:266.57, Y:75.96, Z:11.89 [[ 9.70524769e-01 2.39277167e-01 2.87769176e-02 2.66569717e+02] [-2.39225770e-01 9.70949687e-01 -5.26656678e-03 7.59577395e+01] [-2.92011083e-02 -1.77284676e-03 9.99571985e-01 1.18914104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9949.41 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%| | 0/18862 [00:00